Kollmorgen AKD User Manual

AKD CANopen | 7 CANopen Drive Profile
7.10 Homing Mode (hm) (DS402)
7.10.1 General information
This section describes the various parameters which are required to define a homing mode.
7.10.1.1 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 accel./decel. UNSIGNED32 R/W
7.10.1.2 Objects that are defined in other sections
Index Object Name Type Section
6040h VAR control word INTEGER16 dc (=> p. 90)
6041h VAR status word UNSIGNED16 dc (=> p. 91)
7.10.2 Object Description
7.10.2.1 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 not possible
Unit user-defined
Value range (-2
31
) to (2
31
-1)
Default value 0
7.10.2.2 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 not possible
Unit position units
Value range -128 to 127
Default value 0
110 Kollmorgen™ | November 2012

Kollmorgen AKD Specifications

General

Control Modes	Torque, Velocity, Position
Communication Interfaces	EtherCAT, CANopen
Feedback Options	Resolver
Safety	STO (Safe Torque Off), SS1 (Safe Stop 1)
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overtemperature
Operating Temperature Range	0°C to 55°C
Humidity	5% to 95% non-condensing