6096h, 6896h Velocity factor - AxisX

This object describes the numerator (sub-index 1) and denominator (sub-index 2) to use for velocity scaling. The velocity factor is applied onto the position value to arrive at a value scaled in position units per second.

By default, both numerator and denominator are both 1, meaning velocity units are in position units per second. If position units are also default, they will be in 2^16 counts per rev and velocity units would be in counts per second. To get velocity in RPM with default position units, the velocity factor would be set to 60 (seconds to minutes) as the numerator and 2^16 (increments per rev) as the denominator.

See CANopen Scaling.

Axis 1

Parameter	Index	Sub-Index	Data Type	Float Scale	Units	Access	PDO Mappable	SMM Versions
Highest sub-index supported	6096h	0	Unsigned8	-	-	Read only	No	All
Numerator - Axis 1	6096h	1	Unsigned32	-	-	Read/Write	No	All
Divisor - Axis 1	6096h	2	Unsigned32	-	-	Read/Write	No	All

Axis 2

Parameter	Index	Sub-Index	Data Type	Float Scale	Units	Access	PDO Mappable	SMM Versions
Highest sub-index supported	6896h	0	Unsigned8	-	-	Read only	No	All
Numerator - Axis 2	6896h	1	Unsigned32	-	-	Read/Write	No	All
Divisor - Axis 2	6896h	2	Unsigned32	-	-	Read/Write	No	All