IAI America PCON-CFA - Manual (Page 212)

4. SCON-CA
206
4.6.8
Half Direct Value Mode (Number of Occupied Bytes: 16)
In this mode, the actuator is operated by means of force control (push-motion operation based on feedback
of load cell values) and also by specifying the target position, positioning band, speed,
acceleration/deceleration and push current directly as numerical values. Set each value in the I/O areas.
When the zone function is used, set it using the parameter Nos. 1, 2, 23 and 24.
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
U:Indirect control
x:Disable Remark
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
x
Pause {
Zone signal output
U
Parameters must be set.
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
Force feedback data
n+6, n+7
6 Velocity n+8, n+9 n+8, n+9
Acceleration/
Deceleration
n+10, n+11
Current Speed
n+10, n+11
Pressing Current Limit
Value
n+12, n+13 Alarm Code n+12, n+13
Control signal n+14, n+15 Status Signal n+14, n+15
(Note) Be careful of using duplicated node addresses.