IAI America PCON-CFA - Manual (Page 206)

4. SCON-CA
198
4.9 MECHATROLINK Parameters
The parameters relating to MECHATROLINK are parameter Nos. 84 to 87, 90 and 159.
Category: C: External interface parameter
No. Category Symbol Name Factory default
1
~
83
For parameter Nos. 1 to 83, refer to the operation
manual for the controller.
84 C FMOD Fieldbus operation mode 0
85 C NADR Fieldbus node address 97
86 C FBRS Fieldbus baud rate 2
87 C NYTP Network type 5
90 C FMIO Fieldbus I/O format 3
159 C FBVS FB Half Direct Mode Speed Unit 0
z Fieldbus operation mode (No. 84 FMOD)
Specify a desired operation mode in parameter No. 84 using a value between 0 and 8.
Set value of
parameter No. 84
Mode name
Number of
occupied bytes
Description
0 (factory setting) Remote I/O mode
2 The actuator is operated by PIOs (24-V I/Os) via
MECHATROLINK.
1
Position/simple direct
mode
8 The target position can be specified directly as a value
or using a value in the position data table. Other values
required for operation are set in the position data table.
2 Half direct mode (Note 1)
16 Operate the actuator by specifying the speed,
acceleration/deceleration and push-current value, in
addition to the target position, directly using values.
Cannot be used if parameter No. 86 Fieldbus baud rate is
set to 0 or 1 (17-byte mode)
4 Remote I/O mode 2
12 The current-position and current-speed read functions
are added to the functions available in the remote I/O
mode.
5
Position/simple direct
mode 2 8 Set this value to implement force control in the
position/simple direct numerical mode.
6
Half direct
mode 2
(Note 1)
16 Set this value to implement force control in the half
direct numerical mode.
7 Remote I/O mode 3
12 Set this value to implement force control in the
remote I/O mode.
8
Half direct
mode 3
(Note 1)
16 Set this value to switch servo gains or vibration
damping control parameters in the half direct
numerical mode.
(Note 1) This cannot be used if Parameter No. 88 is 0 or 1 (17-byte mode).
z Fieldbus node address (No. 85 NADR)
Specify the slave number of the remote station in parameter No. 85.
Setting range: 97 to 127 (The factory setting is 97.)