0x6099 Homing speeds¶
Defines the speed at which the motor moves during homing. Two different values can be given:
- Speed during search for switch is used while searching for a limit or home switch
- Speed during search for zero is used while searching for zero position (i.e. the index pulse for QEI encoders).
The units are user-defined (RPM by default; see 0x60a9 SI unit velocity to change it).
| Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping |
|---|---|---|---|---|---|---|---|---|---|
| Speed during search for switch | 0x6099:1 | UDINT | 32 | 0 | rpm | readwrite | Receive PDO (Outputs) | ||
| Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping |
| Speed during search for zero | 0x6099:2 | UDINT | 32 | 0 | rpm | readwrite | Receive PDO (Outputs) | ||
