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Parker ACR7000 Series, User Manual

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IMPORTANT USER INFORMATION 

4   

ACR7000 Controller Installation Guide  

 

Warning: 

Risk of damage and/or personal injury. 

The ACR7000 Controller described in this guide contains no user-

serviceable parts. Attempting to open the case of any unit, or to replace 

any internal component, may result in damage to the unit and/or 

personal injury. This may also void the warranty. 

The following symbols appear in this guide: 

Symbols  Description 

 

Protective Earth Ground 

 

Functional Earth (Ground) Terminal 

 

Shield, Frame, or Chassis Terminal 

 

Digital Ground 

 

Isolated Ground 

 

Caution Risk of Electrical Shock 

 

Caution, Refer to Accompanying Documentation 

 

 

 

 

 

 

Summary of Contents for ACR7000 Series

Page 1: ...Effective September 2020 Document Number 88 033593 01A User Guide ACR7000 Controller...

Page 2: ...mentioned therein at any time without notice In no event will the provider of the equipment be liable for any incidental consequential or special damages of any kind or nature whatsoever including bu...

Page 3: ...I ANI includes Analog Input Option The object of the declaration described above is in conformity with the protection requirements of the following Council Directives on the approximation of the laws...

Page 4: ...pen the case of any unit or to replace any internal component may result in damage to the unit and or personal injury This may also void the warranty The following symbols appear in this guide Symbols...

Page 5: ...tors Never touch any part of the equipment while it is in operation This product is sold as a motion control component to be installed in a complete system using good engineering practice Care must be...

Page 6: ...CHAPTER 1 Introduction 9 ACR7000 Controller Overview 10 Product Description 10 ACR7000 Part Numbers 10 Checking Your Shipment 11 Assumptions of Technical Experience 11 Technical Support 11 CHAPTER 2 M...

Page 7: ...Timing Characteristics 27 Drive Internal Schematics 28 Encoder Functions 30 General Purpose Inputs Outputs 32 I O Connector Pinout 33 Input Output Electrical Timing Characteristics 34 Input Output Con...

Page 8: ...icators 46 Connecting to a PC 47 Setting the IP Address and Subnet Mask PC 47 Verifying the IP Address 50 CHAPTER 5 Basic Operation 52 Basic Operation 53 Parker Motion Manager 53 Configuration Wizard...

Page 9: ...INTRODUCTION ACR7000 Controller Installation Guide 9 CHAPTER 1 Introduction...

Page 10: ...with the ACR7000 family of controllers and integrated drive products ACR7000 Part Numbers The following diagram explains the ACR7000 part numbers Four unique controller models are available Except for...

Page 11: ...n Analog Inputs 1 Only with ANI option Assumptions of Technical Experience To effectively install and troubleshoot the ACR7000 you must have a fundamental understanding of the following Motion control...

Page 12: ...MECHANICAL INSTALLATION 12 ACR7000 Controller Installation Guide CHAPTER 2 Mechanical Installation...

Page 13: ...roducing equipment directly below a controller Make sure the ambient air temperature entering the controller or rising to the controller is within acceptable ambient temperature limits Under normal us...

Page 14: ...MECHANICAL INSTALLATION 14 ACR7000 Controller Installation Guide Dimensions Figure 1 ACR74C Dimensions Figure 2 ACR78C Dimensions...

Page 15: ...d be mounted to a vertical surface in the orientation shown below to allow for vertical air flow through the cooling vents on the top and bottom of the product Consult factory to review applications w...

Page 16: ...er mount it under an overhang or in a suitable enclosure and mounted to a metallic grounded RF fashion mounting plate is required to meet the EMC performance required by IEC 61800 3 ACR7000C products...

Page 17: ...ELECTRICAL INSTALLATION ACR7000 Controller Controller Installation Guide 17 CHAPTER 3 Electrical Installation...

Page 18: ...s provide operator protection and EMC screening and can be fitted with interlocks arranged to remove all hazardous motor and drive power when the cabinet door is opened Precautions During installation...

Page 19: ...to the following figure for a diagram of this system Figure 4 System Installation Overview Startup Process 1 Before powering the system for the first time disconnect power from the Enable Input 2 Comp...

Page 20: ...CAL INSTALLATION 20 ACR7000 Controller Installation Guide Connectors Connector specifications are in this section The following figure shows the name and location of the connectors Figure 5 ACR74C Con...

Page 21: ...re strip length 0 3 in 7 8 mm Torque 5 in lbs nom 0 5 N m Manufacturer OnShore or equivalent OnShore Part Number OSTTJ020152 black OSTTJ025152 green Control Power Rating Description ACR74C ACR78C Nomi...

Page 22: ...rol Power LED The Control power LED indicates the operating status of the controller Note LED does not have a plastic lens cover Open hole in sheet metal exposes LED on internal circuit board Color St...

Page 23: ...645 is set and latched until voltage is present again on the enable input and either The DRIVE ON command is issued for one of the Axes or Clear Motion Enable Input Latch bit is asserted SET BIT 5647...

Page 24: ...VDC source for Encoder Parker offers cables for connecting the ACR7000 controller to servo and stepper drives Cables are listed in the Appendix Figure 6 I O Connectors Axis Connector Specification Des...

Page 25: ...ence Pin Signal Axis0 Axis1 Axis2 Axis3 Axis4 Axis5 Axis6 Axis7 1 5 VDC PWR 2 DC RETURN 3 Encoder CHA 4 Encoder CHA 5 Encoder CHB 6 Encoder CHB 7 Encoder CHZ MRK 0 MRK 1 MRK 2 MRK 3 MRK 4 MRK 5 MRK 6...

Page 26: ...tolerance from 5V 150 mA or less 4 9 5 5 VDC 1 Maximum current draw per Axis Encoder Connector is 250 mA not to exceed a combined 1500 mA for eight axis connectors and two auxiliary encoder connector...

Page 27: ...ow significant flexibility in wiring to different styles of interface Description Min Max Units Turn on time 1 ms Turn off time 1 ms Guaranteed on voltage 4 VDC Guaranteed off voltage 2 VDC Maximum fo...

Page 28: ...ELECTRICAL INSTALLATION 28 ACR7000 Controller Installation Guide Drive Internal Schematics Outputs Drive Step and Drive Direction Drive AOUT Outputs Drive Fault Inputs...

Page 29: ...ELECTRICAL INSTALLATION ACR7000 Controller Controller Installation Guide 29 Drive Enable and Reset Outputs...

Page 30: ...CW and CCW mode two differential signals drive the onboard circuits CW or CCW A low CCW signal and a positive edge of the CW signal indicates a positive count A low CW signal and a positive edge of th...

Page 31: ...information on position capture refer to the INTCAP command in Online Help System in Parker Motion Manager software Encoder Electrical Timing Characteristics Description Min Max Units Pre Quadrature...

Page 32: ...ly isolated from the digital logic For inputs current is limited internally for input voltage control of 24 volt logic The connectors are 25 pin female D subs I O Connector Specification Description S...

Page 33: ...Input 75 17 Input 3 Trigger Input 27 Input 15 Trigger Input 75 16 Input 4 Trigger Input 28 Input 16 Trigger Input 76 15 Input 4 Trigger Input 28 Input 16 Trigger Input 76 14 No connect No connect No c...

Page 34: ...1 VDC Guaranteed off voltage 3 VDC Maximum forward voltage 30 VDC Maximum reverse voltage 30 VDC Forward current 6 3 15 mA Note All parameters are at the connector pin Propagation delay due to filteri...

Page 35: ...CTRICAL INSTALLATION ACR7000 Controller Controller Installation Guide 35 Input Output Connector Circuit Schematics Equivalent Circuit for GP Inputs Trigger Inputs Connector Equivalent Circuit for Outp...

Page 36: ...onnector Specification Mating Connector1 Description Specification Connector Type 15 Pin High Density D Subminiature male connector Manufacturer TE Connectivity AMP or equivalent Cable Kit includes TE...

Page 37: ...RC filter non isolated Short circuited protected 24VDC pull up 4 75k resistor Inputs are active when switched to DGND Compatible with NPN sensors Encoder 8 Connector Pinout Signal Pin Incremental Enc...

Page 38: ...ns for the Encoder 8 connector Encoder Inputs Specifications Description Min Typical Max Units Common Mode Range 7 7 V Current Encoder 250 mA Current Hall 250 mA Differential Threshold Voltage 200 200...

Page 39: ...Description General Purpose High Speed Turn on time 20 s 300 ns Turn off time 20 s 300 ns Threshold voltage rising 16 1V 16 1V Threshold voltage falling 11 6V 11 6V On Off time indicates propagation...

Page 40: ...urer Phoenix Contact Phoenix Part Number 1790548 Connector Locking Lock and release lever Wire range 16 24 AWG 0 2 mm to 1 5 mm Wire strip length 0 4 in 10 mm Wire Connection Method Push in spring con...

Page 41: ...gnal Signal Pin 16 Analog Ground 7 Analog Input 7 15 14 Analog Ground 6 Analog Input 6 13 12 Analog Ground 5 Analog Input 5 11 10 Analog Ground 4 Analog Input 4 9 8 Analog Ground 3 Analog Input 3 7 6...

Page 42: ...cifications Description Input Voltage 15 bit A D converter 10 VDC bipolar range selectable ADC GAIN command 10V default 5V 2 5V 1 25V Voltage Limit 15 VDC referenced to AGND Input Current worst case l...

Page 43: ......

Page 44: ...COMMUNICATIONS 44 ACR7000 Controller Installation Guide CHAPTER 4 Communications...

Page 45: ...twisted pair cable straight or crossover for connection to a PC An example of this type of cable is L COM TRD855SIG XX The maximum recommended cable length is 30m Ethernet Connector A standard RJ 45 s...

Page 46: ...lue Not used TX 6 Green Differential Transmit negative side 7 White with brown Not used 8 Brown Not used Note Pin assignment follows EIA TIA T568B guidelines RJ 45 LED Ethernet Status Indicators LEDs...

Page 47: ...ommunication is established The IP address for the PC will need to be assigned to a compatible address to communication with the ACR These steps are detailed below Default IP Address ACR7000 Controlle...

Page 48: ...ange adapter options 5 Select Ethernet More that one Ethernet connections may be displayed When a cable is inserted to ACR and PC and ACR is powered on the Ethernet connections will show as Unidentifi...

Page 49: ...COMMUNICATIONS ACR7000 CONTROLLER Hardware Installation Guide 49 7 Select Internet Protocol Version 4 TCP IPv4 8 Click Properties...

Page 50: ...r window should look like the following Figure 7 Internet Protocol Properties Screen Completed 11 Click OK It is now safe to close these windows IMPORTANT It is good practice to isolate the ACR7000 an...

Page 51: ......

Page 52: ...BASIC OPERATION 52 ACR7000 Controller Installation Guide CHAPTER 5 Basic Operation...

Page 53: ...includes a configuration wizard program editors a terminal emulator status panels and software oscilloscopes PMM also includes a Help system with extensive documentation on using all the ACR family c...

Page 54: ...ires drive family to set up drive I O functions Motor family and feedback code will be used to apply proper scaling By default a positive motion command will turn a motor in the clockwise direction Se...

Page 55: ...BASIC OPERATION ACR7000 CONTROLLER Hardware Installation Guide 55 Scaling Enter information about the system mechanics to create the axis scaling...

Page 56: ...limit and home operation and soft limit detection Memory Allocate memory for user programs Default values are a useful starting point for most applications These values can be refined later as needed...

Page 57: ...ASE Erases motor configuration parameters and drive setup parameters and sets to default Resets system set up and axis configuration parameters FLASH ERASE Clears stored programs and user variables FL...

Page 58: ...APPENDIX A 58 ACR7000 Controller Installation Guide Appendix A Accessories...

Page 59: ...3 I10T10 versions 71 021108 xx ACR to Compax3 command cable analog only 4ft or 10ft E AC Zeta E DC OEM750 71 021113 xx ACR to Stepper E AC E DC Zeta etc command cable 4ft or 10ft ViX 71 021110 xx ACR...

Page 60: ...is connections The VM26 comes with a 2 foot cable 609 6 mm that provides easy connection between the VM26 module and the axis 26 pin connector The VM26 expansion module is ordered separately part numb...

Page 61: ...I O connectors The VM25 comes with a 2 foot cable 609 6 mm that provides easy connection between the VM25 module and the 25 pin I O connectors The VM25 expansion module is ordered separately part numb...

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