User Manual

TMCC160 CANopen
®
Firmware Manual • Firmware Version V3.00 | Document Revision V1.00 • 2017-Aug-29
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Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
0 Homing Method no 0 35 0 RW
Table 197: Entry Description (6098
h
)
8.2.6 Object 6099
h
: Homing Speeds
This object indicates the configured speeds used during fast and slow homing procedure. In most homing
modes, the home switch is searched with the fast speed first. When the home switch has been found, the
motor will be decelerated to the slow speed (using the homing acceleration, object 609Ah) to search for
the exact switch point. When the switch point has been found the motor will be stopped at that point.
Object Description
Index Name Object Type Data Type
6099
h
Homing Speeds Array UNSIGNED32
Table 198: Object Description (6099
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
1 Fast Homing Speed no 0 4294967295 0 RW
2 Slow Homing Speed no 0 4294967295 0 RW
Table 199: Entry Description (6099
h
)
8.2.7 Object 609A
h
: Homing Acceleration
This object indicates the configured acceleration and deceleration to be used during homing operation.
Object Description
Index Name Object Type Data Type
609A
h
Homing Acceleration Variable UNSIGNED32
Table 200: Object Description (609A
h
)
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