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S300 with Omron NX over Ethercat

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Hi all!

I have secuessfully connected a AKD to a Omron NX over Ethercat and was able to do motion task, jogging and homing. I followed the manual done by Omron.

But with S300 i can't get that to work. The only way to move the motor is with mode 5, but then only relative mode is working due to I can't execute the homing.

My question is. Is it possible with PLCOpen function blocks (Omron use those) to get Direct Motion Task to work with an s300? 

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We have never tried a S300 with EtherCAT option card and Omron PLC.  The S300 implementation predates most EtherCAT drives so there are a few tricks to get it to work with any PLC other than Beckhoff.

S300 and AKD are completely different EtherCAT implementation.  An AKD setup will not work with S300 the same way

S300 parameter DRVCFG3 bit 16 has to be set for the drive to recognize most modern CoE opmodes. 

S300 has different CoE OpMode settings (0x6060) than most drives.  Please refer to the S300 EtherCAT user manual for more details.  https://www.kollmorgen.com/en-us/products/drives/servo/s300/_manuals/kollmorgen-s300-s400-s600-s700-servo-drive-ethercat-communication-manual-en-rev07-2016/

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