WRITING ACROBASIC PROGRAMS
ACR Programmer’s Guide
209
_SubroutineB
<insert AcroBasic code>
RETURN
_SubroutineC
<insert AcroBasic code>
RETURN
ENDP
Application Examples
The sample programs in this section provides more in-depth program examples of the following topics:
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Absolute Interpolated Motion Subroutine
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Incremental Interpolated Motion Subroutine
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Basic Absolute and Incremental Motion Subroutine
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Incremental Jog Moves Subroutine
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Absolute and Incremental Jog Moves Subroutine
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Add-On Instructions (AOIs) for IPA
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Note that these samples and others are available for download and use from
Parker Community Knowledge Base
also linked from ACR7000 product page.
Sample Motion Program
Sample two-axis motion program with main program using subroutines for enable, home, interpolated motion and
jog moves with full comments. The subroutines are highlighted with headings. The program finishes after the
homing subroutine.
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 ...