Parker ACR9000 Installation Manual
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Parker ACR9000 Installation Manual

Acr9000 series acr motion controllers
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  • Page 1 www.comoso.com...

  • Page 2: Important User Information

    Since Parker Hannifin constantly strives to improve all of its products, we reserve the right to modify equipment and user guides without prior notice. No part of this user guide may be reproduced in any form without the prior consent of Parker Hannifin.
  • Page 3 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.

  • Page 4: Table Of Contents

    Protocol ..........................110 Timing............................. 111 Appendix B VM25 Breakout Module ..................112 Overview..........................113 Appendix C VM26 Breakout Module ..................114 Overview..........................115 Appendix D Drive I/O ......................... 116 Drive I/O ..........................117 4 ACR9000 Series Hardware Installation Guide www.comoso.com...
  • Page 5 AcroBASIC Language Access to CANopen I/O ..............132 Alternate Mapping of Digital I/O ..................... 142 Appendix F Drive Talk....................... 143 Quick Startup (ACR9000 and ACR9030)................144 Appendix G Regulatory Compliance ..................149 System Installation Overview ....................150 Regulatory Agencies ......................160 Standards of Compliance .......................

  • Page 6: Table Of Tables

    Parker Hannifin Table of Tables Table 1 Ship Kit for ACR90x0 Stand-Alone Controller............. 16 Table 2 ACR9000 and ACR9030 Controller Accessories............18 Table 3 ACR9040 Controller Accessories................19 Table 4 Controller Cooling Requirements ................23 Table 5 Controller Weight......................24 Table 6 Controller Dimensions ....................
  • Page 7 Table 82 Aries EPL Drive EPL Status Indicator LED Descriptions ........185 Table 83 Aries EPL Drive Status Indicator LED Descriptions..........187 Table 84 Error Messages ....................... 190 Table 85 Configuring Hall Sensors..................193 ACR9000 Series Hardware Installation Guide 7 www.comoso.com...

  • Page 8: Table Of Figures

    Figure 20 Equivalent Circuit for CANopen ................59 Figure 21 Overview of System Installation................64 Figure 22 Mounting Specifications for ACR9000 and ACR9030 2/4 Axis Configuration ..66 Figure 23 Mounting Specifications for ACR9000 and ACR9030 6/8 Axis Configuration ..67 Figure 24 Mounting Clearance for ACR9000 and ACR9030 2/4 Axis Configuration....
  • Page 9 Parker Hannifin Product Type....ACR9000 Series Controllers, including ACR9030 and ACR9040 The above product complies with the requirements of directives: • EMC Directive 89/336/EEC • Low Voltage Directive 73/23/EEC • CE Marking Directive 93/68/EEC. Provided the installation requirements described in this guide are met, and there are no special requirements of the installation and operating environment so that the application may be considered typical.

  • Page 10: Important Safety Information

    Parker Hannifin Important Safety Information NOTE: The ACR90x0 designates the ACR9000, ACR9030, and ACR9040. Warning — Risk of damage and/or personal injury The ACR90x0 controllers described in this guide contain no user- serviceable parts. Attempting to open the case of any unit, or to replace any internal component, may result in damage to the unit and/or personal injury.

  • Page 11: Change Summary

    Description Title Changed title of document from “ACR9000 Hardware Installation Guide” to “ACR9000 Series Hardware Installation Guide” to indicate that this document applies to several models of the controller. Important Safety Added note that “ACR90x0” designates the ACR9000, ACR9030, and Information;...
  • Page 12 Updated all references to the ACR User’s Guide to the new title, ACR ACR User’s Guide title change Command Language Reference. Compatible Clarified that ACR9000 is not compatible with EPL drives; added Parker Hannifin ACR9030 and ACR9040. Products Enable Connector Redesigned section;...
  • Page 13 Added Appendix C describing the VM26 Breakout Module. Module Drive I/O Added Appendix D Drive I/O—from ACR9000 Software Addendum Chapter 1. The ACR9000 Software Addendum p/n88-023737 is no longer a valid document. CANopen Added Appendix E CANopen—from ACR9000 Software Addendum Chapter 2.
  • Page 14 Parker Hannifin Revision C Changes This document, 88-022337-01C, supersedes 88-022337-01B. Changes associated with ACR9000 User Guide revisions, and document clarifications and corrections are as follows: Topic Description Controller Added connectivity options P1 and P3. Options Accessories Added Ethernet cable. Ethernet Added cable specifications and pinout.

  • Page 15: Chapter 1 Introduction

    IN THIS CHAPTER • ACR90x0 Controllers—Overview ............16 • Checking Your Shipment..............16 • Controller Options................. 16 • Accessories ..................17 • Compatible Parker Hannifin Products ..........20 • Assumptions of Technical Experience ..........21 • Technical Support................. 21 www.comoso.com...

  • Page 16: Acr90X0 Controllers-Overview

    Table 1 Ship Kit for ACR90x0 Stand-Alone Controller Controller Options ACR9000 This section contains a list of the options for the ACR9000 Stand- Alone Controller and an explanation of the controller part number. The part number of your ACR9000 controller reflects the options ordered.

  • Page 17: Accessories

    For the latest additions, see our website at www.parkermotion.com. Accessories Shown below are products used with the ACR90x0 controllers. To order, contact your local automation technology center (ATC) or distributor. See page 3. ACR9000 and ACR9030 Controller Accessories Description Part Number Drive Cables Aries drive cable...

  • Page 18: Table 2 Acr9000 And Acr9030 Controller Accessories

    -xx (-04 or -10). 2. The cable comes in a 2-foot (609.6 mm) or 4-foot length (1,219 mm) in the part number -xx (-02 or -04). Table 2 ACR9000 and ACR9030 Controller Accessories 18 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 19: Table 3 Acr9040 Controller Accessories

    Parker Hannifin ACR9040 Controller Accessories Description Part Number Drive Cables EPL controller to drive Ethernet cable, SFTP 71-028656-xx Communications Cable Standard cable for RS-232 operation, 10 ft (3,048 mm) 71-016939-10 (COM1 port 9-pin to PC 9-pin, D-sub connectors) Ethernet crossover cable, 5 ft (1524 mm), unshielded CAT 5E...

  • Page 20: Compatible Parker Hannifin Products

    This purpose of this guide is to help you install the ACR90x0 Stand-Alone Controllers for use with a variety of Parker Hannifin drives. The ACR9000 and ACR9030 controllers come in two models of housing, distinguished primarily by their width, and each model supports two configurations of I/O interfaces.

  • Page 21: Assumptions Of Technical Experience

    For solutions to your questions about implementing the ACR90x0 Stand- Alone Controllers, refer to the following documents: • ACR9000 Series Hardware Installation Guide (this document) • ACR Command Language Reference (formerly the ACR User’s Guide) (Online Help System in the ACR-View software) If you cannot find the answer in these documents, contact your local Automation Technology Center (ATC) or distributor for assistance.

  • Page 22: Chapter 2 Specifications

    Chapter 2 Specifications C H A P T E R T W O Specifications IN THIS CHAPTER • Environmental Specifications ............... 23 • Mechanical Specifications ..............24 • Electrical Specifications................ 26 • External I/O Interface Connectors ............29 www.comoso.com...

  • Page 23: Environmental Specifications

    Controller Power Minimum Minimum Side Consumption Top/Bottom Clearance Clearance ACR9000, ACR9030 40 Watts 4.0 in (101.6 cm) 2.0 in (50.8 cm) 2/4 Axis ACR9000, ACR9030 50 Watts 4.0 in (101.6 cm) 2.0 in (50.8 cm) 6/8 Axis...

  • Page 24: Mechanical Specifications

    Mechanical Specifications The ACR90x0 Series controller housings are vented, metal enclosures. Two models of controller housing, those for the ACR9000 and ACR9030, are distinguished primarily by their width and are identified in this guide by the number of Axis I/O interfaces that they provide—the 2/4 Axis Configuration and the 6/8 Axis Configuration.

  • Page 25: Figure 1 Acr9000 And Acr9030 2/4 Axis Dimensions

    Parker Hannifin Figure 1 ACR9000 and ACR9030 2/4 Axis Dimensions Figure 2 ACR9000 and ACR9030 6/8 Axis Dimensions Chapter 2 Specifications 25 www.comoso.com...

  • Page 26: Electrical Specifications

    Figure 3 ACR9040 Dimensions Electrical Specifications All configurations of the ACR9000 and ACR9030 controllers have a universal AC power supply, and the ACR9040 is designed to be powered by a DC supply. The electrical requirements are listed in Table 7.
  • Page 27 Parker Hannifin cables are available with mating connectors attached for 120 VAC installations (Parker Hannifin P/N: 44-000054-01 supplied with product). Mating connectors for 240 VAC are not provided with the ACR9000 or ACR9030 Stand-Alone Controllers. Manufacturer ........... Schurter or equivalent (www.schurterinc.com)

  • Page 28: Table 8 Dc Power Connector Pinout

    “AcroBASIC Commands & Memory Organization” in the ACR Command Language Reference (Online Help System in the ACR-View software). Battery Backup Battery Life ..........5 years at 25°C Part numbers........... Tadiran TL-5242/W 2100 mAh (www.tadiranbat.com) 28 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 29: External I/O Interface Connectors

    Analog Inputs 0 or 2 0 or 2 1. This interface is an option on the ACR9000 and ACR9030 controller. 2. This interface option is only available on the ACR9000. For more information, see Controller Options on page 16. Table 9 Controller I/O Interface Configurations On all configurations of the controller, the I/O interface connectors are on the front panel.

  • Page 30: Figure 4 Acr9000 Stand-Alone Controller 2/4 Axis Front Panel Interfaces

    Axis Connectors Analog Inputs GP Inputs and Outputs Connectors COM1 Connector Enable Connector AC Power Status LED AC Power Fuse AC Power Connector Figure 4 ACR9000 Stand-Alone Controller 2/4 Axis Front Panel Interfaces 30 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 31: Figure 5 Acr9000 Stand-Alone Controller 6/8 Axis Front Panel Interfaces

    Parker Hannifin Figure 5 ACR9000 Stand-Alone Controller 6/8 Axis Front Panel Interfaces Chapter 2 Specifications 31 www.comoso.com...

  • Page 32: Figure 6 Acr9030 Front Panel Interfaces (2/4 Axis)

    Parker Hannifin Figure 6 ACR9030 Front Panel Interfaces (2/4 Axis) 32 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 33: Figure 7 Acr9040 Front Panel Interfaces

    Parker Hannifin Figure 7 ACR9040 Front Panel Interfaces Chapter 2 Specifications 33 www.comoso.com...
  • Page 34 3-row (female socket) Manufacturer Part Number ..... K42-A26S/S-A4NR Axis Mating-Connector Specification Parker Hannifin does not provide mating connectors with the ACR9000 or ACR9030 controllers. However, you may order Parker Hannifin cables with mating connectors attached. Manufacturer ........... AMP or equivalent (www.amp.com) Connector Type........

  • Page 35: Table 10 Connector Pinout, Axes 0−3

    Note: If the Enable Drive I/O flag is set, then the AcroBASIC direct I/O commands can only report the output status and cannot set or clear the output state. The ACR9000 and ACR9030 controllers ship with a default state for all axes— Enable Drive I/O flag set.

  • Page 36: Table 11 Connector Pinout, Axes 4−7

    Note: If the Enable Drive I/O flag is set, then the AcroBASIC direct I/O commands can only report the output status and not set or clear the output state. The ACR9000 and ACR9030 controllers ship with a default state for all axes of— Enable Drive I/O flag set.

  • Page 37: Table 12 Axis Power Electrical Characteristics

    The power source typically is used to power: • An external encoder, and • Optical inputs and/or outputs between the ACR9000/ACR9030 and an external drive. Table 12 contains the electrical characteristics for the Axis-Connector power source. Figure 1 provides a schematic of its circuit. Description...

  • Page 38: Table 13 Drive Signal Assignments

    Drive Step Drive Direction Step and Direction STEP CW and CCW Note: The drive signals will support either a servo drive or stepper drive on the same connector. Table 13 Drive Signal Assignments 38 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 39: Table 14 Drive Commands

    DAC GAIN, Output +/− ACR9000/ACR9030 and an external servo drive Enable Drive I/O amplifier, such as the Aries series from Parker. flag, The Drive Fault input is commonly used to monitor the state of an external drive amplifier. Drive Fault...

  • Page 40: Table 15 Outputs-Drive Step And Drive Direction Electrical/Timing Characteristics

    Table 15 Outputs—Drive Step and Drive Direction Electrical/Timing Characteristics Outputs—Drive AOUT Description Units Output voltage DAC resolution bits Load impedance ohms Note: All parameters are at the connector pin. Table 16 Outputs—Drive AOUT Electrical/Timing Characteristics 40 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 41: Table 17 Inputs-Drive Fault Electrical/Timing Characteristics

    Parker Hannifin Inputs—Drive Fault The Drive Fault input is an optically isolated input. Current is limited internally for input voltage control of 5 to 24 volt logic. The Anode (+) and Cathode ( − ) are on separate connector pins to allow significant flexibility in wiring to different styles of interface.

  • Page 42: Figure 9 Equivalent Circuit For Drive Step And Drive Direction Outputs

    Outputs—Drive Enable and Drive Reset • Drive Talk Signals Outputs—Drive Step and Drive Direction Figure 9 Equivalent Circuit for Drive Step and Drive Direction Outputs Drive AOUT Outputs Figure 10 Equivalent Circuit for Drive AOUT Outputs 42 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 43: Figure 11 Equivalent Circuit For Drive Fault Inputs

    Drive Enable and Drive Reset Outputs Figure 12 Equivalent Circuit for Drive Enable and Drive Reset Outputs Drive Talk Drive Talk signals are reserved for compatibility with Parker Hannifin drives and are not available for general use. Figure 13 illustrates the Drive Talk signal path.
  • Page 44 Language Reference (Online Help System in the ACR-View software). For more information on encoder modes of operation, refer to the ENC SRC command in the ACR Command Language Reference (Online Help System in the ACR-View software). 44 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 45: Table 19 Encoder Signal Assignments And Supported Features

    Parker Hannifin Encoder Signal Assignments Table 19 summarizes signal assignments and supported features of the encoder interface. Mode Axis Connector Signal Supported Features Encoder Encoder Position Capture Quadrature Step and Direction STEP CW and CCW SCLK SDATA 1. For more information on position capture, refer to the INTCAP command in the ACR Command Language Reference (Online Help System in the ACR-View software).

  • Page 46: Figure 14. Equivalent Circuit For Encoder

    Parker Hannifin Encoder Circuit Schematic Figure 14. Equivalent Circuit for Encoder Auxiliary Encoder Connector The 2/4 Axis Configuration of the ACR9000 and ACR9030 controllers provide one Auxiliary Encoder connector, labeled E 8. The 6/8 Axis NCODER Configuration provides two, which are labeled E...

  • Page 47: Table 21 Auxiliary Encoder Connector Pinout

    Manufacturer Part Number ..... K42-B25S/S-A4NR General Purpose Inputs/Outputs Mating-Connector Specification Parker Hannifin does not provide mating connectors with the ACR9000 or ACR9030 controllers. However, you can order Parker Hannifin cables with mating connectors attached. Manufacturer ........... AMP or equivalent (www.amp.com) Connector Type........

  • Page 48: Table 22 Gp Input/Output Connector Pinout (2/4/6/8 Axis Configuration)

    Output 35− Input 11+ Output 35+ Note: Input 5 and Trigger Input 29 are paired on pins 13 and 25 to ease cable assembly. Table 22 GP Input/Output Connector Pinout (2/4/6/8 Axis Configuration) 48 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 49: Table 23 Gp Input/Output Connector Pinout (6/8 Axis Configuration)

    Parker Hannifin On the 6/8 Axis Configuration, use only Trigger Inputs 72 through 79 to capture position on A 4 through A 7, and E NCODER General Purpose General Purpose Inputs 12−23 (Trigger) Inputs 72−79/ Outputs 36−39 AcroBASIC Bit AcroBASIC Bit Input 17−...

  • Page 50: Table 24 Gp Inputs 0−11 & 12−23 Connector Electrical/Timing Characteristics

    Propagation delay due to filtering and isolation is ~400 ns, or encoder capture resolution of +/− 5 counts at 10 MHz. − − Table 25 Trigger Inputs 24 31, 72 79 Connector Electrical/Timing Characteristics 50 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 51: Table 26 Gp Outputs 32−39 Connector Electrical/Timing Characteristics

    GP Input/Output Connector Circuit Schematics This section contains schematics of the input and output circuits of the ACR9000 and ACR9030 controllers. All inputs have the same circuit schematic and all outputs have the same circuit schematic. Figure 15 Equivalent Circuit for GP Inputs/Trigger Inputs Connector Chapter 2 Specifications 51 www.comoso.com...

  • Page 52: Figure 16 Equivalent Circuit For Outputs

    Misc. Control Group 1 Flags (P4272) • Kill All Motion Request For more information on the commands, flags, and parameters, refer to the ACR Command Language Reference (Online Help System in the ACR-View software). 52 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 53: Table 27 Motion Enable Connector Pinout

    Manufacturer ........... Amphenol PCD or equivalent (www.amphenol.com) Connector Type........2-pin, removable (female socket) Manufacturer Part Number ..... ELFP02210E Parker Hannifin Part Number....43-021606-01 Pitch ............0.200 in. (5.03 mm) Wire Range ..........12-26 AWG, 14-27 SWG, (0.12 – 3.30 mm Wire Strip Length ........

  • Page 54: Figure 17 Equivalent Circuit For Motion Enable Connector

    COM1 Connection on page 72.) The controller does not support half-duplex operation. COM1 Connector Specification Manufacturer ........... KYCON or equivalent (www.kycon.com) Connector Type........9-pin D-sub, 2-row (male connector) Manufacturer Part Number ..... K202HT-E9P-NJ 54 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 55: Table 29 Com1 Connector Pinout

    Parker Hannifin COM1 Mating-Connector Specification Mating connectors are not provided with the ACR90x0 Stand-Alone Controller. Parker Hannifin cables are available with mating connectors attached. Manufacturer ........... AMP or equivalent (www.amp.com) Connector Type........9-pin, D-sub, 2-row (female socket) Connector Kit .......... AMP Part Number 747951-1...

  • Page 56: Table 30 Analog Inputs (0-3) Connector Pinout

    Input Current (worst case load)....±160 µA Fault Tolerance ........±16.5V Input Impedance ........10 Ω Sample Rate* (8 inputs)......86.5 µs ADC parameter update rate is based upon servo period (PERIOD) setting. 56 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 57: Figure 18 Equivalent Circuit For Differential Analog Inputs Connector

    Parker Hannifin Analog Inputs Circuit Schematics This section contains schematics of the optional analog input circuits of the ACR9000 controller. All inputs have the same circuit schematic. Differential Inputs Figure 18 Equivalent Circuit for Differential Analog Inputs Connector Single-Ended Inputs...

  • Page 58: Table 32 Canopen Connector Pinout

    Manufacturer Part Number ....K202HT-E9P-NJ CANopen Mating-Connector Specification The ACR90x0 Stand-Alone Controller does not ship with a mating connector. However, you may order a Parker Hannifin cable with a mating connector attached. Manufacturer ........AMP or equivalent (www.amp.com) Connector Type........9-pin, D-sub, 2-row (female socket) Connector Kit ........AMP Part Number 747951-1...

  • Page 59: Figure 20 Equivalent Circuit For Canopen

    Parker Hannifin CANopen Circuit Schematic Figure 20 Equivalent Circuit for CANopen The ACR90x0 controller implements a CANopen master with the following features: • 10k, 20k, 50k, 125k, 250k, 500k, 800k, and 1M programmable bit-rate • Up to four slave nodes •...

  • Page 60: Table 33 Ethernet Connector Pinout

    Signal Wire Color White with orange Orange White with green Blue White with blue Green White with brown Brown * Terminated internally: 4x75-ohm, 1000pF (2kV) to shield Table 34 Powerlink Connector Pinout ETHERNET 60 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 61: Table 35 Usb Connector Pinout

    Parker Hannifin USB Connector The ACR90x0 controller implements the USB interface with the following features: • USB 2.0 full-speed device, 12 Mbps • Self-powered— it does not draw power through the USB interface USB Connector Pinout The USB connector is a Series B receptacle. The connector pin-out follows:...

  • Page 62: Chapter 3 Installation

    Chapter 3 Installation C H A P T E R T H R E E Installation IN THIS CHAPTER • Before You Begin ................. 63 • Installation Safety Requirements............63 • Installation Overview ................64 • Mounting Guidelines................65 • Cable Installation .................. 71 •...

  • Page 63: Before You Begin

    Compliance) directives when installed according to the instructions provided in this chapter and the specifications in Chapter 2. The ACR90x0 Stand-Alone Controller is a vented product. As a rule, Parker Hannifin recommends that you install the controller in an enclosure to protect it from atmospheric contaminants, accidental spills and damage, and to prevent operator access while it has power applied.

  • Page 64: Installation Overview

    Installation Overview Figure 21 illustrates the components necessary for installation of the ACR9000 Stand-Alone Controller. It shows the ACR9000 connected to an Aries drive and a personal computer (PC), and it is also applicable to the ACR9030 installation. The recommended installation process, mounting guidelines, and cable installation procedures follow.

  • Page 65: Mounting Guidelines

    Parker Hannifin Mounting Guidelines Mount the ACR90x0 Stand-Alone Controller before making any electrical connections or applying power. The figures on the following pages illustrate mounting specifications for the 2/4 Axis Configuration and the 6/8 Axis Configuration of the controller. Figure 22 and Figure 23 on pages 66 and 67 provide the measurements.

  • Page 66: Figure 22 Mounting Specifications For Acr9000 And Acr9030 2/4 Axis Configuration

    Parker Hannifin Figure 22 Mounting Specifications for ACR9000 and ACR9030 2/4 Axis Configuration 66 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 67: Figure 23 Mounting Specifications For Acr9000 And Acr9030 6/8 Axis Configuration

    Parker Hannifin Figure 23 Mounting Specifications for ACR9000 and ACR9030 6/8 Axis Configuration Chapter 3 Installation 67 www.comoso.com...

  • Page 68: Figure 24 Mounting Clearance For Acr9000 And Acr9030 2/4 Axis Configuration

    Parker Hannifin Figure 24 Mounting Clearance for ACR9000 and ACR9030 2/4 Axis Configuration 68 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 69: Figure 25 Mounting Clearance For Acr9000 And Acr9030 6/8 Axis Configuration

    Parker Hannifin Figure 25 Mounting Clearance for ACR9000 and ACR9030 6/8 Axis Configuration Chapter 3 Installation 69 www.comoso.com...

  • Page 70: Figure 26 Mounting Clearance For Acr9040

    Parker Hannifin Figure 26 Mounting Clearance for ACR9040 70 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 71: Cable Installation

    Non-EMC Cables Parker Hannifin also offers non-EMC cables, for applications in which CE compliance is not required or ambient electrical noise does not cause problems. Because these cables are either unshielded, or contain simple-foil shielding terminated by a drain wire, they do not provide significant shielding of electrical noise at high frequencies.

  • Page 72: Figure 27 Loop-Back Diode With Shared Power Supply

    050801nnnnn), and MPM series motors. Be sure to observe polarity for brake connections for motors equipped with loop-back diodes. Some Parker Daedal-built positioners with external brakes do not have protection diodes installed. For these positioners with external brakes, the diode would go between the brown (+24VDC) and blue (24V RTN) wires.

  • Page 73: Table 36 Com1 Transmission Modes

    Parker Hannifin RS-232 RS-485 Full-Duplex (Four-Wire) Figure 28 RS-232/485 Connector Pin Assignments Transmission Modes The COM1 connector contains two mode pins, 7 and 9. Figure 29 shows the location of the pins. Table 36 shows the mode pin assignments for establishing RS-232 or RS-485 operation.

  • Page 74: Table 37 Com1 Rs-232 Pinout

    The ACR90x0 controller’s COM1 port default configuration is for RS-232 transmission with a standard cable. For information on cables available from Parker Hannifin, see Table 2 ACR9000 and ACR9030 Controller Accessories on page 18 and Table 3 ACR9040 Controller Accessories on page 19.

  • Page 75: Table 38 Rs-485, Four-Wire Connector Pinout

    (See Chapter 2, “External I/O Interface,” pages 47 through 51 for specifications, illustration, and labeling of the connectors.) To aid installation, Parker Hannifin offers the VM25 expansion I/O module to adapt the controller’s 25-pin D-sub connector(s) to screw terminals. For more information, see Appendix B VM25 Breakout Module on page 112.

  • Page 76: Table 39 Drive Connection Cables

    Parker Hannifin Axis Connection Your ACR9000 or ACR9030 controller may be configured with two, four, six, or eight Axis connectors depending on your requirements. Each connector functions as an integrated drive/encoder interface for one axis of motion. Make one connection for each required axis of motion. The connectors are on the front panel of the unit and are 26-pin, female D-sub, high-density connectors.

  • Page 77: Table 40 Connection To Aries Pinout

    Parker Hannifin Aries Drives The following pinout is for the Aries drive’s 26-pin Drive I/O connector. Part number ............71-021599-xx Note: A box surrounding pins indicates a requirement for twisted-pair wiring. ACR9000 and ACR9030 Aries Wire Controller Color Signal 5 VDC PWR...

  • Page 78: Table 41 Connection To Compax3 Pinout

    Drive GND Violet — NOTE: In the controller connector, pins 17 & 19 are jumpered. In the Compax3 X12 connector, pins 1, 7, & 11 are jumpered. Table 41 Connection to Compax3 Pinout 78 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 79: Table 42 Connection To Dynaserv Pinout

    Dynaserv G3 Drives The following pinout is for the Dynaserv drive’s CN4 connector. Part number ............71-023715-xx Note : A box surrounding pins indicates a requirement for twisted-pair wiring. ACR9000 and ACR9030 Dynaserv Wire Controller Color Signal 5 VDC PWR...

  • Page 80: Table 43 Connection To Gemini Servo Pinout

    Drive Fault− Brown Drive Enable− Gray Drive Enable+ Blu-Wht Wht-Blu Drive Reset− Drive Reset+ Orange Note: In the controller connector, pins 16 & 18 are jumpered. Table 43 Connection to Gemini Servo Pinout 80 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 81: Table 44 Connection To Gemini Stepper Pinout

    The following pinout is for the Gemini Stepper drive’s 50-pin Drive I/O connector. Part number ............71-022316-xx Note : A box surrounding pins indicates a requirement for twisted-pair wiring. ACR9000 and ACR9030 Controller Stepper Wire Color Signal DC RETURN Pink...

  • Page 82: Table 45 Connection To Parker Stepper Pinout

    Parker Hannifin Parker Stepper Drives: E-AC, E-DC, Zeta, etc. The following pinout is for all Parker Stepper drive Indexer connectors. Part number ............71-021113-xx Note : A box surrounding pins indicates a requirement for twisted-pair wiring. ACR9000 and ACR9030 Stepper...

  • Page 83: Table 46 Connection To Slvd And Hpd Pinout

    The following pinout is for the SVLD drive’s X3 connector, and the HPD drive’s X7 connector. Part number ............71-021109-xx Note : A box surrounding pins indicates a requirement for twisted-pair wiring. ACR9000 and ACR9030 SLVD & HPD Wire Controller Color Signal...

  • Page 84: Table 47 Connection To Vix Pinout

    Drive AOUT+ Blue Drive AOUT− Violet DRV FAULT IN– Gray DRV ENABLE+ Brown Note: In the controller connector, pins 9 & 16, and 20 & 24 are jumpered. Table 47 Connection to ViX Pinout 84 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 85: Table 48 Connection To Drive With Flying Leads

    Other Drives The following pinout is for connection to a drive with a flying leads assembly. Part number ............71-022344-xx Note : A box surrounding pins indicates a requirement for twisted-pair wiring. ACR9000 and ACR9030 Other Wire Controller Color Signal...
  • Page 86 • Install termination resistors (120 ohms) at both ends of the trunk line. Figure 30 on page 87 shows a typical CANopen network for the ACR9000 (ACR90x0) controller, with a main trunk line and drop lines to the CANopen nodes.

  • Page 87: Table 49 Canopen Pinout (Minimum)

    Parker Hannifin Figure 30 CANopen Network for ACR90x0 ACR90x0 CANopen Pinout (Minimum) Description Wire Color Connect to CAN_L on slave node(s) White Connect to CAN_H on slave node(s) Blue Connect to CAN_GND on slave node(s) Black Notes CANopen recommends that all nine wires on the connector be routed to support future network enhancements.

  • Page 88: Table 50 Canopen Point-To-Point Cable

    The connector on one end is a 9-pin female D-sub connector; the other end has flying leads for connecting to screw terminals. The above cable assembly includes a termination resistor (120Ω) within the D-sub connector. Parker Hannifin recommends installing another resistor at the screw terminal (120Ω). Table 50 CANopen Point-To-Point Cable...

  • Page 89: Table 52 Canopen Cables For Multiple-Node Networks

    Maximum cumulative drop length is the total length of all drop lines. Keep wires as short as possible, especially drop lines. Parker Hannifin recommends installing a termination resistor (120Ω) at both ends of the CANopen trunk line. System noise, improper cable routing, incorrect cable type, and number of CANopen nodes can all degrade network performance.

  • Page 90: Table 54 Canopen Bus-Cable Specifications

    CAN_L to CAN_H More than 2 termination resistors are installed, or < 50Ω the resistors have incorrect values. Install the correct number or value of termination resistors before proceeding. Table 55 CANopen Network Installation Test 90 ACR9000 Series Hardware Installation Guide www.comoso.com...
  • Page 91 On each I/O node, configure the dip switch to assign a hardware address. For more information, see Hardware Address (Module ID) in the Parker I/O System manual. b. In the terminal emulator, set the corresponding parameters for the addresses assigned to the I/O nodes.
  • Page 92 Talk with your Network Administrators before assigning an IP address or subnet mask to a controller. They can provide you with an available IP address, as well as which subnet mask is appropriate for your particular network configuration. 92 ACR9000 Series Hardware Installation Guide www.comoso.com...
  • Page 93 Select your specific ACR90x0 controller model and then click Next . c. Enter the part number for the controller and then click Next . d. In the Controller Alias box, type your ACR90x0 model (ACR9000, ACR9030, or ACR9040) and then click Next .
  • Page 94 If this occurs: • When using an isolated 24 VDC power supply, such as Parker’s PS-60W, jumper the 24 V return/ground to Earth ground, and • Use a USB hub between the host PC and the ACR9040.

  • Page 95: Ac Power Connection

    DC Power Connection The ACR9040 must be powered by a non-isolated 24 VDC power supply. Parker’s PS-60W is an isolating DC power supply which can be converted to non-isolated by connecting an 18 AWG jumper between the DC return and Earth ground.

  • Page 96: Chapter 4 Troubleshooting

    Chapter 4 Troubleshooting C H A P T E R F O U R Troubleshooting IN THIS CHAPTER • Troubleshooting Guidelines..............97 • LED Status Indicators................98 • CANopen Connection................. 100 • Ethernet Connection................100 • RS-232/RS-485 Communication Problems........101 •...

  • Page 97: Troubleshooting Guidelines

    Alternating Red/Green Contact Parker Hannifin Technical Assistance. 1. For Parker Hannifin Technical Assistance contact information, see page 3. Table 56 Power-Status LED General Troubleshooting Use the following list as a guideline for troubleshooting. The balance of this chapter provides procedures for each of the guidelines in the list.

  • Page 98: Led Status Indicators

    0 through 3 on the 2/4 Axis ACR9000 as shown in Figure 4 on page 30, and labeled 0 through 7 on the 6/8 Axis ACR9000 as shown in Figure 5; and labeled 0 through 3 on the ACR9030 as shown Figure 6.

  • Page 99: Table 58 Canopen Status Led

    Parker Hannifin CANopen State What It Means Status LED AutoBaud detection is in progress, or LSS Flickering AutoBaud/LSS services are in progress (alternately flickering with red LED). Green Single flash Stopped The device is in the stopped state. Blinking Pre-Operational The device is in the pre-operational state.

  • Page 100: Canopen Connection

    Re-attach the ACR90x0 Ethernet cable. b. If a “timeout” message is seen, then the ACR90x0 has an invalid IP address or subnet mask setting. Determine the correct setting and update the ACR90x0. 100 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 101: Rs-232/Rs-485 Communication Problems

    Parker Hannifin RS-232/RS-485 Communication Problems If you cannot establish serial communication with the ACR90x0 controller, use the information and procedures in this section to help isolate and resolve problems. For more information, see “COM1 Connector” on pages 54 and 55 and “COM1 Connection”...

  • Page 102: Table 62 Communications Port Error Messages And Resolutions

    Cycle power and download OS The ACR90x0 controller has encountered an error while downloading an operating system. Cycle power to the controller and download the operating system again. Table 62 Communications Port Error Messages and Resolutions 102 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 103: Feedback Device Problems

    Confirm that the feedback cables are wired correctly. • If the ACR9000 (or ACR9030) +5 VDC powers the feedback device, verify that the device is designed to be powered from +5 VDC and meets the current rating in Table 12 Axis Power Electrical Characteristics, on page 37.

  • Page 104: Motion-Related Error Messages

    Resolution: Close the Motion Enable input circuit. If the Motion Enable input is not open, the ACR90x0 may be damaged. See the section “Motion Enable Input” below for more information. Table 63 Motion-Related Error Messages 104 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 105: Axis I/O Troubleshooting

    Parker Hannifin Motion Enable Input Open Bit 5646 (Unlatched Motion Enable Input) is used to indicate when the Motion Enable input circuit is open. See Figure 32. Figure 32 Motion Enable Input Fault If the Motion Enable input circuit is closed and Bit 5646 still shows active, it indicates that the ACR90x0 may have been damaged by a large reverse current through the Motion Enable input connector.
  • Page 106 The drive and motor combination are not properly tuned; refer to the drive installation manual for proper tuning. Verify that you have attached the axis as a servo and not a stepper. For more information, see the ATTACH command in the ACR 106 ACR9000 Series Hardware Installation Guide www.comoso.com...
  • Page 107 Parker Hannifin Command Language Reference (Online Help System in the ACR- View software). The feedback device is counting backwards. Use either: AcroBASIC remedy: Change the MULT command setting to either +4 or –4 to reverse feedback polarity (not applicable for SSI feedback devices).
  • Page 108 4. If the drive holds torque when you disable the axis, and loses torque when you enable the axis, check the value of the Drive Enable Output Shuts Down Drive flag. Some drives implement reverse functionality of the disable and enable settings. 108 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 109: Appendix A Ssi Encoders

    Appendix A SSI Encoders A P P E N D I X A SSI Encoders IN THIS CHAPTER • Overview..................... 110 • Protocol....................110 • Timing ....................111 www.comoso.com...

  • Page 110: Overview

    SCLK. Master Device (ACR9000 and ACR9030 Controllers) The ACR9000 and ACR9030 controllers initiate a new SSI transfer at the beginning of a servo period by generating SCLK. The controller then qualifies subsequent data values on SDATA using the rising edge of SCLK.

  • Page 111: Timing

    Parker Hannifin Timing This section describes the SSI transfer cycle timing for the ACR9000 and ACR9030 controllers. Figure 33 illustrates the cycle timing and Table 64 contains the timing data. Figure 33 SSI Transfer-Cycle Timing SSI Transfer-Cycle Timing Data Symbol...

  • Page 112: Appendix B Vm25 Breakout Module

    Appendix B VM25 Breakout Module A P P E N D I X B VM25 Breakout Module IN THIS CHAPTER • Overview..................... 113 www.comoso.com...

  • Page 113: Overview

    Overview The VM25 module provides screw-terminal connections for the General Purpose I/O connectors on the ACR9000 and ACR9030 Stand-Alone Controllers. The VM25 comes with a 2-foot cable (609.6 mm) that provides easy connection between the VM25 and the controller’s 25-pin I/O connectors.

  • Page 114: Appendix C Vm26 Breakout Module

    Appendix C VM26 Breakout Module A P P E N D I X C VM26 Breakout Module IN THIS CHAPTER • Overview..................... 115 www.comoso.com...

  • Page 115: Overview

    Overview The VM26 expansion module provides screw-terminal connections for the axis connections on the ACR9000 and ACR9030. The VM26 comes with a 2- foot cable (609.6 mm) that provides easy connection between the VM26 module and the axis 26-pin connector. The VM26 expansion module is ordered separately (part number “VM26-PM”).

  • Page 116: Appendix D Drive I/O

    Appendix D Drive I/O A P P E N D I X D Drive I/O IN THIS CHAPTER • Drive I/O....................117 • Encoder Input Mode ................123 • General Purpose and Extended I/O ...........124 • Motion Enable Input................127 www.comoso.com...

  • Page 117: Drive I/O

    Parker Hannifin Drive I/O We have pre-configured the standard drive functionality used with stepper and servo drives. These functions will allow users to enable, reset, and monitor position error on each of the drive connectors. Basic Setup As in other ACR controllers, the first step is to attach the axes to the master trajectory generator.
  • Page 118 P00>DRIVE RES X Y Z A Drive Input Fault By default, the ACR9000 and ACR9030 check for a drive fault input. The input is active when no current is flowing through the drive fault input. If no drive fault input is attached to an axis, the user must do the following to enable the drive: clear the Enable Drive I/O flag, then enable the drive with the specific drive enable bit (bits 40-47).
  • Page 119 Parker Hannifin Here are the drive control parameters and bits. Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80 Flag Parameter 4360 4361 4362 4363 4364 4365 4366 4367 code=0x10; index=0x14 Control Flags AXIS Number Index Disable Encoder Fault 8451...
  • Page 120 DRIVE OFF command. Can be used to manually enable/disable the drive. Drive Reset Output This flag is the same as the DRIVE RES command and is automatically cleared. Can be used to manually reset the drive. 120 ACR9000 Series Hardware Installation Guide www.comoso.com...
  • Page 121 Parker Hannifin Field Description Read/ Description Write Kill All Motion Request When set, this flag will stop all motion, including gear, cam, jog and master motion (Kill All Moves Request), on the axis selected. All axes attached to the same master as the selected axis will also have all motion stopped.
  • Page 122 Latched Excess Position Indicates that excess position error has been Error detected, and that motion has been killed and the drive disabled as a result. Stays latched until cleared with a DRIVE ON command. 122 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 123: Encoder Input Mode

    Parker Hannifin Encoder Input Mode The ACR9000 and ACR9030 can be set to any one of six encoder modes. The new command ENCm SRCn has been added to support the new modes, and is directly equivalent to setting or clearing the flags. The table below summarizes the choices for the flags and the corresponding valid values of “n”...

  • Page 124: General Purpose And Extended I/O

    Parker Hannifin General Purpose and Extended I/O The drive connectors on the ACR9000 and ACR9030 have dedicated I/O purposes. The extended I/O on these units are not necessarily in groups of 32 digital inputs and 32 digital outputs, and can include analog inputs.
  • Page 125 Parker Hannifin Miscellaneous Inputs (P4098) Flag number Drive Fault Input 0 Drive Fault Input 1 Drive Fault Input 2 Drive Fault Input 3 Drive Fault Input 4 Drive Fault Input 5 Drive Fault Input 6 Drive Fault Input 7 Opto-Isolated High Speed Input INP72...
  • Page 126 :REM DWELL FOR A SECOND 160 X0 Y0 :REM GO BACK TO 0 POSITION 170 GOTO 600 :REM GO TO LINE 600 500 :REM THIS IS WHERE CODE TO HANDLE DRIVES NOT ENABLING SHOULD GO 600 END 126 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 127: Motion Enable Input

    Parker Hannifin Motion Enable Input The motion enable input is designed to halt motion even in the absence of firmware control. The input is directly connected to the CPU and the drive enable circuits in the ACR90x0. The input is considered active when 5-24 VDC are across the two pins. If the...

  • Page 128: Appendix E Canopen

    Appendix E CANopen A p p e n d i x E CANopen IN THIS CHAPTER • Limited Amounts of Nodes and I/O ............129 • Semi-Automatic Network Configuration ..........129 • AcroBASIC Language Access to CANopen I/O .........132 www.comoso.com...

  • Page 129: Limited Amounts Of Nodes And I/O

    The ACR90x0 controller automatically sets other configuration parameters required for CANopen, including the global analog data enable (For more information, see the Parker I/O manual). The table below gives the parameters the user must set, along with their default values.
  • Page 130 (16 * 125)/1000 = 2 (16 * 125)/125 = 16 The second constraint is individual node speed. Parker offers the PIO-337 and PIO-347 fieldbus couplers, and these have been characterized for speed. The time required depends on the coupler and the amount and type of I/O on the coupler.
  • Page 131 Parker Hannifin Health Period and Node Health Node health is a way for the master to periodically (known as the Health Period) ascertain that all nodes are still alive, and to respond appropriately if one goes “off line.” There are two health checking protocols, called “Heartbeating” and “Node Guarding.”...

  • Page 132: Acrobasic Language Access To Canopen I/O

    Control Flags Start Network 11265 Reset Network 11266 Reserved 11267 Status Flags CANopen controller installed 11268 Network Operational 11269 Network Start Failed 11270 Node Failure 11271 SW Rx Overflow 11272 HW Rx Overflow 11273 132 ACR9000 Series Hardware Installation Guide www.comoso.com...
  • Page 133 Parker Hannifin Field Description Read/ Description Write Start Network When set, this flag will attempt to communicate with the CANopen network. This flag is automatically cleared by the controller when the attempt to start the network has completed. See the section on “Starting and Configuring the Network”...
  • Page 134 P32774 Number of digital inputs bytes P32775 Number of digital outputs bytes P32776 Number of analog inputs P32777 Number of analog outputs P32778 Bus state (see table below) P32779 Reserved P32782 Reserved P32783 134 ACR9000 Series Hardware Installation Guide www.comoso.com...
  • Page 135 Parker Hannifin Field Description Read/ Description Write Master Node ID The controller’s ID in the CANopen Network Bit Rate The bit rate in Kb for the CANopen Network The number of slave nodes not including the Number of Slave Nodes controller/master.
  • Page 136 Error control A guard event or heartbeat inside blinking event (Health event has occurred. Green event) Solid Red Bus Off The CAN controller is bus off Blinking Red ACR internal error or transmission overrun 136 ACR9000 Series Hardware Installation Guide www.comoso.com...
  • Page 137 Parker Hannifin The Bus State Description table below gives the possible bus states and the corresponding CAN LED indicator state. The only normal states are “READY TO START” and “NETWORK STARTED.” Any red in the CAN LED indicates a problem.
  • Page 138 Numbering will proceed upward for all the digital inputs on that numbered node. The same process occurs for the Digital Outputs. This continues until the actual number of digital inputs and outputs on the network 138 ACR9000 Series Hardware Installation Guide www.comoso.com...
  • Page 139 Parker Hannifin or maximum number (512) of digital I/O is reached. For example, the first digital input on node 0 is bit 11520, and the first digital input on node 2 is bit 13568. Each node will have an information parameter block, described later in this text.
  • Page 140 These tables appear similar to the other parameter tables for ACR DACs and ADC’s, but there is no relationship in function. Nor do the other DAC and ADC commands have any function for ACR9000 extended analog I/O. The DAC commands assume their use as command outputs for drives, and the ACR90x0 does not have the type of ADCs that are assumed by other ADC commands.
  • Page 141 ADC parameter blocks of each node. Example The following example uses two Parker I/O nodes. The first, configured as node 3, has a PIO-337, four digital inputs, four digital outputs, four analog inputs (0 to 10 VDC) and two analog outputs (0 to 10 VDC). The second, configured as node 4, has a PIO-347, four digital inputs, four digital outputs, four analog inputs (0 to 10 VDC) and two analog outputs (0 to 10 VDC).

  • Page 142: Alternate Mapping Of Digital I/O

    I/O that can appear at XIO flag parameters 4104-4111. For example, if P32771= 1 and Node 0 only has 32 physical inputs and outputs, only flag parameters 4104 and 4105 have meaning. 142 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 143: Appendix F Drive Talk

    Appendix F Drive Talk A p p e n d i x F Drive Talk IN THIS CHAPTER • Quick Startup..................144 www.comoso.com...

  • Page 144: Quick Startup (Acr9000 And Acr9030)

    6. Set the auto address request flag for each drive. You should see the drives reset. SET 10496 for axis0 SET 10528 for axis1 SET 10560 for axis2 SET 10592 for axis3 SET 10624 for axis4 SET 10656 for axis5 144 ACR9000 Series Hardware Installation Guide www.comoso.com...
  • Page 145 Parker Hannifin SET 10688 for axis6 SET 10720 for axis7 7. Using the Drive Talk Control Parameters, set the bits of the parameters you would like to query. 8. Set the update bit for the type of parameters you have set using the drive talk control for the parameters you have selected.
  • Page 146 This specifies the device number to use for drive talk. This must be the same device number used in the OPEN DTALK command. Drive Type This specifies what drive type to talk to (Aries = 146 ACR9000 Series Hardware Installation Guide www.comoso.com...
  • Page 147 Parker Hannifin Mask=0x08 Flag Parameter Code=0x10; Index=0x2B 4443 COM2 Stream Drive Talk Control Flag Flags Index Number AUTO_ADDRESS Request 11104 Reserved 11105 Reserved 11106 Reserved 11107 Reserved 11108 Reserved 11109 Reserved 11110 Reserved 11111 COM2 Stream Drive Talk Status Flag...
  • Page 148 Address Error This flag is set when an individual axis auto address request was made, but the drive’s reported address did not match the sent address. 148 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 149: Appendix G Regulatory Compliance

    Appendix G Regulatory Compliance A P P E N D I X G Regulatory Compliance —UL, EMC and CE IN THIS CHAPTER • System Installation Overview ............. 150 • General Safety Considerations ............150 • General EMC Considerations............. 150 • Installing the ACR90x0 Controller ............151 •...

  • Page 150: System Installation Overview

    ACR90x0 products, and on tests carried out on similar products, it is impossible for Parker Hannifin to guarantee compliance of any particular installation. This will be strongly influenced by the physical and electrical details of the installation and the performance of other system components.

  • Page 151: Installing The Acr90X0 Controller

    The ACR9000 and ACR9030 controllers receive its protective earth (PE) connection through its 3-pin power connector. The mains socket on the ACR9000 and ACR9030 incorporate a mains fuse in the Line (hot) leg of the AC mains. For portable equipment, the use of a standard IEC approved power cord is allowed.

  • Page 152: Figure 36 360° Bonding Techniques

    R-Clamp, bulkhead clamshell clamp, or other 360° bonding technique. This ensures that no stray noise will enter or exit the enclosure. Figure 36 illustrates 360° bonding techniques. Figure 36 360° Bonding Techniques 152 ACR9000 Series Hardware Installation Guide www.comoso.com...
  • Page 153 • Install a Mains filter. Installing with multiple ACR9000 and ACR9030 controllers require an EMC mains supply filter to meet EMC emission requirements. It is recommended that the controllers are mounted on a conductive panel which is shared with the EMC filters.

  • Page 154: Table 65 Mains Filter Selection

    Parker Hannifin EMC cabling—requires no additional cable preparation. The design of the ACR90x0 controller D-sub connectors provides a reliable earth bond when used with Parker EMC cabling. It requires no additional cable screen earth bond if the chassis of the ACR90x0 is adequately bonded to the system earth.

  • Page 155: Table 66 Enclosure Mounting Clamps

    Some installations may require that you take additional EMC measures. To further increase product immunity and reduce product emissions, you may add clip-on ferrite absorbers to all cables. Parker Hannifin recommends ferrites with at least 200 ohm impedance at 100 MHz,...

  • Page 156: Figure 37 Typical Lvd/Emc Installation

    Parker Hannifin Panel Installation in an Earth-Bonded Metallic Enclosure The following diagram shows a typical ACR9000 installation, and is also applicable to the ACR9030 and ACR9040. Figure 37 Typical LVD/EMC Installation Warning — These products have been developed for industrial environments.

  • Page 157: Figure 38 Acr9000 And Acr9030 2/4 Axis Configuration Panel Layout Dimensions

    Parker Hannifin Panel Layout Figure 38 ACR9000 and ACR9030 2/4 Axis Configuration Panel Layout Dimensions Appendix G Regulatory Compliance 157 www.comoso.com...

  • Page 158: Figure 39 Acr9000 And Acr9030 6/8 Axis Configuration Panel Layout Dimensions

    Parker Hannifin Figure 39 ACR9000 and ACR9030 6/8 Axis Configuration Panel Layout Dimensions 158 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 159: Figure 40 Acr9040 Panel Layout Dimensions

    Parker Hannifin Figure 40 ACR9040 Panel Layout Dimensions Appendix G Regulatory Compliance 159 www.comoso.com...

  • Page 160: Regulatory Agencies

    Part 1. General Requirements. 89/336/EEC CE for EMC BS EN 50081-2 (1994) Generic emission standard Part 2. Electromagnetic Industrial Environment. compatibility BS EN 61000-6-2 (1999) Immunity for industrial environments. Electromagnetic compatibility Part 6-2: Generic Standards 160 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 161: Appendix H Ethernet Powerlink

    Appendix H ETHERNET Powerlink A p p e n d i x ETHERNET P ow erlink IN THIS CHAPTER • ACR9030 and ACR9040 ..............162 • Introduction to ETHERNET Powerlink (EPL) ........162 • Cabling and SETUP ................164 • ACR9030 and ACR9040 Utilization of EPL........168 •...

  • Page 162: Acr9030 And Acr9040

    They use standard EPL technology without altering existing ACR9000 features. The ACR9030 is based on the ACR9000 hardware. It will support up to 16 axes total. Some or all of the axes may be EPL Nodes, and a maximum of 8 may be traditional axes.

  • Page 163: Figure 42 Epl Cycle

    Parker Hannifin An EPL cycle has two phases, the isochronous and the asynchronous. The isochronous phase consists of request/response pairs between the MN and each CN. All periodic data transfer takes place during this portion. See Figure 42 for details included in this phase.

  • Page 164: Cabling And Setup

    EPL drives must conform to this standard, and EPL controllers such as the ACR9030 and ACR9040 expect to find drives that conform to CiA DSP-402. To ensure product compatibility, please contact Parker Electromechanical Division before specifying a multi-vendor EPL solution.

  • Page 165: Figure 43 Acr9030 Front Panel

    Parker Hannifin Figure 43 ACR9030 Front Panel Appendix H ETHERNET Powerlink 165 www.comoso.com...

  • Page 166: Figure 44 Acr9040 Front Panel

    The maximum cable length is 100m, as defined by Ethernet 100Base-TX standards. NOTE: Due to its lack of noise immunity, unshielded Ethernet cable will not work in an ETHERNET Powerlink system. 166 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 167: Figure 45 Acr9030 And Connections To The Aries Epl Drive

    Parker Hannifin ETHERNET Powerlink Connector Specifications Ethernet Connector on page 60 for specifications for the two ETHERNET Powerlink connectors. Connections See Figure 45 for connections between the ACR9030 and the Aries EPL drive. (Connections to the ACR9040 are identical.) Figure 45 ACR9030 and connections to the Aries EPL drive Appendix H ETHERNET Powerlink 167 www.comoso.com...

  • Page 168: Acr9030 And Acr9040 Utilization Of Epl

    ACR9040 only support EPL nodes that adhere to device profile DSP-402. EPL vs. Traditional Drive Interface A traditional drive interface on an ACR9000 or ACR9030 controller is contained on the drive connector. It consists of the DAC (or step and direction) signals out, the encoder feedback in, the drive enable and reset outputs, and the drive fault input.

  • Page 169: Support For Cia Dsp-402

    Parker Hannifin Network Failsafe Assurances Several measures help to ensure failsafe behavior in the event of any kind of network problem. In an EPL cycle, the controller and drive exchange data, and each tests for a loss of EPL cycles or unexpected network state.

  • Page 170: Acr9030 And Acr9040 Epl Commands, Parameters And Flags

    During this state, the MN interrogates and configures the CNs as required. The CNs are then placed into the “operational” state, and the automatic data transfer between the CNs and the MN takes place. 170 ACR9000 Series Hardware Installation Guide www.comoso.com...
  • Page 171 Parker Hannifin Before the network may become “operational,” the ACR9030 or ACR9040 must know the number of CNs, and the Node ID for each. In some applications, the external nodes may be powered after the MN, and hence not available for configuration on ACR9030 or ACR9040 power up. For this reason, the user will be required to explicitly request network start via a control flag.

  • Page 172: Table 71 Auto-Populated Network Control And Status Flags

    EPLD Stream Disconnected 16653 EPL Drive(s) Enabled 16654 Insufficient Period 16655 Starting Network 16656 Resetting Network 16657 Reserved 16658 Reserved 16659 Opening EPLD Stream 16660 Table 71 Auto-Populated Network Control and Status Flags 172 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 173: Table 72 Control And Status Parameters

    Parker Hannifin The descriptions and parameter numbers for the EPL network are shown in Table 72. The control parameters are those that should be set before attempting to start the network. The status parameters are those that the controller will set as a result of attempting to start the network. The parameter denoted with an asterisk (*) is saved with the ESAVE command.

  • Page 174: Table 73 Epl Network States And Corresponding Status Leds

    Error in user supplied external node data External node Object Dictionary error during start Unexpected external node found during start Error in SDO transfer Internal Error in EPL cycle start Table 74 EPL Operational Errors 174 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 175: Table 75 Control Parameters For Epld0

    Parker Hannifin EPL Drive Information Parameters and I/O Flags Table 75 gives all the user-set control parameters for EPLD0. For higher numbered ETHERNET Powerlink drives (EPLD), work from EPLD0 and add n x 16 to each parameter number. For example, for EPLD1 Node ID, add 1 x 16 to the parameter number for EPLD0 Node ID (P37632) to get P37648.

  • Page 176: Table 77 P37636 (Os Download Or Reset Progress Or Status Control Parameter For Epld0)

    ACR9030 and ACR9040 with an EPL drive other than the Aries EPL. In that case, consult that drive’s user guide to know how to interpret those bits.) 176 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 177: Table 78 P4200 (Epld0 - Epld3 Digital Inputs)

    Parker Hannifin DSP-402 Digital Input on Object 60FD Aries EPL Drive Number Bit Position EPLD0 Input 0 EPLD0 3 3328 EPLD0 Input 1 EPLD0 0 3329 EPLD0 Input 2 EPLD0 1 3330 EPLD0 Input 3 EPLD0 18 3331 EPLD0 High Speed Input 4...

  • Page 178: Table 79 P4216 (Epld0 - Epld3 Digital Outputs)

    ENC (encoder) objects are. For example, EPLD0 position and EPLD0 velocity are at P38144 and P38145 respectively. The next EPLD object starts 16 away from the previous one, so EPLD1 position and EPLD1 178 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 179: Access To Epl Drives' Native Command Language

    Parker Hannifin velocity are at P38160 and P38161 respectively. Similarly, EPLD position is the actual EPLD position, updated every servo period, and EPLD velocity is the change in EPLD position each servo period. In addition to their use in the ATTACH and OPEN commands described later, EPLD objects may be used as SRC (source) objects anywhere that ENC may be used, such as cams and gears.

  • Page 180: Application Scenario

    ACR-View. NOTE: This application scenario illustrates the direct use of the parameters and control bits to be set for an EPL network. ACR-View will do this automatically via the configuration wizard. 180 ACR9000 Series Hardware Installation Guide www.comoso.com...
  • Page 181 Parker Hannifin PROG0 PROGRAM REM: Setup the network update rate PERIOD = 0.0005 REM: Setup the number of controlled nodes P37376 = 2 REM: Setup node ID for EPLD0 P37632 = 100 REM: Setup node ID for EPLD1 P37648 = 101...

  • Page 182: Troubleshooting

    “Motor Control” on Page 186. 6. The EPL status LED changes states depending on the status of the Ethernet or EPL network as described in the section “Communications” on page 183. 182 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 183: Table 80 Aries Epl Drive Ethernet Status Led Descriptions

    Parker Hannifin Communications All drive communications are based on Ethernet or EPL. When the drive is attached to the ACR9030 or ACR9040 EPL controller, and the EPL network is established, all communications takes place through the ACR9030 or ACR9040 EPL controller. Each Aries EPL drive attached to the EPL network can be accessed through the ACR9030 or ACR9040 EPL controller.

  • Page 184: Table 81 Rj-45 Connector Pinout

    EPL specification should cause the LEDs to illuminate. 4. If the LEDs still do not illuminate, look for Ethernet hardware problems. Aries EPL Drive EPL Status LEDs Figure 47 Aries EPL Drive EPL Status LEDs 184 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 185: Table 82 Aries Epl Drive Epl Status Indicator Led Descriptions

    Parker Hannifin EPL Status LED Illumination States LED State Description Powering up, searching for Ethernet Off/Green, flickering Standard Ethernet mode (no error) (alternating 50 ms at 10 Hz) Red/Green, flickering Standard Ethernet mode, EPL error (alternating 50 ms at 10 Hz)
  • Page 186 The first step in troubleshooting motor-control issues is to examine the drive status LEDs. Use Table 83 to determine the condition they indicate. Use the additional information in this section to take corrective action. 186 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 187: Table 83 Aries Epl Drive Status Indicator Led Descriptions

    Parker Hannifin Drive Status LEDs Figure 48 Drive Status LEDs Drive Status LED Illumination States LED Left LED Right Description Drive Enabled Green Enabled Green Yellow (flashes during Regeneration) Enabled, Regeneration active Green Yellow/Green (alternating) Enabled, Autorun mode Drive Disabled...
  • Page 188 Refer to your motor specifications for the correct value. (DMTJ) E14—Damping = Ø This parameter is set to zero (Ø). The drive will not enable Velocity or Position Modes. To correct the 188 ACR9000 Series Hardware Installation Guide www.comoso.com...
  • Page 189 Parker Hannifin Error Code Resolution error, you must set to a non-zero value. Refer to your motor specifications for the correct value. (DMTD) E15—Notch Filter Calc Error The notch filter settings caused an internal calculation error. The last valid value was used. Try different values for the notch filter parameters.

  • Page 190: Table 84 Error Messages

    3. Apply power to the drive. a. Send the SFB command. It should report 4. If the response is not <*>4 , then check the feedback cable (if using a non-Parker cable, check that it is correctly wired). If the cable is correctly wired and connected, the problem might be the encoder.
  • Page 191 Parker Hannifin b. Send the THALL command. It should report a number in the range of 1–6, which indicates the phase wires are connected correctly. If the response is Ø or 7 , a fault exists. Check the motor phase wiring c.

  • Page 192: Figure 49 Hall Connection Diagram

    THALL reports a value of 3, the wire at the negative voltage is V. If THALL reports a value of 5, the wire at the negative voltage is U. Figure 49 Hall Connection Diagram 192 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 193: Table 85 Configuring Hall Sensors

    Parker Hannifin Procedure 2—Hall Wires Use this procedure to connect your Hall wires to the drive. 1. First operate the drive in DMODE1 and verify that the motor turns clockwise. If not, swap any two motor wires. 2. Remove the motor power leads, leaving the feedback cable connected to the drive.

  • Page 194: Figure 50 Motor Terminal Voltages (Back Emf) And Hall Sensor Signals

    Hall 3 is the most significant bit (MSB). There is one hall cycle and one electrical cycle per pole pair on the motor. Figure 50 Motor Terminal Voltages (back EMF) and Hall Sensor Signals 194 ACR9000 Series Hardware Installation Guide www.comoso.com...

  • Page 195: Index

    ....... 52 Gemini Servo....... 80 encoder interface ......45, 103 Gemini Stepper......81 communications ....COM1 port Parker Stepper ......82 configuration SLVD & HPD........ 83 2/4 axis ......20, 24, 29, 30 ViX..........84 6/8 axis ........20, 24, 29 EMC ..........
  • Page 196 IP address ........164 encoder interface......45 LED..........173 general purpose inputs & outputs 50, 51 network states ....... 173 electrostatic discharge......63 node ID......... 163 EMC ........63, 150–60 nodes ..........162 OPEN EPLD......179, 180 196 ACR9000 Series Hardware Installation Guide www.comoso.com...
  • Page 197 Parker Hannifin options .......... 16, 17 operational errors ......174 parameter, control ......173 outputs parameter, EPLD ......175 drive ..........40–43 parameter, network ....170, 171 enable ..........53 parameter, node ..... 170, 171 encoder ........45, 46 parameter, node status ....175 general purpose ....50, 51, 75 parameter, status ......173...
  • Page 198 ......... 61 feedback device......103 user enable interface ....enable first steps ........97 varistors ..........154 LEDs ..........182 VM25 I/O expansion module ....113 motion-related errors ......104 weight ..........24 power-status LED ......97 198 ACR9000 Series Hardware Installation Guide www.comoso.com...

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