Parker ACR Series Programmer's Guide

Parker Hannifin
Index
AcroBASIC
commands ............................. 12
syntax ..................................... 8
aliases
bits ....................................7, 26
constants ................................. 7
DEFINE .................................... 7
parameters..........................7, 26
variables.................................. 7
bits
aliases ................................... 26
clearing.................................. 26
overview................................ 24
printing.................................. 26
setting................................... 25
using ..................................... 25
branching
repetition ............................... 22
selection ................................ 19
CANopen
AcroBASIC.............................131
analog
inputs................................137
outputs..............................137
bit
rate ..................................128
resulution ..........................137
bus states .............................135
health period .........................130
heart beating protocol.............130
information parameters...........131
LED status.............................134
mapping digital I/O ................127
network configuration.............128
node
address .............................128
availability .........................127
guarding protocol ...............130
ID 136
speed................................129
parameters
extended I/O......................137
saving ...............................139
start network.........................130
transmission cycle..................129
change summary.......................... 5
commands
format ..................................... 9
immediate mode..................... 12
syntax ................................8, 10
communication
troubleshooting.............. 152, 153
configuration
example................................. 41
firmware revision .................... 45
global varaibles....................... 46
reserved resources.................. 45
user groups............................ 47
cycling power............................. 39
dedicated I/O
homing .................................. 85
Drive Talk
auto-address......................... 142
bits...................................... 141
configuration flags ................. 142
drive status flags................... 143
error flags ............................ 143
parameters........................... 141
pass through mode................ 145
RS-232................................. 141
RS-485................................. 141
starting ................................ 144
stopping............................... 144
EPL network ............................... 92
errors
documenting......................... 149
error handling ....................... 158
sample program .................... 158
factory default ............................40
feedback
control ...................................59
formulas ....................................27
homing
backup enable..............79, 81, 83
bits........................................79
commands..............................79
dedicated I/O..........................85
direction.................................77
example code.....................78, 93
final direction.....................79, 83
jogging................................... 77
limit deceleration.....................85
limit detection......................... 85
limit range..............................85
negative edge selection.......79, 83
overview ................................77
subroutine ..............................79
LED
troubleshooting .......150, 151, 152
limits
homing................................... 77
linear interpolation
coordinated moves profiler .......63
mathematical operations.............. 27
memory allocation.......................39
motion
absolute .................................49
cam profiler .......................48, 77
commanding......................49, 58
comparison.............................50
coordinated moves profiler ..48, 63
feedback control...................... 59
gear profiler.......................48, 76
immediate ..............................52
incremental ............................ 50
jog profiler.............................. 48
profiler interaction ................... 54
profiles...................................53
servo loop status.....................88
velocity profiles..................53, 58
175

Parker ACR Series Specifications

General

Brand	Parker
Model	ACR Series
Category	Controller
Language	English