Parker ACR Series Programmer's Guide

Parker Hannifin
the Current (coordinated) Position register. Or home the axis to
re-establish the desired zero position.
• Stop any jog, cam, gear, or ballscrew motion on the axis by
clearing the flag that enable those functions on the axis.
• Set the Kill All MOVES flag for the Master that is assigned to
that axis. This will stop and prevent any coordinated motion.
• Set the Kill All MOTION Request flag for any other axes on that
same Master.
Any motion command issued while this flag is set will result in an error
message “Associated Slave Kill Motion Request Active.” This is true if
any axis assigned to the same Master is commanded to move.
The user is responsible for clearing this flag.
To resume motion, first clear the Kill All Motion Request flag for the
axis (and any other axes on the same Master) and then clear the Kill
All Moves flag in the Master.
Enabling a drive using DRIVE ON command will clear the Kill All
Motion Request (KAMR) and Kill All Moves flag if the drive is not
currently enabled
This flag does not halt any programs or PLCs.
The KAMR flags may be cleared for all axes by issuing a CTRL-Y.
Kill All Moves
Kill All Moves is a Master Flag. The setting of this flag (e.g., Bit Index
10 of the Master Flags) will stop and prevent only
coordinated/master motion. Jog, cam or gear motion may continue
if the Kill All Motion Request Axis Flag is not set.
This flag is set if:
• Any axis on the Master receives a Kill All Motion Request (Axis
Flag). See Kill All Motion Request (KAMR)
above.
• Stop All Moves flag is set for that Master.
This flag may be explicitly set by the user through the terminal, or
from within an AcroBASIC program, PC program, or Human-Machine
Interface (HMI).
Setting this flag will kill all (coordinated/master) moves without using
any deceleration ramp.
This flag will not stop/kill or prevent any cam, gear, or jog motion.
This flag does not halt any programs or PLCs.
The user is responsible for clearing this flag.
The Kill All Moves flag may be cleared automatically with CTRL-Y
The Stop All Moves flag could be used in place of Kill All Moves if
controlled stopping is desired. Setting the Stop All Moves flag will
cause the current (coordinated) move to decelerate to zero using
Programming Basics 15

Parker ACR Series Specifications

General

Brand	Parker
Model	ACR Series
Category	Controller
Language	English