Omron CS1W-MCH71 Operation Manual page 442

Allocations for the CPU Unit
Classification Word
Unit control bit n+0
Variable bit
IW0300 00 Unit Alarm Reset
01 System Parameter
Save
02 Position Data Save
03 Teaching Condition
Setting
04 Teaching Type
05 Teaching Execution
06 Servo Parameter
Save
07-11 Reserved
12-15 Present Value Moni-
tor Select
Name
0: Nil
1: Does not turn ON the bit [Unit Alarm]
↑: Clears the alarm occurring on Unit level
↓: Nil
0: Nil
1: Nil
↑: Saves system parameters to the Flash ROM
↓: Nil
0: Nil
1: Nil
↑: Saves position data to the Flash ROM
↓: Nil
0: Nil
1: Nil
↑: Specifies axes for teaching, reads the teaching
address
↓: Nil
0: Feedback present position
1: Command present position
↑: Nil
↓: Nil
0: Nil
1: Nil
↑: Writes present position specified with teaching
type to position data
↓: Nil
0: Nil
1: Nil
↑: Saves servo parameters into Flash ROM/
EEPROM in the Servo
↓: Nil
Reserved
Selects data to be output to the present value mon-
itor.
0: Zero output
1: Feedback position (coordinate system currently
being selected)
2: Feedback position (machine coordinate system)
3: Command position (coordinate system currently
being selected)
4: Command position (machine coordinate system)
5: Feedback speed 1 (command unit/min)
6: Feedback speed 2 (depend on the parameter)
7: Command speed 1 (command unit/min)
8: Command speed 2 (depends on the parameter)
9: Error
10: Torque command
11-15: Reserved for system
Section 7-3
Specifications
397