Parker Hannifin VERSION 1.0 User's Manual
Contents
1. RemoveRapidRotMove 0 Set to Remove Rapid Rotary Moves Makes All 0 Rapids Feed moves max feed Axis4RadiusCalcMethod 1 Sets plane to Calculate 4th axis Feedrate on 1 0 XZ 1 YZ 2 XY FeedOverrideType 98 Specifies the Type of Override used 0 Analog POT 98 1 4bit POT 98 Use Screen Sliders Only 99 Hardcode to Overrides Max values RapidOverrideType 98 98 SpindleOverrideType 98 98 MachineXLength 60 Set X Length of your Machine Travel 30 MachineYLength 30 Set Y Length of your Machine Travel 30 MachineZLength 30 Set Z Length of your Machine Travel 30 UseMachWindow 1 Set to 1 to use Machine Limits for graphics window 1 CannedCyclelnitialPlaneMo Set to G98 98 de 98 OptimizeGCode 0 Turn on Arc Optimization if 1 0 OptimizationDeviation 0 007 If Arc Optimization is on how close does the arcs follow 007 the original code Turn On Corner velocity checker This will look for 0 CorneringCheck 0 sharp corners to apply a final velocity to the move c insAnole 25 0 If Corner checking is on this will make the final velocity 25 0 pide See ds ee 10 of the original if over this angle a If Corner checking is on this will make the final velocity 50 0 POme PESO panel 30 0 CornerStop Velocity if over this angle on If Corner checking is on this will be the final velocity if 10 0 CornerStopVelocity 10 0 over the ComerStop Angle Corner ccelerationMult 1 If Corner2. E Si 2 i 0 GCode File Editor 3 3 S E S Parker G Code Processor co a co a ian Acroloop Graphics Engine Bits 128 255 Bits 1920 to 2047 Bits 512 to 544 Bits 0 to 31 Bits 32 to 63 Controler lr dii f a Control Signals Program 0 2 PINETO End of Prog I 1600 Spindle Orient 1 ara I 40 Setup Gearing Configuration 50 X1 Gearing 100 X Homing 200 Y Homing 300 Z Homing 400 4 Homing 1500 Move Z to Tool Change Pos A Program 1 Calls these 2 Functions fot ToolChanges M Codes User AcroBasic Program Template Layout ACR MC Parameters Tool Work Offsets Diagnostics MDI Functions Jog Homing functions Master Flags Inputs BankO Outputs Bank 0 Bits 256 to 287 Bits 288 to 319 Inputs Bank 1 Outputs Bank 1 30000 Do Control Initialazation dj Line 6 11 to 150 1000 to 7999 es Parse Do MCode M Code Functions 40500 Set M Done Clear All M Codes M Code Process Done Yes Line 7 No Ne 8000 8999 S Code Yes gt Process Process Yes gt Sets Done S Code Done A Line 8 No No 9000 to 9999 Code Set T Yes Process Process Yes Done T Code Done Line 9 No e lt
3. Stp 10 Don t change this Value 10 JogSpeeds Acceleration 1 Not Used 1 Deceleration 1 Not Used 1 Velocity 100 Sets Normal Jog Speeds 100 Stp 1 Don t change this Value 1 FastJogSpeeds Acceleration 1 Not Used 1 Deceleration 1 Not Used 1 Velocity 200 Sets Fast Jog Speeds 200 Stp 1 Don t change this Value 1 SystemResolution OPulsesPerUnit 4000 Encoder Pulses Per Inch of Travel 1000 1PulsesPerUnit 4000 Encoder Pulses Per Inch of Travel 1000 2PulsesPerUnit 4000 Encoder Pulses Per Inch of Travel 1000 3PulsesPerUnit 4000 Encoder Pulses Per Degree of Travel Rotary Axis 1000 4PulsesPerUnit 4000 Encoder Pulses Per Inch of Travel 1000 5PulsesPerUnit 400 Encoder Pulses Per Inch of Travel 1000 6PulsesPerUnit 0 Encoder Pulses Per Inch of Travel 1000 7PulsesPerUnit 0 Encoder Pulses Per Inch of Travel 1000 InPositionBand OAxisIPB 0 01 Sets the tolerance In Position Band of a Completed 0 01 move before another starts 1AxisIPB 0 01 Sets the tolerance In Position Band of a Completed 0 01 move before another starts 2AxisIPB 0 01 Sets the tolerance In Position Band of a Completed 0 01 move before another starts 3AxisIPB 1 Sets the tolerance In Position Band of a Completed 1 move before another starts 4AxisIPB 1 Sets the tolerance In Position Band of a Completed 1 move before another starts 5AxisIPB 1 Sets the tolerance In Position Band of a Completed 1 move before another starts 6AxisIPB 1000 Sets the tolerance In Posit
4. Signal Name Address Function M Done 147 Set by AcroBasic when the M Code is Completed S Done 148 Set by AcroBasic when the S Code is Completed T Done 149 Set by AcroBasic when the T Code is Completed M Strobe 150 Set By ACR MOTIONMAX along with MCode Bit Pointer of subroutine to Execute S Strobe 151 Set by ACR MOTIONMAX along with the new Dac value in DACS5 P6480 T Strobe 152 Set by ACR MOTIONMAX along with the new Tool code in Counter5 P6775 Jogging Functions ACR MOTIONMAX Handles all Jogging internally and uses parameters in the Parameters Cfg file for Normal and Fast Jog speed settings as shown below JogSpeeds FastJogSpeeds Acceleration 1 Acceleration 1 Deceleration 1 Deceleration 1 Velocity 100 Velocity 200 Stp 1 Stp 1 ACR MOTIONMAX Installation Guide Homing amp Hand Wheel ACR MOTIONMAX accomplishes two special machine functions Homing HandWheel Step Mode Functions by calling Subroutines in Prog0 8k Directly at assigned addresses as shown in Diagram 1 1 The user simply edits the AcroBasic code of the subroutines to accommodate their application These Functions are provided to facilitate the many types of homing a user may require ACR MOTIONMAX simply calls the subroutines at dedicated address of prog0 to execute System Overview Diagram Direct Called ACR MOTIONMAX Installation Guide 7 Functions 1 MotionMax Internal MotionMax Functions Operator Interface
5. M29 1 DESC29 INITIATE RIGID TAPPING M30 1 DESC30 END PROGRAM ACR MOTIONMAX Installation Guide 38 M31 0 DESC31 M32 0 DESC32 M33 0 DESC33 M34 0 DESC34 M35 0 DESC35 M36 0 DESC36 M37 0 DESC37 M38 0 DESC38 M39 0 DESC39 M40 0 DESC40 M41 0 DESC41 M42 0 DESC42 M43 0 DESC43 M44 0 DESC44 M45 0 DESC45 M46 0 DESC46 M47 0 DESC47 M48 0 DESC48 M49 0 DESC49 M50 0 DESC50 M51 0 DESC51 M52 0 DESC52 M53 0 DESC53 M54 0 DESC54 M55 0 DESC55 ACR MOTIONMAX Installation Guide 39 M56 0 DESC56 M57 0 DESC57 M58 0 DESC58 M59 0 DESC59 M60 0 DESC60 M61 0 DESC61 M62 0 DESC62 M63 0 DESC63 M64 0 DESC64 M65 0 DESC65 M66 0 DESC66 M67 0 DESC67 M68 0 DESC68 M69 1 DESC69 ZERO 4TH AXIS ENCODER M70 0 DESC70 M71 0 DESC71 M72 0 DESC72 M73 0 DESC73 M74 0 DESC74 M75 0 DESC75 M76 0 DESC76 M77 0 DESC77 M78 0 DESC78 M79 0 DESC79
6. DESC127 TURN OFF TAPPING MODE ACR MOTIONMAX Installation Guide End of Parameters 42
7. M80 0 DESC80 ACR MOTIONMAX Installation Guide 40 M81 0 DESC81 M82 0 DESC82 M83 0 DESC83 M84 0 DESC84 M85 0 DESC85 M86 0 DESC86 M87 0 DESC87 M88 0 DESC88 M89 0 DESC89 M90 0 DESC90 M91 0 DESC91 M92 0 DESC92 M93 0 DESC93 M94 0 DESC94 M95 0 DESC95 M96 0 DESC96 M97 0 DESC97 M98 0 DESC98 M99 0 DESC99 M100 0 DESC100 M101 1 DESC101 HI PRES COOLANT ON M102 1 DESC102 HI PRES COLLANT OFF M103 1 DESC103 CHIP CONVEYER ON M104 1 ACR MOTIONMAX Installation Guide DESC104 CHIP CONVEYER OFF M105 0 DESC105 M106 0 DESC106 M107 0 DESC107 M108 0 DESC108 M109 0 DESC109 M110 0 DESC110 M111 0 DESC111 M112 0 DESC112 M113 0 DESC113 M114 0 DESC114 M115 0 DESC115 M116 0 DESC116 M117 0 DESC117 M118 0 DESC118 M119 0 DESC119 M120 0 DESC120 M121 0 DESC121 M122 0 DESC122 M123 0 DESC123 M124 0 DESC124 M125 0 DESC125 M126 1 DESC126 TURN ON TAPPING MODE M127 1
8. EditorBackColor 16777215 Editor background Color InCycleEditorBackColor 12 632256 InCycle Editor background Color ReadoutsOffsetlnfo 0 Tool Offsets Display Text Color ProgReadouts 255 ABS Program Coordinates Text Color DTGReadouts 0 Distance to Go Readouts Text Color EditorFontFeatures FontSize 9 Editor Font Size FontName MS Sans Serif Editor Font Name MCODES MO 1 Enable Mcode MXX 1 Enabled O Disabled DESCO OPTIONAL PROGRAM STOP Mcode MXX Description Text M1 1 DESC1 PROGRAM STOP M2 1 DESC2 PROGRAM STOP M3 1 DESC3 SPINDLE FWD M4 1 DESC4 SPINDLE REV M5 1 DESC5 SPINDLE STOP M6 1 DESC6 TOOL CHANGE M7 0 DESC7 M8 1 ACR MOTIONMAX Installation Guide 37 DESC8 FLOOD COOLANT ON M9 1 DESC9 ALL COOLANTS OFF M10 1 DESC10 LOCK 4TH AXIS M11 1 DESC11 UNLOCK 4TH AXIS M12 0 DESC12 M13 0 DESC13 M14 0 DESC14 M15 0 DESC15 M16 0 DESC16 M17 0 DESC17 M18 1 DESC18 ORIENT MAGAZINE M19 1 DESC19 ORIENT SPINDLE M20 0 DESC20 M21 0 DESC21 M22 0 DESC22 M23 0 DESC23 M24 0 DESC24 M25 0 DESC25 M26 0 DESC26 M27 0 DESC27 M28 0 DESC28
9. 800 358 9070 or 707 584 7558 Fax 707 584 3793 Email emn support parker com Internet http www parkermotion com Europe non German speaking Parker Hannifin 21 Balena Close Poole Dorset England BH17 7DX Telephone 44 0 1202 69 9000 Fax 44 0 1202 69 5750 Email EMDTech Help E parker com Automation Germany Austria Switzerland Parker Hannifin Postfach 77607 1720 Robert Bosch Str 22 D 77656 Offenburg Telephone 49 0 781 509 0 Fax 49 0 781 509 176 Email sales hauser parker com Italy Parker Hannifin 20092 Cinisello Balsamo Milan Italy via Gounod 1 Telephone 49 0 781 509 0 Fax 49 0 781 509 176 Email sales soc parker com Technical Support E mail emn_support parker com ACR MOTIONMAX Installation Guide ACR MOTIONMAX Installation Guide 4 Table of Contents Chapter I Introduction and System OvervieW srrrrrrrrrrerererrenerinie rice eeiezicenenne 5 ACR MOTIONMAX Control System Bit Signal Banks ii 3 M S amp T C de Seguencih 8 eriin o a nani 5 Strobe amp Done Signals Table sissit cais ioen ra o na 5 Jogging Functions siria ra E RE EEE E ioni 5 Homines amp HandWheell urroniani nia ra iaia rire 6 pcia Dr o iene 6 ACR MOTIONMAX to AcroBasic System Start Up non cnnn cnn nnnnn cn nncnnecnnnos 7 ACR MOTIONMAX AcroBasic Project Template FileS rr nr nn en 8 Setting the Sys 8k f
10. Homing Direct Called Subroutine Address s in Program0 Function Called Address in Program 0 Axis0 Homing X 100 to 199 Axis Homing Y 200 to 299 Axis2 Homing Z 300 to 399 Axis3 Homing 4 4 8 400 to 499 Homing Status Bits of the Control Signals Function Control Signals Bit Homing Active Bit 144 Axis0 Home Done X 170 Axis Homing Y 172 Axis2 Homing Z 173 Axis3 Homing 4 gt 174 Q Axis 0 Homing Example Code REM BIT 170 X HOME DONE REM BIT 15 X HOME LIMIT SWITCH NORMALY Closed SWITCH 100 SET 144 GEAR RES X JOG RES X vector 0 REM Set the Homing Active Control Bit 101 ACC 10 REM Set Acceleration ramp value 102 DEC 10 REM Set Deceleration ramp value 103 STP 10 REM Set stop ramp value 104 CLR 170 REM CLEAR THE X REFRENCE DONE BIT TO gt CNC 105 VEL 3 CLR 2053 ROV 1 FOV 1 REM Set velocity toward home switch 106 INT 15 X 100 0 REM START MOVING TILL LIMIT SW GOES 107 INH 516 109 VEL 2 REM 130 INT 15 X 12 0 REM GO TILL OFF LIMIT SWITCH AND STOP 131 INH 516 140 VEL 25 REM SET VEL TO SEEK THE MARKER PULSE 141 JOG RES X 145 MSEEK X 12 0 REM Initiate a marker seek operation AND ZERO CONTROLLER 151 RES X REM MARKER FOUND ZERO X POS REGISTERS 153 REN X REM MAKE CURRENT X POS ZERO 154 VEL 1 MOV X 5 REM THIS ISTHE HOME OFFSET VALUE 155 INH 516 REM WAIT FOR MOTION TO STOP
11. nn a CN ee A ZO N EA PON V i AGLI I NAS E INS EA ACR MotionMax Installation Guide Version 1 0 April 2004 ACR MOTIONMAX Installation Guide IMPORTANT User Information A Warning ACR Series products are used to control electrical and mechanical components of motion control systems You should test your motion system for safety under all potential conditions Failure to do so can result in damage to equipment and or serious injury to personnel ACR series products and the information in this guide are the proprietary property of Parker Hannifin Corporation or its licensers and may not be copied disclosed or used for any purpose not expressly authorized by the owner thereof Since Parker Hannifin constantly strives to improve all of its products we reserve the right to change this guide and software and hardware mentioned therein at any time without notice In no event will the provider of the equipment be liable for any incidental consequential or special damages of any kind or nature whatsoever including but not limited to lost profits arising from or in any way connected with the use of the equipment or this guide 2004 Parker Hannifin Corporation All Rights Reserved Technical Assistance Contact your local automation technology center ATC or distributor North America and Asia Parker Hannifin 5500 Business Park Drive Rohnert Park CA 94928 Telephone
12. t the Motor is Out of Phase and the Mult Parameter Encoder or DAC lines will need to be changed To Change Motor Direction using Parameters Set the MULT Parameter to 1 for the Axis Axis0 MULT 1 Reverse the Dac Gain for the Axis Dac0 Gain 3276 8 ACR MOTIONMAX Installation Guide 14 Down load Program0 again and test Step 7 Tune Axis Gains Keys Load Encoder Parameters in the AcroView watch window Actual Position Do a Series of moves to a safe Distance and back to Zero observing the Encoder Feed back while Setting the Gains to it finishes at 1 Encoder Pulse from it Trajectory Target Set PGain in the AcroView Gains Parameters PGAIN AXISO 0 002441 Default Value Set all other Gain Parameters to 0 for the axis under test Slowly increase PGAIN till Axis oscillates then back down till Oscillation stops and go a little extra Move the Axis 5 inches Example X 10 Observe the Actual Encoder Position it should be Short at this point 1 a la oa lr uns we 1 143 Acroview PC Bus Yer 3 15 Default F ie x I File Edit view Window Helg I gt Bale yl OFALINE y IKE IF etl al Acroview Parameters Group x Position y y x 0000 0000 1 Y 0000 0000 Axis O 0 P12290 Z 0000 0000 fanali Wei P12546 0000 0000 p enne repara fo 3 ll P12802 0000 0000 B 0000 0000 E C 0000 0000 Integral Gain 0 IB P13058 0000 0000 U 0000 0000 Ab Y 0000 0000 IntegralLimi
13. 0 400006 EStop Reset PB F Hold PB gf Ove Error Msg System General Handler Travels ACR MOTIONMAX to AcroBasic System Start up a Control Ready Bit 143 This bit will Be Set 1 when ACR MOTIONMAX initializes and is up and running This signal tells the AcroBasic program to start Looping as shown in figure 1 2 ACR MOTIONMAX Installation Guide 8 a Control Initialized bit 145 Tells ACR MOTIONMAX that the machine is initialized Drives Ready and ready to Run Insert your Drive Ready and any other initialization code in this function 30000 to inform ACR MOTIONMAX that initialization is complete and the machine is ready to run Programl is the Main AcroBasic Program all MS amp T Codes are sent from ACR MOTIONMAX and processed in Programl as shown ACR MOTIONMAX AcroBasic Project Template Files When ACR MOTIONMAX is installed 1t will install an AcroBasic Template Project so the end user can insert AcroBasic code into ACR MOTIONMAX s Predefined Structure of programs and subroutines to form a repeatable control system This Project is located in C Program files Parker ACR MOTIONMAX AcroBasicFiles and contains 5 files Copy these files to your Acroview Default Project Folder AcroBasic Template Files list Prog0 8k Sets Axis and Variable Definitions and Axis Homing and Spindle Orient Subroutines Prog 8k Contains the M S T Code Processing Code and all other General Mach
14. Set to 1 if Magazine is Bidirectional Used for 0 Shortest Path to Tool Lookup VirtualPockets 0 Set to 1 Virtual Tool Pocket Lookup Stategy is 0 Desired CheckCurrentPocket 1 tells the DLL to check a tool change to see if its 1 already in that tool so that it ignores the tool change instruction see if its already in that tool so that it ignores the tool change instruction Setting this to 0 tells the system to always execute a tool change even if it is already at that tool number Special Feature for Customer HomeOffsets OAxisHomeOffset 0 0 Not Used at this Time 1AxisHomeOffset 0 0 2AxisHomeOffset 0 0 3AxisHomeOffset 0 0 4AxisHomeOffset 0 0 SpindleOrientOffset 0 SoftLimits OPlusSoftLimit 36 Not Used at this Time OMinusSoftLimit 5 1PlusSoftLimit 24 5 1MinusSoftLimit 5 2PlusSoftLimit 12 5 2MinusSoftLimit 5 3PlusSoftLimit 3600 3MinusSoftLimit 3600 4PlusSoftLimit 125 5 4MinusSoftLimit 125 5 Speeds OAxisMaxFeedrate 300 Not Used at this Time 1AxisMaxFeedrate 300 Not Used at this Time 2AxisMaxFeedrate 300 Not Used at this Time 3AxisMaxFeedrate 400 Not Used at this Time 4AxisMaxFeedrate 1000 Not Used at this Time Acceleration 10 Sets Machine Acceleration 8 Deceleration 10 Deceleration 10 Not Used at this Time 10 Velocity 400 Sets Machine Max Speed in inches per min 400 ACR MOTIONMAX Installation Guide 33
15. the following Chart The Key bank of signals is the Control Signals Bits 128 to 255 these Signals are the Main interface between ACR MOTIONMAX and the users AcroBasic programs The Strategy of the ACR MOTIONMAX Software System is ACR MOTIONMAX is a Core System that s designed to stay the same you simply edit the AcroBasic programs and ACR MOTIONMAX s Parameters to accommodate your particular application ACR MOTIONMAX Control System Bit Signal Banks Table 1 Signal Bank Name Acroloop Bit Address s Description ControlSignals 128 to 255 Bit Addresses Reserved by ACR MOTIONMAX MCode Bits 1920 to 2047 MCodes M00 to M127 Respectively Master flags 512 to 544 Servo Motion State Flags Inputs 0 to 31 256 to 287 Default Ext I O Bank 1 Outputs 32 to 63 288 to 319 Default Ext I O Bank 1 M S amp T Code Sequencing ACR MOTIONMAX Executes M S or T Codes by setting an M S or T Code bit 1920 2047 M00 M127 and an associated M S or T Strobe Signal Bit These bits are picked up by a looping Program 1 and serviced All MS and T Codes Sent by ACR MOTIONMAX are accompanied with a following M S or T Strobe Signal The AcroBasic Program Intercepts M S T Codes and acts on them if its Strobe Signal is 1 When the AcroBasic MS or T Code Function completes it must set the associated Done Bit signaling ACR MOTIONMAX to continue Strobe amp Done Signals Table
16. 156 JOG RES X RES X REN X REM ZERO POSITION TO ABS 0 ACR MOTIONMAX Installation Guide 17 157 MOV X 0 REM SET 0 AS TARGET and Zero Readout 180 SET 170 REM SET X REFRENCE DONE BIT TO gt CNC HOME NOW DONE 185 CLR 144 SET 2053 REM Clear the Homing Active Control bit 199 GOTO 10000 REM EXIT PROGRAM 0 Step 10 Configure 1 0 Labels for ACR MOTIONMAX Diagnostics Open the file C Program Files Parker ACR MOTIONMA X Parfiles IO Cfg This File is used for the ACR MOTIONMAX Diagnostics Feature it allows the user to Define their i o for viewing in ACR MOTIONMAX Diagnostics Fill in the Values to Right of the Equals Sign Only Do not edit anything to the Left of the Equals Sign A Edit these sections to Create Labels for your I O in ACR MOTIONMAX Diagnostics IO Cfg File Excerpt CncInputsConfig INPO Reset PB lt All INP1 Feedhold PB INP2 Cycle Start PB INP3 Estop PB INP63 Open Input CncOutputsConfig Out0 PC On Lamp Outl Cycle Start Lamp Out2 Feed Hold Lamp Out3 Reset Lamp Out63 Open Output ACR MOTIONMAX Installation Guide 18 Step 11 Edit the Control Initialization Subroutine When Program 1 starts it looks at the Control Signal bit 145 Control Initialized to see if the machine has been initialized If this Bit 0 Program 0 will call the Subroutine at Line 3000 and set the bit when it Exits The User should place any initialization Code in this function to tell ACR MOTIONMA
17. CR MOTIONMAX System Setup Diagram ACR MOTIONMAX Installation Guide RENI pe coreg Sand p Install AcroBasic SDK Software Install MotionMax Software Print Reference Manuals Edit amp Print Usert I O Map Copy MotionMax AcroBasic Template Project to Acroview folder Edit Acrobasic Program 0 Set Encoder Resolutions PPU Set Encoder Multipliers MULT Download to Servo Flash Test amp Phase Basic Servo Motion Tune Servo Drives Set Gains Configure Homing Functions Configure 1 0 Bit Variable Assignments Save Setting to the Flash Edit Acrobasic Program 1 Edit Initialzation Code Edit MCode Functions M00 to M127 Edit S Code Function Edit T Code Function Edit Estop Function Setup Error Msg System Strings Test MCodes Save Setting to the Flash Edit MotiomMax Parameters cfg Configure Encoder Resolutions Configure of Axis Configure Gains Configure Encoder Multipliers Setup Speeds amp Acceleration Deceleration Setup Jog Speeds amp Acceleration Deceleration Configure ToolChanger Configure Spindle Gear Ranges Configure Inposition Bands Configure Axis Backlash Values Configure Axis Travel for Graphics Display Configure Overrides Start Using MotionMa
18. EM Clear EMERGENCY STOP 10010 IF INPConsoleEstop AND CTLEStop THEN CLR CTLEStop CLR 522 DWL 1 REM EMERGENCY STOP FUNCTION REM 825 25 25 28 2 ode ole ole ole ole ol k alk ol ole ol ls ls ls ls ls ok kk AAA AAA 40000 SET CTLEStop AXIS5 OFF P6480 0 CLR 190 SET 523 40001 CLR 150 CLR 151 CLR 152 SET 147 SET 148 SET 149 40002 SET CTLReset CLR CTLHomeXDone CLR CTLHomeYDone CLR CTLHomeZDone CLR CTLHomeADone 40003 RES AXISO AXISI AXIS2 AXIS3 AXIS4 P10 0 40005 P4156 0 P4157 0 P4158 0 P4159 0 40006 P10 0 40007 CLR CTLUserErrorReq P4156 0 P4157 0 P4158 0 P4159 0 Insert Your Emergency Stop Code Here 40008 RETURN ACR MOTIONMAX Installation Guide 24 Step 16 Configure the AcroBasic to ACR MOTIONMAX User Error Msg System ACR MOTIONMAX is Capable of Posting Error Messages generated from AcroBasic using the following bits of the Control Signals Error System bits of the Control Signals Error Message Pending Bit 249 Reserved Used by DLL for G Code Error Messages User Error Request Bit 250 Set by AcroBasic to Trigger GUI to Display ERR MSG User Error Bit 1 Bit 251 LSB of binary bit code of Error messages User Error Bit 2 Bit 253 User Error Bit 3 Bit 254 User Error Bit 4 Bit 255 User Error Bit 5 Bit 256 LSB of binary bit code of Error messages ACR MOTIONMAX Contains a Text File called UserDefinedError txt that Contains Error Messages to be se
19. Letter X AxisDesignation1 Y Axis Letter Y AxisDesignation2 Z Axis Letter Z AxisDesignation3 C Axis Letter B SoftwareOptions Default AxesDisplayOn 1 1 1 0 0 Set to 1 to Make Axis Visible in ACR 1 1 1 0 0 MOTIONMAX AxisDesignation0 X Axis Letter X AxisDesignation1 Y Axis Letter Y AxisDesignation2 Z Axis Letter Z AxisDesignation3 C Axis Letter B UseADCChanelForOverrides 0 Specifies to Control System that 0 Overrides are Derived From the ADC channels RapidOverrideMax 100 Sets the Max that the Override can be 100 set to FeedrateOverrideMax 200 200 SpindleSpeedOverrideMax 150 150 RapidOverridePotVoltage 5 Specifies to Control Max DC Voltage 5 Derived From the ADC channels FeedrateOverridePotVoltage 5 5 SpindleSpeedOverridePotVoltage 5 5 FeedOverrideType 98 Specifies the Type of Override used 98 0 Analog POT 1 4bit POT 98 Use Screen Sliders Only 99 Hardcode to Overrides Max values RapidOverrideType 98 98 SpindleOverrideType 98 98 MachineXLength 60 Set X Length of your Machine Travel 24 MachineYLength 30 Set Y Length of your Machine Travel 24 MachineZLength 30 Set Z Length of your Machine Travel 24 ACR MOTIONMAX Installation Guide 27 SpindleOptions Parameter Description Default SpindleEncoderInstalled 0 Set to 1 if Spindle Encoder Equipped 0 SpindleDAMaxVoltage 9 Max Voltage for controller to Output to 9 spindle Drive RigidTappin
20. MAX Installation Guide 28 Velocity 150 Sets Fast Jog Speeds 150 Stp 1 Set the Same as Acceleration 1 Step 19 Configure the Overrides Note These Parameters are set from Parameters Section SoftwareOptions To Configure for Type 0 Override Using Analog 10k Pot s on Control Panel 1 Set UseADCChanelForOverrides 1 2 Set all 3 Override Types to 0 3 Set all 3Max Override Value Parameters 4 Set all 3 OverridePotMaxVoltage Parameters To Configure for Type 1 Override Using Digital 4 Bit Pots on Control Panel 1 Set UseADCChanelForOverrides 0 Zi Set All 3 Override Types to 1 3 Set Max Override Value Parameters 4 Write code in AcroBasic that Sets the Digital OVR bits of the Control Signals when digital pots are rotated Default Mode To Configure for Type 98 Override Using VB Screen sliders Exclusively for Overrides 1 Set UseADCChanelForOverrides 0 2 Set All 3 Override Types to 98 3 Set Max Override Value Parameters To Configure for Type 99 Override Hardcode Overrides to Max Values 1 Set UseADCChanelForOverrides 0 2 Set All 3 Override Types to 99 3 Set Max Override Value Parameters These Values will Be Constant for the Overrides ACR MOTIONMAX Installation Guide 29 Step 20 Starting ACR MOTIONMAX for the First Time When ACR MOTIONMAX starts it will display several messages as follows Card not found this happens is if no Servo Controller is found in t
21. NMAX ACR MOTIONMAX exe GUI Interface Program The Graphical Operator Interface Core DII API Driven Core of ACR MOTIONMAX low level functions DLL File Parameter amp Log files Default Location C Program Files Parker ACR MOTIONMAX Parfiles Parameters mdb Contains Machine Parameters Used by ACR MOTIONMAX Only Parameters Cfg Contains Machine Parameters VO Cfg Contains Control I O Map UserDefined Err Contains User Defined Error Strings ToolTables Mdb Contains Tool Tables Database Used by ACR MOTIONMAX Only Tool tbl Contains Current Runtime Tool amp Offset Information ViewPorts Cfg Used By DLL to Define Zooming and Viewport Options at runtime MoveLog txt Text file listing of all moves and Mcodes that ACR MOTIONMAX executes User txt Text log file of all functions that the operator does Sample Part files Default Location C Program Files Parker ACR MOTIONMAX Partfiles Looping nc NestedLooping nc NestedSubProgramming nc SubProgramming nc Mold nc Pocket nc Manuals amp Reference Documents Default Location C Program Files Parker ACR MOTIONMAX Docs ACR MOTIONMAX_Install_Guide pdf This Manual Programmers Reference Manual pdf G Code Reference Manual ControlSignalsDef doc Control Signals Reference Manual Default Bit Definitions xls The ACR MOTIONMAX I O Map Reference MasterVectorInstructions txt Servo Firmware upgrade instructions Parameter_Definitionst XLS Listing of all ACR MOTIONMAX User Parameters A
22. Program 1 will see the Strobe Signal 1 and Parse the MCode Bit and call the proper subroutine to execute the desired MCode Function Rules of operation All MCode functions are executed at Dedicated Address of Program 1 Starting at Address 1000 All MCode functions are called from the MCode Parsing function Starting at line 11 The Template Provides 128 MCode Subroutines These subroutines are 50 lines long Do not Exceed this limit of 50 lines or the parser will call the wrong function Ooooo For Example M00 subroutine is at Address 1000 to 1049 as shown in the Code Below REM MCode EXECUTION SUBROUTINES REM M00 1000 CLR CTLInCycle REM Set program stop 1001 GOSUB 40500 REM CLEANUP MCODES 1049 RETURN REM MOI 1050 IF CTLOptStopActive THEN CLR CTLInCycle REM set optional program stop if active 1096 GOSUB 40500 REM CLEANUP MCODES 1099 RETURN Progam 1 30000 Do Control Initialazation 4 Line 6 40500 Set M Done Clear All M Codes 11 to 150 1000 to 7999 Yes gt Parse Do MCode M Code Functions ACR MOTIONMAX Installation Guide 20 Step 13 Editing the S Code Function When ACR MOTIONMAX Encounters a SCode Example S2000 It will do the following Steps 1 Check if the Requested Spindle Speed is different from the Current Spindle Speed 2 If it is it then checks if the Speed is within the current Gea
23. Value 6 Waits for Spindle to get up to Speed 7 Returns with S Done 1 and the S Strobe 0 T Code Sequence M6 T2 ACR MOTIONMAX Sequence AcroBasic T Code Handler Action 1 IfnewT Code is different Does nothing From the Current tool then Set 159 ToolChangeRequest 2 Set 1926 M6 bit 3 Set new Target into P6775 4 Set M Strobe Bit 150 5 Set T Strobe Bit 152 7 Service M6 Code if ToolChangeRequest 1 8 Clear ToolChangeRequest and M T Strobe 0 9 Return with M T Done Bits 0 Chapter 2 Setting up Installing ACR MOTIONMAX Install ACR MOTIONMAX with the Install Program Install_ACR MOTIONMAX exe ACR MOTIONMAX Installation Guide 10 Print the following 2 Files for Reference after ACR MOTIONMAX has been installed Reference Files Print the following 2 files for reference C Program Files Parker A CR MOTIONMA X Docs Default Bit Definitions xls This file contains a Complete Bit Map of the ACR MOTIONMAX System This file is an Excel spreadsheet for your reference and is your best resource to understanding how ACR MOTIONMAX communicates with the Parker Acroloop Controller and AcroBasic C Program Files Parker A CR MOTIONMA X Docs Parameter_Definitionst xls in the ACR MOTIONMAX Docs Sub Folder This file describes the functions of all Parameters in the Parameters Cfg file that ACR MOTIONMAX uses at runtime ACR MOTIONMAX Directory amp File Structure Default Location C Program Files Parker ACR MOTIO
24. X the Machine is Ready to Run As the Diagram below shows the program will not start until the following 2 conditions are met 1 ACR MOTIONMAX is up and running Bit 143 1 Control Ready 2 The AcroBasic Has initialized Bit 145 1 Control Initialized Progam 1 Initialized Bit 145 1 30000 No Do Control Initialazation Example REM RA E ooo okok CGE REM CONTROL INITIALIZATION FUNCTION REM 26252528 2524 94 2821 21 2 221 CC ooko kk 30000 SET OUTSpindleReady PON 30001 SET OUTDrivesReady 30002 SET OUTSpindleEStop P6480 0 AXISS OFF CLR 190 30003 SET CTLInitialization Insert Your Machine Initialization Code Here 30086 CLR 170 CLR 171 CLR 172 CLR 173 CLR 174 CLR 175 Rem Clear Strobes amp Done bits 30087 P4156 0 P4157 0 P4158 0 P4159 0 REM CLR MCODES 30088 SET CTLMDone SET CTLSDone SET CTLTDone CLR CTLMStrobe P10 0 30089 CLR CTLSStrobe CLR CTLTStrobe CLR CTLUserErrorReq 30090 RETURN ACR MOTIONMAX Installation Guide 19 Step 12 Edit the M Code Functions ACR MOTIONMAX is set up to Provide 128 User definable MCodes They are set By ACR MOTIONMAX via the MCode bits Bank of Signals Bits 1920 2047 When ACR MOTIONMAX encounters A MCode it Parses the Code and sets a corresponding Bit of the MCode Signals to Tell AcroBasic which Subroutine to Call For Example M00 Bit 1920 Bit 1921 MOI and so on Also ACR MOTIONMAX will set the MStrobe Bit Bit 150
25. ady have code in the AcroView default folder it will be overwritten so back it up in necessary a Open AcroView and Edit Prog0 Don t Download to Card when prompted by Acroview yet Edit Prog0 6 and configure the Axis Encoder Resolutions and Multipliers Set the PPU Values Encoder Resolution for your application Units XXXX Counts per 1 of travel Example PPU X4000 Y4000 Z4000 Mult X1 Y1 Z1 Step 5 Download Project to Controller Flash Q Download All AcroBasic Programs to the Servo Cards Flash and save it with No Errors Note to enable error checking right click in the lower window and select Logging Next download the file to the card AcroView writes a log file that resides in the AcroView folder Open this file with notepad or create a shortcut to it on your desktop as you will probably look at this file hundreds of time to check the program for errors When all Programs are Downloaded Error Free Type the Following at the Command line Flash Save ESave Step 6 Test amp Phase the Motor Encoders Phasing is correct when the Axis Readout Increments when moved in a positive direction on your machine Enable your Drives manually and type the following at the Command line While watching the Readouts on the Top Upper left of the AcroView Screen Repeat for All Attached Axes Prog0 X1 The X Axis Motor should move 1 inch positive and in a direction you consider to be Forward on your Machine If it doesn
26. anger Virtual Pockets with Pre Stage arm BEM 228 35 35 252 2 2 2 2 2 ae oe oe oe oe oe ak ak ok REM T Strobe Sub REM nook k k REM TOOL POCKET HANDLER REM USES PLC COUNTER 7 ADDRESS 6775 9000 IF NOT INPConsoleEstop OR INPResetButton THEN GOTO 10000 9001 IF CTLMagRefDone THEN GOTO 9020 9010 IF NOT CTLMagRefDone THEN SET OUTRotateMagazine SET 152 CLR 149 9011 IF INPMagazineHome THEN P6759 1 SET CTLMagRefDone 9012 CLR OUTRotateMagazine DWL 1 9012 GOTO 9390 9020 SET OUTRotateMagazine SET 156 SET 152 CLR 149 9025 IF P6759 lt gt P6775 THEN SET OUTRotateMagazine GOTO 9390 9027 CLR OUTRotateMagazine 9326 CLR CTLTStrobe 9328 CLR OUTRotateMagazine ACR MOTIONMAX Installation Guide 23 9330 SET CTLTDone REM Set TDone 9390 RETURN Step 15 Edit the Emergency Stop Function This Subroutine is called by the General Handler of Program 1 Line 10000 amp 10012 when the Estop Button is Pressed a KeyBit Estop Bit 129 of the Control Signals The ACR MOTIONMAX GUI uses this signal for Emergency Stop Status display to the Operator If this bit 1 then the Emergency Stop Indicator at the bottom of ACR MOTIONMAX will blink If this bit 0 then the Emergency Stop Indicator at the bottom of ACR MOTIONMAX will clear Programl REM General Control Loop REM ZEX k k k kk k kk k kk k kkk kkk k k k REM Set EMERGENCY STOP 10000 IF NOT INPConsoleEstop AND NOT CTLEStop THEN GOSUB 40000 R
27. checking is on this multiplier is given to the 1 default acceleration and used in its place if over CornerAccelerationDist 0 12 NOT USED 0 125 5 CoreCheckSWK 0 Intentionally left Blank 0 SpindleOptions SpindleEncoderlnstalled 0 0 SpindleDAMaxVoltage 9 Max Voltage for controller to Output to spindle Drive 9 RigidTappingInstalled 0 Set to 1 if Machine Has Spindle Encoder for Rigid 0 Tapping OrientBeforeTap 1 Set to 1 to Force an M19 on every Tap Cycle 1 SpindleGears 2 Set to The Number of Gears on the Spindle 2 SpindleMaxRPMGearRang Sets Max Speed of Gear Range 1000 e0 1050 SpindleMaxRPMGearRang Sets Max Speed of Gear Range 4000 e1 4100 SpindleMaxRPMGearRang Sets Max Speed of Gear Range 4000 e2 4100 SpindleMaxRPMGearRang Sets Max Speed of Gear Range 4000 e3 4100 SpindleFwdVoltage 1 Specifies to ACR MOTIONMAX to Invert Spindle voltage for MOS if 0 SpindleRevVoltage 1 Specifies to ACR MOTIONMAX to Invert Spindle voltage for M04 if 0 ACR MOTIONMAX Installation Guide 32 SpindleActualSpeedMult 1 Specifies a Ratio of the Analog Spindle speed feed back to the On screen Display ToolChanger Changerlnstalled 0 Specifies that Machine is Equipped with a 0 ToolChanger NumberOfToolPockets 24 Specifies Total Number of Pockets in Magazine 24 BiDirectionaMagazine 0
28. eration 0 TLM 10 000000000 Torque Limit in Volts 10 Gains6 PGAIN 00 002441406 Proportional Gain 0 002 IGAIN 00 000000000 Integral Gain 0 002 ILIMIT 00 000000000 Limit Delay 0 001 IDELAY 00 000000000 I Delay 0 DGAIN 00 000000000 Derivative Gain 0 DWIDTH 00 000000000 Derivative Gain Bandwidth 0 FFVEL 00 000000000 Feed Forward Velocity 0 FFACC 00 000000000 Feed Forward Acceleration 0 TLM 10 000000000 Torque Limit in Volts 10 Gains7 PGAIN 00 002441406 Proportional Gain 0 002 IGAIN 00 000000000 Integral Gain 0 002 ILIMIT 00 000000000 I Limit Delay 0 001 IDELAY 00 000000000 I Delay 0 DGAIN 00 000000000 Derivative Gain 0 DWIDTH 00 000000000 Derivative Gain Bandwidth 0 FFVEL 00 000000000 Feed Forward Velocity 0 FFACC 00 000000000 Feed Forward Acceleration 0 TLM 10 000000000 Torque Limit in Volts 10 Aux_Functions Aux1Text M101 User Aux Function Description Text HP WashDown On Aux1Mcode 2021 User Aux Function MCode Bit 2021 Aux2Text M102 HP WashDown Off Aux2Mcode 2022 2022 ACR MOTIONMAX Installation Guide 36 Aux3Text M103 Chip Conveyer On Aux3Mcode 2023 2023 Aux4Text M104 Chip Conveyer Off Aux4Mcode 2024 2024 Aux5Text User5 Aux5Mcode 0 Aux6Text User6 Aux6Mcode 0 Aux7Text User7 Aux7Mcode 0 Aux8Text User8 Aux8Mcode 0 Aux9Text User9 Aux9Mcode 0 Aux10Text User10 Aux10Mcode 0 Don t change the grayed parameters ScreenColors
29. following 2 Sections 1 Edit SystemResolution Values to be the same as the PPU Value you have in Program 0 This value must be in Pulses per Inch Millimeter of Axis Travel SystemResolution OPulsesPerUnit 4000 1PulsesPerUnit 4000 2PulsesPerUnit 4000 3PulsesPerUnit 0 4PulsesPerUnit 0 5PulsesPerUnit 4096 6PulsesPerUnit 0 7PulsesPerUnit 0 2 Edit Gain Values to be the same as the Gains values you have in AcroView for all Axes Note Make sure you Edit the gains for all attached axes you will be using for you application Gains0 Axis0 Gains Sample Values PGAIN 0 02 IGAIN 0 01 ILIMIT 0 01 IDELAY 0 DGAIN 0 000001 DWIDTH 0 FFVEL 0 FFACC 0 TLM 10 Repeat for Gains1 Gains2 Gains3 Sections etc Save the File and Exit notepad ACR MOTIONMAX Installation Guide 16 Step 9 Configure Homing Functions Homing is accomplished by program0 at dedicated Address that ACR MOTIONMAX will call directly behind the scenes The user simply inserts his actual homing code into the appropriate Function as follows ACR MOTIONMAX reads the Homing Status bits to disallow other functions while homing is Active A homing Sequence shall 1 Setthe Axis Homing bit when started Ex Set 144 sets the Homing Active bit to ACR MOTIONMAX 2 Clear the Axis Home bit when started Ex Clr 170 Clears the X home Done Bit to ACR MOTIONMAX 3 When Homing is complete Ex Set 170 Sets the Axis Homed Bit to ACR MOTIONMAX
30. gInstalled 0 Set to 1 if Machine Has Spindle Encoder 0 for Rigid Tapping OrientBeforeTap 1 Set to 1 to Force an M19 on every Tap 1 Cycle SpindleGears 2 Set to The Number of Gears on the 2 Spindle SpindleMaxRPMGearRange0 1050 Sets Max Speed of Gear Range 1000 SpindleMaxRPMGearRange1 4100 Sets Max Speed of Gear Range 4000 SpindleMaxRPMGearRange2 4100 Sets Max Speed of Gear Range 4000 SpindleMaxRPMGearRange3 4100 Sets Max Speed of Gear Range 4000 ToolChanger Parameter Description Default Changerlnstalled 0 Specifies that Machine is Equipped with a 0 ToolChanger NumberOfToolPockets 24 Specifies Total Number of Pockets in Magazine 24 BiDirectionaMagazine 0 Set to 1 if Magazine is Bi directional Used for 0 Shortest Path to Tool Lookup VirtualPockets 0 Set to 1 for Virtual Tool Pocket Lookup Strategy 0 Type Speeds Parameter Description Default Acceleration 10 Sets Machine Acceleration 10 Deceleration 10 Set the Same as Acceleration 10 Velocity 450 Sets Machine Max Speed in inches per min 400 Stp 10 Set the Same as Acceleration For Trap Profile 10 JogSpeeds Parameter Description Default Acceleration 1 Sets Machine Acceleration 1 Deceleration 1 Set the Same as Acceleration 1 Velocity 100 Sets Normal Jog Speeds 100 Stp 1 Set the Same as Acceleration 1 FastJogSpeeds Parameter Description Default Acceleration 1 Sets Machine Acceleration 1 Deceleration 1 Set the Same as Acceleration 1 ACR MOTION
31. he PC the software will still run but motion is not possible Parameter Error Parameter XXX Has Failed a parameter has failed its type check Edit the Parameters Cfg file to correct and try again Demo Version you have XX Days to register this software This is normal ACR MOTIONMAX is shipped as a Demo Version that the User will Call Axuim controls to Register it for unlimited use If you don t Register ACR MOTIONMAX it will disable at the end of its Term of Demo Demo Version has expired This means the Demo has expired and the software is unusable You must Call Axuim controls to Register it for unlimited use If you don t Register ACR MOTIONMAX it will disable at the end of its Term of Demo Important To Register the Software Goto the Help PullDown Menu and select the Register Software option This will display a Dialog with a Code number Call or email Parker Hannifin with this Code Number to Unlock your Demo Version or Enable new Features as you purchase them Running ACR MOTIONMAX for the First Time Step 1 Test Jogging Release Estop and select Jog Mode and Jog all Axis and minus to confirm Machine Axis Operation Step 2 Test Homing Home each individual Axis first before selecting HomeAll This confirms that the homing functions are working correctly Close the Jog Screen Step 3 Test Inputs and Outputs in Diagnostics Select Diagnostics mode and Set and clear each Output to confirm outputs ope
32. hey will just coast to zero speed and may destroy an Axis Instead of stopping the Machine in a Controlled Manner using the drives Internal Braking Power The idea here is If your Amp can t stop your Axis in a Controlled Manner The Amp is to Small to Control your Axis at Full Speed Accurately Q Always Wire the OverTravels amp Estop System into the Drive Enables as shown EmergeneyStop Servo Drive po Enable Fwd Over Travel Switch Fwd Enable Rev Over Travel Switch O O Rev Enable Signal Comm ACR MOTIONMAX Installation Guide 13 Step 3 Print Reference Files Print the following 2 files for reference C Program Files Parker ACR MOTIONMA X Docs Default Bit Definitions xls This file is a Complete I O Bit Map of the ACR MOTIONMAX System Signal Banks This file is an Excel spreadsheet for your reference and is your best resource to understanding how ACR MOTIONMAX communicates with the Parker Acroloop Controller and AcroBasic C Program Files Parker ACR MOTIONMA X Docs Parameter_Definitionst xls in the Parker ACR MOTIONMAX Docs Sub Folder This file describes the functions of all Parameters in the Parameters Cfg file that ACR MOTIONMAX uses at runtime Step 4 Load ACR MOTIONMAX AcroBasic Project Template Files a Copy the 5 AcroBasic Template files contained in the ACR MOTIONMAX AcroBasic sub folder to C Program files Parker Acroloop Acroview Projects Default folder If you alre
33. ile for Programs amp Variable Memory Allocation i 8 Defining Bit Variables in AcroBasic i 8 M Code Sequence Examplest cicirlr lari 9 M Code Sequence M08 Coolant Oni ani 9 S Code Sequence 52000 cisma ia ina 9 Code Sequence MO T2 iillle lerici 9 Chapter 2 Setting up Installing ACR MOTIONMAX csscssssssesssesccesscssecsssesseeeeees 9 Reference PES aiii ita a iii 10 ACR MOTIONMAX Directory amp File Structure e 10 Parameter amp Log Mes iii a aa 10 Sample Part Mes ola aaa ala 10 Mannals amp Reference Documents arena iaia naar 10 ACR MOTIONMAX System Setup Diagram er ere rr ere cnn nns r rr en nr na 10 Step 1 Install the Parker Acroloop SDK Software Development Kit n 12 Step 2 Install ACR MOTIONMAX to your PC i 12 Step 3 Print Reference Piles scri e ai rane 13 Step 3 Load ACR MOTIONMAX AcroBasic Project Template Files n 13 Step 4 Download Project to Controller Flash i 13 Step 5 Test amp Phase the Motor Encoders i 13 To Change Motor Direction using Parameters rn rr rr rr cnn rr sr nr en nn 13 SEP Ge Tune AXIS GANS certain id es 14 Step 7 Update ACR MOTIONMAX Parameters with the Current PPU Gains Settings 15 Step 8 Configure Homing Functions nono conoce no
34. ine Functions PLCO 8k Contains a Sample Lube System Code Ladder Program Sys 8k Defines System Memory Allocations on the Acroloop Card Gains 8k Defines All initial Axis Gains Note The Gains are overwritten when ACR MOTIONMAX loads as ACR MOTIONMAX uses the Gain Settings Defined in the Parameters Cfg file so be sure to duplicate them in the Parameters Cfg file Setting the Sys 8k file for Programs amp Variable Memory Allocation ACR MOTIONMAX must be configured with enough memory in the SYS 8k file for the type of card used PCI buss type cards use DPCB Dual Port Cache Buffer ISA buss type cards use FIFO First in First Out Edit the 2 parameters of the SYS 8k file depending on the type of card your using PCI is Default If using PCI Card If using ISA Type Card Clear DPCB Clear FIFO Dim DPCB 4096 Dim FIFO 4096 Sys 8k File listing for PCI Type Controller SYS HALT ALL NEW ALL CLEAR DETACH ALL REM Allocate system memory DIM PROGO 35000 DIM PROGI 35000 DIM PROG2 5000 DIM PLCO 5000 DIM P 24 DIM DEF 300 REM Allocate Bit Variable Space for 300 Variables CLEAR DPCB REM Clear PCI Buss Type Cache Buffer DIM DPCB 4096 Rem Allocate for PCI Type Cache Buffer REM USER DEFINED AREA Defining Bit Variables in AcroBasic ACR MOTIONMAX Installation Guide 9 The Dim DEF 300 parameter in the Sys 8k should not be changed and is used in the Ac
35. ion Band of a Completed 1 move before another starts 7AxislPB 1000 Sets the tolerance In Position Band of a Completed 1 move before another starts BackLashComp OAxisBackLash 0 0 Sets Backlash Compensation for the axis 0 1AxisBackLash 0 0 Sets Backlash Compensation for the axis 0 2AxisBackLash 0 0 Sets Backlash Compensation for the axis 0 3AxisBackLash 0 0 Sets Backlash Compensation for the axis 0 4AxisBackLash 0 Sets Backlash Compensation for the axis 0 ACR MOTIONMAX Installation Guide 34 SAxisBackLash 0 Sets Backlash Compensation for the axis 0 6AxisBackLash 0 Sets Backlash Compensation for the axis 0 7AxisBackLash 0 Sets Backlash Compensation for the axis 0 Gains0 PGAIN 00 001 Proportional Gain 0 002 IGAIN 00 002 Integral Gain 0 002 ILIMIT 00 009 I Limit Delay 0 001 IDELAY 2 I Delay 0 DGAIN 0 Derivative Gain 0 DWIDTH 0 Derivative Gain Bandwidth 0 FFVEL 0 Feed Forward Velocity 0 FFACC 0 Feed Forward Acceleration 0 TLM 10 Torque Limit in Volts 10 Gains1 PGAIN 00 001 Proportional Gain 0 002 IGAIN 00 002 Integral Gain 0 002 ILIMIT 00 009 I Limit Delay 0 001 IDELAY 2 I Delay 0 DGAIN 0 Derivative Gain 0 DWIDTH 0 Derivative Gain Bandwidth 0 FFVEL 0 Feed Forward Velocity 0 FFACC 0 Feed Forward Acceleration 0 TLM 10 Torque Limit in Volts 10 Gains2 PGAIN 0 00165 Propo
36. nonn nono nnnn conc ano nn nn cone er RR nr on nr nn enn rn en oa 16 Step 9 Configure 1 0 Labels for ACR MOTIONMAX Diagnostics iii 17 Step 10 Edit the Control Initialization Subroutine i 18 Step 11 Edit the M Code FunctionSs rire ere nono none no nn ie ieri rie nro nenes 19 Step 12 Editing the S Code Function nono conc cnn nn nn cone cn neon arca nc nissenana 20 Step 13 Edit the T Code Function b rda snssedssevnedess reses ser aran R E 22 Step 14 Edit the Emergency Stop Function i 23 Step 15 Configure the AcroBasic to ACR MOTIONMAX User Error Msg System 24 Step 16 Configure Valid Mcodes List for ACR MOTIONMAX rr rn nn 25 Step 17 Configure Key ACR MOTIONMAX Parameters ii 26 Step 17a Configure the Overrides ss 28 Step 18 Starting ACR MOTIONMAX for the First Time ii 29 Running ACR MOTIONMAX for the First Time e 29 Appendix A ACR MOTIONMAX ParameteP sscssssssssssssssesscessssssssssssesssoeees 30 ACR MOTIONMAX Installation Guide 5 Chapter 1 Introduction and System Overview ACR MOTIONMAX interfaces to the Parker Acroloop Motion Card with 32bit Signal Banks provided on the Motion Card The Control system communicates with AcroBasic through the Matrix of 5 signal Banks as shown in
37. nt to the Control Display User Error System Works by Setting the Desired User Error Code Bits and then Setting Bit 250 User Error Request to Signal ACR MOTIONMAX to Decode the Message When ACR MOTIONMAX Finds Bit 250 1 it will decode the 5 User Error bits and Display the Message on the ACR MOTIONMAX Screen with and OK button Next the user must acknowledge the Error by pressing OK When the User Presses OK ACR MOTIONMAX will clear the Error Request Bit 250 If another error is pending it will be displayed Example To set A lube Alarm The Lube Alarm Message is at Position 3 in our file so we need to set the Error Bit Code to Binary 3 as shown Set 251 Set 252 Rem Set Error Pointer to Message 3 Set 250 Rem Trigger GUI to Display Error Message 3 Note UserDefinedError err found in C Program Files ACR MOTIONMA X Parfiles UserDefinedError txt Sample UserDefinedError txt for reference User ALARM Spindle Chiller Fault Please check User ALARM Low or No Air Pressure CNC can t run without 60psi min User Alarm Lube Level Low User ALARM Z Not T Change Position for Pending M6 ACR MOTIONMAX Installation Guide 25 Step 17 Configure Valid Mcodes List for ACR MOTIONMAX Mcodes Are Validated in ACR MOTIONMAX to prevent erroneous Mcodes from running in a G Code Program All Valid Mcodes must be Edited Set in the Parameters MCodes section of the Parameters Cfg file Set to I to enable Mcode Set to 0 to disable Mcode nte
38. r Mcode Description Sample Parameters Cfg file MCodes MO 1 DESC0 OPTIONAL PROGRAM STOP Ml 1 DESC1 PROGRAM STOP M2 1 DESC2 PROGRAM STOP M3 1 DESC3 SPINDLE FWD M4 1 DESC4 SPINDLE REV M5 1 DESC5 SPINDLE STOP M6 1 DESC6 TOOL CHANGE M7 0 DESC7 M8 1 DESC8 COOLANT ON M9 1 DESC9 COOLANT OFF M126 1 DESC126 TURN ON TAPPING MODE M127 1 DESC127 TURN OFF TAPPING MODE Important if ACR MOTIONMAX encounters an invalid Mcode in a G Code program an Error will be displayed as to which Mcode is invalid A Gcode program must contain all valid MCodes to be run ACR MOTIONMAX Installation Guide Step 18 Configure Key ACR MOTIONMAX Parameters ACR MOTIONMAX uses a File for all Machine Parameters Filename Parameters Cfg For Initial Start Up several key parameters Sections need editing The Following is a list of the key parameters needed to initially get ACR MOTIONMAX up and running After completing the edits save the file and Start ACR MOTIONMAX for the first time Section Name CNC_CONFIG Description Default Mill 1 Set to 1 for Mill or O for Lathe 1 NumberOfAxis 3 Sets the Number of Axis ACR MOTIONMAX is to 3 Control InchMetricMode 1 Set to 1 Inch or 0 for Metric 1 SoftwareOptions Default AxesDisplayOn 1 1 1 0 0 Set to 1 to Make Axis Visible in ACR 1 1 1 0 0 MOTIONMAX AxisDesignation0 X Axis
39. r Range as defined in the Parameters 3 If the new Speed requires a different Gear ACR MOTIONMAX will set the Binary code of the Gear Range to be in 4 If Gear Change is Required then the AcroBasic shall stop the spindle and switch to the new Gear Range 5 If the spindle was previously running SpindleRunning Bit 190 1 then the function will restart the spindle and wait till its running at the commanded speed 6 If the spindle wasn t previously running SpindleRunning Bit 190 0 the function should write the Dac value but not restart the spindle 7 The function then Clears the S Strobe and sets the S Done bits to Signal ACR MOTIONMAX to continue Parameters Gear Range Section of the Parameters File SpindleOptions SpindleGears 3 SpindleMaxRPMGearRange0 1000 SpindleMaxRPMGearRange1 2000 SpindleMaxRPMGearRange2 4000 SpindleMaxRPMGearRange3 4000 Control Signals used with S Codes S Strobe Bit 151 Set by ACR MOTIONMAX to Trigger the SCode Handler Function S Done Bit 148 Set by AcroBasic when S function is completed SpindleRunning Bit 190 Tells AcroBasic if spindle was Previously Running GearChangeActive Bit 176 Set in AcroBasic to Signal a Gear change is occurring GearRangeBit0 Bit 177 LSB of3 bit Binary code of Gear Range GearRangeBitl Bit 178 Binary code of Gear Range GearRangeBit2 Bit 179 MSB of 3 bit Binary code of Gear Range Axis5 Dac Spindle Axis P6480 ACR MOTIONMAX Writes thi
40. rable Cam Program Path notepad exe otepad exe AbsoluteArcCenters 1 Set to 1 if using ABS Arc Centers else set to 1 for 1 incremental PartFilesPath C Program Pointer to Partfiles Folder used by ACR C Program Files ACR MOTIONMAX Files ACR MOTIONMAX Partfiles MOTIONMA X Partfiles LastFile Pointer to the Last File Opened by ACR MOTIONMAX OpenProgWithLastFile 0 Set to 1 to Force ACR MOTIONMAX to Auto Load 0 the last opened Program DefaultFileExt ALL Sets the Default file extension to use in Browser ALL window SoftwareOptions AxesDisplayOn 1 1 1 0 0 Set to 1 to Make Axis Visible in ACR MOTIONMAX 1 1 1 0 0 AxisDesignation0 X Axis Letter X AxisDesignation1 Y Axis Letter Y AxisDesignation2 Z Axis Letter Z AxisDesignation3 C Axis Letter B AxisDesignation4 B Axis Letter not used AxisDesignation5 S Axis Letter not used ExactStopRequired 0 Forces Control to Stop Moton at End of Every Rapid 0 Move UseADCChanelForOverrid Specifies to Control System that Overrides are 0 es 0 Derived From the ADC channels RapidOverrideMax 100 Sets the Max that the Override can be set to 100 FeedrateOverrideMax 200 Sets the Max that the Override can be set to 200 SpindleSpeedOverrideMax Sets the Max that the Override can be set to 150 150 RapidOverridePotVoltage Specifies to Control Max DC Voltage Derived From 5 5 the ADC channels FeedrateOverridePotVoltag 5 e 5 SpindleSpeedOverridePotV 5 oltage 5 ACR MOTIONMAX Installation Guide 31
41. ration using the On off buttons in the upper left of the Diagnostics Screen Also watch and confirm the associated Inputs as the Outputs are toggled for correctness Step 4 Select MDI Mode Test Mcodes Enter some basic Mcodes such as M08 Coolant On and M09 Coolant Off This will test your AcroBasic Mcode functions Correct Errors as required and try again Remember ACR MOTIONMAX must be closed to Open Acroview Step 5 Test Basic G Code Motion from MDI Mode Screen G0 amp G01 Enter the Following in the MDI Screen command line G01 X5 F10 Press Enter the axis should move to X5 at a feedrate of 10 inches per min G00 X0 Press Enter the X axis should Rapid to X0 at the Feedrate specified in the Speeds Parameter Velocity This is the Rapid and Max Feedrate for all Axis ACR MOTIONMAX Installation Guide 30 Appendix A ACR MOTIONMAX Parameters This is the Complete Parameter List for reference CNC CONFIG Description Default ParameterPassword CNC Used for Parameter amp Diagnostics Password CNC Mill 1 Set to 1 for Mill or 0 for Lathe 1 NumberOfAxis 3 Sets the Number of Axis ACR MOTIONMAX is to 3 Control InchMetricMode 1 Set to 1 Inch or 0 for Metric 1 HandWheellnstalled 0 Set to 1 in using Remote Pendant 0 UserEditorPath notepad e Pointer to the User configurable Editor Path xe ConversationalProgPath n Pointer to the User configu
42. roBasic file progo 8k to allow all bits to called with a Variable Name No Punctuation is allowed in the variable name and must be proceeded with Define statement as shown See Prog0 8k header Example amp Format REM Input Bit Definitions DEFINE INPResetButton BITO DEFINE INPFeedHoldButton BITI M Code Sequence Examples ACR MOTIONMAX MCodes Bits 1920 to 2047 M00 to M127 ACR MOTIONMAX uses these bits to tell the AcroBasic Program which MCode Subroutine to Call Do not use any of these bits in your AcroBasic Programs they are reserved for ACR MOTIONMAX MCodes MCodes are triggered by Setting a MCode Bit Bits 1920 to 2047 and an M Strobe Bit 150 signal bit Then the AcroBasic Program Prog will parse and call the appropriate MCode subroutine for execution and return setting the MDone Bit 147 Signal ACR MOTIONMAX will not execute another MCode or Gcode if MDone 0 See Prog1 8k line 6 M Code Sequence M08 Coolant On ACR MOTIONMAX Sequence AcroBasic Action 1 Sets bit 1928 MOS does nothing 2 Sets Bit 150 M Strobe 3 Parses the MCode bit and Calls Subroutine to be serviced 4 Returns with Mdone 1 and the Mstrobe 0 and Bit 1928 0 5 Continues S Code Sequence S2000 ACR MOTIONMAX Sequence AcroBasic S Code Handler Action 1 Writes Dac5 Val to P6480 does nothing 2 Sets the Gear Range Bits 3 Sets the S Strobe Bit 151 4 Processes gear change if required 5 Enables Axis if was running previously with new Dac
43. rtional Gain 0 002 IGAIN 0 045 Integral Gain 0 002 ILIMIT 0 05 I Limit Delay 0 001 IDELAY 01 I Delay 0 DGAIN 0 Derivative Gain 0 DWIDTH 0 Derivative Gain Bandwidth 0 FFVEL 0 Feed Forward Velocity 0 FFACC 0 Feed Forward Acceleration 0 TLM 10 Torque Limit in Volts 10 Gains3 PGAIN 0 002441406 Proportional Gain 0 002 IGAIN 0 001 Integral Gain 0 002 ILIMIT 0 001 I Limit Delay 0 001 IDELAY 00 000000000 I Delay 0 DGAIN 00 000000000 Derivative Gain 0 DWIDTH 00 000000000 Derivative Gain Bandwidth 0 FFVEL 00 000000000 Feed Forward Velocity 0 FFACC 00 000000000 Feed Forward Acceleration 0 TLM 10 000000000 Gains4 ACR MOTIONMAX Installation Guide 35 PGAIN 00 002441406 Proportional Gain 0 002 IGAIN 00 000000000 Integral Gain 0 002 ILIMIT 00 000000000 I Limit Delay 0 001 IDELAY 00 000000000 I Delay 0 DGAIN 00 000000000 Derivative Gain 0 DWIDTH 00 000000000 Derivative Gain Bandwidth 0 FFVEL 00 000000000 Feed Forward Velocity 0 FFACC 00 000000000 Feed Forward Acceleration 0 TLM 10 000000000 Torque Limit in Volts 10 Spindle Axis Gains5 PGAIN 0 0004 Proportional Gain 0 002 IGAIN 2 0 Integral Gain 0 002 ILIMIT 0 009 Limit Delay 0 001 IDELAY 0 I Delay 0 DGAIN 0 00005 Derivative Gain 0 DWIDTH 0 0001 Derivative Gain Bandwidth 0 FFVEL 0 Feed Forward Velocity 0 FFACC 0 Feed Forward Accel
44. s as the Spindle Speed REM S Strobe Sub 8000 IF NOT CTLMDone THEN GOTO 8990 8010 IF NOT CTLTDone THEN GOTO 8990 8011 IF CTLTStrobe THEN GOTO 8990 REM STORE D A CLR SPINDLE ORIENTED SIGNAL SAVE STATE OF SFWD SREV 8013 P3 P6480 P4 OUTSpindleForward P5 OUTSpindleReverse AXISS OFF a a Your S Code amp Gear Change Logic Code Here REM IF SPINDLE WAS RUNNING RESTORE D A AND DIRECTIONS amp WAIT FOR UPTOSPEED 8351 IF BIT 190 THEN P6480 P3 OUTSpindleForward P4 OUTSpindleReverse P5 INH 259 GOTO 8420 REM ELSE CLR FWD amp REV ENABLES amp reset D A 8352 OUTSpindleForward OUTSpindleReverse P6480 P3 REM CLEAN UP 8420 SET CTLSDone CLR 183 REM Set SDONE clear spindle oriented bit ACR MOTIONMAX Installation Guide 8430 CLR CTLSStrobe REM Clear SSTROBE 8440 CLR CTLGearChgActive REM Clear the Gear Change Request bit 8990 RETURN 21 ACR MOTIONMAX Installation Guide 22 Step 14 Edit the T Code Function ACR MOTIONMAX Handles Tool Codes by loading the AcroBasic Counter 7 P6775 with the Requested Tool number If The Requested Tool is different From the Current then ACR MOTIONMAX will Set the ToolChangeRequest bit 159 to tell the ToolChange function to effect a Tool Change ACR MOTIONMAX is designed to accommodate 3 types of tool Changers Type 1 Basic Knee Mill with no Tool Changer Type 2 Standard Tool arm No Pre Stage Arm Type 3 Pre Staging with Virtual Tool Lookup If
45. t GT 4 P13314 0000 0000 Axis Group Select 5 P13570 0000 0000 07 075 Integral Delay o 4 fe P13826 0000 0000 P1203 0000 0000 Derivative Gaifo 7 P14082 0000 0000 E Master Master 5 MoveCnt a Derivative Widg E MasterD Mastegin OY A a z fF Master8 MasterT5 ROY cere fo El FF AcceleratioJo Current Position tn Target Position Fa Torque Limit fo 4 _ TERE Eee Note After entering new gain values press Enter key to update board Next Increase IGAIN to by factors of 1 and index in the Axis to X10 and then back to XO The Actual Position should start to get closer to the Target in the upper Top Left Readout Target Next Increase ILIMIT to by factors of 1 and index in the Axis to X10 and then back to X0 The Actual Position should start to get to 1 Counts of the Target in the upper Top Left Readout Target Next Increase DGAIN in small increments to dampen the move if it is slamming into position Note XY Systems must have the Gains Set Exactly the Same for Coordinated Motion to be precise The Preceding is a general format for tuning and not by any means the only way to tune an axis Q Repeat For All Attached Axes ACR MOTIONMAX Installation Guide 15 Step 8 Update ACR MOTIONMAX Parameters with the Current PPU Gains Settings ACR MOTIONMAX uses the following text file for its parameters C Program Files Parker ACR MOTIONMAX Parfiles Parameters Cfg Open this file with Notepad and edit the
46. using a Type 1 note You must post a User Message to the system from inside the T Strobe Handler that prompts the Machine Operator to Please Change to Tool Number See Error Message System ACR MOTIONMAX will see that a Tool change is in progress and will append the new Tool number to the end of your Message with a Press Ok to continue This allows you to Change tools even though you have no tool changer except for the machine operator Type 2 3 are handled by ACR MOTIONMAX all the machine builder needs to do is write his M06 Code and T Code Handler T Strobe Bit 152 Set by ACR MOTIONMAX to trigger Tcode Handler function T Done Bit 149 Cleared by AcroBasic when ToolChange is Done ToolChangeRequest Bit 159 Set by ACR MOTIONMAX to Indicate a Tool Change is Required RequestedToolPositon P6775 Loaded by ACR MOTIONMAX with the Target in Pockets CurrentToolPosition in Magazine P6759 Holds the Current Magazine Position in Pockets TooChangeDone Bit 154 Set by AcroBasic to signal Tool Change Completion ToolChangeActive Bit 153 Set by AcroBasic to Signal Tool Change in progress Note M06 TXX Code ACR MOTIONMAX will Set the M6 code first then the Tcode to allow the M6 to Be processed first See M06 function for Details and logic The Main purpose of the Tcode is to Rotate the Magazine to the New Tool Pocket for Changing to the Spindle Example This example is using the Type3 ToolCh
47. x ACR MOTIONMAX Installation Guide 12 Step 1 Install the Parker Acroloop SDK Software Development Kit Install the Parker Acroloop SDK to your PC with the CD shipped with your Controller Card Important When installing the SDK be sure to select the Type of Controller you re using Step 2 Install ACR MOTIONMAX to your PC Install ACR MOTIONMAX with the Install Program Install ACR MotionMax exe Important Do not attempt to run ACR MOTIONMAX attached to your machine until you have completed the following tests in AcroBasic Disconnect all ServoMotors from any leadscrews or mechanism in case of axis runaway for the initial setup phase Test Emergency Stop Circuitry amp OverTravels Emergency Stop Must Stop all Axis s amp Spindle Laser if equipped OverTravels Must Stop all Axis s amp Spindle Laser if equipped Set And Confirmed Encoder Resolutions and Multipliers Phased the Motors Directionally Set Axis Gains and can control Motors at the AcroView Command Line Duplicate the Encoder PPU Gains Setting to the Parameters Cfg file for ACR MOTIONMAX OOOOOCOd Important When handling OverTravels most drives have 3 enables to aid in stopping an axis Drive Enable Forward Enable and Reverse Enable Never simply cut main power to the drive in case of Emergency Stop or OverTravel Most Drives use Regenitive braking that is disabled if you cut power to the Drives If you simply cut the Power to the Drives t
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