IAI America PCON-CFA - Manual (Page 226)

5. Flow and Commands of Basic MECHA
TROLINK Communication
220
PLC output
address (* n indicates the initial output address for each axis.)
1 word = 2 bytes = 16 bits
Target
position
(upper word)
Target
position
(lower word)
Control signal
If the target position is a negative value, it is expressed by a 2’s complement.
Positioning
band
(upper word)
Positioning
band
(lower word)
Speed
Acceleration/
deceleration
Push-current
limiting value
MOD1 MOD0