NSK Megatorque PS Series - 9 Details of Command and Parameter; Handling Instruction of Command and Parameter; Character String of Command; Grammar of Command

— 9-1 —
9. Details of Command and Parameter
9.1. Handling Instruction of Command and Parameter
9.1.1. Character String of Command
 There shall be no discrimination between lowercase and uppercase characters in command
character strings. For example, input of “VGLENT” or “vg1ENT” will be processed as the
same.
 The command will be properly processed regardless of whether placing a space between the
command code and the data.
 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).
9.1.2. Grammar of Command
Table 9-1: 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
Data setting
Command code + Data + CR
• Velocity 0.5 [s
-1
]
MV0.5
Readout of
data.
? + Parameter code+CR
• Read out velocity.
?MV
Parameter
Sets the operating
conditions of internal
function of Driver Unit.
Continuous
readout of
data
Parameter code + /RP + CR
of
? + Parameter code + /RP +
CR+
• Continual readout of
velocity.
MV/RP
or
?MV/RP
Data.
monitoring
Monitor code + CR
or
? + Monitor code + CR
• Monitor of position
scale data in units of
angle
TD
Or
?TD
Monitor
Monitors internal
conditions of Driver
Unit.
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
ÚCR is an abbreviation of Carriage return (0DH).