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Parker ACR9000 manuals

ACR9000 first page preview

ACR9000

Brand: Parker | Category: Controller
Table of contents
  1. Table Of Contents
  2. Table Of Contents
  3. Change Summary
  4. Programming Basics
  5. Remarks
  6. Example Code Conventions
  7. Programs and Commands
  8. Kill All Motion Request vs. Kill All Moves
  9. Program Flow
  10. Parameters and Bits
  11. Parametric Evaluation
  12. Basic Setup
  13. Startup Programs
  14. Return to Factory Default
  15. Making Motion
  16. Move Types
  17. What are Motion Profiles
  18. Interaction Between Motion Profilers
  19. Velocity Profile Commands
  20. Coordinated Moves Profiler
  21. Jog Profiler
  22. Gear Profiler
  23. Cam Profiler
  24. Servo Loop Fundamentals
  25. Following Error
  26. Application Examples
  27. Enable Drive
  28. EPL Network
  29. Homing
  30. Open Sample
  31. Teach Array
  32. Binary Host Interface
  33. Binary Data Packets
  34. Binary Parameter Access
  35. Binary Peek Command
  36. Binary Poke Command
  37. Binary Address Command
  38. Binary Parameter Address Command
  39. Binary Mask Command
  40. Binary Parameter Mask Command
  41. Binary Move Command
  42. Binary SET and CLR
  43. Binary FOV Command
  44. Binary ROV Command
  45. Application: Binary Global Parameter Access
  46. Additional Features
  47. Drive Talk
  48. Inverse Kinematics
  49. Troubleshooting
  50. Troubleshooting Table
  51. Error Handling
  52. Appendix
  53. Output Module Software Configuration Examples
  54. Index
ACR9000 first page preview

ACR9000

Brand: Parker | Category: Controller
Table of contents
  1. user information
  2. Table Of Contents
  3. Table Of Contents
  4. Table Of Contents
  5. Table Of Contents
  6. safety warning
  7. Chapter 1 Introduction
  8. ACR9000 Controllers—Overview
  9. Accessories
  10. Compatible Parker Hannifin Products
  11. Assumptions of Technical Experience
  12. Chapter 2 Specifications
  13. Environmental Specifications
  14. Mechanical Specifications
  15. Figure 1 ACR9000 2/4 Axis Dimensions
  16. Electrical Specifications
  17. AC Power Fuse
  18. External I/O Interface Connectors
  19. Figure 3 ACR9000 Stand-Alone Controller 2/4 Axis Front Panel Interfaces
  20. Figure 4 ACR9000 Stand-Alone Controller 6/8 Axis Front Panel Interfaces
  21. Axis Connectors, 0-7
  22. Axis Connector Pinout, Axis 0−3
  23. Axis Connector Pinout, Axis 4−7
  24. Axis Connector Power Source
  25. Drive Function
  26. Table 12 Drive Commands
  27. Table 13 Outputs—Drive Step and Drive Direction Electrical/Timing Characteristics
  28. Table 15 Inputs—Drive Fault Electrical/Timing Characteristics
  29. Figure 6 Equivalent Circuit for Drive Step and Drive Direction Outputs
  30. Figure 8 Equivalent Circuit for Drive Fault Inputs
  31. Encoder Function
  32. Table 17 Encoder Signal Assignments and Supported Features
  33. Auxiliary Encoder Connector
  34. General Purpose Inputs/Outputs
  35. Table 20 GP Input/Output Connector Pinout (2/4/6/8 Axis Configuration)
  36. Table 21 GP Input/Output Connector Pinout (6/8 Axis Configuration)
  37. Figure 12 Equivalent Circuit for GP Inputs/Trigger Inputs Connector
  38. Enable Connector
  39. Table 25 Enable Connector Pinout
  40. COM1 Connector
  41. CANopen Connector
  42. Table 28 CANopen Connector Pinout
  43. Figure 15 Equivalent Circuit for CANopen
  44. Ethernet Connector
  45. Chapter 3 Installation
  46. Before You Begin
  47. Installation Overview
  48. Mounting Guidelines
  49. Figure 17 Mounting Specifications for 2/4 Axis Configuration
  50. Figure 18 Mounting Specifications for 6/8 Axis Configuration
  51. Figure 19 Mounting Clearance for 2/4 Axis Configuration
  52. Figure 20 Mounting Clearance for 6/8 Axis Configuration
  53. Cable Installation
  54. Table 31 COM1 Transmission Modes
  55. Table 32 COM1 RS-232 Pinout
  56. General Purpose Input/Output Connection
  57. Axis Connection
  58. Table 35 Connection to Aries Pinout
  59. Table 36 Connection to Compax3 Pinout
  60. Table 37 Connection to Dynaserv Pinout
  61. Table 38 Connection to Gemini Servo Pinout
  62. Table 39 Connection to Gemini Stepper Pinout
  63. Table 40 Connection to Parker Stepper Pinout
  64. Table 41 Connection to SLVD and HPD Pinout
  65. Table 42 Connection to ViX Pinout
  66. Table 43 Connection to Drive with Flying Leads
  67. CANopen Connection
  68. Table 44 CANopen Pinout (Minimum)
  69. Table 45 CANopen Point-To-Point Cable
  70. Table 47 CANopen Cables for Multiple-Node Networks
  71. Table 49 CANopen Bus-Cable Specifications
  72. Table 50 CANopen Network Installation Test
  73. Ethernet Cable Specification
  74. USB Cable Specification
  75. Auxiliary Encoder Connection
  76. Chapter 4 Troubleshooting
  77. Troubleshooting Guidelines
  78. LED Status Indicators
  79. Ethernet Status LEDs
  81. RS-232/RS-485 Communication Problems
  82. Table 57 Communications Port Error Messages and Resolutions
  83. Feedback Device Problems
  84. Motion-Related Error Messages
  85. General Drive I/O
  86. Stepper Axes
  87. Appendix A SSI Encoders
  88. Overview
  89. Timing
  90. Appendix B VM25 Module
  91. VM25 I/O Expansion Module
  92. Appendix C Regulatory Compliance–UL, EMC, and CE
  93. System Installation Overview
  94. Installing the ACR9000 Controller
  95. Figure 26 360° Bonding Techniques
  96. Table 60 Mains Filter Selection
  97. Table 61 Enclosure Mounting Clamps
  98. Figure 27 Typical LVD/EMC Installation
  99. Figure 28 2/4 Axis Configuration Panel Layout Dimensions
  100. Figure 29 6/8 Axis Configuration Panel Layout Dimensions
  101. Regulatory Agencies
  102. Index
ACR9000 first page preview

ACR9000

Brand: Parker | Category: Controller
Table of contents
  1. Important User Information
  2. Table Of Contents
  3. Table Of Contents
  4. Table Of Contents
  5. Table Of Contents
  6. Table Of Contents
  7. Important Safety Information
  8. Change Summary
  9. Chapter 1 Introduction
  10. ACR90x0 Controllers—Overview
  11. Accessories
  12. Table 2 ACR9000 and ACR9030 Controller Accessories
  13. Table 3 ACR9040 Controller Accessories
  14. Compatible Parker Hannifin Products
  15. Assumptions of Technical Experience
  16. Chapter 2 Specifications
  17. Environmental Specifications
  18. Mechanical Specifications
  19. Figure 1 ACR9000 and ACR9030 2/4 Axis Dimensions
  20. Electrical Specifications
  21. Table 8 DC Power Connector Pinout
  22. External I/O Interface Connectors
  23. Figure 4 ACR9000 Stand-Alone Controller 2/4 Axis Front Panel Interfaces
  24. Figure 5 ACR9000 Stand-Alone Controller 6/8 Axis Front Panel Interfaces
  25. Figure 6 ACR9030 Front Panel Interfaces (2/4 Axis)
  26. Figure 7 ACR9040 Front Panel Interfaces
  27. Table 10 Connector Pinout, Axes 0−3
  28. Table 11 Connector Pinout, Axes 4−7
  29. Table 12 Axis Power Electrical Characteristics
  30. Table 13 Drive Signal Assignments
  31. Table 14 Drive Commands
  32. Table 15 Outputs—Drive Step and Drive Direction Electrical/Timing Characteristics
  33. Table 17 Inputs—Drive Fault Electrical/Timing Characteristics
  34. Figure 9 Equivalent Circuit for Drive Step and Drive Direction Outputs
  35. Figure 11 Equivalent Circuit for Drive Fault Inputs
  36. Table 19 Encoder Signal Assignments and Supported Features
  37. Figure 14. Equivalent Circuit for Encoder
  38. Table 21 Auxiliary Encoder Connector Pinout
  39. Table 22 GP Input/Output Connector Pinout (2/4/6/8 Axis Configuration)
  40. Table 23 GP Input/Output Connector Pinout (6/8 Axis Configuration)
  41. Table 26 GP Outputs 32−39 Connector Electrical/Timing Characteristics
  42. Figure 16 Equivalent Circuit for Outputs
  43. Table 27 Motion Enable Connector Pinout
  44. Figure 17 Equivalent Circuit for Motion Enable Connector
  45. Table 29 COM1 Connector Pinout
  46. Table 30 Analog Inputs (0-3) Connector Pinout
  47. Figure 18 Equivalent Circuit for Differential Analog Inputs Connector
  48. Table 32 CANopen Connector Pinout
  49. Figure 20 Equivalent Circuit for CANopen
  50. Table 33 Ethernet Connector Pinout
  51. Table 35 USB Connector Pinout
  52. Chapter 3 Installation
  53. Before You Begin
  54. Installation Overview
  55. Mounting Guidelines
  56. Figure 22 Mounting Specifications for ACR9000 and ACR9030 2/4 Axis Configuration
  57. Figure 23 Mounting Specifications for ACR9000 and ACR9030 6/8 Axis Configuration
  58. Figure 24 Mounting Clearance for ACR9000 and ACR9030 2/4 Axis Configuration
  59. Figure 25 Mounting Clearance for ACR9000 and ACR9030 6/8 Axis Configuration
  60. Figure 26 Mounting Clearance for ACR9040
  61. Cable Installation
  62. Figure 27 Loop-Back Diode with Shared Power Supply
  63. Table 36 COM1 Transmission Modes
  64. Table 37 COM1 RS-232 Pinout
  65. Table 38 RS-485, Four-Wire Connector Pinout
  66. Table 39 Drive Connection Cables
  67. Table 40 Connection to Aries Pinout
  68. Table 41 Connection to Compax3 Pinout
  69. Table 42 Connection to Dynaserv Pinout
  70. Table 43 Connection to Gemini Servo Pinout
  71. Table 44 Connection to Gemini Stepper Pinout
  72. Table 45 Connection to Parker Stepper Pinout
  73. Table 46 Connection to SLVD and HPD Pinout
  74. Table 47 Connection to ViX Pinout
  75. Table 48 Connection to Drive with Flying Leads
  76. Table 49 CANopen Pinout (Minimum)
  77. Table 50 CANopen Point-To-Point Cable
  78. Table 52 CANopen Cables for Multiple-Node Networks
  79. Table 54 CANopen Bus-Cable Specifications
  80. AC Power Connection
  81. Chapter 4 Troubleshooting
  82. Troubleshooting Guidelines
  83. LED Status Indicators
  84. Table 58 CANopen Status LED
  85. CANopen Connection
  86. RS-232/RS-485 Communication Problems
  87. Table 62 Communications Port Error Messages and Resolutions
  88. Feedback Device Problems
  89. Motion-Related Error Messages
  90. Axis I/O Troubleshooting
  91. Appendix A SSI Encoders
  92. Overview
  93. Timing
  94. Appendix B VM25 Breakout Module
  96. Appendix C VM26 Breakout Module
  98. Appendix D Drive I/O
  99. Drive I/O
  100. Encoder Input Mode
  101. General Purpose and Extended I/O
  102. Motion Enable Input
  103. Appendix E CANopen
  104. Limited Amounts of Nodes and I/O
  105. AcroBASIC Language Access to CANopen I/O
  106. Alternate Mapping of Digital I/O
  107. Appendix F Drive Talk
  108. Quick Startup (ACR9000 and ACR9030)
  109. Appendix G Regulatory Compliance
  110. System Installation Overview
  111. Figure 36 360° Bonding Techniques
  112. Table 65 Mains Filter Selection
  113. Table 66 Enclosure Mounting Clamps
  114. Figure 37 Typical LVD/EMC Installation
  115. Figure 38 ACR9000 and ACR9030 2/4 Axis Configuration Panel Layout Dimensions
  116. Figure 39 ACR9000 and ACR9030 6/8 Axis Configuration Panel Layout Dimensions
  117. Figure 40 ACR9040 Panel Layout Dimensions
  118. Regulatory Agencies
  119. Appendix H ETHERNET Powerlink
  120. ACR9030 and ACR9040
  121. Figure 42 EPL Cycle
  122. Cabling and SETUP
  123. Figure 43 ACR9030 Front Panel
  124. Figure 44 ACR9040 Front Panel
  125. Figure 45 ACR9030 and connections to the Aries EPL drive
  126. ACR9030 and ACR9040 Utilization of EPL
  127. Support for CiA DSP-402
  128. ACR9030 and ACR9040 EPL Commands, Parameters and Flags
  129. Table 71 Auto-Populated Network Control and Status Flags
  130. Table 72 Control and Status Parameters
  131. Table 73 EPL Network States and Corresponding Status LEDs
  132. Table 75 Control Parameters for EPLD0
  133. Table 77 P37636 (OS download or reset progress or status control parameter for EPLD0)
  134. Table 78 P4200 (EPLD0 – EPLD3 Digital Inputs)
  135. Table 79 P4216 (EPLD0 – EPLD3 Digital Outputs)
  136. Access to EPL Drives' Native Command Language
  137. Application Scenario
  138. Troubleshooting
  139. Table 80 Aries EPL Drive Ethernet Status LED Descriptions
  140. Table 81 RJ-45 Connector Pinout
  141. Table 82 Aries EPL Drive EPL Status Indicator LED Descriptions
  142. Table 83 Aries EPL Drive Status Indicator LED Descriptions
  143. Table 84 Error Messages
  144. Figure 49 Hall Connection Diagram
  145. Table 85 Configuring Hall Sensors
  146. Figure 50 Motor Terminal Voltages (back EMF) and Hall Sensor Signals
  147. Index
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