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 |
|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 5011h | 0h | Unsigned8 | - | - | Read only | No |
| AXIS1.VL.KP | 5011h | 1h | Signed32 | 1000:1 | - | Read/Write | No |
| AXIS1.VL.KI | 5011h | 2h | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS1.VL.FBFILTER | 5011h | 3h | Signed32 | - | Velocity | Read only | No |
| AXIS1.VL.KVFF | 5011h | 4h | Signed32 | 1000:1 | - | Read/Write | No |
| AXIS1.VL.ERR | 5011h | 5h | Signed32 | - | Velocity | Read only | No |
| AXIS1.VL.LIMITP | 5011h | 6h | Unsigned32 | - | Velocity | Read/Write | No |
| AXIS1.VL.LIMITN | 5011h | 7h | Signed32 | - | Velocity | Read/Write | No |
| AXIS1.VL.THRESH | 5011h | 8h | Unsigned32 | - | Velocity | Read/Write | No |
| AXIS1.VL.AINSCALE | 5011h | 9h | Unsigned32 | 1000:1 | - | Read/Write | No |
| Reserved 5011h sub 0ah | 5011h | Ah | Signed32 | - | - | Read only | No |
| AXIS1.VL.LMJR | 5011h | Bh | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS1.VL.ARTYPE1 | 5011h | Ch | Signed8 | - | - | Read/Write | No |
| AXIS1.VL.ARTYPE2 | 5011h | Dh | Signed8 | - | - | Read/Write | No |
| AXIS1.VL.ARTYPE3 | 5011h | Eh | Signed8 | - | - | Read/Write | No |
| AXIS1.VL.ARTYPE4 | 5011h | Fh | Signed8 | - | - | Read/Write | No |
| AXIS1.VL.ARPF1 | 5011h | 10h | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS1.VL.ARPF2 | 5011h | 11h | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS1.VL.ARPF3 | 5011h | 12h | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS1.VL.ARPF4 | 5011h | 13h | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS1.VL.ARPQ1 | 5011h | 14h | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS1.VL.ARPQ2 | 5011h | 15h | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS1.VL.ARPQ3 | 5011h | 16h | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS1.VL.ARPQ4 | 5011h | 17h | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS1.VL.ARZF1 | 5011h | 18h | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS1.VL.ARZF2 | 5011h | 19h | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS1.VL.ARZF3 | 5011h | 1Ah | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS1.VL.ARZF4 | 5011h | 1Bh | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS1.VL.ARZQ1 | 5011h | 1Ch | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS1.VL.ARZQ2 | 5011h | 1Dh | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS1.VL.ARZQ3 | 5011h | 1Eh | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS1.VL.ARZQ4 | 5011h | 1Fh | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS1.VL.AINSOURCE | 5011h | 20h | Unsigned8 | - | - | Read/Write | No |
Axis 2
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable |
|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 5111h | 0h | Unsigned8 | - | - | Read only | No |
| AXIS2.VL.KP | 5111h | 1h | Signed32 | 1000:1 | - | Read/Write | No |
| AXIS2.VL.KI | 5111h | 2h | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS2.VL.FBFILTER | 5111h | 3h | Signed32 | - | Velocity | Read only | No |
| AXIS2.VL.KVFF | 5111h | 4h | Signed32 | 1000:1 | - | Read/Write | No |
| AXIS2.VL.ERR | 5111h | 5h | Signed32 | - | Velocity | Read only | No |
| AXIS2.VL.LIMITP | 5111h | 6h | Unsigned32 | - | Velocity | Read/Write | No |
| AXIS2.VL.LIMITN | 5111h | 7h | Signed32 | - | Velocity | Read/Write | No |
| AXIS2.VL.THRESH | 5111h | 8h | Unsigned32 | - | Velocity | Read/Write | No |
| AXIS2.VL.AINSCALE | 5111h | 9h | Unsigned32 | 1000:1 | - | Read/Write | No |
| Reserved 5011h sub 0ah | 5111h | Ah | Signed32 | - | - | Read only | No |
| AXIS2.VL.LMJR | 5111h | Bh | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS2.VL.ARTYPE1 | 5111h | Ch | Signed8 | - | - | Read/Write | No |
| AXIS2.VL.ARTYPE2 | 5111h | Dh | Signed8 | - | - | Read/Write | No |
| AXIS2.VL.ARTYPE3 | 5111h | Eh | Signed8 | - | - | Read/Write | No |
| AXIS2.VL.ARTYPE4 | 5111h | Fh | Signed8 | - | - | Read/Write | No |
| AXIS2.VL.ARPF1 | 5111h | 10h | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS2.VL.ARPF2 | 5111h | 11h | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS2.VL.ARPF3 | 5111h | 12h | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS2.VL.ARPF4 | 5111h | 13h | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS2.VL.ARPQ1 | 5111h | 14h | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS2.VL.ARPQ2 | 5111h | 15h | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS2.VL.ARPQ3 | 5111h | 16h | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS2.VL.ARPQ4 | 5111h | 17h | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS2.VL.ARZF1 | 5111h | 18h | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS2.VL.ARZF2 | 5111h | 19h | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS2.VL.ARZF3 | 5111h | 1Ah | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS2.VL.ARZF4 | 5111h | 1Bh | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS2.VL.ARZQ1 | 5111h | 1Ch | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS2.VL.ARZQ2 | 5111h | 1Dh | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS2.VL.ARZQ3 | 5111h | 1Eh | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS2.VL.ARZQ4 | 5111h | 1Fh | Unsigned32 | 1000:1 | - | Read/Write | No |
| AXIS2.VL.AINSOURCE | 5111h | 20h | Unsigned8 | - | - | Read/Write | No |
