PD2-C CANopen Online Manual

6099h Homing Speed

Object description


Index 6099h
Object name Homing Speed
Object Code ARRAY
Data type UNSIGNED32
Savable yes, category: application
Firmware version FIR-v1426
Change history  

Value description


Subindex 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access read only
PDO mapping no
Allowed values  
Preset value 02h


Subindex 01h
Name Speed During Search For Switch
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values  
Preset value 00000032h


Subindex 02h
Name Speed During Search For Zero
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values  
Preset value 0000000Ah

Description

This value is calculated with the numerator in object 2061h and the dominator in object 2062h.

The speed for the search for the switch is specified in subindex 1.

The (lower) speed for the search for the reference position is specified in subindex 2.

Note:
  • The speed in subindex 2 is simultaneously the initial speed when starting the acceleration ramp. If this is set too high, the motor loses steps or fails to turn at all. If the setting is too high, the index marking will be overlooked. The speed in subindex 2 should therefore be less than 1000 steps per second.
  • The speed in subindex 1 must be greater than the speed in subindex 2.
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