IAI RoboNet - Page 113

93
Part 1 S
p
ecification
*1 Set an appropriate time so that “T1 ≥ 0 ms” is
satisfied, by considering the scan time of the host
controller.
*2 Yt + 2Mt + Xt ≤ tdpf ≤ Yt + 2Mt + Xt + 7 (msec)
[1]
[2]
[3]
[4]
[5]
[6]
[7]
[8]
[9]
[10]
[11]
[13]
[12]
≤
1Mt ≤ 1Mt
Target position data
setting
(PLC Æ GW)
Speed and
acceleration/deceleration data
setting (PLC → GW)
Positioning band data
setting (PLC → GW)
Push-current limiting
value data setting
(PLC → GW)
Push mode
PUSH
(PLC → GW)
Push direction
DIR
(PLC → GW)
Start command
CSTR
(PLC → GW)
Current position
(GW → PLC)
Position complete/missed
load in push operation
PEND/PSFL
(GW Æ PLC)
Moving
MOVE
(GW → PLC)
*1
*2