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IAI America PCON-CFA User Manual

Page 197

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4. SCON-CA

189

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” indicates 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

Pressing 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.

This manual is related to the following products: