Index
120/240 VAC power supply................... 26
accessories .......................................... 17
ACR9030 ............................................165
ACR9040 ............................................166
AcroBASIC User’s Guide
........................ 21
analog inputs
circuit.............................................. 57
ANI
input resolution ..............................193
ATTACH AXIS EPLD.............................179
AutoBaud ............................... 98, 99, 102
auto-configure, smart encoder.............190
auxiliary encoder
connecting ...................................... 94
connector...................................46, 47
pinout ......................................... 47
axis interface
AcroBASIC commands 39, 45, 98, 103–8
connecting .................................76–86
connector
pinout ....................................35, 36
power source .............................. 37
LED................................................. 98
signal assignments........................... 38
troubleshooting ....... 104, 105, 106, 107
baud, COM1 port .................... 54, 74, 101
bit-rate, CANopen ................................ 59
cables
CANopen.........................88–90, 89, 90
COM1.........................................72, 74
COM1 port................................75, 101
connecting .................................71–95
drive ..........................................76–86
Compax3..................................... 78
Dynaserv G3 ............................... 79
flying leads.................................. 85
Gemini Servo............................... 80
Gemini Stepper............................ 81
Parker Stepper ............................ 82
SLVD & HPD................................ 83
ViX.............................................. 84
EMC ................................................ 71
encoder cable disconnect ................. 45
ethernet .......................................... 92
ETHERNET Powerlink ......................166
non-EMC ......................................... 71
routing .....................................71, 152
USB ................................................ 94
CANopen interface
cables ........................................88–90
connecting .................................86–90
connector...................................58–59
pinout ....................................58, 87
ETHERNET Powerlink ......................164
features .......................................... 59
installation test ...........................90, 92
LED................................................. 98
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 schematic .............................. 59
connecting..................................72–75
connector ........................................ 54
pinout ......................................... 55
error messages .............................. 102
physical settings ............................ 101
RS-232 ............................. 74, 101, 102
RS-485 ............................. 75, 101, 102
settings ..............................54, 74, 101
transmission modes ......................... 73
troubleshooting.......................101, 102
wiring...................................72, 74, 75
commands, AcroBASIC
axis interface .............39, 45, 98, 103–8
drive interface............39, 104, 106, 107
enable interface ............................... 52
encoder interface ......................45, 103
communications .................
See
COM1 port
configuration
2/4 axis .......................... 20, 24, 29, 30
6/8 axis ................................20, 24, 29
configuration wizard
ETHERNET Powerlink ..................... 170
connections
AC power ........................................ 95
Aries ............................................. 167
auxiliary encoder.............................. 94
axis ............................................76–86
cables ........................................62–95
CANopen ....................................86–90
installation test ...................... 90, 92
COM1 port..................................72–75
DC power ........................................ 95
drive ..........................................76–86
enable interface ............................... 72
encoder........................................... 86
Ethernet .......................................... 92
ETHERNET Powerlink ..................... 167
inputs & outputs, general purpose .... 75
USB................................................. 94
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Summary of Contents for ACR9000
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