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>, […]
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
Global or Local variables Like All MDrive variables, the I/O point configuration can be declared two ways: Globally Locally Global: Global I/O configurations, are declared outside the main body of the program. These are more typical and are used when you want the I/O point to have the same function at all times. Local: Local
PNP Input In this example case we will assume that we need a PNP Sensor connected to an input to trigger events within an MDrive program. Thus we will configure I/O point 1 as a General Input which will activate when HIGH. The command:
1 | S1=0,1,1 |
will set I/O1 to function as we desire: S1=: setup
NPN input This setup example uses the hardware configuration shown in the illustration labeled A on the right. In this example case, we will assume that we need a PLC output to stop the motion of an axis due to an event elsewhere in the system. Thus we will configure I/O point 1 as a
S command (I/O setup) The I/O setup command establishes how the I/O point will function in the system, note that each I/O point MUST be setup individually if changed from the factory default: Will it be an input or an output? Will it be general purpose, or set to a dedicated function? Will it be
Liberty* MDrive Introduction: Sinking or Sourcing The terms sinking and sourcing are used in the Liberty MDrive I/O description to describe the configuration of the I/O point with regards to the current flow through the device when active. Sinking: Voltage “sinks” the current to ground. Sourcing: Voltage “sources” the current from a voltage “source.” Sinking
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 | 'MDRIVE DEMO PROGRAM 'Last modified 08/25/2016 'Sample test program for demonstration purposes only 'Not tested or verified for safety or any function CP 'preclear program memory '******Global Setup Parameters**** S1=0,0,0 'I1-4 set as GP,LOW Active, sinking S2=0,0,0 S3=0,0,0 S4=0,0,0 P=0 Ms=180 'Microstep Res to 0.001 deg/ustep '******Main Program********* PG 1 LB aa R1=Il 'Set register 1 = inputs 4-1 BR z1,R1=0 'conditional branches based BR za,R1=1 'upon the value of IL BR zb,R1=2 BR zc,R1=3 BR zd,R1=4 BR ze,R1=5 BR zf,R1=6 BR zg,R1=7 BR zh,R1=8 BR zi,R1=9 BR zj,R1=10 BR zk,R1=11 BR zl,R1=12 BR zm,R1=13 BR zn,R1=14 BR zo,R1=15 BR aa '*******Program Motion Components******* LB z1 BR aa, P=0 'branch to main prog, position=0 MA 0 'index to abs. pos. 0 H 'Suspend prog. until move completes CL zz 'call the print position sub. BR aa 'BR to main prog when complete LB za 'same as above BR aa, P=36000 MA 36000 H CL zz BR aa LB zb BR aa, P=-36000 MA -36000 H CL zz BR aa LB zc BR aa, P=18000 MA 18000 H CL zz BR aa LB zd BR aa, P=-27000 MA -27000 H CL zz BR aa LB ze BR aa, P=9000 MA 9000 H CL zz BR aa LB zf BR aa, P=-9000 MA -9000 H CL zz BR aa LB zg BR aa, P=4500 MA 4500 H CL zz BR aa LB zh BR aa, P=-4500 MA -4500 H CL zz BR aa LB zi BR aa, P=3000 MA 3000 H CL zz BR aa LB zj BR aa, P=-3000 MA -3000 H CL zz BR aa LB zk BR aa, P=6000 MA 6000 H CL zz BR aa LB zl BR aa, P=-6000 MA -6000 H CL zz BR aa LB zm BR aa, P=7500 MA 7500 H CL zz BR aa LB zn BR aa, P=-7500 MA -7500 H CL zz BR aa LB zo BR aa, P=0 MA 0 H CL zz BR aa '****Print Position Subroutine**** LB zz R2=P/100 'set register 2 to position/100, 'this will display degrees as the unit 'of measure for motor position PR "Position Selected = ",R1 PR "Absolute Position (Degrees) = ",R2 RT E PG |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 | 'LIBERTY* MDRIVE DEMO PROGRAM 'Last modified 02/21/2013 'Sample test program for demontsration purposes only 'Not tested or verified for safety or any function 'Distance traveled is V * 12 sec. ' 33 RPM * 0.2 min = 6.6 revs. X 51200 uSteps = 337920 uStp. ' 66 RPM * 0.2 min = 13.2 revs. X 51200 uSteps = 675840 uStp. '100 RPM * 0.2 min = 19.8 revs. X 51200 uSteps = 1013760 uStp. ' Slew Rate is V/60 * 51200 uSteps/sec. ' 33 RPM /60 Sec. X 51200 uSteps = 28160 uStp./Sec. ' 66 RPM /60 Sec. X 51200 uSteps = 56320 uStp./Sec. '100 RPM /60 Sec. X 51200 uSteps = 85333 uStp./Sec. 'Step 1 V=33RPM 'Step 2 V=66RPM 'Step 3 V=100RPM 'Step 4 V=66RPM 'Step 5 V=33RPM 'Step 6 V=-33RPM 'Step 7 V=-66RPM 'Step 8 V=-100RPM 'Step 9 V=-66RPM 'Step 10 V=-33RPM 'STEPS ' 1 2 3 4 5 6 7 8 9 10 ' ____ ' ____| |____ ' ___| |___ '_|______________________|______________________________Ds ' |___ ____| ' |____ ____| ' |____| '[VARIABLES] VA Sp=33*51200/60 'Step 1 speed 33 RPM * 51200 Stp/rev /60 s/m VA Ds=50000 'Length of first step. '[PROGRAMS] PG 1 R1=0 P=0 'set position counter to 0 LB Aa PR "" PR "Starting Step 1 P=",P," V=",V Tp Ds,X1 Te=2 Vm=Sp 'Step 1 speed 33 RPM * 51200 Stp/rev /60 s/m MA Ds*9,0,1 LB G1 BR G1,R1=0 R1=0 BR Aa E '[SUBROUTINES] 'Each sub will move a dist at a velocity 'then redefine and re-enable the trip 'Step 2 speed 66 RPM * 51200 Stp/rev /60 s/m LB X1 PR " Starting Step 2 P=",P," V=",V Vm= Sp*2 MA Ds*9,0,1 Tp Ds*3,X2 Te=2 RT 'Step 3 speed 100 RPM * 51200 Stp/rev /60 s/m LB X2 PR " Starting Step 3 P=",P," V=",V Vm= Sp*3 MA Ds*9,0,1 Tp Ds*6,X3 Te=2 RT 'Step 4 speed 66 RPM * 51200 Stp/rev /60 s/m LB X3 PR " Starting Step 4 P=",P," V=",V Vm= Sp*2 MA Ds*9,0,1 Tp Ds*8,X4 Te=2 RT 'Step 5 speed 33 RPM * 51200 Stp/rev /60 s/m LB X4 PR " Starting Step 5 P=",P," V=",V Vm= Sp MA Ds*9 ',0,1 Tp Ds*9,X5 Te=2 RT 'Step 6 speed 33 RPM * 51200 Stp/rev /60 s/m LB X5 PR " Starting Step 6 P=",P," V=",V Vm= Sp MA 0,0,1 Tp Ds*8,X6 Te=2 RT 'Step 7 speed 66 RPM * 51200 Stp/rev /60 s/m LB X6 PR " Starting Step 7 P=",P," V=",V Vm= Sp*2 MA 0,0,1 Tp Ds*6,X7 Te=2 RT 'Step 8 speed 100 RPM * 51200 Stp/rev /60 s/m LB X7 PR " Starting Step 8 P=",P," V=",V Vm= Sp*3 MA 0,0,1 Tp Ds*3,X8 Te=2 RT 'Step 9 speed 66 RPM * 51200 Stp/rev /60 s/m LB X8 PR " Starting Step 9 P=",P," V=",V Vm= Sp*2 MA 0,0,1 Tp Ds,X9 Te=2 RT 'Step 10 speed 33 RPM * 51200 Stp/rev /60 s/m LB X9 PR " Starting Step 10 P=",P," V=",V Vm= Sp MA 0 H PR " Back at Start P=",P," V=",V R1=1 RT PG S 'Keep this line. |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 | 'MDRIVE DEMO PROGRAM 'Last modified 08/25/2016 'Sample test program for demonstration purposes only 'Not tested or verified for safety or any function CP 'preclear program memory '*** Sample test program for demonstration purposes only. '*** Not tested or verified for safety or any function. '*** Such testing is the sole responsibility of user/customer '*** Speed steps are a rough aproximation of a sine wave. '*** Peak RPM= 100 '*** 5 steps in one minute. '*** Each step is 0.2 or 12 seconds '*** Distance traveled is V * 12 sec. ' 33 RPM * 0.2 min = 6.6 revs. X 51200 uSteps = 337920 uStp. ' 66 RPM * 0.2 min = 13.2 revs. X 51200 uSteps = 675840 uStp. '100 RPM * 0.2 min = 19.8 revs. X 51200 uSteps = 1013760 uStp. '*** Slew Rate is V/60 * 51200 uSteps/sec. ' 33 RPM /60 Sec. X 51200 uSteps = 28160 uStp./Sec. ' 66 RPM /60 Sec. X 51200 uSteps = 56320 uStp./Sec. '100 RPM /60 Sec. X 51200 uSteps = 85333 uStp./Sec. 'Step 1 V=33RPM 'Step 2 V=66RPM 'Step 3 V=100RPM 'Step 4 V=66RPM 'Step 5 V=33RPM 'Step 6 V=-33RPM 'Step 7 V=-66RPM 'Step 8 V=-100RPM 'Step 9 V=-66RPM 'Step 10 V=-33RPM 'STEPS ' 1 2 3 4 5 6 7 8 9 10 ' ____ ' ____| |____ ' ___| |___ '_|______________________|______________________________Ds ' |___ ____| ' |____ ____| ' |____| '*** Parameter Setup *** VA Sp=33*51200/60 'Step 1 speed 33 RPM * 51200 Stp/rev /60 s/m VA Ds=50000 'Length of first step. '*** Program *** PG 1 R1=0 P=0 'set position counter to 0 LB Aa PR "" PR "Starting Step 1 P=",P," V=",V Tp Ds,X1 'Set set up trip on position function Te=2 'enable trip on position function Vm=Sp 'Step 1 speed 33 RPM * 51200 Stp/rev /60 s/m MA Ds*9,0,1 'Move Absolute but keep going at end of move LB G1 BR G1,R1=0 R1=0 BR Aa E '*** Trip Subroutines *** LB X1 PR " Starting Step 2 P=",P," V=",V Vm= Sp*2 'Step 2 speed 66 RPM * 51200 Stp/rev /60 s/m MA Ds*9,0,1 'Move Absolute but keep going at end of move Tp Ds*3,X2 'redefine trip Te=2 'enable it RT LB X2 PR " Starting Step 3 P=",P," V=",V Vm= Sp*3 'Step 3 speed 100 RPM * 51200 Stp/rev /60 s/m MA Ds*9,0,1 'Move Absolute but keep going at end of move Tp Ds*6,X3 'redefine trip Te=2 'enable it RT LB X3 PR " Starting Step 4 P=",P," V=",V Vm= Sp*2 'Step 4 speed 66 RPM * 51200 Stp/rev /60 s/m MA Ds*9,0,1 'Move Absolute but keep going at end of move Tp Ds*8,X4 'redefine trip Te=2 'enable it RT LB X4 PR " Starting Step 5 P=",P," V=",V Vm= Sp 'Step 5 speed 33 RPM * 51200 Stp/rev /60 s/m MA Ds*9 ',0,1 'Move Absolute but keep going at end of move Tp Ds*9,X5 'redefine trip Te=2 'enable it RT LB X5 PR " Starting Step 6 P=",P," V=",V Vm= Sp 'Step 6 speed 33 RPM * 51200 Stp/rev /60 s/m MA 0,0,1 'Move Absolute but keep going at end of move Tp Ds*8,X6 'redefine trip Te=2 'enable it RT LB X6 PR " Starting Step 7 P=",P," V=",V Vm= Sp*2 'Step 7 speed 66 RPM * 51200 Stp/rev /60 s/m MA 0,0,1 'Move Absolute but keep going at end of move Tp Ds*6,X7 'redefine trip Te=2 'enable it RT LB X7 PR " Starting Step 8 P=",P," V=",V Vm= Sp*3 'Step 8 speed 100 RPM * 51200 Stp/rev /60 s/m MA 0,0,1 'Move Absolute but keep going at end of move Tp Ds*3,X8 'redefine trip Te=2 'enable it RT LB X8 PR " Starting Step 9 P=",P," V=",V Vm= Sp*2 'Step 9 speed 66 RPM * 51200 Stp/rev /60 s/m MA 0,0,1 'Move Absolute but keep going at end of move Tp Ds,X9 'redefine trip Te=2 'enable it RT LB X9 PR " Starting Step 10 P=",P," V=",V Vm= Sp 'Step 10 speed 33 RPM * 51200 Stp/rev /60 s/m MA 0 'Move Absolute to beginning H 'Hold until motion stops PR " Back at Start P=",P," V=",V R1=1 RT PG S 'Keep this line. |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 | 'MDRIVE DEMO PROGRAM 'Last modified 08/25/2016 'Sample test program for demonstration purposes only 'Not tested or verified for safety or any function '***** Electronic Gearing ***** PG 1 LB k4 PR "Electonic Gearing" Rc=50 'set run current to 50% S7=33,0 'Sets clock type to step input S8=33,0 'Sets clock type to direction input Fm=3 'set filter motion to 1.67 Mhz cutoff freq. Ms=16 'Set microstep resolution to 16 Cm=1 'Clock mode enable Cr=1.000 'Set clock mode ratio to 1:1 E PG s 'keep this line |
