Parker Hannifin
Encoder Input Mode ............................................................................................................... 123
General Purpose and Extended I/O ....................................................................................... 124
Motion Enable Input ............................................................................................................... 127
Appendix E CANopen ............................................................................................................... 128
Limited Amounts of Nodes and I/O ........................................................................................ 129
Semi-Automatic Network Configuration ................................................................................. 129
AcroBASIC Language Access to CANopen I/O ..................................................................... 132
Alternate Mapping of Digital I/O ............................................................................................. 142
Appendix F Drive Talk............................................................................................................... 143
Quick Startup (ACR9000 and ACR9030)............................................................................... 144
Appendix G Regulatory Compliance ....................................................................................... 149
System Installation Overview ................................................................................................. 150
Regulatory Agencies .............................................................................................................. 160
Standards of Compliance....................................................................................................... 160
Appendix H ETHERNET Powerlink.......................................................................................... 161
ACR9030 and ACR9040 ........................................................................................................ 162
Introduction to ETHERNET Powerlink (EPL) ......................................................................... 162
Cabling and SETUP ............................................................................................................... 164
ACR9030 and ACR9040 Utilization of EPL............................................................................ 168
Support for CiA DSP-402 ....................................................................................................... 169
ACR9030 and ACR9040 EPL Commands, Parameters and Flags ....................................... 170
Access to EPL Drives’ Native Command Language .............................................................. 179
Application Scenario............................................................................................................... 180
Troubleshooting...................................................................................................................... 182
Index ........................................................................................................................................... 195
ACR9000 Series Hardware Installation Guide 5
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