TR-Electronic MP-200 - Object 0 X6097: Acceleration Factor; Object 0 X6098: Homing Method

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09/29/2020 TR-EMO-BA-GB-0022 v03 Page 113 of 153
9.4.49 Object 0x6097: Acceleration Factor
Object code
ARRAY
Description
Speed increments per second are obtained from user-defined acceleration units
(e.g. rpm/sec) by multiplying with the acceleration factor. The acceleration unit
used by the user is implicitly defined by the acceleration factor. If necessary gear
and feed are also taken into account, see chapter "5.8 Units" page 56. The
acceleration factor is the ratio between speed increments per second and
acceleration units, defined by Formula 10.
Subindex 0: Number of entries
Data type
UNSIGNED8
Attribute
ro
Default
2
Min
-
Max
-
PDO mapping
-
Description
Specifies the number of following entries
Subindex 1: Acceleration increments (counter)
Data type
UNSIGNED32
Attribute
rw
Default
2
31
Min
1
Max
2
32
-1
PDO mapping
yes
Description
Speed increments per second
Subindex 2: Acceleration units (denominator)
Data type
UNSIGNED32
Attribute
rw
Default
300000
Min
1
Max
2
32
-1
PDO mapping
yes
Description
Acceleration units
9.4.50 Object 0x6098: Homing Method
Object code
VAR
Data type
INTEGER8
Attribute
rw
Default
0
Min
17
Max
35
PDO mapping
yes
Description
This object determines the method that will be used during homing. The methods
17 to 30 are supported = homing without index pulse and 35 = homing on basis of
the current position (if no limit switches are available)