Festo CiA 402 Manual page 109

6 Operating modes
Value Direction
-18 positive
-17 negative
-2 positive
-1 negative
1 negative
2 positive
17 negative
18 positive
33 negative
34 positive
35 –
The homing_method can only be set when homing is not active. Otherwise, an error message
( Chapter 3.5) is returned.
The process of the individual methods is described in detail in chapter 6.2.3.
Object 6099 : homing_speeds
h
This object determines the speeds used during homing.
Index
Name
Object Code
No. of Elements
Data Type
Sub-Index
Description
Access
PDO Mapping
Units
Value Range
Default Value
Sub-Index
Description
Access
PDO Mapping
Units
Value Range
Default Value
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Objective
Stop
Stop
Stop
Stop
Limit switch
Limit switch
Limit switch
Limit switch
Zero pulse
Zero pulse
No travel
6099
h
homing_speeds
ARRAY
2
UINT32
01
h
speed_during_search_for_switch
rw
yes
speed units
–
100
02
h
speed_during_search_for_zero
rw
yes
speed units
–
10
Point of reference for zero
Stop
Stop
Zero pulse
Zero pulse
Zero pulse
Zero pulse
Limit switches
Limit switches
Zero pulse
Zero pulse
Current actual position
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