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 |