5013h, 5113h AXIS#.WS.*
The following tables specify the CANopen mapping for the axis specific wake and shake objects.
Axis 1
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable | SMM Versions |
|---|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 5013h | 0 | Unsigned8 | - | - | Read only | No | All |
| AXIS1.WS.MODE | 5013h | 1 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.WS.NUMLOOPS | 5013h | 2 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.WS.STATE | 5013h | 3 | Unsigned8 | - | - | Read only | No | All |
| AXIS1.WS.T | 5013h | 4 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.WS.TDELAY1 | 5013h | 5 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.WS.TDELAY2 | 5013h | 6 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.WS.TDELAY3 | 5013h | 7 | Unsigned16 | - | - | Read/Write | No | All |
| AXIS1.WS.TDELAY4 | 5013h | 8 | Unsigned16 | - | - | Read/Write | No | All |
| AXIS1.WS.ARM | 5013h | 9 | Unsigned32 | - | - | Write only | No | All |
| AXIS1.WS.CHECKMODE | 5013h | 10 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.WS.CHECKV | 5013h | 11 | Signed32 | - | Velocity | Read/Write | No | All |
| AXIS1.WS.DISTMAX | 5013h | 12 | Signed32 | - | Position | Read/Write | No | All |
| AXIS1.WS.IMAX | 5013h | 13 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.WS.VTHRESH | 5013h | 14 | Signed32 | - | Velocity | Read/Write | No | All |
| AXIS1.WS.DISTMIN | 5013h | 15 | Signed32 | - | Position | Read/Write | No | All |
| AXIS1.WS.CHECKT | 5013h | 16 | Unsigned16 | - | - | Read/Write | No | All |
| AXIS1.WS.TIRAMP | 5013h | 17 | Unsigned16 | - | - | Read/Write | No | All |
| AXIS1.WS.TSTANDSTILL | 5013h | 18 | Unsigned16 | - | - | Read/Write | No | All |
| AXIS1.WS.FREQ | 5013h | 19 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
Axis 2
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable | SMM Versions |
|---|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 5113h | 0 | Unsigned8 | - | - | Read only | No | All |
| AXIS2.WS.MODE | 5113h | 1 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.WS.NUMLOOPS | 5113h | 2 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.WS.STATE | 5113h | 3 | Unsigned8 | - | - | Read only | No | All |
| AXIS2.WS.T | 5113h | 4 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.WS.TDELAY1 | 5113h | 5 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.WS.TDELAY2 | 5113h | 6 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.WS.TDELAY3 | 5113h | 7 | Unsigned16 | - | - | Read/Write | No | All |
| AXIS2.WS.TDELAY4 | 5113h | 8 | Unsigned16 | - | - | Read/Write | No | All |
| AXIS2.WS.ARM | 5113h | 9 | Unsigned32 | - | - | Write only | No | All |
| AXIS2.WS.CHECKMODE | 5113h | 10 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.WS.CHECKV | 5113h | 11 | Signed32 | - | Velocity | Read/Write | No | All |
| AXIS2.WS.DISTMAX | 5113h | 12 | Signed32 | - | Position | Read/Write | No | All |
| AXIS2.WS.IMAX | 5113h | 13 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.WS.VTHRESH | 5113h | 14 | Signed32 | - | Velocity | Read/Write | No | All |
| AXIS2.WS.DISTMIN | 5113h | 15 | Signed32 | - | Position | Read/Write | No | All |
| AXIS2.WS.CHECKT | 5113h | 16 | Unsigned16 | - | - | Read/Write | No | All |
| AXIS2.WS.TIRAMP | 5113h | 17 | Unsigned16 | - | - | Read/Write | No | All |
| AXIS2.WS.TSTANDSTILL | 5113h | 18 | Unsigned16 | - | - | Read/Write | No | All |
| AXIS2.WS.FREQ | 5113h | 19 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
