ACR-MotionMax Installation Guide Version 1.
ACR-MOTIONMAX Installation Guide 2 User Information 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-MOTIONMAX Installation Guide 3
ACR-MOTIONMAX Installation Guide 4 Table of Contents Chapter 1Introduction and System Overview................................................................... 5 ACR-MOTIONMAX Control System Bit Signal Banks........................................................................ 5 M S & T Code Sequencing..................................................................................................................... 5 Strobe & Done Signals Table: ......................................................
ACR-MOTIONMAX Installation Guide Chapter 1 5 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 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.
ACR-MOTIONMAX Installation Guide Homing & HandWheel 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.
ACR-MOTIONMAX Installation Guide Direct Called Functions 7 MotionMax Internal Functions Bank 1 Bank 2 Bank 3 Bank 4 Bank 5 MotionMax Bits 128 - 255 Bits 1920 to 2047 Bits 512 to 544 Bits 0 to 31 Bits 32 to 63 Control Signals M Codes Master Flags Inputs Bank0 Outputs Bank 0 Bits 256 to 287 Bits 288 to 319 Inputs Bank 1 Outputs Bank 1 Operator Interface GCode File Editor G Code Processor Graphics Engine Overrides ACR-MC Core Dll ACR-MC Parameters Tool/Work Offsets Diagnostics MDI Funct
ACR-MOTIONMAX Installation Guide 8 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. Program1 is the Main AcroBasic Program, all MS & T Codes are sent from ACR-MOTIONMAX and processed in Program1 as shown.
ACR-MOTIONMAX Installation Guide 9 The Dim DEF (300) parameter in the Sys.8k should not be changed and is used in the AcroBasic 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.
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\ACR-MOTIONMAX\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.
ACR-MOTIONMAX Installation Guide Getting Started Install AcroBasic SDK Software Install MotionMax Software Print Reference Manuals Edit & Print Usert I/0 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 & Phase Basic Servo Motion Tune Servo Drives (Set Gains) Configure Homing Functions Configure I/0 Bit Variable Assignments Save Setting to the Flash Edit Acrobasic Program 1 Edit I
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.
ACR-MOTIONMAX Installation Guide 13 Step 3. Print Reference Files Print the following 2 files for reference: “C:\Program Files\Parker\ACR-MOTIONMAX\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-MOTIONMAX\Docs\Parameter_Definitionst.
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 AXIS0 0.002441 (Default Value) Set all other Gain Parameters to 0 for the axis under test.
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 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.
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) Set the Axis Homing bit when started. Ex: Set 144 … sets the Homing Active bit to ACRMOTIONMAX.
ACR-MOTIONMAX Installation Guide 157 MOV X 0 180 SET 170 185 CLR 144: SET 2053 199 GOTO 10000 17 : REM SET 0 AS TARGET and Zero Readout : REM SET X REFRENCE DONE BIT TO->CNC (!! HOME NOW DONE !!) : REM Clear the Homing Active Control bit : REM EXIT PROGRAM 0 Step 10. Configure I/0 Labels for ACR-MOTIONMAX Diagnostics Open the file “C:\Program Files\Parker\ACR-MOTIONMAX\Parfiles\IO.Cfg”.
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-MOTIONMAX the Machine is Ready to Run.
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 = M01 and so on. Also ACR-MOTIONMAX will set the MStrobe Bit (Bit 150).
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 Gear 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).
ACR-MOTIONMAX Installation Guide 8430 CLR CTLSStrobe 8440 CLR CTLGearChgActive 8990 RETURN : REM Clear SSTROBE : REM Clear the Gear Change Request bit 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 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 & 10012 when the Estop Button is Pressed. 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.
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.
ACR-MOTIONMAX Installation Guide 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 1 to enable Mcode … Set to 0 to disable Mcode Enter Mcode Description Sample Parameters.
ACR-MOTIONMAX Installation Guide 26 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.
ACR-MOTIONMAX Installation Guide [SpindleOptions] SpindleEncoderInstalled=0 SpindleDAMaxVoltage=9 Parameter Description Set to 1 if Spindle Encoder Equipped Max Voltage for controller to Output to spindle Drive RigidTappingInstalled=0 Set to 1 if Machine Has Spindle Encoder for Rigid Tapping OrientBeforeTap=1 Set to 1 to Force an M19 on every Tap Cycle SpindleGears=2 Set to The Number of Gears on the Spindle SpindleMaxRPMGearRange0=1050 Sets Max.
ACR-MOTIONMAX Installation Guide Velocity=150 Stp=1 Sets Fast Jog Speeds Set the Same as Acceleration Step 19) Configure the Overrides 28 150 1 Note: These Parameters are set from Parameters Section [SoftwareOptions] ____________________________________________________________________ To Configure for Type 0 Override (Using Analog 10k Pot’s on Control Panel) 1. 2. 3. 4.
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 the 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.
ACR-MOTIONMAX Installation Guide Appendix A. 30 ACR-MOTIONMAX Parameters This is the Complete Parameter List for reference. [CNC_CONFIG] Description Default ParameterPassword=CNC Used for Parameter & 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 HandWheelInstalled=0 Set to 1 in using Remote Pendant 0 UserEditorPath=notepad.
ACR-MOTIONMAX Installation Guide RemoveRapidRotMove=0 Set to Remove Rapid Rotary Moves ( Makes All Rapids Feed moves @ max feed) Axis4RadiusCalcMethod=1 Sets plane to Calculate 4th axis Feedrate on … 0=XZ 1=YZ 2=XY FeedOverrideType=98 Specifies the Type of Override used 0=Analog POT 1=4bit POT 98=Use Screen Sliders Only 99=Hardcode to Overrides Max values RapidOverrideType=98 SpindleOverrideType=98 MachineXLength=60 Set X Length of your Machine Travel MachineYLength=30 Set Y Length of your Machine Travel M
ACR-MOTIONMAX Installation Guide SpindleActualSpeedMult=1 Specifies a Ratio of the Analog Spindle speed feed back to the On screen Display 32 1 [ToolChanger] ChangerInstalled=0 Specifies that Machine is Equipped with a ToolChanger NumberOfToolPockets=24 Specifies Total Number of Pockets in Magazine BiDirectionaMagazine=0 Set to 1 if Magazine is Bidirectional ….
ACR-MOTIONMAX Installation Guide Stp=10 33 Don’t change this Value 10 Acceleration=1 Deceleration=1 Velocity=100 Stp=1 Not Used Not Used Sets Normal Jog Speeds Don’t change this Value 1 1 100 1 [FastJogSpeeds] Acceleration=1 Deceleration=1 Velocity=200 Stp=1 Not Used Not Used Sets Fast Jog Speeds Don’t change this Value 1 1 200 1 Encoder Pulses Per Inch of Travel Encoder Pulses Per Inch of Travel Encoder Pulses Per Inch of Travel Encoder Pulses Per Degree of Travel (Rotary Axis) Encoder Pulses Per
ACR-MOTIONMAX Installation Guide 34 5AxisBackLash=0 6AxisBackLash=0 7AxisBackLash=0 Sets Backlash Compensation for the axis Sets Backlash Compensation for the axis Sets Backlash Compensation for the axis [Gains0] PGAIN=00.001 IGAIN=00.002 ILIMIT=00.009 IDELAY=2 DGAIN=0 DWIDTH=0 FFVEL=0 FFACC=0 TLM=10 Proportional Gain Integral Gain I Limit Delay I Delay Derivative Gain Derivative Gain Bandwidth Feed Forward Velocity Feed Forward Acceleration Torque Limit in Volts 0.002 0.002 0.
ACR-MOTIONMAX Installation Guide 35 PGAIN=00.002441406 IGAIN=00.000000000 ILIMIT=00.000000000 IDELAY=00.000000000 DGAIN=00.000000000 DWIDTH=00.000000000 FFVEL=00.000000000 FFACC=00.000000000 TLM=10.000000000 Proportional Gain Integral Gain I Limit Delay I Delay Derivative Gain Derivative Gain Bandwidth Feed Forward Velocity Feed Forward Acceleration Torque Limit in Volts 0.002 0.002 0.001 0 0 0 0 0 10 Spindle Axis [Gains5] PGAIN=0.0004 IGAIN=2.0 ILIMIT=0.009 IDELAY=0 DGAIN=0.00005 DWIDTH=0.
ACR-MOTIONMAX Installation Guide Aux3Text=[M103] Chip Conveyer On Aux3Mcode=2023 Aux4Text=[M104] Chip Conveyer Off Aux4Mcode=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 2023 2024 Don’t change the grayed parameters [ScreenColors] EditorBackColor=16777215 InCycleEditorBackColor=12 632256 ReadoutsOffsetInfo=0 ProgReadouts=255 DTGReadouts=0 Editor background Color InCycle Editor backg
ACR-MOTIONMAX Installation Guide 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= M29=1 DESC29=INITIATE RIGID TAPPING M30=1 DESC30=END PROGRAM 37
ACR-MOTIONMAX Installation Guide 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= 38
ACR-MOTIONMAX Installation Guide 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= M80=0 DESC80= 39
ACR-MOTIONMAX Installation Guide 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 40
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 DESC127=TURN OFF TAPPING MODE 41
ACR-MOTIONMAX Installation Guide End of Parameters 42
