IAI America PCON-CFA - Manual (Page 194)

5. Flow and Commands of Basic MECHA
TROLINK Communication
188
(2) I/O signal assignments for each axis
An I/O signal of each axis consists of 16 words (32 bytes) of I/O addresses.
z Control signals 1 and 2 and status signals are bit ON/OFF signals.
z The target position and current position are both a 2-word (32-bit) binary data. Although values from -999999
to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0
up to the effective stroke length) of the applicable actuator.
z Set a desired positioning band. The positioning band is a 2-word (32-bit) binary data and values from 1 to
+999999 (unit: 0.01 mm) can be handled by the PLC.
z The acceleration/deceleration is a 1-word (16-bit) binary data. Although values from 1 to 300 (unit: 0.01 G) can
be handled by the PLC, set a value not exceeding the maximum acceleration and maximum deceleration of
the applicable actuator.
z The push-current limiting value is a 1-word (16-bit) binary data. Although values from 0 (0%) to 255 (100%)
can be handled by the PLC, set a value within the specifiable range of push-current limiting values of the
applicable actuator (refer to the catalog or operation manual for the actuator).
z Set a desired load current threshold. The load current threshold is a 1-word (16-bit) binary data. Values from 0
(0%) to 255 (100%) can be handled by the PLC. (Refer to the graph of push-current limiting value (upper
graph).)
z The zone boundary+ and zone boundary- are both a 2-word (32-bit) binary data. Although values from
-999999 to +999999 (unit: 0.01 mm) can be handled by the PLC, set values so that the zone boundary-
becomes smaller than the zone boundary+.
z The command current is a 2-word (32-bit) binary data (unit: 1 mA).
z The current position is a 2-word (32-bit) binary data (unit: 0.01 mm/sec).
Positive value: The actuator is moving in the direction opposite home. / Negative value: The actuator is moving
in the direction of home.
z The alarm code is a 1-word (16-bit) binary data.
z The force feedback data is 2-word (32-bit) binary data (unit: 0.01 N).
z The total moving count is a 2-word (32 bits) binary data (unit: times).
z The total moving distance is a 2-word (32 bits) binary data (unit: m).
Set value
Push-current
limiting value