IAI America PCON-CFA - Manual (Page 163)

4. SCON-CA
157
Communication
cable
Flat cable
[4] Full direct mode: In this mode, the actuator is operated by specifying all values relating to position
control (target position, speed, acceleration/deceleration, etc.) directly as values.
Number of occupied bytes: 32 bytes
[5] Remote I/O mode 2: In this mode, the actuator is operated by PIOs (24-V I/Os) via EtherCAT(R)
communication.
The current-position and command-current read functions are available in addition
to the functions provided in mode [1].
Number of occupied bytes: 12 bytes
[6] Position/simple direct mode 2: In this mode, the actuator is operated by specifying position numbers.
In this mode, the force control function is available instead of the teaching
function and zone function available in mode [2].
Number of occupied bytes: 8 bytes
Target position: 100.00 mm
Positioning band: 0.10 mm
Speed specification:
100.0 mm/sec
Acceleration: 0.30 G
Deceleration: 0.30 G
Push current: 50%
Load current threshold: 0
Zone+: 50.00 mm
Zone-: 30.00 mm
SCON-CA supporting
EtherCAT(R) Actuator
SCON-CA not supporting
EtherCAT(R)
SCON-CA supporting
EtherCAT(R)
EtherCAT(R)
connection
PIO connection
Target position: 100.00 mm
+
Position No. 0
SCON-CA supporting
EtherCAT(R)
Actuator
Speed Acceleration Deceleration Push