Intelligent Motion Systems 17 manual

OPERA TING INSTRUCTIONS T intelligent motion systems, inc. Excellence in Motion TM TM[...]

The information in this book has been carefully checked and is believed to be accurate; however, no responsibility is assumed for inaccuracies. Intelligent Motion Systems, Inc., reserves the right to make changes without further notice to any products herein to improve reliability, function or design. Intelligent Motion Systems, Inc., does not assu[...]

1 T able 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 .....................................................[...]

2 V ariables ............................................................................................................................................................................................................................ 3 0 Math Functions .................................................................................................[...]

3 P art 1: General Informa tion and Hardw are Specifica tions[...]

4 Intentionally Left Blank[...]

5 Section 1.1 Introduction to the MDrive17 Motion Control Introduction to the MDrive17 Motion Control 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. The MDrive17 Motion Control adds a versatile array of fu[...]

6 Section 1.2 MDrive17 Motion Control Specifications Section Overview 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 ! General Specifications ! Power Supply Requirements ! Thermal Specifications Rota[...]

7 T able 1.2: Rotary MDI1715 Motor Specifications Figur e 1.3: Rotary MDrive Motion Contr ol 1715 Speed/T or que Data MDrive Motion Control 1715 Motor Specs and Speed/T or que Curves T able 1.3: Rotary MDI1719 Motor Specifications Figur e 1.4: Rotary MDrive Motion Control 1719 Speed/T orque Data MDrive Motion Control 1719 Motor Specs and Speed/T or[...]

8 Speed-Force Curve: 24 VDC Refer to T able 1. 5 for screw pitch information Figure 1.6: Speed-Force Curve - 24VDC (100% Current) Linear Actuator MDrive Motion Control 1713 Specs and Speed-Force Curves T able 1.4: Linear Actuator MDrive17 Motion Contr ol Motor Specifications Speed-Force Curve: 45 VDC Refer to T able 1. 5 for screw pitch information[...]

9 W ARNING: The maximum axial load limit for the MDrive17 Linear motor is 50 lbs (22.7 kg). Do not exceed this rating! T able 1.5: ACME Scr ews for the MDI17 Linear Actuator W ARNING: The ACME Screw MUST NOT deflect more than ± 1 degree perpendicular to the motor face. Additional support for radial loads may be required! MDrive17 Motion Control AC[...]

10 General Specifications Software Program and Data Storage ......................................................................................... Non-V olatile User Program Space .................................................................................................. 767 Bytes User Registers ...........................................[...]

11 Section 1.3 Introduction to the MDrive23 Motion Control Introduction to the MDrive23 Motion Control 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. The MDrive23 Motion Control adds a versatile array of f[...]

12 Section 1.4 MDrive23 Motion Control Specifications Section Overview This section contains mechanical, motor and electrical specifications specific to each version of the MDrive23 Motion Control. Shown are: ! Rotary Motor Specifications ! Linear Motor Specifications ! General Specifications ! Power Supply Requirements ! Thermal Specifications Rot[...]

13 T able 1.7: Rotary MDI2222 Motor Specifications 140 120 100 80 60 40 20 0 99 85 71 56 42 28 14 0 1000 2000 3000 4000 5000 6000 7000 Speed in Full Steps per Second T orque in Oz - In T orque in N - cm 24 VDC 45 VDC Figur e 1.10: Rotary MDrive Motion Contr ol 2222 Speed/T orque Data MDrive Motion Control 2222 Motor Specs and Speed/T or que Curves [...]

14 Speed-Force Curve: 24 VDC Refer to T able 1.10 for screw pitch information Figure 1.13: Speed-Force Curve - 24VDC (100% Current) 160 180 200 140 120 100 80 60 40 20 0 712 890 623 801 534 445 356 267 178 89 0 1000 2000 3000 4000 5000 6000 7000 Speed in Full Steps per Second Force (lbs) Load Limit 200 lbs Force (N)Load Limit 890N Screw D Screw E S[...]

15 T able 1.10: ACME Scr ews for the MDI23 Linear Actuator W ARNING: The ACME Screw MUST NOT deflect more than ± 1 degree perpendicular to the motor face. Additional support for radial loads may be required! W ARNING: The maximum axial load limit for the MDrive23 Linear motor is 200 lbs (90.7 kg). Do not exceed this rating! MDrive23 Motion Control[...]

16 General Specifications Software Program and Data Storage ......................................................................................... Non-V olatile User Program Space .................................................................................................. 767 Bytes User Registers ...........................................[...]

17 P art 2: Connecting, Configuring and Programming the MDrive Motion Control[...]

18 Intentionally Left Blank[...]

19 Connector P1 Pin # Flying Lead Function Description 1 White/Y ellow I/O1 Open Collector I/O Point #1, +5 to +24VDC 2 White/Orange I/O2 Open Collector I/O Point #2, +5 to +24VDC 3 White/Violet I/O3 Open Collector I/O Point #3, +5 to +24VDC 4 White/Blue I/O4 Open Collector I/O Point #4, +5 to +24VDC 5 Green Analog Input 10 Bit, 0 to 5V Analog Inpu[...]

20 PIN 1 +12 to +48 VDC Unregulated Linear or Unregulated Switching Power Supply PWR GND +VDC OUTPUT Shielded Twisted Pair 18 AWG MDrive23 Motion Control Earth T able 2.2: P2 Pin Configuration and Description Connector P2 - 10 Pin Header Pin # Function Description 1- 5 N/C Reserved 6 RX + RS-485 Receive + 7 RX - RS-485 Receive - 8 T X - RS-485 Tran[...]

21 Multiple MDrive Motion Control System (Party Mode) In systems with multiple controllers it is necessary to communicate with the control modules using party mode (PY=1) of opera- tion. The MDrive Motion Control nodes in the system are configured in software for this mode of operation by setting the Party Flag (PY) to True (1). It is necessary for[...]

22 Interfacing the Digital 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. The digital I/O may be defined as either active HIGH or active LOW . When the I/O is configure[...]

23 Interfacing Inputs as a Group Example PIN 1 MDrive23 Motion Control 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 +5VDC Figure 2.6: TTL Interface to Input Group T ruth T able - I/O Used as a Group D E C IO4 IO3 IO2 IO1 0 0 000 1 0 001 2 0 010 3 0 0[...]

24 Interfacing Outputs The MDrive Motion Control Outputs may be configured as either general purpose or set to one of two dedicated functions, Fault o r Moving. These outputs will sink up to 700 mA max and may be connected to +5 to +24VDC. Note that a current limiting resistor ma y be required to limt the current to 700 mA. As with the inputs the M[...]

25 Interfacing the Analog Input The analog input of the MDrive Motion Control is a 0 to 5V , 10 bit resolution input. This offers the user the ability to receiv e input from temperature, pressure or other forms of sensors, and then control events based upon the input. The value of this input will be read using the I5 instruction, which has a range [...]

26 Section 2.2 MDrive Motion Control Software Introduction Section Overview This section will acquaint the user with basics of MDrive Motion Control Programming ! Installing IMS T erminal Software ! Upgrading the MDrive Firmware ! The MDrive Program Installing and Using IMS T er minal System Requirements ! IBM Compatible PC. ! Windows 95/98 or Wind[...]

27 1 ) T o open the IMS T erminal select Start > Programs > IMS T erminal > IMS T erminal. 2 ) Click the File Menu Item “Edit>Preferences”. 3 ) Click the “Comm Settings” tab. 4 ) Select the Communications Port that you will be using with your MDrive Motion Control. 5 ) The BAUD rate is already set to the MDrive Motion Control de[...]

28 Setting the Programmable Function Keys The IMS T erminal features the capability of programming up to 10 function keys, a feature typically found in more advanced terminal programs. These can be set to provide quick access to commonly used MDrive Immediate mode commands, execute programs, or even hold entire MDrive programs as there is no charac[...]

29 MDrive Motion Control Programming The MDrive programming language consists of simple 1-2 character mnemonics. Operational Modes There are two operational modes for the MDrive. Immediate and Program: 1] Immediate: Commands are issued and executed directly to the MDrive Motion Control by user entry into the terminal window . 2] Program: Commands a[...]

30 Flags 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. Factory Defined Flags Factory defined flags are predefined at the factory and cannot be deleted. When a FD (Factory Defaults) instruction is given, these flags will be retu[...]

31 Math Functions 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 † =P+R2 Subtraction ................................................................. K3 † =R1-P Multiplicat[...]

32 I/O Commands S<1-4> This command configures the T ype 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 – “ PR S2 ” Setting the I/O parameters Set IO 3 parameters – “S3=0,1” Sets IO3 as a General Purpose Input, Active High For example: T o set IO4 as a[...]

33 LB 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 charact[...]

34 H Delays program execution in milliseconds. Switches to program mode at address 200 PG 200 Label command will name the program LB K1 xxxxx Program named by LB command xxxxx xxxxx Delay 2 seconds between re-execution of program H 2000 Unconditional branch to K1 BR K1 Designates the end of the program E Switches out of program mode P PRINT Outputs[...]

35 Mnemonic Function Unit Range Syntax Example BD Communications BAUD Rate BA UD 48, 96, 19, 38, 1 1 BD = < ba u d> DE Enable/Disable Drive - 1/0 DE=<1/0> D N Device Name Character a-z, A-Z, 0-9 DN=<char> E M Echo Mode 0 (def)=Full Duplex, 1=Half Duplex Mode 0/1 EM=<mode> IP Initial Parameters from EEPROM - - I P P Y Enable/[...]

36 Mnemonic Function Unit Range Syntax Example D 1 Set Input 1 Digital Filtering Milliseconds 0-255 D1=<time> D 2 Set Input 2 Digital Filtering Milliseconds 0-255 D2=<time> D 3 Set Input 3 Digital Filtering Milliseconds 0-255 D3=<time> D 4 Set Input 4 Digital Filtering Milliseconds 0-255 D4=<time> D 5 Set Input 5 Digital Fil[...]

37 Mnemonic Function Unit Range Syntax Example C 1 Set Counter 1 Motor Counts Signed 32 bit C1=<counts> H M Home to Home Switch T ype 1- 4 HM <type> P Set/Read Position Motor/Encoder Counts Signed 32 bit P=<counts> PC Read Captured Position at Trip TP Trip on Position Position - TP <pos>, <addr> TE Trip Enable See T ab[...]

38 MNEMONIC FUNCTION TYPE B D BAUD Rate Setup V ariable DESCRIPTION This variable sets the baud rate for serial communications with the MDrive. It sets the rate for the RS-485 interface. The baud rate is set by indicating the first two digits of the desired rate as shown in the range section below . In order for the new BAUD rate to take effect, th[...]

39 MNEMONIC FUNCTION TYPE B R Branch Program Instruction 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 [...]

40 MNEMONIC FUNCTION TYPE C L Call Subroutine Program Instruction DESCRIPTION This function can be used to invoke a subroutine within a program. This allows the user to segment code and call a subroutine from a number of places rather than repeating code within a program. There are two parameters to the CL instruction. The first specifies the progr[...]

41 MNEMONIC FUNCTION TYPE D Deceleration Motion V ariable DESCRIPTION The D variable sets the peak deceleration of the MDrive in steps per second 2 . USAGE UNITS RANGE DEF AUL T D=<decl> Steps/sec 2 0 to 1525878997 1000000 EXAMPLE: D=20000 ‘set acceleration to 20000 step/sec 2 D= A ‘set deceleration equal to acceleration RELA TED COMMANDS[...]

42 MNEMONIC FUNCTION TYPE DN Device Name Setup V ariable DESCRIPTION The DN V ariable 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). All MDrive system nodes will respond if the name in a command is given as “*”. When the n[...]

43 MNEMONIC FUNCTION TYPE E E Encoder Enable Flag Setup Flag DESCRIPTION The EE flag enables or disables the optional encoder mode of the MDrive Motion Control. USAGE DEF AUL T EE= <0/1> 0 (Disabled) EXAMPLE: EE=0 ‘Disable encoder mode EE=1 ‘Enable encoder mode RELA TED COMMANDS: DB, C2, SF , SM, ST MNEMONIC FUNCTION TYPE E M Echo Mode Fl[...]

44 MNEMONIC FUNCTION TYPE ER Error Number V ariable Status V ariable 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 [...]

45 MNEMONIC FUNCTION TYPE H Hold Program Execution Program Instruction 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 b[...]

46 MNEMONIC FUNCTION TYPE H T Hold Current Delay Time Setup V ariable DESCRIPTION The HT variable sets the delay time in milliseconds between the cessation of motion and when the MDrive Motion Control shifts t o the holding current level specified by the HC (Motor Holding Current) variable. The delay time is also effected by the MT (Motor Settling [...]

47 MNEMONIC FUNCTION TYPE IC Increment V ariable Program Instruction DESCRIPTION The IC instruction will increment the specified variable by one. USAGE IC <var> EXAMPLE: IC R4 ‘Increment User Register 4 RELA TED COMMANDS: IC MNEMONIC FUNCTION TYPE I 5 Read Analog Input I/O V ariable DESCRIPTION This variable will read the value of the volta[...]

48 MNEMONIC FUNCTION TYPE I N Read Inputs 1-4 As 1 V alue I/O V ariable 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),[...]

49 MNEMONIC FUNCTION TYPE L B Label Program/Subroutine Instruction DESCRIPTION The LB, or Label Instruction, allows the user to assign a 2 character name to a program, branch process within a program or subroutine. The restrictions for this command are: 1] A label cannot be named after a MDrive Motion Control Instruction, V ariable or Flag. 2] The [...]

50 MNEMONIC FUNCTION TYPE M D Motion Mode Motion Instruction DESCRIPTION Indicates what the last motion command was, so that when just a number is entered, then it will read MD to define the new motion. USAGE MD EXAMPLE: MA 200000 ‘move absolute 200000 steps, set current mode to MA -200000 ‘move absolute -200000 steps MR 1000000 ‘move relativ[...]

51 MNEMONIC FUNCTION TYPE M S Microstep Resolution Motion V ariable 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° steppin[...]

52 MNEMONIC FUNCTION TYPE M T Motor Settling Delay Time Motion V ariable 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 DEF AUL T MT=<time> milliseconds 0 t o 65000 0 EXAMPLE: MT=50 ‘Set[...]

53 MNEMONIC FUNCTION TYPE O T Set Ouputs 1-4 As 1 V alue I/O V ariable 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 Output[...]

54 MNEMONIC FUNCTION TYPE P G Enter/Exit Program Mode Program Instruction DESCRIPTION When starting program mode, you must specify at what address to enter the program instructions in the program space. Simply type “PG” again when you have finished entering your program commands to go back to immediate mode. While in program mode, leading tabs,[...]

55 MNEMONIC FUNCTION TYPE P Y Party Mode Enable Flag Setup Flag DESCRIPTION The party flag will be set to 1 if the MDrive Motion Control is being used in a multidrop system. When party mode is enabled each MDrive in the system must be addressed using the device name, specified by the DN instruction. This name will precede any command given to a spe[...]

56 MNEMONIC FUNCTION TYPE RC Run Current Setup V ariable DESCRIPTION This variable defines the motor run current in percent. USAGE UNITS RANGE DEF AUL T RC=<percent> Percent 1to 100 25 EXAMPLE: RC=75 ‘Set motor run current to 75% RELA TED COMMAND: HC MNEMONIC FUNCTION TYPE R1 - R4 User Registers User V ariable DESCRIPTION The MDrive Motion [...]

57 MNEMONIC FUNCTION TYPE S Save to EEProm Instruction DESCRIPTION Saves all variables and flags currently in working memory (RAM) to nonvolatile memory (NVM). The previous values in NVM are completely overwritten with the new values. When the user modifies variables and flags, they are changed in working memory (RAM) only . If the SA VE instructio[...]

58 MNEMONIC FUNCTION TYPE S1 - S4 Set/Print I/O Point T ype/Active State I/O Instruction DESCRIPTION This instruction is used to setup the I/O type and active states for I/O points 1 - 4. Each of MDrive Motion Control I/O point s 1- 4 may be programmed as either general purpose inputs and outputs, or to one of nine dedicated input functions or one [...]

59 MNEMONIC FUNCTION TYPE S F Stall Factor V ariable Encoder V ariable DESCRIPTION If the encoder is enabled (EE = 1) and the encoder differs from the motor by more than the specified factor , a ST ALL is indicat ed. If SM is set to 0, then the motor will be stopped when a ST ALL is detected. USAGE UNITS RANGE DEF AUL T SF=<counts> Encoder co[...]

60 MNEMONIC FUNCTION TYPE S T Read Only Stall Flag Encoder 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 ‘motor stalled RELA TED COMMANDS: EE, SF , ST MNEMO[...]

61 MNEMONIC FUNCTION TYPE T P T rip on Position V ariable 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. USAGE TP[...]

62 MNEMONIC FUNCTION TYPE V Read Only V elocity V ariable Motion V ariable 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[...]

63 MNEMONIC FUNCTION TYPE V M Maximum V elocity V ariable Motion V ariable DESCRIPTION The VM variable specifies the maximum velocity in counts per second that the axis will reach during a move command USAGE UNITS RANGE DEF AUL T VM=<velocity> Counts per sec 1 to 5000000 768000 EXAMPLE: VM=51200 ‘set max velocity to 51200 counts per second [...]

64 Appendix A ASCII T ABLE D e c Hex Char D e c Hex Char D e c Hex Char D e c Hex Char 0 0 N U L 32 20 64 40 @ 96 60 ` 1 1 S O H 33 21 ! 65 41 A 97 61 a 2 2 S T X 34 22 " 66 42 B 98 62 b 3 3 E T X 35 23 # 67 43 C 99 63 c 4 4 E O T 36 24 $ 68 44 D 1 00 64 d 5 5 E N Q 37 25 % 69 45 E 10 1 65 e 6 6 AC K 38 26 & 70 46 F 10 2 66 f 7 7 B E L 39 [...]

65 Appendix B Error Codes Error Code Fault 0 No Error I/O Errors 1 I/O1 Fault 2 I/O2 Fault 3 I/O3 Fault 4 I/O4 Fault 5 I/O5 Fault 6 An I/O is already set to this type. 7 Tried to set an Input or defined I/O. 8 Tried to set an I/O to an incorrect I/O type. 9 Tried to write to I/O set as input or is “TYPED”. 1 0 Illegal I/O number . Data Errors 2[...]

TWENTY-FOUR MONTH LIMITED WARRANTY Intelligent Motion Systems, Inc., warrants its products against defects in materials and work- manship for a period of 24 months from receipt by the end-user. During the warranty period, IMS will either, at its option, repair or replace Products which prove to be defective. EXCLUSIONS The above warranty shall not [...]

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 W estern U.S. T echnical Suppor t 105 Copperwood W ay , Suite H Oceanside, CA 92054 Phone: 760/966-3162 Fax: 760/966-3165 E-mail Motors Division: motors@imsho[...]