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 |