Application Notes
MCode: Configuring Liberty MDrive Outputs
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Description
The output setup (Os) command is used to set the functionality of the outputs. The parameters define the output point to be configured, the desired functionality, and the active control state high or low.
Applicable
- Liberty* MDrive
Requirements
- +5 to +24 VDC I/O supply
- Output devices
- Cabling: 22 AWG shielded twisted pairs for I/O, Shielded twisted pair for power, AWG determined by length and current.
Details
Os – Output setup
The output setup (Os) command is used to set the functionality of the outputs. The parameters define the output point to be configured, the desired functionality, and the active control state high or low. When applied to outputs 1 – 2 the output setup command is utilized thus:
Os=<output #>, <function>, <active>
Example:
1 | Os=2,17,1 ‘configure output 2 to be a Moving output active when HIGH. |
Output functions
All digital input parameters are listed in the table below.
| Outputs | |
|---|---|
| Output | Notes |
| 1 | May be programmed to any function except trip and Encoder Channel B. Not available in NEMA 17 Sizes |
| 2 | May be programmed to any function except trip and Encoder Channel A. Not available in NEMA 17 Sizes |
| 3 | May be programmed to any function except as an Encoder output. External circuitry may be required if using to drive inductive loads. |
| Functions | |
| Function | Description |
| 16 | USER: General purpose user output. (Default) |
| 17 | MOVING: output will be active while the axis is in motion. |
| 18 | ERROR: will be active when a software error occurs. |
| 19 | STALL: Indicates a stall has been detected [Closed loop models only] |
| 20 | VCHANGE: velocity changing indicates the axis is accelerating or decelerating. |
| 21 | LOCKED ROTOR: indicates the rotor is in a locked state [Closed loop models only]. |
| 23 | MOVINGPOS: indicates the axis is moving to a specified position. |
| 24 | HMT ACTIVE: indicates when HMT is active [Closed loop models only]. |
| 25 | MAKE UP ACTIVE: indicates when HMT is making up steps [Closed loop models only]. |
| 26 | ENC A: Encoder channel A output applies to output 1 only. Os=1,26,<0/1> [Closed loop models only]. |
| 27 | ENC B: Encoder channel B output applies to output 2 only. Os=2,27,<0/1> [Closed loop models only]. |
| 28 | TRIP OUT, applies to output 3 only, active low only. Os=3,28,0 |
| 29 | ATTENTION indicates a status or statuses as configured by the AO variable. |
| Active | |
| State | Description |
| 0 | Active when LOW (default) |
| 1 | Active when HIGH |
General output usage commands
An I/O instruction results in the change of parameters or the state of an input or output. The syntax for these commands are as follows: type the command then an equal sign, then the data. Example:
1 | O2=0 ‘set output 2 to 0 |
| Mnemonic | Function | Usage example | Description |
|---|---|---|---|
| Individual I/O point control commands | |||
| O<output> | Set the logic state of an individual output | O3=1 | Set output 3 HIGH (1) |
| Binary coded decimal (BCD) commands | |||
| OT=<0-7> | Set the logic state of all outputs | OT=7 | Set outputs 1 – 3 HIGH Note On NEMA17 models this command in not applicable |
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