Parker ACR Series User Manual

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. There are several important changes to setup:
• The CONFIG command has been eliminated for the ACR90x0, as the
hardware is not field-installable. The
CONFIG command provides a
report back, but the ACR90x0 configuration does not use it.
• The MULT command is latched at +/-4. Modes 0, +/-1 and +/-2 are not
valid.
• The DAC GAIN command is inverted internally from the other ACR
products. For the ACR90x0, a positive final output signal produces a
positive voltage output. This does not apply to other ACR products.
Attach Axis
The ATTACH AXIS command is now used to configure the controller for
servo or stepper control. Each axis can be setup as servo or stepper. Since
each axis connector includes the analog, digital, and drive I/O, it is logical to
attach ENC1 to DAC1 and so fourth.
Example axis attachments
P00>ATTACH AXIS0 STEPPER0 STEPPER0
P00>ATTACH AXIS1 ENC1 DAC1 ENC1
P00>ATTACH AXIS2 STEPPER2 STEPPER2
P00>ATTACH AXIS3 ENC3 DAC3 ENC3
The ATTACH command functions the same as other ACR controllers.
Example attachments
P00>ATTACH MASTER0
P00>ATTACH SLAVE0 AXIS0 “X”
P00>ATTACH SLAVE1 AXIS1 “Y”
P00>ATTACH SLAVE2 AXIS2 “Z”
P00>ATTACH SLAVE3 AXIS3 “A”
P00>ESAVE
Appendix D Drive I/O 117
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Parker ACR Series Specifications

General

Brand	Parker
Model	ACR Series
Category	Controller
Language	English