Baumuller b maxx BM4400 - Homing Speeds Conversion

Conversion tables
Application Manual POWERLINK Controlled Node
Document no. 5.13013.04
69
of 80
C
homing_speeds 0x6099 (Ref. speed.) 0x6099 Only in case of changes in option
module G/H configuration 1

bit 2 = 1:
Indication of the desired drive
speed of the motion task in UU e.
g.
1/100°/s for rotations. s  ms
[1/1000].
In case limit values of b maXX
4000 parameters has exceeded,
the minimum and maximum values
are set without transmitting an error
message.
Speed_during_search_for_
switch
SIX 0x01 f P1201 PPosHomingSpeed P1201 f SIX 0x01
x = 0 .. 2
32
-1 f y = x x = 1 .. 13200 f y = x
Speed_during_search_-
for_zero
SIX 0x02 f P1202 PPosHomingFinalSpeed P1202 f SIX 0x02
x = 0 .. 2
32
-1 f y = x x = 1 .. 50 f y = x
homing_acceleration 0x609A f P1203 PPosHomingAcceler
(homing acceleration)
P1203 f 0x609A Only in case of changes in option
module G/H configuration 1

Bit 2 = 1:
The user-defined unit (acceleration
units) of homing_acceleration in UU
e.
g. 10°/s
2
for rotations. 
s
2
 ms
2
[1/1000000].
In case limit values of b maXX
4000 parameters has exceeded,
the minimum and maximum values
are set without transmitting an error
message.
x = 0 .. 2
32
-1 f y = x x = 25 .. 45000 f y = x
max_slippage 0x60F8 f P1054 PosDevLimDyn P1054 f 0x60F8
x = 0 .. 2
31
-1 f y = x x = 0 .. 2
31
-1 f y = x
position_control_
parameter_set
0x60FB Manufacturer-specific CANopen
object
Manufacturer specific SIX 0x01 /ro PosCtrlStatus P0360 f SIX 0x01 Default = 0
x = 0 .. 2
16
-1 f y = x
Manufacturer specific SIX 0x02 f P1050 PosCtrlMode P1050 f SIX 0x02 Default = 0
x = 0 .. 2
16
-1 f y = x x = 0 .. 2
16
-1 f y = x
Manufacturer specific SIX 0x03 f P1051 PosCtrl_Kv-Faktor P1051 f SIX 0x03 Default = 10,0
x = 0 .. 2
15
-1 f y = x f y = x
Manufacturer specific SIX 0x04 f P0364 PosSetRev P0364 f SIX 0x04 Default = 0
x = 0 .. 2
16
-1 f y = x f y = x
Manufacturer specific SIX 0x05 f P0363 PosSetAngle P0363 f SIX 0x05 Default = 0
x = 0 .. 2
16
-1 f y = x f y = x
CANopen object Index
Value range
f P. no.
Scaling
Controller parameters P. no.
Value range
f Index 
re-scaling
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