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PC Based Applications
The ACR7000 controller can be interfaced to PC applications through the ComACRserver, an API and
communication interface. The ComACRserver provides methods and functions that allow the user to create custom
PC applications in VB, C++, .NET, LabView, and other programming environments that support COM objects. The
ComACRserver is installed with and used by Parker Motion Manager.
The ComACRserver includes methods for reading and writing any bits or parameters on the ACR. These are
efficient binary packets that can be set-up for regular polling or one time calls. Much of the ACR's functionality can
be controlled via theses bits and parameters, including coordinated move commands. For functions that cannot be
called this way, the ComACRserver includes a Terminal interface for sending ASCII commands and uploading and
downloading programs.
The ComACRserver is a wrapper for lower level communication API called the Binary Host Interface. Most
applications will use the ComACRserver but some users prefer to use the native Binary commands directly. Using
the Binary Host Interface natively allows users to optimize the performance of applications by eliminating the
COMACRservers overhead. It also provides a communication option for non-Windows applications (e.g. Linux) as
the ComACRserver uses the MS COMobject model. Details about the Binary Host Interface can be found in the ACR
Programmers Guide.
Users can establish PC to ACR Ethernet communications outside of ACR-View or ComACRserver applications.
Detailed information is available in the Ethernet Specification for ACR Products, which describes the base level TCP
and UDP connections and data formats. Connections are made to the controller’s IP address with a specific port
designation.
Port 5002 is an ASCII connection, allowing the application to send any AcroBASIC commands to the
controller in the same way as the terminal emulator in ACR-View.
Port 5006 is a managed binary connection that expects to see commands in a specific format. 5006 is well
suited for PC applications and constructing drivers.
HMI Based Applications
Parker Xpress and InteractX HMI families include a built-in driver for communications with the ACR7000. The
Acroloop CIP Ethernet driver supports exchange of flag/bit data, 32-bit integers and floating parameters and ASCII
strings. Multiple ACR7000 controllers can be associated with the communications driver. Details of using this
communication driver can be found in the help files installed with Xpress Manager and InteractX software. The
ACR9000 and IPA series controllers also use the Acroloop CIP driver.
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