Scaling of actual values and setpoints

The representation of positions, speeds, and torques is independent of the connected motor and encoder.

In the delivery state, the following scaling factors apply to all setpoints and actual values (e.g., Target position, Velocity actual value, Touch probe positive edge, Velocity offset):

• Position: 2²⁰ = 1048576 = 0x00100000 increments correspond to one motor revolution. The upper 12 bits of the process data representation represent full motor revolutions.
• Speed: 2³² / 16,000 = 268,435 increments correspond to one motor revolution per second
• Torque: 1,000 increments correspond to the configured rated motor current