IAI America PCON-CFA - Manual (Page 222)

5. Flow and Commands of Basic MECHA
TROLINK Communication
216
PLC input
address
(* n indicates the initial input address for each axis.)
1 word = 2 bytes = 16 bits
Controller
output port
number
Cannot be
used.
Current
position
(upper word)
Current
position
(lower word)
Force feedback
data
(upper word)
If the current position is a negative value, it is expressed by a 2’s complement.
If the current force feedback data is a negative value, it is expressed by a 2’s complement.
Address
Force feedback
data
(lower word)