PD2-C-IP CANopen Online Manual

60E9h Additional Feed Constant - Feed


In this object and in 60EEh, you can set a feed constant for each existing feedback.

Object description

Index 60E9h
Object name Additional Feed Constant - Feed
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 Feed Constant - Feed Feedback Interface #1 - #2
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00000001h


The subindices have the following function:

  • 00h: Value = "n", where "n" is the number of existing feedbacks.
  • nh: Subindex "n" contains the feed in user-defined units for the corresponding feedback.

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

The feed constant of feedback "n" is calculated as follows:

Feed Constant = Feed (60E9h:nh) / Driving Shaft Revolutions (60EEh:nh)

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