0x6099 - Homing search velocities
Index | Sub Index | Name | Data Type | Acc. | Pdo Map. | NVM | Value range | Default value | Units |
---|---|---|---|---|---|---|---|---|---|
0x6099 | 0x01 | Homing search velocity | UINT32 | RW | Yes | Yes | UINT32 | 0 | mrev/ s |
0x6099 | 0x02 | Homing zero velocity | UINT32 | RW | Yes | Yes | UINT32 | 0 | mrev/ s |
Up to 2 search speeds may be used during a regular homing process: a speed to search for the switch or mechanical limit (search velocity), which may be relatively fast, and another speed to search for the actual homing point (zero velocity), 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.