IAI America PCON-CFA - Manual (Page 227)

5. Flow and Commands of Basic MECHA
TROLINK Communication
221
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)
If the current position is a negative value, it is expressed by a 2’s complement.
Command
current
(upper word)
Command
current
(lower word)
Alarm code
Status signal
If the current speed is a negative value, it is expressed by a 2’s complement.
Current speed
(upper word)
Current speed
(lower word)