Iai-america PCON-CFA Manual de usuario descargar pdf (Pagina 202)

5. Flow and Commands of Basic MECHATROLINK Communication

196

(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)

Signal type Bit Symbol Description Details

Current position 32 bit data -

32-bit signed integer indicating the current position.

The unit is 0.01 mm.

(Example) Reading: 000003FF

= 1023 (decimal) = 10.23 mm

* If this data is read as a hexadecimal, a negative value is

indicated by a 2’s complement.

5.6 (3)

Command current 32-bit data -

32-bit integer.

The value of electrical current specified by the present

command is indicated.

The unit is mA.

(Example) Reading: 000003FF

= 1023 (decimal) = 1023 mA

5.6 (3)

Current speed 32-bit data -

32-bit signed integer.

The current speed is indicated.

Positive value: The actuator is moving in the direction opposite

home.

Negative value: The actuator is moving in the direction of home.

The unit is 0.01 mm/sec.

(Example) Reading: 000003FF

= 1023 (decimal) = 10.23

mm/sec

* If this data is read as a hexadecimal value, a negative value

is indicated by a 2’s complement.

5.6 (3)

Alarm code 16-bit data -

16-bit integer.

If an alarm occurs, an alarm code will be output.

0 is output when no alarm is present.

For details on alarms, refer to the operation manual for the

controller.

5.6 (3)

Force feedback

data

32-bit data -

32-bit signed integer.

The current load cell reading is indicated.

The unit is 0.01 N.

* If this data is read as a hexadecimal, a negative value is

indicated by a 2’s complement.

5.9 (3)

Total moving

count

32-bit data -

32-bit integer.

The unit is times.

Total moving

distance

32-bit data -

32-bit integer.

The unit is m.

b15 -

b14 -

b13 -

b12 -

b11 -

b10 -

b9 -

b8 -

b7 -

b6 -

b5 -

b4 -

b3 -

Cannot be used.

b2 CEND

Load cell calibration is complete: This signal turns ON

when calibration is complete.

5.4.11

(32)

PLC input

Status signal 1

b1 BALM

Absolute battery voltage low warning: This signal turns

ON when the voltage drops.

5.4.11

(28)

1 2 ... 197 198 199 200 201 202 203 204 205 206 207 ... 265 266

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Iai-america PCON-CFA Manual de usuario Pagina 202

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