Omron OMNUC W R88A-NCW152-DRT, Manual

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6 DeviceNet Communications
6.6.2 Operation
6-54
6
Operation
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 external positioning (=2) in the command code (byte 1, bits 0 to 3).
6. Change the Command Start Command (byte 0, bit 0) from 0 to 1
.
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0
0 0 0 1 0 0 1 1
1
Response type 2 Hex
2
0 0 0 0 0 0 0 0
3
0 0 0 0 0 0 0 INC
4
Target position data
5
6
7
Speed
Time
C_STRT
1
0
EXTP signal
1
0
Pn827
Pn854