NSK EDD Megatorque Motor - Handling Instruction of Command and Parameter; Character String of Command; Grammar of Command

9. Details of Command and Parameter
— 9-3 —
9.2. Handling Instruction of Command and Parameter
9.2.1. Character String of Command
 There shall be no discrimination between lowercase and uppercase characters in command character
strings. For example, input of “VGL ENT ” or “vg1 ENT ” will be processed as the same.
 The all echo back of input characters will be upper case characters.
 The command will be properly processed regardless of whether placing a space between the command
code and the data.
 Non-printable characters will also be neglected.
 An error occurs if you don’t attach the data to a command that requires it.
Be sure to input the data even it is 0 (zero).
9.2.2. Grammar of Command
Table 9-5: Grammar for Command
Category
Function
Execution
Grammar
Example
Command
Command the Driver Unit
for execution of operation
or processing
Some commands do not
entail data entry.
Execution of
command
Command code + Data + CR
90 [°] incremental
positioning
ID9000
Parameter
Sets the operating
conditions of internal
function of Driver Unit.
Data setting
Command code + Data + CR
Velocity 0.5 [s
-1
]
MV0.5
Readout of
data.
? + Parameter code+CR
Read out velocity.
?MV
Continuous
readout of data
Parameter code + /RP + CR
of
? + Parameter code + /RP + CR
Continual readout of velocity.
MV/RP
or
?MV/RP
Monitor
Monitors internal
conditions of Driver Unit.
Data.
monitoring
Monitor code + CR
or
? + Monitor code + CR
Monitor of position scale data
in units of angle
TD
or
?TD
Continuous
data monitoring
Monitor code + /RP + CR
or
? + Monitor code + /RP + CR
Monitor of position scale data
in units of angle
TD/RP
or
?TD/RP
*CR is an abbreviation of Carriage return (0DH).