Omron OMNUC W Series Manual page 156

Operation
Speed
1
C_STRT
0
Position 1 for Multi-speed
Command Method
1. Set the command code (byte 1, bits 0 to 3) to 0.
2. Set the Servo ON Command (byte 0, bit 1) to 1.
3. Set absolute/relative (byte 3, bit 0). If a relative position has been specified, the target
position will be (present position) + (position specified from bytes 4 to 7).
4. Set the target position in the command data (bytes 4 to 7).
5. Set multi-speed positioning (= 4) in the command code (byte 1, bits 0 to 3).
6. Change the Command Start Command (byte 0, bit 0) from 0 to 1.
Note Do not change the positon or speed for multi-speed while the Multi-speed Positioning Command is
being executed.
Byte Bit 7 Bit 6
0 0
0
Response type
1
0 0
2
0 0
3
4
5
6
7
6.6 Details on Move Commands for Remote I/O Communications
Position 3 for Multi-speed
Position 2 for Multi-speed
Bit 5 Bit 4 Bit 3
0 1 0
0 0 0
0 0 0
Target position data
6-59
Speed 2 for Multi-speed
Speed 1 for Multi-speed
Multi-speed Positioning
Initial Speed
Speed 3 for Multi-speed
Time
Bit 2 Bit 1 Bit 0
0 1 1
4 Hex
0 0 0
0 0 INC
6