6091h Gear Ratio Function Contains the gear ratio (number of motor revolutions per revolution of the output shaft) of the encoder/sensor that is used for position control (see 3203h Feedback Selection). Object description Index 6091h Object name Gear Ratio Object Code ARRAY Data type UNSIGNED32 Savable yes, category: application Firmware version FIR-v1426 Change history Firmware version FIR-v1738-B501312: "PDO mapping" table entry for subindex 01 changed from "no" to "RX-PDO". Firmware version FIR-v1738-B501312: "PDO mapping" table entry for subindex 02 changed from "no" to "RX-PDO". Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 02h Subindex 01h Name Motor Revolutions Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000001h Subindex 02h Name Shaft Revolutions Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000001h Description Gear Ratio = Motor Revolutions (6091h:01h) / Shaft Revolutions (6091h:02h)
6091h Gear Ratio Function Contains the gear ratio (number of motor revolutions per revolution of the output shaft) of the encoder/sensor that is used for position control (see 3203h Feedback Selection). Object description Index 6091h Object name Gear Ratio Object Code ARRAY Data type UNSIGNED32 Savable yes, category: application Firmware version FIR-v1426 Change history Firmware version FIR-v1738-B501312: "PDO mapping" table entry for subindex 01 changed from "no" to "RX-PDO". Firmware version FIR-v1738-B501312: "PDO mapping" table entry for subindex 02 changed from "no" to "RX-PDO". Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 02h Subindex 01h Name Motor Revolutions Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000001h Subindex 02h Name Shaft Revolutions Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000001h Description Gear Ratio = Motor Revolutions (6091h:01h) / Shaft Revolutions (6091h:02h)
Function Contains the gear ratio (number of motor revolutions per revolution of the output shaft) of the encoder/sensor that is used for position control (see 3203h Feedback Selection).
Object description Index 6091h Object name Gear Ratio Object Code ARRAY Data type UNSIGNED32 Savable yes, category: application Firmware version FIR-v1426 Change history Firmware version FIR-v1738-B501312: "PDO mapping" table entry for subindex 01 changed from "no" to "RX-PDO". Firmware version FIR-v1738-B501312: "PDO mapping" table entry for subindex 02 changed from "no" to "RX-PDO".
Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value 02h Subindex 01h Name Motor Revolutions Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000001h Subindex 02h Name Shaft Revolutions Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000001h
