ACR Electronics FPR-10 PROGRAMMER Handbuch PDF herunterladen (Seite 17)

Parker Hannifin

Getting Started 17

Tuning Example

The tuning example assumes the following:

• Parker BE 241 motor.

• 9 to 1 load-to-rotor inertia ratio.

Illustration Legend

Color Position

Green Commanded

Yellow Actual

1. As a starting point, the PGAIN is set to 0.0003; no DGAIN is set

at this time. Figure 1 shows that the motor is under responsive.

1 2 ... 12 13 14 15 16 17 18 19 20 21 22 ... 198 199

User Information 2
Table of Contents 3
Parker Hannifin 5
Change Summary 7
Getting Started 8
Getting Started - Tutorial 9
Configuring Masters 12
What has been generated? 13
Creating a program 14
Running the Application 15
Servo Tuning - Tutorial 16
Tuning Example 17
System Configuration 26
Program/PLC Level 27
Hardware Configuration 28
Dedicated I/O 29
End-of-Travel Limits 30
Hardware Limit Enable 31
Software Limits 31
Soft Limit Enable 32
Software Limit Positions 32
Attachments 33
Attaching Axes 34
Master/Slave Attachments 35
Masters 35
Attaching Masters 35
• ACR1505 has 16 slaves 36
• ACR8020 has 16 slaves 36
• ACR9000 has 8 slaves 36
• ACR9030 has 16 slaves 36
• ACR9040 has 16 slaves 36
Attaching Slaves 37
Slaves and Axis Names 38
Memory Allocations 39
Program 40
How Much Memory? 41
Displaying Free Memory 42
Deleting Programs and PLCs 42
Clearing Allocated Memory 42
Programming Basics 43
Remarks 44
Command Syntax 44
Description of Format 45
Arguments and Syntax 46
Example Code Conventions 47
Programs and Commands 48
ESC key (ASCII 27) 49
Kill All Motion 50
Program Flow 51
IF/ELSE 52
Repetition 54
FOR/TO/STEP/NEXT 54
WHILE/WEND 55
Other Conditional Statements 55
Using Parameters and Bits 57
Setting Binary Bits 57
Clearing Binary Bits 57
Printing the Current Value 58
A Word on Aliases 58
Programming Example 59
Parametric Evaluation 60
Parentheses 61
Operational Order 61
Nested Parentheses 61
Basic Setup 63
64 Programmer’s Guide 64
Feedback Control 65
Global Objects 65
66 Programmer’s Guide 66
Non-Volatile 67
Operating System 67
Program Control 68
Servo Control 69
Setpoint Control 69
Transformation 70
Velocity Profile 70
Startup Programs 71
Resetting the Controller 71
Return to Factory Default 72
What is Configuration Code? 73
The Code 73
76 Programmer’s Guide 76
Making Motion 81
Move Types 82
Incremental Motion 83
Example—Incremental Motion 84
Combining Types of Motion 85
Immediate Mode 85
What are Motion Profiles? 86
Primary Setpoint 88
Velocity Profile Commands 91
Feedback Control Commands 92
REN Details 94
RES Details 95
Coordinated Moves Profiler 96
Jog Profiler 99
Example 1 100
Example 2 102
Example 3 103
JOG VEL Details 104
JOG Commands 105
JOG REN Details 106
JOG RES Details 108
Gear Profiler 109
Cam Profiler 110
Example 111
Homing Subroutines 112
Figure C 114
• JOG HOME X1 114
• Home Backup 114
• Home Negative 114
Limit Detection 118
Dedicated I/O for Homing 118
Servo Loop Fundamentals 120
Following Error 121
Parker Hannifin 122
122 Programmer’s Guide 122
Binary Host Interface 123
Receiving 124
High Bit Stripping 124
Transmitting 124
Binary Data Packets 125
Parameter Access 126
Packet Retrieval 126
Packet Header 126
Packet Data 126
Binary Parameter Access 127
Binary Peek Command 130
Binary Poke Command 131
Binary Address Command 132
Binary Address Packet 133
Transmit Packet 133
Receive Packet 133
Parameter Codes 133
Usage Example 133
Binary Mask Command 135
Binary Mask Packet 136
Binary Move Command 137
Header Code 0 138
Header Code 1 139
Header Code 2 139
Header Code 3 139
Header Code 4 140
Header Code 5 140
Header Code 6 140
Header Code 7 141
Move Modes 141
Linear Moves 143
Arc Moves 143
Binary SET and CLR 144
Binary FOV Command 145
146 Programmer’s Guide 146
Binary ROV Command 147
Header Bit Mask 148
Description 149
Reading Global Variables 149
Setting Global Variables 150
Additional Features 151
Bit Rate and Node Addresses 152
Transmission Cycle Period 153
156 Programmer’s Guide 156
Analog Inputs and Outputs 161
Saved Parameters 163
Drive Talk 164
Communication 165
Parameters and Bits 165
Auto-Addressing 165
Enabling Auto-Addressing 166
Drive Control Flags 166
Configuration 166
Error Log Flags 166
Drive Status Flags 167
Using Drive Talk 167
Closing Drive Talk 168
Inverse Kinematics 170
Troubleshooting 172
Troubleshooting Table 173
174 Programmer’s Guide 174
Troubleshooting 175 175
176 Programmer’s Guide 176
Troubleshooting 177 177
178 Programmer’s Guide 178
Troubleshooting 179 179
180 Programmer’s Guide 180
Error Handling 181
Appendix 190
Subnets 192
Subnet IDs 192
Subnet Masks 193
Examples 195
Example 4 196
Example 5 196
Example 6 197
Example 7 197
198 Programmer’s Guide 198

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