ACR7000 Stepper User Guide
Product Overview
The ACR7000 family includes integrated stepper drive/controllers based on the ACR9000 and IPA platforms. Setup
and programming is accomplished using the AcroBASIC language within the Parker Motion Manager programming
environment. The ACR7000 provides an Ethernet interface which gives the user a variety of different machine
control options.
Micro stepping drives are integrated with the multi-axis motion controller into a single package, saving space,
cabling, and reducing installation complexity. The ACR7000 series is perfect building block for customer specific
motion system solutions.
Operating System
The multi-tasking, real time operating system (or firmware) for the ACR7000 is stored in protected flash memory
and is automatically loaded on each power cycle. Firmware is periodically updated by Parker as features and fixes
are added. The user can load new firmware using PMM. The VER command is used to report the current firmware
revision.
Configuration
The ACR7000 requires a short set up process before motion or programming is possible. PMM assists the user with
these settings in a step-by-step configuration wizard. The user is prompted to input key application information
such as motor model number, mechanical scaling, limits conditions, etc. The configuration process is completed
with the download of the System Code.
AcroBASIC
AcroBASIC is a proprietary, text based motion programming language that has been developed and proven over
five generations of motion controllers. The user can either store AcroBASIC routines in the controller to execute
complex sequences or stream commands over Ethernet for immediate execution. In addition to text commands
the user can directly monitor and modify controller parameter and flags within AcroBASIC programs or from
external devices such and PCs, PLCs and HMIs. The majority of AcroBASIC commands are available in the ACR7000
with the exception of commands that are specific to hardware that is not present on the ACR7000 (e.g. EPL,
CANopen).
Refer to the ACR Programmers guide and Command Language reference for complete details. The Parameter and
Bit References guides document user accessible data in all ACR family controllers. Additional commands, bits and
parameter specific to the ACR7000 are detailed at the end of this document.
Ethernet
The ACR7000 supports TCP/IP, UDP and EtherNet/IP communications. Up to five separate connections are
available at any time. The controller automatically manages the incoming connections and assigns STREAM1-5 on a
first come first server basis.
