Parker Hannifin
Table of Contents
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
ACR90x0 Controllers—Overview ............................................................................................. 16
Checking Your Shipment.......................................................................................................... 16
Controller Options .................................................................................................................... 16
Accessories .............................................................................................................................. 17
Compatible Parker Hannifin Products ...................................................................................... 20
About This Guide...................................................................................................................... 20
Assumptions of Technical Experience ..................................................................................... 21
Technical Support .................................................................................................................... 21
Chapter 2 Specifications............................................................................................................. 22
Environmental Specifications ................................................................................................... 23
Mechanical Specifications ........................................................................................................ 24
Electrical Specifications............................................................................................................ 26
External I/O Interface Connectors............................................................................................ 29
Chapter 3 Installation.................................................................................................................. 62
Before You Begin ..................................................................................................................... 63
Installation Safety Requirements.............................................................................................. 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
RS-232/RS-485 Communication Problems............................................................................ 101
Feedback Device Problems ................................................................................................... 103
Feedback Device Problems ................................................................................................... 103
Motion-Related Error Messages............................................................................................. 104
Axis I/O Troubleshooting ........................................................................................................ 105
Appendix A SSI Encoders ........................................................................................................ 109
Overview................................................................................................................................. 110
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
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