IAI America PCON-CFA - Manual (Page 115)

3. SCON-CA/CF
A
109
3.6.5 Full Direct Value Mode (Number of Occupied Bytes: 32)
This is the operation mode with all the values (target position, speed, etc.) set up directly using values from
PLC. Set each value in the I/O area.
The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the
following table.
ROBO cylinder function
{:Direct control
x:Disable
Home-return operation
{
Positioning operation
{
Speed and acceleration / deceleration
setting
{
Pitch feed (inching)
{
Pressing Operation {
Speed change during the movement
{
Operation at different acceleration and
deceleration
{
Pause
{
Zone signal output
{
PIO pattern selection x
(1) PLC address configuration (* “n” shows the node address of each axis.)
Parameter
No.84
PCON-CA/CFA side
input register
PLC side output
address (bytes)
PCON-CA/CFA side
output register
PLC side input
address (bytes)
n, n+1 n, n+1
Target Position
n+2, n+3
Current Position
n+2, n+3
n+4, n+5 n+4, n+5
Positioning Band
n+6, n+7
Command Current
n+6, n+7
n+8, n+9 n+8, n+9
Velocity
n+10, n+11
Current Speed
n+10, n+11
n+12, n+13 Alarm Code n+12, n+13
3
Zone boundary +
n+14, n+15 n+14, n+15
n+16, n+17 n+16, n+17
Zone boundary -
n+18, n+19
Occupied area
n+18, n+19
Acceleration n+20, n+21 n+20, n+21
Deceleration n+22, n+23
Total moving count
n+22, n+23
Pressing Current Limit Value n+24, n+25 n+24, n+25
Load current threshold n+26, n+27
Total moving distance
n+26, n+27
Control Signal 1 n+28, n+29 Status Signal 1 n+28, n+29
Control Signal 2 n+30, n+31 Status Signal 2 n+30, n+31
(Note)
The areas denoted by Occupied area cannot be used for any other purpose.
Also, exercise caution to avoid node address duplication.