IAI America PCON-CFA - Manual (Page 226)

4. SCON-CA
218
PLC input
Address (* “n” indicates the node address of each axis.)
When the current position is shown using the negative figure, it is expressed using the complement of 2.
When the force feedback data is shown using the negative figure, it is expressed using the complement
of 2.
1 word = 2 bytes =16 bits
Controller
output port
number
Cannot be
used
Current
position
(lower word)
Current
position
(upper word)
n+6, n+7
n+4, n+5
n+2, n+3
n+0, n+1
Force
feedback data
(lower word)
Force
feedback data
(upper word)
n+10, n+11
n+8, n+9