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Parker ACR Series Programmer's Guide
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Parker Hannifin
Example 2
Two axes ar
e attached
to the sa
me master, and the program moves
one axis
to an ab
solute posit
ion: axis
X to 25 m
illimeters
. As onl
y axis
X is comm
anded
to move, ax
is Y is
not in
cluded
in the mot
ion
trajec
tory calculation.
ACC 750 DEC 750 VEL 75 STP 750
X25
64
Programmer’s Guide
63
65
Table of Contents
Default Chapter
3
Table of Contents
3
Table of Contents
5
User Information
5
Change Summary
5
Programming Basics
7
Aliases
7
Program Labels
7
Remarks
8
Command Syntax
8
Example Code Conventions
11
Programs and Commands
12
Kill All Motion Request Vs. Kill All Moves
14
Program Flow
19
Parameters and Bits
24
Parametric Evaluation
27
Basic Setup
31
Before You Begin
31
Startup Programs
39
Resetting the Controller
39
Memory
39
Return to Factory Default
40
Configuration
40
Making Motion
48
Four Basic Categories of Motion
48
Move Types
49
What Are Motion Profiles
53
Interaction between Motion Profilers
54
Velocity Profile Commands
58
Coordinated Moves Profiler
63
Jog Profiler
66
Gear Profiler
76
Cam Profiler
77
Homing
77
Servo Loop Fundamentals
87
Setpoint Compensation
87
Following Error
88
Application Examples
90
Basic Motion
90
Enable Drive
91
EPL Network
92
Homing
93
Open Sample
96
Teach Array
97
Binary Host Interface
99
Binary Data Transfer
99
Binary Data Packets
101
Binary Parameter Access
103
Binary Peek Command
106
Binary Poke Command
107
Binary Address Command
108
Binary Parameter Address Command
110
Binary Mask Command
111
Binary Parameter Mask Command
112
Binary Move Command
113
Binary SET and CLR
120
Binary FOV Command
121
Binary ROV Command
123
Application: Binary Global Parameter Access
125
Additional Features
127
Canopen
127
Drive Talk
141
Inverse Kinematics
147
Troubleshooting
149
Problem Isolation
149
Information Collection
149
Troubleshooting Table
150
Error Handling
158
Appendix
167
IP Addresses, Subnets, & Subnet Masks
167
Output Module Software Configuration Examples
172
Index
175
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Parker ACR Series Specifications
General
Brand
Parker
Model
ACR Series
Category
Controller
Language
English
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