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Intelligent Motion Systems 17 manual Mnemonic Function Unit Range Syntax Example, Baud

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Section 2 . 3

M D r i v e M o t i o n C o n t r o l C o m m a n d S e t S u m m a r y

S e t u p I 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

Mnemonic	Function	Unit	Range	Syntax Example
BD	Communications BAUD Rate	BAUD	48, 96, 19, 38, 11	BD=<baud>
DE	Enable/Disable Drive	-	1/0	DE=<1/0>
DN	Device Name	Character	a-z, A-Z, 0-9	DN=<char>
EM	Echo Mode 0 (def)=Full Duplex, 1=Half Duplex	Mode	0/1	EM=<mode>
IP	Initial Parameters from EEPROM	-	-	IP
PY	Enable/Disable Party Mode	Mode	1/0	PY=<mode>
UG	Upgrade Firmware	Code	2956102	IMS Term. Upgrader

M i s c e l l a n e o u s I 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

Mnemonic	Function	Unit	Range	Syntax Example
AL	All Parameters, Used with PR (Print)	-	-	PR AL
BY	BSY Flag 1=Prog. Running	-	0/1	PR BY
PR	Print Selected Data and/or Text	-	-	PR <data/text string>
R1	User Register 1	Number	Signed 32 bit	R1=<number>
R2	User Register 2	Number	Signed 32 bit	R2=<number>
R3	User Register 3	Number	Signed 32 bit	R3=<number>
R4	User Register 4	Number	Signed 32 bit	R4=<number>
VR	Firmware Version	Number	-	PR VR
UV	Read User Variables	-	=	PR UV

M o t i o n I 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

Mnemonic	Function	Unit	Range	Syntax Example
(-)	Do Previously Set Mode to/at This Value	per mode		-<number>
A	Set Acceleration	Steps/Sec2	1000000000	A=<accel>
D	Set Deceleration	Steps/Sec2	1000000000	D=<decel>
HC	Set Hold Current	% (Percent)	0 to 100	HC=<percent>
HT	Set Hold Current Delay Time	milliseconds	0-65000	HT=<msec>
MA	Set Mode and Move to Abs. Position	±Position	Signed 32 bit	MA <±pos>
MD	Motion Mode Setting	-	-	-
MR	Set Mode and Move to Relative Position	±Distance	Signed 32 bit	MR <±dist>
MS	Set Microstep Resolution	Microsteps/step	MSEL Table	MS=<param>
MT	Motor Settling Delay Time	milliseconds	0-65000	MT=<msec>
MV	Moving Flag	-	-	PR MV

RC	Set Run Current	% (Percent)	1 to 100	RC=<percent>
SL	Set Mode and Slew Axis	Steps/sec	±5000000	SL=<velocity>

V	Read Current Velocity	Steps/sec	±5000000	PR V
VI	Set Initial Velocity	Steps/sec	1-5000000	VI=<velocity>
VM	Set Maximum Velocity	Steps/sec	1-5000000	VM=<velocity>

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Intelligent Motion Systems 17 manual Mnemonic Function Unit Range Syntax Example, Baud

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 C t i o n O v e r v i e w T a r y M o t o r Specification sStandard 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 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 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 s Connector P1N 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 gT e r f a c i n g P o w e r Connector P2 10 Pin HeaderT 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 E s o f t h e D i g i t a l I / O T e r f a c i n g 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 FunctionsTruth 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 E r a t i o n a l M o d 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 gS t r u c t i o n s R i a b l e 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 Errors Error Code FaultData Errors Program ErrorsTWENTY-FOUR Month Limited Warranty Western Region