0x6091 - Gear ratio
Index | Sub Index | Name | Data Type | Acc. | Pdo Map. | NVM | Value range | Default value | Units |
|---|---|---|---|---|---|---|---|---|---|
0x6091 | 0x01 | Motor shaft revolutions | UINT32 | RW | No | Yes | UINT32 | - | - |
| 0x6091 | 0x02 | Driving shaft revolutions | UINT32 | RW | No | Yes | UINT32 | - | - |
It specifies the gear ratio of the motor gear box, which is the relationship between motor shaft revolutions and driving shaft revolution as shown in the following formula:
Gear ratio = motor shaft revolutions / driving shaft revolutions
Please, note that the value of these registers does not affect the behavior of the system as they are not used internally. They are available only for reference purposes.