Intelligent Motion Systems 17 guide

MNEMONIC	FUNCTION	TYPE
V	Read Only Velocity Variable	Motion Variable

DESCRIPTION

The velocity variable is used in conjunction with the PR (print) instruction to read the current velocity of the axis in counts per second. This variable can also be used with the BR and CL instructions to set a condition based upon a velocity. This variable can also be used in conjunction with the user registers to compute another velocity.

USAGE	UNITS
PR V	Counts per Second
BR <addr>, V=<counts/sec>
CL <addr>, V=<counts/sec>

RELATED COMMANDS: VI, VM

MNEMONIC	FUNCTION	TYPE
VA	Create User Variable Name	Instruction

DESCRIPTION

The VA instruction allows the user to assign a 2 character name to a user defined variable.

The restrictions for this command are:

1]	A variable cannot be named after a MDrive Motion Control Instruction, Variable or Flag.
2]	The first character must be alpha, the second character may be alpha-numeric.
3]	A variable is limited to two characters.

USAGE

VA <char><char>=<value>

EXAMPLE:
VA P2	‘create user var P2
P2=20000	‘set P2 to 20000

RELATED COMMANDS: UV

MNEMONIC	FUNCTION	TYPE
VI	Initial Velocity Variable	Motion Variable

DESCRIPTION

Initial velocity for all motion commands. The factory default value is 1000 clock pulses per second.

The initial velocity for a stepper should be set to avoid the low speed resonance frequency and must be set lower than the pull in torque of the motor. It must also be set to a vaulue lower than VM (Max. Velocity).

USAGE	UNITS	RANGE	DEFAULT
VI=<velocity>	Counts per sec	1 to 5000000	1000

EXAMPLE:
VI=2000	‘set initial velocity to 2000 counts per second

RELATED COMMANDS: VM

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Intelligent Motion Systems 17 manual Read Only Velocity Variable Motion Variable, Create User Variable Name Instruction

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 T a r y M o t o r Specification s C t i o n O v e r v i e wStandard Rotary Motor Lmax Control Knob LMAX2 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 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 Connector P1 Y o u t a n d I n t e r f a c e G u i d e l i n e sN 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 C o m m e n d e d W i r i n g Connector P2 10 Pin Header T e r f a c i n g P o w e rT 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 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 t h e D i g i t a l I / O E s o f t h e D i g i t a l I / OT e r f a c i n g I n p u t s 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 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 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 g E r a t i o n a l M o d e sS t r u c t i o n 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 Acceleration Motion Variable Baud Rate Setup VariableRetrieve All Parameters Variable Branch Program Instruction Busy Flag Read Only Motion Flag 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 Error Number Variable Status Variable Execute Program Program Instruction 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 Motion Instruction Move To Relative Position Motion Instruction Microstep Resolution Motion Variable PR MS On Error Handler Instruction Motor Settling Delay Time Motion VariableO1 O4 Set/Print Output Logic State Variable Set Ouputs 1-4 As 1 Value Variable Set/Print Position Counter Instruction Enter/Exit Program Mode Program Instruction Postition Maintenance Enable Setup FlagPrint Selected Data/Text Instruction Party Mode Enable Flag Setup Flag Pause Program Instruction Run Current Setup Variable R1 R4 User Registers User Variable Return From Subroutine Instruction Resume Program 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 Read Only Stall Flag Encoder Flag Trip Enable Flag Setup FlagTrip on Input Variable Trip on Position Variable Upgrade Firmware InstructionRead User Variables Read Only Velocity Variable Motion Variable Create User Variable Name Instruction Read Only Firmware Version Factory Variable Appendix a Error Code Fault ErrorsData Errors Program Errors TWENTY-FOUR Month Limited Warranty Western Region