6099h, 6899h Homing speeds - Axis #
This object contains two sub-indexes to set the velocity to use during homing:
- Sub-index 1: The velocity to use when searching for the limit switch scaled in CANopen velocity units, sets AXIS#.HOME.V,
- Sub-index 2: The speed to use once a limit switch is hit scaled in CANopen velocity units. This must be a value less than the home search speed in sub-index 1. This value gets converted into the percentage value stored in AXIS#.HOME.FEEDRATE.
Axis 1
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable |
|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 6099h | 0h | Unsigned8 | - | - | Read only | No |
| Speed during search for switch - Axis 1 | 6099h | 1h | Unsigned32 | - | Velocity | Read/Write | No |
| Speed during search for zero - Axis 1 | 6099h | 2h | Unsigned32 | - | - | Read/Write | No |
Axis 2
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable |
|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 6899h | 0h | Unsigned8 | - | - | Read only | No |
| Speed during search for switch - Axis 2 | 6899h | 1h | Unsigned32 | - | Velocity | Read/Write | No |
| Speed during search for zero - Axis 2 | 6899h | 2h | Unsigned32 | - | - | Read/Write | No |
