Kollmorgen S300

4.4.1.2 Transitions of the status machine
The state transitions are affected by internal events (e.g. switching off the DC-link voltage) and by
the flags in the control word (bits 0,1,2,3,7).
Transition Event Action
0 Reset Initialization
1
Initialization completed successfully.
S300/S700 is ready to operate.
none
2
Bit 1 Disable Voltage and Bit 2
Quick Stop are set in the control word (Shut
-
down command).
DC-link voltage may be present.
none
3
Bit 0 is also set
(Switch On command)
Output stage is switched on (enabled),
provided that the hardware enable is present
(logical AND). Drive has torque.
4
Bit 3 is also set
(Enable Operation command)
Motion function is enabled,
depending on the mode that is set.
5
Bit 3 is canceled
(Disable Operation command)
Motion function is inhibited. Drive is stopped,
using the relevant ramp (mode-dependent). The
present position is maintained.
6
Bit 0 is canceled
(Shutdown command)
Output stage is disabled.
Drive has no torque.
7
Bits 1 and 2 are canceled
(Quick Stop / Disable Voltage command)
none
8
Bit 0 is canceled
(Shutdown command)
Output stage is disabled.
Drive has no torque.
9
Bit 1 is canceled
(Disable Voltage command)
Output stage is disabled.
Drive has no torque.
10
Bits 1 and 2 are canceled
(Quick Stop / Disable Voltage command)
Output stage is disabled.
Drive has no torque.
11
Bit 2 is canceled
(Quick Stop command)
Drive is stopped with the emergency braking
ramp. The output stage remains enabled.
Setpoints are canceled
(motion block number, digital setpoint, speed for
jogging or homing). Bit 2 must be set again be-
fore any further motion tasks can be performed.
12
Bit 1 is canceled
(‘Disable Voltage’ command)
Output stage is disabled.
Drive has no torque.
13 Fault reaction active Execute appropriate fault reaction
14 Fault reaction is completed
Drive function is disabled. The power section
may be switched off.
15 "Fault Reset" command received from host
A reset of the fault condition is carried out if no
fault exists currently on the drive.After leaving
the state Fault the Bit7 'Reset Fault' of the
controlword has to be cleared by the host
16 Bit 2 is set Motion function is enabled again.
If the servo amplifier is operated through the control word / status word, then no control commands
may be sent through another communication channel (RS232, CANopen, ASCII channel, Option
board).
CANopen for S300/S700 57
Kollmorgen 11/2018 CANopen Drive Profile