Parker ACR Series User Manual

Parker Hannifin
Table of Tables
Table 1 Ship Kit for ACR90x0 Stand-Alone Controller............................................................. 16
Table 2 ACR9000 and ACR9030 Controller Accessories........................................................ 18
Table 3 ACR9040 Controller Accessories................................................................................ 19
Table 4 Controller Cooling Requirements................................................................................ 23
Table 5 Controller Weight......................................................................................................... 24
Table 6 Controller Dimensions................................................................................................. 24
Table 7 Controller Power Requirements .................................................................................. 26
Table 8 DC Power Connector Pinout ....................................................................................... 28
Table 9 Controller I/O Interface Configurations........................................................................ 29
Table 10 Connector Pinout, Axes 0−3 ..................................................................................... 35
Table 11 Connector Pinout, Axes 4−7 ..................................................................................... 36
Table 12 Axis Power Electrical Characteristics........................................................................ 37
Table 13 Drive Signal Assignments ......................................................................................... 38
Table 14 Drive Commands....................................................................................................... 39
Table 15 Outputs—Drive Step and Drive Direction Electrical/Timing Characteristics............. 40
Table 16 Outputs—Drive AOUT Electrical/Timing Characteristics .......................................... 40
Table 17 Inputs—Drive Fault Electrical/Timing Characteristics ............................................... 41
Table 18 Outputs—Drive Enable and Drive Reset Electrical/Timing Characteristics.............. 41
Table 19 Encoder Signal Assignments and Supported Features ............................................ 45
Table 20 Encoder Electrical/Timing Characteristics................................................................. 45
Table 21 Auxiliary Encoder Connector Pinout ......................................................................... 47
Table 22 GP Input/Output Connector Pinout (2/4/6/8 Axis Configuration) .............................. 48
Table 23 GP Input/Output Connector Pinout (6/8 Axis Configuration)..................................... 49
Table 24 GP Inputs 0−11 & 12−23 Connector Electrical/Timing Characteristics..................... 50
Table 25 Trigger Inputs 24−31, 72−79 Connector Electrical/Timing Characteristics............... 50
Table 26 GP Outputs 32−39 Connector Electrical/Timing Characteristics .............................. 51
Table 27 Motion Enable Connector Pinout .............................................................................. 53
Table 28 Motion Enable Connector Electrical Timing/Characteristics ..................................... 53
Table 29 COM1 Connector Pinout ........................................................................................... 55
Table 30 Analog Inputs (0-3) Connector Pinout....................................................................... 56
Table 31 Analog Inputs (4-7) Connector Pinout....................................................................... 56
Table 32 CANopen Connector Pinout...................................................................................... 58
Table 33 Ethernet Connector Pinout........................................................................................ 60
Table 34 ETHERNET Powerlink Connector Pinout ................................................................. 60
Table 35 USB Connector Pinout .............................................................................................. 61
Table 36 COM1 Transmission Modes...................................................................................... 73
Table 37 COM1 RS-232 Pinout................................................................................................ 74
Table 38 RS-485, Four-Wire Connector Pinout ....................................................................... 75
Table 39 Drive Connection Cables........................................................................................... 76
Table 40 Connection to Aries Pinout........................................................................................ 77
Table 41 Connection to Compax3 Pinout ................................................................................ 78
Table 42 Connection to Dynaserv Pinout................................................................................. 79
Table 43 Connection to Gemini Servo Pinout.......................................................................... 80
Table 44 Connection to Gemini Stepper Pinout....................................................................... 81
Table 45 Connection to Parker Stepper Pinout........................................................................ 82
Table 46 Connection to SLVD and HPD Pinout....................................................................... 83
Table 47 Connection to ViX Pinout .......................................................................................... 84
Table 48 Connection to Drive with Flying Leads...................................................................... 85
Table 49 CANopen Pinout (Minimum) ..................................................................................... 87
Table 50 CANopen Point-To-Point Cable ................................................................................ 88
Table 51 CANopen Point-To-Point-Cable Connector Pinout ................................................... 88
Table 52 CANopen Cables for Multiple-Node Networks.......................................................... 89
Table 53 Estimated Cable and Drop-Line Lengths .................................................................. 89
Table 54 CANopen Bus-Cable Specifications.......................................................................... 90
Table 55 CANopen Network Installation Test .......................................................................... 90
6 ACR9000 Series Hardware Installation Guide
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Parker ACR Series Specifications

General

Brand	Parker
Model	ACR Series
Category	Controller
Language	English