IAI America PCON-CFA - Manual (Page 44)

3.
ACON-C/CG, PCON-C/CG
CC-Link
38
3.7.5 Full Direct Value Mode (Remote Device Station: No. of Occupied Stations: Four
stations)
This is the operation mode with all the values (target position, speed, etc.) set up directly using values from
PLC.
Set each value in the I/O data register.
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
㬍 :Disabled
Homing 䂾
Positioning 䂾
Speed, Acceleration and Deceleration Settings 䂾
Pitch Feeding (Inching) 䂾
Pressing Operation 䂾
Speed change during the movement 䂾
Different Acceleration Speed 䂾
Operation in Deceleration 䂾
Pause 䂾
Zone Signal Output 䂾
PIO Pattern Selection 㬍
(1) PLC Address Composition (* “n” shows the head register address for each axis).
Parameter
No.84
Acon or Pcon side
Input register
PLC side
Acon or Pcon side
Output register
PLC side
RY n0 to nF RX n0 to nF
RY (n+1)0 to (n+1)F RX (n+1)0 to (n+1)F
RY (n+2)0 to (n+2)F RX (n+2)0 to (n+2)F
RY (n+3)0 to (n+3)F RX (n+3)0 to (n+3)F
RY (n+4)0 to (n+4)F RX (n+4)0 to (n+4)F
RY (n+5)0 to (n+5)F RX (n+5)0 to (n+5)F
Occupied Area
RY (n+6)0 to (n+6)F
Occupied Area
RX (n+6)0 to (n+6)F
System Area RY (n+7)0 to (n+7)F System Area RX (n+7)0 to (n+7)F
RWw (n+0) RWr (n+0)
Target Position
RWw (n+1)
Current Position
RWr (n+1)
RWw (n+2) RWr (n+2)
Positioning Width
RWw (n+3)
Command Current
RWr (n+3)
RWw (n+4) RWr (n+4)
Speed
RWw (n+5)
Current Speed
RWr (n+5)
RWw (n+6) Alarm code RWr (n+6)
Zone Value “+”
RWw (n+7) RWr (n+7)
RWw (n+8) RWr (n+8)
Zone Value “-”
RWw (n+9) RWr (n+9)
Acceleration RWw (n+A) RWr (n+A)
Deceleration RWw (n+B) RWr (n+B)
Pressing Current
Limit Value
RWw (n+C) RWr (n+C)
ACON Occupied Area
PCON Load Current Threshold
RWw (n+D) RWr (n+D)
Control signal 1 RWw (n+E)
Occupied Area
RWr (n+E)
3
Control signal 2 RWw (n+F) Status Signal RWr (n+F)
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.