IAI America PCON-CFA - Manual (Page 208)

5. Flow and Commands of Basic MECHA
TROLINK Communication
202
5.4.7 Position/Simple Direct Mode 2 (Number of Occupied Bytes: 8)
In this mode, the actuator is operated by means of force control (push-motion operation based on feedback of
load cell values) and also by specifying position numbers. You can select whether to specify target positions
directly as numerical values by switching the control signal (PMOD signal) or to use values already registered in
the position data table.
For all data other than the target position, such as speed, acceleration/deceleration and positioning band, values
in the controller’s position table are used. Set desired position data by referring to the operation manual for the
controller.
Up to 768 position data points can be set.
The key functions that are available on Actuators controllable in this mode are shown in the table below.
Actuator function
{: Direct control
U: Indirect
control
x: Invalid
Remarks
Home return operation {
Positioning operation {
Speed & acceleration/deceleration setting
U
Pitch feed (inching)
U
Push-motion operation
U
Speed change during movement
U
Operation at different acceleration and deceleration
U
Position data must
be set
Pause {
Zone signal output U
Position data or
parameters
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
Specified position
number
n+2 Command current n+2
5
Control signal n+3 n+3
(Note) Pay attention to use of duplicate node addresses.