ABB Specific Data Structures

Not all data structures are defined by PLCopen. Some specific structures are described in the following chapter. In addition to the data in these arrays, the movement is modified by offset and scaling values at the respective Function Block. These offset and scaling values (except the time-scale) are transferred continuously. This will allow to follow a “Moving Target” by adjusting these values.

• PositionPositionProfile
• PositionTimeProfile
• Interpolation Types for Profiles