Kollmorgen S300

To start up the axes, the servo amplifiers must be put into the operational status (operation enable)
and the network management functions must be started.
The network management functions enable the application of the Process Data Objects (PDOs)
and are initia lized by the following telegram for both axes:
Switch the NMT (Network Management) status machine to operation enable:
COB-ID Command specifier (CS) Node-ID Comment
0 1 1 NMT enable for all axes
Next, power is applied to each servo amplifier, and they are put into the operation enable condition.
This should be done in steps with waiting for the appropriate reaction of the drive (e.g. axis 1):
COB-ID
Data Comment
201 06 00 Shutdown command
181 31 02 State Ready_to_switch_on
201 07 00 Switch_on command
181 33 02 State Switched_on
201 0F 00 Enable_operation command
181 37 02 State Operation_enabled
201 1F 00 Enable IP-mode
181 37 12
IP-mode enable
The configuration above now enables a cyclical sequence, as shown in the diagram:
CANopen for S300/S700 131
Kollmorgen 11/2018 Appendix
Control
Drive
Drive
Control
t
cycle
Setpoint
Axis 1
Sync
Sync
Setpoint
Axis 2
Position & Status
Axis 1
Position & Status
Axis 2
400 µs
cycle
t
1 ms per axis at 1 MBaud
e.g. 2 axes