9 remote i/o mode 3 (number of occupied bytes: 12) – IAI America PCON-CFA User Manual
Page 220
5. Flow and Commands of Basic MECHA
TROLINK Communication
214
5.4.9 Remote I/O Mode 3 (Number of Occupied Bytes: 12)
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 a position number just like when PIOs (24-V I/Os) are used.
Set position data using the RC PC software or other teaching tool.
The number of available positions varies depending on the setting of parameter No. 25, “PIO pattern.”
In this mode, all functions available in the remote I/O mode are supported, plus functions to read the current
position and force feedback data.
The I/O specification of each PIO pattern is shown below. (For details, refer to the operation manual for the
controller.)
Setting of parameter No. 25
Operation mode
I/O specification
0
Positioning mode
64 positioning points, 2 zone outputs
1
Teaching mode
64 positioning points, 1 zone output
Positioning and jog operations are supported.
The current position can be written under a specified position
number.
2
256-point mode
256 positioning points, 1 zone output
3
512-point mode
512 positioning points, no zone output
4
Solenoid valve mode 1 7 positioning points, 2 zone outputs
An operation command can be specified directly for each position
number.
A positioning complete signal is output for each position number.
5
Solenoid valve mode 2 3 positioning points, 2 zone outputs
Operation using forward, reverse and interim position commands.
A positioning complete signal is output individually for forward,
reverse and interim positions.
6
Force control mode 1
(when a dedicated
load cell is used)
32 positioning points, 1 zone outputs
7
Force control mode 2
(when a dedicated
load cell is used)
5 positioning points, 1 zone outputs
An operation command can be specified directly for each position
number.
A positioning complete signal is output for each position number.
The key functions that are available on Actuator controllable in this mode are shown in the table below.
{: Supported, x: Not supported
PIO pattern
Actuator function
0:
Positioning
mode
1:
Teaching
mode
2:
256-point
mode
3:
512-point
mode
4:
Solenoid
valve mode 1
5:
Solenoid
valve mode 2
6:
Force control
mode 1
7:
Force control
mode 2
Home return operation
{
{
{
{
{
x
{
{
Positioning operation
{
{
{
{
{
{
{
{
Speed &
acceleration/deceleration
setting
{
{
{
{
{
{
{
{
Pitch feed (inching)
{
{
{
{
{
{
{
{
Push-motion operation
{
{
{
{
{
x
{
{
Speed change during
movement
{
{
{
{
x
{
{
x
Operation at different
acceleration and
deceleration
{
{
{
{
{
{
{
{
Pause
{
{
{
{
{
{ (*1)
{
{
Zone signal output
{
{
{
x
{
{
{
{
PIO pattern selection (set
by parameter)
{
{
{
{
{
{
{
{
(*1) This operation is supported when parameter No. 27, “Move command type” is set to “0.”
The actuator can be paused by turning the move command OFF.