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Intelligent Motion Systems
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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