Parker ACR Series

Parker Hannifin
Teach Array
PROGRAM
CLEAR : REM Clear out any variables dimensioned
DIM LV(2) : REM Dimension 2 Long Variables
DIM DA(1) : REM Dimension 1 Double Array
DIM $V(1,10) : REM Dimension 1 String Variable of length 10
'Go to SUBROUTINE Teach
GOSUB Teach
END
_Teach
RES X : REM Reset position to zero
DRIVE OFF X : REM DISABLE DRIVE, teach points by manually move motor.
'Start of InputPoints Routine
_InputPoints
'Print to the terminal "points to teach" and stores value into String
‘Variable 0
INPUT; "Enter number of points to teach (value must greater than 0) = ";
$V0
'Stores the Value of String Variable 0 into Long Variable 1
LV1 = VAL($V0)
PRINT ""
PRINT LV1
'If Statement to check if value entered is correct
IF (LV1<=0)
PRINT "ENTERED VALUE IS NOT VALID "; $V0
PRINT "Value must be a number greater than 0"
GOTO InputPoints
ENDIF
DIM DA0(LV1) : REM dimension array equal to number of points to teach
'use input 24 to tell controller to collect a teach point
'FOR/TO/STEP/NEXT loop to teach points into array
FOR LV0 = 0 TO (LV1-1) STEP 1
PRINT "TURN MOTOR, THEN HIT INPUT 24 TO TEACH POINT"
INH 24 : REM Inhibits the program until Input 24 is pressed
DA0(LV0)=P12290/P12375 : REM Stores Double Array entry with Encoder
Positive divide by PPU of Axis0
INH -24 : REM Waits for Input 24 to turn off
NEXT
PRINT "Teach Completed, Total Points Taught = ";LV1
PRINT "Press Input 24 to enable drives and move to zero/start position "
INH 24
INH -24
DRIVE ON X : REM Enable Axis0 "X"
DWL 0.5
X0 : REM Moves to Zero Position
INH -516 : REM Waits for Motion to be completed
PRINT "Input 24 to run taught points"
INH 24
Application Examples 97