IAI RCM-P6AC, Instruction Manual

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3. Operation
Fieldbus Communication
125
RCP6S
(2) Input and Output Signal Assignment for each Axis
The I/O signals for each axis consists of 2-word for each I/O bit register.
● The control signals and status signals are ON/OFF signals in units of bit.
● For the indicated position number and complete position number, 1-word (16-bit) binary data
is available and values from 0 to 15 can be used.
● The current position is the binary data in 1 word (16 bits), and can deal with numbers from
-32768 to +32767 (unit: 0.1mm) in PLC. Negative numbers are to be dealt with two’s
complement.
Caution:
Set the operational condition in advance with using a teaching tool such as PC software in the
position number to be used. Selecting a position number with no setting conducted will
generate the alarm code 0A2 “Position Data Error”.
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
Specified
Position No.
– – – – – – – – – – – –
PC
8
PC
4
PC
2
PC
1
Address m+1
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Control Signal
BKRL
– – – – – –
JOG+
JOG- JVEL
JISL
SO
N
RES STP
HOME
CSTR
PLC Input (m is PLC input 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
Current Position
(Note) If the target position is a negative value, it is indicated by a two’s complement.
Address m+1
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Status Signal/
Completed
Position No.
EMG
S
CRDY
ZONE
2
ZONE
1
PM8 PM4 PM2 PM1
MEND
ALML PSFL
SV
ALM
MO
VE
HEND
PE
N
D
1 word = 16 bit
1 word = 16 bit
3.4.8
ME0349-4B