Free Online Training Videos: Parker AcroBASIC - Programming Basics

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

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 http://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 http://Youtube.com

Presumes controller and drives have been configured.

See this FAQ for video playlist for how to configure using ACR-View:

Free Online Training Videos: Parker ACR9000 programmable motion controller

 

  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.

 

  1. 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

 

  1. 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

 

  1. 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

 

  1. 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

 

  1. Wait on Bit or Flag, Autostart, Scaling, Position Error

Commands discussed: INH, IHPOS, PBOOT, ATTACH, PPU, EXC

Also: Programmer's comments, notes, remarks

 

  1. 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

 

  1. 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

 

  1. 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: ACR Memory usage and commands

06FEB2019 DCLIFFE -- Fixed link, added tags.