Kollmorgen AKD series User Manual

Now the homing can be set and started.
COB-ID Control Index Sub- Data Comment
byte Low byte High byte index
603 2F 60 60 00h 06 00 00 00 Operation mode = homing
583 60 60 60 00h 00 00 00 00 response telegram
603 2F 98 60 00h 0C 00 00 00 homing type 12, negative direction (DS402)
583 60 98 60 00h 00 00 00 00 response telegram
603 23 99 60 01h 40 19 01 00 homing speed
72000 units/s=2s-1
583 80 99 60 01h 31 00 09 06 response telegram
603 2B 40 60 00h 06 00 00 00 Transition_2,"ready to switch on".Shutdown
583 60 40 60 00h 00 00 00 00 response telegram
183 21 02 response telegram
603 2B 40 60 00h 07 00 00 00 Transition_3,"switch on".Switch on
583 60 40 60 00h 00 00 00 00 response telegram
183 33 02 response telegram
603 2B 40 60 00h 0F 00 00 00 Control word: Operation Enable
583 60 40 60 00h 00 00 00 00 response telegram
183 37 02 response telegram
603 2B 40 60 00h 1F 00 00 00 start homing
response telegram
response: target reached
response: homing attained
583 60 40 60 00h 00 00 00 00 response telegram
183 37 06
183 37 16
Finish homing with Control word 1_RPDO
COB-ID Data Comment
203 0F 00
Switch to Profile Position Mode and set ramps for positioning
COB-ID Control Index Sub- Data Comment
byte Low byte High byte index
603 2F 60 60 00h 01 00 00 00 Profile Positioning Mode
583 60 60 60 00h 00 00 00 00 response telegram
603 23 83 60 00h 32 00 00 00 50ms acceleration time
583 60 83 60 00h 00 00 00 00 response telegram
603 23 84 60 00h 32 00 00 00 50ms deceleration time
583 60 84 60 00h 00 00 00 00 response telegram
AKD User Guide |
Kollmorgen | December 2010 142

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