Variables | 30 | |
Math Functions | 31 | |
Motion Commands | 31 | |
I/O Commands | 32 | |
System Instructions | 32 | |
Program Instructions | 32 | |
Section 2.3: MDrive Motion Control Command Set Summary | 35 | |
Setup Instructions, Variables and Flags | 35 | |
Miscellaneous Instructions, Variables and Flags | 35 | |
Motion Instructions, Variables and Flags | 35 | |
I/O Instructions, Variables and Flags | 36 | |
Program Instructions, Variables and Flags | 36 | |
Position Related Instructions, Variables and Flags | 37 | |
Encoder Related Instructions, Variables and Flags | 37 | |
Mathematical Functions | 37 | |
Section 2.4: MDrive Motion Control Command Set | 38 | |
Appendix A: ASCII TABLE | 64 | |
Appendix B: Error Codes | 65 | |
| List of Figures |
|
Figure 1.1 | Rotary MDrive17 Motion Control Mechanical Specifications | 6 |
Figure 1.2 | Rotary MDrive17 Motion Control 1713 Speed/Torque Data | 6 |
Figure 1.3 | Rotary MDrive17 Motion Control 1715 Speed/Torque Data | 7 |
Figure 1.4 | Rotary MDrive17 Motion Control 1719 Speed/Torque Data | 7 |
Figure 1.5 | Linear Actuator MDrive17 Motion Control Mechanical Specifications | 7 |
Figure 1.6 | 8 | |
Figure 1.7 | 8 | |
Figure 1.8 | Rotary MDrive23 Motion Control Mechanical Specifications | 12 |
Figure 1.9 | Rotary MDrive23 Motion Control 2218 Speed/Torque Data | 12 |
Figure 1.10 Rotary MDrive23 Motion Control 2222 Speed/Torque Data | 13 | |
Figure 1.11 Rotary MDrive23 Motion Control 2231 Speed/Torque Data | 13 | |
Figure 1.12 Linear Actuator MDrive23 Motion Control Mechanical Specifications | 13 | |
Figure 1.13 | 14 | |
Figure 1.14 | 14 | |
Figure 2.1 | Power Supply Interface | 20 |
Figure 2.2 |
| 20 |
Figure 2.3 |
| 21 |
Figure 2.4 | Input Interfaced to a Switch | 22 |
Figure 2.5 | Input Interfaced to a PLC | 22 |
Figure 2.6 | TTL Interface to an Input Group | 23 |
Figure 2.7 | Output Interfaced to an LED | 24 |
Figure 2.8 | Output Interfaced to a Relay | 24 |
Figure 2.9 | Outputs Interfaced tp LED’s as a Group | 24 |
Figure 2.10 Analog Input Interface | 25 | |
Figure 2.11 IMS Terminal Window | 26 | |
Figure 2.12 IMS Terminal Preferences | 27 | |
Figure 2.13 IMS Terminal Upgrader Window | 28 | |
| List of Tables |
|
Table 1.1 | Rotary MDI1713 Motor Specifications | 6 |
Table 1.2 | Rotary MDI1715 Motor Specifications | 7 |
Table 1.3 | Rotary MDI1719 Motor Specifications | 7 |
Table 1.4 | Linear Actuator MDrive17 Motion Control Motor Specifications | 8 |
Table 1.5 | ACME Screws for Linear Actuator MDrive17 Motion Control | 9 |
Table 1.6 | Rotary MDI2218 Motor Specifications | 12 |
Table 1.7 | Rotary MDI2222 Motor Specifications | 13 |
Table 1.8 | Rotary MDI2231 Motor Specifications | 13 |
Table 1.9 | Linear Actuator MDrive23 Motion Control Motor Specifications | 14 |
Table 1.10 | ACME Screws for Linear Actuator MDrive23 Motion Control | 15 |
Table 2.1 | P1 Pin Configuration and Description | 19 |
Table 2.2 | P2 Pin Configuration and Description | 20 |
Table 2.3 | Input Functions | 22 |
Table 2.4 | I/O Group Truth Table | 23 |
Table 2.5 | Output Functions | 24 |
Table 2.6 | Microstep Resolution Settings | 51 |
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