CANopen Programmer's Manual - Maccon.de

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