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 |
|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 500Ch | 0h | Unsigned8 | - | - | Read only | No |
| AXIS1.PL.MODPDIR | 500Ch | 1h | Unsigned8 | - | - | Read/Write | No |
| AXIS1.PL.ERRWTHRESH | 500Ch | 2h | Signed32 | - | Position | Read/Write | No |
| AXIS1.PL.ERRFTHRESH | 500Ch | 3h | Signed32 | - | Position | Read/Write | No |
| AXIS1.PL.KP | 500Ch | 4h | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS1.PL.MODP1 | 500Ch | 5h | Signed32 | - | Position | Read/Write | No |
| AXIS1.PL.MODP2 | 500Ch | 6h | Signed32 | - | Position | Read/Write | No |
| AXIS1.PL.AINSCALE | 500Ch | 7h | Signed32 | - | Position | Read/Write | No |
| AXIS1.PL.FBSOURCE | 500Ch | 8h | Unsigned8 | - | - | Read/Write | No |
| AXIS1.PL.INTOUTMAX | 500Ch | 9h | Signed32 | - | Position | Read/Write | No |
| AXIS1.PL.KI | 500Ch | Ah | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS1.PL.MODPEN | 500Ch | Bh | Unsigned8 | - | - | Read/Write | No |
| AXIS1.PL.AINSOURCE | 500Ch | Ch | Unsigned8 | - | - | Read/Write | No |
Axis 2
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable |
|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 510Ch | 0h | Unsigned8 | - | - | Read only | No |
| AXIS2.PL.MODPDIR | 510Ch | 1h | Unsigned8 | - | - | Read/Write | No |
| AXIS2.PL.ERRWTHRESH | 510Ch | 2h | Signed32 | - | Position | Read/Write | No |
| AXIS2.PL.ERRFTHRESH | 510Ch | 3h | Signed32 | - | Position | Read/Write | No |
| AXIS2.PL.KP | 510Ch | 4h | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS2.PL.MODP1 | 510Ch | 5h | Signed32 | - | Position | Read/Write | No |
| AXIS2.PL.MODP2 | 510Ch | 6h | Signed32 | - | Position | Read/Write | No |
| AXIS2.PL.AINSCALE | 510Ch | 7h | Signed32 | - | Position | Read/Write | No |
| AXIS2.PL.FBSOURCE | 510Ch | 8h | Unsigned8 | - | - | Read/Write | No |
| AXIS2.PL.INTOUTMAX | 510Ch | 9h | Signed32 | - | Position | Read/Write | No |
| AXIS2.PL.KI | 510Ch | Ah | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS2.PL.MODPEN | 510Ch | Bh | Unsigned8 | - | - | Read/Write | No |
| AXIS2.PL.AINSOURCE | 510Ch | Ch | Unsigned8 | - | - | Read/Write | No |
