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Object 0x6099: Homing speeds
This entry in the object dictionary defines the speeds used during homing, in velocity
units. The value is normalized to increments by velocity code factor. Typically, a high
speed is used when searching for a home switch and the slow speed is used when
searching for the index.
Object description:
Index 6099h
Name Homing speeds
Object code ARRAY
Data type UNSIGNED32
Category Mandatory
Entry description:
Sub-index 0
Description Number of entries
Entry category Mandatory
Access Read only
PDO mapping No
Value range 2
Default value 2
Sub-index 1
Description Speed during search for switch
Entry category Mandatory
Access Read/write
PDO mapping No
Value range UNSIGNED32
Default value 0
Sub-index 2
Description Speed during search for zero
Entry category Mandatory
Access Read/write
PDO mapping No
Value range UNSIGNED32
Default value 0
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
57