IAI America PCON-CFA - Manual (Page 102)

4. PCON-CA/CF
A
CC-Link
96
4.7.3 Position/Simplified Direct Value Mode (Remote Device Station: No. of Occupied
Stations: One Station)
This is the operation mode with the position No. set up. The change over of the control signals (PMOD
signals), can select whether the target position is set directly using the value or the value registered on the
position data is used.
For the speed, acceleration/deceleration and positioning width, etc., except for the target position, the values
in the position table within the controller are used. Setup the position data referring the instruction manual for
the controller main body.
The number of settable position data items is max. 768.
The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the
following table.
Robot Cylinder Function
䂾 :Direct Control
䂦 :Indirect Control
㬍 :Disabled
Remarks
Homing 䂾
Positioning 䂾
Speed, Acceleration and Deceleration Settings 䂦
Pitch Feeding (Inching) 䂦
Pressing Operation 䂦
Speed change during the movement 䂦
Different Acceleration Speed
Operation in Deceleration
䂦
Position data setting is required.
Pause 䂾
Zone Signal Output 䂦 Zone is set using the parameters.
PIO Pattern Selection 㬍
(1) PLC Address Composition (* “n” shows the head register address for each axis).
Parameter
No.84
PCON-CA/CFA side
Input register
PLC side
PCON-CA/CFA side
Output register
PLC side
Occupied Area RY n0 to nF Occupied Area RX n0 to nF
System Area RY (n+1)0 to (n+1)F System Area RX (n+1)0 to (n+1)F
RWw (n+0) RWr (n+0)
Target Position
RWw (n+1)
Current Position
RWr (n+1)
Command position
number
RWw (n+2)
Completed Position No.
(Simplified Alarm CORD)
RWr (n+2)
1
Control signal RWw (n+3) Status Signal RWr (n+3)
Note: The Occupied Area stands for the area occupied by means of the setting of the number of remote device
stations.
The System Area stands for the system area of the remote device station.
These areas are not used for any other purpose. Also take care about duplicating the use of the data register.