Omron OMNUC W Series Manual page 135

6 DeviceNet Communications
6.5.4 Set/Read Commands for Remote I/O Communications
6
Origin Setting Command (Command Code: 1011, B Hex)
When an absolute encoder is used, the Origin Setting Command sets the present position of
the Servomotor as the origin. This command is disabled when an incremental encoder is
used.
To use the Origin Setting Command, make the command code settings and then change the
Command Start Command from 0 to 1. There is no need to set the data area.
When the origin has been set, an offset value is set for parameter Pn809 (Absolute Position
Setting). This set value is cleared when the W-series Servo Driver control power supply is
turned OFF. After the Origin Setting Command has been executed, therefore, the parameter
must be stored in flash ROM by executing the Unit Reset Command.
Table 6.17 Commands for Origin Setting Command
Byte Bit 7 Bit 6
1 0
0
1
2
3
4
5
6
7
Table 6.18 Responses for Origin Setting Command
Byte Bit 7 Bit 6
1 READY
0
0
1
2
3
4
5
6
7
Bit 5 Bit 4 Bit 3
ALRST STOP 0
0
0
0
Bit 5 Bit 4 Bit 3
PWRON STOP_R ALRM
0
0
6-38
Bit 2 Bit 1 Bit 0
0 SVON C_STRT
B Hex
Bit 2 Bit 1 Bit 0
WARN SVON_R C_STRT_R
B Hex