IAI America PCON-CFA - Manual (Page 160)

4. SCON-CA
152
4.6.6 Position/Simple Direct Mode 2
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 position numbers. You can select whether to specify target positions
directly as numerical values by switching the control signal (PMOD signal) or to use values already registered in
the position data table.
For all data other than the target position, such as speed, acceleration/deceleration and positioning band, values
in the controller’s position table are used. Set desired position data by referring to the operation manual for the
controller.
Up to 768 position data points can be set.
The key functions that are available on Actuators controllable in this mode are shown in the table below.
Actuator function
{: Direct control
U: Indirect
control
x: Invalid
Remarks
Home return operation {
Positioning operation {
Speed & acceleration/deceleration setting
U
Pitch feed (inching)
U
Push-motion operation
U
Speed change during movement
U
Operation at different acceleration and deceleration
U
Position data must
be set
Pause {
Zone signal output
U
Zones are set using
parameters.
PIO pattern selection x
(1) PLC address configuration (When the DATA_RWA command is in use)
Parameter
No. 84
SCON-CA input
register
PLC output address
[ Bytes]
SCON-CA output
register
PLC input address
[ Bytes]
5 (Lower byte) 5 (Lower byte)
6 (Upper byte) 6 (Upper byte)
7 (Lower byte) 7 (Lower byte)
Target position
8 (Upper byte)
Current position
8 (Upper byte)
9 (Lower byte) 9 (Lower byte)
Specified position
number
10 (Upper byte)
Completed position
number
(simple alarm code)
10 (Upper byte)
11 (Lower byte) 11 (Lower byte)
5
Control signal
12 (Upper byte)
Status signal
12 (Upper byte)
(Note) Pay attention to use of duplicate node addresses.