IAI America PCON-CFA - Manual (Page 89)

3. SCON-CA/CF
A
81
3.6.4 Half Direct Mode (Cannot be used in the 17-byte mode)
In this mode, the actuator is operated by specifying the target position, positioning band, speed,
acceleration/deceleration and push current directly as values from the PLC.
Set each value in an applicable I/O address. If the zone function is used, set parameter Nos. 1, 2, 23 and/or 24.
The key functions that are available on ROBO Cylinders controllable in this mode are shown in the table below.
ROBO Cylinder function
{: Direct control
U: Indirect
control
x: Invalid
Remarks
Home return operation {
Positioning operation {
Speed & acceleration/deceleration setting
{
Pitch feed (inching)
{
Push-motion operation
{
Speed change during movement
{
Operation at different acceleration and deceleration x
Pause {
Zone signal output U
Parameters must be
set.
PIO pattern selection x
(1) PLC address configuration (When the DATA_RWA command is in use)
Parameter
No. 84
PCON-CA/CFA
input register
PLC output address
[ Bytes]
PCON-CA/CFA
output register
PLC input address
[ Bytes]
5 (Lower byte) 5 (Lower byte)
6 (Upper byte) 6 (Upper byte)
7 (Lower byte) 7 (Lower byte)
Target position
8 (Upper byte)
Current position
8 (Upper byte)
9 (Lower byte) 9 (Lower byte)
10 (Upper byte) 10 (Upper byte)
11 (Lower byte) 11 (Lower byte)
Positioning band
12 (Upper byte)
Command current
12 (Upper byte)
13 (Lower byte) 13 (Lower byte)
Speed
14 (Upper byte) 14 (Upper byte)
15 (Lower byte) 15 (Lower byte) Acceleration/
deceleration 16 (Upper byte)
Current speed
16 (Upper byte)
17 (Lower byte) 17 (Lower byte) Push-current limiting
value 18 (Upper byte)
Alarm code
18 (Upper byte)
19 (Lower byte) 19 (Lower byte)
2
Control signal
20 (Upper byte)
Status signal
20 (Upper byte)
(Note) Pay attention to use of duplicate node addresses.