IAI America PCON-CFA - Manual (Page 24)

2. ACON-C/CG,
PCON-C/CG
18
2.7 Communicating with the Master Station
2.7.1 Operation Modes and Corresponding PLC I/O Areas
The channel assignments in each mode are shown below.
x PLC
output
o ACON or PCON input (* n indicates the node address of each axis.)
ACON,PCON DI and input data register
Remote I/O mode
Position/simple
direct mode
Half direct mode Full direct mode
Remote I/O mode
2 PLC output area
(channel) Number of
occupied
channels: 1CH
Number of
occupied
channels: 4CH
Number of
occupied
channels: 8CH
Number of
occupied
channels: 16CH
Number of
occupied
channels: 6CH
n
Port number 0 to
15
Port number 0 to
15
n+1
Target position Target position Target position
n+2
Specified position
number
n+3 Control signal
Positioning band Positioning band
n+4 Speed
n+5
Acceleration/
deceleration
Speed
specification
Occupied area
n+6
Push-motion
current-limiting value
n+7 Control signal
Zone boundary+
n+8
n+9
Zone boundary-
n+10 Acceleration
n+11 Deceleration
n+12
Push-motion
current-limiting value
ACON
Occupied
area
n+13 PCON
Load
current
threshold
n+14 Control signal 1
n+15 Control signal 2
(Note) The areas denoted by “occupied area” are occupied according to the operation mode setting.
These areas cannot be used for any other purpose. Also exercise caution to avoid node address
duplication.