IAI America PCON-CFA - Manual (Page 164)

4. SCON-CA
158
Flat cable
Communication
cable
[7] Half direct mode 2: In this mode, the actuator is operated by specifying the speed,
acceleration/deceleration and push current, in addition to the target position, directly
as values.
Unlike in mode [3], command current cannot be read in this mode. However, load
cell data can be read instead. This mode also supports force control.
Number of occupied bytes: 16 bytes
+('=<<;7:5
"6 ,*
2=;
,5 <;77;:99
;77;:7:51:399
+< 3< 274727;:
99 2
22 8 7;:3 2 8 7;:
$
=62= :
[8] Remote I/O mode 3: In this mode, the actuator is operated by EtherCAT(R) instead of PIO (24 V I/O).
Current position and command current function is added to the function [1].
Number of occupied bytes: 12 bytes
SCON-CA not supporting
EtherCAT(R)
PIO connection
SCON-CA supporting
EtherCAT(R)
EtherCAT(R) connection