PARKER MOTION MANAGER
ACR Programmer’s Guide
45
In the system shown above, the two subsystems would be attached to different masters, like Master 0 and Master
1. This would allow the controller to tightly coordinate moves within each subsystem, but would also allow each
subsystem to maintain its independence from the other.
The advantage to using interpolated motion on a master is that it is easy to make a move on several axes start and
stop at the same time, following exactly the path that the user needs. This can save process time and fulfill certain
machine goals (e.
g. “move
the product in a circle”).
Master (Units)
The second screen in the Configuration
Wizard is the Master screen. Here the
units for the master can be selected.
Users can use inches, millimeters,
degrees, revolutions, encoder counts or
specify their own. The units selected
here are used throughout the rest of the
configuration and in AcroBASIC
programs. Selecting
Inches
,
Millimeters
,
Degrees
or
Revolutions
offers advantages
on the Scaling screen later in the
configuration. Selecting
Counts
amounts
to no scaling, as all moves will use
encoder or stepper counts as their unit
of measure. Selecting
Other
provides no
special features
—
this selection should
only be used in special circumstances.
Users can also set default values for velocity, acceleration, deceleration and stop ramps for interpolated motion.
The stop ramp is used when stopping motion with interpolated moves. The provided diagram explains how the
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 ...