Table of Contents
Important User Information .......................................................................................................... 2
Table of Contents .......................................................................................................................... 4
Table of Tables............................................................................................................................... 6
Table of Figures ............................................................................................................................. 8
Change Summary .................................................................................................................... 11
Chapter 1 Introduction ................................................................................................................ 15
Checking Your Shipment.......................................................................................................... 16
Controller Options .................................................................................................................... 16
Accessories .............................................................................................................................. 17
About This Guide...................................................................................................................... 20
Technical Support .................................................................................................................... 21
Chapter 2 Specifications............................................................................................................. 22
Mechanical Specifications ........................................................................................................ 24
Electrical Specifications............................................................................................................ 26
Chapter 3 Installation .................................................................................................................. 62
Before You Begin ..................................................................................................................... 63
Installation Overview ................................................................................................................ 64
Mounting Guidelines................................................................................................................. 65
Cable Installation ...................................................................................................................... 71
AC Power Connection .............................................................................................................. 95
DC Power Connection.............................................................................................................. 95
Chapter 4 Troubleshooting......................................................................................................... 96
Troubleshooting Guidelines...................................................................................................... 97
LED Status Indicators............................................................................................................... 98
CANopen Connection............................................................................................................. 100
Ethernet Connection............................................................................................................... 100
Feedback Device Problems ................................................................................................... 103
Feedback Device Problems ................................................................................................... 103
Axis I/O Troubleshooting ........................................................................................................ 105
Appendix A SSI Encoders ........................................................................................................ 109
Overview................................................................................................................................. 110
Protocol .................................................................................................................................. 110
Timing..................................................................................................................................... 111
Overview................................................................................................................................. 113
Overview................................................................................................................................. 115
Appendix D Drive I/O ................................................................................................................. 116
Drive I/O ................................................................................................................................. 117
4 ACR9000 Series Hardware Installation Guide
Parker Hannifin
www.comoso.com