0x6091 Gear ratio

Defines the ratio of motor shaft revolutions to driving shaft revolutions. The term driving shaft refers to the shaft where the encoder used for position control is mounted. If no position control encoder is used, it refers to the shaft where the encoder used for velocity control is mounted.

If there is only one encoder configured, or if the encoder used for position control is on the motor shaft, this parameter is not used. To scale the position between the driving shaft and the output of a gearbox, 0x6092 Feed constant should be used to create a virtual gear ratio instead.

All values for this parameter are dimensionless.

Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Motor revolutions	0x6091:1	UDINT	32			1		readwrite	Receive PDO (Outputs)
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Shaft revolutions	0x6091:2	UDINT	32			1		readwrite	Receive PDO (Outputs)