IAI America PCON-CFA - Manual (Page 166)

5. Flow and Commands of Basic MECHA
TROLINK Communication
160
Flat cable
Communication
cable
[7] Half direct mode 2: 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.
Unlike in mode [3], command current cannot be read in this mode. However, load cell
data can be read instead. This mode also supports force control.
Number of occupied bytes: 16 bytes (8 word)
[8] Remote I/O mode 3: In this mode, the actuator is operated by DeviceNet instead of PIO (24 V I/O). Current
position and command current function is added to the function [1].
Number of occupied bytes: 12 bytes (6 word)
[9] Half direct mode 3: 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.
In this mode, the vibration damping function is supported instead of the jog function
available in mode [3].
Number of occupied bytes: 16 bytes (8 word)
SCON-CA not supporting
PROFIBUS-DP
PIO connection
SCON-CA supporting
PROFIBUS-DP
PROFIBUS-DP connection
: =
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/=
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$
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8
$
*
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:
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: =
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/=
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$<<
2 = 898
$
<<= 8
%88
8
$
*
/=8
$
2'.'%=
:
/1),&32(/
%8