Omron OMNUC W R88A-NCW152-DRT, Manual

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6 DeviceNet Communications
6.5.3 Move Commands for Remote I/O Communications
6-30
6
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.
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.
Table 6.7 Responses for Move Commands
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0
0 READY PWRON STOP_R ALRM WARN SVON_R C_STRT_R
1
Response type Command code
2
HOME_
R
PTBL_R STN_R STEP_R JOG_R 0 HOLD_R PRGS
3
POT NOT INPOS NEAR HOME_P 0 DIR_R INC_R
4
Response data
5
6
7
General
status
Status