IAI RCM-GW-PR, Руководство по эксплуатации

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PfofiBus Gateway
5.3 Command Specification Mode
In this operation mode, one of two patterns can be combined including one (simple direct operation) where
only the target position data is specified as a numerical value and all other position data are specified via a
position number to operate the actuator, and the other (positioner operation) where the actuator is
operated only by specifying a position number.
You can also use request commands to read/write the position table, monitor the current value, and
broadcast, among others.
Two operation patterns are available: “positioner operation” where the actuator is operated by specifying a
position number, and “simple direct operation” where only the target position data is specified as a
numerical value and all other position data such as the speed, acceleration/deceleration, positioning band
and push-current limiting value are specified via a position number to operate the actuator.
As for the axis configuration, these two operation patterns can be used separately or in combination.
If the two patterns are combined, the axis numbers must be assigned sequentially from the axes used in
positioner operation, followed by the axes used in simple direct operation.
You can select the Large mode (160 input bytes, 160 output bytes), Middle mode (128 input bytes, 128
output bytes) or Small mode (64 input bytes, 64 output bytes) depending on the size of the assigned
areas, and up to 16 axes can be connected.
It is also possible to use request commands to read/write the position table (only in positioner operation),
read the current position, and broadcast (only in positioner operation), among others.
Caution
Although the position table can be rewritten only in positioner operation, remember that the position
table can be rewritten by up to 100,000 times or so.
If the stored positions are not enough, the position table rewrite function can be used to specify
additional positions indirectly as numerical values.
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