5013h, 5113h AXIS#.WS.*
The following tables specify the CANopen mapping for the axis specific wake and shake objects.
Axis 1
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable |
|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 5013h | 0h | Unsigned8 | - | - | Read only | No |
| AXIS1.WS.MODE | 5013h | 1h | Unsigned8 | - | - | Read/Write | No |
| AXIS1.WS.NUMLOOPS | 5013h | 2h | Unsigned8 | - | - | Read/Write | No |
| AXIS1.WS.STATE | 5013h | 3h | Unsigned8 | - | - | Read only | No |
| AXIS1.WS.T | 5013h | 4h | Unsigned8 | - | - | Read/Write | No |
| AXIS1.WS.TDELAY1 | 5013h | 5h | Unsigned8 | - | - | Read/Write | No |
| AXIS1.WS.TDELAY2 | 5013h | 6h | Unsigned8 | - | - | Read/Write | No |
| AXIS1.WS.TDELAY3 | 5013h | 7h | Unsigned16 | - | - | Read/Write | No |
| AXIS1.WS.TDELAY4 | 5013h | 8h | Unsigned16 | - | - | Read/Write | No |
| AXIS1.WS.ARM | 5013h | 9h | Unsigned32 | - | - | Write only | No |
| AXIS1.WS.CHECKMODE | 5013h | Ah | Unsigned8 | - | - | Read/Write | No |
| AXIS1.WS.CHECKV | 5013h | Bh | Signed32 | - | Velocity | Read/Write | No |
| AXIS1.WS.DISTMAX | 5013h | Ch | Signed32 | - | Position | Read/Write | No |
| AXIS1.WS.IMAX | 5013h | Dh | Signed32 | 1000:1 | - | Read/Write | No |
| AXIS1.WS.VTHRESH | 5013h | Eh | Signed32 | - | Velocity | Read/Write | No |
| AXIS1.WS.DISTMIN | 5013h | Fh | Signed32 | - | Position | Read/Write | No |
| AXIS1.WS.CHECKT | 5013h | 10h | Unsigned16 | - | - | Read/Write | No |
| AXIS1.WS.TIRAMP | 5013h | 11h | Unsigned16 | - | - | Read/Write | No |
| AXIS1.WS.TSTANDSTILL | 5013h | 12h | Unsigned16 | - | - | Read/Write | No |
Axis 2
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable |
|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 5113h | 0h | Unsigned8 | - | - | Read only | No |
| AXIS2.WS.MODE | 5113h | 1h | Unsigned8 | - | - | Read/Write | No |
| AXIS2.WS.NUMLOOPS | 5113h | 2h | Unsigned8 | - | - | Read/Write | No |
| AXIS2.WS.STATE | 5113h | 3h | Unsigned8 | - | - | Read only | No |
| AXIS2.WS.T | 5113h | 4h | Unsigned8 | - | - | Read/Write | No |
| AXIS2.WS.TDELAY1 | 5113h | 5h | Unsigned8 | - | - | Read/Write | No |
| AXIS2.WS.TDELAY2 | 5113h | 6h | Unsigned8 | - | - | Read/Write | No |
| AXIS2.WS.TDELAY3 | 5113h | 7h | Unsigned16 | - | - | Read/Write | No |
| AXIS2.WS.TDELAY4 | 5113h | 8h | Unsigned16 | - | - | Read/Write | No |
| AXIS2.WS.ARM | 5113h | 9h | Unsigned32 | - | - | Write only | No |
| AXIS2.WS.CHECKMODE | 5113h | Ah | Unsigned8 | - | - | Read/Write | No |
| AXIS2.WS.CHECKV | 5113h | Bh | Signed32 | - | Velocity | Read/Write | No |
| AXIS2.WS.DISTMAX | 5113h | Ch | Signed32 | - | Position | Read/Write | No |
| AXIS2.WS.IMAX | 5113h | Dh | Signed32 | 1000:1 | - | Read/Write | No |
| AXIS2.WS.VTHRESH | 5113h | Eh | Signed32 | - | Velocity | Read/Write | No |
| AXIS2.WS.DISTMIN | 5113h | Fh | Signed32 | - | Position | Read/Write | No |
| AXIS2.WS.CHECKT | 5113h | 10h | Unsigned16 | - | - | Read/Write | No |
| AXIS2.WS.TIRAMP | 5113h | 11h | Unsigned16 | - | - | Read/Write | No |
| AXIS2.WS.TSTANDSTILL | 5113h | 12h | Unsigned16 | - | - | Read/Write | No |
