Intelligent Motion Systems 17 Home to Home Switch Variable Setup Variable, Read Input Variable

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MNEMONIC	FUNCTION	TYPE
HM	Home to Home Switch Variable	Setup Variable

DESCRIPTION

This instruction will find the selected I/O switch. There are four types for this command:

1)Speed (S): Specifies the direction and speed that the axis will move until the switch is activated (VM).

2)Creep (C): Specifies the direction and speed that the axis will move off the switch until it becomes inactive again (VI).

When HM is executed, the axis moves in the direction specified by the sign of speed at VM. It then creeps off of the switch in the direction specified by the sign of creep at VI. Motion is stopped as soon as the switch becomes deactivated.

USAGE	TYPES
HM=<type>	1: S- C+, 2: S- C-, 3: S+ C-, 4: S+ C+

EXAMPLE:
HM=3	‘Find home switch at VM in the plus direction, Creep off at VI in the minus direction

RELATED COMMANDS: VM, VI, S1-S4

MNEMONIC	FUNCTION	TYPE
HT	Hold Current Delay Time	Setup Variable

DESCRIPTION

The HT variable sets the delay time in milliseconds between the cessation of motion and when the MDrive Motion Control shifts to the holding current level specified by the HC (Motor Holding Current) variable. The delay time is also effected by the MT (Motor Settling Delay Time) variable in that the total time from motion ceasing to current change is represented by the sum of MT + HT

USAGE	UNITS	RANGE	DEFAULT
HT=<time>	milliseconds	0 to 65000	500

EXAMPLE:
HT=1500	‘Set hold current delay time to 1.5 seconds

RELATED COMMANDS: HC, MT, RC

MNEMONIC	FUNCTION	TYPE
I1 - I4	Read Input	I/O Variable

DESCRIPTION

This variable will read the state of the specified input 1 - 4. Can be used with PR (Print), BR (Branch) and Cl (Call Subroutine) instructions. Can also be used with Ri-R4 and User Variables.

USAGE

PR I<1-4>

BR <addr>, I<1-4>=<1/0>

CL <addr>, I<1-4>=<1/0>

EXAMPLE:
PR I2	‘Print the state of Input 2 to the Terminal Screen
BR 128, I3=1	‘Conditional branch to program line 128 if Input 3 = 1
CL 432, I4=0	‘Call subroutine at line 432 if Input 4 = 0

RELATED COMMANDS: IN, O1-O4, PR, S1-S4

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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 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 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 eInstall 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 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 sBaud Rate Setup Variable Acceleration Motion VariableRetrieve All Parameters Variable Branch Program Instruction Busy Flag Read Only Motion FlagSet 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 Error Number Variable Status Variable Execute Program Program InstructionHome 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 Motion Instruction Move To Relative Position Motion InstructionMicrostep Resolution Motion Variable PR MSMotor Settling Delay Time Motion Variable On Error Handler InstructionO1 O4 Set/Print Output Logic State Variable Set Ouputs 1-4 As 1 Value Variable Set/Print Position Counter InstructionPostition Maintenance Enable Setup Flag Enter/Exit Program Mode Program InstructionPrint Selected Data/Text Instruction Party Mode Enable Flag Setup Flag Pause Program InstructionRun Current Setup Variable R1 R4 User Registers User VariableResume Program Instruction Return From Subroutine 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 VariableTrip Enable Flag Setup Flag Read Only Stall Flag Encoder FlagTrip on Input Variable Upgrade Firmware Instruction Trip on Position VariableRead 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