5011h, 5111h AXIS#.VL.*
The following tables specify the CANopen mapping for the axis specific velocity loop objects.
Axis 1
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable | SMM Versions |
|---|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 5011h | 0 | Unsigned8 | - | - | Read only | No | All |
| AXIS1.VL.KP | 5011h | 1 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.VL.KI | 5011h | 2 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.VL.FBFILTER | 5011h | 3 | Signed32 | - | Velocity | Read only | No | All |
| AXIS1.VL.KVFF | 5011h | 4 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.VL.ERR | 5011h | 5 | Signed32 | - | Velocity | Read only | Yes | All |
| AXIS1.VL.LIMITP | 5011h | 6 | Unsigned32 | - | Velocity | Read/Write | No | All |
| AXIS1.VL.LIMITN | 5011h | 7 | Signed32 | - | Velocity | Read/Write | No | All |
| AXIS1.VL.THRESH | 5011h | 8 | Signed32 | - | Velocity | Read/Write | No | All |
| AXIS1.VL.AINSCALE | 5011h | 9 | Signed32 | 1000:1 | - | Read/Write | No | All |
| Reserved 5011h sub 0ah | 5011h | 10 | Signed32 | - | - | Read only | No | All |
| AXIS1.VL.LMJR | 5011h | 11 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.VL.ARTYPE1 | 5011h | 12 | Signed8 | - | - | Read/Write | No | All |
| AXIS1.VL.ARTYPE2 | 5011h | 13 | Signed8 | - | - | Read/Write | No | All |
| AXIS1.VL.ARTYPE3 | 5011h | 14 | Signed8 | - | - | Read/Write | No | All |
| AXIS1.VL.ARTYPE4 | 5011h | 15 | Signed8 | - | - | Read/Write | No | All |
| AXIS1.VL.ARPF1 | 5011h | 16 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.VL.ARPF2 | 5011h | 17 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.VL.ARPF3 | 5011h | 18 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.VL.ARPF4 | 5011h | 19 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.VL.ARPQ1 | 5011h | 20 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.VL.ARPQ2 | 5011h | 21 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.VL.ARPQ3 | 5011h | 22 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.VL.ARPQ4 | 5011h | 23 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.VL.ARZF1 | 5011h | 24 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.VL.ARZF2 | 5011h | 25 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.VL.ARZF3 | 5011h | 26 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.VL.ARZF4 | 5011h | 27 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.VL.ARZQ1 | 5011h | 28 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.VL.ARZQ2 | 5011h | 29 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.VL.ARZQ3 | 5011h | 30 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.VL.ARZQ4 | 5011h | 31 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.VL.AINSOURCE | 5011h | 32 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.VL.AINACC | 5011h | 33 | Unsigned32 | - | Acceleration 16Khz | Read/Write | No | All |
| AXIS1.VL.AINDEC | 5011h | 34 | Unsigned32 | - | Acceleration 16Khz | Read/Write | No | All |
| AXIS1.VL.KFB | 5011h | 35 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.VL.FBSOURCE | 5011h | 36 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.VL.KIMODE | 5011h | 37 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.VL.FB.MWOFFSET | 5011h | 38 | Signed32 | - | Velocity | Read/Write | No | All |
| AXIS1.VL.INTOUTMAX | 5011h | 39 | Signed32 | 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 | 5111h | 0 | Unsigned8 | - | - | Read only | No | All |
| AXIS2.VL.KP | 5111h | 1 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.VL.KI | 5111h | 2 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.VL.FBFILTER | 5111h | 3 | Signed32 | - | Velocity | Read only | No | All |
| AXIS2.VL.KVFF | 5111h | 4 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.VL.ERR | 5111h | 5 | Signed32 | - | Velocity | Read only | Yes | All |
| AXIS2.VL.LIMITP | 5111h | 6 | Unsigned32 | - | Velocity | Read/Write | No | All |
| AXIS2.VL.LIMITN | 5111h | 7 | Signed32 | - | Velocity | Read/Write | No | All |
| AXIS2.VL.THRESH | 5111h | 8 | Signed32 | - | Velocity | Read/Write | No | All |
| AXIS2.VL.AINSCALE | 5111h | 9 | Signed32 | 1000:1 | - | Read/Write | No | All |
| Reserved 5111h sub 0ah | 5111h | 10 | Signed32 | - | - | Read only | No | All |
| AXIS2.VL.LMJR | 5111h | 11 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.VL.ARTYPE1 | 5111h | 12 | Signed8 | - | - | Read/Write | No | All |
| AXIS2.VL.ARTYPE2 | 5111h | 13 | Signed8 | - | - | Read/Write | No | All |
| AXIS2.VL.ARTYPE3 | 5111h | 14 | Signed8 | - | - | Read/Write | No | All |
| AXIS2.VL.ARTYPE4 | 5111h | 15 | Signed8 | - | - | Read/Write | No | All |
| AXIS2.VL.ARPF1 | 5111h | 16 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.VL.ARPF2 | 5111h | 17 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.VL.ARPF3 | 5111h | 18 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.VL.ARPF4 | 5111h | 19 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.VL.ARPQ1 | 5111h | 20 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.VL.ARPQ2 | 5111h | 21 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.VL.ARPQ3 | 5111h | 22 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.VL.ARPQ4 | 5111h | 23 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.VL.ARZF1 | 5111h | 24 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.VL.ARZF2 | 5111h | 25 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.VL.ARZF3 | 5111h | 26 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.VL.ARZF4 | 5111h | 27 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.VL.ARZQ1 | 5111h | 28 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.VL.ARZQ2 | 5111h | 29 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.VL.ARZQ3 | 5111h | 30 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.VL.ARZQ4 | 5111h | 31 | Unsigned32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.VL.AINSOURCE | 5111h | 32 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.VL.AINACC | 5111h | 33 | Unsigned32 | - | Acceleration 16Khz | Read/Write | No | All |
| AXIS2.VL.AINDEC | 5111h | 34 | Unsigned32 | - | Acceleration 16Khz | Read/Write | No | All |
| AXIS2.VL.KFB | 5111h | 35 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.VL.FBSOURCE | 5111h | 36 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.VL.KIMODE | 5111h | 37 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.VL.FB.MWOFFSET | 5111h | 38 | Signed32 | - | Velocity | Read/Write | No | All |
| AXIS2.VL.INTOUTMAX | 5111h | 39 | Signed32 | 1000:1 | - | Read/Write | No | All |
