PD4-E 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 Highest Sub-index Supported
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.

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

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

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