IAI America PCON-CFA - Manual (Page 192)

4. SCON-CA
186
4.7.5 Full Direct Mode (Number of Occupied Channels: 16)
In this mode, the actuator is operated by specifying all values relating to positioning control (target position, speed,
etc.) directly from the PLC.
Set each value in the I/O area.
The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.
Actuator function
{: Direct control
X: Invalid
Home-return operation
{
Positioning operation
{
Speed and acceleration/deceleration setting
{
Pitch feed (inching)
{
Push-motion operation
{
Speed change during movement
{
Operation at different acceleration and deceleration
{
Pause
{
Zone signal output
{
PIO pattern selection X
(1) PLC channel configuration (* n indicates the node address of each axis.)
Parameter No.
84
SCON-CA input
register
PLC output channel
SCON-CA output
register
PLC input channel
n+0 n+0
Target position
n+1
Current position
n+1
n+2 n+2
Positioning band
n+3
Command current
n+3
n+4 n+4
Speed
n+5
Current speed
n+5
n+6 Alarm code n+6
Zone boundary+
n+7 Occupied area n+7
n+8 n+8
Zone boundary-
n+9
Force feedback data
n+9
Acceleration n+10 n+10
Deceleration n+11
Total moving count
n+11
Push-motion
current-limiting value
n+12 n+12
Load current threshold n+13
Total moving
distance
n+13
Control signal 1 n+14 Status signal 1 n+14
3
Control signal 2 n+15 Status signal 2 n+15
(Note) The areas denoted by “occupied area” cannot be used for any other purpose. Also exercise caution to
avoid node address duplication.