IAI America PCON-CFA - Manual (Page 206)

4. SCON-CA
198
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Signal type Bit Symbol Description Details
Current
position 32 bit data
-
32-bit signed integer indicating the current position.
The unit is 0.01 mm.
(Example) Reading: 000003FF
H
= 1023 (decimal)
= 10.23 mm
* If this data is read as a hexadecimal, a negative value
is indicated by a complement of 2.
4.8 (3)
Command
current
32-bit data -
32-bit integer.
The value of electrical current specified by the present
command is indicated.
The unit is mA.
(Example) Reading: 000003FF
H
= 1023 (decimal)
= 1023 mA
4.8 (3)
Current
speed
32-bit data -
32-bit signed integer.
The current speed is indicated.
Positive value: The actuator is moving in the direction
opposite home.
Negative value: The actuator is moving in the direction of
home.
The unit is 0.01 mm/sec.
(Example) Reading: 000003FF
H
= 1023 (decimal)
= 10.23 mm/sec
* If this data is read as a hexadecimal value, a negative
value is indicated by a compliment of 2.
4.8 (3)
Alarm code 16-bit data -
16-bit integer.
If an alarm occurs, an alarm code will be output.
0 is output when no alarm is present.
For details on alarms, refer to the operation manual for
the controller.
4.8 (3)
Force
feedback
data
32-bit data -
32-bit signed integer.
The unit is 0.01 N.
* If this data is read as a hexadecimal, a negative value
is indicated by a compliment of 2.
4.8 (3)
Total moving
count
32-bit data -
32-bit integer.
The unit is times.
-
Total moving
distance
32-bit data -
32-bit integer.
The unit is m.
-
b15
b14
b13
b12
b11
b10
b9
b8
b7
b6
b5
b4
b3
b2
- Cannot be used. -
b1 CEND Load cell calibration is complete: This signal turns ON
when calibration is complete.
4.6.11 (32)
P
LC
in
pu
t
Status
signal 1
b0 BALM Absolute battery voltage low warning: This signal turns
ON when the voltage drops.
4.6.11 (28)