ABB MotiFlex e180 - Page 67

Reference 67
5201h 0 REC AX1_ControlRate_REC REC RO No - Control loop frequencies
1 ProfilerRate_I32 INT32 RW No Hz Maps to CONTROLRATE(1,0)
2 PositionLoopRate_I32 RW No Hz Maps to CONTROLRATE(1,1)
3 VelocityLoopRate_I32 RW No Hz Maps to CONTROLRATE(1,2)
5203h 0 VAR AX1_AxisPosEncoder_I16 INT16 RW No - Maps to AXISPOSENCODER
5204h 0 VAR AX1_AxisVelEncoder_I16 INT16 RW No - Maps to AXISVELENCODER
Index Sub-
ind.
Obj. Name Type Attr. PDO
Mapp
ing
Units Description
603Fh 0 VAR AX0_ErrorCode_U16 UINT16 RW Poss. - Internal. See Error detection
6040h 0 VAR AX0_ControlWord_U16 UINT16 RW Poss. - Internal
6041h 0 VAR AX0_StatusWord_U16 UINT16 RO Poss. - Internal
6060h 0 VAR AX0_ModesOfOperation_I8 INT8 RW Poss. - Internal
6061h 0 VAR AX0_ModesOfOperationDisplay_
I8
INT8 RO Poss. - Internal
6062h 0 VAR AX0_PositionDemandValue_I32 INT32 RO Poss. - Internal
6064h 0 VAR AX0_ActualPosition_I32 INT32 RO Poss. - Internal
6065h 0 VAR AX0_FolErrorFatal_R32 REAL32 RW No - Maps to FOLERRORFATAL
6067h 0 VAR AX0_IdlePos_U32 UINT32 RW No - Maps to IDLEPOS
6068h 0 VAR AX0_IdleTime_U16 UINT16 RW No ms Maps to IDLETIME
606Bh 0 VAR AX0_VelocityDemandValue_I32 INT32 RO Poss. - Maps to VELDEMAND
606Ch 0 VAR AX0_ActualVelocity_I32 INT32 RO Poss. - Internal
6071h 0 VAR AX0_TargetTorque_I16 INT16 RW Poss. % Internal
6073h 0 VAR AX0_CurrentLimit_R32 REAL32 RW No % Maps to CURRENTLIMIT
6075h 0 VAR AX0_MotorRatedCurrent_R32 REAL32 RW No A Maps to MOTORRATEDCURRENT
6077h 0 VAR AX0_ActualTorque_I16 INT16 RO Poss. - Internal
6078h 0 VAR AX0_CurrentActualValue_I16 INT16 RO Poss. - Internal
607Ah 0 VAR AX0_TargetPosition_I32 INT32 RW Poss. - Internal
607Ch 0 VAR AX0_HomeRefPos_I32 INT32 RW No - Maps to HOMEREFPOS
607Dh 0 ARR AX0_SoftLimit_AI32 ARRAY RO No - Number of software position limit
parameters
1 SoftLimitForward_I32 INT32 RW No - Maps to SOFTLIMITREVERSE
2 SoftLimitReverse_I32 RW No - Maps to SOFTLIMITFORWARD
607Eh 0 VAR AX0_MotorDirection_I16 UINT8 RW No - Maps to MOTORDIRECTION
607Fh 0 VAR AX0_DriveSpeedMax_U32 UINT32 RW No - Maps to DRIVESPEEDMAX
6081h 0 VAR AX0_Speed_U32 UINT32 RW No - Maps to SPEED (existing)
6083h 0 VAR AX0_Accel_U32 UINT32 RW No - Maps to ACCEL (existing)
6084h 0 VAR AX0_Decel_U32 UINT32 RW No - Maps to DECEL
6085h 0 VAR AX0_ErrorDecel_U32 UINT32 RW No - Maps to ERRORDECEL
6098h 0 VAR AX0_HomeType_I8 INT8 RW No - Maps to HOMETYPE
6099h 0 REC AX0_HomeSpeedParameters_R
EC
REC RO No - Number of homing speed parameters
1 HomeSpeed_U32 UINT32 RW No - Maps to HOMESPEED
609Ah 0 VAR AX0_HomeAccel_U32 UINT32 RW No - Maps to HOMEACCEL
60A4h 0 ARR AX0_ProfileJerk_AU32 ARRAY RO No - Number of accel/decel jerk parameters
1 AccelJerk_U32 UINT32 RW No - Maps to ACCELJERK
2 DecelJerk_U32 RW No - Maps to DECELJERK
60B8h 0 VAR AX0_TouchProbeFunction_U16 UINT16 RW Poss. - Internal
Index Sub-
ind.
Obj. Name Type Attr. PDO
Mapp
ing
Units Description