IAI America RCM-GW-CC - Manual (Page 42)

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6.2 Position data limit designation mode
This is an operation mode in which function of the controller is limited only to positioning, and allows for control
of a maximum 14 axes.
Position data for positioning is directly written in the data register of the PLC, and operation is performed.
Communication for setting of speed, acceleration and deceleration cannot be performed.
Speed, acceleration and deceleration are set to parameter No.8 “Speed initial value” and No.9 “Acceleration
and deceleration initial value” for each axis.
Setting of position table for each axis is unnecessary.
Primary functions controllable in this mode are as shown in the following table.
Primary functions
○ : Direct control
△ : Indirect control
× : Ineffective
Remarks
Home return operation ○
Positioning operation ○
Speed, acceleration and
deceleration setting △ This is set to a parameter.
Therefore, this is fixed during operation.
Pitch (incremental) feed △ Pitch feed data cannot be directly processed.
Give command by adding or subtracting data of
same moving amount to/from the present position
by host PLC.
Push operation ×
Speed change during movement ×
Operation in different acceleration
and deceleration ×
Pause ○
Zone signal output △ Monitor the present position data by the PLC. (*)
PIO pattern selection ×
* There is no strobe signal in the present position data. Therefore, when checking the present position by the
PLC during movement, provide a range to check that there is data of 2 scans or more in the range.