2. ACON, PCON
26
2.6.3 Position/Simplified Direct Value Mode (Number of Occupied Bytes: 8)
In this operation mode, EtherNet/IP communication is used to select and command movements that have
been predefined in the controller’s position data table. Alternatively, through use of a PMOD signal, this
mode also allows the target position to be established directly.
For the speed, acceleration/deceleration and positioning band, etc., except for the target position, the
values in the position table within the controller are used. Setup the position data by referring to the
instructions provided in the controller’s operation manual.
The settable No. of position data items is max 768 points.
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
U:Indirect control
x:Disable
Remarks
Home-return operation
{
Positioning operation
{
Speed and acceleration /
deceleration setting
U
Pitch feed (inching) U
Pressing operation U
Speed change during the
movement
U
Operation at different
acceleration and deceleration
U
These items must be set in
the position data table.
Pause
{
Zone signal output
U
Zones are set using
parameters.
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+0, n+1 n+0, n+1
Target position
n+2, n+3
Current position
n+2, n+3
Specified position number n+4, n+5
Completed position No.
(Simple alarm code)
n+4, n+5
1
Control signal n+6, n+7 Status signal n+6, n+7
(Note) Be careful of using duplicated node addresses.
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