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2
Variables ............................................................................................................................................................................................................................ 30
Math Functions .................................................................................................................................................................................................................. 31
Motion Commands ............................................................................................................................................................................................................. 31
I/O Commands .................................................................................................................................................................................................................. 32
System Instructions .......................................................................................................................................................................................................... 32
Program Instructions ......................................................................................................................................................................................................... 32
Section 2.3: MDrive Motion Control Command Set Summary ............................................................................................................... 35
Setup Instructions, Variables and Flags ..................................................................................................................................................................................... 35
Miscellaneous Instructions, Variables and Flags ........................................................................................................................................................................ 35
Motion Instructions, Variables and Flags .................................................................................................................................................................................... 35
I/O Instructions, Variables and Flags ......................................................................................................................................................................................... 36
Program Instructions, Variables and Flags ................................................................................................................................................................................. 36
Position Related Instructions, Variables and Flags .................................................................................................................................................................... 37
Encoder Related Instructions, Variables and Flags .................................................................................................................................................................... 37
Mathematical Functions .............................................................................................................................................................................................................. 37
Section 2.4: MDrive Motion Control Command Set .................................................................................................................................. 38
Appendix A: ASCII TABLE ................................................................................................................................................................................ 64
Appendix B: Error Codes ................................................................................................................................................................................. 65
List of Figures
Figure 1.1
Rotary MDrive17 Motion Control Mechanical Specifications .................................................................................................................................. 6
Figure 1.2
Rotary MDrive17 Motion Control 1713 Speed/Torque Data ..................................................................................................................................... 6
Figure 1.3
Rotary MDrive17 Motion Control 1715 Speed/Torque Data ..................................................................................................................................... 7
Figure 1.4
Rotary MDrive17 Motion Control 1719 Speed/Torque Data ..................................................................................................................................... 7
Figure 1.5
Linear Actuator MDrive17 Motion Control Mechanical Specifications ..................................................................................................................... 7
Figure 1.6
Speed-Force Curve - 24VDC (100% Current) ......................................................................................................................................................... 8
Figure 1.7
Speed-Force Curve - 45VDC (100% Current) ......................................................................................................................................................... 8
Figure 1.8
Rotary MDrive23 Motion Control Mechanical Specifications ................................................................................................................................ 12
Figure 1.9
Rotary MDrive23 Motion Control 2218 Speed/Torque Data ................................................................................................................................... 12
Figure 1.10 Rotary MDrive23 Motion Control 2222 Speed/Torque Data ................................................................................................................................... 13
Figure 1.11 Rotary MDrive23 Motion Control 2231 Speed/Torque Data ................................................................................................................................... 13
Figure 1.12 Linear 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 Interfaced to a PLC ...................................................................................................................................................................................... 22
Figure 2.6
TTL Interface to an Input Group ............................................................................................................................................................................ 23
Figure 2.7
Output Interfaced to an LED ................................................................................................................................................................................. 24
Figure 2.8
Output Interfaced to a Relay ................................................................................................................................................................................ 24
Figure 2.9
Outputs Interfaced tp LED’s as a Group ............................................................................................................................................................... 24
Figure 2.10 Analog Input Interface ........................................................................................................................................................................................... 25
Figure 2.11 IMS Terminal Window ............................................................................................................................................................................................. 26
Figure 2.12 IMS Terminal Preferences ...................................................................................................................................................................................... 27
Figure 2.13 IMS Terminal Upgrader Window ............................................................................................................................................................................. 28
List of Tables
Table 1.1
Rotary MDI1713 Motor Specifications ..................................................................................................................................................................... 6
Table 1.2
Rotary MDI1715 Motor Specifications ..................................................................................................................................................................... 7
Table 1.3
Rotary MDI1719 Motor Specifications ..................................................................................................................................................................... 7
Table 1.4
Linear Actuator MDrive17 Motion Control Motor Specifications .............................................................................................................................. 8
Table 1.5
ACME Screws for Linear Actuator MDrive17 Motion Control .................................................................................................................................. 9
Table 1.6
Rotary MDI2218 Motor Specifications ................................................................................................................................................................... 12
Table 1.7
Rotary MDI2222 Motor Specifications ................................................................................................................................................................... 13
Table 1.8
Rotary MDI2231 Motor Specifications ................................................................................................................................................................... 13
Table 1.9
Linear Actuator MDrive23 Motion Control Motor Specifications ............................................................................................................................ 14
Table 1.10
ACME Screws for Linear Actuator MDrive23 Motion Control ................................................................................................................................ 15
Table 2.1
P1 Pin Configuration and Description .................................................................................................................................................................... 19
Table 2.2
P2 Pin Configuration and Description .................................................................................................................................................................... 20
Table 2.3
Input Functions ...................................................................................................................................................................................................... 22
Table 2.4
I/O Group Truth Table ............................................................................................................................................................................................. 23
Table 2.5
Output Functions ................................................................................................................................................................................................... 24
Table 2.6
Microstep Resolution Settings ............................................................................................................................................................................... 51
Summary of Contents for 17
Page 1: ...OPERA TING INSTRUCTIONS T intelligent motion systems inc Excellence in MotionTM TM ...
Page 5: ...3 Part 1 General Information and Hardware Specifications ...
Page 6: ...4 Intentionally Left Blank ...
Page 19: ...17 Part 2 Connecting Configuring and Programming the MDrive Motion Control ...
Page 20: ...18 Intentionally Left Blank ...