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09/29/2020 TR-EMO-BA-GB-0022 v03 Page 57 of 153
5.8.3 Object 0x6093: Position factor
The position factor converts the desired position into increments, which the drive
requires for the internal calculations. By multiplying with the position factor, position
data can be converted into user-defined position units.
Position units are length units, angles or increments.
revolution gear per Travel
ratio Gearresolution encoder Position
factor Position
Formula 5: Position factor
The position encoder resolution is defined by object 0x608F. The gear ratio denotes
the gear reduction, given by
srevolution shaft Drive
srevolution Motor
ratio Gear
Formula 6: Gear ratio
The travel per gear revolution is given in position units.
The counter of the position factor is specified as subindex 1 of object 0x6093, the
denominator as subindex 2.
The following applies:
Position [position units] * Position factor = Position [position increments]
The unit of the position factor is position increments/position units
The position unit is therefore implicitly defined by the position factor.
The default value of object [0x6093] for the position factor is
1024
1024
factor Position
Default
Formula 7: Default value, position factor
This value, together with the encoder resolution from Formula 2, corresponds to a
gear reduction of 1:1 and the position unit increments.
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