Parker ACR Series Programmer's Guide

Parker Hannifin
Homing Example 2
Homing Example XYZ System
PROG0
PROGRAM
GOSUB EnableDrives
GOSUB HomeAll
REM insert application code here
END : REM end program
_EnableDrives
DRIVE ON X Y Z
DWL 0.15
REM wait 150ms for servos to enable before commanding moves
RETURN
_HomeAll
HLIM X3 : REM enable limits
HLIM Y3 : REM enable limits
HLIM Z3 : REM enable limits
JOG ACC X500 : REM set jog accel for homing
JOG DEC X500 : REM set jog decel for homing
JOG VEL X100 : REM set jog velocity for homing
JOG HOMVF X25 : REM set jog final velocity for homing
JOG ACC Y300 : REM set jog accel for homing
JOG DEC Y300 : REM set jog decel for homing
JOG VEL Y75 : REM set jog velocity for homing
JOG HOMVF Y15 : REM set jog final velocity for homing
JOG ACC Z100 : REM set jog accel for homing
JOG DEC Z100 : REM set jog decel for homing
JOG VEL Z25 : REM set jog velocity for homing
JOG HOMVF Z5 : REM set jog final velocity for homing
REM X Axis settings
SET 16152 : REM Backup to edge is enabled
CLR 16153 : REM Backup to positive edge
CLR 16154 : REM set Final approach direction is positive
REM Yaxis settings
SET 16184 : REM Backup to edge is enabled
CLR 16185 : REM Backup to positive edge
SET 16186 : REM set Final approach direction is negative
REM Z Axis settings
SET 16216 : REM Backup to edge is enabled
SET 16217 : REM Backup to negative edge
SET 16218 : REM set Final approach direction is negative
REM Home Z Axis first
JOG HOME Z-1
REM Home Successful: BIT16198
REM Home Failed: BIT16199
WHILE (NOT BIT 16198)
IF (BIT 16199) THEN GOTO HomeFailed
WEND
REM Z is successful, home X and Y
JOG HOME X1 Y-1
REM X Home Successful: BIT16134
REM X Home Failed: BIT16135
REM Y Home Successful: BIT16166
REM Y Home Failed: BIT16167
94 Programmer’s Guide

Parker ACR Series Specifications

General

Brand	Parker
Model	ACR Series
Category	Controller
Language	English