Kollmorgen S300

4.10.4.2 Object 6098h: homing method (DS402)
Index 6098
h
Name
homing method
Object code
VAR
Data type
INTEGER8
Mode
hm
Access
rw
PDO mapping
possible
Unit
position units
Value range
-128 ... 127
Default value
0
EEPROM
yes
The following homing methods are supported:
Method as
per DS402
Brief description: Homing ASCII command
-128..-9 reserved —
-8 move to absolute SSI positionS —
-7 move to mechanical stop, following error sets reference NREF = 9, DREF = 0
-6 move to mechanical stop, following error sets reference NREF = 9, DREF = 1
-5, -4 reserved —
-3 move to mechanical stop, with zeroing NREF = 7
-2 set reference point at present position, allowing for lag/following error NREF = 6
-1 homing within a single turn (direction of rotation depends on distance) NREF = 5, DREF= 2
0 reserved —
1 homing to negative limit switch, with zeroing, negative count direction NREF = 2, DREF= 0
2 homing to positive limit switch, with zeroing, positive count direction NREF = 2, DREF= 1
3..7 not supported —
8 homing to reference switch, with zeroing, positive count direction NREF = 1, DREF= 1
9..11 not supported —
12 homing to reference switch, with zeroing, negative count direction NREF = 1, DREF= 0
13..14 not supported —
15..16 reserved —
17 homing to negative limit switch, without zeroing, negative count direction NREF = 4, DREF= 0
18 homing to negative limit switch, without zeroing, positive count direction NREF = 4, DREF= 1
19..23 not supported —
24 homing to reference switch, without zeroing, positive count direction NREF = 3, DREF= 1
25..27 not supported —
28 homing to reference switch, without zeroing, negative count direction NREF = 3, DREF= 0
29..30 not supported —
31..32 reserved —
33 homing within a single turn, negative count direction NREF = 5, DREF= 0
34 homing within a single turn, positive count direction NREF = 5, DREF= 1
35 set reference point at present position NREF = 0
36..127 reserved —
82 CANopen for S300/S700
CANopen Drive Profile 11/2018 Kollmorgen