Omron OMNUC W R88A-NCW152-DRT, Руководство пользователя

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6.6 Details on Move Commands for Remote I/O Communications
6-53
6
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 direct operation (=1) in the command code (byte 1, bits 0 to 3).
6. Change the Command Start Command (byte 0, bit 0) from 0 to 1.
„ Interrupt Feeding Command (Command Code: 0010, 2 Hex)
This section describes the Interrupt Feeding function, related parameters, operation, and
command method.
Function
The Interrupt Feeding Command performs interrupt feeding to the specified target position.
If the status of the interrupt input signal changes during movement, the axis will decelerate
to the interrupt feeding positioning speed from the position where the status changed and
travel the distance specified in the parameter.
Related Parameters
The same acceleration/deceleration data is used as for the Positioning Command.
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 1 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
Object Attribute No. Name Setting Range Unit Effective
Timing
Default
Setting Type
0x64
#57 Pn827 Interrupt Feeding
Speed
1 to 240,000
×
1,000
steps/min
Immediate
24,000 B
#94 Pn854 Interrupt Feeding
Positioning Speed
1 to 240,000
×
1,000
steps/min
Immediate
24,000 B
#95 Pn855 Interrupt Feeding
Distance
±
99,999,999
Steps Immediate
0 B
#96 Pn856 Interrupt Feeding
Function Selection
0 to 1
−
Power-up
0 B