PD4-E-M EtherCAT Online Manual

6091h Gear Ratio

Function

Number of motor revolutions per output shaft revolution.

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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