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Automation - Motion Control · PDF fileProgramming Examples Replaced Program 9 C Interface example with a C++ ... Ladder Logic PLC ... CNC Milling

Mar 17, 2018

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  • Automation

    p/n YPM08128

    AcroloopMotion Control SystemsTechnical BrochureEffective: October 7, 2002

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  • ACROLOOP Technical BrochurePH: 612-448-9800 FAX: 612-448-9321E-Mail: [email protected] URL: www.acroloop.com

    CHANGE NOTICEACROLOOP Technical Brochure Version Change:

    From: Version 3.00To: Version 4.00

    The following changes have been incorporated into ACROLOOP Technical Brochure Version4.00:

    Miscellaneous Added ACR1200 and ACR8000 information tobrochure.

    Introduction Updated Acroloop Controller Highlights

    Hardware Overview Updated ACR1500, ACR2000, and ACR8010drawings.

    Controller Firmware Updated Servo Loop Diagrams

    Changed Motion Profile Group to Velocity ProfileGroup

    Added Version 1.18 commands

    Development Tools Added Operating System information

    Updated List of Library Functions

    Programming Examples Replaced Program 9 C Interface example with a C++Interface example

    Controller Specifications Updated specifications

    ACR1500 Ordering Matrix Updated information

    ACR2000 Ordering Matrix Updated information

    ACR8010 Ordering Matrix Updated information

    Optional Accessories Added chassis drawings

    Added Interconnecting Cable information

    Added 16-Bit A/D Board information

    Updated Expansion I/O information

    Appendix Updated Parameter Overview

    Updated Flag Overview

  • ACROLOOP Technical BrochurePH: 612-448-9800 FAX: 612-448-9321E-Mail: [email protected] URL: www.acroloop.com

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  • ACROLOOP Technical BrochurePH: 612-448-9800 FAX: 612-448-9321E-Mail: [email protected] URL: www.acroloop.com

    i

    TABLE OF CONTENTSIntroduction ..................................................................................................................... 1

    Controller Features.......................................................................................................... 4Floating Point DSP CPU..................................................................................... 4Pre-Emptive Multi-Tasker................................................................................... 5Analog/Stepper Flexibility .................................................................................. 6Trajectory Calculation......................................................................................... 7Floating Point Mathematics Precision................................................................. 8Hardware Overview ............................................................................................ 9

    Controller Firmware........................................................................................................ 16Firmware Overview............................................................................................. 16Firmware Structure.............................................................................................. 17Main Firmware Groups ....................................................................................... 18Servo Loop Design.............................................................................................. 20Firmware Commands .......................................................................................... 24

    Communications ............................................................................................................. 28

    Ladder Logic PLC........................................................................................................... 31PLC Program Example........................................................................................ 32PLC Operation..................................................................................................... 33

    Programmable Limit Switch ........................................................................................... 35

    Coordinate Systems......................................................................................................... 36

    Interface Schemes ........................................................................................................... 38Introduction ......................................................................................................... 38ASCII Interface ................................................................................................... 38Binary Interface................................................................................................... 38String Handling ................................................................................................... 40

    Development Tools ......................................................................................................... 41Introduction ......................................................................................................... 41AcroVIEW Software ........................................................................................... 41Acroloop Libraries .............................................................................................. 45

    Programming Examples .................................................................................................. 50

  • ACROLOOP Technical BrochurePH: 612-448-9800 FAX: 612-448-9321E-Mail: [email protected] URL: www.acroloop.com

    ii

    Program 1 Initial Test Program........................................................................ 50Program 2- Input/Output Test Program .............................................................. 51Program 3 Sample HOME Test Program......................................................... 52Program 4 Coil Winding .................................................................................. 53Program 5 Segmented Electronic CAM........................................................... 55Program 6 Plasma, Oxy-Fuel, Laser, and Water Jet Cutting ........................... 60Program 7 CNC Milling................................................................................... 62Program 8 PC String Interface ......................................................................... 64Program 9 Low Level C++ Interface ............................................................... 65Program 10 Visual Basic Programming........................................................... 78Program 11 Programmable Limit Switch......................................................... 81Program 12 Data Acquisition........................................................................... 85Program 13 CNC Tapping................................................................................ 87Program 14 Circular and Helical Interpolation ................................................ 88Program 15 Electronic Gearing......................................................................... 89Program 16 Position Registration .................................................................... 90Program 17 External Timebase ........................................................................ 91Program 18 System Setup ................................................................................ 92Program 19 String Handling ............................................................................ 94Program 21 Packaging Machine Application................................................... 96Program 22 Pick and Place Machines .............................................................. 97Program 23 Automatic Corner Velocity Control ............................................. 98

    Controller Specifications................................................................................................. 99

    ACR1200 Ordering Matrix ............................................................................................. 102

    ACR1500 Ordering Matrix ............................................................................................. 103

    ACR2000 Ordering Matrix ............................................................................................. 104

    ACR8000 Ordering Matrix ............................................................................................. 105

    ACR8010 Ordering Matrix ............................................................................................. 106

    Optional Accessories....................................................................................................... 107Controller Chassis ............................................................................................... 107Standalone Brackets ............................................................................................ 109Interconnecting Cables........................................................................................ 109Breakout Box....................................................................................................... 110Analog-Digital (A/D) Boards.............................................................................. 110Expanded I/O Board............................................................................................ 111

    Appendix Parameter/Flag Overview............................................................................ 112Parameter Overview............................................................................................ 113Flag Overview..................................................................................................... 115

  • ACROLOOP Technical BrochurePH: 612-448-9800 FAX: 612-448-9321E-Mail: [email protected] URL: www.acroloop.com

    1

    INTRODUCTION

    Acroloops Multi-Axis Motion Controllers

    The Acroloop Controller Family continues to grow

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