IAI America ERC2 - Manual (Page 68)

5. Explanation of Operating Functions
49
(PLC o Controller)
Register Address Description
PCMD
Position
data
specification
[Numerical
specification]
INP
Positioning
band
specification
[Numerical
specification]
VCMD
Speed
specification
[Numerical
specification]
ACMD
Acceleration/
deceleration
[Numerical
specification]
Upper
Lower
Sign
Signed 32-bit integer (unit: 0.01 mm)
Setting range: FFF0BBC1H to 000F423FH (-999999 to 999999)
x A negative value is indicated by a 2’s complement. Accordingly, the most
significant bit becomes “1.”
Positioning operation will start when the lower word (9901H) of this register is
rewritten.
Upper
Lower
Upper
Lower
32-bit integer (unit: 0.01 mm)
Setting range: 0H to 000F423FH (0 to 999999)
In positioning operation, this register sets a band within which a completion of
positioning is detected.
In push & motion operation (the push & motion operation must be specified
using the CTLF flag), this register sets a push band.
32-bit integer (unit: 0.01 mm/sec)
Setting range: 0H to 000F423FH (0to 999999)
This register specifies a moving speed. Movement will start when the lower
word (9905H) of this register is rewritten.
16-bit integer (unit: 0.01G), setting range: 0H to 012CH (0 to 300)
If a value exceeding the default acceleration/deceleration is set in parameter
No. 9, an alarm will generate the moment the actuator starts moving.
Movement will start when this register is rewritten.