Intelligent Motion Systems 17 manual IP404MDI23

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G e n e r a l S p e c i f i c a t i o n s

S o f t w a r e
Program and Data Storage	Non-Volatile
User Program Space	767 Bytes
User Registers	4 - 32 Bit
Math Functions	+, -, x, ÷, <>, =, <, <=, >, >=, AND, OR,
	XOR, NOT
Branch Functions	Branch & Call (Conditional)
Predefined I/O Functions
Inputs	Home, Limit +, Limit -, Go, Stop, Pause,
	Jog +, Jog -, Analog Input
Outputs	Moving, Fault
Trip Functions	Input, Position
Party Mode Node Addresses	62
Encoder Functions	Stall Detect, Position Maintenance,
P r o t e c t i o n	Find Index
P r o t e c t i o n
Types	Thermal

P o w e r S u p p l y R e q u i r e m e n t s

Each MDrive will require a maximum power supply current of 2A. Actual power supply current will depend upon the load and duty cycle.

R e c o m m e n d e d I M S P o w e r S u p p l i e s

Listed 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
	Input Specifications	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 p p l y
	Input Specifications	ISP200-4(MDI23)
	Input Specifications	102-132VAC/Optional 240VAC
	AC Input Voltage Range	102-132VAC/Optional 240VAC
	Frequency	50-60Hz
	Output Specifications
	Voltage (Nominal - No Load)	45 VDC
	Current (Peak)	3 Amps
	Current (Continuous)	1.5 Amps

T h e r m a l S p e c i f i c a t i o n s

Because the MDrive consists of two core components, a drive and a motor, close attention must be paid to the thermal environment where the device is used. The following maximum temperatures apply to the MDrive23:

Heatsink Temperature
Max	85°C
Motor Temperature
Max	100°C

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Contents Operating Instructions Intelligent Motion Systems, Inc All Rights Reserved Table of Contents List of Figures Part 1 General Information and Hardware Specifications Intentionally Left Blank A t u r e S u m m a r y Standard Rotary Motor Lmax T a r y M o t o r Specification sC t i o n O v e r v i e w Control Knob LMAX2N e a r M o t o r Specification s MDI1715MDI1719 MDI17 Linear Actuator E e d F o r c e C u r v e 2 4 V D CE e d F o r c e C u r v e 4 5 V D C N e r a l Specification s R i v e 1 7 M o t i o n C o n t r o l a C M E S c r e wMDI17 Acme Screws E r m a l Specification s W e r S u p p l y R e q u i r e m e n t sC o m m e n d e d I M S P o w e r S u p p l i e s A t u r e S u m m a r y MDrive23 Motion Control Specifications MDI2218MDI2222 MDI2231MDI23 Linear Actuator Refer to .10 for screw pitch informationR i v e 2 3 M o t i o n C o n t r o l a C M E S c r e w MDI23 Acme ScrewsIP404MDI23 Page Intentionally Left Blank N C o n f i g u r a t i o n a n d D e s c r i p t i o n s Connector P1Y o u t a n d I n t e r f a c e G u i d e l i n e s C o m m e n d e d W i r i n gT 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 Connector P2 10 Pin HeaderT e r f a c i n g P o w e r N g l e M D r i v eRS-485 Interface, Multiple MDrive Motion Control System T e r f a c i n g I n p u t s T e r f a c i n g t h e D i g i t a l I / OE s o f t h e D i g i t a l I / O Input FunctionsTTL Interface to Input Group Truth Table I/O Used as a GroupT e r f a c i n g O u t p u t s T e r f a c i n g a S i n g l e O u t p u t E x a m p l e sT e r f a c i n g t h e a n a l o g I n p u t M p l e U s a g eInstall i n g a n d U s i n g I M S Te r m i n a l InstallationS t e m R e q u i r e m e n t s I n g t h e I M S Te r m i n a l S o f t w a r e 13 IMS Terminal Upgrader Window S t r u c t i o n s R i v e M o t i o n C o n t r o l P r o g r a m m i n gE r a t i o n a l M o d e s R i a b l e sA g s Y w o r d sT h F u n c t i o n s T i o n C o m m a n d sRead IO1 Setup PR S1 Read IO2 Setup PR S2 C o m m a n d sPlease Note Any program labeled SU will execute on power-up VAR CT Mnemonic Function Unit Range Syntax Example BaudI 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 T h e m a t i c a l F u n c t i o n sBaud Rate Setup Variable Acceleration Motion VariableRetrieve All Parameters Variable Branch Program Instruction Busy Flag Read Only Motion FlagSet Counter 2 Encoder Counts Motion Variable Call Subroutine Program InstructionClear Program Program Instruction Set Encoder Deadband Setup Variable D1-D5 Digital Input Filtering VariableDeceleration Motion Variable Drive Enable Flag Setup Flag Device Name Setup VariableEnd Program Execution Program Instruction Encoder Enable Flag Setup Flag Echo Mode Flag Setup FlagRead-Only Error Flag Status Flag Error Number Variable Status Variable Execute Program Program InstructionHome to Index Mark Variable Setup Variable Hold Current Setup VariableHold Program Execution Program Instruction Home to Home Switch Variable Setup Variable Hold Current Delay Time Setup VariableRead Input Variable Read Analog Input Variable Read Encoder Index Mark VariableIncrement Variable Program Instruction Joystick Enable Flag Setup Flag Read Inputs 1-4 As 1 Value VariableInitialize Parameters Instruction Lock User Program Setup Flag List Program Space InstructionLabel Program/Subroutine Instruction Motion Instruction Move To Relative Position Motion InstructionMicrostep Resolution Motion Variable PR MSMotor Settling Delay Time Motion Variable On Error Handler InstructionO1 O4 Set/Print Output Logic State Variable Set Ouputs 1-4 As 1 Value Variable Set/Print Position Counter InstructionPostition Maintenance Enable Setup Flag Enter/Exit Program Mode Program InstructionPrint Selected Data/Text Instruction Party Mode Enable Flag Setup Flag Pause Program InstructionRun Current Setup Variable R1 R4 User Registers User VariableResume Program Instruction Return From Subroutine InstructionSave to EEProm Instruction S1 S4 Set/Print I/O Point Type/Active State Instruction Set/Print I/O Point InstructionStall Detection Mode Variable Encoder Variable Encoder VariableTrip Enable Flag Setup Flag Read Only Stall Flag Encoder FlagTrip on Input Variable Upgrade Firmware Instruction Trip on Position VariableRead User Variables Read Only Velocity Variable Motion Variable Create User Variable Name InstructionRead Only Firmware Version Factory Variable Appendix a Data Errors Error Code FaultErrors Program ErrorsTWENTY-FOUR Month Limited Warranty Western Region