Intelligent Motion Systems 17 manual Move To Relative Position Motion Instruction

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MNEMONIC	FUNCTION	TYPE
MA	Move To Absolute Position	Motion Instruction

DESCRIPTION

Set mode for absolute move and move to an absolute position. MD (Current Mode) will be set to MA.

USAGE	UNITS
MA <±pos>	motor counts

EXAMPLE:
MA 51200	‘move motor to absolute position 51200 in positive direction
MA -51200	‘move motor to absolute position 51200 in negative direction

RELATED COMMANDS: MD, MR, MS, P

MNEMONIC	FUNCTION	TYPE
MD	Motion Mode	Motion Instruction

DESCRIPTION

Indicates what the last motion command was, so that when just a number is entered, then it will read MD to define the new motion.

USAGE

MD

EXAMPLE:
MA 200000	‘move absolute 200000 steps, set current mode to MA
-200000	‘move absolute -200000 steps
MR 1000000	‘move relative 1000000 steps, set current mode to MR
-1000000	‘move relative -1000000 steps
SL 20000	‘slew 20000 steps/sec. set current mode to SL
-10000	‘slew 10000 steps/sec in minus direction
PR MD	return current mode setting

RELATED COMMANDS: MD, MR, MS, P, PR, SL

MNEMONIC	FUNCTION	TYPE
MR	Move To Relative Position	Motion Instruction

DESCRIPTION

Set mode for relative move and move a relative distance. MD (Current Mode) will be set to MR.

USAGE	UNITS
MR <±distances>	motor counts

EXAMPLE:
MR 200000	‘move motor to 200000 motor counts postive direction
MR -50000	‘move motor to 50000 motor counts in a negative direction

RELATED COMMANDS: MD, MA, MS, P

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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