BECKHOFF ET9300 - Manual (Page 72)

70 Application Note ET9300
Figure 32: Encoder scaling
The velocity output scaling is calculated with the following formula:
velo.scaling = (2^20 / encoder resolution) * (velo resolution / 139,81)
The velocity resolution [inc/(1rev/min)] is the numerical increment if 1 rev/min is desired. In this case
the ratio is 1 so the velocity scaling factor is 0.114441027(Figure 33).
Figure 33: Velocity scaling