User Manual

TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
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8.2.5 Object 6098
h
: Homing Method
The homing method to be used can be selected by writing to this object. Please see table 271 for a list of
homing methods supported by the current version of the TMCM-1276 CANopen firmware.
Object Description
Index Name Object Type Data Type
6098
h
Homing method Variable SIGNED8
Table 288: Object Description (6098
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no SIGNED8 0
Table 289: Entry Description (6098
h
)
8.2.6 Object 6099
h
: Homing Speeds
This object indicates the configured speeds used during homing procedure. The values are given in pps
units or inernal units selectable with object 208C
h
(section 4.2.16). 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
) 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 290: Object Description (6099
h
)
Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
1 Fast homing speed rw no UNSIGNED32 0
2 Slow homing speed rw no UNSIGNED32 0
Table 291: 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.
The value is given in units selected by object 208E
h
(section 4.2.17).
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