AB

DF1,CSP
Address

Modbus
TCP,RTU
Address

FINS

Address

External

Data Type

Internal

IEC
Address

Internal
Data Type

Register Name

Primary Feedback: Position Axes

Ff:0

12289 + b

D12288 + b

REAL

%MDf.0

REAL

Position Scale

Ff:1

12291 + b

D12290 + b

REAL

%MDf.1

REAL

Position Offset

Ff:2

12293 + b

D12292 + b

REAL

%MDf.2

REAL

Actual Position Filter

Ff:3

12295 + b

D12294 + b

REAL

%MDf.3

REAL

Actual Velocity Filter

Ff:4

12297 + b

D12296 + b

REAL

%MDf.4

REAL

Actual Acceleration Filter

Ff:5

12299 + b

D12298 + b

REAL

%MDf.5

REAL

Stop Threshold

Ff:6

12301 + b

D12300 + b

REAL

%MDf.6

REAL

Noise Error Rate

Ff:8

12305 + b

D12304 + b

REAL

%MDf.8

DWORD

Custom Feedback Configuration Register

Ff:9

12307 + b

D12306 + b

REAL

%MDf.9

DWORD

Primary Input Bits Register

Primary Feedback: Velocity Axes

Ff:0

12289 + b

D12288 + b

REAL

%MDf.0

REAL

Velocity Scale

Ff:1

12291 + b

D12290 + b

REAL

%MDf.1

REAL

Velocity Offset

Ff:2

12293 + b

D12292 + b

REAL

%MDf.2

REAL

Velocity Deadband

Ff:3

12295 + b

D12294 + b

REAL

%MDf.3

REAL

Actual Velocity Filter

Ff:4

12297 + b

D12296 + b

REAL

%MDf.4

REAL

Actual Acceleration Filter

Ff:5

12299 + b

D12298 + b

REAL

%MDf.5

REAL

Stop Threshold

Ff:6

12301 + b

D12300 + b

REAL

%MDf.6

REAL

Noise Error Rate

Ff:8

12305 + b

D12304 + b

REAL

%MDf.8

DWORD

Custom Feedback Configuration

Primary Feedback: Single-Input Pressure, Force or Acceleration

Ff:0

12289 + b

D12288 + b

REAL

%MDf.0

REAL

Pressure/Force Scale, Acceleration Scale

Ff:1

12291 + b

D12290 + b

REAL

%MDf.1

REAL

Pressure/Force Offset, Acceleration Offset

Ff:4

12297 + b

D12296 + b

REAL

%MDf.4

REAL

Actual Pressure/Force Filter, Actual Acceleration Filter

Ff:5

12299 + b

D12298 + b

REAL

%MDf.5

REAL

Actual Pressure/Force Rate Filter, Actual Jerk Filter

Ff:6

12301 + b

D12300 + b

REAL

%MDf.6

REAL

Noise Error Rate

Ff:8

12305 + b

D12304 + b

REAL

%MDf.8

DWORD

Custom Feedback Configuration

Primary Feedback: Dual-Input Force or Acceleration

Ff:0

12289 + b

D12288 + b

REAL

%MDf.0

REAL

Force A Scale, Channel A Acceleration Scale

Ff:1

12291 + b

D12290 + b

REAL

%MDf.1

REAL

Force A Offset, Channel A Acceleration Offset

Ff:2

12293 + b

D12292 + b

REAL

%MDf.2

REAL

Force B Scale, Channel B Acceleration Scale

Ff:3

12295 + b

D12294 + b

REAL

%MDf.3

REAL

Force B Offset, Channel B Acceleration Offset

Ff:4

12297 + b

D12296 + b

REAL

%MDf.4

REAL

Actual Pressure/Force Filter, Actual Acceleration Filter

Ff:5

12299 + b

D12298 + b

REAL

%MDf.5

REAL

Actual Pressure/Force Rate Filter, Actual Jerk Filter

Ff:6

12301 + b

D12300 + b

REAL

%MDf.6

REAL

Noise Error Rate

Primary Feedback: SSI/MDT Transducer

Ff:10

12309 + b

D12308 + b

REAL

%MDf.10

DWORD

SSI/MDT Config Register

Ff:11

12311 + b

D12310 + b

REAL

%MDf.11

REAL

Count Offset

Ff:12

12313 + b

D12312 + b

REAL

%MDf.12

REAL

Position Unwind

Ff:13

12315 + b

D12314 + b

REAL

%MDf.13

DINT

Count Unwind

Ff:14

12317 + b

D12316 + b

REAL

%MDf.14

DINT

SSI Wire Delay

Primary Feedback: Analog Transducer

Ff:10

12309 + b

D12308 + b

REAL

%MDn.10

DWORD

Analog Config Register

Primary Feedback: Quadrature Transducer

Ff:10

12309 + b

D12308 + b

REAL

%MDn.10

DWORD

Quadrature Config Register

Ff:12

12313 + b

D12312 + b

REAL

%MDn.12

REAL

Position Unwind

Ff:13

12315 + b

D12314 + b

REAL

%MDn.13

DINT

Count Unwind

Primary Feedback: Resolver Feedback

Ff:10

12309 + b

D12308 + b

REAL

%MDn.10

DWORD

Resolver Configuration Register

Ff:14

12317 + b

D12316 + b

REAL

%MDn.14

REAL

Reference Frequency

Ff:15

12319 + b

D12318 + b

REAL

%MDn.15

REAL

Reference Amplitude

Secondary Feedback: Single-Input Pressure, Force, or Acceleration

Ff:18

12325 + b

D12324 + b

REAL

%MDf.18

REAL

Pressure/Force Scale, Acceleration Scale

Ff:19

12327 + b

D12326 + b

REAL

%MDf.19

REAL

Pressure/Force Offset, Acceleration Offset

Ff:22

12333 + b

D12332 + b

REAL

%MDf.22

REAL

Actual Pressure/Force Filter, Actual Acceleration Filter

Ff:23

12335 + b

D12334 + b

REAL

%MDf.23

REAL

Actual Pressure/Force Rate Filter, Actual Jerk Filter

Ff:24

12337 + b

D12336 + b

REAL

%MDf.24

REAL

Noise Error Rate

Ff:26

12341 + b

D12340 + b

REAL

%MDf.26

DWORD

Custom Feedback Configuration Register

Secondary Feedback: Dual-Input Force or Acceleration

Ff:18

12325 + b

D12324 + b

REAL

%MDf.18

REAL

Force A Scale, Channel A Acceleration Scale

Ff:19

12357 + b

D12356 + b

REAL

%MDf.19

REAL

Force A Offset, Channel A Acceleration Offset

Ff:20

12329 + b

D12328 + b

REAL

%MDf.20

REAL

Force B Scale, Channel B Acceleration Scale

Ff:21

12331 + b

D12330 + b

REAL

%MDf.21

REAL

Force B Offset, Channel B Acceleration Offset

Ff:22

12333 + b

D12332 + b

REAL

%MDf.22

REAL

Actual Pressure/Force Filter, Actual Acceleration Filter

Ff:23

12335 + b

D12334 + b

REAL

%MDf.23

REAL

Actual Pressure/Force Rate Filter, Actual Jerk Filter

Ff:24

12337 + b

D12336 + b

REAL

%MDf.24

REAL

Noise Error Rate

Secondary Feedback: Analog Transducer

Ff:28

12345 + b

D12344 + b

REAL

%MDf.28

DWORD

Analog Config Register

Analog Control Output

Ff:32

12353 + b

D12352 + b

REAL

%MDf.32

REAL

Output Limit

Ff:33

12355 + b

D12354 + b

REAL

%MDf.33

REAL

Output Bias

Ff:34

12357 + b

D12356 + b

REAL

%MDf.34

DWORD

Output Bits Register

Final Output Stage

Ff:38

12365 + b

D12354 + b

REAL

%MDf.38

REAL

Output Scale

Ff:39

12367 + b

D12356 + b

REAL

%MDf.39

REAL

Primary Output Filter

Ff:40

12369 + b

D12368 + b

REAL

%MDf.40

REAL

Secondary Output Filter

Ff:41

12371 + b

D12370 + b

REAL

%MDf.41

REAL

Deadband Tolerance

Ff:42

12373 + b

D12372 + b

REAL

%MDf.42

REAL

Output Deadband

Ff:44

12377 + b

D12376 + b

REAL

%MDf.44

REAL

Knee Command Voltage

Ff:45

12379 + b

D12378 + b

REAL

%MDf.45

REAL

Knee Flow Percentage

Ff:46

12381 + b

D12380 + b

REAL

%MDf.46

DINT

Valve Linearization Curve ID

Primary Control: Servo Position Axes

Ff:43

12375 + b

D12374 + b

REAL

%MDf.43

DINT

Default Pos/Vel Control Mode

Ff:56

12401 + b

D12400 + b

REAL

%MDf.56

REAL

In Position Tolerance

Ff:57

12403 + b

D12402 + b

REAL

%MDf.57

REAL

Position Error Tolerance

Ff:58

12405 + b

D12404 + b

REAL

%MDf.58

REAL

At Velocity Tolerance

Ff:59

12407 + b

D12406 + b

REAL

%MDf.59

REAL

Velocity Error Tolerance

Ff:60

12409 + b

D12408 + b

REAL

%MDf.60

DWORD

Primary Control Register

Position/Velocity Gain Set #0

Ff:61

12411 + b

D12410 + b

REAL

%MDf.61

REAL

Proportional Gain

Ff:62

12413 + b

D12412 + b

REAL

%MDf.62

REAL

Integral Gain

Ff:63

12415 + b

D12414 + b

REAL

%MDf.63

REAL

Differential Gain

Ff:65

12419 + b

D12418 + b

REAL

%MDf.65

REAL

Velocity Feed Forward,

Velocity Feed Forward (Positive)

Ff:66

12421 + b

D12420 + b

REAL

%MDf.66

REAL

Acceleration Feed Forward

Ff:67

12423 + b

D12422 + b

REAL

%MDf.67

REAL

Jerk Feed Forward

Ff:68

12425 + b

D12424 + b

REAL

%MDf.68

REAL

Velocity Feed Forward (Negative)

Ff:69

12427 + b

D12426 + b

REAL

%MDf.69

REAL

Double Differential Gain,

Active Damping Proportional Gain

Ff:70

12429 + b

D12428 + b

REAL

%MDf.70

REAL

Triple Differential Gain,

Active Damping Differential Gain

Ff:71

12431 + b

D12430 + b

REAL

%MDf.71

DINT

High-Order Control

Position/Velocity Gain Set #1

Ff:128

12545 + b

D12544 + b

REAL

%MDf.128

REAL

Proportional Gain

Ff:129

12547 + b

D12546 + b

REAL

%MDf.129

REAL

Integral Gain

Ff:130

12549 + b

D12548 + b

REAL

%MDf.130

REAL

Differential Gain

Ff:132

12553 + b

D12552 + b

REAL

%MDf.132

REAL

Velocity Feed Forward,

Velocity Feed Forward (Positive)

Ff:133

12555 + b

D12554 + b

REAL

%MDf.133

REAL

Acceleration Feed Forward

Ff:134

12557 + b

D12556 + b

REAL

%MDf.134

REAL

Jerk Feed Forward

Ff:135

12559 + b

D12558 + b

REAL

%MDf.135

REAL

Velocity Feed Forward (Negative)

Ff:136

12561 + b

D12560 + b

REAL

%MDf.136

REAL

Double Differential Gain,

Active Damping Proportional Gain

Ff:137

12563 + b

D12562 + b

REAL

%MDf.137

REAL

Triple Differential Gain,

Active Damping Differential Gain

Ff:138

12565 + b

D12564 + b

REAL

%MDf.138

DINT

High-Order Control

Primary Control: Servo Pressure or Force Axes

Ff:56

12401 + b

D12400 + b

REAL

%MDf.56

REAL

At Pressure/Force Tolerance

Ff:57

12403 + b

D12402 + b

REAL

%MDf.57

REAL

Pressure/Force Error Tolerance

Ff:60

12409 + b

D12408 + b

REAL

%MDf.60

DWORD

Primary Control Register

Ff:61

12411 + b

D12410 + b

REAL

%MDf.61

REAL

Pressure/Force Proportional Gain

Ff:62

12413 + b

D12412 + b

REAL

%MDf.62

REAL

Pressure/Force Integral Gain

Ff:63

12415 + b

D12414 + b

REAL

%MDf.63

REAL

Pressure/Force Differential Gain

Ff:64

12419 + b

D12418 + b

REAL

%MDf.65

REAL

Pressure/Force Feed Forward

Ff:65

12421 + b

D12420 + b

REAL

%MDf.66

REAL

Pressure/Force Rate Feed Forward

Secondary Control: Servo Pressure or Force

Ff:76

12441 + b

D12440 + b

REAL

%MDf.76

REAL

At Pressure/Force Tolerance

Ff:77

12443 + b

D12442 + b

REAL

%MDf.77

REAL

Pressure/Force Error Tolerance

Ff:80

12449 + b

D12448 + b

REAL

%MDf.80

DWORD

Secondary Control Register

Ff:81

12451 + b

D12450 + b

REAL

%MDf.81

REAL

Pressure/Force Proportional Gain

Ff:82

12453 + b

D12452 + b

REAL

%MDf.82

REAL

Pressure/Force Integral Gain

Ff:83

12455 + b

D12454 + b

REAL

%MDf.83

REAL

Pressure/Force Differential Gain

Ff:84

12457 + b

D12456 + b

REAL

%MDf.84

REAL

Pressure/Force Feed Forward

Ff:85

12459 + b

D12458 + b

REAL

%MDf.85

REAL

Pressure/Force Rate Feed Forward

Position Target

Ff:92

12473 + b

D12472 + b

REAL

%MDf.92

REAL

Positive Travel Limit

Ff:93

12475 + b

D12474 + b

REAL

%MDf.93

REAL

Negative Travel Limit

Ff:94

12477 + b

D12476 + b

REAL

%MDf.94

REAL

Requested Jerk

Pressure/Force Target

Ff:100

12489 + b

D12488 + b

REAL

%MDf.100

REAL

Positive Pressure/Force Limit

Ff:101

12491 + b

D12490 + b

REAL

%MDf.101

REAL

Negative Pressure/Force Limit

Halts

Ff:106

12501 + b

D12500 + b

REAL

%MDf.106

DWORD

Auto Stops

Ff:107

12503 + b

D12502 + b

REAL

%MDf.107

DWORD

Auto Stops

Ff:108

12505 + b

D12504 + b

REAL

%MDf.108

DWORD

Auto Stops

Ff:110

12509 + b

D12508 + b

REAL

%MDf.110

REAL

Closed Loop Halt Deceleration

Ff:111

12511 + b

D12510 + b

REAL

%MDf.111

REAL

Open Loop Halt Ramp

Ff:112

12513 + b

D12512 + b

REAL

%MDf.112

DINT

Halt Group Number

Simulator

Ff:116

12521 + b

D12520 + b

REAL

%MDf.116

DWORD

Simulator Configuration Register

Ff:117

12523 + b

D12522 + b

REAL

%MDf.117

REAL

System Gain

Ff:118

12525 + b

D12524 + b

REAL

%MDf.118

REAL

Natural Frequency

Ff:119

12527 + b

D12526 + b

REAL

%MDf.119

REAL

Damping Factor

Ff:120

12529 + b

D12528 + b

REAL

%MDf.120

REAL

Positive Physical Limit

Ff:121

12531 + b

D12530 + b

REAL

%MDf.121

REAL

Negative Physical Limit

Ff:122

12533 + b

D12532 + b

REAL

%MDf.122

REAL

Output Deadband

Ff:123

12535 + b

D12534 + b

REAL

%MDf.123

REAL

Output Null

Ff:125

12539 + b

D12538 + b

REAL

%MDf.125

REAL

Weight

Ff:126

12541 + b

D12540 + b

REAL

%MDf.126

REAL

Maximum Force

Ff:127

12543 + b

D12542 + b

REAL

%MDf.127

REAL

Maximum Compression

Position/Velocity Modeling

Ff:148

12585 + b

D12584 + b

REAL

%MDf.148

REAL

Model Response

Ff:149

12587 + b

D12586 + b

REAL

%MDf.149

DINT

Model Order

Ff:150

12589 + b

D12588 + b

REAL

%MDf.150

REAL

Model Gain Positive

Ff:151

12591 + b

D12590 + b

REAL

%MDf.151

REAL

Model Gain Negative

Ff:152

12593 + b

D12592 + b

REAL

%MDf.152

REAL

Model Time Constant, Model Natural Frequency

Ff:153

12595 + b

D12594 + b

REAL

%MDf.153

REAL

Model Damping Factor

Pressure/Force Modeling

Ff:160

12609 + b

D12608 + b

REAL

%MDf.160

DINT

Model Order

Ff:161

12611 + b

D12610 + b

REAL

%MDf.161

REAL

Model Gain Pressure/Force

Ff:162

12613 + b

D12612 + b

REAL

%MDf.162

REAL

Model Time Constant, Model Natural Frequency

Ff:163

12615 + b

D12614 + b

REAL

%MDf.163

REAL

Model Damping Factor

Display Units

Ff:166

12621 + b

D12620 + b

REAL

%MDf.166

DINT

Primary Display Units

Ff:167

12623 + b

D12622 + b

DWORD

%MDf.167

DWORD

Primary Custom Units

Ff:168

12625 + b

D12624 + b

REAL

%MDf.168

DINT

Secondary Display Units

Ff:169

12627 + b

D12626 + b

DWORD

%MDf.169

DWORD

Secondary Custom Units