Learn how to program basic motion (jog and coordinated/interpolated), the most popular panels in ACR-View to monitor the controller and graph motion, and the more common commands and how they work.
Note for ACR9600 users: the 9600/9630/9640 can be programmed with AcroBasic programs in addition to the IEC (Ladder Logic LD, Structured Text ST or Continuous Function Chart CFC).
Controller and drives used: ACR9040 (ACR9000 with EthernetPowerlink) with two AriesEPL servo drives with BE servo motors
Note these videos are hosted in youtube.com and would require access to this site. This is a 10 part video training in this play list. For first time users, it'd be good to watch all in sequence. For experienced users needing a refresher or looking for specific information, the lessons are broken out below.
Alternately these videos are available on Parker University's training site.
Complete playlist or see individual videos below:
CLICK HERE to open video on Youtube.com
Presumes controller and drives have been configured.
See this FAQ for video playlist for how to configure using ACR-View:
1. Getting Started:
Using ACR-View to connect to controller , Enable EPL and drives in terminal, Terminal Emulator Communication Prompts
Commands discussed: DRIVE RES, DRIVE ON, DRIVE OFF, MEM
Prompts: SYS, P00 (Program), PLC1 (AcroLadder)
See above video on the Configuration Wizard before starting these.
2. Basic Motion with Single Axis Jog Offset move
Panels shown: Command motion from Terminal Emulator, Common Status Panel, Jog Panel
Commands discussed: JOG ACC, JOG DEC, JOG VEL, JOG FWD, JOG REV, JOG OFF, RES, REN, JOG ABS, JOG INC
3. Coordinated Motion (default motion type)
Master Vector Path, allowing multiple axis motion to reach position at the same time
Commands discussed: ACC, VEL, DEC, STP, MOV, FVEL
4. Write Simple Motion Program
Within the program editor, write a simple program commanding motion.
Commands discussed: PROGRAM, ENDP, _LOOP (labels), GOTO, LRUN, NEW, LIST, HALT
5. How to Troubleshoot Programs
Key Points: Program Line Numbers, Online program edits, program control: Download, Run, Halt
Commands discussed: PROGRAM, ENDP, GOSUB, RETURN, _Label1 (labels), LRUN, LISTEN, PRINT, RUN, HALT, TRON, TROFF, BLK, STEP, AUT
6. Wait on Bit or Flag, Autostart, Scaling, Position Error
Commands discussed: INH, IHPOS, PBOOT, ATTACH, PPU, EXC
Also: Programmer's comments, notes, remarks
7. User Variables, Flags and Arrays
User parameters, user bits and variables
Long LV, Single SV, Double DV, $V string, LA long array, SA single array, $A string arrays,
Commands also covered:DIM, CLEAR, #DEFINE (Aliases), HELP
8. Controlling Flags & Parameters, Conditional Statements
How to loop based on an input
Change speed based on an input
Turn an an output if axis is moving
Using Alias and Defines for program legibility
Commands used: PRINT ?, SET, CLR, IF/THEN, IF/ELSEIF/ELSE/ENDIF, WHILE/WEND, BREAK, AND OR NOR NAND XOR XNOR, FOR/STEP/NEXT, REBOOT
9. Inverting Commanded Motion, Feedrate/Feedhold
FOV, FEEDHOLD, CYCLE START, PAUSE, CONTINUE, DWL, SCALE
Related FAQ: Change axis positive/negative motion direction
10. System Parameters and Flags
Variable Substitution, Saving Variables
Commands used: FLASH IMAGE, FLASH SAVE, FLASH ERASE, ESAVE, NEW
Types: RETAINED, REAL, DINT, DWORD, 32-bit long, 64-bit float, BOOL
Reference: Overview of ACR Memory usage and commands
06FEB2019 DCLIFFE -- Fixed link, added tags.