Kollmorgen AKD series User Manual

AKD User Guide |
20.6.10 Homing Mode (hm) (DS402)
20.6.10.1 General information
This section describes the various parameters which are required to define a homing mode.
Objects that are defined in this section
Index Object Name Type Access
607Ch VAR HOME.P: home offset INTEGER32 R/W
6098h VAR HOME.MODE,
HOME.DIR:homing
method
INTEGER8 R/W
6099h ARRAY HOME.V: homing
speeds
UNSIGNED32 R/W
609Ah VAR HOME.ACC,
HOME.DEC: homing
acceleration/deceleration
UNSIGNED32 R/W
Objects that are defined in other sections
Index Object Name Type Section
6040h VAR control word INTEGER16 dc (=> p. 91)
6041h VAR status word UNSIGNED16 dc (=> p. 92)
20.6.10.2 Object Description
Object 607Ch: homing offset (DS402)
The reference offset (home offset) is the difference between the zero position for the application and the zero
point of the machine. All subsequent absolute motion tasks take account of the reference offset.
Index 607Ch
Name home offset, HOME.P
Object code VAR
Data type INTEGER32
Mode hm
Access R/W
PDO mapping possible
Unit user-defined
Value range (-2
31
) to (2
31
-1)
Default value 0
Object 6098h: homing method (DS402)
Index 6098h
Name homing method, HOME.MODE, HOME.DIR
Object code VAR
Data type INTEGER8
Mode hm
Access R/W
PDO mapping possible
109 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