Parker Hannifin acr-motion max api User Manual

ACR-MotionMax

API

Users

Guide

API Users Guide Getting Started - 1

User Information



ACR Series products are used to control electrical and mechanical
components of motion control systems. You should test your motion system
for safety under all potential conditions. Failure to do so can result in damage
to equipment and/or serious injury to personnel.

ACR series products and the information in this guide are the proprietary property of Parker Hannifin
Corporation or its licensers, and may not be copied, disclosed, or used for any purpose not expressly authorized
by the owner thereof.

Since Parker Hannifin constantly strives to improve all of its products, we reserve the right to change this guide,
and software and hardware mentioned therein, at any time without notice.

In no event will the provider of the equipment be liable for any incidental, consequential, or special damages of
any kind or nature whatsoever, including but not limited to lost profits arising from or in any way connected
with the use of the equipment or this guide.

© 2004 Parker Hannifin Corporation
All Rights Reserved

Technical Assistance

Contact your local automation technology center (ATC) or distributor.

North America and Asia

Parker Hannifin
5500 Business Park Drive
Rohnert Park, CA 94928
Telephone: [phone] or [phone]
Fax: [phone]
Email:

[e-mail]

Internet: http://www.parkermotion.com

Europe (non-German speaking)

Parker Hannifin
21 Balena Close
Poole, Dorset
England BH17 7DX
Telephone: [phone]
Fax: [phone]
Email: [e-mail]

Germany, Austria, Switzerland

Parker Hannifin
Postfach: 77607-1720
Robert-Bosch-Str. 22
D-77656 Offenburg
Telephone: [phone]
Fax: [phone]

Email:

[e-mail]

Italy

Parker Hannifin
20092 Cinisello Balsamo
Milan, Italy via Gounod, 1
Telephone: [phone]
Fax: [phone]

Email: [e-mail]

Technical Support E-mail

[e-mail]

2 - Getting Started API Users Guide

Contents

Getting Started ..................................................................................................................................... 5

Introduction....................................................................................................................................................5

Operating System...........................................................................................................................................5

Installation ......................................................................................................................................................5

Installation Folders and Files........................................................................................................................5

API Command Groups ........................................................................................................................ 6

Command Groups..........................................................................................................................................6

DLL Initialization .........................................................................................................................................................6

Parameters ....................................................................................................................................................................6

Feedback & Status ........................................................................................................................................................6

Bit Functions................................................................................................................................................................. 6

Bit Group Functions .....................................................................................................................................................6

G-Code File Functions.................................................................................................................................................. 6

Jogging & Homing .......................................................................................................................................................7

MDI Mode Commands ................................................................................................................................................. 7

Virtual Overrides ..........................................................................................................................................................7

Graphics........................................................................................................................................................................7

Error Message...............................................................................................................................................................7

Cycle Functions ............................................................................................................................................................7

API Command Descriptions ................................................................................................................ 8

(DLL Initialization) ......................................................................................................................................................8

AX_InitializeControl ................................................................................................................................................ 8

AX_IsCardPresent ....................................................................................................................................................8

(Parameter Functions)................................................................................................................................................... 9

AX_UpdateParams ...................................................................................................................................................9

AX_DownloadParameters2Card ..............................................................................................................................9

(Feedback & Status Functions) ..................................................................................................................................... 9

AX_GetEncoderCounts ............................................................................................................................................9

AX_GetDistanceToGoCoordinates ........................................................................................................................ 10

AX_GetAxisVelocity..............................................................................................................................................10

(Bit Functions) ............................................................................................................................................................ 10

AX_BitOn...............................................................................................................................................................10

AX_BitOff ..............................................................................................................................................................11

(Bit Group Functions).................................................................................................................................................11

AX_GetInputs.........................................................................................................................................................11

AX_GetOutputs ......................................................................................................................................................11

AX_GetControlBits ................................................................................................................................................ 11

AX_GetMasterFlags ............................................................................................................................................... 12

AX_GetMcodeBits .................................................................................................................................................12

AX_GetAdcInputs .................................................................................................................................................. 12

(Jog and Homing Functions).......................................................................................................................................12

AX_JogMinus.........................................................................................................................................................12

AX_JogPlus ............................................................................................................................................................12

AX_JogMinusFast ..................................................................................................................................................12

AX_JogPlusFast ..................................................................................................................................................... 12

API Users Guide Getting Started - 3

AX_JogStop............................................................................................................................................................12

AX_HomeAxis .......................................................................................................................................................13

Place VB Code in a button ......................................................................................................................................14

(G Code Functions).....................................................................................................................................................14

AX_LoadGCodeFile ...............................................................................................................................................14

AX_ GetGCodeLineNumber ..................................................................................................................................14

(MDI Mode Functions) ...............................................................................................................................................14

AX_StartMDI .........................................................................................................................................................14

AX_StopMDI .........................................................................................................................................................15

AX_ExecuteMDI ....................................................................................................................................................15

(Virtual Overrides)......................................................................................................................................................15

AX_SetFov .............................................................................................................................................................15

AX_SetRov.............................................................................................................................................................15

AX_SetSov .............................................................................................................................................................15

(Graphics Functions)...................................................................................................................................................16

AX_InitializeGPH ..................................................................................................................................................16

AX_SetGphView ....................................................................................................................................................16

AX_ SetGraphics ....................................................................................................................................................17

(Error Message System)..............................................................................................................................................17

AX_SystemErr........................................................................................................................................................17

AX_ClearSystemErr ...............................................................................................................................................17

(Cycle Functions)........................................................................................................................................................18

AX_CycleStart........................................................................................................................................................18

FeedHold.................................................................................................................................................................18

Reset .......................................................................................................................................................................19

Auto/Step Mode ......................................................................................................................................................19

I/O Map .............................................................................................................................................. 20

Acroloop I/O Layout....................................................................................................................................20

Control Signals ...........................................................................................................................................................20

Mcode Bits..................................................................................................................................................................22

4 - Getting Started API Users Guide

Getting Started

Introduction

This Guide give basic instructions on the functionality and implementation of the MotionCore.DLL API. Only
experience developers of motion control software should attempt to use this API. A working knowledge of the
Parker/Acroloop AcroBasic language is also required to full implement a finished motion system.

Operating System

This 32 bit DLL is for use in MS Windows NT 4.0 (service pack 4.0 or above) , 2000 or XP Pro

Installation

Parker-Hannifin API Installation will prompt you to create a folder…C:\Program Files\Parker\ACR­MotionMax. All references in this document will assume the users accepted the default folder.

When the Installation is complete, a prompt to reboot the computer will be displayed. In order for all of the
drivers to be properly activated, the computer must be rebooted before any calls to the MotionCore.DLL can be
placed.

Installation Folders and Files

The Installation will generate the Axium Folder and several sub-folders.

Docs – this folder contains this document and others

ParFiles – this folder cantains all of the storage files incuding the configuration files

Samples – this folder contains a Visual C++ and a Visual Basic sample.

The MotionCore.DLL file was installed in the Windows\System32 folder. This is done so it is accessible from
anywhere on the computer. Since the System32 folder is found in the Windows path, you do need to reference
any drive and folder information to locate it.

The ACR-MOTIONMAX.INI files is alos located in the Windows folder. This file contains the location of any
files you create as well as the file location of the configuration files. This file can be edited with any text editor
and cahnged to accommodate you specific application. The files looks like the following…

[PATHS]

Root=C:\Program Files\Parker\ACR-MotionMax

Config=C:\Program Files\ Parker\ACR-MotionMax\ParFiles

API Users Guide Getting Started - 5

API Command Groups

Command Groups

DLL Initialization

AX_InitializeControl Start DLL … this must be the first call to the DLL
AX_IsCardPresent Checks for Servo Controller Presence

Parameters

AX_UpdateParams Force DLL to Reload All Parameters from Parameters.Cfg File
AX_DownloadParameters2Card Force DLL to Update Params from Parameters.Cfg file to ServoCard

Feedback & Status

AX_GetEncoderCounts Extract Encoder information from DLL in array
AX_GetDistanceToGoCoordinates Extract DISTANCE TO GO information from DLL into array
AX_GetAxisVelocity Extract Master velocity from DLL

Bit Functions

AX_BitOn Turns on any bit (Except Inputs)
AX_BitOff Turns on any bit

Bit Group Functions

AX_GetInputs Extracts all 96 Inputs
AX_GetOutputs Extracts all 96 Outputs
AX_GetControlBits Extracts BITS [128-255] ACR-MOTIONMAX Control Signals
AX_GetMasterFlags Extracts BITS [512-543] Master Flags
AX_GetMcodeBits Extracts BITS [1920-2047] ACR-MOTIONMAX MCode Bits
AX_GetAdcInputs Extracts ADC Channels (0-7) into Array

G-Code File Functions

AX_LoadGCodeFile Send DLL a G-Code Filename to load in the Motion List
AX_GetGCodeLineNumber Extract Current Gcode Line Number being executed in cycle

6 - API Command Groups API Users Guide

Jogging & Homing

AX_JogMinus JOG SELECTED AXIS MINUS DIRECTION
AX_JogPlus JOG SELECTED AXIS PLUS DIRECTION
AX_JogMinusFast JOG SELECTED AXIS MINUS DIRECTION at Fast Rate
AX_JogPlusFast JOG SELECTED AXIS PLUS DIRECTION at Fast Rate
AX_JogStop STOP ALL JOGGING
AX_HomeAxis HOME THE SELECTED AXIS

MDI Mode Commands

AX_StartMDI Start MDI Mode Signal to DLL
AX_StopMDI Stop MDI Mode Signal to DLL
AX_ExecuteMDI Execute MDI command String to DLL

Virtual Overrides

AX_SetFov Set Feedrate override manually with sliders
AX_SetRov Set Rapid rate override manually with sliders
AX_SetSov Set Spindle override manually with sliders

Graphics

AX_InitializeGPH Initialize Graphics Engine & pass handle of the control area
AX_SetGphView Tell Graphics which ViewPort to plot
AX_ZoomWindow Pass Zoom Coordinates (in Pixies) to the Graphics Engine
AX_SetGraphics Turn Graphics Generator on/off

Error Message

AX_SystemErr Get the System errors from the DLL if any
AX_ClearSystemErr Acknowledges & Clears the Error from the DLL

Cycle Functions

AX_CycleStart Starts Loaded G Code File Running
Feedhold Stop the Program running until Cleared
Reset Stop Current programs and effects a M30
Auto/Step Set this bit (133) to tell DLL to Cycle in Auto

Clear this bit to run in Step

API Users Guide API Command Groups - 7