Symbol Function | Intelligent Motion Systems 17 guide

P o s i t i o n R e l a t e d 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
C1	Set Counter 1	Motor Counts	Signed 32 bit	C1=<counts>
HM	Home to Home Switch	Type	1-4	HM <type>
P	Set/Read Position	Motor/Encoder Counts	Signed 32 bit	P=<counts>
PC	Read Captured Position at Trip
TP	Trip on Position	Position	-	TP <pos>, <addr>
TE	Trip Enable	See Table	<1-4>	TE=<num>

E n c o d e r R e l a t e d 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
C2	Set Counter 2	Encoder Counts	Signed 32 bit	C2=<counts>
DB	Set Encoder Deadband	Encoder Counts	0-65000	DB=<counts>
EE	Enable/Disable Encoder Functions	-	1/0	EE=<1/0>
HI	Home to Encoder Index	Type	1-4	HI=<type>
I6	Read Encoder Index Mark	-	-	I6
SF	Set Stall Factor	Encoder Counts	0-65000	SF=<counts>
SM	Set Stall Mode	0=Stop Motor/1=Don’t Stop	1/0	SM=<mode>

ST	Stall Flag	-	0/1	PR ST

M a t h e m a t i c a l F u n c t i o n s

Symbol	Function
+	Add Two Variables and/or Flags

-	Subtract Two Variables and/or Flags
*	Multiply Two Variables and/or Flags

/	Divide Two Variables and/or Flags
<>	Not Equal

=	Equal
<	Less Than
<=	Less Than and/or Equal
>	Greater Than

>=	Greater Than and/or Equal
&	AND (Bitwise)

	OR (Bitwise)
^	XOR (Bitwise)

!	NOT (Bitwise)

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Intelligent Motion Systems 17 manual T h e m a t i c a l F u n c t i o n s, Symbol Function

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 Lmax N e a r M o t o r Specification s MDI1715MDI1719 MDI17 Linear Actuator E e d F o r c e C u r v e 2 4 V D CE e d F o r c e C u r v e 4 5 V D C N e r a l Specification s 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 wMDI17 Acme Screws E r m a l Specification s W e r S u p p l y R e q u i r e m e n t 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 Specifications MDI2231 MDI2222 Refer to .10 for screw pitch information MDI23 Linear Actuator MDI23 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 w IP404MDI23 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 s N 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 s RS-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 s Truth Table I/O Used as a Group TTL Interface to Input Group 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 s T e r f a c i n g O u t p u t s M 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 t Install i n g a n d U s i n g I M S Te r m i n a l InstallationS 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 s Y w o r d s A g s T i o n C o m m a n d s T h F u n c t i o n s C o m m a n d s Read IO1 Setup PR S1 Read IO2 Setup PR S2 Please Note Any program labeled SU will execute on power-up VAR CT Baud Mnemonic Function Unit Range Syntax Example 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 T h e m a t i c a l F u n c t i o n s Symbol Function Baud Rate Setup Variable Acceleration Motion VariableRetrieve All Parameters Variable Busy Flag Read Only Motion Flag Branch Program Instruction Set Counter 2 Encoder Counts Motion Variable Call Subroutine Program InstructionClear Program Program Instruction Set Encoder Deadband Setup Variable D1-D5 Digital Input Filtering VariableDeceleration Motion Variable Drive Enable Flag Setup Flag Device Name Setup VariableEnd Program Execution Program Instruction Encoder Enable Flag Setup Flag Echo Mode Flag Setup FlagRead-Only Error Flag Status Flag Execute Program Program Instruction Error Number Variable Status Variable Home to Index Mark Variable Setup Variable Hold Current Setup VariableHold Program Execution Program Instruction Home to Home Switch Variable Setup Variable Hold Current Delay Time Setup VariableRead Input Variable Read Analog Input Variable Read Encoder Index Mark VariableIncrement Variable Program Instruction Joystick Enable Flag Setup Flag Read Inputs 1-4 As 1 Value VariableInitialize Parameters Instruction Lock User Program Setup Flag List Program Space InstructionLabel Program/Subroutine Instruction Move To Relative Position Motion Instruction Motion Instruction PR MS Microstep Resolution Motion Variable Motor Settling Delay Time Motion Variable On Error Handler InstructionO1 O4 Set/Print Output Logic State Variable Set/Print Position Counter Instruction Set Ouputs 1-4 As 1 Value Variable Postition Maintenance Enable Setup Flag Enter/Exit Program Mode Program InstructionPrint Selected Data/Text Instruction Pause Program Instruction Party Mode Enable Flag Setup Flag R1 R4 User Registers User Variable Run Current Setup Variable Resume Program Instruction Return From Subroutine InstructionSave to EEProm Instruction Set/Print I/O Point Instruction S1 S4 Set/Print I/O Point Type/Active State Instruction Encoder Variable Stall Detection Mode Variable Encoder Variable Trip Enable Flag Setup Flag Read Only Stall Flag Encoder FlagTrip on Input Variable Upgrade Firmware Instruction Trip on Position VariableRead User Variables Create User Variable Name Instruction Read Only Velocity Variable Motion Variable Read Only Firmware Version Factory Variable Appendix a Program Errors Error Code FaultErrors Data Errors TWENTY-FOUR Month Limited Warranty Western Region