ACR BASICS
ACR Programmer’s Guide
109
controller’s hardware installat
ion manuals for details. Local safety standards may require removing power from
the controllers. Note that
when the motors are disabled, the drive’s brake outputs (for servo drives) will turn off,
engaging brakes on the motor. Parker servo motors have standard fail-safe brakes as an option, where the brake
needs to be powered to disengage.
Killing or stopping motion is stopping commanded motion. If a servo system is unstable or position error is very
high, a servo system can still be moving. If position maintenance is on it can also still be moving though position
maintenance velocity is typically set low for slow end-of-move corrections.
Clicking a Kill button in PMM or doing a Ctrl+X or Ctrl+Z will set the Kill All Motion Request flag on all axes.
Any motion command issued while this flag is set will result in an error message
Associated Slave Kill Motion Request
Active
in the terminal emulator. This is true if any axis assigned to the same master is commanded to move.
The Kill All Motion Request will also be set if an axis trips a limit sensor or if a servo or closed-loop stepper faults
on a tracking error. To restart the controller, click the Clear All Kills before running the program or starting
motion again.
NOTE: Enabling drives using DRIVE ON command will clear the Kill All Motion Request (KAMR)
and Kill All Moves bits if the drive is not currently enabled.
We will discuss more about stopping in Stopping Moves and Motion.
PMM’s
Toolbar allows the user to start and halt programs.
This presumes the controller has been setup with the Configuration Wizard, with the motor selected, end of
travel sensors connected and the program downloaded.
We recommend having the Motion Status Panel open to Kill All Motion when first running the program in case
unexpected motion occurs.
Program Flow
Code is executed sequentially, following the order in which it is written. But based on some input, you can stop
and wait, or shift code execution elsewhere in a program using conditional statements. Using conditional
statements, you can create code that tests for specific conditions and repeats code statements.
The conditional statement provides a logical test
—
a truth statement
—
allowing decisions based on whether the
conditions are met. In the code, you create an expression and test whether the result is true.
The selection structure controls the direction of program flow. Think of it as a branch in your program. You can
divide conditional statements into three sub-categories: wait, selection and repetition.
Summary of Contents for ACR7000 Series
Page 1: ...Effective June 2021 Document Number 88 028698 01E Programmer s Guide ACR Series Controllers ...
Page 23: ...PARKER MOTION MANAGER ACR Programmer s Guide 23 CHAPTER 1 Parker Motion Manager ...
Page 69: ...PARKER MOTION MANAGER ACR Programmer s Guide 69 ...
Page 101: ...ACR BASICS ACR Programmer s Guide 101 CHAPTER 2 ACR Basics ...
Page 153: ...MAKING MOTION ACR Programmer s Guide 153 CHAPTER 3 Making Motion ...
Page 207: ...WRITING ACROBASIC PROGRAMS ACR Programmer s Guide 207 CHAPTER 4 Writing AcroBASIC Programs ...
Page 233: ...WRITING ACROBASIC PROGRAMS ACR Programmer s Guide 233 ...
Page 238: ...BINARY HOST INTERFACE 238 ACR Programmer s Guide CHAPTER 5 Binary Host Interface ...
Page 269: ...TROUBLESHOOTING ACR Programmer s Guide 269 CHAPTER 6 Troubleshooting ...
Page 288: ...APPENDIX B ETHERNET BASICS 288 ACR Programmer s Guide APPENDIX B Ethernet Basics ...
Page 293: ...APPENDIX C SERVO PID TUNING ACR Programmer s Guide 293 APPENDIX C Servo PID Tuning ...
Page 296: ...APPENDIX C SERVO PID TUNING 296 ACR Programmer s Guide ...