Hiwin D1NCOE User Manual page 34

Drive User Guide
The following listed objects are special used under homing mode:
(1) Homing method (0x6098): Drive supports 8 kinds of CiA402 homing methods.
Index Sub-index
0x6098 0x00
(2) Faster homing speed (0x6099:01): Drive will use this speed to move motor to search the
positive/negative limit or homing switch.
Index Sub-index
0x6099 0x01
(3) Slower homing speed (0x6099:02): Drive will use this speed to move motor to search the homing
signal.
Index Sub-index
0x6099 0x02
(4) Homing Acceleration (0x609A)
Index Sub-index
0x609A 0x00
(5) Homing Offset (0x607C): It is the offset between the coordinate origin and homing signal.
Index Sub-index
0x607C 0x00
The following list shows homing methods supported by drive (0x6098,Homing Method)：
Value Description
0 No homing mode.
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Name
Homing Method
Name
Faster Homing Speed
Name
Slower Homing Speed
Name
Homing Acceleration
Name
Homing Offset
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Type Access Value
UINT16 RW
Type Access Value
UINT32 RW
Type Access Value
UINT32 RW
Type Access Value
UINT32 RW
Type Access Value
INT32 RW
PDO mapping
0 X
PDO mapping
－
X
PDO mapping
－
X
PDO mapping
－
X
PDO mapping
－
X