Printed in the Federal Republic of Germany
TR-Electronic GmbH 2016, All Rights Reserved
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
Gear
resolution
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
s
revolution
shaft
Drive
s
revolution
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.
