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Parker Hannifin
36 Programmer’s Guide
Setting up coordinated motion does not differ. After attaching a
master to the program, you attach all the slaves. For example, an
ACR9000 controls coordinated motion for five axes: you attach
master zero to program zero, and axes zero through four to program
zero.
For more information, see the ATTACH MASTER command in the ACR
Command Language Reference.
Slaves
Each master uses its own set of dedicated slaves; slaves act as
simple placeholders for axes. By attaching an axis to a slave, you
are connecting the axis to a specific master.
You can attach one axis to one slave, and subsequently it is
attached to one master. The total number of slaves available differs
between controllers:
• ACR1505 has 16 slaves.
• ACR8020 has 16 slaves.
• ACR9000 has 8 slaves.
• ACR9030 has 16 slaves.
• ACR9040 has 16 slaves.
NOTE: You cannot assign an axis to more than one slave and
master. If necessary, you can disconnect the axis from its
master and attach it to a different master. For more
information, see the DETACH command.
- 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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