Variables ............................................................................................................................................................................................................................ 30
Math Functions .................................................................................................................................................................................................................. 31
Motion Commands ............................................................................................................................................................................................................. 31
I/O Commands .................................................................................................................................................................................................................. 32
System Instructions .......................................................................................................................................................................................................... 32
Program Instructions ......................................................................................................................................................................................................... 32
Setup Instructions, Variables and Flags ..................................................................................................................................................................................... 35
Motion Instructions, Variables and Flags .................................................................................................................................................................................... 35
I/O Instructions, Variables and Flags ......................................................................................................................................................................................... 36
Program Instructions, Variables and Flags ................................................................................................................................................................................. 36
Mathematical Functions .............................................................................................................................................................................................................. 37
Appendix A: ASCII TABLE ................................................................................................................................................................................ 64
Appendix B: Error Codes ................................................................................................................................................................................. 65
Power Supply Interface ......................................................................................................................................................................................... 20
Input Interfaced to a Switch .................................................................................................................................................................................. 22
Input Interfaced to a PLC ...................................................................................................................................................................................... 22
TTL Interface to an Input Group ............................................................................................................................................................................ 23
Output Interfaced to an LED ................................................................................................................................................................................. 24
Output Interfaced to a Relay ................................................................................................................................................................................ 24
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
Rotary MDI1713 Motor Specifications ..................................................................................................................................................................... 6
Rotary MDI1715 Motor Specifications ..................................................................................................................................................................... 7
Rotary MDI1719 Motor Specifications ..................................................................................................................................................................... 7
Rotary MDI2218 Motor Specifications ................................................................................................................................................................... 12
Rotary MDI2222 Motor Specifications ................................................................................................................................................................... 13
Rotary MDI2231 Motor Specifications ................................................................................................................................................................... 13
P1 Pin Configuration and Description .................................................................................................................................................................... 19
P2 Pin Configuration and Description .................................................................................................................................................................... 20
Input Functions ...................................................................................................................................................................................................... 22
I/O Group Truth Table ............................................................................................................................................................................................. 23
Output Functions ................................................................................................................................................................................................... 24
Microstep Resolution Settings ............................................................................................................................................................................... 51
List of Figures
List of Tables
2