IAI America PCON-CFA - Manual (Page 220)

4. SCON-CA
214
CompoNet
PLC input
Channel
(* “n” shows the node address of each axis.)
1 word (1CH) = 16 bits
(upper word)
(lower word)
Current Position
Current Position
2
3
Force feedback
data
(lower word)
Force
feedback data
(upper word)
Current speed
(upper word)
Current speed
(lower word)
Alarm code
Status signal
If the current position is a negative value, it is expressed by a 2’s complement.
If the current speed is a negative value, it is expressed by a 2’s complement.
If the force feedback data is a negative value, it is expressed by a 2’s complement.
1 word (1CH) = 16 bits