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ACR-MOTIONMAX Installation Guide

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: ................................................................................................................ 5

Jogging Functions................................................................................................................................... 5

Homing & HandWheel........................................................................................................................... 6

System Overview Diagram..................................................................................................................... 6

ACR-MOTIONMAX to AcroBasic System Start up ............................................................................. 7

ACR-MOTIONMAX AcroBasic Project Template Files....................................................................... 8

Setting the Sys.8k file for Programs & Variable Memory Allocation.................................................... 8

Defining Bit Variables in AcroBasic...................................................................................................... 8

M Code Sequence Examples: ................................................................................................................. 9

M Code Sequence: M08 … Coolant On............................................................................................. 9

S Code Sequence: S2000.................................................................................................................... 9

T Code Sequence: M6 T2................................................................................................................... 9

Chapter 2Setting up Installing ACR-MOTIONMAX....................................................... 9

Reference Files ..................................................................................................................................... 10

ACR-MOTIONMAX Directory & File Structure: ............................................................................... 10

Parameter & Log files....................................................................................................................... 10

Sample Part files............................................................................................................................... 10

Manuals & Reference Documents .................................................................................................... 10

ACR-MOTIONMAX System Setup Diagram...................................................................................... 10

Step 1. Install the Parker-Acroloop SDK (Software Development Kit) ............................................... 12

Step 2. Install ACR-MOTIONMAX to your PC .................................................................................. 12

Step 3. Print Reference Files ............................................................................................................... 13

Step 3. Load ACR-MOTIONMAX AcroBasic Project Template Files .............................................. 13

Step 4. Download Project to Controller Flash. ..................................................................................... 13

Step 5. Test & Phase the Motor/Encoders ............................................................................................ 13

To Change Motor Direction using Parameters: ................................................................................ 13

Step 6. Tune Axis Gains....................................................................................................................... 14

Step 7. Update ACR-MOTIONMAX Parameters with the Current PPU / Gains Settings................... 15

Step 8. Configure Homing Functions ................................................................................................... 16

Step 9. Configure I/0 Labels for ACR-MOTIONMAX Diagnostics.................................................... 17

Step 10. Edit the Control Initialization Subroutine............................................................................... 18

Step 11. Edit the M Code Functions..................................................................................................... 19

Step 12. Editing the S Code Function................................................................................................... 20

Step 13. Edit the T Code Function........................................................................................................ 22

Step 14. Edit the Emergency Stop Function ......................................................................................... 23

Step 15. Configure the AcroBasic to ACR-MOTIONMAX User Error Msg. System ......................... 24

Step 16. Configure Valid Mcodes List for ACR-MOTIONMAX ........................................................ 25

Step 17. Configure Key ACR-MOTIONMAX Parameters.................................................................. 26

Step 17a) Configure the Overrides ....................................................................................................... 28

Step 18. Starting ACR-MOTIONMAX for the First Time.................................................................. 29

Running ACR-MOTIONMAX for the First Time................................................................................ 29

Appendix A. ACR-MOTIONMAX Parameters............................................................. 30