IAI America PCON-CFA - Manual (Page 202)

5. Flow and Commands of Basic MECHA
TROLINK Communication
196
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Signal type Bit Symbol Description Details
Current position 32 bit data -
32-bit signed integer indicating the current position.
The unit is 0.01 mm.
(Example) Reading: 000003FF
H
= 1023 (decimal) = 10.23 mm
* If this data is read as a hexadecimal, a negative value is
indicated by a 2’s complement.
5.6 (3)
Command current 32-bit data -
32-bit integer.
The value of electrical current specified by the present
command is indicated.
The unit is mA.
(Example) Reading: 000003FF
H
= 1023 (decimal) = 1023 mA
5.6 (3)
Current speed 32-bit data -
32-bit signed integer.
The current speed is indicated.
Positive value: The actuator is moving in the direction opposite
home.
Negative value: The actuator is moving in the direction of home.
The unit is 0.01 mm/sec.
(Example) Reading: 000003FF
H
= 1023 (decimal) = 10.23
mm/sec
* If this data is read as a hexadecimal value, a negative value
is indicated by a 2’s complement.
5.6 (3)
Alarm code 16-bit data -
16-bit integer.
If an alarm occurs, an alarm code will be output.
0 is output when no alarm is present.
For details on alarms, refer to the operation manual for the
controller.
5.6 (3)
Force feedback
data
32-bit data -
32-bit signed integer.
The current load cell reading is indicated.
The unit is 0.01 N.
* If this data is read as a hexadecimal, a negative value is
indicated by a 2’s complement.
5.9 (3)
Total moving
count
32-bit data -
32-bit integer.
The unit is times.
-
Total moving
distance
32-bit data -
32-bit integer.
The unit is m.
-
b15 -
b14 -
b13 -
b12 -
b11 -
b10 -
b9 -
b8 -
b7 -
b6 -
b5 -
b4 -
b3 - Cannot be used. -
b2 CEND
Load cell calibration is complete: This signal turns ON
when calibration is complete. 5.4.11
(32)
PLC in
put
Status signal 1
b1 BALM
Absolute battery voltage low warning: This signal turns
ON when the voltage drops. 5.4.11
(28)