IAI America PCON-CFA - Manual (Page 193)

5. Flow and Commands of Basic MECHA
TROLINK Communication
187
5.4.5 Full Direct Mode (Number of Occupied Bytes: 32)
In this mode, the actuator is operated by specifying all values relating to position control (target position, speed,
etc.) directly as values from the PLC.
Set each value in an I/O address.
The key functions that are available on ROBO Cylinders controllable in this mode are shown in the table below.
ROBO Cylinder function
{: Direct control
x: Invalid
Home return operation {
Positioning operation {
Speed & acceleration/deceleration setting {
Pitch feed (inching) {
Push-motion operation {
Speed change during movement {
Operation at different acceleration and deceleration {
Pause {
Zone signal output {
PIO pattern selection x
(1) PLC address configuration (* n indicates the initial input/output address for each axis.)
Parameter
No. 84
SCON-CA input
register
PLC output address
SCON-CA output
register
PLC input address
n+0 n+0
Target position
n+1
Current position
n+1
n+2 n+2
Positioning band
n+3
Command current
n+3
n+4 n+4
Speed
n+5
Current speed
n+5
n+6 Alarm code n+6
Zone boundary+
n+7 Occupied area n+7
n+8 n+8
Zone boundary-
n+9
Force feedback data
n+9
Acceleration n+10 n+10
Deceleration n+11
Total moving count
n+11
Push-current limiting
value
n+12 n+12
Load current threshold n+13
Total moving distance
n+13
Control signal 1 n+14 Status signal 1 n+14
3
Control signal 2 n+15 Status signal 2 n+15
(Note) The [occupied area] cannot be used for any other purpose.
Also pay attention to use of duplicate addresses.