WRITING ACROBASIC PROGRAMS
210
ACR
Programmer’s Guide
Similar samples for one-axis, three-axis and four-axis systems are available on the Knowledge Base.
PROGRAM
PBOOT
REM PBOOT assigns the program automatically on powerup or reboot.
REM PBOOT has to be the first command within the program.
REM This is a sample program showing enabling, homing and two types
REM of moves (MOV and JOG).
REM In terminal window, go to Prog0 prompt after downloading and type LRUN
REM to run and view PRINT (?) statements.
REM After running, you can view axis status and program line numbers
REM incrementing under Status Panels > Motion Status Panel.
REM This assumes default assignment that Axis0 is X and Axis1 is Y and
REM are attached to Prog0.
REM The X and Y are axis aliases and only recognized within Prog0, so use the
REM below sample code in Prog0.
REM This sets default values for MOV (default interpolated moves)
ACC 10
DEC 10
STP 10
VEL 1
REM This sets default values for JOG (single axis offset moves)
JOG ACC X 10
JOG DEC X 10
JOG VEL X 1
JOG ACC Y 10
JOG DEC Y 10
JOG VEL Y 2
GOSUB ENABLEDRIVE : REM GO TO SUBROUTINE "ENABLEDRIVE"
REM This will then go to _ENABLEDRIVE and run that subroutine until
REM the return and then come back to this point.
GOSUB HOMING : REM GO TO SUBROUTINE HOMING
REM This will then go to _HOMING and run that subroutine until the return
REM and then come back to this point.
REM Presumes limits/homes assigned per Configuration Wizard and wired.
REM If not used, change to 'GOSUB HOMING to comment this line out and
REM not execute that subroutine.
_MAIN
' This is a label used with GOTO MAIN below to run continuously.
' Comments can be made with ' on its own line. These are not downloaded to
' the controller.
REM Comments can be made with REM on its own line (short for remark).
' Comments can also be made at the end of line with a : REM.
' Comments with the REM are downloaded to the controller and thus retrieved
' on upload.
GOSUB BasicABSMotion
: REM Subroutine for absolute moves.
GOSUB BasicINCMotion
: REM Subroutine for incremental moves.
GOSUB BasicCOMBOMotion
REM Subroutine for combination of absolute and incremental moves.
GOSUB JogABSMotion
: REM Subroutine for absolute jog moves.
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 ...