ACR Electronics FPR-10 PROGRAMMER Manual

Parker Hannifin 10 Programmer’s Guide 11. In the Scaling dialog, do the following: a. Under Specify Units, click Inches. b. In the Transmission

Parker Hannifin 100 Programmer’s Guide Example 1 Two axes are set to different acceleration, deceleration, and velocities, and are moved the same di

Parker Hannifin Making Motion 101 Figure 5 looks at the movement for the Y axis, characterized by more gradual slopes for acceleration and decel

Parker Hannifin 102 Programmer’s Guide Figure 6 shows the velocity motion profiles for both the X and Y axes superimposed. The Y axis is dashed. Due

Parker Hannifin Making Motion 103 At one second (t0 + 1.0 sec.), the axis is commanded to decrease speed to the new velocity. See Figure 8 for th

Parker Hannifin 104 Programmer’s Guide JOG VEL Details Figure 10 shows the bit profiles for the Jog Flags (Bits 792 through 796) as a JOG VEL comman

Parker Hannifin Making Motion 105 JOG Commands See the ACR Command Language Reference for detailed information, including necessary arguments, on

Parker Hannifin 106 Programmer’s Guide JOG REN Details The JOG REN command (Transfer Current Position into Jog Offset) clears the Coordinated Moves

Parker Hannifin Making Motion 107 The drawing in Figure 12 illustrates JOG REN as it preloads the Coordinated Moves Profiler. Figure 12 JOG RE

Parker Hannifin 108 Programmer’s Guide JOG RES Details The JOG RES command (Transfer Jog Offset Into Current Position) clears the Jog Profiler offse

Parker Hannifin Making Motion 109 The drawing in Figure 14 illustrates JOG RES as it preloads the Jog Profiler. Figure 14 JOG RES Preloads the

Parker Hannifin Getting Started 11 19. In the Fault dialog, do the following: a. Select the Enable Positive Software Limit Detection check box,

Parker Hannifin 110 Programmer’s Guide Cam Profiler The Cam Profiler controls motion for axes needing precise motion. It uses an array of target poi

Parker Hannifin Making Motion 111 NOTE: Relevance of positive and negative direction— NOTE: If an end-of-travel limit is encountered during t

Parker Hannifin 112 Programmer’s Guide JOG VEL X10 Y10 : REM Set axes jog parameters used during homing JOG ACC X100 Y100 JOG DEC X100 Y100 HLBIT X

Parker Hannifin Making Motion 113 Figures A and B show the homing operation when the Home Backup Enable, Home Negative Edge Select, and Home Nega

Parker Hannifin 114 Programmer’s Guide Positive Homing (Homing Backup Enabled) Figures C through F show the homing operation when the Home Backup En

Parker Hannifin Making Motion 115 Figure D Homing Profile Attributes: • JOG HOME X1 • Home Backup Enable (bit index 24) is set. • Home Negati

Parker Hannifin 116 Programmer’s Guide Negative Homing (Homing Backup Enabled) Figures G through J show the homing operation for different values of

Parker Hannifin Making Motion 117 Figure I Homing Profile Attributes: • JOG HOME X-1 • Home Backup Enable (bit index 24) is set. • Home Negat

Parker Hannifin 118 Programmer’s Guide Limit Detection The Configuration Wizard assists with setting up the Hardware and Software Limits Detection.

Parker Hannifin Making Motion 119 NOTE: There are no restrictions regarding how to assign hardware limits and homing inputs. However, you should

Parker Hannifin 12 Programmer’s Guide 25. In the Fault dialog, do the following: a. Select the Enable Positive Software Limit Detection check box

Parker Hannifin 120 Programmer’s Guide Servo Loop Fundamentals Each of the profilers contains a register with a value of the current offset. These v

Parker Hannifin Servo Loop Fundamentals 121 The information up to and including the SSP is the commanded position. See Figure 16. Figure 16 Sec

Parker Hannifin 122 Programmer’s Guide Figure 17 Following Error

Parker Hannifin Binary Host Interface 123 Binary Host Interface You can enhance communications with the ACR series controller through the binary

Parker Hannifin 124 Programmer’s Guide Receiving When receiving control prefix encoded data, a '#' character is thrown away and causes the

Parker Hannifin Binary Host Interface 125 Binary Data Packets Packets allow binary access to system parameters at any time. This method must be u

Parker Hannifin 126 Programmer’s Guide Parameter Access The following is a list of groups and what the isolation mask will isolate: Group Descripti

Parker Hannifin Binary Host Interface 127 Long integers (LONG) are returned as a four-byte field. Floating point numbers (FP32) are returned in 3

Parker Hannifin 128 Programmer’s Guide Usage Example This example requests current position from axis 0 parameter P12288: Fields: Header Parameter

Parker Hannifin Binary Host Interface 129 Receive Packet None. Binary Get IEEE This packet gets a single parameter from the card. The parameter i

Parker Hannifin Getting Started 13 2. In the Masters dialog, assign axis Z to master 1: a. In the Axes list to the left, select Axis 2. b. In

Parker Hannifin 130 Programmer’s Guide Binary Peek Command A binary peek command consists of a four-byte header followed by an address and the data

Parker Hannifin Binary Host Interface 131 Usage Example NOTE: Addresses shown are for example only. Addresses will vary from card to card, depen

Parker Hannifin 132 Programmer’s Guide Receive Packet None. Conversion Codes Code Source Destination 0x00 LONG LONG 0x01 IEEE32 FP64 0x02 IEEE32

Parker Hannifin Binary Host Interface 133 Binary Address Packet Transmit Packet Data Field Description Byte 0 Header ID ( 0x00 ) Byte 1 Packet

Parker Hannifin 134 Programmer’s Guide Binary Parameter Address Command A binary parameter address command consists of a four-byte header containing

Parker Hannifin Binary Host Interface 135 Binary Mask Command A binary mask command consists of a four-byte header followed by an address and two

Parker Hannifin 136 Programmer’s Guide Binary Parameter Mask Command A binary parameter mask command consists of a four-byte header followed by two

Parker Hannifin Binary Host Interface 137 Binary Move Command A binary move consists of a variable length header followed by a number of four-byt

Parker Hannifin 138 Programmer’s Guide There are two versions defined for Header Code 0 based on Secondary Master Flag Bit Index 5, Enable Rapid Mov

Parker Hannifin Binary Host Interface 139 Header Code 1 Data Field Data Type Description Bit 0 Master Bit 0 Bit 1 Master Bit 1 Bit 2 Master

Parker Hannifin 14 Programmer’s Guide Creating a program This application requires two programs. Program 0: Determines the motion the gantry (axes

Parker Hannifin 140 Programmer’s Guide Header Code 4 Data Field Data Type Description Bit 0 Bit 1 Bit 2 Reserved Reserved Bit 3 Master Bit 3 Mas

Parker Hannifin Binary Host Interface 141 Header Code 7 Data Field Data Type Description Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Reserv

Parker Hannifin 142 Programmer’s Guide Example 2 The following illustrates Move Mode 1—Feed Cornering: Example 3 The following illustrates Move Mo

Parker Hannifin Binary Host Interface 143 Example 4 The following illustrates Move Mode 3—Rapid: Linear Moves The bits in header code 2 indicat

Parker Hannifin 144 Programmer’s Guide The "arc direction" bit in header code 1 indicates the direction of the arc relative to the primary

Parker Hannifin Binary Host Interface 145 Binary CLR Data Type Description Byte 0 Header ID ( 0x1D ) Byte 1 Index Byte 0 Byte 2 Index Byte 1

Parker Hannifin 146 Programmer’s Guide Data Type Description Bit 1 Master 1 Affected Bit 2 Master 2 Affected Bit 3 Master 3 Affected Bit 4 Mast

Parker Hannifin Binary Host Interface 147 Usage Example This example uses the following IEEE conversions: 0.500 = 3F000000 0.123 = 3DFBE76D Binar

Parker Hannifin 148 Programmer’s Guide Header Bit Mask Data Type Description Bit 0 Master 0 Affected Bit 1 Master 1 Affected Bit 2 Master 2 Affe

Parker Hannifin Binary Host Interface 149 Usage Example This example uses the following IEEE conversions: 0.500 = 3F000000 0.123 = 3DFBE76D Binar

Parker Hannifin Getting Started 15 4. In the Program Editor window under the comment 'TODO: edit your program here, type the following (or

Parker Hannifin 150 Programmer’s Guide Even though global variables are stored on-board as floating point 64 (FP64) numbers, they are returned as IE

Parker Hannifin Additional Features 151 Additional Features CANopen The CANopen feature on ACR series controllers provides standardized network c

Parker Hannifin 152 Programmer’s Guide other words, each I/O bit is controlled by only one flag. In addition, this table represents the maximum amou

Parker Hannifin Additional Features 153 For available bit rates and constraints of bus length, see the CiA Draft standard 301, version 4.02, tabl

Parker Hannifin 154 Programmer’s Guide node of the example above, and the timing in the table below, the time using a PIO-347 would be 12 millisecon

Parker Hannifin Additional Features 155 • Check for success and any other status of interest. For example, application operation may depend on I

Parker Hannifin 156 Programmer’s Guide Field Description Read/ Write Description Start Network R/W When set, this flag will attempt to communicate

Parker Hannifin Additional Features 157 The description and parameter numbers are shown in the following table. The control parameters are those

Parker Hannifin 158 Programmer’s Guide Field Description Read/ Write Description Number of Digital Output Bytes R The total number of bytes (1 byte

Parker Hannifin Additional Features 159 The Bus State Description table below gives the possible bus states and the corresponding CAN LED indicat

Parker Hannifin 16 Programmer’s Guide Servo Tuning - Tutorial The tuning process lets you hone the servo response and settling for your particular

Parker Hannifin 160 Programmer’s Guide The Node ID must be set by the user to match the node ID settings on the actual nodes. All other node informa

Parker Hannifin Additional Features 161 Flags for Extended Digital I/O Each possible node will have two blocks of flag parameters, each 16 parame

Parker Hannifin 162 Programmer’s Guide For example a 0-10V DAC would take values of 0-32767, and a ±10V device would take values of –32768 to 32767.

Parker Hannifin Additional Features 163 DAC Parameter/DAC number 0 1 … 31 DAC Output Value P33280 P33296 … P33776 Reserved P33281 P33297

Parker Hannifin 164 Programmer’s Guide and two analog outputs (0 to 10 VDC). They are both configured at a bit rate of 1 Mb. The example shows the r

Parker Hannifin Additional Features 165 Communication The Axis connectors provide an RS-485 communication interface to the drive through the COM2

Parker Hannifin 166 Programmer’s Guide Enabling Auto-Addressing ► To enable auto-addressing, set the “Auto Address Request” bit (bit index 0, Drive

Parker Hannifin Additional Features 167 Drive Status Flags You can get status data of an Aries drive. On power up the controller does not contain

Parker Hannifin 168 Programmer’s Guide Example The following example demonstrates the set up for two axes with Aries drives: OPEN DTALK “COM2:9600,N

Parker Hannifin Additional Features 169 DTALK command from a terminal. For more information, see DTALK in the ACR Command Language Reference. Onc

Parker Hannifin Getting Started 17 Tuning Example The tuning example assumes the following: • Parker BE 241 motor. • 9 to 1 load-to-rotor inert

Parker Hannifin 170 Programmer’s Guide Exiting “Pass Through” Mode Exiting the “pass through” mode and closing the Drive Talk session are two distin

Parker Hannifin Additional Features 171 • Use the PASSWORD command to protect the program from uploading or listing. • Include the INVK command

Parker Hannifin 172 Programmer’s Guide Troubleshooting When a system does not function as expected, the first thing to do is identify and isolate t

Parker Hannifin Troubleshooting 173 Troubleshooting Table This section includes a table of common problems and their solutions. For locations of t

Parker Hannifin 174 Programmer’s Guide PROBLEM CAUSE / VERIFICATION SOLUTION Axis Status LED Axis status LED is not on Axis is disabled with no faul

Parker Hannifin Troubleshooting 175 PROBLEM CAUSE / VERIFICATION SOLUTION EPL Status LED EPL link/activity: yellow LED is off No Ethernet link i

Parker Hannifin 176 Programmer’s Guide PROBLEM CAUSE / VERIFICATION SOLUTION Ethernet Communication Communication Error: 11003 Using straight throug

Parker Hannifin Troubleshooting 177 PROBLEM CAUSE / VERIFICATION SOLUTION Excess position error (EXC). (Motor has exceeded maximum position erro

Parker Hannifin 178 Programmer’s Guide PROBLEM CAUSE / VERIFICATION SOLUTION Stepper output motion does not occur. ACR controller not configured for

Parker Hannifin Troubleshooting 179 PROBLEM CAUSE / VERIFICATION SOLUTION Torque Limit is set to zero. Verify Torque Limit setting by Status Pan

Parker Hannifin 18 Programmer’s Guide 2. The PGAIN is increased to 0.0005 to increase the response. As Figure 2 illustrates, the motor response in

Parker Hannifin 180 Programmer’s Guide PROBLEM CAUSE / VERIFICATION SOLUTION Motion stops unexpectedly Axis has encountered soft limits. Verify: Sta

Parker Hannifin Error Handling 181 Error Handling This section on error handling addresses error checking and recovery, which is to be programmed

Parker Hannifin 182 Programmer’s Guide ' This software program is provided free of charge and without ' warranty of any kind, either express

Parker Hannifin Error Handling 183 #DEFINE MEIErrorCode P50 #DEFINE CANopenErrorCode P51 #DEFINE XErrorCode P52 #DEFINE YErrorCode P53 REM additi

Parker Hannifin 184 Programmer’s Guide REM flag (bit 5645) INH -5647 : REM wait until request has finished REM Clear axis KAMR flags CLR XKillAllMotio

Parker Hannifin Error Handling 185 IF (YPosSoftEOT AND YErrorCode <> 1) INH -824 Set ErrorOccurred YErrorCode = 1 $V3 = "Positive Softw

Parker Hannifin 186 Programmer’s Guide REM --------- Excess position error ---------- IF (XExcessErrorFault) XErrorCode = 5 $V2 = "Axis 0 disable

Parker Hannifin Error Handling 187 REM --------- Hardware EOT's --------- IF (YPosHardEOT) YErrorCode = 3 $V3 = "Positive Hardware End-o

Parker Hannifin 188 Programmer’s Guide REM --------- Print error out comm1 to terminal --------- IF (ErrorOccurred) REM Print time since controller po

Parker Hannifin Error Handling 189 ExcMinutes = minutes MOD 60 REM extract the hour portion REM remove excess minutes and convert to full hours h

Parker Hannifin Getting Started 19 3. Setting the DGAIN to 0.00001 slightly over-damps the response, as shown in Figure 3. Now we can turn again

Parker Hannifin 190 Programmer’s Guide Appendix The appendix contains supplemental materials not directly related to any specific ACR series controlle

Parker Hannifin Appendix 191 The address consists of a network ID and a host ID. The network ID acts as a general address, like a zip code; The ho

Parker Hannifin 192 Programmer’s Guide Suppose you have 6 computers in a class C network. All share the same network address 192.168.10. in the first

Parker Hannifin Appendix 193 To provide another level of addressing, some of the host ID is borrowed to create a subnet ID. The subnet ID allows y

Parker Hannifin 194 Programmer’s Guide What subnet mask to use depends on your network configuration, and address class. Where the host ID appears in

Parker Hannifin Appendix 195 Output Module Software Configuration Examples The following commands are used to configure the ACR1200, ACR1500, ACR2

Parker Hannifin 196 Programmer’s Guide Example 3 The following example configures an eight axis ACR8010 board for two closed-loop servos with two comm

Parker Hannifin Appendix 197 Example 6 The following example configures a four axis ACR1500 with two on-board DAC outputs for two closed loop serv

Parker Hannifin 198 Programmer’s Guide Index AcroBASIC commands ... 48 syntax ... 44 aliases

Parker Hannifin 199 overview...110 subroutine...112 I/O hardware limits...

Parker Hannifin ii Programmer’s Guide User Information Warning — ACR series products are used to control electrical and mechanical components of moti

Parker Hannifin 20 Programmer’s Guide 4. With PGAIN increased to 0.001, motor responsiveness has increased (Figure 4) and the over-damping has dec

Parker Hannifin Getting Started 21 5. The PGAIN is increased to 0.005, resulting again in increased responsiveness (Figure 5). But with increase

Parker Hannifin 22 Programmer’s Guide 6. Increasing the DGAIN to 0.00003 damps the oscillation. As Figure 6 illustrates, both motor response and d

Parker Hannifin Getting Started 23 7. With a loaded motor, we can see that the response has slowed and the damping is weaker. Like before, we ca

Parker Hannifin 24 Programmer’s Guide 8. The PGAIN is increased to 0.02, and we can see better response from the motor. But there is still some os

Parker Hannifin Getting Started 25 9. With DGAIN increased to 0.00015 the chattering is significantly reduced—both motor response and damping lo

Parker Hannifin 26 Programmer’s Guide System Configuration The following section helps you understand how to configure your ACR controller for use.

Parker Hannifin System Configuration 27 Program/PLC Level The "program" or “PLC” level lets you edit and run individual programs or PLC

Parker Hannifin 28 Programmer’s Guide Hardware Configuration Before using an ACR controller, you must define for the firmware what specific hardwar

Parker Hannifin System Configuration 29 Dedicated I/O The ACR series controller contains I/O dedicated to Drive Enable, Drive Reset, and Drive Fa

Parker Hannifin iii Table of Contents User Information...ii Table of Contents ...

Parker Hannifin 30 Programmer’s Guide NOTE: There are no restrictions regarding how to assign hardware limits and homing inputs. However, you shou

Parker Hannifin System Configuration 31 Hardware Limit Enable By default, positive and negative hardware limits are disabled. You can enable the

Parker Hannifin 32 Programmer’s Guide Soft Limit Enable By default, positive and negative software limits are disabled. You can enable the limits b

Parker Hannifin System Configuration 33 Attachments Attachments are a means of defining the hardware you have, and how it connects together. Soft

Parker Hannifin 34 Programmer’s Guide Signal: The signal argument determines the signal output by the ACR controller. • Analog voltage output DAC0

Parker Hannifin System Configuration 35 Master/Slave Attachments Without master/slave attachments, motion cannot occur. So what are masters and s

Parker Hannifin 36 Programmer’s Guide Setting up coordinated motion does not differ. After attaching a master to the program, you attach all the sl

Parker Hannifin System Configuration 37 The diagram below helps illustrate the concepts and relationships between masters and slave, programs and

Parker Hannifin 38 Programmer’s Guide • To reuse an axis and attach it to a different master/slave, you must first separate it from the current ma

Parker Hannifin System Configuration 39 Memory Allocations Memory allocation on the ACR series controllers is completely customizable —you can as

Parker Hannifin iv Programmer’s Guide Program Flow...

Parker Hannifin 40 Programmer’s Guide NOTE: The memory organization differs for each controller—for more information, see the section titled Memo

Parker Hannifin System Configuration 41 • Arrays: The factory default provides no memory allocated to arrays. After allocating memory, these ite

Parker Hannifin 42 Programmer’s Guide Displaying Current Memory Allocations From the SYS prompt, you can view memory allocations for programs, PLCs

Parker Hannifin Programming Basics 43 Programming Basics The following section explains some fundamental concepts of the AcroBASIC programming la

Parker Hannifin 44 Programmer’s Guide • Use the RETURN command to indicate the end of the subroutine. • Do not put a REM command on the same line

Parker Hannifin Programming Basics 45 You can only issue some parent commands in conjunction with a daughter statement. For example, the FLASH co

Parker Hannifin 46 Programmer’s Guide Arguments and Syntax The syntax of an AcroBASIC command shows you all the components necessary to use it. Com

Parker Hannifin Programming Basics 47 Example 2 FBVEL {AXIS {value}} {AXIS {value}} ... Optional arguments can nest. This provides the flexibilit

Parker Hannifin 48 Programmer’s Guide Programs and Commands There is a subset of AcroBASIC commands that act right away. While you can use them in

Parker Hannifin Programming Basics 49 Starting, Pausing, and Halting Programs Once downloaded to a controller, you can control programs from the

Parker Hannifin v Servo Loop Fundamentals ...120 Setpoint Compensation ...

Parker Hannifin 50 Programmer’s Guide Pausing a Program Pausing a program places a feed hold on the current move and suspends the program at the cu

Parker Hannifin Programming Basics 51 Program Flow Code is executed sequentially, following the order in which it is written. But based on some i

Parker Hannifin 52 Programmer’s Guide When using an IF/THEN statement, observe the following: • You can nest GOTO and GOSUB statements in an IF/TH

Parker Hannifin Programming Basics 53 Here is how it works. When the IF condition is true, the subsequent statements are executed. When the IF co

Parker Hannifin 54 Programmer’s Guide Repetition The repetition structure—known as a loop—controls the repeated execution of a statement or block o

Parker Hannifin Programming Basics 55 WHILE/WEND The WHILE/WEND loop executes as long as its condition remains true. You can use the WHLE/WEND an

Parker Hannifin 56 Programmer’s Guide Example The following demonstrates inhibiting a program until a certain condition is met. INH 2 : REM wait

Parker Hannifin Programming Basics 57 Following is a list of the most commonly used parameter and bit tables: • Master Parameters • Master Flag

Parker Hannifin 58 Programmer’s Guide Printing the Current Value You can send the PRINT command followed by a parameter or bit whose value you want

Parker Hannifin Programming Basics 59 Programming Example The following program creates a square. You can use ACR-View to set up the controller.

Parker Hannifin vi Programmer’s Guide Additional Features ...151 CANopen ...

Parker Hannifin 60 Programmer’s Guide Parametric Evaluation Most commands take arguments. Often, those command-line arguments are literals—values t

Parker Hannifin Programming Basics 61 Parentheses Using parentheses, you can group operations in an expression to change the order in which they

Parker Hannifin 62 Programmer’s Guide Example 2 When the following IF statement proves true, the message “OK” prints. IF(P0=1234) THEN PRINT “ok” E

Parker Hannifin Basic Setup 63 Basic Setup Before You Begin The tables in this section list commands according to the following command groups: A

Parker Hannifin 64 Programmer’s Guide Axis Limits Command Description ALM Set stroke limit ‘A’ BLM Set stroke limit ‘B’ EXC Set excess error ba

Parker Hannifin Basic Setup 65 Feedback Control Command Description HSINT High speed interrupt INTCAP Encoder capture MSEEK Marker seek operati

Parker Hannifin 66 Programmer’s Guide Interpolation Command Description CIRCCW Counter clockwise circular move CIRCW Clockwise circular move INT

Parker Hannifin Basic Setup 67 Non-Volatile Command Description BRESET Disable battery backup ELOAD Load system parameters ERASE Clear the EEPR

Parker Hannifin 68 Programmer’s Guide Program Control Command Description AUT Turn off block mode BLK Turn on block mode HALT Halt an executing

Parker Hannifin Basic Setup 69 Servo Control Command Description DGAIN Set derivative gain DIN Dead zone integrator negative value DIP Dead z

Parker Hannifin vii Change Summary The change summary below lists the latest additions, changes, and corrections to the ACR Programmer’s Guide and

Parker Hannifin 70 Programmer’s Guide Transformation Command Description FLZ Relative program path shift OFFSET Absolute program path shift ROTA

Parker Hannifin Basic Setup 71 Startup Programs You can set a program to automatically run on powering up or rebooting the controller. The PBOOT

Parker Hannifin 72 Programmer’s Guide Return to Factory Default Various commands can return specific sections of the ACR controller to factory defa

Parker Hannifin Basic Setup 73 The wizard makes some choices for you behind the scenes. The ACR9000 has the largest feature set, and typically re

Parker Hannifin 74 Programmer’s Guide If you do not make any changes to the Memory defaults, the wizard allocates additional memory to programs zer

Parker Hannifin Basic Setup 75 The next section is specific to the ACR9000 and currently does not apply to other ACR controllers. The Extended I/

Parker Hannifin 76 Programmer’s Guide AXIS1 IDELAY 0 AXIS1 DGAIN 1e-005 AXIS1 DWIDTH 0 AXIS1 FFVEL 0 AXIS1 FFACC 0 AXIS1 TLM 10 AXIS1 FBVEL 0 REM A

Parker Hannifin Basic Setup 77 All the unused axes are turned off—this is done directly with the AXIS OFF command rather than using bits designat

Parker Hannifin 78 Programmer’s Guide REM the desired master acceleration ACC 20 REM the desired master deceleration ramp DEC 20 REM the desired

Parker Hannifin Basic Setup 79 NOTE: By default, the wizard matches motion profiles to programs of the same number. Because the wizard reserves

Parker Hannifin 8 Programmer’s Guide Getting Started Use the tutorials in this section to guide you through the configuration and tuning of your AC

Parker Hannifin 80 Programmer’s Guide • Bits 1976-1983 Drive Disabled Flag Axis 8-15*: Triggered when a drive is faulted (or optionally when moti

Parker Hannifin Making Motion 81 Making Motion Now that the controller is configured, it is ready to make motion. The ACR controller can perform

Parker Hannifin 82 Programmer’s Guide Move Types To command motion, use a command appropriate to the desired type of motion, such as JOG (single-ax

Parker Hannifin Making Motion 83 Incremental Motion Incremental motion is commanded relative to the current position. To move an incremental dist

Parker Hannifin 84 Programmer’s Guide Example—Incremental Motion The X axis is commanded to the following relative positions: X0 X/-400 X/500 X/200

Parker Hannifin Making Motion 85 Combining Types of Motion The user can command multiple types of motion (linear, circular, or sinusoidal) in a s

Parker Hannifin 86 Programmer’s Guide What are Motion Profiles? To make motion, the user must define the motion profile. The acceleration, decelera

Parker Hannifin Making Motion 87 Motion profile values for each master can be set in two ways: ► Through the Configuration Wizard. ► In a progr

Parker Hannifin 88 Programmer’s Guide Primary Setpoint All profilers feed their commanded positions to a summation point, and the result is the Pri

Parker Hannifin Making Motion 89 For the second shape, instead of providing a new set of X and Y coordinates, a jog statement is used to shift th

Parker Hannifin Getting Started 9 Getting Started - Tutorial Use this basic tutorial to familiarize yourself with the ACR-View software and how t

Parker Hannifin 90 Programmer’s Guide The Coordinated Moves Profiler always starts and ends at coordinates (0, 0). With the first shape, there are

Parker Hannifin Making Motion 91 Velocity Profile Commands A basic motion profile for coordinated motion, controlled by an attached master, consi

Parker Hannifin 92 Programmer’s Guide • ROTARY (Set Rotary Axis Length)—sets a rotary axis length used in a shortest-distance calculation. The res

Parker Hannifin Making Motion 93 • PPU (Set Axis Pulse per Unit Ratio)—sets the pulses per programming unit for an axis, allowing convenient uni

Parker Hannifin 94 Programmer’s Guide REN Details The REN command copies the actual position from the encoder into the Secondary Setpoint of the se

Parker Hannifin Making Motion 95 RES Details The RES command is used to zero out the primary setpoint (RES), or to preload positions into the Coo

Parker Hannifin 96 Programmer’s Guide Coordinated Moves Profiler The Coordinated Moves Profiler (formerly called the current position profiler) con

Parker Hannifin Making Motion 97 Example 1 Two axes are attached to the same master and instructed to move to absolute positions: axis X to 25 mi

Parker Hannifin 98 Programmer’s Guide Example 2 Two axes are attached to the same master, and the program moves one axis to an absolute position: a

Parker Hannifin Making Motion 99 Jog Profiler Each axis has a dedicated Jog Profiler which can, using a set of motion profile values, control abs