Parker ACR9000 Motion Controller Manuals

Manuals and User Guides for Parker ACR9000 Motion Controller. We have 3 Parker ACR9000 Motion Controller manuals available for free PDF download: Installation Manual, Programmer's Manual

Parker ACR9000 Installation Manual (198 pages)

acr9000 series acr motion controllers

Brand: Parker | Category: Controller | Size: 3 MB

Important User Information

2
Table of Contents

4
Table of Tables

6
Table of Figures

8
Important Safety Information

10
- Change Summary
  11
Chapter 1 Introduction

15
Chapter 2 Specifications

22
Chapter 3 Installation

62
Chapter 4 Troubleshooting

96
- Troubleshooting Guidelines
  97
- Table 56 Power-Status LED
  97
- LED Status Indicators
  98
- Table 57 Axis Status Leds
  98
- Table 58 Canopen Status LED
  99
- Table 59 Ethernet Status LED
  99
- Canopen Connection
  100
- Ethernet Connection
  100
- RS-232/RS-485 Communication Problems
  101
- Table 60 COM1 Connector Pinout
  101
- Table 61 COM1 Transmission Modes
  101
- Table 62 Communications Port Error Messages and Resolutions
  102
- Feedback Device Problems
  103
- Motion-Related Error Messages
  104
- Table 63 Motion-Related Error Messages
  104
- Axis I/O Troubleshooting
  105
- Figure 32 Motion Enable Input Fault
  105
Appendix A SSI Encoders

109
- Overview
  110
- Protocol
  110
- Timing
  111
- Table 64 SSI Transfer-Cycle Timing Data
  111
- Figure 33 SSI Transfer-Cycle Timing
  111
Appendix B VM25 Breakout Module

112
- Overview
  113
- Figure 34 VM25 Breakout Module
  113
Appendix C VM26 Breakout Module

114
- Overview
  115
- Figure 35 VM26 Breakout Module
  115
Appendix D Drive I/O

116
- Drive I/O
  117
- Encoder Input Mode
  123
- General Purpose and Extended I/O
  124
- Motion Enable Input
  127
Appendix E Canopen

128
Appendix F Drive Talk

143
- Quick Startup (ACR9000 and ACR9030)
  144
Appendix G Regulatory Compliance

149
Appendix H ETHERNET Powerlink

161
Index

195

Parker ACR9000 Installation Manual (114 pages)

Stand Alone Controller

Brand: Parker | Category: Controller | Size: 2 MB

Parker ACR9000 Programmer's Manual (176 pages)

Motion Controllers

Brand: Parker | Category: Controller | Size: 2 MB

Table of Contents
3
Table of Contents

5
User Information

5
Change Summary

5
Programming Basics

7
- Aliases
  7
- Program Labels
  7
- Remarks
  8
- Command Syntax
  8
- Example Code Conventions
  11
- Programs and Commands
  12
- Kill All Motion Request Vs. Kill All Moves
  14
- Program Flow
  19
- Parameters and Bits
  24
- Parametric Evaluation
  27
Basic Setup

31
- Before You Begin
  31
- Startup Programs
  39
- Resetting the Controller
  39
- Memory
  39
- Return to Factory Default
  40
- Configuration
  40
Making Motion

48
- Four Basic Categories of Motion
  48
- Move Types
  49
- What Are Motion Profiles
  53
- Interaction between Motion Profilers
  54
- Velocity Profile Commands
  58
- Coordinated Moves Profiler
  63
- Jog Profiler
  66
- Gear Profiler
  76
- Cam Profiler
  77
- Homing
  77
Servo Loop Fundamentals

87
- Setpoint Compensation
  87
- Following Error
  88
Application Examples

90
- Basic Motion
  90
- Enable Drive
  91
- EPL Network
  92
- Homing
  93
- Open Sample
  96
- Teach Array
  97
Binary Host Interface

99
- Binary Data Transfer
  99
- Binary Data Packets
  101
- Binary Parameter Access
  103
- Binary Peek Command
  106
- Binary Poke Command
  107
- Binary Address Command
  108
- Binary Parameter Address Command
  110
- Binary Mask Command
  111
- Binary Parameter Mask Command
  112
- Binary Move Command
  113
- Binary SET and CLR
  120
- Binary FOV Command
  121
- Binary ROV Command
  123
- Application: Binary Global Parameter Access
  125
Additional Features

127
- Canopen
  127
- Drive Talk
  141
- Inverse Kinematics
  147
Troubleshooting

149
- Problem Isolation
  149
- Information Collection
  149
- Troubleshooting Table
  150
Error Handling

158
Appendix

167
- IP Addresses, Subnets, & Subnet Masks
  167
- Output Module Software Configuration Examples
  172
Index

175

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Parker ACR9000 Motion Controller Manuals

Parker ACR9000 Installation Manual (198 pages)

Table of Contents

Important User Information

Table of Contents

Table of Tables

Table of Figures

Important Safety Information

Chapter 1 Introduction

Chapter 2 Specifications

Chapter 3 Installation

Chapter 4 Troubleshooting

Appendix A SSI Encoders

Appendix B VM25 Breakout Module

Appendix C VM26 Breakout Module

Appendix D Drive I/O

Appendix E Canopen

Appendix F Drive Talk

Appendix G Regulatory Compliance

Appendix H ETHERNET Powerlink

Index

Parker ACR9000 Installation Manual (114 pages)

Table of Contents

User Information

Table of Tables

Important User Information

Important Information for Users

Chapter 1 Introduction

Chapter 2 Specifications

Chapter 3 Installation

Chapter 4 Troubleshooting

Appendix A SSI Encoders

Appendix B VM25 Module

Appendix C Regulatory Compliance-UL, EMC, and CE

Index

Parker ACR9000 Programmer's Manual (176 pages)

Table of Contents

Table of Contents

User Information

Change Summary

Programming Basics

Basic Setup

Making Motion

Servo Loop Fundamentals

Application Examples

Binary Host Interface

Additional Features

Troubleshooting

Error Handling

Appendix

Index

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