Festo Электромотор MTR-DCI User Manual
Page 311
C. Reference – CANopen and CI objects
C-35
Festo P.BE-MTR-DCI-CO-EN en 1209a
Position Encoder Resolution
CANopen / CI
608Fh
01h, 02h
Array
uint32
rw
Description
Encoder resolution in [encoder increments / motor revolutions]
Encoder increments 608Fh
01h
uint32
rw
Values (fixed): MTR-DCI-32: 300 (0x012C) MTR-DCI-42/52/62: 500 (0x01F4)
Value is automatically entered when an axis type is selected (PNU 1005/4).
Motor revolutions 608Fh
02h
uint32
rw
Fix = 1
FHPP
1001
1, 2
Array
uint32
rw
FHPP: “Encoder resolution”
Gear Ratio
CANopen / CI
6091h
01h, 02h
Array
uint32
rw
Description
Ratio of the internal motor revolutions to the external revolutions of the drive
shaft of the MTR-DCI. The values are set fixed depending on the internal gear
(see type plate of the MTR-DCI). See PNU 1002, section B.2.15.
Motor revolutions 6091h
01h
uint32
rw
Integrated gear: Gear ratio - counter
Shaft revolutions 6091h
02h
uint32
rw
Integrated gear: Gear ratio - denominator
FHPP
1002
1, 2
Array
uint32
rw