IAI America PCON-CFA - Manual (Page 228)

5. Flow and Commands of Basic MECHA
TROLINK Communication
222
(3) I/O signal assignments
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Signal type Bit Symbol Description Details
Target position 32-bit data -
32-bit signed integer.
Specify the target position on the absolute coordinates.
The unit is 0.01 mm, while the specifiable range is -999999 to
999999.
(Example) To set +25.41 mm, specify “2541.”
If the entered value exceeds the range of soft limit parameters
(within 0.2 mm inside of the parameter values), the movement
will be limited to within the range of soft limits (within 0.2 mm
inside of the parameter values).
* If this data is entered using a hexadecimal, enter a negative
value as a 2’s complement.
5.9 (2)
Positioning band 32-bit data -
32-bit integer.
The unit is 0.01 mm, while the specifiable range is 1 to 999999.
(Example) To set 25.40 mm, specify “2540.”
This register has one of two meanings depending on the
operation type:
[1] In the case of positioning operation, this register indicates
the allowable range from the target position within which
the positioning is deemed completed.
[2] In the case of push-motion operation, this register
indicates the push band. Use the control signal PUSH to
set whether to perform normal operation or push-motion
operation.
5.9 (2)
Speed 16-bit data -
16-bit integer.
Specify the speed at which to move the actuator.
Designate the unit of 1.0mm/sec or 0.1mm/sec.
The settable range is 0 to 65535.
Unit of measure is selected by Parameter No. 159 FB Half
Direct Mode Speed Unit.
(Example) In the case of the unit of 1.0mm/sec:
To set 254.0 mm/sec, specify “254.”
If a move command is issued by specifying a value exceeding
the maximum speed, an alarm will occur.
5.9 (2)
PLC output
Acceleration/
deceleration
16-bit data -
16-bit integer.
Specify the acceleration/deceleration at which to move the
actuator. (The acceleration and deceleration become the same
value.)
The unit is 0.01 G, while the specifiable range is 1 to 300.
(Example) To set 0.30 G, specify “30.”
If a move command is issued by specifying “0” or a value
exceeding the maximum acceleration or maximum
deceleration, an alarm will occur.
5.9 (2)