5.3.7 Example: Homing via SDO
When the S300/S700 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 certain that no-one has altered the parameters in the servoamplifier, then this part can be
omitted, since the servoamplifier save the data in non-volatile memory. The inputs must be configu
-
red as limit switches.
Because the dimension parameters are not finally defined in DS402, you must select these units:
PUNIT = 0 (counts)
VUNIT = 0 (counts/s)
ACCUNIT = 3 (counts/s
2
)
The basic setup of the servoamplifier must be done with the help of the setup software before star
-
ting the homing run. The resolution has been set to 10000 µm/turn in this example.
COB-ID
Control
byte
Index
Sub-
index
Data Comment
Low byte High byte
703 00 boot-up message
603 40 41 60 00
h
00 00 00 00
read profile status
583 4B 41 60 00
h
40 02 00 00
603 23 99 60 01
h
10 27 00 00
v
ref
=10000 counts/s until limit
switch is reached
583 60 99 60 01
h
00 00 00 00
603 23 99 60 02
h
88 13 00 00
v
ref
=5000 counts/s from limit
switch to zero mark
583 60 99 60 02
h
00 00 00 00
603 23 9A 60 00
h
10 27 00 00
Decel. and Accel. ramp
1000counts/s²
583 60 9A 60 00
h
00 00 00 00
603 23 7C 60 00
h
A8 61 00 00
Reference offset 25000counts
583 60 7C 60 00
h
00 00 00 00
120 CANopen for S300/S700
Appendix 11/2018 Kollmorgen
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