Festo Электромотор MTR-DCI - 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