Example: Operating The Status Machine - Kollmorgen AKD User Manual

8.2.1.2 Example: Operating the Status Machine

When the AKD is switched on and the boot-up message has been detected, communication via SDOs can be ini-
tiated. 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 6041h Sub 0.
Directly after switch-on, a value will be returned, such as 0240h. This corresponds to the status "Switch on dis-
abled".
The following data would then be visible on the CAN bus:
COB-ID Control
byte
603 40
583 4B
2 bytes of data
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 Control word (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
603 2B
583 60
603 2B
583 60
control word = 0x0007 meaning:
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
603 40
583 4B
Status = 0x0233 meaning:
Bit 0, Bit 1, Bit 5 set => ready to Switch On,
Bit 9 set => remote, operation possible via RS232
The status machine must be used sequentially during boot-up period. Leav-
ing out a state (except for state "switched on") is not possible.
Index Sub-
Low byte High index
byte
41 60 00h
41 60 00h
Index Sub-
Low byte High index
byte
40 60 00h
40 60 00h
40 60 00h
40 60 00h
Index Sub-
Low byte High index
byte
41 60 00h
41 60 00h
Data Comment
40 00 00 00
40 02 00 00 response telegram
status
Data Comment
06 00 00 00 Shut down
00 00 00 00 response telegram
07 00 00 00 Switch on
00 00 00 00 response telegram
Data Comment
— query status
33 02 00 00 response telegram
Kollmorgen™ | November 2012
AKD CANopen | 8 Appendix
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