IAI America PCON-CFA - Manual (Page 192)

4. SCON-CA
186
4.6.5 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
SCON-CA side
input register
PLC side output
address (bytes)
SCON-CA side
output register
PLC side input
address (bytes)
n+0, n+1 n+0, 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
Speed
n+10, n+11
Current speed
n+10, n+11
n+12, n+13 Alarm code n+12, n+13
Zone boundary+
n+14, n+15 Occupied area n+14, n+15
n+16, n+17 n+16, n+17
Zone boundary-
n+18, n+19
Force feedback data
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
Push-current limiting
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
3
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.