9 Description of the object dictionary
609Ah Homing Acceleration
Function
Specifies the acceleration ramp for homing mode in user-defined units.
Object description
Index 609A
h
Object name Homing Acceleration
Object Code VARIABLE
Data type UNSIGNED32
Savable yes, category: application
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 000001F4
h
Firmware version FIR-v1426
Change history
Description
The ramp is only used when starting up. When the switch is reached, the motor immediately switches to the
lower speed; when the end position is reached, it immediately stops.
60A4h Profile Jerk
Function
In the case of a ramp with limited jerk, the size of the jerk can be entered in this object. An entry with the
value "0" means that the jerk is not limited.
Object description
Index 60A4
h
Object name Profile Jerk
Object Code ARRAY
Data type UNSIGNED32
Savable yes, category: application
Firmware version FIR-v1426
Change history
Firmware version FIR-v1614: "Name" entry changed from "End
Acceleration Jerk" to "Begin Deceleration Jerk".
Firmware version FIR-v1614: "Name" entry changed from "Begin
Deceleration Jerk" to "End Acceleration Jerk".
Value description
Subindex 00
h
Name Highest Sub-index Supported
Version: 2.0.1 / FIR-v1650 239
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