BECKHOFF AX2000 CANopen communication profile - Manual (Page 60)

4.5.2.4 Object 6094h: velocity_encoder_factor (DS402)
The velocity_encoder_factor converts the target speed (revs/min) or velocity (incr/sec) into the inter-
nal data format of the AX2000/2500 (increments).
The velocity_encoder_factor is calculated as:
velocity_ encoder_ factor
velocity_ encoder_ resolutio
=
n gear_ ratio position_ unit Fvelocity(notation_ inde ´ ´ ´ x)
feed_ constant velocity_ unit sec Fposition(notati ´ ´ ´ on_ index)
l velocity_encoder_resolution the resolution of the speed 2
20
l gear_ratio the transmission ratio for the gearing that is used
l position_unit in meters
l Fposition(notation_index) in dimension_index = 1, notation_index = 0 [m]
l feed_constant the feed constant for the output side of the drive gearing
l velocity_unit in [m/s]
l Fvelocity (notation_index) in dimension_index = 13, notation_index = 0 [m / s]
(see also Object 606B
h
velocity_notation_index and Object 606C
h
velocity_dimen-
sion_index)
Index 0x6094 h
Name velocity_encoder_factor
Object code ARRAY
Number of elements 2
Data type UNSIGNED32
Sub-Indexes:
Sub-index 01 h
Brief description numerator
Mode pv
Access rw
PDO mapping not possible
Unit increments [incr]
Value range 0 ... (2 32 -1)
EEPROM no
Default value 0
Sub-index 02 h
Brief description divisor
Mode pv
Access rw
PDO mapping not possible
Unit seconds [s]
Value range 0 ... (2
32
-1)
EEPROM no
Default value 0
60 CANopen for AX2000/2500
CANopen Drive Profile
07/2007
BECKHOFF