IAI America PCON-CFA - Manual (Page 217)

4. SCON-CA
211
CompoNet
4.7.8
Half Direct Value Mode (Number of occupied channels 8CH)
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 the target position, positioning band, speed, acceleration/deceleration
and push current directly as numerical values. Set each value in the I/O areas. When the zone function is used,
set it using the parameter Nos. 1, 2, 23 and 24.
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 Remark
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
x
Pause {
Zone signal output
ٌ
Parameters must be set.
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
CH
SCON-CA output
register
PLC input
CH
n+0 n+0
Target Position
n+1
Current Position
n+1
n+2 n+2
Positioning Band
n+3
Force feedback data
n+3
6 Velocity n+4 n+4
Acceleration/
Deceleration
n+5
Current Speed
n+5
Pressing Current Limit
Value
n+6 Alarm Code n+6
Control signal n+7 Status Signal n+7
(Note) Be careful of using duplicated node addresses.