IAI America PCON-CFA - Manual (Page 215)

4. SCON-CA
209
PLC input
Address
(* “n” shows the node address of each axis.)
1 word (1CH) = 16 bits
(upper word)
(lower word)
Current Position
Current Position
2
3
Force feedback
data
(lower word)
Force
feedback data
(upper word)
Current speed
(upper word)
Current speed
(lower word)
Alarm code
Status signal
If the current position is a negative value, it is expressed by a 2’s complement.
If the current speed is a negative value, it is expressed by a 2’s complement.
If the force feedback data is a negative value, it is expressed by a 2’s complement.
1 word (1CH) = 16 bits
1 word = 2 bytes =16 bits
1 Word = 2 bytes =16 bits
n+0, n+1
n+2, n+3
n+4, n+5
n+6, n+7
n+8, n+9
n+10, n+11
n+12, n+13
n+14 to n+15