IAI America PCON-CFA - Manual (Page 174)

5. Flow and Commands of Basic MECHA
TROLINK Communication
168
x SCON-CA
output o PLC input (* n indicates the node address for each axis.)
SCON-CA DO and output data resister
Position/simple
direct mode 2
Half direct mode 2 Remote I/O mode 3 Half direct mode 3
PLC input
address
(word address) Number of occupied
channels: 8
Number of occupied
channels: 16
Number of occupied
channels: 12
Number of occupied
channels: 16
n Port number 0 to 15
n+1
Current position Current position
Occupied area
Current position
n+2
Completed position
number (simple
alarm ID)
n+3 Status signal
Force feedback
data
Current position Command current
n+4
n+5
Current speed Force feedback data Current speed
n+6 Alarm code Alarm code
n+7 Status signal Status signal
n+8
n+9
n+10
n+11
n+12
n+13
n+14
n+15
(Note) The “occupied area” is occupied according to the operation mode setting.
This area cannot be used for any other purpose. Also pay attention to use of duplicate addresses.