IAI America PCON-CFA - Manual (Page 168)

4. SCON-CA
160
PLC input address
Bytes
2 bytes = 16 bits
Current
position
(upper word)
Current
position
(lower word)
If the current position is a negative value, it is expressed by a 2’s complement.
Command
current
(upper word)
Command
current
(lower word)
Current speed
(upper word)
Current speed
(lower word)
Alarm code
Status signal
If the current force feedback data is a negative value, it is expressed by a 2’s complement.
Lower byte Upper byte