SMAC CBC-EIP - Page 20

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Ladder logic example:
Mapping between softland move AOI parameters and PLC IO data assemblies
Byte address
Description
Input: 2 - 5
46: Softland move in progress
56: Softland is complete
Input: 6 - 9
Softlanded Position
Output: 0 - 3
Macro value of softland move (Table 3)
Output: 4
Direction
Output: 5
Action after land
Output: 6 - 7
Max. torque/force
Output: 8 - 11
Profile velocity
Output: 12 - 15
Profile acceleration
Output: 16 - 17
Position error
Output: 18 - 19
Force