WRITING ACROBASIC PROGRAMS
226
ACR
Programmer’s Guide
PROGRAM
CLEAR
DIM LV7
: REM Dimension/allocation 7 long local variables.
LV1=0
LV3=4
: REM ENTER THE NUMBER OF AXES USED.
?" Dim lists memory allocation for programs, streams, globals and defines.
must be done at sys prompt"
DIM
: REM Must be done at sys prompt.
ATTACH
: REM Lists program master and slave axis attach, alias.
ATTACH AXIS : REM Lists axis type (stepper/DAC), feedback.
FOR LV1 = 0 TO (LV3-1) STEP 1
?""
: REM prints blank line -- used for formatting.
?""
?"AXIS", LV1, " PULSES PER UNIT: ", P(12375+LV1*256)
REM ACR Extended IO Settings
?"AXIS", LV1, " Enable Drive I/O: ", BIT (8468+LV1*32)
?"AXIS", LV1, " Enable CW/CCW (versus Step/Dir): ", BIT (8464+LV1*32)
?"AXIS", LV1, " DEO Serves Shutdown Function: ", BIT (8470+LV1*32)
?"AXIS", LV1, " Enable EXC Response: ", BIT (8469+LV1*32)
?"AXIS", LV1, " Invert Drive Fault Input Level: ", BIT (8453+LV1*32)
?""
?""
REM Axis Gain Values
? "AXIS", LV1, " PGAIN", P(12304+LV1*256)
? "AXIS", LV1, " IGAIN", P(12305+LV1*256)
? "AXIS", LV1, " ILIMIT", P(12306+LV1*256)
? "AXIS", LV1, " IDELAY", P(12307+LV1*256)
? "AXIS", LV1, " DGAIN", P(12308+LV1*256)
? "AXIS", LV1, " DERIVATIVE WIDTH", P(12309+LV1*256)
? "AXIS", LV1, " FEEDFORWARD VEL", P(12310+LV1*256)
? "AXIS", LV1, " FEEDFORWARD ACC", P(12311+LV1*256)
? "AXIS", LV1, " PLUS TORQUE LIMIT", P(12328+LV1*256)
? "AXIS", LV1, " MINUS TORQUE LIMIT", P(12329+LV1*256)
? "AXIS", LV1, " FBVEL GAIN SETTING", P(12352+LV1*256)
REM Axis Limits
? "AXIS", LV1, " HLDEC: ", P(12421+LV1*256)
? "AXIS", LV1, " Positive EOT Limit Level Invert: ", BIT(16144+LV1*32)
? "AXIS", LV1, " Negative EOT Limit Level Invert: ", BIT(16145+LV1*32)
? "AXIS", LV1, " Home Limit Level Invert: ", BIT(16146+LV1*32)
? "AXIS", LV1, " Positive EOT Limit Enable: ", BIT(16148+LV1*32)
? "AXIS", LV1, " Negative EOT Limit Enable: ", BIT(16149+LV1*32)
?""
?""
REM AXIS0 SLM gives eval overflow error, must query via read-only parameters.
REM NOTE THESE P VALUES ARE MISSING IN HELP FILE
? "AXIS", LV1, " Positive Soft Limit: ", P(12424+LV1*256)
? "AXIS", LV1, " Negative Soft Limit: ", P(12425+LV1*256)
? "AXIS", LV1, " Soft Limit Decel: ", P(12422+LV1*256)
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 ...