Example: Operating The Status Machine - Kollmorgen S300 Interface Manual

Appendix
5.3.2

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, communication
via SDOs can be initiated. For example: all the parameters can be read out or written to, or the sta-
tus 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 0240
"Switch on disabled".
The following data would then be visible on the CAN bus:
COB-ID
603
583
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 = 60
Switch on
The messages then appear as follows:
COB-ID
603
583
603
583
control word = 0x0007
Status query 2
The new status can then be queried again, and returns the following result:
COB-ID
603
583
Status = 0x0233
116
11/2018
Index
Control byte
Low byte
40 41
4B 41
2 bytes of data
).
h
Index
Control byte
Low byte
2B 40
60 40
2B 40
60 40
Meaning: Bit 0, Bit 1, Bit 2 set Þ Switch On,
Disable Voltage off, Quick Stop off
Index
Control byte
Low byte
40 41
4B 41
Meaning: Bit 0, Bit 1, Bit 5 set Þ ready to Switch On,
Bit 9 set Þ remote, operation possible via RS232
. This corresponds to the status
h
Sub-
Data
index
High byte
60 00 40 00 00 00
h
60 00 40 02 00 00
h
status
Sub-
Data
index
High byte
60 00 06 00 00 00
h
60 00 00 00 00 00
h
60 00 07 00 00 00
h
60 00 00 00 00 00
h
Sub-
Data
index
High byte
60 00
h
60 00 33 02 00 00
h
CANopen for S300/S700
Kollmorgen
Comment
Comment
Shut down
Switch on
Comment
—
query status