CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
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<strong>CANopen</strong> Programmer’s <strong>Manual</strong> 6: Homing Mo<strong>de</strong> Operation<br />
HOMING SPEEDS INDEX 0X6099<br />
Type Access Units Range Map PDO Memory<br />
Array RW - - YES -<br />
Description<br />
This array holds the two velocities used when homing. Sub-in<strong>de</strong>x 0 contains the number of subelements<br />
of this record.<br />
HOME VELOCITY – FAST INDEX 0X6099, SUB-INDEX 1<br />
Type Access Units Range Map PDO Memory<br />
Integer 32 RW 0.1 counts/sec 0 – 500,000,000 YES RF<br />
Description<br />
This velocity value is used during segments of the homing procedure that may be handled at high<br />
speed. Generally, this means move in which the home sensor is being located, but the edge of the<br />
sensor is not being found.<br />
HOME VELOCITY – SLOW INDEX 0X6099, SUB-INDEX 2<br />
Type Access Units Range Map PDO Memory<br />
Integer 32 RW 0.1 counts/sec 0 – 500,000,000 YES RF<br />
Description<br />
This velocity value is used for homing segment that require low speed such as cases where the<br />
edge of a homing sensor is being sought.<br />
HOMING ACCELERATION INDEX 0X609A<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 32 RW 10 counts/sec 2<br />
0 – 200,000,000 YES RF<br />
Description<br />
This value <strong>de</strong>fines the acceleration used for all homing moves. The same acceleration value is<br />
used at the beginning and ending of moves (i.e. there is no separate <strong>de</strong>celeration value).<br />
HOME OFFSET INDEX 0X607C<br />
Type Access Units Range Map PDO Memory<br />
Integer 32 RW counts - YES RF<br />
Description<br />
The home offset is the difference between the zero position for the application and the machine<br />
home position (found during homing). During homing the home position is found. Once the homing<br />
is completed the zero position is offset from the home position by adding the Home Offset to the<br />
home position. All subsequent absolute moves shall be taken relative to this new zero position.<br />
See Home Offset (p. 166) for more information.<br />
Copley Controls 185