IAI America RCM-GW-DV - Manual (Page 10)

4
DeviceNet Gateway
1.4 Features and Key Functions
1.4.1 Features
With the DeviceNet Gateway Unit, a desired operation mode can be selected from the position-number
specification mode, direct numerical specification mode, and command specification mode.
(1) Position-number specification mode
In this mode, the actuator is operated by specifying position numbers. Up to 16 axes can be
connected. The position data, speed, acceleration/deceleration, etc., must be entered beforehand in
the position table.
Various status signals can be input/output and completed position numbers can be read. However,
the current position cannot be monitored.
(2) Direct numerical specification mode
In this mode, the actuator is operated by directly specifying the position data, speed,
acceleration/deceleration, positioning band, and current-limiting value for push-motion operation, in
numerical values.
Various status signals can be input/output and current position data can be read.
There are five patterns in the direct numerical specification mode, each accommodating a different
number of connected axes.
[1] Direct numerical specification mode, maximum 4 axes
[2] Direct numerical specification mode, maximum 6 axes
[3] Direct numerical specification mode, maximum 8 axes
[4] Direct numerical specification mode, maximum 10 axes
[5] Direct numerical specification mode, maximum 16 axes
(3) Command specification mode
In this mode, the actuator can be operated in two operation patterns: the “positioner operation”
pattern in which the actuator is operated by specifying position numbers, and the “simple direct
operation” pattern in which the actuator is operated by specifying the operation data directly in
numerical values, while specifying all other items including the speed, acceleration/deceleration,
positioning band, and current-limiting value for push-motion operation, using position numbers. A
desired axis configuration can be designed using one or both of the two operation patterns. If the two
operation patterns are combined, you must assign the axes sequentially from those conforming to the
positioner operation pattern, followed by the axes conforming to the simple direct operation pattern.
The command specification mode is further classified into the Large mode (160 bytes of inputs and
160 bytes of outputs), Middle mode (128 bytes of inputs and 128 bytes of outputs), and Small mode
(64 bytes of inputs and 64 bytes of outputs), according to the size of assigned areas. Up to 16 axes
can be connected in this mode.
1.4.2 Key Functions
A comparison table of the key functions available in each mode of the Gateway Unit is given on the next
page. When studying this table, also refer to the explanation of each operation mode provided in Chapter
6.