Parker ACR7000 Series Manuals

Manuals and User Guides for Parker ACR7000 Series. We have 4 Parker ACR7000 Series manuals available for free PDF download: Programmer's Manual, User Manual, Hardware Manual

Parker ACR7000 Series Programmer's Manual (341 pages)

Brand: Parker | Category: Controller | Size: 9 MB

Contact Information for Technical Assistance
2
User Information
2
Important Safety Information
3
Contents
4
Table of Contents
4
Change Summary
20
Revision E Changes
20
Assumptions of Technical Experience
21
Before We Begin
21
Before You Begin
22
CHAPTER 1 Parker Motion Manager

23
- Parker Motion Manager
  24
- Getting Started with PMM
  25
- Connection
  26
- Uploading a Project from the Controller to PMM
  28
- Procedure
  28
- Downloading a Project from PMM to the Controller
  29
- Procedure
  29
- Reference
  31
- Parker Motion Manager Parts
  33
- Menu
  33
- File Menu
  34
- Edit Menu
  34
- Tools Menu
  34
- Window Menu
  35
- Help Menu
  35
- Tools → Options
  36
- Toolbar
  36
- Explorer
  38
- Connection
  38
- Configuration Wizard
  38
- Program Editor
  38
- Terminal Emulator
  38
- Tools
  39
- Status Panels
  39
- Scopes
  39
- Message Window
  39
- Watch Windows
  40
- Configuration Wizard
  43
- Axes
  43
- Master (Units)
  45
- Drive/Motor
  46
- Drive/Motor (Acr7Xt Stepper)
  46
- Motor Settings
  46
- Drive Settings
  46
- Drive/Motor (Acr7Xv Servo or IPA)
  47
- Drive/Motor (Acr7Xc)
  48
- Feedback
  49
- Scaling
  50
- Specify Transmission
  51
- Specify Reducer(S)
  51
- Enter Scaling Factor
  51
- Fault
  52
- Hardware Limit Detection
  52
- Assign Digital Inputs for Specific Functions
  52
- Software Limit Detection
  53
- Maximum Position Error Detection
  53
- Position Maintenance Settings
  53
- Memory
  54
- Finish and System Code
  55
- Program Editor
  56
- Terminal Emulator
  57
- Prompts
  57
- Basic Terminal Operations
  57
- User Buttons
  61
- Tools
  63
- Servo Tuner
  63
- Channels
  63
- Position Loop Gains
  65
- Move Configuration
  65
- Timebase
  66
- Display
  68
- Status Axis(0)
  68
- The Scope
  68
- Jog/Home/Limits
  70
- Communications
  70
- Drive
  70
- Hardware Limits
  73
- Software Limits
  74
- Position Error
  75
- LED Legend
  75
- OS Update
  76
- Status Panels
  78
- Motion Status Panel (ACR7000 Family)
  78
- Axis Status Bits
  79
- Programs
  79
- Axis Position
  79
- Master
  80
- Online Status
  80
- Motion Enable Input
  80
- Drive Status Panel (Acr7Xv and Acr7Xt)
  80
- Control Status
  81
- Drive Faults
  82
- Controller Information
  82
- Common Status Panel (IPA)
  83
- Status
  83
- Buttons
  83
- Control Status and Drive Faults
  84
- Controller Information
  84
- Programs
  85
- Numeric Status
  85
- Bit Status
  88
- Ethernet/Ip Status Panel
  89
- Failure Status
  89
- Scanner Parameters
  90
- Scanner Parameter Status
  90
- Ethernet/Ip Node Data
  91
- Controls
  91
- Servo Loop Status
  92
- Scopes
  93
- Common Tools
  93
- Channels
  93
- Timebase
  94
- Controls
  94
- Display
  96
- The Scope
  97
- Oscilloscope
  98
- Strip Chart
  99
- XY Plot
  100
CHAPTER 2 ACR Basics

101
- ACR Basics
  102
- Delimiter
  102
- Remarks
  103
- Program Labels
  104
- Move-Default Motion
  104
- Axis Names
  105
- Stopping Motion
  107
- Program Flow
  109
- Wait for Bit or Parameter
  110
- Selection
  111
- If/Then
  111
- If/Else/Endif
  112
- ELSE if Condition
  113
- Gosub/Return
  113
- Goto
  113
- GOTO and GOSUB Sample Program
  114
- Repetition
  115
- For/To/Step/Next
  115
- While/Wend
  115
- Bits, Parameters and Variables
  116
- User Bits and Parameters
  117
- Using Parameters and Bits
  118
- Setting Binary Bits
  118
- Clearing Binary Bits
  118
- Printing the Current Value
  119
- A Word on Aliases
  119
- Programming Example
  119
- Local Variables
  120
- Defines
  121
- Starting, Pausing, and Halting Programs
  123
- Running a Program
  123
- Running a Program at Power up
  123
- Listening to a Program
  123
- Viewing a Running Program
  123
- Halting a Program
  124
- Pausing a Program
  124
- Resuming a Paused Program
  124
- Affecting Multiple Programs
  124
- Restart Controller
  124
- Running Startup Programs
  124
- Parametric Evaluation
  124
- Parentheses and Operational Order
  125
- Nested Parentheses
  126
- Examples
  126
- Example Code Conventions
  127
- ACR System
  128
- ACR Architecture
  128
- Ethernet
  130
- Ethernet TCP/IP
  130
- Ethernet/Ip Scanner
  130
- Ethernet/Ip Node
  131
- Ethernet/Ip Peer-To-Peer
  131
- Command Syntax
  133
- Description of Format
  133
- Arguments and Syntax
  134
- Variable Substitution Syntax
  135
- Nested Commands Syntax
  136
- Commands Lists
  137
- Axis Limits
  137
- Character I/O
  138
- Drive Control
  138
- Feedback Control
  138
- Global Objects
  139
- Interpolation
  139
- Logic Function
  140
- Memory Control
  140
- Non-Volatile
  140
- Operating System
  141
- Program Control
  141
- Program Flow
  142
- Servo Control
  143
- Setpoint Control
  143
- Transformation
  144
- Velocity Profile
  144
- Startup Programs
  145
- Resetting the Controller
  145
- Memory
  146
- Return to Factory Default
  146
- Configuration
  147
- What Is Configuration Code
  147
- The Code
  147
- Resources Reserved for Generated Code
  151
- Flash Memory
  152
CHAPTER 3 Making Motion

153
- Making Motion
  154
- Four Basic Categories of Motion
  154
- Move Types
  154
- Absolute Motion
  155
- Incremental Motion
  155
- Comparing Absolute and Incremental Motion
  156
- Combining Types of Motion
  157
- Immediate Mode
  157
- Differences between FOV and VEL
  158
- What Are Motion Profiles
  158
- Interaction between Motion Profilers
  159
- Primary Setpoint
  159
- Velocity Profile Commands
  162
- Velocity Profile Setup
  162
- Feedback Control Commands
  163
- REN Details
  164
- RES Details
  165
- Coordinated Moves Profiler
  166
- Jog Profiler
  168
- JOG VEL Details
  172
- JOG Commands
  173
- JOG REN Details
  174
- JOG RES Details
  175
- Gear Profiler
  176
- Cam Profiler
  178
- Homing
  180
- Homing Subroutines
  182
- Basic Homing (Homing Backup Disabled)
  183
- Positive Homing (Homing Backup Enabled)
  183
- Negative Homing (Homing Backup Enabled)
  185
- Limit Detection
  186
- Dedicated I/O for Homing
  186
- Stopping Motion and Moves
  187
- Kill All Moves Versus Kill All Motion Request
  187
- Flag Comparison
  188
- Bit Status Window Comparison
  188
- Contoured (Tiered) Profiles
  191
- Blended (Tiered) Interpolated Moves
  193
- High-Speed Position Capture (INTCAP)
  193
- Lock
  195
- Rotary Axis
  197
- External Time Base
  198
- Servo Loop Fundamentals
  198
- Setpoint Compensation
  198
- Viewing the Setpoint Calculations
  199
- Following Error
  199
- Ballscrew Compensation
  200
- BSC with PPU
  200
- Encoder Accuracy
  201
- Slope Correction
  201
- Inverse Kinematics
  205
- Programming the Inverse Kinematics
  205
CHAPTER 4 Writing Acrobasic Programs

207
- Writing Acrobasic Programs
  208
- Application Examples
  209
- Sample Motion Program
  209
- Enable Drives Subroutine
  211
- Absolute Interpolated Motion Subroutine
  211
- Incremental Interpolated Motion Subroutine
  212
- Basic Absolute and Incremental Motion Subroutine
  212
- Absolute Jog Moves Subroutine
  212
- Incremental Jog Moves Subroutine
  213
- Absolute and Incremental Jog Moves Subroutine
  213
- Homing Subroutine
  213
- Advanced Homing
  214
- Homing for XYZ System
  215
- Open Sample
  217
- Teach Array
  218
- Programmable Limit Switch
  219
- EIP Scanner-Wago 750
  221
- Joystick
  222
- Capture Data
  224
- Peer-To-Peer
  225
- Acr7Xt Status
  225
- Acr7Xt Home to Hard Stop
  227
- Time Subroutine
  228
- Error Recovery (IPA)
  229
- Add-On Instructions (Aois) for IPA
  230
- Xpress HMI with ACR7000
  231
- Xpress HMI with IPA
  232
- Testing Programs
  234
- Program Not Running
  234
- Axis Motion Status
  234
- Graphing with Oscilloscopes
  235
- Sampling
  235
- Adding Lines of Code to Programs
  236
- Trace a Program
  236
CHAPTER 5 Binary Host Interface

238
- Binary Host Interface
  239
- Binary Data Transfer
  239
- Control Character Prefixing
  240
- Transmitting
  240
- Receiving
  240
- High Bit Stripping
  240
- Transmitting
  241
- Receiving
  241
- Binary Data Packets
  241
- Packet Request
  241
- Group Code and Index
  241
- Isolation Mask
  241
- Parameter Access
  242
- Packet Header
  242
- Packet Data
  242
- Usage Example
  243
- Binary Parameter Access
  243
- Binary Get Long
  244
- Binary Set Long
  244
- Binary Get IEEE
  244
- Binary Set IEEE
  245
- Binary Peek Command
  245
- Usage Example
  247
- Binary Poke Command
  247
- Usage Example
  248
- Binary Address Command
  248
- Usage Example
  249
- Binary Parameter Address Command
  250
- Usage Example
  250
- Binary Mask Command
  251
- Usage Example
  251
- Binary Parameter Mask Command
  252
- Usage Example
  252
- Binary Move Command
  252
- Header Code 0
  254
- Move Modes
  258
- Linear Moves
  260
- Arc Moves
  260
- NURB or SPLINE Moves
  261
- Binary SET and CLR
  261
- Binary FOV Command
  262
- Binary ROV Command
  264
- Application: Binary Global Parameter Access
  266
- Description
  267
- Reading Global Variables
  267
- Setting Global Variables
  267
CHAPTER 6 Troubleshooting

269
- Troubleshooting
  270
- Problem Isolation
  270
- Information Collection
  270
- Troubleshooting Table
  270
APPENDIX A Connecting to the Controller

280
- Connecting to the Controller
  281
- Setting the IP Address and Subnet Mask-PC
  281
- Verifying the IP Address
  284
- Troubleshooting
  284
- Lost the Acr's IP Address
  285
- Finding an ACR with the Scan Tool
  285
- Finding an ACR Using Wireshark
  286
- Resetting the ACR74T Via Hardware
  287
APPENDIX B Ethernet Basics

288
- Ethernet Basics
  289
- IP Addresses, Subnets and Subnet Masks
  289
- IP Addresses
  289
- Subnets
  291
- Subnet Ids
  291
- Subnet Masks
  291
APPENDIX C Servo PID Tuning

293
- Servo PID Tuning
  294
- Purpose of Tuning
  294
- Test Simple Motion First
  294
- Basic Tuning Process
  294
- Explanation of Tuning Gains
  297
- Proportional Gain
  297
- Derivative Gain (DGAIN)
  297
- Integral Gain (IGAIN)
  297
- Integral Limit (ILIMIT)
  297
- Integral Delay (IDELAY)
  297
- Torque Limit (TLM)
  297
- Tips and Tricks
  297
- Can't Reach Speed
  298
- Can't Accelerate
  298
- Derivative Smoothing
  298
- Advanced Tuning Gains
  298
- FF Velocity (FFVEL)
  298
- FF Acceleration (FFACC)
  298
- Derivative Width (DWIDTH)
  298
- Feedback Velocity (FBVEL)
  299
- Lowpass Filter (LOPASS)
  299
- Notch Filter (NOTCH)
  299
APPENDIX D PMM Improvements over ACR-View

300
- PMM Improvements over ACR-View
  301
APPENDIX E Acr7Xc/Acr9000 Comparison

317
- Acr7Xc/Acr9000 Comparison
  318
APPENDIX Facr7Xv/Ipa Differences

320
- Acr7Xv/Ipa Differences
  321
APPENDIX G 6K to ACR Command Reference

322
- 6K to ACR Command Reference
  323
APPENDIX H ACR7000 Bits and Parameters

331
- ACR7000 Bits and Parameters
  332
- Acr7Xt Control and Status Bits
  332
- Acr7Xt Latched Fault and Warning Bits
  332
- Acr7Xt Control and Status Parameters
  333
- Acr7Xv Configuration Bits and Parameters
  334
- Acr7Xv Status Parameters
  338
- Acr7Xv Status 1 Flags
  338
- Acr7Xv Status 2 Flags
  340

Parker ACR7000 Series User Manual (60 pages)

Servo Controller

Brand: Parker | Category: Controller | Size: 1 MB

User Information

2
Important Safety Information

5
Contents

6
- Table of Contents
  6
CHAPTER 1 Introduction

10
ACR7000 Servo Controllers-Overview

11
- Product Description
  11
- ACR7000 Part Numbers
  11
Checking Your Shipment

12
Assumptions of Technical Experience

12
Technical Support

12
CHAPTER 2 Mechanical Installation

13
Environment & Drive Cooling

14
Dimensions

15
- Mounting Orientation
  16
Weight

17
Mounting Guidelines

17
- Cable Routing
  17
CHAPTER 3 Electrical Installation

18
Installation Safety Requirements

19
- Precautions
  19
System Installation Overview

20
Connectors

21
CTRL - Control Power Connector

22
- Control Power LED
  23
ENABLE - Enable Input Connector

24
MTR PWR - Motor Input Power Connectors

25
ENC - Encoder Connectors

26
I/O Connectors

31
- I/O Cable
  32
- I/O Connector Pinout
  33
- Digital Inputs
  34
- Outputs-General Purpose
  35
- Outputs-High Speed
  35
- Analog Inputs
  36
Motor Output Power Connectors

37
- Motor Output Power
  37
- Motor Output Power Connections
  38
Brake Relay/Brake Power (Optional)

39
Regeneration Protection

40
CHAPTER 4 Communications

42
Overview

43
Ethernet Specifications

43
Connecting to a PC

45
- Setting the IP Address and Subnet Mask-PC
  45
Verifying the IP Address

48
CHAPTER 5 Basic Operation

50
- Basic Operation
  51
  - Parker Motion Manager
    51
  - Configuration Wizard
    51
  - Memory
    55
  - Changing Motor/Drive Parameters
    56
  - Motor Feedback
    56
  - Commutation and Hall Checking
    56
Appendix A Accessories

58
VM26 Breakout Module

59
Cables

60

Parker ACR7000 Series User Manual (61 pages)

Brand: Parker | Category: Controller | Size: 1 MB

User Information
2
- Contact Information for Technical Assistance
  2
Eu Declaration of Conformity
3
- Symbols
  4
- Description
  4
Important Safety Information
5
Table of Contents
6
Contents
6
CHAPTER 1 Introduction

9
- ACR7000 Controller - Overview
  10
  - Product Description
    10
  - ACR7000 Part Numbers
    10
- Checking Your Shipment
  11
- Assumptions of Technical Experience
  11
- Technical Support
  11
CHAPTER 2 Mechanical Installation

12
- Environment & Drive Cooling
  13
- Dimensions
  14
  - Mounting Orientation
    15
- Weight
  16
- Mounting Guidelines
  16
  - Cable Routing
    16
CHAPTER 3 Electrical Installation

17
- Installation Safety Requirements
  18
  - Precautions
    18
- System Installation Overview
  19
- Connectors
  20
- CTRL - Control Power Connector
  21
  - Control Power LED
    22
- ENABLE - Enable Input Connector
  23
- Axis Connectors
  24
  - Axis Connector Pinout
    25
  - Axis Connector Power Source
    26
  - Axis Connector Fuse
    26
  - Drive Electrical/Timing Characteristics
    27
  - Drive Internal Schematics
    28
  - Encoder Functions
    30
- General Purpose Inputs/Outputs
  32
- ENC 8 - Auxiliary Encoder Connector
  36
  - Encoder Connector (ENC8) Pinout
    37
  - Internal Encoder 8 Connections
    38
- Analog Inputs (- ANI Option)
  40
  - Analog Input Pinout
    41
CHAPTER 4 Communications

44
- Overview
  45
- Ethernet Specifications
  45
- Connecting to a PC
  47
  - Setting the IP Address and Subnet Mask-PC
    47
- Verifying the IP Address
  50
CHAPTER 5 Basic Operation

52
- Basic Operation
  53
  - Parker Motion Manager
    53
  - Configuration Wizard
    53
  - Memory
    57
Appendix A Accessories

58
- Controller to Drive Cables
  59
- VM26 Breakout Module
  60
- VM25 Breakout Module
  61

Parker ACR7000 Series Hardware Manual (21 pages)

Stepper Controller

Brand: Parker | Category: Controller | Size: 1 MB

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More Parker Manuals

Parker ACR7000 Series Manuals

Parker ACR7000 Series Programmer's Manual (341 pages)

Table of Contents

CHAPTER 1 Parker Motion Manager

CHAPTER 2 ACR Basics

CHAPTER 3 Making Motion

CHAPTER 4 Writing Acrobasic Programs

CHAPTER 5 Binary Host Interface

CHAPTER 6 Troubleshooting

APPENDIX A Connecting to the Controller

APPENDIX B Ethernet Basics

APPENDIX C Servo PID Tuning

APPENDIX D PMM Improvements over ACR-View

APPENDIX E Acr7Xc/Acr9000 Comparison

APPENDIX Facr7Xv/Ipa Differences

APPENDIX G 6K to ACR Command Reference

APPENDIX H ACR7000 Bits and Parameters

Parker ACR7000 Series User Manual (60 pages)

Table of Contents

User Information

Important Safety Information

Contents

CHAPTER 1 Introduction

ACR7000 Servo Controllers-Overview

Checking Your Shipment

Assumptions of Technical Experience

Technical Support

CHAPTER 2 Mechanical Installation

Environment & Drive Cooling

Dimensions

Weight

Mounting Guidelines

CHAPTER 3 Electrical Installation

Installation Safety Requirements

System Installation Overview

Connectors

CTRL - Control Power Connector

ENABLE - Enable Input Connector

MTR PWR - Motor Input Power Connectors

ENC - Encoder Connectors

I/O Connectors

Motor Output Power Connectors

Brake Relay/Brake Power (Optional)

Regeneration Protection

CHAPTER 4 Communications

Overview

Ethernet Specifications

Connecting to a PC

Verifying the IP Address

CHAPTER 5 Basic Operation

Appendix A Accessories

VM26 Breakout Module

Cables

Parker ACR7000 Series User Manual (61 pages)

Table of Contents

CHAPTER 1 Introduction

CHAPTER 2 Mechanical Installation

CHAPTER 3 Electrical Installation

CHAPTER 4 Communications

CHAPTER 5 Basic Operation

Appendix A Accessories

Parker ACR7000 Series Hardware Manual (21 pages)

Table of Contents

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