Control Techniques Nidec SI-EtherCAT User Manual page 72

7.3.14 0x6091 Gear_ratio
This object is used to apply scaling. When configured, appropriate user units can be used to control
the position of the shaft beyond a gearbox. The gear ratio is calculated using the following formula:
gear ratio = motor shaft revolutions / driving shaft revolutions
Table 7-27 Gear_ratio
0x6091 Gear_ratio
Sub-index 0
Access: RO
Default: 2
PDO Mappable: No
Motion Profiles: When feedback encoder is available
Description:
Sub-index 1
Access: RW
Default: 1
PDO Mappable: No
Description: Motor revolutions.
Sub-index 2
Access: RW
Default: 1
PDO Mappable: No
Description: Shaft revolutions.
Beware when using a gear ratio that is not 1:1 and rollover of encoder position occurs, to maintain
a contiguous position, EtherCAT tracks the rollover events. For more detail see description for
object 0x6064.
72
Range: N/A
32
Range: 1 to 2 -1
32
Range: 1 to 2 -1
Size: 1 byte
Type: Unsigned integer / USINT
Update Rate: N/A
Size: 4 bytes
Type: Unsigned integer / UDINT
Update Rate: Background
Size: 4 bytes
Type: Unsigned integer / UDINT
Update Rate: Background
SI-EtherCAT User Guide
Unit: N/A
Unit: N/A
Unit: N/A