Deceleration Motion Variable | Intelligent Motion Systems 17

MNEMONIC	FUNCTION	TYPE
D1-D5	Digital Input Filtering	I/O Variable

DESCRIPTION

This variable will set the digital filtering to be applied to the selected input 1 - 5. The input must be stable for “time” amount of milliseconds before a change in state is available.

USAGE	UNITS	RANGE
D <1-5>=<time>	Milliseconds	0 to 255

EXAMPLE:
D1=0	‘no debounce
D4=150	‘150 mSec of filtering

RELATED COMMANDS: I1-I5

MNEMONIC	FUNCTION		TYPE
D	Deceleration		Motion Variable
DESCRIPTION
The D variable sets the peak deceleration of the MDrive in steps per second2.

USAGE	UNITS	RANGE	DEFAULT
D=<decl>	Steps/sec2	0 to 1525878997	1000000

EXAMPLE:
D=20000	‘set acceleration to 20000 step/sec2
D=A	‘set deceleration equal to acceleration

RELATED COMMANDS: A,

MNEMONIC	FUNCTION		TYPE
DB	Set Encoder Deadband		Setup Variable
DESCRIPTION
This variable defines the + and - length of the encoder deadband in encoder counts.
When the encoder is enabled, a move is not completed until motion stops within DB.

USAGE	UNITS	RANGE	DEFAULT
DB=<counts>	Encoder Counts	0 to 65000	1

EXAMPLE:
DB=5	‘Set Encoder Deadband to ± 5 encoder counts

RELATED COMMANDS: EE

MNEMONIC	FUNCTION		TYPE
DC	Decrement Variable		Program Instruction
DESCRIPTION
The DC instruction will decrement the specified variable by one.

USAGE
DC <var>

EXAMPLE:
DC R1	‘Decrement User Register 1

RELATED COMMANDS: IC

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Intelligent Motion Systems 17 manual D1-D5 Digital Input Filtering Variable, Deceleration Motion Variable

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 MDI1715 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 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 Installation 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 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 Acceleration Motion Variable Baud Rate Setup VariableRetrieve All Parameters Variable Busy Flag Read Only Motion Flag Branch Program Instruction Call 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 Variable Hold 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 Instruction PR MS Microstep Resolution Motion Variable On 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 Variable Enter/Exit Program Mode Program Instruction Postition Maintenance Enable Setup FlagPrint Selected Data/Text Instruction Pause Program Instruction Party Mode Enable Flag Setup Flag R1 R4 User Registers User Variable Run Current Setup Variable Return 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 Instruction Encoder Variable Stall Detection Mode Variable Encoder Variable Read 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 Variable Read Only Firmware Version Factory Variable Appendix a Program Errors Error Code FaultErrors Data Errors TWENTY-FOUR Month Limited Warranty Western Region