Omron OMNUC W Series Manual page 127

6 DeviceNet Communications
6.5.3 Move Commands for Remote I/O Communications
Byte
0
1
2
3
4
5
6
6
7
Movement Direction: DIR (Byte 3, Bit 1)
The DR bit specifies the movement direction. Set this bit to 0 for positive direction and
to 1 for negative direction.
This specification is used for the following commands.
• JOG Command
• Step Command
• Station Command
The movement direction specification is disabled during normal positioning.
Responses
The responses for move commands are shown below.
Table 6.7 Responses for Move Commands
Bit 7 Bit 6 Bit 5
0 READY PWRON
Response type
HOME_ PTBL_R STN_R
R
POT NOT INPOS
Status
The status for move commands is described below.
Progressing Flag: PRGS (Byte 2, Bit 0)
The PRGS bit is set to 1 during the execution of a command. For move commands, this
flag will be set to 1 while outputting to the W-series Servo Driver.
When command execution has been completed or when a Cancel Command or other
stop command has been received, the Progressing Flag is set to 0.
Holding Flag: HOLD_R (Byte 2, Bit 1)
The HOLD_R bit is set to 1 when a Hold Command is received from the host device and
for the duration of the hold.
The host device can confirm that the DeviceNet Unit correctly received the Hold
Command by checking that the Holding Flag is set to 1.
Bit 4 Bit 3 Bit 2
STOP_R ALRM WARN
Command code
STEP_R JOG_R 0
NEAR HOME_P 0
Response data
6-30
Bit 1 Bit 0
General
SVON_R C_STRT_R
status
HOLD_R PRGS
Status
DIR_R INC_R