Encoder Canopen

Hello,

I have a IFM RM9000 encoder for CANOPEN but I guess this question aplies to most Encoders using CAN Open.


I will use it to read speed as rpm(I know it's overkill). I can read the speed value but I do not quite understand how the value is presented and how to conveet to rpm. I have read the manua but do not really understand.

http://www.ifm.com/mounting/704820UK.pdf

Ideas?

Just found out how it works and maybe someone else is interested.

The speed value is Encoder resolution/second. So it the encoder resolution is set to 4096 I vdivide the speed value by 4096 and multiply by 60 to get rpm.