IAI America PCON-CFA - Manual (Page 164)

5. Flow and Commands of Basic MECHA
TROLINK Communication
158
[2] Position/simple direct mode: In this mode, the actuator is operated by specifying position numbers.
You can select whether to specify the target position directly as a value, or use a
value registered in the position data table, by switching a control signal.
For the speed, acceleration/deceleration, positioning band, etc., values
preregistered in the position data table are used. Up to 768 position data points
can be set.
Number of occupied bytes: 8 bytes (4 word)
[3] Half direct mode: In this mode, the actuator is operated by specifying the speed, acceleration/deceleration
and push current, in addition to the target position, directly as values.
Number of occupied bytes: 16 bytes (8 word)
Target position: 100.00 mm
+
Position No. 0
SCON-CA supporting
PROFIBUS-DP
Actuator
Speed Acceleration Deceleration Push
: =
$<<
/=
:7
$<<
2 = 898
$
<<= 8
%88
8
$
*
/=8
$
2'.'%=
:
/1),&32(/
%8