Elmo DSP 402 velocity encoder resolution =, Object 0x6090 Velocity encoder resolution, Index

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

Object 0x6090: Velocity encoder resolution

This object defines the ratio of encoder increments/second per motor revolutions/ second.

velocity _ encoder _ resolution =			encoder _ increments / sec
			motor _ revolutions / sec
Object description:
	Index	6090h
	Name	Velocity encoder resolution
	Object code	ARRAY
	Data type	UNSIGNED32
	Category	Optional
Entry description:
	Sub-index	0
	Description	Number of entries
	Entry category	Mandatory
	Access	Read only
	PDO mapping	No
	Value range	2
	Default value	2
	Sub-index	1
	Description	Encoder increments per second
	Entry category	Mandatory
	Access	Read/write
	PDO mapping	No
	Value range	UNSIGNED32
	Default value	1
	Sub-index	2
	Description	Motor revolutions per second
	Entry category	Mandatory
	Access	Read/write
	PDO mapping	No
	Value range	UNSIGNED32
	Default value	1

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