Owner manual

4. SCON-CA
155
4. SCON-CA
4.1 Operation Modes and Functions
SCON-CA controllers supporting EtherCAT(R) 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 16
Operation by
position data
specification
x
{(*1) { {
x
{(*1) {
x
{
Direct
speed/acceleratio
n 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)
{ {
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 EtherCAT(R)
communication.
Number of occupied bytes: 2 bytes
PLC
EtherCAT(R)
connection
PLC
Flat cable
SCON-CA not supporting
EtherCAT(R)
PIO connection
SCON-CA supporting
EtherCAT(R)
Communication
cable