PD4-E-M EtherCAT 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 Highest Sub-index Supported
Data type UNSIGNED8
Access read only
PDO mapping RX-PDO
Allowed values  
Preset value 03h


Subindex 01h - 03h
Name Additional Gear Ratio - Driving Shaft Revolutions Feedback Interface #1 - #3
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.

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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