Kollmorgen S300

4.2 General Definitions
This chapter describes objects with a general validity (e.g. Object 1000
h
Device Type). The next
section explains the free configuration of Process Data Objects ("free mapping”).
4.2.1 General Objects
4.2.1.1 Object 1000h: Device Type (DS301)
This object describes the device type (servo drive) and device functionality (DS402 drive profile).
Definition:
MSB LSB
Additional information Device profile number
Mode bits Type 402
d
=192
h
31 24 23 16 15 0
The device profile number is DS402, the type is 2 for servo amplifiers, the mode bits 28 to 31 are
manufacturer specific and may be changed from its actual value of 0. A read access delivers
0x00002192 at the moment.
Index
1000
h
Name
device type
Object code
VAR
Data type
UNSIGNED32
Category
mandatory
Access
ro
PDO mapping
not possible
Value range
UNSIGNED32
Default value
no
4.2.1.2 Object 1001h: Error register (DS301)
This object is an error register for the device. The device can map internal errors into this byte. It is
a part of an Emergency object.
Index 1001
h
Name
Error register
Object code
VAR
Data type
UNSIGNED8
Category
mandatory
Access
ro
PDO mapping
not possible
Value range
UNSIGNED8
Default value
no
Error reasons to be signaled:If a bit is set to 1 the specified error has occurred. The generic error is
signaled at any error situation.
Bit Description Bit Description
0 generic error 4 communication error (overrun, error state)
1 current 5 device profile specific
2 voltage 6 reserved (always 0)
3 temperature 7 manufacturer specific
CANopen for S300/S700 27
Kollmorgen 11/2018 CANopen Drive Profile