Parker ACR Series, Programmer'S Manual

Page: 115 / 176

Parker Hannifin
Header Code 1
Data Field Data Type Description
Bit 0 Master Bit 0
Bit 1 Master Bit 1
Bit 2 Master Bit 2
Master for this move packet
Bit 3 Interrupt Select Interrupt host when move starts
Bit 4 Arc Direction CCW if set, else CW
Bit 5 Arc Mode Packet contains center points or
Spline Knot present
Bit 6 Arc Plane Bit 0 Primary and secondary axis or NURB
Mode
Bit 7 Arc Plane Bit 1 For binary arc move commands or
SPLINE Mode
Header Code 2
Data Field Data Type Description
Bit 0 Slave 0 Present
Bit 1 Slave 1 Present
Bit 2 Slave 2 Present
Bit 3 Slave 3 Present
Bit 4 Slave 4 Present
Bit 5 Slave 5 Present
Bit 6 Slave 6 Present
Bit 7 Slave 7 Present
Slave target positions to be contained
in this move packet
Header Code 3
Data Field Data Type Description
Bit 0 Incremental Target Target positions are incremental
Bit 1 Incremental Center Center points are incremental
Bit 2 Floating Point Data Targets and centers are IEEE32
Bit 3 Arc Radius Scaling Packet contains radius scaling /
NURB/Spline
Bit 4 FVEL Data Present Packet contains master FVEL
Bit 5 Block Skip Check Sets the master Block Skip Check
Bit 6 NURB or Spline Move data packet for NURB or Spline
Interpolation
Bit 7 Extended Codes Extended codes 4,5,6 and 7 are
present. This bit should be set if
DBCB is used
Binary Host Interface 115