IAI America PCON-CFA - Manual (Page 216)

5. Flow and Commands of Basic MECHA
TROLINK Communication
210
PLC input
address (* n indicates the initial input address for each axis.)
1 word = 2 bytes = 16 bits
Current
position
(upper word)
Current
position
(lower word)
If the current position is a negative value, it is expressed by a 2’s complement.
Force feedback
data
(upper word)
Force
feedback data
(lower word)
Positioning
band
(upper word)
Positioning
band
(lower word)
Alarm code
Status signal
If the current speed is a negative value, it is expressed by a 2’s complement.
If the force feedback data is a negative value, it is expressed by a 2’s complement.