Intelligent Motion Systems 17 manual Mnemonic Function Unit Range Syntax Example, Baud

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Section 2 . 3

M D r i v e M o t i o n C o n t r o l C o m m a n d S e t S u m m a r y

S e t u p I 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

Mnemonic

Function

Unit

Range

Syntax Example

BD

Communications BAUD Rate

BAUD

48, 96, 19, 38, 11

BD=<baud>

DE

Enable/Disable Drive

-

1/0

DE=<1/0>

DN

Device Name

Character

a-z, A-Z, 0-9

DN=<char>

EM

Echo Mode 0 (def)=Full Duplex, 1=Half Duplex

Mode

0/1

EM=<mode>

IP

Initial Parameters from EEPROM

-

-

IP

PY

Enable/Disable Party Mode

Mode

1/0

PY=<mode>

UG

Upgrade Firmware

Code

2956102

IMS Term. Upgrader

M i s c e l l a n e o u s I 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

Mnemonic

Function

Unit

Range

Syntax Example

AL

All Parameters, Used with PR (Print)

-

-

PR AL

BY

BSY Flag 1=Prog. Running

-

0/1

PR BY

PR

Print Selected Data and/or Text

-

-

PR <data/text string>

R1

User Register 1

Number

Signed 32 bit

R1=<number>

R2

User Register 2

Number

Signed 32 bit

R2=<number>

R3

User Register 3

Number

Signed 32 bit

R3=<number>

R4

User Register 4

Number

Signed 32 bit

R4=<number>

VR

Firmware Version

Number

-

PR VR

UV

Read User Variables

-

=

PR UV

M o t i o n I 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

Mnemonic

Function

Unit

Range

Syntax Example

(-)

Do Previously Set Mode to/at This Value

per mode

 

-<number>

A

Set Acceleration

Steps/Sec2

1000000000

A=<accel>

D

Set Deceleration

Steps/Sec2

1000000000

D=<decel>

HC

Set Hold Current

% (Percent)

0 to 100

HC=<percent>

HT

Set Hold Current Delay Time

milliseconds

0-65000

HT=<msec>

MA

Set Mode and Move to Abs. Position

±Position

Signed 32 bit

MA <±pos>

MD

Motion Mode Setting

-

-

-

MR

Set Mode and Move to Relative Position

±Distance

Signed 32 bit

MR <±dist>

MS

Set Microstep Resolution

Microsteps/step

MSEL Table

MS=<param>

MT

Motor Settling Delay Time

milliseconds

0-65000

MT=<msec>

MV

Moving Flag

-

-

PR MV

 

 

 

 

 

RC

Set Run Current

% (Percent)

1 to 100

RC=<percent>

SL

Set Mode and Slew Axis

Steps/sec

±5000000

SL=<velocity>

 

 

 

 

 

V

Read Current Velocity

Steps/sec

±5000000

PR V

VI

Set Initial Velocity

Steps/sec

1-5000000

VI=<velocity>

VM

Set Maximum Velocity

Steps/sec

1-5000000

VM=<velocity>

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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 LMAX2MDI1715 N e a r M o t o r Specification sMDI1719 E e d F o r c e C u r v e 2 4 V D C MDI17 Linear ActuatorE e d F o r c e C u r v e 4 5 V D C 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 w N e r a l Specification sMDI17 Acme Screws W e r S u p p l y R e q u i r e m e n t s E r m a l Specification 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 tInstallation Install i n g a n d U s i n g I M S Te r m i n a lS 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 s C 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 FunctionAcceleration Motion Variable Baud Rate Setup VariableRetrieve All Parameters Variable Busy Flag Read Only Motion Flag Branch Program InstructionCall Subroutine Program Instruction Set Counter 2 Encoder Counts Motion VariableClear Program Program Instruction D1-D5 Digital Input Filtering Variable Set Encoder Deadband Setup VariableDeceleration Motion Variable Device Name Setup Variable Drive Enable Flag Setup FlagEnd Program Execution Program Instruction Echo Mode Flag Setup Flag Encoder Enable Flag Setup FlagRead-Only Error Flag Status Flag Execute Program Program Instruction Error Number Variable Status VariableHold Current Setup Variable Home to Index Mark Variable Setup VariableHold Program Execution Program Instruction Hold Current Delay Time Setup Variable Home to Home Switch Variable Setup VariableRead Input Variable Read Encoder Index Mark Variable Read Analog Input VariableIncrement Variable Program Instruction Read Inputs 1-4 As 1 Value Variable Joystick Enable Flag Setup FlagInitialize Parameters Instruction List Program Space Instruction Lock User Program Setup FlagLabel Program/Subroutine Instruction Move To Relative Position Motion Instruction Motion InstructionPR MS Microstep Resolution Motion VariableOn Error Handler Instruction Motor Settling Delay Time Motion VariableO1 O4 Set/Print Output Logic State Variable Set/Print Position Counter Instruction Set Ouputs 1-4 As 1 Value VariableEnter/Exit Program Mode Program Instruction Postition Maintenance Enable Setup FlagPrint Selected Data/Text Instruction Pause Program Instruction Party Mode Enable Flag Setup FlagR1 R4 User Registers User Variable Run Current Setup VariableReturn From Subroutine Instruction Resume Program 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 VariableRead Only Stall Flag Encoder Flag Trip Enable Flag Setup FlagTrip on Input Variable Trip on Position Variable Upgrade Firmware InstructionRead 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
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