IAI America PCON-CFA - Manual (Page 207)

4. SCON-CA
201
4.7.7 Position/Simple Direct Mode 2 (Number of Occupied Channels: 4)
In this mode, the actuator is operated by means of force control (push-motion operation based on feedback of
load cell values) and also by specifying position numbers. You can directly specify the target position as a
numerical value by switching the control signal (PMOD signal), or use a pre-registered value in the position data.
Data other than the target position, such as speed, acceleration/deceleration and positioning band, are set using
values in the position table stored in the controller. Set position data by referring to the operation manual for the
controller.
Up to 768 sets of positioning data can be specified.
The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.
Actuator function
{: Direct control
U: Indirect control
X: Invalid
Remarks
Home-return operation
{
Positioning operation
{
Speed and acceleration/deceleration setting
U
Pitch feed (inching)
U
Push-motion operation U
Speed change during movement
U
Operation at different acceleration and deceleration
U
These items must be
set in the position data
table.
Pause
{
Zone signal output
U Zones are set using
position data or
parameters.
PIO pattern selection X
(1) PLC channel configuration (* n indicates the node address of each axis.)
Parameter No.
84
SCON-CA input
register
PLC output channel
SCON-CA output
register
PLC input channel
n+0 n+0
Target position
n+1
Current position
n+1
Specified position
number
n+2
Completed position
number (simple
alarm code)
n+2
5
Control signal n+3 Status signal n+3
(Note) Exercise caution to avoid node address duplication.