Parker ACR Series Programmer's Manual
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Parker ACR Series Programmer's Manual

Motion controllers
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  • Page 2 Failure to do so can result in damage to equipment and/or serious injury to personnel. ACR series products and the information in this guide are the proprietary property of Parker Hannifin Corporation or its licensers, and may not be copied, disclosed, or used for any purpose not expressly authorized by the owner thereof.

  • Page 3: Table Of Contents

    Parker Hannifin Table of Contents User Information ............ii Table of Contents ............iii Change Summary .............5 Programming Basics..........7 Aliases ......................7 Program Labels ....................7 Remarks ......................8 Command Syntax .................... 8 Example Code Conventions ................11 Programs and Commands ................12 Kill All Motion Request vs.
  • Page 4 Parker Hannifin Binary Move Command..................113 Binary SET and CLR ..................120 Binary FOV Command ...................121 Binary ROV Command ...................123 Application: Binary Global Parameter Access ............125 Additional Features ..........127 CANopen .....................127 Drive Talk ....................141 Inverse Kinematics ..................147 Troubleshooting ...........149 Problem Isolation..................149 Information Collection ...................149 Troubleshooting Table ...................150...

  • Page 5: Change Summary

    Parker Hannifin Change Summary The change summary below lists the latest additions, changes, and corrections to the ACR Programmer’s Guide and the corresponding section of ACR-View Online Help. Revision D Changes Document 88-028698-01D (ACR Programmer’s Guide) supersedes document 88-028698-01C. Changes associated with this document are notated in this section.
  • Page 6 Parker Hannifin Startup Programs Corrected example program. Making Motion Reorganized the Making Motion chapter. Added REN and RES details for Velocity Profile Commands section. Changed the term in section titles from “Commanding Motion” to “Move Types.” Jog Profiler Added Jog Profiler section to Making Motion chapter.

  • Page 7: Programming Basics

    Parker Hannifin Programming Basics The following section explains some fundamental concepts of the AcroBASIC programming language. Aliases Alternative names, called aliases, can be assigned to parameters, bits, constants, and variables to make program code more readable. Aliases are recognized globally (across user programs).

  • Page 8: Remarks

    Parker Hannifin • Use the RETURN command to indicate the end of the subroutine. • Do not put a REM command on the same line as a label. Example _START GOSUB Label1 GOTO START _Label1 PRINT “Inside Label1 subroutine” RETURN Remarks You can add comments to a program.
  • Page 9 Related Topics: Indicates parameter and bit tables related to the command you are reviewing. Product Revision: To determine whether the command applies to your specific ACR series controller and firmware revision, see the Command and Firmware Release table. Programming Basics 9...
  • Page 10 Parker Hannifin Arguments and Syntax The syntax of an AcroBASIC command shows you all the components necessary to use it. Commands can contain required and optional arguments. They also contain a number of symbols: • Braces { }—arguments that are optional. Do not type the braces in your code.

  • Page 11: Example Code Conventions

    NOTE: In ACR Series example code, Axis0 is the X axis, and Axis1 is the Y axis, unless otherwise specified.

  • Page 12: Programs And Commands

    Parker Hannifin Programs and Commands There is a subset of AcroBASIC commands that act right away. While you can use them in programs, you can also send them from a terminal emulator and effect changes immediately—commands such as ACC, DEC, and VEL.
  • Page 13 Parker Hannifin Starting, Pausing, and Halting Programs Once downloaded to a controller, you can control programs from the SYS prompt, as well as any PROG or PLC prompt. You must include the program or PLC number when issuing the command—for example RUN PROG0, or PAUSE PROG0, or HALT PROG0.

  • Page 14: Kill All Motion Request Vs. Kill All Moves

    Parker Hannifin Pausing a Program Pausing a program places a feed hold on the current move and suspends the program at the current command line. To suspend a currently running program, send the PAUSE ► command. Resuming a Paused Program Once paused, you can resume the program—motion and code...
  • Page 15 Parker Hannifin the Current (coordinated) Position register. Or home the axis to re-establish the desired zero position. • Stop any jog, cam, gear, or ballscrew motion on the axis by clearing the flag that enable those functions on the axis.
  • Page 16 Parker Hannifin the DEC setting, wait until moves have stopped, then sets the Kill All Moves flag. The Stop All Moves flag will clear after this sequence is complete and acknowledged by the processor. Flag Comparison The following table shows the bit numbers for Kill All Motion Request axis flags, and the bit numbers for Kill All Moves masters flags.
  • Page 17 Parker Hannifin Select Axis Flags in the first drop-down menu, Quaternary Axis Flags in the second drop-down menu, and Quaternary Axis 0 Flags in the third drop-down menu to display the Kill All Motion Request bit for Axis 0. A green LED, as circled in red below, indicates that the flag is set.
  • Page 18 Parker Hannifin Example This example uses terminal commands. P00>ATTACH ATTACH MASTER0 ATTACH SLAVE0 AXIS0 “X” ATTACH SLAVE1 AXIS1 “Y” REM ATTACH command will reply with information about what axes REM are part of the Master group P00>JOG FWD X : REM Continuous jog move on X axis P00>SET 8467 : REM This stops motion on X axis.

  • Page 19: Program Flow

    Parker Hannifin Program Flow Code is executed sequentially, following the order in which it is written. But based on some input, you can shift code execution elsewhere in a program using conditional statements. Using conditional statements, you can create code that tests for specific conditions and repeats code statements.
  • Page 20 Parker Hannifin When using an IF/THEN statement, observe the following: • You can nest GOTO and GOSUB statements in an IF/THEN statement. Example The following demonstrates several simple IF/THEN statements. IF (BIT 24) THEN P0 = P0+1 IF (P0 > 4000) THEN GOSUB 100 : P0 = P0-1...
  • Page 21 Parker Hannifin ELSEIF Condition The IF/ELSE statement can include the ELSEIF condition. The ELSEIF condition lets you create a series of circumstances to test. There is no practical limit to the number of ELSEIF conditions you can include. However, they must come before the ELSE condition.
  • Page 22 Parker Hannifin Example The following demonstrates a simple GOTO statement. The program sets output bit 32, then moves axis X one incremental unit in the positive direction. The program pauses until the “Not in Position“ bit 768 is clear, then clears the output, waits 2 seconds, and goes to LOOP1.
  • Page 23 Parker Hannifin You can exit a FOR/NEXT loop before the counter is complete using a BREAK statement. When the condition is met, the statement immediately following the FOR/NEXT loop executes. Example The following demonstrates a FOR/NEXT loop with a BREAK statement.

  • Page 24: Parameters And Bits

    IHPOS P6160 (40000,0) : REM wait until ENC1 >40000, no timeout Parameters and Bits The ACR series controllers is parameter based, providing extensive control of settings and operations. The AcroBASIC language provides a simplified way to interact with the most commonly used parameters and bits.
  • Page 25 Parker Hannifin NOTE: The values for some parameters and bits change automatically through operation of the ACR controller. Changing (writing) a value does not ensure the parameter or bit retains the value over the course of operations. Use caution—forcing a value to change can cause unpredictable results.
  • Page 26 Parker Hannifin Example The following demonstrates how to set at bit. All methods are valid. SET 32 Bit32=1 SET Bit32 Clearing Binary Bits You can use the CLR command, or fix the bit value equal to 0. Example The following demonstrates how to set at bit. All methods are valid.

  • Page 27: Parametric Evaluation

    Parker Hannifin Programming Example The following program creates a square. You can use ACR-View to set up the controller. Then enter the program into program 0 and download it to the controller. RES X Y : REM reset encoder registers to 0 at startup...
  • Page 28 Parker Hannifin • Parameters • Bits • Aliases An expression is comprised of at least one operand and one or more operators. Operands are values, whether numerals or variables. Operators are symbols that represent specific actions. For example, the plus sign (+) represents addition, and the forward slash (/) represents division.
  • Page 29 Parker Hannifin By using parentheses, you can change the order of operations in an expression. That is, operations in parentheses are performed first, then operations outside the parentheses. For example, the expression (2 + 6 / 3) * 5 - 9...
  • Page 30 Parker Hannifin Example 5 The following flashes the first 30 outputs in a random sequence. PROGRAM DIM DV(1) : REM dimension 1 floating point variable _LOOP2 DV0=RND(4294967295) : REM set DV0 equal to random number P4097= DV0 : REM set onboard outputs equal to DV0...

  • Page 31: Basic Setup

    Transformation Memory Control Velocity Profile Warning — ACR Series products are used to control electrical and mechanical components of motion control systems. You should test your motion system for safety under all potential conditions. Failure to do so can result in damage to equipment and/or serious injury to personnel.
  • Page 32 Parker Hannifin Axis Limits Command Description Set stroke limit ‘A’ Set stroke limit ‘B’ Set excess error band HLBIT Set hardware limit/homing input HLDEC Hardware limit deceleration HLIM Hardware limit enable Set in-position band Set in-torque band Set jog limits...
  • Page 33 Parker Hannifin Feedback Control Command Description HSINT High speed interrupt INTCAP Encoder capture MSEEK Marker seek operation MULT Set encoder multipliers NORM Normalize current position High speed output Set axis pulse/unit ratio Match position with encoder Reset or preload encoder...
  • Page 34 Parker Hannifin Interpolation Command Description CIRCCW Counter clockwise circular move CIRCW Clockwise circular move Interruptible move INVK Inverse kinematics Define a linear move NURB NURBs interpolation mode SINE Sinusoidal move SPLINE Spline interpolation mode TANG Tangential move mode TARC 3-D circular interpolation...
  • Page 35 Parker Hannifin Non-Volatile Command Description BRESET Disable battery backup ELOAD Load system parameters ERASE Clear the EEPROM ESAVE Save system parameters FIRMWARE Firmware upgrade/backup FLASH Create user image in flash PBOOT Auto-run program PROM Dump burner image Operating System Command...
  • Page 36 Parker Hannifin Program Control Command Description Turn off block mode Turn on block mode HALT Halt an executing program LIST List a stored program LISTEN Listen to program output LRUN Run and listen to a program Clear out a stored program...
  • Page 37 Parker Hannifin Servo Control Command Description DGAIN Set derivative gain Dead zone integrator negative value Dead zone integrator positive value DWIDTH Set derivative sample period Dead zone inner band Dead zone outer band FBVEL Set feedback velocity FFACC Set feedforward acceleration...
  • Page 38 Parker Hannifin Transformation Command Description Relative program path shift OFFSET Absolute program path shift ROTATE Rotate a programmed path SCALE Scale a programmed path Velocity Profile Command Description Set acceleration ramp Set deceleration ramp Set velocity in units/minute Set feedrate override...

  • Page 39: Startup Programs

    When you reset the controller, it shuts down communications, turns off outputs, and kills all programs. For controllers with non-volatile memory, the controller stores all conditions. There are several ways to reset the ACR series controller: • Cycle power. •...

  • Page 40: Return To Factory Default

    CLEAR COM2 BRESET REBOOT Configuration Because the ACR series controller is powerful and flexible, it requires configuration for your particular application. There are two methods: you can manually write the configuration code, or use the Configuration Wizard in the ACR-View software.
  • Page 41 Parker Hannifin The wizard makes some choices for you behind the scenes. The ACR9000 has the largest feature set, and typically requires configuration for those features. The ACR1505 and ACR8020 may require different configuration. The Configuration Wizard, once completed, lets you review the code it has generated.
  • Page 42 Parker Hannifin If you do not make any changes to the Memory defaults, the wizard allocates additional memory to programs zero and one. In addition, the wizard allocates memory to program 15, which stores wizard data. REM-----Allocate system memory----- DIM PROG0(8192)
  • Page 43 Parker Hannifin The next section is specific to the ACR9000 and currently does not apply to other ACR controllers. The Extended I/O section sets and clears bits related to homing, hardware and software limits, and drive faults—all performed behind the scenes and does not come from user supplied data.
  • Page 44 Parker Hannifin AXIS1 IDELAY 0 AXIS1 DGAIN 1e-005 AXIS1 DWIDTH 0 AXIS1 FFVEL 0 AXIS1 FFACC 0 AXIS1 TLM 10 AXIS1 FBVEL 0 REM Axis Limits AXIS1 HLBIT 3 AXIS1 HLDEC 100 SET BIT16176 SET BIT16177 SET BIT16180 SET BIT16181...
  • Page 45 Parker Hannifin REM Code Generated by ComACRsrvr Module, File Version: 1.1.2.9 @ Wednesday, March 15, 2006 17:00:43 REM Code Generated from map:program8k v1.1 CodeMap File:C:\WINDOWS\system32\kjconfig.cmp v3.5 REM Program Level setup for the ACR Card In the program space, the attachments are made. If you are writing your own configuration code, it is a good coding practice to include the a DETACH statement before the ATTACH statements.
  • Page 46 Parker Hannifin you save the configuration, the wizard generates AcroBASIC code and saves it to specific user and PLC programs. The Configuration Wizard saves all configuration data to a Setup.8K file. Depending on which controller and the firmware version, it may also save Drive I/O or Configuration Wizard data to various user and PLC program files.
  • Page 47 Each range of bits correspond to a range of axes and a specific drive or travel limit function, as summarized below. Items marked with an asterisk (*) apply only to 16-axis ACR series controllers. Therefore, an 8-axis controller can use the flags otherwise used for axes 8-16.

  • Page 48: Making Motion

    Parker Hannifin Making Motion Now that the controller is configured, it is ready to make motion. The ACR controller can perform linear, circular, or more complex motion with a single axis or multiple axes. Four Basic Categories of Motion There are four basic categories of motion used in motion control: coordinated, jog, gear, and cam.

  • Page 49: Move Types

    Parker Hannifin Move Types To command motion, use a command appropriate to the desired type of motion, such as JOG (single-axis profile), CIRCW (Two- Dimensional Clockwise Circle), CIRCCW (Two-Dimensional Counter Clockwise Circle), SINE (Sinusoidal Move), or TARC (3-D Arc) The MOV (Define a Linear Move) command activates linear-interpolated motion.
  • Page 50 Parker Hannifin Incremental Motion Incremental motion is commanded relative to the current position. To move an incremental distance (a distance “relative” to the current position), use a slash mark ( / ) following the axis. NOTE: The slash mark is only applicable in linear-interpolated motion.
  • Page 51 Parker Hannifin Example—Incremental Motion The X axis is commanded to the following relative positions: X/-400 X/500 X/200 X/100 Example—Absolute and Relative The X axis is commanded to the following absolute and incremental positions. x/-400 x200 x/50 x400 Combining Types of Motion The user can command multiple types of motion (linear, circular, or sinusoidal) in a single statement.
  • Page 52 Parker Hannifin Immediate Mode While a program is running, the master velocity can be changed for a master (and all axes attached to it). The change is instantaneous, and takes effect even if the axis or axes are moving. Use the FOV (Set Feedrate Override) command to set a floating- point scaling factor to adjust the master velocity.

  • Page 53: What Are Motion Profiles

    Parker Hannifin What are Motion Profiles? To make motion, the user must define the motion profile. The acceleration, deceleration, stop ramps, velocity, and distance (ACC, DEC, STP, VEL, and MOV commands, respectively) set the motion profile values. • Acceleration: The ACC (Set Acceleration Ramp) command sets the master acceleration.

  • Page 54: Interaction Between Motion Profilers

    Parker Hannifin Motion profile values for each master can be set in two ways: Through the Configuration Wizard. ► In a program using the appropriate motion profile statements ► (ACC, DEC, STP, or VEL). In either case, the program continues to use those motion profile values until new values are commanded.
  • Page 55 Parker Hannifin Primary Setpoint All profilers feed their commanded positions to a summation point, and the result is the Primary Setpoint for each axis. See Figure 1. Figure 1 Primary Setpoint Summation In effect, the Jog, Gear, and Cam profilers act as offsets to the Coordinated Motion Profiler.
  • Page 56 Parker Hannifin To cut the third and fourth diamond shapes, jog statements again shift the starting positions for axes X and Y. After each jog statement, the coordinates of the first shape are reused. JOG ABS X5 X-2 Y1 X0 Y2...
  • Page 57 Parker Hannifin For the second shape, the jog statement tells the Jog Profiler to start the Y axis at 3 units. At the summation point, this data is added to the values from the other profilers to yield a Y-axis setpoint of +3: For the third shape, the jog statement adjusts the starting point again, this time changing the X axis to 5.

  • Page 58: Velocity Profile Commands

    Parker Hannifin Velocity Profile Commands A basic motion profile for coordinated motion, controlled by an attached master, consists of acceleration, deceleration, stop ramps and a velocity. You can further control coordinated motion using additional velocity profile commands. Axis motion with gear, cam, or jog offsets are controlled solely by their associated commands—for example, CAM OFFSET, CAM SCALE,...
  • Page 59 Parker Hannifin • ROTARY (Set Rotary Axis Length)—sets a rotary axis length used in a shortest-distance calculation. The resulting move is never longer than half the rotary axis length. • TMOV (Time Based Move)—sets the time (in seconds) in which the move is completed.
  • Page 60 Parker Hannifin • PPU (Set Axis Pulse per Unit Ratio)—sets the pulses per programming unit for an axis, allowing convenient units for motion profile such as inches, millimeters, or degrees. The PPU for each axis is independent of that of other axes.
  • Page 61 Parker Hannifin REN Details The REN command copies the actual position from the encoder into the Secondary Setpoint of the servo loop. The values for the Primary Setpoint register and for the Coordinated Moves Profiler’s offset are then calculated backwards from the Secondary Setpoint. This action removes the following error.
  • Page 62 Parker Hannifin RES Details The RES command is used to zero out the primary setpoint (RES), or to preload positions into the Coordinated Moves Profiler and Actual Position registers (example: RES X10). See Figure 3 for a diagram of the profiler and summation registers for the command RES X10.

  • Page 63: Coordinated Moves Profiler

    Parker Hannifin Coordinated Moves Profiler The Coordinated Moves Profiler (formerly called the current position profiler) controls motion for multiple axes using a single set of motion profile values. The MOV command (Define a Linear Move) commands absolute and incremental motion.
  • Page 64 Parker Hannifin Example 2 Two axes are attached to the same master, and the program moves one axis to an absolute position: axis X to 25 millimeters. As only axis X is commanded to move, axis Y is not included in the motion trajectory calculation.
  • Page 65 Parker Hannifin Making Motion 65...

  • Page 66: Jog Profiler

    Parker Hannifin Jog Profiler Each axis has a dedicated Jog Profiler which can, using a set of motion profile values, control absolute, incremental, or continuous motion for that axis. It can do this independently or in conjunction with the other profilers (Cam, Gear, and Coordinated Moves).
  • Page 67 Parker Hannifin Example 1 Two axes are set to different acceleration, deceleration, and velocities, and are moved the same distance. JOG ACC X1000 Y500 JOG DEC X1000 Y500 JOG VEL X25 Y50 JOG INC X10 Y10 Figure 4 looks at the commanded motion of the X axis. In the upper...
  • Page 68 Parker Hannifin Figure 5 looks at the movement for the Y axis, characterized by more gradual slopes for acceleration and deceleration values of 500 in the velocity motion profile (as compared to the X-axis’ values of 1000). Figure 5 Y-Axis Velocity and Position Profiles...
  • Page 69 Parker Hannifin Figure 7 graphs the change in position for the X and Y axes. The Y axis is dashed. The overall slope of the position curve for the Y axis is steeper, reflecting its higher JOG VEL value (JOG VEL X25 Y50).
  • Page 70 Parker Hannifin Example 3 To illustrate sequential jog moves, two axes are attached to the same program. The program moves each axis an incremental distance of 10 units using two separate moves. The program waits until the Jog Active Bit (Bit792) is off, indicating that Axis X has finished its move, after which time the Y axis is commanded to move to its incremental position.
  • Page 71 Parker Hannifin JOG VEL Details Figure 10 shows the bit profiles for the Jog Flags (Bits 792 through 796) as a JOG VEL command is executed. Figure 10 JOG VEL Command and Bit Profiles Making Motion 71...
  • Page 72 Parker Hannifin JOG Commands See the ACR Command Language Reference for detailed information, including necessary arguments, on JOG (Single Axis Velocity Profile) and its associated commands: • JOG ABS (Jog to Absolute Position)—uses the current jog settings to jog an axis to an absolute jog offset.
  • Page 73 Parker Hannifin JOG REN Details The JOG REN command (Transfer Current Position into Jog Offset) clears the Coordinated Moves Profiler of a given axis and adds the difference to the Jog Profiler offset (example: JOG REN X). It can also be used to preload a position into the Coordinated Moves Profiler (adjusting the Jog Profiler to make up the difference) (example: JOG REN X2).
  • Page 74 Parker Hannifin The drawing in Figure 12 illustrates JOG REN as it preloads the Coordinated Moves Profiler. Figure 12 JOG REN Preloads the Coordinated Moves Profiler (JOG REN X2) Programmer’s Guide...
  • Page 75 Parker Hannifin JOG RES Details The JOG RES command (Transfer Jog Offset Into Current Position) clears the Jog Profiler offset of a given axis, and adds the difference to the Coordinated Moves Profiler (example: JOG RES X). It can also preload the Jog Profiler offset, and, again, adjusts the Coordinated Moves Profiler to make up the difference (example: JOG RES X2).

  • Page 76: Gear Profiler

    Parker Hannifin The drawing in Figure 14 illustrates JOG RES as it preloads the Jog Profiler. Figure 14 JOG RES Preloads the Jog Profiler (JOG RES X2) Gear Profiler The Gear Profiler controls motion for axes needing to match their motion output to some form of input (see SRC command—Set...

  • Page 77: Cam Profiler

    Parker Hannifin Cam Profiler The Cam Profiler controls motion for axes needing precise motion. It uses an array of target points in relation to an externally sourced timebase (see SRC command—Set External Timebase—for available sources). By breaking the motion into discrete target points, the cam arrives at the exact point needed.
  • Page 78 Parker Hannifin NOTE: Relevance of positive and negative direction— NOTE: If an end-of-travel limit is encountered during the homing operation, motion is reversed and the home switch is sought in the opposite direction. If a second limit is encountered, the homing operation is terminated, stopping motion at the second limit.
  • Page 79 Parker Hannifin JOG VEL X10 Y10 : REM Set axes jog parameters used during homing JOG ACC X100 Y100 JOG DEC X100 Y100 HLBIT X0 Y3 : REM X uses 1Home (input2), Y uses 2Home (input5) HLIM X3 Y3 : REM enable EOT limit checking for box axes JOG HOMVF X0.1 Y0.1 : REM Set backup to home velocity...
  • Page 80 Parker Hannifin Figures A and B show the homing operation when the Home Backup Enable, Home Negative Edge Select, and Home Negative Final Direction bits are clear (Quinary Axis Flags, Bit16128-Bit16639). Figure A Homing Profile Attributes: • JOG HOME X1 •...
  • Page 81 Parker Hannifin Positive Homing (Homing Backup Enabled) Figures C through F show the homing operation when the Home Backup Enable bit is set (parameters 4600-4615). The seven steps below describe a sample homing operation, as illustrated in Figure C. Figures D through F show the homing operation for different values of the Home Negative Edge Select and Home Negative Final Direction bits—the Home Backup Enable...
  • Page 82 Parker Hannifin Figure D Homing Profile Attributes: • JOG HOME X1 • Home Backup Enable (bit index 24) is set. • Home Negative Edge Select (bit index 25) is set. • Home Negative Final Direction (bit index 26) is clear.
  • Page 83 Parker Hannifin Negative Homing (Homing Backup Enabled) Figures G through J show the homing operation for different values of the Home Negative Edge Select and Home Negative Final Direction bits—the Home Backup Enable bit is set. Figure G Homing Profile Attributes: •...
  • Page 84 Parker Hannifin Figure I Homing Profile Attributes: • JOG HOME X-1 • Home Backup Enable (bit index 24) is set. • Home Negative Edge Select (bit index 25) is set. • Home Negative Final Direction (bit index 26) is clear.
  • Page 85 Parker Hannifin Limit Detection The Configuration Wizard assists with setting up the Hardware and Software Limits Detection. When limits are enabled, motion stops when the load encounters a limit. If the load hits a hardware limit, motion stops at the rate set by the HLDEC;...
  • Page 86 Parker Hannifin NOTE: There are no restrictions regarding how to assign hardware limits and homing inputs. However, you should exercise caution because it is possible to create imaginary limit and home inputs. This is because the controller assumes all three inputs are in the same multiple of 32 bits.

  • Page 87: Servo Loop Fundamentals

    Parker Hannifin Servo Loop Fundamentals Each of the profilers contains a register with a value of the current offset. These values are added together and the summation is called the Primary Setpoint (PSP). PSP = Coordinated Moves + Jog + Gear + Cam See Figure 15 for a diagram of the Primary Setpoint summation.

  • Page 88: Following Error

    Parker Hannifin The information up to and including the SSP is the commanded position. See Figure 16. Figure 16 Secondary Setpoint Summation Viewing the Setpoint Calculations Servo loop calculations for the actual position of an axis can be observed in ACR-View. The Servo Loop Status window shows the motion offsets, primary and secondary setpoints, servo gains and other values, and how they result in the final position output.
  • Page 89 Parker Hannifin Figure 17 Following Error Servo Loop Fundamentals 89...

  • Page 90: Application Examples

    Parker Hannifin Application Examples The sample programs in this section provide more in-depth examination of the following topics: Basic Motion Enable Drive EPL Network Homing Open Sample Teach Array Basic Motion PROGRAM GOSUB BasicABSMotion : REM subroutine for absolute moves...

  • Page 91: Enable Drive

    Parker Hannifin X/50 X400 INH -516 RETURN 'SUBROUTINE OF Jog Absolute Moves _JogABSMotion JOG ABS X-400 INH -792 JOG ABS X-300 INH -792 JOG ABS X-200 INH -792 JOG ABS X-100 INH -792 JOG ABS X0 INH -792 RETURN 'SUBROUTINE OF Jog Incremental Moves...

  • Page 92: Epl Network

    Parker Hannifin REM AXIS0 IS NOT ENABLE, PRINT MESSAGE IF (NOT bit8467) THEN PRINT "Axis1 is not enable" REM AXIS1 IS NOT ENABLE, PRINT MESSAGE RETURN : REM RETURN BACK TO GOSUB ENDP EPL Network #DEFINE ResetEPLNetwork BIT150 PROGRAM GOSUB EnableEPLNetwork : REM GO TO SUBROUTINE EnableEPLNetwork...

  • Page 93: Homing

    Parker Hannifin Homing Homing Example 1 PROGRAM GOSUB HOMING : REM GO TO SUBROUTINE HOMING 'SUBROUTINE HOMING _HOMING JOG VEL X1 Y1 : REM Set axes jog parameters used during homing JOG ACC X10 Y10 JOG DEC X10 Y10 HLBIT X0 Y3...
  • Page 94 Parker Hannifin Homing Example 2 Homing Example XYZ System PROG0 PROGRAM GOSUB EnableDrives GOSUB HomeAll REM insert application code here : REM end program _EnableDrives DRIVE ON X Y Z DWL 0.15 REM wait 150ms for servos to enable before commanding moves...
  • Page 95 Parker Hannifin WHILE (NOT BIT 16134 OR NOT BIT16166) REM Jump to User error routine if home fails IF (BIT 16135 OR BIT 16167) THEN GOTO HomeFailed WEND REM now find the Z markers for each axis encoder for REM more accurate positioning...

  • Page 96: Open Sample

    Parker Hannifin Open Sample PROGRAM CLEAR : REM Clear any variables dimension in program DIM $V(1,10) : REM Dimensions one string variable of length 10 GOSUB OPENPORT : REM Go to SUBROUTINE OPENPORT 'SUBROUTINE OPENPORT _OPENPORT 'Opens Ethernet Stream2 OPEN "STREAM3:" AS #1 'Continuous loop as long as "X"...

  • Page 97: Teach Array

    Parker Hannifin Teach Array PROGRAM CLEAR : REM Clear out any variables dimensioned DIM LV(2) : REM Dimension 2 Long Variables DIM DA(1) : REM Dimension 1 Double Array DIM $V(1,10) : REM Dimension 1 String Variable of length 10...
  • Page 98 Parker Hannifin 'FOR/TO/STEP/NEXT loop to make absolute moves to position taught FOR LV0=0 TO (LV1-1) STEP 1 X(DA0(LV0)) INH -516 PRINT DA0(LV0) : REM Print to terminal the Position it move to. NEXT RETURN ENDP Programmer’s Guide...

  • Page 99: Binary Host Interface

    Parker Hannifin Binary Host Interface You can enhance communications with the ACR series controller through the binary host interface. Binary Data Transfer The binary data transfers in this chapter consist of a control character ( Header ID ) followed by a stream of data encoded according to the current state of the MODE command.
  • Page 100 Parker Hannifin Receiving When receiving control prefix encoded data, a '#' character is thrown away and causes the next character to be read from the data stream. If the character is in the range of 0x3F to 0x5F, the character is 'XORed' with 0x40 to decode the true value. Otherwise, the character is used exactly as read from the stream.

  • Page 101: Binary Data Packets

    Parker Hannifin Binary Data Packets Packets allow binary access to system parameters at any time. This method must be used if commands are sitting in the input queue since PRINT statements would also be buffered. The packet is the quickest way to access information such as current position and following error for display in an application program.
  • Page 102 Parker Hannifin Parameter Access The following is a list of groups and what the isolation mask will isolate: Group Description Isolation Usage 0x10 Flag Parameters Eight consecutive parameters 0x18 Encoder Parameters ENC0-ENC15 0x19 DAC parameters DAC0-DAC7 0x1A PLC parameters PLC0–PLC7...

  • Page 103: Binary Parameter Access

    Parker Hannifin Long integers (LONG) are returned as a four-byte field. Floating point numbers (FP32) are returned in 32-bit IEEE floating-point format. Both types of field are returned with the low order byte first. Usage Example This example requests actual positions from axis 2, 3 and 5:...
  • Page 104 Parker Hannifin Usage Example This example requests current position from axis 0 parameter P12288: Fields: Header Parameter Value Output: 00 88 00 30 Input: 00 88 00 30 10 11 12 00 Current Position Parameter Value: AXIS0: 0x00121110 Binary Get Long This packet gets a single parameter from the card.
  • Page 105 Parker Hannifin Receive Packet None. Binary Get IEEE This packet gets a single parameter from the card. The parameter index is a 2-byte value sent low-order byte first. The parameter value in the receive packet is a 4-byte image of an IEEE floating point number received low-order byte first.

  • Page 106: Binary Peek Command

    Parker Hannifin Binary Peek Command A binary peek command consists of a four-byte header followed by an address and the data to be fetched from that address. The header contains a data conversion code that controls pointer incrementing and theFP32 -> IEEE floating point conversion.

  • Page 107: Binary Poke Command

    Parker Hannifin Usage Example NOTE: Addresses shown are for example only. Addresses will vary from card to card, depending on system memory allocation. This example peeks at three words, starting at peek address 0x404500: Fields: Header Address Data0 Data1 Data2...

  • Page 108: Binary Address Command

    Parker Hannifin Receive Packet None. Conversion Codes Code Source Destination 0x00 LONG LONG 0x01 IEEE32 FP64 0x02 IEEE32 FP32 Usage Example NOTE: Addresses shown are for example only. Addresses will vary from card to card, depending on system memory allocation.
  • Page 109 Parker Hannifin Binary Address Packet Transmit Packet Data Field Description Byte 0 Header ID ( 0x00 ) Byte 1 Packet ID ( 0x92 ) Byte 2 Program Number Byte 3 Parameter Code Receive Packet Data Field Description Byte 0 Header ID ( 0x00 )

  • Page 110: Binary Parameter Address Command

    Parker Hannifin Binary Parameter Address Command A binary parameter address command consists of a four-byte header containing a parameter index. The command returns the header followed by the address of the parameter. If the returned address is zero, the parameter index was invalid.

  • Page 111: Binary Mask Command

    Parker Hannifin Binary Mask Command A binary mask command consists of a four-byte header followed by an address and two bit masks to be combined with the data at that address. There is no information returned from this command. The address must point to a long integer storage area.

  • Page 112: Binary Parameter Mask Command

    Parker Hannifin Binary Parameter Mask Command A binary parameter mask command consists of a four-byte header followed by two bit masks to be combined with a system parameter. There is no information returned from this command. The parameter index in the header must be a long integer. The NAND mask is used to clear bits and the OR mask is used to set bits.

  • Page 113: Binary Move Command

    Parker Hannifin Binary Move Command A binary move consists of a variable length header followed by a number of four-byte data fields. The bit-mapped information in the header determines the number of data fields and their content. All data fields are sent low order byte first.
  • Page 114 Parker Hannifin There are two versions defined for Header Code 0 based on Secondary Master Flag Bit Index 5, Enable Rapid Move Modes. The default-disabled mode for this flag (Secondary Master Flag Bit Index 5 cleared) uses the following Header Code 0 definition. This Header Code 0 definition is compatible with ACR2000/ACR8000 Firmware Versions 1.17.04 and below, and is compatible with all...
  • Page 115 Parker Hannifin Header Code 1 Data Field Data Type Description Bit 0 Master Bit 0 Master for this move packet Bit 1 Master Bit 1 Bit 2 Master Bit 2 Bit 3 Interrupt Select Interrupt host when move starts Bit 4...
  • Page 116 Parker Hannifin Header Code 4 Data Field Data Type Description Bit 0 Reserved Reserved Bit 1 Bit 2 Bit 3 Master Bit 3 Master for this move packet Bit 4 Reserved Reserved Bit 5 Bit 6 Bit 7 Header Code 5...
  • Page 117 Parker Hannifin Header Code 7 Data Field Data Type Description Bit 0 Reserved Reserved Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 The following Move Modes definition applies to Header Code 0 used with the Master Enable Rapid Move Modes flag set.
  • Page 118 Parker Hannifin Example 2 The following illustrates Move Mode 1—Feed Cornering: Example 3 The following illustrates Move Mode 2—Feed Stopping: 118 Programmer’s Guide...
  • Page 119 Parker Hannifin Example 4 The following illustrates Move Mode 3—Rapid: Linear Moves The bits in header code 2 indicate which target positions are contained in the binary move packet. If the "incremental target" bit in header code 3 is set, the targets are relative to the current target positions of the slaves;...

  • Page 120: Binary Set And Clr

    Parker Hannifin The "arc direction" bit in header code 1 indicates the direction of the arc relative to the primary and secondary axes. A counter- clockwise arc is defined as an arc from the positive primary axis toward the positive secondary axis.

  • Page 121: Binary Fov Command

    Parker Hannifin Binary CLR Data Type Description Byte 0 Header ID ( 0x1D ) Byte 1 Index Byte 0 Byte 2 Index Byte 1 Byte 3 0x00, this byte is for ACR8020 DPCB only. Usage Example Binary Output Description Set bit 520 ( 0x0208 )
  • Page 122 Parker Hannifin Header Bit Mask Data Type Description Bit 0 Master 0 Affected Bit 1 Master 1 Affected Bit 2 Master 2 Affected Bit 3 Master 3 Affected Bit 4 Master 4 Affected Bit 5 Master 5 Affected Bit 6...

  • Page 123: Binary Rov Command

    Parker Hannifin Usage Example This example uses the following IEEE conversions: 0.500 = 3F000000 0.123 = 3DFBE76D Binary Output Description Set Master 3 FOV to 0.5 07 08 00 00 00 00 00 3F Set Master 0 and Master 2 FOV to 0.123...
  • Page 124 Parker Hannifin Header Bit Mask Data Type Description Bit 0 Master 0 Affected Bit 1 Master 1 Affected Bit 2 Master 2 Affected Bit 3 Master 3 Affected Bit 4 Master 4 Affected Bit 5 Master 5 Affected Bit 6...

  • Page 125: Application: Binary Global Parameter Access

    Parker Hannifin Usage Example This example uses the following IEEE conversions: 0.500 = 3F000000 0.123 = 3DFBE76D Binary Output Description Set Master 3 ROV to 0.5 07 08 00 00 00 00 00 3F Set Master 0 and Master 2 ROV to 0.123...
  • Page 126 Parker Hannifin Even though global variables are stored on-board as floating point 64 (FP64) numbers, they are returned as IEEE32 numbers (Conversion Code 0x01). Setting Global Variables Peek at the System Pointer Address (see System Pointer Address on previous page) to receive the Global_Variable_Address.

  • Page 127: Additional Features

    Parker Hannifin Additional Features CANopen The CANopen feature on ACR series controllers provides standardized network communication and flexible configuration for motion control. Limited Amounts of Nodes and I/O • 4 external I/O nodes • 64 bytes (512 bits) of digital inputs total for 4 nodes •...
  • Page 128 The ACR9000 controller automatically sets other configuration parameters required for CANopen, including the global analog data enable (For more information, see the Parker I/O manual). The table below gives the parameters the user must set, along with their default values. The default values apply on power up if user supplied values have not been saved with the ESAVE command.
  • Page 129 (16 * 125)/1000 = 2 (16 * 125)/125 = 16 The second constraint is individual node speed. Parker offers the PIO-337 and PIO-347 fieldbus couplers, and these have been characterized for speed. The time required depends on the coupler and the amount and type of I/O on the coupler.
  • Page 130 Parker Hannifin node of the example above, and the timing in the table below, the time using a PIO-347 would be 12 milliseconds, and using a PIO-337 would be two milliseconds. Node Type Base time time/digital point time/analog point (milliseconds)
  • Page 131 Parker Hannifin • Check for success and any other status of interest. For example, application operation may depend on I/O present, or expected I/O may be verified. • Proceed with application that depends on external I/O AcroBASIC Language Access to CANopen I/O All “objects”...
  • Page 132 Parker Hannifin Field Description Read/ Description Write Start Network When set, this flag will attempt to communicate with the CANopen network. This flag is automatically cleared by the controller when the attempt to start the network has completed. See the section on “Starting and Configuring the...
  • Page 133 Parker Hannifin The description and parameter numbers are shown in the following table. The control parameters are those that should be set before attempting to start the network. The status parameters are those that the controller will set because of attempting to start the network.
  • Page 134 Parker Hannifin Field Description Read/ Description Write Number of Digital The total number of bytes (1 byte = 8 Output Bytes bits) taken for digital outputs on the network. Number of Analog The total number of analog inputs on inputs the network.
  • Page 135 Parker Hannifin The Bus State Description table below gives the possible bus states and the corresponding CAN LED indicator state. The only normal states are “READY TO START” and “NETWORK STARTED”. Any red in the CAN LED indicates a problem.
  • Page 136 Parker Hannifin The Node ID must be set by the user to match the node ID settings on the actual nodes. All other node information is filled in by the controller after the network is started. The node information is saved...
  • Page 137 Parker Hannifin Flags for Extended Digital I/O Each possible node will have two blocks of flag parameters, each 16 parameters in length, to accommodate the possible 512 bits each of extended digital inputs and outputs. Flag parameter numbers are shown the table below.
  • Page 138 Parker Hannifin For example a 0-10V DAC would take values of 0-32767, and a ±10V device would take values of –32768 to 32767. However, a ±5V device would also take values of –32768 to 32767. To translate from this raw binary number to the range and units being controlled or measured, ACR9000 employs entered offsets and gains.
  • Page 139 ADC parameter blocks of each node. Example 1 The following example uses two Parker I/O nodes. The first, configured as node 3, has a PIO-337, four digital inputs, four digital outputs, four analog inputs (0 to 10 VDC) and two analog outputs (0 to 10 VDC).
  • Page 140 Parker Hannifin and two analog outputs (0 to 10 VDC). They are both configured at a bit rate of 1 Mb. The example shows the required setup, and how to use the data in a very basic program. P32768 = 5...

  • Page 141: Drive Talk

    Communication The Axis connectors provide an RS-485 communication interface to the drive through the COM2 port. Parker drives supporting Drive Talk automatically detect RS-232/485 on power up; therefore, the drives must be connected to ACR series controller before being powered up.
  • Page 142 Parker Hannifin • Bit11072–Bit11103 Stream Flags for Drive Talk—COM1 • Bit11104–Bit11135 Stream Flags for Drive Talk—COM2 • Bit11168–Bit11199 DPCB/Stream 3 Flags for Drive Talk • Bit11200–Bit11231 Stream 4 Flags for Drive Talk • Bit11232–Bit11263 Stream 5 Flags for Drive Talk...
  • Page 143 Parker Hannifin Upload To upload configuration data, set the “Get Configuration ► Request” bit (bit index 1, “Drive Talk Drive-Control Flags”). Download To download configuration data, set the “Send Configuration ► Request” bit (bit index 2, “Drive Talk Drive-Control Flags”).
  • Page 144 Parker Hannifin Using Drive Talk The most sensible way to enable Drive Talk is through a program. If you have a startup program (see the PBOOT command) for your ACR controller, consider including the Drive Talk code in it. NOTE: Be sure all Aries drives are connected to the ACR controller before power up (due to the Aries communication auto- detect—see the section titled Communication, above).
  • Page 145 Parker Hannifin Using the “Pass Through” Mode To communicate directly to the Aries drive, you can set the ACR controller into a “pass through” mode—where the controller acts as a communication conduit to another device. Use the “pass- through” mode to trouble shoot the Aries drive, or run a program and monitor its progress and output (see LRUN command).
  • Page 146 Parker Hannifin Example The following example opens a Drive Talk session, then enters the “pass through” mode. P00>OPEN DTALK "COM2:9600,N,8,1" AS #1 : REM OPEN DRIVE TALK PORT FOR REM DEVICE NUMBER 1 P00>P28672=1 : REM SET AXIS0’S DEVICE NUMBER FOR DTALK REM TO 1, MUST MATCH THE OPEN COMMAND ABOVE P00>P28673=0 : REM SET AXIS0 TO AN ARIES DRIVE...

  • Page 147: Inverse Kinematics

    Parker Hannifin Inverse Kinematics Kinematics is a branch of mechanics that provides a mathematical means of describing motion. Inverse kinematics looks at a position and works backwards to determine the motions necessary to obtain that position. Robotic applications frequently use inverse kinematics. Algorithms describe the mechanical system, and translate the rotational motion of robotics into Cartesian coordinates.
  • Page 148 Parker Hannifin Example The following program results in a circle instead of a straight line because of the transformation described in program 7 (PROG7). PROG7 PROGRAM P12361= sin( P12360) : REM Describe transformation in PROG7 P12617= cos(P12360) : REM Describe transformation in PROG7...

  • Page 149: Troubleshooting

    These notes may come in handy later, and will also help prevent duplication of testing efforts. Once the problem is isolated, refer to Table 1, Common Problems and Their Solutions. If instructed to contact Parker Technical Assistance, please refer to Technical Assistance for contact information.

  • Page 150: Troubleshooting Table

    If the LED turns green after removing the cables, re- attach the cables one at a time to determine which cable or device is causing the problem. If the LED does not turn green, contact Parker Technical Assistance. Power status LED is Controller encountered error during boot process.
  • Page 151 Parker Hannifin PROBLEM CAUSE / VERIFICATION SOLUTION Axis Status LED Axis status LED is not Axis is disabled with no fault (normal state for Enable drive. steppers or servo motors). Axis status LED is red Axis fault. Motion on this axis is disabled during a Check for faulted drive.
  • Page 152 Check for an incompatible USB to serial adapter. Recommended: BAFO BF-810 USB Communication Communication Error: USB driver not installed. Reconnect ACR90x0 controller. Windows will detect new 17054 hardware. Install the driver from Parker technical support or CD. 152 Programmer’s Guide...
  • Page 153 Parker Hannifin PROBLEM CAUSE / VERIFICATION SOLUTION Ethernet Communication Communication Error: Using straight through (patch) Ethernet cable. Change to a crossover Ethernet cable. 11003 Communication Error: Using crossover Ethernet cable through router/hub. Change to a straight through Ethernet cable. 11010 Communication Error: Wrong computer IP address and/or subnet mask.
  • Page 154 Parker Hannifin PROBLEM CAUSE / VERIFICATION SOLUTION Excess position error (EXC). (Motor has exceeded Increase the EXC setting. maximum position error.) Verify by checking Status Panels Bit Status Axis Flags Primary Axis Flags. (Each axis is indicated by Bit “Not Excess Error.”) Drive will enable, but Incorrect configuration for motor attached.
  • Page 155 Parker Hannifin PROBLEM CAUSE / VERIFICATION SOLUTION Drive will enable, but Stepper output motion does not occur. ACR Correct configuration for stepper through Configuration Wizard. motor will not move controller not configured for stepper output in Tuning gains must remain at default values: PGAIN Configuration Wizard.
  • Page 156 Parker Hannifin PROBLEM CAUSE / VERIFICATION SOLUTION Torque Limit is set to zero. Assign the appropriate Torque Limit value. Verify Torque Limit setting by Status Panels Example: TLM X1 indicates torque is limited to 10% of drive Numeric Status Axis Parameters Limit motor capacity for axis X.
  • Page 157 Parker Hannifin PROBLEM CAUSE / VERIFICATION SOLUTION Motion stops Axis has encountered soft limits. Jog off the limit. Clear the appropriate Positive/Negative Soft unexpectedly Limit Encountered Bit. Clear the associated Master Kill All Verify: Status Panels Bit Status Axis Flags Moves Request Bits.

  • Page 158: Error Handling

    1.18.15 and above. It was written to handle possible axis, CANopen, and Motion Enable Input error conditions. Parker does not intend this to be an actual application solution. Use this program as an example for error handling, and tailor the routines for your specific needs.
  • Page 159 ' This software program is provided free of charge and without ' warranty of any kind, either expressed or implied. In no event ' will PARKER HANNIFIN CORPORATION be liable for any damages, ' including but not restricted to lost profits, lost savings, or ' component failure arising out of the use or inability to use this ' software program.
  • Page 160 Parker Hannifin REM error codes to retrieve via front end application #DEFINE MEIErrorCode P50 #DEFINE CANopenErrorCode P51 #DEFINE XErrorCode P52 #DEFINE YErrorCode P53 REM additional variables used to determine when the error occurred #DEFINE Time LV0 #DEFINE ms LV1 #DEFINE seconds LV2...
  • Page 161 Parker Hannifin SET 5647 : REM request reset of the MEI input latched status REM flag (bit 5645) INH -5647 : REM wait until request has finished REM Clear axis KAMR flags CLR XKillAllMotion CLR YKillAllMotion $V0 = "Motion Enable Input is good"...
  • Page 162 Parker Hannifin REM --------- Y Software EOT's --------- IF (YPosSoftEOT AND YErrorCode <> 1) INH -824 Set ErrorOccurred YErrorCode = 1 $V3 = "Positive Software End-of-travel hit, Axis 1" CLR YPosSoftEOT : REM EOT flag is automatically cleared, REM but we clear it to prevent recursive...
  • Page 163 Parker Hannifin REM --------- Excess position error ---------- IF (XExcessErrorFault) XErrorCode = 5 $V2 = "Axis 0 disabled due to excess position error" CLR XExcessErrorFault ENDIF REM -- Use only for servo axes !!! Encoder Signal Lost or Fault IF (NOT XDriveEnabled AND (XErrorCode = 0) AND (XEncoderFault OR...
  • Page 164 Parker Hannifin REM --------- Hardware EOT's --------- IF (YPosHardEOT) YErrorCode = 3 $V3 = "Positive Hardware End-of-travel hit, Axis 1" CLR YPosHardEOT : REM EOT flag is not automatically REM cleared, program must clear it ENDIF IF (YNegHardEOT) YErrorCode = 4 $V3 = "Negative Hardware End-of-travel hit, Axis 1"...
  • Page 165 Parker Hannifin REM --------- Print error out comm1 to terminal --------- IF (ErrorOccurred) REM Print time since controller power on or reset GOSUB CheckTime IF (MEIErrorCode > 0) PRINT #1, "MEI Error ";MEIErrorCode;" -> ";$V0 REM Motion Enable Input status ENDIF IF (CANopenErrorCode >...
  • Page 166 Parker Hannifin ExcMinutes = minutes MOD 60 REM extract the hour portion REM remove excess minutes and convert to full hours hours = (minutes - ExcMinutes) /60 REM remove any hours less than a full day ExcHours = hours mod 24 REM only full days are left.

  • Page 167: Appendix

    Parker Hannifin Appendix The appendix contains supplemental materials not directly related to any specific ACR series controller discussion. IP Addresses, Subnets, & Subnet Masks The factory assigns an IP address of 192.168.10.40 and a subnet mask of 255.255.255.0 to each controller. Before adding the controller to your network, assign it an IP address and subnet mask appropriate for your network.
  • Page 168 Parker Hannifin The address consists of a network ID and a host ID. The network ID acts as a general address, like a zip code; The host ID is the address for a specific device within the network, like a home address.
  • Page 169 Parker Hannifin Suppose you have 6 computers in a class C network. All share the same network address 192.168.10. in the first three octets. The final octet for each computer is different, and represents the host ID. Some addresses are reserved for private networks or intranets, where networks are masked or protected from the Internet: 10.0.0.0 to 10.255.255.255...
  • Page 170 Parker Hannifin To provide another level of addressing, some of the host ID is borrowed to create a subnet ID. The subnet ID allows you to logically group devices together (often related to a specific network segment). Once data arrives at the network, the subnet ID allows routers or host devices to locate the appropriate network segment, and then the host.
  • Page 171 Parker Hannifin What subnet mask to use depends on your network configuration, and address class. Where the host ID appears in the IP address, use a zero in the subnet mask. And where the network ID and subnet ID appear, use 255 in the subnet mask.

  • Page 172: Output Module Software Configuration Examples

    Parker Hannifin Output Module Software Configuration Examples The following commands are used to configure the ACR1200, ACR1500, ACR2000, ACR8000, ACR8010 output modules for operation: CONFIG tells the control what type of output module is ► installed. ATTACH AXIS attaches the axis to signal output and ►...
  • Page 173 Parker Hannifin ATTACH AXIS7 STEPPER7 STEPPER7 AXIS2 OFF AXIS3 OFF CMT0 ENC0 ENC1 CMT0 DAC0 DAC1 CMT1 ENC2 ENC3 CMT1 DAC2 DAC3 Example 4 The following example configures a four axis ACR1500 with four on-board stepper outputs or a four axis ACR2000 with one stepper output module for four open-loop steppers.
  • Page 174 Parker Hannifin Example 7 The following example configures a 2 axis ACR1200 with one on- board DAC output and one on-board stepper output for one closed loop servo and one open-loop stepper. Also included on the board is an analog input module (ADC input module).

  • Page 175: Index

    Parker Hannifin Index AcroBASIC Drive Talk commands ......12 auto-address......142 syntax ........8 bits ........141 aliases configuration flags ....142 bits ........7, 26 drive status flags ....143 constants ......... 7 error flags ......143 DEFINE ........7 parameters ......
  • Page 176 Parker Hannifin parameters running ........13 aliases ........26 starting ........13 overview ........ 24 starting, automatically ..... 13 using ........25 start-up........39 parametric evaluation ....27 program flow PBOOT command......39 pause........24 problems ........149 repetition........ 22 program selection.........

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