IAI America PCON-CFA - Manual (Page 223)

5. Flow and Commands of Basic MECHA
TROLINK Communication
217
(3) I/O signal assignments
For the signal assignments in each PIO pattern, refer to (3), “I/O signal assignments” under 5.4.2, “Remote I/O
Mode.”
The signal assignments for command-current and current-position read functions are shown below.
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.
-
PLC in
put
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.
-