On Error Handler Instruction | Intelligent Motion Systems 17

MNEMONIC	FUNCTION	TYPE
M T	Motor Settling Delay Time	Motion Variable

DESCRIPTION

Specifies the motor settling delay time in milliseconds. MT allows the motor to settle following a move. This is the time between moves if consecutive motions are executed.

USAGE	UNITS	RANGE	DEFAULT
MT=<time>	milliseconds	0 to 65000	0

EXAMPLE:
MT=50	‘Set motor setling delay time to 50 milliseconds

RELATED COMMANDS: HC, HT, RC

MNEMONIC	FUNCTION		TYPE
O1 - O4	Set/Print Output Logic State		I/O Variable

DESCRIPTION

This variable will set the logic state of the specified output to 1 or 0. When used with the PR (Print) instruction it will print the state of the specified output to the terminal screen.

The value of the bit state will be dependant on the active (low/high) state of the input.

USAGE

O<1-4>=<0/1>

PR O<1-4>

EXAMPLE:
O4=1	‘Set Output 4 to 1
PR O2	‘Print the state of Output 2 to the Terminal Screen

RELATED COMMANDS: OT, I1-I4, PR, S1-S4

MNEMONIC	FUNCTION	TYPE
OE	On Error Handler	Instruction

DESCRIPTION

When an error occurs in a program or due to an immediate command, the specified subroutine is called. If a program was running when the fault occurs, once the error routine completes, program execution continues with the instruction after the one that caused the error. A program need not be running for the subroutine specified by OE to run.

The ON ERROR function is disabled by setting the address parameter to 0 or resetting the MDrive Motion Control.

USAGE

OE <address>

EXAMPLE:

‘the following subroutine will set an output high upon an error

PG 100	'Start sub at address 100
OE E1	‘On Error go to E1
LB E1	‘label subroutine E1
O3=1	‘Set Output 3 to Logic 1
RT	'Return from subroutine
E	'End program
PG	'Return to immediate mode

RELATED COMMANDS: EF, ER

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Intelligent Motion Systems 17 manual Motor Settling Delay Time Motion Variable, O1 O4 Set/Print Output Logic State 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 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 LMAX2 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 MDrive23 Motion Control Specifications MDI2218 MDI2222 MDI2231 MDI23 Linear Actuator Refer to .10 for screw pitch information 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 MDI23 Acme Screws IP404MDI23 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 g 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 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 e RS-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 Functions TTL Interface to Input Group Truth Table I/O Used as a Group T 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 s T 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 e 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 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 s A g s Y w o r d s T h F u n c t i o n s T i o n C o m m a n d s Read IO1 Setup PR S1 Read IO2 Setup PR S2 C o m m a n d s Please Note Any program labeled SU will execute on power-up VAR CT Mnemonic Function Unit Range Syntax Example Baud 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 Symbol Function T h e m a t i c a l F u n c t i o n s Baud Rate Setup Variable Acceleration Motion VariableRetrieve All Parameters Variable Branch Program Instruction Busy Flag Read Only Motion Flag 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 Error Number Variable Status Variable Execute Program Program Instruction 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 Motion Instruction Move To Relative Position Motion Instruction Microstep Resolution Motion Variable PR MS Motor Settling Delay Time Motion Variable On Error Handler InstructionO1 O4 Set/Print Output Logic State Variable Set Ouputs 1-4 As 1 Value Variable Set/Print Position Counter Instruction Postition Maintenance Enable Setup Flag Enter/Exit Program Mode Program InstructionPrint Selected Data/Text Instruction Party Mode Enable Flag Setup Flag Pause Program Instruction Run Current Setup Variable R1 R4 User Registers User Variable Resume Program Instruction Return From Subroutine InstructionSave to EEProm Instruction S1 S4 Set/Print I/O Point Type/Active State Instruction Set/Print I/O Point Instruction Stall Detection Mode Variable Encoder 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 Read Only Velocity Variable Motion Variable Create User Variable Name Instruction Read Only Firmware Version Factory Variable Appendix a Data Errors Error Code FaultErrors Program Errors TWENTY-FOUR Month Limited Warranty Western Region