IAI America PCON-CFA - Manual (Page 109)

4. SCON-CA
103
4.4.4 Half Direct Mode (Number of Occupied Bytes: 16)
In this mode, the actuator is operated by specifying the target position, positioning band, speed,
acceleration/deceleration and push current directly as values from the PLC.
Set each value in an applicable I/O address. If the zone function is used, set parameter Nos. 1, 2, 23 and/or 24.
The key functions that are available on ROBO Cylinders controllable in this mode are shown in the table below.
ROBO Cylinder function
{: Direct control
': Indirect control
x: Invalid
Remarks
Home return operation {
Positioning operation {
Speed & acceleration/deceleration setting
{
Pitch feed (inching)
{
Push-motion operation
{
Speed change during movement
{
Operation at different acceleration and deceleration x
Pause {
Zone signal output '
Parameters must be
set.
PIO pattern selection x
(1) PLC address configuration (* n indicates the initial input/output address for each axis.)
Parameter
No. 84
PCON-CA/CFA
input register
PLC output address
PCON-CA/CFA
output register
PLC input address
n+0 n+0
Target position
n+1
Current position
n+1
n+2 n+2
Positioning band
n+3
Command current
n+3
Speed n+4 n+4
Acceleration/
deceleration
n+5
Current speed
n+5
Push-current limiting
value
n+6 Alarm code n+6
2
Control signal n+7 Status signal n+7
(Note) Pay attention to use of duplicate addresses.