Device Control (Dc) - Kollmorgen S300 Interface Manual

CANopen Drive Profile
4.4

Device control (dc)

The device control of the S300/S700 can be used to carry out all the motion functions in the corre-
sponding modes. The control of the S300/S700 is implemented through a mode-dependent status
machine. The status machine is controlled through the control word
(Þ p.58).
The mode setting is made through the object "Modes of Operation" (Þ p.101). The states of the
status machine can be revealed by using the status word (Þ p.60).
4.4.1 Status Machine (DS402)
Power
Disabled
Power
Enabled
4.4.1.1 States of the Status Machine
State
Not Ready for Switch On
Switch On Disable
Ready to Switch On
Switched On
Operation Enable
Quick Stop Active
Fault Reaction Active
Fault
56
11/2018
Start
0
Not Ready to
Switch On
1
Switch On
Disabled
2
Ready to
Switch On
3
Switched On
9
8
4
Operation
Enable
Description
S300/S700 is not ready to switch on, there is no operational readiness (BTB/RTO)
signaled from the controller program.
S300/S700 is ready to switch on, parameters can be transferred,
the DC-link voltage can be switched on, motion functions cannot be carried out yet.
DC-link voltage may be switched on, parameters can be transferred,
motion functions cannot be carried out yet.
DC-link voltage must be switched on, parameters can be transferred, motion func-
tions cannot be carried out yet, output stage is switched on (enabled).
No fault present, output stage is enabled, motion functions are enabled.
Drive has been stopped with the emergency ramp, output stage is enabled, motion
functions are not enabled.
A fault has occured and the drive is stopped with the quickstop ramp.
A fault is active, the drive has been stopped and disabled.
Fault
Reaction Active
7
6
10 12
5
11
16
CANopen for S300/S700
Kollmorgen
13
Fault
14
Fault
15
Quick Stop
Active