IAI America PCON-CFA - Manual (Page 209)

5. SCON-CA
CC-Link
203
5.7.8 Half Direct Value Mode 2 (Remote Device Station: No. of Occupied Stations: Two
Stations)
This mode provides an operation method to utilize the force control (loadcell value feedback pressing) and
also indicate the target position from PLC, positioning band width, speed, acceleration/deceleration speed and
pressing current directly with inputting values.
Set the each value in I/O area. When the zone function is used, set it using the parameter Nos. 1, 2, 23 and 24.
The actuator's effective main functions that can be controlled using this mode, are as shown in the following
table.
Actuator Function
䂾 :Direct Control
䂦 :Indirect Control
㬍 :Disabled
Remarks
Homing 䂾
Positioning 䂾
Speed, Acceleration and Deceleration Settings 䂾
Pitch Feeding (Inching) 䂾
Pressing Operation 䂾
Speed change during the movement 䂾
Different Acceleration Speed
Operation in Deceleration
㬍
Pause 䂾
Zone Signal Output 䂦 Parameter setting is required.
PIO Pattern Selection 㬍
(1) PLC Channel Composition (* “n” shows the head node address for each axis).
Parameter
No.84
SCON-CA side
Input register
PLC side
SCON-CA side
Output register
PLC side
RY n0 to nF RX n0 to nF
RY (n+1)0 to (n+1)F RX (n+1)0 to (n+1)F Occupied Area
RY (n+2)0 to (n+2)F
Occupied Area
RX (n+2)0 to (n+2)F
System Area RY (n+3)0 to (n+3)F System Area RX (n+3)0 to (n+3)F
RWw (n+0) RWr (n+0)
Target Position
RWw (n+1)
Current Position
RWr (n+1)
RWw (n+2) RWr (n+2)
Positioning Width
RWw (n+3)
Force Feedback Data
RWr (n+3)
Speed RWw (n+4) RWr (n+4)
Acceleration/Deceleration RWw (n+5)
Current Speed
RWr (n+5)
Pressing Current Limit
Value
RWw (n+6) Alarm code RWr (n+6)
2
Control signal RWw (n+7) Status Signal RWr (n+7)
Note: The Occupied Area stands for the area occupied by means of the setting of the number of remote device
stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data register.