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.

Industrial Ethernet Information

EtherCAT CoE and CANopen
Command	Index	SubIndex	Data Type	Units	Float Scale	Access	PDO Mappable
AXIS1.WS.FREQ	5013h	13h	Unsigned32	-	1000:1	Read/Write	No

EtherNet/IP
ID	Instance	Attribute	Name	Data Type	Access	User Mappable
6713	1	6713 (0x1a39)	AXIS1.WS.FREQ	Unsigned32	Read/Write	Yes

PROFINET
Parameter	PNU	Data Type	Access	Units
AXIS1.WS.FREQ	6713	Float	Read/Write	-