Drive User Guide
34
The following listed objects are special used under homing mode:
(1)
Homing method (0x6098): Drive supports 8 kinds of CiA402 homing methods.
Index
Sub-index
Name
Type
Access
Value
PDO mapping
0x6098
0x00
Homing Method
UINT16
RW
0
X
(2)
Faster homing speed (0x6099:01): Drive will use this speed to move motor to search the
positive/negative limit or homing switch.
Index
Sub-index
Name
Type
Access
Value
PDO mapping
0x6099
0x01
Faster Homing Speed
UINT32
RW
－
X
(3)
Slower homing speed (0x6099:02): Drive will use this speed to move motor to search the homing
signal.
Index
Sub-index
Name
Type
Access
Value
PDO mapping
0x6099
0x02
Slower Homing Speed
UINT32
RW
－
X
(4)
Homing Acceleration (0x609A)
Index
Sub-index
Name
Type
Access
Value
PDO mapping
0x609A
0x00
Homing Acceleration
UINT32
RW
－
X
(5)
Homing Offset (0x607C): It is the offset between the coordinate origin and homing signal.
Index
Sub-index
Name
Type
Access
Value
PDO mapping
0x607C
0x00
Homing Offset
INT32
RW
－
X
The following list shows homing methods supported by drive (0x6098,Homing Method)
：
Value
Description
0
No homing mode.
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