Parker ACR7000 Series Installation instructions

1
PARKER Hardware Guide
ACR7000 Stepper Controller
Effective: September 2019
88-033561-01A
© 2016 Parker Hannifin Corporation
All Rights Reserved

CONTENTS
Contents
Contents................................................................................................................................................................... 2
Important User Safety Information ......................................................................................................................... 3
Product Overview .................................................................................................................................................... 4
CE Declaration of Conformity .................................................................................................................................. 6
Protective Circuits.................................................................................................................................................... 7
Mechanical Installation............................................................................................................................................ 8
Dimensions ............................................................................................................................................................ 10
Electrical Installation.............................................................................................................................................. 11
Connectors............................................................................................................................................................. 12
Input Power Connections....................................................................................................................................... 13
Motor Output Connectors ..................................................................................................................................... 15
Encoder Feedback Connectors .............................................................................................................................. 16
I/O Connections ..................................................................................................................................................... 17
Motion Enable Input .............................................................................................................................................. 19
Stepper Drive Operation........................................................................................................................................ 20

3
Important User Safety Information
It is important that motion control equipment is installed and operated in such a way that all applicable safety
requirements are met. It is your responsibility as an installer to ensure that you identify the relevant safety
standards and comply with them; failure to do so may result in damage to equipment and personal injury. In
particular, you should study the contents of this user guide carefully before installing or operating the equipment.
The installation, set up, test and maintenance procedures given in this user guide should only be carried out by
competent personnel trained in the installation of electronic equipment. Such personnel should be aware of the
potential electrical and mechanical hazards associated with mains-powered motion control equipment—please
see the safety warnings below. The individual or group having overall responsibility for this equipment must
ensure that operators are adequately trained.
Under no circumstances will the suppliers of the equipment be liable for any incidental, consequential or special
damages of any kind whatsoever, including but not limited to lost profits arising from or in any way connected with
the use of the equipment or this guide.
WARNING: High-performance motion control equipment is capable of producing rapid
movement and very high forces. Unexpected motion may occur especially
during 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. 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
from Parker Hannifin Corporation, its subsidiaries, and authorized
distributors provides product or system options for further investigation
by users having technical expertise. Before you select or use any product
or system, it is important that you analyze all aspects of your application
and review the information concerning the product in the current product
catalog. The user, through its own analysis and testing, is solely
responsible for making the final selection of the system and components
and assuring that all performance, safety, and warning requirements of
the application are met.If the equipment is used in any manner that does
not conform to the instructions given in this user guide, then the
protection provided by the equipment may be impaired.
The information in this user guide, including any apparatus, methods, techniques, and concepts described herein,
are the proprietary property of Parker Hannifin or its licensors, and may not be copied disclosed, or used for any
purpose not expressly authorized by the owner thereof.
Since Parker Hannifin constantly strives to improve all of its products, we reserve the right to modify equipment
and user guides without prior notice. No part of this user guide may be reproduced in any form without the prior
consent of Parker Hannifin.

ACR7000 Stepper User Guide
Product Overview
The ACR7000 family includes integrated stepper drive/controllers based on the ACR9000 and IPA platforms. Setup
and programming is accomplished using the AcroBASIC language within the Parker Motion Manager programming
environment. The ACR7000 provides an Ethernet interface which gives the user a variety of different machine
control options.
Micro stepping drives are integrated with the multi-axis motion controller into a single package, saving space,
cabling, and reducing installation complexity. The ACR7000 series is perfect building block for customer specific
motion system solutions.
Operating System
The multi-tasking, real time operating system (or firmware) for the ACR7000 is stored in protected flash memory
and is automatically loaded on each power cycle. Firmware is periodically updated by Parker as features and fixes
are added. The user can load new firmware using PMM. The VER command is used to report the current firmware
revision.
Configuration
The ACR7000 requires a short set up process before motion or programming is possible. PMM assists the user with
these settings in a step-by-step configuration wizard. The user is prompted to input key application information
such as motor model number, mechanical scaling, limits conditions, etc. The configuration process is completed
with the download of the System Code.
AcroBASIC
AcroBASIC is a proprietary, text based motion programming language that has been developed and proven over
five generations of motion controllers. The user can either store AcroBASIC routines in the controller to execute
complex sequences or stream commands over Ethernet for immediate execution. In addition to text commands
the user can directly monitor and modify controller parameter and flags within AcroBASIC programs or from
external devices such and PCs, PLCs and HMIs. The majority of AcroBASIC commands are available in the ACR7000
with the exception of commands that are specific to hardware that is not present on the ACR7000 (e.g. EPL,
CANopen).
Refer to the ACR Programmers guide and Command Language reference for complete details. The Parameter and
Bit References guides document user accessible data in all ACR family controllers. Additional commands, bits and
parameter specific to the ACR7000 are detailed at the end of this document.
Ethernet
The ACR7000 supports TCP/IP, UDP and EtherNet/IP communications. Up to five separate connections are
available at any time. The controller automatically manages the incoming connections and assigns STREAM1-5 on a
first come first server basis.

5
PC Based Applications
The ACR7000 controller can be interfaced to PC applications through the ComACRserver, an API and
communication interface. The ComACRserver provides methods and functions that allow the user to create custom
PC applications in VB, C++, .NET, LabView, and other programming environments that support COM objects. The
ComACRserver is installed with and used by Parker Motion Manager.
The ComACRserver includes methods for reading and writing any bits or parameters on the ACR. These are
efficient binary packets that can be set-up for regular polling or one time calls. Much of the ACR's functionality can
be controlled via theses bits and parameters, including coordinated move commands. For functions that cannot be
called this way, the ComACRserver includes a Terminal interface for sending ASCII commands and uploading and
downloading programs.
The ComACRserver is a wrapper for lower level communication API called the Binary Host Interface. Most
applications will use the ComACRserver but some users prefer to use the native Binary commands directly. Using
the Binary Host Interface natively allows users to optimize the performance of applications by eliminating the
COMACRservers overhead. It also provides a communication option for non-Windows applications (e.g. Linux) as
the ComACRserver uses the MS COMobject model. Details about the Binary Host Interface can be found in the ACR
Programmers Guide.
Users can establish PC to ACR Ethernet communications outside of ACR-View or ComACRserver applications.
Detailed information is available in the Ethernet Specification for ACR Products, which describes the base level TCP
and UDP connections and data formats. Connections are made to the controller’s IP address with a specific port
designation.
Port 5002 is an ASCII connection, allowing the application to send any AcroBASIC commands to the
controller in the same way as the terminal emulator in ACR-View.
Port 5006 is a managed binary connection that expects to see commands in a specific format. 5006 is well
suited for PC applications and constructing drivers.
HMI Based Applications
Parker Xpress and InteractX HMI families include a built-in driver for communications with the ACR7000. The
Acroloop CIP Ethernet driver supports exchange of flag/bit data, 32-bit integers and floating parameters and ASCII
strings. Multiple ACR7000 controllers can be associated with the communications driver. Details of using this
communication driver can be found in the help files installed with Xpress Manager and InteractX software. The
ACR9000 and IPA series controllers also use the Acroloop CIP driver.

ACR7000 Stepper User Guide
CE Declaration of Conformity

7
Protective Circuits
The ACR7000 drive/controllers include several built-in protective circuits listed below.
Protection Circuit
Short Circuit Motor Input Power
Control Power
Enable Input
Motor Output
Over-Voltage Motor Input Power 30VDC
Control Power 30VDC
Enable Input 30VDC
Over-current Motor Input Power
Control Power
Enable Input
Over-temperature Internal Drive Temperature 130C
WARNING: This product does not incorporate electronic motor overload protection and
does not incorporate motor over-temperature protection.

ACR7000 Stepper User Guide
Mechanical Installation
Environment & Cooling
The ACR7000 operates in an ambient temperature range of 0°C (32°F) to 50°C (120°F) ambient air temperature.
The drive can tolerate atmospheric pollution degree 2. Only dry, non-conductive pollution is acceptable. Therefore,
it is recommended that the drive be mounted in a suitable enclosure.
For drive cooling, you must install the drive so that the cooling vents permit vertical air flow. Figure 2 on page 23
shows the mounting orientation, as well as the minimum top, bottom, and side installation clearances.
•Avoid installing heat-producing equipment directly below a drive.
•Ensure that the ambient air temperature entering the drive or rising up to the drive is within acceptable
ambient temperature limits. Under normal use, the temperature of air leaving the drive and heat sink
may be 25°C (45°F) above ambient temperature.
•After installation, verify that the ambient air temperature directly below the top- most drive does not
exceed the maximum Ambient Air Operating Temperature shown below. In addition, make sure that
nothing obstructs the circulating airflow.
Environmental Specifications
Operating Temperature
Maximum 50°C (120°F)
Ambient Air
Minimum 0°C (32°F)
Storage Temperature
–40°C to 85°C (–40°F to 185°F)
Humidity
0 to 95%, non-condensing
Shock
15g, 11 ms half-sine
Vibration
10 to 2000 Hz at 2g
Pollution Degree
2 (per IEC 61010)
Installation Category
2 (per IEC 61010)

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Mounting Guidelines
The ACR7000 drive/controllers are vented products. To prevent material spilling into the drive, mount it under an
overhang or in a suitable enclosure.
ACR7000 products are made available under “Restricted Distribution” for use in the “Second Environment” as
described in the publication EN 61800-3 ed2.0.
Cable Routing
Route high power cables (motor and mains) at right angles to low power cables (communications and
inputs/outputs). Never route high and low power cables parallel to each other.
Panel Routing
The minimum clearance between products is 0.62 inches (15.75mm). The minimum clearance above and below a
drive is 1 inch (25.4 mm).

ACR7000 Stepper User Guide
Dimensions

11
Electrical Installation
Installation Safety Requirements
ACR7000 series meets the requirements of both the European LVD (Low Voltage Directive) and EMC
(Electromagnetic Compliance) directives when installed according to the instructions given within
As a rule, it is recommended that the drive/controller is installed in an enclosure to protect it from atmospheric
contaminants and to prevent operator access while power is applied. Metal equipment cabinets are ideally suited
for housing the equipment because they 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.
Do not arrange the interlocks to open circuit the motor phase connections while the system is still powered as this
could damage the product
Precautions
During installation, take the normal precautions against damage caused by electrostatic discharges.
•Wear earth wrist straps.
•Include a mains power switch or circuit breaker within easy reach of the machine operator. Clearly label
the switch or breaker as the disconnecting device.
Warning: High-performance motion control equipment is capable of producing rapid movement
and very high forces. Unexpected motion may occur especially during 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.

ACR7000 Stepper User Guide
Connectors
CAUTION: Before inserting or removing any connectors or wires, always remove power from the unit.
Front View
Connector
Function
ENC
Encoder Inputs Axis 0
-3
MTR
Motor Outputs, Axis 0
-3
CTRL
Control Power Input
MTR +24V
Motor Power Inputs
I/O
- 0, 1
Inputs/Outputs
ETHERNET
Ethernet Communications
Top View

13
Input Power Connections
Separate power inputs are required for the motors and control power. Motors power inputs are shared by two
motors. Control Power is necessary for all logic and communication.
Removable mating connectors are provided with the product.
CAUTION: Before inserting or removing any connectors or wires, always remove power from the unit.
Input Power Requirements
Connector Input Power Requirements Functions
MTR +24V Motor Input Power 24VDC @ 0.75 x Motor Rated
Current
Motor Power
CTRL Control Input Power 24VDC @ 1 amp Communications
Diagnostics
Encoder feedback
CTRL
Pin
Label
Signal
2 RTN GND24V
1 +V +24VDC
MTR +24V
Pin
Label
Signal
4 RTN GND24V
3 +2,3 Motor 2/3 PWR
2 RTN GND24V
1 +0,1 Motor 0/1 PWR

ACR7000 Stepper User Guide
Control Power Connector Specifications
Description
Specification
Connector Type
Removable screw terminal
Terminals
2
Pitch
0.200 in (5.08 mm)
Wire range
12-24 AWG (0.34-2.5 mm2)
Wire 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)
Drive Input Power Connector Specifications
Description
Specification
Connector Type
Removable screw terminal
Terminals
4
Pitch
0.200 in (5.08 mm)
Wire range
12-24 AWG
(0.34-2.5 mm2)
Wire strip length
0.3 in (7-8 mm)
Torque
5 in–lbs nom. (0.5 N-m)
Manufacturer
OnShore or equivalent
OnShore Part Number
OSTTJ040152 (black)
OSTTJ045152 (green)

15
Motor Output Connectors
The Motor power connectors provide output power to the two phase stepper motors. The number of activated
motor connectors is dependent on the controller configuration. Each Motor connector is dedicated to a specific
AXIS object that controls the output signal.
CAUTION: Before inserting or removing any connectors or wires, always remove power from the unit.
Pin
Signal
1
Motor A2 (A
-)
2
Motor B2 (B
-)
3
Motor A1(A+)
4
Motor B1 (B+)
Motor Connector Specification
Description Specification
Connector Type 4 Pin, Mini-Fit Jr. Header
Manufacturer Molex or equivalent
Molex 5569-04A2-210/39-30-0040
Motor Connector Specification—Mating Connector*
Description Specification
Connector Type 4 Pin, Mini-Fit Jr. Receptacle housing
Manufacturer Molex or equivalent
Connector Housing: Molex Part Number 5557-04R-210/39-01-2045
Contacts Mini-Fit Female crimp terminal
Molex part number : 5556T/39-00-0038
*Not included with product

ACR7000 Stepper User Guide
Encoder Feedback Connectors
The Encoder feedback connectors provide inputs for incremental encoders. Each encoder connector is dedicated
to a specific ENCODER object that can be assigned to axes within the software.
Pin Signal
1 A+
2 A-
3 B+
4 B-
5 Z+
6 Z-
7 5V
8 GND
9 Earth
10 Earth
Encoder Connector Specification
Description Specification
Connector Type 10 Pin, MicroClasp Header, 2mm pitch
Manufacturer Molex or equivalent
Molex 55959-1030
Encoder Connector Specification—Mating Connector(not inlcuded with product)
Description Specification
Connector Type 10 Pin, 2.00mm Pitch MicroClasp
Manufacturer Molex or equivalent
Connector Housing: Molex Part Number 51353-1000
Contacts Crimp terminal 22-28 AWG
Molex part number : 56134-9100
Encoder Inputs
Description Min Typical Max Units
Common Mode Range -7 +7 V
Current—Encoder 50mA 250 mA
Differential Threshold Voltage -200 +200 mV
Differential Termination Impedance 120 ohms
Maximum Encoder Input Frequency
(pre-quadrature)
1.6 MHz

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I/O Connections
Each 26-pin Drive I/O connector includes ten inputs and four outputs. Input and output signals are NOT optically
isolated.
Connecter I/O - 0 also included the dedicated Motion Enable Input.
Inputs are pulled up to 24V supply. Sink the inputs to ground to assert.
Four sinking outputs are available to the user. Total current of 1 amp is available using 24VDC from PIN 19.
Parker breakout modules VM26-PM can be used for easy access to these pins.
I/O - 0 I/O - 1
Inputs 0-5, Trigger inputs 24-27 Inputs 6-11, Trigger inputs 28-31
Outputs 32-35 Outputs 36-39
Motion Enable Input
I/O Connector 0
Pin
Signal
1 Input 0
2 Input 1
3 Input 2
4 Input 3
5 Input 4
6 Input 5
7 Input 24
8 Input 25
9 Input 26
10 Input 27
11 GND
12 Output 32
13 Output 33
14 Output 34
15 Output 35
16 GND
17 Motion Enable Input
18 GND
19 24VDC - output
20-26 GND
I/O Connector 1
Pin
Signal
1 Input 6
2 Input 7
3 Input 8
4 Input 9
5 Input 10
6 Input 11
7 Input 28
8 Input 29
9 Input 30
10 Input 31
11 GND
12 Output 36
13 Output 37
14 Output 38
15 Output 39
16 GND
17 GND
18 GND
19 24VDC - output
20-26 GND

ACR7000 Stepper User Guide
I/O Connector Specification
I/O Connector
Description
Specification
Connector Type
26-Pin-D-Subminiature(female socket)
Manufacturer
KYCON or equivalent
KYCON Part Number
K66X-A26S-NR
I/O Connector Specification
-Mating Connector
Description
Specification
Connector Type
26-pin, high density D-sub, 3-row (male
connector)
Manufacturer
AMP or equivalent
AMP
AMP Part Number 748474-1 Includes:
748365-1 connector, shield, enclosure,
and two jack screws (does not include
contacts or ferrules)

19
Motion Enable Input
The Motion Enable Input MUST be connected to 24VDC in order to enable/power the motors.
The input is considered active when 24 VDC is applied to PIN 17 of I/O connector 0. If the input goes inactive, that
inactive state is latched and the ACR7000 reacts by doing the following:
•Disabling the drives
•Blocking the step generation output.
The status of the motion enable input is shown in BIT5646, where active is a cleared or 0 state, and inactive is a set
or 1 state.
When the enable input goes inactive, BIT5645 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
NOTE: The Motion Enable Input can be used as a part of a circuit to prevent motion and remove power from the
motors. Note that if the input is deactivated while in motion, motors will stop immedately without a deceleration
ramp.

ACR7000 Stepper User Guide
Stepper Drive Operation
The integrated stepper drives in the ACR7000 are configured using the Configuration Wizard in Parker Motion
Manager Software. The necessary flags and parameters are included in the controller configuration and
downloaded as part of the user project along with scaling, limits, program memory settings, etc. The following
provides detail about these drive settings how the drives operate.
The values required to properly control and configure the drives are stored in axis specific parameters. These
values are saved with the ESAVE command and are automatically restored on power up. The values are
automatically asserted to the integrated drive on power up. The parameter values may be changed by the user
during operation, but will not be asserted to the integrated drive until the user sets a control bit requesting
configuration update.
During power up and during any configuration update, a status bit will indicate that an update is underway. When
the drive configuration update is complete, a different bit will indicate that configuration is complete.
If any of the configuration values provided by the user are out of range, then the user’s configuration request or
the power up configuration will fail and the integrated drive will be configured with the product’s default values.
In this case a status bit will indicate the failure and an error code will indicate the reason for failure.
Fault and warning flags are available and can be used to diagnose improper operation. If any fault flag is present,
it will be latched and result in a drive fault, disabling the drive. The latched bit is cleared by re-enabling the drive.
The control bits clear themselves automatically.
Applying Drive Settings
Drive configuration settings (motor current, resolution, standby current and delay) are applied either on power-up
or when the axis Assert Drive Configuration flag is SET. The configuration values should be saved with the ESAVE
command to be retained on power cycle. In a typical set-up sequence the motor current, resolution and standby
values would be set for the axis, followed by the Assert Drive Configuration flag. For example:
REM AXIS0 Settings
P7938= 1.5 : REM User Maximum motor current (Amps)
P7944= 50 : REM Standby Current Percentage
P7945= 10 : REM Standby Current Delay (msec.)
SET 15618 : REM Enable Auto Standby
P7945= 128 : REM Micro-steps per full step (power of 2) = 25600
SET 15616 : REM Apply Drive Configuration settings
ESAVE : REM save value to retained memory
Motor Current
The maximum motor current available for each axis is 4.0 amps. The user can specify a value to limit the current
applied to the motor. The minimum setting for drive current is 0.5. This current value a peak of sine rating.