Omron NS600 User manual

Mechatronics
NS600
Quick reference

OMRON ELECTRONICS, S.A. QUICK REFERENCE NS600.DOC Pag.1
Quick reference:
NS 600
THIS MANUAL CONTAINS:
1.- INSTALLATION.
2. - CONFIGURATION.
3. - OPERATION MODES.
3.1- PROGRAMMING TABLE.
3.2- SERIAL COMANDS.
4. - PROGRAMMING SOFTWARE.
4.1- FIRST STEPS.
4.2- WORKING WITH THE SOFT.
4.3- BOARD CONFIGURATION.
4.4- TRANSFERENCE
5. - PROGRAMMING EXAMPLES.

1- NS600 Installation Quick reference NS600
OMRON EUROPE MAC centre QUICK REFERENCE NS600.DOC Pag. 2
1- NS600 Installation
Follow this step to install the NS600 board onto a W series servo.
1. - Take out the bus connector protector from the W series servo driver, this protector is at right side of the driver.
2. -Insert the lower clamps of the board into the holes on the bottom of the driver. (Right side)
3. - Pull the board following the arrow direction, an insert the top clamp onto the hole.
4. - To ground the board is necessary to use an Philips screw M3x10 up to 1 kW, M4x10 up to 5KW and M4x8 up to
15KW. Connect the cable with the G point on the servo driver and clamp it with the screw.
Earth
Up to 5KW Up to 15KW

Maximum length 3 meters Quick reference NS600
OMRON EUROPE MAC centre QUICK REFERENCE NS600.DOC Pag. 3
NS600 positioning board
STS: Status Led (green, red)
CN7: (RS422) Configuration and maintenance connector:
Digital operator
ADRS: Axis address (0 – F)
CN3: (RS232C) Wmon connector
CN4: I/O Connector (sequence)
CN1: I/O Connector (sequence)
CN6: (RS232C, RS422, RS485) serial command connector:
PC o control device
The different connectors reference are:
14 PINS RIGHT ANGLE RECEPTACLE COM CN7, CN3, CN6
50 PINS RIGHT ANGLE RECEPTACLE COM CN1
36 PINS RIGHT ANGLE RECEPTACLE COM CN4
The cable configuration to connect the board with the INDEXWORK software is as follows
Maximum length 3 meters
Por
t

2- Configuration Quick reference NS600
OMRON EUROPE MAC centre QUICK REFERENCE NS600.DOC Pag. 4
2- Configuration
Connecting the NS600 board with the servo driver makes that some of driver characteristics change:
-PARAMETERS: Many of servo drivers parameters loss his utility (for example, the speed and torque control
parameters, because this board always work in position control) and also some new features are added (for
example, Pn823: origin search function, etc..)
-INPUTS / OUTPUTS: In the same way, some input disappears and new specific ones appear. It’s not possible
to configure the inputs and both driver (CN1) and board (CN4) are fixed.
-DIGITAL OPERATOR: When the NS600 board is connected the driver display goes down and if a digital
operator is needed is should be connected to CN7 connector of the NS600 board. But if for some time the
communication between the driver and the NS600 stops the display will flash again.
2.1. - INPUTS / OUTPUTS
CN1 connector (SERVODRIVER)
INPUTS
CN1-47 +24VIN Input common. Is necessary an external 24 V power supply for the
inputs.
CN1-40 RUN Servo enables input. (Servo ON when ON)
CN1-41 (NOT USED)
CN1-42 POT Positive overtravels (Forward run prohibited when OFF).
CN1-43 NOT Negative overtravel (Reverse Run prohibited when OFF).
CN1-44 DEC Zero point return (homing) Deceleration limit switch (Enable when ON)
CN1-46 RGRT Registration latch.
When this signal is On during a positioning with a registration the registered
position is being made, interrupting the original movement.
OUTPUTS
CN1-31, 32 ALM Servo alarm output (OFF when alarm occurs)
CN1-25, 26 WARN Servo Warning output (ON for warning)
CN1-27, 28 BKIR Brake output (brake released when ON)
CN1-29, 30 READY (ON when ready)
CN1-37/38/39,1 AL01/AL02/AL03 Alarm output code.
Also we can found the encoder output (line-driver).
CN4 Connector (NS600 board)
INPUTS
CN4-1 +24V/COM Input common. External 24 V power supply is needed
CN4-3 MODE Mode selection: mode 0 (position table) when ON or mode 1 (multispeed)
CN4-5 (mode0) START-STOP Start or stop the positioning.
(mode1) HOME Start the origin search.
CN4-7 (mode0) PGMRES Reset the current position table.
(mode1) JOGP Forward Jog.
CN4-9 (mode0) SEL0 Position selection input 0.
(mode1) JOGN Reverse Jog.
CN4-11 (mode0) SEL1 Position selection input 1.
(mode1) JOG0 Speed selection input 0.
CN4-13 (modeo0) SEL2 Position selection input 2.
(mode1) JOG1 Speed selection input 1.
CN4-15 (mode0) SEL3 Position selection input 3.
(mode1) JOG2 Speed selection input 2.
CN4-17 (mode0) SEL4 Position selection input 4.

2- Configuration Quick reference NS600
OMRON EUROPE MAC centre QUICK REFERENCE NS600.DOC Pag. 5
(mode1) JOG3 Speed selection input 3.
Depending on the Cn4-3 mode selection the rest of input will take one function or the other one.
For example: the CN4-15 will be the function SEL3 only if the mode is 0 (Input Cn-4-3 ON) in other case it will be the
function JOG2
OUTPUTS
CN4-19, 20 INPOSITION In position: Turns ON when the number of error pulses reaches the value set.
The setting is the number of error pulses set in reference units (input pulse
units defined by the electronic gear ratio)
CN4-21, 22 POUT0 Programmable output.
CN4-23, 24 POUT1 Programmable output
CN4-25, 26 POUT2 Programmable output.
CN4-27, 28 POUT3 Programmable output.
CN4-29, 30 POUT4 Programmable output.
2.2. - Parameters.
The new parameters that NS600 board has are present below:
Parameter
Number Name Unit Setting Range Default Setting
Pn800 Serial Communication
Protocol (see note 1) -0 = RS422
1 = RS422 + Echo Back
2 = RS485 Delimiter CR
3 = RS485 Delimiter CR + Echo Back per Character
4 = RS485 Delimiter CR + Echo Back per Character
5 = RS485 Delimiter CRLF
6 = RS485 Delimiter CRLF + Echo Back per Character
7 = RS485 Delimiter CRLF + Echo Back per Character
1
Pn801 Baud rate (see note 1) -0 = 9600
1 = 19200
2 = 38400
0
Pn802 Answer -0 = OK = No Answer
1 = OK = Answer 1
Pn803 /MODE 0/1 (see note 1) -0 = Close = Mode 0
1 = Open = Mode 0
2 = Always Mode 0
3 = Always Mode 1
0
Pn804 /START-STOP; /HOME
(see note 1) -0 = Close = Program Start (Mode 0)
0 = Close = Homing Start (Mode 1)
1 = Open = Program Start (Mode 0)
1 = Open = Homing Start (Mode 1)
2 or 3 = No Program Start (Mode 0)
2 or 3 = No Homing Start (Mode 1)
0
Pn805 /PGMRES; /JOGP (see
note 1) -0 = Open -> Close = Program Reset (Mode 0)
0 = Close = Jog Forward (Mode 1)
1 = Close -> Open = Program Reset (Mode 0)
1 = Close = Jog Forward (Mode 1)
2 or 3 = No Program Reset (Mode 0)
2 or 3 = No Jog Forward (Mode 1)
0
Pn806 /SEL0; /JOGN (see note 1) -0 = Close = Program Select (Mode 0)
0 = Close = Jog Reverse (Mode 1)
1 = Open = Program Select (Mode 0)
1 = Open = Jog Reverse (Mode 1)
2 = Always Program Select (Mode 0)
2 = No Jog Reverse (Mode 1)
3 = No Program Select (Mode 0)
3 = No Jog Reverse (Mode 1)
0

2- Configuration Quick reference NS600
OMRON EUROPE MAC centre QUICK REFERENCE NS600.DOC Pag. 6
Parameter
Number Name Unit Setting Range Default Setting
Pn807 /SEL1; /JOG0 (see note 1) -0 = Close = Program Select (Mode 0)
0 = Close = Jog Select (Mode 1)
1 = Open = Program Select (Mode 0)
1 = Open = Jog Select (Mode 1)
2 = Always Program Select (Mode 0) 2 = Always Jog Select
(Mode 1) 3 = No Program Select (Mode 0) 3
= No Jog Select (Mode 1)
0
Pn808 /SEL2; /JOG1 (see note 1) -0 = Close = Program Select (Mode 0)
0 = Close = Jog Select (Mode 1)
1 = Open = Program Select (Mode 0)
1 = Open = Jog Select (Mode 1)
2 = Always Program Select (Mode 0)
2 = Always Jog Select (Mode 1)
3 = No Program Select (Mode 0)
3 = No Jog Select (Mode 1)
0
Pn809 /SEL3; /JOG2 (see note 1) -0 = Close = Program Select (Mode 0)
0 = Close = Jog Select (Mode 1)
1 = Open = Program Select (Mode 0)
1 = Open = Jog Select (Mode 1)
2 = Always Program Select (Mode 0)
2 = Always Jog Select (Mode 1)
3 = No Program Select (Mode 0)
3 = No Jog Select (Mode 1)
0
Pn80A /SEL4; /JOG3 (see note 1) -0 = Close = Program Select (Mode 0)
0 = Close = Jog Select (Mode 1)
1 = Open = Program Select (Mode 0)
1 = Open = Jog Select (Mode 1)
2 = Always Program Select (Mode 0)
2 = Always Jog Select (Mode 1)
3 = No Program Select (Mode 0)
3 = No Jog Select (Mode 1)
0
Pn80B /S-ON (see note 1) -0 = Close = Servo ON
1 = Open = Servo ON
2 = Always Servo ON
3 = Always Servo OFF
0
Pn80C P-OT (see note 1) -0 = Open = Forward OT Status
1 = Close = Forward OT Status
2 = Always Forward OT Status
3 = Always Moveable
0
Pn80D N-OT (see note 1) -0 = Open = Reverse OT Status
1 = Close = Reverse OT Status
2 = Always Reverse OT Status
3 = Always Moveable
0
Pn80E /DEC (see note 1) -0 = Close = Zero-point Deceleration LS Start
1 = Open = Zero-Point Deceleration LS Start
2 = Always Zero-Point Deceleration LS Start
3 = No Zero-Point Deceleration LS Start
0
Pn80F /RGRT (see note 1) -0 = Close = Registration Start
1 = Open = Registration Start 0
Pn810 /INPOSITION (see note 1) -0 = Close = Positioning is Complete
1 = Open = Positioning is Complete 0
Pn811 /POUT0 (see note 1) -0 = Close = Active
1 = Open = Active 0
Pn812 /POUT1 (see note 1) -0 = Close = Active
1 = Open = Active 0
Pn813 /POUT2 (see note 1) -0 = Close = Active
1 = Open = Active 0
Pn814 /POUT3 (see note 1) -0 = Close = Active
1 = Open = Active 0
Pn815 /POUT4 (see note 1) -0 = Close = Active
1 = Open = Active 0
Pn816 /WARN (see note 1) -0 = Close = Error/Warning Status
1 = Open = Error/Warning Status 0
Pn817 /BK (see note 1) -0 = Close = Brake Release
1 = Open = Brake Release 0
Pn818 /S-RDY (see note 1) -0 = Close = Servo is Ready
1 = Open = Servo is Ready 0
Pn819 Overtravel (OT) Stop Method
(see note 1) -0 = Servo OFF (Same as setting in Pn001.0) 1 = Emergency Stop 0

2- Configuration Quick reference NS600
OMRON EUROPE MAC centre QUICK REFERENCE NS600.DOC Pag. 7
2 = Deceleration Stop
Pn81A Moving Method (see note 1) -0 = Linear
1 = Rotary (Shortest Path)
2 = Rotary (Forward)
3 = Rotary (Reverse)
0
Pn81B P-LS Position Reference
Forward Limit (see note 1) Reference Unit -99999999 ~ [phone] [phone]
Pn81C N-LS Position Reference
Reverse Limit (see note 1) Reference Unit -99999999 ~ [phone] -99999999
Pn81D Home Position (see note 1) Reference
Unit -99999999 ~ [phone]
Pn80F /RGRT (see note 1) -0 = Close = Registration Start
1 = Open = Registration Start 0
Pn810 /INPOSITION (see note 1) -0 = Close = Positioning is Complete
1 = Open = Positioning is Complete 0
Pn811 /POUT0 (see note 1) -0 = Close = Active
1 = Open = Active 0
Pn812 /POUT1 (see note 1) -0 = Close = Active
1 = Open = Active 0
Pn813 /POUT2 (see note 1) -0 = Close = Active
1 = Open = Active 0
Pn814 /POUT3 (see note 1) -0 = Close = Active
1 = Open = Active 0
Pn815 /POUT4 (see note 1) -0 = Close = Active
1 = Open = Active 0
Pn816 /WARN (see note 1) -0 = Close = Error/Warning Status
1 = Open = Error/Warning Status 0
Pn817 /BK (see note 1) -0 = Close = Brake Release
1 = Open = Brake Release 0
Pn818 /S-RDY (see note 1) -0 = Close = Servo is Ready
1 = Open = Servo is Ready 0
Pn819 Overtravel (OT) Stop Method
(see note 1) -0 = Servo OFF (Same as setting in Pn001.0) 1 = Emergency Stop
2 = Deceleration Stop
0
Pn81A Moving Method (see note 1) -0 = Linear
1 = Rotary (Shortest Path)
2 = Rotary (Forward)
3 = Rotary (Reverse)
0
Pn81B P-LS Position Reference
Forward Limit (see note 1) Reference Unit -99999999 ~ [phone] [phone]
Pn81C N-LS Position Reference
Reverse Limit (see note 1) Reference Unit -99999999 ~ [phone] -99999999
Pn81D Home Position (see note 1) Reference
Unit -99999999 ~ [phone]
Pn81E Positioning/Registration
Speed (see note 1) X1000 Reference
Unit/min.
1 ~ 99999999 1000
Pn81F Acceleration X1000
Reference
Unit/min/ms.
1 ~ 99999999 1000
Pn820 Deceleration X1000
Reference
Unit/min/ms.
1 ~ 99999999 1000
Pn821 /INPOSITION Width Reference
Unit 1 ~ 99999 1
Pn822 Near Width Reference
Unit 1 ~ 99999 1

2- Configuration Quick reference NS600
OMRON EUROPE MAC centre QUICK REFERENCE NS600.DOC Pag. 8
Pn823 Homing Method -0 = No Homing
1 = /DEC and C-phase
2 = /DEC only
3 = C-phase only
0
Pn824 Homing Direction -0 = Forward
1 = Reverse 0
Pn825 Homing Moving Speed x1000
Reference
Unit/min.
1 ~ 99999999 1000
Pn826 Homing Approach Speed X1000
Reference
Unit/min.
1 ~ 99999999 1000
Pn827 Homing Creep Speed X1000
Reference
Unit/min.
1 ~ 99999999 1000
Pn828 Homing Final Move Distance Reference
Unit -99999999 ~ 99999999 0
Note 1: Parameters Pn800, Pn801, Pn803-Pn81E (parameters in bold) are offline parameters. After changing these offline parameters,
cycle power (or send serial command RES) to enable the new setting.
Pn802, Pn81F, Pn820, Pn821, Pn822, Pn824, Pn825, Pn826, Pn827, Pn829, are online parameters
(Parameters not in bold). New settings become effective immediately.
Servo Driver parameters
Category Parameter
Number Name Unit Setting Range Default Setting
Pn000 Function Selection Basic Switches (See note 3) — — 0010
Pn001 Function Selection Application Switches 1 (See
notes 1 and 3) — — 0000
Pn002 Function Selection Application Switches 2 (See note
3) — — 0000
Function
Selection
Parameters
Pn003 Function Selection Application Switches 3 — — 0002
Pn100 Speed Loop Gain Hz 1 to 2000 40
Pn101 Speed Loop Integral Time Constant 0.01ms 15 to 51200 2000
Pn102 Position Loop Gain s –1 1 to 2000 40
Pn103 Inertia Ratio %0 to 10000 0
Pn104 Not Used — — —
Pn105 Not Used — — —
Pn106 Not Used — — —
Pn107 Bias Rpm 0 to 450 0
Pn108 Bias Width Addition Ref. units 0 to 250 7
Pn109 Feed-forward %0 to 100 0
Pn10A Feed-forward Filter Time Constant 0.01ms 0 to 6400 0
Pn10B Gain-related Application Switches (See note 3) — — 0000
Pn10C Mode Switch Torque Reference %0 to 800 200
Pn10D Mode Switch Speed Reference Rpm 0 to 10000 0
Pn10E Mode Switch Acceleration 10rpm/s 0 to 3000 0
Pn10F Mode Switch Error Pulse Ref. units 0 to 10000 0
Pn110 Online Autotuning Switches (See note 3) — — 0010
Pn111 Speed Feedback Compensation(See note 2) %1 to 100 100
Pn112 %0 to 1000 100
Pn113 —0 to 10000 1000
Pn114 —0 to 400 200
Pn115 —0 to 1000 32
Pn116 —0 to 1000 16
Pn117 %20 to 100 100
Pn118 %20 to 100 100
Pn119 s–1 1 to 2000 50
Pn11A 0.1% 1 to 2000 1000
Pn11B Hz 1 to 150 50
Gain Parameters
Pn11C
Reserved parameters (Do not change)
Hz 1 to 150 70
Pn11D %1 to 150 100
Pn11E %1 to 150 100
Pn11F ms 1 to 2000 0
Pn120 0.01 ms 1 to 51200 0
Pn121 Hz 10 to 250 50
Pn122 Hz 0 to 250 0
Gain Parameters
Pn123
Reserved parameters (Do not change)
%0 to100 0

2- Configuration Quick reference NS600
OMRON EUROPE MAC centre QUICK REFERENCE NS600.DOC Pag. 9
Pn200 Position Control Reference Selection Switches (See
note 3) — — 0000
Pn201 PG Divider (See note 3) p/r 16 to 16384 16384
Pn202 Electronic Gear Ratio (Numerator) (See note 3) —1 to 65535 4
Pn203 Electronic Gear Ratio (Denominator) (See note 3) —1 to 65535 1
Pn204 Not Used — — —
Pn205 Multi-turn Limit Setting (See notes 1 and 3) rev 0 to 65535 65535
Pn206 Not Used — — —
Pn207 Position Control Function Switches (See note 3) — — 0001
Position
Parameters
Pn208 Position Reference Movement Averaging Time (See
note 3) 0.01ms 0 to 6400 0
Pn300 Not Used — — —
Pn301 Not Used — — —
Pn302 Not Used — — —
Pn303 Not Used — — —
Pn304 Not Used — — —
Pn305 Not Used — — —
Pn306 Not Used — — —
Pn307 Not Used — — —
Speed Parameters
Pn308 Speed Feed-Forward Filter Time Constant 0.01ms 0 to 65535 0
Pn400 Not Used — — —
Pn401 Torque Reference Filter Time Constant 0.01ms 0 to 65535 100
Pn402 Forward Torque Limit %0 to 800 800
Pn403 Reverse Torque Limit %0 to 800 800
Pn404 Not Used — — —
Pn405 Not Used — — —
Pn406 Not Used — — —
Pn407 Not Used — — —
Pn408 Torque Function Switches — — 0000
Torque
Parameters
Pn409 Notch Filter Frequency Hz 50 to 2000 2000
Pn500 Not Used — — —
Pn501 Not Used — — —
Pn502 Rotation Detection Level rpm 1 to 10000 20
Pn503 Not Used — — —
Pn504 Not Used — — —
Pn505 Overflow Level 256
ref.units 1 to 32767 1024
Pn506 Brake Reference Servo OFF Delay Time 10ms 0 to 50 0
Pn507 Brake Reference Output Speed Level rpm 0 to 10000 100
Pn508 Timing for Brake Reference Output during Motor
Operation 10ms 10 to 100 50
Pn509 Momentary Hold Time ms 20 to 1000 20
Pn50A Input Signals Selection 1 — — 8881 (fixed)
Pn50B Input Signals Selection 2 — — 8888 (fixed)
Pn50C Input Signals Selection 3 — — 8888 (fixed)
Pn50D Input Signals Selection 4 — — 8888 (fixed)
Pn50E Output Signals Selection 1 — — 3000 (fixed)
Pn50F Output Signals Selection 2 — — 1200 (fixed)
Pn510 Output Signals Selection 3 — — 0000 (fixed)
Pn511 Reserved (do not change) — — 8468 (fixed)
Sequence
Parameters
Pn512 Output Signals Reversal Settings — — 0000
Pn600 Regenerative Resistor Capacity (See note 4) 10 W 0 to capacity (See
note 5) 0 Other Parameters Pn601 Reserved parameter (Do not change) —0 to capacity (See
note5) 0
Notes:
1. The multiturn limit is valid only when parameter Pn002.2 Absolute Encoder Usage is set to “2”. The
value will be processed in the range of “+32767 to -32768” for other settings even if the value is changed.
There is no need to change the multiturn limit except for in special cases. Be careful not to
change the setting unless necessary.
2. The setting of parameter Pn111 is valid only when parameter Pn110.1 is set to 0.
3. Offline parameters in bold: After changing these parameters, cycles the main circuit and control power
(or send serial command RES) to enable the new settings.
4. Normally set to “0”. When using an external regenerative resistor, set the capacity (W) of the regenerative
resistor.
5. The upper limit is the maximum output capacity (W) of the servo amplifier.
Regarding the monitor parameters the structure is as follows.