5002h, 5102h AXIS#.CS.*
The following tables specify the CANopen mapping for the axis specific controlled stop objects.
Axis 1
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable | SMM Versions |
|---|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 5002h | 0 | Unsigned8 | - | - | Read only | No | All |
| AXIS1.CS.STATE | 5002h | 1 | Unsigned8 | - | - | Read only | No | All |
| AXIS1.CS.DEC | 5002h | 2 | Unsigned32 | - | Acceleration | Read/Write | No | All |
| AXIS1.ZEROT | 5002h | 3 | Unsigned32 | - | - | Read/Write | No | All |
| AXIS1.ZEROV | 5002h | 4 | Signed32 | - | Velocity | Read/Write | No | All |
| AXIS1.ZEROACC | 5002h | 5 | Unsigned32 | - | Acceleration | Read/Write | No | All |
Axis 2
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable | SMM Versions |
|---|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 5102h | 0 | Unsigned8 | - | - | Read only | No | All |
| AXIS2.CS.STATE | 5102h | 1 | Unsigned8 | - | - | Read only | No | All |
| AXIS2.CS.DEC | 5102h | 2 | Unsigned32 | - | Acceleration | Read/Write | No | All |
| AXIS2.ZEROT | 5102h | 3 | Unsigned32 | - | - | Read/Write | No | All |
| AXIS2.ZEROV | 5102h | 4 | Signed32 | - | Velocity | Read/Write | No | All |
| AXIS2.ZEROACC | 5102h | 5 | Unsigned32 | - | Acceleration | Read/Write | No | All |
