Kollmorgen S300 Manual page 132

S300-S700 CANopen | 6 Appendix
Here it is assumed that both drives accept new trajectory values with every SYNC command, and
have to return their incremen tal position and manufacturer status values. The communication
parameters must be set accordingly.
Axis 1:
COB-
The other Tx-PDOs 3 and 4 should be switched off to minimize bus-load:
COB-
The same has to be done for axis 2.
In order to be able to make trajectory movements, both servo amplifiers must be operating in the
appropriate mode. This is set through Index 6060h:
COB-
The cycle interval for the IP-mode shall be 1 ms. This has to be defined with Object 60C1 sub 1
and 2:
COB-
The same need to be done for axis 2.
132 Kollmorgen | kdn.kollmorgen.com | December 2019
Index
Control
Low High
ID byte
byte byte
601 2F 01 14
581 60 01 14
602 2F 01 14
582 60 01 14
601 2F 01 18
581 60 01 18
602 2F 01 18
582 60 01 18
Index
Control
Low High
ID byte
byte byte
601 23 02 18
581 60 02 18
601 23 03 18
581 60 03 18
Index
Control
Low High
ID byte
byte byte
601 2F 60 60
581 60 60 60
602 2F 60 60
582 60 60 60
Index
Control
Low High
ID byte
byte byte
601 2F C2 60
581 60 C2 60
601 2F C2 60
581 60 C2 60
Sub-
index Data Comment
02h 01 00 00 00
RPDO2 axis 1, reaction on every sync
02h 00 00 00 00
02h 01 00 00 00
RPDO2 axis 2, reaction on every sync
02h 00 00 00 00
02h 01 00 00 00
TPDO2 axis 1, reaction on every sync
02h 00 00 00 00
02h 01 00 00 00
TPDO2 axis 2, reaction on every sync
02h 00 00 00 00
Sub-
Data Comment
index
01h 81 03 00 C0
Switch off TPDO3
01h 00 00 00 00
01h 81 04 00 C0
Switch off TPDO4
01h 00 00 00 00
Sub-
Data Comment
index
00h 07 00 00 00
Set IP mode for axis 1
00h 00 00 00 00
00h 07 00 00 00
Set IP mode for axis 2
00h 00 00 00 00
Sub-
Data Comment
index
01h 01 00 00 00
Interpolation time unit 1
01h 00 00 00 00
02h FD 00 00 00 Interpolation time index -3
02h 00 00 00 00 => Cycle time = 1 * 10 -3 s