NP5 CANopen 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 Number Of Entries
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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