Application Notes

MCode: Configuring Liberty MDrive Inputs

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Description

The input setup (Is) command is used to set the functionality of all inputs, digital and analog. The parameters define the input point to be configured, the desired functionality, and the active response state high or low.

Applicable

  • Liberty* MDrive

Requirements

  1. +5 to +24 VDC  supply (if using sourcing inputs).
  2. Input devices
  3. Cabling: 22 AWG shielded twisted pairs for I/O, Shielded twisted pair for power, AWG determined by length and current.

Details

Is – Input setup command

The input setup (Is) command is used to set the functionality of all inputs, digital and analog. The parameters define the input point to be configured, the desired functionality, and the active response state high or low.

Digital inputs

Usage

When applied to the digital inputs 1 – 4 the input setup command is utilized thus:

Is=<input #>, <function>, <active>

Example:

Digital input functions

All digital input parameters are listed in the table below.

Inputs
InputNotes
1May be programmed to any function, not available in NEMA 17 sizes
2Maybe programmed to any function except capture
3Maybe programmed to any function except capture
4Maybe programmed to any function except capture
Functions
FunctionDescription
0General purpose input (default)
1Homing function will function as specified by the homing command (HM).
2Limit + will function as specified by the limit command (LM).
3Limit —, will function as specified by the limit command (LM).
4G0 input, will run program at address 1 upon activation.
5Soft stop, stops motion with deceleration and halts program execution. If program is paused (PS), input is ignored.
6Pause, pause/resume program with motion
7Jog +, Will Jog motor in the positive direction at Max. Velocity (VM). The Jog Enable (JE) Flag must be set for this to function.
8Jog —, Will Jog motor in thenegative direction at max. velocity (VM). The jog enable (JE) flag must be set for this to function.
11Reset, When set as RESET input, then the action is equivalent to a ^C entered into a terminal. Note: If setting the input to sourcing, active true, ground the input first or a reset will occur.
12Capture input witll operate with the Trip Capture (TC) trip to run a subroutine when active NOTE: THIS FUNCTION APPLIES TO INPUT 1 ONLY!
Active
StateDescription
0Active when LOW
1Active when HIGH (default)

Analog Input

Usage

When used to setup the analog input, the Is command is used in this manner:

Is=5, <mode>, <level>

Example:

Analog input details

Modes
Description
9Voltage mode (default)
10Current mode
Levels
Description
00 to +5V (voltage mode), 0 to 20 mA (current mode) (default)
10 to 10V (voltage mode), 4 to 20 mA (current mode)

Encoder inputs

Usage and details

The encoder index mark only has one settable parameter, which is the active response state.

Is=6,0,<active>

This can be active when LOW (0, default) or active when HIGH (1).

General input usage commands

MnemonicFunctionUsage exampleDescription
Individual input point control commands
I<input>Read an individual input state as 1 or 0PR I4Read the state of input 4
CL k3, I4=1Call subroutine k3 when I/O 4 is ACTIVE (1)
Binary coded decimal (BCD) commands
INRead all logic inputs as a group.PR INRead inputs1 – 4 as a group (response will be 0 – 15 based on I1 being LSb and I4 being MSb)
Note on NEMA 17 models the response range will be 0-7.
Input filtering commands
D<input>=<0-255>Set the input filtering to time in millisecondsD1=150Set the filter for input 1 to 150 milliseconds. Input must be stable for 150 msec before the change will be detected.
Input trip
TI=<input>, <subroutine>Sets the operation of an input tripTI=2, K3Execute subroutine labeled K3 when input 2 is active.

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