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Intelligent Motion Systems 17 manual 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

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I / O 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
D1	Set Input 1 Digital Filtering	Milliseconds	0-255	D1=<time>
D2	Set Input 2 Digital Filtering	Milliseconds	0-255	D2=<time>
D3	Set Input 3 Digital Filtering	Milliseconds	0-255	D3=<time>
D4	Set Input 4 Digital Filtering	Milliseconds	0-255	D4=<time>
D5	Set Input 5 Digital Filtering	Milliseconds	0-255	D5=<time>
I1	Read Input 1	-	0/1	PR I1, BR I1,<cond>
I2	Read Input 2	-	0/1	PR I2, BR I2,<cond>
I3	Read Input 3	-	0/1	PR I3, BR I3,<cond>
I4	Read Input 4	-	0/1	PR I4, BR I4,<cond>
I5	Read Input 5 (Analog)	-	0-1024	PR I5, BR I5,<cond>
I6	Read Encoder Index Mark Low true
IN	Read Inputs 1-4 as One Value	data	0-15	PR IN
O1	Set Output 1 to Logic State	-	0/1	O1=<1/0>
O2	Set Output 2 to Logic State	-	0/1	O2=<1/0>
O3	Set Output 3 to Logic State	-	0/1	O3=<1/0>
O4	Set Output 4 to Logic State	-	0/1	O4=<1/0>
OT	Write Data to Outputs 1-4 as One Value	data	0-15	OT=<data>
S1	Setup IO Point 1	Type, Active	Type Table, 0/1	S1=<type>,<active>
S2	Setup IO Point 2	Type, Active	Type Table, 0/1	S2=<type>,<active>
S3	Setup IO Point 3	Type, Active	Type Table, 0/1	S3=<type>,<active>
S4	Setup IO Point 4	Type, Active	Type Table, 0/1	S4=<type>,<active>
TI	Trip on Input	-	-	TI <input>,<addr>
TE	Trip Enable	See Table	<1-4>	TE=<num>

P r o g r a m 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
BR	Branch (Conditional/Unconditional)	-	-	BR <addr>, <cond>
CL	Call Subroutine (Conditional/Unconditional)	-	-	CL <addr>, <cond>
CP	Clear Program	Address	1-767	CP <addr>
DC	Decrement Variable	-	-	DC <var/ureg>
E	End Program Execution	-	-	E
EX	Execute Program at Address Using Selected Trace Mode		1-767	EX <addr>, <mode>
H	Hold Prog. Execution Blank/0=Motion stops	milliseconds	Blank(0)/1-65000	H=<msec>
IC	Increment Variable	-	-	IC <var>
L	List Program	Address	1-767	L <addr>
LB	Create a Program Address Label Name
OE	On Error Handler 0=Disabled	Address	0/1-767	OE <addr>

PG	Start Program Entry at Specified Address	-	Blank/1-767	PG <addr>
RT	Return from Subroutine	-	-	RT
S	Save to EEPROM	-	-	S
VA	Create A User Variable Name

UV	Read User Variables	-	-	PR UV

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Intelligent Motion Systems 17 manual 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

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 Standard Rotary Motor Lmax T a r y M o t o r Specification sC t i o n O v e r v i e w Control Knob LMAX2MDI1719 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 MDrive23 Motion Control Specifications MDI2218MDI2222 MDI2231MDI23 Linear Actuator Refer to .10 for screw pitch informationR 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 w MDI23 Acme ScrewsIP404MDI23 Page Intentionally Left Blank 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 s 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 C o m m e n d e d W i r i n gT 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 Connector P2 10 Pin HeaderT e r f a c i n g P o w e r N g l e M D r i v eRS-485 Interface, Multiple MDrive Motion Control System T e r f a c i n g I n p u t s 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 Input FunctionsTTL Interface to Input Group Truth Table I/O Used as a GroupT e r f a c i n g O u t p u t s T 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 sT e r f a c i n g t h e a n a l o g I n p u t M p l e U s a g eS 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 S t r u c t i o n 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 R i a b l e sA g s Y w o r d sT h F u n c t i o n s T i o n C o m m a n d sRead IO1 Setup PR S1 Read IO2 Setup PR S2 C o m m a n d sPlease Note Any program labeled SU will execute on power-up VAR CT Mnemonic Function Unit Range Syntax Example BaudI 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 Symbol Function T h e m a t i c a l F u n c t i o n sRetrieve All Parameters Variable Baud Rate Setup VariableAcceleration Motion Variable Branch Program Instruction Busy Flag Read Only Motion FlagClear 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 Error Number Variable Status Variable Execute Program Program InstructionHold 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 Motion Instruction Move To Relative Position Motion InstructionMicrostep Resolution Motion Variable PR MSO1 O4 Set/Print Output Logic State Variable Motor Settling Delay Time Motion VariableOn Error Handler Instruction Set Ouputs 1-4 As 1 Value Variable Set/Print Position Counter InstructionPrint Selected Data/Text Instruction Postition Maintenance Enable Setup FlagEnter/Exit Program Mode Program Instruction Party Mode Enable Flag Setup Flag Pause Program InstructionRun Current Setup Variable R1 R4 User Registers User VariableSave to EEProm Instruction Resume Program InstructionReturn From Subroutine Instruction S1 S4 Set/Print I/O Point Type/Active State Instruction Set/Print I/O Point InstructionStall Detection Mode Variable Encoder 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 Read Only Velocity Variable Motion Variable Create User Variable Name InstructionRead Only Firmware Version Factory Variable Appendix a Data Errors Error Code FaultErrors Program ErrorsTWENTY-FOUR Month Limited Warranty Western Region