Intelligent Motion Systems 17 Acceleration Motion Variable, Retrieve All Parameters Variable

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Section 2 . 4

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

MNEMONIC	FUNCTION	TYPE
A	Acceleration	Motion Variable

DESCRIPTION

The A Variable sets the peak acceleration that will be reached by the MDrive in steps per second2.

USAGE	UNITS	RANGE	DEFAULT
A=<accl>	Steps/sec2	0 to 1525878997	1000000

EXAMPLE:
A=20000	‘set acceleration to 20000 steps/sec2
A=D	‘set acceleration equal to deceleration

RELATED COMMANDS: D

MNEMONIC	FUNCTION	TYPE
AL	Retrieve All Parameters	Variable

DESCRIPTION

The AL variable is used with the PR (PRINT) instruction to print the value/state of all variables and flags to the terminal program.

USAGE

PR AL

RELATED COMMANDS: PR

MNEMONIC	FUNCTION	TYPE
BD	BAUD Rate	Setup Variable

DESCRIPTION

This variable sets the baud rate for serial communications with the MDrive. It sets the rate for the RS-485 interface. The baud rate is set by indicating the first two digits of the desired rate as shown in the range section below.

In order for the new BAUD rate to take effect, the user must issue the S (SAVE) instruction and then reset the MDrive. When the MDrive is reset, it will communicate at the new BAUD rate.

48 = 4800 bps, 96 = 9600 bps, 19 = 19200 bps, 38 = 38000 bps, 11 = 115200 bps

USAGE	UNITS	RANGE	DEFAULT
BD=<baud>	bits per second	48, 96, 19, 38, 11	9600 bps

EXAMPLE:
BD=96	‘set communications BAUD rate to 9600 bps

RELATED COMMANDS: —

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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 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