ABB MotiFlex e180 Application Manual page 68

68 Reference
Index Sub- Obj. Name
ind.
60B9h 0 VAR AX0_TouchProbeStatus_U16
60BAh 0 VAR AX0_TouchProbePositionPos1_I
32
60BBh 0 VAR AX0_TouchProbePositionNeg1_I
32
60BCh 0 VAR AX0_TouchProbePositionPos2_I
32
60BDh 0 VAR AX0_TouchProbePositionNeg2_I
32
60E0h 0 VAR AX0_TorqueLimitPos_R32
60E1h 0 VAR AX0_TorqueLimitNeg_R32
60F6h 0 REC AX0_TorqueControlParameters_
REC
1 KIProp_R32
2 KIInt_R32
3 KITrack_I16
4 KITime_U32
60F8h 0 VAR AX0_VelFatal_I32
60F9h 0 REC AX0_VelocityControlParameters
_REC
1 KVProp_R32
2 KVInt_R32
3 KVTrack_I16
4 KVTime_U32
60FBh 0 REC AX0_PositionControlParameters
_REC
1 KProp_R32
2 Kint_R32
3 Kderiv_R32
4 Kvel_R32
5 KVelFF_R32
6 Kaccel_R32
7 KIntLimit_U16
8 KIntMode_I16
60FDh 0 VAR AX0_DigitalInputs_U32
60FEh 0 ARR AX0_DigitalOutputs_U32
60FFh 0 VAR AX0_TargetVelocity_I32
6402h 0 VAR AX0_MotorType_U16
6403h 0 VAR AX0_MotorCatalogNo_VS
Type Attr. PDO Units
Mapp
ing
UINT16 RO Poss. -
INT32 RO Poss. -
INT32 RO Poss. -
INT32 RO Poss. -
INT32 RO Poss. -
REAL32 RW No %
REAL32 RW No %
REC RO No -
REAL32 RW No -
REAL32 RW No -
INT16 RW No -
UINT32 RW No -
INT32 RW No -
REC RO No -
REAL32 RW No -
REAL32 RW No -
INT16 RW No -
UINT32 RW No -
REC RO No -
REAL32 RW No -
REAL32 RW No -
REAL32 RW No -
REAL32 RW No -
REAL32 RW No -
REAL32 RW No -
UINT16 RW No -
INT16 RW No -
UINT32 RO Poss. -
UINT32 RW Poss. -
INT32 RW Poss. -
UINT16 RW No -
VIS. RW No -
STRING
Description
Internal
Internal
Internal
Internal
Internal
Maps to TORQUELIMITPOS
Maps to TORQUELIMITNEG
Torque control gain terms
Maps to KIPROP
Maps to KIINT
Maps to KITRACK
Maps to KITIME
Maps to VELFATAL
Velocity control gain terms
Maps to KVPROP
Maps to KVINT
Maps to KVTRACK
Maps to KVTIME
Position control gain terms
Maps to KPROP
Maps to KINT
Maps to KDERIV
Maps to KVEL
Maps to KVELFF
Maps to KACCEL
Maps to KINTLIMIT
Maps to KINTMODE
Maps to IN
Maps to OUT
Internal
Maps to MOTORTYPE
Maps to MOTORCATALOGNO