MAKING MOTION
206
ACR
Programmer’s Guide
ATTACH SLAVE1 AXIS1 "Y"
PPU X 2000 Y 2000
: REM Scale commands to engineering units
ACC 100 DEC 100 STP 0 VEL 0
INVK PROG7
: REM Tell MASTER0 where the transformations are.
INVK ON
: REM Turn on the Kinematics.
PROGRAM
_start
X / 0.2
: REM Incremental move in Cartesian space.
GOTO start
ENDP
RUN PROG0
: REM Run the program.
Note the following limitations with the ACR's inverse kinematics feature:
•
It only applies to master moves, such as
X4 Y/-8
. Jogging, gearing and camming are unaffected.
•
Only the end point of the move is modified
—
it is not guaranteed that the system will move along a
desired path.
The inverse kinematics feature is best suited to testing and prototyping.
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 ...