IAI America PCON-CFA - Manual (Page 255)

5. Flow and Commands of Basic MECHA
TROLINK Communication
249
[9]
[10]
Positioning band
Push specification
Push direction specification
Positioning command
Positioning complete/missed load
during push-motion operation
Current position
Moving
Actuator operation
(push)
Actuator operation
(normal positioning
operation)
Push
*T1: Make sure “T1 t 0 ms” is satisfied by considering
the scan time of the host controller.
*Yt + Xt d tdpf d Yt + Xt + 2 (msec)
[11]
[12] [13]
[14]
[15]
[16]
[17]