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User`s Guide Part I

1. PROG 3 master PROG 0 150 ATTACH MASTERO MASTER feedback ENCO ATTACH SLAVEO AXISO X slave 0 ATTACH SLAVE1 AXIS1 Y x signal gt slave 1 DAC 0 ATTACH AXIS1 ADC4 DAC1 slave 2 AXIS 4 slave 7 feedback SYM Signal bM paci PROG 3 eee AXIS 2 b ENS ATTACH MASTER2 feedback ATTACH SLAVEO AXIS2 XA slave 0 1 ATTACH SLAVE1 AXIS6 signal gt eae slave 1 DAC 2 ATTACH AXIS6 ENC6 STEPPER6 slave 2 AXIS6 6 slave 7 feedback XB _ signal gt STEPPER 6 Figure 3 3 Sample attachments Chapter 3 Command Reference 57 Attach master to program Format ATTACH MASTER master Group Operating System Units none See also ATTACH DETACH PROG This command attaches a master to the current program Each master has eight internal slots that serve as attachment points for axes This command must be issued from a program prompt An error will be generated if the master is attached to another program Usage example This example attaches master 2 to program 0 PROGO ATTACH MASTER2 ATTACH SLAVE Attach slave to axis Format ATTACH SLAVE slave AXIS axis name Group Operating System Units none See also ATTACH DETACH This command attaches
2. 29 2 11 Dead Band and Position Velocity Loop30 3 1 ACC DEC STP slopes 43 3 2 ADC input channel diagram 45 3 3 Sample attachments 57 3 4 Backlash compensation 62 3 5 Sample ballscrew table 67 3 6 Sample cam table 69 3 7 Final velocity example 166 3 8 Electronic gearing diagram 168 3 8a HSINT Operation Sequence 187 3 9 Scurve velocity profile 222 3 9a Look Ahead Mode 0 233 3 9b Look Ahead Mode 1 235 3 9c NURB interpolation example 255 3 10 PLS block diagram 268 3 11 Sinusoidal mode example 304 3 12 Circular interpolation example 305 3 13 Spiral interpolation example 306 3 14 Spline interpolation example 308 3 15 Tangential interpolation example 320 3 16 3 D Arc interpolation example 323 5 1 AND LD 412 5 2 OR LD 414 5 3 PLC timer 418 5 4 PLC counter example 421 5 5 PLC latch 424 vi FIGURES INTRODUCTIO
3. Clear sample channels Format SAMP CLEAR Group Global Objects See also SAMP AXIS ENC DAC PLS This command clears out all of the system parameters and flags which are related to data sampling It also clears out any the internal pointers which may have been set with the SAMP SRC and SAMP BASE commands Usage example SAMP CLEAR SAMP TRG Set sample trigger Format1 SAMP TRG index Format2 SAMP TRG index Group Global Objects See also SAMP AXIS ENC DAC PLS This command sets the trigger condition to be monitored when the sample trigger armed flag is set A positive index will cause a trigger to occur on an active state or a rising edge depending on the setting of the sample mode flag A negative index will cause a trigger on an inactive state or a falling edge The following example will start sampling when MASTER 0 starts moving 516 Usage example SAMP TRG 516 Chapter 3 Command Reference 299 SCALE Scale a programmed path Format SCALE ratio axis center axis center Group Transformation See also ROTATE OFFSET FLZ This command will cause the programmed path to shrink or expand about the given center point If the center for an axis is not specified the scaling center for that axis is equal to its current location Usage example 10 SCALE 0 5 X Y 20 SCALE 2 Z1 5 300 Acroloop Motion Controller User s Guide Part SET
4. 31 tla eM 94 COND T ws di 95 C cuc an 95 ON 43 Dee se 95 ADC sain 44 Seen 99 46 spore c EE ENG 47 Ea at SCALE 48 Dg 28 POS 49 MAS sates pasate caren NEG MATCH 50 GAIN 51 100 aa a a N E ON MIN EU HMM 100 52 KAA 191 52 1 il 53 MODE 54 108 EE SERE ERR 55 IO eee 106 ALM ned el Aa 56 105 57 IO srsausssassauasuassuaseuassuaseuaseuaseuuasuasecuaseuuuum 107 Bn 108 Rn ie mat E 108 AXIS ae Me ask a See 59 III 109 BUT Ld M eA ad 60 DAC UMS TOT E AXIS tua titt cia 61 HA NE 62 UNUM 63 ed E BUM oet cai ctetu UID 64 EM E B
5. 405 Mp E 406 EDNO T ut i mete eot tU 407 HIE 408 iieri 409 qu THREE 410 411 ANDYYED 2 fer te 412 OR EB 414 emu 416 MM mE 417 CND rete dns dee es te ded 420 IKE 423 PBOQT rotes 426 END 427 INDEX icicle to cete 429 2 1 Digital filter parameters 29 2 2 Digital filter 29 3 1 ADC parameter cross reference 44 3 2 MOG S oeste ees 46 3 3 uites tig 48 3 4 ADC positive channels 49 3 5 ADC negative channels 50 3 6 A limit flags tet etes 56 3 7 Not B limit 64 3 8 Echo control codes 135 3 9 excess error flags 143 3 10a ACR8000 Hardware Capture Interrupt iege 201 3 10b ACR8000 Hardware Capture Flags Parameters 201 3 10 ACR2000 Hardware Capture Interrupt SOUICOS EE 202 3 10d ACR2000 Default Hardware Capture Flags Parameters 202 3 10 ACR8010 Hardware Capture Interrupt SOUIC6S iM cett 203 3 10f ACR8010 Default Hardware Capture Flags Parameters 203 3 10g A
6. System RAM System EPROM Flash User RAM 128Kbytes 128Kbytes Boot Code Global Data Flag and Parameter Storage User Reserved Dimensioned Storage Shadow Memory Shadow Code System Parameter Storage 128Kbytes Executable Code 384Kbytes User Program Storage Figure 2 5 ACR1200 ACR1500 and ACR2000 Standard Memory Organization Chapter 2 System Reference 17 Memory Organization Expanded System RAM System EPROM Flash User RAM 512Kbytes 512Kbytes Boot Code Global Data Flag and Parameter Storage Reserved Reserved 127 5K x 32 System Parameter _ User Storage Dimensioned 128Kbytes Storage Shadowed Executable Code Executable Code User Program Storage ACR2000 384Kbytes ACR8010 512Kbytes Figure 2 6 ACR8010 Memory Organization and ACR2000 Expanded Memory Organization 18 Acroloop Motion Controller User s Guide Part Memory Organization There are five types of memory blocks in the ACR1200 ACR1500 ACR2000 ACR8000 ACR8010 memory organization as described below EPROM The EPROM is a Electrically Programmable Read Only Memory The EPROM s main function is to store the executable firmware code The EPROM is programmed at the factory and is not programmable by the user The EPROM based code in the ACR8000 runs at one wait state 148 ns using a 27MHz System Clock at two wait states for the ACR1200 and ACR1500 150ns using a 40MHz S
7. 3 The default boards is encoders moduleO module1 module2 NONE ENC2 ENC3 ENC4 ENC5 ENC6 ENC10 NONE DAC2 STEPPER2 STEPPER4 DACSTEP2 DACSTEP4 NONE DAC2 STEPPER2 STEPPER4 DACSTEP2 DACSTEP4 NONE ADC ENC3 is valid only for the ACR1200 board ENC5 and ENC10 are valid only for the ACR8010 board DACSTEP2 is currently valid only for the ACR1200 board This configlist argument is used to define an on board single channel DAC output and an on board single channel Stepper output hardware configuration DACSTEPA is currently valid only for the ACR1500 board This configlist argument is used to define a hardware configuration of two channels of on board DAC outputs and two channels of on board Stepper outputs hardware configuration for the ACR1200 ACR2000 ACR8000 ACR8010 CONFIG ENC8 DAC4 DAC4 ADC8 The default configuration for ACR1500 board is CONFIG ENC8 DAC4 DAC4 ADC8 CONFIG IO MODE 0 CONFIG IO INPUT NEG CONFIG IO OUT NEG Note 4 The default hardware configuration is the same for all Acroloop Motion Control Boards Since the hardware configuration of the Acroloop boards is user dependant it is the user s responsibility to set the correct hardware configuration Chapter 3 Command Reference 103 CONFIG Hardware configuration continued Usage example 1 ACR8000 ACR8010 This example defines six enc
8. ober rcd tren 362 FLOOR e efe pte 363 INKEY S ee t oct federe re 364 INKEY 3 cient cederet eerte eret et 365 INST actes e EE Re 366 KBA errorem cede tt eer e 367 GASES ste fonts 368 avalos 369 EEN en et ders 370 EIN ete ee iem eee RE e eM 371 BOG soccer ett PO p dE Ue 371 itti estesa rta too een 372 acted er ette Dee d 373 uet erc pote RENE eva 374 NOR der ette n ant De 375 NOT ts era tete ertet needed 376 ORE ocn faece ete ttd te 377 RIGH TEE sortem 378 RND tt tere et ober SEA 379 ROUND 2s ttti ederet e tdeo 380 SIN edendo tels 381 SIN H t toe Perte tt nme 381 SPAGES ment Eu eM 382 OORT Ene toe Tertio 383 STRT uie ieri estr s e ud 384 STRINGS 385 TAN n eri ea 386 TANEIBS ati 386 RUNG n Fert e Dep 387 UCASE rte tede 388 aer atte ih estt end 389 s teet ch deste adeft te 390 a eater dee Hes 391 CHAPTER 5 PLC PROGRAMMING 393 PLC 395 PLC 397 PEG 398 399 400 401 402 ee tete 403 404 PLC Instructions
9. 10 TRG 32 20 X10000 Y10000 Chapter 3 Command Reference 331 TRJ Start new trajectory Format TRJ axis target axis target Group Interpolation Units units See also MOV SIN PPU This command allows changing the trajectory of the axes on the fly Once the TRJ command is executed the axes will continue to go along the specified vector until one of the following conditions are met 1 The move completes normally 2 The move is aborted HALT or ESCAPE in MDI 3 Another TRJ command is received The following example makes the axis go along a 45 degree vector and then after 10 seconds goes at a 90 degree vector Usage example 332 10 TRJ X100000 Y100000 20 DWL 10 30 TRJ Y100000 Acroloop Motion Controller User s Guide Turn off trace mode Format TROFF PROG number Group Program Control See also RUN HALT TRON AUT BLK PAUSE RESUME This command turns off tracing for the currently selected program When tracing is turned on the program displays the line number of each line as it is executed The displayed line number is enclosed in angle brackets The TROFF PROG command will turn off tracing for the corresponding program The TROFF ALL command will turn off tracing for all programs These commands can be issued from anywhere in the system including programs The following example shows a program turning on and off its own tracing Usage example
10. 20 X10000 20000 A270 Chapter 3 Command Reference 337 Set manual vector Format VECTOR length Group Velocity Profile Units units See also VECDEF This command allows manual override of the default vector length calculations for moves If VECTOR is set to zero the vector length is calculated automatically as described in the VECDEF command Issuing a VECTOR command without an argument will display the current setting The default value is 0 When a move is executed the master controlling the move is actually making an imaginary move for a certain number of units The velocity profile of this move is controlled by the current VEL ACC DEC STP and FOV settings The length of the master s move is called the vector distance and is either calculated automatically based on VECDEF and slave distances or overridden manually as described here The attached slaves start when the master starts and arrive at their target positions when the master finishes its move The following example makes an X Y move with A axis interpolation The VECTOR command is then used to move the A axis by itself as if X and Y were moving along a vector that is 1200 pulses in length Usage example 338 VECDEF X1 1 Z1 AO X10000 Y20000 A270 30 VECTOR 1200 A V 0 ECTOR 0 Acroloop Motion Controller User s Guide Set target velocity for a move Format VEL rate Group Velocity Profile U
11. Group REM comment Program Flow This command causes the rest of the current line to be ignored Execution continues at the beginning of the next line The REM command is usually used to add comments to a program but it may also be used to prevent the execution of a program line Usage example 284 100 110 120 130 R R R P EM This is just a comment EM The following line won t execute EM PRINT Old code RINT New code Acroloop Motion Controller User s Guide Match position with encoder Format REN axis axis Group Feedback Control See also RES This command loads the command position registers with the actual encoder position This command is useful to learn where the axis is after the motor is turned manually with the motor power off If the REN command is done just before motor power is applied the controller will learn the new position and zero the D A command signal Usage example 10 REN X Y 2 Chapter 3 Command Reference 285 RES Reset or preload encoders Format RES axis preload axis preload Group Feedback Control Units units See also REN PPU This command zeros out the command position and the actual encoder position of the specified axes If an optional preload position is specified in the command that position is loaded into the command position and the encoder position registers The following example zeros the X axis command
12. NURB Page 264 Command Reference PERIOD Page 307 Command Reference SPLINE Page 330 Command Reference TOV Page 341 Command Reference VER Added flash reference information Added flash reference information Corrected acceleration and FFACC references Added warning about using FLASH SAVE and FLASH IMAGE when data is already present in flash Added GEAR ON TRG and GEAR OFF TRG to valid GEAR command combinations Included new commands in Figure 3 8 Electronic Gearing Diagram Added GEAR ON TRG command Added GEAR OFF TRG command Correced Valid Interrupt Source Modes for ACR 1200 Clarified usage examples Added MAXVEL command Corrected incremental move command using a forward slash Included unit information to MSEEK Added NURB commands including NURB MODE NURB RANK and NURB END Changed lower period range to 200microseconds Added SPLINE commands including SPLINE MODE and SPLINE END Added TOV command Added diagnostic parameter reference CHANGE NOTICE continued Users Guide AMCS P N PM08120 Version Change From Version 1 17 07 Dated 5 21 1998 To Version 1 18 02 Dated 10 21 1999 The following changes have been incorporated into Users Guide Version 1 18 02 1 10 11 12 13 14 Cover Page Page 1 INTRODUCTION Page 5 Chapter 1 Overview Page 9 Chapter 2 Overview Page 10 13 Communication Channels Page 14 System Attachments Page 18 25 Mem
13. SYS gt PROGO POO gt NEW POO gt 10 PRINT A 0 gt 20 PRINT 0 gt 30 0 gt 40 PRINT 0 gt 50 PRINT X 0 gt 60 TROFF 0 gt 70 PRINT Y 0 gt 80 PRINT 2 0 gt 90 PRINT P0O0 gt LRUN AB lt 40 gt C lt 50 gt X lt 60 gt YZ POO gt _ Chapter 3 Command Reference 333 Turn on trace mode Format TRON PROG number ALL Group Program Control See also RUN HALT TROFF AUT BLK PAUSE RESUME This command turns on tracing for the currently selected program When tracing is turned on the program displays the line number of each line as it is executed The displayed line number is enclosed in angle brackets The TRON PROG command will turn on tracing for the corresponding program The TRON ALL command will turn on tracing for all programs These commands can be issued from anywhere in the system including programs The following example shows a program running with and without tracing Usage example 334 SYS gt PROGO POO gt NEW PO0 10 DIM LV1 POO gt 20 LVO 0 0 gt 30 PRINT CHRS 65 LVO POO gt 40 LVO LVO 1 POO gt 50 IF LVO lt 3 THEN GOTO 30 0 gt 60 PRINT gt POO gt LRUN lt 10 gt lt 20 gt lt 30 gt A lt 40 gt lt 50 gt lt 30 gt B lt 40 gt lt 50 gt lt 30 gt C lt 40 gt lt 50 gt lt 60 gt gt POO gt LRUN ABC P00 Acroloop Motion Controller User s Guide UNLOCK Unloc
14. TRG TRJ X lt lt gt lt X X lt xx TROFF TRON UNLOCK lt gt lt gt lt VECDEF VECTOR VEL lt gt lt gt lt VER Acroloop Motion Controller User s Guide Part COMMAND System RAM User RAM EPROM EEPROM Flash N A WHILE Chapter 2 System Reference 25 Variable Memory Allocation 26 For the following definitions xxx and yyy are positive numbers Their range depends on memory limitations There are two sets of memory types that are accessible by each program global system and local user parameters The global system parameter definitions are listed in Chapter 6 Each parameter number is preceded by the letter P For example the following command will load system parameter 4097 with the value 123 P4097 123 In addition to the global system parameters that can be accessed by all programs each program can dimension allocate local parameters These parameters can be either single variables or arrays of variables The following formats are used to access the different types of variables Pxxx Global system variable xxx BITxxx Global bit flag xxx LVxxx Local Long 32 bit integer variable xxx LAxxx yyy Local Long array number xxx and index yyy SVxxx Local Single 32 bit floating point variable xxx SAxxx yyy Local Single array number xxx and index yyy DVxxx Local Do
15. Format INTCAP OFF AXIS Group Feedback Control If the intcap mode is enable and the user wants to turn it off before the trigger happens then this command can be used to trun off the intcap Usage example1 INTCAP X OFF Chapter 3 Command Reference 209 IPB Set in position band Format IPB axis value axis value1 value2 Group Axis Limits Units units See also EXC PPU This command sets the following error limits monitored by the not in position flags When the following error of a given axis is outside of its in position band the appropriate flag is set Otherwise the flag is cleared For masters the flag is set if any of its slaves are outside of their in position bands Issuing the IPB command to an axis without an argument displays the current positive and negative limits for that axis Issuing the command with a single argument sets the positive limit to value and the negative limit to minus value Issuing the command with two arguments sets the positive limit to value1 and the negative limit to value2 The default for both is 0 0 for all axes The following is a table of not in position flags 0 968 6 720 Table 3 11 Not in position flags Usage example This example sets an in position band of 0 5 units for X Y and 2 axes IPB X0 5 YO 5 20 5 210 Acroloop Motion Controller User s Guide Part ITB Set in torque band Format ITB axis value a
16. Format expression1 expression2 Group Arithmetic This operator returns the value of expression multiplied by expression2 I Division Format expression1 expression2 Group Arithmetic This operator returns the value of expression1 divided by expression2 Exponentiation Format expression1 expression2 Group Arithmetic This operator returns the value of expression1 raised to the power of expression2 Chapter 4 Expression Reference 347 lt lt Left Shift Format expression1 expression2 Group Logical This operator returns the integer value of expression1 logically shifted to the left by expression2 Usage example PRINT 1 lt lt 4 PRINT 2 9 Example output 16 1024 gt gt Right shift Format expression1 expression2 Group Logical This operator returns the integer value of expression1 logically shifted to the right by expression2 Usage example PRINT 256 gt gt 4 PRINT 4096 gt gt 2 Example output 16 1024 348 Acroloop Motion Controller User s Guide Part lt Less Than Format1 expression1 expression2 Format2 stringexpression1 stringexpression2 Group Comparison This operator returns 1 if the value of expression1 is less than expression2 otherwise it returns 0 Usage example PRINT 1 lt 0 PRINT 1 lt 1 PRINT 1 lt 2 Example output 0 1 Equal to Format1 expression1 expression2 Format2 stringexpression1 stringex
17. Group Setpoint Control Units units second See also JOG BKL BSC GEAR HDW CAM This command sets the programmed jog velocity for an axis Issuing a JOG VEL command to an axis without an argument will display the current setting for that axis The default jog velocity is 0 0 for all axes therefore this command must be issued before any jogging can occur The following example sets the X axis jog velocity to 10000 units second Usage example JOG VEL X10000 JOG JRK Set jog jerk scurve Format JOG JRK axis axis Group Setpoint Control Units units second See also JOG BKL BSC GEAR HDW CAM This command controls the slope of the acceleration versus time profile If jerk is zero the acceleration profile is rectangular Otherwise the acceleration profile is trapezoidal clipped on top or bottom by the current JOG ACC and JOG DEC settings Issuing a JOG JRK command to an axis without an argument will display the current setting for that axis The default jog jerk is 0 0 for all axes The following example sets the X axis jog deceleration to 80000 units second 3 Usage example JOG JRK X80000 216 Acroloop Motion Controller User s Guide Part Set acceleration Format JOG ACC axis accel axis accel Group Setpoint Control Units units second See also JOG BKL BSC GEAR HDW CAM This command sets the programmed jog acceleration for
18. PROG1 ATTACH MASTER1 ATTACH SLAVE1 AXIS1 Y TMOV ON IVEL 0 FVEL 0 2 ACC 1200 DEC 0 STP 1200 VEL 300 0 200 5 STP 0 20 200 25 STP 1200 30 Y 200 40 Y 0 45 STP O 50 Y 200 55 STP 1200 60 Y 200 65 STP 0 70 200 75 STP1200 80 200 100 GOTO 1 PROG3 ATTACH MASTER3 ATTACH SLAVE3 AXIS3 A SYNC ON MASTERO MASTER1 MASTER2 MASTER3 TMOV ON 2 ACC 100000 DEC 100000 STP 100000 VEL 500 3 TMOV 1 10 A 20 20 AO 30 A 20 40 AO 50 A 20 60 AO 70 A 20 80 AO 100 GOTO 2 315 SYNC Version 1 18 01 amp Up Synchronization of Masters continued Usage example In the following example MasterO and Master1 each make their arcs in 3 seconds PROGO ATTACH MASTERO ATTACH SLAVEO AXISO X ATTACH SLAVE1 AXIS1 Y TMOV 3 TMOV ON 0 X0 YO 0 X10000 YO 0 SINE X 0 90 90 10000 SINE Y 10000 0 90 10000 0 GOTO 10 PROG1 ATTACH MASTER1 ATTACH SLAVE2 AXIS2 Z ATTACH SLAVE3 AXIS3 A TMOV 3 TMOV ON SYNC ON MASTERO MASTERI 0 20 AO 20 25000 0 30 SINE 2 0 90 90 5000 SINE 5000 0 90 5000 40 10 316 Acroloop Motion Controller User s Guide Part SYNC ON Version 1 18 01 amp Up Synchronization of Masters Format SYNC ON Master Master Group Velocity Profile See also TMOV VEL SYNC PROG SYNC MDI This command enables the synchronization of selected masters The SYNC ON command should be issued before the start of the moves Issuing a Feed Hol
19. The difference between the old offset and the new offset will show up in the axis current position This prevents the axis from jumping when the gear offset changes The following example clears out the gear offset for the Z axis Usage example GEAR RES Z Chapter 3 Command Reference 173 Set gearing acceleration Format GEAR ACC axis accel axis accel Group Setpoint Control Units output units input unit second See also GEAR HDW CAM BSC BKL JOG This command sets the rate at which the gear ratio will change when the target gear ratio is higher than the current ratio This will occur both when gearing is turned on and when a higher gear ratio is set with the GEAR RATIO command Setting gearing acceleration to 0 0 default or setting the gear lock flag will cause an immediate lock Issuing a GEAR ACC command to an axis without an argument will display the current setting for that axis NOTE See Axis Parameter Gear Slip The following example sets the X axis gearing acceleration to 2 Usage example GEAR ACC X2 GEAR ACC SLIP Version 1 18 04 174 When the gear acceleration is not zero then the geared axis will take some time to ramp up to the velocity of its source The number of source pulses that are missed before the geared axis is at velocity are stored in the axis parameter Gear Slip This gives the flexibility to recover these missed counts by
20. This command displays the status of various power conditions as well as indicating the option modules present for the ACR1200 ACR2000 and ACR8010 boards The output of this command is likely to change as more system diagnostics are added to the operating system n Firmware Version 1 18 and up these status bits are also available as a parameter P7044 See Parameter Reference Appendix A The following describes the diag command results for the ACR1200 ACR1500 ACR2000 ACR8000 and ACR8010 boards including the ACR1200 ACR2000 and the ACR8010 option modules ACR8000 Board DIAG Command Definitions The following will be displayed when invoking the DIAG command on an ACR8000 Board 24V PASS 5V PASS 12V PASS 12V PASS Where 24V Isolated external voltage provided for the optoisolation circuitry on the ACR8000 board PASS External voltage present FAIL No external voltage present 5V On board isolated 5VDC voltage provided for the optoisolation circuitry on the ACR8000 board The isolated 5VDC is generated from the isolated external supplied voltage PASS On board isolated 5VDC voltage present FAIL No voltage present 12V 12VDC supply voltage PASS Voltage present FAIL No voltage present 12V 12VDC supply voltage PASS Voltage present FAIL No voltage present Acroloop Motion Controller User s Guide Part DIAG Display system diagnostics continued The following describes the di
21. This command sets the maximum peak amplitude of the output signal The user must set the Command Current Scale parameter to equate voltage to amps to match with the particular servo amp stage being used Default is 1 for the command scale parameter Assume the particular servo amp stage being used will pump out 2 amps for 1 volts input The following example will set the maximum peak amplitude of the output the signal to 10 amps The actual peak amplitude of the dac channel is 5 volts Usage example 10 P16406 2 20 CMTO MAX AMP 10 98 Acroloop Motion Controller User s Guide Part Version 1 18 amp Up Set maximum speed Format CMT index MAX RPM speed Group Global Objects Unit rpm See also CMT ATTACH DAC ENC AXIS This command sets the maximum speed of the motor If the actual motor speed exceeds this maximum speed the commutator will be turned off and the motor overspeed hit flag will be set The following example will set the maximum speed of the motor to 4500 rpm Usage example 10 CMTO MAX RPM 4500 CMT MODE Version 1 18 amp Up Set commutation mode Format CMT index MODE mode Group Global Objects See also CMT ATTACH DAC ENC AXIS This command sets the commutation mode Mode 0 Sinusoidal mode In this mode encoder marker should present Mode 1 Trapezoidal mode Mode 2 Hall less start up mode In this mode the commutator will drive the motor
22. value The knots are a strictly non decreasing function and giving a negative value to a knot i e 1 will end the NURB move block 254 Acroloop Motion Controller User s Guide Part NURB Non Uniform Rational B Spline Interpolation continued Control Point Note The control points are given as the target points to the axes These could be absolute or incremental values A NURB curve starts from the first control point and ends at the last control point The first control point must be current position of axes or the target point of the previous move The following example uses the control points as indicated in the following figure to generate the resulting NURB curve as traced In this mode the board is using N R 1 points to calculate NURB curve If stopped by DWL or INH commands the move will stop R 1 points before the command appeared At the point where the negative knot is read by NURB profiler the profiler knows that the block is ending so the user should keep the speed and distance in the last segment such that there is enough time to slow down Figure 3 9 interpolation example Chapter 3 Command Reference 255 NURB Non Uniform Rational B Spline Interpolation continued Usage example 256 NURB RANK NURB MODE K 0 x23 Y8 N c 18 1 X10 24 04 X9 AAAA AN N 19 58 X7 22
23. DZL DZU FFVC FLT KVF KVI LOOK MBUF PASSWORD TANG TARC FSTAT Added CIRCCW command Added CIRCW command Added CMT LOCK AMP command Added DIN command Added DIP command Added DZL command Added DZU command Added FFVC command Added FLT command Added FSTAT command Added KVF command Added command Added KVP command Added LOOK command Added MBUF command Added PASSWORD command Added TANG command Added TARC command CHANGE NOTICE continued Users Guide AMCS P N PM08120 Version Change From Version 1 18 02 Dated 10 21 1999 To Version 1 18 04 Dated 6 30 2000 The following changes have been incorporated into Users Guide Version 1 18 04 22 23 24 25 26 2T 28 29 30 31 32 33 34 35 Acroloop Motion Controller User s Guide Page 1 Introduction Page 22 Memory Organization Page 33 Command Groups Page 38 Command Cross Reference Page 50 Command Reference ADC NEG Page 68 Command Reference CAM Page 80 Command Reference CAM ON TRG Page 102 Command Reference CONFIG 105 Command Reference CONFIG CLEAR Page 106 Command Reference CONFIG IO and CONFIG 115 Command Reference DGAIN Page 136 Command Reference ELOAD 138 Command Reference ENC RD ABS Split manual into two 2 sections Part and Part Il Added manual section co
24. ShowMessage PRINT Subroutine DEMO RETURN ENDP Note DIM DEF command must be used to tell the board that the new Acro Basic language format is being used Chapter 3 Command Reference 181 Branch to a new line number Format GOTO line Group Program Flow See also GOSUB RETURN The command causes an unconditional branch to occur Usage example 10 ACC 0 DECO STPO 20 SET 32 30 X 1 40 INH 768 50 CLR 32 60 DWL 2 70 GOTO 20 GOTO LABEL 1 18 07 and Up The new lineless Acro Basic language has the provision for labels see the following example Usage example PROGRAM PRINT LABEL DEMO DWL 1 GOTO Start ENDP Note DIM DEF command must be used to tell the board that the new Acro Basic language format is being used 182 Acroloop Motion Controller User s Guide Part HALT Halt an executing program Format HALT PROG number PLC number ALL Group Program Control See also RUN LRUN LISTEN This command stops the execution of a running program and kills any motion profile initiated by the program A message is displayed indicating the current line number that was being executed when the program was halted The HALT command cannot be issued from within a program use the END command instead The optional HALT formats can be issued from anywhere including programs The HALT PROG and HALT PLC commands will halt the corresponding u
25. stringexpression Group String See also UCASE This function returns a string with all letters in lower case This function is useful for making string comparisons that are not case sensitive Usage example PRINT LCASES AbCdEfG Example output abcdefg 368 Acroloop Motion Controller User s Guide Part LEFT Left string Format LEFT stringexpression n Group String See also RIGHT MID This function returns the leftmost n characters of the given string If n is greater than the length of the string the entire string is returned Usage example PRINT LEFTS ABCDEFG 3 Example output ABC Chapter 4 Expression Reference 369 LEN String length Format LEN stringexpression Group String This function returns the length of the given string expression Usage example PRINT LEN ABCDEFG Example output 7 370 Acroloop Motion Controller User s Guide Part I LN Natural logarithm Format LOG expression Group Miscellaneous See also LOG This function returns the natural logarithm of the expression LOG Common logarithm Format LOG expression Group Miscellaneous See also LN This function returns the common logarithm of the expression Chapter 4 Expression Reference 371 MID Middle string Format MID stringexpression start length Group String See also LEFT RIGHT This function returns characters
26. 1 AND 0 PRINT 1 AND 1 Example output l ooo 354 Acroloop Motion Controller User s Guide Part ASCII value Format ASC stringexpression Group String See also CHR This function returns the numeric code of the first character in the string expression If the string is of zero length the function returns zero Usage example PRINT ASC X Example output 88 Chapter 4 Expression Reference 355 ASIN Arc sine Format ASIN expression Group Trigonometric See also SIN COS TAN COT ACOS ATAN ACOT This function returns the arc sine of the expression ASINH Hyperbolic arc sine Format ASINH expression Group Hyperbolic See also SINH COSH TANH COTH ACOSH ATANH ACOTH This function returns the hyperbolic arc sine of the expression 356 Acroloop Motion Controller User s Guide Part Arc tangent Format ATAN expression Group Trigonometric See also SIN COS TAN COT ASIN ACOS ACOT This function returns the arc tangent of the expression ATANH Hyperbolic arc tangent Format ATANH expression Group Hyperbolic See also SINH COSH TANH COTH ASINH ACOSH ACOTH This function returns the hyperbolic arc tangent of the expression Chapter 4 Expression Reference 357 BIT Bit flag status Format1 BIT index Format2 BIT expression Group Logical See also AND NAND OR NOR XOR XNOR NOT This function returns the s
27. AMCS Part Number PM08121 ACR8020 Hardware Reference Manual AMCS Part Number PM08126 Chapter 1 Hardware Installation This page intentionally left blank Acroloop Motion Controller User s Guide 2 oystem Reference Chapter 2 System Reference 7 This page intentionally left blank Acroloop Motion Controller User s Guide Chapter Overview Description This chapter gives an overview of the architecture of the Acroloop motion controllers executive This chapter must be read thoroughly before proceeding on to subsequent chapters The executive is a pre emptive multi tasking operating system As many as 16 simultaneous tasks can be open at the same time Each of these tasks are called programs and are referenced as PROGO PROG15 There are three communication channels or streams available on the ACR2000 ACR8000 ACR8010 that can be simultaneously open to send and receive data They are as follows 1 COM1 Serial RS232 RS422 2 COM2 Serial RS232 RS422 3 FIFO PC ISA bus port access There are two communication channels or streams available on the ACR1200 that can be simultaneously open to send and receive data They are as follows 1 COM1 Serial RS232 RS422 2 COM2 Serial RS232 RS422 There is one communication channel or stream available on the ACR1500 that can be open to send and receive data This is as follows 1 FIFO PC ISA bus port access There
28. AND OR XOR NAND NOR XNOR NOT lt lt gt gt Miscellaneous SQRT RND String CHR ASC LEN STR VAL INSTR CASES UCASES SPACES STRINGS EFTS RIGHTS MIDS INKEYS KBHIT The following are an example of valid statements assuming that the parameters have been properly dimensioned and the X and Y attachments have been defined LV1 LV2 LV3 LV5 LV6 IF LV5 LV6 LV9 lt 10 THEN GOTO 100 X LV1 LV2 Y 3 LV5 Note that the arguments of X and Y are enclosed in parentheses This is the way that parametric arguments are given to a command All commands will accept parametric arguments A special character is used to signify incremental distance for axis moves This character is the forward slash It must precede the numerical or parametric argument for incremental axis moves As an example the following command will move the X axis 20 units in the positive direction from its current location X 20 It is possible to mix absolute incremental and parametric X2 5 Y 1 23 2 DV2 DV3 Chapter 2 System Reference moves as follows 27 Summation Filter Output Setpoint Setpoint Servo Loop Point Digital Signal Summation gt Filters Figure 2 3 Figure 2 4 Actual Velocity Velocity Calculation Figure 2 7 Servo loop Current Position Gear ES Primary Offset Setpoint Jog Ballscrew Offset ae Offset Backlash Offset Off
29. ATTACH 57 AXIS 59 MASTER 58 SLAVE 58 CONFIG 102 CLEAR 105 IO 106 IO INPUT 108 IO MODE 107 IO OUT 108 XIO 106 CPU 109 DEF 112 DEFINE 113 DETACH 114 DIAG 116 ECHO 135 HELP 185 MODE 246 PASSWORD 261 OFF 261 ON 261 PERIOD 264 PLC 266 PROG 277 REBOOT 283 SYS 319 VER 341 Program Control AUT 60 BLK 63 HALT 183 LIST 229 LISTEN 230 LRUN 239 NEW 250 PAUSE 262 RESUME 287 RUN 292 430 STEP 312 TROFF 333 TRON 334 Program Flow END 140 FOR TO STEP NEXT 159 GOSUB 181 GOTO 182 IF ELSE IF ELSE ENDIF 191 IF THEN 190 PROGRAM ENDP 278 REM 284 RETURN 288 WHILE WEND 342 Servo Control DGAIN 115 DIN 129 DIP 130 DWIDTH 131 DZL 133 DZU 134 FBVEL 145 FFACC 146 FFVC 147 FFVEL 153 FLT 155 OFF 157 ON 157 OUT 156 SRC 156 IDELAY 189 IGAIN 192 ILIMIT 194 KVF 223 KVI 224 KVP 225 LOPASS 238 NOTCH 252 PGAIN 265 Setpoint Control BKL 62 BSC 66 CAM 68 CLEAR 71 DIM 72 FLZ 78 OFF 76 OFFSET 77 ON 76 RES 79 SCALE 77 SEG 73 SHIFT 78 SRC 74 RES 75 TRG 80 TRGP 81 GEAR 167 ACC 174 CLEAR 171 DEC 175 MAX 177 MIN 177 OFF 176 OFF TRG 179 OFF TRGP 180 ON 176 ON TRG 178 ON TRGP 179 PPU 172 RATIO 173 RES 173 SRC 172 HDW 184 JOG 214 ABS 221 ACC 217 DEC 217 FWD 219 INC 221 216 OFF 220 REN 218 RES 218 REV 219 SRC 220 VEL 216 LOCK 231 UNLOCK 335 Trans
30. DEC SORT DI ACC EC Setting DEC to zero disables the deceleration ramp In the case where the motor needs to slow down such as with an FOV command it will try to do so instantaneously The following example sets up a deceleration ramp of 10000 units per second2 Program Usage example 10 DEC 10000 Chapter 3 Command Reference 111 Didspaly the defined variables Format Group See also DEF number Operating System DEFINE This command will display the currently defined user variables Usage example SYS gt DEF DEFINE LED DEFINE myflag DEFINE TRUE DEFINE Counter DEFINE loop 112 BIT96 BIT32 LV2 LV4 Acroloop Motion Controller User s Guide Part DEFINE Define variables Format DEFINE name parameter Group Operating System See also DEFINE This command is used to define user variables Usage example DEFINE LED BIT96 DEFINE myflag BIT32 DEFINE TRUE 1 DEFINE Counter LV2 DEFINE CurrentPos P12288 Chapter 3 Command Reference 113 Clear attachments Format DETACH ALL Group Operating System See also ATTACH This command cancels the master and slave attachments created with the ATTACH command The ATTACH and DETACH commands can be issued from within a program but special care must be taken to prevent errors that will halt the
31. FLOOR 363 LN 371 LOG 371 RND 379 ROUND 380 SQRT 383 TRUNC 387 String ASC 355 CHR 360 INKEY 364 365 INSTR 366 KBHIT 367 LCASE 368 LEFT 369 LEN 370 MID 372 RIGHT 378 SPACE 382 STR 384 STRINGS 385 UCASES 388 VAL 389 Trigonometric ACOS 352 ACOT 353 ASIN 356 ATAN 357 COS 361 COT 362 SIN 381 TAN 386 F F command 144 FBVEL command 145 FFACC command 146 FFVC command 147 FFVEL command 153 FIRMWARE command 148 151 152 FLASH command 154 FLOOR function 363 FLT command 155 FLZ command 158 FOR command 159 FOV command 160 FSTAT command 161 FVEL command 166 G GEAR command 167 GETCH function 364 GOSUB command 181 GOTO command 182 H HALT command 183 HDW command 184 HELP command 185 HSINT command 186 IDELAY command 189 IF command 190 191 IGAIN command 192 IHPOS command 193 ILIMIT command 194 INH command 195 INKEY function 365 INPUT command 196 INSTR function 366 INT command 197 431 INTCAP command 198 IPB command 210 ITB command 211 IVEL command 212 J JLM command 213 JOG command 214 JRK command 222 K KBHIT function 367 KVF command 223 KVI command 224 KVP command 225 L LCASE function 368 LEFT function 369 LEN function 370 LIST command 229 LISTEN command 230 LN function 371 LOCK command 231 LOG function 371 LOOK command 233 LOPASS command 238 LRUN command 239 MASK comma
32. Format PERIOD time Group Operating System See also CPU DIAG This command set the base system timer period the heartbeat of most operations involving the servo loops and motion profiling Make sure to do a CPU command to check on the system load before lowering the period dropping the period too low may cause sluggish foreground behavior The recommended maximum value for the background percentage is 6096 of the period leaving at least 40 of the period for the processor to perform system tasks such as program execution and Bus communication However these recommended foreground and background percentages are generalized and may be different based on individual system applications The valid range for base system timer period is 200 microseconds to 1 millisecond The default timer period is 500 microseconds for the ACR1200 ACR2000 ACR8000 and ACR8010 boards The default timer period is 750 microseconds for the ACR1500 board NOTE Changing the period will affect motor tuning The following example sets the base system period to 200 microseconds Usage example 264 PERIOD 0 0002 Acroloop Motion Controller User s Guide Part PGAIN Set proportional gain Format PGAIN axis value axis value Group Servo Control Units volts pulses of error See also IGAIN DGAIN FFVEL FFACC This command modifies the value used in the PID algorithm to control proportional gain I
33. High Speed Interrupt Encoder capture Marker seek operation Set encoder multipliers Normalize current position Set axis pulse unit ratio Match position with encoder Reset or preload encoder Set rotary axis length Analog input control Direct axis access Analog output control Quadrature input control Yaskawa absolute encoder interface Frequency Limiter Direct master access Programmable limit switch Software ratchet Data sampling control Commutator Chapter 3 Command Reference 33 Command Groups continued 34 Logic Function CLR DWL IHPOS INH MASK SET TRG Memory Control CLEAR DIM MEM Nonvolatile BRESET ELOAD ERASE ESAVE PBOOT FLASH PROM FIRMWARE Operating System ATTACH CONFIG CPU DEF DEFINE DETACH DIAG ECHO HELP MODE PASSWORD PERIOD PLC PROG REBOOT SYS VER Clear a bit flag Delay for a given period Inhibit on position Inhibit on bit high or low Safe bit masking Set a bit flag Start move on trigger Clear memory allocation Allocate memory Display memory allocation Disable battery backup Load system parameters Clear the EEPROM Save system parameters Auto run program Create user image in flash Create burner image Firmware upgrade backup Define attachments Hardware configuration Display processor loading Display user defined variables Define user variables Clear attachments Display system diagnostics Character echo control Display command list Binar
34. Loop execution certain number of times Format FOR counter start value TO counter final value STEP increment commands NEXT Group Program Flow For loop is used to execute a loop certain number of times The three values in the control section of a FOR loop deterimines how many times the loop will be executed The start values specifies a value at which counting will begin The final value specifies at which couting will end The STEP value indicates how much the loop couter will be incremented on each pass of the loop The BREAK command can be used to break out of the FOR loop if certain condition is met Usage example Counter LVO DEFINE Stop BIT32 PROGRAM DIM LV2 DWL 5 FOR Counter 0 TO 100 STEP 2 Print Counting Print Seconds Counter IF Stop Print Stop Counting BREAK ENDIF Print Dwell for 2 sec DWL 2 NEXT ENDP Chapter 3 Command Reference 159 Set feedrate override Format FOV rate Group Velocity Profile See also VEL ROV This command sets the velocity override for the current master The argument is a floating point scaling factor for the master s velocity profile Issuing an FOV command without an argument will cause the current feedrate override value to be displayed The feedrate override takes place immediately during a feed move Secondary Master Flag Rapid Active is disabled If a feed move is in progress the
35. OFF 180 MAXVE iet ete tees 242 GOSUB oic tutt end 181 n ntes thee 243 MERE 182 EIE 244 t es ete at 183 ones 244 Ete eos 184 ie eee 245 MOM en te eter vit ET 247 SINE ttes etcetera 302 MSEERK eiecit ren 248 SPLEINE Ruta Soe edes aad 307 ts teen etes 249 MODE iden tr ete cu uns 309 NEW Zeche edt lus 250 END mite etie 310 ui nece de e cee 251 totes ioni 311 NOU GEL iei inerte eed 252 tea ote dtes 312 E eei fot E RE fons 253 ST too een ot soar ets 313 MODE nei dca Ss 257 SYNC Recetas taste 314 tret do Nous 258 ON S et ar e teenth ie ot our Ms 317 END eias a reet et 258 2 iib vra ttti eti enlm 317 OPFESET nini Eni 259 PROG ueniet teles 318 OPEN hu tere dete dece sus 260 inr ets 318 PASSWORD eee 261 urs ob evt ede oboe ate te sabor 319 TE ede tines ach ies 261 uia eet 320 OEE 261 s otn cotum re ete ee 320 PAUSE 2 intet 262 yh Sora EE fous t 321 tide dorus 263 icta eco 322 BERIOD 2 reet 264 mutet tutem 323 PGAIIN iro a t eed cei ee 265 naui em
36. Set input and out of the digital filter This command is used along with a second command to define the input and output of the digital filter in the servo loop By using this command one can move the servo loop digital filter between any two P parameters This gives the flexibility of filtering any P parameter on the controller Command PID gt Digital gt Limiter DAC ServoLoop Filter FeedBack FLT OFF FLT SRC Pxxxx FLT OUT Pxxxx PID Digital T Command ServoLoop Filter Limiter DAC FeedBack FLT ON Note This filter is still updated in the servo loop block The sequence in which the input output and digital filter will update should be carefully sought so that nothing is overwritten Chapter 3 Command Reference 155 FLT SRC Version 1 18 06 Set input source of the digital filter Format FLT SRC Parameter Group Servo Control See also LOPASS NOTCH FLT OUT This command is used to set the input of the digital filter to a specific parameter Usage example FLT 0 SRC P12280 Current position of the axis 0 becomes the input of the digital filter O SRC Digital Filter gt OUT FLT OUT Version 1 18 06 Set output of the digital filter Format FLT OUT parameter Group Servo Control See also LOPASS NOTCH FLT SRC This command is used
37. This command sets the velocity limit for individual axis This is useful for optimizing the speed of the machine with axes that can handle different velocity limits Depending on the axes involved in the move and the size of their moves the profiler will automatically adjust to make a maximum velocity move overriding the VEL value for the move This mode can be used with the TMOV command as well The maxvel is store in axis paramter MaxVel and its default value is zero When all the axes attached to a master have the MAXVEL value set to greater then zero this mode is automatically turned on This is indicated by master secondary flag SlaveMaxVel This mode will turn off if one or more of the attached axes MAXVEL velocities are set to zero or by clearing the master secondary flag Slave MaxVel Usage example MAXVEL MAXVEL X 5 Y2 242 Acroloop Motion Controller User s Guide Part MBUF Version 1 18 06 Update 09 Multiple move buffer This command is used along with a second command to define the length of the move buffer The default value for the move buffer is 2 i e one active move and one buffered move This default move buffer is in the system memory In some applications the user may want to increase the number of moves buffered This can be done by using DIM MBUF command from PROG level prompt to allocate program level user memory for the move buffer Already Buffered Moves master b
38. Usage example 10 OFFSET X10000 Y20000 Chapter 3 Command Reference 259 Open device Format Group See also OPEN device string AS device Character PRINT INPUT CLOSE This command opens a device The valid range for device is 0 to 3 Each program has own device 0 which is used as its default device Devices 1 through 3 are board wide system resources that can be opened and used from within any program or from any system or program prompt The d contain evice string describes the device that is to be opened Serial device strings information required to set up communications Valid device strings are COM1 baudrate parity databits stopbits COM2 baudrate parity databits stopbits baudrate 300 600 1200 2400 9600 19200 38400 parity N E O databits 5 6 7 8 stopbits 1 2 When a device is opened the operating system attached to that device enters an idle state allowing incoming characters to be used by a program instead of being interpreted as commands When the device is closed the device will enter its auto detect mode as if it were starting from power up Usage example 260 10 OPI EN COM1 9600 N 8 1 AS 1 20 PRINT 1 Hello world 30 CLOSE 1 Acroloop Motion Controller User s Guide PASSWORD Version 1 18 06 Upd 9 Password The password feature is to lock certain commands so that once the password
39. Usage example DIP X 2 2 130 Acroloop Motion Controller User s Guide Part DWIDTH Set derivative sample period Format DWIDTH axis value axis value Group Servo Control Units seconds See also DGAIN This command modifies the value used in the PID algorithm to control the derivative sampling rate Issuing a DWIDTH command to an axis without an argument will display the current setting for that axis The default width is 0 0 for all axes Derivative sampling width determines how often the following error is sampled when calculating the derivative term Setting this value to zero will set the sampling to occur at the servo interrupt rate set with the PERIOD command The following example sets the X axis derivative sample width to 1 millisecond Usage example DWIDTH X0 0001 Chapter 3 Command Reference 131 DWL Delay for a given period Format DWL time Group Logic Function Units seconds This command suspends program execution for a given amount of time The minimum dwell time is 1 millisecond The following example will delay for 1 25 seconds Usage example 10 DWL 1 25 132 Acroloop Motion Controller User s Guide Part 021 Version 1 18 06 Update 05 Dead Zone Lower Limit Format DZL axis value axis value Group Servo Control Units pulses See also DZU DIP DIN This command sets the lower limit for the dead zone of an axis The DZL value should be less than DZU
40. the FLZ offset register is cleared by the processor It is recommended that the user also clears the CAM Gear and Jog registers by performing the following command sequence CAM OFF CAM RES GEAR RES JOG OFF JOG RES The following example assumes ENCO as position feedback on AXISO X The MSEEK command moves the X axis to its marker position Usage example1 10 MSEEK X 10000 0 Usage example2 version 1 18 248 10 MSEEK X 10000 9 CAP2 Acroloop Motion Controller User s Guide MULT Set encoder multipliers Format MULT axis mode axis mode Group Feedback Control This command sets up count direction and hardware multiplication for the encoder attached to the given axis Issuing the MULT command to an axis with no argument will display the current setting The default setting is 1 for all axes Valid modes 0 multiplier encoder turned off no quadrature counts 1 1x multiplier count up on rising edge of A channel 2 2x multiplier count up on both edges of A channel 4 4x multiplier count up on edge of either channel 1 1x multiplier count down on rising edge of A channel 2 2x multiplier count down on both edges of A channel 4 4x multiplier count down edge of either channel The following example sets hardware multiplication for axis X to 1 and axis Y to 2 Usage example MULT X1 Y2 Chapter 3 Command Reference 249 NEW Clear out a stored prog
41. to jerk to a known position Once the motor is locked at the known position the commutator will switch to mode 6 Mode 6 Sinusoidal mode without marker In this mode the encoder marker should not present Mode 8 Trap to sine mode In this mode the commutator will power up in trapezoidal mode Once the encoder marker hits the commutator will switch to sinusoidal mode This is the default mode The following example will set the commutation mode to sinusoidal mode Usage example 10 CMTO MODE 0 Chapter 3 Command Reference 99 Version 1 18 amp Up Turn off commutator Format CMT index OFF Group Global Object See also CMT ATTACH DAC ENC AXIS This command turns off the commutator The following example will turn off the commutator Usage example 10 CMTO OFF CMT ON Version 1 18 amp Up Turn on commutator Format CMT index ON Group Global Objects See also CMT ATTACH DAC ENC AXIS This command turns on the commutator If the commutator is still off after this command is issued refer to the related commutation flags to see what caused the commutator to be turned off The commutator can not be turned on if there is a commutation related fault wv 2 lt NOTE All necessary commutator parameters must be set properly before issuing this command Failure to do so may result in motor runaway and cause damage or injury The following example will turn on the commut
42. 2000 INT Response Period version 1 18 04 When the hardware capture occurs and the second move is started immediately then there may be a small glitch in the motion since there is a finite time required to load the second incremental move Master parameter INT Response Period is added to avoid this scenario This does not try to start the second move immediately Rather the current move is extrapolated while the second move is loaded into the buffer Then after the INT Response Period the moves are switched atomically and there is no glitch in motion The draw back of this method is that it extrapolates the current move and will work well only when the master is at constant steady velocity when the capture occurs If the contact velocity can t be guaranteed then this feature should not be used by setting the INT Response Period to 1 The default value for the INT Response period is 5 the units are in servo period Chapter 3 Command Reference 197 INTCAP Encoder capture Format INTCAP axis mode capture register capture parameter axis mode Group Note 198 capture register capture parameter Feedback Control This command enables hardware position capture triggered from one of several different Sources The latency on the capture is less than 100 nanoseconds 1 microsecond delay for external input signals coming through the optoisolators ACR8010 For each hardware capture register their are eighteen d
43. 3 Command Reference CMT Number 89 CMT Version 1 18 amp Up Commutation continued CMT Commutator ON CMT Sinusoidal ON CMT Motor Overspeed CMT Encoder Fault CMT EncCheck Disable CMT Following Error CMT Pseek Enable read w write 90 r r r w r w This flag is set when the commutator is ON This flag is set when the commutator is in sinusoidal mode This flag is set if overspeed is detected The commutator will be turned off if this bit is set This flag is set if an encoder fault is detected The commutator will be turned off if this bit is set and the CMT ENCCHECK DISABLE flag is reset When this flag is reset the commutator will be turned off if an encoder fault is detected When this flag is set the commutator won t be turned off even though an encoder fault is detected This flag is set if following error exceeds MaxFollowingERR The commutator will be turned off if this be is set If this flag is set and the commutator is turned on at mode 2 at the ccurance of the first marker pulse of the feedback encoder parameter PhaseMarkerOffset will be set by firmware and this flag will be cleared Acroloop Motion Controller User s Guide Part Version 1 18 amp Up Commutation continued Related commutation parameters CMT Parameters CMT Number er MNOS creer ree RS E BSc CM REED REO FeedBackEncoder AngleBetweenP
44. 6160 4 1024 6164 50 res x pl 60 axisO on 70 set 33 NOTE When the Yaskawa Servopack is powered up it takes some time for the Servopack to initialize and be ready to send absolute encoder information It may be necessary to insert a time delay using the DWL command at the beginning of a program to compensate for this time before the ACR8010 can read the absolute encoder data Refer to the Yaskawas Servopack User s Manual for timing information Chapter 3 Command Reference 139 End of program execution Format END Group Program Flow See also END PROGRAM This command will cause a program to terminate If the program executes to the last line an END command is automatically done The END command is used to terminate the program in the middle based on some condition Issuing an END command from the command line will not stop the execution of a program use the HALT command instead Usage example 100 END 140 Acroloop Motion Controller User s Guide Part Erase the system parameters Format ERASE ALL Group Nonvolatile See also ELOAD ESAVE PBOOT BRESET This command erases all system parameter information from the EEPROM ACR8000 or FLASH system parameter section for all other boards The next time power is applied to the card system defaults are used instead of the EEPROM values Note that the ALL command modifier is optional NOTE This command should be used w
45. Memory Control See also DIM CLEAR This command displays the amount of memory remaining in bytes From the system level the command displays the amount of memory that can be allocated to a program From the program level the command displays the amount of memory available for program variable and array storage The MEM command cannot be issued from within a program Usage example MEM Chapter 3 Command Reference 245 Binary Data Formatting Format MODE mode Group Operating System This command controls the encoding and decoding of the data fields in immediate mode commands see Binary Host Interface Issuing a MODE command without an argument displays the current setting The default setting for the FIFO channel is 0 and the default for the COM1 and COM2 channels is 1 Control character prefixing and high bit stripping follow Kermit communications protocol conventions The escape code for control prefixing is the character and the escape code for high bit stripping is the amp character These sequences were added primarily for the serial communication channels The control prefixing was added to prevent valid data within a binary packet from being confused with the XON XOFF flow control codes The high bit stripping was added for cases in which a 7 bit data path must be used In general the FIFO channel does not require these precautions The following table lists the valid data formatting mode
46. Objects See also CMT ATTACH DAC ENC AXIS This command sets the source of commutation position feedback and hall signal The feedback position is used for sinusoidal commutation The hall signal is used to signal power up state of motor shaft or is used for trapezoidal commutation This command can be issued only when the commutator is off The following example will set ENCO as commutation position feedback encoder and ENC1 as source of hall signal input Usage example 10 CMTO ENCO ENC1 CMT ERPMR Version 1 18 amp Up Set poles pair Format CMT index ERPMR poles pair Group Global Objects See also CMT ATTACH DAC ENC AXIS This command sets the number of electrical revolution per mechanical revolution or the number of poles_pair of the motor This command can be issued only when the commutator is off NOTE The CMT HSEEK command sets this automatically The following example will set the poles_pair of the motor to two Usage example 10 CMTO ERPMR 2 Chapter 3 Command Reference 95 Version 1 18 amp Up Set up parameter ERPMR and SHIFT Format CMT index HSEEK speedscale CAP capture register Group Global Objects See also CMT ATTACH DAC ENC AXIS INTCAP This command sets up the parameter for ERPMR and SHIFT automatically Optionally the speed to perform the HSEEK can be changed by specifying the speedscale By default the speed is set by the VEL command If the speedscale param
47. Profis Velocity L Jog Acceleration 1 cam Tem gt Pit 2 FFACC Ballscrew 1 gt PGAIN Following IF KVP 0 gt Digital Je Dac Error 1 IF KVPI 0 gt z OY Filter Torque Dead Hysteresis Output Backash imn Limiter Zone IGAN p du dt 1 Derivative DGAIN KVP y ILimitt 1 E 2 Motor 5 5 1 Position Velocity Loop v Position Sensor Encoder FBVEL Dual Velocity Loop 1 Calculate Velocity 4 Actual FeedBack Velocity Actual FeedBack Position Figure 2 11 Servo loop with Dead Band and Position Velocity Loop 30 Acroloop Motion Controller User s Guide Part 3 Command Reference Chapter 3 Command Reference 1 32 This page intentionally left blank Acroloop Motion Controller User s Guide Command Groups Axis Limits ALM BLM EXC IPB ITB JLM MAXVEL TLM Character I O CLOSE INPUT OPEN PRINT Feedback Control HSINT INTCAP MSEEK MULT NORM PPU REN RES ROTARY Global Objects ADC AXIS DAC ENC ENC RD ABS LIMIT MASTER PLS RATCH SAMP CMT Set stroke limit A Set stroke limit B Set excess error band Set in position band Set in torque band Set jog limits Set velocity limits Set torque limits Close a device Receive data from a device Open a device Send data to a device
48. The board can supply precision 16 bit analog for two servo amplifiers or step direction open collector ouputs for two stepper drives It is modular in nature and is offered in 1 or 2 axis configurations This board is a standalone card only Version 1 18 and above Software commutation for brushless motors is available on ACR1200 ACR1500 ACR8010 and ACR2000 Version 1 18 and above only Commutation is not available on the ACR8000 Board Each commutator uses two 16 bit analog outputs to generate sinusoidal or trapezoidal signals to command phased sine input type servo amplifiers Therefore the ACR8010 can control a maximum of four 4 axis if they are all being commutated The ACR1500 and ACR2000 can do a maximum of two 2 axis The ACR1200 can be configured for a single 1 axis of commutation 2 Acroloop Motion Controller User s Guide 1 Hardware Installation Chapter 1 Hardware Installation 3 This page intentionally left blank Acroloop Motion Controller User s Guide Chapter Overview Description Hardware installation is located in the corresponding ACR1200 ACR1500 ACR2000 ACR8000 ACR8010 ACR8020 Hardware Reference Manual ACR1200 Hardware Reference Manual AMCS Part Number PM08123 ACR1500 Hardware Reference Manual AMCS Part Number PM08122 ACR2000 Hardware Reference Manual AMCS Part Number PM08117 ACR8000 Hardware Reference Manual AMCS Part Number PM08119 ACR8010 Hardware Reference Manual
49. This command works with the CMT LOCK RANGE command to set up lock position acuracy for hall less start up If the commutator is turned on in hall less start up mode the commutator will lock the axis to a known position If the difference of two consecutive reading of the commutator feedback encoder is within the specified lock range for a consecutive number lock count of servo period the axis is considered to be locked By setting up the commutator as the following example the motor is considered to be locked if the difference of the feedback encoder reading is no greater than 5 counts for consecutive 200 servo period Usage example 10 CMTO LOCK COUNT 200 20 CMTO LOCK RANGE 5 CMT LOCK RANGE Set up lock position accuracy Format CMT index LOCK RANGE num Group Global Objects Unit amp See also CMT This command works with the CMT LOCK COUNT command to set up lock position acuracy for hall less start up If the commutator is turned on in hall less start up mode the commutator will lock the motor to a known position If the difference of two consecutive reading of the commutator feedback encoder is within the specified lock range for a consecutive number lock count of servo period the motor is considered to be locked Chapter 3 Command Reference 97 Version 1 18 amp Up Set maximum current Format CMT index MAX AMP current Group Global Objects Unit amp See also CMT ATTACH DAC ENC AXIS
50. This mode is not available on the ACR8000 board The Cubic Spline Interpolation fits a smooth curve exactly passing through the data points specified by the user The data points can be non evenly spaced This is based on the clamped Cubic Spline algorithms thus allowing the user to specify the initial and final velocity in the algorithm The following is a list of valid SPLINE command combinations SPLINE MODE Enable SPLINE Interpolation Type SPLINE END End SPLINE Interpolation The following is a typical single Spline command format for a curve in 2 D with X and Y axes K3 X5 Y 2 VEL 5 Knot Absolute Incremental velocity from Value of 3 target for target previous knot X axis for y axis to this knot If the knot vectors are not included in the command then the delta between knots is equal to the value set by TMOV command where the first knot in Spline block is always equal to zero The VEL command is also optional and if omitted the previously used value is put into the next segments The simplified Spline command would than look like X5 Y 2 Absolute Incremental target for target for X axis y axis Note e The Cubic Spline algorithm uses six data point to calculate the motion trajectory Using the INH and DWL commands in the Spline block will make the motion stop four points before the place where these commands were issued e To ensure good results the data points should be smoothly spaced w
51. Usage example POO gt GEAR Y GEAR ACC YO GEAR DEC YO GEAR MAX Y100 GEAR MIN Y 100 GEAR PPU Y1000 GEAR RATIO Y1 GEAR SRC Y ENC 3 GEAR ON Y 170 Acroloop Motion Controller User s Guide Part CLear electronic gearing settings Format GEAR CLEAR axis Group SetPoint control See also GEAR This command will clear the current setting of a gear It will turn off the gear and then reset the gear variables to their initial default values Usage example GEAR CLEAR X Chapter 3 Command Reference 171 Set electronic gearing source Format GEAR SRC axis sourcedef axis sourcedef Group Setpoint Control Units none See also SRC This command specifies the source for the input of an electronic gearbox See the SRC command for the definition of the sourcedef argument The following example connects the X axis gearing to encoder 1 the Y axis to ratchet number and the axis to the output of PLC counter number 5 P6743 Usage example GEAR SRC X1 Y RATCH 3 GEAR SRC A P6743 GEAR PPU Set gearing pulses per unit Format GEAR PPU axis ppu axis ppu Group Setpoint Control Units input pulses input unit See also GEAR HDW CAM BSC BKL JOG This command establishes the relationship between the source encoder and the input shaft of the electronic gearbox The GEAR RATIO command is responsible for settin
52. also LOPASS PGAIN IGAIN DGAIN FFVEL FFACC This command sets up the first half of the output filter to act as a notch filter reducing mechanical resonance that may occur in a system Setting the center frequency to zero turns off the notch filter The following example sets the X axis notch filter to a center frequency 100 hertz and bandwidth of 50 hertz Program Usage example NOTCH X 100 50 252 Acroloop Motion Controller User s Guide Part NURB Version 1 18 04 and Up Non Uniform Rational B Spline Interpolation Format NURB command Group Interpolation See Also SPLINE This mode is not available on the ACR1500 or ACR8000 boards With NURB interpolation the NURB curve points generated by a CAD CAM package can be directly downloaded to the board Thus no need to generate and download huge amounts of data approximating the NURB curve with small linear moves The CAD CAM package creates the NURB data with tool compensation The following is a list of valid NURB command combinations NURB MODE Enable NURB Interpolation Mode Type NURB RANK Set NURB Rank value NURB END End NURB Interpolation The following is a typical single NURB command format for a 2 D curve with X and Y axes K3 X5 Y 2 W 2 3 VEL 5 Knot Absolute Incremental Weight of velocity from Value of 3 control point for control point X y control previous knot x axis for y axis point to this knot The weight W and velocity
53. an axis The jog acceleration is the ramp used when the current jog velocity is lower than the programmed value Issuing a JOG ACC command to an axis without an argument will display the current setting for that axis The default jog acceleration is 0 0 for all axes The following example sets the X axis jog acceleration to 20000 units second Usage example JOG JOG ACC X20000 DEC Set jog deceleration Format JOG VEL axis decel axis decel Group Setpoint Control Units units second 2 See also JOG BKL BSC GEAR HDW CAM This command sets the programmed jog deceleration for an axis The jog deceleration is the ramp used when the current jog velocity is higher than the programmed value It is also used when the JOG OFF command is issued Issuing a JOG DEC command to an axis without an argument will display the current setting for that axis The default jog deceleration is 0 0 for all axes The following example sets the X axis jog deceleration to 20000 units second 2 Usage example JOG DEC X20000 Chapter 3 Command Reference 217 Transfer jog offset into current position Format JOG RES axis offset axis offset Group Setpoint Control Units units See also JOG BKL BSC GEAR HDW CAM This command either clears or preloads the jog offset of a given axis and adds the difference to the current position The default offset argument is zero The current
54. and actual position and pre loads Y axis to 1000 units Usage example 10 RES X Y1000 286 Acroloop Motion Controller User s Guide Part RESUME Release pause mode Format RESUME number ALL Group Program Control See also RUN HALT TRON TROFF AUT BLK STEP PAUSE This command resumes the currently selected program by clearing the program s pause control bit When this bit is cleared a cycle start is issued to the attached master and the program s pause mode bit is cleared resuming the program The RESUME PROG command will resume the corresponding program and the RESUME ALL command will resume all programs These commands can be issued from anywhere in the system including programs The following example resumes the current program Usage example RESUME Chapter 3 Command Reference 287 RETURN Return from a subroutine Format RETURN Group Program Flow See also GOSUB GOTO This command causes an unconditional return from a subroutine Program execution will continue at the command following the last GOSUB command that was executed An error will occur if a RETURN is executed without a prior GOSUB command Usage example 100 REM main program 110 PRINT Entering the main program 120 GOSUB 200 130 PRINT Leaving the main program 140 END 200 REM first subroutine 210 PRINT Entering first subroutine 220 GOSUB 300 230 PRINT Leaving
55. are set up properly Processor acknowledgment clears the FSTAT ON Request Flag 164 Acroloop Motion Controller User s Guide Part Version 1 18 06 Fast status setup ACR8020 only Example 1 setup the dual port fast status Example1 REM Clear FSTAT fstat clear REM Update FSTAT every other servo interrupt fstat period 2 REM DPCB Status fstat0 27 22 REM General Flags fstatl 16 0 REM Encoder Position fstat2 24 0 REM Master Distanceinto Move fstat3 32 0 REM Axis Following Error fstat4 48 3 REM Master Vector Velocity fstats 32 1 REM Primary Set Point fstat6 48 6 REM FOV for Masters fstat7 32 9 REM Program flags fstat8 16 4 REM Program flags fstat9 16 5 REM Turn on FSTAT fstat on REM Display the above setting fstat Chapter 3 Command Reference 165 FVEL Set final velocity Format FVEL rate Group Velocity Profile Units units second See also VEL ACC DEC STP IVEL This command sets the final velocity value for a master move profile Final velocity is used as a target velocity when the STP ramp is active The value is used to slow down but not stop between moves A move will not ramp up to this value it will only ramp down The final velocity is only used when STP is non zero and the current velocity is greater than the final velocity Issuing an FVEL command without an argument will display the current setting
56. argument The following example sets the source of ratchet 2 to encoder 7 Usage example RATCH2 SRC ENC7 Chapter 3 Command Reference 281 RATCH MODE Set ratchet mode Format RATCH index MODE mode Group Global Objects Units none See also ADC DAC ENC AXIS This command sets the conversion mode for a ratchet Issuing a mode command to a ratchet without an argument will display the current mode for that ratchet The default ratchet mode is zero The following is a table of ratchet modes and their affect on incoming source pulses normal normal normal ignore normal negate normal buffer ignore normal ignore ignore ignore negate ignore buffer negate normal negate ignore negate negate negate buffer normal ignore negate buffer 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Table 3 14 Ratchet Modes The following example sets ratchet 7 to buffer negative pulses Usage example RATCH7 MODE 3 282 Acroloop Motion Controller User s Guide Part Reboot controller card Format REBOOT Group Operating System See also RUN HALT This command acts as if the reset button on the controller was pressed Note that this also shuts down communications turns off outputs kills programs and anything else a hardware reset does The following example reboots the card Usage example REBOOT Chapter 3 Command Reference 283 Format
57. axis cutoff axis cutoff Group Servo Control Units Hertz See also NOTCH PGAIN IGAIN DGAIN FFVEL FFACC This command initializes the second half of the output filter to act as a lopass filter reducing high frequency noise that may occur in a system Setting the cutoff frequency to zero turns off the lopass filter The following example sets the X axis lopass filter to a cutoff frequency of 500 hertz Usage example LOPASS X500 238 Acroloop Motion Controller User s Guide Part LRUN Run and listen to a program Format LRUN line Group Program Control See also RUN HALT LISTEN This command will run the current program and leave the communication channel linked to the program s output The LRUN command cannot be issued from inside a program Issuing an LRUN command with the optional line argument will start program execution at the given line number Normally when a program is run the communication channel returns to the command prompt allowing more commands to be entered While at the command prompt output from programs including error reporting is shut down to prevent mixing of command input and program output Issuing an LRUN command runs a program but does not return to the command prompt until an escape character ASCII 27 is received or the program ends allowing program output to be monitored The LISTEN command forces the communication channel back into this state from the command prompt Us
58. buffer There is a stream buffer for each of the FIFO COM1 and COM2 system tasks The default buffer size is 256 bytes long ASCII STREAM BUFFER FIFO FIFO Binary Status Interface Task i l Hardware System Fetch i i i Figure 2 1 FIFO System Task Acroloop Motion Controller User s Guide Part I Communication Channels ASCII STREAM BUFFER Status Requests ASCII STREAM BUFFER Status Requests Hardware System Interface Tasks COMI COM2 COMI COM2 Figure 2 2 COM1 COM2 System Tasks If the system task cannot process commands faster than the data coming in from the hardware interface by the front end application the ASCII buffer may become full Once this happens the corresponding task COM1 2 FIFO is suspended This in turn will cause the hardware FIFOs to become full causing the front end application to timeout based on status flags refer to appropriate hardware manual Address Selection Switch SW1 ACR1500 ACR2000 ACR8000 or Plug and Play ACR8010 ASCII buffer size in bytes can be changed by using the DIM command see DIM command ASCII buffer size is limited by the amount of User RAM memory available for dimensioning see Memory Organization Chapter 2 System Reference 11 Communication Levels Communication channels are either at the system level or at a program level The command prompt indicates the level that a communication channel i
59. bytes per constant 32 bit floating point 8 bytes per constant 64 bit floating point 4 bytes 1 byte per character 4 bytes per level Acroloop Motion Controller User s Guide DIN Version 1 18 06 Update 05 Dead Zone Integral Initial Negative Value Format DIN axis value axis value Group Servo Control Units Volts See also DZL DZU DIP This command sets the dead zone integral initial negative value of an axis Each time the servo loop comes out of dead zone with a negative following error the Integrator of the PID loop gets the DIN value as its initial value Issuing a DIN command to an axis without an argument will display the current setting for that axis The default value is 0 The following example sets the X axis DIN value to 1 5 volt Usage example DIN X 1 5 Chapter 3 Command Reference 129 DIP Version 1 18 06 Update 05 Dead Zone Integral Initial Positive Value Format DIP axis value axis value Group Servo Control Units Volts See also DZL DZU DIN This command sets the dead zone integral initial positive value of an axis Each time the servo loop comes out of dead zone with a positive following error the Integrator of the PID loop gets the DIP value as its initial value Issuing a DIP command to an axis without an argument will display the current setting for that axis The default value is 0 The following example sets the X axis DIP value to 2 2 volt
60. change in following error when the primary setpoint switches The UNLOCK command can be used to release the redirection The default state of an axis is to follow its own setpoint Each axis generates a primary setpoint based on its current position gear offset jog offset and cam offset This number is normally used to tell the axis where it should be at any given time The LOCK command tells an axis to use the primary setpoint of a different axis instead of its own The UNLOCK command tells an axis to use its own primary setpoint once again The following example locks axis XB to the primary setpoint of axis XA Usage example LOCK XB XA Lock Feed Back Gain Version 1 18 04 p ServoLoop 1 oo Lock Feedbak Gain 1 Lock Feedbak Command for Locked Axes Chapter 3 Command Reference 231 LOCK Lock gantry axis When two axes are locked together by using the LOCK command then their primary set points becomes the same in other word the two axes will get exactly the same command signal However in real world the response of the two physical motors actuators will be slightly different To compensate for this error the user can turn on a feedback loop by setting some gain values for Lock Feed Back Gain parameter of the locked axes The default value is zero which forces this feedback loop to be off Usage example 12376 3 5 12 632 2375 LOCK Y X X 20 UNLOCK Y 232 Acroloop Moti
61. code selects a general data grouping and the group index selects a set of eight fields within that group The group code and group index parameters can be changed while the FSTAT is on and it won t affect the current FSTAT setup The new FSTAT setup will not be effective until the FSTAT ON REQUEST Flag is acknowledged The group code and group index work as a pair to select the data to be copied to dual port memory The group code selects a general data grouping and the group index selects a set of eight fields within that group The group code and group index parameters can be changed while the FSTAT is on and it won t affect the current FSTAT setup The new FSTAT setup will not be effective until the FSTAT ON REQUEST Flag is acknowledged Data Type 1 FP32 2 LONG Chapter 3 Command Reference 163 Version 1 18 06 Fast status setup ACR8020 only Related Flags X Flag Parameter Code 0x10 Index 0x16 4278 Flag Description Bit Flag Index Number FSTAT ON FSTAT ON REQUEST Spare Spare Spare Spare Spare Spare Note Code Index and Mask apply to Binary Communications Refer to Chapter 6 of this manual Table2 Fstat Flags fstat flags FSTAT ON rw Flag will be set if the FSTAT is on Clear this flag will turn off FSTAT This flag should NOT be set directly FSTAT ON Request rw Setting this Flag will update internal FSTAT parameters and turn on FSTAT if FSTAT parameters
62. command If the table index is outside of the array boundaries a zero is used instead of an array entry The table entry is merged with the parameter pointed to by the destination pointer By default the destination pointer points to P4097 the optoisolated digital outputs but this can be changed by using the PLS DST command The PLS can be set to modify any all of the 32 bits in the destination parameter by using the PLS MASK command 268 Acroloop Motion Controller User s Guide Part PLS Programmable Limit Switch continued The following example sets PLS 0 to look at ENC 0 and use the long integer array LAO for its table of values The mask is set to 65535 0x0000FFFF so that only the lower 16 bits of P4097 OUT32 OUT43 will be modified The bits will sequence through a binary pattern representing the encoder position from of 0 to 1999 pulses These examples assume that PROGO has enough user memory allocated inside it to accommodate a 2000 element long integer array This memory allocation can be done using the DIM command from the SYS level Usage example PROGO 100 DIM LA 1 110 DIM 1 0 2000 120 DIM LV 5 130 LV0 20 200 LAO LVO LVO 210 LVO LV0 1 220 IF LVO 2000 GOTO 200 300 PLSO SRC ENCO 310 PLSO BASE LAO 320 PLSO MASK 65535 330 PLSO ON RUN Issuing just the PLS command will display the current setting of a pls and can be used even if the pls is currently active The exa
63. ete ede de Pent 324 IE 266 EW Toon ede de dh euet 325 PLES rte etm oett tefte 267 MOV eae roter Perse doo UEM 326 SEQ ru iet aec tette eld 270 ONU tr utt ete tutem 328 DSW skeet rotes Let 270 de ete dee e Pent 328 BASE istnd 271 eset et eet 329 RES iki eurn IA rM 271 MOM ETE 330 ROTARY 272 tee te Iti 331 emi ed 272 leat eta Mirtle 332 MASK eit vee eee eer etd ca us 273 TROEE e nci 333 RATIO eiie UAALEIM ES 273 TRON tale 334 ON eee tinker 274 UNLOCK ui edet utes 335 netter testet he eed 274 VECDPEF 336 BP rtt ten nter md 275 VECTOR iint ect 338 PRIN S ES s el SIME 276 ede 339 MINAS 277 rnt soln Sane etre oe Send 340 PROGRAM 278 MER E t toe Seles eine ste S 341 sie le idt eod etatem 279 WHILE 342 Moncloa HARTERA MOLISE etr drei ES 282 EXPRESSION REFERENCE 343 REBOOT scsi cue 283 Expression renee 345 REM vena eevee inter E E erar f
64. first subroutine 240 RETURN 300 REM second subroutine 310 PRINT Entering second subroutine 320 PRINT Leaving second subroutine 330 RETURN LRUN Example output m ntering the main program Entering first subroutine Entering second subroutine Leaving second subroutine Leaving first subroutine Leaving the main program 288 Acroloop Motion Controller User s Guide Part I Set rotary axis length Format ROTARY axis length axis length Group Feedback Control Units units See also NORM RES REN PPU This command sets the rotary axis length used for the shortest distance calculations Issuing a ROTARY command without an argument will display the current setting The default rotary length is 0 0 for all axes disabling shortest distance moves If the rotary length of an axis is non zero a MOD function is done on absolute moves and the result is run through a shortest distance calculation The resulting move will never be longer than half the rotary axis length Incremental moves are not affected by the rotary axis length This procedure actually converts absolute moves into incremental moves that are up to plus or minus half the rotary length Current positions are normally generated that lie outside of the rotary length boundaries The NORM command can be used to return the current position to within the bounds of the rotary length The following example sets the rotary
65. frame are redistributed over the next frame Setting limiter width to zero causes the limiter to send multiplied pulses directly down the source chain without frame buffering Setting the limiter width to too large of a value will cause unacceptable sluggishness in the limiter s response The width argument is a 32 bit floating point Issuing a LIMIT WIDTH command without an argument will display the current setting The default redistribution width is zero The following example sets the pulse redistribution width of LIMIT3 to 50 milliseconds Usage example LIMIT2 WIDTH 0 050 LIMIT MULT Set incoming pulse multiplier Format LIMIT index MULT multiplier Group Units Global Objects none This command sets the limiter multiplier Incoming pulses are scaled by the multiplier before being accumulated into the frame buffer The multiplier argument is a 32 bit long integer Issuing a LIMIT MULT command without an argument will display the current setting The default pulse multiplier is one The following example sets the pulse multiplier of LIMIT3 to 100 times Usage example 228 LIMIT3 MULT 100 Acroloop Motion Controller User s Guide LIST List a stored program Format LIST first last Group Program Control This command lists the currently selected program The LIST command cannot be issued from within a program or while at the system level The operands first and
66. glitch in motion The draw back of this method is that it extrapolates the current move and will work well only when the master is at constant steady velocity when the capture occurs If the contact velocity can t be guaranteed then this feature should not be used by setting the INT Response Period to 1 The default value for the INT Response period is 5 the units are in servo period 188 Acroloop Motion Controller User s Guide Part IDELAY Set integral time out delay Format IDELAY axis value axis value Group Servo Control Units seconds See also IGAIN ILIMIT This command modifies the value used in the PID algorithm to control integral delay The integral delay determines the amount of time after a move ends before integration begins If the value is set to zero integration is active all the time even during moves Issuing an IDELAY command to an axis without an argument will display the current setting for that axis The default gain is 0 0 for all axes The following example sets the X axis integral time out delay to 100 milliseconds Usage example IDELAY X0 1 Chapter 3 Command Reference 189 IF THEN Conditional execution Format IF boolean THEN command Group Program Flow This command is used for conditional branching If the boolean expression is true then the rest of the line is executed Otherwise the program drops down to the next line The boolean can either be an exp
67. is on these commands can t be used PASSWORD ON Version 1 18 06 Upd 9 Password is turned on Format PASSWORD ON string Group Operating System This command is issued with password string to turn the password on The password can be any ascii string from 6 to 16 characters It is only accepted by the board if the password is currently off If the password is turned on from the SYS promt then the user can not LIST or UPLOAD any programs or PLCs from the board If the password is turned on from the PROGn promt then the user can not LIST or UPLOAD that particular program Once the password is turned on it will stay on even if the power is truned down FLASH ERASE CLEAR or ERASE comand will not clear the password The user must use the password string with password off command to trun it off Usage example PROGO gt PASSWORD ON abcdef PROGO gt LIST Wrong Password PASSWORD OFF Version 1 18 06 Upd 9 Password is turned off Format PASSWORD OFF string Group Operating System This command with password string will turn off the password The password will remain off till the user turns it on again Usage example PROGO gt PASSWORD OFF abcdef PROGO gt LIST 10 SET 32 20 PRINT bit set 20 END Chapter 3 Command Reference 261 PAUSE Activate pause mode Format PAUSE PROG number ALL Group Program Control See also RUN HALT TRON TROFF AUT BLK STEP RESUME This command pauses the currently
68. issued and completed This flag is cleared if Bootflash code is valid This flag is set if Bootflash is invalid or empty This flag is not valid until the FIRMWARE CHECKSUM command is issued and completed This flag is cleared if Sysflash1 code is valid This flag is set if Sysflash1 is invalid or empty This flag is not valid until the FIRMWARE CHECKSUM command is issued and completed This flag is cleared if Sysflash2 code is valid This flag is set if Sysflash2 is invalid or empty This flag is not valid until the FIRMWARE CHECKSUM command is issued and completed This flag is cleared if Userflash code is valid This flag is set if Userflash is invalid or empty This flag is not valid until the FIRMWARE CHECKSUM command is issued and completed This flag is cleared if Sysflash1 code and Sysflash2 code is not identical This flag is set if Sysflash1 code and Sysflash2 code are identical Chapter 3 Command Reference 149 FIRMWARE Version 1 18 06 update 14 amp up Firmware upgrade backup continued Related Firmware Parameters Firmware Information Code 0x1B Index 0x18 BERT Firmware Information ee SSS See Note Code Index and Mask apply to Binary Communications Refer to Chapter 6 of this manual 150 Acroloop Motion Controller User s Guide Part FIRMWARE UPGRADE Version 1 18 06 update 14 amp up Firmware upgrade Acr8020 only Format Firmware upgrade Group Nonvolatile This command is used t
69. latches are to be used without PLC programs the PON command must still be executed to enable updating of the latches BIT1564 h Output Set Reset BIT1564 Table 5 5 PLC latch cross reference Chapter 5 PLC Progromming 423 Connect blocks to latch continued Example Logic In this example two normally open contacts from relays 00 and 01 are connected in series to form a block Then two normally open contacts from relays 02 and 03 are connected in series to form a second block These blocks are then connected to the set and reset coils of latch 1 To bring out the state of the latch a normally open contact from the latch is connected to the coil of relay 32 00 01 1 1 02 03 ro KR 1 Latch Set Latch Reset Latch Output Figure 5 5 PLC latch example 424 Acroloop Motion Controller User s Guide Part Connect blocks to latch continued Usage Example The following PLC code fragment implements the ladder logic shown above Lines 100 and 110 create the first block Lines 120 and 130 create the second block Line 140 connects the blocks to latch 1 Lines 150 and 160 connect the latch output to relay 32 100 LD 00 110 AND 01 120 LD 02 130 AND 03 140 KR 1 150 10 KR 1 160 OUT 32 Chapter 5 PLC Progromming 425 Activate PLC on powerup Format PBOOT Description If us
70. mode when the master in feedhold is detected While in block mode the program will use the DEC setting as the STP for all moves This prevents consecutive moves with STP 0 from coming to abrupt stops When the program is taken out of block mode with the AUT command moves operate normally Master cycle start requests are ignored until after the first STEP is issued in block mode The BLK PROG command will turn on block mode for the corresponding program and the BLK ALL command will turn on block mode for all programs These commands can be issued from anywhere in the system including programs The following example turns on block mode Usage example BLK Chapter 3 Command Reference 63 BLM Set stroke limit B Format BLM axis value axis high low Group Axis Limits Units units See also ALM PPU This command sets the command position current Position limits monitored by the not B limit flags When the command position of a given axis is outside of these limits the appropriate flag is set Otherwise the flag is cleared For masters the flag is set if any of its slaves are outside of their limits Issuing the BLM command to an axis without an argument displays the current positive and negative limits for that axis Issuing the command with a single argument sets the positive limit to value and the negative limit to minus value Issuing the command with two arguments sets the positive limit to hi
71. monitoring of the data sample trigger which will eventually set the sample in progress flag This flag is cleared when all of the sample channels have been filled indicating that the sample has completed BIT105 Sample In Progress Enables an actual sample to be taken and is normally set by a sample trigger condition but can also be set manually The flag is cleared when all of the sample channels have been filled It is also cleared after every sample if in the edge trigger mode This is to prevent multiple samples from being taken on the edge trigger condition BIT106 Sample Mode Select Selects either the continuous bit clr or edge trigger bit set modes of sampling In the continuous mode a trigger condition will set the sample in progress flag causing a sample to be taken every servo interrupt or sample period until all of the sample channels have been filled In the edge trigger mode a trigger edge will set the sample in progress flag which is then cleared after the single sample has been taken BIT107 Sample Trigger Latched Tracks the previous state of the trigger condition for detecting trigger edges If a trigger condition is detected and the previous trigger condition was false an edge trigger will occur Normally this flag is not modified by user programs Chapter 3 Command Reference 295 Data sampling control continued Code Execution Outline if sample trigger armed if trigger condition
72. normally closed contact The contact argument can be any bit flag The other formats indicate the output contacts of global PLC timers counters and latches Usage Example 10 LD NOT 00 20 oUT 32 Chapter 5 PLC Progromming 407 Add NO contact in series Formats AND contact AND TIM timer AND CNT counter AND KR latch Description This instruction connects a normally open contact in series with the current logic block An error will be generated if there are no logic blocks open at that point in the PLC program The contact argument can be any bit flag The other formats indicate the output contacts of global PLC timers counters and latches Usage Example 10 LD 00 20 AND 01 30 OUT 32 408 Acroloop Motion Controller User s Guide Part Add NC contact in series Formats AND NOT contact AND NOT TIM timer AND NOT CNT counter AND NOT KR latch Description This instruction connects a normally closed contact in series with the current logic block An error will be generated if there are no logic blocks open at that point in the PLC program The contact argument can be any bit flag The other formats indicate the output contacts of global PLC timers counters and latches Usage Example 10 LD 00 20 AND NOT 01 30 OUT 32 Chapter 5 PLC Progromming 409 Add contact in parallel Formats OR contact OR TIM timer OR CNT counter OR KR latch Description This instruction
73. not excess error flags When the following error of a given axis is within its excess error band the appropriate flag is set Otherwise the flag is cleared For masters the flag is set if all of its slaves are within their excess error bands Issuing the EXC command to an axis without an argument displays the current positive and negative limits for that axis Issuing the command with a single argument sets the positive limit to value and the negative limit to minus value Issuing the command with two arguments sets the positive limit to value1 and the negative limit to value2 The default for both is 0 0 for all axes The following is a table of not excess error flags 0 899 ID Table 3 9 excess error flags Usage example This example sets an excess error band of 0 5 units for X and Y axes EXC X0 5 Y0 5 Chapter 3 Command Reference 143 Set velocity in units minute Format F rate Group Velocity Profile Units units minute See also VEL ACC DEC STP FOV PPU This command is an alternative to using the VEL command The F command works identically to the VEL command except for a scaling modifier that translates the move velocity into units minute The following example sets the velocity to 600 units per minute same as VEL 10 Usage example F600 144 Acroloop Motion Controller User s Guide Part FBVEL Set velocity feedback gain Format FBVEL axis v
74. of switches The following is a list of valid PLS command combinations PLS SRC Set PLS input source PLS DST Set PLS destination pointer PLS BASE Attach array to PLS PLS RES Reset or preload counter PLS ROTARY Set PLS rotary length PLS FLZ Set PLS index offset PLS MASK Set PLS output bit mask PLS RATIO Set PLS scaling ratio PLS ON Enable PLS update PLS OFF Disable PLS update Since there are eight PLS objects the index argument must be in the range of 0 to 7 Chapter 3 Command Reference 267 PLS Programmable Limit Switch continued The following block diagram outlines PLS operation Long Array PLSROTARY PLSFLZ PLS Input Table PLSSRC Internal Count p i Index Table Input 9 PLSRATIO o Entry PLSRES Counter See Generator Table Entry PLS MASK UM o _Output PESDST Long Variable Generator m Figure 3 10 PLS block diagram As the source changes an internal input count is generated If a rotary length is set with the PLS ROTARY command the input count wraps around based on the rotary length The input count can be reset or preloaded using the PLS RES command The internal input count is multiplied by the PLS RATIO and added to the PLS FLZ to generate a table index The table index is used to fetch an entry from the long integer array pointed to with the PLS BASE
75. parameter P4096 and Output Bit Flags 32 thru 63 parameter P4097 When the number of inputs or outputs configured exceeds 32 they are mapped to the Expansion Input Bit Flags 256 thru 271 parameter P4104 and or Expansion Output Bit Flags 288 thru 303 parameter P4105 CONFIG IO MODE 1000 007 008 015 016 023 1024 1031 032 039 040 047 0 INPUTS INPUTS INPUTS OUTPUTS OUTPUTS OUTPUTS BITO 7 BIT8 15 BIT16 23 BIT32 39 BIT40 47 BIT48 55 1 INPUTS INPUTS INPUTS OUTPUTS OUTPUTS INPUTS BITO 7 BIT8 15 BIT16 23 BIT32 39 BIT40 47 BIT24 31 2 INPUTS INPUTS OUTPUTS OUTPUTS OUTPUTS OUTPUTS BITO 7 BIT8 15 BIT56 63 BIT32 39 BIT40 47 BIT48 55 3 INPUTS INPUTS INPUTS OUTPUTS INPUTS INPUTS BITO 7 BIT8 15 BIT16 23 BIT32 39 BIT256 263 BIT24 31 4 INPUTS OUTPUTS OUTPUTS OUTPUTS OUTPUTS OUTPUTS BITO 7 BIT288 295 BIT56 63 BIT32 39 BIT40 47 BIT48 55 5 INPUTS INPUTS INPUTS INPUTS INPUTS INPUTS BITO 7 BIT8 15 BIT16 23 BIT264 271 BIT256 263 BITS24 31 6 OUTPUTS OUTPUTS OUTPUTS OUTPUTS OUTPUTS OUTPUTS BIT296 303 BIT288 295 BIT56 63 BIT32 39 BIT40 47 BIT48 55 The following example sets the IO Mode to Mode 2 16 Inputs 32 Outputs Usage example CONFIG IO MODE 2 Chapter 3 Command Reference 107 CONFIG IO INPUT ACR1500 Version 1 18 02 amp Up Configures inputs logic polarity Format CONFIG IO INPUT polarity Group Operating System See also ATTACH This command selects the input TTL logic po
76. position and jog offset are adjusted according to the following formulas current position current position jog offset offset jog offset offset The following example transfers the X axis jog offset into the current position Usage example JOG RES X JOG REN Transfer current position into jog offset Format JOG REN axis offset axis offset Group Setpoint Control Units units See also JOG BKL BSC GEAR HDW CAM This command either clears or preloads the current position of a given axis and adds the difference to the jog offset parameter The default offset argument is zero The current position and jog offset are adjusted according to the following formulas jog offset jog offset current position offset current position offset If the optional offset parameter is left out it is ignored Otherwise before the jog mode begins the jog offset is reset as described in the JOG RES command The following example transfers the X axis current position into the jog offset Usage example JOG REN X 218 Acroloop Motion Controller User s Guide Part JOG FWD Jog axis forward Format JOG FWD axis axis Group Setpoint Control See also JOG BKL BSC GEAR HDW CAM This command initiates a ramp to the velocity programmed with the set by the JOG VEL command The jog direction bit is cleared and the jog active bit is set causing the axis to target in on the positive jog v
77. selected program by setting the program s pause control bit If there is no master attached the pause mode bit is set as soon as the pause control is detected Otherwise the program will feedhold and then set pause mode when the master in feedhold is detected Master cycle start requests and STEP commands are ignored while in pause mode The PAUSE PROG command will pause the corresponding program and the PAUSE ALL command will pause all programs These commands can be issued from anywhere in the system including programs The following example pauses the current program Usage example PAUSE 262 Acroloop Motion Controller User s Guide Part Auto run program Format PBOOT Group Nonvolatile See also ELOAD ESAVE ERASE BRESET This command allows programs amp PLC s to run automatically on power up When power is applied to the card the operating system checks the beginning of all programs amp PLC s for the PBOOT command and sets their run request flag if the command is present The power up PBOOT check can also be initiated manually by issuing the PBOOT command from anywhere in the system This allows the PBOOT sequencing to be tested without resetting or removing power to the card The following program will run on power up flashing output 32 Usage example 10 PBOOT 20 BIT 32 NOT BIT 32 30 DWL 0 100 40 GOTO 20 Chapter 3 Command Reference 263 PERIOD Set base system timer period
78. the current master to ratchet number 5 Usage example SRC RATCH5 Chapter 3 Command Reference 311 STEP Step in block mode Format STEP PROG number ALL Group Program Control See also AUT BLK This command executes the next line in block mode by setting the program s step request bit Normally this executes the next line of a program in block mode Step requests are ignored under the following conditions 1 The program is not in block mode 2 The program is in pause mode 3 An attached master is executing a move but is not in feedhold If a move was in progress when the block mode was entered the first STEP will release the feedhold on the active move and prevent the buffered move from executing by setting the master move inhibit bit The second STEP will then clear the move inhibit bit to start the buffered move Any further STEP commands will operate normally If the STEP command starts a move which is then stopped with a master feedhold request the next STEP does not execute the next line of the program Instead it releases the feedhold so that the move in progress can complete The STEP PROG command will step the corresponding program and the STEP ALL command will step all programs These commands can be issued from anywhere in the system including programs The following example executes the next line in block mode Usage example 312 STEP Acroloop Motion Controller User s G
79. the format of numeric output In the format string a pound sign represents each digit A plus sign at the beginning of the string forces a sign for positive numbers An optional decimal point will print the number in decimal format Numbers are rounded as necessary The output width will be equal to the length of the format string right justified and padded with spaces An exception to this rule occurs when a number is too big to fit in the defined format string The following are examples of legitimate format strings HEH HEHE Three leading four trailing digits Sat Three leading two trailing forced sign HERE Four digits total no decimal point The expression list is a list of expressions separated by either commas or semicolons The comma will insert a tab character between the expressions and a semicolon will output the expressions back to back A print statement that does not end with either a comma or a semicolon will output a carriage return linefeed combination Usage example 276 100 DIM DV 1 110 DIM S V 1 10 120 DVO 5678 130 VO ABC 140 OPEN COM2 19200 N 8 1 AS 1 150 PRINT 1 160 PRINT 1 1234 DVO 5 0 170 PRINT 1 DEF 180 PRINT 1 Outputs P4097 200 PRINT 1 USING COS 45 210 OSE 1 190 PRINT 1 USING 1 SQRT 2 C Acroloop Motion Controller User s Guide Switch to a program prompt Format PRO
80. the move will start at this velocity regardless of the current ACC and DEC settings Issuing an IVEL command without an argument will display the current setting The default initial velocity is zero An error will be returned if no master is attached The following example sets the initial velocity to 1000 units second Usage example IVEL 1000 212 Acroloop Motion Controller User s Guide Part JLM Set jog limits Format JLM axis limit axis plus minus Group Axis Limits Units units See also ALM BLM This command sets the jog limits for an axis The jog limits are only checked when the jog limit check bit is set and the JOG FWD or JOG REV commands are in operation The JOG ABS and JOG INC commands ignore jog limits even if the jog limit check bit is set Jog limits only place limits on jog offset calculations The primary and secondary setpoints are not part of the jog limits When the jog limit check bit is set the JOG FWD command will jog to the positive jog limit and stop If the current jog offset is greater than the positive jog limit the JOG FWD command will do nothing Likewise the JOG REV command will jog to the negative jog limit and if the offset is less than the negative jog limit JOG REV will do nothing Issuing the JLM command to an axis without an argument displays the current positive and negative limits for that axis Issuing the command with a single argument sets the positi
81. the timers Preload Count Output Input 26660 26676 26692 P6724 P6725 BIT1680 BIT1681 P6740 P6741 BIT1712 BTT P6756 P6757 BIT1744 BIT1745 P6772 P6773 BIT1776 BIT1777 Table 5 3 PLC timer cross reference P6708 P6709 BIT1648 BIT1649 Chapter 5 PLC Progromming 417 TIM Connect block to timer continued Example Logic In this example a normally open contact from relay 00 and a normally closed contact from relay 01 are connected in series to form a block This block is then connected to the input coil of timer O which is set for 150 milliseconds To bring out the state of the timer a normally open contact from the timer is connected to the coil of relay 32 TIM 150 ms 32 Timer Input 150 ms Timer Output Figure 5 3 PLC timer example 418 Acroloop Motion Controller User s Guide Part TIM Connect block to timer continued Usage Example The following PLC code fragment implements the ladder logic shown above Lines 100 and 110 create a new logic block Line 120 connects the block to timer 0 and sets the timer to 150 milliseconds Lines 130 and 140 connect the timer output to relay 32 100 LD 00 110 AND NOT 01 120 TIM 0 150 130 LD TIM 0 140 OUT 32 Chapter 5 PLC Progromming 419 CNT Connect blocks to counter Format CNT counter preload Description This instruction takes two logic blocks and connects them to the gi
82. there are eight output channels for controlling the D A converters These are referenced as DACO through On the ACR2000 and ACR1500 there are four output channels for controlling the D A converters These are referenced as DACO through DAC3 On the ACR1200 there are two output channels for controlling the D A converters These are referenced as DACO through DAC1 On ACR8010 ACR8000 there are eight position interpolation and servo loop control units These are referenced as AXISO through AXIS7 On the ACR2000 and ACR1500 there are four position interpolation and servo loop control units These are referenced as AXISO through AXIS3 On the ACR1200 there are two position interpolation and servo loop control units These are referenced as AXISO through AXIS1 On ACR8010 ACR8000 there are eight master velocity profiles for controlling the axes These are referenced as MASTERO through MASTERT On the ACR2000 and ACR1500 there are four master velocity profiles for controlling the axes These are referenced as MASTERO through MASTER3 On the ACR1200 there are two master velocity profiles for controlling the axes These are referenced as MASTERO through 1 On the ACR8010 ACR8000 each master profiler has eight internal attachment points for axes These are referenced as SLAVEO through SLAVET On the ACR2000 and ACR1500 each master profiler has four internal attachment points for axes These are referenced as SLAVE
83. to begin If the current field is the last parameter in the parameter list the input command will end Characters less than CHR 32 or greater than CHR 126 will be ignored In order to read these characters the INKEY function must be used Usage example 196 100 REM main program 110 DIM S V 1 80 120 OPEN COM1 9600 N 8 1 AS 1 130 PRINT 1 140 PRINT 41 Enter EXIT to quit 200 INPUT 1 Command VO 210 SVO UCASES 5 0 220 PRINT 1 SVO 230 IF VO EXIT GOTO 300 240 GOTO 200 300 REM program shutdown 310 PRINT 1 Program terminated 320 CLOSE 1 Acroloop Motion Controller User s Guide Part INT Interruptible move Format1 INT index axis target incmov axis target incmov Format2 INT index axis target incmov axis target incmov Group Interpolation Units units See also TRJ SINE PPU MOV This command initiates an interruptible linear move The index parameter designates an inhibit bit identical to the INH command If the bit condition is met before the move ends the incremental move is immediately executed from that point Otherwise the move will complete normally The following example starts a move toward X100000 If OUT32 goes away before the move completes the axis will come to a stop 2000 pulses away from where the trigger condition was met Usage example 10 INT 32 X 100000
84. to set the output of the digital filter to a specific parameter Usage example FLT 0 OUT P8449 The output of digital filter O goes to vector velocity of master 1 156 Acroloop Motion Controller User s Guide Part FLT ON Version 1 18 06 Turn on the filter at the new location Format FLT ON Group Servo Control See also LOPASS NOTCH FLT SRC FLT ON command will move the filter between FLT SRC and FLT OUT and start updating every servo loop It will return an error if the source and output of the filter has not already been assigned Usage example FLT 0 ON FLT OFF Version 1 18 06 Put back the filter to its defalut location Format FLT OFF Group Servo Control See also LOPASS NOTCH FLT SRC This command will put back the filter to its default location Usage example FLT 0 OFF Chapter 3 Command Reference 157 FLZ Relative program path shift Format FLZ axis shift axis shift Group Transformation See also SCALE ROTATE OFFSET This command will cause the programmed path to be shifted The amount of the path shift is defined by the shift relative to the current location The program will think that the axis is currently at the location specified by the shift If the shift for an axis is not specified the offset will be cleared and any shift will be canceled Usage example 10 FLZ X10000 Y20000 158 Acroloop Motion Controller User s Guide Part FOR STEP NEXT
85. to the following logic formula dest dest AND NOT mask OR entry AND mask The following example sets the mask for PLS 5 to 255 enabling the lower eight bits Usage example PLS5 MASK 255 PLS RATIO Set PLS scaling ratio Format PLS index RATIO ratio Group Global Objects Units array entries input count See also PLS ADC DAC ENC AXIS This command sets the scaling ratio Issuing a PLS RATIO command with no argument will display the current setting The default index offset is 1 0 entries count The following example sets the scaling ratio of PLS 2 to 0 25 entries count Usage example PLS2 RATIO 0 25 Chapter 3 Command Reference 273 PLS ON Enable PLS update Format PLS index ON Group Global Objects Units none See also PLS ADC DAC ENC AXIS This command enables PLS update The following example enables the update of PLS 4 Usage example PLS4 ON PLS OFF Disable PLS update Format PLS index OFF Group Global Objects Units none See also PLS ADC DAC ENC AXIS This command disables PLS update The PLS output will remain in the state that it was when the PLS was turned off The following example disables the update of PLS 3 Usage example PLS3 OFF 274 Acroloop Motion Controller User s Guide Part PPU Set axis pulse unit ratio Format PPU axis ratio axis ratio Group Feedback Control Units pulses unit See also RES REN This sets th
86. zero there is no timeout checking done Issuing an IHPOS followed by a plus sign will inhibit until the parameter is greater than or equal to the setpoint The minus sign will inhibit until the parameter is less than or equal to the setpoint The plus sign is optional The following example will inhibit until the position of ENCO P6144 is less than or equal to 10000 pulses or 1 5 seconds have elapsed Usage example 10 IHPOS P6144 10000 1 5 Chapter 3 Command Reference 193 ILIMIT Set integral anti windup limit Format ILIMIT axis value axis value Group Servo Control Units volts See also IGAIN IDELAY This command modifies the value used by the PID filter to limit the amount of integral term allowed to build up in the loop Issuing an ILIMIT command to an axis without an argument will display the current setting for that axis The default limit is 0 0 for all axes The following example sets the X axis integration limit to 0 5 volts Usage example ILIMIT X0 5 Note The ILIMIT should be set to a value other than zero for the integrator to become operational 194 Acroloop Motion Controller User s Guide Part INH Inhibit on a bit high or low Format 1 INH index Format 2 INH index Group Logic Function See also SET CLR This command cause the program to inhibit suspend further program execution until the specified bit is in the selected state Either the on or off state can be sele
87. 0 120 130 140 150 160 364 DIM V 1 10 OPEN COM1 9600 N 8 1 AS 1 PRINT 1 PRINT 1 Press any key to continue SVO 1 PRINT 1 Program terminated CLOSE 1 Acroloop Motion Controller User s Guide INKEY Return a character Format Group See also INKEY devicenumber Str KB ing HIT This function returns a one character string from a device If there is no character waiting to be read from the device the function will return a null string The valid range for devicenumber is 0 to 3 Each program has it s own device 0 which is used as its default device Devices 1 through 3 are board wide system resources that can be opened and used from within any program or from any system or program prompt Usage example 100 110 120 130 140 150 160 170 180 200 210 DIM V 1 10 OPEN COM1 9600 N 8 1 AS 1 PRINT 1 SVO UCASES INKEYS 1 IF VO A PRINT 1 Apple IF VO B PRINT 1 Banana IF VO C PRINT 1 Coconut IF VO X GOTO 200 GOTO 130 PRINT 1 Program terminated CLOSE 1 Chapter 4 Expression Reference 365 INSTR String search Format INSTR stringexpression1 stringexpression2 Group String This function returns the position of stringexpression2 within stringexpression1 If the second string can not be located within the first the function returns zero If the firs
88. 0 units second Usage example JRK 80000 222 Acroloop Motion Controller User s Guide Part Version 1 18 06 Update 05 Feed forward gain for position velocity loop Format KVF axis value axis value Group Servo Control Units None See also KVI KVP This command modifies the feed forward gain of position velocity loop The default value is zero which should be typically set to a non zero value before turning the PV position velocity loop ON by KVP Issuing a KVF command to an axis without an argument will display the current setting for that axis The following example sets the X axis KVF to a value of 1 1 Usage example KVF X 1 1 Chapter 3 Command Reference 223 KVI Version 1 18 06 Update 05 Velocity integral gain for position velocity loop Format KVI axis value axis value Group Servo Control Units None See also KVF KVP This command modifies the Integral gain used in the position velocity loop Issuing a KVI command to an axis without an argument will display the current setting for that axis The default value is 0 The following example sets the X axis KVI gain to 100 Usage example KVI X 100 224 Acroloop Motion Controller User s Guide Part I Version 1 18 06 Update 05 Position gain for position velocity loop Format KVP axis value axis value Group Servo Control Units None See also KVF KVI This command mod
89. 010 Hardware Capture Interrupt Sources ACR8010 Default Capture Complete Flags Hardware Capture Parameters Capture Hardware Complete Bit Capture Parameter Table 3 10f ACR8010 Default Hardware Capture Flags Parameters Chapter 3 Command Reference 203 INTCAP Encoder capture continued ACR1200 Interrupt Sources Capture Primary Secondary Tertiary Fourth Primary Secondary Tertiary Fourth EM Marker Marker Marker Marker External External External External Miet Nis a Ne 3 812 P Table 3 10g ACR1200 Hardware Capture Interrupt Sources ACR1200 Default Capture Complete Flags Hardware Capture Parameters Capture Hardware Axis Complete Bit Capture Flag Parameter o mr f 12292 12548 12804 Table 3 10h ACR1200 Default Hardware Capture Flags Parameters 204 Acroloop Motion Controller User s Guide Part I INTCAP Encoder capture continued ACR1500 Interrupt Sources Capture Primary Secondary Tertiary Fourth Primary Secondary Tertiary Fourth Register Marker Marker Marker Marker External External External External MRKO MRK 1 MRK 2 MRK 3 1 0 0 1 0 1 1 0 2 3 1 MRK 0 MRK 3 MRK 2 V O 1 l O 0 3 0 2 MRK 2 MRK 3 MRK 0 MRK 1 0 2 3 l O 0 l O 1 MRK 3 MRK 2 MRK 1 MRK 0 1 0 3 1 0 2 0 1 1 0 0 NOTE The ACR1500 External Interrupt Sources 0 thru I O 3 are either inputs to the board or outputs from the board based on the board IO configuratio
90. 219 et o det fene 154 REV ni eim fett eter ata tan gto 219 EE eite Tett 155 ns extenta 220 ORG uscito te 156 ORG ine eed etudes a 220 QU Tis rise oet ot nee 156 T 221 ONS contr 157 ABS ctio tbi uec 221 uis 157 Lf ets ferr 222 Sis 158 a a 223 FOR STEP 159 KW oet aa 224 160 KVR ta 8d aka 225 ESTAT 161 226 nto mos os Nm ads 166 ORG tano etsi edet 227 GEAR at dens 167 EREQE n imei doe 227 171 228 suuni 172 MULT iiti ees 228 RERU iiec coms ete tci t es 172 II Silo tacet a tt iota eset ee 229 RATIO etm entendre 173 EIS TEN estie eaten 230 pic 173 EQUO iiis refe tede ers 231 AC oisi 174 Eoo cU 233 DEG tomum Nee 175 ON ut edet 234 eot eti seit t ines 176 OPE reete et 234 ntes eo uet 176 n ftetit eerte oett 235 MIN nerit er to peti eden 177 ANG nds 236 dieit icit te dert PL age 177 EOPASS petet ies derer 238 ON TRG obs 178 ERUN 239 ON TRGP iue RE t e 179 MASK ee ets 240 ORF PRG petites etal e 179 MASTER srera 241
91. 319 TANG Version 1 18 06 Tangential Axis TANG command is useful for putting an axis to an angle to a motion path like perpendicular tangential or any user set angle When an axis is put in TANG mode it will automatically move as the motion path changes Keeping itself to a set angle with the motion path TANG ON Version 1 18 06 Locks an axis to a Motion Path with any Angle Format TANG ON 1 axis2 axis3 Group 320 Interpolation The TANG ON command is used to put axis 1 tangential to the path traced by axis 2 and axis 3 Appending this command with ANG command one can keep to any angle to the motion path of the two axes When the two adjacent moves have discontinuity in angle then a move is automatically inserted to smoothly rotate the tangential axis The user can separately set the acceleration and velocity of these inserted moves The user can also specify minimum discontinuity between the moves for inserting the move This is done by master parameter TANG Turn Limit Version 1 18 06 update 09 0 p00 po ordin 4000 e E Luke Reit sul 8000 mM 2 10000 T 12000 eoo 14000 s000 0 5000 10000 15000 Figure 3 15 Tangential interpolation example The following example will put z axis perpendicular to motion of X and Y axis See the figure for detail Acroloop Motion Controller Us
92. 6 X13 27 04 X6 34 X3 SLT XI2 9 Y7 32 58 X9 03 Y8 36 3 X6 4 Y12 6 37 79 X1 9 Y10 6 40 39 X5 5 Y10 8 41 92 X8 4 Y5 8 43 98 X13 1 Y6 1 46 21 X16 8 Y2 7 VEL 4 1 V K 0 X21 Y13 4 X17 4 Y11 2 0 X20 6 Y19 5 2596 X18 8 Y22 T 5 83 X17 7 Y15 5 VEL 2 7 17 X16 1 Y14 5 VEL 4 9 82 X15 5 Y24 6 W2 10 82 X13 1 Y22 8 13 76 16 4 Y13 4 14 98 12 5 Y14 PPU X 1000 PPU Y 1000 ACC 1 IVEL 0 EL 4 V EL 5 VEL 4 Y24 2 W1 1 VEL 2 9 23 3 3 Y223 Y11 Y14 Y19 Y19 5 5 s2 9 Initial velocity of zero is set Rank of 4 i e a degree of 3 is selected Dynamic Interpolation Mode is selected This command should be given each time before starting the NURB block Notice the first four multiple knots of zero VEL 5 will be used from the 1st to 2nd control point VEL 4 will be used from 2nd to 5th control point A weight of 2 is used for this control point VEL command used to control the speed Finally slowing down The last four multiple knots Negative knot indicates that NURB block has ended Acroloop Motion Controller User s Guide Part I NURB MODE Version 1 18 04 and Up Enable NURB mode Format NURB MODE value A NURB MODE command must be issued each time before a NURB block of moves The subsequent move commands are treated as NURB control points and NURB interpolation is used to trace the NURB curve This modes remains active until a negative kno
93. 85 CLR command 86 CMT command 87 Commands Axis Limits JLM 213 MAXVEL 242 TLM 325 Character I O Index CLOSE 85 INPUT 196 OPEN 260 PRINT 276 Feedback Control HSINT 186 INTCAP 198 OFF 209 MSEEK 248 MULT 249 NORM 251 PPU 275 REN 285 RES 286 ROTARY 289 Global Objects ADC 44 GAIN 51 MAX 47 MODE 46 NEG 50 OFF 52 OFFSET 51 ON 52 POS 49 SCALE 48 ADCX 53 MAX 55 MODE 54 AXIS 61 CMT 87 ANG 94 DAC 94 ENC 95 ERPMR 95 HSEEK 96 LCOK COUNT 97 LOCK AMP 96 LOCK RANGE 97 MAX AMP 98 MAX RPM 99 MODE 99 OFF 100 ON 100 PPR 101 SHIFT 101 DAC 110 ENC 137 ENC RD ABS 138 FSTAT 161 LIMIT 429 INDEX FREQ 227 MULT 228 SRC 227 WIDTH 228 MASTER 241 PLS 267 BASE 271 DST 270 FLZ 272 MASK 273 OFF 274 ON 274 RATIO 273 RES 271 ROTARY 272 SRC 270 RATCH 226 280 MODE 282 SRC 281 SAMP 293 BASE 298 CLEAR 299 SRC 298 TRG 299 Interpolation CIRCCW 82 CIRCW 83 INT 197 MOV 247 NURB 253 END 258 MODE 257 RANK 258 SINE 302 SPLINE 307 END 310 MODE 309 TANG 320 OFF 321 ON 320 322 OFF 324 ON 323 TRJ 332 Logic Function CLR 86 DWL 132 IHPOS 193 INH 195 MASK 240 SET 301 331 Memory Control CLEAR 84 DIM 125 MEM 245 Nonvolatile FIRMWARE 148 Nonvolatile BRESET 65 ELOAD 136 ERASE 141 ESAVE 142 FIRMWARE 151 152 FLASH 154 PBOOT 263 PROM 279 Operating System
94. A1 01 0 LA1 02 500 LA1 03 500 LA1 04 0 CAM DIM X2 CAM SEG X 0 500 LA0 SEG X 1 1000 LA1 CAM SRC X4 N Note X The CAM SRC command must be issued AFTER the cam segments have been defined Improper operation may result from designating the CAM SRC first Issuing just the CAM command will display the current setting of a cam and can be used even if the cam is currently active The example below shows the list Chapter 3 Command Reference 69 Usage example POO gt CAM X CAM FLZ CAM OFFSET CAM SCALE X1 CAM DIM X4 CAM SEG X 0 2000 LA1 CAM SEG X 1 2000 LA3 CAM SEG X 2 2000 LA1 CAM SEG X 3 2000 LAO CAM SHIFT CAM SRC X P12802 CAM ON X CAM Cycles Axis parameter CAM Cycles can be set to run so many CAM cycles Says this parameter is set to 3 then the CAM will run for 3 times and then automatically turn itself off The defalut value is zero which means that the CAM will run forever unless the user turns it off Example 1 P12400 3 CAM ON X TRG 0 0 REM The CAM will run 3 times 0 0 REM The CAM will run 3 times The cam source is automatically reset when ussing the triggerd CAM Example 2 12400 3 CAM SRC X RES CAM ON X REM CAM will 3 times CAM SRC X RES CAM ON X REM The CAM will 3 times F F The cam source is explicitly reset and the source should be m
95. ACR1200 ACR1500 ACR8010 and ACR2000 version 1 18 and above 208 only This example is invalid for ACR8000 board This example uses the INTCAP command defining a hardware capture register for the ACR1200 ACR1500 ACR2000 ACR8010 boards Using the INTCAP command in this way the user defines the Hardware Capture Register to be used The user may select any one of the available capture registers The Interrupt Sources follow along with the Capture Register Selected The user also selects which Hardware Capture Parameter and associated Capture Flag is to be used to store the capture data The user may select any one of the eight available capture parameters Example2 assumes ENC2 as position feedback on AXIS 0 X as follows ATTACH AXISO ENC2 DACO ADCO In the following program the INTCAP mode is enabled to use Hardware Capture Register 1 to capture encoder position of X axis on the rising edge of external input 25 Primary External for Capture register 1 for the ACR8010 the rising edge of external input 13 Primary External for Capture register 1 for the ACR2000 and ACR1200 or the rising edge of external I O 1 Primary External for Capture register 1 for the ACR1500 It then waits for the capture and prints the result from the data stored in the selected Capture Parameter 10 INTCAP X2 CAP1 P12804 20 INH 841 30 PRINT P12804 Acroloop Motion Controller User s Guide INTCAP OFF Version 1 18 06 Intcap is turned off
96. Automation p n 08120 1 Acroloop Motion Controller User s Guide Part 1 Effective October 7 2002 This page intentionally left blank Users Guide AMCS P N PM08120 Version Change From Version 1 18 04 Dated 6 30 2000 To Version 1 18 06 Update 15 Dated 9 28 2001 The following changes have been incorporated into Users Guide Version 1 18 06 Update 09 1 10 11 12 13 14 15 16 17 18 19 20 21 Page 22 Memory Organization Page 33 Command Groups Page 38 Command Cross Reference Page 82 Command Reference Page 83 Command Reference Page 129 Command Reference Page 129 Command Reference Page 130 Command Reference Page 133 Command Reference Page 134 Command Reference Page147 Command Reference Page155 Command Reference Page 161 Command Reference Page 223 Command Reference 224 Command Reference 225 Command Reference Page 233 Command Reference Page243 Command Reference Page 261 Command Reference 320 Command Reference Page 322 Command Reference Added new commands CIRCCW CIRCW DIP DIN DZL DZU FFVC FLT KVF KVI LOOK MBUF PASSWORD TANG TARC FSTAT Added new commands CIRCCW CIRCW DIP DIN DZL DZU FFVC FLT KVF KVI LOOK MBUF PASSWORD TANG TARC Added new commands CIRCCW CIRCW DIP DIN
97. CR1200 Hardware Capture Interrupt SOUICOS eaaa 204 3 10h ACR1200 Default Hardware Capture Flags Parameters 204 3 101 ACR1500 Hardware Capture Interrupt Niel 205 3 10j ACR1500 Default Hardware Capture Flags Parameters 205 3 11 Not in position flags 210 3 12 Not in torque band flags 211 3 13 Data formatting modes 246 3 14 Ratchet 282 3 15 Not torque limit flags 325 5 1 PLC tick parameters 395 5 2 PLC operation flags 396 5 3 PLC timer cross reference 417 5 4 PLC counter cross reference 420 5 5 PLC latch cross reference 423 TABLES 2 1 FIFO System 10 2 2 1 2 System Tasks 11 2 3 SYS PROG levels 12 2 4 ACR8000 Memory Organization 16 2 5 ACR1200 ACR1500 and ACR2000 Standard Memory Organization 17 2 6 ACR8010 Memory Organization and ACR2000 Expanded Memory Organization sess 18 2 7 Servo loop 28 2 8 Setpoint summation 28 2 9 Servo loop 28 2 10 Filter
98. FFACC 4 4 1 18 06 upd9 4 P4 X 4 4 FFVEL V P4 P4 4 4 FLASH LOAD 4 4 4 X 4 4 SAVE A V A X A V IMAGE 1 17 07 VA VA X VA VA ERASE V V X V V FLT 1 18 06 4 A A X A A FLZ V P4 vo FOV V P4 FOR NEXT 1 18 07 V V V V V FVEL 4 4 V V FSTAT 1 18 06 upd9 X X X X X 4 GEAR Chapter 3 Command Reference 39 Version Added above 1 13 03 ACR1500 00 1 18 02 ACR2000 1 17 04 ACR8000 ACR8010 1 18 ACR8020 1 18 06 UpdO09 TRG TRGP ALL OTHERS 1 18 06 upd12 1 18 06 upd12 GOSUB GOTO HALT HDW HELP HSINT 1 16 09 IDELAY IF THEN IF ELSE ENDIF 1 18 07 IGAIN IHPOS ILIMIT INH INPUT INT S S SIS SISISISISISISISISI SISIS SS S S SIS SISISISISISISI SISISISIS SS SISISISISISISI SI SISISI SISISISISSS SISISISISISIS SISISISI SISISI SIS XX SISISISISISISI SI SISISI SISISISISSS SISISISISISIS SISISISI SISISISISSS INTCAP Fixed Registers Register Select 1 18 INVK 1 18 07 IPB ITB IVEL JLM JOG JRK KVF 1 18 06 upd9 KVI 1 18 06 upd9 KVP 1 18 06 upd9 LIMIT LIST LISTEN LOCK LOOK 1 18 06 LOPASS LRUN MASK 1 16 06 MASTER MAXVEL 1 18 04 SISIS SISISISISISISISISISI SISIS SIS
99. Flashslot Two copies of firmware code are programmed into flash memory at the factory The Sysfalsh1 area stores the first copy of firmware code and the Sysfalsh2 area stores the second copy of firmware code The Bootflash area stores the bootloader code which checks the validity of Sysflash1 If Sysflash1 code is valid it will be loaded into program RAM at power up Otherwise Sysflash2 code will be loaded into program RAM at power up The Userflash area stores user programs and parameters by using FLASH commands Flashslot store system parameters by using ESAVE command The following is a list of valid firmware command combinations FIRMWARE UPGRADE Program firmware code into the Sysflash1 area FIRMWARE BACKUP Backup firmware code form Sysflash1 to Sysflash2 FIRMWARE CHECKSUM Calculate firmware checksums Acroloop Motion Controller User s Guide FIRMWARE Related Firmware Flags Version 1 18 06 update 14 amp up Firmware upgrade backup continued PO Mask ox0f Flag Parameter Code 0x10 Index 0x16 4272 Control Flag Bit Flag Index Number Bootflash Invalid empty Sysflash1 Invalid empty Sysflash2 Invalid empty Userflash Invalid empty Firmware Backed Up Reserved Reserved Reserved Bootflash Invalid empty Sysflash1 Invalid empty Sysflash2 Invalid empty Userflash Invalid empty Firmware Backed Up read w write This flag is not valid until the FIRMWARE CHECKSUM command is
100. G number Group Operating System See also ATTACH SYS This command switches the communication channel to the designated program prompt Issuing a PROG command without an argument will either display the current program number or display an error if not at a program level The prompt keeps track of your current program or system level as follows SYS gt PROG3 P03 gt PROG1 PO1 gt SYS SYS gt _ The communications channel must be at a program level in order to run and edit programs The PROG command cannot be issued from within a program Usage example PROGO Chapter 3 Command Reference 277 Program without line numbers Format PROGRAM Group Program Flow See also ENDP The PROGRAM command will mark the start of the program without line numbers and the ENDP command will mark the end of the program without line numbers If ENDP command is not issued then immediate mode commands will not be executed rather they will be stored in the program space as well Usage example SYS HALT ALL NEW ALL CLEAR DIM PROGO 1000 DIM DEF 10 DEFINE LED BIT96 DEFINE myflag BIT32 DEFINE TRUE 1 DEFINE Counter LV2 DEFINE loop 1 4 PROGRAM DIM LV10 Counter SET myflag WHILE myflag Counter Countert l FOR loop 100 TO 500 STEP 200 PRINT loop NEXT GOSUB SetLED IF Co
101. IGHTS ABCDEFG 3 Example output EFG 378 Acroloop Motion Controller User s Guide Part RND Random integer Format RND expression Group Miscellaneous This function returns a random integer between 0 and expression 1 Usage example 100 PRINT RND 10 110 GOTO 100 LRUN Example output 25 73 900 3 57389 7 8 39 10 5 46 8 2 Chapter 4 Expression Reference 379 ROUND Round to nearest integer Format ROUND expression Group Miscellaneous See also CEIL FLOOR TRUNC This function returns the nearest integral value to the expression Usage example PRINT ROUND PRINT ROUND PRINT ROUND PRINT ROUND Example output 1 2 1 2 380 Acroloop Motion Controller User s Guide Part SIN Sine Format SIN expression Group Trigonometric See also COS TAN COT ASIN ACOS ATAN ACOT This function returns the sine of the expression SINH Hyperbolic sine Format SINH expression Group Hyperbolic See also COSH TANH COTH ASINH ACOSH ATANH ACOTH This function returns hyperbolic sine the of the expression Chapter 4 Expression Reference 381 SPACE String of spaces Format SPACE n Group String See also STRING This function returns a string of n spaces Usage example 100 PRINT 110 PRINT Wm SPACES 8 xm 120 PRINT LRUN Example output KKKKKKKKKK K KKKKKKKKKK 382 Acro
102. INP 13 INP 12 INP 15 INP 14 MRK 2 MRK 3 MRK 0 MRK 1 INP 14 INP 15 INP 12 INP 13 MRK 3 MRK 2 MRK 1 MRK 0 INP 15 INP 14 INP 13 INP 12 Table 3 10 ACR2000 Hardware Capture Interrupt Sources ACR2000 Default Capture Complete Flags Hardware Capture Parameters Capture Hardware Axis Complete Bit Capture Flag Parameter e ar s zu 12292 12548 12804 13060 Table 3 104 ACR2000 Default Hardware Capture Flags Parameters 202 Acroloop Motion Controller User s Guide Part INTCAP Encoder capture continued ACR8010 Interrupt Sources Capture Primary Secondary Tertiar Fourth Seventh Eighth Tenth Register Marker Marker y Marker Marker Marker Marker Marker MRKO MRK1 MRK2 MRK3 MRK5 MRK7 2 MRK2 MRK3 MRK4 MRKS MRK8 3 MRK2 MRKS MRK4 MRK5 MRK2 MRK3 MRK8 6 MRK7 MRK5 MRK2 MRK3 MRKO MRK1 Em ww em pim eme em pem imm BE MM External External External External External External e NE NP28 29 1 30 INP31 1424 INP25 1 27 L S NP30 iNP31 1 28 1 29 iNP26 INP27 1424 1 25 Table 3 106 ACR8
103. IS SISISISISISISISISISISISISIS SISISISISISISISISI SIS SISISISISISIS SISISISI SOS Chapter 3 Command Reference 41 Version Added above 1 13 03 ACR12 1 18 02 1500 1 18 02 ACR2000 1 17 04 ACR8000 ACR8010 1 18 ACR8020 1 18 06 Upd09 SRC v STEP STP SYNC 1 18 01 SYS TANG 1 18 06 TARC 1 18 06 TLM TMOV 1 18 01 TOV 1 18 04 TRG TRJ TROFF TRON UNLOCK VECDEF VECTOR VEL LIMIT 1 18 06 VER 1 17 05 WHILE 1 18 07 SISSSISISISISSISISISISISISISISISISISIS SSISSISISISISIS SISISISISISISISISISISI SISS SPST ST SESE ST SESE ST SESE SPST SESE ST SES NP NPK NES ST SESE ST x SESE ST SES SISS SPST ST SESE ST SESE SPST SESE ST SES SSISSISISISISISISISISISI SISISISISISIS 42 Acroloop Motion Controller User s Guide Set acceleration ramp Format ACC rate Group Velocity Profile Units units second 2 See also DEC STP VEL IVEL FVEL PPU The ACC command sets the master acceleration used to ramp from lower to higher speeds Issuing an ACC command with no argument will display the current setting The default acceleration ramp is 20000 units second 2 The ACC command can be also be used in expressions as follows DV1 ACC 100 D P F EC S
104. ISI SISS SSIS SISISISISISISISISIS SISISISISISI Sl SS SISISISISISISISISISISISISISISISIS SI SISTI SIS ISI Se SS SISISISIS SISIS SISISISISISISISISI SI SS SISISISISISISISISISISISISISISISIS SI 40 Acroloop Motion Controller User s Guide Version Added above 1 13 03 ACR12 1 18 02 1500 1 18 02 ACR2000 1 17 04 ACR8000 ACR8010 1 18 ACR8020 1 18 06 Upd09 MBUF 1 18 06 v MEM MODE MOV MSEEK MULT NEW NORM NOTCH NURB 1 18 04 OFFSET OPEN PASSWORD 1 18 06 Upd 9 PAUSE PBOOT PERIOD PGAIN PLC PLS PPU PROG PROGRAM ENDP 1 18 07 PROM RATCH REBOOT REM REN RES RESUME RETURN ROTARY ROTATE ROV 1 17 05 RUN SAMP SCALE SET SINE SPLINE 1 18 04 ST SESE SESE ST SESE ST SESE ST SINT ST SESE SESE SISISISI SIS I S SISISI SIS NESE ST SP SESE SESE SE ST SESE SESE ST ST SE ST SESE SE SESE ST SE SES NENT SP SESE ST SE SESE ST SIND SESE ST SESE ST SESE SPST SESEST ST SESE SP SESE STS X S S SISISISISISISIS SI X NESE SP SISISISISISI SISISISISISISI SI SISI SISI S
105. Issuing a DZL command to an axis without an argument will display the current setting for that axis The default value is 0 Once the current commanded position of the axis is eqaul to the target position of the axis the dead zone mechanism becomes active Then as soon as the following error becomes less the DZL the DAC output goes to zero and stays there till the following error becomes greater than DZU The following example sets the X axis dead zone lower limit to 5 pulses Usage example DZL X 5 Chapter 3 Command Reference 133 DZU Version 1 18 06 Update 05 Dead Zone Upper Limit Format DZU axis value axis value Group Servo Control Units pulses See also DZL DIP DIN This command sets the upper limit for the dead zone of an axis The axis will remain in the dead zone with DAC output of zero till the following error becomes greater than DZU Note that DZU s value should be greater than DZL Issuing a DZU command to an axis without an argument will display the current setting for that axis The default value is 0 The following example sets the X axis dead zone upper limit to 12 pulses Usage example DZU X 12 134 Acroloop Motion Controller User s Guide Part Control character echoing Format ECHO mode Group Operating System This command controls the prompt and echo on a communication channel Issuing an ECHO command without an argument displays the current setting The default settin
106. LEAR COM2 Program Level Format CLEAR Group Memory Control See also DIM MEM This command will free memory that was dimensioned for programs variables and arrays and data logging This command behaves differently depending on whether the communication port is at the system or program level From the system level the CLEAR command will free the memory allocated to all programs The programs must be empty for this to work If the programs are not empty an error will be given After clearing the programs the DIM command must be used to allocate memory for the programs as required Stream buffers may also be returned to their default 256 byte storage area using the CLEAR command from the system level After the stream is redimensioned and ready for use the appropriate Stream Redimensioned flag will be set From the program level or within a running program the CLEAR command frees the memory allocated to local variables and arrays Usage example 84 SYS HALT ALL EW ALL ETACH ALL es Acroloop Motion Controller User s Guide Close a device Format CLOSE device Group Character I O See also PRINT INPUT OPEN This command closes a device The valid range for device is 0 to 3 Each program has it s own device 0 which is used as its default device Devices 1 through 3 are board wide system resources that can be closed from within any program or from any syst
107. Loads the Y axis move since both moves have been loaded the two masters start the sync move 01 gt Y 55 Load move P00 X 500 Load move and starts the moves PXX gt SYNC PROG Puts back the default sync mode in which the moves will be issued from the programs Note The above two commands SYNC PROG and SYNC MDI are only valid when the master is in SYNC mode SYNC OFF Version 1 18 01 amp Up Asynchronization of Masters Format SYNC OFF Master Master Group Velocity Profile This command is used to take out any number and combination of masters from the sync mode This command will release the master from the sync group and then the master will be able to independently execute its moves This command can be issued any time even if the masters are in motion Usage Example SYNC OFF MASTERO MASTER2 MASTER3 318 Acroloop Motion Controller User s Guide Part SYS Return to system prompt Format SYS Group Operating System See also PROG This command activates the system prompt When a communications channel is activated it is at the system level by default Only limited commands can be executed from this level The prompt at this level is as follows SYS gt _ The communications channel must be at a program level in order to edit and run programs This is done via the PROG command The SYS command cannot be executed from within a program Usage example SYS Chapter 3 Command Reference
108. N This manual will serve as a reference and programmers guide for the ACR1200 ACR1500 ACR2000 ACR8000 ACR8010 and ACR8020 family of motion controllers Please reference the Acroloop Motion Controller Users Guide Part Il for additional information Acroloop Motion Controller User s Guide Part P N PM08120 1 includes Chapter 1 Hardware Installation Chapter 2 System Reference Chapter 3 Command Reference Chapter 4 Expression Reference Chapter 5 PLC Programming Acroloop Motion Controller User s Guide Part II P N PM08120 2 includes Chapter 6 Binary Host Interface Appendix A Parameter Reference Appendix B Flag Reference Appendix C Output Modules Software Configuration Examples The ACR8020 is a floating point DSP based 16 axis motion controller This board will work in standalone mode as well as within a PCI bus chassis The ACR8010 is a floating point DSP based 8 axis motion controller It has onboard hardware to read up to eight with the option of ten incremental encoders The board can supply precision 16 bit analog for eight servo amplifiers or step direction open collector ouputs for eight stepper drives It is modular in nature and is offered in 2 4 6 or 8 axis configurations This board will work in standalone mode as well as within a PC AT bus chassis In the PC AT bus the board takes one ISA card slot The ACR8000 is a floating point DSP based 8 axis motion controller It has onboard hardware to read up to e
109. O through SLAVE3 On the ACR1200 each master profiler has two internal attachment points for axes These are referenced as SLAVEO through SLAVE1 There are 16 programs with internal attachment points for masters These are referenced as PROGO through PROG15 In order for an axis to do a motion profile in either MDI or program mode it must be attached as the slave of a master and the master must be attached to a program Axes are accessed with axis names of up to 4 characters in length This name is assigned to the axis when it is attached to its master See the ATTACH command for examples The question of how many masters to use and what axes to attach to it is largely a user choice made initially on the type of machine If there are 6 axis in total and they are broken into two XYZ pick and place robots then use two masters and two programs attaching three axis to each of the masters Since the axes are attached to different masters they can be named X Y and Z in both programs Once the relationship between a program master and axes has been established it can be canceled by using the DETACH command Acroloop Motion Controller User s Guide Part Command Input Modes Most commands can be executed either in MDI Manual Data Input mode or program mode from within a stored program Some commands can only be issued as commands and others can only appear in stored programs In MDI mode the commands get executed immediately as
110. OFFSET 6500 after the trigger is received INH 2348 Chapter 3 Command Reference 169 Electronic gearing continued Related System Flags The following axis flags control and monitor electronic gearing Gear Lock r w Overrides the gearing ramp mechanism Locks the current gear ratio to the target gear ratio regardless of the current gear acc dec settings Gear At Speed r Set when gearing is active and the current gear ratio is equal to the target gear ratio Cleared if executing a gear acc dec ramp Gear Stopping r Set when gearing is active and the gear activation bit is clear When the current gear ratio reaches zero the gear active bit is cleared Gear Activate rw Set and cleared by the gear on off commands Can also be set and cleared manually to turn gearing on and off from a PLC or user program Gear Active r Set when gearing is active Must inhibit on this bit after a gear off command to check for completion of the gear decel ramp read w write Gear Flags AXIS Number Gear Lock M s ss 5 509 on 973 1055 Gear At Speed 782 814 878 910 942 974 1006 Gear Stopping 783 815 879 911 943 975 1007 Gear Activate 788 820 852 884 916 948 980 1012 Gear Active 789 821 853 885 917 949 981 1013 Issuing just the GEAR command will display the current setting of a gear and can be used even if the gear is currently active The example below shows the list
111. OV command can be used on the fly to speedup or slow down and the effect would be seen after the next move to be executed which is already in the buffer Acroloop Motion Controller User s Guide TMOV Version 1 18 01 amp Up Time Based Move continued The following example sets the time for the moves to complete in 0 5 seconds Usage example TMOV 0 5 The following example shows how to use the TMOV commands in a program Usage Example PROGO ATTACH MASTERO ATTACH SLAVEO AXISO X ATTACH SLAVE1 AXIS1 Y ACC 40000 DEC 40000 STP 40000 VEL 2000 10 TMOV ON 20 TMOV 5 30 X100 40 400 50 TMOV 1 60 X 100 70 TMOV OFF 80 X1000 90 TMOV ON 100 X500 110 120 GOTO 10 Chapter 3 Command Reference 327 Version 1 18 01 amp Up Set Time Based Move Format TMOV ON Group Velocity Profile This command will activate the time based moves The moves will be done in the time set by the TMOV command At the time this command is issued the current master profile parameters will be saved This command will Set the Secondary Master Flag Master in TMOV The following example activates the time based moves Usage example TMOV ON TMOV OFF Version 1 18 01 amp Up Disable Time Based Move Format TMOV OFF Group Velocity Profile This command will disable the time based moves The moves will be done by the user specified master profile parameters This command will Cl
112. Objects Units none See also SRC This command sets the input source for a limiter The default limiter source is NONE See the SRC command for the definition of the sourcedef argument The following example sets the source of LIMITO to RATCH2 Usage example LIMITO SRC RATCH2 LIMIT FREQ Define frequency limit Format LIMIT index FREQ frequency Group Global Objects Units pulses second This command sets the limiter frequency The limiter frequency sets the maximum frequency allowed to pass through the limiter The limiter frequency times the limiter width determine the maximum pulses per frame Setting limiter frequency to zero tuns off the limiter s frame clipping and all pulses accumulated in the previous frame are redistributed over the next frame The frequency argument is a 32 bit floating point Issuing a LIMIT FREQ command without an argument will display the current setting The default frequency limit is zero The following example sets the frequency limit of LIMIT1 to 10000 pulses second Usage example LIMIT1 FREQ 10000 Chapter 3 Command Reference 227 LIMIT WIDTH Set pulse redistribution width Format LIMIT index WIDTH width Group Units Global Objects seconds This command sets the limiter width The limiter width sets the width of the limiter frame The limiter frequency times the limiter width determine the maximum pulses per frame Pulses from one
113. Page 108 Command Reference CONFIG IO OUT Command Page 116 124 Command Reference DIAG Command Page 125 Command Reference DIM Command Page 154 Command Reference FLASH Command Page 186 188 Command Reference HSINT Command Page 198 208 Command Reference INTCAP Command Page 248 Command Reference MSEEK Command Page 264 Command Reference PERIOD Command Page 279 Command Reference PROM Command Page 314 318 Command Reference SYNC Command Added ACR1200 ACR1500 ACR8010 references Added CMT command Added ACR1200 ACR1500 ACR8010 references and additional examples Added ACR1500 command Added ACR1500 command Added ACR1500 command Added ACR1200 ACR1500 ACR8010 references Added DIM LOGGING size command Added ACR1200 ACR1500 ACR8010 references Added ACR1200 ACR1500 ACR8010 references and new HSINT format Added ACR1200 ACR1500 ACR8010 references and new INTCAP format Added ACR1200 ACR1500 ACR8010 references and new MSEEK format Added ACR1200 ACR1500 ACR8010 references and new default value for ACR1500 Added ACR1200 ACR1500 ACR8010 references Added new SYNC commands CHANGE NOTICE continued Users Guide Version 1 18 02 changes continued 30 Page 326 329 Command Added new TMOV Commands Reference TMOV Command 31 Page 395 PLC Programming PLC For ACR8010 the maximum plc instruction for each Operation plc program is increased from 100 to 200 CHANGE NOTICE continue
114. Phase B SINE value Equivalent current amplitude per volt Phase A signal Phase B signal Phase A offset Phase B offset Phase A signal gain Phase B signal gain Maximium motor speed Maximium current Average velocity This parameter applies to hall less commutation mode only This parameter specifies current amplitude during start up period Chapter 3 Command Reference 93 CMT ANG Version 1 18 amp Up Set phase difference Format CMT index ANG angle Group Global Objects Units degree See also CMT ATTACH DAC ENC AXIS This command sets the phase difference between the two output signal of the commutator This command can be issued only when the commutator is off The following example will set the phase difference between phase A dac and phase B dac to 240 degrees Usage example 10 CMTO ANG 240 CMT DAC DAC Version 1 18 amp Up Set DAC Commutator output destination Format CMT index DAC phaseAdac DAC phaseBdac Group Global Objects See also CMT ATTACH DAC ENC AXIS This command sets the sources of commutator output signal This command can be issued only when the commutator is off The following example will set DACO and DAC1 as the two phase of commutator output Usage example 10 CMTO DACO 94 Acroloop Motion Controller User s Guide Part Version 1 18 amp Up Set commutator source Format CMT index ENC feedback position ENC hall Group Global
115. R1500 ACR2000 ACR8010 boards have updated encoder input FPGA s that allow multiple sources of data into each hardware capture register This means that the user will be able to perform multiple captures using different interrupt sources on encoder inputs Available Hardware Capture Registers for Selection ACR1200 Capture Registers 0 thru 2 ACR1500 Capture Registers 0 thru 3 ACR2000 Capture Registers 0 thru 3 ACR8010 Capture Registers 0 thru 3 for Encoders 0 thru 3 and 8 Capture Registers 4 thru 7 for Encoders 4 thru 7 and 9 If the feedback encoder is Encoder 8 or 9 the hardware capture register must be specified ACR8010 only If the hardware capture register is not specified the hardware capture register index is the same as the feedback encoder index of the axis used to enable the hardware capture The capture complete flag and hardware capture parameter to be used for the encoder capture is selected based on the axis used to enable the hardware capture The capture complete flags and hardware capture parameters are shown in Table 3 10d for the ACR2000 Table 3 10f for the ACR8010 Table 3 10h for the ACR1200 and Table 3 10j for the ACR1500 If the hardware capture register is specified then the capture parameter must also be specified The capture complete flags and hardware capture parameters are still in pairs as shown in Table 3 10d for the ACR2000 Table 3 10f for the ACR8010 Table 3 10h for the ACR1200 and Table 3 10j
116. R2000 ACRCOMM board Reference the ACR1200 ACR2000 ACR8010 Hardware Manual ACR2000 ACRCOMM section for jumper settings to allow the boards to be stored on the shelf without needlessly draining power from the battery The next time power is applied to the board after shutting down or after resetting the board with BRESET in effect the battery backed up memory will return to normal and will hold programs during consecutive power sequences If valid program data has been stored into the Flash using the FLASH SAVE or FLASH IMAGE commands this will overwrite the default conditions of the battery backed up memory when using BRESET If the default memory conditions are required a FLASH ERASE should be performed before the BRESET command Note Once this command is issued there is no way to return the battery backed up memory to normal operation without removing and then restoring power or resetting the board Stored programs will be lost ACR1500 This command performs no function on the ACR1500 board Usage example BRESET Chapter 3 Command Reference 65 BSC Ballscrew compensation Format BSC command axis data axis Group Setpoint Control See also CAM BKL GEAR HDW JOG 66 This command is used along with a second command to initialize and control ballscrew compensation for an axis Ballscrew compensation is primarily used to compensate for nonlinear position error introduced by mechanic
117. RESET ood hi t UP ee oly cba COR d 65 DGAIN eee 1 15 DIME REESE 125 eim 186 DIN 129 IDELAY timete m edes 189 DIB s cette cm ee ete se con ds 130 IE THEN are meet 190 DPWID TIES 355 diti te ettet ees 131 IF ELSE IF ELSE ENDIF 191 DW Lace edem cn ertet toe dies 132 Jen EE 192 titer tes ette trier nota 133 IHBPOS iie rete benedi tne 193 DZ M EE NS 134 nen ette ettet etta 194 EGEIQ 135 WINE dete eoe m tenes 195 1t met tet dues 136 e orte ton eet us 196 ENG onset siente e teal cm 137 IT itd tee m Pedes tenes 197 ENG intet ede eren 138 INT CARS tan tee netus 198 END sienta emit 140 ellge 209 ERASE dest 141 IB itn iato dites 210 onines nent 142 gt ce ees 211 143 212 144 213 EBVEL miim ot o tem ides 145 c odit dest oet tfe t fed 214 ii eid tti ees 146 cte ca 216 PERV Gus tsm to nucis 147 teu tee 216 FIRMWARE iiit 148 ACG eters cee 217 UPGRADE teo edere 151 DEG nime testet 217 BACKUP 152 RES tet enn 218 CHECKSUM seem 152 REN nite fet edt 218 FEVEE niche IA ek ees 153 FWD ettet tete dad eed
118. RISISISSSSSSSSSSNSN SSS ININININISIS ISISISSSSSSISXISSSSSSS SSS NNN ININININISIS SSSSS ISIISIISSSISISSSSSSSSSSSS NNN SISISISISSI ISISISISISSS amp ISISISISSSSSSSSSS 38 Acroloop Motion Controller User s Guide Version Added ACR12 ACR1500 ACR2000 ACR8000 ACR8010 ACR8020 Command above 1 13 03 00 1 18 02 1 17 04 1 18 1 18 06 IO MODE 1 18 02 X 4 X X X IO INPUT 1 18 02 X VA X X X IO OUT 1 18 02 X VA X X X CPU V 4 4 4 DAC V 4 V P4 1 18 07 4 A A A A A DEFINE 1 18 07 A A NA NA A DETACH Sf Vv NA A NA A DGAIN M V V V V DIAG 4 V V DIM PROG V 4 4 4 4 4 PLC 4 FIFO 1 17 03 COM 1 17 03 COM2 1 17 03 Y y LOGGING 1 18 00 MBUF 1 18 06 v Y 4 V 4 4 X v v X DIN 1 18 06 upd9 A 4 X A 4 DIP 1 18 06 upd9 4 A A X A A DWIDTH 4 A A A A NA DWL V P4 P4 DZL 1 18 06 upd9 4 4 P4 X P4 DZU 1 18 06 upd9 J P4 P4 X P4 vo 4 4 4 ELOAD V V 4 V 4 v vo 4 ENC RD ABS 1 18 04 X X X X 4 4 END V P4 P4 4 ERASE V P4 P4 4 ESAVE V V V V V EXC V 4 v 4 F V 4 FBVEL vo 4
119. Set a bit flag Format SET index Group Logic Function See also CLR INH BIT This command sets the specified bit flag This flag can either be a physical output or an internal bit The following example pulses output 32 for 2 seconds Usage example 10 SET 32 20 DWL 2 30 CLR 32 Chapter 3 Command Reference 301 SINE Sinusoidal move Format SINE axis target phase sweep amplitude Group Interpolation Units units degrees See also MOV TRJ PPU This command generates a sinusoidal profile on the selected axis When executed on two axes at the same time the command can be used to generate circles and ellipses The arguments for the SINE command are as follows target position at the end of the sinusoid in units phase sinusoidal phase shift in degrees sweep total number of degrees in the sinusoid amplitude amplitude of the sinusoid in units When the move is executed an internal current_angle is generated that starts at 0 degrees and increases until the sweep value is reached The current position of the axis is generated as follows current_position center_point amplitude sin phase current_angle 302 Acroloop Motion Controller User s Guide Part SINE Sinusoidal move continued Generating an When the X and Y axes are being used to create an arc use the following formulas xsweep theta2 theta1 xphase theta1 90 xamplitude radius xtarget en
120. The default final velocity is zero Regardless of the setting the master bits FVEL Zero Pending and FVEL Zero Active can be used to temporarily override the final velocity to zero An error will be returned if no master is attached Usage example 166 This example generates a path using different combinations of velocity final velocity and stop ramps Note that the velocity profile between moves 3 and 4 does not ramp down even though STP is set to 1000 This is because the final velocity of 2000 is greater than the current velocity at that point in the profile velocity units sec move 1 move 2 move 3 move 4 3000 2000 1000 0000 0 8 16 24 32 time seconds Figure 3 7 Final velocity example 10 ACC1000 DEC1000 20 VEL3000 FVEL2000 STP1000 x 19000 30 VEL3000 FVEL2000 STPO X 23500 40 VEL1000 FVEL2000 STP1000 X 10000 50 VEL1000 FVELO STP1000 7500 Acroloop Motion Controller User s Guide Electronic gearing Format Group Setpoint Control See also HDW CAM BSC BKL JOG GEAR command axis data axis data In electronic gearing pulses are fed from a selected source into the gear offset of a slave axis These pulses are scaled by a ratio that is equivalent to a gearbox ratio on a mechanical system The rate at which the ratio changes is controlled by a ramping mechanism similar to a clutch or a variable speed gearb
121. UNC expression Miscellaneous CEIL FLOOR ROUND This function removes any fractional part of the expression and returns an integral result The expression is rounded toward 0 0 Usage example PRINT PRINT PRINT PRINT Example output a 1 zu 1 Chapter 4 Expression Reference 387 UCASE Convert to upper case Format UCASES stringexpression Group String See also LCASE This function returns a string with all letters in upper case This function is useful for making string comparisons that are not case sensitive Usage example PRINT UCASES AbCdEfG Example output ABCDEFG 388 Acroloop Motion Controller User s Guide Part Convert string to numeric Format VAL stringexpression Group String See also STR This function converts the stringexpression to a numeric value and returns the value Leading spaces and tab characters are ignored and the conversion continues until a character is reached that cannot be recognized as part of a number If the conversion fails the function returns a zero Usage example 100 DIM DV 1 110 DVO VAL 1 234 120 PRINT DVO LRUN Example output 1 234 Chapter 4 Expression Reference 389 XNOR Logical XNOR Format expression XNOR expression2 Group Logical See also AND NAND OR NOR XOR NOT BIT This operator returns the logical XNOR of the two expressions Bits in the result will be set if the correspo
122. User s Guide Part DIM Allocate memory System Level Formats DIM PROG prognum size DIM PLC plcnum size DIM P count DIM FIFO size DIM COMI size DIM COM2 size DIM DPCB size DIM LOGGING size DIM Program Level Formats DIM DIM DIM DIM DIM DIM DIM DIM DIM DIM DIM DIM DIM DIM DIM LV count SV count DV count V count length LA number LA array count SA number SA array count DA number DA array count A number A array count length MBUF count DEF count Group Memory Control See also CLEAR MEM Allocate program memory Allocate PLC memory Allocate globals 64 bit floating points Allocate FIFO buffer Version 1 17 03 amp Up ACR1500 Acr2000 ACR8000 ACR8010 only Allocate COM1 buffer Version 1 17 03 amp Up Allocate COM2 buffer Version 1 17 03 amp Up Allocate DPCB buffer Version 1 18 06 amp Up ACR8020 Only Allocate non volatile battery backed up memory for logging parameters Version 1 18 amp Up ACR1200 ACR1500 ACR2000 ACR8010 ACR8 020 only Display current system dimensions Allocate long variables 32 bit integers Allocate singles 32 bit floating points Allocate doubles 64 bit floating points Allocate strings 8 bit characters Allocate long array references Allocate long array Allocate single array references Allocate single array Allocate double array references Allocate double a
123. V FVEL FSTAT X DX X X xx GEAR GOSUB GOTO HALT HDW HELP HSINT IDELAY IF THEN IF ELSE ENDIF IGAIN IHPOS ILIMIT lt gt lt gt lt INH INPUT INT INTCAP INVK IPB ITB JLM JOG xXx JRK KVF KVI KVP LIMIT lt lt lt lt lt lt lt lt DK DK DK OS X lt LIST LISTEN LOCK lt gt lt gt lt LOOK LOPASS LRUN MASK MASTER MAXVEL MBUF MEM MODE MOV MSEEK MULT Chapter 2 System Reference 23 24 System RAM User RAM EPROM EEPROM Flash N A NEW NORM NOTCH NURB OFFSET PASSWORD PAUSE PBOOT PERIOD PGAIN PLC PLS PPU PROG PROGRAM PROM RES RESUME RETURN ROTARY ROTATE ROV lt gt lt gt lt RUN SAMP SCALE SET SINE SPLINE SRC gt lt gt lt gt lt gt lt gt lt STEP STP SYNC SYS TANG TARC TLM TMOV TOV
124. VEL are optional in the above command and if omitted the previous value is used Chapter 3 Command Reference 253 NURB Non Uniform Rational B Spline Interpolation continued The NURB curve is defined using these variables R Rank N Degree R 1 P Control point W Weight of each control point number of W number of P K knot number of knots number of P R u NURB parameter Rank Rank is used to define how many control points are used to generate an individual segment within a NURBS curved line The following illustration uses a NURB RANK value of Rank 3 degree2 There are two segments that generate the NURBS curved line using four 4 control points Control Point 2 d Control Point 4 mum M 7 x gt ES Segment Generated by Control Points 2 thru 4 Segment Generated by K Control Points 1 thru 3 i j e N P 4 Control Point 1 Control Point 3 Weight The default value is 1 and the keyword W is used to define the weight of a control point Increasing the weight of a control point will result in increasing the effect of control point on the NURB curve and vice versa Knot Keyword K is used to define the knots of NURB curve Number of knots lt Number of Control Points NURB Rank The first and last R knots where R is the rank must specified as duplicated values In other words the first R knots should be zero and the last R knots should have the same
125. X as follows ATTACH AXISO ENC2 DACO ADCO The HSINT command starts an incremental HSINT sequence with a rising primary external capture input a total move distance of 100000 units a move after capture of 50000 units a capture window with a width 20000 units starting 10000 units into the move and monitoring input 9 for an external abort signal Usage example 100 HSINT X 2 100000 50000 20000 10000 9 Usage example2 version 1 18 00 100 HSINT X 2 100000 50000 20000 10000 9 CAPO HSINT with stepper version 1 18 06 Here is the procedure that needs to be followed for using HSINT command with stepper e Attach the axis with encoder feedback and stepper output e Set the secondary axis flag Encoder Bypass Servo Lopp e The stepper and encoder should have one to one ratio Usage example ATTACH AXISO ENCO STEPPERO NONE SET 2327 REM Encoder Bypass Servo Loop INT Response Period version 1 18 04 When the hardware capture occurs and the second move is started immediately then there may be a small glitch in the motion since there is a finite time required to load the second incremental move Master parameter INT Response Period is added to avoid this scenario This does not try to start the second move immediately Rather the current move is extrapolated while the second move is loaded into the buffer Then after the INT Response Period the moves are switched atomically and there is no
126. Y 10000 350 STP 20000 360 X 10000 Y 0 370 RETURN 304 Acroloop Motion Controller User s Guide Part SINE Sinusoidal move continued Circular interpolation Usage example This example generates a pie shaped path in the first quadrant Y X Figure 3 12 Circular interpolation example 10 XO YO 20 X10000 YO 30 SINE X 0 90 90 10000 SINE Y 10000 0 90 10000 40 YO Chapter 3 Command Reference 305 SINE Sinusoidal move continued Spiral interpolation The sinusoidal interpolation can be extended to draw spiral shapes by specifying the start and end amplitude of the sine wave Which will become the start and end radius of the spiral The secondary master flag Spiral Mode should be set to activate this spiral interpolation SINE axis target phase sweep start amplitude end amplitude Usage example SET 2072 REM master 0 secondary flag spiral mode SINE X 0 0 900 1000 5000 SINE Y 6000 270 900 1000 5000 This example generates a spiral with a start radius of 1000 end radius of 5000 sweep of 900 degrees and a target of 0 6000 6000 4000 m tll 2000 ELE nr PEDIS EM ERE EM EE 4000 4000 2000 0 2000 4000 6000 Figure 3 13 Spiral interpolation example 306 Acroloop Motion Controller User s Guide Part SPLINE Version 1 18 04 and Up Cubic Spline Interpolation Format SPLINE command Group Interpolation See Also NURB TMOV
127. adding an incremental move to the geared axis by a magnitude of Gear Slip value A gt Source Counts gt Time A gt Gear Axis with Acc Ramp gt Time Acroloop Motion Controller User s Guide Part Set gearing deceleration Format GEAR DEC axis decel axis decel Group Setpoint Control Units output units input unit second See also GEAR HDW CAM BSC BKL JOG This command sets the rate at which the gear ratio will change when the target gear ratio is lower than the current ratio This will occur both when gearing is turned off and when a lower gear ratio is set with the GEAR RATIO command Setting gearing deceleration to 0 0 default or setting the gear lock flag will cause an immediate lock Issuing a GEAR DEC command to an axis without an argument will display the current setting for that axis The following example sets the X axis gearing deceleration to 5 0 Usage example GEAR DEC X5 Chapter 3 Command Reference 175 Turn electronic gearing on Format GEAR ON axis offset axis offset Group Setpoint Control Units output units See also GEAR HDW CAM BSC BKL JOG This command enables electronic gearing for an axis If the optional offset parameter is left out it is ignored Otherwise the offset is preloaded to the given value The difference between the old offset and the new offset will show u
128. ag command results for the ACR1200 board ACR1200 Board DIAG Command Definitions The following will be displayed when invoking the DIAG command on an ACR1500 Board EXT PASS ISO PASS VDD PASS VEE PASS BCL PASS BCF PASS ENC PASS STP PASS Where EXT Isolated external voltage provided for the optoisolation circuitry on the ACR8010 Motherboard PASS External voltage present FAIL No external voltage present ISO On board isolated 5VDC voltage provided for the optoisolation circuitry on the ACR8010 Motherboard The isolated 5VDC is generated from the isolated external supplied voltage PASS On board isolated 5VDC voltage present FAIL No voltage present VDD 12VDC supply voltage PASS Voltage present FAIL gt No voltage present VEE 12VDC supply voltage PASS Voltage present FAIL No voltage present Chapter 3 Command Reference 117 DIAG Display system diagnostics continued 118 ACR1200 Board DIAG Command Definitions continued BCL BCF ENC STP 1000mAH Lithium Battery BT1 voltage low indicator This is a warning indicator that battery voltage is approaching minimum requirements for SRAM back up Minimum SRAM data retention voltage is 2 0VDC BT1 should be replaced AMCS P N PS006 Panasonic P N CR2477N PASS 1 gt 2 5VDC FAIL BT1 is between 2 3 and 2 5 VDC when displays PASS 1000maH Lithium Battery BT1 voltage fail indicator This is a warning indicator that battery vo
129. age example LRUN Chapter 3 Command Reference 239 MASK Version 1 16 06 amp Up Safe bit masking Format MASK parameter nandmask ormask Group Logic Function See also CLR INH BIT This command sets and clears multiple bits in a parameter and prevents the parameter from being corrupted by another program doing the same thing The nandmask is used to clear bits and the ormask is used to set bits The command replaces the following typical parametric expression parameter parameter AND NOT nandmask OR ormask The following example clears out the lower 8 bits of P4097 using 255 FF hex and replaces them with 85 55 hex Usage example MASK 4097 255 85 240 Acroloop Motion Controller User s Guide Part MASTER Direct master access Format MASTER index command data Group Global Objects See also ENC DAC AXIS This command allows direct access to a master without having to be at the required program level The master does not have to be attached to a program The command argument can be any command from the velocity profile group The following example sets the MASTER 2 velocity to 1000 and MASTER 4 feedrate override to 75 percent Usage example MASTER2 VEL 1000 MASTER4 FOV 0 75 Chapter 3 Command Reference 241 MAXVEL Version 1 18 04 amp Up Axis Velocity Limit Format MAXVEL axis value Group Axis Limits Units Units second See also TMOV
130. age of a given axis is not being torque limited the appropriate flag is set Otherwise the flag is cleared For masters the flag is set if none of its slaves are being torque limited The limits set by the TLM command cause the output of the servo loop to be clipped at the given values See the ITB command for non clipping torque monitoring Issuing the ITB command to an axis without an argument displays the current positive and negative limits for that axis Issuing the command with a single argument sets the positive limit to value and the negative limit to minus value Issuing the command with two arguments sets the positive limit to high and the negative limit to low The default values are 10 0 volts for all axes The following is a table of not torque limit flags 4 NCC HN DN NN pr _ EEN HEN 2 Table 3 15 torque limit flags Usage example This example sets the torque limit to 1 5 volts for both X and Y axes TLM X1 5 Y1 5 Chapter 3 Command Reference 325 TMOV Version 1 18 01 amp Up Time Based Move Format TMOV time in seconds Group Units Velocity Profile Seconds See also TMOV ON TMOV OFF TOV SYNC Note 326 This commands sets the time in seconds in which the moves will be completed Issuing a TMOV command without an argument will display the current value This command automatically calculates the new master profile parameters to do the moves in the specifi
131. ain Set integral anti windup limit PV loop feedforward gain PV loop integral gain PV loop proportional gain Setup lopass filter Setup notch filter Set proportional gain Chapter 3 Command Reference 35 Command Groups continued Setpoint Control BKL BSC CAM GEAR HDW JOG LOCK UNLOCK Transformation FLZ OFFSET ROTATE SCALE INVK Velocity Profile ACC DEC F FOV FVEL IVEL JRK LOOK MBUF ROV SRC STP SYNC TMOV TOV VECDEF VECTOR VEL Interpolation CIRCCW CIRCW INT MOV NURB SINE SPLINE TANG TARC 36 Set backlash compensation Ballscrew compensation Electronic cam Electronic gearing Handwheel Single axis velocity profile Lock gantry axis Unlock gantry axis Relative program path shift Absolute program path shift Rotate a programmed path Scale a programmed path Inverse Kinematics Set acceleration ramp Set deceleration ramp Set velocity in units minute Set feedrate override Set final velocity Set initial velocity Set jerk parameter scurve Look Ahead mode Multiple move buffer mode Set rapid feedrate override Set external timebase Set stop ramp Synchronization mode Set time based move Time Override Define automatic vector Set manual vector Set target velocity for a move Counter clockwise circular move Clockwise circular move Interruptible move Define a linear move NURBs interpolation mode Sinusoidal move Spline interploation mode Tangential move
132. ait state mode for the ACR8000 The device must be 85nsec or faster for the ACR1200 ACR2000 ACR8010 Recommended device ATMEL P N AT27C4096 85JC The following example dumps the EPROM image for U10 on the ACR8000 daughterboard U8 on the ACR1200 U18 on the ACR2000 or U13 on the ACR8010 Usage example PROM 0 Chapter 3 Command Reference 279 Software Ratchet Format RATCH index command data Group Global Objects See also SRC JOG GEAR CAM This command is used along with a second command to setup software ratchets The ratchet index is a number from 0 to 7 Software ratchets are sources that can ignore negate or buffer both positive and negative pulses When a ratchet is set up for buffering pulses in the buffering direction are added to an internal count instead of causing the ratchet output to change Pulses in the normal direction are first used to unbuffer previously buffered pulses When there are no more pulses to unbuffer the ratchet tracks normally The following is a list of valid ratchet command combinations RATCH SRC Define ratchet source RATCH MODE Set ratchet mode 280 Acroloop Motion Controller User s Guide Part Define ratchet source Format RATCH index SRC sourcedef Group Global Objects Units none See also SRC This command sets the input source for a ratchet The default ratchet source is NONE See the SRC command for the definition of the sourcedef
133. al ballscrews Ballscrew commands are identical to cam commands Both ballscrews and cams can be active at the same time each with different settings and offset tables The following is a list of valid ballscrew command combinations See the corresponding cam command description for details BSC DIM Allocate ballscrew segments BSC SEG Define ballscrew segment BSC SRC Redefine ballscrew source BSC ON Enable ballscrew output BSC OFF Disable ballscrew output BSC SCALE Set ballscrew output scaling BSC OFFSET Set ballscrew output offset BSC FLZ Set ballscrew input offset BSC SHIFT Set incremental ballscrew shift BSC RES Transfer ballscrew offset The main difference between ballscrew and electronic cam is that the default source for a ballscrew points to the primary setpoint therefore the BSC SRC command is normally not required The primary setpoint is used so that the ballscrew offset is not fed into the calculation of the ballscrew index causing an unstable condition Note The primary setpoint is the summation of the current position and the total cam gear and jog offsets The secondary setpoint is the summation of the primary setpoint and the total ballscrew and backlash offsets The secondary setpoint is the one that is actually used by the servo loop Acroloop Motion Controller User s Guide BSC Ballscrew compensation continued Segment 2000 Figure 3 5 Sample ballscrew table The fo
134. alue axis value Group Servo Control Units volts pulses second See also ATTACH AXIS This sets the velocity feedback gain for an axis Issuing an FBVEL command to an axis without an argument will display the current setting for that axis The default velocity feedback gain is 0 0 for all axes The velocity feedback gain is multiplied by the velocity derivative of the velocity feedback source attached to the axis with the ATTACH AXIS command This value is then subtracted from the control signal before it enters the digital filters The result is a software tachometer based on encoder or analog signal input A typical use for this would be a dual feedback loop where an encoder on the load is used for the position feedback and an encoder on the motor shaft is used to dampen velocity response The following example sets X axis velocity feedback gain to 0 0001 volts pulses second Usage example FBVEL X0 0001 Chapter 3 Command Reference 145 Set feedforward acceleration Format FFACC axis value axis value Group Servo Control Units volts pulses second See also FFVEL PGAIN IGAIN DGAIN PPU This sets the acceleration feedforward for an axis Issuing an FFACC command to an axis without an argument will display the current setting for that axis The default acceleration feedforward gain is 0 0 for all axes The correct value can be determined using the following for
135. an axis to the current master The slave is an internal slot in the master that the axis is attached to The name is a one to four character alpha string An error will be generated if another axis is already attached to the slave or if the given axis is attached elsewhere Usage example This example attaches axes 3 and 4 to the current master as X and Y ATTACH SLAVEO AXIS3 X ATTACH SLAVEl1 AXISA Y 58 Acroloop Motion Controller User s Guide Part ATTACH AXIS Attach axis to signal and feedback Format ATTACH AXIS axis position signal velocity Group Operating System Units none See also ATTACH CONFIG FBVEL This command defines the attachment of position feedback and signal output for a given axis If the ATTACH AXIS command is issued without the optional arguments the current attachments for all axes are displayed The default position attachment is ENC n where n is equal to the index of the axis The following are valid position feedback attachments ENC encoder Quadrature encoder feedback ADC adc Analog position feedback STEPPER stepper Open loop stepper feedback The default signal attachment is DAC n where n is equal to the index of the axis The following are valid signal output attachments DAC dac Analog voltage output STEPPER stepper Step and direction output CMT commutator Sinusoidal Trapezoidal commutation output The default velocit
136. an be seen in the Master Parameter Delta TMOV Time The SYNC and TMOV commands are computationally intensive Check the CPU load and if the background CPU time is getting close to 6090 then increase the period For example to run more than 4 masters on ACR8000 at the same time it is recommended to change the period to one millisecond There is also a limit on how short the move can be in time This limit could be between 5msec to 100msec depending on the system configuration Acroloop Motion Controller User s Guide SYNC Usage example In this example 4 masters are used Version 1 18 01 amp Up Synchronization of Masters continued In the group MasterO Master1 Master2 Master3 are synced together Each master makes a pattern of eight moves For convenience sake 1st move is at line 10 2nd move at line 20 3rd move at line 30 and So on for each master PROGO ATTACH MASTERO ATTACH SLAVEO AXISO x TMOV ON 2 ACC 1000 DEC 500 STP O 3 VEL 300 10 x 200 20 200 30 200 40 200 50 x 200 60 200 70 X 200 75 STP1000 80 x 200 100 GOTO 2 PROG2 ATTACH MASTER2 ATTACH SLAVE2 AXIS2 2 TMOV 1 TMOV ON 2 ACC 0 STP 0 VEL 300 10 2 300 20 2 300 27 ACC 1000 STP 1000 IVEL 1 30 2 20 35 STP 0 40 2 200 45 IVEL 0 STP 1000 50 2 200 55 0 STP 0 60 2 100 65 IVEL 1 ACC 1000 70 2 200 75 IVEL 0 STP 1000 80 2 200 100 GOTO 2 Chapter 3 Command Reference
137. and selects a source for the given sample channel Sample channels are numbered 0 through 7 The source parameter can be either a system parameter from Appendix B or any user defined parameter When sampling the channel will transfer information from the source into the array set by the SAMP BASE command The source and base should both be of the same type since no data conversion is done during the transfer The following example sets SAMP 0 source to AXIS 0 actual position P12290 and SAMP 1 source to AXIS 0 output signal P12319 Usage example SAMPO SRC P12290 SAMP1 SRC P12319 SAMP BASE Set sample base Format1 SAMP channel BASE LA index Format2 SAMP channel BASE SA index Group Global Objects See also SAMP AXIS ENC DAC PLS This command selects a storage array base for the given sample channel Sample channels are numbered 0 through 7 The parameter can either a 32 bit long integer array LA or a 32 bit floating point array SA When sampling the channel will transfer information into this array from the source set by the SAMP SRC command The source and base should both be of the same type since no data conversion is done during the transfer The following example ties sample channel 0 to the long integer array LAO and then ties channel 1 to the 32 bit floating point array SAO Usage example 298 SAMPO BASI SAMP1 BASI LAO SAO Acroloop Motion Controller User s Guide Part
138. are three communication channels or streams available on the ACR8020 that can be simultaneously open to send and receive data They are as follows 1 Serial RS232 RS422 2 COM2 Serial RS232 RS422 3 DPCB PC PCI bus dual port circular buffer All of the above channels can be operated simultaneously and attached to various programs Programs can be running while others are being edited All of the channels wake up on power up when seeing data Additionally the serial channels have automatic baud detection that is triggered by receiving one or two carriage returns ASCII 13 after power up Chapter 2 System Reference 9 Communication Channels 10 The user has the option of communicating with the ACR2000 ACR8000 ACR8010 through either the PC Bus or RS 232 RS 422 serial ports The ACR1200 user can communicate through RS 232 RS 422 serial ports only The ACR1500 user can communicate through the PC Bus only The ACR2000 requires the optional ACRCOMM module for serial communication There are three communication channels or streams available that can be simultaneously open to send and receive data They are as follows 1 COM1 Serial RS232 RS422 Not available on ACR1500 2 COM2 Serial RS232 RS422 Not available on the ACR1500 3 FIFO bus port access Not available on the ACR1200 Communication Buffers As the commands are received by the boards they are stored in an ASCII stream
139. arison This operator returns 1 if the value of expression is greater than or equal to expression2 otherwise it returns O Usage example PRINT 1 gt PRINT 1 gt PRINT 1 gt 0 1 2 Example output e 1 0 Chapter 4 Expression Reference 351 ACOS Arc cosine Format ACOS expression Group Trigonometric See also SIN COS TAN COT ASIN ATAN ACOT This function returns the arc cosine of the expression ACOSH Hyperbolic arc cosine Format ACOSH expression Group Hyperbolic See also SINH COSH TANH COTH ASINH ATANH ACOTH This function returns the hyperbolic arc cosine of the expression 352 Acroloop Motion Controller User s Guide Part Arc cotangent Format ACOT expression Group Trigonometric See also SIN COS TAN COT ASIN ACOS ATAN This function returns the arc cotangent of the expression ACOTH Hyperbolic arc cotangent Format ACOTH expression Group Hyperbolic See also SINH COSH TANH COTH ASINH ACOSH ATANH This function returns the hyperbolic arc cotangent of the expression Chapter 4 Expression Reference 353 Logical AND Format expression AND expression2 Group Logical See also NAND OR NOR XOR XNOR NOT BIT This operator returns the logical AND of the two expressions Bits in the result will be set if the corresponding expression bits are both set Usage example PRINT 0 AND 0 PRINT 0 AND 1 PRINT
140. at CAM SHIFT axis offset axis offset Group Setpoint Control Units units See also CAM BKL BSC GEAR HDW JOG This command sets the incremental cam shift The first entry of one cam segment is normally equal to the last entry of the previous segment In cases where this is not true the cam is considered to be incremental The starting shift for all cams is 0 0 Issuing a CAM SHIFT with no argument will display the current reading Whenever an incremental cam crosses a segment boundary the difference between the two entries is used to adjust the cam shift The cam shift is added to the interpolated offset to generate the actual cam offset If the total of all segment boundary shifts is not equal to zero the overall pattern will be offset by that amount each cycle Crossing cam segment boundaries backwards will also adjust the cam shift The following example clears the X axis cam shift Usage example 78 CAM SHIFT Acroloop Motion Controller User s Guide Transfer cam offset Format CAM RES axis offset axis offset Group Setpoint Control Units units See also CAM BKL BSC GEAR HDW JOG This command either clears or preloads the cam offset of a given axis and adds the difference to the current position This command will also clear out any cam shift that may have been built up by an incremental cam The default offset argument is zero The current posit
141. ate 09 Look ahead mode is turned off Format LOOK OFF Group Velocity Profile The LOOK OFF command is used to turn off the lookahead mode for a master Usage example LOOK OFF 234 Acroloop Motion Controller User s Guide Part LOOK MODE Version 1 18 06 Update 09 Set look ahead mode Format LOOK Mode number Group Velocity Profile The default mode is 0 The mode 0 will work with any number of dimensions whereas mode 1 is only valid up to 3 dimensions e 0 It tries to follow the user set velocities It see the user has programmed a slower velocity at the end of so many moves and start to slow down in advance when there is not enough distance left e Mode 1 In addition to the above feature this mode also looks at the geometry of the motion path By doing so it gets the ability to foresee sharp corners and small radius arcs and automatically reduce speed according to the user set specifications Motion Path a 3 E 2 7 gt Slow down depending radious of move 3 1 2 4 E 2 FVEL Depending Upon Turn 3 6 Angle between move 5 amp 6 Vel VE Time LOOKAHEAD MODE 1 Figure 3 9b Look Ahead Mode 1 Usage example LOOK MODE 1 Chapter 3 Command Reference 235 LOOK ANG Version 1 18 06 Update 09 Set the angles for corner sharpness Format LOOK ANG min angle max angle Group Velocity Profile Unit Degrees The Look ahead m
142. ator Usage example 10 CMTO ON 100 Acroloop Motion Controller User s Guide Part Version 1 18 amp Up Set the encoder lines per revolution of motor Format CMT index PPR data Group Global Objects Unit count See also CMT ATTACH DAC ENC AXIS This command sets the encoder lines per revolution of motor This command can be issued only when the commutator is off The following example will set the encoder lines per revolution of motor to 1024 Usage example 10 CMTO PPR 1024 CMT SHIFT Version 1 18 amp Up Set the offset in pluses between the occurence of the marker and the Hall A Format CMT index SHIFT data Group Global Objects Unit count See also CMT ATTACH DAC ENC AXIS This command sets the phase between the marker and the hall A signal The following example will set the phase between the marker and the hall A signal to be 100 counts NOTE This parameter is automatically set by the CMT HSEEK command Usage example 10 CMTO SHIFT 100 Chapter 3 Command Reference 101 CONFIG Hardware configuration Format CONFIG command configlist Group Operating System See also ATTACH This command defines the base hardware installed on the boards including the encoders and the hardware modules installed in the simm sockets The command also allows onboard and expansion IO to be redirected for the ACR1200 ACR2000 ACR8000 ACR8010 boards Issuing a CONFIG command without an
143. aximum of four axis if they are all being commutated The ACR1500 and ACR2000 can do a maximum of two 2 axis This is because the ACR8010 and the ACR2000 have a maximum of eight 8 and four 4 dacs respectively The ACR1200 with a maximum of two 2 dac outputs can be configured for a single axis of commutation By default each commutator starts up in trapezoidal mode and switches over to sinusoidal mode at the occurance of the first marker pulse of the feedback encoder The user can choose to force the system to stay in the trapezoidal mode using the CMT MODE command The user can also choose to start the commutator without hall signals In Hall less start up mode the moter shaft will jerk Once the shaft is locked to a known position the commutator will switch over to sinusoidal mode The following is a list of valid CMT command combinations CMT ON Turn on commutator CMT OFF Turn off commutator CMT ENC Set source of commutation position feedback and hall signal CMT DAC DAC Set sources of output signals CMT MODE Set commutation mode CMT ANG Set phase difference between the two CMT output signals CMT SHIFT Set the phase offset CMT PPR Set the encoder line per revolution of the motor CMT ERPMR Set Electrical revolution per mechanical revolution or poles pair CMT MAX RPM Set maximum speed CMT MAX AMP Set maximum peak current CMT HSEEK CAP Set up parameter ERPMR and SHIFT automat
144. ay name is the name of the longint array where the data points are to be stored An error will occur if the cam has not been allocated with the CAM DIM command A cam can be composed of more than one segment with each segment having different distances between table entries This allows some parts of the table to be defined coarsely and others to be defined in more detail The following internal formulas are modified by the CAM SEG information distance between entries segment length number of table entries 1 total length of the cam sum of segment lengths Note that this information can be altered while the cam is enabled allowing the replacement of segments or the changing segment lengths on the fly The following example defines the segment 1 of the X axis cam as being 10000 units long and pointing to longint array LAO for its data Usage example CAM SEG X 1 10000 LA0 Issuing just CAM SEG command will display cam segment data Usage example POO gt CAM SEG X Seg 0 0 100 500 500 Seg 1 500 1500 2000 3000 Seg 2 3000 2500 1000 500 Seg 3 500 500 100 0 Chapter 3 Command Reference 73 Redefine cam source Format CAM SRC axis sourcedef axis sourcedef Group Setpoint Control Units none See also SRC This command specifies the source for the input of a cam See the SRC command for the definition of the sourcedef argument This command sets a pointer to a m
145. ber of 1 0 input units This number is multiplied by the ADC GAIN setting and then the ADC OFFSET value is added The result is stored in the ADC input parameter The first example sets the gain on ADC 2 to 9 985 volts full input unit The second example will show 4095 full scale input Usage example ADC 2 GAIN 9 985 ADC 2 GAIN 4095 Usage example ACR8020 only amp version 1 18 07 amp Up ADC 12 GAIN 5 ADC OFFSET Set analog input offset Format ADC index OFFSET offset Group Global Objects Units volts See also ADC DAC ENC AXIS This command sets the software offset for analog conversion Issuing an ADC OFFSET command with no argument will display the current setting The default ADC offset value is 0 0 volts When ADC updating is enabled the readings from the analog input module are internally scaled to generate a base number of 1 0 input units This number is multiplied by the ADC GAIN setting and then the ADC OFFSET value is added The result is stored in the ADC input parameter The following example sets the offset on ADC 2 to 0 012 volts Usage example ADC 2 OFFSET 0 012 Usage example ACR8020 only amp version 1 18 07 amp Up ADC 12 OFFSET 0 05 Chapter 3 Command Reference 51 Enable ADC update Format ADC ON Group Global Objects Units none See also ADC DAC ENC AXIS This command enables the update of the analog input module Note that this command co
146. ches the provided checksum and flag 5657 is set 12 Type FIRMWARE BACKUP to backup firmware Do not power down or perform any other functions until this operation is completed 13 Type FIRMWARE CHECKSUM and verify that Sysflash1 checksum and Sysflash1 checksum are identical flag 5658 is cleared and flag 5660 is set PONS Chapter 3 Command Reference 151 FIRMWARE BACKUP Version 1 18 06 update 14 amp up Firmware backup Acr8020 only Format Firmware backup Group Nonvolatile This command copies firmware code from Sysflash1 to Sysflash2 if the Sysflash1 code is valid Do not power down or perform any other functions until this operation is completed FIRMWARE CHECKSUM Version 1 18 06 update14 amp up Calculate firmware checksum Acr8020 only Format Firmware checksum Group Nonvolatile This command calculates firmware checksum All the firmware related flags and parameters are not valid until this operation is completed 152 Acroloop Motion Controller User s Guide Part FFVEL Set feedforward velocity Format FFVEL axis value axis value Group Servo Control Units volts pulses second See also FFACC PGAIN IGAIN DGAIN PPU This sets the velocity feedforward for an axis Issuing an FFVEL command to an axis without an argument will display the current setting for that axis The default velocity feedforward gain is 0 0 for all axes The correct value can be determined using t
147. clearing of register information Added recommended foreground background timing information Clarified rapid feedrate override description to include move type rapid move Corrected spelling error CONTENTS 66 PER Da ee yea durs 68 CHAPTER 1 HARDWARETNSTAEEATIONS 3 ETE EA poe 73 Chapter Overview ccccccecececcccecececcccececeuenes 5 SE EEN 74 RES 75 2 S 76 SYSTEM ee 7 76 Chapter E T re 9 SCALE duisi Tas 77 E E E 10 eun 77 Communication Levels EVERI EENET 12 FLZ nnn n0 ee ee eer eee 78 Multiple Board Communication THER 13 SHIFT TP 78 PRAET ee 14 MRNA 79 Input Modes ESE NEE Rn 15 TRG n0 eee eer er eee 80 MermoniOrganizations 16 pic 81 Variable Memory Allocation Fit as LEE 26 CIRCCW Messa asses a anas hs a rere rere eee nnn 82 27 83 ee 28 84 Digital Filters PE tbe tna tne 29 CLOSE PB 85 Position Velocity Servo Loop rr ce 30 CLR Meis unas a eee rere ee uma eter ere eee eee nen n n nn nnn 86 tit ueque deed 87 CHAPTER 3 BING 94 COMMAND REFERENCE
148. connects a normally open contact in parallel across the current logic block An error will be generated if there are no logic blocks open at that point in the PLC program The contact argument can be any bit flag The other formats indicate the output contacts of global PLC timers counters and latches Usage Example 10 LD 00 20 OR O1 30 OUT 32 410 Acroloop Motion Controller User s Guide Part Add NC contact in parallel Formats OR NOT contact OR NOT TIM timer OR counter OR NOT KR latch Description This instruction connects a normally closed contact in parallel across the current logic block An error will be generated if there are no logic blocks open at that point in the PLC program The contact argument can be any bit flag The other formats indicate the output contacts of global PLC timers counters and latches Usage Example 10 LD 00 20 OR NOT 01 30 OUT 32 Chapter 5 PLC Progromming 411 Connect blocks in series Format AND LD Description This instruction takes the two most recent logic blocks and connects them in series creating a new logic block An error will be generated if there are not at least two logic blocks open at that point in the PLC program Example Logic In this example two normally open contacts from relays 00 and 01 are connected in parallel to form a block Then a normally open contact from relay 02 and a normally closed contact from rela
149. cted A minus sign preceding the bit number selects the off state A plus sign is not required The following example will inhibit until output 32 becomes de energized Usage example 10 INH 32 Chapter 3 Command Reference 195 INPUT Receive data from a device Format INPUT device prompt string separator parameterlist Group Character See also PRINT OPEN CLOSE This command receives data from a device and places the data into the designated parameters If no device number is given device 0 is used If the device is closed was never opened the INPUT command will return an error The optional semicolon that follows the INPUT command controls the echo of characters as they are received Characters are normally echoed Placing a semicolon after the command will prevent the characters from being echoed If a prompt string is used it will be printed out to the device before the parameters are read from the device The separator after the prompt string can be either a comma or a semicolon If the separator is a semicolon the final carriage return linefeed output sequence will be suppressed Otherwise a carriage return linefeed will be output after all of the data has been read from the device The parameterlist is a list of parameters separated with commas When the data is read from the device either a comma or a carriage return will cause the current field to be registered and the next field
150. ction represents either the contact or coil of a relay on a ladder logic diagram In the description of these instructions a relay is a bit flag a contact is an instruction that monitors the state of a bit flag and a coil is an instruction that controls the state of a bit flag PLC Instructions The following is a list of instructions related to PLC programming LD LD NOT AND AND NOT OR OR NOT AND LD ORLD OUT TIM CNT KR PBOOT END Chapter 5 PLC Progromming Start block with NO contact Start block with NC contact Add NO contact in series Add NC contact in series Add NO contact in parallel Add NC contact in parallel Connect blocks in series Connect blocks in parallel Connect block to coil Connect block to timer Connect blocks to counter Connect blocks to latch Activate PLC on powerup End of PLC ladder 405 Start block with NO contact Formats LD contact LD TIM timer LD CNT counter LD KR latch Description This instruction opens a new logic block using a normally open contact The contact argument can be any bit flag The other formats indicate the output contacts of global PLC timers counters and latches Usage Example 10 LD 00 20 oUT 32 406 Acroloop Motion Controller User s Guide Part Start block with NC contact Formats LD NOT contact LD NOT TIM timer LD NOT CNT counter LD NOT KR latch Description This instruction opens a new logic block using a
151. d Users Guide AMCS P N PM08120 Version Change From Version 1 17 05 Dated 12 5 97 To Version 1 17 07 Dated 5 21 98 The following changes have been incorporated into Users Guide Version 1 17 07 and above 52 53 54 55 56 57 58 59 60 61 62 63 64 65 13 System Reference Multiple Board Communication Page 18 System Reference Memory Organization Page 25 System Reference Memory Organization Page 65 Command Reference BRESET Command Page 84 Command Reference CLEAR Command Page 107 Command Reference CPU Command Page 125 Command Reference DIM Command Page 154 Command Reference FLASH Command Page 160 Command Reference FOV Command Page 186 Command Reference HSINT Command Page 248 Command Reference MSEEK Command Page 264 Command Reference PERIOD Command Page 291 Command Reference ROV Command Page 345 Expression Groups Corrected usage example Corrected expanded memory figure Added FLASH IMAGE command reference Added ACR2000 ACR8000 ACR8010 command information Corrected spelling Added period command reference Added minimum stream buffer size information Added Flash Image command and Flash Bypass Mode information Clarified feedrate override description to include move type feed move Clarified mode definition location information Clarified mode definition location information Added recommended
152. d Request Cycle Start Request to one of the master in sync group will make all the masters in sync group to stop start with their respective stop acceleration ramps Usage example SYNC ON MASTERO MASTERI1 SYNC MDI Version 1 18 01 amp Up Synchronized moves from immediate mode Format SYNC MDI This command is used to tell the card that the moves will be issued manually from the immediate mode and not from program i e PROGO through PROG7 This command should also be used when sending binary movers This command will set the Secondary Master Flag Sync Manual of all the masters in sync In this mode the masters start their sync moves as soon as all the masters in sync are loaded with their respective moves Usage example SYNC MDI Chapter 3 Command Reference 317 Version 1 18 01 amp Up Synchronized moves from program mode Format SYNC PROG Issuing this command tells the board that the sync moves will be coming from the programs This is the default for the sync mode This command will clear the Secondary Master Flag Sync Manual Usage example SYNC PROG Program example It is assumed that two masters and axes are attached and are in sync mode prior to issuing the following commands Sequence of Comments Commands PXX SYNC MDI Issued once to tell that the moves will be issued from immediate mode P00 X 100 Loads the X axis move P01 Y 200
153. d position for X axis ysweep theta2 theta1 yphase theta1 yamplitude radius ytarget end position for Y axis Where theta1 start angle of arc theta2 end angle of arc radius radius of the arc xcenter xtarget radius cos theta2 xstart xcenter radius cos theta1 ycenter ytarget radius sin theta2 ystart ycenter radius sin theta1 An arc is always based on the given target point The start point of the arc is derived from the above calculations If the current position is not equal to the calculated start point the arc must be proceeded with a move to xstart ystart or the axes will try to jump immediately to that point Chapter 3 Command Reference 303 SINE Sinusoidal move continued Sinusoidal mode bit If the sinusoidal mode bit is set on an axis linear moves will be converted into SINE commands with the following parameters target linear move target phase 270 for positive moves 90 for negative moves Sweep 180 degrees amplitude 1 2 linear move distance This is better illustrated in the following example where BIT 812 is the sinusoidal mode bit for the Y axis normal mode sinusoidal mode Figure 3 11 Sinusoidal mode example 100 VECDEF X1 YO 110 VEL 10000 120 ACC 20000 DEC 20000 210 CLR 812 GOSUB 300 220 SET 812 GOSUB 300 220 END 300 STP 0 310 X 10000 0 320 X 10000 Y 10000 330 X 10000 Y 0 340 X 10000
154. d using the DIM command Since there is no default for the PLS array pointer one must be defined before the PLS ON command is issued The following example attaches PLS 4 to the LA2 array Usage example PLS4 BASI PLS RES E LA2 Reset or preload internal counter Format PLS index RES offset Group Global Objects Units input counts See also PLS ADC DAC ENC AXIS This command resets or preloads the PLS internal input counter If the offset argument is left out the counter is set to zero The internal counter is only used if the PLS is set to rotary oper ation by the PLS ROTARY command In a linear PLS the internal input count is always equal to the source The following example resets the internal counter on PLS 7 to 1000 counts Usage example PLS7 RES 1000 Chapter 3 Command Reference 271 PLS Set PLS rotary length Format PLS index ROTARY length Group Global Objects Units input counts See also PLS ADC DAC ENC AXIS This command sets the PLS rotary length Issuing a PLS ROTARY command with no argument will display the current setting The default rotary length is 0 counts If the rotary length is zero the PLS is linear and the output will be zeroed if a table index is generated that lies outside the boundaries of the PLS array The internal input count is always equal to the current value of the source parameter when a PLS is linear If the rotary length is no
155. during the summation of the secondary setpoint This compensation is added in one servo update therefore a large BKL offset will result in the motor jerking a little but the motion at the load should be smooth For the same reason this feature might not be usable in a stepper application if the stepper translator cannot handle pulses too close together Issuing a BKL command to an axis without an argument will display the current setting for that axis The default backlash is 0 0 for all axes Primary Setpoint Backlash l l Offset Secondary 7 ed Setpoint 2 Figure 3 4 Backlash compensation Note The primary setpoint is the summation of the current position and the total cam gear and jog offsets The secondary setpoint is the summation of the primary setpoint and the total ballscrew and backlash offsets The secondary setpoint is the one that is actually used by the servo loop Usage example 62 This example sets backlash compensation for the X axis to 0 0025 units BKL X0 0025 Acroloop Motion Controller User s Guide Part BLK Turn on block mode Format BLK PROG number ALL Group Program Control See also AUT STEP This command turns on block mode for the currently selected program by setting the block control bit If there is no master attached the block mode bit is set as soon as the block control bit is detected Otherwise the program will feedhold and then set the block
156. e This is a coordinated move so all axes finish their respective moves exactly at the same time X2 SINE Y 0 90 90 100 A coordinated move with the X axis doing linear interpolation and the Y axis doing sinudoidal interpolation Chapter 3 Command Reference 247 Marker seek operation Format MSEEK axis incmove mode capture register axis incmove mode Group capture register Feedback Control See also INTCAP This command initiates a marker seek operation A master can only control one MSEEK at a time If multiple axes are indicated they will execute in the order that they appear NOTE Refer to the mode parameter and hardware capture register information in the INTCAP command section The mode parameter and hardware capture register for the MSEEK is the same as those used in the INTCAP command A marker seek operation is as follows 1 Start an incremental move Start looking for marker 2 When marker is located decelerate to a stop 3 Reverse direction and move back to where marker was located 4 Reset encoder to zero and terminate MSEEK mode If the incremental move ends without the marker being located the corresponding capture complete flag will not be set Typically the incremental move should be large enough to guarantee a complete revolution at least 1 5 revolutions are suggested NOTE The incremental move is specified in units When an MSEEK command is performed
157. e case latency error could be up to one servo period Usage example REM Gear Source is the current position of axisO0 GEAR SRC Y P12288 REM ACR8010 REM Mode Primary Rising External INP 24 Cap Register 0 GEAR ON Y TRGP 2 0 X 90 INH 809 REM wait for capture complete GEAR OFF Y GEAR OFF TRG Version 1 18 04 Gear off by external source trigger Format GEAR OFF axis TRG mode capture register OFFSET value Group Setpoint Control This command is not available on the ACR8000 This command arms the GEAR to stop when an externally sourced trigger occurs The latency error is 1 microsecond The mode parameter and hardware capture register information for the GEAR ON TRG is the same as those used in the INTCAP command The offset is the number of pulses from the trigger point to where the gear will be turned off It is stored in the axis parameter Gear Trigger Off Offset The offset should be a positive number if the gear source is moving in the positive direction and vice versa The default offset value is zero which will immediately turn off the gear Usage example GEAR SRC Y ENCO REM Mode Primary Rising Marker Capture Register 1 GEAR OFF Y TRG 0 1 Chapter 3 Command Reference 179 Version 1 18 06 Update 09 Gear off by external trigger Format GEAR OFF axis TRG mode capture register OFFSET value Group Setpoint Control This command is not avai
158. e current master to 75 of their programmed values Usage example ROV 0 75 Chapter 3 Command Reference 291 RUN Run a stored program Format1 RUN Format2 RUN PROG number line PLC number ALL Group Program Control See also HALT LRUN LISTEN This command will run the current program and return to the command prompt The RUN command cannot be issued from inside a program Issuing a RUN command with the optional line argument will start program execution at the given line number The optional RUN formats can be issued from anywhere including programs The RUN PROG and RUN PLC commands will run the corresponding user or PLC program The RUN ALL command will run all user and PLC programs Normally when a program is run the communication channel returns to the command prompt allowing more commands to be entered While at the command prompt output from programs including error reporting is shut down to prevent mixing of command input and program output During initial program testing it is suggested that the LRUN command be used instead of the RUN command This will allow monitoring program output until an escape character ASCII 27 is sent to the card or the program ends Without the LRUN command the program may terminate and report an error without the error actually being reported Usage example 292 RUN Acroloop Motion Controller User s Guide Data sampling control F
159. e existing parameters using the ERASE command and then using the ESAVE command to store the new information The system parameters stored in the EEPROM using the ESAVE command include system attachments master parameters ACC DEC and STP ramps and VEL FVEL and IVEL values axis parameters gain and limit setting PPU and VECDEF values and ON OFF states encoder multipliers DAC gains and offsets and ADC gains and offsets Board configuration information is stored when the CONFIG commands are used Acroloop Motion Controller User s Guide Part Memory Organization Flash The Flash is an Electrically Erasable Programmable Read Only Memory on the ACR1200 ACR1500 ACR2000 and ACR8010 boards The Flash s functions include storing system parameters board configuration information and user programs System parameters are stored using the ESAVE command and loaded into the card using the ELOAD command System parameters can be updated in the Flash by first erasing the existing parameters using the ERASE command and then using the ESAVE command to store the new information The system parameters stored in the Flash using the ESAVE command include system attachments master parameters ACC DEC and STP ramps and VEL FVEL and IVEL values axis parameters gain and limit setting PPU and VECDEF values and ON OFF states encoder multipliers DAC gains and offsets and ADC gains and offsets Board configuration information
160. e pulses per programming unit for each axis This allows programming in inches mm degrees revolutions etc Issuing a PPU command to an axis without an argument will display the current setting for that axis The default is 1 0 for all axes The following example assumes a 1000 count encoder attached to a motor The MULT command is the used to bring this value to 4000 The PPU command of X4000 then sets the programming units to revolutions 4000 pulses rev for the rest of the program The X axis will move 200 revolutions at 20 revs second using 10 revs second ramps Usage example 10 MULT X4 20 PPU X4000 30 ACC 10 DEC 10 STP 10 40 VEL 20 50 x200 Notes Changing the PPU will effect the axis velocity profile as compared to its master So the master parameters like VEL ACC may need to be adjusted before changing the PPU of an axis e Don t use negative PPU value Chapter 3 Command Reference 275 PRINT Send data to a device Format PRINT device USING format string expressionlist Group Character I O See also INPUT OPEN CLOSE This command prints a series of expressions to a device If no device number is given device 0 is used If the device is closed or was never opened the PRINT command is ignored The LISTEN and LRUN commands will temporarily open device 0 allowing normal PRINT output to be monitored When PRINT is used in conjunction with USING the format string defines
161. ear Position GEAR SRC 9 Gear Velocity GEAR PPU GEARMIN GEARMAX Figure 3 8 Electronic gearing diagram Usage example This example will cause X axis to follow encoder 1 at a 1 4 ratio Note that the PPU values equate to 0 25 inches per revolution IPR The slave axis will move 0 25 inches for every revolution of the electronic gearing source encoder Slave is 10000 pulses per inch Tie slave s gearbox to ENC1 Master is 1000 pulses per rev Set gear ratio at 1 4 0 25 IPR Turn electronic gearing on PPU X10000 GEAR SRC 1 GEAR PPU X1000 Gl Gl EAR RATIO X 25 ON X 2 A o t Bd b d Bd GO SEE 168 Acroloop Motion Controller User s Guide Part Electronic gearing continued Usage example This example uses the GEAR ON TRG and GEAR OFF TRG commands to control when the gear is enabled NOTE GEAR ON TRG and GEAR OFF TRG are available in Firmware Version 1 18 04 amp Up ATTACH MASTERO ATTACH SLAVEO AXISO X ATTACH SLAVE1 AXIS1 Y GEAR SRC YO GEAR RATIO Y1 X 200000 G EAR ON Y TRG 2 0 Mode 2 Rising Primary External OFFSET 3000 Capture Register 0 gear source is ENCO Offset is positive X axis is moving in positive direction INH 2344 Wait capture register is shared by GEAR TRG ON and GEAR TRG OFF GEAR OFF Y TRG 2 0 The gear will turn off 6500 pulses
162. ear the Secondary Master Flags Master in TMOV and Master Short Time Halting the program will also clear both the flags The following example disables the time based moves Usage example TMOV OFF 328 Acroloop Motion Controller User s Guide Part TMOV VEL Version 1 18 01 amp Up Change the speed of a master in Sync mode Format TMOV VEL value of velocity Group Velocity Profile In sync mode this command can be used to change the speed However the effect will be seen after the next buffered move Using this command instead of FOV will avoid the jerk slip in time The following example sets the sync move speed to 3000 Usage example TMOV VEL 3000 Chapter 3 Command Reference 329 TOV Version 1 18 04 amp Up Time Over Velocity Format TOV value Group Velocity Profile See also TMOV ON TMOV OFF SYNC This command is used for immediately changing the speed of the masters in motion For example changing the TOV from 1 to 2 will make the moves happen in half the time or double the speed Issuing this command will affect the velocity and acceleration as follows New VEL VEL TOV New ACC ACC TOV TOV This change is not sudden and the user can tune the rate of change so that the motion profile is smooth The rate of change for each master can be adjusted by setting the Master Parameter TOV RATE default value is 2 Keep this value the same for all the masters in sync Issuing this co
163. ed this instruction should be the first instruction of a PLC program On powerup the system checks the beginning of all PLC programs for a PBOOT instruction If it finds one the run request flag for that PLC is set Usage Example 10 PBOOT 20 LD 00 30 OUT 32 426 Acroloop Motion Controller User s Guide Part End of PLC ladder Format END Description This instruction indicates the end of the current PLC ladder Although typically the last instruction in a PLC program it may also be inserted in the middle to cut off the rest of the ladder If there is no END instruction in a PLC program the PLC will execute up to and including the last instruction Usage Example 10 LD 00 20 oUT 32 30 END 40 LD 01 50 OUT 33 Chapter 5 PLC Progromming 427 This page intentionally left blank 428 Acroloop Motion Controller User s Guide Part 43 ACOS function 352 ACOSH function 352 ACOT function 353 ACOTH function 353 ADC command 44 ADCX command 53 ALM command 56 AND operator 354 ASC function 355 ASIN function 356 ASINH function 356 ATAN function 357 ATANH function 357 ATTACH command 57 AUT command 60 AXIS command 61 B BIT operator 358 BKL command 62 BLK command 63 BLM command 64 BRESET command 65 BSC command 66 CAM command 68 CEIL function 359 CHR function 360 CIRCCW command 82 CIRCW command 83 CLEAR command 84 CLOSE command
164. ed from the system level with the DIM PLC command before PLC programs can be entered Usage example PLC 2 398 Acroloop Motion Controller User s Guide Part Turn on PLC scanning Format PON Description This command initializes the PLC scanner list to include the input output clock update event any compiled PLC programs which may have been set to an idle state with the POFF command and the timer counter latch update event Running a PLC program will also cause this initialization to take place The input output clock update event is always in the PLC scanner list even if a POFF command has been issued As the name implies this event updates the optoisolated digital I O the global system clock P6916 and the clock tick flags BIT80 83 Note that the PON command must also be executed if the bit flags and parameters for timers counters or latches are to be used from normal user programs Otherwise the objects will not be updated by the control Usage example PON Chapter 5 PLC Progromming 399 Turn off PLC scanning Format POFF Description This command resets the PLC scanner list to contain only the input output clock update event Currently running PLC programs are put in an idle state and will be put back into the PLC scanner list when a PON command is executed Usage example 400 Acroloop Motion Controller User s Guide Part RUN Run PLC program Format RUN Descri
165. ed time The new parameters i e ACC DEC STP and VEL are not greater than the user specified value In other words the user can specify the boundary of the master profile and the TMOV commands will remain within this boundary If the time specified is too short to complete the move then a Secondary Master Flag bit Master Short Time is set to indicate that the ACC DEC STP and VEL limits are hit In this case the move is carried out using the limit values The following is a list of valid TMOV command combinations TMOV Set time based move time TMOV ON Activates time based move TMOV OFF Disables time based move TMOV VEL Set synchronized master speed The TMOV command only becomes active when it has been turned on by the TMOV ON command It will remain on unless the user turns it off by issuing a TMOV OFF command When using the TMOV command use the same values for ACC DEC and STP if other than zero Any combination of initial and final velocities can be used to make a move If the user enters the initial and final velocity for the move then these values will override the internal velocity profiler values However the user should not enter FVEL final velocity greater than Move Distance Move Time FOV and ROV commands issued to the master in motion will make it slip in time for the current and the next move in the buffer However the subsequent moves yet to be calculated will adjust for this time slip Instead the TM
166. el continued Usage Example The following PLC code fragment implements the ladder logic shown above Lines 100 and 110 create the first logic block Lines 120 and 130 create the second logic block Line 140 combines the blocks in parallel Line 150 connects the block to relay 32 100 LD 00 110 AND 01 120 LD 02 130 AND NOT 03 140 OR LD 150 OUT 32 Chapter 5 PLC Progromming 415 OUT Connect block to coil Format OUT coil Description This instruction connects the current logic block to the coil of a relay bit flag and closes the logic block The coil argument can be any bit flag index An error will be generated if there is not exactly one logic block open at that point in the PLC program Note that this error will not be generated in the case of multiple OUT instructions even though the current block is closed after the first OUT instruction When a PLC program is run the program is scanned to make sure that individual relay coils are not being controlled by multiple OUT instructions Duplication checks are only done within a PLC program not across multiple PLC boundaries Relay contacts can be used any number of times Usage Example 416 10 LD 00 20 oUT 32 Acroloop Motion Controller User s Guide TIM Connect block to timer Format TIM timer preload Description This instruction connects the current logic block to the given timer coil There are eight global PLC timers An
167. elocity When this velocity is reached the jog at speed bit is set The following example starts the X and Y axis jogging in the positive direction Usage example JOG FWD X Y JOG REV Jog axis backward Format JOG REV axis axis Group Setpoint Control See also JOG BKL BSC GEAR HDW CAM This command initiates a ramp to the velocity programmed with the JOG VEL command in the negative direction Both the jog direction and jog active bits are set causing the axis to target in on the negative jog velocity When this velocity is reached the jog at speed bit is set The following example starts the Z axis jogging in the negative direction Usage example JOG REV 2 Chapter 3 Command Reference 219 Stop jogging axis Format JOG OFF axis axis Group Setpoint Control See also JOG BKL BSC GEAR HDW CAM This command initiates a ramp down to zero The jog stopping bit is set causing the axis to target in on a jog velocity of zero When this target is reached the jog active bit is cleared out The following example stops jogging of the X Y and Z axes Usage example JOG OFF X Y JOG SRC Set external timebase Format JOG SRC axis sourcedef axis sourcedef Group Setpoint Control Units none See also SRC This command specifies the timebase for jogging See the SRC command for the definition of the sourcedef argument During each servo interrupt t
168. em or program prompt When a device is opened the operating system attached to that device enters an idle state allowing incoming characters to be used by a program instead of being interpreted as commands When the device is closed the device will enter its auto detect mode as if it were starting from power up Usage example CLOSE 1 Chapter 3 Command Reference 85 CLR Clear a bit flag Format CLR index Group Logic Function See also SET INH BIT This command clears the specified bit flag This flag can either be a physical output or an internal bit flag The following example will clear output 32 Usage example 10 CLR 32 86 Acroloop Motion Controller User s Guide Part Version 1 18 amp Up Commutation Format CMT index command data command data Group Global Objects See also ATTACH DAC ENC AXIS The commutation is available on ACR1200 ACR1500 ACR8010 ACR2000 and ACR8020 version 1 18 and above only Commutation is not available on the ACR8000 Board The commutator takes the output of the servo loop as its input and performs sinusoidal trapezoidal computation according to the shaft position Each commutator CMT object uses two dac outputs to generate sinusoidal or trapezoidal signals to command phased sine input type servo amplifiers Additionally the commutator may use an extra encoder input to read hall effect channels for each moter Therefore the ACR8010 can control a m
169. emory area that is used to generate an index into the cam table Cams do not have a default source assigned to them ballscrews point to the primary setpoint by default An error will occur if the cam has not been allocated with the CAM DIM command The following example sets the source of the X axis to encoder 3 and the source of the Y axis to the current position of AXIS1 note that the parameter P12544 is not enclosed in parentheses Usage example 74 CAM SRC X3 Y P12544 Acroloop Motion Controller User s Guide Reset the cam source Format CAM SRC axis RES Group Setpoint Control See also SRC This command resets the source the for the input of a cam Usually it will be used when the cam is off and the source needs to be reset to a certain value Usage example EM Reset source of X to zero EM Reset source to 100 CAM SRC X RES CAM SRC X RES 100 aw Chapter 3 Command Reference 75 Enable cam output Format CAM ON axis axis Group Setpoint Control See also CAM BKL BSC GEAR HDW JOG This command enables cam output for the designated axes An error will be returned if the cam has not been allocated with the CAM DIM command NOTE Once CAM is enabled it will stay enabled unless CAM Parameter CYCLES is set to a value other than zero The following example enables the X Y and Z axis cams Usage example CAM ON X Y Z CAM OFF D
170. emory for the moves to be buffered by the master profiler This buffer is part of the master and must be allocated inside the program to which the master is attached The CLEAR command can be used to de allocate all the memory at the program level If the program contains any line numbers that need to be downloaded then the DIM MBUF command should also be downloaded with the program line number DIM DEF comamd is used to allocated memory for defining aliases for the variables The following shows memory usage by various data and program structures LV variables 4 bytes per element 32 bit integers SV variables 4 bytes per element 32 bit floating point DV variables 8 bytes per element 64 bit floating point V variables 4 bytes 1 byte per character Chapter 3 Command Reference 127 DIM Allocate memory continued Array references 4 bytes per array reference 4 bytes LA arrays 4 bytes per element 4 bytes SA arrays 4 bytes per element 4 bytes DA arrays 8 bytes per element 4 bytes A arrays 1 byte per character Commands 4 bytes per command Parametric Statements 4 bytes per operator Long Constants Single Constants Double Constants String Constants Subroutine Calls Usage example 128 SYS CLEAR DIM PROGO 32768 DIM PROG1 10000 DIM DEF 50 PROGO 10 DIM LV50 20 DIM DA 2 30 DIM DAO 100 40 DIM 50 50 DIM v 10 80 60 DIM MBUF 30 4 bytes per constant 32 bit integer 4
171. encoder reset and multiplier setup without going through the axes Issuing these commands without the final argument will display their current settings See the corresponding base commands for descriptions The following example sets the hardware for ENC5 to 4x multiplication Usage example ENC5 MULT 4 Chapter 3 Command Reference 137 ABS Version 1 18 04 8 Up Read Yaskawa Absolute Encoder ACR8010 only Format ENC index READ ABS 01 02 Group Global Objects See also AXIS 138 This command is only available on the ACR8010 This command is used to read absolute encoder data from a Yaskawa Sigma Series Absolute Encoder io1 is the ACR8010 output used to control the SEN signal to the Yaskawa absolute encoder io2 is the ACR8010 output that is used to control the SERVO ON signal Refer to the Yaskawa Servopack User s Manual for definition of these signals The absolute encoder data consists of serial data and initial incremental pulses The serial data indicates how many turns the motor shaft has made from the reference position The initial incremental pulses are the remaining absolute position data within one revolution Before the absolute encoder is read the axis to which the absolute encoder is attached must be turned off This will prevent the axis from running away because the encoder count will be changing while the absolute data is read The correct sequence for reading the absolute enc
172. er 26 Rising Seventh External 27 Rising Eighth External 28 Falling Seventh Marker 29 Falling Eighth Marker 30 Falling Seventh External 31 Falling Eighth External 32 Rising Ninth Marker 33 Rising Tenth Marker 36 Falling Ninth Marker 37 Falling Tenth Marker Valid choices of capture registers ACR1200 1 Capture register 0 2 for encoder 0 2 Valid choices of capture registers ACR1500 ACR2000 Version 1 18 amp Up 1 Capture register 0 3 for encoder 0 3 Valid choices of capture registers ACR8010 200 1 2 Capture register 0 3 for encoder 0 3 and encoder 8 Capture register 4 7 for encoder 4 7 and encoder 9 Acroloop Motion Controller User s Guide INTCAP Encoder capture continued ACR8000 Interrupt Sources Primary Secondary Primary Secondary Marker Marker External External 0 MRK 1 INP 24 INP 25 Table 3 10a ACR8000 Hardware Capture Interrupt Sources ACR8000 Capture Complete Flags Hardware Capture Parameters Capture Hardware Axis Complete Bit Capture Flag Parameter L9 7 12292 Table 3 106 ACR8000 Hardware Capture Flags Parameters Chapter 3 Command Reference 201 INTCAP Encoder capture continued ACR2000 Interrupt Sources Capture Primary Secondary Tertiary Fourth Primary Secondary Tertiary Fourth Register Marker Marker Marker Marker External External External External 0 MRKO MRK 1 MRK 2 MRK 3 INP 12 INP 13 INP 14 INP 15 MRK 1 MRK 0 MRK 3 MRK 2
173. er for the execution of user programs High foreground percentages usually mean that the user programs are going to execute faster This command is used along with the PERIOD command to control the foreground background percentages in the system Usage example CPU Chapter 3 Command Reference 109 Analog output control Format1 DAC index GAIN Format2 DAC index OFFSET offset Group Global Objects See also AXIS ENC The DAC commands give direct access to the D A converter software adjustments Issuing these commands without the final argument will display their current settings The default GAIN is 3276 8 dac units volt and the default OFFSET is 0 0 volts Note that the output voltage is inverted in the output stage of the hardware therefore the default DAC GAIN will physically send out a negative voltage for positive settings The following example sets offset on DAC3 to 125 milivolts Usage example DAC3 OFFSET 0 125 110 Acroloop Motion Controller User s Guide Part Set deceleration ramp Format DEC rate Group Velocity Profile Units units second See also ACC STP VEL IVEL FVEL PPU The DEC command sets the master deceleration used to ramp from higher to lower speeds Issuing a DEC command with no argument will display the current setting The default deceleration ramp is 20000 units second2 The DEC command can be also be used in expressions as follows DVO
174. er s Guide Usage example TANG ON Z X Y ANG 90 X638 Y 907 CIRCCW X 1042 48 916 Y 1200 79 950 CIRCW X 1364 77 1332 Y 889 156 1180 X 500 Y 312 26 X800 Y 700 TANG OFF Turn off the tangential axis Format TANG OFF Group Interpolation Version 1 18 06 This command will turn off the three dimensional circular interpolation mode for the master Usage example PROGO gt TANG OFF Chapter 3 Command Reference 321 Version 1 18 06 3 D ARC Format command Interpolation See also MOV SINE SPLINE NURB Any three dimensional arc between 0 to 360 degree can be traced by this interpolation mode however it should be noted that an exact full circle can t be specified There is no need for clockwise or counterclockwise direction since the algorithm can automatically calculate the direction of rotation from intermediate point In case the start intermediate and end point are located on a straight line then a linear interpolation will be performed Issuing the TARC command without any argument will display ON or OFF to report if the tarc mode is active or not 322 Acroloop Motion Controller User s Guide Part 3 Dimensional Circular Interpolation Mode Format TARC ON axis axis axis Group Interpolation Version 1 18 06 This command is used to put any three of the axes attached to the master to do 3 dimensonal circular interpolation In
175. error will be generated if there is not exactly one logic block open at that point in the PLC program The optional preload argument sets the timer preload parameter when the instruction is stored in the PLC If the preload is not specified the system parameter remains unchanged When the PLC is listed the TIM instruction will reflect the current timer preload setting if it has been changed by a direct parameter setting When a timer input is turned on the timer count decrements once every millisecond until it reaches zero The timer produces an output when the count is zero When the input of a timer is turned off the count is reset to its preload value and the output turns off Timer counts and preloads are in milliseconds The timer preload is retained in battery backup memory during power down but the current timer count is not When a PLC program is run the program is scanned to make sure that the individual timers are not being controlled by multiple TIM instructions Duplication checks are only done within a PLC program not across multiple PLC boundaries Timer output contacts can be used any number of times Related Information The following table outlines parameters and bit flags related to PLC timers These can be used by normal programs to control and monitor PLC timers with or without any PLC programs running Note that if timers are to be used without PLC programs the PON command must still be executed to enable updating of
176. errupt Then an interrupt handler transfers the capture positions into the hardware capture parameters and sets the appropriate capture complete flag In firmware version 1 18 00 and above the hardware capture register can be specified If the hardware capture register is not specified then the hardware capture register index is assumed to be the same as the position feedback encoder index If an Expansion I O board is present and the CONFIG IO and CONFIG commands are used to redirect the bits the hardware capture external sources remain as the appropriate input bit hardware positions on the main boards i e If an ACR2000 and Expansion I O board are present the CONFIG IO and CONFIG commands are used to redirect the I O bits the hardware capture external sources remain as input bit positions 12 13 14 and 15 on the ACR2000 mother board Acroloop Motion Controller User s Guide INTCAP Encoder capture ACR1200 For each hardware capture register their are six different capture sources one of three markers or one of three external inputs Both the rising and falling edges can be selected After the mode is set up the next capture trigger causes the hardware to latch the encoder count of the position feedback encoder of the axis and set an interrupt Then an interrupt handler transfers the capture positions into the hardware capture parameters and sets the appropriate capture complete flag In firmware ve
177. ers with or without any PLC programs running Note that if counters are to be used without PLC programs the PON command must still be executed to enable updating of the counters Preload Count Output Clock Reset P6662 P6678 P6694 26726 26742 26756 26774 Table 5 4 counter cross reference P6710 P6711 BIT1652 BIT1653 BIT1654 Acroloop Motion Controller User s Guide CNT Connect blocks to counter continued Example Logic In this example a normally open contact from relay 00 and a normally closed contact from relay 01 are connected in series to form a block Then a normally open contact from relay 02 forms a second block These blocks are then connected to the clock and reset coils of counter 1 which is set to 5 counts To bring out the state of the counter a normally open contact from the counter is connected to the coil of relay 32 00 04 5 counts 02 RES CNT 1 Counter Clock Counter Output Counter Reset Counter Count 5 4 3 2 1 0 D 5 5 5 Figure 5 4 PLC counter example Chapter 5 PLC Progromming 421 CNT Connect blocks to counter continued Usage Example The following PLC code fragment implements the ladder logic shown above Lines 100 and 110 create the first block Line 120 creates the second block Line 130 connects the two blocks to counte
178. es the sum of the current feedback encoder counts and this parameter to calculate the index of the sinusoidal look up table Electrical cycles per mechanical revolution Hall effect signals channel This parameter should equal to FeedBackEncoder if hall less commutation mode is used This parameter applies to hall less commutation only The commutation axis is consider to be locked if the difference of two consecutive reading of the feedback encoder is less than MaxEncDelta for PhaseLockCount of consecutive servo periods This parameter applies to hall less commutation only The commutation axis is consider to be locked if the difference of two consecutive reading of the feedback encoder is less than MaxEncDelta for PhaseLockCount of consecutive servo periods Maximium following error If the following error is greater than this parameter the commutator will be turned off Hall effect signal reading Acroloop Motion Controller User s Guide CMT Commutation continued CommandsSignal SinelndexPerEncCount LookedUpPhaseA Sine LookedUpPhaseBSine CommandCurrentScale PhaseASignal PhaseBSignal PhaseA Offset PhaseBOffset PhaseAGain PhaseBGain MaxMotorRPM MaxMotorCurrent AverageVelocity LockCurrent r w r w r w r w r w r w r w Version 1 18 amp Up Output of servo loop Feedback encoder position This parameter will be reset by the marker pulse of the encoder Phase A SINE value
179. esponses i e error messages printing tasks responses from LRUN command etc from individual cards Usage Example The following example shows two cards Card Number 0 and Card Number 1 being controlled via the serial port ctrl B CR Turn all cards off ctrl A O CR Turn on Card Number 0 PROGO lt CR gt Program 0 for Card Number 0 ACC 10 lt CR gt Set ACC to 10 for Card Number 0 DEC 10 lt CR gt Set DEC to 10 for Card Number 0 VEL 2000 lt CR gt Set VEL to 2000 for Card Number 0 ctrl B O CR Turn off Card Number O0 ctrl A 1 lt CR gt Turn on Card Number 1 PROG2 lt CR gt Program 2 for Card Number 1 ACC 10 lt CR gt Set ACC to 10 for Card Number 1 DEC 10 lt CR gt Set DEC to 10 for Card Number 1 VEL 1000 Set VEL to 1000 for Card Number 1 Chapter 2 System Reference 13 System Attachments 14 The following is an overview of the objects involved in system attachment ACR8010 there are ten input channels for reading incremental encoders These are referenced as ENCO through ENCO9 On the ACR8000 there are eight input channels for reading incremental encoders These are referenced as ENCO through ENC7 On the ACR2000 and ACR1500 there are four input channels for reading incremental encoders These are referenced as ENCO through ENC3 On the ACR1200 there are three input channels for reading incremental encoders These are referenced as ENCO through ENC7 On ACR8010 ACR8000
180. et logic as needed The RUN Request and HALT Request flags cause the execution of RUN and HALT commands respectively The following table outlines bit flags related to PLC operation PLC PLC First Run Halt Number Running PLC Scan Request Request BITI536 BIT1568 BIT1600 BIT1632 BIT1664 BIT1696 BIT1728 1760 Table 5 2 operation flags 396 Acroloop Motion Controller User s Guide Part PLC Commands Overview PLC commands control the operation of PLC programs The PLC PON and POFF commands can be executed from any prompt The RUN HALT LIST and MEM commands are similar to their user program counterparts but they act slightly different when executed from the PLC prompt Command List The following is a list of commands related to PLC programming PLC Switch to PLC program PON Turn on PLC scanning POFF Turn off PLC scanning RUN Run PLC program HALT Halt PLC program LIST List PLC program MEM Show PLC memory Chapter 5 PLC Progromming 397 PLC Switch to PLC program Format PLC number Description This command switches the communications channel to the designated PLC prompt The number argument indicates which PLC and is in the range of 0 to 7 The command prompt keeps track of the current level as follows SYS gt PROG3 gt 5 PLC5 gt SYS SYS gt _ The system must be at the PLC prompt in order to run and edit PLC programs The memory for the PLC must have been dimension
181. eter is specified the speed to perform the HSEEK is equal to speedscale default speed The speedscale should be a floating point number between 0 and 1 This command can be issued only when the commutation mode is set to 1 CAUTION Unlike other CMT commands this command will cause the motor to move Note Refer to hardware capture register information in the INTCAP command section The hardware capture register for the HSEEK is the same as those used in the INTCAP command The following example will set the poles pair and shift parameter Usage example 10 CMTO HSEEK 5 CMT LOCK AMP Set hall less start up current amplitude Format CMT index LOCK AMP current Group Global Objects Unit amp See also CMT This command sets the current amplitude for hall less start up The user must set the Command Current Scale parameter to equate voltage to amps to match with the particular servo amp stage being used Default is 1 for the command scale parameter Assume the particular servo amp stage being used will pump out 2 amps for 1 volt input The following example will set the current amplitude of the hall less start up mode to 5 amp The voltage output of the dac channel is 25 volts Usage example 10 16406 2 20 CMTO LOCK 0 5 96 Acroloop Motion Controller User s Guide Part CMT LOCK COUNT Set up lock position accuracy Format CMT index LOCK COUNT num Group Global Objects See also CMT
182. etting ACC to zero disables the acceleration ramp In cases where the motor needs to speed up such as with an FOV command it will try to do so instantaneously The following figure explains the various ACC DEC STP usage SPEED gt 30 Figure 3 1 ACC DEC STP slopes The following example sets up a acceleration ramp of 10000 units per second 2 Usage example 10 ACC 10000 Chapter 3 Command Reference 43 ADC Analog Input Format ADC index command data Group Global Objects See also DAC ENC AXIS This command is used along with a second command to control the optional analog input module By default the analog input module converts eight single ended 10 volt signals using default positive inputs and treating the analog ground pin as the negative input for all channels Optionally the channels can be read as differential pairs by redirecting positive and negative input signals from any of the eight analog input pins Issuing an ADC command without an argument will display the current general setting for the ADC Issuing an ADC command to an ADC channel without an argument will display the current setting for that ADC channel The following is a list of valid ADC command combinations ADC MODE Select the firmware mode Not available on the ACR2000 board ADC MAX Set the number of ADCs 16 Bit ADC only ADC SCALE Set the physical gain of PGA 16 Bit ADC only ADC POS Select po
183. ew and backlash offsets The secondary setpoint is the one that is actually used by the servo loop 214 Acroloop Motion Controller User s Guide Part 906 Single axis velocity profile continued Related System Flags The following axis flags control and monitor jogging Jog Active r Set when jog is active Must inhibit on this bit after a jog off to check for completion of decel ramp Jog Direction r Indicates the current jog direction The bit is set when jogging in the negative direction Jog At Speed r Set when jog is active and the current jog velocity is equal to the target jog velocity Jog Stopping r Set when jog is active and jog forward and reverse bits are equal Forces target velocity to zero Jog Forward rw Set by FWD command Can also be set manually to jog forward from within PLC or user program Jog Reverse rw Set by REV command Can also be set manually to jog backward from within PLC or user program Jog Limit Check rw Activates the jog limits set with JLM command See the description of JLM for more information Jog Lockout rw Ignores jog forward and reverse flags if they would start a jog Does not cancel a jog in progress read w write Jog Flags AXIS Number REDE Jog Active Jog Direction Jog At Speed Jog Stopping Jog Forward Jog Reverse Jog Limit Check Jog Lockout Chapter 3 Command Reference 215 JOG VEL Set jog velocity Format JOG VEL axis veloc axis veloc
184. examples selects Time Interpolation Mode for all following NURB commands NURB MODE 0 Chapter 3 Command Reference 257 NURB RANK Version 1 18 04 and Up Set the order of NURB interpolation Format NURB RANK value The default NURB rank is 4 degree of 3 The valid values for NURB rank are 2 3 4 5 The user can change this value by issuing the NURB RANK command This command should not be used while the NURB profiler is in motion The following example set the NURB Rank to 3 degree of 2 Usage example NURB RANK 3 NURB END Version 1 18 04 and Up Ends NURB Interpolation Mode Format NURB END This command is used to terminate the NURB interpolation mode initiated by the NURB MODE command The NURB ending is automatically done if the NURB motion has normally come to end stop by a negative knot However if stopped abnormally like issuing incomplete or wrong data to the NURB profiler then this command must be used to terminate the NURB mode Usage example NURB END 258 Acroloop Motion Controller User s Guide Part Absolute program path shift Format OFFSET axis offset axis offset Group Transformation See also SCALE ROTATE FLZ This command will cause the programmed path to be shifted The amount of the path shift is defined by the offset data If the offset value for an axis is not specified the zero location for that axis will be equal to its current location
185. expression Chapter 4 Expression Reference 361 COT Cotangent Format ACOT expression Group Trigonometric See also SIN COS TAN ASIN ACOS ATAN ACOT This function returns the cotangent of the expression COTH Hyperbolic cotangent Format COTH expression Group Hyperbolic See also SINH COSH TANH ASINH ACOSH ATANH ACOTH This function returns the hyperbolic cotangent of the expression 362 Acroloop Motion Controller User s Guide Part FLOOR Largest integer expression Format Group See also FLOOR expression Miscellaneous CEIL ROUND TRUNC This function returns the largest integral value less than or equal to the expression The expression is rounded toward negative infinity Usage example PRINT PRINT PRINT PRINT Example output 1 1 2 2 Chapter 4 Expression Reference 363 Wait for a character Format Group See also GETCH devicenumber String KBHIT INKEY This function returns a one character string from a device If there is no character waiting to be read from the device the function will wait until one becomes available The valid range for devicenumber is 0 to 3 Each program has it s own device 0 which is used as its default device Devices 1 through 3 are board wide system resources that can be opened and used from within any program or from any system or program prompt Usage example 100 11
186. f the master move is calculated using the following formula vector distance sqrt delta n weight n where slave index number from 0 7 distance slave n is moving vector contribution of slave n n delta n weight n The master will internally move from zero to the vector distance using the current VEL ACC DEC STP and FOV settings to control its velocity profile The slaves attached to the master will start when the master starts and reach their target positions as the master finishes its move In many multi axis configurations it is not necessary nor desirable to have all the axes contributing to this calculation For example in a configuration containing three cartesian axes and a rotary axes just the cartesian axes need to be included in the vector distance Also in single master single slave setups where the master distance is always equal to the slave distance the default weight of 1 0 should be left alone For non contributing axes the vector weight should be set to zero If these axes are to be moved by themselves the automatic vector calculation must be overridden by using the VECTOR command This may also require other initialization in preparation of the independent move Acroloop Motion Controller User s Guide Part Define automatic vector continued Usage example This example makes an X Y move with A axis interpolation 10 V ECD EF X1 1 Z1 AO
187. for the ACR1500 but they are not based on the axis used to enable the hardware capture Acroloop Motion Controller User s Guide INTCAP Encoder capture continued Usage example1 This example uses the INTCAP command as defined for the ACR8000 board This example also uses the INTCAP command without defining any hardware capture register for the ACR1200 ACR1500 ACR2000 ACR8010 boards Using the INTCAP command in this way the hardware capture register index is the same as the feedback encoder index of the axis used to enable the hardware capture just like the ACR8000 INTCAP operation I E ENC2 is used as feedback therefore use Hardware Capture Register 2 Example1 assumes ENC2 as position feedback on AXISO X as follows ATTACH AXISO ENC2 DACO ADCO In the following program the INTCAP mode is enabled to use Hardware Capture Register 2 to capture encoder position of X axis since the X axis is attached to AXISO on the rising edge of external input 26 Primary External for Capture Register 2 for the ACR8000 and ACR8010 rising edge of external input 14 Primary External for Capture Register 2 for the ACR2000 and ACR1200 or the rising edge of external l O 2 Primary External for Capture Register 2 for the ACR1500 It then waits for the capture and then prints the result 10 INTCAP X2 20 INH 777 30 PRINT P12292 Chapter 3 Command Reference 207 INTCAP Encoder capture continued Usage example2 for
188. formation FLZ 158 OFFSET 259 ROTATE 290 SCALE 300 Velocity Profile Acroloop Motion Controller User s Guide 244 ROV 291 SRC 311 STP 313 SYNC 314 MDI 317 OFF 318 ON 317 PROG 318 TMOV 326 OFF 328 ON 328 VEL 329 TOV 330 VECDEF 336 VECTOR 338 VEL 339 LIMIT 340 CONFIG command 102 COS function 361 COSH function 361 COT function 362 COTH function 362 CPU command 109 D DAC command 110 DEC command 111 DEF command 112 DEFINE command 113 DETACH command 114 DGAIN command 115 DIAG command 116 DIM command 125 DIN command 129 DIP command 130 DWIDTH command 131 DWL command 132 DZL command 133 DZU command 134 E ECHO command 135 ELOAD command 136 ELSE command 191 ENC command 137 ENC RD ABS command 138 END command 140 ERASE command 141 ESAVE command 142 EXC command 143 Expressions Arithmetic Index subtraction 347 multiplication 347 exponent 347 division 347 addition 347 MOD modulus 373 Comparison lt less than 349 less or equal 351 lt gt not equal 350 equal to 349 gt greater than 350 gt greater or equal 351 Hyperbolic ACOSH 352 ACOTH 353 ASINH 356 ATANH 357 COSH 361 COTH 362 SINH 381 TANH 386 Logical lt lt shift 348 gt gt right shift 348 AND 354 BIT 358 NAND 374 NOR 375 NOT 376 OR 377 XNOR 390 XOR 391 Miscellaneous CEIL 359
189. from the middle of the given string If start is greater than the length of the string the function returns a null string If length would go beyond the end of the string the function returns only the characters from start to the end of the string Usage example PRINT MIDS ABCDEFG 2 5 Example output BCDEF 372 Acroloop Motion Controller User s Guide Part Modulus Format expression MOD expression2 Group Arithmetic This operator returns the modulus of the two expressions The modulus is the remainder after dividing expression by expression2 an integral number of times If the second expression evaluates to zero the MOD operator returns 0 0 Otherwise the modulus is calculated according to the following formula X MODY X FLOOR X Y Y Usage example PRINT 0 7 MOD 0 3 PRINT 0 7 MOD 0 3 PRINT 0 7 MOD 0 3 PRINT 0 7 MOD 0 3 Example output Chapter 4 Expression Reference 373 Logical NAND Format expression NAND expression2 Group Logical See also AND OR NOR XOR XNOR NOT BIT This operator returns the logical NAND of the two expressions Bits in the result will be set if the corresponding expression bits are not both set Usage example PRINT 0 0 PRINT 0 1 PRINT 1 0 PRINT 1 1 Example output 1 zx 1 0 374 Acroloop Motion Controller User s Guide Part Logical NOR Format expression NOR exp
190. fset minimum for the Y axis gear Usage example GEAR MIN Y 1000 Secondary Axis Flag Gear Min Version 1 18 06 Update 09 When the gear min limit is hit this flag is automatically set It self clears when gear comes back within the min limit GEAR MAX Set maximum gear offset limit Format GEAR MAX axis value axis value Group Setpoint Control Units units See also GEAR HDW CAM BSC BKL JOG This command sets the maximum gear offset limit for the given axis The maximum gear offset is defined by the offset relative to the current location of the gear source Issuing the GEAR MAX command to an axis without an argument displays the maximum limit for that axis The default is 0 0 for all axis The following example sets the offset maximum for the Y axis gear Usage example GEAR MAX Y 1000 Secondary Axis Flag Version 1 18 06 Update 09 When the gear max limit is hit this flag is automatically set It self clears when gear comes back within the max limit Chapter 3 Command Reference 177 Version 1 18 04 amp Up Enable gear on external source trigger Format GEAR ON axis offset TRG mode capture register OFFSET value Group Setpoint Control This command is not available on the ACR8000 This command arms the GEAR to begin when an external source trigger occurs The latency error is 1 microsecond The mode parameter and hardwa
191. g the ratio between the input and output shafts Issuing a GEAR PPU command to an axis without an argument will display the current setting for that axis The default gearing pulses per unit is 1 0 for all axes The following example sets up the X axis input shaft for 1000 pulses per revolution Usage example 172 GEAR PPU X1000 Acroloop Motion Controller User s Guide Set electronic gearing ratio Format GEAR RATIO axis ratio axis ratio Group Setpoint Control Units output units input unit See also GEAR HDW CAM BSC BKL JOG This command sets the ratio between the input shaft and the output shaft of an electronic gearbox The speed of the output shaft is equal to the speed of the input shaft multiplied by this ratio Issuing a GEAR RATIO command to an axis without an argument will display the current setting for that axis The default gearing pulses per unit is 1 0 for all axes The following example sets up the Y axis gearbox for a 1 10 ratio Usage example GEAR RATIO Y 1 10 GEAR RES Reset or preload gearing output Format GEAR RES axis offset axis offset Group Setpoint Control Units output units See also GEAR HDW CAM BSC BKL JOG This command either clears or preloads the gear offset for the given axis If the offset parameter is left out the gearing offset is set to zero Otherwise the offset is preloaded to the given value
192. g for echo control is 1 for all communication channels The following table lists the valid echo modes Echo Command Error Character mro NL Be Messages Echo Table 3 8 Echo control modes The following example turns off error message reporting Usage example ECHO 3 Chapter 3 Command Reference 135 Load system parameters Format Group See also ELOAD ALL Nonvolatile ESAVE ERASE PBOOT BRESET This command loads the system parameters that were stored in EEPROM ACR8000 only or FLASH system parameter section for all other boards using the ESAVE command Note that the ALL command modifier is optional The values loaded with ELOAD include 1 2 4 5 6 NOTE System attachments Master parameters ACC DEC and STP ramps VEL FVEL and IVEL values Axis parameters Gain and limit settings PPU and VECDEF values ON OFF states Encoder multipliers DAC gains and offsets ADC mode gains and offsets Program memory allocation is stored in battery backup RAM not in the EEPROM NOTE FLASH commands FLASH SAVE FLASH ERASE etc have no effect on the saved system parameters Usage example ELOAD 136 Acroloop Motion Controller User s Guide Direct ENC manipulation Format1 ENC index RES preload 2 ENC index MULT multiplier Group Global Objects See also AXIS DAC RES MULT The ENC commands give direct access to
193. g the ALM command to an axis without an argument displays the current positive and negative limits for that axis Issuing the command with a single argument sets the positive limit to value and the negative limit to minus value Issuing the command with two arguments sets the positive limit to high and the negative limit to low The default for both is 0 0 for all axes The following is a table of A limit flags 0 530 5 690 6 722 Table 3 6 flags Usage example This example sets different positive and negative A limits for X Y and Z axes ALM X 10 10 Y 30 20 2 5 0 56 Acroloop Motion Controller User s Guide Part Define attachments Format ATTACH command Group Operating System See also PROG DETACH This command is used along with a second command to define how programs masters axes signals and feedbacks are attached to one another Issuing an ATTACH without the optional command will display the attachments to the current program or if issued from the system level all attachments to all programs The following is a list of valid ATTACH command combinations ATTACH MASTER Attach master to program ATTACH SLAVE Attach axis to master ATTACH AXIS Attach signal and feedback to axis Block Diagram The following block diagram illustrates some sample attachments PROG 0 master
194. gh and the negative limit to low The default for both is 0 0 for all axes The following is a table of Not B limit flags 0 S838 6 723 Table 3 7 B limit flags Usage example This example sets the B limits to 10 units for the X Y and 2 axes If the axes are ever all within their B limits at the same time the appropriate master flag will clear BLM X10 Y10 Z10 64 Acroloop Motion Controller User s Guide Part Disable battery backup Format BRESET Group Nonvolatile See also ELOAD ESAVE ERASE PBOOT ACR8000 This command disables the battery backup the next time power is removed from the board This allows ACR8000 boards to be stored on the shelf without needlessly draining power from the battery The next time power is applied to the board after shutting down with BRESET in effect the battery will return to normal and will hold programs during consecutive power sequences Note Once this command is issued there is no way to return the battery to normal operation without removing and then restoring power Stored programs will be lost ACR1200ACR2000 ACR8010 This command sets the battery backup memory to its default state the next time power is removed from the board or the board is reset This allows the ACR1200 ACR2000 ACR8010 battery backed up memory to be cleared to default without physically removing the battery jumpers on the ACR1200 board the ACR8010 board or the AC
195. group of commands is used with or without the TMOV commands to synchronize the moves of the masters Any number and combination of masters can be synchronized together Using the synchronized moves instead of coordinated moves gives the flexibility of using different motion profiles for axes connected to different masters and still be in sync The following is a list of valid SYNC command combinations SYNC ON Synchronize moves of masters SYNC MDI Synchronize moves from immediate mode SYNC PROG Synchronize moves from programs SYNC OFF Turn off synchronization of masters Trying to sync a master that is already in sync with another group or has no master profile will return the respective message Since the SYNC ON command can t be given before attaching the masters it is preferred to use this command from the last program in the sync group Issuing just the SYNC command with no argument will show the masters that are in sync with the program master from which the command is issued If the masters in the sync group need to be changed then first use the SYNC OFF command to cancel the group and then form a new sync group by using SYNC ON command If any master in a sync group is given a move command that cannot be done within the time specified by TMOV then the masters in the sync group will automatically calculate the extra time and the profile that will be needed to slow down their moves to keep in sync Extra time demanded by each master c
196. hases EncoderShaftPosition PhaseADacChannel PhaseBDacChannel PulsePerRevolution PhaseAADCChannel PhaseBADCChannel PhaseMarkerOffset ElecRevPerMechRev HallEffectChannel PhaseLockCount MaxEncDelta Reserved MaxFollowingErr CommutationRegion CommandSignal Reserved SinelndexPerEncCount Reserved LookedUpPhaseASine LookedUpPhaseBSine CommandCurrentScale FeedbackCurrentScale PhaseASignal PhaseBSignal PhaseAOffset PhaseBOffset PhaseAGain PhaseBGain MaxMotorRPM MaxMotorCurrent Reserved AverageVelocity LockCurrent Reserved Reserved Reserved Reserved Reserved Chapter 3 Command Reference 91 CMT Commutation continued 92 FeedBackEncoder AngleBetweenPhases EncoderShaftPosition PhaseADacChannel PhaseBDacChannel PulsePerRevolution PhaseAADCChannel PhaseBADCChannel PhaseMarkerOffset ElecRevPerMechRev HallEffectChannel PhaseLockCount MaxEncDelta MaxFollowingErr CommutationRegion r w r w r r w r w r w r w r w r w r w r w r w r w r w r w Version 1 18 amp Up The feedback encoder channel The phase difference between phase B and Phase A Feedback encoder position This parameter will be reset by the marker pulse of the encoder Phase A DAC channel Phase B DAC channel Raw encoder counts without multiplier per revolution Phase A ADC channel Phase B ADC channel This parameter applies to sinusoidal mode only The commutator us
197. he change in source pulses is multiplied by the servo period and the resulting delta time is fed into the jog mechanism By default jog is sourced off the CLOCK feeding a single time unit per interrupt Redirecting the jog source allows an external timebase to be used The following example sets the X axis jog source to encoder 3 Usage example JOG SRC X ENC3 220 Acroloop Motion Controller User s Guide Part JOG INC Jog an incremental distance Format JOG INC axis offset axis offset Group Setpoint Control Units units See also JOG BKL BSC GEAR HDW CAM This command will use the current jog settings to jog an axis an incremental distance from the current jog offset as indicated by the offset argument This motion is independent from the attached master and can run on top of the current motion profile The JOG REN command may be used before JOG INC to transfer the current position into the jog offset The JOG RES command may be used after JOG INC to transfer the jog offset back into the current position The following example jogs the Z axis 0 10 units from its current jog offset Usage example JOG INC 20 10 JOG ABS Jog to absolute position Format JOG ABS axis target axis target Group Setpoint Control Units units See also JOG BKL BSC GEAR HDW CAM This command will use the current jog settings to jog an axis to an absolute jog offset as indicated by the target argument This m
198. he dual port memory simultaneously Each group contains 8 parameters Please refer to Chapter 6 Binary Data Packets for the selection of Group and Index Chapter 3 Command Reference 161 Version 1 18 06 Fast status setup ACR8020 only Related System Parameters FSTAT Information Version 1 18 amp Up prm Mask Code 0x1B Index 0x12 0x02 Fstat Count LONG 7057 Fstat Period Field Set the FSTAT update frequency This field can also Description be set by the FSTAT PERIOD command Fstat Counter Field r Fstat Period is copied to Fstat Counter when FSTAT Description is turned on or every time the FSTAT update is finished Fstat counter decreases by 1 every servo interrupt FSTAT update is performed if Fstat counter is less than or equals to zero Mask FSTAT Setup Parameters FSTAT Number Index Code 0x1D Reserved Reserved Reserved Code Index Type Spare Spare Mask Lo FSTAT Setup Parameters FSTAT Number Index Code 0x1D Reserved Reserved Reserved Code Index Type Spare Spare Table1 FSTAT parameters 162 Acroloop Motion Controller User s Guide Part Version 1 18 06 Fast status setup ACR8020 only Code Field Description Index Field Description Type Field Description r w r w The group code and group index work as a pair to select the data to be copied to dual port memory The group
199. he following formula ffvel pgain error veloc Where pgain proportional gain volts pulse error error at a given velocity pulses the given velocity pulses second Note that this formula will not work correctly if there is any DC offset in the drives Either adjust the drives or use the PID integral term to remove the offset first The following example sets X axis velocity feedforward to 0 0001 volts pulses second Usage example FFVEL X0 0001 Chapter 3 Command Reference 153 FLASH Version 1 17 03 amp Up User Program Storage Format FLASH command Group Nonvolatile See also PROM ESAVE ELOAD ERASE This command is used with second command to manipulate an image of the user memory in the flash onboard the ACR1200 ACR1500 ACR2000 and the ACR8010 FLASH SAVE stores an image of the user programs and PLC programs in the flash onboard the ACR1200 ACR1500 ACR2000 ACR8010 If the image is detected in the flash on power up the card will load user programs and PLC s from flash instead of relying on the battery backup memory User variables will reside in battery backup memory and will not be affected by the program transfer FLASH IMAGE stores an image of the user programs and PLC programs as well as the User Global Variables in the flash onboard the ACR1200 ACR1500 ACR2000 ACR8010 If the image is detected in the flash on power up the card will load the user programs PLC s and u
200. hich means that the data can be non uniform but does not have abrupt changes Chapter 3 Command Reference 307 SPLINE Cubic Spline Interpolation continued The following example uses the target spline points as shown in the following figure The resulting Spline curve follows smooth and exactly through the spline points Cubic Spline Interpolation Y axis X axis Figure 3 14 Spline interpolation example Usage example SPLINE MODE 0 Time based mode is selected K 0 X7 Y 6 If the knots are not included than TMOV value is used as a delta between two points Note that first knot should be always zero K 3 X10 Y 8 6 X14 Y 2 K 8 X22 Y8 K 10 X18 Y16 The Spline will pass this point at exactly 10 seconds K 12 X12 Y12 14 X5 Y8 16 X8 1 18 X10 K20 X15 Y6 The Spline will pass this point at exactly 20 seconds K 1 Negative knot to indicate that Spline block has ended 308 Acroloop Motion Controller User s Guide Part SPLINE MODE Version 1 18 04 and Up Enable SPLINE Mode Format SPLINE MODE value This command sets the card into Spline Interpolation mode Each Spline block should start with this command The subsequent move commands are treated as Spline target points and Spline interpolation is used to calculate the curve path This modes remains active till a negative knot is received Kill Move Flag is set or the user issues a SPLINE END command SPLINE Interpolation Mode
201. ically CMT LOCK AMP Set current amplitude for hall less start up CMT LOCK RANGE Set lock position accuracy CMT LOCK COUNT Set lock position accuracy Chapter 3 Command Reference 87 Version 1 18 amp Up Commutation continued Issuing a CMT command with an index but without an additional command will display the current setting of the commutator The example assumes CMTO as output of AXISO X and ENCO as position feedback on AXISO as follows ATTACH AXISO ENCO CMTO ENCO Usage example1 10 CMTO ENCO ENC1 20 CMTO MODE 8 30 CMTO ANG 120 40 CMTO DACO DAC1 50 CMTO SHIFT 100 60 CMTO PPR 1024 70 CMTO ERPMR 2 80 CMTO MAX RPM 4500 90 CMTO MAX AMP 10 100 CMTO ON Usage example2 10 CMTO MODE 1 20 CMTO ON 30 CMTO HSEEK 0 5 CAP2 Usage example3 10 CMTO DACO DAC1 20 CMTO ENCO ENCO 20 CMTO PPR 1024 30 CMTO MODE 2 40 CMTO MAX RPM 4500 50 P16406 2 60 CMTO MAX AMP 5 70 CMTO ERPMR 2 80 CMTO LOCK COUNT 200 90 CMTO LOCK RANGE 5 100 CMTO LOCK AMP 5 88 Acroloop Motion Controller User s Guide Part CMT Commutation continued Related commutation Flags Version 1 18 amp Up Flag Parameter CMT Flags CMT Commutator ON CMT Sinusoidal ON CMT Motor Overspeed CMT Encoder Fault CMT EncCheck Disable CMT Following Error Reserved Reserved CMT Pseek Enable Spare Spare Spare Spare Spare Spare Spare Chapter
202. idus 284 Peek Dotan TEE 347 REIN ee een rede et 285 eed dendo acude uer ene Ce ues vio 347 RES Acte idee et asta 286 cat b obe hei 347 287 ENI PEAT PIE SAA AN E EA ERE 347 RETURN encierra nnm nnne ne Daran cis 288 e scam doeet TTA 347 ROTARY 289 Lo RE ema PM ME ees 348 ROTATE IS 290 RP 348 e eM d aM 291 dA 349 RUIN ma etae 292 ST MM OPE IER 349 SAMP er 293 oW ter rM 350 SRG ieee 298 Lo ALI TP 350 BASE xxxii Mi 298 D PME rr Me 351 CLEAR uide etti ae 299 RE amoena ee cat e 351 TEC ME ids Hr etd aros 299 jo mr vnde 352 SCALE uere tito 300 ACOSH 352 AGO TE 353 AND ett fe Oden 354 ASG tease des 355 ASIN eerte e ea 356 ASINED 356 ATAN n e es te EE 357 o hoe ten eee Dee 357 gt 358 CEIC an iet nm aee 359 GARG 360 COS dee tanen 361 COSH 361 ort ned 362
203. ifferent capture sources one of ten markers or one of eight external inputs Both the rising and falling edges can be selected After the mode is set up the next capture trigger causes the hardware to latch the encoder count of the position feedback encoder of the axis and set an interrupt Then an interrupt handler transfers the capture positions into the hardware capture parameters and sets the appropriate capture complete flag If the hardware capture register is not specified then the hardware capture register index is assumed to be the same as the position feedback encoder index ACR8000 For each encoder their are four different capture sources one of two markers or one of two external inputs Both the rising and falling edges can be selected After the mode is set up the next capture trigger causes the hardware to latch the encoder count and set an interrupt Then an interrupt handler transfers the capture positions into the hardware capture parameters and sets the appropriate capture complete flag The hardware capture register index is the same as the feedback encoder index ACR1500 and ACR2000 For each hardware capture register their are eight different capture sources one of four markers or one of four external inputs Both the rising and falling edges can be selected After the mode is set up the next capture trigger causes the hardware to latch the encoder count of the position feedback encoder of the axis and set an int
204. ifies the position gain in the position velocity loop Issuing a KVP command to an axis without an argument will display the current setting for that axis The default value is 0 which implies that the PV loop is bypassed Setting it to a non zero value with turn on the PV loop The following example sets the X axis KVP gain to 1 Usage example KVP X 1 Chapter 3 Command Reference 225 LIMIT Frequency Limiter Format LIMIT index command data Group Global Objects See also SRC JOG GEAR CAM RATCH This command is used along with a second command to setup frequency limiters The limiter index is a number from 0 to 7 Frequency limiters are sources that can limit the frequency of incoming pulses and redistribute large impulses over time Incoming pulses are multiplied by the limiter multiplier and accumulated over the limiter frame width At the end of each frame the accumulated pulses are compared to the limiter frequency times the limiter width and any excess pulses are thrown away The remaining pulses are redistributed evenly during the following frame The following is a list of valid limiter command combinations LIMIT SRC Define limiter source LIMIT FREQ Set frequency limit LIMIT WIDTH Set pulse redistribution width LIMIT MULT Set incoming pulse multiplier 226 Acroloop Motion Controller User s Guide Part LIMIT Define limit source Format LIMIT index SRC sourcedef Group Global
205. ight incremental encoders The board can supply precision 16 bit analog for eight servo amplifiers or step direction open collector ouputs for eight stepper drives It is modular in nature and is offered in 2 4 6 or 8 axis configurations This board will work in standalone mode as well as within a PC AT bus chassis In the PC AT bus the board takes one and one half ISA slots The ACR2000 is a floating point DSP based 4 axis motion controller It has onboard hardware to read up to four incremental encoders The board can supply precision 16 bit analog for four servo amplifiers or step direction open collector ouputs for four stepper drives It is modular in nature and is offered in 2 or 4 axis configurations This board will work in standalone mode as well as within a PC AT bus chassis In the PC AT bus the board takes a single half card ISA slot Introduction 1 Introduction continued The ACR1500 is a floating point DSP based 4 axis motion controller It has onboard hardware to read up to four incremental encoders The board can supply precision 16 bit analog for four servo amplifiers or step direction open collector ouputs for four stepper drives It is modular in nature and is offered in 2 or 4 axis configurations This board is a PC AT card only In the PC AT bus the board takes a single half card ISA slot The ACR1200 is a floating point DSP based 2 axis motion controller It has onboard hardware to read up to three incremental encoders
206. ing done for the actual arrays attached to the cam segments Newly dimensioned cams have no source defined for them ballscrews point to the primary setpoint by default A cam can be composed of more than one segment with each segment having different distances between table entries This allows some parts of the table to be defined coarsely and others to be defined in more detail The memory allocated by the CAM DIM command is a base of 52 bytes of working space plus an additional 24 bytes per defined segment Once a cam has been allocated it can not be redimensioned to a different size without first doing a CLEAR to erase all dimensioning This will also deallocate any dimensioned user variables or cams Do not allocate any more segments than are required by the application The following example allocates two cam segments for the X axis and a single segment for the Y axis Usage example 72 CAM DIM X2 Y1 Acroloop Motion Controller User s Guide CAM SEG Define cam segment Format CAM SEG axis segment length array Group Setpoint Control Units segment none length input units array name none See also CAM BKL BSC GEAR HDW JOG DIM CLEAR This command defines the segments that were allocated with the CAM DIM command The segment is a number from 0 to segments 1 and indicates which segment is being defined The length parameter defines the total length of the given segment The arr
207. ion 384 STRING function 385 SYNC command 314 SYS command 319 T TAN function 386 TANG command 320 TANH function 386 TARC command 322 THEN command 190 TLM command 325 TMOV command 326 TOV command 330 TRG command 331 TRJ command 332 TROFF command 333 TRON command 334 TRUNC function 387 U UCASES function 388 UNLOCK command 335 V VAL function 389 VECDEF command 336 VECTOR command 338 VEL command 339 VER command 341 WEND command 342 Acroloop Motion Controller User s Guide WHILE command 342 X XNOR operator 390 XOR operator 391 Index 433
208. ion and cam offset are adjusted according to the following formula current position lt current position cam offset offset cam offset offset When a cam is turned off the offset remains in the cam offset parameter The CAM RES command can be used to transfer the offset into the current position where it can be used as part of a normal move The following example transfers the X axis cam offset into the current position Usage example CAM RES X Chapter 3 Command Reference 79 Version 1 18 04 amp Up Enable external source trigger CAM Format CAM ON axis TRG mode capture register Group Setpoint Control See also CAM HDW BSC BKL GEAR JOG This command is not valid for the ACR8000 This command arms the loaded CAM to begin when an externally sourced trigger occurs The latency error is 1 microsecond The mode parameter and hardware capture register information for the CAM ON TRG is the same as those used in the INTCAP command NOTE It is recommended that the CAM source should be attached before the source starts to move The following example enables or starts the Y axis cam when triggered by rising primary marker of encoder 0 Usage example CAM SRC Y 0 CAM ON Y TRG 0 0 If the CAM needs to be turned off and armed again then issue the following commands CAM OFF Y CAM RES Y CAM ON Y TRG 0 0 80 Acroloop Motion Controller User s Guide Part CAM ON TRGP Version 1 18 06 U
209. ion mode initiated by the SPLINE MODE command The SPLINE ending is automatically done if the SPLINE motion has normally come to end stop by a negative knot However if stopped abnormally like issuing incomplete or wrong data to the SPLINE profiler then this command must be used to terminate the SPLINE mode Usage example SPLINE END 310 Acroloop Motion Controller User s Guide Part SRC Set external timebase Format SRC sourcedef Group Velocity Profile Units none See also LIMIT RATCH This command specifies the timebase for coordinated motion The source can be defined in any of the following formats sourcedef description NONE Disconnect device from source CLOCK Connect to servo clock 1 pulse per period ENC encoder Connect to encoder register encoder Connect to encoder register LIMIT limiter Connect to frequency limiter output RATCH ratchet Connect to ratchet output parameter Connect to user or system parameter RES preload Reset or preload internal source count REN Match internal source count to external input During each servo interrupt the change in source pulses is multiplied by the servo period and the resulting delta time is fed into the velocity profile mechanism By default the velocity profile is sourced off the CLOCK feeding a single time unit per interrupt Redirecting the source allows an external timebase to be used for coordinated motion The following example sets source of
210. is reset and the trigger armed and in progress flags are cleared This allows different channels to have arrays of different lengths P6913 Sample Trigger Index Set with the SAMP TRG command and is stored as a one s complement number to allow triggering on minus zero A number greater than or equal to zero will trigger on an active state or a rising edge depending on the setting of the sample mode flag A value less than zero is bitwise inverted and triggers on an inactive state or a falling edge P6914 Sample Timer Clock Indicates the number of milliseconds remaining before a sample will be taken This value is normally zero unless the sample timer period has been set Whenever a sample is taken this parameter is loaded with the value in sample timer period P6915 Sample Timer Period 294 Loaded into the sample timer clock whenever a sample is taken This parameter is normally zero indicating that samples should be taken at the servo interrupt rate For edge triggered sample operation the period indicates the number of milliseconds that will pass after an edge before a sample is taken Acroloop Motion Controller User s Guide Data sampling control continued Related System Flags The following is a list of system flags related to data sampling BIT104 Sample Trigger Armed BIT105 Sample In Progress BIT106 Sample Mode Select BIT107 Sample Trigger Latched BIT104 Sample Trigger Armed Enables
211. is stored when the CONFIG commands are used Program storage uses the FLASH commands FLASH LOAD FLASH ERASE FLASH SAVE FLASH IMAGE At power up or reset the DSP detects if programs are present in the Flash and if they are present loads them into User RAM overwriting any battery back up programs The tables buffers variables and arrays stored in the User RAM are not written over Chapter 2 System Reference 21 Memory Organization The following table shows the type s of memory associated with system commands System User EEPROM COMMAND RAM RAM EPROM Flash N A ACC ADC ADCX ALM ATTACH AUT X AXIS BKL BLK X BLM X BRESET BSC CAM CIRCCW X CIRCW X CLEAR X CLOSE X CLR X CMT X CONFIG X CPU X DAC X X DEC X X DEF X DEFINE X DETACH X X DGAIN X X DIAG X DIM X DIN X DIP X DWIDTH X DWL X DZL X DZU X ECHO X ELOAD ENC ENC RD ABS END X ERASE X ESAVE X EXC F FBVEL FFACC gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt 22 Acroloop Motion Controller User s Guide Part COMMAND System RAM User RAM EPROM EEPROM Flash N A FFVEL X FFVC FLASH X FLT FLZ FOR FO
212. isable cam output Format CAM OFF axis axis Group Setpoint Control See also CAM BKL BSC GEAR HDW JOG This command disables cam output for the designated axes An error will be returned if the cam has not been allocated with the CAM DIM command The following example disables the X and Y axis cams Usage example CAM OFF X Y 76 Acroloop Motion Controller User s Guide Part Set cam output scaling Format CAM SCALE axis scale axis scale Group Setpoint Control Units none See also CAM BKL BSC GEAR HDW JOG This command sets or displays the cam output scaling of an axis After the cam table and index are used to interpolate an initial offset value the value is multiplied by the cam output scaling factor and then shifted by the cam output offset This number is then multiplied by the PPU of the given axis Issuing a CAM SCALE command to an axis without an argument will display the current setting for that axis An error will be returned if the cam has not been allocated with the CAM DIM command The default cam output scaling is 1 0 for all axes The following example scales the X axis cam offset by 50 percent Usage example CAM SCALE X0 5 CAM OFFSET Set cam output offset Format CAM OFFSET axis scale axis scale Group Setpoint Control Units output units See also CAM BKL BSC GEAR HDW JOG This command sets or displays the cam outp
213. ith caution since it destroys setup information NOTE Program memory allocation is stored in battery backup RAM not in the EEPROM NOTE FLASH commands FLASH SAVE FLASH ERASE etc have no effect on the system parameters Usage example ERASE Chapter 3 Command Reference 141 ESAVE Save system parameters Format Group See also ESAVE Nonvolatile ELOAD ERASE PBOOT BRESET This command stores system parameters into EEPROM ACR8000 or FLASH system parameter section for all other boards to be retrieved on power up or by issuing an ELOAD command Note that the ALL command modifier is optional The values stored by ESAVE include 1 2 4 5 6 System attachments Master parameters ACC DEC and STP ramps VEL FVEL and IVEL values Axis parameters Gain and limit settings PPU and VECDEF values ON OFF states Encoder multipliers DAC gains and offsets ADC mode gains and offsets NOTE Program memory allocation is stored in battery backup RAM not in the EEPROM NOTE FLASH commands FLASH SAVE FLASH ERASE etc have no effect on the saved system parameters Usage example ESAVE 142 Acroloop Motion Controller User s Guide Set excess error band Format EXC axis value axis value1 value2 Group Axis Limits Units units See also IPB PPU This command sets the following error limits monitored by the
214. k gantry axis Format UNLOCK axis axis Group Setpoint Control Units none See also LOCK BSC CAM GEAR HDW JOG This command releases primary setpoint redirection that may have been established with the LOCK command The actual position parameter of the axis is adjusted such that there is no change in following error when the primary setpoint switches The default state of an axis is to follow its own setpoint Each axis generates a primary setpoint based on its current position gear offset jog offset and cam offset This number is normally used to tell the axis where it should be at any given time The LOCK command tells an axis to use the primary setpoint of a different axis instead of its own The UNLOCK command tells an axis to use its own primary setpoint once again The following example releases axis XB from its primary setpoint redirection Usage example UNLOCK XB Chapter 3 Command Reference 335 Define automatic vector Format VECDEF axis weight axis weight Group Units Velocity Profile none See also VECTOR 336 This command controls how the master move vector is calculated The argument passed to an axis determines how much the axis contributes to the vector calculation Issuing a VECDEF command to an axis without an argument will display the current setting for that axis The default value is 1 0 for all axes With automatic vector calculation the length o
215. lable on the ACR8000 This command is same as the GEAR OFF TRG except that gear can be triggered from any P parameter In this case the capture register value is not used since it is different from the gear source value Thus resulting in a less precise response than when triggered from the gear source The worse case latency error could be up to one servo period Usage example GEAR SRC Y P12288 EM Mode Primary Rising Marker Capture Register 1 EAR OFF Y TRGP 0 1 180 Acroloop Motion Controller User s Guide Part GOSUB Branch to a subroutine Format GOSUB line Group Program Flow See also RETURN GOTO This command causes an unconditional branch to a subroutine Each subroutine call requires 4 bytes of free memory to store its return address Each subroutine must be terminated with a RETURN command Usage example 100 REM main program loop 110 INH 0 INH 0 120 IF BIT1 THEN GOSUB 200 GOTO 110 130 IF BIT2 THEN GOSUB 300 GOTO 110 140 GOTO 110 200 REM first subroutine 210 X10000 220 X0 230 INH 516 REM not in motion 240 RETURN 300 REM second subroutine 310 X5000 320 X2500 330 X10000 340 XO 350 INH 516 REM not in motion 360 RETURN GOSUB function 1 18 07 and Up The new lineless Acro Basic language has the provision for subroutine names see the following example Usage example PROGRAM Start GOSUB ShowMessage DWL 1 GOTO Start
216. larity to be decoded by the board The polarity applies to all inputs The polarity argument indicates the selected polarity as follows Polarity Argument ON Logic Level OFF Logic Level Logic Level Low Logic Level High Logic Level High Logic Level Low The default IO inputs polarity is CONFIG IO INPUT NEG The following example selects the IO inputs to positive logic polarity Usage example CONFIG IO INPUT POS CONFIG IO OUT ACR1500 Version 1 18 02 amp Up Configures outputs logic polarity Format CONFIG IO OUT polarity Group Operating System See also ATTACH This command selects the output TTL logic polarity to be decoded by the board The polarity applies to all outputs The polarity argument indicates the selected polarity as follows Polarity Argument ON Logic Level OFF Logic Level Logic Level Low Logic Level High Logic Level High Logic Level Low The default IO outputs polarity is CONFIG IO OUT NEG The following example selects the outputs to positive logic polarity Usage example CONFIG IO OUT POS 108 Acroloop Motion Controller User s Guide Part Display processor loading Format CPU Group Operating System See also PERIOD DIAG This command displays the processor load as a percentage of the foreground and background timing Background time consists of servo loop updates velocity profiles and axis position interpolation Foreground time is the time left ov
217. last define the listing range as follows LIST first Lists a single line LIST first last Lists from first to last LIST first Lists from first to end of program LIST Lists form start of program to last Usage example LIST 100 199 Chapter 3 Command Reference 229 LISTEN Listen to program output Program Control Format LISTEN Group Program Control See also LRUN This command will link the current communication channel into a program s output The LISTEN command cannot be issued from inside a program Normally when a program is run the communication channel returns to the command prompt allowing more commands to be entered While at the command prompt output from programs including error reporting is shut down to prevent mixing of command input and program output Issuing an LISTEN command suspends the command prompt until an escape character ASCII 27 is received or the program ends allowing program output to be monitored The LRUN command will run a program and leave the channel in the listen state Usage example 230 LISTEN Acroloop Motion Controller User s Guide LOCK Lock gantry axis Format LOCK 1 axis2 1 axis2 Group Setpoint Control Units none See also UNLOCK BSC CAM GEAR HDW JOG This command redirects axis1 to follow the primary setpoint of axis2 The actual position parameter of the axis is adjusted such that there is no
218. length of the A axis to 360 units Usage example ROTARY A360 Chapter 3 Command Reference 289 Rotate programmed path Format ROTATE rotate angle primary rotate center secondary rotate center Group Transformation See also SCALE OFFSET FLZ This command will cause the programmed path to be rotated about the given center point If the rotate center for an axis is not specified the rotation center for that axis is equal to its current location The primary and secondary axes define the plane of rotation Positive rotation is from the primary axis towards the secondary axis Usage example 10 ROTATE 30 X1 Y2 290 Acroloop Motion Controller User s Guide Part ROV Version 1 17 05 amp Up Set rapid feedrate override Format ROV rate Group Velocity Profile See also VEL FOV This command sets the rapid move velocity override for the current master The argument is a floating point scaling factor for the master s velocity profile Issuing an ROV command without an argument will cause the current rapid feedrate override value to be displayed The default rapid feedrate override rate is 1 0 The rapid feedrate override takes place immediately during a rapid move Secondary Master Flag Rapid Active is enabled If a rapid move is in progress the master will use its ACC or DEC settings to ramp to the new velocity The following example will reduce the velocities of rapid moves generated by th
219. llowing example enables the X axis to use the above ballscrew table Usage example DIM LA 2 DIM LAO 9 LAO 00 0 LAO 01 853 LAO 02 500 LAO 03 146 LAO 04 0 LAO 05 146 LAO 06 500 LAO 07 853 LAO 08 0 BSC DIM X1 BSC SEG X 0 2000 LAO BSC ON X Chapter 3 Command Reference 67 Electronic cam Format CAM command axis data axis Group Setpoint Control See also BKL BSC GEAR HDW JOG This command is used along with a second command to control an electronic cam for an axis An electronic cam is primarily used as a replacement for a mechanical cam Ballscrew commands are identical to cam commands Both ballscrews and cams can be active at the same time each with different settings and offset tables The following is a list of valid cam command combinations CAM DIM Allocate cam segments CAM SEG Define cam segment CAM SRC Redefine cam source CAM ON Enable cam output CAM OFF Disable cam output CAM SCALE Set cam output scaling CAM OFFSET Set cam output offset CAM FLZ Set cam input offset CAM SHIFT Set incremental cam shift CAM RES Transfer cam offset CAM ON TRG Enable CAM ON from external trigger Cam uses an arbitrary encoder position to generate an index into a table of offset values If this index falls between two table entries the cam offset is linearly interpolated between the entries This offset is then scaled shifted by the outp
220. located where number is the number of arrays that are required This allocates and sets up a table of array references The individual arrays are then allocated where array is the reference of the array to be allocated and count is the number of variables in that array Once memory has been allocated it can not be redimensioned to a different size without first doing a CLEAR to erase all dimensioning CLEAR from the system level will free memory allocated to all programs The programs must be empty for this to work CLEAR from the program level or within a program frees memory allocated in the program space for variable and array usage The total RAM available for user allocation is 64k x 8 bytes for the ACR8000 128k x8 bytes for ACR1200 ACR1500 ACR2000 and 512kx8 bytes for the ACR8010 ACR8020 and Expanded Memory ACR2000 The system default allocates 8 blocks of 16k x 8 to programs 0 through 7 respectively If this is not satisfactory you must issue a CLEAR command from the system level and use the DIM PROG format to allocate memory as required By default the logging parameters will be stored to system memory P20480 P20487 and this data will be lost when power is removed from the card If LOGGING is dimensioned then the logging parameters will be stored to non volatile battery backed up memory Logging parameters are available for the ACR1200 ACR1500 ACR2000 and ACR8010 boards only DIM MBUF command is used to allocate m
221. loop Motion Controller User s Guide Part SQRT Square root Format SQRT expression Group Miscellaneous This function returns the square root of the expression Chapter 4 Expression Reference 383 STR Convert numeric to string Format STR value Group String See also VAL This function converts value to a string and returns the string Usage example 100 DIM v 1 10 110 SVO STR 1 234 120 PRINT 5 0 LRUN Example output 1 234 384 Acroloop Motion Controller User s Guide Part STRING String of characters Format1 STRINGS length code Format2 STRINGS length stringexpression Group String See also SPACE This function returns a string of characters either defined by the given code or the first character of a string expression Usage example 100 PRINT STRINGS 5 88 110 PRINT STRING 10 LRUN Example output XXXXX KKKKKKKKKK Chapter 4 Expression Reference 385 Tangent Format TAN expression Group Trigonometric See also SIN COS COT ASIN ACOS ATAN ACOT This function returns the tangent of the expression TANH Hyperbolic tangent Format TANH expression Group Hyperbolic See also SINH COSH COTH ASINH ACOSH ATANH ACOTH This function returns the of hyperbolic tangent the expression 386 Acroloop Motion Controller User s Guide Part TRUNC Remove fractional part Format Group See also TR
222. ltage is below requirements for SRAM back up minimum SRAM data retention voltage is 2 0VDC BT1 must be replaced AMCS P N PS006 Panasonic P N CR2477N PASS BT1 gt 2 2VDC FAIL BT1 is between 2 0 and 2 2 VDC Chapter 3 Command Reference 123 DIAG Display system diagnostics continued ACR1200 ACR2000 and ACR8010 ACRIO Expansion I O Board DIAG Command Definitions In addition to the ACR1200 ACR2000 and the ACR1200 motherboard diagnostics the following will be displayed when invoking the DIAG command on an ACR1200 ACR2000 or an ACR8010 Board with an ACRIO module When multiple expansion I O boards are present the board number will be listed with diagnostic information present for each board Board Detected BID 16 EXT PASS ISO PASS Where Board Number 1 thru 4 as selected 1 and J2 on the boards BID Board ID number for an board This number is the same for all XIO boards 16 ACRIO Board ID Number EXT Isolated external voltage provided for the optoisolation circuitry on the ACRIO board PASS External voltage present FAIL No external voltage present ISO On board isolated 5VDC voltage provided for the optoisolation circuitry on the ACRIO board The isolated 5VDC is generated from the isolated external supplied voltage PASS On board isolated 5VDC voltage present FAIL gt No voltage present Usage example DIAG 124 Acroloop Motion Controller
223. ltage is below requirements for SRAM back up minimum SRAM data retention voltage is 2 0VDC BT1 must be replaced AMCS P N PS006 Panasonic P N CR2477N PASS BT1 gt 2 2VDC FAIL BT1 is between 2 0 and 2 2 VDC Fused Encoder 5VDC available at the P1 encoder connector PASS Voltage present FAIL No voltage present Fused Stepper 5VDC available at the P2 analog connector PASS Voltage present FAIL No voltage present Acroloop Motion Controller User s Guide DIAG Display system diagnostics continued The following describes the diag command results for the ACR1500 board ACR1500 Board DIAG Command Definitions The following will be displayed when invoking the DIAG command on an ACR1500 Board Encoder Power EVCC PASS Where EVCC Fused available at the P1 encoder connector PASS Voltage present FAIL No voltage present Chapter 3 Command Reference 119 DIAG Display system diagnostics continued 120 ACR2000 Motherboard DIAG Command Definitions The following will be displayed when invoking the DIAG command on an ACR2000 Board Optoisolated Power EXT PASS ISO PASS Where EXT ISO Isolated external voltage provided for the optoisolation circuitry on the ACR2000 Motherboard PASS External voltage present FAIL No external voltage present On board isolated 5VDC voltage provided for the optoisolation circuitry on the ACR2000 Motherboard The isolated 5VDC is gene
224. master will use its ACC or DEC settings to ramp to the new velocity The following example will reduce the velocities of feed moves generated by the current master to 7596 of their programmed values Usage example FOV 0 75 160 Acroloop Motion Controller User s Guide Part Version 1 18 06 Fast status setup ACR8020 only FSTAT command Format2 FSTAT index1 command Format3 FSTAT index1 Code Index Group Global Objects This command is available on the ACR8020 only This command allows the system parameters being update to the dual port memory at the servo interrupt rate The Acr8020 updates the dual port fast status periodically at the end of the servo loop update portion The dual port fast status update frequency is set by the FSTAT PERIOD command An interlocking mechanism is provided to prevent data fetching from the PC side while the ACR8020 is in the middle of dual port fast status update operayion The following is a list of valid FSTAT command combinations Format FSTAT Display the setting of FSTAT FSTAT ON Enable dual port fast status update FSTAT OFF Disable dual port fast status update FSATA CLEAR Clear the setting of all FSTAT FSTAT PERIOD period Set the dual port fast status update frequency Format2 FSTAT index1 Display the setting of FSTAT index1 Format3 FSTAT index1 Code Index Setup FSTAT index1 A total of 10 groups of system parameters can be updated to t
225. me as the hardware capture register in the INTCAP command Program flow will continue to the next line command after the begins or after the end of the capture window has been passed If however the abortbit is being monitored program flow will continue only after the original move ends the incmov ends or the entire sequence is aborted Acroloop Motion Controller User s Guide HSINT Version 1 16 09 amp Up High speed Interruptible Move continued Operation Sequence The following figure outlines the HSINT operating sequence target wstart window gt incmov hardware capture Figure 3 8a HSINT Operation Sequence Related System Flags The following axis flags monitor HSINT results HSINT Registered r Cleared by the start of the HSINT command Set when a hardware capture is detected within the HSINT capture window and the incmov starts HSINT Aborted r Cleared by the start of the HSINT command Set when the optional HSINT abortbit is detected and the sequence is aborted read w write HSINT Flags AXIS Number cnt HSINT Registered 778 810 842 874 906 938 970 1002 HSINT Aborted 779 811 843 875 907 939 971 1003 Chapter 3 Command Reference 187 HSINT Version 1 16 09 amp Up High speed Interruptible Move continued The following examples assume ENC2 as position feedback on AxisO
226. met if level trigger or edge trigger and not trigger latched set sample in progress set trigger latched flag else clear trigger latched flag if sample in progress if sample clock gt 0 update sample clock if sample clock 0 sample clock sample period sample active channels increment sample index if channels full clear sample armed flag clear sample active flag sample index 0 if edge trigger clear sample active flag 296 Acroloop Motion Controller User s Guide Part Data sampling control continued Usage example The following example takes a 500 samples of axis 0 current position and output signal at the default servo interrupt rate of 2 kHz 250 milliseconds total sample time PROGO ATTACH MASTERO ATTACH SLAVEO AXISO X DIM LA1 DIM LAO 500 DIM SA1 DIM SAO 500 SAMP CLEAR d EM reset sample defaults SRC P12290 SAMPO BASE LAO SAMP1 SRC 12319 SAMP1 BASE SAO axis 0 current position store data in LAO axis 0 output signal store data in SAO etw Lp op p lt lt 5 lt SAMP TRG 516 REM master 0 in motion flag SET 104 REM arm the sample trigger X1000 REM move axis start sample INH 104 REM wait for sample done Chapter 3 Command Reference 297 Set sample source Format SAMP channel SRC parameter Group Global Objects See also SAMP AXIS ENC DAC PLS This comm
227. mmand with no argument will display the current setting Note e Issuing the TOV command for the first time attaches a special source to the master profiler So the first time this command may be issued is when the master is not moving otherwise a very small glitch might be seen fthe user decides not to use TOV command then it should be turned off by clearing the Master Secondary Flag Master TOV This will reduce unnecessary load on the CPU e TOV command stretches or compresses the time source Therefore it will be suitable for making small variations to immediately change the speed Usage Example 00 gt 00 gt 1 P00 2 This will double the speed Why TOV and not FOV TOV is used where FOV will not work For example in non linear motion profiles like spline NURBs and SYNC 330 Acroloop Motion Controller User s Guide Part TRG Start move on trigger Format 1 TRG index Format 2 TRG index Group Logic Function See also SET CLR INH This command stores the given bit index and sets a master flag that indicates a pending TRG operation The next move will inhibit on this condition and start immediately after the condition becomes true This reduces the amount of time between an inhibit and the start of a move since the information is processed before the condition is met The following example will preload the move in line 20 and start the move as soon as output 32 becomes active Usage example
228. mode 3 D circular interpolation Acroloop Motion Controller User s Guide TRJ Start new trajectory Chapter 3 Command Reference 37 Command Cross Reference The following table shows the commands available for each of the Acroloop Motion Controller family of boards This table also indicates at what firmware level a command has been added above the base firmware level 1 13 03 as well as what firmware level that the boards have been added For the commands that have sub commands i e ADC these sub commands are only listed when there are different levels of firmware versions and or board compatiblity An v indicates that this command is valid for the board Version Added ACR12 above 1 13 03 00 1 18 02 ACR1500 1 18 02 ACR2000 1 17 04 ACR8000 ACR8010 1 18 ACR8020 Command 1 18 06 ACC ADC MODE MAX SCALE POS NEG GAIN OFFSET ON OFF XIS ADCX ALM ATTACH AUT AXIS BKL BLK BLM BRESET BSC CAM 1 18 07 CAM ON TRG SRC RES CLEAR TRGP ALL OTHERS 1 18 04 1 18 06 1 18 06 1 18 06 upd12 SOXXXX amp amp SSISISIISS ISXSSSSSSSSSSSN CIRCCW 1 18 06 CIRCW 1 18 06 CLEAR CLOSE CLR CMT lt 4 CONFIG CLEAR IO XIO 1 17 03 1 17 03 1 17 03 NNN INISINISINISS SSSSS ISISISISIISISISISIXSSSSSSSSSS XX SSSSS SISISISISISI
229. mple below shows the list Usage example POO gt PLSO 150 BASE LA2 LSO FLZ 100 150 MASK 121 150 RATIO 2 34 150 ROTARY 202 LSO SRC CLOCK LSO ON VU UU UU TU Chapter 3 Command Reference 269 PLS SRC Set PLS input source Format PLS index SRC sourcedef Group Global Objects Units none See also SRC This command specifies the source for the input of a PLS See the SRC command for the definition of the sourcedef argument The default source is NONE The following example sets the source of PLS 5 to encoder 3 Usage example PLS5 SRC ENC3 PLS DST Set PLS destination pointer Format1 PLS index DST LV number Format2 PLS index DST P number Group Global Objects Units none See also PLS ADC DAC ENC AXIS This command sets the PLS destination pointer The two command formats allow any long integer parameter to be used as the PLS destination The default PLS destination pointer is the address of P4097 the optoisolated digital output parameter The following example sets the destination of PLS 3 to P4109 XIO 2 outputs Usage example PLS3 DST P4109 270 Acroloop Motion Controller User s Guide PLS BASE Set PLS array pointer Format PLS index BASE LA number Group Global Objects Units none See also PLS ADC DAC ENC AXIS This command sets the PLS array pointer The number argument indicates which long integer array is to be used The array must first be allocate
230. mula ffacc pgain error accel Where pgain proportional gain volts pulse error errorata given acceleration pulses accel the given acceleration pulses second Note that this formula only applies after the velocity feedforward gain has been set correctly with the FFVEL command Otherwise velocity errors will be present as well The following example sets X axis acceleration feedforward to 0 000001 volts pulses second second Usage example 146 FFACC X0 000001 Acroloop Motion Controller User s Guide Version 1 18 06 amp Up Feed Forward Velocity Cutoff Before Target Format FFVC axis value axis value Group Servo Control Units Pulses See also DZL DZU DIN DIP This command sets the band around the target point in which the feed forward velocity term is made zero Issuing a FFVC command to an axis without an argument will display the current setting for that axis The default value is 0 The following example sets the X axis FFVC band to 100 pulses Usage example FFVC X 100 Chapter 3 Command Reference 147 FIRMWARE Version 1 18 06 update 14 amp up Firmware upgrade backup Acr8020 only Format1 FIRMWARE command Group 148 Nonvolatile This command is used along with a second command to program new firmware into flash memory The flash memory of Acr8020 was divided into 5 blocks Bootflash Sysflash1 Sysflash2 Userflash and
231. n This is set by the user via the CONFIG IO MODE command This is available only on ACR1500 Table 3 101 ACR1500 Hardware Capture Interrupt Sources ACR1500 Default Capture Complete Flags Hardware Capture Parameters Capture Hardware Axis Complete Bit Capture Flag Parameter o m f 12292 12548 12804 13060 Table 3 10 ACR1500 Default Hardware Capture Flags Parameters Chapter 3 Command Reference 205 INTCAP Encoder capture continued 206 The Valid Interrupt Source Mode is selected based on the desired interrupt source used for the hardware capture The interrupt sources for each capture register are shown in Table 3 10a for the ACR8000 Table 3 10c for the ACR2000 Table 3 10e for the ACR8010 Table 3 10g for the ACR1200 and Table 3 10i for the ACR1500 ACR8000 all firmware versions ACR2000 with version 1 17 08 and below or Encoder FPGA Rev 01 or 02 The hardware capture register index is the same as the feedback encoder index of the axis used to enable the hardware capture The capture complete flag and hardware capture parameter to be used for the encoder capture is selected based on the axis used to enable the hardware capture The capture complete flags and hardware capture parameters are shown in tables 3 10b for the ACR8000 and 3 10d for the ACR2000 ACR1200 ACR1500 and ACR8010 all firmware versions ACR2000 with version 1 18 and above and Encoder FPGA Rev 03 and above The ACR1200 AC
232. n zero the source parameter is used to generate an input count that wraps around by the given length modulus before it is used to generate a table index Note that this only affects the internal PLS input count and that it is still possible to generate table indexes outside of the array boundaries While in rotary mode the count can be modified with the PLS RES command The following example sets PLS 6 rotary length to 2000 counts Usage example PLS6 ROTARY 2000 PLS FLZ Set PLS index offset Format PLS index FLZ offset Group Global Objects Units array entries See also PLS ADC DAC ENC AXIS This command sets the index offset Issuing a PLS FLZ command with no argument will display the current setting The default index offset is O array entries The following example sets the offsets PLS 3 by 10 array entries Usage example PLS3 FLZ 10 272 Acroloop Motion Controller User s Guide Part PLS MASK Set PLS output bit mask Format PLS index MASK mask Group Global Objects Units none See also PLS ADC DAC ENC AXIS This command sets the PLS output bit mask Issuing a PLS MASK command with no argument will display the current setting The default mask setting is 1 OXFFFFFFFF allowing all bits to be transferred When the table entry is transferred to the location defined by the PLS DST command the bit mask is used to determine which bits will be transferred The bit transfer is done according
233. nd 240 MASTER command 241 MAXVEL command 242 MBUF command 243 MEM command 245 MID function 372 MOD operator 373 MODE command 246 MOV command 247 MSEEK command 248 MULT command 249 N NAND operator 374 NEW command 250 NEXT command 159 NOR operator 375 NORM command 251 NOT operator 376 NOTCH command 252 NURB command 253 432 O OFFSET command 259 OPEN command 260 OR operator 377 P PASSWORD command 261 PAUSE command 262 PBOOT command 263 PERIOD command 264 PGAIN command 265 PLC command 266 PLC Programming Commands HALT 402 LIST 403 MEM 404 PLC 398 POFF 400 PON 399 RUN 401 Instructions AND 408 AND LD 412 AND NOT 409 CNT 420 END 427 KR 423 LD 406 LD NOT 407 OR 410 OR LD 414 OR NOT 411 OUT 416 PBOOT 426 TIM 417 PLS command 267 PPU command 275 PRINT command 276 PROG command 277 PROGRAM ENDP command 278 PROM command 279 R RATCH command 226 280 REBOOT command 283 REM command 284 REN command 285 RES command 286 RESUME command 287 RETURN command 288 RIGHT function 378 RND function 379 ROTARY command 289 ROTATE command 290 ROUND function 380 ROV command 291 RUN command 292 S SAMP command 293 SCALE command 300 SET command 301 SIN function 381 SINE command 302 SINH function 381 SPACE function 382 SPLINE command 307 SQRT function 383 SRC command 311 STEP command 312 STP command 313 STR funct
234. nding expression bits are both set or both clear Usage example PRINT 0 XNOR 0 PRINT 0 XNOR 1 PRINT 1 XNOR 0 PRINT 1 XNOR 1 Example output 1 390 Acroloop Motion Controller User s Guide Part XOR Logical XOR Format expression expression2 Group Logical See also AND NAND OR NOR XNOR NOT BIT This operator returns the logical XOR of the two expressions Bits in the result will be set if only one of the corresponding expression bits is set Usage example PRINT 0 XOR 0 PRINT 0 XOR 1 PRINT 1 XOR 0 PRINT 1 XOR 1 Example output 0 el 1 0 Chapter 4 Expression Reference 391 This page intentionally left blank 392 Acroloop Motion Controller User s Guide Part 5 PLC Programming Chapter 5 PLC Programming 393 This page intentionally left blank 394 Acroloop Motion Controller User s Guide Part PLC Operation Overview PLC programs are created in the same manner as user programs but with a limited instruction set that is compiled into machine code for high speed execution Each PLC program can contain a maximum of 100 200 for ACR8010 instructions Memory for the PLC programs must be dimensioned from the system level using the DIM PLC command On average dimensioning 32 bytes per PLC instruction is sufficient PLC programs are linked into the PLC scanner which is a list of events that are to be executed at the servo interrupt rate During each servo in
235. nits units second See also ACC DEC STP FOV PPU This command sets the target velocity for subsequent indexes Issuing a VEL command with no argument will display the current setting The default is 10000 units second This programmed velocity is over ridden by the FOV command The velocity changes at a rate set by the ACC DEC and STP commands The following example sets the velocity to 5 inches per second Assume that the PPU command has set 10000 pulses per inch for X axis Usage example Chapter 3 Command Reference 339 VEL LIMIT Sets the maximum limit of master velocity Format VEL LIMIT value Group Profile See also VEL FOV ROV MAXVEL This command is used to set the maximum velocity limit for a master profiler This will protect against issuing a too high value of VEL FOV ROV commands etc Example PROGO VEL LIMIT 10 340 Acroloop Motion Controller User s Guide Part Version 1 17 05 amp Up Display board type and firmware version Format VER Group Operating System This command displays the board type and executive version The board type will indicate whether the board is ACR1200 ACR1500 ACR2000 ACR8000 or ACR8010 The VER command cannot be issued from within a program Firmware Version 1 18 and above Board type and firmware version has been added to Miscellaneous Parameters Reference Appendix A Miscellaneous Parameters Board Information P7040 thru P7046 Usage exam
236. njunction with a CONFIG IO command See usage example below This command redirects the expansion digital IO The board argument indicates which expansion IO board is to be redirected The input destination argument tells the control where to place the bits read from the expansion inputs The output source argument tells the control where to get the bits that will be sent to the expansion outputs The default expansion IO redirections are CONFIG XIOO P4104 P4105 CONFIG XIO1 P4106 P4107 CONFIG XIO2 P4108 P4109 CONFIG XIO3 P4110 P4111 The following example redirects onboard IO to Expansion Board 0 and Expansion Board 0 to onboard IO Usage example CONFIG IO P4104 P4105 CONFIG XIOO P4096 P4097 106 Acroloop Motion Controller User s Guide Part CONFIG IO MODE ACR1500 Version 1 18 02 amp Up Onboard 82C55 IO mode Format CONFIG IO MODE io mode Group Operating System See also ATTACH This command selects the Programmable Peripheral Interface IC 82C55 I O mode of operation The io mode argument tells the control how to configure the 82C55 IC s input output ports The default mode of operation for the ACR1500 Digital I O is Mode 0 24 Inputs 24 Outputs The following table provides the IO Mode configuration information as well as the Bit Flag location for each group of inputs and outputs The Bit Flag locations for the ACR1500 TTL Digital I O are mapped to the standard Input Bit Flags 0 thru 31
237. nt axis position does not match this start point then the axis will jump to the start point theta start angle of arc radius radius of the arc target center xstart xcenter radius cos theta ystart ycenter radius sin theta The start point of the arc is derived from the above calculations If the current position is not equal to the calculated start point the arc must be proceeded with a move to xstart ystart or the axes will try to jump immediately to that point Usage example CIRCCW X LV1 LV2 Y LV3 LV4 Variable target and center CIRCCW X 59 078 59 X 75 576 100 Absolute target and center CIRCCW X 110 23 134 Y 152 309 80 X axis has incremental target and center 82 Acroloop Motion Controller User s Guide Part CIRCW Version 1 18 04 Upd 1 amp Up 2 Dimensional Clockwise Circle Format CIRCCW axis target center axis target center Group Interpolation See also SINE CIRCCW See the CIRCCW command for details the only difference is that this draws clockwise arc instead of counter clockwise arcs Usage example CIRCW X LV1 LV2 Y LV3 LV4 Variable target and center CIRCW X 59 078 59 Y 75 576 100 Absolute target and center CIRCW X 110 23 134 Y 152 309 80 X axis has incremental target and center Chapter 3 Command Reference 83 Clear memory allocation System Level Formats CLEAR CLEAR FIFO CLEAR COM1 C
238. ntent information Added new commands MAXVEL NURB SPLINE TOV Added new commands MAXVEL NURB SPLINE TOV Added new commands CAM ON TRG CONFIG CLEAR GEAR ON TRG GEAR OFF TRG MAXVEL NURB SPLINE TOV Corrected differential analog input example Added CAM ON TRG to cam command combinations Added CAM ON TRG command Added CLEAR command to vaid CONFIG command combinations Corrected CONFIG usage examples Added CONFIG CLEAR command Command was taken out of manual after version 1 13 03 but was still a valid firmware command Added note about using the two commands together Update Usage Example to show both commands Added DGAIN Smooth parameter reference Added flash reference information Added read Yaskawa absolute encoder command 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 CHANGE NOTICE continued Users Guide Version 1 18 04 changes continued Page 141 Command Reference ERASE 142 Command Reference ESAVE 146 Command Reference FFACC 154 Command Reference FLASH Page 167 Command Reference GEAR Page 178 Command Reference GEAR ON TRG Page 179 Command Reference GEAR OFF TRG Page 198 Command Reference INTCAP Page 242 Command Reference MAXVEL Page 247 Command Reference MOV Page 248 Command Reference MSEEK Page 253 Command Reference
239. ntrols the update of all analog inputs and does not have an index operand like the other ADC commands The following example enables ADC updating Usage example ADC ON ADC OFF Disable ADC update Format ADC OFF Group Global Objects Units none See also ADC DAC ENC AXIS This command disables the update of the analog input module Note that this command controls the update of all analog inputs and does not have an index operand like the other ADC commands The following example disables ADC updating Usage example ADC OFF 52 Acroloop Motion Controller User s Guide Part Expansion board analog input Format ADCX Group Global Objects See also DAC ENC AXIS This command will display the current setting of the ADC module on 16 axis expansion board Usage example ADCX Chapter 3 Command Reference 53 Version 1 18 07 amp Up Select the 12 Bit 16 Bit firmware mode on expansion board Format ADCX MODE mode Group Global Objects Units none See also ADC DAC ENC AXIS This command sets the firmware mode for the 12 bit or 16 bit ADC module on the ACR8020 16 axis expansion board Issuing an ADCX MODE command with no argument will display the current mode The default mode is for 12 bit ADC The mode is set based on the type of ADC module installed and is not interchangeable between modules The ADCX MODE can be saved using the ESAVE command The following table
240. o program new firmware into the Sysflash1 area Issue command FIRMWARE CHECKSUM and verify that the Sysflash2 Invalid empty flag is cleared before this command is attempted If the Sysflash2 code is valid and the FIRMWARE UPGRADE process fails the Acr8020 bootloader can still load Sysflash2 code at power up If the Sysflash2 code is invalid and the FIRMWARE UPGRADE process fails the Acr8020 board needs to be sent back to the factory to be re programmed The firmware upgrade procedure is as follows At SYS prompt type HALT ALL to halt all programs and plc programs Type CLEAR to clear memory dimension Make sure all machines controlling by acr8020 are shut down Type FIRMWARE CHECKSUM and verify flag 5658 is cleared and flag 5660 is set Otherwise type FIRMWARE BACKUP command to backup firmware first Type FIRMWARE UPGRADE At the prompt Are you sure that you want to upgrade firmware y n answer y Send Acr8020 dat as a text file When the file has started loading the display should read FIRMWARE UPGRADE START 8 Wait a few minutes until the display reads FIRMWARE UPGRADE COMPLETE Do not power down or perform any other functions until this operation is completed 9 Depress the ACR8020 reset switch SW2 and verify that the green watchdog LED is re lit and that the communication port works 10 Type VER and verify that the correct firmware version is running 11 Type FIRMWARE CHECKSUM and verify that Sysflash1 checksum mat
241. ode 1 uses the min angle 01 max angle 02 and sharpness of the corner to determine the velocity The default value for 01 and 02 are 0 and 180 degree respectively For Linear moves the relationship between the angles and velocity profiler is Vector Turn Angle 01 No change in velocity Vector Turn Angle gt 02 The velocity at the corner goes down to master parameter LookAhead Minimum Velocity 01 Vector Turn Angle 02 The velocity goes proportionally from max to min as the turn angle goes from 01 to 02 V V ini 0 Where Final velocity or sharp corner speed f V VEL User Programmed Velocity 04 Minimum Look Angle 0 Maximum Look Angle y Vector Turn Angle 236 Acroloop Motion Controller User s Guide Part LOOK ANG Version 1 18 06 Update 09 Continued Corner Speed As A Function Of Turn Angle Corner Speed lt VEL A Fvel i Corner Speed proportion to Turn Anlge or 4 LT Minimum Corner Speed Speed 2 3 01 02 Vector Angle Minimum Maximum Look Angle Look Angle In case of a circular or arc moves the above is not used Instead centripetal acceleration is used to calculate the master velocity as follows where v Velocity a Acceleration R Radius Usage example LOOK ANG 10 90 Chapter 3 Command Reference 237 55 Setup lopass filter Format LOPASS
242. oder channels a two channel DAC module a four channel stepper module and no analog input module on ACR8000 or ACR8010 board CONFIG ENC6 DAC2 STEPPER4 NONE Usage example 2 ACR2000 This example defines four encoder channels a two channel DAC module and no analog input option on an ACR2000 board NOTE Module 1 is not used on an ACR2000 board and should be set to NONE CONFIG ENC4 DAC2 NONE NONE Usage example 3 ACR1500 This example defines four encoder channels four channels of on board DAC outputs and a 12 bit or 16 bit analog input module on an ACR1500 board NOTE Module 1 is not used on an ACR1500 board and should be set to NONE CONFIG ENC4 DAC4 NONE ADC8 Usage example 4 ACR1200 This example defines three encoder channels an on board single channel DAC output an on board single channel stepper output and no analog input module on an ACR1200 board NOTE Module 1 is not used on an ACR1200 board and should be set to NONE CONFIG ENC3 DACSTEP2 NONE NONE Usage example 5 ACR8020 This example defines eight encoder channels two four channel DAC modules and eight channel ADC on ACR8020 main board The expansion board is configured to four encoder channels four DAC channels four stepper channels and eight ADC channels CONFIG ENC8 DAC4 DAC4 ADC8 CONFIG XAXIS ENC4 DAC4 STEPPER4 104 Acroloop Motion Con
243. oder data is as follows 1 Turn off axis 2 Read absolute data 3 Setencoder count and current position to proper value 4 Turn axis back on The serial data can be read from the Encoder ABS Revolution parameter and the initial incremental pulses can be read from the Encoder Encoder Position parameter If the absolute encoder data is read successfully Encoder ABS DATA READY flag will be set Otherwise Encoder ABS DATA ERROR flag will be set The absolute encoder position can be determined using the following formula Po mult x x RxK Where is the absolute encoder position PA is the serial data the number of revolution R is the number of pulses per encoder revolution mult is the encoder multiplier Po is the initial incremental pulses The absolute position within one revolution K 1 if the SERVOPACK is at forward rotation mode K 1 SERVOPACK is at reverse rotation mode Acroloop Motion Controller User s Guide Part 5 Version 1 18 04 amp Up Read Yaskawa Absolute Encoder continued Usage Example 1 assumes absolute encoder as position feedback on axis 0 X and the YASKAWA SERVOPACK is set as reverse rotation mode Set output 32 will bring the SEN signal to low level Set output 33 will enable SERVO signal The pulses per revolution of the encoder is 1024 Usage Example 1 10 1 mult 4 20 axisO off 30 encl read abs 32 33 40 pl
244. on Controller User s Guide Part LOOK Version 1 18 06 Update 09 Look Ahead This special feature is used for velocity profiling It acts as an intelligent observer and monitors and controls the velocity depending on the motion path shape and distance to travel This mode can be used with and without the multi buffer mode MBUF ON However it will be more effective with multi buffer mode as there will be more moves buffered to lookahead especially in case of tiny moves Motion Path bua 1 gt gt gt 2 i _ Say user enters slower 6 velocity for Move 5 7 Move 5 too small to slow down so the decel exceedes the limit 1 2 3 4 5 Vel 74 WITHOUT LOOKAHEAD A The LookAhead sees the slow velocity request and stars to slow down early 1 2 67 Vel 2 3 4 5 6 1 a Time WITH LOOKAHEAD MODE 0 Figure 3 9a Look Ahead Mode 0 Chapter 3 Command Reference 233 Version 1 18 06 Update 09 Look ahead mode is turned on Format LOOK ON Group Velocity Profile The LOOK ON command is used to turn on the Lookahead feature for a particular master Once this mode is truned on it will stay on unless the user explicitly turns it off Issuing this command without an argument will display the current setting of this mode Usage example PO0 LOOK ON gt 1 LOOK ON LOOK ANG 0 180 LOOK MODE 0 LOOK OFF Version 1 18 06 Upd
245. ormat SAMP channel command data Group Global Objects See also AXIS ENC DAC PLS Data sampling allows the monitoring of system parameters at the servo interrupt rate Optionally data may be also sampled at fixed frequency i e every 25 milliseconds or on the rising or falling edge of a bit flag A total of eight channels can be simultaneously filled from different parameter sources For example one channel can monitor actual position while another is monitoring output voltage for a given axis The resulting information can then be transferred to an offline system for graphical plotting or tuning analysis The sample command is combined with other commands to prepare the system for data sampling The following is a list of valid sample command combinations SAMP SRC Set sample source SAMP BASE Set sample base SAMP CLEAR Clear sample channels SAMP TRG Set sample trigger Chapter 3 Command Reference 293 Data sampling control continued Related System Parameters The following is a list of system parameters related to data sampling P6912 Sample Array Index P6913 Sample Trigger Index P6914 Sample Timer Clock P6915 Sample Timer Period P6912 Sample Array Index Indicates where the next samples are going to be put in the user defined sample arrays During sampling if the index is greater than or equal to the size of the array that channel is tagged as being full If all channels are full the index
246. ory Organization Page 33 Command Groups Page 38 Command Cross Reference Page 44 Command Reference ADC Command Page 46 Command Reference ADC Command Page 55 Command Reference ADC Command Page 48 Command Reference ADC Command Page 59 Command Reference ATTACH AXIS Command Changed User s Guide title to reflect general controller name Added ACR1200 ACR1500 and ACR8010 board information Added ACR1200 ACR1500 and ACR8010 hardware manual information Added ACR1200 ACR1500 ACR8010 board references Added ACR1200 ACR1500 ACR8010 board references Added ACR1200 ACR1500 ACR8010 board references Added ACR1200 ACR1500 ACR8010 Memory Organization descriptions Added CMT object to Global objects group Added TMOV and SYNC to velocity profile group Added Command Cross Reference chart to manual Added ADC command information Added ADC mode command Added ADC max command Added ADC scale command Added CMT object as an additional option for output signal 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 CHANGE NOTICE continued Users Guide Version 1 18 02 changes continued Page 65 Command Reference BRESET Command Page 87 101 Command Reference CMT Command Page 102 Command Reference CONFIG Command Page 107 Command Reference CONFIG IO MODE Command Page 108 Command Reference CONFIG IO INPUT Command
247. otion is independent from the attached master and can run on top of the current motion profile The JOG REN command may be used before JOG ABS to transfer the current position into the jog offset The JOG RES command may be used after JOG ABS to transfer the jog offset back into the current position The following example jogs the X and Y jog offsets to 1 25 2 50 units Usage example JOG ABS X1 25 Y2 50 Chapter 3 Command Reference 221 Set jerk parameter scurve Format JRK rate Group Velocity Profile Units units second See also ACC DEC STP VEL IVEL FVEL PPU This command controls the slope of the acceleration versus time profile If jerk is zero the acceleration profile is rectangular Otherwise the acceleration profile is trapezoidal clipped on top or bottom by the current ACC DEC and STP settings The following figure illustrates the result of using jerk on a normal move VEL VEL 0 0 time time ACC 7 0 0 time time STP STP y Jerk turned off Jerk turned Trapezoidal velocity Scurve velocity Rectangular accel Trapezoidal accel Figure 3 9 Scurve velocity profile Issuing a JRK command without an argument will display the current setting The default jerk is zero An error will be returned if no master is attached The following example sets the jerk ramp to 8000
248. out having to use its name The axis does not have to be attached to a master In general the command argument is any command or command pair that would normally be followed by an axis name and data These commands include those from the axis limits feedback control servo control and setpoint control groups Two other direct axis commands unique to this access mode are AXIS ON Enable servo loop AXIS OFF Disable servo loop These commands turn on and off the servo loop associated with an axis without having to use the bit flags designated for that purpose Turning off unnecessary servo loops will reduce CPU load and improve system performance The following example sets the proportional gain on AXIS 3 to 0 001 jogs AXIS 2 to an absolute jog position of 2 5 units and disables the AXIS 7 servo loop Usage example AXIS3 PGAIN 0 001 AXIS2 JOG ABS 2 5 AXIS7 OFF Chapter 3 Command Reference 61 BKL Set backlash compensation Format BKL axis value axis value Group Setpoint Control Units units See also BSC CAM GEAR HDW JOG This command sets or displays the backlash compensation of an axis Backlash is primarily used to compensate for error introduced by hysteresis in mechanical gearboxes Backlash is added to the secondary setpoint when the primary setpoint moves in the positive direction If the primary setpoint is not changing the backlash stays in its previous state The backlash offset is used
249. oving before the cam is trun on otherwise the CAM will not begin from the start CAM Velocity Smooth Axis Parameter CAM Velocity Smooth is used to smooth out the CAM velocity that is used for the feed forward control The Default value is 10 which means that the velocity is averaged on 10 samples to take away the jitter in the velocity term The user can change this value to suite his application however it should be changed before turning the CAM ON 70 Acroloop Motion Controller User s Guide Part Clear the CAM setting Format CAM CLEAR axis Group set point control See also CAM This command is used to clear the current setting of a cam This command will turn off the cam and initialize all the cam variables to the default values It can be used even if the cam is currently active NOTE The memory allocated to the CAM DIM command will still be there and so will be the number of segments and their respective lengths The cam can not be re dimensioned by this command If needed one has to use CLEAR ALL command to clear all the memory Usage example CAM CLEAR Y Chapter 3 Command Reference 71 Allocate cam segments Format CAM DIM axis segments axis segments Group Setpoint Control See also CAM BKL BSC GEAR HDW JOG DIM CLEAR This command allocates working space for a cam The cam must be dimensioned before it can be initialized This is in addition to the dimension
250. ox The following is a list of valid electronic gearing command combinations EAR SRC EAR PPU EAR RATIO EAR ACC EAR DEC a a Q RES EAR ON EAR OFF eo Q EAR MIN EAR MAX Q GEAR ON TRG GEAR OFF TRG Set electronic gearing source Scale electronic gearing input Set electronic gearing ratio Set gearing acceleration Set gearing deceleration Reset or preload gearing output Turn electronic gearing on Turn electronic gearing off Set minimum gear offset limit Set maximum gear offset limit Enable gear on external trigger Disable gear on external trigger The commands can also be issued using the handwheel command i e HDW RATIO There is only one internal mechanism for electronic gearing so the use of either the HDW or GEAR command depends on programming preference Chapter 3 Command Reference 167 Electronic gearing continued Block Diagram The following block diagram outlines the operation of electronic gearing Gear Control GearRatio Gear Status Flags Calculator Flags Gear Lock GEAR RATIO gt GearActive gt GEAR ACC gt GearAt Speed Acti GearActivate GEAR DEC GEAR OFF GEAR ON TRG GEAR OFF TRG Gear Stopping YxYYy Current Gear GearPulse Scaling amp Offset Calculator AXIS PPU G
251. p in the axis current position This prevents the axis from jumping when the gear offset changes The following example turns on electronic gearing for axis X Y and Z The X axis gear offset is preloaded to 1000 Usage example GEAR ON X1000 Y Z GEAR OFF Turn electronic gearing off Format GEAR OFF axis offset axis offset Group Setpoint Control Units output units See also GEAR HDW CAM BSC BKL JOG This command disables electronic gearing for an axis If the optional offset parameter is left out it is ignored Otherwise the offset is preloaded to the given value The difference between the old offset and the new offset will show up in the axis current position This prevents the axis from jumping when the gear offset changes The following example disables electronic gearing on the X and Y axis Usage example 176 GEAR OFF X Y Acroloop Motion Controller User s Guide GEAR MIN Set minimum gear offset limit Format GEAR MIN axis value axis value Group Setpoint Control Units units See also GEAR HDW CAM BSC BKL JOG This command sets the minimum gear offset limit for the given axis The minimum gear offset is defined by the offset relative to the current location of the gear source Issuing the GEAR MIN command to an axis without an argument displays the minimum limit for that axis The default is 0 0 for all axis The following example sets the of
252. pdate 09 Enable external trigger CAM Format CAM ON axis TRG mode capture register Group Setpoint Control See also CAM HDW BSC BKL GEAR JOG This command is not valid for the ACR8000 This command is same as the CAM ON TRG except that the cam source can be any P parameter In this case the capture register value is not used since the cam source value is different than the capture register value This is less precise than the CAM ON TRG and the worse case error can be one servo period The following example enables or starts the Y axis cam when triggered by rising primary marker of encoder 0 Usage example CAM SRC Y P12288 CAM ON Y TRGP 0 0 If the CAM needs to be turned off and armed again then issue the following commands CAM OFF Y CAM RES Y CAM ON Y TRGP 0 0 Chapter 3 Command Reference 81 CIRCCW Version 1 18 04 Upd 1 amp Up 2 Dimensional Counter Clockwise Circle Format CIRCCW axis target center axis target center Group Interpolation See also SINE CIRCW This command generates a circular profile on the plane defined by the two selected axes The command can be used to generate any counter clockwise arc between 0 to 360 degree target position at the end of the move in units center center of the circle to by drawn in units The following formula is used to calculate the start point of the arc The profiler will always start from this point and end at the target point If the curre
253. ple VER Chapter 3 Command Reference 341 WHILE WEND Loop execution conditional Format Group WHILE boolean commands WEND Program Flow WHILE loop is used to execute a set of statements if the boolean expression is true The while loop is a prechecked loop which means that it checks the conditional expression at the beginning of the loop not at the end The BREAK command can be used to break out from the WHILE loop if certain other condition is met Usage example DEFINE Counter LVO DEFINE Stop BIT32 PROGRAM DIM LV2 Counter 0 WHILE Counter lt 10 ENDP 342 Print Counting Print Seconds Counter IF Stop Print Stop Counting BREAK ENDIF Print Dwell for 1 sec DWL 1 Counter Counter 1 Acroloop Motion Controller User s Guide 4 Expression Reference Chapter 4 Expression Reference 343 This page intentionally left blank 344 Acroloop Motion Controller User s Guide Part Expression Groups Arithmetic MOD Comparison lt lt gt gt gt Hyperbolic ACOSH ACOTH ASINH ATANH COSH COTH SINH TANH Logical gt gt BIT NAND NOR NOT OR XNOR XOR Subtraction Multiplication Exponent Addition Division Modulus Less than Less or equal Not equal Equal to Greater than Greater or equal Hyperbolic arc cosine Hyperbolic arc cotangent Hyperbolic arc sine H
254. pression2 Group Comparison This operator returns 1 if the value of expression1 is equal to expression2 otherwise it returns 0 Usage example PRINT 1 2 0 PRINT 1 1 PRINT 1 22 Example output 0 1 0 Chapter 4 Expression Reference 349 gt Greater than Format1 expression1 expression2 Format2 stringexpression1 gt stringexpression2 Group Comparison This operator returns 1 if the value of expression is greater than expression2 otherwise it returns O Usage example PRINT 1 gt 0 PRINT 1 gt 1 PRINT 1 gt 2 Example output 0 lt gt Not equal to Format1 expression1 expression2 Format2 stringexpression1 stringexpression2 Group Comparison This operator returns 1 if the value of expression1 is not equal to expression2 otherwise it returns O Usage example PRINT 1 lt gt 0 PRINT 1 lt gt 1 PRINT 1 lt gt 2 Example output 0 1 350 Acroloop Motion Controller User s Guide Part lt Less than equal Format1 expression1 expression2 Format2 stringexpression1 stringexpression2 Group Comparison This operator returns 1 if the value of expression1 is less than or equal to expression2 otherwise it returns 0 Usage example PRINT 1 PRINT 1 0 1 PRINT 1 lt 2 Example output 0 1 zur gt Greater than or equal Format1 expression1 expression2 Format2 stringexpression1 stringexpression2 Group Comp
255. program The DETACH ALL command can be issued from anywhere in the system and will detach all slaves from all masters and all masters from all programs The following example detaches the master and slaves from the current program Usage example DETACH 114 Acroloop Motion Controller User s Guide Part DGAIN Set derivative gain Format DGAIN axis value axis value Group Servo Control Units volts pulses second See also DWIDTH PGAIN IGAIN FFVEL FFACC This command modifies the value used in the PID algorithm to control derivative gain Issuing a DGAIN command to an axis without an argument will display the current setting for that axis The default gain is 0 0 for all axes The following example sets X axis derivative gain to 0 0001 volts pulses second Usage example DGAIN X0 0001 DGAIN SMOOTH Take away humming noise from the torque motor due to DAGIN Axis parameter DGAIN Smooth is used to subdue the humming noise in the torque motor due to DGAIN The Default value is 0 which means no smoothing is applied The user may typically change this value from 0 to 5 The DGAIN command must be used after changing this parameter to make this change effective Usage example REM The dgain term will be averaged over 4 samples 12402 4 DGAIN X0 0001 Chapter 3 Command Reference 115 DIAG Display system diagnostics Format DIAG Group Operating System See also PERIOD CPU 116
256. ption This command will run the current PLC program and return to the command prompt When a PLC program is run the control first compiles the PLC program source and then links the result into the PLC scanner Note that PLC programs are limited to a maximum of 100 instructions Compilation takes the PLC program source and generates high speed machine code specific to the control s processor This step requires a certain amount of memory to store the generated code An error will be generated if there is not enough free memory available to compile the PLC program After the PLC program is successfully compiled the program is linked to the PLC scanner The scanner is a list of high speed events During each servo interrupt a single event from this list is executed During the next interrupt the next event is executed This process is repeated after the last item in the list Note that running a PLC program also executes an implied PON command activating the timer counter latch update event and any pending PLC programs which may have been set to an idle state with the POFF command Usage example RUN Chapter 5 PLC Progromming 401 HALT Halt PLC program Format HALT Description This command removes the current PLC program from the PLC scanner If the PLC scanner is idling as the result of a POFF command the current PLC program will not be put back into the scanner list when the PON command is executed Halting a PLC prog
257. r 1 and sets the count to 5 Lines 140 and 150 connect the counter output to relay 32 100 LD 00 110 AND NOT 01 120 LD 02 130 CNT 1 5 140 LD CNT 1 150 OUT 32 422 Acroloop Motion Controller User s Guide Part Connect blocks to latch Format KR latch Description This instruction takes two logic blocks and connects them to the given latch The first block is connected to the set coil and the second block is connected to the reset coil There are eight global PLC latches An error will be generated if there are not exactly two logic blocks open at that point in the PLC program A latch output turns on when its set input is turned on The latch output will remain on even after the set input goes away When the reset input of a latch is turned on the latch output will turn off The set input is ignored when the reset input is turned on The output state of a latch is retained in battery backup memory during power down When a PLC program is run the program is scanned to make sure that the individual latches are not being controlled by multiple KR instructions Duplication checks are only done within a PLC program not across multiple PLC boundaries Latch output contacts can be used any number of times Related Information The following table outlines the bit flags related to PLC latches These can be used by normal programs to control and monitor PLC latches with or without any PLC programs running Note that if
258. ram Format NEW PROG number PLC number ALL Group Program Control This command erases the currently selected program An error will be generated if the program to be erased is currently running Data lost when programs are erased cannot be recovered The NEW command cannot be issued from within a program The optional NEW formats can be issued from anywhere including programs The NEW PROG and NEW PLC commands will erase the corresponding user or PLC program The NEW ALL command will erase all user and PLC programs that are not currently running Usage example 250 NEW Acroloop Motion Controller User s Guide NORM Normalize current position Format NORM axis length axis length Group Feedback Control Units units See also ROTARY RES REN PPU This command normalizes the current position of an axis A MOD operation is done on the current position resulting in a new current position between zero and the length argument The primary setpoint and the encoder count are adjusted accordingly in order to prevent the axis from jumping If the length argument is left out the rotary length set by the ROTARY command is used The following example normalizes the A axis to 360 units Usage example NORM A360 Chapter 3 Command Reference 251 NOTCH Setup notch filter Format NOTCH axis center width axis center width Group Servo Control Units Hertz See
259. ram does not cause other PLC programs or the timer counter latch update event to be removed from the PLC scanner list Usage example HALT 402 Acroloop Motion Controller User s Guide Part LIST List PLC program Format LIST first last Description This command lists the currently selected PLC program The listings of CNT and TIM preload values reflect the current setting of the corresponding system parameters The first and last arguments define listing ranges as follows LIST first Lists a single line LIST first last Lists from first to last LIST first Lists from first to end of program LIST last Lists form start of program to last Usage example LIST 100 199 Chapter 5 PLC Progromming 403 Show PLC memory Format MEM Description This command displays the amount of free memory remaining in the current PLC space Running a PLC requires a certain amount of free memory to store the machine code generated during compilation On average a total of 32 bytes of storage are required for each PLC instruction 8 for the source and 24 for the machine code The memory that is displayed by this command only reflects the memory used by the source storage even if the PLC has been compiled and is currently running Usage example MEM 404 Acroloop Motion Controller User s Guide Part PLC Instructions Overview PLC instructions are combined to create PLC programs Each instru
260. rated from the isolated external supplied voltage PASS On board isolated 5VDC voltage present FAIL No voltage present Acroloop Motion Controller User s Guide Part DIAG Display system diagnostics continued ACR2000 ACRCOMM Comm Board DIAG Command Definitions In addition to the ACR2000 motherboard diagnostics the following will be displayed when invoking the DIAG command on an ACR2000 Board with an ACRCOMM module COMM Board Detected BID 0 VDD PASS VEE PASS BCL PASS BDF PASS Where BID Board ID number for a COMM board 0 COMM Board ID Number VDD 12VDC supply voltage PASS Voltage present FAIL No voltage present VEE 12VDC supply voltage PASS Voltage present FAIL No voltage present BCL 1000mAH Lithium Battery BT1 voltage low indicator This is a warning indicator that battery voltage is approaching minimum requirements for SRAM back up Minimum SRAM data retention voltage is 2 0VDC BT1 should be replaced AMCS P N PS006 Panasonic P N CR2477N PASS BT1 gt 2 5VDC FAIL BT1 is between 2 3 and 2 5 VDC when displays PASS 1000maH Lithium Battery BT1 voltage fail indicator This is a warning indicator that battery voltage is below requirements for SRAM back up minimum SRAM data retention voltage is 2 0VDC BT1 must be replaced AMCS P N PS006 Panasonic P N CR2477N PASS 1 gt 2 2VDC FAIL BT1 is between 2 0 and 2 2 VDC Chapter 3 Command Reference 121 DIAG Displa
261. re capture register information for the GEAR ON is the same as those used in the INTCAP command The offset is the number of pulses from the trigger point to where the gear will be turned on It is stored in the axis parameter Gear Trigger On Offset The offset should be positive if the gear source is moving in the positive direction and vice versa The default offset value is zero which will immediately turn on the gear Gear On Trigger A Gear On During This Period Gear Off Trigger gt Pulses Offset Usage example REM Gear Source is the actual position of axis0 GEAR SRC Y ENCO REM ACR8010 REM Mode Primary Rising External INP 24 Cap Register 0 GEAR ON Y 2 0 X 90 INH 809 REM wait for capture complete REM Mode Primary Rising Marker Capture Register 1 GEAR OFF Y TRG 0 1 178 Acroloop Motion Controller User s Guide Part Version 1 18 06 Update 09 Enable gear on external trigger Format GEAR ON axis offset TRGP mode capture register OFFSET value Group Setpoint Control This command is not available on the ACR8000 This command is same as the GEAR ON except that gear can be triggered from any P parameter In this case the capture register value is not used since it is different from the gear source value Thus resulting in a less precise response than when triggered from the gear source The wors
262. ression composed of several variables or a single bit reference The following example will set output 32 if input number 10 is active Usage example 10 BIT 10 THEN SET 32 190 Acroloop Motion Controller User s Guide Part IF ELSE IF ELSE ENDIF Conditional execution Format IF boolean commands ELSE IF boolean commands ELSE commands ENDIF Group Program Flow This command is used for conditional branching If the boolean expression is true then the following group of statements are executed Otherwise the program drops down to check the next Boolean expression The boolean can either be an expression composed of several variables or a single bit reference The following example will count up if bit 32 is set else if bit 33 is set it will count down In case neither bit is set then it sets the counter to zero Usage example SYS DIM PROGO 5000 DIM DEF 10 PROGO DEFINE Counter LVO DEFINE upcount BIT32 DEFINE downcount BIT33 PROGRAM DIM LV2 Start DWL 5 IF upcount Counter countert l Print Counting Up Print Counter Counter ELSE IF downcount Counter counter 1 Print Counting Down Print Counter Counter ELSE Counter 0 Print Initializing Print Counter Counter ENDIF GOTO start ENDP Chapter 3 Command Reference 191 Set integral gain Format IGAIN a
263. ression2 Group Logical See also AND NAND OR XOR XNOR NOT BIT This operator returns the logical NOR of the two expressions Bits in the result will be set if neither of the corresponding expression bits are set Usage example PRINT 0 NOR 0 PRINT 0 NOR 1 PRINT 1 NOR 0 PRINT 1 NOR 1 Example output i co c c Chapter 4 Expression Reference 375 Bitwise complement Format NOT expression Group Logical See also AND NAND OR NOR XOR XNOR BIT This operator returns the logical NOT of the two expressions Bits in the result will be set if the corresponding expression bits are clear Usage example PRINT NOT 0 PRINT NOT 1 Example output 1 376 Acroloop Motion Controller User s Guide Part OR Logical OR Format expression OR expression2 Group Logical See also AND NAND NOR XOR XNOR NOT BIT This operator returns the logical OR of the two expressions Bits in the result will be set if any of the corresponding expression bits are set Usage example PRINT 0 OR 0 PRINT 0 OR 1 PRINT 1 OR 0 PRINT 1 OR 1 Example output Chapter 4 Expression Reference 377 RIGHT Right string Format RIGHTS stringexpression length Group String See also LEFT MID This function returns the rightmost n characters of the given string If n is greater than the length of the string the entire string is returned Usage example PRINT R
264. roller User s Guide Part Multiple Board Communication PC BUS Multiple board communication over the PC Bus is handled by using different port addresses and card numbers for each card in the system Refer to the appropriate ACR1500 ACR2000 ACR8000 hardware manual for Address Selection Switch SW1 information Refer to ACR8010 hardware manual for ACR8010 card Plug and Play information Up to eight ACR1500 ACR2000 ACR8000 ACR8010 boards can be used in the same system SERIAL BUS Multiple board communication over the serial ports is handled by using different card numbers for each card in the system and using the ctrl A and ctrl B commands to address the cards Refer to the appropriate ACR1200 ACR2000 ACR8000 ACR8010 hardware manual for Address Selection Switch SW1 and Multiple Card Wiring information Up to eight ACR1200 ACR2000 ACR8000 ACR8010 board serial ports can be daisy chained creating a serial bus Symbol Argument Function or CR Turn on card or all cards ctri B CR Turn off card or all cards The ctrl A and ctril B commands may be terminated by an ASCII character representing the card number i e 0 represents the first card and the zero key on a keyboard or by a carriage return CR A CR in this case means all cards Other commands are terminated by a CR NOTE Only one board should be enabled turned on at a time to allow for proper handling of unsolicited r
265. rray Allocate string array references Allocate string array Allocate multiple buffers for motion profiler Allocate defined variable names for alias Display current program dimensions This command allocates memory space for programs buffers variables and arrays For program allocation program is the program number being allocated and size is the number of bytes you wish to allocate to the program This use of the DIM command can only be done from the system level Stream buffers FIFO COM1 COM2 DPCB default to 256 bytes but may be redimensioned from the system level The size is the number of bytes to allocate for that buffer After the buffer resizing is complete the appropriate Stream Redimensioned Chapter 3 Command Reference 125 flag will be set Issuing CLEAR command for a stream will return it to the default 256 byte storage area Minimum allocation for the stream buffers is 256 bytes each 126 Acroloop Motion Controller User s Guide Part DIM Allocate memory continued For variable allocation count is the number of variables of that type that are required in your program For strings length is the maximum number of characters that the allocated string will be able to hold This use of the DIM command can be done from either the program level or within a program that is running Array allocation is similar to variable allocation but is done in two parts First the array references are al
266. rsion 1 18 00 and above the hardware capture register can be specified If the hardware capture register is not specified then the hardware capture register index is assumed to be the same as the position feedback encoder index ACR1200 ACR1500 ACR2000 ACR8000 and ACR8010 It is also possible to initiate an encoder capture sequence through software This is done by issuing a SET113 command This captures all of the encoder positions and transfers them into their software capture parameters Valid Interrupt Sources Modes ACR1200 ACR1500 ACR2000 ACR8000 and ACR8010 0 Rising Primary Marker Rising Secondary Marker Rising Primary External Rising Secondary External Falling Primary Marker Falling Secondary Marker Falling Primary External Falling Secondary External ACR1200 ACR1500 ACR2000 and ACR8010 only Rising Tertiary Marker Rising Fourth Marker 10 Rising Tertiary External 11 Rising Fourth External 12 Falling Tertiary Marker 13 Falling Fourth Marker 14 Falling Tertiary External 15 Falling Fourth External Chapter 3 Command Reference 199 INTCAP Encoder Capture continued Valid Interrupt Sources Modes continued ACR8010 only 16 Rising Fifth Marker 17 Rising Sixth Marker 18 Rising Fifth External 19 Rising Sixth External 20 Falling Fifth Marker 21 Falling Sixth Marker 22 Falling Fifth External 23 Falling Sixth External 24 Rising Seventh Marker 25 Rising Eighth Mark
267. s Note that it is not possible to activate high bit stripping without also activating the control character prefixing Mode High Bit Control Value Stripping Prefixing Ca Table 3 13 Data formatting modes The following example turns on both control prefixing and high bit stripping Usage example 246 MODE 3 Acroloop Motion Controller User s Guide Part I MOV Define a linear move Format MOV axis target axis target Group Interpolation Units units See also TRJ SINE PPU TMOV SPLINE NURB MAXVEL This command activates the linear interpolation mode Since this is the default axis data input mode the command is usually redundant When a forward slash is used the move is interpreted as an incremental move of the number of units specified rather then an absolute move to a position Usage examples MOV X10 Moves x axis to absolute position of 10 units X10 MOV command is redundant This command will also move the x axis to absolute position of 10 units X20 Y 30 Coordinated move since both axes are on the same command The X and Y axes start and finish their respective moves exactly at the same time 20 X axis moves an incremental distance of 20 units from it s current position Y 30 Y axis moves a decremental distance of 30 units from it s current position X 2 Y2 Z 2 X axis makes an incremental move Y axis makes an absolute move and Z axis makes a decremental mov
268. s To give control over machine speed following modes are available The user decides which one to use depending upon the application MODE SPLINE TYPE TOV FOV DESCRIPTION 0 Time Yes e Automatic speed and acceleration control Interpolation depending upon how the data points are in time e The master parameter Spline Time Factor may be used to scale the time axis thereby changing the speed e Very smooth and good for high speed e Good for making time based moves 1 Velocity Yes NS e maps time to knots where time Interpolation between points is calculated by Linear Arc length VEL 2 Velocity Accel Yes NS Linearly maps time to knots where time Interpolation between points is the maximum of Linear Arc length VEL And 2 Linear Arc length ACC 3 Velocity TMOV Yes NS Linearly maps time to knots where time Interpolation between points is the maximum of Linear Arc length VEL And TMOV time 4 NR Yes Yes e Newton Raphson approximation for vector Interpolation velocity control NA Not Applicable NS FOV value is applied to the next segment The following example selects Time Interpolation Mode Usage example SPLINE MODE 0 Chapter 3 Command Reference 309 SPLINE END Version 1 18 04 and Up Ends SPLINE Interpolation Mode Format SPLINE END This command is used to terminate the SPLINE interpolat
269. s currently at System Level The system level is the level that a communication channel is at after power up The command prompt at this level is as follows SYS gt Only a limited set of commands can be issued from this level From any other level the SYS command will return the communication channel to the system level Program Level This program level allows the editing and running of individual programs The command prompt at the program level is as follows Pnn gt Where nn is the currently active program number To select this level from any other level issue the PROG command followed by the program number For example the following command will select program 1 no matter which level or program is currently active PROG 1 To go back to the system level from the program level execute the SYS command To go from one program to another program simply issue another PROG command followed by the desired program number The following figure shows the various communication channel levels The communication channels on the left can all be active at the same time and be operating at different levels For example COM1 could be editing program 3 while COM2 monitors user variables being modified by program number 5 4 P00 COM1 1 gt 2 2 M ucc P155 Figure 2 3 SYS PROG levels 12 Acroloop Motion Cont
270. selection The components of the HSINT command are as follows The axis designator can be either incremental trailing forward slash or absolute A master can only execute an HSINT command for a single axis at a time The target parameter is used to start the incremental or absolute move indicated by the axis designator This move drives the rest of the HSINT sequence The mode parameter is the same as the mode in the INTCAP command and is used to start looking for a hardware capture in the capture window The incmove parameter is added to the capture position if a hardware capture is detected within the capture window In this case the axis HSINT Registered flag is set the move in progress is killed and this new value is used as an absolute target position for the rest of the HSINT sequence The optional window parameter defines the width of the capture window If this parameter is not present or is zero the capture window is then defined as the area between the start of the window and the end of the move The optional wstart parameter defines the start of the capture window If this parameter is not present the window begins at the start of the move The optional abortbit parameter is a flag that is monitored during the entire HSINT sequence If the bit is seen the current move is killed and the axis HSINT Aborted flag is set indicating a user abort condition The capture register is the sa
271. ser or PLC program The HALT ALL command will halt all user and PLC programs Usage example HALT Chapter 3 Command Reference 183 HDW Handwheel Format HDW command axis data axis data Group Setpoint Control See also GEAR CAM BSC BKL JOG Handwheel is another name for the GEAR command used for electronic gearing See description of GEAR command for details 184 Acroloop Motion Controller User s Guide Part Display command list Format HELP Group Operating System This command displays the executive version and command set The HELP command cannot be issued from within a program Usage example HELP Chapter 3 Command Reference 185 HSINT Version 1 16 09 amp Up High speed Interruptible Move Format HSINT axis mode target incmove window wstart abortbit 3 CAP Group capture register Feedback Control See also INTCAP INT MSEEK IHPOS 186 This command initiates a high speed interruptible move The HSINT sequence consists of an incremental or absolute move with a capture window in the middle of it Within the capture window an internal INTCAP is initiated and monitored If a capture occurs within the window the current move is killed and a second move is started The mode parameter and hardware capture register are the same as those used in the INTCAP command Refer to the INTCAP command for mode parameter and hardware capture register
272. ser variables from flash instead of relying on the battery backup memory WARNING If a FLASH SAVE or FLASH IMAGE command is performed when there is data present in the flash a FLASH ERASE will automatically be performed by the CPU and all data previously stored in the flash will be overwritten ACR2000 ONLY For expanded user memory 512Kbytes on the ACR2000 board flash storage is limited to 384Kbytes of program PLC and user variable information The following is a list of valid flash command combinations FLASH LOAD Load user image from flash FLASH SAVE Save user program image to flash FLASH IMAGE Save user variable and program image to flash Version 1 17 07 amp Up FLASH ERASE Erase user image from flash The power up flash load can be bypassed using the Flash Bypass Mode Version 1 17 07 amp Up The Flash Bypass Mode is implemented by setting the ACR1200 ACR1500 ACR2000 ACR8010 Card Address Switch SW1 Refer to the appropriate Hardware Manual for details When the Flash Bypass Mode is implemented the user programs PLC s and user variables if a FLASH IMAGE command was used will not be loaded at power up or reset and PBOOT commands in battery backup memory will be disabled The following example stores the user program image into flash leaving the user variable in battery backup memory Usage example 154 FLASH SAVE Acroloop Motion Controller User s Guide FLT Version 1 18 06
273. set Figure 2 8 Setpoint summation Velocity FFVEL Term Term FFVEL IN Acceleration FFACC x Term Term FFACC M Secondary Following Proportional Setpoint Error Term gt 2 Integral Ax Term IGAIN Integrator Derivative uA Term DGAIN Derivative Actual Position Figure 2 9 Servo loop core 28 Output Torque Signal Limit Dual Loop Velocity Actual Position Secondary Setpoint Summation Point FBVEL Term FBVEL Actual Velocity Acroloop Motion Controller User s Guide Digital Filters Filter Equations FilterO Filter 1 gt e y n 21 20 22 agptaqpzi aoiz2 1 b4ozi bopz 2 1 bq 21 z2 Figure 2 10 Filter equations Filter Parameters Axis Number EE b2 Coefficient a2 Coefficient b1 Coefficient a1 Coefficient a0 Coefficient MEET RES ERE ESSE CET ae b2 Coefficient a2 Coefficient b1 Coefficient a1 Coefficient a0 Coefficient Table 2 1 Digital filter parameters Filter Flags Control ES wu EXCESS SEES HERE Table 2 2 Digital filter flags Chapter 2 System Reference 29 Position Velocity Servo Loop i Secondary Ead FFVEL FFVC Set Point Set Point
274. shows the modes 0 STD 12 Bit ADC 16 Bit ADC Table 3 2 1 ADCX Mode The following example sets mode to 16 bits ADC on the expansion board Usage example ADCX MODE 1 54 Acroloop Motion Controller User s Guide Part I 16 ADC ONLY Version 1 18 07 amp Up Set the number of ADC Inputs on expansion board Format ADCX MAX number Group Global Objects Units none See also ADC DAC ENC AXIS This command sets the number of ADC inputs that will be sampled during the servo interrupt period on ACR8020 16 axis expansion board Issuing an ADCX MAX command with no argument will display the current number of ADC inputs selected The default number is 8 This command is only for 16 bit ADC operation The ADC MAX can be saved using the ESAVE command NOTE The 12 Bit ADC firmware always samples all 8 ADC inputs The following example sets the number of ADC inputs to 5 on the expansion board Usage example ADCX MAX 5 Chapter 3 Command Reference 55 ALM Set stroke limit A Format ALM axis value axis high low Group Axis Limits Units units See also BLM PPU This command sets the command position current position limits monitored by the A limit flags When the command position of a given axis is within these limits the appropriate flag is set Otherwise the flag is cleared For masters the flag is set if all of its slaves are within their limits Issuin
275. sitive channel ADC NEG Select negative channel ADC GAIN Set analog input gain ADC OFFSET Set analog input offset ADC ON Enable ADC update ADC OFF Disable ADC update The following table outlines parameters related to ADC operation Table 3 1 ADC parameter cross reference 44 Acroloop Motion Controller User s Guide Part ADC Analog Input continued Block Diagram The following block diagram outlines a single analog input channel Hardware Software ANO ADC POS AIN 6 ADC OFFSET AIN 7 ADCInput x Y T gt ADC GAIN AIN 6 ADC NEG Figure 3 2 ADC input channel diagram Chapter 3 Command Reference 45 Version 1 18 amp Up Select the 12 Bit 16 Bit firmware mode Format ADC MODE mode Group Global Objects Units none See also ADC DAC ENC AXIS This command sets the firmware mode for the 12 bit or 16 bit ADC module on the ACR1200 ACR1500 ACR8000 ACR8010 boards Issuing an ADC MODE command with no argument will display the current mode The default mode is for 12 bit ADC The mode is set based on the type of ADC module installed andis not interchangeable between modules The ADC MODE can be saved using the ESAVE command Note The ACR2000 board only supports the on board 12 Bit ADC option 16 Bit ADC is not available on the ACR2000 The following table shows the modes 0 STD 12 Bit ADC 16 Bit ADC Table 3 2 ADC Mode The following e
276. ssuing a PGAIN command to an axis without an argument will display the current setting for that axis The default gain is 0 0024414 10 volts 4096 pulses for all axes The following example sets the X axis integral gain to 0 001 volts pulse Usage example PGAIN X0 001 Chapter 3 Command Reference 265 PLC Switch to a PLC prompt Format PLC number Group Operating System See also SYS PROG This command switches the communication channel to the designated PLC prompt Issuing a PLC command without an argument will either display the current PLC number or display an error if not at a PLC level The communications channel must be at a PLC level in order to run and edit PLC programs The PLC command cannot be issued from within a program Usage example PLC 3 266 Acroloop Motion Controller User s Guide Part PLS Programmable Limit Switch Format PLS index command data Group Global Objects See also DIM CLEAR This command is used with a second command to control the eight Programmable Limit Switch PLS objects that execute in the background A PLS uses a source parameter to generate a table index This table index is used to lookup an array entry which is then transferred into a destination parameter By pointing the source to an encoder position and the destination to the digital outputs the PLS can sequence through a set of outputs based on a shaft position similar to a mechanical cam operating a bank
277. t is received Kill Move Flag is set or the user issues a NURB END command NURB Interpolation Modes To give control over machine speed following modes are available The user decides which one to use depending upon the application MODE NURB TYPE TOV FOV DESCRIPTION 0 Time Yes NA e The knots are taken as time Interpolation e Automatically adjusts velocity and acceleration depending on the knots e The master parameter NURB Time Factor may be used to scale the knots to time and change the speed e Very smooth and good for high speed precise moves 1 Dynamic Yes Yes e User specifies the speed and acceleration limits Interpolation e Depending on the curvature of the curve and acceleration velocity limit set be the user automatically controls the speed e User should watch for sharp turns and slow down in time to make a smooth turn 2 Linear Yes NS e Linearly maps linear arc length VEL time to Interpolation knots e velocity command starts effective from the start of the segment 3 NR Yes Yes e Newton Raphson Approximation for Vector Interpolation Velocity Control 4 Smooth Yes NS e Uses Cubic Spline to map arc length VEL time Interpolation to knots e The smoother trajectory comes at the cost of slowing down close to each knot to make a smoother transition NA Not Applicable NS FOV value is applied to the next segment Usage example The following
278. t string is a null string the function returns a zero If the second string is a null string and the first string has a length greater than zero the function returns a one Usage example PRINT INSTR ABCDEFG CDE Example output 3 366 Acroloop Motion Controller User s Guide Part KBHIT Check for waiting character Format KBHIT devicenumber Group String See also INKEY This function checks a device to see if a character is waiting to be read If there is no character waiting to be read the function will return a zero Otherwise the function will return a negative one 1 indicating success The valid range for devicenumber is 0 to 3 Each program has it s own device 0 which is used as its default device Devices 1 through 3 are board wide system resources that can be opened and used from within any program or from any system or program prompt Usage example 100 REM main program 110 DIM 5 1 80 120 OPEN COM1 9600 N 8 1 AS 1 130 PRINT 1 140 PRINT 1 CHRS 65 RND 26 150 IF KBHIT 1 GOTO 170 160 GOTO 140 170 GOSUB 200 REM fetch command 180 IF UCASES VO EXIT GOTO 300 190 GOTO 140 200 REM command input 210 PRINT 1 220 INPUT 1 Command VO 230 RETURN 300 REM program shutdown 310 PRINT 41 Program terminated 320 CLOSE 1 Chapter 4 Expression Reference 367 LCASES Convert to lower case Format LCASES
279. tate of a bit flag The result is 1 if the bit is set and O if the bit is clear This allows the result to be used in logical expressions Usage example ET 128 PRINT BIT 128 LR 128 PRINT BIT 128 Example output 1 358 Acroloop Motion Controller User s Guide Part CEIL Smallest integer gt expression Format CEIL expression Group Miscellaneous See also FLOOR ROUND TRUNC This function returns the smallest integral value greater than or equal to the expression The expression is rounded toward positive infinity Usage example PRINT CEIL 1 25 PRINT CEIL 1 75 PRINT CEIL 1 25 PRINT CEIL 1 75 Example output 2 2 1 1 Chapter 4 Expression Reference 359 Character string Format CHR code Group String See also ASC This function returns a string of one character as defined by the given code The valid range for code is 0 to 255 If the value is outside that range an error is returned Usage example PRINT CHRS 88 Example output X 360 Acroloop Motion Controller User s Guide Part COS Cosine Format COS expression Group Trigonometric See also SIN TAN COT ASIN ACOS ATAN ACOT This function returns the cosine of the expression COSH Hyperbolic cosine Format COSH expression Group Hyperbolic See also SINH TANH COTH ASINH ACOSH ATANH ACOTH This function returns the hyperbolic cosine of the
280. tem Clock for Expanded Memory ACR2000 33 ns using a 60MHz System Clock for ACR8010 which increases system performance Chapter 2 System Reference 19 Memory Organization 20 User RAM The User RAM is battery backed up Static Random Access Memory for the ACR1200 ACR8000 and the ACR8010 board This memory is battery backed up for ACR2000 boards with the ACRCOMM Module option The main function of the User Ram is to store user information The user determines what is stored into these memories by using the DIM command User programs PLC programs FIFO COM1 and 2 stream buffers CAM and ballscrew tables global variables program variables and program arrays are all stored in these memories There is also dedicated section of User RAM which stores Global Data The global data provides User RAM locations and dimensioning information which is used by the DSP for all of the above user data This memory is not battery backed up for ACR1500 boards or ACR2000 boards without the ACRCOMM Module option The user must load the data each time the board is powered up EEPROM The EEPROM is an Electrically Erasable Programmable Read Only Memory on the ACR8000 board The EEPROWM s functions include storing system parameters and board configuration information System parameters are stored using the ESAVE command and loaded into the card using the ELOAD command System parameters can be updated in the EEPROM by first erasing th
281. terrupt a single event from this list is executed During the next interrupt the next event is executed This process is repeated after the last item in the list In addition to PLC programs the scanner event list also contains an input output clock scan and a timer counter latch scan As an example two PLC programs running at the default 500 microsecond servo rate will be serviced every 2 milliseconds One interrupt for the input output clock scan one interrupt for the timer counter latch scan and one interrupt for each of the PLC program scans All eight PLC programs would be scanned every 5 milliseconds Related Parameters Individual PLC programs may also be instructed to scan at a rate slower than the servo interrupt rate by setting system parameters The tick preload parameter controls the scan rate in milliseconds and the tick count indicates the number of milliseconds remaining before the PLC program is scanned The following table outlines parameters related to PLC operation Number Preload Count P6656 P6672 P6688 P6704 26720 26736 P6752 26768 Table 5 1 tick parameters Chapter 5 PLC Progromming 395 PLC Operation continued Related Flags The PLC Running flag is set when the RUN command is executed and cleared when the HALT command is executed The First PLC Scan flag is set when a PLC program is RUN and cleared after the first PLC scan The contact of this relay can be used for PLC res
282. they are entered while in the program mode the commands are stored in memory as they are entered They can be executed later by issuing a RUN command in the MDI mode Program mode entry is not allowed from the system level Any command that is preceded by a valid line number will get stored into the memory of the currently selected program Valid line numbers are in the range of 1 65000 Each line in a program must have a line number These line numbers are also used as destination addresses for GOTO commands As an example the following set of commands will do the identical motion profile but will illustrate the difference between the MDI mode and the program mode Program usage example PROGO 10 ACC 10000 DEC 10000 STP10000 VEL 20000 20 X100000 30 END RUN MDI usage example PROGO ACC10000 DEC 10000 STP 10000 VEL 20000 X100000 Chapter 2 System Reference 15 Memory Organization The following figures show the memory organization of the ACR1200 ACR1500 ACR2000 ACR8000 ACR8010 boards System RAM System EPROM EEPROM User RAM 64KBytes 64Kbytes Flag and Parameter or System Parameter Global Data Storage Storage Shadow Code User Dimensioned Shadow Memory Storage Reserved Executive Code Reserved Figure 2 4 ACR8000 Memory Organization 16 Acroloop Motion Controller User s Guide Part I Memory Organization
283. this mode the 3 D Arc is defined by a start point an intermediate point and an end point of the arc These points can be specified as incremental or absolute position For successive 3 D Arcs the end point of the previous arc is used as the start point of the next arc As required any additional number of axes can be specified to the three dimensional interpolation axes to perform a coordinated move Usage example TARC OFF X1 Y 14 Z1 TARCON X Y Z X13 Y 6 25 X8 Y2 210 X5 Y6 Z 5 X10 Y2 2 10 2 YO 2 4 5 X T0 Y 2 21 X1 Y3 Z15 1 2 41 20 0 t J 20 40 10 Figure 3 16 3 0 Arc interpolation example XYZ axes are put to 3 D circular interpolation mode 1 Arc intermediate point 1 Arc end point 2 Arc A axis will do linear coordinated move with XYZ axes 3 Arc intermediate point 3 Arc end point 4 Arc Chapter 3 Command Reference PII 323 Version 1 18 06 Turn off 3 Dimensional Circular Interpolation Mode Format TARC OFF Group Interpolation This command will turn off the three dimensional circular interpolation mode for the master Usage example TARC OFF 324 Acroloop Motion Controller User s Guide Part TLM Set torque limit Format TLM axis value axis high low Group Axis Limits Units volts See also ITB This command sets the voltage limits monitored by the not torque limit flags When the output volt
284. troller User s Guide Part CONFIG CLEAR Reset Default Configuration Format CONFIG CLEAR Group Operating System See also ATTACH This command sets the hardware configuration to default The default configuration for ACR1200 ACR2000 ACR8000 ACR8010 boards is CONFIG ENC8 DAC4 DAC4 ADC8 The default configuration for ACR1500 board is CONFIG ENC8 DAC4 DAC4 ADC8 CONFIG IO MODE 0 CONFIG IO INPUT NEG CONFIG IO OUT NEG The following example sets the hardware configuration to default and stores this information to EEPROM FLASH Usage example CONFIG CLEAR Chapter 3 Command Reference 105 CONFIG IO Version 1 17 03 amp Up Onboard IO redirection Format CONFIG IO input destination output source Group Operating System See also ATTACH This command must be used with in conjunction with a CONFIG XIO command See usage example below This command redirects the onboard digital IO The input destination argument tells the control where to place the bits read from the onboard inputs The output source argument tells the control where to get the bits that will be sent to the onboard outputs The default onboard IO redirection is CONFIG IO P4096 P4097 See Usage Example in CONFIG XIO command CONFIG Version 1 17 03 amp Up Expansion IO redirection Format CONFIG XIO board input destination output source Group Operating System See also ATTACH This command must be used with in co
285. uble 64 bit floating point variable xxx DAxxx yyy Local Double array number xxx and index yyy Vxxx Local String packed 8 bit variable xxx Axxx yyy Local String array number xxx and index yyy Global user variables are referenced as 4095 The actual number of global user variables is determined by the DIM P command from the system level Global system parameters are referenced according to the tables in Appendix A Local user variables are referenced by their type followed by a number The following command will load the number 1234 into the first long integer variable LVO 1234 The local arrays are referenced by an array number and index The following command will load the number 1234 into the fifth element of the first long integer array LAO 4 1234 Only the amount of memory remaining limits how many parameters can be allocated The DIM command is used to declare the parameters and the CLEAR command to release them Full floating point math is allowed to operate on global and local variables Acroloop Motion Controller User s Guide Part Parametric Evaluation There is a built in floating point evaluator that operates o The following operators are available n the global and local variables Arithmetic Trigonometric SIN COS TAN ATAN ACOS ASIN Hyperbolic SINH COSH TANH ATANH ACOSH ASINH Logarithmic LOG LN Comparison lt gt lt gt gt lt Logical
286. uffer count parameter Currently Active Move User Entering h Move Data BO B1 B2 Bn 1 Bn MBUF MAX lt Bn Circular ser Entering Move Buffer Move Data Chapter 3 Command Reference 243 MBUF ON Version 1 18 06 Update 09 Multiple moves buffered for motion profiler Format MBUF ON Group Velocity Profile The MBUF ON command is used to set the master in multi buffer mode Issuing just MBUF command will display the current length of the buffer and its status whether it is on or off By using this mode one can increase the throughput moves per second since the tiny moves can get buffered in advance and consequently cut the processing time Besides this one can use features like LookAhead more effectively Usage example CLEAR DIM MBUF 20 MBUF ON MBUF OFF Note DIM MBUF command should be issued each tie the MBUF is turned on MBUF OFF Version 1 18 06 Update 09 Single move will be buffered for the motion profiler Format MBUF OFF Group Velocity Profile The MBUF OFF command is used to turn off the master multi buffer mode This command will wait for master in motion flag to clear and then it will clear all the buffers By turning the mode off the controller will go back to its default state that is one active move and one buffered move Usage example MBUF OFF 244 Acroloop Motion Controller User s Guide Part Display memory allocation Format MEM Group
287. uide STP Set stop ramp Format STP rate Group Velocity Profile Units units second See also ACC DEC VEL IVEL FVEL PPU The STP command sets the master deceleration ramp to be used at the end of the next move Issuing a STP command with no argument will display the current setting The default stop ramp is 20000 units second2 The STP command can be also be used in expressions as follows 1 STP DEC Setting STP to zero will end the move without ramping down This allows back to back moves to be merged together The final velocity of the first move will then be the initial velocity of the second move Setting STP to anything other than zero will cause the move to ramp down at the end of the move to the final velocity set by the FVEL command This value is normally zero which brings the move to a complete stop If the final velocity is greater than zero the move will slow down and then ramp back up on the following move The following example sets up accel and stop ramps of 10000 units per second and then tells the system to index the X axis This will accelerate to speed using ACC and decelerate to a complete stop using the STP value Usage example 10 ACC 10000 20 STP 10000 30 X 10 Chapter 3 Command Reference 313 SYNC Version 1 18 01 amp Up Synchronization of Masters Format SYNC command Group Velocity Profile See also TMOV VEL SYNC PROG SYNC MDI Note 314 This
288. unter gt 5 CLR myflag PRINT Done E 15 E PRINT Busy ENDIF WEND PRINT END OF PROGRAM END SetLED SET LED PRINT led on LED RETURN ENDP 278 Acroloop Motion Controller User s Guide Part Dump burner image Format PROM index device Group Nonvolatile See also ELOAD ESAVE ERASE PBOOT This command dumps a burner image of the onboard executive plus the user programs and PLC programs By burning these images into EPROM and replacing the eproms on the boards the card will load programs from the EPROM on powerup instead of relying on battery backup memory User variables always reside in battery backup memory and are not affected by the program transfer This command is not valid for the ACR1500 board The index argument selects the image for the eproms as follows ACR8000 ACR1200 ACR2000 ACR8010 o uo U08 __ The optional device argument allows the image to be dumped to an open channel like the PRINT command does By using the OPEN and CLOSE commands an EPROM burner could be connected directly to an unused serial port The image is dumped in Intel MCS 86 Hex Object format for direct download into an EPROM burner The image can also be captured for later download The burner must be capable of burning 4 megabit 256K x 16 devices typically from the 27 4096 family The device must be 175 ns or faster for normal operation and 95 ns or faster for the optional 1 w
289. urrent scale The default gain is 1 This command is only for 16 bits ADC The following table shows the relationship between the gain and scale Table 3 3 ADC Scale The following example sets the physical gain of ADC 1 to 2 Usage example ADC 1 SCALE 5 Usage example ACR8020 only amp version 1 18 07 amp Up ADC 12 SCALE 5 48 Acroloop Motion Controller User s Guide Part Select positive channel Format ADC index POS channel Group Global Objects Units none See also ADC DAC ENC AXIS This command sets the positive input for differential analog conversion Issuing an ADC POS command with no argument will display the current setting The default positive channel is equal to the ADC index number The following table shows the relationship between the channel and positive input Reference appropriate hardware manual for pin out information Channel Pin Name ee 1 AI AIN Oo 3 AI 4 an AIN 6 AIN oO os 1 Table 3 4 ADC positive channels The following example sets the positive input of ADC 4 to channel 2 Usage example ADC 4 POS 2 Usage example ACR8020 only amp version 1 18 07 amp Up ADC 12 POS 15 Chapter 3 Command Reference 49 ADC Select negative channel Format ADC index NEG channel Group Global Objects Units none See also ADC DAC ENC AXIS This command sets the negative inp
290. ut for differential analog conversion Issuing an ADC NEG command with no argument will display the current setting The default negative channel is 0 for each conversion The following table shows the relationship between the channel and negative input Note that channel 0 attaches to analog ground instead of input O like the positive channel assignment does Reference appropriate hardware manual for pin out information ND N1 a Table 3 5 ADC negative channels The following example sets the negative input of ADC 4 to channel 3 Usage example ADC 4 NEG 3 Usage example ACR8020 only amp version 1 18 07 amp Up ADC 12 NEG 14 Setup example for four 4 differential analog inputs ADC 0 POS 0 DIFFERENTIAL ADC 0 NEG 1 INPUT 1 P6408 ADC 1 POS 2 DIFFERENTIAL ADC 1 NEG 3 INPUT 2 po ADC 2 POS 4 DIFFERENTIAL ADC 2 NEG 5 INPUT 3 veo ADC 3 POS 6 DIFFERENTIAL ADC 3 NEG 7 INPUT 4 P6456 50 Acroloop Motion Controller User s Guide Part ADC GAIN Set analog input gain Format ADC index GAIN gain Group Global Objects Units volts input unit See also ADC DAC ENC AXIS This command sets the software gain for analog conversion Issuing an ADC GAIN command with no argument will display the current setting The default ADC gain value is 10 0 volts input unit When ADC updating is enabled the readings from the analog input module are internally scaled to generate a base num
291. ut offset and then multiplied by the PPU for the given axis A cam table can be composed of more than one segment with each segment having different distances between table entries The data for each segment of the table resides in separate longint arrays possibly of different sizes This allows some parts of the table to be defined coarsely and others to be defined in more detail The table index automatically tracks which segment it is in and where it is within that segment It also wraps around if it goes off either end of the table The wraparound point is determined by the total length of the table which is equal to the summation of the individual segment lengths Note The primary setpoint is the summation of the current position and the total cam gear and jog offsets The secondary setpoint is the summation of the primary setpoint and the total ballscrew and backlash offsets The secondary setpoint is the one that is actually used by the servo loop 68 Acroloop Motion Controller User s Guide Part Electronic cam continued Segment O Segment 1 1000 1500 Figure 3 6 Sample cam table The following example enables the X axis to use the above cam table with encoder number 4 as the input source Usage example DIM LA 2 DIM LAO 9 LAO 00 0 LAO 01 73 LAO 02 250 LAO 03 427 LAO 04 500 LAO 05 427 LAO 06 250 LAO 07 73 LAO 08 0 DIM LA1 5 LA1 00 0 L
292. ut offset of an axis After the cam table and index are used to interpolate an initial offset value the value is multiplied by the cam output scaling factor and then shifted by the cam output offset This number is then multiplied by the PPU of the given axis Issuing a CAM OFFSET command to an axis without an argument will display the current setting for that axis An error will be returned if the cam has not been allocated with the CAM DIM command The default cam output offset is 0 0 for all axes The following example shifts the X axis cam table output 500 units Usage example CAM OFFSET X500 Chapter 3 Command Reference TT FLZ Set cam input offset Format CAM FLZ axis offset axis offset Group Setpoint Control Units input units See also CAM BKL BSC GEAR HDW JOG This command sets or displays the cam input offset of an axis The cam input offset is added to the cam table index before it is used to calculate the actual table index This is used to shift the zero of the table to the location of the input offset Issuing a CAM FLZ command to an axis without an argument will display the current setting for that axis An error will be returned if the cam has not been allocated with the CAM DIM command The default cam input offset is 0 0 for all axes The following example shifts the X axis cam table index by 250 units Usage example CAM FLZ X250 CAM SHIFT Set incremental cam shift Form
293. ve limit to value and the negative limit to minus value Issuing the command with two arguments sets the positive limit to value1 and the negative limit to value2 The default for both is 0 0 for all axes Usage example This example sets the X axis jog limits to 3 5 and 1 0 units JLM X 3 5 1 0 Chapter 3 Command Reference 213 JOG Single axis velocity profile Format JOG command axis axis data Group Setpoint Control See also BKL BSC GEAR HDW CAM This command is used along with a second command to initialize and control single axis velocity profiling or jogging Jogging sets up an individual velocity profile for an axis based on the current jog parameters This profile ramps to a given velocity generating a jog offset The jog offset is used during the summation of the primary setpoint The following is a list of valid jog command combinations JOG VEL Set jog target velocity JOG ACC Set jog acceleration JOG DEC Set jog deceleration JOG SRC Set external timebase JOG RES Move jog offset into current JOG REN Move current into jog offset JOG FWD Jog axis forward JOG REV Jog axis backward JOG OFF Stop jogging axis JOG ABS Jog to absolute position JOG INC Jog incremental distance Note The primary setpoint is the summation of the current position and the total cam gear and jog offsets The secondary setpoint is the summation of the primary setpoint and the total ballscr
294. ven counter The first block is connected to the clock coil and the second block is connected to the reset coil There are eight global PLC counters An error will be generated if there are not exactly two logic blocks open at that point in the PLC program The optional preload argument sets the counter preload parameter when the instruction is stored in the PLC If the preload is not specified the system parameter remains unchanged When the PLC is listed the CNT instruction will reflect the current counter preload setting if it has been changed by a direct parameter setting A counter decrements once on every rising edge of its clock input until it reaches zero The counter produces an output when the count is zero When the reset input of a counter is turned on the counter is reset to its preload value and the output turns off Clock inputs are ignored while the reset input is on Both the current count and preload are retained in battery backup memory during power down When a PLC program is run the program is scanned to make sure that the individual counters are not being controlled by multiple CNT instructions Duplication checks are only done within a PLC program not across multiple PLC boundaries Counter output contacts can be used any number of times Related Information 420 The following table outlines parameters and bit flags related to PLC counters These can be used by normal programs to control and monitor count
295. xample sets mode to 16 bits ADC Usage example ADC MODE 1 46 Acroloop Motion Controller User s Guide Part ADC 16 ADC ONLY Version 1 18 amp Up Set the number of ADC Inputs Format ADC MAX number Group Global Objects Units none See also ADC DAC ENC AXIS This command sets the number of ADC inputs that will be sampled during the servo interrupt period Issuing an ADC MAX command with no argument will display the current number of ADC inputs selected The default number is 8 This command is only for 16 bit ADC operation The ADC MAX can be saved using the ESAVE command NOTE The 12 Bit ADC firmware always samples all 8 ADC inputs The following example sets the number of ADC inputs to 5 Usage example ADC MAX 5 Chapter 3 Command Reference 47 ADC SCALE 16 ONLY Version 1 18 8 Up Set the physical gain of PGA Format ADC index SCALE scale Group Global Objects Units none See also ADC DAC ENC AXIS Unlike the 12 Bit ADC module the 16 Bit ADC module has a built in Programmable Gain Amplifier PGA This allows the user to scale the input signal to match four 4 ranges of input levels This range can be selected individualy for each channel This way the entire range of 16 bits can be applied to read a 1 25V 2 5V 5V 10V signal This command sets the physical gain of the PGA Issuing an ADC SCALE command with no argument will display the c
296. xis value1 value2 Group Axis Limits Units volts See also TLM This command sets the voltage limits monitored by the not in torque band flags When the output voltage of a given axis is outside of its in torque band the appropriate flag is set Otherwise the flag is cleared For masters the flag is set if any of its slaves are outside of their in torque bands The ITB only defines flag monitoring boundaries it does not affect the analog output in any way See the TLM command for information on physical output clipping Issuing the ITB command to an axis without an argument displays the current positive and negative limits for that axis Issuing the command with a single argument sets the positive limit to value and the negative limit to minus value Issuing the command with two arguments sets the positive limit to value1 and the negative limit to value2 The default for both is 0 0 for all axes The following is a table of not in torque band flags 0 538 6 725 Table 3 12 Not in torque band flags Usage example This example sets the torque band to 0 3 volts for X and Y ITB X0 3 Y0 3 Chapter 3 Command Reference 211 IVEL Set initial velocity Format IVEL rate Group Velocity Profile Units units second See also VEL ACC DEC STP FVEL This command sets the initial velocity value for a master move profile If this value is zero default it is ignored Otherwise
297. xis value axis value Group Servo Control Units volts second pulse See also IDELAY ILIMIT PGAIN DGAIN FFVEL FFACC This command modifies the value used in the PID algorithm to control integral gain Issuing an IGAIN command to an axis without an argument will display the current setting for that axis The default gain is 0 0 for all axes To reset the integral term component of the PID algorithm to zero e Turn IGAIN on by setting to a number other than zero e SetILIMIT to zero e Set IGAIN to zero The following example sets the X axis integral gain to 0 1 volts second pulse Usage example IGAIN X0 1 Note If ILIMIT is zero than the integral will remain off even if the IGAIN value is set to other than zero 192 Acroloop Motion Controller User s Guide Part IHPOS Inhibit on position Format 1 IHPOS parameter setpoint timeout Format 2 IHPOS parameter setpoint timeout Group Logic Function See also SET CLR INH This command causes the program to inhibit suspend further program execution until the specified parameter passes the given setpoint Although typically used to inhibit on axis position this command can watch any system or user defined parameter The timeout parameter sets a maximum time in seconds to wait for the condition to be met If the condition is not met within this time limit the program sets it s timeout flag and continues normally If the timeout is
298. y 03 are connected in parallel to form a second block The two blocks are then combined in series and connected to the coil of relay 32 Block 1 Block 2 sje HE eo Figure 5 1 AND LD example 412 Acroloop Motion Controller User s Guide Part AND LD Connect blocks in series continued Usage Example The following PLC code fragment implements the ladder logic shown above Lines 100 and 110 create the first logic block Lines 120 and 130 create the second logic block Line 140 combines the blocks in series Line 150 connects the block to relay 32 100 LD 00 110 OR 01 120 LD 02 130 OR NOT 03 140 AND LD 150 OUT 32 Chapter 5 PLC Progromming 413 OR LD Connect blocks in parallel Format ORLD Description This instruction takes the two most recent logic blocks and connects them in parallel creating a new logic block An error will be generated if there are not at least two logic blocks open at that point in the PLC program Example Logic In this example two normally open contacts from relays 00 and 01 are connected in series to form a block Then a normally open contact from relay 02 and a normally closed contact from relay 03 are connected in series to form a second block The two blocks are then combined in parallel and connected to the coil of relay 32 Block 1 Block 2 Figure 5 2 OR LD example 414 Acroloop Motion Controller User s Guide Part OR LD Connect blocks in parall
299. y arguments will display the current configuration If the IO XIO have not been redirected their configurations will not be displayed not available on ACR1500 For the ACR1500 CONFIG IO MODE CONFIG IO OUT and CONFIG IO INPUT configurations will be displayed Hardware configurations that have been set by the user with the CONFIG commands will be automatically saved in the EEPROM FLASH by the processor FLASH and or EEPROM commands FLASH SAVE FLASH ERASE ERASE ESAVE etc have no effect on the saved hardware configuration information The following is a list of valid CONFIG command combinations CONFIG Display current configuration CONFIG configlist Setup hardware configuration Axis 0 7 CONFIG XAXIS configlist Setup hardware configuration Axis 8 15 ACR8020 Only CONFIG CLEAR Reset default configuration CONFIG IO Configure onboard IO redirection ACR1200 ACR2000 8000 8010 only CONFIG XIO Configure expansion IO redirection ACR1200 ACR2000 8000 8010 only CONFIG IO MODE Configure 82C55 IO Mode ACR1500 only CONFIG IO OUT Configure 82C55 Outputs Logic Polarity ACR1500 only CONFIG IO INPUT Configure 82C55 Inputs Logic Polarity ACR1500 only 102 Acroloop Motion Controller User s Guide Part CONFIG Hardware configuration continued The following is the syntax of the configlist argument configlist encoders moduleO module 1 module2 NOTE 1 2
300. y attachment is ENC n where n is equal to the index of the axis The velocity of this item derivative is multiplied by the FBVEL setting and subtracted from the control signal The following are valid velocity feedback attachments ENC encoder Quadrature velocity feedback ADC adc Analog velocity feedback Usage example This example attaches ENC 5 as position feedback DAC 6 as signal output and ADC 7 as velocity feedback on AXIS 4 ATTACH AXIS4 ENC5 DAC6 Chapter 3 Command Reference 59 AUT Turn off block mode Format AUT PROG number ALL Group Program Control See also BLK STEP This command turns off block mode for the currently selected program by clearing the program s block control bit To continue normal operation after the AUT command issue a STEP command or set the step request bit The STEP command will detect that block control is no longer active and clear the block mode bit The AUT PROG command will turn off block mode for the corresponding program and the AUT ALL command will turn off block mode for all programs These commands can be issued from anywhere in the system including programs The following example turns off block mode Usage example AUT 60 Acroloop Motion Controller User s Guide Part AXIS Direct axis access Format AXIS index command data Group Global Objects See also ENC DAC MASTER This command allows direct access to an axis with
301. y data formatting Block uploading programs from board Set base system timer period Switch to a PLC prompt Switch to a program prompt Reboot controller card Return to system prompt Display firmware version Acroloop Motion Controller User s Guide Part Command Groups continued Program Control AUT BLK HALT LIST LISTEN LRUN NEW PAUSE PROGRAM ENDP RESUME RUN STEP TROFF TRON Program Flow END FOR GOTO GOSUB IF THEN REM RETURN WHILE Servo Control DGAIN DIP DIN DWIDTH DZL DZU FBVEL FFACC FFVC FFVEL FLT IDELAY IGAIN ILIMIT Turn off block mode Turn on block mode Halt an executing program List a stored program Listen to program output Run and listen to a program Clear out a stored program Activate pause mode Mark start and end of program without line numbers Release pause mode Run a stored program Step in block mode Turn off trace mode Turn on trace mode End of program execution Counter loop Branch to a new line number Branch to a subroutine Conditional execution Program comment Return from a subroutine Conditional loop Set derivative gain Dead Zone integrator positive value Dead Zone integrator negative value Set derivative sample period Dead Zone inner band Dead Zone outer band Set feed back velocity Set feed forward acceleration Feedforwad velocity cutoff region Set feed forward velocity Digital filter move Set integral time out delay Set integral g
302. y system diagnostics continued ACR8010 Motherboard DIAG Command Definitions The following will be displayed when invoking the DIAG command on an ACR8010 Board Optoisolated Power EXT PASS ISO PASS VDD PASS VEE PASS BCL PASS BCF PASS ISO VDD VEE BCL 122 Isolated external voltage provided for the optoisolation circuitry on the ACR8010 Motherboard PASS External voltage present FAIL No external voltage present On board isolated 5VDC voltage provided for the optoisolation circuitry on the ACR8010 Motherboard The isolated 5VDC is generated from the isolated external supplied voltage PASS On board isolated 5VDC voltage present FAIL No voltage present 12VDC supply voltage PASS Voltage present FAIL No voltage present 12VDC supply voltage PASS Voltage present FAIL No voltage present 1000mAH Lithium Battery BT1 voltage low indicator This is a warning indicator that battery voltage is approaching minimum requirements for SRAM back up Minimum SRAM data retention voltage is 2 0VDC BT1 should be replaced AMCS P N 5006 Panasonic P N CR2477N PASS BT1 gt 2 5VDC FAIL BT1 is between 2 3 and 2 5 VDC when BCF displays PASS Acroloop Motion Controller User s Guide Part DIAG Display system diagnostics continued ACR8010 Motherboard DIAG Command Definitions continued 1000maH Lithium Battery BT1 voltage fail indicator This is a warning indicator that battery vo
303. yperbolic arc tangent Hyperbolic cosine Hyperbolic cotangent Hyperbolic sine Hyperbolic tangent Left shift Right shift Logical AND Bit flag status Logical NAND Logical NOR Logical NOT Logical OR Logical XNOR Logical XOR Chapter 4 Expression Reference 345 Expression Groups continued Miscellaneous CEIL Smallest integer gt expression FLOOR Smallest integer lt expression LN Natural logarithm LOG Common logarithm RND Random integer ROUND Round to nearest integer SQRT Square root TRUNC Remove fractional part String ASC ASCII Value CHR Character string INKEY Return a character INSTR String search KBHIT Check for waiting character LCASE Convert to lower case LEFT Left string LEN String length MID Middle string RIGHT Right string SPACE String of spaces STR Convert numeric to string STRING String of characters UCASE Convert to upper case VAL Convert string to numeric Trigonometric ACOS Arc cosine ACOT Arc cotangent ASIN Arc sine ATAN Arc tangent COS Cosine COT Cotangent SIN Sine TAN Tangent 346 Acroloop Motion Controller User s Guide Part Addition Format1 expression1 expression2 Format2 stringexpression1 stringexpression2 Group Arithmetic This operator returns the value of expression1 plus expression2 Subtraction Format expression1 expression2 Group Arithmetic This operator returns the value of expression1 minus expression2 Multiplication
304. ystem Clock and at two wait states for the Standard Memory ACR2000 120 ns using a 50MHz System Clock The code for the ACR8010 and the Expanded Memory ACR2000 does not run out of the EPROM but out of the system RAM see below The ACR8000 ACR1200 ACR1500 and Standard Memory ACR2000 EPROMSs also contain a section of shadow code which is loaded into the System RAM memory at power up or reset The ACR8010 and the Expanded Memory ACR2000 EPROM load all of the executable firmware code into the Expanded System RAM memory at power up or reset The code that is loaded into RAM runs at zero wait states System RAM The System RAM is Static Random Access Memory This memory is not battery backed up The System RAM s functions are to store system parameters and flag information and to store the shadow code which is copied into the System RAM from the EPROM by the DSP The System RAM runs at zero wait state for the ACR8000 74 ns using a 27MHz System Clock the ACR1200 and ACR1500 50 ns using a 40MHz System Clock and Standard Memory ACR2000 40 ns using a 50MHz System Clock This allows fast access by the DSP for the system parameters and flags information as well as the speed critical shadow code for the main servo system interrupt The executable code for the ACR8010 and the Expanded Memory ACR2000 is copied into the System RAM from the EPROM by the DSP All of the executable code then runs at zero wait state 40 ns using a 50MHz Sys

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