500Ch, 510Ch AXIS#.PL.*
The following tables specify the CANopen mapping for the axis specific position loop objects.
Axis 1
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable | SMM Versions |
|---|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 500Ch | 0 | Unsigned8 | - | - | Read only | No | All |
| AXIS1.PL.MODPDIR | 500Ch | 1 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.PL.ERRWTHRESH | 500Ch | 2 | Signed32 | - | Position | Read/Write | No | All |
| AXIS1.PL.ERRFTHRESH | 500Ch | 3 | Signed32 | - | Position | Read/Write | No | All |
| AXIS1.PL.KP | 500Ch | 4 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.PL.MODP1 | 500Ch | 5 | Signed32 | - | Position | Read/Write | No | All |
| AXIS1.PL.MODP2 | 500Ch | 6 | Signed32 | - | Position | Read/Write | No | All |
| AXIS1.PL.AINSCALE | 500Ch | 7 | Signed32 | - | Position | Read/Write | No | All |
| AXIS1.PL.FBSOURCE | 500Ch | 8 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.PL.INTOUTMAX | 500Ch | 9 | Signed32 | - | Position | Read/Write | No | All |
| AXIS1.PL.KI | 500Ch | 10 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.PL.MODPEN | 500Ch | 11 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.PL.AINSOURCE | 500Ch | 12 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.PL.KFB | 500Ch | 13 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.PL.KITHRESH | 500Ch | 14 | Signed32 | - | Velocity | Read/Write | No | All |
| AXIS1.PL.FILTER.FREQ | 500Ch | 15 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| Reserved 500ch sub 10h | 500Ch | 16 | Unsigned16 | - | - | Read/Write | No | All |
| AXIS1.PL.KFB.PIN | 500Ch | 17 | Signed32 | - | - | Read/Write | No | All |
| AXIS1.PL.KFB.POUT | 500Ch | 18 | Signed32 | - | - | Read/Write | No | All |
| AXIS1.PL.OFFSET | 500Ch | 19 | Signed32 | - | Position | Read/Write | No | All |
| AXIS1.PL.FB.MWOFFSET | 500Ch | 20 | Signed32 | - | Position | Read/Write | No | All |
| AXIS1.PL.KIWAITFORSETTLE | 500Ch | 21 | Unsigned8 | - | - | Read/Write | No | All |
Axis 2
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable | SMM Versions |
|---|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 510Ch | 0 | Unsigned8 | - | - | Read only | No | All |
| AXIS2.PL.MODPDIR | 510Ch | 1 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.PL.ERRWTHRESH | 510Ch | 2 | Signed32 | - | Position | Read/Write | No | All |
| AXIS2.PL.ERRFTHRESH | 510Ch | 3 | Signed32 | - | Position | Read/Write | No | All |
| AXIS2.PL.KP | 510Ch | 4 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.PL.MODP1 | 510Ch | 5 | Signed32 | - | Position | Read/Write | No | All |
| AXIS2.PL.MODP2 | 510Ch | 6 | Signed32 | - | Position | Read/Write | No | All |
| AXIS2.PL.AINSCALE | 510Ch | 7 | Signed32 | - | Position | Read/Write | No | All |
| AXIS2.PL.FBSOURCE | 510Ch | 8 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.PL.INTOUTMAX | 510Ch | 9 | Signed32 | - | Position | Read/Write | No | All |
| AXIS2.PL.KI | 510Ch | 10 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.PL.MODPEN | 510Ch | 11 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.PL.AINSOURCE | 510Ch | 12 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.PL.KFB | 510Ch | 13 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.PL.KITHRESH | 510Ch | 14 | Signed32 | - | Velocity | Read/Write | No | All |
| AXIS2.PL.FILTER.FREQ | 510Ch | 15 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| Reserved 510ch sub 10h | 510Ch | 16 | Unsigned16 | - | - | Read/Write | No | All |
| AXIS2.PL.KFB.PIN | 510Ch | 17 | Signed32 | - | - | Read/Write | No | All |
| AXIS2.PL.KFB.POUT | 510Ch | 18 | Signed32 | - | - | Read/Write | No | All |
| AXIS2.PL.OFFSET | 510Ch | 19 | Signed32 | - | Position | Read/Write | No | All |
| AXIS2.PL.FB.MWOFFSET | 510Ch | 20 | Signed32 | - | Position | Read/Write | No | All |
| AXIS2.PL.KIWAITFORSETTLE | 510Ch | 21 | Unsigned8 | - | - | Read/Write | No | All |
