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M u l t i p l e M D r i v e M o t i o n C o n t r o l S y s t e m ( P a r t y M o d e )

In systems with multiple controllers it is necessary to communicate with the control modules using party mode (PY=1) of opera-
tion. The MDrive Motion Control nodes in the system are configured in software for this mode of operation by setting the Party
Flag (PY) to True (1). It is necessary for all of the nodes in a system to have this configuration selected. When operating in party
mode each MDrive Motion Control in the system will need a unique address, or name, to identify it in the system. This is
accomplished by using the software command DN, or Device Name. For example, to set the name of an MDrive to “A” you would
use the following command: DN=65 or DN=”A” (65 is the ASCII decimal equivalent of uppercase A). The factory default name is
“!”. The asterisk character “*” is used to issue global commands to every device in the system. See Appendix A for ASCII table.

In setting up your system for party operation the most practical approach would be to observe the following steps:

1.

Connect the first MDrive Motion Control to the Host PC configured for Single Mode Operation.

2.

Establish communications. Using the command DN name the MDrive Motion Control. This can be any upper or
lower case ASCII character or number 0-9.

3.

Set the party flag PY=1. Remove power.

4.

Connect the next MDrive Motion Control in the system, set the party flag to true.

5.

Establish communications with this module using the factory default name “!”. This name cannot be reused.
Rename and save the new name. Remove power.

6.

Repeat the last two steps for each additional MDrive in the system.

Figure 2.3: RS-485 Interface, Multiple MDrive Motion Control System

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Summary of Contents for 17

Page 1: ...OPERA TING INSTRUCTIONS T intelligent motion systems inc Excellence in MotionTM TM ...

Page 2: ...y any license under its patent rights of others Intelligent Motion Systems and are trademarks of Intelligent Motion Systems Inc Intelligent Motion Systems Inc s general policy does not recommend the use of its products in life support or aircraft applications wherein a failure or malfunction of the product may directly threaten life or injury Per Intelligent Motion Systems Inc s terms and conditio...

Page 3: ...2 Motor Specs and Speed Torque Curves 13 MDrive Motion Control 2231 Motor Specs and Speed Torque Curves 13 Linear Motor Specifications 13 Mechanical Specifications Dimensions in Inches mm 13 Speed Force Curve 24 VDC 14 Linear Actuator MDrive Motion Control 2218 Specs and Speed Force Curves 14 Speed Force Curve 45 VDC 14 MDrive23 Motion Control ACME Screw 15 General Specifications 15 General Specif...

Page 4: ...r Actuator MDrive23 Motion Control Mechanical Specifications 13 Figure 1 13 Speed Force Curve 24VDC 100 Current 14 Figure 1 14 Speed Force Curve 45VDC 100 Current 14 Figure 2 1 Power Supply Interface 20 Figure 2 2 RS 485 Interface Single MDrive Motion Control 20 Figure 2 3 RS 485 Interface Multiple MDrive Motion Control System 21 Figure 2 4 Input Interfaced to a Switch 22 Figure 2 5 Input Interfac...

Page 5: ...3 Part 1 General Information and Hardware Specifications ...

Page 6: ...4 Intentionally Left Blank ...

Page 7: ...l magnetic rotary encoder with index mark without increasing the length of the unit Closed loop configuration adds position maintenance stall detection and find index mark Available motor configurations include single shaft double shaft with control knob and long life ACME screw linear actuator Rotary versions are available in three stack lengths 13 15 19 Interface connections are accomplished usi...

Page 8: ...D i m e n s i o n s i n I n c h e s m m Figure 1 1 Rotary MDrive17 Motion Control Mechanical Specifications Figure 1 2 Rotary MDrive Motion Control 1713 Speed Torque Data Table 1 1 Rotary MDI1713 Motor Specifications M D r i v e M o t i o n C o n t r o l 1 7 1 3 M o t o r S p e c s a n d S p e e d To r q u e C u r v e s Standard Rotary Motor LMAX Stack In mm 1713 2 187 55 56 1715 2 407 61 15 1719 ...

Page 9: ...S p e c s a n d S p e e d To r q u e C u r v e s L i n e a r M o t o r S p e c i f i c a t i o n s M e c h a n i c a l S p e c i f i c a t i o n s D i m e n s i o n s i n I n c h e s m m Figure 1 5 Linear Actuator MDrive17 Motion Control Mechanical Specifications MDI1715 Holding Torque oz in N cm 60 42 4 Detent Torque oz in N cm 2 5 1 8 Rotor Inertia oz in sec2 kg cm2 0 00080 0 057 Weight Motor Dr...

Page 10: ... 7 1 3 S p e c s a n d S p e e d F o r c e C u r v e s Table 1 4 Linear Actuator MDrive17 Motion Control Motor Specifications S p e e d F o r c e C u r v e 4 5 V D C Refer to Table 1 5 for screw pitch information Figure 1 7 Speed Force Curve 45VDC 100 Current MDI17 Linear Actuator Maximum Thrust lbs kg 50 22 7 Maximum Screw Deflection 1 Backlash inches mm 0 005 0 127 Weight Motor Driver oz gm 9 2 ...

Page 11: ...emp Short Circuit Inductive Clamp C o m m u n i c a t i o n Protocol RS 485 Full Half Duplex SelecTable 1 BAUD Rate 4800 9600 19 2k 38 0k 115 2k M o t i o n Microstep Resolution Open Loop Configuration Number of Settings 14 Steps per Revolution 400 800 1000 1600 2000 3200 5000 6400 10000 12800 25000 25600 50000 51200 Microstep Resolution Closed Loop Configuration Steps per Revolution Fixed 51200 E...

Page 12: ...sted below are the power supplies recommended for use with both voltage ranges of the MDrive17 Motion Control U n r e g u l a t e d L i n e a r S u p p l y IP404 MDI17 Input Specifications AC Input Voltage Range 102 132VAC Optional 240VAC Frequency 50 60Hz Output Specifications Voltage Nominal No Load 40 VDC Current Peak 4 Amps Current Continuous 2 Amps U n r e g u l a t e d S w i t c h i n g S u ...

Page 13: ...nal magnetic rotary encoder with index mark without increasing the length of the unit Closed loop configuration adds position maintenance stall detection and find index mark Available motor configurations include single shaft double shaft with control knob and long life ACME screw linear actuator Rotary versions are available in three stack lengths 18 22 31 Interface connections are accomplished u...

Page 14: ...7 0 1000 2000 3000 4000 5000 6000 7000 Speed in Full Steps per Second Torque in Oz In Torque in N cm 24 VDC 45 VDC Table 1 6 Rotary MDI2218 Motor Specifications M D r i v e M o t i o n C o n t r o l 2 2 1 8 M o t o r S p e c s a n d S p e e d To r q u e C u r v e s Standard Rotary Motor LMAX Stack In mm 2218 2 632 66 85 2222 3 000 76 20 2231 3 960 100 58 Control Knob LMAX2 Stack In mm 2218 3 088 7...

Page 15: ...e M o t i o n C o n t r o l 2 2 3 1 M o t o r S p e c s a n d S p e e d To r q u e C u r v e s L i n e a r M o t o r S p e c i f i c a t i o n s M e c h a n i c a l S p e c i f i c a t i o n s D i m e n s i o n s i n I n c h e s m m Figure 1 12 Linear Actuator MDrive23 Motion Control Mechanical Specifications 1 625 41 28 2 22 SQ 56 39 SQ 1 500 38 10 2 907 73 84 1 860 SQ 47 24 SQ 4 x Ø 0 205 5 21 0...

Page 16: ...2 1 8 S p e c s a n d S p e e d F o r c e C u r v e s Table 1 9 Linear Actuator MDrive23 Motion Control Motor Specifications S p e e d F o r c e C u r v e 4 5 V D C Refer to Table 1 10 for screw pitch information Figure 1 14 Speed Force Curve 45VDC 100 Current 160 180 200 140 120 100 80 60 40 20 0 712 890 623 801 534 445 356 267 178 89 0 1000 2000 3000 4000 5000 6000 7000 Speed in Full Steps per S...

Page 17: ...rcuit Inductive Clamp C o m m u n i c a t i o n Protocol RS 485 Full Half Duplex Selectable BAUD Rate 4800 9600 19 2k 38 0k 115 2k M o t i o n Microstep Resolution Open Loop Configuration Number of Settings 14 Steps per Revolution 400 800 1000 1600 2000 3200 5000 6400 10000 12800 25000 25600 50000 51200 Microstep Resolution Closed Loop Configuration Steps per Revolution Fixed 51200 Encoder Optiona...

Page 18: ...sted below are the power supplies recommended for use with both voltage ranges of the MDrive23 Motion Control U n r e g u l a t e d L i n e a r S u p p l y IP404 MDI23 Input Specifications AC Input Voltage Range 102 132VAC Optional 240VAC Frequency 50 60Hz Output Specifications Voltage Nominal No Load 40 VDC Current Peak 4 Amps Current Continuous 2 Amps U n r e g u l a t e d S w i t c h i n g S u ...

Page 19: ...17 Part 2 Connecting Configuring and Programming the MDrive Motion Control ...

Page 20: ...18 Intentionally Left Blank ...

Page 21: ...arallel to power cables Power cables will introduce noise into the logic level cables and make your system unreliable Logic level cables must be shielded to reduce the chance of EMI induced noise The shield needs to be grounded at the signal source to earth The other end of the shield must not be tied to anything but allowed to float This allows the shield to act as a drain Power supply leads to t...

Page 22: ...ng should be accomplished using shielded twisted pair Belden Part 9740 or equivalent 18 Gauge The shield should be attached to earth at the power supply end and left floating at the MDrive end Figure 2 1 Power Supply Interface I n t e r f a c i n g R S 4 8 5 C o m m u n i c a t i o n s The MDrive Motion Control communicates to the host using the RS 485 protocol Communications may be configured as ...

Page 23: ...is the ASCII decimal equivalent of uppercase A The factory default name is The asterisk character is used to issue global commands to every device in the system See Appendix A for ASCII table In setting up your system for party operation the most practical approach would be to observe the following steps 1 Connect the first MDrive Motion Control to the Host PC configured for Single Mode Operation ...

Page 24: ...tputs devices such as relays solenoids LED s and PLC inputs may be controlled from the MDrive Motion Control Each I O point may be individually programmed to any one of 9 dedicated input functions 3 dedicated output functions or as general purpose inputs or outputs The I O may be addressed individually or as a group The active state of the line or group may also be set All of these possible functi...

Page 25: ...0 0 S3 0 0 S4 0 0 PR IN Read BCD State of Input Group 5VDC Figure 2 6 TTL Interface to Input Group Truth Table I O Used as a Group DEC IO4 IO3 IO2 IO1 0 0 0 0 0 1 0 0 0 1 2 0 0 1 0 3 0 0 1 1 4 0 1 0 0 5 0 1 0 1 6 0 1 1 0 7 0 1 1 1 8 1 0 0 0 9 1 0 0 1 10 1 0 1 0 11 1 0 1 1 12 1 1 0 0 13 1 1 0 1 14 1 1 1 0 15 1 1 1 1 Table 2 4 I O Group Truth Table ...

Page 26: ...5 to 24 V External Resistor may be needed to limit output sink current to 700mA PIN1 MDrive23 Motion Control Sample Software Configuration set outputs to user outputs active low S1 16 0 S2 16 0 S3 16 0 S4 16 0 OT 0 15 Set outputs as 1 value 5 to 24VDC Figure 2 9 Outputs Interfaced to LED s as a Group Input Functions S point Function Active 16 General Purpose 0 1 17 Fault 0 1 18 Moving 0 1 Table 2 ...

Page 27: ...he program branch BR or subroutine call CL instructions to control events within the system S a m p l e U s a g e Main Program PG 100 start prog at address 100 LB A1 label program A1 CL A2 I5 500 Call Sub A2 If I5 is less than 500 CL A3 I5 524 Call Sub A3 If I5 is greater than 524 BR A1 loop to A1 E End PG Exit program Subroutines LB A2 label subroutine A2 MA 2000 Move Absolute 2000 steps H Hold p...

Page 28: ...s XP 10 MB hard drive space A free serial communications port I n s t a l l a t i o n The IMS Terminal software is a programming communications interface This program was created by IMS to simplify program ming and upgrading the MDrive Motion Control The IMS Terminal is also necessary to upgrade the software in your MDrive Motion Control These updates will be posted to the IMS website at www imsho...

Page 29: ...s well as general communications settings It is set by default to the optimum communications settings for the MDrive Motion Control If you change the BAUD rate setting for the MDrive Motion Control power will have to be cycled for the change to take effect Ensure that the IMS Terminal preferences are adjusted for the new BAUD settings D o w n l o a d i n g a P r o g r a m t o t h e M D r i v e M o...

Page 30: ...nction key setup dialog right click the function key area on the terminal window To setup the function keys 1 Enter a caption in the Caption text field this will be displayed on the function button 2 Enter the text string consisting of MDrive Motion Control commands and ASCII control codes Remember to terminate each command with a line feed M and an appropriate pause time typically 50 msec p 3 Cli...

Page 31: ...defined and user defined The syntax for each variable may differ See Section 6 for usage instructions and examples F a c t o r y D e f i n e d Va r i a b l e s These variables are predefined at the factory They cannot be deleted When an FD Factory Default instruction is given these variables will be reset to their factory default values There are two types of factory defined variables They are Rea...

Page 32: ... Keywords are used in conjunction with the PR and IP instructions to indicate or control variables and flags For instance PR UV would print the state of all the user defined variables to the screen IP would restore all the factory variables from the EEPROM M o s t C o m m o n l y U s e d Va r i a b l e s a n d C o m m a n d s V a r i a b l e s P P indicates the position in either steps or encoder ...

Page 33: ... position For example type the following commands followed by hitting enter P 0 MR 20000 H PR P The terminal screen will read 20000 MR 3000 H PR P Notice the position echoed is 23000 and not 3000 S L Move at a constant velocity SLEW 200000 The motor will move at a constant velocity 200000 steps per second H An H hold should typically follow any MA or MR commands in a program so that program execut...

Page 34: ...y Note the Input 4 is the Most Significant Bit PR IN will print the decimal value of the inputs 0 1 4 Used to set the state of an output O2 1 will set Output 2 TRUE O T Used to set the 4 bit binary equivalent of the decimal number represented by all 4 outputs collectively Note the Output 4 is the Most Significant Bit OT 13 will set the outputs to 1101 S y s t e m I n s t r u c t i o n s The follow...

Page 35: ... limited to to characters 4 A program labeled SU will run on power up Please Note Any program labeled SU will execute on power up Switch to program mode at address 200 PG 200 Label command will name the program LB K1 xxxxx Program named by LB command xxxxx xxxxx Switch out of program mode PG B R Used to branch conditionally or unconditionally to a routine Switch to program mode at address 200 PG 2...

Page 36: ...am LB K1 xxxxx Program named by LB command xxxxx xxxxx Prints text in quotes and then POS PR Position P Delay 2 seconds between re execution of program H 2000 Unconditional branch to K1 BR K1 Designates the end of the program E Switches out of program mode PG V A R Command used to define a variable with 8 alphanumeric characters Switches to program mode at address 200 PGM 200 Define a variable nam...

Page 37: ... a n e o u s I n s t r u c t i o n s Va r i a b l e s a n d F l a g s Mnemonic Function Unit Range Syntax Example Do Previously Set Mode to at This Value per mode number A Set Acceleration Steps Sec2 1000000000 A accel D Set Deceleration Steps Sec2 1000000000 D decel HC Set Hold Current Percent 0 to 100 HC percent HT Set Hold Current Delay Time milliseconds 0 65000 HT msec MA Set Mode and Move to ...

Page 38: ...2 Setup IO Point 2 Type Active Type Table 0 1 S2 type active S3 Setup IO Point 3 Type Active Type Table 0 1 S3 type active S4 Setup IO Point 4 Type Active Type Table 0 1 S4 type active TI Trip on Input TI input addr TE Trip Enable See Table 1 4 TE num I O I n s t r u c t i o n s Va r i a b l e s a n d F l a g s Mnemonic Function Unit Range Syntax Example BR Branch Conditional Unconditional BR addr...

Page 39: ...coder Deadband Encoder Counts 0 65000 DB counts EE Enable Disable Encoder Functions 1 0 EE 1 0 HI Home to Encoder Index Type 1 4 HI type I6 Read Encoder Index Mark I6 SF Set Stall Factor Encoder Counts 0 65000 SF counts SM Set Stall Mode 0 Stop Motor 1 Don t Stop 1 0 SM mode ST Stall Flag 0 1 PR ST E n c o d e r R e l a t e d I n s t r u c t i o n s Va r i a b l e s a n d F l a g s Symbol Function...

Page 40: ...aud bits per second 48 96 19 38 11 9600 bps EXAMPLE BD 96 set communications BAUD rate to 9600 bps RELATED COMMANDS MNEMONIC FUNCTION TYPE A Acceleration Motion Variable DESCRIPTION The A Variable sets the peak acceleration that will be reached by the MDrive in steps per second2 USAGE UNITS RANGE DEFAULT A accl Steps sec2 0 to 1525878997 1000000 EXAMPLE A 20000 set acceleration to 20000 steps sec2...

Page 41: ...execution will continue at the address specified by the first parameter USAGE BR addr label cond EXAMPLE BR 256 I2 Branch to program line 256 if Input 2 is TRUE BR 120 Unconditional Branch to program line 120 BR JC I1 1 Branch to process labeled JC if input 1 is True RELATED COMMANDS MNEMONIC FUNCTION TYPE C1 Set Counter 1 Motor Counts Motion Variable DESCRIPTION This variable contains the raw cou...

Page 42: ...to the line following the CL instruction USAGE CL addr label cond EXAMPLE CL 256 I1 1 Call subroutine at program line 256 if Input 1 is TRUE CL JK Call subroutine labeled JK RELATED COMMANDS RT MNEMONIC FUNCTION TYPE CP Clear Program Program Instruction DESCRIPTION This instruction will clear the program space in the EEPROM as specified by the instruction parameter Programs are stored directly to ...

Page 43: ...ps within DB USAGE UNITS RANGE DEFAULT DB counts Encoder Counts 0 to 65000 1 EXAMPLE DB 5 Set Encoder Deadband to 5 encoder counts RELATED COMMANDS EE MNEMONIC FUNCTION TYPE DC Decrement Variable Program Instruction DESCRIPTION The DC instruction will decrement the specified variable by one USAGE DC var EXAMPLE DC R1 Decrement User Register 1 RELATED COMMANDS IC MNEMONIC FUNCTION TYPE D1 D5 Digita...

Page 44: ... char ASCII Characters a z A Z 0 9 EXAMPLE DN A Set the device name to the character A RELATED COMMANDS PY MNEMONIC FUNCTION TYPE E End Program Execution Program Instruction DESCRIPTION Stops the execution of a program USAGE E EXAMPLE PG 100 Start program at line 100 LB J2 Label Program J2 MR 20000 move relative 20000 motor counts H hold until motion stops MR 20000 move relative 20000 motor counts...

Page 45: ...full duplex mode EM 1 half duplex mode RELATED COMMANDS BD MNEMONIC FUNCTION TYPE EF Read Only Error Flag Status Flag DESCRIPTION The Error flag will indicate whether or not an error condition exists It is automatically cleared when a new program is executed The only way to manually clear the EF flag is to read the value of the ER variable or set ER 0 There is an instruction OE which allows the us...

Page 46: ...program execution Mode 0 Normal execution is specified by a mode of 0 or simply leaving the mode blank Mode 1 Trace mode is specified by a mode of 1 This means that the program executes continuously until the program END is encountered but the instructions are traced to the communications port so the user can see what instructions have been executed Mode 2 Single step mode is specified by a mode o...

Page 47: ...ON TYPE HC Hold Current Setup Variable DESCRIPTION This variable defines the motor holding current in percent USAGE UNITS RANGE DEFAULT HC percent Percent 0 to 100 5 EXAMPLE HC 5 Set motor holding current to 5 RELATED COMMANDS HT RC HI MNEMONIC FUNCTION TYPE HI Home to Index Mark Variable Setup Variable DESCRIPTION This instruction will find the the encoder index mark There are four types for this...

Page 48: ... PR I 1 4 BR addr I 1 4 1 0 CL addr I 1 4 1 0 EXAMPLE PR I2 Print the state of Input 2 to the Terminal Screen BR 128 I3 1 Conditional branch to program line 128 if Input 3 1 CL 432 I4 0 Call subroutine at line 432 if Input 4 0 RELATED COMMANDS IN O1 O4 PR S1 S4 MNEMONIC FUNCTION TYPE HM Home to Home Switch Variable Setup Variable DESCRIPTION This instruction will find the selected I O switch There...

Page 49: ...AMPLE PR I5 Print the value of the Analog Input to the Terminal Screen BR K1 I5 512 Branch to Program labled K1 if Analog Input 512 CL 432 I5 0 Call subroutine at line 432 if Analog Input 0 RELATED COMMANDS BR CL PR MNEMONIC FUNCTION TYPE I6 Read Encoder Index Mark I O Variable DESCRIPTION This variable will read the on off state of the Encoder Index Mark Can be used with PR Print BR Branch and Cl...

Page 50: ... BR 128 IN 8 Conditional branch to program line 128 if the binary state of Inputs 1 4 8 1000 CL 432 IN 13 Call subroutine at line 432 if the binary state of Inputs 1 4 13 1101 RELATED COMMANDS I1 5 O1 O5 PR S1 S4 MNEMONIC FUNCTION TYPE IP Initialize Parameters Instruction DESCRIPTION The IP instruction will return all of the MDrive Motion Control parameters to their stored values USAGE IP EXAMPLE ...

Page 51: ...ion will print the contents of program space beginning at the specified address to the end If no address is specified it will list beginning at line 1 USAGE L L addr label EXAMPLE L 128 display contents of program space beginning at line 128 RELATED COMMANDS MNEMONIC FUNCTION TYPE LK Lock User Program Setup Flag DESCRIPTION This flag allows the user to lock the program from being listed or modifie...

Page 52: ...S P PR SL MNEMONIC FUNCTION TYPE MR Move To Relative Position Motion Instruction DESCRIPTION Set mode for relative move and move a relative distance MD Current Mode will be set to MR USAGE UNITS MR distances motor counts EXAMPLE MR 200000 move motor to 200000 motor counts postive direction MR 50000 move motor to 50000 motor counts in a negative direction RELATED COMMANDS MD MA MS P MNEMONIC FUNCTI...

Page 53: ...y the MDrive USAGE DEFAULT MS parameter 256 EXAMPLE MS 4 Set Microstep Resolution to 4 Microsteps Step 400 Steps Rev MS 50 Set Microstep Resolution to 50 Microsteps Step 10000 Steps Rev PR MS Print the MS setting to the terminal S M s g n i t t e S n o i t u l o s e R p e t s o r c i M p e t S s p e t s o r c i M S M v e R s p e t S s g n i t t e S n o i t u l o s e R p e t s o r c i M y r a n i B...

Page 54: ...ut USAGE O 1 4 0 1 PR O 1 4 EXAMPLE O4 1 Set Output 4 to 1 PR O2 Print the state of Output 2 to the Terminal Screen RELATED COMMANDS OT I1 I4 PR S1 S4 MNEMONIC FUNCTION TYPE OE On Error Handler Instruction DESCRIPTION When an error occurs in a program or due to an immediate command the specified subroutine is called If a program was running when the fault occurs once the error routine completes pr...

Page 55: ...ontrol position counter The position will read in Motor Counts from C1 Counter 1 by default if encoder functions are enabled the position counter will read in Encoder Counts from C2 Counter 2 The main difference in the relationship of the two counters is that where C1 is variable the value of each count in terms of distance moved is based upon the MS or microstep resolution setting C2 will always ...

Page 56: ...rameter value s to the host PC Text should be enclosed in quotation marks while parameters variables and flags should not Text strings and parameters which are to be output by the same PR instruction should be separated by commas The information being output is followed by a carriage return and line feed unless a semicolon is included at the end of the PR instruction to indicate that the cursor sh...

Page 57: ...signed at the factory is the exclamation character The global name is the asterisk character Commands preceded by this character will be recognized by every MDrive in the system USAGE DEFAULT PY 0 1 0 Disabled EXAMPLES PY 0 Party Mode Disabled Default PY 1 Party Mode Enabled RELATED COMMANDS DN MNEMONIC FUNCTION TYPE PS Pause Program Instruction Instruction DESCRIPTION This instruction is used to ...

Page 58: ...ore and retrieve moves and set conditions for branches and subroutine calls USAGE RANGE DEFAULT R x data 2147483647 to 2147483647 0 EXAMPLES R1 50000 Set Register 1 to 50000 Subroutine using a register value to perform a math function that will display axis position in revolutions rather than motor steps variable setup MS 256 set resolution to 256 microsteps step P 0 set position counter to 0 R1 5...

Page 59: ...CRIPTION This instruction defines the end of a subroutine This instruction is required and will be the final instruction in the subroutine executed by the CL instruction When used it will return to the program address immediately following the CL instruction which executed the subroutine USAGE RT EXAMPLE Program PG100 enter program mode at address 100 100 MR 51200 move relative 51200 105 H suspend...

Page 60: ... function of the I O point The second parameter sets the active state which defines the point as LOW or HIGH TRUE I O FUNCTION TYPE ACTIVE STATE PARAMETER INPUTS General Purpose Input 0 LOW TRUE 0 Home Input 1 HIGH TRUE 1 Limit Input 2 Limit Input 3 G0 Input 4 Soft Stop Input 5 Pause Input 6 Jog Input 7 Jog Input 8 OUTPUTS General Purpose Output 16 Moving Output 17 Fault Output 18 Stall 19 USAGE D...

Page 61: ... 0 default the motion will be stopped upon a stall detection When SM 1 the motor will continue to move In either case ST Stall Flag will be set USAGE DEFAULT SM 0 1 0 Stop Motor EXAMPLE SM 0 stop motor when a stall is detected SM 1 do not stop motor upon a stall RELATED COMMANDS EE SF ST MNEMONIC FUNCTION TYPE SL Slew Axis Instruction Motion Instruction DESCRIPTION The SL instruction will slew the...

Page 62: ... for the TI variable The first specifies the address of the subroutine that should be executed when the input goes to true The second specifies which input line to monitor USAGE TI input addr label EXAMPLE TI 2 K1 execute subroutine labeled K1 when input 2 is active RELATED COMMANDS I1 4 S1 4 TP MNEMONIC FUNCTION TYPE TE Trip Enable Flag Setup Flag DESCRIPTION This flag will enable or disable spec...

Page 63: ...on addr label EXAMPLE TP 200000 300 execute subroutine at address 300 when at postion 200000 RELATED COMMANDS P TI PC MNEMONIC FUNCTION TYPE UG Upgrade Firmware Instruction DESCRIPTION Upgrade Firmware Instruction Upgrade code is 2956102 THis will put the MDrive in Upgrade Mode once set the firmware MUST be upgraded USAGE UG 2956102 RELATED COMMANDS MNEMONIC FUNCTION TYPE UV Read User Variables Va...

Page 64: ...The restrictions for this command are 1 A variable cannot be named after a MDrive Motion Control Instruction Variable or Flag 2 The first character must be alpha the second character may be alpha numeric 3 A variable is limited to two characters USAGE VA char char value EXAMPLE VA P2 create user var P2 P2 20000 set P2 to 20000 RELATED COMMANDS UV MNEMONIC FUNCTION TYPE VI Initial Velocity Variable...

Page 65: ...0 768000 EXAMPLE VM 51200 set max velocity to 51200 counts per second RELATED COMMANDS VM MNEMONIC FUNCTION TYPE VR Read Only Firmware Version Factory Variable DESCRIPTION This variable is used in conjuction with the PR instruction to read the version of the firmware installed at the factory If the Version number is followed by an E the Mdrive is an Encoder Version An I will indicate and Index ver...

Page 66: ... 12 C F F 44 2C 76 4C L 108 6C l 13 D CR 45 2 D 77 4 D M 109 6 D m 14 E S O 46 2 E 78 4 E N 110 6 E n 15 F S I 47 2 F 79 4 F O 111 6 F o 16 10 D L E 48 30 0 80 50 P 112 70 p 17 11 D C 1 49 31 1 81 51 Q 113 71 q 18 12 D C 2 50 32 2 82 52 R 114 72 r 19 13 D C 3 51 33 3 83 53 S 115 73 s 20 14 D C 4 52 34 4 84 54 T 116 74 t 21 15 NAK 53 35 5 85 55 U 117 75 u 22 16 S Y N 54 36 6 86 56 V 118 76 v 23 17 ...

Page 67: ...e or flag is read only 26 Variable or flag is not allowed to be incremented or decremented 27 Trip not defined 28 Trying to redefine a program label or variable 29 Trying to redefine an embedded command or variable 30 Unknown label or user variable 31 Program label or user variable table is full Program Errors 40 Program not running 41 Program running 42 Illegal program address 43 Tried to overflo...

Page 68: ... return of Products to customer However customer shall pay all shipping charges duties and taxes for Prod ucts returned to IMS from another country WARRANTY LIMITATIONS IMS makes no other warranty either expressed or implied with respect to the Product IMS specifically disclaims the implied warranties of merchantability and fitness for a particular purpose Some jurisdictions do not allow limitatio...

Page 69: ...Division motors imshome com E mail Western Tech Support wtech imshome com Western U S Sales Management Phone 949 707 0156 Fax 949 707 0157 Email wsales imshome com IMS EUROPE Administration Hahnstrasse 10 VS Schwenningen Germany D 78054 Phone 49 7720 94138 0 Fax 49 7720 94138 2 European Sales Management 4 Quai Des Etroits 69005 Lyon France Phone 33 4 7256 5113 Fax 33 4 7838 1537 Email bmartinez im...

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