Intelligent Motion Systems 17 manual A t u r e S u m m a r y

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Section 1 . 1

I n t r o d u c t i o n t o t h e M D r i v e 1 7 M o t i o n C o n t r o l

I n t r o d u c t i o n t o t h e M D r i v e 1 7 M o t i o n C o n t r o l

The MDrive17 Motion Control offers the system designer a low-cost, intelligent motion controller integrated with a NEMA 17 high torque stepping motor and a +12 to +48 VDC microstepping drive.

The MDrive17 Motion Control adds a versatile array of functions by combining a complete programmable motion controller with our already compact and cost effective standard MDrive17, adding little cost and no increase in size. Standard offerings include four 5 to 24 volt programmable I/O points, one 10-bit 0 to 5 volt analog input, 0 to 5 MHz step clock rate, microstep resolution up to 51,200 steps per revolution and a full featured easy-to-program instruction set.

The MDrive17 Motion Control communicates using the RS-485 communications protocol, this allows for point-to-point or multi- drop communications using one communications port. Addressing and hardware support up to 62 MDrive nodes in a system. The communications BAUD rate is software selectable and ranges from 4.8 kbps to 115 kbps.

The MDrive17 is also available with an optional closed loop control. The closed loop configuration adds a 512 line (2048 count) internal magnetic rotary encoder with index mark without increasing the length of the unit. Closed loop configuration adds position maintenance, stall detection and find index mark.

Available motor configurations include: single shaft, double shaft with control knob, and long life ACME screw linear actuator.

Rotary versions are available in three stack lengths: 13, 15 & 19. Interface connections are accomplished using either a 7 position terminal block or optional 12” flying leads.

F e a t u r e S u m m a r y

!Integrated Microstepping Drive/Motion Controller with Optional Encoder/NEMA 17 High Torque Stepping Motor

!+12 to +48VDC Input Voltage

!Low Cost

!Extremely Compact

!Available Configurations: Single Shaft*, Linear Actuator, Integral Encoder*, Double Shaft with Knob for Manual Positioning*

!Three Motor Stack Lengths Available*

!Single Power Supply

!Microstep Resolution up to 51,200 Steps Per Revolution

!Open Loop or Optional Closed Loop Control

!Programmable Motor Run and Hold Current Settings

!Four 5 to 24 VDC Programmable I/O Points

!One Analog 10 Bit, 0 to 5 Volt Analog Input

!0 to 5 MHz Step Clock Rate, SelecTable 1. in 0.59 Hz Increments

!RS-485 Communications Protocol

!Communications BAUD Rate SelecTable 1. from 4.8 kbps to 115 kbps

!62 Software Addresses for Multidrop Communications

!Simple 1 and 2 Character Programming Instructions

!Pluggable Terminal Strip or 12” Flying Lead Interface

!Optional Integrated RS-232 to RS-485 Converter/Communications Cable

*Rotary Motor Only

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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 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 LmaxMDI1715 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 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 tInstallation 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 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 FunctionAcceleration Motion Variable Baud Rate Setup VariableRetrieve All Parameters Variable Busy Flag Read Only Motion Flag Branch Program InstructionCall 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 Execute Program Program Instruction Error Number Variable Status VariableHold 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 Move To Relative Position Motion Instruction Motion InstructionPR MS Microstep Resolution Motion VariableOn Error Handler Instruction Motor Settling Delay Time Motion VariableO1 O4 Set/Print Output Logic State Variable Set/Print Position Counter Instruction Set Ouputs 1-4 As 1 Value VariableEnter/Exit Program Mode Program Instruction Postition Maintenance Enable Setup FlagPrint Selected Data/Text Instruction Pause Program Instruction Party Mode Enable Flag Setup FlagR1 R4 User Registers User Variable Run Current Setup VariableReturn From Subroutine Instruction Resume Program InstructionSave to EEProm Instruction Set/Print I/O Point Instruction S1 S4 Set/Print I/O Point Type/Active State InstructionEncoder Variable Stall Detection Mode 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 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
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