S300-S700 CANopen | 6 Appendix
6.3.7 Example: Homing via SDO
When the S300/S700 is operated as a linear axis, a homing point must be defined before pos-
itioning 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. Some of the parameters that affect the
homing movement are set via the bus. If you can ensure that nobody has altered the servoampli-
fier parameters, then this part can be omitted, since the servoamplifier saves the data in non-volat-
ile memory. The inputs must be configured 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/s2)
The basic setup of the servoamplifier must be done with the help of the setup software before start-
ing 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 00h 00 00 00 00 read profile status
583 4B 41 60 00h 40 02 00 00
603 23 99 60 01h 10 27 00 00 vref=10000 counts/s until limit switch is
reached
583 60 99 60 01h 00 00 00 00
603 23 99 60 02h 88 13 00 00 vref=5000 counts/s from limit switch to
zero mark
583 60 99 60 02h 00 00 00 00
603 23 9A 60 00h 10 27 00 00 Decel. and Accel. ramp 1000 counts/s²
583 60 9A 60 00h 00 00 00 00
603 23 7C 60 00h A8 61 00 00 Reference offset 25000 counts
583 60 7C 60 00h 00 00 00 00
Homing type (6098)
COB-
ID
Control
byte
Index
Sub-
index
Data Comment
Low
byte
High
byte
603 2F 60 60 00h 06 00 00 00 mode of operation = homing
583 60 60 60 00h 00 00 00 00
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
603 2B 40 60 00h 06 00 00 00 Controlword Transition_2,"ready to
switch on". Shutdown
583 60 40 60 00h 00 00 00 00
603 2B 40 60 00h 07 00 00 00 Transition_3, "switch on". switch on
583 60 40 60 00h 00 00 00 00
603 2B 40 60 00h 0F 00 00 00 Transition_4,"operation enable"
583 60 40 60 00h 00 00 00 00
603 40 41 60 00h 00 00 00 00 read profile status
583 4B 41 60 00h 37 02 00 00
603 2B 40 60 00h 1F 00 00 00 Homing_operation_start
583 60 40 60 00h 00 00 00 00
603 40 41 60 00h 00 00 00 00 read profile status, response: homing not
finished
583 4B 41 60 00h 37 02 00 00
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
Bit 12 in SDO 6041 indicates, whether homing is finished. Reading of the profile status isn't neces-
sary.
122 Kollmorgen | kdn.kollmorgen.com | December 2019
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