Parker ACR Series User Manual

Parker Hannifin
Example
The following example sets up 2 axes, and creates basic motion. The first,
axis0, is an Aries servo drive and the second, axis1, is a E-AC stepper drive.
ATTACH AXIS0 ENC0 DAC0 ENC0 :REM CONFIGURE AXIS0 FOR A SERVO
ATTACH AXIS1 STEPPER1 STEPPER1 :REM CONFIGURE AXIS1 FOR A
STEPPER
10 ATTACH MASTER0 :REM ATTACH A MASTER TRAJECTORY
:REM GENERATOR
20 ATTACH SLAVE0 AXIS0 "X" :REM ATTACH AXIS0
30 ATTACH SLAVE1 AXIS1 "Y" :REM ATTACH AXIS1
35 DRIVE OFF X Y :REM MAKE SURE THE DRIVES IS DISABLED
:REM BEFORE CONFIGURING THEM
40 PPU X8000 Y25000 :REM SET UNITS FOR REVOLUTIONS, AXIS0
:REM 8000 COUNTS/REV, AXIS1 25000
:REM STEPS/REV
50 CLR 8496 :REM MAKE SURE AXIS1'S OUTPUT IS STEP AND
:REM DIRECTION NOT CW/CCW
60 SET 8502 :REM SETUP AXIS1'S ENABLE TO ACT LIKE A
:REM SHUTDOWN OUTPUT SINCE THE E-AC HAS
:REM SHUTDOWN CIRCUITRY
70 SET 8468 SET 8500 :REM MAKE SURE DRIVE I/O IS ENABLED
80 SET 8469 CLR 8501 :REM TURN ON POSITION ERROR CHECKING FOR
:REM AXIS0 AND TURN IT OFF FOR AXIS1
90 EXC X1 :REM SET THE POSTIION ERROR WINDOW FOR 1
:REM REV FOR AXIS0
100 DRIVE ON X Y :REM ENABLE AXIS0 AND 1
110 DWL0.5 :REM DWELL FOR 500 ms TO ALLOW THE DRIVES
:REM TO ENABLE
120 IF ((NOT BIT 8476) OR (NOT BIT 8508)) THEN GOTO 500
:REM IF AXIS0 OR AXIS1 DID NOT ENABLE THEN
:REM GOTO LINE 500
130 ACC 100 DEC 100 STP 100 VEL 5
:REM SET VELOCITY, ACCEL AND DECEL RATES
140 X1 Y-10 :REM MOVE AXIS0 ONE REV AND AXIS1 10 REVS IN
:REM THE NEGATIVE DIRECTION
150 DWL1 :REM DWELL FOR A SECOND
160 X0 Y0 :REM GO BACK TO 0 POSITION
170 GOTO 600 :REM GO TO LINE 600
500 :REM THIS IS WHERE CODE TO HANDLE DRIVES NOT ENABLING SHOULD GO
600 END
126 ACR9000 Series Hardware Installation Guide
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Parker ACR Series Specifications

General

Brand	Parker
Model	ACR Series
Category	Controller
Language	English