Object 0x6099: Homing speeds

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

Object 0x6099: Homing speeds

This entry in the object dictionary defines the speeds used during homing, in velocity units. The value is normalized to increments by velocity code factor. Typically, a high speed is used when searching for a home switch and the slow speed is used when searching for the index.

Object description:

 

Index

 

6099h

 

Name

 

Homing speeds

 

Object code

 

ARRAY

 

Data type

 

UNSIGNED32

 

Category

 

Mandatory

Entry description:

 

 

 

 

 

 

 

Sub-index

 

0

 

Description

 

Number of entries

 

Entry category

 

Mandatory

 

Access

 

Read only

 

PDO mapping

 

No

 

Value range

 

2

 

Default value

 

2

 

 

 

 

Sub-index

 

1

 

Description

 

Speed during search for switch

 

Entry category

 

Mandatory

 

Access

 

Read/write

 

PDO mapping

 

No

 

Value range

 

UNSIGNED32

 

Default value

 

0

 

 

 

 

Sub-index

 

2

 

Description

 

Speed during search for zero

 

Entry category

 

Mandatory

 

Access

 

Read/write

 

PDO mapping

 

No

 

Value range

 

UNSIGNED32

 

Default value

 

0

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Elmo DSP 402 manual Object 0x6099 Homing speeds, Index, 6099h, Sub-index