Set Coordinates (Pos_Set: 20H); Apply Brake (Brk_On: 21H) - Omron SJDE-ANA-OY Manual

4.2 Main Commands

4.2.13 Set Coordinates (POS_SET: 20H)

Byte POS_SET
Command
1 20H
2
3
4
5 PS_SUBC
MD
6 POS_DATA
7
8
9
10
11
12
13
14
15
16 WDT
Details of PS_SUBCMD
D7 D6
REFE
• REFE: Sets reference point.
0: Does not set reference point.
1: Sets reference point.
Decides the coordinates, and ZPOINT (home position) and software limits are enabled.
• POS_SEL: Selects coordinates.
3: Sets POS_DATA to the reference point and the coordinate system (POS, MPOS, APOS, IPOS, and
TPOS) if APOS (machine coordinate system feedback position) is selected (The "3: APOS" can only
be selected for POS_SEL.).
• Set all other bits to 0.

4.2.14 Apply Brake (BRK_ON: 21H)

Byte BRK_ON
Command
1 21H
Response
20H Processing clas-
sifications
ALARM Processing time
STATUS • Sets coordinates. REFE can also enable home position (ZPOINT) and
software limits.
• Can be used during phases 2 and 3.
PS_SUBC
• PS_SUBCMD: Refer to the following table for coordinate setting modes.
MD
• Set position in POS_DATA.
• A warning will occur and the command will be ignored in the following
POS_DATA
cases.
-If a number not within the range is set for PS_SUBCMD: Data setting
warning 2 (A.94B)
RWDT
D5
Response
21H Processing clas-
sifications
Description
Data communi-
cations com-
mand group
Within commu-
nication cycle
D4 D3
Description
Control com-
mand group
70
Synchronization Asynchronous
classifications
Subcommand Cannot be used
D2 D1
POS_SEL
Synchronization Asynchronous
classifications
D0