Parker ACR Series Programmer's Guide

Parker Hannifin
Example 2
FBVEL {AXIS {value}} {AXIS {value}} ...
Optional arguments can nest. This provides the flexibility to set data
for or receive reports on multiple axes. For example, the following
sets the velocity feedback gain for axes X and Y to 0.0001 and
0.0002 respectively.
FBVEL X 0.0001 Y 0.0002
Because the FBVEL command can report on multiple axes, you
specify at least one axis on which the controller is to report back.
P00>FBVEL X
0.0001
P00>FBVEL X Y
0.0001
0.0002
Example 3
IPB {AXIS {value}} {AXIS {(value1, value2)}} …
The AcroBASIC language provides programming shortcuts. You can
set positive and negative values for commands using one argument.
If the values differ, you can use two arguments. The command
format illustrates when this is possible. For example, the following sets
the in-position band for axis X to ±0.05 and for axis y to 3 and –1.
IPB X 0.05 Y(3, -1)
Notice that the two values for axis Y are given inside parentheses
and separated by a comma, as shown in the format of the
command.
Example 4
HALT {PROGx | PLCx | ALL}
The vertical bar indicates a choice between arguments. For
example, the HALT command lets you stop a user program or PLC
program or all programs.
HALT PROG0
HALT PLC5
HALT ALL
Example Code Conventions
Examples that include code are provided throughout most of the
ACR Series documentation to illustrate a concept, supply model
code samples, or to show multiple ways to employ the commands.
The example code may include the terminal prompt or
configuration code if it is necessary for clarity. Example code is
complete only as far as conveying information about the discussion,
and configuration and other information may need to be added in
order for the code to be of use in an actual application.
NOTE: In ACR Series example code, Axis0 is the X axis, and Axis1 is
the Y axis, unless otherwise specified.
Programming Basics 11

Parker ACR Series Specifications

General

Brand	Parker
Model	ACR Series
Category	Controller
Language	English