AXIS#.WS.FREQ

Description

This keyword sets the excitation frequency for Wake and Shake mode 2.

The default setting of 10Hz will work for almost all systems.

In cases where the load attached to the motor is much higher than the motor inertia (200:1) it may be necessary to lower the value of AXIS#.WS.FREQ.

Effects of lowering AXIS#.WS.FREQ:

Wake and Shake Mode 2 will take longer to complete.

A higher magnitude of motion will be seen on the motor because the motor has current applied in the same direction for a longer period of time.

Versions

Action	Version	Notes
Implemented	02-00-00-000

General Information

Type	Read/Write
Units	Hz
Range	0.01 - 8000
Default Value	10
Data Type	Float
Stored in Non-Volatile Memory	Yes

Variants Supported

All variants are supported.

Fieldbus Information

EtherCAT ***EtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs CoE and CANopen
Command	Index	SubIndex	Data Type	Units	Float Scale	Access	PDO PDO is a type of protocol frame used in some fieldbuses. A PDO contains one or more object dictionary entries, which define the application data transferred between devices. Mappable
AXIS1.WS.FREQ	5013h	13h	Unsigned32	-	1000:1	Read/Write	No
AXIS2.WS.FREQ	5113h	13h	Unsigned32	-	1000:1	Read/Write	No

EtherNet/IP
Name	ID	Hex	Data Type	Access	Units
AXIS1.WS.FREQ	6713	1A39	Unsigned32	Read/Write	-
AXIS2.WS.FREQ	72249	11A3	Unsigned32	Read/Write	-

PROFINET
Parameter	PNU	Data Type	Access	Units
AXIS#.WS.FREQ	6713	Float	Read/Write	-