IAI America PCON-CFA User Manual
Page 175
4. SCON-CA
169
4.7.2 Remote I/O Mode (Number of Occupied Channel: 1)
In this mode, the actuator is operated by specifying position numbers just like when PIOs (24-V I/Os) are used.
Set desired position data using the RC PC software or teaching pendant.
The number of positions to which the actuator can be operated varies according to the setting of parameter No.
25, “PIO pattern.”
The I/O specification of each PIO pattern is shown below. (For details, refer to the operation manual for the
controller.)
Setting of parameter No. 25
Operation mode
I/O specification
0
Positioning mode
64 positioning points, 2 zone outputs
1
Teaching mode
64 positioning points, 1 zone output
Positioning and jog operations are supported.
The current position can be written under a specified position
number.
2
256-point mode
256 positioning points, 1 zone output
3
512-point mode
512 positioning points, no zone output
4
Solenoid valve mode 1
7 positioning points, 2 zone outputs
An operation command can be specified directly for each position
number.
A positioning complete signal is output for each position number.
5
Solenoid valve mode 2
3 positioning points, 2 zone outputs
Operation using forward, reverse and interim position commands.
A positioning complete signal is output individually for forward,
reverse and interim positions.
6
Force control mode 1
(a dedicated load cell is
used)
32 positioning points, 1 zone output
7
Force control mode 2
(a dedicated load cell is
used)
5 positioning points, 1 zone output
A direct operation command can be issued for each position
number.
A position complete signal is output for each position number.
The key functions that are available on ROBO Cylinders controllable in this mode are shown in the table below.
PIO pattern
ROBO Cylinder function
0:
Positioning
mode
1:
Teaching
mode
2:
256-point
mode
3:
512-point
mode
4:
Solenoid
valve mode
1
5:
Solenoid
valve mode
2
6.
Force
control
mode 1
7.
Force
control
mode 2
Home return operation
{
{
{
{
{
X
{
{
Positioning operation
{
{
{
{
{
{
{
{
Speed &
acceleration/deceleratio
n setting
{
{
{
{
{
{
{
{
Pitch feed (inching)
{
{
{
{
{
{
{
{
Push-motion operation
{
{
{
{
{
X
{
{
Speed change during
movement
{
{
{
{
{
{
{
X
Operation at different
acceleration and
deceleration
{
{
{
{
{
{
{
{
Pause
{
{
{
{
{
{ (*1)
{
{
Zone signal output
{
{
{
X
{
{
{
{
PIO pattern selection
(set by parameter)
{
{
{
{
{
{
{
{
{: Supported, X: Not supported
(*1) This operation is supported when parameter No. 27, “Move command type” is set to “0.”
The actuator can be paused by turning the move command OFF.