Number of entries

No

Set the offset after a home switch/hardstop has been found.

• Unit - pulses (50,000 pulses/revolution)
• Used in homing mode

No

Set the target velocity in profile position mode

• Unit - pulses/s (50,000 pulses/revolution)
• Used in profile position mode

Yes

Set the profile acceleration.

• Unit - pulses/s² (50,000 pulses/revolution)
• Used in profile position and profile velocity modes

Yes

Set the profile deceleration in profile velocity mode.

• Unit - pulses/s² (50,000 pulses/revolution)
• Used in profile velocity mode

No

Set the

method of the

home routine.

• 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

No

Highest sub-index supported

No

Speed during search for switch or hardstop

• The homing speed is written to an internal register which has a unit of 100 pulses/s. 
  The value written into 0x6099:01 will be rounded to the closest 100.
• Used in homing mode

N/A

Speed during search for 0 uses the same speed as search for switch/hardstop

Set the homing acceleration in homing mode.

• Unit - pulses/s² (50,000 pulses/revolution)
• The 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.
• Used in homing mode

No

Highest sub-index supported = 0x51 (81_d)

No

0x51

...

0x51

K parameter settings.

• See standard Cool Muscle documentation for details
• Typically these parameters do not need to be modified as the current profile mode changes them directly as required.

Number of entries

No

Shows support drive modes

Value = 0x1A5

Bit0 = 1: PP mode
Bit1 = 0: VL mode
Bit2 = 1: PV mode
Bit3 = 0: TQ mode
Bit4 = 0: reserved
Bit5 = 1: HM mode
Bit6 = 0: IP mode
Bit7 = 1: CSP mode
Bit8 = 1: CSV mode
Bit9 = 0: CST mode

No