MAKING MOTION
ACR Programmer’s Guide
187
This syntax is still supported in ACR7000 and IPA firmware. However, you need to exercise caution with that
syntax as the controller does not roll the assignment to the next block of 32 bits. For example, if
HLBIT X31
is
issued, the negative hardware limit and homing input are not assigned and they become imaginary inputs with a
value of zero.
Stopping Motion and Moves
When an axis’ KAMR is
activated (by the user or automatically by the controller) the controller will:
•
Attempt to stop the axis using the current setting for hardware limit deceleration,
HLDEC
. This is set
within the Fault screen in the Configuration Wizard.
•
Use the jog profiler to generate the setpoints necessary to bring the axis to a controlled stop. This may
result in a Jog Offset. Use the
JOG RES
command to transfer the Jog Offset to the Current
(coordinated) Position register. Or home the axis to re-establish the desired zero position.
•
Stop jog, cam, gear or ballscrew motion on the axis by clearing those flags (gear activate, cam activate, jog
active, jog forward and jog reverse).
•
Set the Kill All Moves flag for the master that is assigned to that axis. This will stop and prevent any
coordinated motion.
•
Set the Kill All Motion Request flag for any other axes on that same master.
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 user is responsible for clearing this flag.
Within a program, to resume motion, first clear the Kill All Motion Request flag for the axis (and any other axis on
the same Master) and then clear the Kill All Moves flag in the master.
Enabling a drive using the
DRIVE ON
command will clear the Kill All Motion Request (KAMR) and Kill All Moves
flag if the drive is not currently enabled.
Within the terminal emulator in PMM, the KAMR and Kill All Motion Request flags may be cleared for all axes by
issuing a CTRL-Y.
The KAMR flag does not halt any programs. However, if the program encounters a new command to move while
this bit is set, the program will halt. Non-motion programs can be running, monitoring motion program status for
error recovery.
Kill All Moves versus Kill All Motion Request
The Kill All Moves bits are for the interpolated motion moves. If you had an 3-axis X/Y/Z system, setting the Kill
All Moves flag would immediately kill any
MOV
(single axis
X10
move, or interpolated
X5 Y/3
for example).
Master 0 Kill All Moves bit 522 and Stop All Motion bit 523 would kill or stop all interpolated moves for the
Master 0.
Setting the master's Kill All Moves or Stop All Motion bits will have no effect on other types of single axis moves
like
JOG
,
GEAR
or
CAM
.
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 ...