IAI America PCON-CFA User Manual
Page 215
4. SCON-CA
209
PLC input
Channel (* n indicates the node address of each axis.)
1 word (channel) = 16 bits
Current
position
(lower word)
Current
position
(upper word)
Status signal
If the current position is a negative value, it is indicated by a 2’s complement.
Force
feedback data
(lower word)
Force
feedback data
(upper word)
Current speed
(lower word)
Current speed
(upper word)
Alarm code
If the current speed is a negative value, it is indicated by a 2’s complement.
If the force feedback data is a negative value, it is indicated by a 2’s complement.