User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 50
www.trinamic.com
4.3.3.6 Object 6099
h
: Homing Speeds
This object indicates the configured speeds used during homing procedure. The values are given in units,
which can be selected with object 208C
h
, described in paragraph 0.
Using object 6099
h
a fast and a slow homing speed can be set. 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 609A
h
) and then stopped at the exact switch
point.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6099
h
Homing speeds
ARRAY
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
01
h
Fast homing speed
rw
Refer to CiA402-3
UNSIGNED32
Depends on the unit setting
02
h
Slow homing speed
rw
Refer to CiA402-3
UNSIGNED32
Depends on the unit setting
4.3.3.7 Object 609A
h
: Homing Acceleration
This object indicates the configured acceleration and deceleration to be used during homing operation.
The values for accelerating to the fast homing speed and for decelerating to the slow homing speed can
be set here. The values are given in units, which can be selected with object 208E
h
, described in paragraph
0.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
609A
h
Homing acceleration
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
00
h
rw
Refer to CiA402-3
UNSIGNED32
4.3.3.8 Object 2100
h
: Home Offset Display
The value is given in microsteps.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2100
h
Home offset display
Variable
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
ro
no
Refer to home offset
0