IAI acon User Manual

2. ACON, PCON
38
2.6.5 Full Direct Value Mode (Number of Occupied Bytes: 32)
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 address configuration (* "n" indicates the first address of each axis.)
Parameter
No.84
ACON/PCON input register
PLC output
address (bytes)
ACON/PCON output register
PLC input
address (bytes)
n, n+1 n, n+1
Target position
n+2, n+3
Current position
n+2, n+3
n+4, n+5 n+4, n+5
Positioning band
n+6, n+7
Command current
n+6, n+7
n+8, n+9 n+8, n+9
Speed
n+10, n+11
Current speed
n+10, n+11
n+12, n+13 Alarm code n+12, n+13
Zone boundary +
n+14, n+15
n+14, n+15
n+16, n+17 n+16, n+17
Zone boundary -
n+18, n+19
n+18, n+19
Acceleration n+20, n+21 n+20, n+21
Deceleration n+22, n+23 n+22, n+23
Pressing current-limiting
value
n+24, n+25
n+24, n+25
ACON Occupied area
PCON
Load current
threshold
n+26, n+27
n+26, n+27
Control signal 1 n+28, n+29
Occupied area
n+28, n+29
3
Control signal 2 n+30, n+31 Status signal n+30, n+31
(Note) The areas denoted by Occupied area cannot be used for any other purpose.
Also, exercise caution to avoid node address duplication.

IAI acon Specifications

General

Brand	IAI
Model	acon
Category	Switch
Language	English