IAI America PCON-CFA - Manual (Page 169)

4. SCON-CA
163
CompoNet
Flat cable
Communication
cable
[7] Half direct mode 2: In this mode, the actuator is operated by specifying the speed, acceleration/deceleration
and push current, in addition to the target position, directly as values.
Unlike in mode [3], command current cannot be read in this mode. However, load cell
data can be read instead. This mode also supports force control.
Number of occupied bytes: 16 bytes
6@ 
2E  %
CC
2E   @
9  %
 CC
5 
5 %
CCE
'??
 * ?
 %
 +
2 EE @
) %

5)1)'
E @


)C1 
'?
[8] Remote I/O mode 3: In this mode, the actuator is operated by CompoNet instead of PIO (24 V I/O).
Current position and command current function is added to the function [1].
Number of occupied bytes: 12 bytes
[9] Half direct mode 3: In this mode, the actuator is operated by specifying the speed, acceleration/deceleration
and push current, in addition to the target position, directly as values.
In this mode, the vibration damping function is supported instead of the jog function
available in mode [3].
Number of occupied bytes: 16 bytes
6@ 
2E  %
CC
2E   @
9  %
 CC
5 
5 %
CCE
'??
 * ?
 %
 +
2 EE @
) %

5)1)'
E @


)C1 
'?
SCON-CA not supporting
CompoNet
PIO connection
SCON-CA supporting
CompoNet
CompoNet connection