IAI America PCON-CFA - Manual (Page 224)

5. Flow and Commands of Basic MECHA
TROLINK Communication
218
5.4.10 Half Direct Mode 3 (Number of Occupied Bytes: 16)
In this mode, the jog function in the half direct numerical mode is not available, but the vibration damping
parameter set can be changed. Set each value in the applicable I/O area. To use the zone function, set the
necessary values in parameter Nos. 1, 2, 23 and 24.
The key functions that are available on Actuators controllable in this mode are shown in the table below.
Actuator function
{: Direct control
': Indirect control
x: Invalid
Remarks
Home return operation {
Positioning operation {
Speed & acceleration/deceleration setting
{
Pitch feed (inching)
{
Push-motion operation
{
Speed change during movement
{
Operation at different acceleration and deceleration x
Pause {
Zone signal output '
Parameters must be
set.
PIO pattern selection x
(1) PLC address configuration (* n indicates the initial input/output address for each axis.)
Parameter
No. 84
SCON-CA input
register
PLC output address
SCON-CA output
register
PLC input address
n+0 n+0
Target position
n+1
Current position
n+1
n+2 n+2
Positioning band
n+3
Command current
n+3
Speed n+4 n+4
Acceleration/
deceleration
n+5
Current speed
n+5
Push-current limiting
value
n+6 Alarm code n+6
6
Control signal n+7 Status signal n+7
(Note) Pay attention to use of duplicate addresses.