User Information

Warning — 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.
© 2003-2005 Parker Hannifin Corporation
All Rights Reserved
ActiveX is a trademark of Microsoft Corporation.

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

North America and Asia Germany, Austria, Switzerland

Parker Hannifin Parker Hannifin
5500 Business Park Drive Postfach: 77607-1720
Rohnert Park, CA 94928 Robert-Bosch-Str. 22
Telephone: (800) 358-9070 or (707) 584-7558 D-77656 Offenburg
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Internet: http://www.parkermotion.com Email: sales.hauser@parker.com
Internet: http://www.parker-emd.com

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Arena Business Centre Milan, Italy via Gounod, 1
Holy Rood Close Telephone: +39 02 6601 2478
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Dorset, UK Email: sales.sbc@parker.com
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Telephone: +44 (0) 1202 606300
Fax: +44 (0) 1202 606301
Email: support.digiplan@parker.com
Internet: http://www.parker-emd.com

Technical Support E-mail

emn_support@parker.com

Motion COMponents ActiveX User’s Guide - ii -

Table of Contents
Overview..................................................................................................................... viii
Connection Control Properties and Methods..............................................................................9
Properties ......................................................................................................................................10
OnConnectTest..................................................................................................................... 10
ComVersion .......................................................................................................................... 10
Port........................................................................................................................................ 10
BPS ....................................................................................................................................... 10
Bus ........................................................................................................................................ 11
Card ...................................................................................................................................... 11
IPAddr ................................................................................................................................... 11
IsOffline ................................................................................................................................. 11
Transport............................................................................................................................... 12
USBSerialNumber................................................................................................................. 12
nDevice ................................................................................................................................. 12
Methods .........................................................................................................................................13
Connect................................................................................................................................. 13
TestConnect.......................................................................................................................... 14
SetWatchDog........................................................................................................................ 14
Disconnect ............................................................................................................................ 15
Terminal Control Properties, Methods and Events...................................................................16
Properties ......................................................................................................................................17
DataWaitRate........................................................................................................................ 17
TerminalBackColor ............................................................................................................... 17
TerminalForeColor ................................................................................................................ 17
EditorBackColor .................................................................................................................... 17
EditorForeColor..................................................................................................................... 18
Connectioncontrol ................................................................................................................. 18
Methods .........................................................................................................................................19
DataRead .............................................................................................................................. 19
DataWrite .............................................................................................................................. 19
DownloadFile ........................................................................................................................ 20
DownloadOS......................................................................................................................... 20
GetDownloadStatus .............................................................................................................. 21
Uploadfile .............................................................................................................................. 21
StopDownload....................................................................................................................... 22
Events ............................................................................................................................................23
DataWaiting .......................................................................................................................... 23
BitStatus Control Properties, Methods and Events..................................................................24
Properties ......................................................................................................................................25
BitSelect ................................................................................................................................ 25
BitPlacement......................................................................................................................... 25
Pollrate .................................................................................................................................. 25
TrueColor .............................................................................................................................. 25
FalseColor............................................................................................................................. 26
BitMask ................................................................................................................................. 26
BitMaskCSV.......................................................................................................................... 26
AutoSize................................................................................................................................ 26
ConnectionControl ................................................................................................................ 27
Methods .........................................................................................................................................28
BitLabel ................................................................................................................................. 28
SetBit..................................................................................................................................... 28
ClearBit ................................................................................................................................. 28

- iii -
 GetValue ............................................................................................................................... 29
IsFlagSet............................................................................................................................... 29
Events ............................................................................................................................................30
DataChanged........................................................................................................................ 30
Numeric Control Properties, Methods and Events ...................................................................31
Properties ......................................................................................................................................33
ParameterSelect ................................................................................................................... 33
ParameterPlacement ............................................................................................................ 33
IndexMask............................................................................................................................. 33
PollRate................................................................................................................................. 33
Autosize ................................................................................................................................ 34
IndexMaskCSV ..................................................................................................................... 34
ConnectionControl ................................................................................................................ 34
Methods .........................................................................................................................................35
ParameterLabel .................................................................................................................... 35
SetLong................................................................................................................................. 35
SetReal ................................................................................................................................. 36
SetGlobal .............................................................................................................................. 36
GetValue ............................................................................................................................... 37
GetParamType...................................................................................................................... 37
GetParamInfo........................................................................................................................ 38
GetParamAddr ...................................................................................................................... 39
GetLocalAddr ........................................................................................................................ 39
GetLocalArrayAddress.......................................................................................................... 40
GetStatus .............................................................................................................................. 40
GetACRMemory.................................................................................................................... 41
GetACRGroup....................................................................................................................... 41
GetACRCustom .................................................................................................................... 42
GetACRGroupRaw ............................................................................................................... 42
SetACRMemory .................................................................................................................... 43
SetACRMemoryMask ........................................................................................................... 44
SetParamLongMask ............................................................................................................. 44
InitPerformance..................................................................................................................... 45
GetPerformance.................................................................................................................... 45
AddACRGroup ...................................................................................................................... 45
AddACRGroupRaw............................................................................................................... 46
AddACRCustom.................................................................................................................... 46
AddACRMemory ................................................................................................................... 47
DelStatus .............................................................................................................................. 47
Events ............................................................................................................................................48
DataChanged........................................................................................................................ 48
Moves Control Properties and Methods ....................................................................................49
Properties ......................................................................................................................................50
MoveProfile ........................................................................................................................... 50
MoveVel ................................................................................................................................ 50
MoveFVel .............................................................................................................................. 50
MoveAcc ............................................................................................................................... 50
MoveMode ............................................................................................................................ 51
MoveAbsolute ....................................................................................................................... 51
MoveCounter ........................................................................................................................ 51
ArcMode................................................................................................................................ 51
ArcAbsolute........................................................................................................................... 52
ArcCCW ................................................................................................................................ 52
Connectioncontrol ................................................................................................................. 52
Methods .........................................................................................................................................53
Moves.................................................................................................................................... 53

- iv -
 MoveBatch ............................................................................................................................ 53
Arc......................................................................................................................................... 54
MoveStop .............................................................................................................................. 55
SendRes ............................................................................................................................... 55
GetMoveCounter................................................................................................................... 56
SetMoveCounter ................................................................................................................... 56
Feedrate Control Properties and Methods.................................................................................57
Properties ......................................................................................................................................57
MotionProfile ......................................................................................................................... 57
FOV....................................................................................................................................... 57
MinFOV ................................................................................................................................. 58
MaxFOV ................................................................................................................................ 58
ConnectionControl ................................................................................................................ 58
Methods .........................................................................................................................................59
SetFOV ................................................................................................................................. 59
SetROV ................................................................................................................................. 59
CANOpen Control Properties and Methods...............................................................................60
Properties ......................................................................................................................................61
MasterNodeID....................................................................................................................... 61
BitRate .................................................................................................................................. 61
CyclicPeriod .......................................................................................................................... 61
NumSlaveNodes ................................................................................................................... 61
ConnectionControl ................................................................................................................ 62
Methods .........................................................................................................................................63
CalcBitRate ........................................................................................................................... 63
CalcCyclicPeriod................................................................................................................... 63
SetSlaveNodeID ................................................................................................................... 63
GetSlaveNodeID ................................................................................................................... 64
StartCANOpen ...................................................................................................................... 64
ResetCANOpen .................................................................................................................... 64
GetCANOpenStatus.............................................................................................................. 65
TeachPanel Control Properties and Methods............................................................................66
Properties ......................................................................................................................................67
ActualPos .............................................................................................................................. 67
Axis ....................................................................................................................................... 67
DriveEnable .......................................................................................................................... 67
DriveFault.............................................................................................................................. 67
PosLimit ................................................................................................................................ 68
NegLimit ................................................................................................................................ 68
Home..................................................................................................................................... 68
TeachArrayIndex................................................................................................................... 68
Velocity.................................................................................................................................. 69
Acceleration .......................................................................................................................... 69
TargetPosition....................................................................................................................... 69
PPU....................................................................................................................................... 69
JogMode ............................................................................................................................... 70
HomeDirectionPositive.......................................................................................................... 70
DisableDriveOnEStop ........................................................................................................... 70
Pollrate .................................................................................................................................. 70
Connectioncontrol ................................................................................................................. 71
Methods .........................................................................................................................................72
JogNeg.................................................................................................................................. 72
JogPos .................................................................................................................................. 72
JogStop ................................................................................................................................. 72
EnableDrive .......................................................................................................................... 73
KillAllMotion .......................................................................................................................... 73

-v-
 HomePos .............................................................................................................................. 74
ClearPos ............................................................................................................................... 74
CapturePos ........................................................................................................................... 74
ClearArray............................................................................................................................. 75
SaveArray ............................................................................................................................. 75
PlaybackPanel Control Properties and Methods ......................................................................76
Properties ......................................................................................................................................76
StartingIndex......................................................................................................................... 76
CurrentIndex ......................................................................................................................... 77
Velocity.................................................................................................................................. 77
Acceleration .......................................................................................................................... 77
Deceleration.......................................................................................................................... 77
StopRamp ............................................................................................................................. 78
MasterProfile......................................................................................................................... 78
Connectioncontrol ................................................................................................................. 78
Methods .........................................................................................................................................79
ImportArray ........................................................................................................................... 79
ImportFromTeach ................................................................................................................. 79
AddEvent .............................................................................................................................. 79
Playback................................................................................................................................ 80
StepPlayback ........................................................................................................................ 80
SaveArray ............................................................................................................................. 80
PausePlayback ..................................................................................................................... 81
ResumePlayback .................................................................................................................. 81
StopPlayback ........................................................................................................................ 81
GetValue ............................................................................................................................... 82
SetValue................................................................................................................................ 82
StatusPanel Control Properties Methods and Events ..............................................................83
Properties ......................................................................................................................................84
Pollrate .................................................................................................................................. 84
ConnectionControl ................................................................................................................ 84
Methods .........................................................................................................................................85
GetMasterBitStatus............................................................................................................... 85
GetAxisBitStatus ................................................................................................................... 85
GetMasterNumericStatus...................................................................................................... 86
GetAxisNumericStatus.......................................................................................................... 87
Events ............................................................................................................................................88
DataChanged........................................................................................................................ 88
DriveTalk Control Properties and Methods ...............................................................................89
Properties ......................................................................................................................................89
AxesMask ............................................................................................................................. 89
EnableDriveTalk.................................................................................................................... 90
DriveDataMask ..................................................................................................................... 90
DriveTalkMode...................................................................................................................... 90
ConnectionControl ................................................................................................................ 90
Methods .........................................................................................................................................91
GetDriveDataRequest........................................................................................................... 91
GetConfig .............................................................................................................................. 91
SendConfig ........................................................................................................................... 92
GetErrorLog .......................................................................................................................... 92
SendASTFile......................................................................................................................... 93
EStop Control Properties and Methods .....................................................................................94
Properties ......................................................................................................................................95
ClearColor............................................................................................................................. 95
StopColor .............................................................................................................................. 95
ClearLabel............................................................................................................................. 95

- vi -
 StopLabel.............................................................................................................................. 95
DisableDriveOnEStop ........................................................................................................... 96
Connectioncontrol ................................................................................................................. 96
Methods .........................................................................................................................................97
SendEStop............................................................................................................................ 97
ClearEStop............................................................................................................................ 97

- vii -
Overview
The .NET version of Motion COMponents for ACR series motion controllers acts as a wrapper for
the ComACRsrvr.dll, which you can use with your motion control applications. For more
information about the ComACRsrvr.dll, see the
The following illustrates the interaction between a personal computer and control system.

The Motion COMponents let you access the ComACRsrvr.dll using many different Windows
based programming environments. The following diagram illustrates this concept.

- viii -
Connection Control Properties and Methods

The Connection Control is the primary control responsible for creating the communication
connection with the ACR controller from the application. It will have a group of properties and
methods to facilitate communication.

Properties
• Boolean OnConnectTest
• String ComVersion
• Long Port
• Long BPS
• Long Bus
• Long Card
• String IPAddr
• Boolean IsOffline
• Long Transport
• String USBSerialNumber
• Long nDevice

Methods

• Void Connect (nTransport as Long, nIndex as Long)

• Boolean TestConnect ()
• Void SetWatchDog (nInterval as Long, nRetries as Long)
• Void Disconnect ()

Connection Control Properties and Methods - 9 -

Properties

OnConnectTest
Description A wrapper Boolean property that determines the Connection and verified
after connection is established. If it is true then both Connect method and
TestConnect method will be called. If it is False then only the Connect
method will be called.

Property OnConnectTest
Return Type Boolean
Range N/A
Default True
Example ACRConnection1.OnConnectTest=True

ComVersion
Description A wrapper read only string that holds the version number of the
comACRSrvr.dll file.

Property ComVersion
Return Type String
Range N/A
Default N/A
Example Dim strVer as String
strVer = ACRConnection1.ComVersion

Port
Description A wrapper long used to set the communications port of the computer to
which the serial ACR device is connected. Only used for RS232 Serial
connections.

Property Port
Return Type Long
Range 1 – 256
Default 1
Example ACRConnection1.Port =1 ‘For COM1 port

BPS
Description A wrapper long used to set the speed of the serial port in Bits per
Second for the serial port specified by Port. Only used for RS232 Serial
communication.

Property BPS
Return Type Long
Range 9600, 19200, 38400
Default 38400
Example ACRConnection1.BPS =38400

- 10 - Motion COMponents ActiveX User’s Guide

Bus
Description A wrapper long is indicating the type of Bus Card being used. A Value of
0 indicates an ACR PCI Bus Card and a value of 1 indicates an ACR ISA
Bus Card. Only used for Bus communication.

Property BUS
Return Type Long
Range 0-1
Default 0 (PCI)
Example ACRConnection1.Bus =0 ‘For PCI Bus

Card
Description A wrapper long to set the index number of the ACR Controller. Only
used for Bus communication.

Property Card
Return Type Long
Range N/A
Default 0
Example ACRConnection1.Card =1

IPAddr

Description A wrapper string representing the IP address of an ACR Controller. Only

used for Ethernet communication.

Property IPAddr
Return Type String
Range N/A
Default 192.168.10.40
Example ACRConnection1.IPAddr = “172.20.22.10”

IsOffline

Description A wrapper read only Boolean indicating whether the connection is

Offline. It will set to false once the connection is successful.

Property IsOffline
Return Type Boolean
Range N/A
Default TRUE
Example Dim blnIsOffline as Boolean
blnIsOffline = ACRConnection1.IsOffline

Connection Control Properties and Methods - 11 -

Transport

Description A long indicating the physical communication layer being used.

Property Transport
Return Type Long
Range 0-4
Default N/A
Example ACRConnection1.Transport = 3 ‘Ethernet connection

USBSerialNumber

Description A string holding the serial number of the USB port.

Property USBSerialNumber
Return Type String
Range N/A
Default N/A
Example Dim strUSBSerialNumber as String
strUSBSerialNumber = ACRConnection1.USBSerialNumber

nDevice
Description Specifies the ACR model.

Property nDevice
Return Type Long
Range 0-8
Default 8
Example Dim lngnDevice as long
lngnDevice = ACRConnection1.nDevice

- 12 - Motion COMponents ActiveX User’s Guide

Methods

Connect
Description Establish a connection of type transport to an ACR Controller.

Signature Connect (nTransport as Long, nIndex as Long)

Return Type N/A

Parameters

nTransport Indicates the physical communication layer being used, or no layer when
offline. (0-Offline, 1- Bus, 2- Serial, 3-Ethernet, 4-USB)

nIndex Transport type dependant data

All Interfaces initially come up with transport = Offline. Each transport type has its own
data requirements for connecting.

Transport Connection Requirements

Offline The nIndex value can be any value.

Bus The nIndex value must be the card index assigned during installation. To
find this card number see parameter P7041, or DIP switch setting on
some cards. The Bus property must be set to ISA or PCI depending on
the card type.

Serial The nIndex value is the index of the card, which is typically zero. In a
daisy chain configuration, this number identifies the specific controller.
The Port must be set to the PC communications port that will be used,
and the BPS must be set to the desired bits per second rate.

Ethernet The nIndex value can be any value. The IPAddrproperty must be set to
the IP address of the ACR controller.

USB The nIndex value is the unique Serial ID of the ACR device. If this is set
to zero, the first ACR USB device found will be connected.

Any transport specific properties (i.e. IPAddr for Ethernet, etc.) should be
set prior to calling Connect method.

Example ACRConnection1.IPAddr=”192.9.200.58”
ACRConnection1.Transport=3
Call ACRConnection1.Connect (ACRConnection1.Transport, 0)

Connection Control Properties and Methods - 13 -

TestConnect
Description Verifies that an ACR Controller is connected.

Signature TestConnect ()

Return Type Boolean

Parameters N/A

Return A command is sent and the return value verified. If this process
succeeds, an ACR's presence is presumed and TRUE is returned.
Otherwise FALSE is returned. When the transport type = Offline, this
method always returns FALSE.

Example Dim blnTestConnect as Boolean

blnTestConnect=ACRConnection1.TestConnect

SetWatchDog
Description Modifies the Watchdog values.

Signature SetWatchDog (nInterval as Long, nRetries as Long)

Return Type N/A

Parameters

nInterval The time in milliseconds, between sending test keep-alive strings to the
ACR device.

nRetries The number of times the keep-alive test string message is sent to the
ACR device, with no valid reply, before attempting to reconnect to the
ACR device.

Return The Ethernet transport currently has Watchdog functionality. The ACR
controller uses a separate port to receive a coded command string
(keep-alive message), and echoes it back to the sender. If the
Communications Server fails to get a response to a keep-alive message
in nInterval*nRetries milliseconds, the Communications Server attempts
to reconnect

Example Dim lngInterval as Long

Dim lngRetries as Long
lngInterval= 2000
lngRetries=4
Call ACRConnection1.SetWatchDog (lngInterval, lngRetries)

- 14 - Motion COMponents ActiveX User’s Guide

Disconnect
Description A wrapper method is used to disconnect the current communication
transport.

Signature Disconnect ()

Return Type N/A

Parameters N/A

Return Implicitly calls Connect (0,0) to switch to Offline mode.

Example Call ACRConnection1.Disconnect

Connection Control Properties and Methods - 15 -

Terminal Control Properties, Methods and Events

The Terminal Control is dual pane multi-line edit control. The right pane is used as an editor and
the left pane is used as a terminal where it displays the output of the ACR Controller as well as
inputting and sending command to the ACR Controller. There are also buttons below the editor
and terminal used to download and upload programs, downloading OS etc.

Terminal Control contains the following Properties and Methods.

Properties

• Long DataWaitRate
• OLE_COLOR TerminalBackcolor
• OLE_COLOR TerminalForecolor
• OLE_COLOR EditorBackcolor
• OLE_COLOR EditorForecolor
• Object Connectioncontrol

Methods
• String DataRead ()
• Void DataWrite (send as Variant)
• Void DownloadFile (bstrPrg as String, bstrFile as String)
• Void DownloadOS (nDevice as Long, bstrFile as String)
• Long GetDownloadStatus (nTotal as Long, nBytes as Long)
• Void UploadFile (bstrPrg as String, bstrFile as String)
• Void StopDownload ()

Events
• Void DataWaiting ()

- 16 - Motion COMponents ActiveX User’s Guide

Properties

DataWaitRate
Description This property is a wrapper property setting the minimum time between
status alerts in milliseconds. The default value is 50 ms.

Property DataWaitRate
Return Type Long
Range N/A
Default 50 ms
Example ACRTerminalcontrol1.DataWaitRate=100

TerminalBackColor
Description The back color for the Terminal rich text box can be changed to user
chosen color.

Property TerminalBackColor
Return Type OLE_COLOR
Range N/A
Default vbBlue
Example ACRTerminalcontrol1.TerminalBackcolor =rgb (0, 0, 153)

TerminalForeColor
Description The fore color for the Terminal rich text box can be changed to user
chosen color.

Property TerminalForeColor
Return Type OLE_COLOR
Range N/A
Default vbWhite
Example ACRTerminalcontrol1.TerminalForecolor =rgb (255, 255, 255)

EditorBackColor
Description The back color for the Editor rich text box can be changed to user
chosen color.

Property EditorBackColor
Return Type OLE_COLOR
Range N/A
Default vbWhite
Example ACRTerminalcontrol1.EditorBackcolor =rgb (255, 255, 255)

Termional Control Properties, Methods and Events - 17 -

EditorForeColor
Description The fore color for the Editor rich text box can be changed to user chosen
color.

Property EditorForeColor
Return Type OLE_COLOR
Range N/A
Default vbBlack
Example ACRTerminalcontrol1.EditorForeColor =rgb (0,0,0)

Connectioncontrol
Description This property will hold the reference of the instance of connection
control.

Property ConnectionControl
Return Type Object
Range N/A
Default N/A
Example Set ACRTerminalcontrol1.ConnectionControl=ACRConnection1

- 18 - Motion COMponents ActiveX User’s Guide

Methods

DataRead

Description A wrapper method used to get any ASCII data from the ACR controller.
This method wraps the method of Read available in the Terminal
interface of ComACRsrvr.dll. This method is used to read the Data
available in the buffer of ACR Controller. This method is mainly used to
display the output of ACR Controller in the left-pane of Terminal
controller.

Signature DataRead ()

Return Type String

Parameters N/A

Return The output of the controller will be stored in a string variable.

Example Dim OutputData as string

OutputData = ACRTerminalcontrol1.DataRead ()

DataWrite
Description This method wraps the method of Write available in the Terminal
interface of ComACRsrvr.dll. This method is used to send the command
to the ACR Controller.

Signature DataWrite (send as variant)

Return Type N/A

Parameters

send The data used to send to the ACR Controller.

Return N/A

Example Dim InputData as string

InputData = “AXIS0 JOG FWD X”
ACRTerminalcontrol1.DataWrite (InputData)

Termional Control Properties, Methods and Events - 19 -

DownloadFile

Description This method wraps the method available in the

ACRTerminalcontrol1.Downloadfile. This method is used to transfer a
.8K file to the controller.

Signature DownloadFile (bstrPrg as string, bstrFile as string)

Return Type N/A

Parameters

bstrPrg holds the Program location in Controller (Optional Parameter) either

Blank or Program Location.

bstrFile holds the path of the downloaded text file.

Return N/A

Example Dim filePath as string

filePath = “C:\DownloadData\PROG0.8K”
ACRTerminalcontrol1.DownloadFile (“”, filePath)

DownloadOS
Description This method wraps the method of DownloadOS available in the Utility
interface of ComACRsrvr.dll. This method is used to download the new
Operating system to the controller.

Signature DownloadOS (ndevice As Long, bstrfile As String)

Return Type N/A

Parameters

nDevice Specifies the type of ACR Controller Modal.

bstrFile Specifies the fully qualified file name of the new Operating System.

Return N/A

Example Dim filePath as string

Dim nDevice as integer
nDevice = 8
filePath = “C:\DownloadData\NEWOS.OPS”
ACRTerminalcontrol1.DownloadOS (nDevice, filePath)

- 20 - Motion COMponents ActiveX User’s Guide

GetDownloadStatus
Description This method wraps the method of GetDownloadStatus available in the
Utility interface of ComACRsrvr.dll. This method is used to get the
Current Status of Active download.

Signature GetDownloadStatus (nTotal As Long, nBytes As Long)

Return Type Long

Parameters

nTotal Specifies the Total number of bytes to be transferred.

nBytes Specifies the Total number of bytes transferred so far.

Return Return value is the status of the active Download.

Example Dim I as integer, j as integer, k as integer

i=0
j=0
k=0
k = ACRTerminalcontrol1.GetDownloadStatus (i ,j)
Msgbox “Total Bytes to be transferred so far:” & I
Msgbox “Total number of bytes transferred so far:” &j
Msgbox “Current Active Status Download” & k

Uploadfile
Description This method wraps the method of “Uploadfile” available in the Utility
interface of ComACRsrvr.dll. Uploads the AcroBasic Program or PLC
program from the ACR to the PC.

Signature UploadFile (bstrPrg as string, bstrFile as string)

Return Type N/A

Parameters

bstrPrg Specifies the location to which files are uploaded.

bstrFile Specifies the fully qualified path and name of the file to download.

Return This method blocks any other instruction from running until the upload is
complete. There is no checking of the code uploaded.

Example Dim filePath as string

filePath = “C:\UploadData\PROG0.8k”
ACRTerminalcontrol1.UploadFile (“PROG 0”, filePath)

Termional Control Properties, Methods and Events - 21 -

StopDownload

Description This method wraps the method of “StopDownload” available in the Utility
interface of ComACRsrvr.dll. This method aborts the file transfer to the
Controller.

Signature StopDownload ()

Return Type N/A

Parameters N/A

Return N/A

Example ACRTerminalcontrol1.StopDownload ()

- 22 - Motion COMponents ActiveX User’s Guide

Events

DataWaiting
Description A wrapper callback method is fired whenever the Data available in the
Buffer of ComACRsrvr.dll. Using this event the terminal emulator
displays the result.

Signature DataWaiting ()

Return Type N/A

Parameters N/A

Return N/A

Example DRead As BOXBRIDGELib.Terminal

ACRTerminalcontrol1.DRead_DataWaiting ()

Termional Control Properties, Methods and Events - 23 -

BitStatus Control Properties, Methods and Events

The Bit Status Control will be an array of up to 32-bit indicators with labels. The number of bit
indicators is dependent on the value of the property BitMask. Bit Data are retrieved in 32-bit
blocks. The Bitlabels will constantly update the values of the bits with a color for TRUE and a
different color for FALSE.

BitStatus Control contains the following Properties, Methods, and Events.

Properties
• Long BitSelect
• Long BitPlacement
• Long Pollrate
• OLE_COLOR TrueColor
• OLE_COLOR FalseColor
• Variant BitMask
• String BitMaskCSV
• Boolean AutoSize
• Object ConnectionControl

Methods
• Void BitLabel (strBitName as String)
• Void SetBit ()
• Void ClearBit ()
• Boolean GetValue ()
• Boolean IsFlagSet (nFlgGrp as Long, nFlgNdx as Long)

Events
• Void DataChanged ()

- 24 - Motion COMponents ActiveX User’s Guide

Properties

BitSelect
Description Represents the user-selected bit number.

Property BitSelect
Return Type Long
Range N/A
Default N/A
Example ACRBitStatus1.BitSelect=550

BitPlacement
Description Represents the position of the bit within the 32-bit response. Range 0-31.
This is read only property.

Property BitPlacement
Return Type Long
Range N/A
Default N/A
Example Dim lngPlacement as Long
‘If BitSelect=34 then result is 2
lngPlacement=ACRBitStatus1.BitPlacement

Pollrate
Description Refreshing of bits with ACR Controller will take place based on the
Pollrate. Default is set to 100 ms.

Property Pollrate
Return Type Long
Range N/A
Default 10 ms
Example ACRBitStatus1.Pollrate=100 ‘100 milliseconds

TrueColor
Description OLE_Color data type has to be set for this property. If the bit is set to
true then the LED color is TrueColor.

Property TrueColor
Return Type OLE_COLOR
Range N/A
Default VbGreen
Example ACRBitStatus1.TrueColor=VbGreen

Bit Status Control Properties, Methods and Events - 25 -

FalseColor
Description OLE_Color datatype has to be set for this property. If the bit is set to
false then the LED color is FalseColor

Property FalseColor
Return Type OLE_COLOR
Range N/A
Default VbGrey
Example ACRBitStatus1.FalseColor=VbRed ‘If Bit not set, LED color is Red

BitMask
Description This is a variant value representing the mask of 32 bits. The control will
show only the bits that are specified in the mask. Input should be
Hexadecimal format.

Property BitMask
Return Type Variant
Range 0 - FFFFFFFF
Default N/A
Example ACRBitStatus1.BitMask = “FFFFFFFF” ‘it will show all 32 bits

BitMaskCSV
Description This is a comma-separated value of string type. The control will show
only the bits that are specified in the BitMaskCSV. Comma separated
values can be any value between 0 and 31.

Property BitMaskCSV
Return Type String
Range 0-31
Default N/A
Example ACRBitStatus1.BitMaskCSV = “0,1,3” ‘it will show bit 0,1, and 3

AutoSize
Description If the Autosize property is true then the size of the control has to be
dynamically changed.
This will be based on
(i) Number of bits selected by masking the BitMask property, or
(ii) Number of bits selected in BitMaskCSV property.

Property AutoSize
Return Type Boolean
Range N/A
Default TRUE
Example ACRBitStatus1.AutoSize=True

- 26 - Motion COMponents ActiveX User’s Guide

ConnectionControl

Description This property will hold the reference of the instance of connection
control.

Property ConnectionControl
Return Type Object
Range N/A
Default N/A
Example Set ACRBitStatus1.ConnectionControl=ACRConnection1

Bit Status Control Properties, Methods and Events - 27 -

Methods

BitLabel

Description Bit Label has to be captured from the user and has to be assigned to the
BitSelect.

Signature BitLabel (strBitName as String)

Return Type N/A

Parameters

strBitName String value given by user.

Return N/A

Example ACRBitStatus1.BitSelect=516
Call ACRBitStatus1.BitLabel (“Bit Five One Six”)

SetBit
Description This method will enable the corresponding bit of the property BitSelect.

Signature SetBit ()

Return Type N/A

Parameters N/A

Return This method will call the SetFlag() method to enable the bit.

Example Call ACRBitStatus1.SetBit

ClearBit
Description This method will disable the corresponding bit of the property BitSelect.

Signature ClearBit ()

Return Type N/A

Parameters N/A

Return This method will call the SetFlag() method to disable the bit.

Example Call ACRBitStatus1.ClearBit

- 28 - Motion COMponents ActiveX User’s Guide

GetValue
Description This method has to get the status of the bitselect property.

Signature GetValue ()

Return Type Boolean

Parameters N/A

Return Returns TRUE if BitSelect bit is 1, and returns FALSE when the BitSelect
bit is 0.

Example Dim blnGetValue as Boolean

blnGetValue= ACRBitStatus1.GetValue()

IsFlagSet
Description Utility for identifying a bit in a 32-bit long.

Signature IsFlagSet (nFlgGrp as Long, nFlgNdx as Long)

Return Type Boolean

Parameters

nFlgGrp A value of type Long containing flags (as bits.).

nFlgNdx Index of the flag.

Return Returns TRUE if bit at nFlagNdx is 1, returns FALSE when the bit is 0.

Example Dim rtnStat as Variant

Dim bit128 as Boolean
rtnStat = ACRBitStatus1.ConnectionControl
ObjStatus.GetACRCustom ("P4100")
bit128 = ACRBitStatus1.IsFlagSet (rtnStat(0), 0)

Bit Status Control Properties, Methods and Events - 29 -

Events

DataChanged
Description This event will fire when the data requested is changed.

Signature DataChanged ()

Return Type N/A

Parameters N/A

Return N/A

Example Private Sub ACRBitStatus1_DataChanged

MsgBox “Data Changed”
End sub

- 30 - Motion COMponents ActiveX User’s Guide

Numeric Control Properties, Methods and Events

Numeric Status control will get an input parameter from the user (ParameterSelect property has
to be used) and it retrieves an array of 8 parameters, which are belongs to same group, from
ACR controller.

Numeric status control contains following Properties, Methods and Events.

Properties

• Long ParameterSelect
• Long ParameterPlacement
• Long IndexMask
• Long PollRate
• Boolean Autosize
• String IndexMaskCSV
• Object ConnectionControl

Methods

• Void ParameterLabel (bstrParamName As String)

• Void SetLong (nPparm as Long, nValue as Long, bFast as Boolean)
• Void SetReal (nPparm as Long, fValue as Double, bFast as Boolean)
• Void SetGlobal (Card as Long, nGlobal as Long, dValue as Double,
bFast as Boolean)
• Variant GetValue ()
• Long GetParamType (nParameter as Long)
• Boolean GetParamInfo (nParameter as Long, nType as Long, nCode as
Long, nIndex as Long, bstrCatagory as String, bstrDesc as String)
• Long GetParamAddr (nParameter as Long)
• Long GetLocalAddr (nProg as Long, nType as Long, nSize as Long)
• Long GetLocalArrayAddress (nProg as Long, nType as Long, nArray as
Long, nSize as Long)
• VariantArray GetStatus (nMsgID as Long)
• Variant GetACRMemory ( nType as Long, nAddress as Long, nCount as
Long)
• VariantArray GetACRGroup (bstrRequest as String)
• VariantArray GetACRCustom (bstrRequest as String)
• Variant GetACRGroupRaw ( nType as Long, nCode as Long, nIndex as
Long)
• Void SetACRMemory ( nType as Long, nAddress as Long, Values as
Variant)
• Void SetACRMemoryMask (nAddress as Long, nNAND as Long, nOR as
Long)
• Void SetParamLongMask (nPparm as Long, nNAND as Long, nOR as
Long)
• Void InitPerformance ()

Numeric Control Properties, Methods and Events - 31 -

 • Void GetPerformance ()
• Long AddACRGroup (bstrRequest as String)
• Long AddACRGroupRaw (nType as Long, nCode as Long, nIndex as
Long)

• Long AddACRCustom (bstrRequest as String)

• Long AddACRMemory ( nType as Long, nAddress as Long, nCount as
Long)

• Void DelStatus (nMsgID as Long)

Events

ƒ Void DataChanged ()

- 32 - Motion COMponents ActiveX User’s Guide

Properties

ParameterSelect
Description This property represents the parameter selected.

Property ParameterSelect
Return Type Long
Range N/A
Default N/A
Example ACRNumericStatus1.ParameterSelect=6916

ParameterPlacement
Description This property represents the index of the array of 8 parameters that the
parameter selected by ParameterSelect resides.

Property ParameterPlacement
Return Type Long
Range N/A
Default N/A
Example Dim lngPlacement as Long
ACRNumericStatus1.ParameterSelect=6916
lngPlacement=ACRNumericStatus1.ParameterPlacement
‘It gives 5 as result

IndexMask
Description This property represents the mask of parameters.

Property IndexMask
Return Type Long
Range N/A
Default N/A
Example ACRNumericStatus1.IndexMask=255
‘It shows value for 8 Parameters
ACRNumericStatus1.IndexMask=8
‘It shows value for 3rd Parameter

PollRate
Description This property indicating the period in milliseconds to poll for the status.
This value must be set assigned to
ACRConnection1.ObjStatus.nStatusWaitRate before calling Connect
method. ACRConnection1 is the name of connection control in the form.

Property PollRate

Numeric Control Properties, Methods and Events - 33 -

Return Type Long
Range N/A
Default 10 ms
Example ACRNumericStatus1.PollRate=100

Autosize
Description If true the control will be automatically resized based on the number of
parameters selected with the IndexMask or IndexMaskCSV.

Property AutoSize
Return Type Boolean
Range N/A
Default TRUE
Example ACRNumericStatus1.AutoSize=True

IndexMaskCSV

Description This property represents the mask of parameters with comma separated.

Property IndexMaskCSV
Return Type String
Range 0-7
Default N/A
Example ACRNumericStatus1.IndexMaskCSV=”1,2,3”

ConnectionControl
Description This property will hold the reference of the instance of connection
control.

Property ConnectionControl
Return Type Object
Range N/A
Default N/A
Example Set ACRNumericStatus1.ConnectionControl=ACRConnection1
‘ACRConnection1 is the name of Connection Control in the
‘Current form

- 34 - Motion COMponents ActiveX User’s Guide

Methods

ParameterLabel
Description Method used to set the label for a parameter.

Signature ParameterLabel (bstrParamName as String)

Return Type N/A

Parameters

bstrParamName Holds the label for a parameter

Return N/A

Example Call ACRNumericStatus1.ParameterLabel (“Six Nine One Six”)

SetLong
Description Changes the value of a specific p-Parameter of type Long.

Signature SetLong (nPparm as Long, nValue as Long, bFast as Boolean)

Return Type N/A

Parameters

nPparm p-Parameter number that is to be changed

nValue Value to assign p-Parameter.

bFast How to send the command:

Value Description
TRUE Binary
FALSE ASCII

Return N/A

Example Call ACRNumericStatus1.SetLong (6916, 10, True)

Numeric Control Properties, Methods and Events - 35 -

SetReal
Description Changes the value of a specific p-Parameter of type double.

Signature SetReal (nPparm as Long, fValue as Double, bFast as Boolean)

Return Type N/A

Parameters

nPparm p-Parameter number that is to be changed

fValue Value to assign p-Parameter.

bFast How to send the command:

Value Description
TRUE Binary
FALSE ASCII

Return N/A

Example Call ACRNumericStatus1.SetReal (13370, 1.02, True)

SetGlobal
Description Changes the value of a specific, pre-dimensioned global parameter.

Signature SetGlobal (nCard as Long, nGlobal as Long, dValue as Double, bFast

as Boolean)

Return Type N/A

Parameters

ncard Code value for type of card. This information is needed if using a binary
command (bFast=TRUE) to find the memory address. Use zero if using
ASCII (bFast=FALSE).

Device Types
Value Controller
0 ACR1200
1 ACR1500
2 ACR2000
3 ACR8010
4 ACR8020
5 ACR8020 (16-axis)
6 ACR1505
7 Reserved

- 36 - Motion COMponents ActiveX User’s Guide

 8 ACR9000

nGlobal Global p-Parameter number that is to be changed.

dValue Value to assign p-Parameter.

bFast How to send the command:

Value Description
TRUE Binary
FALSE ASCII

Return N/A

Example Call ACRNumericStatus1.SetGlobal (0,4095,100,false)

GetValue
Description Returns value for ParameterSelect.

Signature GetValue ()

Return Type Variant

Parameters N/A

Return Returns the value of the selected parameter through the property
ParameterSelect.

Example ACRNumericStatus1.ParameterSelect=6916
Call ACRNumericStatus1.GetValue

GetParamType
Description A wrapper method used to get the data type of a parameter.

Signature GetParamType (nParameter as Long)

Return Type Long

Parameters

nParameter Holds the p-Parameter number whose data type has to be returned.

Return Returns the data type of the p-Parameter.

Numeric Control Properties, Methods and Events - 37 -

 Value Description
0 Long
1 Double
2 Single

Example Dim lngParamType as Long

lngParamType = ACRNumericStatus1.GetParamType (6916)

GetParamInfo
Description A wrapper method used to get specific information on a parameter.

Signature GetParamInfo (nParameter as Long, nType as Long, nCode as Long,

nIndex as Long, bstrCategory as String, bstrDesc as String)

Return Type Boolean

Parameters

nParameter A numeric p-Parameter.

nType The data type of the values being read.

Value Description
0 Long
1 Double
2 Single

nCode The ACR Group Code as documented in the ACR-View online help.

nIndex The ACR Group Index as documented in the ACR-View online help.

bstrCategory A textual description of the category a p-Parameter is in.

bstrDesc A textual description of the p-Parameter.

Return Returns TRUE if p-Parameter found.

Example Dim lngParam as Long

Dim blnParam as Boolean
Dim lngType as Long
Dim lngCode as Long
Dim lngIndex as Long
Dim strCat as String
Dim strDesc as String
blnParam=ACRNumericStatus1.GetParamInfo (lngParam, lngType,
lngCode, lngIndex, strCat, strDesc)

- 38 - Motion COMponents ActiveX User’s Guide

GetParamAddr
Description A wrapper method used to retrieve the memory address location of a
parameter.

Signature GetParamAddr (nParameter as Long)

Return Type Long

Parameters

nParameter A numeric p-Parameter.

Return Returns the address of the p-Parameter.

Example ACRNumericStatus1.GetParamAddr (6916)

GetLocalAddr
Description A wrapper method used to retrieve the memory address of a local
variable in a specific program.

Signature GetLocalAddr (nProg as Long, nType as Long, nSize as Long)

Return Type Long

Parameters

nProg Provide the program number local variables are dimensioned in a

program space.

nType The data type of the values being read:

Value Description
0 Long
1 Double
2 Single

nSize After the call, this parameter holds the number of dimensioned variable
available.

Return The return value is a valid ACR memory address (or zero if no memory is
dimensioned for the requested variable type.)

Example Dim lngSize as Long

Dim lngLocalAddr as Long
lngLocalAddr = ACRNumericStatus1.GetLocalAddr (0,0,lngSize)

Numeric Control Properties, Methods and Events - 39 -

GetLocalArrayAddress
Description A wrapper method used to retrieve the memory address if a local
variable array in a specific program.

Signature GetLocalArrayAddress (nProg as Long, nType as Long, nArray as

Long, nSize as Long)

Return Type Long

Parameters

nProg Provide the program number local variables are dimensioned in a

program space.

nType The data type of the values being read

Value Description
0 Long
1 Double
2 Single

nArray The specific array being looked for.

nSize After the call, this parameter holds the number of dimensioned variables
available.

Return The return value is a valid ACR memory address (or zero if no memory is
dimensioned for the requested variable type.)

Example Dim lngSize as Long

Dim lngValue as Long
lngValue = ACRNumericStatus1.GetLocalArrayAddress (0,0,0,lngSize)

GetStatus
Description A wrapper method used to retrieve the specific status information.

Signature GetStatus (nMsgID as Long)

Return Type Variant

Parameters

nMsgID The key to a specific status request as returned by one of the Add
routines.

Return The returned array can be any size. It holds the values in Variants, either
type long or double.

Example Dim msgid as Long

- 40 - Motion COMponents ActiveX User’s Guide

 Dim vntValues as Variant
msgid = ACRNumericStatus1.AddACRGroup (“P6916”)
vntValues=ACRNumericStatus1. GetStatus (msgid)

GetACRMemory
Description A wrapper method used to retrieve values requested from the specific
memory location.

Signature GetACRMemory (nType as Long, nAddress as Long, nCount as Long)

Return Type Variant

Parameters

nType The data type of the values being read

Value Description
0 Long
1 Double
2 Single

nAddress The starting physical memory address.

nCount The number of values to read (starting at the memory location.)

The values of each memory location will be placed in a corresponding
position in the returned array.

Return The returned array can be of any size but is limited to a single data type.

Example Dim vntACRMem as Variant

vntACRMem = ACRNumericStatus1. GetACRMemory (0,0,5)

GetACRGroup
Description A wrapper method used to get the requested parameter group.

Signature GetACRGroup (bstrRequest as String)

Return Type Variant

Parameters

bstrRequest String of up to 4 p-Parameters, comma delimited. These parameters are

used to look up the group, which is then used to return the 8 p-
Parameter values for each group. Any p-Parameter in a group can be
used to identify a group. Up to 4 groups can be requested and any
undocumented/reserved items in a group are returned as zero (for
example P6144 would return 8 values starting with the encoder position
for Axis0).

Numeric Control Properties, Methods and Events - 41 -

Return Return an array containing up to 32 Variants, each of which are of type
long or double. Each p-Parameter in the request results in a group of 8
values of the same type.

Example Dim vntValues() as Variant

vntValues=ACRNumericStatus1.GetACRGroup(“6916”)

GetACRCustom
Description A wrapper method used to get the requested Parameters.

Signature GetACRCustom (bstrRequest as String)

Return Type Variant

Parameters

bstrRequest String of up to 32 p-Parameters, comma delimited. These parameters

are used to look up the individual, or custom, p- Parameter values (for
example P6144, P6160 would return the encoder positions for Axis0 and
Axis1).

Return The GetACRCustom method Return an array of up to 32 Variants

(return type: long or double). Each p-Parameter in the request Return the
values of the type as defined in the Parameters Reference section of the
ACR User’s Guide-View online help.

Example Dim vntValues () as Variant

vntValues = ACRNumericStatus1. GetACRCustom (“6916”)

GetACRGroupRaw
Description A wrapper method used to get the requested parameter group from the
index and code.

Signature GetACRGroupRaw (nType as Long, nCode as Long, nIndex as Long)

Return Type Variant

Parameters

nType The data type of the values being read:

Value Description
0 Long
1 Double

- 42 - Motion COMponents ActiveX User’s Guide

 2 Single

nCode The ACR Group Code as documented in the ACR-View online help.

nIndex The ACR Group Index as documented in the ACR-View online help.

Return Return an array containing up to 8 Variants, all of which are of type long
or double.

Example Dim vntValues () as Variant

vntValues = ACRNumericStatus1.GetACRGroupRaw (“6916”)

SetACRMemory
Description A wrapper method used to changes the value at a specific memory
location

Signature SetACRMemory (nType as Long, nAddress as Long, Values as Variant)

Return Type N/A

Parameters

nType The data type of the values being read:

Value Description
0 Long
1 Double
2 Single

nAddress The starting physical memory address on the ACR product.

Values The data to be placed in memory starting at the address.

Return N/A

Example Dim vntValues () as Variant

vntValues (0) = 10
vntValues (1) = 20
vntValues (2) = 30
Call ACRNumericStatus1. SetACRMemory (0, 0, vntvalues)

Numeric Control Properties, Methods and Events - 43 -

SetACRMemoryMask
Description A wrapper method used to change the bit value(s) of a specific memory
location.

Signature SetACRMemoryMask (nAddress as Long, nNAND as Long, nOR as

Long)

Return Type N/A

Parameters

nAddress The starting physical memory address. This address must point to a
variable of type long for the mask to properly work.

nNAND Used to clear bits.

nOR Used to set bits.

Return N/A

Example ACRNumericStatus1.SetACRMemoryMask (0, 10, 5)

SetParamLongMask
Description A wrapper method used to change the long value through bitwise
operations.

Signature SetParamLongMask (nPparm as Long, nNAND as Long, nOR as Long)

Return Type N/A

Parameters

nPparm The parameter on the ACR product. This address must point to a
variable of type long for the mask to properly work.

nNAND Used to clear bits.

nOR Used to set bits.

Return N/A

Example ACRNumericStatus1.SetParamLongMask (6916, 10, 5)

- 44 - Motion COMponents ActiveX User’s Guide

InitPerformance
Description A wrapper method used to initialize the performance counter of the ISA
card to zero.

Signature InitPerformance ()

Return Type N/A

Parameters N/A

Return N/A

Example Call ACRNumericStatus1.InitPerformance

GetPerformance
Description A wrapper method used to retrieve the performance data of the ISA
Cards.

Signature GetPerformance ()

Return Type N/A

Parameters N/A

Return N/A

Example ACRNumericStatus1.GetPerformance

AddACRGroup
Description Method to add a group request into the status queue.

Signature AddACRGroup (bstrRequest as String)

Return Type Long

Parameters

bstrRequest String of up to 4 p-Parameters, comma delimited. These parameters are

used to look up the group, which is then used to return the 8 p-
Parameter values for each group. Any p-Parameter in a group can be
used to identify a group. Up to 4 groups can be requested and any
undocumented/reserved items in a group are returned as zero (for
example P6144 would return 8 values starting with the encoder position
for Axis0).

Numeric Control Properties, Methods and Events - 45 -

Return A key identifying the request in the queue. The key can be used to
retrieve data using GetStatus () (for example, when the alert is
signaled).

Example Dim lngID as Long

lngID = ACRNumericStatus1.AddACRGroup (“P6916”)

AddACRGroupRaw
Description Method to Add a group request into the status queue.

Signature AddACRGroupRaw (nType as Long, nCode as Long, nIndex as Long)

Return Type Long

Parameters

nType The data type of the values being read:

Value Description
0 Long
1 Double
2 Single

nCode The ACR Group Code as documented in the ACR-View online help.

nIndex The ACR Group Index as documented in the ACR-View online help.

Return A key identifying the request in the queue. The key can be used to
retrieve data using GetStatus ().
(for example, when the alert is signaled).

Example Dim lngID as Long

lngID=ACRNumericStatus1.AddACRGroupRaw (0, 0, 0)

AddACRCustom
Description Add a custom p-Parameter request into the status queue.

Signature AddACRCustom (bstrRequest as String)

Return Type Long

Parameters

- 46 - Motion COMponents ActiveX User’s Guide

 bstrRequest String of up to 32 p-Parameters, comma delimited. These parameters
are used to look up individual or custom p-Parameter values (for
example P6144, P6160 would return the encoder positions for Axis0 and
Axis1).

Return A key identifying the request in the queue. The key can be used to
retrieve data using GetStatus () (for example, when the alert is
signaled).

Example Dim lngID as Long

lngID=ACRNumericStatus1.AddACRCustom (“P6916”)

AddACRMemory
Description Add a memory value request into the status queue.

Signature AddACRMemory (nType as Long, nAddress as Long, nCount as Long)

Return Type Long

Parameters

nType The data type of the values being read:

Value Description
0 Long
1 Double
2 Single

nAddress The starting physical memory address on the ACR product.

nCount The number of values to read (starting at the memory location.) The
values of each memory location will be placed in a corresponding
position in the returned array.

Return A key identifying the request in the queue. The key can be used to
retrieve data using GetStatus () (for example, when the alert is
signaled).

Example Dim lngID as Long

lngID = ACRNumericStatus1.AddACRMemory (0, 0, 2)

DelStatus
Description Delete a status request from the status queue.

Signature DelStatus (nMsgID as Long)

Numeric Control Properties, Methods and Events - 47 -

Return Type N/A

Parameters

nMsgID The key to a specific status request as returned by one of the Add
routines.

Return N/A

Example Dim msgid as Long

msgid = ACRNumericStatus1.AddACRGroup(“P6916”)
Call ACRNumericStatus1.DelStatus (msgid)

Events

DataChanged
Description This event will fire when the data requested has changed.

Signature DataChanged ()

Return Type N/A

Parameters N/A

Return N/A

Example Private Sub ACRNumericStatus1_DataChanged

MsgBox “Data Changed”
End sub

- 48 - Motion COMponents ActiveX User’s Guide

Moves Control Properties and Methods

Moves control doesn’t have a dialog and primarily will be a wrapper for properties and methods of
the ComACRSrvr.dll. With this control we can perform movement in the motor one is linear move
and the other is arc move.

Moves Control contains the following Properties and Methods.

Properties
• Long MoveProfile
• Double MoveVel
• Double MoveFVel
• Double MoveAcc
• Long MoveMode
• Boolean MoveAbsolute
• Long MoveCounter
• Long ArcMode
• Boolean ArcAbsolute
• Boolean ArcCCW
• Object ConnectionControl

Methods
• Void Moves (nmask As Long, targets As Variant)
• Void MoveBatch (nmask As Long, movement As Variant)
• Void Arc (nmask As Long, targets As Variant)
• Void MoveStop (bdecel As Boolean)
• Void SendRes (nmask As Long)
• Void GetMoveCounter (nCounter As Long, nIncrement As Long)
• Void SetMoveCounter (nCounter As Long, nIncrement As Long)

Moves Control Properties and Methods - 49 -

Properties

MoveProfile
Description This property specifies the master profile for use to move. Wraps the
ComACRsrvr property nMoveProfile.

Property MoveProfile
Return Type Long
Range 0-15
Default 0
Example ACRMoves1.MoveProfile = 1

MoveVel
Description This property sets the linear velocity for the next move. Wraps the
ComACRsrvr property fMoveVel.

Property MoveVel
Return Type Double
Range N/A
Default -1 (Use Preset Velocity)
Example ACRMoves1.MoveVel = 11.25

MoveFVel
Description This property sets the final velocity for the next move. Wraps the
ComACRsrvr property fMoveFVel.

Property MoveFVel
Return Type Double
Range N/A
Default -1 (Use Preset Velocity)
Example ACRMoves1.MoveFVel = 12.25

MoveAcc
Description This property sets the Acceleration to be used with a linear move. Wraps
the ComACRsrvr property fMoveAcc.

Property MoveAcc
Return Type Double
Range N/A
Default -1 (Use Preset Velocity)
Example ACRMoves1.MoveAcc = 7.50

- 50 - Motion COMponents ActiveX User’s Guide

MoveMode
Description This property sets the mode of movement. Wraps the ComACRsrvr
property nMoveMode.

Property MoveMode
Return Type Long
Range 0-3
Default 2
Example ACRMoves1.MoveMode = 2

MoveAbsolute
Description This property sets the absolute co-ordinate system or incremental co-
ordinate system. Wraps the ComACRsrvr property bMoveAbsolute.

Property MoveAbsolute
Return Type Boolean
Range N/A
Default TRUE (Absolute Moves)
Example ACRMoves1.MoveAbsolute = True

MoveCounter
Description This property enables the move counter. Wraps the ComACRsrvr
property nMoveCounter.

Property MoveCounter
Return Type Long
Range -1, 0 and 1
Default 1 (ON, Count UP)
Example ACRMoves1.MoveCounter = 1

ArcMode
Description This property determines primary and secondary axes when performing
the arc move. Wraps the ComACRsrvr property nArcMode.

Property ArcMode
Return Type Long
Range 0-3
Default 0
Example ACRMoves1.ArcMode = 1

Moves Control Properties and Methods - 51 -

ArcAbsolute
Description This property determines whether the arc centers are treated in Absolute
terms or in relative terms. Wraps the ComACRsrvr property
bArcAbsolute.

Property ArcAbsolute
Return Type Boolean
Range N/A
Default TRUE (Arc Absolute Centers)
Example ACRMoves1.ArcAbsolute = True

ArcCCW
Description This property determines the direction of the arc move. Wraps the
ComACRsrvr property bArcCCW.

Property ArcCCW
Return Type Boolean
Range N/A
Default TRUE (CCW)
Example ACRMoves1.ArcCCW = True

Connectioncontrol
Description This property will hold the reference of the instance of connection
control.

Property Connectioncontrol
Return Type Object
Range N/A
Default N/A
Example Set ACRMoves1.ConnectionControl=ACRConnection1

- 52 - Motion COMponents ActiveX User’s Guide

Methods

Moves
Description This wrapper method will generate the move.

Signature Moves (nMask As Long, targets As Variant)

Return Type N/A

Parameters

nMask Specifies which axes to use for move.

targets The target position information for each specified axis.

Return N/A

Example Dim nMask As Long

Dim targets (0 To 1) As Variant
targets (0) = 150
targets (1) = 150
nMask = 2
ACRMoves1.Moves (nMask, targets)

MoveBatch
Description This wrapper method will send a set of fully defined moves for batch
processing.

Signature MoveBatch (nmask As Long, movement As Variant)

Return Type N/A

Parameters

nMask The data type of values being read.

Movement Data required for completing any number of moves.

Return N/A

Example Dim nMask as long

Dim movement (0 To 31) As Variant
nMask = 0
movement (0) = 136
movement (1) = 0
movement (2) = 3
movement (3) = 3
movement (4) = 0

Moves Control Properties and Methods - 53 -

 movement (5) = 0
movement (6) = 0
movement (7) = 0
movement (8) = 0#
movement (9) = 0#
movement (10) = 0#
movement (11) = 15
movement (12) = 15
movement (13) = 0
movement (14) = 0
movement (15) = 0
movement (16) = 0
movement (17) = 0
movement (18) = 0
movement (19) = 0
movement (20) = 0
movement (21) = 0
movement (22) = 0
movement (23) = 0
movement (24) = 0
movement (25) = 0
movement (26) = 0
movement (27) = 0
movement (28) = 0
movement (29) = 0#
movement (30) = 0#
movement (31) = 0#
ACRMoves1.MoveBatch (nMask, fValue)

Arc
Description This wrapper method will generate an Arc move.

Signature Arc (nMask As Long, targets As Variant)

Return Type N/A

Parameters

nMask Specifies which axes to use for move.

targets The arc centers the target position information for each axis.

Return N/A

Example Dim nmask As Long

Dim targets (0 To 3) As Variant
targets (0) = 5
targets (1) = 0
targets (2) = 10
targets (3) = 0
nMask = 2
ACRMoves1.Arc (nMask, targets)

- 54 - Motion COMponents ActiveX User’s Guide

MoveStop
Description This wrapper method stops the commanded motion.

Signature MoveStop (bDecel as Boolean)

Return Type N/A

Parameters

bDecel Determines how to stop the motion.

Value Description
TRUE Stop All Moves
FALSE Kill All Moves

Return When the bDecel parameter is TRUE, a Stop All Moves flag is set using
the binary command.
When the bDecel parameter is FALSE, a Kill All Moves flag is set using
binary.

Example Dim bDecel as Boolean

bDecel = TRUE
ACRMoves1.MoveStop (bDecel)

SendRes
Description This wrapper method resets the position counters of the ACR Controller.

Signature SendRes (nMask as Long)

Return Type N/A

Parameters

nMask Specifies which axes to apply the RES.

Return

Example Dim nMask As Long

nMask = 2
ACRMoves1.SendRes (nMask)

Moves Control Properties and Methods - 55 -

GetMoveCounter
Description This wrapper method retrieves the move counter from the ACR
Controller.

Signature GetMoveCounter (nCounter As Long, nIncrement As Long)

Return Type N/A

Parameters

nCounter The index value of the move currently active on the controller.

nIncrement The step used to increment the nCounter.

Return The nCounter and nIncrement are both updated after calling this method.

Example Dim nCounter as long

Dim nIncrement as long
nCounter = 0
nIncrement = 0
ACRMoves1.GetMoveCounter (nCounter, nIncrement)

SetMoveCounter
Description This wrapper method sets the move counter of the ACR Controller.

Signature SetMoveCounter (nCounter As Long, nIncrement As Long)

Return Type N/A

Parameters

nCounter The index value of the move currently active on the controller.

nIncrement The step used to increment the nCounter.

Return N/A

Example Dim nCounter as long

Dim nIncrement as long
nCounter = 2
nIncrement = 2
ACRMoves1.SetMoveCounter (nCounter, nIncrement)

- 56 - Motion COMponents ActiveX User’s Guide

Feedrate Control Properties and Methods

The Feedrate control is used to manipulate the move by either increasing or decreasing the
speed of the motor. The motor can also be paused while the motor is in motion and can also be
unpaused.

Feedrate Control contains the following Properties and Methods.

Properties
• Long MotionProfile
• Double FOV
• Double MinFOV
• Double MaxFOV
• Object ConnectionControl

Methods
• Void SetFOV (nMask As Long, fValue As Double)
• Void SetROV (nMask As Long, fValue As Double)

Properties

MotionProfile
Description This property holds the Master number that the control will be using.

Property MotionProfile
Return Type Long
Range 0 – 15
Default 0
Example ACRFeedRate1.MotionProfile = 0

FOV
Description This property holds the Feedrate override value for the current Master
profile. This value will either increase or decrease the speed of the
motor. FOV should always be within MinFov and MaxFov.

Property FOV
Return Type Double
Range N/A
Default 1
Example ACRFeedRate1.FOV = 1.25

Feedrate Control Properties and Methods - 57 -

MinFOV
Description This property holds the Minimum Feedrate override value for the current
Master profile. This property keeps check on the lower boundary of FOV.

Property MinFOV
Return Type Double
Range N/A
Default 1
Example ACRFeedRate1.MinFov = 1.0

MaxFOV
Description This property holds the Maximum Feedrate override value for the current
Master profile. This property keeps check on the upper boundary of FOV.

Property MaxFOV
Return Type Double
Range N/A
Default 100
Example ACRFeedRate1.MaxFov = 7.50

ConnectionControl
Description This property will hold the reference of the instance of connection
control.

Property Connectioncontrol
Return Type Object
Range N/A
Default N/A
Example Set ACRFeedRate1.ConnectionControl=ACRConnection1

- 58 - Motion COMponents ActiveX User’s Guide

Methods

SetFOV
Description This wrapper method will set the Feedrate override value for the current
master profile.

Signature SetFOV (nMask As Long, fValue As Double)

Return Type N/A

Parameters

nMask Specifies which axes to use for setting the FOV

fValue Set the FOV value for all the specified axes in nMask.

Return N/A

Example Dim nMask as long

Dim fValue as double
nMask = 3
fValue = 1.25
ACRFeedRate1.SetFOV (nMask, fValue)

SetROV
Description This wrapper method will set the Rapid Feedrate override value for the
current master profile.

Signature SetROV (nMask As Long, fValue As Double)

Return Type N/A

Parameters

nMask Specifies which axes to use for setting the ROV

fValue Set the ROV value for all the specified axes in nMask.

Return N/A

Example Dim nMask as long

Dim fValue as double
nMask = 3
fValue = 1.25
ACRFeedRate1.SetROV (nMask, fValue)

CANopen Control Properties and Methods - 59 -

CANOpen Control Properties and Methods

The CANOpen control is used to configure and start the CANOpen I/O Network based on the
value of Master Node ID, Bit Rate, Cyclic period and Number of Slave nodes set by the User.

CANOpen control contains following Properties, and Methods.

Properties

• Long MasterNodeID
• Long BitRate
• Long CyclicPeriod
• Long NumSlaveNodes
• Object ConnectionControl

Methods

• Void CalcBitRate ()
• Void CalcCyclicPeriod ()
• Void SetSlaveNodeID (slavenodes as Integer)
• Integer GetSlaveNodeID ()
• Void StartCANOpen ()
• Void ResetCANOpen ()
• Void GetCANOpenStatus ()

- 60 - Motion COMponents ActiveX User’s Guide

Properties

MasterNodeID
Description Represents the MasterNodeID of the CANOpen network.

Property MasterNodeId
Return Type Long
Range 1 - 127
Default 5
Example ACRCANOpen1.MasterNodeId =5

BitRate
Description Represents the Bit Rate for the CANOpen network in kbps.

Property BitRate
Return Type Long
Range 10,20,50,125,250,500,800,1000
Default 125
Example ACRCANOpen1.BitRate =125

CyclicPeriod
Description Represents the Cyclic period of the CANOpen network (in ms).

Property CyclicPeriod
Return Type Long
Range N/A
Default 50
Example ACRCANOpen1.CyclicPeriod =50

NumSlaveNodes
Description Holds the value of number of slave nodes on the Network (Range 0- 4).

Property NumSlaveNodes
Return Type Long
Range 0-4
Default 1
Example ACRCANOpen1.NumSlaveNodes =3

CANopen Control Properties and Methods - 61 -

ConnectionControl
Description This property will hold the reference of the instance of connection
control.

Property Connectioncontrol
Return Type Object
Range N/A
Default N/A
Example Set ACRCANOpen1.ConnectionControl=ACRConnection1
‘ACRConnection1 is the name of Connection Control in the
‘Current form

- 62 - Motion COMponents ActiveX User’s Guide

Methods

CalcBitRate
Description Displays the BitRate Table selection dialog.

Signature CalcBitRate ()

Return Type N/A

Parameters N/A

Return N/A

Example Call ACRCANOpen1.CalcBitRate

CalcCyclicPeriod

Description Displays the CalcCyclicPeriod Table calculator dialog.

Signature CalcCyclicperiod ()

Return Type N/A

Parameters N/A

Return N/A

Example Call ACRCANOpen1.CalcCyclicperiod

SetSlaveNodeID
Description Sends an array of integers that represents the NodeID for each of the
Slave Nodes.

Signature SetSlaveNodeID (slavenodes as Integer)

Return Type N/A

Parameters

Slavenodes It is an integer array those values are to be set to slave nodes.

Return N/A

CANopen Control Properties and Methods - 63 -

Example Dim slavenodes (3) as Integer
Slavenodes (0)=3
Slavenodes (1)=6
Slavenodes (2)=7
Slavenodes (3)=9
Call ACRCANOpen1.SetSlaveNodeID (slavenodes)

GetSlaveNodeID
Description Retrieves an array of integers that represents NodeID for each of the
Slave Nodes.

Signature GetSlaveNodeID ()

Return Type Integer

Parameters N/A

Return This method returns integer array that represents all slave node ids.

Example Dim I () as Integer

I =ACRCANOpen1.GetSlaveNodeID

StartCANOpen
Description This method activates the CANOpen Network.

Signature StartCANOpen ()

Return Type N/A

Parameters N/A

Return N/A

Example Call ACRCANOpen1.StartCANOpen

ResetCANOpen
Description Method is used to stop and reset the CANOpen Network.

Signature ResetCANOpen ()

Return Type N/A

Parameters N/A

Return N/A

Example Call ACRCANOpen1.ResetCANOpen

- 64 - Motion COMponents ActiveX User’s Guide

GetCANOpenStatus

Description This method is used to request and retrieve the status of the CANOpen
Network and displays in the Display textbox.

Signature GetCANOpenStatus ()

Return Type N/A

Parameters N/A

Return N/A

Example Call ACRCANOpen1.GetCANOpenStatus ()

CANopen Control Properties and Methods - 65 -

TeachPanel Control Properties and Methods

The TeachPanel control is used to play movements in the controller and record the same. Jog
Neg and Jog Pos are the 2 different movements, which can be handled, in three different modes.
Continuous, Incremental and Whileheld are the three modes. While the drive is rotating we can
capture the position and store it in an array. The captured array can be cleared or stored in a
CSV file. Through the button named Enable we can enable the drive and with the button named
EStop we can stop the motor while in motion.

TeachPanel Control contains the following Properties and Methods.

Properties

• Double ActualPos
• Long Axis
• Boolean DriveEnable
• Boolean DriveFault
• Boolean PosLimit
• Boolean NegLimit
• Boolean Home
• Long TeachArrayIndex
• Double Velocity
• Double Acceleration
• Double TargetPosition
• Long PPU
• Long JogMode
• Boolean HomeDirectionPositive
• Boolean DisableDriveOnEStop
• Long Pollrate
• Object ConnectionControl

Methods

• Void JogNeg ()
• Void JogPos ()
• Void JogStop ()
• Void EnableDrive (DriveStatus as string)
• Void KillAllMotion (StopStatus as string)
• Void HomePos (Direction as Long)
• Void ClearPos ()
• Void CapturePos ()
• Void ClearArray ()
• Void SaveArray ()

- 66 - Motion COMponents ActiveX User’s Guide

Properties

ActualPos
Description This is a read only property, which holds the current position of the
motor.

Property ActualPos
Return Type Double
Range N/A
Default N/A
Example Dim actPosition as Double
actPosition = ACRTeachPanel1.ActualPos

Axis
Description This property holds the value of the Axis.

Property Axis
Return Type Long
Range 0-15
Default 0
Example ACRTeachPanel1.Axis = 7

DriveEnable
Description This is a read only property, which stores the drive enable status in this
property. If the value of this property is true then it represents drive is
enabled, and if the value is false it represents drive is disabled.

Property DriveEnable
Return Type Boolean
Range N/A
Default N/A
Example Dim bdriveEnable as Boolean
bdriveEnable = ACRTeachPanel1.DriveEnable

DriveFault
Description Drive fault will be stored in this read only property. If the value of this
property is true then it represents drive is disabled, and if the value is
false it represents drive is enabled.

Property DriveFault
Return Type Boolean
Range N/A
Default N/A
Example Dim bdriveFault as Boolean
bdriveFault = ACRTeachPanel1.DriveFault

TeachPanel Control Properties and Methods - 67 -

PosLimit
Description Maximum positive limit status will be stored in this read only property.
True represents drive has reached positive limit, false represents drive
has not yet reached the positive limit.

Property PosLimit
Return Type Boolean
Range N/A
Default N/A
Example Dim bPosLimit as Boolean
bPosLimit = ACRTeachPanel1.PosLimit

NegLimit
Description Maximum negative limit status will be stored in this read only property.
True represents drive has reached negative limit, false represents drive
has not yet reached the negative limit.

Property NegLimit
Return Type Boolean
Range N/A
Default N/A
Example Dim bNegLimit as Boolean
bNegLimit = ACRTeachPanel1.NegLimit

Home
Description Read only property, which represents the home state of the drive. If true
then the position of the drive is in home state.

Property Home
Return Type Boolean
Range N/A
Default N/A
Example Dim bHome as Boolean
bHome = ACRTeachPanel1.Home

TeachArrayIndex
Description This is a read only property which holds the running index of the teach
array index. For every click on the CapturePos the index will be
increased by one. This will be zero when ClearPos is clicked.

Property TeachArrayIndex
Return Type Long
Range N/A
Default 0
Example Dim lngTeachArrayIndex as Long
lngTeachArrayIndex = ACRTeachPanel1.TeachArrayIndex

- 68 - Motion COMponents ActiveX User’s Guide

Velocity
Description This property is used to make the movement of the motor and its value
should be greater than zero.

Property Velocity
Return Type Double
Range N/A
Default N/A
Example ACRTeachPanel1.Velocity = 33.88

Acceleration
Description This property increases the speed of the motor and its value should be
greater than zero.

Property Acceleration
Return Type Double
Range N/A
Default N/A
Example ACRTeachPanel1.Acceleration = 88.33

TargetPosition
Description Property, which makes the jog movement, if JogPos is clicked then the
movement will be in positive direction based on the Incremental distance
text box. If JogNeg is clicked then the movement will be in negative
direction based on the Incremental distance text box.

Property TargetPosition
Return Type Double
Range N/A
Default N/A
Example ACRTeachPanel1.TargetPosition = 20.235

PPU
Description Pulses Per Unit will be stored in this property.

Property PPU
Return Type Long
Range N/A
Default N/A
Example ACRTeachPanel1.PPU = 8000

TeachPanel Control Properties and Methods - 69 -

JogMode
Description Mode for the jog operation will be stored in this property.
0 – Continuous
1 – Whileheld
2 – Incremental

Property JogMode
Return Type Long
Range 0-2
Default 0
Example ACRTeachPanel1.Jogmode = 1

HomeDirectionPositive
Description Property that determines whether the motion should happen in the
positive direction or in negative direction. If the Boolean value is true,
then positive direction else negative direction.

Property HomeDirectionPositive
Return Type Boolean
Range N/A
Default TRUE
Example ACRTeachPanel1.HomeDirectionPositive = True

DisableDriveOnEStop
Description Property determines whether the drives should be disabled or not while
stopping. If true the drives are disabled while pressing EStop button else
drives will not be disabled.

Property DisableDriveOnEStop
Return Type Boolean
Range N/A
Default TRUE
Example ACRTeachPanel1.DisableDriveonEstop = True

Pollrate
Description Delay time between fetching values from the ACR Controller will be
stored in this property.

Property Pollrate
Return Type Long
Range N/A
Default 10
Example ACRTeachPanel1.Pollrate = 10

- 70 - Motion COMponents ActiveX User’s Guide

Connectioncontrol
Description This property will hold the reference of the instance of connection
control.

Property Connectioncontrol
Return Type Object
Range N/A
Default N/A
Example Set ACRTeachPanel1.ConnectionControl=ACRConnection1

TeachPanel Control Properties and Methods - 71 -

Methods

JogNeg
Description This method will make the jog movement in negative direction.

Signature JogNeg ()

Return Type N/A

Parameters N/A

Return N/A

Example ACRTeachPanel1.JogNeg ()

JogPos
Description This method will make the jog movement in positive direction.

Signature JogPos ()

Return Type N/A

Parameters N/A

Return N/A

Example ACRTeachPanel1.JogPos ()

JogStop
Description This method will stop the jog movement.

Signature JogStop ()

Return Type N/A

Parameters N/A

Return N/A

Example ACRTeachPanel1.JogStop ()

- 72 - Motion COMponents ActiveX User’s Guide

EnableDrive

Description This method will either enable or disable the drive based on the value of
the drivestatus string. If the value of Drivestatus string is “On” then the
drive is enabled or if the drivestatus string is “Off” then it is disabled.

Signature EnableDrive (Drivestatus as string)

Return Type N/A

Parameters

Drivestatus Sends the string either “ON” or “OFF”.

Return N/A

Example Dim Drivestatus as string

Drivestatus = “ON”
ACRTeachPanel1.Enabledrive (Drivestatus)

KillAllMotion
Description This method will stop the motion of the motor by sending the values Ctrl
+ Z or Ctrl + X if the caption of the EStop button is “EStop”. If the button
caption is “Clear EStop” then Ctrl + Y will be sent to the controller to clear
the flags.

Signature KillAllMotion (Stopstatus as string)

Return Type N/A

Parameters

StopStatus Sends the character value of Ctrl + Z, Ctrl + Y or Ctrl + X.

Return N/A

Example Dim StopStatus as string

StopStatus = chr (24)
ACRTeachPanel1.KillAllMotion (StopStatus)

TeachPanel Control Properties and Methods - 73 -

HomePos
Description This method will make the jog movement either in Positive direction or in
Negative direction based on the value of the property
HomeDirectionPositive.

Signature HomePos (Direction as Long)

Return Type N/A

Parameters This long variable holds either 1 or –1. Value 1 makes rotates the motor
in positive direction and –1 rotates the motor in negative direction.

Return N/A

Example ACRTeachPanel1.HomePos ()

ClearPos
Description This method will make the AcutalPos property to zero.

Signature ClearPos ()

Return Type N/A

Parameters N/A

Return N/A

Example ACRTeachPanel1.ClearPos ()

CapturePos
Description This method will capture the present ActualPos value in an array.

Signature CapturePos ()

Return Type N/A

Parameters N/A

Return N/A

Example ACRTeachPanel1.CapturePos ()

- 74 - Motion COMponents ActiveX User’s Guide

ClearArray
Description This method will clear the so far captured positions from the array.

Signature ClearArray ()

Return Type N/A

Parameters N/A

Return N/A

Example ACRTeachPanel1.ClearArray ()

SaveArray
Description This method will save the so far captured position into a CSV file.

Signature SaveArray ()

Return Type N/A

Parameters N/A

Return N/A

Example ACRTeachPanel1.SaveArray ()

TeachPanel Control Properties and Methods - 75 -

PlaybackPanel Control Properties and Methods

The Playback Panel control is used to play various teach point movements and also playback
array movements. The movement can be paused and can be resumed. Through this control we
can also perform row-by-row movement. This control saves the played points in a CSV file.
Events can also be saved against the points in a separate grid. Velocity, Acceleration,
Deceleration and StopRamp has to be provided for the movement of the motor.

Playback Panel Control contains the following Properties and Methods.

Properties
• Long StartingIndex
• Long CurrentIndex
• Double Velocity
• Double Acceleration
• Double Deceleration
• Double StopRamp
• Long MasterProfile
• Object ConnectionControl

Methods
• Void ImportArray (strCSVFileName as String)
• Void ImportFromTeach (strCSVFileName as String)
• Void AddEvent ()
• Void Playback ()
• Void StepPlayback ()
• Void SaveArray (strCSVFileName as string)
• Void PausePlayback ()
• Void ResumePlayback ()
• Void StopPlayback ()
• String GetValue (lngRow As Long, lngCol As Long) As String
• Void SetValue (lngRow As Long, lngCol As Long, strValue As String)

Properties

StartingIndex
Description This property holds the starting index value for the StepNext point
movement. This property should be greater than zero. This property will
be used only for the first time when StepPlayback is clicked.

Property StartingIndex
Return Type Long
Range N/A
Default N/A
Example ACRPlaybackPanel1.StartingIndex = 3

- 76 - Motion COMponents ActiveX User’s Guide

CurrentIndex

Description This read only property holds the index of the current row while playing.
This property gets increased one by one while playing.

Property CurrentIndex
Return Type Long
Range N/A
Default 0
Example Dim lngCurrIndex as Long
ACRPlaybackPanel1.CurrentIndex = lngCurrIndex

Velocity
Description Velocity value will be stored in this property. Velocity should be greater
than zero for the movement of the motor.

Property Velocity
Return Type Double
Range N/A
Default 0
Example ACRPlaybackPanel1.Velocity = 20

Acceleration
Description Acceleration value will be stored in this property. This property increases
the speed of the motor.

Property Acceleration
Return Type Double
Range N/A
Default 0
Example ACRPlaybackPanel1.Acceleration = 20

Deceleration
Description Deceleration value will be stored in this property. This property
decreases the speed of the motor.

Property Deceleration
Return Type Double
Range N/A
Default 0
Example ACRPlaybackPanel1.Deceleration = 20

PlaybackPanel Control Properties and Methods - 77 -

StopRamp
Description StopRamp value will be stored in this property. This property will be used
to stop the motor while in motion.

Property StopRamp
Return Type Double
Range N/A
Default 0
Example ACRPlaybackPanel1.StopRamp = 20

MasterProfile
Description MasterProfile value will be stored in this property. This represents which
master is being used.

Property MasterProfile
Return Type Long
Range 0 – 15
Default 0
Example ACRPlaybackPanel1.MasterProfile = 2

Connectioncontrol
Description This property will hold the reference of the instance of connection
control.

Property Connectioncontrol
Return Type Object
Range N/A
Default N/A
Example Set ACRPlaybackPanel1.ConnectionControl = ACRConnection1

- 78 - Motion COMponents ActiveX User’s Guide

Methods

ImportArray
Description This method will load the CSV file into the Grid.

Signature ImportArray (strCSVFilename as string)

Return Type N/A

Parameters

strCSVFileName Filename of the CSV File.

Return N/A

Example ACRPlaybackPanel1.ImportArray (strCSVFileName)

ImportFromTeach
Description This method will load the CSV file created through TeachPanel Control.

Signature ImportFromTeach (strCSVFileName As String)

Return Type N/A

Parameters

strCSVFileName Filename of the CSV File.

Return N/A

Example Dim strReadLine as string

strReadLine = “c:\Array.CSV”
ACRPlaybackPanel1.ImportFromTeach (strCsvFileName)

AddEvent
Description This method will add the command string and the added event will be
played back.

Signature AddEvent ()

Return Type N/A

Parameters N/A

Return N/A

PlaybackPanel Control Properties and Methods - 79 -

Example ACRPlaybackPanel1.AddEvent ()

Playback
Description This method will download the file to the controller and execute the
playback points.

Signature Playback ()

Return Type N/A

Parameters N/A

Return N/A

Example ACRPlaybackPanel1.Playback ()

StepPlayback
Description This method will perform the playback for one step from the current
Index.

Signature StepPlayback ()

Return Type N/A

Parameters N/A

Return N/A

Example ACRPlaybackPanel1.StepPlayback ()

SaveArray
Description This method will save the teach point array and the Event if available.

Signature SaveArray (strCSVFilename as string)

Return Type N/A

Parameters

strCSVFileName Filename of the CSV file

Return N/A

Example Dim strCSVFileName as string

- 80 - Motion COMponents ActiveX User’s Guide

 strCSVFileName = “c:\Array.csv”
ACRPlaybackPanel1.SaveArray (strCSVFileName)

PausePlayback
Description This method will pause the movement of the motor at the current index.

Signature PausePlayback ()

Return Type N/A

Parameters N/A

Return N/A

Example ACRPlaybackPanel1.PausePlayback ()

ResumePlayback
Description This method will resume the movement of the motor from the paused
stage.

Signature ResumePlayback ()

Return Type N/A

Parameters N/A

Return N/A

Example ACRPlaybackPanel1.ResumePlayback ()

StopPlayback
Description This method will stop the movement of the motor at the current index.

Signature StopPlayback ()

Return Type N/A

Parameters N/A

Return N/A

Example ACRPlaybackPanel1.StopPlayback ()

PlaybackPanel Control Properties and Methods - 81 -

GetValue
Description This function will retrieve the value from the Grid for the specified row
and column.

Signature GetValue (lngRow As Long, lngCol As Long)

Return Type String

Parameters

lngRow Row number has to be provided.

lngCol Col number has to be provided.

Return This function returns the value of the cell specified in lngRow and lngCol.

Example Dim lngRow as long, lngCol as long

lngRow = 2
lngCol = 2
ACRPlaybackPanel1.GetValue (lngRow, lngCol)

SetValue
Description This method will update the grid cell at the specified row and column with
the specified value.

Signature SetValue (lngRow As Long, lngCol As Long, strValue As String)

Return Type N/A

Parameters

lngRow Row number has to be provided.

lngCol Col number has to be provided.

strValue Value to be placed in the Grid cell.

Return N/A

Example Dim lngRow as long, lngCol as long

Dim strValue as string
lngRow = 2
lngCol = 2
strValue = 23.55
ACRPlaybackPanel1.SetValue (lngRow, lngCol, strValue)

- 82 - Motion COMponents ActiveX User’s Guide

StatusPanel Control Properties Methods and Events

The Status Panel Control displays the status of the most commonly used bits and the numeric
value of the P-parameters.

Status Panel Control contains following Properties, Methods, and Events.

Properties

• Long PollRate
• Object ConnectionControl

Methods

• Boolean GetMasterBitStatus (Row as Integer, Col as Integer)

• Boolean GetAxisBitStatus (Row as Integer, Col as Integer)
• Variant GetMasterNumericStatus (Row as Integer, Col as Integer)
• Variant GetAxisNumericStatus (Row as Integer, Col as Integer)

Events
• Void DataChanged ()

StatusPanel Control Properties and Methods - 83 -

Properties

Pollrate
Description This property indicates the period in milliseconds to poll for the status.
This value must be set assigned to
ACRConnection1.ObjStatus.nStatusWaitRate before calling Connect
method.

Property Pollrate
Return Type Long
Range N/A
Default 10
Example ACRStatusPanel1.PollRate=100

ConnectionControl
Description This property will hold the reference of the instance of connection
control.

Property ConnectionControl
Return Type Object
Range N/A
Default N/A
Example Set ACRStatusPanel1.ConnectionControl=ACRConnection1

‘ACRConnection1 is the name of Connection Control in the

‘Current form

- 84 - Motion COMponents ActiveX User’s Guide

Methods

GetMasterBitStatus

Description Returns the value from the user interface for a particular label in master
bit status display.

Signature GetMasterBitStatus (Row as Integer, Col as Integer)

Return Type Boolean

Parameters

Row Holds the number of label in master bit status tab.

Range 0-7
0 Moving
1 Accelerating
2 Decelerating
3 Stopping
4 Kill All Moves Request
5 Program Running
6 Program Inhibited
7 Program Dwelling

Col Holds the Master Number (Range 0- 7).

Return Return value TRUE represents the corresponding bit is glowing and
value FALSE represents the corresponding bit is not glowing.

Example Dim blnStatus as Boolean

‘ To get Moving status of Master 0
blnStatus=ACRStatusPanel1.GetMasterBitStatus (0, 0)
‘ To get Moving status of Master 1
blnStatus=ACRStatusPanel1.GetMasterBitStatus (0, 1)

GetAxisBitStatus

Description Returns the value from the user interface for a particular label in axis bit
status display.

Signature GetAxisBitStatus (Row as Integer, Col as Integer)

Return Type Boolean

Parameters

Row Holds the number of label in axis bit status tab.

StatusPanel Control Properties and Methods - 85 -

 Range 0-9.
0 Drive Enable
1 Drive Fault
2 Kill All Motion Request
3 Jog Active
4 Positive Hard Limit
5 Negative Hard Limit
6 Positive Soft Limit
7 Negative Soft Limit
8 Home Found
9 Maximum Position Error

Col Holds the Axis Number (Range 0- 7).

Return Return value TRUE represents the corresponding bit is glowing and
value FALSE represents the corresponding bit is not glowing.

Example Dim blnStatus as Boolean

‘ To get “Drive Enable” status for Axis 0
blnStatus=ACRStatusPanel1.GetAxisBitStatus (0, 0)
‘To get “Drive Enable” status for Axis 1
blnStatus=ACRStatusPanel1.GetAxisBitStatus (0, 1)
‘To get “Drive Fault” status for Axis 0
blnStatus=ACRStatusPanel1.GetAxisBitStatus (1, 0)
‘To get “Drive Fault” status for Axis 1
blnStatus=ACRStatusPanel1.GetAxisBitStatus (1, 1)

GetMasterNumericStatus

Description Returns the value from the user interface for a particular label in master
numeric status display.

Signature GetMasterNumericStatus (Row as Integer, Col as Integer)

Return Type Variant

Parameters

Row Holds the number of label in master numeric status tab.

Range 0-4.
0 Vel
1 Acc
2 Distance Into Move
3 Distance To Go
4 Program Line Number

Col Holds the Master Number (Range 0- 7).

Return This returns the variant value of the corresponding cell from the grid.

Example Dim vntValue as Variant

- 86 - Motion COMponents ActiveX User’s Guide

 ‘ To get “vel” value for axis0
vntValue =ACRStatusPanel1.GetMasterNumericStatus (0,0)
‘ To get “vel” value for axis1
vntValue =ACRStatusPanel1.GetMasterNumericStatus (0,1)
‘ To get “Acc” value for axis0
vntValue =ACRStatusPanel1.GetMasterNumericStatus (1,0)
‘To get “Acc” value for axis1
vntValue =ACRStatusPanel1.GetMasterNumericStatus (1,1)

GetAxisNumericStatus

Description Returns the value from the user interface for a particular label in axis
numeric status display.

Signature GetAxisNumericStatus (Row as Integer, Col as Integer)

Return Type Variant

Parameters

Row Holds the number of label in axis numeric status tab.

Range 0 - 7.
0 Current Position
1 Target Position
2 Actual Position
3 Jog Offset
4 Jog Vel Setting
5 Jog Vel Current
6 Jog Acc Setting
7 Jog Acc Current

Col Holds the axis number (Range 0- 7).

Return This returns the variant value of the corresponding cell from the grid.

Example Dim vntValue as variant

‘ To get “Current Position” value for Axis 0

vntValue=ACRStatusPanel1.GetAxisNumericStatus (0,0)

‘ To get “Current Position” value for Axis 1

vntValue=ACRStatusPanel1.GetAxisNumericStatus (0,1)

‘To get “Target Position” value for Axis 0

vntValue=ACRStatusPanel1.GetAxisNumericStatus (1,0)

‘To “Target Position” value for Axis 1

vntValue=ACRStatusPanel1.GetAxisNumericStatus (1,1)

StatusPanel Control Properties and Methods - 87 -

Events

DataChanged
Description This event will fire when the data requested has changed.

Signature DataChanged ()

Return Type N/A

Parameters N/A

Return N/A

Example Private Sub ACRStatusPanel1_DataChanged ()

MsgBox “DataChanged”
End sub

- 88 - Motion COMponents ActiveX User’s Guide

DriveTalk Control Properties and Methods

The DriveTalk Control is the primary mechanism for configuration of DriveTalk communication
with DriveTalk enabled drives. This is also the main mechanism for retrieving Drive Status (bits
and numeric) from these drives. Also this control allows for sending commands as well as
configuration information to these drives.

This control is used to provide the following functionalities:

i) To configure Drive Talk communication with DriveTalk enabled drives.

ii) For retrieving status of the drive from DriveTalk enabled drives.
iii) To send commands and configuration information to DriveTalk enabled drives.

Properties

• Long AxesMask
• Boolean EnableDriveTalk
• Double DriveDataMask
• Long DriveTalkMode
• Object ConnectionControl

Methods

• Void GetDriveDataRequest ()
• Void GetConfig ()
• Void SendConfig ()
• Void GetErrorLog ()
• Void SendASTFile (strASTFileName As String)

Properties

AxesMask
Description Represents the mask value for number of axes (for Axis 0 –15), which
are to be connected to the drive talk.

Property AxesMask
Return Type Long
Range 1 - 65535
Default N/A
Example ACRDriveTalk1.AxesMask=1 ‘ Axis 0 to be connected
ACRDriveTalk1.AxesMask=3 ‘ Axis 0, Axis 1 are to be connected
ACRDriveTalk1.AxesMask=8 ‘Axis 3 to be connected
ACRDriveTalk1.AxesMask=65535 ‘ Axis 0 to 15 are to be connected

DriveTalk Control Properties and Methods - 89 -

EnableDriveTalk

Description Represents the enabled/disabled status of the drive talk controller.

Property EnableDriveTalk
Return Type Boolean
Range N/A
Default FALSE
Example ACRDriveTalk1.EnableDriveTalk=True

DriveDataMask
Description DriveDataMask is a 32-bit mask that indicates what data parameters the
controller should query the Aries Drive for. The lists of the data
parameter types are indicated in Bits10496-10750. So it indicates what
information the user is interested in.

Property DriveDataMask
Return Type Double
Range N/A
Default N/A
Example ACRDriveTalk1.DriveDataMask =128 ‘for DriveReset
ACRDriveTalk1.DriveDataMask=1048576 ‘for Actual Torque

DriveTalkMode
Description Represents the mode of communication with the DriveTalk enabled
drives. This property has 3 modes.
1 – Drive Talk
2 – DTalk
3 – TalkTo

Property DriveTalkMode
Return Type Long
Range 1-3
Default N/A
Example ACRDriveTalk1.DriveTalkMode=3 ‘Mode is set to TalkTo

ConnectionControl
Description This property will hold the reference of the instance of connection
control.

Property ConnectionControl
Return Type Object
Range N/A
Default N/A
Example Set ACRDriveTalk1.ConnectionControl=ACRConnection1
‘ACRConnection1 is the name of Connection Control in the
‘Current form

- 90 - Motion COMponents ActiveX User’s Guide

Methods

GetDriveDataRequest

Description This method used to initiate the controller to query the drive. After the
query the data should be available in Parameters P28672-30543. This
method will call the IControl.SetParmLong and IControl.SetFlag methods
of the ComACRsrvr.dll to change the drive data, based on AxesMask
and DriveDataMask properties. This method can be called only if
EnableDriveTalk is True and DriveTalkMode is 1.

Signature GetDriveDataRequest ()

Return Type N/A

Parameters N/A

Return N/A

Example ACRDriveTalk1.AxesMask=1 ‘ For Axis 0

ACRDriveTalk1.DriveDataMask=128
‘The following will assign 128 to parameter P4424
Call ACRDriveTalk1.GetDriveDataRequest ()

GetConfig
Description This method will call the IControl.SetFlag () method of the
comACRSrvr.dll to get the drive configuration from the drive. This
method will call the SetFlag () method and pass the value for the nBit
parameter based on the axis number. (Axis number can be received
from AxesMask property). This method can be called only if
EnableDriveTalk is True and DriveTalkMode is 1.

nBit for Axis0 is 10498

nBit for Axis1 is 10530
nBit for Axis2 is 10562
nBit for Axis3 is 10594
nBit for Axis4 is 10626
nBit for Axis5 is 10658
nBit for Axis6 is 10690
nBit for Axis7 is 10722
nBit for Axis8 is 10754
nBit for Axis9 is 10786
nBit for Axis10 is 10818
nBit for Axis11 is 10850
nBit for Axis12 is 10882
nBit for Axis13 is 10914
nBit for Axis14 is 10946
nBit for Axis15 is 10978

DriveTalk Control Properties and Methods - 91 -

Signature GetConfig ()

Return Type N/A

Parameters N/A

Return N/A

Example ACRDriveTalk1.AxesMask=3 ‘ for axis 0 and axis 1

Call ACRDriveTalk1.GetConfig () ‘ it will set bit 10498 and 10530

SendConfig
Description This method will call the IControl.SetFlag () method of the
comACRSrvr.dll to send the configuration to the drive. This method will
call the SetFlag () method and pass the value for the nBit parameter
based on the axis number. This method can be called only if
EnableDriveTalk is True and DriveTalkMode is 1.

nBit for Axis0 is 10497

nBit for Axis1 is 10529
nBit for Axis2 is 10561
nBit for Axis3 is 10593
nBit for Axis4 is 10625
nBit for Axis5 is 10657
nBit for Axis6 is 10689
nBit for Axis7 is 10721
nBit for Axis8 is 10753
nBit for Axis9 is 10785
nBit for Axis10 is 10817
nBit for Axis11 is 10849
nBit for Axis12 is 10881
nBit for Axis13 is 10913
nBit for Axis14 is 10945
nBit for Axis15 is 10977

Signature SendConfig ()

Return Type N/A

Parameters N/A

Return N/A

Example ACRDriveTalk1.AxesMask=3 ‘ For axis 0 and axis 1

Call ACRDriveTalk1.SendConfig () ‘ It will set bit 10497 and 10529

GetErrorLog
Description This method will call the IControl.SetFlag () method of the
comACRSrvr.dll to get the error log from the drive. This GetErrorLog ()
method should call the SetFlag () method and pass the value for the nBit

- 92 - Motion COMponents ActiveX User’s Guide

 parameter based on the axis number. This method can be called only if
EnableDriveTalk is True and DriveTalkMode is 1.

nBit for Axis0 is 10499

nBit for Axis1 is 10531
nBit for Axis2 is 10563
nBit for Axis3 is 10595
nBit for Axis4 is 10627
nBit for Axis5 is 10659
nBit for Axis6 is 10691
nBit for Axis7 is 10723
nBit for Axis8 is 10755
nBit for Axis9 is 10787
nBit for Axis10 is 10819
nBit for Axis11 is 10851
nBit for Axis12 is 10883
nBit for Axis13 is 10915
nBit for Axis14 is 10947
nBit for Axis15 is 10979

Signature GetErrorLog ()

Return Type N/A

Parameters N/A

Return N/A

Example ACRDriveTalk1.AxesMask=3 ‘ for axis 0 and axis 1

Call ACRDriveTalk1.GetErrorLog () ‘ It will set bit 10499 and 10531

SendASTFile
Description This method calls the IUtility.DownloadFile () to send the config file
generated from the Aries Support Tool (.AST file) to the drive. This
method can be called only if the property EnableDriveTalk is set to true
and DriveTalkMode it is set to 2 or 3.

Signature SendASTFile (strASTFileName as String)

Return Type N/A

Parameters

strASTFileName Fully qualified AST file name.

Return N/A

Example ACRDriveTalk1.SendASTFile (“Test1.AST”)

DriveTalk Control Properties and Methods - 93 -

EStop Control Properties and Methods

This control can be called as Emergency Stop. The control will have the label as “EStop” and
“Clear EStop”. EStop will stop the motion of the motor and also it can disable the drive based on
the Boolean property “DisableDriveonEStop”. Clear EStop will be in blinking stage and this clears
the KAMR bit set and makes the motor ready for motion if the motor is not disabled.

EStop Control contains the following Properties and Methods.

Properties
• OLE_COLOR ClearColor
• OLE_COLOR StopColor
• String ClearLabel
• String StopLabel
• Boolean DisableDriveOnEStop
• Object ConnectionControl

Methods

• Void SendEStop ()
• Void ClearEStop ()

- 94 - Motion COMponents ActiveX User’s Guide

Properties

ClearColor
Description This property holds the back color of the control and will be displayed
only when the control is in “Clear EStop” stage. This will be in blinking
stage.

Property ClearColor
Return Type OLE_COLOR
Range N/A
Default Green
Example ACREStop1.ClearColor = RGB (75, 75, 75)

StopColor
Description This property holds the back color of the control and will be displayed
only when the control is in “EStop” stage.

Property StopColor
Return Type OLE_COLOR
Range N/A
Default Red
Example ACREStop1.StopColor = RGB (75, 75, 75)

ClearLabel
Description This property holds the text and will be displayed only when the control is
in clear Estop stage.

Property ClearLabel
Return Type String
Range N/A
Default Clear EStop
Example ACREStop1.ClearLabel = “Clear EStop”

StopLabel
Description This property holds the text and will be displayed only when the control is
in Estop stage. Default text is “EStop”.

Property StopLabel
Return Type String
Range N/A
Default EStop
Example ACREStop1.StopLabel = “EStop”

EStop Control Properties and Methods - 95 -

DisableDriveOnEStop
Description Property determines whether the drives should be disabled or not while
stopping. If true the drives are disabled while pressing EStop button else
drives will not be disabled.

Property DisableDriveOnEStop
Return Type Boolean
Range N/A
Default FALSE
Example ACREStop1.DisableDriveonEstop = True

Connectioncontrol
Description This property will hold the reference of the instance of connection
control.

Property Connectioncontrol
Return Type Object
Range N/A
Default N/A
Example Set ACREStop1.ConnectionControl=ACRConnection1

- 96 - Motion COMponents ActiveX User’s Guide

Methods

SendEStop

Description This method will send the “Chr (26)” to the controller, which will stop all
the motion of the motors, and the KAMR bit will be set.

Signature SendEStop ()

Return Type N/A

Parameters N/A

Return N/A

Example ACREStop1.SendEStop ()

ClearEStop

Description This method will send the “Chr (25)” to the controller, which will clear
only the KAMR bit set.

Signature ClearEStop ()

Return Type N/A

Parameters N/A

Return N/A

Example ACREStop1.ClearEStop ()

EStop Control Properties and Methods - 97 -