PARKER MOTION MANAGER
ACR Programmer’s Guide
67
•
The time/division indicator shows the length of time represented by
one division on the horizontal axis. This can be changed using the up
and down buttons to its left.
•
The slider beneath the time/division indicator can be used to scroll
data in the graph back and forth horizontally.
•
Clicking
Zero
resets the time slider as well as the vertical slider for
each channel, an effect only noticeable if Auto Scale is disabled.
•
Clicking
Erase
erases all data from the graph.
Clicking
Sampling
opens the sampling dialog. Here, the user can select
PC-based Sampling
(default) or
Onboard
Sampling
.
PC-based sampling means that PMM will request the parameter value over Ethernet at the specified rate. The
sample data is transmitted as needed without buffering. This is convenient and does not impose a memory burden
on the controller, meaning the graph can store very large data samples. However, PMM does not permit sampling
faster than 20 ms with this option to avoid taxing network and processor resources on the controller and the
user’s PC.
Onboard sampling means that the controller will allocate a memory buffer for the data it needs to take in advance.
When the user clicks
Single Run
or
Repeat Run
, the controller will store the data it acquires in the buffer and
transmit it all at once after the test is finished. The main advantage of this option is that it allows the user to
acquire data at a faster interval (all the way down to the servo period). However, ACR controllers have limited
memory and large data samples are not always possible. If there is not enough memory available to run the test
with onboard sampling, PMM will log the error message “failed to allocate program
memory for sampling buffer”
to the Messages window.
NOTE: The Repeat Run button requires onboard sampling.
The approximate amount of memory in bytes required to run a test move with onboard sampling can be calculated
using the following formula:
M
bytes
= 4N
channels
(
t
test
t
sample
)
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 ...