Intelligent Motion Systems 17 manual T h F u n c t i o n s, T i o n C o m m a n d s

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M a t h F u n c t i o n s

Another powerful feature of the MDrive Motion Control is its ability to perform common math functions and to use these to manipulate data.

Addition	K2†=P+R2
Subtraction	K3†=R1-P
Multiplication	A=A*2
Division	A=A/2
†User-defined variable used as an example.

M o t i o n C o m m a n d s

M A

Move to an absolute position relative to a defined zero position.

For example, type the following commands followed by hitting enter:

P=0

MA 20000

H

PR P

The terminal screen will read 20000

MA 3000

H

PR P

The screen will echo back 3000.

M R

Move number of steps indicated relative to current 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 execution is suspended until motion is complete.

(Note: There are circumstances where you may not want to hold up program execution.) Below is a usage example.

PG 100		‘enter	program	mode at address 100
LB	M1	‘label	program	M1
MR	20000	‘set motion mode to relative, move relative 20000 steps

H‘hold until motion completes

-20000 ‘move relative -20000 steps

H‘hold until motion completes

E‘end program

PG	‘exit program mode

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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 C t i o n O v e r v i e w T a r y M o t o r Specification sStandard 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 MDI2218 MDrive23 Motion Control SpecificationsMDI2231 MDI2222Refer to .10 for screw pitch information MDI23 Linear ActuatorMDI23 Acme Screws R 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 wIP404MDI23 Page Intentionally Left Blank 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 Connector P1N 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 gT e r f a c i n g P o w e r Connector P2 10 Pin HeaderT 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 E s o f t h e D i g i t a l I / O T e r f a c i n g 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 FunctionsTruth Table I/O Used as a Group TTL Interface to Input GroupT 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 s T e r f a c i n g O u t p u t sM p l e U s a g e T e r f a c i n g t h e a n a l o g I n p u tInstall 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 E r a t i o n a l M o d e 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 gS t r u c t i o n s R i a b l e sY w o r d s A g sT i o n C o m m a n d s T h F u n c t i o n sC o m m a n d s Read IO1 Setup PR S1 Read IO2 Setup PR S2Please Note Any program labeled SU will execute on power-up VAR CT Baud Mnemonic Function Unit Range Syntax ExampleI 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 T h e m a t i c a l F u n c t i o n s Symbol FunctionBaud Rate Setup Variable Acceleration Motion VariableRetrieve All Parameters Variable Busy Flag Read Only Motion Flag Branch Program InstructionSet 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 Execute Program Program Instruction Error Number Variable Status VariableHome 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 Move To Relative Position Motion Instruction Motion InstructionPR MS Microstep Resolution Motion VariableMotor Settling Delay Time Motion Variable On Error Handler InstructionO1 O4 Set/Print Output Logic State Variable Set/Print Position Counter Instruction Set Ouputs 1-4 As 1 Value VariablePostition Maintenance Enable Setup Flag Enter/Exit Program Mode Program InstructionPrint Selected Data/Text Instruction Pause Program Instruction Party Mode Enable Flag Setup FlagR1 R4 User Registers User Variable Run Current Setup VariableResume Program Instruction Return From Subroutine InstructionSave to EEProm Instruction Set/Print I/O Point Instruction S1 S4 Set/Print I/O Point Type/Active State InstructionEncoder Variable Stall Detection Mode 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 Create User Variable Name Instruction Read Only Velocity Variable Motion VariableRead Only Firmware Version Factory Variable Appendix a Errors Error Code FaultData Errors Program ErrorsTWENTY-FOUR Month Limited Warranty Western Region