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Effective: September, 2020

Document Number: 88-034009-01A

Quick Start Guide Parker Motion Manager

USER INFORMATION

2 Parker Motion Manager Quick Start 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.

© 2020 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

Electromechanical & Drives Division North America

5500 Business Park Drive

Rohnert Park, CA 94928

Telephone: (707) 584-7558

Fax: (707) 584-8029

Email: [email protected]

Internet: http://www.parkermotion.com

mailto:[email protected]

http://www.parker.com/

IMPORTANT SAFETY INFORMATION

Parker Motion Manager Quick Start 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.

TABLE OF CONTENTS


Contents

User Information ........................................................................................................................... 2

Contact Information for Technical Assistance .................................................................................................. 2

Important Safety Information ...................................................................................................... 3

Contents ......................................................................................................................................... 4

Introduction ................................................................................................................................... 6

Launch Parker Motion Manager ............................................................................................................................ 6

New Project ............................................................................................................................................................... 7

Connect ...................................................................................................................................................................... 7

IP Address ......................................................................................................................................................... 8

Ping ...................................................................................................................................................................... 8

Connect ............................................................................................................................................................. 8

PC IP Address .................................................................................................................................................. 8

Project Information ......................................................................................................................................... 8

Controller Information .................................................................................................................................. 8

Configuration Wizard ................................................................................................................... 9

Axes ............................................................................................................................................................................. 9

Master 0 ...................................................................................................................................................................... 9

Axis 0 ......................................................................................................................................................................... 10

Drive/Motor (ACR74T Stepper) ........................................................................................................................ 11

Motor Settings ................................................................................................................................................ 11

Drive Settings ................................................................................................................................................. 11

Drive/Motor (ACR7xV Servo or IPA) ............................................................................................................... 12

Drive/Motor (ACR7xC) ........................................................................................................................................ 13

Feedback ................................................................................................................................................................... 13

TABLE OF CONTENTS


Scaling ........................................................................................................................................................................ 14

Fault ............................................................................................................................................................................ 15

Hardware Limit Detection .......................................................................................................................... 15

Software Limit Detection ............................................................................................................................ 16

Maximum Position Error Detection ......................................................................................................... 16

Additional Axes ....................................................................................................................................................... 17

Memory ..................................................................................................................................................................... 17

Finish .......................................................................................................................................................................... 18

Testing Your Setup ..................................................................................................................... 19

An Additional Note on Safety ............................................................................................................................. 19

Jog/Home/Limits Panel ........................................................................................................................................... 19

Writing Your First Program ...................................................................................................... 21

Appendix A: Ethernet Troubleshooting ................................................................................... 23

Setting Your PC’s IP Address .............................................................................................................................. 23

Additional Troubleshooting Measures ............................................................................................................... 25

INTRODUCTION


Introduction

The ACR7000 Series controllers and the Intelligent Parker Amplifier (IPA) are configured and programmed with

Parker Motion Manager (PMM), a Windows-based programming tool designed to simplify your programming

efforts. PMM allows you to:

• Configure the controller using the Configuration Wizard to select:

a. Units for each master.

b. Motors for each axis.

c. Scaling for each axis.

d. Inputs for limit and home sensors.

• Create, edit, download and upload programs.

• Tune your system to optimize performance.

• Test and debug programs and controller operation.

• Organize all your project’s programs and configuration data.

This Quick Start guide will walk you through setting up a new ACR7000 or IPA servo drive and making motion for

the first time.

Launch Parker Motion Manager The Start Page contains links to start a new project or open an existing project. Click New Project.

INTRODUCTION


New Project Name the project and choose the directory on your PC where it will reside. Enter the IP address of the unit to

which you want to connect, then select the exact product you are using from the Controller drop-down menu.

Tip: If you are not sure what to use for the Name, Location and IP Address fields in the New Project

dialog, the defaults will usually work fine.

If you want to upload the project from a previously configured controller, you can check the Create Project from

Device checkbox. We are creating a new project, so leave this unchecked. When finished, you will have a new

project like the one shown below.

Connect The connection status is shown on the icon next to the controller name in the project tree. The red circle with

white X will appear when PMM is not connected to the controller.

INTRODUCTION


The network settings on the Connect page must be configured before a connection can be made.

A brief explanation of these tools is in order. For more information, see Appendix A: Ethernet Troubleshooting.

IP Address

The IP address of the ACR controller. ACR7000 controllers and IPA drives ship from the factory with a default IP

address of 192.168.100.1.

Ping

This button instructs Windows to send a ping request to the ACR. This is useful for diagnosing connection

problems.

Connect

This button is used to establish a connection to the ACR. A connection is required to download a project to the

controller or monitor the controller’s status.

PC IP Address

This field shows the IP address of your PC’s Ethernet port. The first three octets of your PC’s IP address should

match the first three octets of the ACT’s IP address. Your PC’s IP address should therefore be 192.168.100.x

where “x” is any number 2-254 not already being used on this network.

Project Information

The Controller field in this box shows the model of controller configured in the project.

Controller Information

The Controller, Firmware Version and Boot Revision fields in this box populate once a connection has been established.

They show the actual model and revision levels present on the controller.

To connect to the ACR, enter its IP address (factory default is 192.168.100.1) into the IP Address field and click

Connect. Once a connection has been established, the connection indicator in the project tree will change.

The PMM Messages bar should display “Connecting to controller succeeded.” If connecting to the controller

failed, see Appendix A for troubleshooting tips.

CONFIGURATION WIZARD


Configuration Wizard

Most of the configuration for the ACR is done in the Configuration Wizard. This is a set of forms that assist the

user in setting up common features on the controller. To get started, click Configuration Wizard in the PMM

project tree.

Axes The Axes screen allows you to do four things:

• Name your axes. Names can be 1-4 letters. Numbers, spaces and special characters are prohibited.

• Assign your axes to different masters (logical axis groupings).

• Change between step/direction and analog command interfaces (ACR7xC only).

• Rearrange the order of your axes.

If you are using an ACR7xC, you will need to choose servo or stepper output depending on what type of drives

you are using. Everything else can be left at default.

Click Next.

Master 0 In the ACR architecture, a master is a logical grouping of axes that can be used to perform path-based moves such

as diagonal lines, arcs and splines. If desired, each axis can be attached to its own master to keep its operation

separate from the other axes.

The ACR can be set up for inches, millimeters, degrees, revolutions, encoder counts or any unit desired. If you

are using a linear stage or actuator, select Millimeters. If you are using a rotary motor, select Revolutions.



Set Velocity to 1.0 and set Acceleration Ramp, Deceleration Ramp and Stop Ramp to 10.0. These will be the default

dynamics for any master move. Click Next.

Axis 0 Each axis must be configured to ensure proper motor control, move dynamics and fault response.



Drive/Motor (ACR74T Stepper) This screen allows you to tell PMM what type of stepper motor is connected to this axis.

Motor Settings

Select the motor connected to Axis 0. The motor’s

model number should be printed on the label on the side

of the motor.

This will set the motor current and, for step motors with

encoders, the encoder resolution. For non-Parker

motors, set Motor Series to Other and enter the

parameters manually.

Drive Settings

There are several fields. The defaults are fine for most

applications, but they are explained below for clarity.

MicroSteps/Rev allows the user to configure how fine the

smallest possible step is for this axis. There is usually

never a reason to set it to any value other than the default

of 51,200, which is the highest setting.

User Max Motor Current allows the user to reduce current

to the motor. Lowering this value can help keep the

motor cool but will also limit the maximum available

torque.

Standby current reduction is a feature that allows the

drive to reduce the current it delivers to the motor when

it is not moving. Using this feature reduces motor heating

during standstill periods, but also limits the available

holding torque.

PMM gives you options to enable or disable standby current reduction, set the standby current as a percentage of

maximum current and set a delay between the end of motion and the start of current reduction.

There is also a checkbox to invert the direction of rotation for this motor. If the motor spins the wrong direction,

you can check this box to reverse it.

Click Next.



Drive/Motor (ACR7xV Servo or IPA) This screen allows you to tell PMM what type of servo motor is connected to this axis.

Select the motor connected to Axis 0. The motor’s model number should be printed on the label on the side of

the motor. This will set motor parameters such as rated current, encoder resolution, torque constant and many

others.

Certain motors allow the Select Cooling Method field to be changed to No Heat Sink. This is useful for motors that

will not be mounting to a metal mounting surface. It reduces the torque rating slightly to help prevent the motor

from overheating.

For applications using non-Parker motors, you can set Series to Other and use the Show Advanced Motor Parameters

checkbox to put in the motor parameters manually.



Click Next.



Drive/Motor (ACR7xC) Select the type of drive and motor connected to Axis 0 using the drop-down menus. This sets the polarity of the

enable output and fault input, as well as the encoder resolution if applicable.



Click Next.

Feedback The motor feedback is configured on this screen and by default is already set based on the motor selection on the

previous screen.

The Feedback screen allows users to select a non-standard encoder resolution for rotary encoders added to the

back of a step motor or for linear encoders mounted to precision stages. Rotary encoder resolution is given in

post-quadrature pulses per revolution while linear encoder resolution is given in post-quadrature pulses per

millimeter.

Various options are provided for selecting a different feedback port or using a feedback type other than

quadrature incremental. Supported features vary by model.



The Invert Encoder Direction checkbox, if present, allows you to change the direction of the encoder without having

to change the encoder wiring.

For this example, leave all settings at default. Click Next.

Scaling This screen lets you configure options that tell PMM to relate engineering units (mm, inches, revolutions, etc.) to

encoder counts (or steps in the case of steppers without encoders).

If you are using a Parker stage or actuator (like a 400XR, ETH, HMR or OSPE), you can select the model family

and drive train option from the menus provided. There are similar options for using a Parker gearhead.

For non-Parker mechanics, you can manually configure the ratios based on product specifications (e.g. screw lead

and gear ratio). There is also a field at the bottom to manually enter a scaling factor for special cases. Select

None for both the transmission and the reducer to enable this option.



Some Parker actuators, such as the ETH rod-style actuator, will sometimes ship with a gearhead mounted on the

actuator from the factory. In this case, it is necessary to locate the gearhead and enter its information into the

reducer selection fields. The gearhead should be located immediately in front of the motor.

If your actuator is a custom model like 80x-xxxxx, you may want to contact the Parker Automation Technology

Center (ATC) from whom you purchased the equipment to obtain scaling information.

Once the appropriate options for your application have been configured, click Next.

Fault The Fault screen allows the user to configure how the controller will react to certain fault conditions. Three

specific conditions are configurable here.

• Hardware Limit Detection (limit switches)

• Software Limit Detection

• Maximum Position Error Detection

Hardware Limit Detection

When the positive or negative limit sensors are activated during motion, motion will be stopped in that direction

at the hardware limit deceleration (HLDEC) rate, but the motor will remain enabled. This allows the controller to

reverse motion and move off the limit.



Limit and home switches can be connected to any of the controller’s onboard digital inputs. The column on the

right allows you to select which input is used for which function as well as the polarity of the input. The option

you select should match the polarity specification on your sensor.

Software Limit Detection

This feature allows you to set a maximum position limit for an axis beyond which it may not travel. These are

useful for applications that do not use limit switches. If the axis hits one of its software limits it will decelerate to

zero speed at the software limit deceleration (SLDEC) rate.

Maximum Position Error Detection

This feature allows the ACR to detect when it has lost control of a motor. If the ACR loses control of the motor,

its following error, the difference between commanded position and actual position, will increase sharply. Setting a

following error limit allows the ACR to kill power to the motor before serious damage to the machine can occur.

For this exercise, the default values should be fine. Click Next.



Additional Axes This concludes the setup for Axis 0. This process

needs to be repeated for each axis that will be

used in the application. If some of your axes are

the same or very similar, you can save time by

using the axis copy feature. To use it, right-click

on your axis in the project tree and click Copy To.

You will then be able to select a target axis that

will be configured the same as the current axis.

You can then make changes as necessary.

Memory Memory has already been allocated for all

15 programs. Program 14 has large

memory for PMM’s oscilloscopes and

Servo Tuner screens. Program15 is used

to store the contents of the Configuration

Wizard.

The number of global variables has been

preset to 4096 (P0 – P4095). These are

variables (64-bit floating point) that users

can use within any program and can also

access externally from a PC interface or

an HMI.

Number of Defines is preset to 100.

Defined aliases (or simply “defines”)

allows users to name the global variables,

bits or parameters to something more

meaningful to the programmer for code

readability.

Leave all options at default and click Next.



Finish Any warnings and errors will be displayed. Errors will need to be corrected. Clicking on the error will take you

to the section in the Configuration Wizard with the issue. Warnings are for user feedback but downloading is still

okay.

Click Finish to open the download dialog box. The project is saved and the system code (an internal setup

command script) is generated.

Make sure all the boxes are checked and click OK. This will erase the controller’s previous configuration and

programs. Motors will be disabled before downloading. A new dialog box will appear displaying download status

for programs and the configuration.

A download success dialog box will appear once the download has completed. Click OK. At this point, the ACR

has been successfully configured.

TESTING YOUR SETUP


Testing Your Setup

Now that you have configured your ACR, you can test motion using either the Jog/Home/Limits panel or by

writing an AcroBASIC program and running it. Both are covered below.

An Additional Note on Safety General purpose motion control equipment, and servo systems in particular, can move without warning once they

have been energized. During the development of a machine, it is vital to keep well clear of all moving parts of the

system, including parts of the system that are not expected to move but have the capability to move. Machines

under development carry the additional risk that the electronics may be misconfigured. Be prepared to kill power

to the entire machine should the motion become unstable.

Jog/Home/Limits Panel In the project workspace, expand Tools > Jog/Home/Limits and click Axis 0. This is the Jog/Home/Limits panel.

To test motion, click Enable in the upper right. Then, click Jog Positive or Jog Negative to verify that the axis moves.

If the motion is jerky or sluggish, you probably need to tune the axis using the Servo Tuner tool, which is not

covered in this guide.

TESTING YOUR SETUP


Note: This screen has many other useful features, but they will not be covered here. Refer instead

to the Programmer’s Guide.

If you cannot enable the drive, open the Motion Status Panel. You can find this in the project workspace under

Status Panels.

ACR7xT, ACR7xV and IPA models also have a Drive Status Panel, which handles drive-specific faults and status

information.

Note that before any motion can occur, the Motion Enable input will need to be connected to 24 VDC. This step

is commonly overlooked.

WRITING YOUR FIRST PROGRAM


Writing Your First Program

There are 15 programs available for use in PMM. To begin writing your first one, click Program 00 in the project

workspace. You will be presented with the initial program text shown in the image below.

Next, replace the program in the editor with the one shown below.

PROGRAM

DRIVE ON X : REM Enable X axis (Axis 0).

RES X : REM Set X position to 0.

ACC 10 DEC 10 STP 10 VEL 10 : REM Set accel, decel, stop ramp and velocity.

X10 : REM Move to 10 units.

X0 : REM Move back to 0.

ENDP

In the example above, the program will perform the following actions:

1. Enable the drive for X, which should be configured as Axis 0. This will allow X to maintain holding torque

and move when commanded.

2. Reset the position of X to 0. This is helpful in case the axis has been manually moved during setup.

3. Set the acceleration, deceleration, stop ramp (deceleration used for stopping) and velocity. The velocity

is given in units/s while acceleration, deceleration and stop ramp are given in units/s2.

4. Move X to 10 units. The units will be millimeters, inches, revolutions or any other unit according to your

configuration.

5. Move X back to 0 units.

Now that you have created a program, it needs to be downloaded and run. In the toolbar, click the button to

download.

WRITING YOUR FIRST PROGRAM


The download dialog box that appears should be familiar. It should only have a check next to Download Program(s)

and should have Program 0 selected from the drop-down box. Click OK.

Open the Motion Status Panel so you can view the position of Axis 0. Next, click the run button on the toolbar.

Make sure Program 0 is selected and click OK.

Program 0 will start. In the Motion Status Panel, you should see the Commanded and Actual fields for Axis 0 ramp

from 0 to 10 and then back to 0. In addition, the motor will physically move back and forth 10 units. You should

also see the Running indicator turn on for Program 0 and see its line number move through the command set.

Once the Running indicator turns off, the program is complete. Congrats on your first PMM program!

APPENDIX A: ETHERNET TROUBLESHOOTING


Appendix A: Ethernet Troubleshooting

This section will help if your PC is unable to make a connection to the ACR over Ethernet. It will demonstrate

how to set the IP address of your PC as well as how to remedy other common network problems.

Setting Your PC’s IP Address To get started, click PC Network Settings from the Connect panel.

This will open the Network Connections window in the Windows Control Panel. The images below are from

Windows 10, but the dialogs and menus are nearly identical on Windows 7.

Find the Ethernet adapter you are trying to use to connect to the ACR. Your PC may have many adapters and not

all of them are necessarily physical ports. If you are not sure which adapter to use, try unplugging your Ethernet

cable. The adapter for that physical port should indicate that it has become unplugged.



Once you find the correct adapter, right-click it and click Properties. The Ethernet Properties dialog will appear.

In the list of items in the middle of the dialog, select Internet Protocol Version 4 (TCP/IPv4).

Note: Be careful not to accidentally uncheck any of the boxes on this dialog. If you do, click Cancel

and start over.



Click Properties. The Internet Protocol Version 4 (TCP/IPv4) Properties dialog will appear.

The most common cause of network trouble is a mismatched IP address. The factory default IP address of the

ACR7000 and IPA is 192.168.100.1. To be able to connect, your PC’s Ethernet port needs to have an IP address

of 192.168.100.x, where “x” is any number 2-254.

Select Use the following IP address. For IP address, enter 192.168.100.10. For the Subnet mask, enter 255.255.255.0.

Leave all other fields blank. Click OK. Then, click OK or Close on all remaining dialogs.

Try connecting to the ACR again in PMM to see if the issue has been resolved. If the connection fails, continue

troubleshooting with the tips below.

Additional Troubleshooting Measures If you are still not able to connect to the ACR, but you know that your PC’s IP address and subnet mask are

correct, there are a few extra steps you can take to resolve most problems.

• Make sure the ACR has power. All ACRs have LEDs to indicate

status. If none of the LEDs are on, power has not been applied.

For the IPA, make sure the C1 and C2 terminals have power as

these are what power the logic circuits.

• Ensure the Ethernet port LEDs on the ACR are turning on. Check

the ones on your PC as well. All Ethernet ports have two small

LEDs built into them. The green one should be on solid to indicate



the cable is good. The orange/yellow one should blink to indicate traffic. If the lights are not on, try

unplugging the cable and plugging back in. If the problem persists, try a different cable.

• Ensure that your PC and ACR both have unique IP addresses. This can be a problem on a larger network.

If ping is working, try unplugging the cable and pinging again. If the ping succeeds, there is another device

on the network with the same IP address as the ACR.

• If the PC and ACR are part of a larger network or are connected through a switch, try bypassing the

switch with another cable and connect the PC to the ACR directly. If you can connect after this, there

may be an issue with the switch or the way the network is configured.

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