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09/29/2020 TR-EMO-BA-GB-0022 v03 Page 59 of 153
5.8.4 Object 0x6094: Speed factor
The speed factor converts the desired speed into increments, which the drive requires
for the internal calculations. By multiplying with the speed factor, speed data can be
converted into user-defined speed units.
sec
revolution Output
units_per Speed
reduction Gearresolution encoder Speed
factor Speed
Formula 8: Speed factor
The counter of the speed factor is specified in subindex 1 of object 0x6094, the
denominator as subindex 2.
The default value is:
300000
2
factor Speed
31
Default
Formula 9: Default value, speed factor
This value, together with the speed encoder resolution from Formula 4 and a gear
reduction of 1:1, corresponds to the speed unit "rpm".
Object 0x606C (Actual Velocity) contains the current output speed in the desired unit.
Default unit "rpm".
This means, for example, that if a value of 4350 is preset in object 0x6081 (Profile
Velocity), an output speed of 4350 rpm will be reached.
Object 0x607F (Max. Profile Velocity) defines the maximum permitted speed.
The desired unit is now used in all speed-related objects, with the exception of object
0x6069 (Sensor Velocity), which specifies the current speed in speed increments.
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