ACR-MOTIONMAX Installation Guide
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Table of ContentsChapter 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