500Ah, 510Ah AXIS#.IL.*
Sub-Index 11h
This object at sub-index 11h is used to limit the positive and negative axis current based on a percent of AXIS#.IPEAK. The range is 0-10,000 and corresponds to 0-100% of AXIS#.IPEAK. When written, it will set both the positive and negative current limits AXIS#.IL.LIMITP / AXIS#.IL.LIMITN. When read, it will read back the smaller of the two limits.
Example 1: Writing SDO
Let AXIS#.IPEAK = 9.0 Write SDO 500Ah, sub 11h = 5,000 (50% IPEAK) Then AXIS1.IL.LIMITP = 4.5 AXIS#.IL.LIMITN = -4.5 Ex: 9.0 * (5,000 / 10,000) = 4.5
Example 2: Reading SDO
Let AXIS1.IL.LIMITP = 9.0 and AXIS#.IL.LIMITN = -4.5 Read SDO 500Ah, sub 11h = 5,000 Ex: min(abs(9.0), abs(-4.5)) = 4.5 = 5,000
Axis 1
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable | SMM Versions |
|---|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 500Ah | 0 | Unsigned8 | - | - | Read only | No | All |
| AXIS1.IL.FB | 500Ah | 1 | Signed32 | 1000:1 | - | Read only | Yes | All |
| AXIS1.IL.KP | 500Ah | 2 | Unsigned32 | 1000:1 | - | Read only | No | All |
| AXIS1.IL.KPDRATIO | 500Ah | 3 | Unsigned32 | 1000:1 | - | Read only | No | All |
| AXIS1.IL.LIMITP | 500Ah | 4 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.IL.LIMITN | 500Ah | 5 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.IL.FBSOURCE | 500Ah | 6 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.IL.DIFOLD | 500Ah | 7 | Signed32 | 1000:1 | - | Read only | No | All |
| AXIS1.IL.FOLDFTHRESH | 500Ah | 8 | Signed32 | 1000:1 | - | Read only | No | All |
| AXIS1.IL.FOLDFTHRESHU | 500Ah | 9 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.IL.FOLDWTHRESH | 500Ah | 10 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.IL.FRICTION | 500Ah | 11 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.IL.IFOLD | 500Ah | 12 | Signed32 | 1000:1 | - | Read only | No | All |
| AXIS1.IL.KACCFF | 500Ah | 13 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.IL.KVFF | 500Ah | 14 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.IL.MIFOLD | 500Ah | 15 | Signed32 | 1000:1 | - | Read only | No | All |
| AXIS1.IL.OFFSET | 500Ah | 16 | Signed32 | 1000:1 | - | Read/Write | No | All |
| Max peak current - Axis 1 | 500Ah | 17 | Unsigned16 | - | - | Read/Write | No | All |
| AXIS1.IL.DI2T | 500Ah | 18 | Signed32 | 1000:1 | - | Read only | No | All |
| AXIS1.IL.MI2T | 500Ah | 19 | Signed32 | 1000:1 | - | Read only | Yes | All |
| AXIS1.IL.AINSCALE | 500Ah | 20 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.IL.AINSOURCE | 500Ah | 21 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.IL.BW | 500Ah | 22 | Unsigned16 | 1000:1 | - | Read/Write | No | All |
| AXIS1.IL.PWMQUIET | 500Ah | 23 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.IL.COMPTABLE.DATA.SIZE | 500Ah | 24 | Signed32 | - | - | Read/Write | No | All |
| AXIS1.IL.COMPTABLE.ENABLE | 500Ah | 25 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.IL.COMPTABLE.MAX | 500Ah | 26 | Signed32 | - | Position | Read/Write | No | All |
| AXIS1.IL.COMPTABLE.MIN | 500Ah | 27 | Signed32 | - | Position | Read/Write | No | All |
| AXIS1.IL.COMPTABLE.MODULO | 500Ah | 28 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.IL.COMPTABLE.MODULOVALUE | 500Ah | 29 | Signed32 | - | Position | Read/Write | No | All |
| AXIS1.IL.COMPTABLE.OUTPUT | 500Ah | 30 | Signed16 | 1000:1 | - | Read only | No | All |
| AXIS1.IL.COGTABLE.TEACH.ACC | 500Ah | 31 | Unsigned32 | - | Acceleration | Read/Write | No | All |
| AXIS1.IL.COGTABLE.TEACH.DEC | 500Ah | 32 | Unsigned32 | - | Acceleration | Read/Write | No | All |
| AXIS1.IL.COGTABLE.TEACH.V | 500Ah | 33 | Unsigned32 | - | Velocity | Read/Write | No | All |
| AXIS1.IL.COGTABLE.TEACH.STATUS | 500Ah | 34 | Signed8 | - | - | Read only | No | All |
| AXIS1.IL.COGTABLE.MOVETOSTART.ACC | 500Ah | 35 | Unsigned32 | - | Acceleration | Read/Write | No | All |
| AXIS1.IL.COMMANGLE | 500Ah | 36 | Unsigned32 | 1000:1 | - | Read only | No | All |
| AXIS1.IL.COGTABLE.MOVETOSTART.DEC | 500Ah | 37 | Unsigned32 | - | Acceleration | Read/Write | No | All |
| AXIS1.IL.COGTABLE.MOVETOSTART.V | 500Ah | 38 | Unsigned32 | - | Velocity | Read/Write | No | All |
| AXIS1.IL.COGTABLE.AUTOSIZE | 500Ah | 39 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.IL.COMPTABLE.INPUT | 500Ah | 40 | Signed32 | - | Position | Read only | No | All |
| Reserved 500ah sub 29h | 500Ah | 41 | Unsigned32 | - | - | Read/Write | No | All |
| Reserved 500ah sub 2ah | 500Ah | 42 | Unsigned32 | - | - | Read only | No | All |
Axis 2
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable | SMM Versions |
|---|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 510Ah | 0 | Unsigned8 | - | - | Read only | No | All |
| AXIS2.IL.FB | 510Ah | 1 | Signed32 | 1000:1 | - | Read only | Yes | All |
| AXIS2.IL.KP | 510Ah | 2 | Unsigned32 | 1000:1 | - | Read only | No | All |
| AXIS2.IL.KPDRATIO | 510Ah | 3 | Unsigned32 | 1000:1 | - | Read only | No | All |
| AXIS2.IL.LIMITP | 510Ah | 4 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.IL.LIMITN | 510Ah | 5 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.IL.FBSOURCE | 510Ah | 6 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.IL.DIFOLD | 510Ah | 7 | Signed32 | 1000:1 | - | Read only | No | All |
| AXIS2.IL.FOLDFTHRESH | 510Ah | 8 | Signed32 | 1000:1 | - | Read only | No | All |
| AXIS2.IL.FOLDFTHRESHU | 510Ah | 9 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.IL.FOLDWTHRESH | 510Ah | 10 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.IL.FRICTION | 510Ah | 11 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.IL.IFOLD | 510Ah | 12 | Signed32 | 1000:1 | - | Read only | No | All |
| AXIS2.IL.KACCFF | 510Ah | 13 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.IL.KVFF | 510Ah | 14 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.IL.MIFOLD | 510Ah | 15 | Signed32 | 1000:1 | - | Read only | No | All |
| AXIS2.IL.OFFSET | 510Ah | 16 | Signed32 | 1000:1 | - | Read/Write | No | All |
| Max peak current - Axis 2 | 510Ah | 17 | Unsigned16 | - | - | Read/Write | No | All |
| AXIS2.IL.DI2T | 510Ah | 18 | Signed32 | 1000:1 | - | Read only | No | All |
| AXIS2.IL.MI2T | 510Ah | 19 | Signed32 | 1000:1 | - | Read only | Yes | All |
| AXIS2.IL.AINSCALE | 510Ah | 20 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.IL.AINSOURCE | 510Ah | 21 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.IL.BW | 510Ah | 22 | Unsigned16 | 1000:1 | - | Read/Write | No | All |
| AXIS2.IL.PWMQUIET | 510Ah | 23 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.IL.COMPTABLE.DATA.SIZE | 510Ah | 24 | Signed32 | - | - | Read/Write | No | All |
| AXIS2.IL.COMPTABLE.ENABLE | 510Ah | 25 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.IL.COMPTABLE.MAX | 510Ah | 26 | Signed32 | - | Position | Read/Write | No | All |
| AXIS2.IL.COMPTABLE.MIN | 510Ah | 27 | Signed32 | - | Position | Read/Write | No | All |
| AXIS2.IL.COMPTABLE.MODULO | 510Ah | 28 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.IL.COMPTABLE.MODULOVALUE | 510Ah | 29 | Signed32 | - | Position | Read/Write | No | All |
| AXIS2.IL.COMPTABLE.OUTPUT | 510Ah | 30 | Signed16 | 1000:1 | - | Read only | No | All |
| AXIS2.IL.COGTABLE.TEACH.ACC | 510Ah | 31 | Unsigned32 | - | Acceleration | Read/Write | No | All |
| AXIS2.IL.COGTABLE.TEACH.DEC | 510Ah | 32 | Unsigned32 | - | Acceleration | Read/Write | No | All |
| AXIS2.IL.COGTABLE.TEACH.V | 510Ah | 33 | Unsigned32 | - | Velocity | Read/Write | No | All |
| AXIS2.IL.COGTABLE.TEACH.STATUS | 510Ah | 34 | Signed8 | - | - | Read only | No | All |
| AXIS2.IL.COGTABLE.MOVETOSTART.ACC | 510Ah | 35 | Unsigned32 | - | Acceleration | Read/Write | No | All |
| AXIS2.IL.COMMANGLE | 510Ah | 36 | Unsigned32 | 1000:1 | - | Read only | No | All |
| AXIS2.IL.COGTABLE.MOVETOSTART.DEC | 510Ah | 37 | Unsigned32 | - | Acceleration | Read/Write | No | All |
| AXIS2.IL.COGTABLE.MOVETOSTART.V | 510Ah | 38 | Unsigned32 | - | Velocity | Read/Write | No | All |
| AXIS2.IL.COGTABLE.AUTOSIZE | 510Ah | 39 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.IL.COMPTABLE.INPUT | 510Ah | 40 | Signed32 | - | Position | Read only | No | All |
| Reserved 510ah sub 29h | 510Ah | 41 | Unsigned32 | - | - | Read/Write | No | All |
| Reserved 510ah sub 2ah | 510Ah | 42 | Unsigned32 | - | - | Read only | No | All |
