0x6099 - Homing speeds
Index | Sub Index | Name | Data Type | Acc. | Pdo Map. | NVM | Value range | Default value | Units |
|---|---|---|---|---|---|---|---|---|---|
0x6099 | 0x01 | Speed during search for switch or mechanical limit | UINT32 | RW | No | Yes | UINT32 | 50000 | increments / s |
0x6099 | 0x02 | Speed during search for zero | UINT32 | RW | No | Yes | UINT32 | 5000 | increments / s |
Up to two search speeds may be used during a regular homing process: a speed to search for the switch or mechanical limit, which may be relatively fast, and another speed to search for the actual homing point, which should be considerably slower. This object only defines the magnitudes of those velocities: the direction will depend on the selected homing method.
Increasing homing speeds can affect the accuracy of switch/index detection, since the device reaction time is reduced.