IAI America PCON-CFA - Manual (Page 225)

4. SCON-CA
219
CompoNet
(1) PLC channel configuration (* “n” shows the node address of each axis.)
Parameter
No. 84
SCON-CA DI and input
register
PLC output address SCON-CA DO and
output register
PLC input address
Port number 0 to 15 n+0 Port number 0 to 15 n+0
n+1 Occupied area n+1
n+2 n+2
n+3
Current position
n+3
n+4 n+4
7
Occupied area
n+5
Force feedback data
n+5
(Note) The areas denoted by Occupied area cannot be used for any other purpose.
Also, exercise caution to avoid node address duplication.
(2) I/O Signal Allocation for each Axis
The I/O signals of each axis consist of 6 input words (channels) and 6 output words (channels) in the I/O areas.
z The areas controlled by port number are controlled using ON/OFF bit signals.
z The current position is a 2-word (32-bit) binary data (unit: 0.01 mm).
z The force feedback data is a 2-word (32-bit) binary data (unit: 0.01N).
PLC
output
Channel (* “n” shows the node address of each axis.)
Controller
input port
number
1 word (1CH) = 16 bits