Intelligent Motion Systems 17 manual

OPERATING INSTRUCTIONS

intelligent motion systems, inc.

Excellence in MotionTM

Contents

Main Page Table of Contents List of Figures List of Tables Page Page Section 1.1 Introduction to the MDrive17 Motion Control Introduction to the MDrive17 Motion Control Feature Summary Section 1.2 MDrive17 Motion Control Specifications MDrive Motion Control 1713 Motor Specs and Speed/Torque Curves Rotary Motor Specifications MDrive Motion Control 1715 Motor Specs and Speed/Torque Curves Linear Motor Specifications Page MDrive17 Motion Control ACME Screw Power Supply Requirements Recommended IMS Power Supplies Thermal Specifications Section 1.3 Introduction to the MDrive23 Motion Control Introduction to the MDrive23 Motion Control Feature Summary Section 1.4 MDrive23 Motion Control Specifications MDrive Motion Control 2218 Motor Specs and Speed/Torque Curves Rotary Motor Specifications 13 Linear Motor Specifications 1. 5 00.002 ( 38.10 .05) 14 Speed in Full Steps per Second Figure 1.14: Speed-Force Curve - 45VDC (100% Current) Speed in Full Steps per Second Force (lbs) Load Limit 200 lbs Figure 1.13: Speed-Force Curve - 24VDC (100% Current) MDrive23 Motion Control ACME Screw Power Supply Requirements Recommended IMS Power Supplies Thermal Specifications Page Page Section 2.1 Interfacing the MDrive Motion Control Layout and Interface Guidelines Recommended Wiring Pin Configuration and Descriptions Interfacing Power Interfacing RS-485 Communications Single MDrive Multiple MDrive Motion Control System (Party Mode) Interfacing the Digital I/O Uses of the Digital I/O Interfacing Inputs Page Interfacing Outputs Interfacing the Analog Input Sample Usage Section 2.2 MDrive Motion Control Software Introduction Installing and Using IMS Terminal System Requirements ! ! ! ! Using the IMS Terminal Software Setting the Programmable Function Keys Upgrading the MDrive Motion Control Firmware MDrive Motion Control Programming Operational Modes Basic Components of MDrive Motion Control Software Instructions Variables Most Commonly Used Variables and Commands Page I/O Commands System Instructions Program Instructions Please Note: Any program labeled SU will execute on power-up. Page Setup Instructions, Variables and Flags Miscellaneous Instructions, Variables and Flags Motion Instructions, Variables and Flags Section 2.3 MDrive Motion Control Command Set Summary I/O Instructions, Variables and Flags Program Instructions, Variables and Flags Position Related Instructions, Variables and Flags Encoder Related Instructions, Variables and Flags Mathematical Functions BD BAUD Rate Setup Variable A Acceleration Motion Variable Section 2.4 MDrive Motion Control Command Set BR Branch Program Instruction C1 Set Counter 1 (Motor Counts) Motion Variable BY Busy Flag (Read Only) Motion Flag CL Call Subroutine Program Instruction CP Clear Program Program Instruction C2 Set Counter 2 (Encoder Counts) Motion Variable D Deceleration Motion Variable DB Set Encoder Deadband Setup Variable DC Decrement Variable Program Instruction D1-D5 Digital Input Filtering I/O Variable DN Device Name Setup Variable E End Program Execution Program Instruction DE Drive Enable Flag Setup Flag EE Encoder Enable Flag Setup Flag EM Echo Mode Flag Setup Flag EF Read-Only Error Flag Status Flag ER Error Number Variable Status Variable EX Execute Program Program Instruction H Hold Program Execution Program Instruction HC Hold Current Setup Variable HI Home to Index Mark Variable Setup Variable HT Hold Current Delay Time Setup Variable I1 - I4 Read Input I/O Variable HM Home to Home Switch Variable Setup Variable IC Increment Variable Program Instruction I5 Read Analog Input I/O Variable I6 Read Encoder Index Mark I/O Variable IN Read Inputs 1-4 As 1 Value I/O Variable IP Initialize Parameters Instruction JE Joystick Enable Flag Setup Flag LB Label Program/Subroutine Instruction L List Program Space Instruction LK Lock User Program Setup Flag MD Motion Mode Motion Instruction MR Move To Relative Position Motion Instruction MA Move To Absolute Position Motion Instruction MS Microstep Resolution Motion Variable MT Motor Settling Delay Time Motion Variable O1 - O4 Set/Print Output Logic State I/O Variable OE On Error Handler Instruction OT Set Ouputs 1-4 As 1 Value I/O Variable P Set/Print Position Counter Instruction PG Enter/Exit Program Mode Program Instruction PR Print Selected Data/Text Instruction PM Postition Maintenance Enable Setup Flag PY Party Mode Enable Flag Setup Flag PS Pause Program Instruction Instruction RC Run Current Setup Variable R1 - R4 User Registers User Variable S Save to EEProm Instruction RT Return From Subroutine Instruction RS Resume Program Instruction Instruction S1 - S4 Set/Print I/O Point Type/Active State I/O Instruction S5 Set/Print I/O Point 5 I/O Instruction SF Stall Factor Variable Encoder Variable SM Stall Detection Mode Variable Encoder Variable SL Slew Axis Instruction Motion Instruction ST Read Only Stall Flag Encoder Flag TI Trip on Input Variable TE Trip Enable Flag Setup Flag TP Trip on Position Variable UG Upgrade Firmware Instruction UV Read User Variables Variable V Read Only Velocity Variable Motion Variable VA Create User Variable Name Instruction VI Initial Velocity Variable Motion Variable VM Maximum Velocity Variable Motion Variable VR Read Only Firmware Version Factory Variable Appendix A ASCII TABLE Appendix B Error Codes