TR-Electronic CEH-110, User Manual, Page: 161 / 176

Manufacturer and Profile Specific Objects (CiA DS-406)
Printed in the Federal Republic of Germany

TR-Electronic GmbH 2010, All Rights Reserved
10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 161 of 176
10.11 Object 6030h: Speed
The object 6030h shows the output speed value, which is given in steps per ms, the
resolution is g
iven in “Object 2005h: TR-Speed unit”.
The speed value is signed and is output as a two’s complement.

Code Sequence setting = increasing
- Output positive, turning clockwise (view onto flange side)

Code Sequence setting = decreasing
- Output negative, turning clockwise (view onto flange side)
Index 0x6030
Description
Speed Value
Data type Integer16
Category Optional
Access
ro
PDO mapping Yes
Speed value
Byte 0 Byte 1
2
7
to 2
0
2
15
to 2
8
Example for the calculation of the speed in revolutions per minute:
Assumed:
-
Object 6030h = 55 steps/ms
-
Object 2005h = 15 bit (default)
Calculation:
55 steps/ms
* 60.000 ms/min = approx. 100 revolutions/min
(15 bit) 32.768 steps/revolution
If the value range of the speed is under or over the limits of -
32768…+32767, the limit
values (0x7FFF or 0x8000) will be output.