IAI America PCON-CFA - Manual (Page 179)

4. SCON-CA
173
Setting of Parameter No. 25
Force control mode 1 Force control mode 2
6 7
Category
Port
No.
Symbol Signal name Symbol Signal name
0 PC1 ST0 Start position 0
1 PC2 ST1 Start position 1
2 PC4 ST2 Start position 2
3 PC8 ST3 Start position 3
4 PC16
Command position
number
ST4 Start position 4
5 - -
6 - -
7 -
Not available.
-
Not available
8 CLBR
Load cell calibration
command
CLBR
Load cell calibration
command
9 BKRL
Forced brake
release
BKRT
Forced brake
release
10 RMOD Operation mode RMOD Operation mode
11 HOME Home return HOME Home return
12 *STP Pause *STP Pause
13 CSTR Positioning start - Not available.
14 RES Reset RES Reset
PLC
output
o
SCON-CA
input
15 SON Servo ON command SON Servo ON command
0 PM1 PE0 Position 0 complete
1 PM2 PE1 Position 1 complete
2 PM4 PE2 Position 2 complete
3 PM8 PE3 Position 3 complete
4 PM16
Completed position
number
PE4 Position 4 complete
5 TRQS Torque level status TRQS Torque level status
6 LOAD
Load output
judgment
LOAD
Load output
judgment
7 CEND
Load cell calibration
complete
CEND
Load cell calibration
complete
8
PZONE
ZONE1
Position zone/
Zone 1
PZONE
ZONE1
Position zone/
Zone 1
9 RMDS
Operation mode
status
RMDS
Operation mode
status
10 HEND
Home return
complete
HEND
Home return
complete
11 PEND
Position complete
signal
PEND
Position complete
signal
12 SV Ready SV Ready
13 *EMGS Emergency stop *EMGS Emergency stop
14 *ALM Alarm *ALM Alarm
SCON-CA
output
o
PLC input
15 *BALM Battery alarm *BALM Battery alarm
The signals indicated by * are ON in a normal state.
The signals denoted by “Not available” are not controlled (their ON/OFF status is indeterminable).