Kollmorgen AKD User Manual

Homing type (6098h)
COB-ID Control Index Sub- Data Comment
byte Low byte High byte index
603 2F 60 60 00h 06 00 00 00 mode of operation = homing
583 60 60 60 00h 00 00 00 00 response telegram
603 40 41 60 00h 00 00 00 00 read profile status, response: 0250h Voltage
Enabled
583 4B 41 60 00h 40 02 00 00 response : 0240h
603 2B 40 60 00h 06 00 00 00 Control word Transition_2,"ready to switch
on". Shutdown
583 60 40 60 00h 00 00 00 00 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
603 2B 40 60 00h 0F 00 00 00 Transition_4,"operation enable"
583 60 40 60 00h 00 00 00 00 response telegram
603 40 41 60 00h 00 00 00 00 read profile status
583 4B 41 60 00h 37 02 00 00 response telegram
603 2B 40 60 00h 1F 00 00 00 Homing_operation_start
583 60 40 60 00h 00 00 00 00 response telegram
603 40 41 60 00h 00 00 00 00 read profile status, response: homing not fin-
ished
583 4B 41 60 00h 37 02 00 00 response: homing not finished
603 40 41 60 00h 00 00 00 00 read profile status, response: homing fin-
ished
583 4B 41 60 00h 37 16 00 00 response:homing finished
Bit 12 in SDO 6041 indicates, whether homing is finished. Reading of the profile status is not necessary.
AKD CANopen | 8 Appendix
Kollmorgen™ | November 2012 145

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