Object 0x6094: Velocity encoder factor

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

47

Notes:

The position factor is calculated according to this object regardless of the setting of any other objects, such as 0x608F (position encoder resolution).

The actual value range of the divisor may not exceed 16,383 due to numeric overflow.

Object 0x6094: Velocity encoder factor

This object converts the desired velocity (in velocity units) into the internal format (in increments/second).

Object description:

 

Index

 

6094h

 

Name

 

Velocity encoder factor

 

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

 

Numerator

 

Entry category

 

Mandatory

 

Access

 

Read/write

 

PDO mapping

 

No

 

Value range

 

UNSIGNED32

 

Default value

 

1

Page 53
Image 53
Elmo DSP 402 manual Object 0x6094 Velocity encoder factor, Index, 6094h, Sub-index