IAI America PCON-CFA - Manual (Page 169)

4. SCON-CA
163
CompoNet
Flat cable
Communication
cable
[7] Half direct mode 2: In this mode, the actuator is operated by specifying the speed, acceleration/deceleration
and push current, in addition to the target position, directly as values.
Unlike in mode [3], command current cannot be read in this mode. However, load cell
data can be read instead. This mode also supports force control.
Number of occupied bytes: 16 bytes
6@ 2E%CC
2E@9%CC
5 5 %CCE
'??
* ?
%+
2 EE@) %
5)1)'E@
)C1
'?
[8] Remote I/O mode 3: In this mode, the actuator is operated by CompoNet instead of PIO (24 V I/O).
Current position and command current function is added to the function [1].
Number of occupied bytes: 12 bytes
[9] Half direct mode 3: In this mode, the actuator is operated by specifying the speed, acceleration/deceleration
and push current, in addition to the target position, directly as values.
In this mode, the vibration damping function is supported instead of the jog function
available in mode [3].
Number of occupied bytes: 16 bytes
6@ 2E%CC
2E@9%CC
5 5 %CCE
'??
* ?
%+
2 EE@) %
5)1)'E@
)C1
'?
SCON-CA not supporting
CompoNet
PIO connection
SCON-CA supporting
CompoNet
CompoNet connection