500Eh, 510Eh AXIS#.SM.*
The following tables specify the CANopen mapping for the axis specific service motion objects.
Axis 1
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable | SMM Versions |
|---|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 500Eh | 0 | Unsigned8 | - | - | Read only | No | All |
| AXIS1.SM.I1 | 500Eh | 1 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.SM.I2 | 500Eh | 2 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.SM.MODE | 500Eh | 3 | Unsigned16 | - | - | Read/Write | No | All |
| AXIS1.SM.T1 | 500Eh | 4 | Unsigned16 | - | - | Read/Write | No | All |
| AXIS1.SM.T2 | 500Eh | 5 | Unsigned16 | - | - | Read/Write | No | All |
| AXIS1.SM.V1 | 500Eh | 6 | Signed32 | - | Velocity | Read/Write | No | All |
| AXIS1.SM.V2 | 500Eh | 7 | Signed32 | - | Velocity | Read/Write | No | All |
| AXIS1.SM.ACC | 500Eh | 8 | Unsigned32 | - | Acceleration | Read/Write | No | All |
| AXIS1.SM.DEC | 500Eh | 9 | 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 | 510Eh | 0 | Unsigned8 | - | - | Read only | No | All |
| AXIS2.SM.I1 | 510Eh | 1 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.SM.I2 | 510Eh | 2 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.SM.MODE | 510Eh | 3 | Unsigned16 | - | - | Read/Write | No | All |
| AXIS2.SM.T1 | 510Eh | 4 | Unsigned16 | - | - | Read/Write | No | All |
| AXIS2.SM.T2 | 510Eh | 5 | Unsigned16 | - | - | Read/Write | No | All |
| AXIS2.SM.V1 | 510Eh | 6 | Signed32 | - | Velocity | Read/Write | No | All |
| AXIS2.SM.V2 | 510Eh | 7 | Signed32 | - | Velocity | Read/Write | No | All |
| AXIS2.SM.ACC | 510Eh | 8 | Unsigned32 | - | Acceleration | Read/Write | No | All |
| AXIS2.SM.DEC | 510Eh | 9 | Unsigned32 | - | Acceleration | Read/Write | No | All |
