Parker ACR9000 User manual

User Information
Warning —ACR Series 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.
ACR series 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.
© 2003-2005 Parker Hannifin Corporation
All Rights Reserved
Technical Assistance
Contact your local automation technology center (ATC) or distributor.
North America and Asia
Parker Hannifin
5500 Business Park Drive
Rohnert Park, CA 94928
Telephone: [phone] or [phone]
Fax: [phone]
Email: [email protected]
Internet: http://www.parkermotion.com
Germany, Austria, Switzerland
Parker Hannifin
Postfach: 77607-1720
Robert-Bosch-Str. 22
D-77656 Offenburg
Telephone: [phone]
Fax: [phone]
Email: [email protected]
Internet: http://www.parker-emd.com
Europe (non-German speaking)
Parker Hannifin plc
Electromechanical Automation, Europe
Arena Business Centre
Holy Rood Close
Poole
Dorset, UK
BH17 7BA
Telephone: [phone]
Fax: [phone]
Email: [email protected]
Internet: http://www.parker-emd.com
Italy
Parker Hannifin
20092 Cinisello Balsamo
Milan, Italy via Gounod, 1
Telephone: [phone]
Fax: [phone]
Email: [email protected]
Internet: http://www.parker-emd.com
Technical Support E-mail
[e-mail]

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Table of Contents
User Information............................................................................................................................ ii
Table of Contents ......................................................................................................................... iii
Table of Tables............................................................................................................................... v
Table of Figures............................................................................................................................ vi
Important User Information ......................................................................................................... ix
Important Information for Users .................................................................................................ix
Change Summary .......................................................................................................................x
Revision D Changes .................................................................................................................x
Revision C Changes .................................................................................................................x
Revision B Changes .................................................................................................................x
Chapter 1 Introduction .................................................................................................................. 1
ACR9000 Controllers—Overview............................................................................................... 2
Checking Your Shipment............................................................................................................ 2
Controller Options ...................................................................................................................... 2
Accessories ................................................................................................................................ 3
Compatible Parker Hannifin Products ........................................................................................ 4
About This Guide........................................................................................................................ 4
Assumptions of Technical Experience ....................................................................................... 5
Technical Support ...................................................................................................................... 5
Chapter 2 Specifications............................................................................................................... 6
Environmental Specifications ..................................................................................................... 7
Cooling..................................................................................................................................... 7
Mechanical Specifications .......................................................................................................... 8
Weight...................................................................................................................................... 8
Dimensions .............................................................................................................................. 8
Electrical Specifications............................................................................................................ 10
AC Power Supply Connector ................................................................................................. 10
AC Power Fuse...................................................................................................................... 11
Battery Backup for RAM ........................................................................................................ 11
External I/O Interface Connectors............................................................................................ 12
Axis Connectors, 0-7 ............................................................................................................. 15
Axis Connector Pinout, Axis 0−3 ........................................................................................... 16
Axis Connector Pinout, Axis 4−7 ........................................................................................... 17
Axis Connector Power Source............................................................................................... 18
Drive Function........................................................................................................................ 19
Encoder Function................................................................................................................... 25
Auxiliary Encoder Connector ................................................................................................. 27
General Purpose Inputs/Outputs ........................................................................................... 28
Enable Connector .................................................................................................................. 33
COM1 Connector................................................................................................................... 35
CANopen Connector.............................................................................................................. 36
Ethernet Connector................................................................................................................ 39
USB Connector...................................................................................................................... 39
Chapter 3 Installation .................................................................................................................. 40
Before You Begin ..................................................................................................................... 41
Electrical Noise Guidelines .................................................................................................... 41
Installation Safety Requirements.............................................................................................. 41
Precautions ............................................................................................................................ 41
Installation Overview ................................................................................................................ 42
Recommended Installation Process ...................................................................................... 42

- iv -
Mounting Guidelines................................................................................................................. 43
Cable Installation...................................................................................................................... 48
Cable Routing ........................................................................................................................ 48
Cable EMC Requirements ..................................................................................................... 48
Enable Connection ................................................................................................................ 48
COM1 Connection .................................................................................................................48
General Purpose Input/Output Connection ........................................................................... 51
Axis Connection..................................................................................................................... 52
CANopen Connection ............................................................................................................ 62
Ethernet Cable Specification ................................................................................................. 69
Ethernet Connection .............................................................................................................. 69
USB Cable Specification........................................................................................................ 70
USB Connection .................................................................................................................... 70
Auxiliary Encoder Connection................................................................................................ 71
AC Power Connection .............................................................................................................. 71
Chapter 4 Troubleshooting......................................................................................................... 72
Troubleshooting Guidelines......................................................................................................73
First Troubleshooting Steps................................................................................................... 73
General Troubleshooting ....................................................................................................... 73
LED Status Indicators............................................................................................................... 74
Axis Status LEDs ................................................................................................................... 74
CANopen Status LED ............................................................................................................ 74
Ethernet Status LEDs ............................................................................................................75
CANopen Connection............................................................................................................... 76
Ethernet Connection................................................................................................................. 76
RS-232/RS-485 Communication Problems.............................................................................. 77
Feedback Device Problems ..................................................................................................... 79
Motion-Related Error Messages............................................................................................... 80
Axis I/O Troubleshooting .......................................................................................................... 80
General Drive I/O................................................................................................................... 81
Servo Axes............................................................................................................................. 81
Stepper Axes ......................................................................................................................... 82
Appendix A SSI Encoders .......................................................................................................... 84
Overview................................................................................................................................... 85
Protocol .................................................................................................................................... 85
Timing....................................................................................................................................... 86
Appendix B VM25 Module........................................................................................................... 87
VM25 I/O Expansion Module.................................................................................................... 88
Appendix C Regulatory Compliance–UL, EMC, and CE.......................................................... 89
System Installation Overview ................................................................................................... 90
General Safety Considerations.............................................................................................. 90
General EMC Considerations ................................................................................................ 90
Installing the ACR9000 Controller ......................................................................................... 91
Regulatory Agencies ................................................................................................................ 99
Standards of Compliance .........................................................................................................99
Index ........................................................................................................................................... 100

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Table of Tables
Table 1 Ship Kit for ACR9000 Stand-Alone Controller .............................................................. 2
Table 2 ACR9000 Controller Accessories.................................................................................. 4
Table 3 Controller Cooling Requirements .................................................................................. 7
Table 4 Controller Weight........................................................................................................... 8
Table 5 Controller Dimensions ...................................................................................................8
Table 6 ACR9000 Power Requirements .................................................................................. 10
Table 7 Controller I/O Interface Configurations........................................................................ 12
Table 8 Connector Pinout, Axes 0−3 ....................................................................................... 16
Table 9 Connector Pinout, Axes 4−7 ....................................................................................... 17
Table 10 Axis Power Electrical Characteristics........................................................................ 18
Table 11 Drive Signal Assignments ......................................................................................... 19
Table 12 Drive Commands....................................................................................................... 20
Table 13 Outputs—Drive Step and Drive Direction Electrical/Timing Characteristics ............. 21
Table 14 Outputs—Drive AOUT Electrical/Timing Characteristics .......................................... 21
Table 15 Inputs—Drive Fault Electrical/Timing Characteristics ............................................... 22
Table 16 Outputs—Drive Enable and Drive Reset Electrical/Timing Characteristics .............. 22
Table 17 Encoder Signal Assignments and Supported Features ............................................ 26
Table 18 Encoder Electrical/Timing Characteristics................................................................. 26
Table 19 Auxiliary Encoder Connector Pinout ......................................................................... 28
Table 20 GP Input/Output Connector Pinout (2/4/6/8 Axis Configuration) .............................. 29
Table 21 GP Input/Output Connector Pinout (6/8 Axis Configuration)..................................... 30
Table 22 GP Inputs 0−11 & 12−23 Connector Electrical/Timing Characteristics..................... 31
Table 23 Trigger Inputs 24−31, 72−79 Connector Electrical/Timing Characteristics............... 31
Table 24 GP Outputs 32−39 Connector Electrical/Timing Characteristics .............................. 32
Table 25 Enable Connector Pinout .......................................................................................... 34
Table 26 Enable Connector Electrical Timing/Characteristics ................................................. 34
Table 27 COM1 Connector Pinout ........................................................................................... 36
Table 28 CANopen Connector Pinout...................................................................................... 37
Table 29 Ethernet Connector Pinout........................................................................................ 39
Table 30 USB Connector Pinout .............................................................................................. 39
Table 31 COM1 Transmission Modes...................................................................................... 49
Table 32 COM1 RS-232 Pinout................................................................................................ 50
Table 33 RS-485, Four-Wire Connector Pinout ....................................................................... 51
Table 34 Drive Connection Cables........................................................................................... 52
Table 35 Connection to Aries Pinout........................................................................................ 53
Table 36 Connection to Compax3 Pinout ................................................................................ 54
Table 37 Connection to Dynaserv Pinout................................................................................. 55
Table 38 Connection to Gemini Servo Pinout .......................................................................... 56
Table 39 Connection to Gemini Stepper Pinout....................................................................... 57
Table 40 Connection to Parker Stepper Pinout........................................................................ 58
Table 41 Connection to SLVD and HPD Pinout....................................................................... 59
Table 42 Connection to ViX Pinout .......................................................................................... 60
Table 43 Connection to Drive with Flying Leads...................................................................... 61
Table 44 CANopen Pinout (Minimum) ..................................................................................... 63
Table 45 CANopen Point-To-Point Cable ................................................................................ 64
Table 46 CANopen Point-To-Point-Cable Connector Pinout ................................................... 64
Table 47 CANopen Cables for Multiple-Node Networks.......................................................... 65
Table 48 Estimated Cable and Drop-Line Lengths .................................................................. 65
Table 49 CANopen Bus-Cable Specifications.......................................................................... 66
Table 50 CANopen Network Installation Test .......................................................................... 67
Table 51 AC-Power-Status LED............................................................................................... 73
Table 52 Axis Status LEDs.......................................................................................................74
Table 53 CANopen Status LED................................................................................................ 75
Table 54 Ethernet Status LED.................................................................................................. 75
Table 55 COM1 Connector Pinout ........................................................................................... 77

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Table 56 COM1 Transmission Modes...................................................................................... 77
Table 57 Communications Port Error Messages and Resolutions .......................................... 78
Table 58 Motion-Related Error Messages ............................................................................... 80
Table 59 SSI Transfer-Cycle Timing Data ............................................................................... 86
Table 60 Mains Filter Selection ................................................................................................ 94
Table 61 Enclosure Mounting Clamps ..................................................................................... 95
Table 62 Regulatory Agencies ................................................................................................. 99
Table of Figures
Figure 1 ACR9000 2/4 Axis Dimensions.................................................................................... 9
Figure 2 ACR9000 6/8 Axis Dimensions.................................................................................... 9
Figure 3 ACR9000 Stand-Alone Controller 2/4 Axis Front Panel Interfaces ........................... 13
Figure 4 ACR9000 Stand-Alone Controller 6/8 Axis Front Panel Interfaces ........................... 14
Figure 5 Equivalent Circuit for Axis Power Source .................................................................. 18
Figure 6 Equivalent Circuit for Drive Step and Drive Direction Outputs................................... 23
Figure 7 Equivalent Circuit for Drive AOUT Outputs................................................................ 23
Figure 8 Equivalent Circuit for Drive Fault Inputs..................................................................... 24
Figure 9 Equivalent Circuit for Drive Enable and Drive Reset Outputs.................................... 24
Figure 10 Equivalent Circuit for Drive Talk Signals.................................................................. 24
Figure 11. Equivalent Circuit for Encoder ................................................................................ 27
Figure 12 Equivalent Circuit for GP Inputs/Trigger Inputs Connector...................................... 32
Figure 13 Equivalent Circuit for Outputs .................................................................................. 33
Figure 14 Equivalent Circuit for Enable Connector.................................................................. 35
Figure 15 Equivalent Circuit for CANopen ............................................................................... 38
Figure 16 Overview of System Installation............................................................................... 42
Figure 17 Mounting Specifications for 2/4 Axis Configuration ................................................. 44
Figure 18 Mounting Specifications for 6/8 Axis Configuration ................................................. 45
Figure 19 Mounting Clearance for 2/4 Axis Configuration ....................................................... 46
Figure 20 Mounting Clearance for 6/8 Axis Configuration ....................................................... 47
Figure 21 RS-232/485 Connector Pin Assignments ................................................................ 49
Figure 22 COM1 Mode Pins (7 and 9) ..................................................................................... 49
Figure 23 CANopen Network ................................................................................................... 63
Figure 24 SSI Transfer-Cycle Timing....................................................................................... 86
Figure 25 VM25 Module ...........................................................................................................88
Figure 26 360° Bonding Techniques........................................................................................ 92
Figure 27 Typical LVD/EMC Installation .................................................................................. 96
Figure 28 2/4 Axis Configuration Panel Layout Dimensions.................................................... 97
Figure 29 6/8 Axis Configuration Panel Layout Dimensions.................................................... 98

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Product Type.................ACR9000 Controller
The above product complies with the requirements of directives:
•EMC Directive 89/336/EEC
•Low Voltage Directive 73/23/EEC
•CE Marking Directive 93/68/EEC.
Provided the installation requirements described in this guide are met, and
there are no special requirements of the installation and operating
environment so that the application may be considered typical.
The above equipment conforms with the protection requirements of Council
Directive 89/336/EEC as amended by Directive 92/31/EEC on the
approximation of the laws of the Member States relating to Electromagnetic
Compatibility when installed, operated and maintained as intended. Also, the
above equipment conforms with the requirements of Council Directive
73/23/EEC (Low Voltage Directive) as amended by Directive 93/68/EEC (CE
Marking Directive), when installed, operated, and maintained as intended.
In accordance with IEC 61800-3:1997 (Adjustable speed electrical power
drive systems) this product is of the restricted sales distribution class which
meets the needs of an industrial environment when installed as directed.
However, further measures may need to be taken for use of the product in a
domestic environment.
The installation requirements are detailed in the Information supplied with the
equipment. The equipment is sold only to competent system builders.
Compliance is demonstrated by the application of the following standards:
•BS EN 50081-2 (1994) Electromagnetic compatibility—Generic
emission standard Part 2. Industrial Environment.
•BS EN 61000-6-2 (1999) Electromagnetic compatibility Part 6-2:
Generic Standards – Immunity for industrial environments.
•BS EN 61010-1 (1993) including Amendment A2. Safety requirements
for electrical equipment for measurement, control, and laboratory use.
Part 1 General Requirements.

- viii -
Warning!
Risk of damage and/or personal injury
The ACR9000 controllers 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.
The following symbols appear in this guide:
Symbols Description
Protective Earth Ground
Functional Earth (Ground) Terminal
Shield, Frame, or Chassis Terminal
Digital Ground
Isolated Ground
Caution Risk of Electrical Shock
Caution, Refer to Accompanying Documentation

- ix -
Important User Information
Important Information for Users
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 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.
Safety 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.

- x -
Change Summary
Revision D Changes
This document, 88-022337-01D, supersedes 88-022337-1C. Changes
associated with ACR9000 User Guide revisions, and document clarifications
and corrections are as follows:
Topic Description
Battery Backup Added specifications for Battery Backup option. See Battery Backup.
Aries Cable
Pinout
Corrected pinout for Axis Connection.
USB
Specifications
Added cable specifications and pinout. See USB Connector.
USB Connection Added procedures for connecting controller to a USB network. See USB
Connection.
Revision C Changes
This document, 88-022337-01C, supersedes 88-022337-1B. Changes
associated with ACR9000 User Guide revisions, and document clarifications
and corrections are as follows:
Topic Description
Controller
Options
Added connectivity options P1 and P3.
Accessories Added Ethernet cable.
Ethernet
Specifications
Added cable specifications and pinout. See Ethernet Connector.
Ethernet
Connection
Added procedures for connecting controller to an Ethernet network. See
Ethernet Connection.
Ethernet
Troubleshooting
Added table describing LED status indicators. See Ethernet Status LED.
Revision B Changes
This document, 88-022337-01B, supersedes 88-022337-1A. Changes
associated with ACR9000 User Guide revisions, and document clarifications
and corrections are as follows:
Topic Description
AC Power Fuse Removed Parker Hannifin part (no longer stocked), and added Wickmann
part number. See AC Power Fuse Requirements.

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CHAPTER ONE
Introduction
Chapter 1 Introduction
IN THIS CHAPTER
•ACR9000 Controllers—Overview.......................................................... 2
•Checking Your Shipment ...................................................................... 2
•Controller Options ................................................................................. 2
•Accessories ........................................................................................... 3
•Compatible Parker Hannifin Products ................................................... 4
•Assumptions of Technical Experience ..................................................5
•Technical Support ................................................................................. 5

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ACR9000 Controllers—Overview
The ACR9000 controllers are a series of motion controllers for controlling
servo and stepper drives. Their compact form factor permits direct panel-
mounting, and is configurable for a variety of connectivity options.
Checking Your Shipment
Confirm that you have received all items in Table 1. These items ship with
the ACR9000 controller. If you are missing an item, call the factory. For
contact information, see “Technical Assistance” on the inside cover, page ii.
Controller Ship Kit
Part Name Part Number
ACROLOOP SDK CD 95-021500-01
AC Power cord, IEC-320 (120 VAC only) 44-000054-01
Table 1 Ship Kit for ACR9000 Stand-Alone Controller
Controller Options
This section contains a list of the options for the ACR9000 Stand Alone
Controller and an explanation of the controller part number. The part number
of your ACR9000 controller reflects the options ordered.
9000 P0 U2 M0
Controller Type..............ACR9000
Connectivity...................P0 = Stand Alone with COM port
P1 = Stand Alone with COM port,
Ethernet, and USB
P2 = Stand Alone with COM port
and CANopen
P3 = Stand Alone with COM port,
Ethernet, USB, and CANopen
Number of Axes/
Encoder Inputs..............U2 = 2 axes with 3 encoder inputs
U4 = 4 axes with 5 encoder inputs
U6 = 6 axes with 8 encoder inputs
U8 = 8 axes with 10 encoder inputs
Daughter Card...............M0 = No daughter card
Example
9000P0U2M0 = ACR9000 with COM port, 2 axes, and no daughter card
For the latest additions, see our website at www.parkermotion.com.

Chapter 1 Introduction - 3 -
Accessories
ACR9000 Controller Accessories
Description Part Number
Drive Cables1
Aries drive cable 71-021599-xx
Compax3 drive cable 71-021108-xx
Dynaserv G2 drive cable 71-021107-xx
Flying leads cable 71-022344-xx
Gemini Servo drive cable 71-021112-xx
Gemini Stepper drive cable 71-022316-xx
Parker Stepper drive cable
(E-AC, E-DC, Zeta, etc.)
71-021113-xx
SLVD and HPD drive cable 71-021109-xx
ViX drive cable 71-021110-xx
Communications Cable
Standard cable for RS-232 operation, 10 ft (3,048 mm)
(COM1 port 9-pin to PC 9-pin, D-sub connectors)
71-016939-10
Ethernet crossover cable, 5 ft (1524 mm), unshielded CAT 5E 71-017635-01
Expansion I/O
25-pin D-sub to screw terminal breakout board with 2 ft cable VM25
Expansion I/O cable 71-022338-xx2
PIO 337, Buscoupler, CANopen STD 01-022317-01
PIO 347, Buscoupler, CANopen ECO 01-022318-01
PIO 400, Input, 2-channel, 24 VDC, 3.0 ms 01-022325-01
PIO 402, Input, 4-channel, 24 VDC, 3.0 ms 01-022324-01
PIO 430, Input, 8-channel, 24 VDC, 3.0 ms 01-022323-01
PIO 468, Input, 4-channel, 0-10 VDC, analog 01-022329-01
PIO 480, Input, 2-channel, 0-20 mA, differential isolated 01-022330-01
PIO 501, Output, 2-channel, 24 VDC, 0.5 A 01-022328-01
PIO 504, Output, 4-channel, 24 VDC, 0.5 A 01-022327-01
PIO 530, Output, 8-channel, 24 VDC, 0.5 A 01-022326-01
PIO 550, Output, 2-channel, 0-10 VDC, analog 01-022331-01
PIO 552, Output, 2-channel, 0-20 mA 01-022332-01
PIO 600, end module 01-022333-01
1. Each cable comes in a 4-foot (1,219 mm) or 10-foot length (3,048 mm)
(in the part number, -xx = -04 or -10).
2. The cable comes in a 2-foot (609.6 mm) or 4-foot length (1,219 mm)
(in the part number, -xx = -02 or -04).
3. A power cord does not ship with the unit.
Note: Accessories list continues on next page.

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ACR9000 Controller Accessories (cont’d)
Description Part Number
AC Power
AC power plug (mating-connector only), 3-pin, female (240 VAC) 43-011905-01
1. Each cable comes in a 4-foot (1,219 mm) or 10-foot length (3,048 mm)
(in the part number, -xx = -04 or -10).
2. The cable comes in a 2-foot (609.6 mm) or 4-foot length (1,219 mm)
(in the part number, -xx = -02 or -04).
Table 2 ACR9000 Controller Accessories
Compatible Parker Hannifin Products
Servo Drives
(±10V torque, step/direction, CW and CCW) ........ Aries, Compax3, Dynaserv, ViX,
Gemini GV, OEM770T series, or
other Parker Hannifin drives
Stepper Drives
(step/direction, CW and CCW) ......................... E-AC, E-DC, Zeta, OEMZL, OEM750,
Gemini GT series, or other
Parker Hannifin drives
Software .................................................. ACROLOOP SDK CD
For information about cables, see Chapter 3 Installation, beginning on
page 40.
About This Guide
This purpose of this guide is to help you install the ACR9000 Stand-Alone
Controller for use with a variety of Parker Hannifin drives.
The ACR9000 controller comes in two models of housing, distinguished
primarily by their width, and each model supports two configurations of I/O
interfaces. In this guide, the models are identified by the number of Axis I/O
interfaces that they provide—the 2/4 Axis Configuration and the 6/8 Axis
Configuration.
Typically, the illustrations in this guide show the 2/4 Axis Configuration of the
controller with all four Axis interfaces present, and the 6/8 Axis Configuration
with all eight Axis interfaces present.

Chapter 1 Introduction - 5 -
Assumptions of Technical Experience
To install and troubleshoot the ACR9000 Stand-Alone Controller, you should
have a fundamental understanding of the following:
•Electronic concepts such as voltage, current, and switches.
•Mechanical motion control concepts such as inertia, torque, velocity,
distance, and force.
Technical Support
For solutions to your questions about implementing the ACR9000 Stand-
Alone Controller, refer to the following documents:
•ACR9000 Hardware Installation Guide (this document)
•ACR User’s Guide (Online Help System in the ACR-View software)
If you cannot find the answer in these documents, contact your local
Automation Technology Center (ATC) or distributor for assistance.
If you need to talk to our in-house Application Engineers, please contact us
at the numbers listed in “Technical Assistance” on the inside cover, page ii.

CHAPTER TWO
Specifications
Chapter 2 Specifications
IN THIS CHAPTER
•Environmental Specifications ................................................................ 7
•Mechanical Specifications..................................................................... 8
•Electrical Specifications ...................................................................... 10
•External I/O Interface Connectors....................................................... 12

Chapter 2 Specifications - 7 -
Environmental Specifications
The controller operates in an ambient temperature range of 0°C (32°F) to
50°C (122°F). The unit can tolerate atmospheric pollution degree 2: only dry,
non-conductive pollution is acceptable. Therefore, we recommend that you
mount the controller in a suitable enclosure as described in “Installation
Safety Requirements” on page 41.
Still Air Operating Temperature .............. Maximum .................... 50°C (122°F)
Minimum ......................... 0°C (32°F)
Storage Temperature..............................−40°C to 75°C (−40°F to 167°F)
Humidity .................................................. 0-95%, non-condensing
Shock ...................................................... 15g, 11 ms half-sine
Vibration .................................................. 10-2000 Hz at 2g
Pollution Degree...................................... 2 (per IEC 61010)
Installation Category ............................... 2 (per IEC 61010)
Cooling
The environment in which you operate the controller must meet the cooling
requirements listed below and shown in Table 3.
•For proper cooling, install the controller vertically. (Chapter 3 provides
installation guidelines, starting on page 41.)
•Avoid installing heat-producing equipment directly below the controller.
•Make sure the ambient air temperature entering the controller, or rising
up to the controller, is within acceptable ambient temperature limits.
Under normal use, the temperature of air leaving the controller may be
25°C (45°F) above ambient temperature.
•After installation, verify that the ambient air temperature directly below
the top-most controller does not exceed the Still Air maximum (see
“Operating Temperature” above). In addition, make sure that nothing
obstructs the circulating airflow.
Controller Power
Consumption
Minimum
Top/Bottom
Clearance
Minimum Side
Clearance
2/4 Axis 40 Watts 4.0 in (101.6 cm) 2.0 in (50.8 cm)
6/8 Axis 50 Watts 4.0 in (101.6 cm) 2.0 in (50.8 cm)
Notes: Figure 18 on page 45 and Figure 19 on page 46 illustrate clearance requirements
for the controller.
Table 3 Controller Cooling Requirements

- 8 - ACR9000 Hardware Installation Guide
Mechanical Specifications
The ACR9000 Stand-Alone Controller housing is a vented, metal enclosure.
There are two models of controller housing, distinguished primarily by their
width. In this guide, the models are identified by the number of Axis I/O
interfaces that they provide—the 2/4 Axis Configuration and the 6/8 Axis
Configuration. This section contains details of the weight and dimensions of
the two models of the controller. (For information about the I/O interfaces
provided by each configuration, see “External I/O Interface Connectors” on
page 12.)
Weight
Use Table 4 to determine the weight of your controller.
Controller Weight
2/4 Axis 4.8 lbs (2.2 kg)
6/8 Axis 5.9 lbs (2.7 kg)
Table 4 Controller Weight
Dimensions
Table 5 contains the dimensions of the 2/4 Axis Configuration and the
6/8 Axis Configuration of the controller. The dimensions are illustrated in
Figure 1 and Figure 2 on page 9.
Controller Outside
Width
Unit
Height
Overall
Height
Depth
2/4 Axis 3.58 in
(90.9 mm)
9.25 in
(234.9 mm)
10.50 in
(266.7 mm)
5.30 in
(134.6 mm)
6/8 Axis 5.00 in
(127 mm)
9.25 in
(234.9 mm)
10.50 in
(266.7 mm)
5.30 in
(134.6 mm)
Table 5 Controller Dimensions