Method as
per DS402
Brief description: Homing
command
12
homing to reference switch, with zeroing, negative
count direction
HOME.MODE=5,
HOME.DIR=0
13 to 14
not supported
—
15 to 16
reserved
—
17
homing to negative limit switch, without zeroing,
negative count direction
HOME.MODE=1,
HOME.DIR=0
18
homing to negative limit switch, without zeroing,
positive count direction
HOME.MODE=1,
HOME.DIR=1
19 to 23
not supported
—
24
homing to reference switch, without zeroing, pos-
itive count direction
HOME.MODE=4,
HOME.DIR=1
25 to 27
not supported
—
28
homing to reference switch, without zeroing, neg-
ative count direction
HOME.MODE=4,
HOME.DIR=0
29 to 30
not supported
—
31 to 32
reserved
—
33
homing within a single turn, negative count dir-
ection. If the feedback has an index pulse,
HOME.MODE 11 will be used.
HOME.MODE=7,11
HOME.DIR=0
34
homing within a single turn, positive count direction.
If the feedback has an index pulse, HOME.MODE
11 will be used.
HOME.MODE=7,11
HOME.DIR=1
35
set reference point at present position
HOME.MODE=0,
HOME.DIR=0
36 to 127
reserved
—
5.3.74 Object 6099h: Homing speeds (DS402)
Index
6099h
Name
homing speeds
Object code
ARRAY
Data type
UNSIGNED32
Subindex
1
Description
speed during search for switch, HOME.V
Mode
hm
Access
R/W
PDO mapping
not possible
Unit
velocity units
Value range
0 to (2
32
-1)
Default value
equivalent 60 rpm
Subindex
2
Description
speed during search for zero, HOME.FEEDRATE
Mode
hm
Access
R/W
PDO mapping
not possible
Unit
velocity units
AKD EtherCAT | 5 Appendix
Kollmorgen | kdn.kollmorgen.com | October 2017
147
