PD4-EB EtherCAT Online Manual

6090h Velocity Encoder Resolution

Function

Contains the physical resolution of the encoder/sensor that is used for speed control.

Object description


Index 6090h
Object name Velocity Encoder Resolution
Object Code ARRAY
Data type UNSIGNED32
Savable yes, category: tuning
Access read only
PDO mapping no
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 no
Allowed values  
Preset value 02h


Subindex 01h
Name Encoder Increments Per Second
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values  
Preset value 00000000h


Subindex 02h
Name Motor Revolutions Per Second
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values  
Preset value 00000000h

Description

Velocity Encoder Resolution = Encoder Increments per second (6090h:01h) / Motor Revolutions per second (6090h:02h)

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