IAI America PCON-CFA - Manual (Page 45)

2. ACON-C/CG,
PCON-C/CG
39
CompoNet
2.7.5 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.)
ParameterNo.84 ACON/PCON input register PLC output CH ACON/PCON 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
Command Current
n+3
n+4 n+4
Velocity
n+5
Current Speed
n+5
n+6 Alarm Code n+6
3
Zone boundary +
n+7 n+7
n+8 n+8
Zone boundary -
n+9 n+9
Acceleration n+10 n+10
Deceleration n+11 n+11
Pressing Current Limit Value n+12 n+12
ACON Occupied area
PCON
Load current
threshold
n+13 n+13
Control Signal 1 n+14
Occupied area
n+14
Control Signal 2 n+15 Status Signal n+15
(Note)
The areas denoted by Occupied area cannot be used for any other purpose.
Also, exercise caution to avoid node address duplication.