Related Manuals for IMS 17
Summary of Contents for IMS 17
- Page 1 Excellence in Motion OPERA TING INSTRUCTIONS...
- Page 2 Intelligent Motion Systems, Inc. Intelligent Motion Systems, Inc.’s general policy does not recommend the use of its products in life support or aircraft applications wherein a failure or malfunction of the product may directly threaten life or injury. Per Intelligent Motion Systems, Inc.’s terms and conditions of sales, the user of Intelligent Motion Systems, Inc.,...
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Page 3: Table Of Contents
Part 1: General Information And Hardware Information Section 1.1: Introduction to the MDrive17 Motion Control ... 5 Introduction to the MDrive17 Motion Control ... 5 Feature Summary ... 5 Section 1.2: MDrive17 Motion Control Specifications ... 6 Section Overview ... 6 Rotary Motor Specifications ... - Page 4 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 ...
- Page 5 Part 1: General Information and Hardware Specifications...
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Page 7: Section 1.1: Introduction To The Mdrive17 Motion Control
I n t r o d u c t i o n t o t h e M D r i v e 1 7 M o t i o n C o n t r o l The MDrive17 Motion Control offers the system designer a low-cost, intelligent motion controller integrated with a NEMA 17 high torque stepping motor and a +12 to +48 VDC microstepping drive. -
Page 8: Section 1.2: Mdrive17 Motion Control Specifications
S e c t i o n 1 . 2 S e c t i o n O v e r v i e w This section contains mechanical, motor and electrical specifications specific to each version of the MDrive17 Motion Control. Shown are: Rotary Motor Specifications Linear Motor Specifications... -
Page 9: Mdrive Motion Control 1715 Motor Specs And Speed/Torque Curves
M D r i v e M o t i o n C o n t r o l 1 7 1 5 M o t o r S p e c s a n d S p e e d / T o r q u e C u r v e s MDI1715 Holding Torque oz-in (N-cm) Detent Torque oz-in (N-cm) -
Page 10: Speed-Force Curve: 24 Vdc
L i n e a r A c t u a t o r M D r i v e M o t i o n C o n t r o l 1 7 1 3 S p e c s a n d S p e e d - F o r c e C u r v e s Maximum Thrust lbs (kg) Maximum Screw Deflection... -
Page 11: Mdrive17 Motion Control Acme Screw
M D 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 WARNING: The maximum axial load limit for the MDrive17 Linear motor is 50 lbs (22.7 kg). Do not exceed this rating! WARNING: The ACME Screw MUST NOT deflect more than ±... -
Page 12: General Specifications
G e n e r a l S p e c i f i c a t i o n s S o f t w a r e Program and Data Storage ... Non-Volatile User Program Space ... 767 Bytes User Registers ... -
Page 13: Section 1.3: Introduction To The Mdrive23 Motion Control
S e c t i o n 1 . 3 I n t r o d u c t i o n t o t h e M D r i v e 2 3 M o t i o n C o n t r o l The MDrive23 Motion Control offers the system designer a low-cost, intelligent motion controller integrated with a NEMA 23 high torque stepping motor and a +12 to +48 VDC microstepping drive. -
Page 14: Section 1.4: Mdrive23 Motion Control Specifications
1.860 SQ. (47.24 SQ.) 2.22 SQ. (56.39 SQ.) Control Knob (L MAX2 Stack In (mm) 2218 3.088 (78.44) 2222 3.537 (89.84) 2231 4.416 (112.17) 1000 2000 3000 4000 5000 Speed in Full Steps per Second 24 VDC 45 VDC 6000 7000... -
Page 15: Mdrive Motion Control 2222 Motor Specs And Speed/Torque Curves
M D r i v e M o t i o n C o n t r o l 2 2 2 2 M o t o r S p e c s a n d S p e e d / T o r q u e C u r v e s MDI2222 Holding Torque oz-in (N-cm) Detent Torque oz-in (N-cm) -
Page 16: Speed-Force Curve: 24 Vdc
L i n e a r A c t u a t o r M D r i v e M o t i o n C o n t r o l 2 2 1 8 S p e c s a n d S p e e d - F o r c e C u r v e s Maximum Thrust lbs (kg) Maximum Screw Deflection... -
Page 17: Mdrive23 Motion Control Acme Screw
M D 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 WARNING: The maximum axial load limit for the MDrive23 Linear motor is 200 lbs (90.7 kg). Do not exceed this rating! WARNING: The ACME Screw MUST NOT deflect more than ±... -
Page 18: General Specifications
G e n e r a l S p e c i f i c a t i o n s S o f t w a r e Program and Data Storage ... Non-Volatile User Program Space ... 767 Bytes User Registers ... -
Page 19: Part 2: Connecting, Configuring And Programming The Mdrive Motion Control
Part 2: Connecting, Configuring and Programming the MDrive Motion Control... - Page 20 Intentionally Left Blank...
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Page 21: Section 2.1: Interfacing The Mdrive Motion Control
S e c t i o n 2 . 1 S e c t i o n O v e r v i e w This section will acquaint the user with connecting and using the MDrive Motion Control. Layout and Interface Guidelines Pin Configuration and Descriptions Interfacing Power Interfacing RS-485 Communications... -
Page 22: Interfacing Power
Pin # Function 1- 5 I n t e r f a c i n g P o w e r An advantage of the MDrive Motion Control is that only a single +12 to +48VDC unregulated linear or unregulated switching power supply is required to power the control circuitry and motor power. -
Page 23: Multiple Mdrive Motion Control System (Party Mode)
M u l t i p l e M D r i v e M o t i o n C o n t r o l S y s t e m ( P a r t y M o d e ) In systems with multiple controllers it is necessary to communicate with the control modules using party mode (PY=1) of opera- tion. -
Page 24: Interfacing The Digital I/O
I n t e r f a c i n g t h e D i g i t a l I / O The MDrive Motion Control comes standard with a set of four (4) open collector +5 to +24VDC I/O point which may be programmed individually as either general purpose or dedicated inputs or outputs, or collectively as a group. -
Page 25: Figure 2.6 Ttl Interface To An Input Group
Interfacing Inputs as a Group Example Sample Software Configuration 'set inputs to user inputs active low, S1=0,0 S2=0,0 S3=0,0 S4=0,0 PR IN 'Read BCD State of Input Group MDrive23 Motion Control +5VDC Figure 2.6: TTL Interface to Input Group Truth Table - I/O Used as a Group Table 2.4: I/O Group Truth Table PIN 1... -
Page 26: Interfacing Outputs
+5 to +24 V Sample Software Configuration #1: FAULT S4=18,0 'Set IO4 to Fault, Active State=LOW Sample Software Configuration #2: MOVING S4=17,0 'Set IO4 to Moving, Active State=LOW (LED will illuminate when Axis is moving) Figure 2.7: Output Interfaced to an LED... -
Page 27: Interfacing The Analog Input
I n t e r f a c i n g t h e A n a l o g I n p u t The analog input of the MDrive Motion Control is a 0 to 5V, 10 bit resolution input. This offers the user the ability to receive input from temperature, pressure or other forms of sensors, and then control events based upon the input. -
Page 28: Section 2.2: Mdrive Motion Control Software Introduction
S e c t i o n 2 . 2 M D r i v e M o t i o n C o n t r o l S o f t w a r e I n t r o d u c t i o n S e c t i o n O v e r v i e w This section will acquaint the user with basics of MDrive Motion Control Programming Installing IMS Terminal Software... -
Page 29: Using The Ims Terminal Software
To open the IMS Terminal select Start > Programs > IMS Terminal > IMS Terminal. Click the File Menu Item “Edit>Preferences”. Click the “Comm Settings” tab. Select the Communications Port that you will be using with your MDrive Motion Control. The BAUD rate is already set to the MDrive Motion Control default. -
Page 30: Setting The Programmable Function Keys
S e t t i n g t h e P r o g r a m m a b l e F u n c t i o n K e y s The IMS Terminal features the capability of programming up to 10 function keys, a feature typically found in more advanced terminal programs. -
Page 31: Mdrive Motion Control Programming
M D 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 The MDrive programming language consists of simple 1-2 character mnemonics. O p e r a t i o n a l M o d e s There are two operational modes for the MDrive. -
Page 32: Flags
F l a g s Flags show the status of an event or condition. A flag will only have one of two possible states: either 1 or 0. Unlike variables, there are only factory defined flags. F a c t o r y D e f i n e d F l a g s Factory defined flags are predefined at the factory and cannot be deleted. -
Page 33: Math Functions
M a t h F u n c t i o n s Another powerful feature of the MDrive Motion Control is its ability to perform common math functions and to use these to manipulate data. Addition ... K2 Subtraction ... K3 Multiplication ... -
Page 34: I/O Commands
I / O C o m m a n d s S < 1 - 4 > This command configures the Type and Active state of I/O points 1-4. Using the PR command to read IO parameters Read IO1 Setup – “PR S1” Read IO2 Setup –... - Page 35 The MDrive Motion Control also offers the user the convenience of naming programs, subroutines and processes to ease in branching from one part of a program to another, or calling a subroutine. These labels, once set, will act as pointers to locations in program memory space. The LB, or Label Instruction, allows the user to assign a 2 character name to a program or branch process within a program or subroutine.
- Page 36 Delays program execution in milliseconds. Switches to program mode at address 200 Label command will name the program Program named by LB command Delay 2 seconds between re-execution of program Unconditional branch to K1 Designates the end of the program Switches out of program mode P R I N T Outputs specified text and parameter values to a terminal or terminal software on a Host PC.
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Page 37: Section 2.3: Mdrive Motion Control Command Set Summary
S e c t i o n 2 . 3 M D r i v e M o t i o n C o n t r o l C o m m a n d S e t S u m m a r y S e t u p I n s t r u c t i o n s , V a r i a b l e s a n d F l a g s Mnemonic Function... -
Page 38: I/O Instructions, Variables And Flags
I / O I n s t r u c t i o n s , V a r i a b l e s a n d F l a g s Mnemonic Function Set Input 1 Digital Filtering Set Input 2 Digital Filtering Set Input 3 Digital Filtering Set Input 4 Digital Filtering... -
Page 39: Position Related Instructions, Variables And Flags
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 , V a r i a b l e s a n d F l a g s Mnemonic Function Set Counter 1... -
Page 40: Section 2.4: Mdrive Motion Control Command Set
S e c t i o n 2 . 4 MNEMONIC DESCRIPTION The A Variable sets the peak acceleration that will be reached by the MDrive in steps per second USAGE A=<accl> EXAMPLE: A=20000 ‘set acceleration to 20000 steps/sec ‘set acceleration equal to deceleration RELATED COMMANDS: D MNEMONIC Retrieve All Parameters... - Page 41 MNEMONIC DESCRIPTION The branch instruction can be used to perform a conditional or unconditional branch to a routine in an MDrive program. It can also be used to perform loops and IF THEN logic within a program. There are two parameters to a branch instruction. These are used to perform two types of branches: Conditional Branch This type of branch first specifies an address or process label where program execution should continue if the second parameter, the condition, is true.
- Page 42 MNEMONIC Set Counter 2 (Encoder Counts) DESCRIPTION This variable contains the raw count representation of the integral 512 line encoder. USAGE C2=<counts> EXAMPLE: C2=512 ‘Set Counter 2 to 512 encoder counts PR C2 ‘Print the value of C2 to the terminal screen RELATED COMMANDS: C1, EE, P MNEMONIC DESCRIPTION...
- Page 43 MNEMONIC D1-D5 Digital Input Filtering 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 D <1-5>=<time>...
- Page 44 MNEMONIC DESCRIPTION The DE flag enables or disables the drive portion of the MDrive Motion Control. USAGE DE= <0/1> EXAMPLE: DE=0 ‘Disable drive DE=1 ‘Enable drive RELATED COMMANDS: — MNEMONIC DESCRIPTION The DN Variable stores the device name to be used when the MDrive is to be addressed in party mode operation. The name is only used when party mode communications is being used (PY = 1).
- Page 45 MNEMONIC Encoder Enable Flag DESCRIPTION The EE flag enables or disables the optional encoder mode of the MDrive Motion Control. USAGE EE= <0/1> EXAMPLE: EE=0 ‘Disable encoder mode EE=1 ‘Enable encoder mode RELATED COMMANDS: DB, C2, SF, SM, ST MNEMONIC DESCRIPTION The Echo Mode Flag will set the full/half duplex configuration of the RS-485 channel.
- Page 46 MNEMONIC Error Number Variable DESCRIPTION The ER variable indicates the program error code for the most recent error that has occurred in the MDrive Motion Control. The ER variable must be read in order to clear the EF flag. See Appendix A of this document for a complete listing of MDrive Motion Control Error Codes. USAGE PR ER EXAMPLE:...
- Page 47 MNEMONIC Hold Program Execution DESCRIPTION The hold instruction is used in a program to suspend program execution. If no parameter is specified the execution of the program will be suspended while motion is in progress. This will typically be used following a MA or MR instruction. A time in milliseconds may be placed as a parameter to the hold instruction, This will suspend program execution for the specified number of milliseconds USAGE...
- Page 48 MNEMONIC Home to Home Switch Variable DESCRIPTION This instruction will find the selected I/O switch. There are four types for this command: 1) Speed (S): Specifies the direction and speed that the axis will move until the switch is activated (VM). 2) Creep (C): Specifies the direction and speed that the axis will move off the switch until it becomes inactive again (VI).
- Page 49 MNEMONIC DESCRIPTION This variable will read the value of the voltage seen on the Analog Input. Can be used with PR (Print), BR (Branch) and Cl (Call Subroutine) instructions. The value read will between 0 and 1028. USAGE PR I5 BR <addr/label>, I5=<0 - 1028>...
- Page 50 MNEMONIC Read Inputs 1-4 As 1 Value DESCRIPTION This keyword will read the binary state of inputs 1-4 and print them as a decimal value. When used thus Input 1 is the Least Significant Bit (LSB), Input 4 is the Most Significant Bit (MSB). It may be used in conjunction with the R1-R4 (User Registers), PR (Print), BR (Branch) and Cl (Call Subroutine) instructions.
- Page 51 MNEMONIC List Program Space DESCRIPTION The L instruction will print the contents of program space beginning at the specified address to the end. If no address is specified it will list beginning at line 1. USAGE L <addr/label> EXAMPLE: L 128 ‘display contents of program space beginning at line 128 RELATED COMMANDS: —...
- Page 52 MNEMONIC Move To Absolute Position DESCRIPTION Set mode for absolute move and move to an absolute position. MD (Current Mode) will be set to MA. USAGE MA <±pos> EXAMPLE: MA 51200 ‘move motor to absolute position 51200 in positive direction MA -51200 ‘move motor to absolute position 51200 in negative direction RELATED COMMANDS: MD, MR, MS, P...
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Page 53: Table 2.6 Microstep Resolution Settings
MNEMONIC Microstep Resolution DESCRIPTION The MS variable controls the microstep resolution of the MDrive Motion Control. There are 14 parameters that can be used with this variable, 8 binary and 6 decimal. The table below illustrates the parameter settings and their associated resolutions for the 1.8° stepping motor used with the MDrive Motion Control. - Page 54 MNEMONIC Motor Settling Delay Time 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 MT=<time> EXAMPLE: MT=50 ‘Set motor setling delay time to 50 milliseconds RELATED COMMANDS: HC, HT, RC MNEMONIC O1 - O4...
- Page 55 MNEMONIC Set Ouputs 1-4 As 1 Value DESCRIPTION The OT variable allows the user to set Outputs 1-4 as one 4 bit binary value. The value is entered in decimal, with a range of 0-15 and will display in binary where Output 1 will be the LSB and Output 4 will be the MSB. Example: OT=12 Output 4 = 1 Output 3 = 1...
- Page 56 MNEMONIC Postition Maintenance Enable DESCRIPTION This flag will enable the position maintenece functions of an MDrive Motion Control with encoder. The position maintenance velocity will be at the setting for VI (Initial Velocity). USAGE PM= <0/1> EXAMPLE: PM=0 ‘Position Maintenance Disabled (Default) PM=1 ‘Position Maintenance Enabled RELATED COMMANDS: VI...
- Page 57 MNEMONIC Pause Program Instruction DESCRIPTION This instruction is used to pause an executing program. Immediate mode instructions are allowed while a program is in a paused state. To resume the program the RS instruction is used. USAGE EXAMPLE: RELATED COMMANDS: RS MNEMONIC Party Mode Enable Flag DESCRIPTION...
- Page 58 MNEMONIC R1 - R4 DESCRIPTION The MDrive Motion Control has four 32 bit user registers to contain numerical data. These registers may contain up to 11 digits including the sign and may be used to store and retrieve data to set variables, perform math functions, store and retrieve moves and set conditions for branches and subroutine calls.
- Page 59 MNEMONIC Resume Program Instruction DESCRIPTION This instruction is used to resume a program that has been paused using the PS instruction. USAGE EXAMPLE: RELATED COMMANDS: PS MNEMONIC Return From Subroutine DESCRIPTION This instruction defines the end of a subroutine. This instruction is required and will be the final instruction in the subroutine executed by the CL instruction.
- Page 60 USAGE S<1-4>=<type>,<active> EXAMPLE: S1=2,0 ‘set i/o point 1 to a limit + function, active when LOW S4=17,1 ‘set i/o point 4 as moving output, active when HIGH RELATED COMMANDS: I1-4, IN, O1-4, OT MNEMONIC Set/Print I/O Point 5 DESCRIPTION This I/O point differs from I/O points 1-4 in that it is factory configured as a 0 - 5 V Analog Input with 10 bit A/D resolution.
- Page 61 MNEMONIC Stall Factor Variable DESCRIPTION If the encoder is enabled (EE = 1) and the encoder differs from the motor by more than the specified factor, a STALL is indicated. If SM is set to 0, then the motor will be stopped when a STALL is detected. USAGE SF=<counts>...
- Page 62 MNEMONIC Read Only Stall Flag DESCRIPTION The ST flag will be set to 1 when a stall is detected. It will be cleared upon execution of another motion command. USAGE PR ST BR <addr>, ST=1 CL <addr>, ST=1 EXAMPLE RESPONSE: ST=0 ‘motor not stalled ST=1...
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Page 63: Upgrade Firmware
MNEMONIC DESCRIPTION Sets up a position event (trip) for the specified position. There are two parameters for the TP variable. The first specifies the address of the subroutine that should be executed when the position is detected The second specifies the position which will cause the event. - Page 64 MNEMONIC Read Only Velocity 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.
- Page 65 MNEMONIC Maximum Velocity Variable DESCRIPTION The VM variable specifies the maximum velocity in counts per second that the axis will reach during a move command USAGE VM=<velocity> EXAMPLE: VM=51200 ‘set max velocity to 51200 counts per second RELATED COMMANDS: VM MNEMONIC Read Only Firmware Version DESCRIPTION...
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Page 66: Appendix A: Ascii Table
A p p e n d i x A D e c H e x C h a r D e c N U L S O H S T X E T X E O T E N Q A C K B E L TA B... -
Page 67: Appendix B: Error Codes
A p p e n d i x B Error Code I/O Errors Data Errors Program Errors Communications Errors Motion Errors Fault No Error I/O1 Fault I/O2 Fault I/O3 Fault I/O4 Fault I/O5 Fault An I/O is already set to this type. Tried to set an Input or defined I/O. - Page 68 (RMA) before returning product for service. Please include a written description of the problem along with contact name and address. Send failed product to: Intelligent Motion Systems, Inc., 370 N. Main St. Marlborough, Connecticut 06447. Also enclose information regarding the circumstances prior to Product failure.
- Page 69 P.O. Box 457, 370 N. Main Street Marlborough, CT 06447 U.S.A. Phone: 860/295-6102 Fax: 860/295-6107 Email: info@imshome.com Home Page: www.imshome.com WESTERN REGION IMS Motors Division and Western U.S. Technical Support 105 Copperwood Way, Suite H Oceanside, CA 92054 Phone: 760/966-3162 Fax: 760/966-3165 E-mail Motors Division: motors@imshome.com...