Parker ACR9040 manuals

ACR9040

Brand: Parker | Category: Controller

Table of contents

Important User Information
Table Of Contents
Table Of Contents
Table Of Contents
Table Of Contents
Table Of Contents
Important Safety Information
Change Summary
Chapter 1 Introduction
ACR90x0 Controllers—Overview
Accessories
Table 2 ACR9000 and ACR9030 Controller Accessories
Table 3 ACR9040 Controller Accessories
Compatible Parker Hannifin Products
Assumptions of Technical Experience
Chapter 2 Specifications
Environmental Specifications
Mechanical Specifications
Figure 1 ACR9000 and ACR9030 2/4 Axis Dimensions
Electrical Specifications
Table 8 DC Power Connector Pinout
External I/O Interface Connectors
Figure 4 ACR9000 Stand-Alone Controller 2/4 Axis Front Panel Interfaces
Figure 5 ACR9000 Stand-Alone Controller 6/8 Axis Front Panel Interfaces
Figure 6 ACR9030 Front Panel Interfaces (2/4 Axis)
Figure 7 ACR9040 Front Panel Interfaces
Table 10 Connector Pinout, Axes 0−3
Table 11 Connector Pinout, Axes 4−7
Table 12 Axis Power Electrical Characteristics
Table 13 Drive Signal Assignments
Table 14 Drive Commands
Table 15 Outputs—Drive Step and Drive Direction Electrical/Timing Characteristics
Table 17 Inputs—Drive Fault Electrical/Timing Characteristics
Figure 9 Equivalent Circuit for Drive Step and Drive Direction Outputs
Figure 11 Equivalent Circuit for Drive Fault Inputs
Table 19 Encoder Signal Assignments and Supported Features
Figure 14. Equivalent Circuit for Encoder
Table 21 Auxiliary Encoder Connector Pinout
Table 22 GP Input/Output Connector Pinout (2/4/6/8 Axis Configuration)
Table 23 GP Input/Output Connector Pinout (6/8 Axis Configuration)
Table 26 GP Outputs 32−39 Connector Electrical/Timing Characteristics
Figure 16 Equivalent Circuit for Outputs
Table 27 Motion Enable Connector Pinout
Figure 17 Equivalent Circuit for Motion Enable Connector
Table 29 COM1 Connector Pinout
Table 30 Analog Inputs (0-3) Connector Pinout
Figure 18 Equivalent Circuit for Differential Analog Inputs Connector
Table 32 CANopen Connector Pinout
Figure 20 Equivalent Circuit for CANopen
Table 33 Ethernet Connector Pinout
Table 35 USB Connector Pinout
Chapter 3 Installation
Before You Begin
Installation Overview
Mounting Guidelines
Figure 22 Mounting Specifications for ACR9000 and ACR9030 2/4 Axis Configuration
Figure 23 Mounting Specifications for ACR9000 and ACR9030 6/8 Axis Configuration
Figure 24 Mounting Clearance for ACR9000 and ACR9030 2/4 Axis Configuration
Figure 25 Mounting Clearance for ACR9000 and ACR9030 6/8 Axis Configuration
Figure 26 Mounting Clearance for ACR9040
Cable Installation
Figure 27 Loop-Back Diode with Shared Power Supply
Table 36 COM1 Transmission Modes
Table 37 COM1 RS-232 Pinout
Table 38 RS-485, Four-Wire Connector Pinout
Table 39 Drive Connection Cables
Table 40 Connection to Aries Pinout
Table 41 Connection to Compax3 Pinout
Table 42 Connection to Dynaserv Pinout
Table 43 Connection to Gemini Servo Pinout
Table 44 Connection to Gemini Stepper Pinout
Table 45 Connection to Parker Stepper Pinout
Table 46 Connection to SLVD and HPD Pinout
Table 47 Connection to ViX Pinout
Table 48 Connection to Drive with Flying Leads
Table 49 CANopen Pinout (Minimum)
Table 50 CANopen Point-To-Point Cable
Table 52 CANopen Cables for Multiple-Node Networks
Table 54 CANopen Bus-Cable Specifications
AC Power Connection
Chapter 4 Troubleshooting
Troubleshooting Guidelines
LED Status Indicators
Table 58 CANopen Status LED
CANopen Connection
RS-232/RS-485 Communication Problems
Table 62 Communications Port Error Messages and Resolutions
Feedback Device Problems
Motion-Related Error Messages
Axis I/O Troubleshooting
Appendix A SSI Encoders
Overview
Timing
Appendix B VM25 Breakout Module
Appendix C VM26 Breakout Module
Appendix D Drive I/O
Drive I/O
Encoder Input Mode
General Purpose and Extended I/O
Motion Enable Input
Appendix E CANopen
Limited Amounts of Nodes and I/O
AcroBASIC Language Access to CANopen I/O
Alternate Mapping of Digital I/O
Appendix F Drive Talk
Quick Startup (ACR9000 and ACR9030)
Appendix G Regulatory Compliance
System Installation Overview
Figure 36 360° Bonding Techniques
Table 65 Mains Filter Selection
Table 66 Enclosure Mounting Clamps
Figure 37 Typical LVD/EMC Installation
Figure 38 ACR9000 and ACR9030 2/4 Axis Configuration Panel Layout Dimensions
Figure 39 ACR9000 and ACR9030 6/8 Axis Configuration Panel Layout Dimensions
Figure 40 ACR9040 Panel Layout Dimensions
Regulatory Agencies
Appendix H ETHERNET Powerlink
ACR9030 and ACR9040
Figure 42 EPL Cycle
Cabling and SETUP
Figure 43 ACR9030 Front Panel
Figure 44 ACR9040 Front Panel
Figure 45 ACR9030 and connections to the Aries EPL drive
ACR9030 and ACR9040 Utilization of EPL
Support for CiA DSP-402
ACR9030 and ACR9040 EPL Commands, Parameters and Flags
Table 71 Auto-Populated Network Control and Status Flags
Table 72 Control and Status Parameters
Table 73 EPL Network States and Corresponding Status LEDs
Table 75 Control Parameters for EPLD0
Table 77 P37636 (OS download or reset progress or status control parameter for EPLD0)
Table 78 P4200 (EPLD0 – EPLD3 Digital Inputs)
Table 79 P4216 (EPLD0 – EPLD3 Digital Outputs)
Access to EPL Drives' Native Command Language
Application Scenario
Troubleshooting
Table 80 Aries EPL Drive Ethernet Status LED Descriptions
Table 81 RJ-45 Connector Pinout
Table 82 Aries EPL Drive EPL Status Indicator LED Descriptions
Table 83 Aries EPL Drive Status Indicator LED Descriptions
Table 84 Error Messages
Figure 49 Hall Connection Diagram
Table 85 Configuring Hall Sensors
Figure 50 Motor Terminal Voltages (back EMF) and Hall Sensor Signals
Index

ACR9040

Brand: Parker | Category: Servo Drives

Parker ACR9040 manuals

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ACR9040

ACR9040