IAI America PCON-CFA - Manual (Page 172)

5. Flow and Commands of Basic MECHA
TROLINK Communication
166
x PLC
output
o SCON-CA input (* n indicates the node address for each axis.)
SCON-CA DI and input data resister
Position/simple
direct mode 2
Half direct mode
2
Remote I/O
mode 3
Half direct mode
3
PLC input
address
(word address) Number of
occupied bytes: 8
Number of
occupied bytes: 16
Number of
occupied bytes: 12
Number of
occupied bytes: 16
n
n+1
Target position Target position Target position
n+2
Specified position
number
n+3 Control signal
Positioning band Positioning band
n+4 Speed Speed
n+5
Acceleration/
deceleration
Occupied area
Acceleration/
deceleration
n+6
Push-current
limiting value Push-current
limiting value
n+7 Control signal Control signal
n+8
n+9
n+10
n+11
n+12
n+13
n+14
n+15
(Note) The “occupied area” is occupied according to the operation mode setting.
This area cannot be used for any other purpose. Also pay attention to use of duplicate addresses.