Example: Homing via SDO
When the AKD is operated as a linear axis, a reference/homing point must be defined before positioning tasks
can be executed. This must be done by executing a homing run in the Homing mode (0x6).
This example shows the procedure in the Homing mode.
Now some of the parameters that affect the homing movement are set via the bus. If you can be absolutely cer-
tain that no-one has altered the parameters in the servoamplifier, then this part can be omitted, since the ser-
voamplifier save the data in non-volatile memory. The inputs must be configured as limit switches.
Because the dimension parameters are not finally defined in DS402, you must select these units:
UNIT.PROTARY = 3
UNIT.VROTARY = 3
UNIT.ACCROTARY = 3
The basic setup of the servoamplifier must be done with the help of the setup software before starting the hom-
ing run. The resolution has been set to 10000 µm/turn in this example.
COB-ID Control Index Sub- Data Comment
byte Low byte High byte index
703 00 boot-up message
603 40 41 60 00h 00 00 00 00 read profile status
583 4B 41 60 00h 40 02 00 00 response : 0240h
603 23 99 60 01h 10 27 00 00 v
ref
=10000 counts/s until limit switch is
reached
583 60 99 60 01h 00 00 00 00 response telegram
603 23 99 60 02h 88 13 00 00 v
ref
=5000 counts/s from limit switch to zero
mark
583 60 99 60 02h 00 00 00 00 response telegram
603 23 9A 60 00h 10 27 00 00 Decel. and Accel. ramp 1000counts/s²
583 60 9A 60 00h 00 00 00 00 response telegram
603 23 7C 60 00h A8 61 00 00 Reference offset 25000counts
583 60 7C 60 00h 00 00 00 00 response telegram
AKD User Guide |
Kollmorgen | December 2010 138
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