Parker ACR9000, Installation Manual

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Parker Hannifin
8 ACR9000 Series Hardware Installation Guide
Table of Figures
Figure 1 ACR9000 and ACR9030 2/4 Axis Dimensions .......................................................... 25
Figure 2 ACR9000 and ACR9030 6/8 Axis Dimensions .......................................................... 25
Figure 3 ACR9040 Dimensions................................................................................................ 26
Figure 4 ACR9000 Stand-Alone Controller 2/4 Axis Front Panel Interfaces ........................... 30
Figure 5 ACR9000 Stand-Alone Controller 6/8 Axis Front Panel Interfaces ........................... 31
Figure 6 ACR9030 Front Panel Interfaces (2/4 Axis)............................................................... 32
Figure 7 ACR9040 Front Panel Interfaces ............................................................................... 33
Figure 8 Equivalent Circuit for Axis Power Source .................................................................. 37
Figure 9 Equivalent Circuit for Drive Step and Drive Direction Outputs................................... 42
Figure 10 Equivalent Circuit for Drive AOUT Outputs.............................................................. 42
Figure 11 Equivalent Circuit for Drive Fault Inputs................................................................... 43
Figure 12 Equivalent Circuit for Drive Enable and Drive Reset Outputs.................................. 43
Figure 13 Equivalent Circuit for Drive Talk Signals.................................................................. 43
Figure 14. Equivalent Circuit for Encoder ................................................................................ 46
Figure 15 Equivalent Circuit for GP Inputs/Trigger Inputs Connector...................................... 51
Figure 16 Equivalent Circuit for Outputs .................................................................................. 52
Figure 17 Equivalent Circuit for Motion Enable Connector ...................................................... 54
Figure 18 Equivalent Circuit for Differential Analog Inputs Connector..................................... 57
Figure 19 Equivalent Circuit for Single-Ended Analog Inputs .................................................. 57
Figure 20 Equivalent Circuit for CANopen ............................................................................... 59
Figure 21 Overview of System Installation............................................................................... 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 with Shared Power Supply .......................................................... 72
Figure 28 RS-232/485 Connector Pin Assignments ................................................................ 73
Figure 29 COM1 Mode Pins (7 and 9) ..................................................................................... 73
Figure 30 CANopen Network for ACR90x0.............................................................................. 87
Figure 31 ACR9040 DC Power Connection............................................................................. 95
Figure 32 Motion Enable Input Fault ...................................................................................... 105
Figure 33 SSI Transfer-Cycle Timing..................................................................................... 111
Figure 34 VM25 Breakout Module.......................................................................................... 113
Figure 35 VM26 Breakout Module.......................................................................................... 115
Figure 36 360° Bonding Techniques...................................................................................... 152
Figure 37 Typical LVD/EMC Installation ................................................................................ 156
Figure 38 ACR9000 and ACR9030 2/4 Axis Configuration Panel Layout Dimensions ......... 157
Figure 39 ACR9000 and ACR9030 6/8 Axis Configuration Panel Layout Dimensions ......... 158
Figure 40 ACR9040 Panel Layout Dimensions...................................................................... 159
Figure 41 EPL Network Communication ................................................................................ 162
Figure 42 EPL Cycle .............................................................................................................. 163
Figure 43 ACR9030 Front Panel............................................................................................ 165
Figure 44 ACR9040 Front Panel............................................................................................ 166
Figure 45 ACR9030 and connections to the Aries EPL drive ................................................ 167
Figure 46 Ethernet Status LEDs............................................................................................. 183
Figure 47 Aries EPL Drive EPL Status LEDs......................................................................... 184
Figure 48 Drive Status LEDs.................................................................................................. 187
Figure 49 Hall Connection Diagram ....................................................................................... 192
Figure 50 Motor Terminal Voltages (back EMF) and Hall Sensor Signals............................. 194
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