Kollmorgen S300 Interface Manual page 131

Kollmorgen
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 initia lized by the following telegram for both axes:
Switch the NMT (Network Management) status machine to operation enable:
COB-ID
Next, power is applied to each servo amplifier, and they are put into the operation enable condition.
This should be done in steps with waiting for the appropriate reaction of the drive (e.g. axis 1):
COB-ID
201
181
201
181
201
181
201
181
The configuration above now enables a cyclical sequence, as shown in the diagram:
Control
Drive
Drive
Control
e.g. 2 axes
t
cycle
CANopen for S300/S700
Command specifier (CS)
0 1
Data
06 00
31 02
07 00
33 02
0F 00
37 02
1F 00
37 12
Sync
1 ms per axis at 1 MBaud
11/2018
Node-ID
1
Comment
Shutdown command
State Ready_to_switch_on
Switch_on command
State Switched_on
Enable_operation command
State Operation_enabled
Enable IP-mode
IP-mode enable
400 µs
t cycle
Appendix
Comment
NMT enable for all axes
Sync
131