Kollmorgen S300 User Manual

S300-S700 CANopen | 6 Appendix
6.3.2 Example: Operating the Status Machine
The status machine must be used sequentially during boot-up period. Leaving out a status is not
possible.
When the S300/S700 is switched on and the boot-up message has been detected, communica-
tion via SDOs can be initiated. For example: all the parameters can be read out or written to, or the
status machine for the drive can be controlled.
The state of the status machine can be obtained through the query of Object 6041 Sub 0.
Directly after switch-on, a value will be returned, such as 0240h. This corresponds to the status
"Switch on disabled".
The following data would then be visible on the CAN bus:
COB-ID Control byte
Index Subindex
Data Comment
Low byte High byte
603 40 41 60 00h 40 00 00 00
583 4B 41 60 00h 40 02 00 00
2 bytes of data status
If the supply power is present and the hardware enable is at the High level (24 V to DGND) then
you can try to switch the drive to the state "Switched on" by writing the Controlword (Object 6040
Sub 0). If this is successful, there will be a positive acknowledgement in the SDO reply (control
byte 0 in the data field = 60h).
Switch on
The messages then appear as follows:
COB-ID Control byte
Index Subindex
Data
Comment
Low byte High byte
603 2B 40 60 00h 06 00 00 00 Shut down
583 60 40 60 00h 00 00 00 00
603 2B 40 60 00h 07 00 00 00 Switch on
583 60 40 60 00h 00 00 00 00
control word = 0x0007:
Bit 0, Bit 1, Bit 2 set => Switch On, Disable Voltage off, Quick Stop off
Status query 2
The new status can then be queried again, and returns the following result:
COB-ID Control byte
Index Subindex
Data
Comment
Low byte High byte
603 40 41 60 00h — query status
583 4B 41 60 00h 33 02 00 00
Status = 0x0233:
Bit 0, Bit 1, Bit 5 set => ready to Switch On, Bit 9 set => RS232 remote operation possible
118 Kollmorgen | kdn.kollmorgen.com | December 2019

Kollmorgen S300 Specifications

General

Brand	Kollmorgen
Model	S300
Category	Amplifier
Language	English