ACR9000培训课件英文版 （下）.pptxVIP

ACR9000 Programmer’s CourseParker ACR9000产品培训（下）英文版ACR9000 Training AgendaIntroHardwareSoftware ArchitectureACR-View NavigationACR-View PracticalMotionProgrammingAdvanced programmingMotion-contPLCTuning（上）（中）（下）Higher Level MotionContoured (Tiered) ProfilesUtilize combination of VEL, DEC, FVEL, and STP to create contoured profilesHow could we graph these to see the differences? Try it! PROGRAMMULT X4PPU X8000ACC 50 DEC 50VEL 5 STP 0 X/3.0VEL 3 STP 0 X/2.0VEL 7 STP 30 X/3.5ENDPPROGRAMMULT X4PPU X8000ACC 50 DEC 50VEL 7 FVEL 1 STP 50 X/3.0VEL 7 FVEL 1 STP 0 X/2.0VEL 5 FVEL 0 STP 30 X/3.5ENDPContoured (Tiered) ProfilesACC 50 DEC 50VEL 5 STP 0 X/3.0VEL 3 STP 0 X/2.0VEL 7 STP 30 X/3.5ACC 50 DEC 50VEL 7 FVEL 1 STP 50 X/3.0VEL 7 FVEL 1 STP 0 X/2.0VEL 5 FVEL 0 STP 30 X/3.5Lock FunctionGantry Lock featureMap control of axis to another’s Primary Setpoint.Both axes are controlled from a single axis identifierAdd “Lock Feedback Gain” for skew compensation of gantry systemsAssures perfect coordinationIf one of the locked axes binds, the other will compensatePrevents mechanical damageLOCK Example with Lock Feedback Gains:P12376 = 0.5 : REM set lock gain axis 0 P12632 = 0.5 : REM set lock gain axis 1 LOCK XR XL : REM lock axis X-right to axis X-lefts primary setpoint XL /20 : REM start motion axis XL, axis XR also moves due to lock UNLOCK XR : REM unlock axis XR LOCK Example with Lock Feedback Gains:P12376 = 0.5 : REM set lock gain axis 0 P12632 = 0.5 : REM set lock gain axis 1 LOCK XR XL : REM lock axis X-right to axis X-lefts primary setpoint XL /20 : REM start motion axis XL, axis XR also moves due to lock UNLOCK XR : REM unlock axis XR Lock FunctionRotary Axis FunctionalityConfigures Axis as RotaryShortest Path to TargetAutomatic Rollover of PositionROTARY {axis{length in units}}Example: ROTARY X360PPU X(8000/360)RES XEXC X90VEL360 ACC3600 DEC3600 STP3600X10X195X0In this example set PPU X(8000/360) otherwise we have set the Rotary length to 360 revsTo cancel ROTARY function,