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changes.mady.by.user Mark McCann

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Comment: updated (1) PV accel/decel units, (2) HM speed subindex

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Object

Name

Value

Unit

Description

PDO Mapped
0x6040Controlword--See Controlword for general usage.Yes
0x6041Statusword--See Statusword for general usage.Yes
0x6060Modes of operation3-Sets the mode to Profile Velocity modeYes
0x60FFTarget speedSee Peak Speedspulses/sSets the target speedYes
0x6083Profile Acceleration0-32767pulsesKpulses/s2Profile AccelerationNo
0x6084Profile Deceleration0-32767pulsesKpulses/s2Profile DecelerationNo

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Object

Name

Value

Unit

Description

PDO Mapped
0x6040Controlword--See Controlword for general usage.Yes
0x6041Statusword--See Statusword for general usage.Yes
0x6060Modes of operation6-Sets the mode to Homing modeYes
0x607CHome Offset-3276700 to +3276700

encoder pulses

(50 000 per motor revolution)

Once a home sensor or hardstop has been achieved the motor will move the distance of the offset. The final position will be set to 0.

This value is written to an internal motor register which has a resolution of 100 pulses.
As such the value written into 0x607C will be rounded to the nearest 100 internally.

No
0x6098Homing Method0 to -6-
  • 0: No home routine selected
  • -1: Hardstop CW
  • -2: Hardstop CCW
  • -3: Input 2 sensor CW
  • -4: Input 2 sensor CCW
  • -5: Input 3 sensor CW
  • -6: Input 3 sensor CCW

See Homing Methods for additional information

No
0x6099:01Homing Speed1000 - 500000pulses/sThe homing speed is written to an internal register which has a unit of 100 pulses/s.
The value written into 0x6099 will be rounded to the closest 100.

No

0x609AHoming Acceleration1000-5000000pulse/s2The homing acceleration is written to an internal register which has a unit of 1000 pulses/s.
The value written into 0x609A will be rounded to the closest 1000.		No
0x60F6:1BHoming Torque10-100% rated torque

Set the torque during the home routine.

  1. When homing to a hardstop this value will indicate the limit at which the hardstop is reached
  2. When homing to a switch this value will limit the torque during the home routine.
No

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