WRITING ACROBASIC PROGRAMS
212
ACR
Programmer’s Guide
REM for Prog0.
RETURN
Incremental Interpolated Motion Subroutine
' Subroutine of Basic Incremental Moves
_BasicINCMotion
' The / is incremental, from wherever the motor currently is.
X/-8
Y/5
X/2 Y/-3
X/-2 Y/1
INH -516 : REM Inhibit program until incremental moves are done.
REM Bit 516 is In Motion bit for Master0 - the trajectory calculator
REM for Prog0.
RETURN
Basic Absolute and Incremental Motion Subroutine
' Subroutine Of Basic both Absolute and Incremental Moves
_BasicCOMBOMotion
X/-4 Y0
X2 Y/-4
X/5 Y/5
X4 Y0
INH -516 : REM inhibit program until combo moves are done
RETURN
Absolute Jog Moves Subroutine
' Subroutine of Jog Absolute Moves
' JOG ABS are single axis jog moves.
' Multiple jog moves from multiple axis are independent moves stopping
' at different times.
' They would use their own accel/decel/velocity settings
' (with axis in settings):
JOG VEL X1 : REM Note jog acc / dec / vel are per axis and thus the
REM axis alias is necessary.
JOG ACC X10
JOG DEC X10
JOG VEL Y2
JOG ACC Y10
JOG DEC Y10
' JOG moves will interrupt the current move so for sequencing an INH
' is needed waiting for the JOG Active bit (bit 792 for axis0) is off.
' The jog offset moves has its own reference, independent of the coordinated
' motion. This allows offset of coordinated motion but can cause confusion.
_JogABSMotion
JOG ABS X-4
INH -792
: REM Inhibit program until jog move is done.
JOG ABS Y5
INH -824
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 ...