ACR Electronics FPR-10 PROGRAMMER Handbuch PDF herunterladen (Seite 35)

Parker Hannifin

System Configuration 35

Master/Slave Attachments

Without master/slave attachments, motion cannot occur. So what

are masters and slaves?

NOTE: There are no default master/slave attachments.

Masters

Master are trajectory (or motion profile) generators for coordinated

motion. A master computes trajectories only for the slave or slaves

attached to that master. You can assign only one master to a

program.

The number of masters available is governed by the number of

programs available on each controller:

• ACR1505 has 16 masters.

• ACR8020 has 16 masters.

• ACR9000 has eight masters.

Attaching Masters

For a program to make motion, it must have a master and slaves

attached to it. Use the ATTACH MASTER command to designate

which trajectory generator to use with a program. When attaching

masters, observe the following:

• Place the ATTACH commands in the declarations above a

program.

• You can attach a specific master to only one program. You

cannot use the same master in multiple programs.

• Use ATTACH MASTER before the ATTACH SLAVE command—you

first have to assign a master to a program, then you can

attach slaves to the master.

NOTE: While you can attach any master to any program, it is

important to be consistent across programs and

applications.

For example, you might always use program zero for managing

communications, and program one for motion with master zero

attached. As another example, the ACR-View software uses the

same index for the master as the program to which it is being

attached (master zero attaches to program zero, master one

attaches to program one, etc.).

Setting up an application with independent axes is straightforward.

For example, a four-axis ACR9000 controls four independent axes;

you attach master and slave zero to program zero, master and slave

one to program one, and so forth. Each program uses a separate

master for each slave.

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ACR Electronics FPR-10 PROGRAMMER Handbuch Seite 35