Iai-america PCON-CFA Manual de usuario descargar pdf (Pagina 44)

3. ACON-C/CG, PCON-C/CG

CC-Link

3.7.5 Full Direct Value Mode (Remote Device Station: No. of Occupied Stations: Four

stations)

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 data register.

The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the

following table.

Robot Cylinder Function

䂾:Direct Control

㬍:Disabled

Homing 䂾

Positioning 䂾

Speed, Acceleration and Deceleration Settings 䂾

Pitch Feeding (Inching) 䂾

Pressing Operation 䂾

Speed change during the movement 䂾

Different Acceleration Speed 䂾

Operation in Deceleration 䂾

Pause 䂾

Zone Signal Output 䂾

PIO Pattern Selection 㬍

(1) PLC Address Composition (* “n” shows the head register address for each axis).

Parameter

No.84

Acon or Pcon side

Input register

PLC side

Acon or Pcon side

Output register

PLC side

RY n0 to nF RX n0 to nF

RY (n+1)0 to (n+1)F RX (n+1)0 to (n+1)F

RY (n+2)0 to (n+2)F RX (n+2)0 to (n+2)F

RY (n+3)0 to (n+3)F RX (n+3)0 to (n+3)F

RY (n+4)0 to (n+4)F RX (n+4)0 to (n+4)F

RY (n+5)0 to (n+5)F RX (n+5)0 to (n+5)F

Occupied Area

RY (n+6)0 to (n+6)F

Occupied Area

RX (n+6)0 to (n+6)F

System Area RY (n+7)0 to (n+7)F System Area RX (n+7)0 to (n+7)F

RWw (n+0) RWr (n+0)

Target Position

RWw (n+1)

Current Position

RWr (n+1)

RWw (n+2) RWr (n+2)

Positioning Width

RWw (n+3)

Command Current

RWr (n+3)

RWw (n+4) RWr (n+4)

Speed

RWw (n+5)

Current Speed

RWr (n+5)

RWw (n+6) Alarm code RWr (n+6)

Zone Value “+”

RWw (n+7)

RWr (n+7)

RWw (n+8) RWr (n+8)

Zone Value “-”

RWw (n+9)

RWr (n+9)

Acceleration RWw (n+A) RWr (n+A)

Deceleration RWw (n+B) RWr (n+B)

Pressing Current

Limit Value

RWw (n+C)

RWr (n+C)

ACON

Occupied Area

PCON Load Current Threshold

RWw (n+D) RWr (n+D)

Control signal 1 RWw (n+E)

Occupied Area

RWr (n+E)

Control signal 2 RWw (n+F) Status Signal RWr (n+F)

Note:

The Occupied Area stands for the area occupied by means of the setting of the number of remote device stations.

The System Area stands for the system area of the remote device station.

These areas are not used for any other purpose. Also take care about duplicating the use of the data register.

1 2 ... 39 40 41 42 43 44 45 46 47 48 49 ... 103 104

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Iai-america PCON-CFA Manual de usuario Pagina 44

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