IAI America PCON-CFA - Manual (Page 226)

4. SCON-CA
220
CompoNet
4
5
PLC input
Channel (* “n” shows the node address of each axis.)
1 word (1CH) = 16 bits
(upper word)
(lower word)
Current Position
Current Position
Controller
output port
number
Unavailable
When the current position is shown using the negative figure, it is expressed using the
complement of 2.
Force feedback
data
(upper word)
When the current force feedback data is shown using the negative figure, it is
expressed using the complement of 2.
Force feedback
data
(lower word)
Cannot be
used