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

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