PD2-C-IP CANopen Online Manual

60EDh Additional Gear Ratio - Driving Shaft Revolutions

Function

In this object and in 60E8h, you can set the gear ratio of each existing feedback.

Object description

Index 60EDh
Object name Additional Gear Ratio - Driving 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 02h
Subindex 01h - 02h
Name Additional Gear Ratio - Driving Shaft Revolutions Feedback Interface #1 - #2
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 revolutions of the output shaft for the corresponding feedback.

    Subindex 01h always corresponds to the first (and always existing) sensorless feedback. Subindex 02h corresponds to internal encoder.

The gear ratio of feedback "n" is calculated as follows:

Gear Ratio = Motor Shaft Revolutions (60E8h:nh) / Driving Shaft Revolutions (60EDh:nh)

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