General Definitions - Kollmorgen S300 Interface Manual

Kollmorgen
4.2

General Definitions

This chapter describes objects with a general validity (e.g. Object 1000
section explains the free configuration of Process Data Objects ("free mapping").
4.2.1 General Objects
4.2.1.1 Object 1000h: Device Type (DS301)
This object describes the device type (servo drive) and device functionality (DS402 drive profile).
Definition:
MSB
31
The device profile number is DS402, the type is 2 for servo amplifiers, the mode bits 28 to 31 are
manufacturer specific and may be changed from its actual value of 0. A read access delivers
0x00002192 at the moment.
Index
Name
Object code
Data type
Category
Access
PDO mapping
Value range
Default value
4.2.1.2 Object 1001h: Error register (DS301)
This object is an error register for the device. The device can map internal errors into this byte. It is
a part of an Emergency object.
Index
Name
Object code
Data type
Category
Access
PDO mapping
Value range
Default value
Error reasons to be signaled:If a bit is set to 1 the specified error has occurred. The generic error is
signaled at any error situation.
Bit
CANopen for S300/S700
Additional information
Mode bits
Description
0 generic error
1 current
2 voltage
3 temperature
11/2018
Type
24 23 16 15
1000
h
device type
VAR
UNSIGNED32
mandatory
ro
not possible
UNSIGNED32
no
1001
h
Error register
VAR
UNSIGNED8
mandatory
ro
not possible
UNSIGNED8
no
Bit Description
4 communication error (overrun, error state)
5 device profile specific
6 reserved (always 0)
7 manufacturer specific
CANopen Drive Profile
Device Type). The next
h
Device profile number
402 =192
d h
LSB
0
27