IAI RCM-P6AC, Instruction Manual

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3. Operation
Fieldbus Communication
112
RCP6S
PLC Output (m is PLC output top word address for each axis number)
Address m
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Target Position
(Lower word)
Address m+1
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Target Position
(Upper word)
(Note) If the target position is a negative value, it is input by a two’s complement.
Address m+2
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Positioning Width
(Lower word)
32,768 16,384
8,192 4,096 2,048 1,024
512 256 128
64 32 16
8 4 2 1
Address m+3
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Positioning Width
(Upper word)
– – – – – – – – – – – –
524,288 262,144 131,072
65,536
Address m+4
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Command Speed
32,768 16,384
8,192 4,096 2,048 1,024
512 256 128
64 32 16
8 4 2 1
Address m+5
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Acceleration/
Deceleration
– – – – – – –
256 128
64 32 16
8 4 2 1
Address m+6
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Pressing Current
Limit Value
– – – – – – –
256 128
64 32 16
8 4 2 1
Address m+7
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Control Signal
BKRL
INC DIR
PUSH
– – –
JOG+
JOG- JVEL
JISL
SO
N
RES
STP
HOME
CSTR
1 word = 16 bit
3.4.5
ME0349-4B