IAI America PCON-CFA - Manual (Page 213)

5. Flow and Commands of Basic MECHA
TROLINK Communication
207
5.4.8 Half Direct Mode 2 (Number of Occupied Bytes: 16)
In this mode, the actuator is operated by means of force control (push-motion operation based on feedback of
load cell values) and also by specifying the target position, positioning band, speed, acceleration/deceleration
and push current directly as numerical values. Set each value in the applicable I/O area. To use the zone function,
set the necessary values in parameter Nos. 1, 2, 23 and 24.
The key functions that are available on Actuators controllable in this mode are shown in the table below.
Actuator 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
SCON-CA input
register
PLC output address
SCON-CA 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
Force feedback data
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
6
Control signal n+7 Status signal n+7
(Note) Pay attention to use of duplicate addresses.