54
SM-EtherCAT User Guide
www.controltechniques.com
Issue Number: 2
0x6098 Homing method
This object indicates the configured homing method that shall be used. Table
7.57
Homing method
on page 54 specifies the object description, and Table
7.58
Homing method values
on page 54 specifies the value ranges for this object.
Table 7.57 Homing method
Table 7.58 Homing method values
0x6099 Homing speeds
This object indicates the configured speeds used during the homing procedure. The
values shall be given in user-defined velocity units. Table 7.59
Homing speeds
on page
54 specifies the object description.
Table 7.59 Homing speeds
0x609A Homing acceleration
This object indicates the configured acceleration and deceleration to be used during the
homing operation. The value shall be given in user-defined acceleration units. Table
7.60
Homing acceleration
on page 54 specifies the object description.
Table 7.60 Homing acceleration
0x6098
Homing Method
Access: RW
Range: 0 - 35
Size: Unsigned 8
Unit: N/A
Default: 0
Description:
The homing method that shall be used.
Value
Definition
0
No homing method assigned
1
Method 1 shall be used
to
34
Method 34 shall be used
35
Method 35 shall be used
0x6099
Homing speeds
Sub-index 0
Access: C
Range: 2
Size: Signed 8
Unit: N/A
Default: 2
Description: The number of supported sub-indices.
Sub-index 1
Access: RW
Range: Unsigned 32
Size: Unsigned 32
Unit: N/A
Default: 0
Description: Speed during search for a switch.
Sub-index 2
Access: RW
Range: Unsigned 32
Size: Unsigned 32
Unit: N/A
Default: 0
Description: Speed during search for a zero.
0x609A
Homing acceleration
Access: RW
Range: Unsigned 32
Size: Unsigned 32
Unit: User-defined
acceleration units
Default: 0
Description:
Indicates the configured acceleration and deceleration to be used during homing
operation.
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