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 initialized 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 con-
dition. This should be done in steps with waiting for the appropriate reaction of the drive (example
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:
RPDO 2 can now be used to supply trajectory data for both axes, e.g.:
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
301 F4 01 00 00 E8 03 00 00
In this example, the first axis receives a trajectory value of 500 increments (Bytes 0 ... 3) and the
second axis receives a trajectory value of 1000 increments.
The axes accept these values, and the positioning is made when the next SYNC telegram is
received.
S300-S700 CANopen | 6 Appendix
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