IAI RCM-GW-PR Operation Manual

Also see for RCM-GW-PR: First step guide Operation manual

Contents

IAI RCM-GW-PR Operation Manual Manual pdf 59 page image

PfofiBus Gateway5.3 Command Specification ModeIn this operation mode, one of two patterns can be combined including one (simple direct operation) whereonly the target position data is specified as a numerical value and all other position data are specified via aposition number to operate the actuator, and the other (positioner operation) where the actuator isoperated only by specifying a position number.You can also use request commands to read/write the position table, monitor the current value, andbroadcast, among others.Two operation patterns are available: “positioner operation” where the actuator is operated by specifying aposition number, and “simple direct operation” where only the target position data is specified as anumerical value and all other position data such as the speed, acceleration/deceleration, positioning bandand 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 inpositioner 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, 128output bytes) or Small mode (64 input bytes, 64 output bytes) depending on the size of the assignedareas, 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.CautionAlthough the position table can be rewritten only in positioner operation, remember that the positiontable 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 specifyadditional positions indirectly as numerical values.53