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IAI America PCON-CFA User Manual

Page 36

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2.

ACON-C/CG, PCON-C/CG

28

2.6.3

Position/Simplified Direct Value Mode (Number of Occupied Bytes: 8)

In this operation mode, EtherNet/IP communication is used to select and command movements that have

been predefined in the controller’s position data table. Alternatively, through use of a PMOD signal, this

mode also allows the target position to be established directly.

For the speed, acceleration/deceleration and positioning band, etc., except for the target position, the

values in the position table within the controller are used. Setup the position data by referring to the

instructions provided in the controller’s operation manual.

The settable No. of position data items is max 768 points.

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

Remarks

Home-return operation

{

Positioning operation

{

Speed and acceleration /

deceleration setting

U

Pitch feed (inching)

U

Pressing operation

U

Speed change during the

movement

U

Operation at different

acceleration and deceleration

U

These items must be set in

the position data table.

Pause

{

Zone signal output

U

Zones are set using

parameters.

PIO pattern selection

x

(1) PLC address configuration (* “n” indicates the first address of each axis.)

Parameter

No.84

ACON/PCON side

input register

PLC side output

address (bytes)

ACON/PCON 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

Specified position number

n+4, n+5

Completed position No.

(Simple alarm code)

n+4, n+5

1

Control signal

n+6, n+7

Status signal

n+6, n+7

(Note) Be careful of using duplicated node addresses.

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