Intelligent Motion Systems 17 Resume Program Instruction, Return From Subroutine Instruction

Page 59

MNEMONIC	FUNCTION	TYPE
RS	Resume Program Instruction	Instruction

DESCRIPTION

This instruction is used to resume a program that has been paused using the PS instruction.

USAGE

RS

EXAMPLE:

RS

RELATED COMMANDS: PS

MNEMONIC	FUNCTION	TYPE
RT	Return From Subroutine	Instruction

DESCRIPTION

This instruction defines the end of a subroutine. This instruction is required and will be the final instruction in the subroutine executed by the CL instruction. When used, it will return to the program address immediately following the CL instruction which executed the subroutine.

USAGE

RT

EXAMPLE:

‘**Program***
	PG100	‘enter program mode at address 100
100	MR 51200	‘move relative 51200
105	H	‘suspend prog. execution until motion completes
109	CL 238	‘Call subroutine at address 238
238	O1=1	‘set output 1 to 1
241	RT	‘return from subroutine

RELATED COMMANDS: CL

MNEMONIC	FUNCTION	TYPE
S	Save to EEProm	Instruction

DESCRIPTION

Saves all variables and flags currently in working memory (RAM) to nonvolatile memory (NVM). The previous values in NVM are completely overwritten with the new values.

When the user modifies variables and flags, they are changed in working memory (RAM) only. If the SAVE instruction is not executed before power is removed from the control module, all modifications to variables & flags since the last SAVE will be lost.

USAGE

S

RELATED COMMANDS: —

57

Image 59

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 Control Knob LMAX2 T a r y M o t o r Specification sC t i o n O v e r v i e w Standard Rotary Motor LmaxMDI1719 N e a r M o t o r Specification sMDI1715 E e d F o r c e C u r v e 4 5 V D C MDI17 Linear ActuatorE e d F o r c e C u r v e 2 4 V D C MDI17 Acme Screws N e r a l Specification sR 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 C o m m e n d e d I M S P o w e r S u p p l i e s E r m a l Specification sW e r S u p p l y R e q u i r e m e n t 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 C o m m e n d e d W i r i n g Connector P1Y 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 N 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 sN g l e M D r i v e Connector P2 10 Pin HeaderT e r f a c i n g P o w e r T 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 sRS-485 Interface, Multiple MDrive Motion Control System Input Functions T e r f a c i n g t h e D i g i t a l I / OE s o f t h e D i g i t a l I / O T e r f a c i n g I n p u t sTruth 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 tS t e m R e q u i r e m e n t s Install i n g a n d U s i n g I M S Te r m i n a lInstallation 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 a b l 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 gE r a t i o n a l M o d e s S t r u c t i o n 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 sC 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 FunctionRetrieve All Parameters Variable Baud Rate Setup VariableAcceleration Motion Variable Busy Flag Read Only Motion Flag Branch Program InstructionClear Program Program Instruction Set Counter 2 Encoder Counts Motion VariableCall Subroutine Program Instruction Deceleration Motion Variable Set Encoder Deadband Setup VariableD1-D5 Digital Input Filtering Variable End Program Execution Program Instruction Drive Enable Flag Setup FlagDevice Name Setup Variable Read-Only Error Flag Status Flag Encoder Enable Flag Setup FlagEcho Mode Flag Setup Flag Execute Program Program Instruction Error Number Variable Status VariableHold Program Execution Program Instruction Home to Index Mark Variable Setup VariableHold Current Setup Variable Read Input Variable Home to Home Switch Variable Setup VariableHold Current Delay Time Setup Variable Increment Variable Program Instruction Read Analog Input VariableRead Encoder Index Mark Variable Initialize Parameters Instruction Joystick Enable Flag Setup FlagRead Inputs 1-4 As 1 Value Variable Label Program/Subroutine Instruction Lock User Program Setup FlagList Program Space Instruction Move To Relative Position Motion Instruction Motion InstructionPR MS Microstep Resolution Motion VariableO1 O4 Set/Print Output Logic State Variable Motor Settling Delay Time Motion VariableOn Error Handler Instruction Set/Print Position Counter Instruction Set Ouputs 1-4 As 1 Value VariablePrint Selected Data/Text Instruction Postition Maintenance Enable Setup FlagEnter/Exit Program Mode Program Instruction Pause Program Instruction Party Mode Enable Flag Setup FlagR1 R4 User Registers User Variable Run Current Setup VariableSave to EEProm Instruction Resume Program InstructionReturn From Subroutine Instruction Set/Print I/O Point Instruction S1 S4 Set/Print I/O Point Type/Active State InstructionEncoder Variable Stall Detection Mode Variable Encoder VariableTrip on Input Variable Trip Enable Flag Setup FlagRead Only Stall Flag Encoder Flag Read User Variables Upgrade Firmware InstructionTrip on Position Variable Create User Variable Name Instruction Read Only Velocity Variable Motion VariableRead Only Firmware Version Factory Variable Appendix a Program Errors Error Code FaultErrors Data ErrorsTWENTY-FOUR Month Limited Warranty Western Region