6099h Homing Speed
Function
Specifies the speeds for homing mode (6098h) in user-defined units.
Object description
| Index | 6099h |
| Object name | Homing Speed |
| Object Code | ARRAY |
| Data type | UNSIGNED32 |
| Savable | yes, category: application |
| Firmware version | FIR-v1426 |
| Change history |
Value description
| Subindex | 00h |
| Name | Highest Sub-index Supported |
| Data type | UNSIGNED8 |
| Access | read only |
| PDO mapping | no |
| Allowed values | |
| Preset value | 02h |
| Subindex | 01h |
| Name | Speed During Search For Switch |
| Data type | UNSIGNED32 |
| Access | read / write |
| PDO mapping | RX-PDO |
| Allowed values | |
| Preset value | 00000032h |
| Subindex | 02h |
| Name | Speed During Search For Zero |
| Data type | UNSIGNED32 |
| Access | read / write |
| PDO mapping | RX-PDO |
| Allowed values | |
| Preset value | 0000000Ah |
Description
This value is calculated with the numerator in object 2061h and the dominator in object 2062h.
The speed for the search for the switch is specified in subindex 1.
The (lower) speed for the search for the reference position is specified in subindex 2.
Note:
- The speed in subindex 2 is simultaneously the initial speed when starting the acceleration ramp. If this is set too high, the motor loses steps or fails to turn at all. If the setting is too high, the index marking will be overlooked. The speed in subindex 2 should therefore be less than 1000 steps per second.
- The speed in subindex 1 must be greater than the speed in subindex 2.