PARKER MOTION MANAGER
ACR Programmer’s Guide
49
Consult the drive’s documentation to know which is appropriate.
Feedback
The ACR7000 and IPA controllers support several standard
feedback types. The Feedback screen allows the user to fine-tune
their configuration. Each controller type has its own version of the
screen, but there are a few common tools:
•
Set Up Position Feedback. This option is only present for
stepper axes. Stepper axes do not require position
feedback, but support it as an option. Unchecking this box
turns feedback off.
•
Source Input. This selects which encoder will be used for
feedback on this axis. ACR74T and ACR7xC units allow
the user to select any encoder except the auxiliary encoder. ACR7xV units only allow the user to select
one of the two encoders on the same power board as this axis. So, Axis 0 can use either Encoder 0 or
Encoder 1 for feedback.
•
Use built-in motor encoder. If this option is selected, all
options below it are grayed out and default values are used
from the motor file.
•
Type. This option is only available for the ACR7xC. It
allows the user to select either quadrature (default)
encoder feedback or SSI (Serial Synchronous Interface).
The SSI option is useful for interfacing with certain kinds of
position sensors, including devices that are not traditional
encoders. It is also useful when interfacing with an Aries
AE/SE servo drive for legacy machine upgrades.
•
Package. The user can select Rotary or Linear. This helps PMM work out scaling by determining which
set of units apply.
•
Resolution. Encoder resolution in counts/rev for
rotary encoders or counts/mm for linear encoders.
•
Invert Encoder Direction. This option is only
available for the ACR7xC. It allows the user to
change the positive direction (polarity) of the
encoder. This is useful in cases where the command
and feedback signal polarities do not match due to
system design.
The ACR74T integrated stepper has optional quadrature
encoder inputs for each axis. Open loop steppers (step
motors without encoders) are supported as well as closed-
loop steppers. The eCL series closed-
loop step motors’ encoder extension cables connect to these inputs
,
resulting in a plug-and-play solution. Selecting an eCL motor sets the motor settings on the previous screen and
Summary of Contents for ACR7000 Series
Page 1: ...Effective June 2021 Document Number 88 028698 01E Programmer s Guide ACR Series Controllers ...
Page 23: ...PARKER MOTION MANAGER ACR Programmer s Guide 23 CHAPTER 1 Parker Motion Manager ...
Page 69: ...PARKER MOTION MANAGER ACR Programmer s Guide 69 ...
Page 101: ...ACR BASICS ACR Programmer s Guide 101 CHAPTER 2 ACR Basics ...
Page 153: ...MAKING MOTION ACR Programmer s Guide 153 CHAPTER 3 Making Motion ...
Page 207: ...WRITING ACROBASIC PROGRAMS ACR Programmer s Guide 207 CHAPTER 4 Writing AcroBASIC Programs ...
Page 233: ...WRITING ACROBASIC PROGRAMS ACR Programmer s Guide 233 ...
Page 238: ...BINARY HOST INTERFACE 238 ACR Programmer s Guide CHAPTER 5 Binary Host Interface ...
Page 269: ...TROUBLESHOOTING ACR Programmer s Guide 269 CHAPTER 6 Troubleshooting ...
Page 288: ...APPENDIX B ETHERNET BASICS 288 ACR Programmer s Guide APPENDIX B Ethernet Basics ...
Page 293: ...APPENDIX C SERVO PID TUNING ACR Programmer s Guide 293 APPENDIX C Servo PID Tuning ...
Page 296: ...APPENDIX C SERVO PID TUNING 296 ACR Programmer s Guide ...