Kollmorgen S300

4.10.4.2.1 Description of the homing methods
Choosing a homing method by writing a value to homing method (Object 6098
h
) will clearly estab
-
lish:
l
the homing signal (P-Stop, N-Stop, reference switch)
l
the direction of actuation
and where appropriate
l
the position of the index pulse.
The reference position is give by the reference offset (Object 607C
h
). The manufacturer-specific
parameter ENCZERO (Object 3537
h
, Subindex 01
h
) can be used to adapt the initial position of the
motor for homing to match the index pulse for homing with zeroing.
A detailed description of the types of homing movement can be found in the description of the setup
software DriveGUI.exe.
4.10.4.3 Object 6099h: homing speeds (DS402)
Index 6099
h
Name
homing speeds
Object code
ARRAY
Number of elements
2
Data type
UNSIGNED32
Subindex 1
Brief description
speed during search for switch
Mode
hm
Access
rw
PDO mapping
possible
Unit
velocity units
Value range
0 ... (2
32
-1)
EEPROM
yes
Default value
equivalent 60 rpm
Subindex 2
Brief description
speed during search for zero
Mode
hm
Access
rw
PDO mapping
not possible
Unit
velocity units
Value range
0 ... (2
32
-1)
EEPROM
yes
Default value
1/8 * Object 6099 sub 1
4.10.4.4 Object 609Ah: homing acceleration (DS402)
Index 609A
h
Name
homing acceleration
Object code
VAR
Data type
UNSIGNED32
Mode
hm
Access
rw
PDO mapping
possible
Unit
acceleration units
Value range
0 ... (2
32
-1)
Default value
0
EEPROM
yes
CANopen for S300/S700 83
Kollmorgen 11/2018 CANopen Drive Profile