Description Of The Homing Methods - Kollmorgen S300 Interface Manual

Kollmorgen
4.10.4.2.1

Description of the homing methods

Choosing a homing method by writing a value to homing method (Object 6098
lish:
l
l
and where appropriate
l
The reference position is give by the reference offset (Object 607C
parameter ENCZERO (Object 3537
motor for homing to match the index pulse for homing with zeroing.
A detailed description of the types of homing movement can be found in the description of the setup
software DriveGUI.exe.
4.10.4.3 Object 6099h: homing speeds (DS402)
Index
Name
Object code
Number of elements
Data type
Subindex
Brief description
Mode
Access
PDO mapping
Unit
Value range
EEPROM
Default value
Subindex
Brief description
Mode
Access
PDO mapping
Unit
Value range
EEPROM
Default value
4.10.4.4 Object 609Ah: homing acceleration (DS402)
Index
Name
Object code
Data type
Mode
Access
PDO mapping
Unit
Value range
Default value
EEPROM
CANopen for S300/S700
the homing signal (P-Stop, N-Stop, reference switch)
the direction of actuation
the position of the index pulse.
6099
homing speeds
ARRAY
2
UNSIGNED32
1
speed during search for switch
hm
rw
possible
velocity units
0 ... (2
yes
equivalent 60 rpm
2
speed during search for zero
hm
rw
not possible
velocity units
0 ... (2
yes
1/8 * Object 6099 sub 1
609A
homing acceleration
VAR
UNSIGNED32
hm
rw
possible
acceleration units
0 ... (2
0
yes
11/2018
, Subindex 01 ) can be used to adapt the initial position of the
h h
h
32
-1)
32
-1)
h
32
-1)
CANopen Drive Profile
) will clearly estab-
h
). The manufacturer-specific
h
83