6099h Homing Speed Function Specifies the speeds for the Homing Mode (6098h) in revolutions/s. This object is computed with user-defined units (see " User-defined units"). The motor controller is delivered with the units set to revolutions per minute. Object description Index 6099h Object Name Homing Speed Object Code ARRAY Data type UNSIGNED32 Saveable yes, category: application Firmware Version FIR-v1426 Change History Value description Sub-index 00h Name Highest Sub-index Supported Data type UNSIGNED8 Access Read only PDO Mapping No Admissible Values Specified Value 02h Sub-index 01h Name Speed During Search For Switch Data type UNSIGNED32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 00000032h Sub-index 02h Name Speed During Search For Zero Data type UNSIGNED32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 0000000Ah Description This value is computed with the numerator in object 2061h and the denominator in object 2062h. The speed for the search of the switch is specified in sub-index 1. The (lower) speed for the search for the reference position is specified in Sub-index 2. Note The speed in Sub-index 2 is also the starting speed for starting the acceleration ramp. If this is set too high, the motor loses steps or does not rotate at all. An excessive setting leads to the index marking being overlooked. The speed in sub-index 2 should therefore be below 1000 steps per second. The speed in sub-index 1 must be greater than the speed in sub-index 2.
6099h Homing Speed Function Specifies the speeds for the Homing Mode (6098h) in revolutions/s. This object is computed with user-defined units (see " User-defined units"). The motor controller is delivered with the units set to revolutions per minute. Object description Index 6099h Object Name Homing Speed Object Code ARRAY Data type UNSIGNED32 Saveable yes, category: application Firmware Version FIR-v1426 Change History Value description Sub-index 00h Name Highest Sub-index Supported Data type UNSIGNED8 Access Read only PDO Mapping No Admissible Values Specified Value 02h Sub-index 01h Name Speed During Search For Switch Data type UNSIGNED32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 00000032h Sub-index 02h Name Speed During Search For Zero Data type UNSIGNED32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 0000000Ah Description This value is computed with the numerator in object 2061h and the denominator in object 2062h. The speed for the search of the switch is specified in sub-index 1. The (lower) speed for the search for the reference position is specified in Sub-index 2. Note The speed in Sub-index 2 is also the starting speed for starting the acceleration ramp. If this is set too high, the motor loses steps or does not rotate at all. An excessive setting leads to the index marking being overlooked. The speed in sub-index 2 should therefore be below 1000 steps per second. The speed in sub-index 1 must be greater than the speed in sub-index 2.
Function Specifies the speeds for the Homing Mode (6098h) in revolutions/s. This object is computed with user-defined units (see " User-defined units"). The motor controller is delivered with the units set to revolutions per minute.
Object description Index 6099h Object Name Homing Speed Object Code ARRAY Data type UNSIGNED32 Saveable yes, category: application Firmware Version FIR-v1426 Change History
Value description Sub-index 00h Name Highest Sub-index Supported Data type UNSIGNED8 Access Read only PDO Mapping No Admissible Values Specified Value 02h Sub-index 01h Name Speed During Search For Switch Data type UNSIGNED32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 00000032h Sub-index 02h Name Speed During Search For Zero Data type UNSIGNED32 Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 0000000Ah
Description This value is computed with the numerator in object 2061h and the denominator in object 2062h. The speed for the search of the switch is specified in sub-index 1. The (lower) speed for the search for the reference position is specified in Sub-index 2. Note The speed in Sub-index 2 is also the starting speed for starting the acceleration ramp. If this is set too high, the motor loses steps or does not rotate at all. An excessive setting leads to the index marking being overlooked. The speed in sub-index 2 should therefore be below 1000 steps per second. The speed in sub-index 1 must be greater than the speed in sub-index 2.
