Intelligent Motion Systems 17 manual T e r f a c i n g t h e D i g i t a l I / O, Input Functions

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I n t e r f a c i n g t h e D i g i t a l I / O

The MDrive Motion Control comes standard with a set of four (4) open collector +5 to +24VDC I/O point which may be programmed individually as either general purpose or dedicated inputs or outputs, or collectively as a group.

The digital I/O may be defined as either active HIGH or active LOW. When the I/O is configured as active HIGH, the level is +5 to +24 VDC and the state will be read/set as a “1”. If the level is 0 VDC then the state will be read/set as “0”. Inversely, if configured as active LOW, then the state of the I/O will be read/set as a “1” when the level is LOW, and a “0” when the level is HIGH. The active HIGH/LOW state is configured by the third parameter of the I/O Setup (S1-4) variable, which is explained further on. The goal of this I/O configuration scheme is to maximize compatibility between the MDrive Motion Control and standard sensors and switches.

The MDrive Motion Control’s I/O scheme is a powerful tool for machine and process control.

U s e s o f t h e D i g i t a l I / O

The I/O may be utilized to receive input from external devices such as sensors, switches or PLC outputs. When configured as outputs, 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 functions are accomplished with of the I/O Setup Variable (S1-4).

I n t e r f a c i n g I n p u t s

The MDrive Motion Conrol inputs may be interfaced to a variety of sinking devices. A single input may be programmed to be a general purpose user input, or to one of nine dedicated input functions. These then may be programmed to have an active state of either HIGH or LOW.

Additionally the inputs may read as a group using the “IN” keyword. This will display as a decimal between 0 and 15 representing the 4 bit binary number. Used thus Input 1 is the Least Significant Bit (LSB) and Input 4 will be the Most Significant Bit (MSB).

I n t e r f a c i n g a S i n g l e I n p u t E x a m p l e s

 

Input Functions

 

 

S<point>=

Function

Active

 

0

General Purpose

0/1

 

1

Home

0/1

 

2

Limit +

0/1

 

3

Limit -

0/1

 

4

G0

0/1

 

5

Soft Stop

0/1

 

6

Pause

0/1

 

7

Jog +

0/1

 

8

Jog -

0/1

 

10

Index (encoder only)

0/1

 

Table 2.3: Input Functions

 

Figure 2.4: Input Interfaced to a Switch

Figure 2.5: Input Interfaced to a PLC

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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 T a r y M o t o r Specification s C t i o n O v e r v i e wStandard Rotary Motor Lmax 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 Connector P1 Y 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 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 C o m m e n d e d W i r i n gConnector P2 10 Pin Header T e r f a c i n g P o w e rT 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 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 t h e D i g i t a l I / O E s o f t h e D i g i t a l I / OT e r f a c i n g I n p u t s 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 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 g E r a t i o n a l M o d e sS t r u c t i o n 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 Error Code Fault ErrorsData Errors Program ErrorsTWENTY-FOUR Month Limited Warranty Western Region
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