6099h Homing Speed Function Specifies the speeds for homing mode (6098h) in user-defined units. 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.
6099h Homing Speed Function Specifies the speeds for homing mode (6098h) in user-defined units. 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.
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.
