Omron OMNUC W Series Manual page 124

Response Types
The response type in the commands specifies the type of data that will be stored as the
response data in the responses. The DeviceNet Unit creates response data in the responses
based on the specified response type.
Table 6.6 Response Type
Response Type
0000 (0 Hex ) Command position (Command unit)
0001 (1 Hex) Present position (Command unit)
0010 (2 Hex)
Position deviation (Command unit)
0011 (3 Hex) Command speed (1000 Command unit)
0100 (4 Hex) Present speed (1000 Command unit)
0101 (5 Hex) Torque (%)
1010 (A Hex) Station number
• While stopping: station number of the present value
• While moving: station number at startup
1011 (B Hex) Point table number
Command Bits
The command bits for move commands are described below.
Cancel Command: CANCEL (Byte 2, Bit 0)
If the Cancel Command is set to 1 during execution of a move command, the execution
of the move command will be stopped and the Servomotor will decelerate to a stop. The
remaining travel distance will be canceled.
Hold Command: HOLD (Byte 2, Bit 1)
If the Hold Command is set to 1 during execution of a move command, the execution of
the move command will be held and the Servomotor will decelerate to a stop. The
DeviceNet Unit will wait for command execution to be restarted. Set the Hold Command
to 0 again to restart the execution of a move command.
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6.5 Remote I/O Communications
Response Data
6