6096h, 6896h Velocity factor - Axis #

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"Revolutions per minute" Is a unit of frequency of rotation: the number of full rotations completed in one minute around a fixed axis. It is used as a measure of rotational speed of a mechanical component 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
Highest sub-index supported	6096h	0h	Unsigned8	-	-	Read only	No
Numerator - Axis 1	6096h	1h	Unsigned32	-	-	Read/Write	No
Divisor - Axis 1	6096h	2h	Unsigned32	-	-	Read/Write	No

Axis 2

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