Instruction Manual
5. Flow and Commands of Basic MECHATROLINK Communication
157
PLC
PLC
Flat cable
Communication
cable
5. SCON-CA
5.1 Operation Modes and Functions
SCON-CA controllers supporting PROFIBUS-DP can be operated in a desired operation mode selected from the
following nine modes.
Key function
Remote I/O
mode
Position/
simple
direct mode
Half direct
mode
Full direct
mode
Remote I/O
mode 2
Position/
simple direct
mode 2
Half direct
mode 2
Remote I/O
mode 3
Half direct
mode 3
Number of
occupied bytes
2 8 16 32 12 8 16 12 8
Operation by
position data
specification
x
{(*1) { {
x
{(*1) {
x
{
Direct
speed/acceleration
specification
x x
{ {
x
x
{
x
{
Push-motion
operation
{ { { { { { { { {
Current position
read
x
{ { { { { { { {
Current speed
read
x x
{ {
x x
{
x
{
Operation by
position number
specification
{ {
x x
{ {
x
{
x
Completed
position number
read
{ {
x x
{ {
x
{
x
Maximum position
table size
512 768 Not used Not used 512 768 Not used 512 Not used
Force control U(*2)
x x
{
U(*2)
{ { {
x
Vibration damping
control
{ {
x
{ { {
x
{ {
Servo gain
switching
{ { { { { {
x
{ {
(*1) The actuator is operated by specifying all position data, other than positions, using position numbers.
(*2) These functions can be used when the PIO pattern is set to 6 or 7.
[1] Remote I/O mode: In this mode, the actuator is operated by PIOs (24-V I/Os) via PROFIBUS-DP
communication.
Number of occupied bytes: 2 bytes (1 word)
SCON-CA not supporting
PROFIBUS-DP
PIO connection
SCON-CA supporting
PROFIBUS-DP
PROFIBUS-DP connection