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8.2.3 Object 2005h: TR-Speed unit
This object indicates the resolution with which the speed is calculated and output, see
chapter 8.8 "Object 6030h: Speed" on page 125.
Index
Description
Data type
Category
Access
PDO mapping
Default
Activation/Storage
Selectable resolutions:
8.2.4 Object 2006h: TR-Speed integration time
Represents the time interval in [ms] within which the position value gets averaged for
the calculation of speed, see "Object 6030h: Speed" on page 125.
Index
Description
Data type
Category
Access
PDO mapping
Lower limit
Upper limit
Default
Activation/Storage
Printed in the Federal Republic of Germany
06/20/2017
0x2005
TR / Speed unit
UNSIGNED16
Optional
rw
No
1
by object 0x1010
Value
Speed resolution
0
rps (revolutions per second)
1
rpm (revolutions per minute)
2
rph (revolutions per hour)
3
Steps/Integration time
0x2006
TR / Speed integration time
UNSIGNED16
Optional
rw
No
1
1000
100
by object 0x1010
TR - ECE - BA - DGB - 0127 - 04
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