Kollmorgen AKD series User Manual

AKD User Guide | HOME Parameters
HOME.MODE
General Information
Type R/W Parameter
Description Selects the homing mode; active in opmode 2 (position) only.
Units N/A
Range 0 to 10
Default Value 0
Data Type Integer
See Also N/A
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
6098h6098h M_01-00-00-000
Modbus 406 M_01-03-00-000
Description
HOME.MODE specifies the homing procedure of the drive. The homing modes available in the drive are sum-
marized in the following table; see 12.1 Homing for a detailed discussion and examples for each mode:
Mode Description
0 Home using current position
1 Find limit input
2 Find input limit then find zero angle
3 Find input limit then find index
4 Find home input
5 Find home input then find zero angle
6 Find home input then find index
7 Find zero angle
8 Move until position error exceeded
9
Move until position error exceeded, then
find zero angle
Related Topics
12.1 Homing
450 Kollmorgen | December 2010

Kollmorgen AKD series Specifications

General

Continuous Current	Up to 180 A
Control Modes	Position, Velocity, Torque
Communication Interfaces	EtherCAT, CANopen, Modbus TCP/IP
Feedback Options	Resolver, Encoder
Safety Features	Safe Torque Off (STO), Safe Stop 1 (SS1)
Protection Features	Overvoltage, Undervoltage, Overcurrent, Short Circuit, Overtemperature
Switching Frequency	8 kHz, 16 kHz
Ambient Temperature	0°C to 40°C
Operating Temperature	0 - 40 °C (derating may apply)
Humidity	5% to 95% non-condensing