ACR9000培训课件英文版 （中）.pptxVIP

ACR9000 Programmer’s Course;ACR9000 Training Agenda;Drive Control;ACR9000-only Drive Commands;Once axes properly configured you can then enable the drive by simple commands: Or … If drive LED does not change to green (drive enabled) check encoder signal lost or drive fault input bits If encoder fault, correct problem and issue ENC index RES If drive faulted issue DRIVE RES X or AXIS0 DRIVE RES command;Direct Axis Access;Direct Master Access;Making Motion;Making Motion;Making Motion …“Setpoint Summation”;Basic Motion;Basic Motion ;Basic Motion ;Basic Motion ;Master Profiling;Master Profiling;Motion;Motion;Input into the terminal (P00 Prompt) Where might we determine “why” we did not have motion and what would we look for? Are drives enabled? Is motion allowed?;Basic Motion;Basic Motion ;Basic Motion ;Input into the terminal (P00 Prompt) What if we forget to set JOG VEL? How can we determine why it is not jogging?;Axis Homing ;Axis Homing ;Killing Motion -Terminal Shortcut Keys;Resetting Position Counters;Command Position Control;Jog Offset Control;What are we actually doing?;;Hardware End-Of-Travel Checking;Excessive Position Error Checking ;Firmware Architecture;Communicating;Pre-Emptive Multi-Tasker;Program Timing;Programming – AcroBASIC PROG Programs ;Programming - AcroBASIC PLC Programs;Program Execution Timing;Writing Programs;PROGRAM Start program definition for auto-numbered program ENDP End program definition for auto-numbered program END End program execution Program can have multiple END’s LIST Used to list a program in the terminal. LIST – list entire program LIST 100 – list line 100 LIST 10,100 – list line 10 through 100 LIST ,100 – list up to line 100 NEW Erases current program Done automatically by ACR-View on download ;Running a Program ;User-assigned Names;User-assigned Names;Program Labels;Program uses line numbers Can be assigned automatically or manually ;Square Program (Program0 Editor) Download PROGRAM 0 Type “LRUN” at P00 prompt in termin