Elmo DSP 402 User Manual
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.
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
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
57