ACR Electronics FPR-10 PROGRAMMER manuals

Acr electronics FPR-10 PROGRAMMER Manual (199 pages)

Brand: Acr-electronics | Category: Unknown | Size: 2.74 MB |

English

Table of contents

User Information

2

Table of Contents

3

Parker Hannifin

5

Change Summary

7

Getting Started

8

Getting Started - Tutorial

9

Configuring Masters

12

What has been generated?

13

Creating a program

14

Running the Application

15

Servo Tuning - Tutorial

16

Tuning Example

17

System Configuration

26

Program/PLC Level

27

Hardware Configuration

28

Dedicated I/O

29

End-of-Travel Limits

30

Hardware Limit Enable

31

Software Limits

31

Soft Limit Enable

32

Software Limit Positions

32

Attachments

33

Attaching Axes

34

Master/Slave Attachments

35

Masters

35

Attaching Masters

35

• ACR1505 has 16 slaves

36

• ACR8020 has 16 slaves

36

• ACR9000 has 8 slaves

36

• ACR9030 has 16 slaves

36

• ACR9040 has 16 slaves

36

Attaching Slaves

37

Slaves and Axis Names

38

Memory Allocations

39

Program

40

How Much Memory?

41

Displaying Free Memory

42

Deleting Programs and PLCs

42

Clearing Allocated Memory

42

Programming Basics

43

Remarks

44

Command Syntax

44

Description of Format

45

Arguments and Syntax

46

Example Code Conventions

47

Programs and Commands

48

ESC key (ASCII 27)

49

Kill All Motion

50

Program Flow

51

IF/ELSE

52

Repetition

54

FOR/TO/STEP/NEXT

54

WHILE/WEND

55

Other Conditional Statements

55

Using Parameters and Bits

57

Setting Binary Bits

57

Clearing Binary Bits

57

Printing the Current Value

58

A Word on Aliases

58

Programming Example

59

Parametric Evaluation

60

Parentheses

61

Operational Order

61

Nested Parentheses

61

Basic Setup

63

64 Programmer’s Guide

64

Feedback Control

65

Global Objects

65

66 Programmer’s Guide

66

Non-Volatile

67

Operating System

67

Program Control

68

Servo Control

69

Setpoint Control

69

Transformation

70

Velocity Profile

70

Startup Programs

71

Resetting the Controller

71

Return to Factory Default

72

What is Configuration Code?

73

The Code

73

76 Programmer’s Guide

76

Making Motion

81

Move Types

82

Incremental Motion

83

Example—Incremental Motion

84

Combining Types of Motion

85

Immediate Mode

85

What are Motion Profiles?

86

Primary Setpoint

88

Velocity Profile Commands

91

Feedback Control Commands

92

REN Details

94

RES Details

95

Coordinated Moves Profiler

96

Jog Profiler

99

Example 1

100

Example 2

102

Example 3

103

JOG VEL Details

104

JOG Commands

105

JOG REN Details

106

JOG RES Details

108

Gear Profiler

109

Cam Profiler

110

Example

111

Homing Subroutines

112

Figure C

114

• JOG HOME X1

114

• Home Backup

114

• Home Negative

114

Limit Detection

118

Dedicated I/O for Homing

118

Servo Loop Fundamentals

120

Following Error

121

Parker Hannifin

122

122 Programmer’s Guide

122

Binary Host Interface

123

Receiving

124

High Bit Stripping

124

Transmitting

124

Binary Data Packets

125

Parameter Access

126

Packet Retrieval

126

Packet Header

126

Packet Data

126

Binary Parameter Access

127

Binary Peek Command

130

Binary Poke Command

131

Binary Address Command

132

Binary Address Packet

133

Transmit Packet

133

Receive Packet

133

Parameter Codes

133

Usage Example

133

Binary Mask Command

135

Binary Mask Packet

136

Binary Move Command

137

Header Code 0

138

Header Code 1

139

Header Code 2

139

Header Code 3

139

Header Code 4

140

Header Code 5

140

Header Code 6

140

Header Code 7

141

Move Modes

141

Linear Moves

143

Arc Moves

143

Binary SET and CLR

144

Binary FOV Command

145

146 Programmer’s Guide

146

Binary ROV Command

147

Header Bit Mask

148

Description

149

Reading Global Variables

149

Setting Global Variables

150

Additional Features

151

Bit Rate and Node Addresses

152

Transmission Cycle Period

153

156 Programmer’s Guide

156

Analog Inputs and Outputs

161

Saved Parameters

163

Drive Talk

164

Communication

165

Parameters and Bits

165

Auto-Addressing

165

Enabling Auto-Addressing

166

Drive Control Flags

166

Configuration

166

Error Log Flags

166

Drive Status Flags

167

Using Drive Talk

167

Closing Drive Talk

168

Inverse Kinematics

170

Troubleshooting

172

Troubleshooting Table

173

174 Programmer’s Guide

174

Troubleshooting 175

175

176 Programmer’s Guide

176

Troubleshooting 177

177

178 Programmer’s Guide

178

Troubleshooting 179

179

180 Programmer’s Guide

180

Error Handling

181

Appendix

190

Subnets

192

Subnet IDs

192

Subnet Masks

193

Examples

195

Example 4

196

Example 5

196

Example 6

197

Example 7

197

198 Programmer’s Guide

198

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