Object 6099H: Homing Speeds (Ds402); Object 609Ah: Homing Acceleration (Ds402) - Kollmorgen S300 Manual

S300-S700 CANopen | 5 CANopen Drive Profile
Description of the homing methods
Choosing a homing method by writing a value to homing method (Object 6098h) will clearly estab-
lish:
and where appropriate
The reference position is give by the reference offset (Object 607Ch). The manufacturer specific
parameter ENCZERO (Object 3537h, Subindex 01h) can be used to adapt the initial position of
the 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.

5.10.4.3 Object 6099h: Homing speeds (DS402)

Index
Name
Object code
Data type
Subindex
Description
Mode
Access
PDO mapping
Unit
Value range
Default value
EEPROM
Subindex
Description
Mode
Access
PDO mapping
Unit
Value range
Default value
EEPROM

5.10.4.4 Object 609Ah: Homing acceleration (DS402)

Index
Name
Object code
Data type
Mode
Access
PDO mapping
Unit
Value range
Default value
EEPROM
84 Kollmorgen | kdn.kollmorgen.com | December 2019
the homing signal (P-Stop, N-Stop, reference switch)
the direction of actuation
the position of the index pulse.
6099h
homing speeds
ARRAY
UNSIGNED32
1
speed during search for switch
hm
rw
possible
velocity units
32
0 to (2 -1)
equivalent 60 rpm
yes
2
speed during search for zero
hm
rw
not possible
velocity units
32
0 to (2 -1)
1/8 * Object 6099 sub 1
yes
609Ah
homing acceleration
VAR
UNSIGNED32
hm
rw
possible
acceleration units
32
0 to (2 -1)
0
yes