MAKING MOTION
196
ACR
Programmer’s Guide
When two axes are locked together using the
LOCK
command, their primary setpoints become the same. In
other words, the two axes will get exactly the same command signal. However, in the real world, the response of
the two physical motors/actuators will be slightly different. To compensate for this error, the user can turn on a
feedback loop by setting some gain values for the
“Lock Feed Back Gain” parame
ters of the locked axes. Thus, if
one axis has a disturbance and corrects for the position error, the locked axes will also correct. The default value
is zero, which turns this feedback loop off.
With feedback gain:
Example
P12376 = 3.5
: REM Set lock gain axis 0.
P12632 = 3.5
: REM Set lock gain axis 1.
LOCK Y X
: REM Lock axis Y to axis X's primary setpoint.
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 ...