IAI America PCON-CFA - Manual (Page 197)

4. SCON-CA
191
CompoNet
4.7.5 Full Direct Value Mode (Number of occupied channels 16CH)
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 area.
The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the
following table.
ROBO cylinder function
{:Direct control
x:Disable
Home-return operation {
Positioning operation
{
Speed and acceleration /
deceleration setting
{
Pitch feed (inching)
{
Pressing Operation
{
Speed change during the movement {
Operation at different acceleration
and deceleration
{
Pause {
Zone signal output
{
PIO pattern selection x
(1) PLC channel configuration (* “n” shows the node address of each axis.)
Parameter
No. 84
SCON-CA input
register
PLC output address
SCON-CA output
register
PLC input address
n+0 n+0
Target position
n+1
Current position
n+1
n+2 n+2
Positioning band
n+3
Command current
n+3
n+4 n+4
Speed
n+5
Current speed
n+5
n+6 Alarm code n+6
Zone boundary+
n+7 Occupied area n+7
n+8 n+8
Zone boundary-
n+9
Force feedback data
n+9
Acceleration n+10 n+10
Deceleration n+11
Total moving count
n+11
Push-current limiting
value
n+12 n+12
Load current threshold n+13
Total moving distance
n+13
Control signal 1 n+14 Status signal 1 n+14
3
Control signal 2 n+15 Status signal 2 n+15
(Note)
The areas denoted by Occupied area cannot be used for any other purpose.
Also, exercise caution to avoid node address duplication.