The effect of CoE parameters on scaling

Position scaling

The scaling of the position is influenced by the following parameters:

• 0x2010:12/0x2810:12 Singleturn bits Ch.1/Ch.2 and
  0x2010:13/0x2810:13 Multiturn bits Ch.1/Ch.2:
  These parameters define the division of the 32-bit process data into single-turn bits and multi-turn bits. The sum of both parts must always equal 32; otherwise, the axis cannot be enabled.
  The configuration of the single-turn bits and multi-turn bits in the Feedback Settings object relates exclusively to the process data representation and is independent of the physical resolution of the position encoder. Internally, the drive controller always operates at the sensor's full resolution; any bits that cannot be displayed are truncated only during process data output. Singleturn bits refers to the number of bits required to encode one revolution. In the delivery state, this refers to one motor revolution. If a gear ratio is configured, the Singleturn bits refer to one load revolution.
• Gear ratio
• Modulo position

Speed scaling

The speed scaling is influenced by the following parameters:

• Gear ratio: 2³² / 16,000 = 268,435 increments correspond to one load revolution per second