IAI America RCM-GW-PR - Manual (Page 114)

108
PfofiBus Gateway
8.2 RC_NVC_11
Explanation; SV, VELO, ADCC, INP and PROW are transferred from the Gateway to the controller at the
leading edge of MREQ, and executed. Other parameters are always effective when this function
block is called. For example, even if MREQ is OFF, calling this function block during home return
will change the applicable output parameters in accordance with the home return operation.
Parameters;
I/O
Parameter
name
Data
type
Explanation
Input MREQ BOOL Issue a movement request upon FALSE → TRUE.
SON BOOL Servo on command
HOME BOOL Home return command
PUSH BOOL Push mode, if TRUE
DIR BOOL Push direction (0 = Home return direction, 1 = Opposite to home
return direction)
STOP BOOL Pause command
ALMRS BOOL Alarm reset command
SV DINT Target position (Set value)
SPEED DINT Speed
ADCC INT Acceleration/deceleration
INP
DINT In-position band (Push band, if PUSH is ON)
PPOW WORD Push rate (Effective, if PUSH is ON)
LADDR INT Gateway head I/O address
AXIS INT Axis number (0 to 15)
Output RDY BOOL Controller ready
SERVO BOOL Servo status
HEND BOOL Home return status
ALM BOOL Alarm status
EMG BOOL Emergency stop status
DONE BOOL One pulse is output upon completion of movement (PEND or
PSFL leading edge pulse).
MOVE BOOL Moving, if TRUE
AERR WORD The value of AXIS exceeds 15 or negative, or LADDR is negative.
PV DINT Current position (Process value)
Move request
Servo on
Home return
Push-motion operation
Push direction
Pause
Alarm reset
Target position
Speed
Acceleration/deceleration
In-position band
Push rate
Gateway head address
Axis number
Controller ready
Servo status
Home return status
Alarm status
Emergency stop status
Movement complete pulse
Moving
Address error
Current position