ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 51)

Object 0x6090: Velocity encoder resolution
This object defines the ratio of encoder increments/second per motor revolutions/
second.
resolution encoder velocity _ _ =
sec / _
sec / _
s revolution motor
increments encoder
Object description:
Index 6090h
Name Velocity encoder resolution
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 Encoder increments per second
Entry category Mandatory
Access Read/write
PDO mapping No
Value range UNSIGNED32
Default value 1
Sub-index 2
Description Motor revolutions per second
Entry category Mandatory
Access Read/write
PDO mapping No
Value range UNSIGNED32
Default value 1
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
45