Intelligent Motion Systems 17 manual List of Figures

Page 4

Variables

30

Math Functions

31

Motion Commands

31

I/O Commands

32

System Instructions

32

Program Instructions

32

Section 2.3: MDrive Motion Control Command Set Summary

35

Setup Instructions, Variables and Flags

35

Miscellaneous Instructions, Variables and Flags

35

Motion Instructions, Variables and Flags

35

I/O Instructions, Variables and Flags

36

Program Instructions, Variables and Flags

36

Position Related Instructions, Variables and Flags

37

Encoder Related Instructions, Variables and Flags

37

Mathematical Functions

37

Section 2.4: MDrive Motion Control Command Set

38

Appendix A: ASCII TABLE

64

Appendix B: Error Codes

65

 

List of Figures

 

Figure 1.1

Rotary MDrive17 Motion Control Mechanical Specifications

6

Figure 1.2

Rotary MDrive17 Motion Control 1713 Speed/Torque Data

6

Figure 1.3

Rotary MDrive17 Motion Control 1715 Speed/Torque Data

7

Figure 1.4

Rotary MDrive17 Motion Control 1719 Speed/Torque Data

7

Figure 1.5

Linear Actuator MDrive17 Motion Control Mechanical Specifications

7

Figure 1.6

Speed-Force Curve - 24VDC (100% Current)

8

Figure 1.7

Speed-Force Curve - 45VDC (100% Current)

8

Figure 1.8

Rotary MDrive23 Motion Control Mechanical Specifications

12

Figure 1.9

Rotary MDrive23 Motion Control 2218 Speed/Torque Data

12

Figure 1.10 Rotary MDrive23 Motion Control 2222 Speed/Torque Data

13

Figure 1.11 Rotary MDrive23 Motion Control 2231 Speed/Torque Data

13

Figure 1.12 Linear Actuator MDrive23 Motion Control Mechanical Specifications

13

Figure 1.13 Speed-Force Curve - 24VDC (100% Current)

14

Figure 1.14 Speed-Force Curve - 45VDC (100% Current)

14

Figure 2.1

Power Supply Interface

20

Figure 2.2

RS-485 Interface, Single MDrive Motion Control

20

Figure 2.3

RS-485 Interface, Multiple MDrive Motion Control System

21

Figure 2.4

Input Interfaced to a Switch

22

Figure 2.5

Input Interfaced to a PLC

22

Figure 2.6

TTL Interface to an Input Group

23

Figure 2.7

Output Interfaced to an LED

24

Figure 2.8

Output Interfaced to a Relay

24

Figure 2.9

Outputs Interfaced tp LED’s as a Group

24

Figure 2.10 Analog Input Interface

25

Figure 2.11 IMS Terminal Window

26

Figure 2.12 IMS Terminal Preferences

27

Figure 2.13 IMS Terminal Upgrader Window

28

 

List of Tables

 

Table 1.1

Rotary MDI1713 Motor Specifications

6

Table 1.2

Rotary MDI1715 Motor Specifications

7

Table 1.3

Rotary MDI1719 Motor Specifications

7

Table 1.4

Linear Actuator MDrive17 Motion Control Motor Specifications

8

Table 1.5

ACME Screws for Linear Actuator MDrive17 Motion Control

9

Table 1.6

Rotary MDI2218 Motor Specifications

12

Table 1.7

Rotary MDI2222 Motor Specifications

13

Table 1.8

Rotary MDI2231 Motor Specifications

13

Table 1.9

Linear Actuator MDrive23 Motion Control Motor Specifications

14

Table 1.10

ACME Screws for Linear Actuator MDrive23 Motion Control

15

Table 2.1

P1 Pin Configuration and Description

19

Table 2.2

P2 Pin Configuration and Description

20

Table 2.3

Input Functions

22

Table 2.4

I/O Group Truth Table

23

Table 2.5

Output Functions

24

Table 2.6

Microstep Resolution Settings

51

2

Page 3 Page 5
Image 4
Page 3 Page 5
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 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 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 eInstallation 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 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 sAcceleration Motion Variable Baud Rate Setup VariableRetrieve All Parameters Variable Branch Program Instruction Busy Flag Read Only Motion FlagCall 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 Error Number Variable Status Variable Execute Program Program InstructionHold 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 Motion Instruction Move To Relative Position Motion InstructionMicrostep Resolution Motion Variable PR MSOn Error Handler Instruction Motor Settling Delay Time Motion VariableO1 O4 Set/Print Output Logic State Variable Set Ouputs 1-4 As 1 Value Variable Set/Print Position Counter InstructionEnter/Exit Program Mode Program Instruction Postition Maintenance Enable Setup FlagPrint Selected Data/Text Instruction Party Mode Enable Flag Setup Flag Pause Program InstructionRun Current Setup Variable R1 R4 User Registers User VariableReturn From Subroutine Instruction Resume Program 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 VariableRead Only Stall Flag Encoder Flag Trip Enable Flag Setup FlagTrip on Input Variable Trip on Position Variable Upgrade Firmware InstructionRead 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
Top Page Image Contents