{"id":1762,"date":"2017-02-22T13:12:29","date_gmt":"2017-02-22T13:12:29","guid":{"rendered":"https:\/\/novanta.com\/robotics-automation\/converting-mdrive-mcode-liberty-mcode\/"},"modified":"2017-02-22T13:12:29","modified_gmt":"2017-02-22T13:12:29","slug":"converting-mdrive-mcode-liberty-mcode","status":"publish","type":"page","link":"https:\/\/novanta.com\/robotics-automation\/converting-mdrive-mcode-liberty-mcode\/","title":{"rendered":"Converting MDrive MCode to Liberty MCode"},"content":{"rendered":"\n\n\n
\n\t

When upgrading a system component from MDrive to Liberty* MDrive the key difference in programming is in how the I\/O points are configured and used.. In the MDrive the non-isolated I\/O points may be programmed as inputs or outputs.\r\n\r\nIn the Liberty* MDrive, the I\/O points are fixed as inputs and outputs. In MDrive programs, the sink\/source state of the I\/O point is set in the user program. In the Liberty* MDrive the sink\/source state is set by the bias of the Reference input.\r\n\r\nThe other key difference is the Analog Input. In the MDrive, the input is 10-bit, with a range of 0 to 1024. The Liberty* MDrive has a 12-bit analog input with a range of 0 to 4096. Programs not using I\/O can generally be loaded onto the device and work without modification. The sample program we will convert uses an input to trigger a routine that will slew the axis a multiple of the analog input and one output set up as a moving output. The program is labeled as SU, so that it will execute on power up or reset.\r\n<\/p>\n\n

Program Code (MDrive MCode)<\/h3>\n\n\r\nBelow is the MDrive MCode program. The bold highlighted lines of code will need to be changed in order to port the program over to a Liberty* Motion product.\r\n\n
PG 100   'Enter program mode\r\n         'Main program and setup\r\nLB SU\r\n  A=1000000  'Set Acceleration\r\n  S1=0,1     'I\/O1 as user input\r\n  S2=17,1     'I\/O2 as moving out\r\n  S5=9        'Analog as 0 to 5 VDC\r\n              'Wait for input loop\r\nLB Wa\r\n  BR M1,I1=1  'Conditional branch\r\n  SL 0        'Stop\/no motion\r\n  BR Wa,I1=0  'Loop if input inactive\r\n              'Motion on input\r\nLB M1\r\n  SL=I5*100   'Slew rate: Analog X 100\r\n  BR Wa       'Jump to wait loop\r\n              'End and exit program mode\r\nE\r\nPG\r\nS             'keep this line<\/pre><\/code><\/pre>\n\n\r\n\r\n\r\nThe first point we will change is I\/O #1\r\n\n
Modify the Input<\/h3>\n\n\r\n\n
\r\n\r\n\r\n\r\n
MDrivePlus<\/strong><\/td>\r\nLiberty* MDrive<\/strong><\/td>\r\n<\/tr>\r\n
S1=0,1<\/td>\r\nIs=1,0<\/td>\r\n<\/tr>\r\n<\/tbody>\r\n<\/table><\/figure>\n\n\r\nThe S1\u2014S4 command has been changed to Is for input setup and Os for output setup In the example, I\/O #1 is set as a general purpose input with a sinking interface. To modify the command to function with the Liberty* MDrive, The Is (Input setup) command is used by entering Is=,. Is=1,0 then sets input 1 as a gen- eral purpose input. The available input functions are listed below:\r\n\n
\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n
Input Function Table<\/strong><\/td>\r\n<\/tr>\r\n
0<\/td>\r\nGeneral purpose input<\/td>\r\n<\/tr>\r\n
1<\/td>\r\nHoming function, will function as specified by the homing command (HM).<\/td>\r\n<\/tr>\r\n
2<\/td>\r\nLimit  , will function as specified by the limit command (LM).<\/td>\r\n<\/tr>\r\n
3<\/td>\r\nLimit \u2014, will function as specified by the limit command (LM).<\/td>\r\n<\/tr>\r\n
4<\/td>\r\nG0 input, will run program at address 1 upon activation.<\/td>\r\n<\/tr>\r\n
5<\/td>\r\nSoft stop, stops motion with deceleration and halts program execution. If program is paused (PS), input is ignored.<\/td>\r\n<\/tr>\r\n
6<\/td>\r\nPause, pause\/resume program with motion<\/td>\r\n<\/tr>\r\n
7<\/td>\r\nJog  , Will Jog motor in the positive direction at Max. Velocity (VM). The Jog Enable (JE) Flag must be set for this to function.<\/td>\r\n<\/tr>\r\n
8<\/td>\r\nJog \u2014, Will Jog motor in the negative direction at max. velocity (VM). The jog enable (JE) flag must be set for this to function.<\/td>\r\n<\/tr>\r\n
11<\/td>\r\nReset, 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.<\/td>\r\n<\/tr>\r\n
12<\/td>\r\nCapture input will operate with the Trip Capture (TC) trip to run a subroutine when active NOTE: THIS FUNCTION APPLIES TO INPUT 1 ONLY!<\/td>\r\n<\/tr>\r\n<\/tbody>\r\n<\/table><\/figure>\n\n\r\n\n
Modify the Output<\/h3>\n\n\r\nIn this program, an output is setup to be active during a move. To change this to function with a Liberty* MDrive we will use the Os (output setup) command.\r\n\n
\r\n\r\n\r\n\r\n
MDrivePlus<\/strong><\/td>\r\nLiberty* MDrive<\/strong><\/td>\r\n<\/tr>\r\n
S2=17,1<\/td>\r\nOs=1,17<\/td>\r\n<\/tr>\r\n<\/tbody>\r\n<\/table><\/figure>\n\n\r\nAs with the input, the Os command replaces the S2 command in the form of Os=,, in this case Os=1,17 The available output functions are listed on the next page.\r\n\n
\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n
Output Function Table<\/strong><\/td>\r\n<\/tr>\r\n
16<\/td>\r\nUSER: General purpose user output.<\/td>\r\n<\/tr>\r\n
17<\/td>\r\nMOVING: output will be active while the axis is in motion.<\/td>\r\n<\/tr>\r\n
18<\/td>\r\nERROR: will be active when a software error occurs.<\/td>\r\n<\/tr>\r\n
19<\/td>\r\nSTALL: Indicates a stall has been detected <\/em><\/strong>.<\/td>\r\n<\/tr>\r\n
20<\/td>\r\nVCHANGE: velocity changing indicates the axis is accelerating or decelerating.<\/td>\r\n<\/tr>\r\n
21<\/td>\r\nLOCKED ROTOR: indicates the rotor is in a locked state .<\/em><\/strong><\/td>\r\n<\/tr>\r\n
23<\/td>\r\nMOVINGPOS: indicates the axis is moving to a specified position.<\/td>\r\n<\/tr>\r\n
24<\/td>\r\nHMT ACTIVE: indicates when HMT is active .<\/em><\/strong><\/td>\r\n<\/tr>\r\n
25<\/td>\r\nMAKE UP ACTIVE: indicates when HMT is making up steps .<\/em><\/strong><\/td>\r\n<\/tr>\r\n
28<\/td>\r\nTRIP OUT, applies to output 3 only, active low only. Os=3,28,0<\/td>\r\n<\/tr>\r\n
29<\/td>\r\nATTENTION: indicates a status or statuses as configured by the AO variable.<\/td>\r\n<\/tr>\r\n<\/tbody>\r\n<\/table><\/figure>\n\n\r\n\n
Modify the Analog Input<\/h3>\n\n\r\nTo setup the Analog input we will return to the Is (input setup) command.\r\n\n
\r\n\r\n\r\n\r\n
MDrivePlus<\/strong><\/td>\r\nLiberty* MDrive<\/strong><\/td>\r\n<\/tr>\r\n
S5=9,0<\/td>\r\nIs=5,9,0<\/td>\r\n<\/tr>\r\n<\/tbody>\r\n<\/table><\/figure>\n\n\r\nTo set the analog input to voltage mode, 0 to  5VDC level the Is command is used as IS=5, , or Is=5,9,0 The parameters for the IS=5 command are listed below.\r\n\n
\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n
Analog input mode table<\/strong><\/td>\r\n<\/tr>\r\n
9<\/td>\r\nVoltage mode<\/td>\r\n<\/tr>\r\n
10<\/td>\r\nCurrent mode<\/td>\r\n<\/tr>\r\n
Analog level table<\/strong><\/td>\r\n<\/tr>\r\n
0<\/td>\r\n0 to  5V (voltage mode), 0 to 20 mA (current mode)<\/td>\r\n<\/tr>\r\n
1<\/td>\r\n0 to 10V (voltage mode), 4 to 20 mA (current mode)<\/td>\r\n<\/tr>\r\n<\/tbody>\r\n<\/table><\/figure>\n\n\r\n\r\n\n
Modify the Analog Input scaling<\/h4>\n\n\r\nThe analog input on the Liberty* MDrive is 12-bit instead of ten, to set the program to have the same scale factor we need to divide the scale by 4\r\n\n
\r\n\r\n\r\n\r\n
MDrivePlus<\/strong><\/td>\r\nLiberty* MDrive<\/strong><\/td>\r\n<\/tr>\r\n
SL=I5*100<\/td>\r\nSL=I5*25<\/td>\r\n<\/tr>\r\n<\/tbody>\r\n<\/table><\/figure>\n\n\r\n\r\nThis will give us the same slew rate as with the MDrivePlus.\r\n\r\n\r\n*Previously Lexium\n<\/div>\n","protected":false},"excerpt":{"rendered":"
When upgrading a system component from MDrive to Liberty* MDrive the key difference in programming is in how the I\/O points are configured and used.. In the MDrive the non-isolated I\/O points may be programmed as inputs or outputs. In the Liberty* MDrive, the I\/O points are fixed as inputs and outputs. In MDrive programs, […]<\/p>\n","protected":false},"author":102,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_acf_changed":false,"footnotes":""},"class_list":["post-1762","page","type-page","status-publish","hentry"],"acf":[],"yoast_head":"\nConverting MDrive MCode to Liberty MCode - Robotics & Automation<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/novanta.com\/robotics-automation\/converting-mdrive-mcode-liberty-mcode\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Converting MDrive MCode to Liberty MCode\" \/>\n<meta property=\"og:description\" content=\"When upgrading a system component from MDrive to Liberty* MDrive the key difference in programming is in how the I\/O points are configured and used.. 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