IAI America PCON-CFA - Manual (Page 212)

4. SCON-CA
206
CompoNet
4.7.7 Position/Simplified Direct Value Mode (Number of occupied channels 4CH)
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. Whether the target position is set directly the control
signals (PMOD signals), or the value registered on the position data is used can be selected.
For the speed, acceleration/deceleration and positioning band, etc., except for the target position, the values in
the position table within the controller are used. Setup the position data referring the operation manual for the
controller main body.
The settable No. of position data items is max 768 points.
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
ٌ:Indirect control
x:Disable
Remarks
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
ٌ
These items must be set in
the position data table.
Pause {
Zone signal output
ٌ
Zones are set using position
data or parameters.
PIO pattern selection x
(1) PLC channel configuration (* “n” shows the node address of each axis.)
ParameterNo.84 SCON-CA input register
PLC output
CH
SCON-CA output register
PLC input
CH
n+0 n+0
Target Position
n+1
Current Position
n+1
Specified position number n+2
Completed Position No.
(Simple alarm code)
n+2
5
Control Signal n+3 Status Signal n+3
(Note) Be careful of using duplicated node addresses.