— 7-57 —
B
B
3
3
t
t
y
y
p
p
e
e
B
B
5
5
t
t
y
y
p
p
e
e
2
2
3
3
t
t
y
y
p
p
e
e
2
2
5
5
t
t
y
y
p
p
e
e
7.3. RS-232C Communication
7.3.1. Specifications of Communication
7.3. RS-232C Communication
！
Caution: The ESB Driver Unit has an EEPROM for the data backup. The
EEPROM has the limitation on the number of times for overwrite/delete
the data. (Approximately 500 000 times) Therefore, we recommend
setting the parameter WM that prohibits overwriting to the EEPROM
when the internal parameters are frequently changed from the master
controller during operation. For details about the parameter WM, refer to
“8. Glossary of Command and Parameter.” However, frequent changes
of parameters that do not require the backup will not affect the life to
EEPROM.
7.3.1. Specifications of Communication
l
Setting of various parameters, trial running, and servo adjustment are enabled by issuing
commands to the Driver Units through serial communication (Communication with the RS-232C
interface).
l
The Driver Unit has CN1 connector for the input/output ports for the RS-232C communication.
l
When the Handy Terminal (FHT11) is not in use, set the MM parameter to 0.
MM1: Standard setting (for the Handy Terminal)
MM0: For connection with a personal computer
Table 7-28
Item Specification
Transmission
Asynchronous, full duplex
Communication speed
9 600 b.p.s.
Word length
8 bit
Stop bit
2 bit
Parity check
None
Character code
ASCII code
Communication procedure
X–On/Off Protocol: Not available
RTS/CTS Control: Available
7.3.2. Communication Procedure
7.3.2.1. Turning on Power
l
If a terminal (such as NSK Handy Terminal FHT11) is connected to the CN1 connector and the
Driver Unit power is turned on, the message shown below appears on the screen. The contents
(and the number of characters) of this message may differ with setting condition of the Driver
Unit and System versions.
l
When the Driver Units are initialized, a colon ( : ) is displayed and the system waits for a
command to be entered. The colon ( : ) is called a prompt.
NSK MEGATORQUE
MS1A50_xxxx
Exxxxxxxxxx
:_
Somewhat differs with system configuration.
Indicates completion of internal initialization
and may accept a command.
！
Caution: Be sure to turn off the power to the Driver Unit when connecting or
disconnecting the communication cable (CN1). Otherwise it may lead to
an alarm of communication error and a System breakdown.