Page 48 - RoboCilindri, RCP4, robocilindri, sinta,
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47Take note that the required data areas on the PLC side vary depending on the mode. Explanation of Modes Mode01 2 3 4Remote I/O modePosition/simple direct numerical modeHalf direct numerical modeFull direct numerical modeRemote I/O mode 2DescriptionIn this mode, the actuator is operated by controlling the ON/OFF of bits via the network, just likeoperation patterns (PIO patterns) that can be set by the controller’s parameter.(speed, acceleration, etc.) are set by specifying the desired position number corresponding to the desired operating conditions already input to the position data table.The actuator is operated by specifying the speed, acceleration/deceleration and push current, in addition to the target position, by directly entering values.The actuator is operated by specifying the target position, speed, acceleration/deceleration, push current control value, etc., by directly entering values.The current position, current speed, command current, etc., can also be read.Same as the above remote I/O mode, plus the current position read function and command current read function. Required Data Size for Each Network DeviceNet CC-LinkPROFIBUS-DP 2 bytes8 bytes 16 bytes 32 bytes 12 bytesCompoNet 2 bytes8 bytes 16 bytes 32 bytes 12 bytesEtherCAT 2 bytes8 bytes 16 bytes 32 bytes 12 bytesHalf direct numerical modeNot limitedEtherNet/IP 2 bytes8 bytes 16 bytes 32 bytes 12 bytesFull direct numerical modeNot limitedPROFINET 2 bytes8 bytes 16 bytes 32 bytes 12 bytesRemote I/O mode 2512 points0 1 2 3 4Remote I/O modePosition/simple direct numerical modeHalf direct numerical modeFull direct numerical modeRemote I/O mode 21CH 1 station 4CH 1 station 8CH 2 stations 16CH 4 stations 6CH 1 station* No required data size is set for MECHATROLINK I and II. List of Functions by Operation Mode Number of positioning pointsPush-motion operation Current position read Current speed readRemote I/O mode512 pointsPosition/simple direct numerical mode768 pointsCompleted position number read (Note 1)————— — — — —— — — — * O indicates that the operation is supported, and “—“ indicates that it is not supported.
