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CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
58
The speed is submitted to the maximum speed limit given by the user during
setup. Otherwise, an abort message with abort code 0609 0030, “Value range of
parameter exceeded” is activated. If the limits have been changed during the
process, the drive enters a fault state.
Object 0x609A: Homing acceleration
This object establishes the acceleration to be used for all accelerations and decelerations
with the standard homing modes, and is given in acceleration units.
Object description:
Index 609Ah
Name Homing acceleration
Object code VAR
Data type UNSIGNED32
Category Optional
Entry description:
Access Read/write
PDO mapping No
Value range UNSIGNED32
Default value No
Home deceleration is performed according to the SD value set during setup. The
user may use the binary interpreter to modify this value. Refer to the relevant
Command Reference Manual for the SD parameter information.
9.3 Functional Description
Choosing a method of homing by writing a value to homing method clearly establishes the:
Homing signal (positive limit switch, negative limit switch, home switch)
Direction of actuation
Position of the index pulse, where appropriate
Homing is performed on either the main position sensor (PX) or the auxiliary position
sensor (PY), depending on the unit mode — for position loop (UM=5) or dual loop
(UM=4) — respectively. The relevant source is selected when homing is activated by the
controlword.
The home position and zero position are offset by the home offset (see the home offset
definition for how this offset is used).