60E8h Additional Gear Ratio - Motor Shaft Revolutions Function In this object and in 60EDh, you can set the gear ratio of each existing feedback. Object description Index 60E8h Object name Additional Gear Ratio - Motor Shaft Revolutions Object Code ARRAY Data type UNSIGNED32 Savable yes, category: application Access read only PDO mapping RX-PDO Allowed values Preset value Firmware version FIR-v1738-B501312 Change history Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping RX-PDO Allowed values Preset value 04h Subindex 01h - 04h Name Additional Gear Ratio - Motor Shaft Revolutions Feedback Interface #1 - #4 Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000001h Description The subindices have the following function: 00h: Value = "n", where "n" is the number of existing feedbacks. nh: Subindex "n" contains the number of motor revolutions for the corresponding feedback. Subindex 01h always corresponds to the first (and always existing) sensorless feedback. The order of the remaining feedbacks corresponds to the table in chapter Configuring the sensors. The gear ratio of feedback "n" is calculated as follows: Gear Ratio = Motor Shaft Revolutions (60E8h:nh) / Driving Shaft Revolutions (60EDh:nh)
60E8h Additional Gear Ratio - Motor Shaft Revolutions Function In this object and in 60EDh, you can set the gear ratio of each existing feedback. Object description Index 60E8h Object name Additional Gear Ratio - Motor Shaft Revolutions Object Code ARRAY Data type UNSIGNED32 Savable yes, category: application Access read only PDO mapping RX-PDO Allowed values Preset value Firmware version FIR-v1738-B501312 Change history Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping RX-PDO Allowed values Preset value 04h Subindex 01h - 04h Name Additional Gear Ratio - Motor Shaft Revolutions Feedback Interface #1 - #4 Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000001h Description The subindices have the following function: 00h: Value = "n", where "n" is the number of existing feedbacks. nh: Subindex "n" contains the number of motor revolutions for the corresponding feedback. Subindex 01h always corresponds to the first (and always existing) sensorless feedback. The order of the remaining feedbacks corresponds to the table in chapter Configuring the sensors. The gear ratio of feedback "n" is calculated as follows: Gear Ratio = Motor Shaft Revolutions (60E8h:nh) / Driving Shaft Revolutions (60EDh:nh)
Object description Index 60E8h Object name Additional Gear Ratio - Motor Shaft Revolutions Object Code ARRAY Data type UNSIGNED32 Savable yes, category: application Access read only PDO mapping RX-PDO Allowed values Preset value Firmware version FIR-v1738-B501312 Change history
Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping RX-PDO Allowed values Preset value 04h Subindex 01h - 04h Name Additional Gear Ratio - Motor Shaft Revolutions Feedback Interface #1 - #4 Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000001h
Description The subindices have the following function: 00h: Value = "n", where "n" is the number of existing feedbacks. nh: Subindex "n" contains the number of motor revolutions for the corresponding feedback. Subindex 01h always corresponds to the first (and always existing) sensorless feedback. The order of the remaining feedbacks corresponds to the table in chapter Configuring the sensors. The gear ratio of feedback "n" is calculated as follows: Gear Ratio = Motor Shaft Revolutions (60E8h:nh) / Driving Shaft Revolutions (60EDh:nh)
