Guide To Setup; Important Configuration Parameters For Can Bus Operation - Kollmorgen S300 Manual

S300-S700 CANopen | 3 Installation / Setup

3.5 Guide to setup

Only professional personnel with extensive knowledge of control and drive technology are
allowed to setup the servo amplifier.
Risk of death or serious injury for humans working in the machine. The drive performing
unplanned movements during commissioning cannot be ruled out. Make sure that, even if the
drive starts to move unintentionally, no danger can result for personnel or machinery. The meas-
ures you must take in this regard for your task are based on the risk assessment of the applic-
ation.
Check assembly /
installation
Connect PC, start
setup software
Setup basic functions
Save parameters
Start up com-
munication
Test communication
Setup position con-
troller

3.6 Important configuration parameters for CAN bus operation

The following parameters are important for CAN operation:
1. CBAUD : transmission rate for the CAN bus
2. ADDR : The ADDR command defines the fieldbus address of the amplifier. After making a
3. AENA: This can be used to define the state of the software enable when the amplifier is
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Automatic Restart!
Check that all the safety instructions in the instructions manual for the
servo amplifier and this manual have been observed and imple-
mented. Check the setting for the station address and baud rate.
Use the setup software to set the parameters for the servo amplifier.
Start up the basic functions of the servo amplifier and optimize the cur-
rent, speed and position controllers. This section of the setup is
described in the in the online help of the setup software.
When the parameters have been optimized, save them in the servo
amplifier.
The altered parameters will only become effective after a soft ware-
reset (warm boot). To do this, click the Reset button in the tool bar of
the setup software.
It is required, that the software protocol ( see from (➜ # 27)) is imple-
mented in the master.
Adjust the transmission rate of the S300/S700 to match the master.
Check for the bootup-message, when you switch on the drive. Do an
SDO read access on index 0x1000 subindex 0 (DeviceType). See
examples from (➜ # 117).
Setup the position controller, as described in the setup software online
help.
change to the address, all the parameters must be saved in the EEPROM, and the amplifier
must be switched off and on again.
switched on. The software enable provides an external control with the facility of enabling or
disabling the output stage through software control. On devices that function with an analog
setpoint (OPMODE=1,3), the software enable is set automatically when the amplifier is
switched on, so that these instruments are immediately ready to operate (provided that the
hardware enable is present). For all other instruments, the software enable is set to the value
of AENA at switch-on. The variable AENA also has a function for the reset of the amplifier
after a fault (via digital input 1 or through the ASCII command CLRFAULT). For errors that can
be reset through software, after the error/fault has been cleared, the software enable is set to
the state of AENA. In this way, the response of the amplifier for a software reset is analogous
to the switch-on behavior.