Parker ACR7000 Series Manual

Effective: June, 2021
Document Number: 88-028698-01E
Programmer’s Guide
ACR Series Controllers

USER INFORMATION
2ACR Programmer’s Guide
User Information
Warning: ACR7000 and IPA products are used to control electrical and
mechanical components of motion control systems. You should
test your motion system for safety under all potential
conditions. Failure to do so can result in damage to equipment
and/or serious injury to personnel.
Warning: Risk of damage and/or personal injury.
The ACR7000 and IPA described in this guide contain no user-
serviceable parts. Attempting to open the case 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.
ACR7000 and IPA products and the information in this guide are the proprietary property of Parker Hannifin
Corporation or its licensers, 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 change this guide,
and software and hardware mentioned therein, at any time without notice.
In no event will the provider of the equipment be liable for any incidental, consequential, or special damages of any
kind or nature whatsoever, including but not limited to lost profits arising from or in any way connected with the
use of the equipment or this guide.
© 2021 Parker Hannifin Corporation
All Rights Reserved
Contact Information for Technical Assistance
Contact your local automation technology center (ATC) or distributor.
North America and Asia
Parker Hannifin
Electronic Motion and Controls Division
5500 Business Park Drive
Rohnert Park, CA 94928
Telephone: [phone]
Fax: [phone]
Email: [e-mail]
Internet: http://www.parkermotion.com

IMPORTANT SAFETY INFORMATION
ACR Programmer’s Guide 3
Important 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.

CONTENTS
4ACR Programmer’s Guide
Contents
User Information........................................................................................................................... 2
Contact Information for Technical Assistance.................................................................................................. 2
Important Safety Information...................................................................................................... 3
Contents......................................................................................................................................... 4
Change Summary........................................................................................................................ 20
Revision E Changes .................................................................................................................................20
Before We Begin......................................................................................................................... 21
Assumptions of Technical Experience ................................................................................................21
Before You Begin.....................................................................................................................................22
CHAPTER 1 Parker Motion Manager....................................................................................... 23
Parker Motion Manager.............................................................................................................. 24
Getting Started with PMM.....................................................................................................................25
Connection................................................................................................................................................26
Uploading a Project from the Controller to PMM ..........................................................................28
Procedure.................................................................................................................................................................28
Downloading a Project from PMM to the Controller....................................................................29
Procedure.................................................................................................................................................................29
Reference..................................................................................................................................................................31
Parker Motion Manager Parts...............................................................................................................33
Menu ...........................................................................................................................................................33
File Menu ..................................................................................................................................................................34
Edit Menu..................................................................................................................................................................34
Tools Menu..............................................................................................................................................................34
Window Menu ........................................................................................................................................................35

CONTENTS
ACR Programmer’s Guide 5
Help Menu................................................................................................................................................................35
Tools →Options....................................................................................................................................................36
Toolbar.......................................................................................................................................................36
Explorer .....................................................................................................................................................38
Connection ..............................................................................................................................................................38
Configuration Wizard............................................................................................................................................38
Program Editor........................................................................................................................................................38
Terminal Emulator..................................................................................................................................................38
Tools..........................................................................................................................................................................39
Status Panels ............................................................................................................................................................39
Scopes .......................................................................................................................................................................39
Message Window.....................................................................................................................................39
Watch Windows......................................................................................................................................40
Configuration Wizard................................................................................................................. 43
Axes ............................................................................................................................................................43
Master (Units)...........................................................................................................................................45
Drive/Motor..............................................................................................................................................46
Drive/Motor (ACR7xT Stepper) .........................................................................................................46
Motor Settings.........................................................................................................................................................46
Drive Settings ..........................................................................................................................................................46
Drive/Motor (ACR7xV Servo or IPA)................................................................................................47
Drive/Motor (ACR7xC).........................................................................................................................48
Feedback ....................................................................................................................................................49
Scaling .........................................................................................................................................................50
Specify Transmission..............................................................................................................................................51
Specify Reducer(s)..................................................................................................................................................51

CONTENTS
6ACR Programmer’s Guide
Enter Scaling Factor ...............................................................................................................................................51
Fault.............................................................................................................................................................52
Hardware Limit Detection...................................................................................................................................52
Assign Digital Inputs for Specific Functions......................................................................................................52
Software Limit Detection .....................................................................................................................................53
Maximum Position Error Detection ..................................................................................................................53
Position Maintenance Settings .............................................................................................................................53
Memory......................................................................................................................................................54
Finish and System Code.........................................................................................................................55
Program Editor ........................................................................................................................... 56
Terminal Emulator ..................................................................................................................... 57
Prompts......................................................................................................................................................57
Basic Terminal Operations....................................................................................................................57
User Buttons.............................................................................................................................................61
Tools............................................................................................................................................. 63
Servo Tuner ..............................................................................................................................................63
Channels ...................................................................................................................................................................63
Position Loop Gains...............................................................................................................................................65
Move Configuration ...............................................................................................................................................65
Timebase...................................................................................................................................................................66
Display.......................................................................................................................................................................68
Status Axis(0)...........................................................................................................................................................68
The Scope.................................................................................................................................................................68
Jog/Home/Limits.......................................................................................................................................70
Communications.....................................................................................................................................................70
Drive..........................................................................................................................................................................70

CONTENTS
ACR Programmer’s Guide 7
Hardware Limits .....................................................................................................................................................73
Software Limits .......................................................................................................................................................74
Position Error..........................................................................................................................................................75
LED Legend..............................................................................................................................................................75
OS Update.................................................................................................................................................76
Status Panels................................................................................................................................ 78
Motion Status Panel (ACR7000 Family) .............................................................................................78
Axis Status Bits........................................................................................................................................................79
Programs...................................................................................................................................................................79
Axis Position............................................................................................................................................................79
Master .......................................................................................................................................................................80
Online Status ...........................................................................................................................................................80
Motion Enable Input...............................................................................................................................................80
Drive Status Panel (ACR7xV and ACR7xT) .....................................................................................80
Control Status.........................................................................................................................................................81
Drive Faults..............................................................................................................................................................82
Controller Information .........................................................................................................................................82
Common Status Panel (IPA)..................................................................................................................83
Status .........................................................................................................................................................................83
Buttons......................................................................................................................................................................83
Control Status and Drive Faults .........................................................................................................................84
Controller Information .........................................................................................................................................84
Programs...................................................................................................................................................................85
Numeric Status.........................................................................................................................................85
Bit Status....................................................................................................................................................88
Ethernet/IP Status Panel.........................................................................................................................89

CONTENTS
8ACR Programmer’s Guide
Failure Status ...........................................................................................................................................................89
Scanner Parameters ...............................................................................................................................................90
Scanner Parameter Status.....................................................................................................................................90
EtherNet/IP Node Data........................................................................................................................................91
Controls....................................................................................................................................................................91
Servo Loop Status....................................................................................................................................92
Scopes........................................................................................................................................... 93
Common Tools........................................................................................................................................93
Channels ...................................................................................................................................................................93
Timebase...................................................................................................................................................................94
Controls....................................................................................................................................................................94
Display.......................................................................................................................................................................96
The Scope.................................................................................................................................................................97
Oscilloscope..............................................................................................................................................98
Strip Chart.................................................................................................................................................99
XY Plot.................................................................................................................................................... 100
CHAPTER 2 ACR Basics .......................................................................................................... 101
ACR Basics................................................................................................................................. 102
Delimiter................................................................................................................................................. 102
Remarks .................................................................................................................................................. 103
Program Labels...................................................................................................................................... 104
Move—Default Motion ....................................................................................................................... 104
Axis Names............................................................................................................................................ 105
Stopping Motion.................................................................................................................................... 107
Program Flow ........................................................................................................................................ 109
Wait for Bit or Parameter.................................................................................................................. 110

CONTENTS
ACR Programmer’s Guide 9
Selection.................................................................................................................................................. 111
IF/THEN..................................................................................................................................................................111
IF/ELSE/ENDIF.......................................................................................................................................................112
ELSE IF Condition.................................................................................................................................................113
GOSUB/RETURN.................................................................................................................................................113
GOTO.....................................................................................................................................................................113
GOTO and GOSUB Sample Program............................................................................................. 114
Repetition ............................................................................................................................................... 115
FOR/TO/STEP/NEXT..........................................................................................................................................115
WHILE/WEND .....................................................................................................................................................115
Bits, Parameters and Variables .......................................................................................................... 116
User Bits and Parameters...................................................................................................................................117
Using Parameters and Bits.................................................................................................................. 118
Setting Binary Bits.................................................................................................................................................118
Clearing Binary Bits..............................................................................................................................................118
Printing the Current Value.................................................................................................................................119
A Word on Aliases ..............................................................................................................................................119
Programming Example......................................................................................................................... 119
Local Variables....................................................................................................................................... 120
Defines .................................................................................................................................................... 121
Starting, Pausing, and Halting Programs .......................................................................................... 123
Running a Program...............................................................................................................................................123
Running a Program at Power Up......................................................................................................................123
Listening to a Program ........................................................................................................................................123
Viewing a Running Program ...............................................................................................................................123
Halting a Program.................................................................................................................................................124

CONTENTS
10 ACR Programmer’s Guide
Pausing a Program ................................................................................................................................................124
Resuming a Paused Program..............................................................................................................................124
Affecting Multiple Programs...............................................................................................................................124
Restart Controller................................................................................................................................................124
Running Startup Programs..................................................................................................................................124
Parametric Evaluation .......................................................................................................................... 124
Parentheses and Operational Order ...............................................................................................................125
Nested Parentheses.............................................................................................................................................126
Examples.................................................................................................................................................................126
Example Code Conventions .............................................................................................................. 127
ACR System............................................................................................................................... 128
ACR Architecture ................................................................................................................................ 128
Ethernet .................................................................................................................................................. 130
Ethernet TCP/IP....................................................................................................................................................130
EtherNet/IP Scanner ............................................................................................................................................130
EtherNet/IP Node ................................................................................................................................................131
Ethernet/IP Peer-to-Peer....................................................................................................................................131
Command Syntax...................................................................................................................... 133
Description of Format......................................................................................................................... 133
Arguments and Syntax......................................................................................................................... 134
Variable Substitution Syntax............................................................................................................... 135
Nested Commands Syntax................................................................................................................. 136
Commands Lists.................................................................................................................................... 137
Axis Limits..............................................................................................................................................................137
Character I/O........................................................................................................................................................138
Drive Control........................................................................................................................................................138

CONTENTS
ACR Programmer’s Guide 11
Feedback Control.................................................................................................................................................138
Global Objects ......................................................................................................................................................139
Interpolation ..........................................................................................................................................................139
Logic Function .......................................................................................................................................................140
Memory Control ..................................................................................................................................................140
Non-Volatile ..........................................................................................................................................................140
Operating System .................................................................................................................................................141
Program Control ..................................................................................................................................................141
Program Flow........................................................................................................................................................142
Servo Control .......................................................................................................................................................143
Setpoint Control...................................................................................................................................................143
Transformation .....................................................................................................................................................144
Velocity Profile......................................................................................................................................................144
Startup Programs.................................................................................................................................. 145
Resetting the Controller..................................................................................................................... 145
Memory................................................................................................................................................... 146
Return to Factory Default .................................................................................................................. 146
Configuration......................................................................................................................................... 147
What is Configuration Code?............................................................................................................ 147
The Code ...............................................................................................................................................................147
Resources Reserved for Generated Code ..................................................................................... 151
Flash Memory ........................................................................................................................................ 152
CHAPTER 3 Making Motion .................................................................................................... 153
Making Motion........................................................................................................................... 154
Four Basic Categories of Motion...................................................................................................... 154
Move Types............................................................................................................................................ 154

CONTENTS
12 ACR Programmer’s Guide
Absolute Motion................................................................................................................................... 155
Incremental Motion.............................................................................................................................. 155
Comparing Absolute and Incremental Motion .............................................................................. 156
Combining Types of Motion .............................................................................................................. 157
Immediate Mode ................................................................................................................................... 157
Differences Between FOV and VEL ................................................................................................. 158
What are Motion Profiles? ................................................................................................................. 158
Interaction Between Motion Profilers............................................................................................. 159
Primary Setpoint ................................................................................................................................... 159
Velocity Profile Commands................................................................................................................ 162
Velocity Profile Setup .......................................................................................................................... 162
Feedback Control Commands........................................................................................................... 163
REN Details............................................................................................................................................................164
RES Details.............................................................................................................................................................165
Coordinated Moves Profiler .............................................................................................................. 166
Jog Profiler.............................................................................................................................................. 168
JOG VEL Details ................................................................................................................................... 172
JOG Commands.................................................................................................................................... 173
JOG REN Details .................................................................................................................................. 174
JOG RES Details.................................................................................................................................... 175
Gear Profiler.......................................................................................................................................... 176
Cam Profiler........................................................................................................................................... 178
Homing.................................................................................................................................................... 180
Homing Subroutines ............................................................................................................................ 182
Basic Homing (Homing Backup Disabled) ......................................................................................................183
Positive Homing (Homing Backup Enabled)...................................................................................................183

CONTENTS
ACR Programmer’s Guide 13
Negative Homing (Homing Backup Enabled).................................................................................................185
Limit Detection ..................................................................................................................................... 186
Dedicated I/O for Homing .................................................................................................................................186
Stopping Motion and Moves............................................................................................................... 187
Kill All Moves versus Kill All Motion Request...............................................................................................187
Flag Comparison...................................................................................................................................................188
Bit Status Window Comparison.......................................................................................................................188
Contoured (Tiered) Profiles .............................................................................................................. 191
Blended (Tiered) Interpolated Moves.............................................................................................. 193
High-speed Position Capture (INTCAP) ........................................................................................ 193
Lock.......................................................................................................................................................... 195
Rotary Axis............................................................................................................................................. 197
External Time Base............................................................................................................................... 198
Servo Loop Fundamentals .................................................................................................................. 198
Setpoint Compensation....................................................................................................................... 198
Viewing the Setpoint Calculations .................................................................................................... 199
Following Error.....................................................................................................................................................199
Ballscrew Compensation .................................................................................................................... 200
BSC with PPU........................................................................................................................................................200
Encoder Accuracy ................................................................................................................................................201
Slope Correction..................................................................................................................................................201
Inverse Kinematics.................................................................................................................... 205
Programming the Inverse Kinematics .............................................................................................. 205
CHAPTER 4 Writing AcroBASIC Programs ......................................................................... 207
Writing AcroBasic Programs................................................................................................... 208
Application Examples........................................................................................................................... 209

CONTENTS
14 ACR Programmer’s Guide
Sample Motion Program .....................................................................................................................................209
Enable Drives Subroutine ...................................................................................................................................211
Absolute Interpolated Motion Subroutine .....................................................................................................211
Incremental Interpolated Motion Subroutine................................................................................................212
Basic Absolute and Incremental Motion Subroutine....................................................................................212
Absolute Jog Moves Subroutine........................................................................................................................212
Incremental Jog Moves Subroutine...................................................................................................................213
Absolute and Incremental Jog Moves Subroutine.........................................................................................213
Homing Subroutine..............................................................................................................................................213
Advanced Homing ................................................................................................................................................214
Homing for XYZ System ....................................................................................................................................215
Open Sample .........................................................................................................................................................217
Teach Array ...........................................................................................................................................................218
Programmable Limit Switch ...............................................................................................................................219
EIP Scanner–Wago 750.......................................................................................................................................221
Joystick ....................................................................................................................................................................222
Capture Data.........................................................................................................................................................224
Peer-to-Peer ..........................................................................................................................................................225
ACR7xT Status .....................................................................................................................................................225
ACR7xT Home to Hard Stop ...........................................................................................................................227
Time Subroutine ...................................................................................................................................................228
Error Recovery (IPA) ..........................................................................................................................................229
Add-On Instructions (AOIs) for IPA ...............................................................................................................230
Xpress HMI with ACR7000...............................................................................................................................231
Xpress HMI with IPA...........................................................................................................................................232
Testing Programs...................................................................................................................... 234

CONTENTS
ACR Programmer’s Guide 15
Program Not Running?........................................................................................................................ 234
Axis Motion Status?.............................................................................................................................. 234
Graphing with Oscilloscopes ............................................................................................................. 235
Sampling ..................................................................................................................................................................235
Adding Lines of Code to Programs.................................................................................................. 236
Trace a Program ................................................................................................................................... 236
CHAPTER 5 Binary Host Interface......................................................................................... 238
Binary Host Interface................................................................................................................ 239
Binary Data Transfer............................................................................................................................ 239
Control Character Prefixing..............................................................................................................................240
Transmitting...........................................................................................................................................................240
Receiving.................................................................................................................................................................240
High Bit Stripping..................................................................................................................................................240
Transmitting...........................................................................................................................................................241
Receiving.................................................................................................................................................................241
Binary Data Packets ............................................................................................................................. 241
Packet Request......................................................................................................................................................241
Group Code and Index.......................................................................................................................................241
Isolation Mask........................................................................................................................................................241
Parameter Access.................................................................................................................................................242
Packet Header.......................................................................................................................................................242
Packet Data............................................................................................................................................................242
Usage Example ......................................................................................................................................................243
Binary Parameter Access .................................................................................................................... 243
Usage Example ......................................................................................................................................................243
Binary Get Long....................................................................................................................................................244

CONTENTS
16 ACR Programmer’s Guide
Binary Set Long .....................................................................................................................................................244
Binary Get IEEE.....................................................................................................................................................244
Binary Set IEEE ......................................................................................................................................................245
Binary Peek Command........................................................................................................................ 245
Usage Example ......................................................................................................................................................247
Binary Poke Command........................................................................................................................ 247
Usage Example ......................................................................................................................................................248
Binary Address Command.................................................................................................................. 248
Usage Example ......................................................................................................................................................249
Binary Parameter Address Command............................................................................................. 250
Usage Example ......................................................................................................................................................250
Binary Mask Command ....................................................................................................................... 251
Usage Example ......................................................................................................................................................251
Binary Parameter Mask Command................................................................................................... 252
Usage Example ......................................................................................................................................................252
Binary Move Command....................................................................................................................... 252
Header Code 0 .....................................................................................................................................................254
Move Modes ..........................................................................................................................................................258
Linear Moves .........................................................................................................................................................260
Arc Moves..............................................................................................................................................................260
NURB or SPLINE Moves ....................................................................................................................................261
Binary SET and CLR............................................................................................................................. 261
Binary FOV Command ........................................................................................................................ 262
Binary ROV Command........................................................................................................................ 264
Application: Binary Global Parameter Access ............................................................................... 266
Description ............................................................................................................................................................267

CONTENTS
ACR Programmer’s Guide 17
Reading Global Variables ....................................................................................................................................267
Setting Global Variables ......................................................................................................................................267
CHAPTER 6 Troubleshooting ................................................................................................. 269
Troubleshooting ........................................................................................................................ 270
Problem Isolation.................................................................................................................................. 270
Information Collection........................................................................................................................ 270
Troubleshooting Table ........................................................................................................................ 270
APPENDIX A Connecting to the Controller ......................................................................... 280
Connecting to the Controller .................................................................................................. 281
Setting the IP Address and Subnet Mask—PC............................................................................... 281
Verifying the IP Address........................................................................................................... 284
Troubleshooting.................................................................................................................................... 284
Lost the ACR’s IP Address? ............................................................................................................... 285
Finding an ACR with the Scan Tool.................................................................................................................285
Finding an ACR Using WireShark ....................................................................................................................286
Resetting the ACR74T via Hardware..............................................................................................................287
APPENDIX B Ethernet Basics................................................................................................. 288
Ethernet Basics.......................................................................................................................... 289
IP Addresses, Subnets and Subnet Masks ....................................................................................... 289
IP Addresses........................................................................................................................................... 289
Subnets.................................................................................................................................................... 291
Subnet IDs .............................................................................................................................................. 291
Subnet Masks ......................................................................................................................................... 291
APPENDIX C Servo PID Tuning............................................................................................. 293
Servo PID Tuning...................................................................................................................... 294
Purpose of Tuning ................................................................................................................................ 294

CONTENTS
18 ACR Programmer’s Guide
Test Simple Motion First..................................................................................................................... 294
Basic Tuning Process............................................................................................................................ 294
Explanation of Tuning Gains............................................................................................................... 297
Proportional Gain (PGAIN)...............................................................................................................................297
Derivative Gain (DGAIN) ..................................................................................................................................297
Integral Gain (IGAIN)..........................................................................................................................................297
Integral Limit (ILIMIT)..........................................................................................................................................297
Integral Delay (IDELAY) .....................................................................................................................................297
Torque Limit (TLM).............................................................................................................................................297
Tips and Tricks...................................................................................................................................... 297
Can’t reach speed? ...............................................................................................................................................298
Can’t accelerate?...................................................................................................................................................298
Derivative Smoothing..........................................................................................................................................298
Advanced Tuning Gains....................................................................................................................... 298
FF Velocity (FFVEL)..............................................................................................................................................298
FF Acceleration (FFACC)...................................................................................................................................298
Derivative Width (DWIDTH)...........................................................................................................................298
Feedback Velocity (FBVEL) ................................................................................................................................299
Lowpass Filter (LOPASS)....................................................................................................................................299
Notch Filter (NOTCH) ......................................................................................................................................299
APPENDIX D PMM Improvements Over ACR-View ........................................................... 300
PMM Improvements Over ACR-View..................................................................................... 301
APPENDIX E ACR7xC/ACR9000 Comparison ..................................................................... 317
ACR7xC/ACR9000 Comparison .............................................................................................. 318
APPENDIX F ACR7xV/IPA Differences ................................................................................. 320
ACR7xV/IPA Differences.......................................................................................................... 321

CONTENTS
ACR Programmer’s Guide 19
APPENDIX G 6K to ACR Command Reference ................................................................... 322
6K to ACR Command Reference ............................................................................................ 323
APPENDIX H ACR7000 Bits and Parameters....................................................................... 331
ACR7000 Bits and Parameters ................................................................................................ 332
ACR7xT Control and Status Bits ..................................................................................................... 332
ACR7xT Latched Fault and Warning Bits....................................................................................... 332
ACR7xT Control and Status Parameters ....................................................................................... 333
ACR7xV Configuration Bits and Parameters................................................................................. 334
ACR7xV Status Parameters ............................................................................................................... 338
ACR7xV Status 1 Flags........................................................................................................................ 338
ACR7xV Status 2 Flags........................................................................................................................ 340

BEFORE WE BEGIN
20 ACR Programmer’s Guide
Change Summary
The change summary below lists the latest additions, changes, and corrections to the ACR Programmer’s Guide
and the corresponding section of Parker Motion Manager Online Help.
Revision E Changes
Document 88-028698-01E (ACR Programmer’s Guide) supersedes document 88-028698-01D. Changes
associated with this document are noted in this section.
•Updated for ACR7000 series and IPA, adding Parker Motion Manager. For prior ACR products, see
previous revision D.