ACR7000 and IPA - AcroBASIC Program Samples

Owned by Perla Madrigal (Unlicensed)
Last updated: Apr 11, 2024 by Corey Boyles
2 min read

Below AcroBasic samples can be inserted into Parker Motion Manager's Program Editor. Samples are commented explaining the code. Note the Program Editor in PMM color codes making it a bit easier to read.

 

Users learning AcroBasic should start with the new ACR Programmer's Guide click here. It explains programming AcroBasic and Parker Motion Manager software. 

 

Single axis:

1axis_BasicMotion.txt

1axis_CAM.txt

1axis_Enable_sub.txt

1axis_Error_Recovery.txt

1axis_Homing_sub.txt

 

Two axis:

2axis_BasicMotion.txt

2axis_CAM.txt

2axis_Enable_sub.txt

2axis_Error_Recovery.txt

2axis_Gearing_for_Servos.txt

2axis_Joystick_EthernetIP.txt    or   2axis_Joystick_EthernetIP_ACR74T.pprj (use PMM version 2.0 or 2.1) 

 

Three axis:

3axis_BasicMotion.txt

3axis_Enable_sub.txt

3axis_Error_Recovery.txt

3axis_Homing_sub.txt

 

Four axis:

4axis_BasicMotion.txt

4axis_Enable_sub.txt

4axis_Error_Recovery.txt

4axis_Homing_sub.txt

 

General examples:

Generic_Structure.txt       General example for structure for an AcroBasic program.

 

CaptureData.txt                Program to setup multi-channel high-speed data capture.

 

EIP_Peer-to-Peer.txt        Program to exchange variables between 2 ACR7000's via Ethernet/IP.

EIP_Scanner.txt               Program to configure ACR 7000 as ENIP master for Wago 750 series expansion IO.

 

Stepper_HomeHardstop.txt      Sample on how to use an encoder based step motor home to a hard-stop.

Stepper_PrintMotorSettings.txt     Sample on reading the motor settings for stepper ACR 7000 from terminal window in PMM.

Stepper_Settings.txt                 Sample showing storing motor settings within an AcroBasic program (optional).

Stepper_Statusreport.txt           Sample showing viewing current status of stepper ACR 7000 from terminal window in PMM.

 

Servo_HomeHardstop.txt         Sample on how to home to hard-stop with a servo motor with a torque limited move.

 

OpenPort_7000_IPA.txt            Sample for opening a port for external device to send Ethernet TCP/IP comms to ACR7000 or IPA, using INKEY, STRING data

Time.txt                                     Sample using Defines and variable math with LRUN in terminal window to see how long a controller has been running.

Xpress + ACR7000 Jog Teach  Sample Xpress HMI project for showing connecting/running ACR7000 from touchscreen. 2axis jog and teach panels.

Xpress + IPA Jog Teach            Sample Xpress HMI project for showing connecting/running IPA from touchscreen. 1axis jog and teach panels.

 

Misc examples:

DetermineController.txt          Sample IF statement using system parameters unique to 7000 servo/stepper/controller and IPA to determine controller type

PC to ACR Samples               Knowledgebase Post with Samples for Excel, LabView, .Net (C#, C++ and VB)

IPA AOI's v5.1 (PMM)             IPA's Add On Instructions for use with AB Control Logix or Compact Logix PLCs

                                                     IPA Ethernet/IP User Guide   Video Demo

 

ACR7000 Stepper:     http://www.parkermotion.com/products/Stepper_Drive_Controllers____30_32_80_567_29.html

 

ACR7000 Servo:        http://www.parkermotion.com/products/Servo_Drive_Controllers__7329__30_32_80_567_29.html

 

ACR7000 Controller:  https://www.parkermotion.com/products/Controllers__7329__30_32_80_567_29.html