C5-E EtherNetIP/USB Online Manual

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 Highest Sub-index Supported
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)

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