IAI America PCON-CFA - Manual (Page 219)

5. Flow and Commands of Basic MECHA
TROLINK Communication
213
(* 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: 000003FFH = 1023 (decimal) = 10.23 mm
* If this data is read as a hexadecimal, a negative value is
indicated by a 2’s complement.
5.9 (2)
Force feedback
data
32-bit data -
32-bit signed integer indicating the current position.
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)
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: 000003FFH = 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.
5.9 (2)
Alarm code 16-bit data -
16-bit integer.
If an alarm occurs, an alarm code will be output.
0H is output when no alarm is present.
For details on alarms, refer to the operation manual for the
controller.
5.9 (2)
b15 EMGS
Emergency stop: An emergency stop is being executed when
the signal is ON.
5.4.11 (2)
b14 PWR
Controller ready: The signal turns ON when the controller
becomes ready.
5.4.11 (1)
b13 ZONE2
Zone 2: The signal is ON when the current position is inside
the specified zone.
5.4.11 (12)
b12 ZONE1
Zone 1: The signal is ON when the current position is inside
the specified zone.
5.4.11 (12)
b11
b10
- Cannot be used. -
b9 CEND
Load cell calibration is complete: This signal turns ON when
calibration is complete.
5.4.11 (32)
b8 RMDS
Operation mode: The signal is OFF when the current mode
AUTO, or ON when the current mode is MANU.
5.4.11 (19)
b7 BALM
Absolute battery voltage low warning: This signal turns ON
when the voltage drops
5.4.11 (28)
b6 PUSHS
Push-motion operation in progress: The signal is ON when the
Push-motion operation in progress.
5.4.11 (23)
b5 PSFL
Missed load during push-motion operation: The signal turns
ON when the actuator missed the load during push-motion
operation.
5.4.11 (23)
b4 SV Ready: The signal is ON when the servo is ON. 5.4.11 (5)
b3 ALM Alarm: The signal turns ON when an alarm occurs. 5.4.11 (3)
b2 MOVE Moving signal: The signal is ON while the actuator is moving. 5.4.11 (9)
b1 HEND
Home return complete: The signal turns ON when the home
return is completed.
5.4.11 (6)
PLC in
put
Status signal
b0 PEND
Positioning complete signal: The signal turns ON when the
positioning is completed.
5.4.11 (10)