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Parker Hannifin VERSION 1.0 manual

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Table of contents for the manual

  • Page 1

    ACR-MotionMax Installation Guid e Version 1. 0, April 2004[...]

  • Page 2

    ACR-MOTIONMAX Ins tallation Guide 2 User I nformat ion   ACR Series products are used to c ontro l electrica l and m echanical components of m otion control s ystem s. You should test your motion s ystem for saf ety under all po tential con ditions. F ailure to d o so can r esult in dam age to equipm ent and/or s erious inju[...]

  • Page 3

    ACR-MOTIONMAX Ins tallation Guide 3[...]

  • Page 4

    ACR-MOTIONMAX Ins tallation Guide 4 Table of Cont ents Chapter 1 Introduction and System Overview ................................................................... 5 ACR-MOTIONMAX Control System Bit Signal Banks........................................................................ 5 M S & T Code Sequencing ..................................[...]

  • Page 5

    ACR-MOTIONMAX Ins tallation Guide 5 Chapter 1 Introduction and Sy stem Overview ACR-M OTIONM AX interfaces to the Par ker-Acroloo p Motio n Card with 32bit Signal B anks pro vided on the Motion Card . T he Control syste m commun icates with AcroBasic thro ugh t he Matrix of 5 signal B anks as shown i n the follo wing Chart. T he Ke y bank of signal[...]

  • Page 6

    ACR-MOTIONMAX Ins tallation Guide 6 Homing & HandWheel ACR-MOTI ONMAX ac complishe s two specia l machine f unctions Ho ming / Ha ndWheel Ste p Mod e Functions b y calling Subro utines in P rog0.8 k Directl y at assigned add resses , as shown in D iagram. 1 .1 The user si mply edits the AcroB asic code of the subroutine s to acco mmodate t heir[...]

  • Page 7

    ACR-MOTIONMAX Ins tallation Guide 7 ACR-MOTIONMAX to AcroBasic System Start up  Control Ready B it ( 143 ) … This bit will B e Set =1 when ACR-MOT IONM AX initialize s and is up and running. T his signal tell s the AcroBasic program to start Loopin g as sho wn in figure 1 .2. M otio nM a x Bits 128 - 255 Co n trol Si gn al s Bits 1920 to 2047 [...]

  • Page 8

    ACR-MOTIONMAX Ins tallation Guide 8  Control Initialized bit ( 145 )… Tells ACR -MOTIO NMAX that t he machine is i nitialized (Drives Ready) and r eady to Run. Insert your Drive Read y and an y other i nitialization co de in this function (30000 ) to inform ACR -MOTION MAX that in itializatio n is complete a nd the machine is r eady to run. Pr[...]

  • Page 9

    ACR-MOTIONMAX Ins tallation Guide 9 The Di m DEF (300 ) parameter in the Sys.8k should not b e changed a nd is used i n the AcroB asic file progo.8 k to allow all bit s to called with a Varia ble Na me . No P unctuation is allo wed in t he variable na me and must be p roceed ed with #Define statement as shown. See Pro g0.8k heade r. Example & F[...]

  • Page 10

    ACR-MOTIONMAX Ins tallation Guide 10 Print the follo wing 2 File s for Refere nce after ACR-MOT IONM AX has been i nstalled: Reference Files Print the following 2 files for reference : “C:Pro gram FilesPar kerACR-M OTIONM AXDo csDefault Bit Def initions.xls.” This file conta ins a Co mplete Bit Map o f the ACR-M OTIONM AX Syst em . This fi[...]

  • Page 11

    ACR-MOTIONMAX Ins tallation Guide 11 Getting Started Set Encode r Resolution s PP U Set Encode r Multipli ers MULT In stall MotionMax Software Install A c roBasic SDK Software Print Referen c e Manua ls Copy MotionMax A croBasic Templat e Project to Acroview folder Edit Acrobasic Pr ogram 0 Downloa d to Servo F lash Config ure Homin g Fu n ctions T[...]

  • Page 12

    ACR-MOTIONMAX Ins tallation Guide 12 Step 1. Install the Park er-Acroloop SDK (Software Development Kit) Install the P arker-Acrolo op SDK to your P C with the CD shipped with your Co ntroller Card . Important! W hen instal ling the SDK be sure to select the T ype o f Controller you’re usin g. Step 2. Install ACR-MOTIONMAX to your PC Install AC R[...]

  • Page 13

    ACR-MOTIONMAX Ins tallation Guide 13 Step 3. Print Reference Files Print the following 2 files for reference : “ C:Program FilesParkerACR -MOTIONMAXDocsDefault Bit De finitions.xls.” This file is a Co mplete I/O Bit M ap of the ACR- MOTIONM AX Syste m Signal Ban ks . This file i s an Excel spread sheet for your refere nce and is yo ur best[...]

  • Page 14

    ACR-MOTIONMAX Ins tallation Guide 14 Down load Pro gram0 again and tes t. Step 7. Tune Axis Gains Keys: Load E ncoder Parameters i n the AcroVie w watch windo w [Actual Position] Do a Ser ies of moves to a safe Dista nce and ba ck to Zero o bserving t he Encoder Feed ba ck while Setti ng the Gains to it finishes at + /- 1 Enco der P ulse from it T [...]

  • Page 15

    ACR-MOTIONMAX Ins tallation Guide 15 Step 8. Update ACR-MOTIONMAX Parameters with the Curre nt PPU / Gains Settings ACR-MOTI ONMAX u ses the following text file for its pa rameters. “C:Program FilesParkerACR-MOT IONMAXParfi lesParameters.Cfg”. Open this file with Notep ad and edit the follo wing 2 Sectio ns 1). Edit “ Syste mResolution ?[...]

  • Page 16

    ACR-MOTIONMAX Ins tallation Guide 16 Step 9. Configure Homing Functions Homing is ac complished by pro gram0 at ded icated Add ress that ACR-MOTIONM AX will call directl y behind the sce nes. The user s imply i nserts his act ual homin g code into the appro priate Function as follo ws. ACR-MOTI ONMAX re ads the Ho ming Statu s bits to d isallow oth[...]

  • Page 17

    ACR-MOTIONMAX Ins tallation Guide 17 157 MOV X 0 : REM SET 0 AS TARGET and Zero Readout 180 SET 170 : REM SET X REFRENCE DONE BIT TO->CNC (!! HOME NOW DONE !!) 185 CLR 144 : SE T 2053 : REM Clear the Homing Active Control bi t 199 GOTO 10000 : REM EXIT PROGRAM 0 Step 10. Configure I/0 Labels for ACR-M OTIONMAX Diagnostics Open the file “ C:Pr[...]

  • Page 18

    ACR-MOTIONMAX Ins tallation Guide 18 Step 11. Edit the Control Initialization Subroutine When Pro gram 1 starts, it lo oks at t he Control Signal bit 1 45 ( Control Initialized) to see if the mac hine has been initia lized. I f this Bit = 0 Progra m 0 will call the Subroutine at Line 3 000 a nd set the bit when it Exits. The User should place a ny [...]

  • Page 19

    ACR-MOTIONMAX Ins tallation Guide 19 Step 12. Edit the M Code Functions ACR-MOTI ONMAX is set up to P rovide 128 User definable MCod es. They are set B y ACR-M OTI ONMAX via the M Code bits Bank of S ignals ( B its 19 20-2047 ) When ACR -MOTION MAX enco unters A MCode it P arses the Code and sets a corresp onding Bit of t he MCode Sig nals to T ell[...]

  • Page 20

    ACR-MOTIONMAX Ins tallation Guide 20 Step 13. Editing the S Code Function When ACR -MOTION MAX Encou nters a SCo de … Exa mple: S2000 . It will do the following Step s. 1). Check i f the Reque sted Spindle Sp eed is d ifferent fro m the Current Spindle Sp eed. 2). If it is it then checks i f the Speed is within t he current Ge ar Range a s define[...]

  • Page 21

    ACR-MOTIONMAX Ins tallation Guide 21 8430 CLR CTLSStrob e : REM Clear SST ROBE 8440 CLR CTLGearCh gActive : REM Clear t he Gear Change Reque st bit 8990 RETURN[...]

  • Page 22

    ACR-MOTIONMAX Ins tallation Guide 22 Step 14. Edit the T Code Function ACR-MOTI ONMAX Ha ndles T ool Co des by loading t he AcroB asic Counter 7 (P6 775) with the Requested T ool number. If The Req uested T ool is differe nt Fro m the Current the n ACR -MOTION MAX will Set the T oo lChangeRequest bit (159 ) to tell the T oolChange func tion to effe[...]

  • Page 23

    ACR-MOTIONMAX Ins tallation Guide 23 9330 SET CTLT Done: REM Set TDo ne 9390 RETURN Step 15. Edit the Emergency Stop Function This Subro utine is called b y the General Handler of Program 1, L ine 10000 & 10012 when the Estop B utton is Pressed.  KeyBit = Estop (Bit 129) of th e Control Signals The ACR-M OTIONM AX GUI u ses this sig nal for [...]

  • Page 24

    ACR-MOTIONMAX Ins tallation Guide 24 Step 16. Configure the AcroBasic to ACR-M OTIONMAX User Error Msg. System ACR-M OTIONM AX is Capable of Po sting Error M essage s generated fro m AcroBasic using the following bits o f the Contr ol Signals . Error Syste m bits of t he Contro l Signals: Error Message Pending Bit 24 9 Reserved (Used by DLL for G C[...]

  • Page 25

    ACR-MOTIONMAX Ins tallation Guide 25 Step 17. Configure Valid Mcodes List for ACR-MOTIONMAX Mcodes Are Validated in ACR-MOT IONM AX to pr event erroneou s Mcode s from runni ng in a G Cod e Progra m. All Valid Mc odes must be Edited /Set in the P arameters [M Codes] sectio n of t he Parameter s.Cfg file. Set to 1 to enable Mcode … S et to 0 to di[...]

  • Page 26

    ACR-MOTIONMAX Ins tallation Guide 26 Step 18. Configure Key ACR-MOTIONMAX P arameters ACR-MOTI ONMAX u ses a File for all Machi ne Para meters… File name Para meters.Cfg For Initial Star t Up several key para meters Sectio ns need editing. T he Follo wing is a list o f the key parameters need ed to initially get ACR-MOT IONMAX up and runn ing. Af[...]

  • Page 27

    ACR-MOTIONMAX Ins tallation Guide 27 [SpindleOp tions] Parameter De script ion Default SpindleEncod erInsta lled=0 Set to 1 if Sp indle Enco der Equ ipped 0 SpindleDAM axVolta ge=9 Max Voltage f or contro ller to Outpu t to spindle Dr ive 9 RigidTappi ngInstalled =0 Set to 1 if Mach ine Has Spin dle Encod er for Rigid Tapp ing 0 OrientBef oreTap=1 [...]

  • Page 28

    ACR-MOTIONMAX Ins tallation Guide 28 Velocit y=150 Sets Fast Jo g Speeds 150 Stp=1 Set the Sam e as Acc eleration 1 Step 19) Configure the Overrides Note: These Parameters are set from Param eters Section [SoftwareOptio ns] __________ ____________ _________ _______________ _____________ _________ To Config ure for Type 0 O verride ( Using Analog 10[...]

  • Page 29

    ACR-MOTIONMAX Ins tallation Guide 29 Step 20. Starting ACR-MOTIONMAX for the First Tim e When ACR-MOTIONMAX sta rts it will di splay several messages as follow s: Card not found … this happen s is if no Ser vo Controller is fou nd in the P C, the soft ware will still ru n but motion is no t possible. Para meter Error “P ara meter XXX Has Fa ile[...]

  • Page 30

    ACR-MOTIONMAX Ins tallation Guide 30 Appendix A. A C R-MOTIONM A X Parameters This is the Co mp lete Param eter List fo r reference. [CNC_CONF IG] Description D efault Parameter Password =CNC Used for Param eter & D iagnost ics Passw ord CN C Mill=1 Set to 1 for M ill or 0 f or Lathe 1 Num berOfAxis=3 Sets the Num ber of Axis ACR-MO TIO NMAX is[...]

  • Page 31

    ACR-MOTIONMAX Ins tallation Guide 31 Rem oveRapidRotM ove=0 Set to Rem ove Rapid R otary M oves ( Mak es All Rapids Fee d m oves @ max feed) 0 Axis4Radi usCalcMeth od=1 Sets plan e to Ca lculate 4th ax is Fee drate on … 0=XZ 1= YZ 2=X Y 1 FeedOverr ideT ype=98 Specifies t he T ype of Overri de used 0=Analog POT 1=4bit POT 98=Use Scr een Sl iders [...]

  • Page 32

    ACR-MOTIONMAX Ins tallation Guide 32 SpindleActua lSpeedMu lt=1 Specifies a Ratio of the Analo g Spind le speed feed back to the O n screen Displa y 1 [ToolCh anger] ChangerInsta lled=0 Specifies that Mach ine is Equi pped wit h a ToolChanger 0 Num berOfToolPock ets=24 Specifies T otal Num ber of Pock ets in Maga zine 24 BiDirectiona Maga zine=0 Se[...]

  • Page 33

    ACR-MOTIONMAX Ins tallation Guide 33 Stp=10 Don’t chan ge this Va lue 10 [JogSpeeds] Acceleratio n=1 Not Used 1 Decelerati on=1 Not Used 1 Velocit y=100 Sets Norm al Jog Spe eds 100 Stp=1 Don’t change t his Va lue 1 [FastJogSpeed s] Acceleratio n=1 Not Used 1 Decelerati on=1 Not Used 1 Velocit y=200 Sets Fast Jo g Speeds 200 Stp=1 Don’t chang[...]

  • Page 34

    ACR-MOTIONMAX Ins tallation Guide 34 5AxisBack Lash=0 Sets Back lash Com pensation f or the ax is 0 6AxisBack Lash=0 Sets Back lash Com pensation f or the ax is 0 7AxisBack Lash=0 Sets Back lash Com pensation f or the ax is 0 [Gains0] PGAIN=00.0 01 Proportional Gain 0.002 IGAIN=00.002 Integral Gain 0.002 ILIMIT=00.00 9 I Limit Dela y 0.001 IDELAY=2[...]

  • Page 35

    ACR-MOTIONMAX Ins tallation Guide 35 PGAIN=00.0 02441406 Proportio nal Gain 0.002 IGAIN=00.000 00000 0 Integral Gain 0.002 ILIMIT=00.00 0000000 I Limit Dela y 0.001 IDELAY=00.0 000000 00 I Dela y 0 DGAIN=00. 00000000 0 Derivative G ain 0 DWIDT H=00.0000000 00 Derivative Gain Band width 0 FFVEL=00.0 00000000 Feed For ward Vel ocity 0 FFACC=00. 00000[...]

  • Page 36

    ACR-MOTIONMAX Ins tallation Guide 36 Aux3Tex t=[M103] Ch ip Conve yer On Aux3Mcode =2023 2023 Aux4Tex t=[M104] Ch ip Conve yer Off Aux4Mcode =2024 2024 Aux5Tex t=User5 Aux5Mcode =0 Aux6Tex t=User6 Aux6Mcode =0 Aux7Tex t=User7 Aux7Mcode =0 Aux8Tex t=User8 Aux8Mcode =0 Aux9Tex t=User9 Aux9Mcode =0 Aux10Text=Us er10 Aux10Mcode =0 Don’t chang e the g[...]

  • Page 37

    ACR-MOTIONMAX Ins tallation Guide 37 DESC8=FLO OD COOLANT ON M9=1 DESC9=A LL COOLANT S OFF M10=1 DESC10=LOC K 4TH AXIS M11=1 DESC11=UN LOCK 4T H AXIS M12=0 DESC12= M13=0 DESC13= M14=0 DESC14= M15=0 DESC15= M16=0 DESC16= M17=0 DESC17= M18=1 DESC18=OR IENT MAGAZINE M19=1 DESC19=OR IENT SPINDLE M20=0 DESC20= M21=0 DESC21= M22=0 DESC22= M23=0 DESC23= M[...]

  • Page 38

    ACR-MOTIONMAX Ins tallation 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[...]

  • Page 39

    ACR-MOTIONMAX Ins tallation 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=ZE RO 4T H AXIS ENCODER M70=0 DESC70= M71=0 DESC71= M72=0 DESC72= M73=0 DESC73= M74=0 DESC74= M75=0 DESC75= M76=0 DESC[...]

  • Page 40

    ACR-MOTIONMAX Ins tallation 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=H I-PRES COOLANT[...]

  • Page 41

    ACR-MOTIONMAX Ins tallation Guide 41 DESC104=C HIP 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[...]

  • Page 42

    ACR-MOTIONMAX Ins tallation Guide 42 End of Parameters[...]