Parker ACR Series

Parker Hannifin
Table of Contents
User Information......................................................ii
Table of Contents ....................................................iii
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
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