Parker ACR Series Programmer's Manual

Also see for ACR8020: Hardware manual

Contents

Parker ACR Series Programmer's Manual Manual pdf 54 page image

Parker HannifinMotion profile values for each master can be set in two ways:► Through the Configuration Wizard.► In a program using the appropriate motion profile statements(ACC, DEC, STP, or VEL).In either case, the program continues to use those motion profilevalues until new values are commanded.NOTE: Motion profile values in a specific program can be changedfrom within a different program using the MASTER (DirectMaster Access) command. A master must be attached toeach program, and is usually the same number as theprogram number. For more information about masters, seeMaster/Slave Attachments.For example, to change the velocity in program zero to 500,send the following: MASTER0 VEL500.ExampleThe following example assumes a 1000 line encoder attached to amotor. The MULT (Set Encoder Multipliers) command brings the valueto 4000. Then PPU X4000 sets the programming units to revolutions(4000 pulses/rev) for the rest of the program. The X axis moves 200revolutions at 20 revs/second, using 10 revs/second² ramps.MULT X4PPU X4000ACC 10DEC 10STP 10VEL 20MOV X200Interaction Between Motion ProfilersAny combination of motion profilers can be used to carry out motionfor an application. As stated previously, the controller must be set upfor coordinated motion. Once this is done, the other motion profilerscan be accessed through the JOG, GEAR, and CAM commands.Before writing code, it is important to understand how the motionprofilers interrelate.• Each motion profiler calculates its own commanded position—the absolute and relative moves for an axis or axes.• No motion profiler supersedes another; there is no hierarchyamong the profilers.54 Programmer’s Guide