Kollmorgen S300 Manual page 131

Action
Do the RPDO2-mapping for both axis:
Axis 1:
Index
COB- Control
Low High
ID byte
byte byte
601 2F 01 16
581 60 01 16
601 23 01 16
581 60 01 16
601 23 01 16
581 60 01 16
601 2F 01 16
581 60 01 16
Axis 2:
Index
COB- Control
Low High
ID byte
byte byte
602 2F 01 16
582 60 01 16
602 23 01 16
582 60 01 16
602 23 01 16
582 60 01 16
602 2F 01 16
582 60 01 16
602 23 01 14
582 60 01 14
Now both axis react to the same COB-identifier 0x301, axis 1 takes byte 0 to 3 as IP setpoint, axis
2 takes byte 4 to 7.
The second TPDOs shall contain the actual position in increments and the manufacturer status.
Mapping configuration for axis 1:
Index
COB- Control
Low High
ID byte
byte byte
601 2F 01 1A
581 60 01 1A
601 23 01 1A
581 60 01 1A
601 23 01 1A
581 60 01 1A
601 2F 01 1A
581 60 01 1A
The same has to be done for axis 2.
S300-S700 CANopen | 6 Appendix
Sub-
Data Comment
index
00h 00 00 00 00
RPDO2: delete mapping
00h 00 00 00 00
01h 20 01 C1 60
RPDO2, entry 1: IP setpoint axis 1
01h 00 00 00 00
02h 20 00 00 21
RPDO2, entry 2: Dummy entry 4 bytes
02h 00 00 00 00
00h 02 00 00 00 RPDO2, enter number of mapped
objects
00h 00 00 00 00
Sub-
Data Comment
index
00h 00 00 00 00
RPDO2: delete mapping
00h 00 00 00 00
01h 20 00 00 21
RPDO2, entry 1: Dummy entry 4 bytes
01h 00 00 00 00
02h 20 01 C1 60
RPDO2, entry 2: IP setpoint axis 2
02h 00 00 00 00
00h 02 00 00 00 RPDO2, enter number of mapped
objects
00h 00 00 00 00
01h 01 03 00 00 RPDO2: Set COB-ID
01h 00 00 00 00 identical to axis 1
Sub-
Data Comment
index
00h 00 00 00 00
TPDO2: delete mapping
00h 00 00 00 00
01h 20 00 63 60 TPDO2, entry 1:
01h 00 00 00 00 actual position in increments
02h 20 00 02 10
TPDO2, entry 2: Dummy entry 4 bytes
02h 00 00 00 00
00h 02 00 00 00 TPDO2, enter number of mapped
objects
00h 00 00 00 00
Kollmorgen | kdn.kollmorgen.com | December 2019 131