0x6090 - Velocity encoder resolution

Index	Sub Index	Name	Data Type	Acc.	Pdo Map.	NVM	Value range	Default value	Units
0x6090	0x01	Encoder increments	UINT32	RW	Yes	Yes	UINT32	60	increments
0x6090	0x02	Motor revolutions per second	UINT32	RW	Yes	Yes	1	1	revolutions / s

It specifies the relationship between position feedback and mechanical revolutions of the motor per second.

This register allow to modify the ratio between increments per second, that are the native drive internal units, to a user friendly units as revolutions per minute, only when Dc-Tachometer is used as feedback element.

How to use this register?

Motor revolutions parameter must be always fixed to "1", only encoder increments per second register can be modified.

Apply the next conversion:

Tachometer module will calculate the velocity based in this parameter, so speed readings may change if this register is modified.

Recommendation: leave this register with default values.