Parker Hannifin
Figure 16 Equivalent Circuit for Outputs
Enable Connector
The Motion Enable input connector (labeled “ENABLE” on the front of the unit)
is a two-pin, removable screw terminal on an optically isolated circuit. Current
is limited internally for input voltage control of 5 to 24 volt logic. The Anode
(+) and Cathode (
−) are available on separate connector pins to allow
significant flexibility in wiring to different styles of interface.
Current must flow through the Motion Enable input for motion to occur on any
axis. When you
de-assert the Motion Enable input, an immediate kill of all
motion without de-acceleration occurs. If current flow does not assert the
input, motion does not occur when you command it, and the error message
“Motion Enable Input Open” appears on the terminal emulator.
Warning — Damage to the ACR90x0 will result if the 24 Volt supply used on
the Motion Enable input is shared with an inductive load (such as brakes,
solenoids, contactors, or relays).
Use a separate 24 VDC power supply for inductive loads, or use loop-back
diodes or rectifiers across the inductive loads. See the section “Enable
Connection” on page 71 for information on how to set up connections for a
Motion Enable input.
NOTE: You do not interrupt program executions when you de-assert the
Motion Enable input.
Write your user programs to monitor and control the following AcroBASIC
commands and flags:
• Misc. Control Group 1 Flags (P4272)
• Kill All Motion Request
For more information on the commands, flags, and parameters, refer to the
ACR Command Language Reference (Online Help System in the ACR-View
software).
52 ACR9000 Series Hardware Installation Guide
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