3- working modes
Quick reference NS600
OMRON EUROPE MAC centre
QUICK REFERENCE NS600.DOC
Pag. 15
3.2.- Serial commands
In this mode the NS600 works executing the orders that arrive by the CN6 com. Up to 16 devices can be connected in this
way, using RS-422 or RS-485 (Pn800).
The protocol used is ASCII 7 bits for data, 1 stop bit, even parity and with configurable speeds (9600, 19200 or 38400) by
parameter Pn801
Next command format should be used:
Where the axis number correspond with the ADRS switch (o to F) or * if command should be send to all the slaves.
EXAMPLE:
1SVON [CR]
Axis 1 goes to Servo ON (run)
2SVON [CR]
Axis 2 goes to Servo ON (run)
1SPD2000 [CR]
Axis 1 speed for positioning is defined as 2000 x 1000 units/min
2SPD1000 [CR]
Axis 2 speed for positioning is defined as 1000 x 1000 units/min
1POS15000 [CR]
Axis 1 positioning defined as absolute in forward direction and 15000 units
2POS-10000 [CR]
Axis 2 positioning defined as absolute in reverse direction and 10000 units
*ST
Both axis starts positioning at the same time
Parameter Pn802 allows to configure if the NS600 will answer or not to this commands. If answer is enable the message
will have this format.
EXAMPLE:
Positive answer:
1OK[SP][SP][SP][SP][SP][SP][SP][SP][SP][CR][LF]
Negative answer:
1E56E[SP]ERR[SP]SN[CR][LF]
Where 56 is the error code.
Command types:
There are many different types of commands:
-
Basic operation
: SVON (servo ON), SVOFF (servo OFF), ARES (reset alarm), RES (reset board).
-
Movement commands
: POS/POSA (absolute position), POSI (relative position), SPD (speed), ACC
(acceleration), DEC (deceleration), ST (positioning start), STA (absolute positioning start), STI (relative
positioning start), RDST (Registration distance reservation), RSPD (registration speed reservation), RS
(positioning start with registration), RSA (absolute positioning start with registration), RSI (relative
positioning start with registration), POUT (POUT reservation), JOGP (Jog forward), JOGN (jog reverse),
RJOGP (forward jog with registration), RJOGN (reverse jog with registration), ZRN (Homing), ZSET
(coordinates setting), HOLD (positioning interruption), SKIP (positioning stop)
Axis Nº
Command character line
CR
Axis Nº
Command character line
CR
LF
Содержание NS600
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