IAI America PCON-CFA - Manual (Page 197)

5. Flow and Commands of Basic MECHA
TROLINK Communication
191
PLC input
address (* n indicates the initial input address for each axis.)
1 word = 2 bytes = 16 bits
Current
position
(upper word)
Current
position
(lower word)
Command
current
(upper word)
Command
current
(lower word)
Current
speed
(upper word)
Current
speed
(lower word)
Alarm code
If the current position is a negative value, it is expressed by a 2’s complement.
If the current speed is a negative value, it is expressed by a 2’s complement.