Intelligent Motion Systems 17 manual A g s, Y w o r d s

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F l a g s

Flags show the status of an event or condition. A flag will only have one of two possible states: either 1 or 0. Unlike variables, there are only factory defined flags.

F a c t o r y D e f i n e d F l a g s

Factory defined flags are predefined at the factory and cannot be deleted. When a FD (Factory Defaults) instruction is given, these flags will be returned to their factory default state. There are two types of factory defined flags:

.Read/Writable: This type of flag is user alterable. They are typically used to set a condition or mode of operation for the MDrive Motion Control. For example: EE = 1 would enable encoder operation, or EE = 0 would disable the encoder functions.

.Read Only: Read Only flags cannot be modified by the user. They only give an indication of an event or condition. Typically this type of flag would be used in a program in conjunction with the BR (Branch Instruction) to generate an if/then event based upon a condition. For Example: the following line of code in a program BR SP, MV = 0 would cause a program to branch to a subroutine named “SP” when the MV, the read only moving flag, is false.

K e y w o r d s

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 counts depending upon the enable/disable state of encoder functions.

.P takes its reading from C1 (Counter 1) when encoder functions are disabled. The reading is taken from C2 (Counter 2) when encoder functions are enabled.

.To read the position, type PR P or PR C1/C2 then hit enter

.To zero the position, type P=0 then hit enter

V I

Initial velocity in steps per second.

.To read the initial velocity, type PR VI then hit enter

.To write to the Initial velocity, type VI=500 then hit enter

V M

Maximum or final velocity in steps per second.

.To read the final velocity, key-in PR VM then hit enter

.To write to the final velocity, key-in VM=5000 then hit enter

A

Acceleration in steps per second2.

.To read the acceleration, key-in PR A then hit enter

.To write to the acceleration, key-in A=7500 then hit enter

D

Deceleration in steps per second2.

.To read the deceleration, key-in PR D then hit enter

.To write to the deceleration, key-in D=A then hit enter

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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 LMAX2MDI1719 N e a r M o t o r Specification sMDI1715 E e d F o r c e C u r v e 4 5 V D C MDI17 Linear ActuatorE e d F o r c e C u r v e 2 4 V D C MDI17 Acme Screws N e r a l Specification sR 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 w 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 E r m a l Specification sW e r S u p p l y R e q u i r e m e n t 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 sN 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 eS t e m R e q u i r e m e n t s Install i n g a n d U s i n g I M S Te r m i n a lInstallation 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 sRetrieve All Parameters Variable Baud Rate Setup VariableAcceleration Motion Variable Branch Program Instruction Busy Flag Read Only Motion FlagClear Program Program Instruction Set Counter 2 Encoder Counts Motion VariableCall Subroutine Program Instruction Deceleration Motion Variable Set Encoder Deadband Setup VariableD1-D5 Digital Input Filtering Variable End Program Execution Program Instruction Drive Enable Flag Setup FlagDevice Name Setup Variable Read-Only Error Flag Status Flag Encoder Enable Flag Setup FlagEcho Mode Flag Setup Flag Error Number Variable Status Variable Execute Program Program InstructionHold Program Execution Program Instruction Home to Index Mark Variable Setup VariableHold Current Setup Variable Read Input Variable Home to Home Switch Variable Setup VariableHold Current Delay Time Setup Variable Increment Variable Program Instruction Read Analog Input VariableRead Encoder Index Mark Variable Initialize Parameters Instruction Joystick Enable Flag Setup FlagRead Inputs 1-4 As 1 Value Variable Label Program/Subroutine Instruction Lock User Program Setup FlagList Program Space Instruction Motion Instruction Move To Relative Position Motion InstructionMicrostep Resolution Motion Variable PR MSO1 O4 Set/Print Output Logic State Variable Motor Settling Delay Time Motion VariableOn Error Handler Instruction Set Ouputs 1-4 As 1 Value Variable Set/Print Position Counter InstructionPrint Selected Data/Text Instruction Postition Maintenance Enable Setup FlagEnter/Exit Program Mode Program Instruction Party Mode Enable Flag Setup Flag Pause Program InstructionRun Current Setup Variable R1 R4 User Registers User VariableSave to EEProm Instruction Resume Program InstructionReturn From Subroutine 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 on Input Variable Trip Enable Flag Setup FlagRead Only Stall Flag Encoder Flag Read User Variables Upgrade Firmware InstructionTrip on Position Variable 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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