IAI acon, Operation Manual, Page: 150 / 216

3. SCON-CA
144
3.6.10 Half Direct Value Mode 3 (Number of Occupied Bytes: 16)
In this mode, the jog function in the half direct numerical mode is not available, but the vibration damping
parameter set can be changed. Set each value in the I/O areas. When the zone function is used, set it using
the parameter Nos. 1, 2, 23 and 24.
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
Remark
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
x
Pause
{
Zone signal output
U
Parameters must be set.
PIO pattern selection x
(1) PLC address configuration (* “n” indicates the node address of each axis.)
Parameter
No.84
SCON-CA input register
PLC output
address (bytes)
SCON-CA 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
n+4, n+5 n+4, n+5
Positioning band
n+6, n+7
Command current
n+6, n+7
8 Speed n+8, n+9 n+8, n+9
Acceleration/
deceleration
n+10, n+11
Current speed
n+10, n+11
Pressing current-limiting
value
n+12, n+13 Alarm code n+12, n+13
Control signal n+14, n+15 Status signal n+14, n+15
(Note) Be careful of using duplicated node addresses.