Parker ACR Series Programmer's Guide

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

Parker ACR Series Specifications

General

Brand	Parker
Model	ACR Series
Category	Controller
Language	English