6091h, 6891h Gear ratio - AxisX
This object indicates the configured number of motor shaft revolutions and the number of driving shaft revolutions.
The gear ratio is calculated by the following formula:
Gear ratio = motor shaft revolutions / driving shaft revolutions
See CANopen Scaling.
Axis 1
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable | SMM Versions |
|---|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 6091h | 0 | Unsigned8 | - | - | Read only | No | All |
| Motor revolutions - Axis 1 | 6091h | 1 | Unsigned32 | - | - | Read/Write | No | All |
| Shaft revolutions - Axis 1 | 6091h | 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 | 6891h | 0 | Unsigned8 | - | - | Read only | No | All |
| Motor revolutions - Axis 2 | 6891h | 1 | Unsigned32 | - | - | Read/Write | No | All |
| Shaft revolutions - Axis 2 | 6891h | 2 | Unsigned32 | - | - | Read/Write | No | All |
