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.ILClosed"Instruction list"
This is a low-level language and resembles assembly.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
Highest sub-index supported 500Ah 0h Unsigned8 - - Read only No
AXIS1.IL.FB 500Ah 1h Signed32 1000:1 - Read only Yes
AXIS1.IL.KP 500Ah 2h Unsigned32 1000:1 - Read only No
AXIS1.IL.KPDRATIO 500Ah 3h Unsigned32 1000:1 - Read only No
AXIS1.IL.LIMITP 500Ah 4h Signed32 1000:1 - Read/Write No
AXIS1.IL.LIMITN 500Ah 5h Signed32 1000:1 - Read/Write No
AXIS1.IL.FBSOURCE 500Ah 6h Unsigned8 - - Read/Write No
AXIS1.IL.DIFOLD 500Ah 7h Signed32 1000:1 - Read only No
AXIS1.IL.FOLDFTHRESH 500Ah 8h Signed32 1000:1 - Read only No
AXIS1.IL.FOLDFTHRESHU 500Ah 9h Signed32 1000:1 - Read/Write No
AXIS1.IL.FOLDWTHRESH 500Ah Ah Signed32 1000:1 - Read/Write No
AXIS1.IL.FRICTION 500Ah Bh Signed32 1000:1 - Read/Write No
AXIS1.IL.IFOLD 500Ah Ch Signed32 1000:1 - Read only No
AXIS1.IL.KACCFF 500Ah Dh Signed32 1000:1 - Read/Write No
AXIS1.IL.KVFF 500Ah Eh Signed32 1000:1 - Read/Write No
AXIS1.IL.MIFOLD 500Ah Fh Signed32 1000:1 - Read only No
AXIS1.IL.OFFSET 500Ah 10h Signed32 1000:1 - Read/Write No
Max peak current - Axis 1 500Ah 11h Unsigned16 - - Read/Write No
AXIS1.IL.DI2T 500Ah 12h Signed32 1000:1 - Read only No
AXIS1.IL.MI2T 500Ah 13h Signed32 1000:1 - Read only No
AXIS1.IL.AINSCALE 500Ah 14h Signed32 1000:1 - Read/Write No
AXIS1.IL.AINSOURCE 500Ah 15h Unsigned8 - - Read/Write No

Axis 2

Parameter Index Sub-Index Data Type Float Scale Units Access PDO Mappable
Highest sub-index supported 510Ah 0h Unsigned8 - - Read only No
AXIS2.IL.FB 510Ah 1h Signed32 1000:1 - Read only Yes
AXIS2.IL.KP 510Ah 2h Unsigned32 1000:1 - Read only No
AXIS2.IL.KPDRATIO 510Ah 3h Unsigned32 1000:1 - Read only No
AXIS2.IL.LIMITP 510Ah 4h Signed32 1000:1 - Read/Write No
AXIS2.IL.LIMITN 510Ah 5h Signed32 1000:1 - Read/Write No
AXIS2.IL.FBSOURCE 510Ah 6h Unsigned8 - - Read/Write No
AXIS2.IL.DIFOLD 510Ah 7h Signed32 1000:1 - Read only No
AXIS2.IL.FOLDFTHRESH 510Ah 8h Signed32 1000:1 - Read only No
AXIS2.IL.FOLDFTHRESHU 510Ah 9h Signed32 1000:1 - Read/Write No
AXIS2.IL.FOLDWTHRESH 510Ah Ah Signed32 1000:1 - Read/Write No
AXIS2.IL.FRICTION 510Ah Bh Signed32 1000:1 - Read/Write No
AXIS2.IL.IFOLD 510Ah Ch Signed32 1000:1 - Read only No
AXIS2.IL.KACCFF 510Ah Dh Signed32 1000:1 - Read/Write No
AXIS2.IL.KVFF 510Ah Eh Signed32 1000:1 - Read/Write No
AXIS2.IL.MIFOLD 510Ah Fh Signed32 1000:1 - Read only No
AXIS2.IL.OFFSET 510Ah 10h Signed32 1000:1 - Read/Write No
Max peak current - Axis 2 510Ah 11h Unsigned16 - - Read/Write No
AXIS2.IL.DI2T 510Ah 12h Signed32 1000:1 - Read only No
AXIS2.IL.MI2T 510Ah 13h Signed32 1000:1 - Read only No
AXIS2.IL.AINSCALE 510Ah 14h Signed32 1000:1 - Read/Write No
AXIS2.IL.AINSOURCE 510Ah 15h Unsigned8 - - Read/Write No