Parker ACR9000 Installation Manual Download Page 128

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Appendix E CANopen

A p p e n d i x E

CANopen

IN THIS CHAPTER

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Limited Amounts of Nodes and I/O ................................................. ...129

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Semi-Automatic Network Configuration .......................................... ...129

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AcroBASIC Language Access to CANopen I/O .............................. ...132

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Summary of Contents for ACR9000

Page 1: ...www comoso com ...

Page 2: ... 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 taken to ensure that the product is installed and used in a safe manner according to local safety laws and regulations In particular the product must be positioned such that no part is accessible while power may be applied This and other information fro...

Page 3: ...e of the equipment or this guide 2003 2010 Parker Hannifin Corporation All Rights Reserved Technical Assistance Contact your local automation technology center ATC or distributor North America and Asia Parker Hannifin 5500 Business Park Drive Rohnert Park CA 94928 Telephone 800 358 9070 or 707 584 7558 Fax 707 584 3793 Email emn_support parker com Internet http www parkermotion com Germany Austria...

Page 4: ...ors 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 Problem...

Page 5: ...0 144 Appendix G Regulatory Compliance 149 System Installation Overview 150 Regulatory Agencies 160 Standards of Compliance 160 Appendix H ETHERNET Powerlink 161 ACR9030 and ACR9040 162 Introduction to ETHERNET Powerlink EPL 162 Cabling and SETUP 164 ACR9030 and ACR9040 Utilization of EPL 168 Support for CiA DSP 402 169 ACR9030 and ACR9040 EPL Commands Parameters and Flags 170 Access to EPL Drives...

Page 6: ...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 Tab...

Page 7: ...rol and Status Flags 172 Table 72 Control and Status Parameters 173 Table 73 EPL Network States and Corresponding Status LEDs 174 Table 74 EPL Operational Errors 174 Table 75 Control Parameters for EPLD0 175 Table 76 Status Parameters for EPLD0 175 Table 77 P37636 OS download or reset progress or status control parameter for EPLD0 176 Table 78 P4200 EPLD0 EPLD3 Digital Inputs 177 Table 79 P4216 EP...

Page 8: ...n 64 Figure 22 Mounting Specifications for ACR9000 and ACR9030 2 4 Axis Configuration 66 Figure 23 Mounting Specifications for ACR9000 and ACR9030 6 8 Axis Configuration 67 Figure 24 Mounting Clearance for ACR9000 and ACR9030 2 4 Axis Configuration 68 Figure 25 Mounting Clearance for ACR9000 and ACR9030 6 8 Axis Configuration 69 Figure 26 Mounting Clearance for ACR9040 70 Figure 27 Loop Back Diode...

Page 9: ...3 68 EEC CE Marking Directive when installed operated and maintained as intended In accordance with IEC 61800 3 1997 Adjustable speed electrical power drive systems this product is of the restricted sales distribution class which meets the needs of an industrial environment when installed as directed However further measures may need to be taken for use of the product in a domestic environment The...

Page 10: ...e 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 ...

Page 11: ... and or ACR9040 in addition to or instead of ACR9000 as appropriate Ch 1 Compatible Parker Hannifin Products Refined section to include ACR9030 and ACR9040 and their compatible products added note that the ACR9040 is not compatible with stepper drives Ch 1 Controller Options Added options for ACR9030 and ACR9040 Ch 2 External I O Interface Corrected Analog Inputs quantities from 0 or 1 to 0 or 2 i...

Page 12: ...ads added schematic with loop back diode for shared power supply added information regarding Parker and Parker Daedal build equipment from Tech Bulletin TB421 Motion Related Error Messages Troubleshooting chapter Added information regarding Motion Enable Input Open to Table 61 error messages added section Motion Enable Input Open Revision E Changes This document 88 022337 01E supersedes 88 022337 ...

Page 13: ...t clarifications and corrections are as follows Topic Description Analog Inputs Added cable specifications and pinout See Analog Inputs Connector VM26 Breakout Module Added Appendix C describing the VM26 Breakout Module Drive I O Added Appendix D Drive I O from ACR9000 Software Addendum Chapter 1 The ACR9000 Software Addendum p n88 023737 is no longer a valid document CANopen Added Appendix E CANo...

Page 14: ...pecifications and pinout See Ethernet Connector Ethernet Connection Added procedures for connecting controller to an Ethernet network See Ethernet Connection Ethernet Troubleshooting Added table describing LED status indicators See Ethernet Status LED Revision B Changes This document 88 022337 01B supersedes 88 022337 01A Changes associated with ACR9000 User Guide revisions and document clarificat...

Page 15: ...N E Introduction IN THIS CHAPTER ACR90x0 Controllers Overview 16 Checking Your Shipment 16 Controller Options 16 Accessories 17 Compatible Parker Hannifin Products 20 Assumptions of Technical Experience 21 Technical Support 21 www comoso com ...

Page 16: ...le 1 Ship Kit for ACR90x0 Stand Alone Controller Controller Options ACR9000 This section contains a list of the options for the ACR9000 Stand Alone Controller and an explanation of the controller part number The part number of your ACR9000 controller reflects the options ordered 9000 P0 U2 M0 Controller Type ACR9000 Connectivity P0 Stand Alone with COM port P1 Stand Alone with COM port Ethernet an...

Page 17: ...0 encoder inputs Memory M Standard Flash memory no battery backup B Battery backed RAM Analog Input 0 No analog inputs Example 9030P1U6B0 ACR9030 with COM port Ethernet and USB 6 axes with 8 encoder inputs with EPL battery backed RAM 9040P3U0B0 ACR9040 with COM port Ethernet USB and CANopen EPL only battery backed RAM For the latest additions see our website at www parkermotion com Accessories Sho...

Page 18: ... 3 0 ms 01 022325 01 PIO 402 Input 4 channel 24 VDC 3 0 ms 01 022324 01 PIO 430 Input 8 channel 24 VDC 3 0 ms 01 022323 01 PIO 468 Input 4 channel 0 10 VDC analog 01 022329 01 PIO 480 Input 2 channel 0 20 mA differential isolated 01 022330 01 PIO 501 Output 2 channel 24 VDC 0 5 A 01 022328 01 PIO 504 Output 4 channel 24 VDC 0 5 A 01 022327 01 PIO 530 Output 8 channel 24 VDC 0 5 A 01 022326 01 PIO ...

Page 19: ... 022324 01 PIO 430 Input 8 channel 24 VDC 3 0 ms 01 022323 01 PIO 468 Input 4 channel 0 10 VDC analog 01 022329 01 PIO 480 Input 2 channel 0 20 mA differential isolated 01 022330 01 PIO 501 Output 2 channel 24 VDC 0 5 A 01 022328 01 PIO 504 Output 4 channel 24 VDC 0 5 A 01 022327 01 PIO 530 Output 8 channel 24 VDC 0 5 A 01 022326 01 PIO 550 Output 2 channel 0 10 VDC analog 01 022331 01 PIO 552 Out...

Page 20: ... guide is to help you install the ACR90x0 Stand Alone Controllers for use with a variety of Parker Hannifin drives The ACR9000 and ACR9030 controllers come in two models of housing distinguished primarily by their width and each model supports two configurations of I O interfaces In this guide these models are identified by the number of Axis I O interfaces that they provide the 2 4 Axis Configura...

Page 21: ...or solutions to your questions about implementing the ACR90x0 Stand Alone Controllers refer to the following documents ACR9000 Series Hardware Installation Guide this document ACR Command Language Reference formerly the ACR User s Guide Online Help System in the ACR View software If you cannot find the answer in these documents contact your local Automation Technology Center ATC or distributor for...

Page 22: ...2 Specifications C H A P T E R T W O Specifications IN THIS CHAPTER Environmental Specifications 23 Mechanical Specifications 24 Electrical Specifications 26 External I O Interface Connectors 29 www comoso com ...

Page 23: ...l the controller vertically Chapter 3 provides installation guidelines starting on page 63 Avoid installing heat producing equipment directly below the controller Make sure the ambient air temperature entering the controller or rising up to the controller is within acceptable ambient temperature limits Under normal use the temperature of air leaving the controller may be 25 C 45 F above ambient te...

Page 24: ...I O interfaces provided by each configuration see External I O Interface Connectors on page 29 Weight The weight of each controller is specified in Table 5 Controller Weight ACR9000 ACR9030 2 4 Axis 4 8 lbs 2 2 kg ACR9000 ACR9030 6 8 Axis 5 9 lbs 2 7 kg ACR9040 2 5 lbs 1 1 kg Table 5 Controller Weight Dimensions Table 6 contains the dimensions of each controller The dimensions are illustrated in F...

Page 25: ...Parker Hannifin Figure 1 ACR9000 and ACR9030 2 4 Axis Dimensions Figure 2 ACR9000 and ACR9030 6 8 Axis Dimensions Chapter 2 Specifications 25 www comoso com ...

Page 26: ...s 120 240 VAC 50 60 Hz 40 VA ACR9000 ACR9030 6 8 Axis 120 240 VAC 50 60 Hz 50 VA ACR9040 24 VDC n a 20 VA Table 7 Controller Power Requirements AC Power Supply Connector ACR9000 and ACR9030 A standard IEC 320 male connector resides on the front panel of the controller For its location see Figure 4 and Figure 5 Connector Specification AC Power Manufacturer Adam Tech or equivalent www adam tech com ...

Page 27: ... Power Fuse Requirements Voltage Rating 250 VAC Current Rating 2 5 A Type Time delay fuse do not use fast blow fuse Size 5 x 20 mm cartridge Part numbers Wickmann 1951250000 www wichmannusa com Littelfuse 218 02 5 www littelfuse com The ACR9040 does not have a fuse that is accessible by the user DC Power Connector ACR9040 The ACR9040 accepts a DC power input through a 2 pin positive and negative r...

Page 28: ...mands The FLASH IMAGE command writes a copy of the RAM to the flash memory the FLASH SAVE command writes a copy of user programs to the flash memory On cycling power the controller restores the flash memory to RAM wiping out the data otherwise retained by battery backup Note The controller does not save certain system parameters in the battery backed RAM user RAM Instead you can save them in the s...

Page 29: ...ntroller Interface Connectors Quantity on 2 4 Axis Configuration Quantity on 6 8 Axis Configuration Axis 2 or 4 6 or 8 General Purpose I O 2 4 Auxiliary Encoder 1 2 User Enable 1 1 COM1 1 1 CANopen 1 0 or 1 0 or 1 Ethernet 0 or 1 0 or 1 USB 0 or 1 0 or 1 Analog Inputs 2 0 or 2 0 or 2 1 This interface is an option on the ACR9000 and ACR9030 controller 2 This interface option is only available on th...

Page 30: ...Connectors Auxiliary Encoder Connector Axis Status LEDs GP Inputs and Outputs Connectors COM1 Connector Figure 4 ACR9000 Stand Alone Controller 2 4 Axis Front Panel Interfaces Enable Connector AC Power Status LED AC Power Fuse AC Power Connector 30 ACR9000 Series Hardware Installation Guide www comoso com ...

Page 31: ...Parker Hannifin Figure 5 ACR9000 Stand Alone Controller 6 8 Axis Front Panel Interfaces Chapter 2 Specifications 31 www comoso com ...

Page 32: ...Parker Hannifin Figure 6 ACR9030 Front Panel Interfaces 2 4 Axis 32 ACR9000 Series Hardware Installation Guide www comoso com ...

Page 33: ...Parker Hannifin Figure 7 ACR9040 Front Panel Interfaces Chapter 2 Specifications 33 www comoso com ...

Page 34: ... see Figure 4 on page 30 or Figure 5 on page 31 The figures show both controller models with all axis connectors populated Not all connectors may be populated on your configuration of the controller The axis connector is a 26 pin female D sub high density connector The connector pinout for Axes 0 through 3 follows in Table 10 on page 35 Table 11 on page 36 provides the connector pinout for Axes 4 ...

Page 35: ...AOUT 14 Drive AOUT 15 Not Applicable Drive Fault 16 Drive Fault 17 INP 64 INP 65 INP 66 INP 67 5VDC PWR 18 Drive GND 19 Not Applicable Drive Enable 20 Drive Enable 21 OUT 40 OUT 41 OUT 42 OUT 43 Drive Reset 22 Drive Reset 23 OUT 48 OUT 49 OUT 50 OUT 51 Drive GND 24 Drive Talk 25 Drive Talk 26 Not Applicable Note If the Enable Drive I O flag is set then the AcroBASIC direct I O commands can only re...

Page 36: ... 16 Drive Fault 17 INP 68 INP 69 INP 70 INP 71 5VDC PWR 18 Drive GND 19 Not Applicable Drive Enable 20 Drive Enable 21 OUT 44 OUT 45 OUT 46 OUT 47 Drive Reset 22 Drive Reset 23 OUT 52 OUT 53 OUT 54 OUT 55 Drive GND 24 Drive Talk 25 Drive Talk 26 Not Applicable Note If the Enable Drive I O flag is set then the AcroBASIC direct I O commands can only report the output status and not set or clear the ...

Page 37: ...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 connectors Note All parameters are at the connector pin Table 12 Axis Power Electrical Characteristics Figure 8 Equivalent Circuit for Axis Power Source Axis Connector Fuse The Axis connector has a 5V voltage s...

Page 38: ... On the connector Drive Step and STEP use the same pins and Drive Direction and DIR use the same pins CW and CCW Mode In CW and CCW mode two differential output signals are driven to an external drive CW and CCW A low CCW signal and a positive edge of the CW signal indicates a request for positive motion while a low CW signal and a positive edge of the CCW signal indicates a request for negative d...

Page 39: ...r shutdown due to an error between the drive and motor Enable Drive I O flag Drive Enable Output The Drive Enable output is commonly used to enable an external drive amplifier for commanded motion When the ACR9000 ACR9030 asserts the output the drive amplifier responds to commanded motion on either the Drive Step and Drive Direction outputs or the Drive AOUT output When the ACR9000 ACR9030 de asse...

Page 40: ...tep and Drive Direction Description Min Max Units Output voltage low at 30 mA 1 VDC Output voltage high at 10 mA 3 7 Output voltage high at 30 mA 3 5 VDC Step output frequency 0 2 5 MHz Note All parameters are at the connector pin Table 15 Outputs Drive Step and Drive Direction Electrical Timing Characteristics Outputs Drive AOUT Description Min Max Units Output voltage 10 10 VDC DAC resolution 16...

Page 41: ...ristics Outputs Drive Enable and Drive Reset The Drive Enable and Drive Reset outputs are not polarity sensitive and can be controlled regardless of polarity The Drive Enable and Drive Reset outputs are optically isolated outputs The drain and source are on separate connector pins to allow significant flexibility in wiring to different styles of interface Description Min Typical Max Units Turn on ...

Page 42: ... and Drive Direction Outputs Drive AOUT Inputs Drive Fault Outputs Drive Enable and Drive Reset Drive Talk Signals Outputs Drive Step and Drive Direction Figure 9 Equivalent Circuit for Drive Step and Drive Direction Outputs Drive AOUT Outputs Figure 10 Equivalent Circuit for Drive AOUT Outputs 42 ACR9000 Series Hardware Installation Guide www comoso com ...

Page 43: ...12 Equivalent Circuit for Drive Enable and Drive Reset Outputs Drive Talk Drive Talk signals are reserved for compatibility with Parker Hannifin drives and are not available for general use Figure 13 illustrates the Drive Talk signal path Figure 13 Equivalent Circuit for Drive Talk Signals Chapter 2 Specifications 43 www comoso com ...

Page 44: ...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 the CCW signal indicates a negative count On the connector Encoder CHA and CW use the same pins and Encoder CHB and CCW use the same pins SSI Mode In SSI mode one differential signal is driven out to a device and one d...

Page 45: ...g the event The controller does not monitor the Encoder CHZ signal because the controller does not use it to close the servo loop and Encoder CHZ is not connected to an SSI device For more information on the encoder cable disconnect feature refer to the Encoder Flags section and Bit Encoder Signal Lost message in the ACR Command Language Reference Online Help System in the ACR View software Notes ...

Page 46: ...nector on the front panel of the unit Auxiliary Encoder Connector Specifications Manufacturer KYCON or equivalent www kycon com Connector Type 9 pin D sub 2 row female socket Manufacturer Part Number K22HT E9S NVR30 Auxiliary Encoder Mating Connector Specifications Parker Hannifin does not provide mating connectors with the ACR9000 or ACR9030 However you can order Parker Hannifin cables with matin...

Page 47: ...n The digital inputs and digital outputs are optically isolated from the digital logic For inputs current is limited internally for input voltage control of 24 volt logic The connector is a 25 pin female D sub connector General Purpose Inputs Outputs Connector Specification Manufacturer KYCON or equivalent www kycon com Connector Type 25 pin D sub 2 row female socket Manufacturer Part Number K42 B...

Page 48: ...Input 1 22 Trigger Input 25 22 Input 1 21 Trigger Input 25 21 Input 2 20 Trigger Input 26 20 Input 2 19 Trigger Input 26 19 Input 3 18 Trigger Input 27 18 Input 3 17 Trigger Input 27 17 Input 4 16 Trigger Input 28 16 Input 4 15 Trigger Input 28 15 No connect 14 No connect 14 Input 5 13 Trigger Input 29 13 Input 6 12 Trigger Input 30 12 Input 6 11 Trigger Input 30 11 Input 7 10 Trigger Input 31 10 ...

Page 49: ...t 15 18 Trigger Input 75 18 Input 15 17 Trigger Input 75 17 Input 16 16 Trigger Input 76 16 Input 16 15 Trigger Input 76 15 No connect 14 No connect 14 Input 17 13 Trigger Input 77 13 Input 18 12 Trigger Input 78 12 Input 18 11 Trigger Input 78 11 Input 19 10 Trigger Input 79 10 Input 19 9 Trigger Input 79 9 Input 20 8 Output 36 8 Input 20 7 Output 36 7 Input 21 6 Output 37 6 Input 21 5 Output 37 ...

Page 50: ...23 Connector Electrical Timing Characteristics GP Inputs 24 31 72 79 Description Min Max Units Turn on time 400 ns Turn off time 400 ns Guaranteed on voltage 21 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 filtering and isolation is 400 ns or encoder cap...

Page 51: ... polarity sensitivity and can be controlled regardless of polarity Note All parameters are at the connector pin Table 26 GP Outputs 32 39 Connector Electrical Timing Characteristics GP Input Output Connector Circuit Schematics This section contains schematics of the input and output circuits of the ACR9000 and ACR9030 controllers All inputs have the same circuit schematic and all outputs have the ...

Page 52: ...r message Motion Enable Input Open appears on the terminal emulator Warning Damage to the ACR90x0 will result if the 24 Volt supply used on the Motion Enable input is shared with an inductive load such as brakes solenoids contactors or relays Use a separate 24 VDC power supply for inductive loads or use loop back diodes or rectifiers across the inductive loads See the section Enable Connection on ...

Page 53: ...n Part Number 43 021606 01 Pitch 0 200 in 5 03 mm Wire Range 12 26 AWG 14 27 SWG 0 12 3 30 mm2 Wire Strip Length 0 310 in 0 787 mm Tightening Torque 7 0 in lbs nom 0 79 N m Enable Connector Pinout Signal Pin ENABLE 1 ENABLE 2 Table 27 Motion Enable Connector Pinout Enable Connector Electrical Timing Characteristics Description Min Max Units Turn on time 1 ms Turn off time 1 ms Guaranteed on voltag...

Page 54: ...No parity Xon Xoff flow control The controller supports RS 232 full duplex and RS 485 full duplex operation Hardware configuration determines the mode of data transmission For information on configuring the hardware see COM1 Connection on page 72 The controller does not support half duplex operation COM1 Connector Specification Manufacturer KYCON or equivalent www kycon com Connector Type 9 pin D ...

Page 55: ...l Pin Signal Pin RX485 1 No connect 6 RX232 RX485 2 Mode 0 7 TX232 TX485 3 No connect 8 TX485 4 Mode 1 9 GND 5 Note Some RS 485 ports designate the terminal as A and the terminal as B Table 29 COM1 Connector Pinout Analog Inputs Connector ACR9000 only The two screw terminals provide eight single ended analog inputs all referencing ground You can also configure the analog inputs to provide four dif...

Page 56: ...1 AIN4 Analog input 4 2 AGND Analog ground 3 AIN5 Analog input 5 4 AGND Analog ground 5 AIN5 Analog input 6 6 AGND Analog ground 7 AIN7 Analog input 7 8 AGND Analog ground Table 31 Analog Inputs 4 7 Connector Pinout Analog Inputs Electrical Timing Characteristics Input Voltage 16 bit A D converter 10 VDC bipolar range selectable ADC GAIN command 10V default 5V 2 5V 1 25V Voltage Limit 15 VDC refer...

Page 57: ...alog input circuits of the ACR9000 controller All inputs have the same circuit schematic Differential Inputs Figure 18 Equivalent Circuit for Differential Analog Inputs Connector Single Ended Inputs Figure 19 Equivalent Circuit for Single Ended Analog Inputs Chapter 2 Specifications 57 www comoso com ...

Page 58: ...Includes connector shield enclosure and two jack screws does not include contacts or ferrules Contacts Crimp style 30µ Gold AMP Part Number 1 745253 4 Gold Flash Amp Part Number 1 745253 1 CANopen Connector Pinout Table 32 contains the CANopen connector pinout and Figure 20 on page 59 illustrates its circuit Signal Pin Description NC 1 No connect CAN_L 2 CAN_L bus line dominant low CAN_GND 3 CAN i...

Page 59: ...rofile In addition the ACR90x0 CANopen master node supports the following external slave node types DS 401 digital analog input output modules For the latest information on supported CANopen features see our website www parkermotion com Note The ACR90x0 does not support multi master networks There can be only one master an ACR90x0 controller For information on connecting the controller to a CANope...

Page 60: ...x75 ohm 1000pF 2kV to shield Table 33 Ethernet Connector Pinout ETHERNET Powerlink Connectors The ACR9030 and ACR9040 controllers implement two ETHERNET Powerlink interfaces with the following features 100 Mbps full duplex capable connection ETHERNET Powerlink protocols ETHERNET Powerlink Connector Pinout Table 34 contains the connector pinout for the ETHERNET Powerlink connector Signal Pin Wire C...

Page 61: ... features USB 2 0 full speed device 12 Mbps Self powered it does not draw power through the USB interface USB Connector Pinout The USB connector is a Series B receptacle The connector pin out follows Signal Pin Wire Color typical Vbus 1 Red D 2 White D 3 Green GND 4 Black Shield Shell Table 35 USB Connector Pinout www comoso com ...

Page 62: ...ion C H A P T E R T H R E E Installation IN THIS CHAPTER Before You Begin 63 Installation Safety Requirements 63 Installation Overview 64 Mounting Guidelines 65 Cable Installation 71 AC Power Connection 95 www comoso com ...

Page 63: ...er and the specifications in Chapter 2 The ACR90x0 Stand Alone Controller is a vented product As a rule Parker Hannifin recommends that you install the controller in an enclosure to protect it from atmospheric contaminants accidental spills and damage and to prevent operator access while it has power applied A metal equipment cabinet is ideally suited for housing the equipment because it provides ...

Page 64: ...Ship Kit for ACR90x0 Stand Alone Controller on page 16 2 Review the specifications tables in Chapter 2 3 If you require RS 485 operation configure the COM1 port connecting cable as specified in COM1 Connection on page 72 4 Mount the ACR90x0 controller following the guidelines on page 65 5 Connect all cables and electrical components except the AC power cord 6 If you desire VM25 expansion I O conne...

Page 65: ...y zinc plated using three No 8 or M4 mounting screws For mounting measurements see Figure 22 on page 66 and Figure 23 on page 67 For proper cooling mount the controller vertically and with required clearance See Table 4 on page 23 for cooling requirements Figure 24 and Figure 25 on pages 68 and 69 illustrate mounting clearance requirements Avoid installing heat producing equipment directly below t...

Page 66: ...Parker Hannifin Figure 22 Mounting Specifications for ACR9000 and ACR9030 2 4 Axis Configuration 66 ACR9000 Series Hardware Installation Guide www comoso com ...

Page 67: ...Parker Hannifin Figure 23 Mounting Specifications for ACR9000 and ACR9030 6 8 Axis Configuration Chapter 3 Installation 67 www comoso com ...

Page 68: ...Parker Hannifin Figure 24 Mounting Clearance for ACR9000 and ACR9030 2 4 Axis Configuration 68 ACR9000 Series Hardware Installation Guide www comoso com ...

Page 69: ...Parker Hannifin Figure 25 Mounting Clearance for ACR9000 and ACR9030 6 8 Axis Configuration Chapter 3 Installation 69 www comoso com ...

Page 70: ...Parker Hannifin Figure 26 Mounting Clearance for ACR9040 70 ACR9000 Series Hardware Installation Guide www comoso com ...

Page 71: ...h bonding They also help to reduce problems in environments with high electrical noise Non EMC Cables Parker Hannifin also offers non EMC cables for applications in which CE compliance is not required or ambient electrical noise does not cause problems Because these cables are either unshielded or contain simple foil shielding terminated by a drain wire they do not provide significant shielding of...

Page 72: ...directly to a personal computer PC or similar serial device through the COM1 port only after properly configuring your cable and connectors For mating connector specifications see COM1 Mating Connector Specification on page 55 The COM1 port is located on the front panel of the unit The unit does not provide a COM2 port Note Do not connect the ACR90x0 controller in an RS 232 or RS 485 daisy chain o...

Page 73: ...lishing RS 232 or RS 485 operation For example to establish RS 485 full duplex operation connect pins 7 and 9 to ground Figure 29 COM1 Mode Pins 7 and 9 COM1 Modes Operation Pin 9 Mode1 Pin 7 Mode 0 RS 232 full duplex Open Open RS 485 full duplex GND GND Reserved Open GND Reserved GND Open Note The controller defaults to RS 232 operation pins 7 and 9 are not connected to ground Open Table 36 COM1 ...

Page 74: ... installing a cable verify that the pin connections between the PC and the controller are configured as shown in Table 37 Table 37 shows the pinout for both a 9 pin and 25 pin PC connector Note Do not connect the controller in an RS 232 daisy chain it will not function properly Pinout for RS 232 Full Duplex Communication PC 9 Pin Connector PC 25 Pin Connector ACR90x0 COM1 9 Pin Connector Pin 3 Tx ...

Page 75: ... may be required on long cable runs The recommended cable is Belden 9842 with a termination resistor value of 120Ω For details on connector configuration see Transmission Modes on page 73 Table 38 RS 485 Four Wire Connector Pinout General Purpose Input Output Connection Depending upon the configuration of your ACR9000 or ACR9030 controller there are either two or four connectors for general purpos...

Page 76: ...encoders Drive Connections Table 39 contains the drive cables for connecting the Axis interface to the specific drives shown Pinouts of the drive cables follow Drive Drive Cable Part Number Aries EPL and Compax3 EPL 1 71 028656 xx Aries 71 021599 xx Compax3 71 021108 xx Dynaserv G3 71 023715 xx Gemini Servo 71 021112 xx Gemini Stepper 71 022316 xx Parker Steppers E AC E DC Zeta etc 71 021113 xx SL...

Page 77: ...4 White 4 Encoder CHB 5 Yellow 5 Encoder CHB 6 Orange 6 Encoder CHZ 7 Blue 7 Encoder CHZ 8 Violet 8 Drive Step 10 Red 10 Drive Step 11 Green 11 Drive Direction 12 Yellow 12 Drive Direction 13 Blue 13 Drive AOUT 14 Gray 14 Drive AOUT 15 Brown 15 Drive Fault 17 Pink 9 5 VDC PWR 18 Wht Blu 18 Drive Reset 23 Blu Wht 23 Drive Enable 20 Black 20 Drive Reset 22 White 22 Drive Talk 25 Red 25 Drive Talk 26...

Page 78: ...r CHA 3 Black 7 Encoder CHA 4 Red 6 Encoder CHB 5 Green 8 Encoder CHB 6 White 12 Encoder CHZ 7 Yellow 14 Encoder CHZ 8 Orange 13 Drive AOUT 14 Blue 9 Drive AOUT 15 Violet 11 Drive Fault 16 Gray 2 Drive Enable 20 Brown 6 8 Drive Enable 21 Blue 1 7 11 Drive GND 24 Violet 15 NOTE In the controller connector pins 17 19 are jumpered In the Compax3 X12 connector pins 1 7 11 are jumpered Table 41 Connect...

Page 79: ...CHA 3 Green 9 Encoder CHA 4 White 10 Encoder CHB 5 Yellow 11 Encoder CHB 6 Orange 12 Encoder CHZ 7 Blue 13 Encoder CHZ 8 Violet 14 Drive Step 10 Gray 15 Drive Step 11 Brown 16 Drive Direction 12 Tan 17 Drive Direction 13 Pink 18 Drive AOUT 14 Wht Blu 35 Drive AOUT 15 Blu Wht 36 Drive Fault 17 Black 3 Drive Enable 21 Yellow 20 Drive Reset 23 Gray 19 Note In the controller connector the following pi...

Page 80: ... Pink 26 DC RETURN 2 Tan 7 Encoder CHA 3 Black 14 Encoder CHA 4 Red 15 Encoder CHB 5 Green 16 Encoder CHB 6 White 17 Encoder CHZ 7 Yellow 18 Encoder CHZ 8 Orange 19 Drive AOUT 14 Blue 23 Drive AOUT 15 Violet 24 Drive Fault 17 Brown 43 Drive Enable 20 Gray 2 Drive Enable 21 Blu Wht 1 Drive Reset 22 Wht Blu 6 Drive Reset 23 Orange 3 Note In the controller connector pins 16 18 are jumpered Table 43 C...

Page 81: ...ncoder CHA 4 Red 15 Encoder CHB 5 Green 16 Encoder CHB 6 White 17 Encoder CHZ 7 Yellow 18 Encoder CHZ 8 Orange 19 Drive Step 10 Violet 8 Drive Step 11 Blue 9 Drive Direction 12 Gray 10 Drive Direction 13 Brown 11 Drive Fault 17 Blu Wht 43 Drive Enable 20 Wht Blu 2 Drive Enable 21 Yellow 1 Drive Reset 22 Blue 6 Drive Reset 23 Red 3 Note In the controller connector pins 16 18 are jumpered In the Gem...

Page 82: ...er Stepper Signal Pin Wire Color Pin DC RETURN 2 Yellow 21 5 VDC PWR 9 Orange 11 Drive Step 10 Black 1 Drive Step 11 Red 14 Drive Direction 12 Green 2 Drive Direction 13 White 15 Drive Fault 17 Blue 9 5 VDC PWR 18 Violet 16 Drive Enable 21 Gray 17 Drive Reset 23 Brown 23 Note In the controller connector the following pins are jumpered 19 20 1 16 22 24 Table 45 Connection to Parker Stepper Pinout 8...

Page 83: ... Signal Pin Wire Color Pin DC RETURN 2 Tan Flying lead Encoder CHA 3 Black 1 Encoder CHA 4 Red 2 Encoder CHB 5 Green 3 Encoder CHB 6 White 4 Encoder CHZ 7 Yellow 5 Encoder CHZ 8 Orange 6 Drive AOUT 14 Blue Flying lead Drive AOUT 15 Violet Flying lead Drive Fault 16 Pink Flying lead Drive Fault 17 Gray Flying lead Drive Enable 20 Brown Flying lead Drive Enable 21 Blu Wht Flying lead Table 46 Connec...

Page 84: ...al Pin Wire Color Pin DC RETURN 2 Tan 3 Encoder CHA 3 Black 14 Encoder CHA 4 Red 9 Encoder CHB 5 Green 15 Encoder CHB 6 White 10 Encoder CHZ 7 Yellow 5 Encoder CHZ 8 Orange 4 Drive AOUT 14 Blue 1 Drive AOUT 15 Violet 2 DRV FAULT IN 17 Gray 6 DRV ENABLE 21 Brown 11 Note In the controller connector pins 9 16 and 20 24 are jumpered Table 47 Connection to ViX Pinout 84 ACR9000 Series Hardware Installa...

Page 85: ... CHZ 8 Violet Flying lead 5 VDC PWR 9 Blue Flying lead Drive Step 10 Orange Flying lead Drive Step 11 Violet Flying lead Drive Direction 12 Tan Flying lead Drive Direction 13 Pink Flying lead Drive AOUT 14 Gray Flying lead Drive AOUT 15 Brown Flying lead Drive Fault 16 Yellow Flying lead Drive Fault 17 Blue Flying lead 5 VDC PWR 18 Orange Flying lead Drive GND 19 Blu Wht Flying lead Drive Enable 2...

Page 86: ...e The CANopen connector is on the front panel of the controller For specifications see CANopen Connector on page 58 Use the following guidelines for installing a CANopen network with the ACR90x0 controller Route a main trunk line near the point of use Connect drop lines between the trunk line and the CANopen nodes Install termination resistors 120 ohms at both ends of the trunk line Figure 30 on p...

Page 87: ... should be a twisted cable pair with a third wire run as a common ground between nodes If all network nodes implement isolation CAN_GND is optional Connection is recommended if the network contains non isolated nodes Use shielded cabling to improve network noise immunity See Appendix on page Error Bookmark not defined The conductor shield of the cable may be routed to pin 5 CAN_SHLD which is termi...

Page 88: ...es The connector on one end is a 9 pin female D sub connector the other end has flying leads for connecting to screw terminals The above cable assembly includes a termination resistor 120Ω within the D sub connector Parker Hannifin recommends installing another resistor at the screw terminal 120Ω Table 50 CANopen Point To Point Cable Note A box surrounding pins indicates a requirement for twisted ...

Page 89: ...e bits second Maximum Bus Length m Maximum Drop Length m Maximum Cumulative Drop Length m Recommended Cable 1M 30 2 10 800k 50 3 15 500k 100 5 25 250k 250 10 50 125k 500 20 100 Belden 7895A 50k 1000 48 240 20k 1000 120 600 10k 1000 120 600 Belden 7896A Notes Maximum bus length includes the length of the main trunk line plus the length of all the drop lines Maximum drop length is for a single drop ...

Page 90: ...pplication For more information see Error Reference source not found on page Error Bookmark not defined Perform the installation test in Table 55 on page 90 prior to connecting any nodes slave or master to the CANopen network This test verifies that you have properly connected the data lines and termination resistors For more information about the location and value of termination resistors see pa...

Page 91: ...ork send the SET11265 command to set bit 11265 Both the controller and I O node should have a steady green LED Multiple Node Network 1 Power up the ACR90x0 The controller should have a green blinking CANopen Status LED and the I O nodes should have green blinking Run LEDs 2 Start the ACR View software and then open a terminal emulator session 3 Set the number of I O nodes in the network Send P3277...

Page 92: ...e ESAVE command Ethernet Cable Specification Cable RJ 45 Ethernet unshielded CAT 5E Ethernet Connection The Ethernet port is located on the front panel of the ACR90x0 For specifications see Ethernet Connector on page 60 Before connecting to an Ethernet port you must configure the ACR90x0 to use an IP address and subnet mask that is valid for your network The factory assigns an IP address of 192 16...

Page 93: ...en click Next e In the dialog box under Communications click Serial Then select the COM port on the personal computer you want to use from the left most list Then select the Baud for communications from the right most list f Click Connect 4 In the Project Workspace to the left select Terminal Emulator 5 In the Terminal Emulator do the following a To set the IP address type IP xxx xxx xxx xxx where...

Page 94: ...k box and click Next 5 Insert the ACR SDK disc into the CD ROM drive 6 Click Browse Navigate to the following subdirectory on the ACR SDK Drivers USB Win98 2K XP Click OK and complete the New Hardware Wizard NOTE The ACR9040 can experience intermittent USB communications that are caused by ground loops or by power surges occurring when connecting the USB cable This occurs with certain combinations...

Page 95: ... DC power supply which can be converted to non isolated by connecting an 18 AWG jumper between the DC return and Earth ground After securely installing all other cables on the ACR9040 connect the device to the non isolated 24 VDC power supply See Figure 31 For more information on power requirements and the DC power connector see Electrical Specifications on page 26 and DC Power Connector ACR9040 o...

Page 96: ...IN THIS CHAPTER Troubleshooting Guidelines 97 LED Status Indicators 98 CANopen Connection 100 Ethernet Connection 100 RS 232 RS 485 Communication Problems 101 Feedback Device Problems 103 Motion Related Error Messages 104 Axis I O Troubleshooting 105 www comoso com ...

Page 97: ...26 Check for disconnected power cable blown fuse etc Green Normal operation Steady Red Inadequate power 1 Verify that the power source meets the requirements in Table 7 on page 26 2 Remove all cables except power If the LED does not turn green contact Parker Hannifin Technical Assistance 1 If the LED turns green after removing the cables re attach the cables one at a time to determine which cable ...

Page 98: ...ange the LED using flags 56 through 63 and 96 through 103 For additional information refer to the ACR Parameter and Bit Reference formerly AcroBASIC Command User Guide Part 2 Axis Status LED What It Means Off Axis disabled with no fault Green Axis enabled with no fault Red Axis fault motion on this axis is disabled during a fault state Note The LED illuminates red whenever the drive fault input is...

Page 99: ...red communication cycle period time out see Object Dictionary Entry 0x1006 2 Red On Bus Off The CAN controller is bus off Off Off Reset The ACR90x0 is executing a reset 1 LED Intervals Flickering on for 50 ms and off for 50 ms Blinking on for 200 ms and off for 200 ms Single flash on for 200 ms and off for 1000 ms Double flash sequence of 2 flashes 200 ms separated by an off phase 1000 ms Triple f...

Page 100: ...us LED which indicates the state of the Ethernet connection See Table 59 on page 99 Do not proceed until the status LED indicates an Ethernet Link has been established 4 Verify a valid IP and subnet mask has been assigned to the ACR90x0 See Ethernet Cable Specification on page 92 5 Test the IP and subnet assignment At a DOS or command prompt type ping xxx xxx xxx xxx where xxx xxx xxx xxx represen...

Page 101: ... Physical Settings Verify the physical settings for the COM1 port by following the steps in this section 1 Use the connector pinout in Table 60 to confirm that your cable and mating connector are configured accurately for the COM1 port Signal Pin Signal Pin RX485 1 No connect 6 RX232 RX485 2 Mode 0 7 TX232 TX485 3 No connect 8 TX485 4 Mode 1 9 GND 5 Table 60 COM1 Connector Pinout 2 Confirm that mo...

Page 102: ...Select a different COM port Unable to open COM port No COM port has been specified or the COM port is being used by other software Select a different COM port No response from ACR90x0 controller Power is not supplied to the controller the controller is not powered up the power connection is wired incorrectly or the RS 232 RS 485 cable is wired incorrectly Check the controller to verify that the po...

Page 103: ...e system can cause missed and or false position values Try to isolate the cause by removing one component at a time Exceeding the maximum feedback frequency can cause wrong position values at high speeds Peak frequency must account for velocity ripple For more information see Table 20 Encoder Electrical Timing Characteristics on page 45 SSI feedback confirm that the servo period is correctly confi...

Page 104: ... Os while the Enable Drive I O flag was set for that axis The physical drive I Os are drive enable output drive reset output drive fault input red LED and green LED Drive I O Status Bit An attempt was made to set or clear a flag that reflects drive status for an axis These flags are controlled exclusively by firmware Associated Slave Kill Motion Request Active An attempt was made to initiate motio...

Page 105: ...ection diodes If you suspect your ACR90x0 has been damaged see Technical Assistance on page 3 for information on how to contact the automation technology center See the section Enable Connection on page 71 for information on Motion Enable input connections Axis I O Troubleshooting Several controller parameters may need additional configuration to work with different types of drives If motion does ...

Page 106: ...his will not work You must also change the feedback wiring or mounting so that it counts in the same direction as the commanded direction Depending on the feedback device used do one of the following If your application can change how the feedback device is mounted you may be able to affect the count direction with it For Quadrature feedback switch Encoder CHB and Encoder CHB between the controlle...

Page 107: ...ity input that can be set to change the count direction 3 If the drive holds torque when you disable the axis and loses torque when you enable the axis check the value of the Drive Enable Output Shuts Down Drive flag Some drives implement reverse functionality of the disable and enable settings Stepper Axes For problems with the stepper axes check the conditions listed below and follow the recomme...

Page 108: ...s of motion to a master axis with one or more slave axes faulted motion stops on all slave axes until you clear the flags For more information on the ATTACH command Kill All Motion Request axis flag and Kill All Motion master flag refer to the ACR Command Language Reference Online Help System in the ACR View software 4 If the drive holds torque when you disable the axis and loses torque when you e...

Page 109: ...Appendix A SSI Encoders A P P E N D I X A SSI Encoders IN THIS CHAPTER Overview 110 Protocol 110 Timing 111 www comoso com ...

Page 110: ...frame size is 1 to 32 bits Selectable data modes are gray code to binary conversion or pass thru mode Protocol Slave Device When not transmitting the SCLK and SDATA lines are high The slave device latches a new data value on the first falling edge of SCLK It then transfers the latched data value out on the subsequent rising edges of SCLK MSB first After the transfer completes the SDATA line remain...

Page 111: ...out period is specified by slave device T5 The number of data bits times SCLK period 641 ns 327 9 µs Table 64 SSI Transfer Cycle Timing Data For example if Device data word size equals 25 bits SSI clock rate equals 781 2 KHz Device parameter for T4 equals 20 µs Then total transfer time equals s μ μ 53 28 KHz 2 781 1 25 s 20 KHz 2 781 1 0 5 T5 T4 T1 When selecting the SSI clock rate the total trans...

Page 112: ...Appendix B VM25 Breakout Module A P P E N D I X B VM25 Breakout Module IN THIS CHAPTER Overview 113 www comoso com ...

Page 113: ...ontrollers The VM25 comes with a 2 foot cable 609 6 mm that provides easy connection between the VM25 and the controller s 25 pin I O connectors The VM25 expansion I O module is ordered separately part number VM25 Notes The VM25 module ships with DIN rail mounting clips installed The overall cabinet depth with cable bend radius is 5 inches 127 mm Figure 34 VM25 Breakout Module www comoso com ...

Page 114: ...Appendix C VM26 Breakout Module A P P E N D I X C VM26 Breakout Module IN THIS CHAPTER Overview 115 www comoso com ...

Page 115: ...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 number VM26 PM Notes The VM26 module ships with DIN rail mounting clips installed The overall cabinet depth with cable bend radius is 5 inches 127 mm Figure 35 VM26 Breakout Module www comoso com ...

Page 116: ...Appendix D Drive I O A P P E N D I X D Drive I O IN THIS CHAPTER Drive I O 117 Encoder Input Mode 123 General Purpose and Extended I O 124 Motion Enable Input 127 www comoso com ...

Page 117: ... inverted internally from the other ACR products For the ACR90x0 a positive final output signal produces a positive voltage output This does not apply to other ACR products Attach Axis The ATTACH AXIS command is now used to configure the controller for servo or stepper control Each axis can be setup as servo or stepper Since each axis connector includes the analog digital and drive I O it is logic...

Page 118: ...the drive reset input if applicable Here is an example of their use P00 DRIVE ON X Y Z A P00 DRIVE OFF X Y Z A P00 DRIVE RES X Y Z A Drive Input Fault By default the ACR9000 and ACR9030 check for a drive fault input The input is active when no current is flowing through the drive fault input If no drive fault input is attached to an axis the user must do the following to enable the drive clear the...

Page 119: ...94 8626 8658 8690 Kill All Motion Request KAMR 19 8467 8499 8531 8563 8595 8627 8659 8691 Enable Drive I O EDIO 20 8468 8500 8532 8564 8596 8628 8660 8692 Enable EXC Response EER 21 8469 8501 8533 8565 8597 8629 8661 8693 DEO serves shutdown function 22 8470 8502 8534 8566 8598 8630 8662 8694 Disable Drive on Kill 23 8471 8503 8535 8567 8599 8631 8663 8695 Drive Fault Input DFI 24 8472 8504 8536 8...

Page 120: ...In this case the user would wish to set the IDFIL flag so DFI would be set if current were flowing to the input Invert Motion Direction R W By convention default wiring gains and MULT values will result in clockwise shaft motion viewed from the motor face when the count is becoming more positive But some applications require that some axes be opposite of this The Invert Motion Direction bit will i...

Page 121: ...x21 When Enable EXC Response is enabled bit set to 1 the controller will respond to excess position error by killing all motion and disabling the drive If the bit is not set position error will be monitored but not responded to The default is set to disabled bit set to 0 For more information see the EXC command or Axis Parameters indices 0x20 and 0x21 DEO Serves Shutdown Function R W When enabled ...

Page 122: ...the drive enable output is on and cleared with the drive enable is off Drive Fault Latched R Indicates a drive fault has been detected Stays latched until cleared with a DRIVE ON command EPL Axis R Indicates an EPLD is attached to this axis Latched Excess Position Error R Indicates that excess position error has been detected and that motion has been killed and the drive disabled as a result Stays...

Page 123: ...roneous transitions on channel A and B If the error is detected no counts are recorded for that transition and a latched bit in the FPGA is set to record the event When firmware detects that bit it sets the encoder signal fault flag In the RES command the PEEN is toggled 1 to 0 to 1 to clear the latch fault bit The FPGAs also have a bit that reflects the state of encoder cable disconnect detection...

Page 124: ...2 79 Bits 40 63 are mapped to physical drive outputs You can use the CONFIG IO command to redirect the parameter for digital outputs the upper 24 bits of that parameter are mapped to physical drive outputs Note If the Enable Drive I O is set to 0 setting the Drive Enable Output will not change the state of the LED for that axis In addition the controller does not perform a REN command Opto Isolate...

Page 125: ... 72 Opto Isolated High Speed Input INP73 73 Opto Isolated High Speed Input INP74 74 Opto Isolated High Speed Input INP75 75 Opto Isolated High Speed Input INP76 76 Opto Isolated High Speed Input INP77 77 Opto Isolated High Speed Input INP78 78 Opto Isolated High Speed Input INP79 79 Miscellaneous Outputs P4099 Flag number LED 4 Green 96 LED 4 Red 97 LED 5 Green 98 LED 5 Red 99 LED 6 Green 100 LED ...

Page 126: ...TUP AXIS1 S ENABLE TO ACT LIKE A REM SHUTDOWN OUTPUT SINCE THE E AC HAS REM SHUTDOWN CIRCUITRY 70 SET 8468 SET 8500 REM MAKE SURE DRIVE I O IS ENABLED 80 SET 8469 CLR 8501 REM TURN ON POSITION ERROR CHECKING FOR REM AXIS0 AND TURN IT OFF FOR AXIS1 90 EXC X1 REM SET THE POSTIION ERROR WINDOW FOR 1 REM REV FOR AXIS0 100 DRIVE ON X Y REM ENABLE AXIS0 AND 1 110 DWL0 5 REM DWELL FOR 500 ms TO ALLOW THE...

Page 127: ...nactive is a set or 1 state When the enable input goes inactive bit 5645 is set and latched until voltage is present again on the enable input and the DRIVE ON command is sent Example A typical recovery routine for this event would need to wait until the enable input is active state 0 clear the kill all motion request bits for axes attached to the master clear the kill all move request for master0...

Page 128: ...Appendix E CANopen A p p e n d i x E CANopen IN THIS CHAPTER Limited Amounts of Nodes and I O 129 Semi Automatic Network Configuration 129 AcroBASIC Language Access to CANopen I O 132 www comoso com ...

Page 129: ...ate kilobits second P32769 125 Number of slave nodes P32770 1 valid range 0 4 Cyclic Period milliseconds P32772 50 Node 0 ID required if P32770 0 P33024 1 Node 1 ID required if P32770 1 P33040 0 Node 2 ID required if P32770 2 P33056 0 Node 3 ID required if P32770 4 P33072 0 Bit Rate and Node Addresses Every node on a CANopen bus must have a unique ID number and must use the same bit rate The slave...

Page 130: ...Node messages 1 Required time milliseconds Total messages 125 bit rate in Kilobits s This time should be rounded up to the next higher integer number of milliseconds For example suppose there are two nodes One node has 100 digital outputs and 10 each analog inputs and outputs The second node has 20 digital outputs and 5 each analog inputs and outputs The first node has nine messages and the second...

Page 131: ...gures the slaves as required The slaves are then placed into the operational state and automatic transfer between the slave s physical I O and the ACR90x0 s I O parameters and bits takes place Before the network may become in the operational state the master must know how many slave nodes there are what the node numbers are and how many and what type of I O are on each node In some applications th...

Page 132: ...tend all existing on board I O functionality to external I O and facilitate backward compatibility with existing applications external I O are represented with bits and parameters in exactly the same way onboard I O is Network and Node Information Parameters and Flags After the ACR90x0 has started the CANopen network and discovered and characterized nodes on the network it fills in an information ...

Page 133: ...Operational R This flag is set when the CANopen network is in the operational state and communicating It is cleared if there is no communication or some other error Check the below flags for more information on the error the CANopen LED or the DIAG command Network Start Failed R This flag is set when a request to start the network was issued and there was a failure Check the below flags for more i...

Page 134: ...trol Status Control Parameters Master node ID P32768 Bit Rate Kb P32769 Number of slave nodes P32770 Alt Digital I O Mapping P32771 Cyclic Period milliseconds P32772 Status Parameters Health Period milliseconds P32773 Reserved P32774 Number of digital inputs bytes P32775 Number of digital outputs bytes P32776 Number of analog inputs P32777 Number of analog outputs P32778 Bus state see table below ...

Page 135: ...rk Health Period R The Health period this is always set to 10 times the Cyclic Period See the Health Period and Node Health section for more detail Number of Digital Input Bytes R The total number of bytes 1 byte 8 bits taken for digital inputs on the network Number of Digital Output Bytes R The total number of bytes 1 byte 8 bits taken for digital outputs on the network Number of Analog inputs R ...

Page 136: ...D is located just below the CANopen connector on the ACR90x0 CANopen STATUS LED CiA DR 303 3 CAN state Description Possible ACR90x0 state s OFF N A No CAN controller detected 0 Blinking Green Pre Operational CANopen is in the pre operational state 1 3 4 5 Solid Green Operational The network is now exchanging data 2 One Red blink inside blinking Green Warning limit reached At least one of the error...

Page 137: ...ected external node has not responded to interrogation during attempt to start network Will occur if a stated node ID does not match the actual node ID or if the node is missing or at the wrong bit rate or not operational The network is still ready to start once the external node problem is resolved 5 Blinking Green EXCESS BUS ERRORS The controller chip has too many bus errors One possible reason ...

Page 138: ...er of Digital Outputs bytes 33026 33042 33058 33074 Number of Analog Inputs 33027 33043 33059 33075 Number of Analog Outputs 33028 33044 33060 33076 Health Type 0 not present 1 heartbeat 2 lifeguarding 33029 33045 33061 33077 Node state 0 dead 1 live 33030 33046 33062 33078 Flags for Extended Digital I O Each possible node will have two blocks of flag parameters each 16 parameters in length to acc...

Page 139: ... take values of 32768 to 32767 To translate from this raw binary number to the range and units being controlled or measured the ACR90x0 employs entered offsets and gains An offset has the same units as the user units of the analog value for example volts or milliamps and translates the center of the analog range to a value that allows a gain to be applied A DAC gain has the units of full scale bin...

Page 140: ...99 P33779 Reserved P33284 P33300 P33780 Reserved P33285 P33301 P33781 Reserved P33286 P33302 P33782 Reserved P33287 P33303 P33783 ADC Parameter ADC number 0 1 31 ADC Input Value P33288 P33304 P33784 Reserved P33289 P33305 P33785 ADC Gain P33290 P33306 P33786 ADC Offset P33291 P33307 P33787 Reserved P33292 P33308 P33788 Reserved P33293 P33309 P33789 Reserved P33294 P33310 P33790 Reserved P33295 P33...

Page 141: ...e data in a very basic program 10 P32768 5 REM SET THE CONTROLLER ID TO 5 20 P32769 1000 REM SET THE BIT RATE TO 1 Mb 30 P32770 2 REM TELL THE CONTROLLER THERE REM ARE 2 SLAVES ON THE NETWORK 40 P33024 3 REM SET NODE 0 TO PHYSICAL NODE 3 50 P33040 4 REM SET NODE 1 TO PHYSICAL NODE 4 60 P33056 0 REM SET NODE 2 TO NOTHING 70 P33072 0 REM SET NODE 2 TO NOTHING 80 P32772 50 REM SET THE CYCLIC PERIOD T...

Page 142: ...The meaning of P4104 P4111 is given below for the various values of P32771 XIO Flags Parameters P32771 1 P32771 2 P32771 3 4104 Node0 DI 0 31 Node0 DI 0 31 Node0 DI 0 31 4105 Node0 DO 0 31 Node0 DO 0 31 Node0 DO 0 31 4106 Node0 DI 32 63 Node0 DI 32 63 Node1 DI 0 31 4107 Node0 DO 32 63 Node0 DO 32 63 Node1 DO 0 31 4108 Node0 DI 64 95 Node1 DI 0 31 Node2 DI 0 31 4109 Node0 DO 64 95 Node1 DO 0 31 Nod...

Page 143: ...Appendix F Drive Talk A p p e n d i x F Drive Talk IN THIS CHAPTER Quick Startup 144 www comoso com ...

Page 144: ...match the number given with the OPEN command P28672 1 for axis0 P28928 1 for axis1 P29184 1 for axis2 P29440 1 for axis3 P29696 1 for axis4 P29952 1 for axis5 P30208 1 for axis6 P30464 1 for axis7 4 Set the type of drive you are talking to for each drive base 256 per axis Aries 0 P28673 0 for axis0 P28929 0 for axis1 P29185 0 for axis2 P29441 0 for axis3 P29697 0 for axis4 P29953 0 for axis5 P3020...

Page 145: ...ample 1 The following example is for two axis operation OPEN DTALK COM2 9600 N 8 1 AS 1 REM OPEN PORT P28672 1 REM SET DEVICE NUMBER FOR DRIVE 1 P28928 1 REM SET DEVICE NUMBER FOR DRIVE 2 P28673 0 REM SET DRIVE TALK AXIS1 TO ARIES DRIVES P28929 0 REM SET DRIVE TALK AXIS2 TO ARIES DRIVES CLR 11122 REM RESET TIMEOUT CLR 11123 REM RESET TIMEOUT CLR 11124 REM RESET TIMEOUT SET 10505 REM GET TPE AXIS0 ...

Page 146: ...DRIVE P00 CLR11122 CLR11123 CLR11124 REM CLEAR ALL TIMEOUT BITS P00 SET11104 REM START AUTO ADDRESS P00 DTALK X REM START TALKING DIRECTLY TO THE DRIVE REM HIT ESCAPE TO EXIT TPE 0 TPE 2576 TREV Aries OS Revision 2 00 DMODE 2 P00 Configuration Parameters Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80 Axis Number Index Drive Talk Configuration Parameters Code 0x70 0 1 2 3 4 5 6 7 0x00 Communication D...

Page 147: ...erved 11 11115 Reserved 12 11116 Reserved 13 11117 Reserved 14 11118 Reserved 15 11119 STREAM_DTALK_ACTIVE 16 11120 STREAM_DRIVE_FOUND 17 11121 STREAM_DRIVE_LOST 18 11122 STREAM_DRIVE_TIMEOUT 19 11123 STREAM_ADDR_ERROR 20 11124 Reserved 21 11125 Reserved 22 11126 Reserved 23 11127 COM2 Stream TALKTO DTALK Status Flags Bit Index Flag Number Reserved 24 11128 Reserved 25 11129 Reserved 26 11130 Rese...

Page 148: ...r not Drive Talk becomes active after the OPEN DTALK command is issued Drive talk is deactivated with the CLOSE command and any of the errors below Drive Found R This flag is set each time a successful response from the drive has been read by the controller Drive Lost R This flag is set if at any time the controller requests data from the drive and the drive does not respond The controller never c...

Page 149: ...egulatory Compliance UL EMC and CE IN THIS CHAPTER System Installation Overview 150 General Safety Considerations 150 General EMC Considerations 150 Installing the ACR90x0 Controller 151 Regulatory Agencies 160 Standards of Compliance 160 www comoso com ...

Page 150: ... based on the requirements of the Low Voltage Directive and specifically on EN61010 Remember never compromise safety to achieve EMC compliance Therefore in the event of a conflict between safety regulations and the following EMC recommendations safety regulations always take precedence General EMC Considerations The ACR90x0 product is a Motion Control Component and as such will be built in to anot...

Page 151: ...pment cabinets are ideally suited for housing the equipment since they can provide operator protection EMC screening and can be fitted with interlocks arranged to remove all hazardous voltages when the cabinet door is opened Do not arrange interlocks to open circuit inductive loads such as motor phase connections while the system is still powered as this could cause damage to the controller Precau...

Page 152: ...the front of the ACR90x0 enclosure Mount the controller and all components to a clean unpainted earthed metal panel Important To reduce the risk of electrical noise entering your system you must properly earth ground the enclosure and remove all paint and other non conductive surface coatings from the panel mounting surface and RF earth bonding locations If you mount the ACR90x0 controller in an e...

Page 153: ...clean earth circuits may be formed within the same cabinet but all such circuits will eventually need to be returned to the cabinet s main star earth point Mount the individual controllers and the EMC filter if your system requires filters see Table 65 on page 154 on a metal earth plane The earth plane will have its own individual star point earth that should be hard wired using an insulated coppe...

Page 154: ... if the chassis of the ACR90x0 is adequately bonded to the system earth For maximum immunity both ends of each cable must be earth bonded All connections must be made using a high quality braided screen cable with minimum of 85 coverage Cables using a metalized plastic bandage for an earth screen are unsuitable and in fact provide very little screening Care must be taken when terminating the cable...

Page 155: ...e Part number 28A2024 Fair Rite Part number 0443164151 These ferrites are available from Parker Hannifin part number 47 015956 01 Ferrite absorbers also are recommended for cable runs longer than 5 meters Take care that the power supply providing the pull up voltage to the controller s high speed inputs and outputs is free from electrical noise Short Duration transient events such as those caused ...

Page 156: ...nd is also applicable to the ACR9030 and ACR9040 Figure 37 Typical LVD EMC Installation Warning These products have been developed for industrial environments Due to exposed high voltage terminals these products must not be accessible to users while under normal operation 156 ACR9000 Series Hardware Installation Guide www comoso com ...

Page 157: ...Parker Hannifin Panel Layout Figure 38 ACR9000 and ACR9030 2 4 Axis Configuration Panel Layout Dimensions Appendix G Regulatory Compliance 157 www comoso com ...

Page 158: ...Parker Hannifin Figure 39 ACR9000 and ACR9030 6 8 Axis Configuration Panel Layout Dimensions 158 ACR9000 Series Hardware Installation Guide www comoso com ...

Page 159: ...Parker Hannifin Figure 40 ACR9040 Panel Layout Dimensions Appendix G Regulatory Compliance 159 www comoso com ...

Page 160: ... LVD Mains fuses as dictated by the local safety authority CE EMC Varistors mains filter if required EMC cabling EMC ready motor proper installation Table 67 Regulatory Agencies Standards of Compliance UL cUL 508C CE for LVD 72 23 EEC BS EN 61010 1 1993 including Amendment A2 Safety requirements for electrical equipment for measurement control and laboratory use Part 1 General Requirements CE for ...

Page 161: ...62 Introduction to ETHERNET Powerlink EPL 162 Cabling and SETUP 164 ACR9030 and ACR9040 Utilization of EPL 168 Support for CiA DSP 402 169 ACR9030 and ACR9040 EPL Commands Parameters and Flags 170 Access to EPL Drives Native Command Language 179 Application Scenario 180 Troubleshooting 182 www comoso com ...

Page 162: ...time Ethernet It was developed to achieve the timing and performance required in automation and motion control applications while reducing cabling costs and complexity EPL uses standard Ethernet for the data link layer but imposes timing rules for all members of an EPL network rules that prevent collisions and ensure precise periodic data exchange EPL Cycles and Nodes A member of an EPL network is...

Page 163: ...her types of communication between nodes including standard TCP IP and UDP This phase allows non EPL related communication to take place during the EPL cycle Figure 42 EPL Cycle EPL Node IDs Each node on an EPL network has a unique node ID The MN always has the ID 240 whereas the CN nodes IDs may be between 1 and 239 It is the node ID that allows the internal EPL firmware to identify whether a nod...

Page 164: ... the ACR9030 and ACR9040 expect to find drives that conform to CiA DSP 402 To ensure product compatibility please contact Parker Electromechanical Division before specifying a multi vendor EPL solution Cabling and SETUP ACR9030 ACR9040 and Aries EPL devices are equipped with dual ETHERNET Powerlink ports which can handle lines and branches Therefore any topology such as line tree star or mixed str...

Page 165: ...Parker Hannifin Figure 43 ACR9030 Front Panel Appendix H ETHERNET Powerlink 165 www comoso com ...

Page 166: ...ugh the EPL guidelines call for crossover cables between EPL devices the ACR9030 ACR9040 and Aries EPL drive can autodetect and as such either a crossover cable or a straight cable may be used The maximum cable length is 100m as defined by Ethernet 100Base TX standards NOTE Due to its lack of noise immunity unshielded Ethernet cable will not work in an ETHERNET Powerlink system 166 ACR9000 Series ...

Page 167: ... for specifications for the two ETHERNET Powerlink connectors Connections See Figure 45 for connections between the ACR9030 and the Aries EPL drive Connections to the ACR9040 are identical Figure 45 ACR9030 and connections to the Aries EPL drive Appendix H ETHERNET Powerlink 167 www comoso com ...

Page 168: ...closed in the controller meaning the commanded and actual positions of an axis are combined to result in a torque command to the DAC In an EPL drive interface the position loop is closed in the drive There is one EPL cycle synchronized with every ACR9030 and ACR9040 trajectory period so the EPL cycle time is automatically established with the PERIOD command For every EPL cycle the drive receives t...

Page 169: ...ons Minimum period in microseconds 125 x number of nodes The restrictions on allowable values for ACR9030 or ACR9040 PERIOD when an EPL controller card is installed are as follows The minimum period is 500 microseconds This accommodates the minimum overhead involved with EPL cycle creation reporting and error handling The period must be a multiple of 125 microseconds allowing the Aries EPL drive t...

Page 170: ...7376 The following shows the parameter for EPLD0 where Node ID refers to the external device setting established by a switch on the device EPLD0 Parameter P Number Default Value Node ID P37632 1 valid range 1 99 Table 70 User Set Node Parameter The entire list of network and node control and status parameters is given later in this appendix Starting Configuring and Resetting the Network NOTE The f...

Page 171: ...r and the control bit will not get set internally If the attempt is made by explicitly setting bit 16640 or 16641 then the bit will self clear and an additional diagnostic status bit will appear These bits are detailed below The terms operational and reset in this section correspond to the network states given in the table in the section EPL Network States LED Indications Error Codes on page 173 T...

Page 172: ...w This state will result in the Insufficient Period status flag bit 16655 being set EPL Network Control Status P4616 Flag Number Control Flags Start Network 16640 Reset Network 16641 Reserved 16642 16647 Status Flags EPL Controller Installed 16648 Network Operational 16649 Network Start Failed 16650 EPL Node Failure 16651 EPLD Stream OPEN 16652 EPLD Stream Disconnected 16653 EPL Drive s Enabled 16...

Page 173: ...the node simply has failed in some way Parameters P37390 and P37391 indicate the nodes that are the targets of either a controlled node OS download or a controlled node reset operation These events are initiated by ACR View either over the Ethernet or USB interfaces and ACR View monitors these parameters during the progress of the operation P37390 indicates all the nodes that were or are involved ...

Page 174: ...us LEDs Table 74 indicates the possible values for the EPL operational errors along with a description of the error If these errors occur the error code is stored in P37386 of network parameters In some cases the errors related to a specific node In those cases the code is also stored in the EPL operation error code parameter for the affected node For EPLD0 this is P37637 The most recently detecte...

Page 175: ...modate a possible future expansion in supported modes The TCP IP Port number P37635 is required for TCP IP connection to a drive discussed in the section Basic Ethernet Connections on page 179 Table 76 gives all the status parameters for EPLD0 The controller automatically updates the status parameters and the user should not modify them Status Parameters for EPLD0 P Number OS download or reset pro...

Page 176: ...start it The Node Failure Count P37641 indicates the number of times this has happened since the overall network became operational The Operational Duration in Seconds P37640 indicates how long this node has been operating either from the start time of the original network operation or since being restarted by the controller Table 78 and Table 79 give all the digital I O definitions and where they...

Page 177: ...LD1 High Speed Input 5 EPLD1 16 3341 EPLD1 High Speed Input 6 EPLD1 17 3342 No function EPLD1 19 3343 EPLD2 Input 0 EPLD2 3 3344 EPLD2 Input 1 EPLD2 0 3345 EPLD2 Input 2 EPLD2 1 3346 EPLD2 Input 3 EPLD2 18 3347 EPLD2 High Speed Input 4 EPLD2 2 3348 EPLD2 High Speed Input 5 EPLD2 16 3349 EPLD2 High Speed Input 6 EPLD2 17 3350 No function EPLD2 19 3351 EPLD3 Input 0 EPLD3 3 3352 EPLD3 Input 1 EPLD3 ...

Page 178: ...nction EPLD2 23 3863 EPLD3 Output 1 EPLD3 16 3864 EPLD3 Output 2 EPLD3 17 3865 EPLD3 Output 3 EPLD3 18 3866 EPLD3 Output 4 EPLD3 19 3867 No function EPLD3 20 3868 No function EPLD3 21 3869 No function EPLD3 22 3870 No function EPLD3 23 3871 Table 79 P4216 EPLD0 EPLD3 Digital Outputs EPLD Objects There are 16 EPLD objects The primary nature of an EPLD object is as an actual position but EPLDn can a...

Page 179: ...ad of closing the position loop on that axis Just as any AXIS can be attached to any ENC or DAC any AXIS can be attached to any EPLD For example suppose a 2 axis ACR9030 also has an EPL card and three EPL drives The following commands would be valid ATTACH AXIS0 ENC0 DAC0 ATTACH AXIS1 ENC1 DAC1 ATTACH AXIS2 EPLD0 ATTACH AXIS3 EPLD1 ATTACH AXIS4 EPLD2 See the ACR Command Language Reference for info...

Page 180: ...nodes given by P37376 The ACR9030 or ACR9040 s TCP IP client then makes a connection to the corresponding EPL drive and links all input and output from that connection to this Pseudo Stream The CLOSE command will close the Pseudo Stream and the connection to the drive Status flags and parameters described in the section Network Information Parameters and Flags on page 171 indicate the state of the...

Page 181: ...F REM Create attachments for X Y Z ATTACH MASTER 0 ATTACH SLAVE0 AXIS0 X ATTACH SLAVE1 AXIS1 Y ATTACH SLAVE2 AXIS2 Z ATTACH AXIS0 EPLD0 ATTACH AXIS1 EPLD1 ATTACH AXIS2 ENC0 DAC0 REM Set up gains for X Y Z PGAIN X0 001 Y0 001 Z 0 001 DGAIN X0 0003 Y0 0003 Z0 0003 IGAIN X0 01 Y0 01 Z0 01 REM All drive I O and motion is the same for EPLD as for traditional DRIVE ON X Y Z JOG HOME X1 Y1 Z1 REM Wait fo...

Page 182: ...s control power C1 C2 and earth ground terminals connected Apply power to the drive If any LEDs illuminate then a short exists in one of the disconnected cables Power Up Sequence Observing the power up sequence may help identify defective hardware or software issues Any deviation from the following power up sequence may indicate the need for additional technical resources Please see Technical Assi...

Page 183: ... communications is to observe the state of the Ethernet status LEDs Figure 46 shows their location on the drive s EPL RJ 45 socket These LEDs indicate any Ethernet or EPL connection as described in Table 80 Note that for an EPL connection or a standard 100Mbps connection both the yellow and green LED should be illuminated For a 10Mbps Ethernet connection the Yellow LED should be illuminated and th...

Page 184: ...fferential Transmit negative side 7 White brown Not used 8 Brown Not used Note Pin assignment follows EIA TIA T568B guidelines Table 81 RJ 45 Connector Pinout Connector Specification Manufacturer Bel or equivalent Connector Type 8 Pin RJ45 female socket Bel Part Number 0845 2D1T H5 3 Try swapping cables with Ethernet cables you know to be good Even cables that do not meet the EPL specification sho...

Page 185: ...twork have the same IP address Node ID The Node ID is determined by the rotary switch settings on the front panel of the drive See Assigning the Drive Node ID in the Aries EPL Hardware Installation Guide 3 Temporarily disconnect all CNs except for the one Aries EPL drive you are troubleshooting to ensure there is no conflict with other CNs 4 If you are connecting to an EPL network try connecting t...

Page 186: ...ive via a standard Ethernet port using TCP IP and the IP address of the drive The drive IP address is 192 168 100 xx where xx is the front panel switch setting The terminal emulator may also connect to the drive through the ACR EPL controller while EPL is running After the terminal emulator is connected to and communicating with the ACR9030 or ACR9040 via an available communications port the follo...

Page 187: ...ault Table 83 Aries EPL Drive Status Indicator LED Descriptions Fault Correction If examining the LED states and conditions indicated has not solved the problem launch the Aries Support Tool and establish communication with the drive If you are unable to establish communication see the section Communications on page 183 To access further information on the drive status and fault conditions use ACR...

Page 188: ...ecifications for the correct value DMTRES E7 Ke Ø This parameter is set to zero Ø To correct the error you must set a non zero Ø value Refer to your motor specifications for the correct value DMKE E8 Continuous Current Ø This parameter is set to zero Ø To correct the error you must set a non zero Ø value Refer to your motor specifications for the correct value DMTIC E9 Peak Current Ø This paramete...

Page 189: ... E31 Bridge Foldback Drive current was limited to prevent overheating warning only See DIFOLD E32 Power Regeneration Fault Check the Regeneration resistor for a short E34 Drive Temperature Fault Wait for the drive to cool down E35 Motor Thermal Model Fault The motor thermal model has determined the motor is too hot Wait for the motor to cool and then re enable the drive E36 Motor Temperature Fault...

Page 190: ...one of the methods described under Terminal Emulator Hyper Terminal on page 186 2 Enter the CONFIG command to see a list of drive configuration editors 3 Enter the ERROR command to see a list of drive error messages Important Further troubleshooting steps can change the drive configuration Upload the current configuration file and save it as a backup before proceeding Smart Encoders This troublesh...

Page 191: ...to 6 No numerical order is necessary If no see Problem 2 below 4 Does THALL report the six distinct Hall states n times as the rotor turns one revolution where n is equal to the number of pole pairs DPOLE Linear motors n pitch If no see Problem 2 or 3 below 5 Does THALL report the Hall state sequence 1 5 4 6 2 3 1 as the motor turns clockwise Clockwise means TPE is increasing when CMDIR set to zer...

Page 192: ...uring the development of controller programs KEEP WELL CLEAR of any machinery driven by stepper or servo motors Never touch any part of the equipment while it is in operation 2 If THALL reports a 1 2 or 4 change SHALL from either 0 to 1 or from 1 to 0 After you change SHALL reset the drive 3 Repeat step 1 until THALL reports a value of 6 4 The wire on the negative voltage or ground is motor wire W...

Page 193: ...machinery driven by stepper or servo motors Never touch any part of the equipment while it is in operation 3 If THALL reports a value of 1 2 or 4 change SHALL from either 0 to 1 or from 1 to 0 After you change SHALL reset the drive 4 Change the Hall wires until THALL reports a value of 6 5 Connect motor wires U and W and slowly apply a positive voltage with respect to V 6 If THALL does not report ...

Page 194: ... from the front of the shaft The illustration assumes the following Hall signals that are High equal TRUE signals Hall 1 is the least significant bit LSB Hall 3 is the most significant bit MSB There is one hall cycle and one electrical cycle per pole pair on the motor Figure 50 Motor Terminal Voltages back EMF and Hall Sensor Signals www comoso com ...

Page 195: ...network 86 90 87 nodes 59 troubleshooting 98 100 CE EMC 9 150 60 160 LVD 9 151 160 change summary 11 12 13 circuit schematic analog inputs 57 COM1 port 59 drive AOUT 42 drive direction 42 drive enable 43 drive fault 43 drive reset 43 drive step 42 drive talk 43 enable interface 54 encoder interface 46 general purpose inputs outputs 51 power source axis connector 37 COM1 port cable 101 circuit sche...

Page 196: ...tep 40 enable 53 encoder interface 45 general purpose inputs outputs 50 51 electrostatic discharge 63 EMC 63 150 60 enable interface AcroBASIC commands 52 circuit schematic 54 connector 52 pinout 53 electrical timing characteristics 53 installing 72 encoder auto configure smart 190 differential 86 single ended 86 SSI 110 111 encoder interface 43 46 AcroBASIC commands 45 103 cable disconnect 45 cir...

Page 197: ...owerlink network isolation CANopen 59 node ID 163 nodes CANopen 59 ETHERNET Powerlink 162 OPEN EPLD 179 180 options 16 17 outputs drive 40 43 enable 53 encoder 45 46 general purpose 50 51 75 parity COM1 port 54 74 101 pinout axis connector 35 36 CANopen 87 COM1 connector 55 58 drive cables 76 86 drive connector See axis connector enable connector 53 encoder connector See axis connector general pur...

Page 198: ... 102 drive I O 106 encoder 103 Ethernet 99 100 ETHERNET Powerlink 182 94 feedback device 103 first steps 97 LEDs 182 motion related errors 104 power status LED 97 servo axes 106 stepper axes 107 UL160 USB cable 94 connecting 94 connector 61 pinout 61 user enable interface See enable varistors 154 VM25 I O expansion module 113 weight 24 www comoso com ...

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