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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.

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