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.

2- Configuration Quick reference NS600
OMRON EUROPE MAC centre QUICK REFERENCE NS600.DOC Pag. 10
-Between Un000 and Un00D there is no difference but Un001 (speed command) has been eliminated, also
Un005 and Un006 has been modified (because Inputs and outputs has change)
-The new monitor added are Un800 to Un811
Digital Operator
(CN7) Content of Display Unit Equivalent Serial Command (CN6)
Un800 Last Error —ERR
Un801 NS600 Input Signal Monitor —IN2
Un802 NS600 Output Signal Monitor —OUT2
Un803 Status Flag Monitor —STS or MON6
Un804 Current Issue Position Monitor reference units PUN or MON1
Un805 Current Motor Position Monitor reference units PFB or MON7
Un806 Target Position Monitor reference units POS or MON8
Un807 Target Distance Monitor reference units DST or MON9
Un808 Registration Target Position Monitor reference units RPOS or MON10
Un809 Registration Target Distance Monitor reference units RDST or MON11
Un80A Program PGMSTEP Pass through Monitor —PGMSTEP
Un80B Program EVENT Lapse Time Monitor msec —EVTIME
Un80C Program LOOP Pass through Monitor —LOOP
Un80D Serial Command Receipt Letter Trace —None
Un80E Serial Command Receipt Letter (Number of Letters) —None
Un80F Serial Command Transmission Error Letter (Number of Letters) —None
Un810 Serial Command Transmission Letter Trace —None
Un811 Serial Command Transmission Letter (Number of Letters) —None
Finally we have the same for the auxiliary functions:
-From Fn000 to Fn014 some functions has been eliminated (Fn009, Fn00A and Fn00B)
-And some new ones has been added from Fn800 a Fn808
Digital Operator
(CN7) Function Equivalent Serial Command (CN6)
Fn800 NS600 software version display VER
Fn801 NS600 type code (0600H) display TYPE
Fn802 NS600 Y spec. no. Display YSPEC
Fn803 Program table save PGMSTORE
Fn804 ZONE table save ZONESTORE
Fn805 JOG speed table save JOGSTORE
ALARM RESET
Button Alarm Reset ARES
Fn806 Program table initialisation PGMINIT
Fn807 ZONE table initialisation ZONEINIT
Fn808 JOG speed table initialisation JSPDINIT

3- working modes Quick reference NS600
OMRON EUROPE MAC centre QUICK REFERENCE NS600.DOC Pag. 11
3- working modes
There are two different modes to operate the board:
-Program table mode
-Serial commands mode.
3.1.- Program table mode.
In this mode the NS600 works using the parameters stored in form of tables (program, zones and jog) stored into memory.
To program this table the INDEXWORKS software is needed.
Working in this mode is also possible to select mode 0 or mode 1 by a digital input CN4-3. In mode 1 we can work with
multispeed (up to 16 jog speeds) and also make and origin search (homing). In mode 0 we can select between several
positionings stored into a table.
3.1.1.- MODE 1
3.1.1.1.- Jog speed table operation.
With the programming software INDEXWORK, is possible to program a table with 16 speeds (JSPD0 to JSPD15) and
depending on the status of digital inputs JOG0/JOG1/JOG2/JOG3 is possible to select any of them. Also is possible to
select the rotation direction by the signals JOGP for forward movement or JOGN for reverse operation.
All the jog speeds are stored into the NS600 memory table and the inputs could be programmed in the parameters Pn-805
to Pn-80A. (Only activation level because the pin number is fixed)
NOTE: (It works in the same way that multispeeds in the inverters)

3- working modes Quick reference NS600
OMRON EUROPE MAC centre QUICK REFERENCE NS600.DOC Pag. 12
3.1.1.2.- HOMING operation (origin search)
There are three types of origin search, the most complete one is the mode 1:
When the HOME signal turns ON the origin search starts in the direction specified by Pn824 at homing speed marked by
parameter Pn825. When the DEC signal is detected the speed is reduced to the homing approach speed (Pn826) and after
the detection of first C phase pulse the servo will move the homing final move distance (Pn828) at homing creep speed
(Pn827).
To perform this operation a 1 should be written into parameter Pn823, the other values 2 and 3 correspond to next
methods:
2-Use only the DEC signal, the operation will starts at homing approach speed and on the rising edge of DEC
signal the final positioning will be performed.
3-Use only the Z pulse signal, the operation also starts at homing approach speed and at first rising edge of C
phase the final positioning will be performed.
Writing 0 in the parameter Pn823 will disable the HOMING function.
The used parameter for this function goes from Pn824 to Pn828, with the Pn805 and Pn80E used to define the activation
level of DEC and HOME inputs.
3.1.2.- MODE 0
3.1.2.1.- Program table mode.
The NS600 can store up to 128 position tables using the option INDEX in the programming software INDEXWORK.
With the digital inputs SEL4/SEL3/SEL2/SEL1/SEL0 (Selection) is possible to select the first positioning that should be
performed when the START/STOP signal goes on. While the Start signal is ON the several positionings will be performed
following the table. If Start signal goes OFF the action would be interrupted and will restart at the interrupted positioning
when Start signal turns ON again.
When the PGMRES (program reset) turns ON while the START/STOP signal is disconnected, the register were the current
table position is stored will be cleared. So if any interrupt occurs before use the PGMRES input the operation will restart
at table position marked by inputs (SEL4/SEL3/SEL3/SEL1/SEL0) not were the movement was interrupted.
Pay attention that only is possible to select between the first 32 table positions with the digital inputs.

3- working modes Quick reference NS600
OMRON EUROPE MAC centre QUICK REFERENCE NS600.DOC Pag. 13
- Program table (INDEX) or positioning
This table contents up to 128 positions (0 to 127) and every position is divided into 9 fields.
PGM STEP:Position number (0 a 127)
POS:Positioning type
I +/- 99999999 Relative position reservation + or –.
A +/-99999999 Absolute position reservation + or -.
+Infinite Equivalent to jog forward.
-Infinite Equivalent to jog reverse.
Stop Stops positioning.
-No movement. Used to activate POUT.
Default settings is Stop
SPD:Speed Reservation setting (1 to 99999999 x 1000 units/min).
Default sets 1000.
RDST: Registration (Relative) Position reservation
(0 to 99999999 units) Default setting – (without positioning).
RSPD: Registration speed reservation. (1 – 99999999 x 1000 units/min).
Default sets 1000.
POUT:While the positioning is performed the digital outputs will be activated and is possible to program the
function. POUT4/POUT3/POUT2/POUT1/POUT0
Ndoesn’t activate.
Aactive output.
ZCheck the zone table and active the output is table if zone is empty.
:Maintain status.
Default setting :::::
If any output should be active after one positioning is complete use – in POS field.
EVENT:Condition that should be accomplished before to go next step or to repeat the positioning.
NEXT or LOOP in the
IContinues when the INPOSITION or INP1 (PN821) turns ON
NContinues when the NEAR or INP2 (Pn822) turn ON
DContinues when the DEN (commanded position completed) turns ON
SELx Continues when the digital input SEL0/…/SEL4 turn ON
Tx Continues x milisecons after the positioning has begin.
All the items could be combined with the Tx where x= 0 to 99999 ms. Then is possible to obtain ITx,
NTx,DTx, SELx.
Default setting is IT0

3- working modes Quick reference NS600
OMRON EUROPE MAC centre QUICK REFERENCE NS600.DOC Pag. 14
LOOP:
Repeat program step specified number of time (1 to 99999) before to start next step.
Default value 1
NEXT:Indicates what will be the next step to be executed (1 to 127), also is possible to mark that this step is the
last with the END selection.
Default setting is END
Example:
In this example the START-STOP signal is turn ON with the positioning number 0 selected by
SEL4/SEL3/SEL2/SEL1/SEL0 inputs (all inputs OFF):
-Incremental positioning of 20000 units in forward direction (POS = I+20000) with a speed of 15000 x 1000
units/min (SPD = 15000), output POUT0 is active during positioning (POUT=NNNNA).
-When the first positioning has finished, and 2 seconds afterwards the INP signal goes ON (EVENT=IT2000)
the positioning number 1 will start (LOOP =1 àno repeat, NEXT = 1).
-Incremental positioning of 200000 units in reverse direction (POS = I-200000) with a speed of 30000 x
1000 units/min (SPD = 30000), output POUT1 is active during positioning (POUT = NNNAN), in this case
the POUT0 output activated before is turn OFF.
-When the second positioning has finished, and 2 seconds afterwards the INP signal goes ON
(EVENT=IT2000), afterwards the positioning will be repeated one time (LOOP=2 àrepeat 2 times).
-Incremental positioning of 200000 units in reverse direction (POS = I-200000) with a speed of 30000 x
1000 units/min (SPD = 30000), output POUT1 is active during positioning (POUT = NNNAN)
-When the second positioning has finished, and 2 seconds afterwards the INP signal goes ON
(EVENT=IT2000) the positioning number 0 will starts (LOOP=2 àhas been executed 2 times, NEXT=0)
-The cycle starts from beginning.

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

3- working modes Quick reference NS600
OMRON EUROPE MAC centre QUICK REFERENCE NS600.DOC Pag. 16
-Parameter operation command: PRM (read parameter), PRM= (writer parameter), TRM= (temporary
parameter write), PRMINIT (parameter initialisation)
-Program table set-up commands: PGMINIT (program initialisation), ZONEINIT (ZONE table
initialisation), JSPINIT (JOG speed table initialisation), PGMSTORE, ZONESTORE, JSPSTORE (program,
ZONE, SPEED table save), POST, SPDT,RDST, RSPDT POUTT, EVENTT, LOOPT, NEXTT, (program
table POS read), POST=, SPDT=, RDST=, RSPDT=, POUTT=, EVENTT=, LOOPT=, NEXTT=, (program
table POS write), ZONEPT, ZONENT (positive and negative zone position limit read), ZONEPT=,
ZONENT= (positive and negative zone position limit write), JSPDT (Jog table read), JSPDT= (Jog table
write)
-: START (Program operation start), STOP (program operation interruption), PGMRES (program reset)
-Monitors and functions: ALM (alarm or warning read), ERR (error read), IN1 (Servodriver input signal
monitor), IN2 (NS600 input signal monitor), POUT (POUT monitor), OUT1 (Servodriver output signal
monitor), OUT2 (NS600 output signal monitor), MON1-11 (monitor read), PGMSTEP (read current
program step Nº), EVTIME (program EVENT lapse of time monitor read), LOOP (program LOOP pass
through monitor read), etc..

4- programming software (INDEXWORK) Quick reference NS600
OMRON EUROPE MAC centre QUICK REFERENCE NS600.DOC Pag. 17
4- programming software (INDEXWORK)
4.1.- First steps
When the program starts it ask to open one project (file). If is the first time to work in a project press “cancel” then select
“file” and “new project” to create one. Afterward the project is open or created we have this window.
1.-First step is connect with the NS600, to do it is necessary connect the PC with the CN6 connector on the NS600.
Select “Tools” and “communications settings” according to the settings in Pn800, Pn801, Pn802 and rotatory switch in the
NS600. Default setting in NS600 is RS422+echo back, 9600bps and slave number 0.
Press “connect”, if communication has been established a green led will appear on the right bottom of the screen, the status
will so “Online” and the servodriver model also will appear.
Selection “Tools” and “online” has the same effect.
TO ALLOW COMMUNICATION USING THE CN6 COM IN RS232 IS NECESSARY TO SELECT THE PORT
IN “RS422” OR “RS422+ECHO BACK” IN PARAMETER Pn800.
Status
(On-line, OFF line)
Selected module
Actual project

4- programming software (INDEXWORK) Quick reference NS600
OMRON EUROPE MAC centre QUICK REFERENCE NS600.DOC Pag. 18
2.- Next step is to do a TEST RUN to check the wiring between the servodriver and servomotor and verify the
communication between the NS600 and the computer.
To do it selects “MODULE”, “TEST RUN” and then open “TOOLS” and “SERVO JOG”
On the servo jog window is possible to activate or deactivate the servo (green led indicates servo run). Also is possible to
select the jog speed and maintaining press any of the two buttons the motor will turn in forward or reverse direction.
If pressing any of this buttons the next message appear:
“Error initiating servo jog! Moving Disable Error due to P-OT”
“Error initiating servo jog! Moving Disable Error due to N-OT”
It means that P-OT, N-OT or both (CN1-42, CN1-43) inputs are active, it’s necessary to disable them by hardware or by
software in parameter Pn80C, Pn80D (option 3: movements always enable)
4.2.- WORKING WITH THE SOFTWARE
Depending on the select module is possible to operate some function or another ones. These modules are accessible by the
“MODULE MENU” or in the task bar, to view these ones go to “VIEW”, “TOOLBAR” and “MODULE”.
Parameter Editor
Edit all the parameter in the servodriver and NS600. To do it is necessary to open the edit window
(“TOOLS” and “PARAMETER EDITOR”)
NOTE: the values in blue are Selection parameters (bits) and the black ones are useful adjustments.
Grey parameter can’t be modified (fixed by NS600)
When the modification is done is necessary to use the Download function to transfer it to the servodriver and NS600

4- programming software (INDEXWORK) Quick reference NS600
OMRON EUROPE MAC centre QUICK REFERENCE NS600.DOC Pag. 19
Monitoring and troubleshooting
In this module is possible to see 3 windows:
-Terminal: Allows serial communication with the NS600 (serial command mode)
-Product information: Gives information about model and characteristics of the NS board,
servodriver, servomotor and encoders connected.
- Monitor: Open a window in which is possible to check the I/O status and the alarms.
To open this window select “TOOLS”, “MONITOR”, “PRODUCT INFORMATION” or “TERMINAL”