5010h, 5110h AXIS#.UNIT.*
The following tables specify the CANopen mapping for the axis specific unit definition objects.
Axis 1
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable | SMM Versions |
|---|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 5010h | 0 | Unsigned8 | - | - | Read only | No | All |
| AXIS1.UNIT.PIN | 5010h | 1 | Unsigned32 | - | - | Read/Write | No | All |
| AXIS1.UNIT.POUT | 5010h | 2 | Unsigned32 | - | - | Read/Write | No | All |
| AXIS1.UNIT.ACCROTARY | 5010h | 3 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.UNIT.VROTARY | 5010h | 4 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.UNIT.PROTARY | 5010h | 5 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.UNIT.ACCLINEAR | 5010h | 6 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.UNIT.PLINEAR | 5010h | 7 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.UNIT.VLINEAR | 5010h | 8 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.UNIT.LABEL | 5010h | 9 | String(17) | - | - | Read/Write | No | All |
Axis 2
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable | SMM Versions |
|---|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 5110h | 0 | Unsigned8 | - | - | Read only | No | All |
| AXIS2.UNIT.PIN | 5110h | 1 | Unsigned32 | - | - | Read/Write | No | All |
| AXIS2.UNIT.POUT | 5110h | 2 | Unsigned32 | - | - | Read/Write | No | All |
| AXIS2.UNIT.ACCROTARY | 5110h | 3 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.UNIT.VROTARY | 5110h | 4 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.UNIT.PROTARY | 5110h | 5 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.UNIT.ACCLINEAR | 5110h | 6 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.UNIT.PLINEAR | 5110h | 7 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.UNIT.VLINEAR | 5110h | 8 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.UNIT.LABEL | 5110h | 9 | String(17) | - | - | Read/Write | No | All |
