Parker Hannifin VERSION 1.0 ACR-MOTIONMAX Control System Bit Signal Banks, T Code Sequencing

ACR-MOTIONMAX Installation Guide 5

Chapter 1 Introduction and System Overview

ACR-MOTIONMAXinterfaces 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.

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 & 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 M S and T Codes Sent by ACR-MOTIONMAX are accompanied with a following M S or T Strobe Signal.

The AcroBasic Program1 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 & Done Signals Table:

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
		DAC5(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]

Acceleration=1

Deceleration=1

Velocity=100

Stp=1

[FastJogSpeeds]

Acceleration=1

Deceleration=1

Velocity=200

Stp=1