Catalog 8180/USA Motion Controllers ACR Family zc01 The ACR Family of Controls • S-curve profiling Since the acquisition of Acroloop Motion Control Systems in • String handling 2002, the ACR family has been the highest performance motion controls in the Parker offering. Each of the five versions • Time-based moves of the product is based on a 32-bit floating-point DSP produc- • Synchronized master moves ing unparalleled performance in the area of advanced multi-axis • Segmented cams • High-speed triggered cams trajectory generation. Because the products are built upon a • Dual-feedback control (velocity and position) scalable platform, the same software set works on each of the controllers, providing easy upgrades and transfer of established • Analog or digital feedback application code between machines and applications. The • Stepper or servo outputs hardware is also extremely flexible, allowing the design engineer • Onboard diagnostics • Onboard oscilloscope to easily create the perfect controller configuration for his • Software limits machine. The power of the ACR hardware is matched by an equally impressive array of software features allowing the • Torque limits design engineer the ability to solve any motion application. • Spline moves • NURBS • 3-D arcs Features: • Sinusoidal commutation • Automatic tangential tool orientation • Backlash and ballscrew compensation • Hardware and capture registers Controller Selection ACR8020 ACR8010 ACR2000 ACR1500 ACR1200 Motion Control 32-bit floating-point DSP YES YES YES YES YES CPU speed 120 MFLOPS 60 MFLOPS 50 MFLOPS 40 MFLOPS 40 MFLOPS Axes/controller 2-8 (expandable) 2-8 2-4 2-4 1-2 Servos YES YES YES YES YES Steppers YES YES YES YES YES Line/arc/splines/NURBS, 3D arc interpolation YES YES YES YES (except NURBS) YES Memory size STD (OPT) 512 K (2 MB) 512 K (2 MB) 512 K 128 K 128 K (512 K) Flash for saving programs 512 KB (expan 2 MB) Pre-emptive multitasker YES YES YES YES YES Communications Interface Binary, ASCII Binary, ASCII Binary, ASCII Binary, ASCII Binary, ASCII COM1, COM2 serial YES, optional YES, optional YES, optional NO YES, standard Standalone option N/A YES YES NO YES PC-bus pluggable YES, PCI YES, ISA YES, ISA YES, ISA N/A Parallel (LPT) option YES YES YES NO YES Dual-port memory option YES, standard YES, optional NO NO N/A Bus mastering YES NO NO NO N/A Inputs/Outputs Encoder input 4-10 (expandable) 4-10 2-4 2-4 3 Encoder fault detection YES, in hardware YES, in hardware NO NO YES, in hardware D/A options 2-8 (expandable) 2-8 2-4 2-4 2 Uncommitted I/O 64 (exp. to 320) 64 (exp. to 320) 32 (exp. to 288) 48 32 (exp. to 160) I/O type 24V Opto isolated 24V Opto isolated 24V Opto isolated TTL 24V Opto isolated I/O active hi/lo select YES YES YES YES YES AUX analog inputs 8 single Ended/4 differential 12 or 16 bits 12 or 16 bits 12 bits 12 or 16 bits 12 or 16 bits Parker Hannifin Corporation 5 Compumotor Division compumotor.com Catalog 8180/USA Motion Controllers ACR Family Analog/Stepper Flexibility Real-Time Motion Control The Acroloop Motion Controllers can be set up to accom- With Floating-Point DSP modate stepper or servo analog outputs. The controllers can be configured in combinations explained in the ordering matrix Ensuring the highest possible performance, ACR controllers you find within each ACR category. Analog inputs at 12 or 16- use high-speed Digital Signal Processors (DSPs) from Texas bit resolutions are available as options. These may be field Instruments for real-time calculations and motion control. TI configured as single-ended or differential inputs. DSPs feature: • 40-120 MFLOPS Analog or Analog or Analog Inputs • Floating-point calculations Stepper Stepper • Superior speed and accuracy (over fixed-point). The ACR’s processor-based controllers can quickly process floating-point calculations on-board, typically in the 100-500 usec range (products using software calculations are typically in the 5000-8000 usec range). This frees the controller to service a pre-emptive multi-tasker, with up to 24 programs at once, and service up to four communication channels concurrently. Thus, means you can communicate with an ACR controller for troubleshooting and still have the HMI on a production machine fully online and active! Pre-Emptive Multi-Tasker ACR controllers are true pre-emptive multi-taskers capable of performing multiple tasks simultaneously and toggling tasks based on the condition of a bit. A pre-emptive multi-tasker is the best choice when you have a program that need not always Trajectory Calculation run, but needs to be available to run. For example, if you need to dress a wheel on a grinder based on an input or parametric The ACR’s architecture permits extremely accurate trajectory equation, it would be a waste of time to have this program calculations. Unlike other controllers, the ACRs calculate a new being serviced constantly. Without a pre-emptive multi-tasker, trajectory point with every interrupt; it can be calculated as it would be necessary to allocate time for this little-used frequently as every 100-1000 microseconds (compared to 5-10 program. In a pre-emptive situation, the program would be milliseconds with other controllers). dormant until called for, and only then would it require time to be serviced. Because of the ACR controllers’ standard on-board operating system, time-critical events can be off loaded to the controller. ‡ = 1 second This is important, since the loading and therefore timing issues A-B of the host PC CPU are variable and the programmer cannot be sure of real-time execution. Pre-Emptive Multi-Tasker Features • Perform up to 8 motion programs (25 usec/axis servo update rate). 5000 points • Perform up to an additional 8 programs (non-motion per second programs). • Perform up to 8 PLC programs (1-5 msec scan time). • Command up to 4 communication ports simultaneously • Perform motion programs, PLC programs, and multi- Calculating a new trajectory every interrupt is the method of choice threaded communications simultaneously. when the process consists of normal motion geometries. • Troubleshoot from one port while the standard communi- cation port is active with the HMI. • Communicate over the PC-Bus, and two serial ports Trajectory Calculation Table simultaneously. Number Calculation Trajectory • Real-time application programming can be off-loaded to the ACR controller to ensure real-time execution. of Axes Bits Points/Second 2 64 5,000 4 64 3,333 6 64 2,500 8 64 2,000 Parker Hannifin Corporation 6 Compumotor Division compumotor.com Catalog 8180/USA Motion Controllers ACR Family Cubic Splines Splines and NURBS Additional Features ACR controllers provide cubic spline interpolation. Highlights • Dynamic Feed Rate override include : • Feed Hold and Cycle Start facility, like normal moves • Any source with source scaling, like normal moves • Smoothness of continuous first and second derivatives of • Blending with other motion profiles; allows normal line/arc position move at the beginning or end of spline/NURB segment • Ability to handle uniform and non-uniform data points • Unique mix of modes only offered by Compumotor. • Ability to define initial and final velocity to blend with other motion profiles • Goes through data points precisely 3-D Arc Generation • Spline interpolation can be time-based or velocity-based. A three-dimensional arc-generation command built into the ACR controllers allows users to take 3D arc segments from a CAD system and create a three-dimensional circular interpolation using any three of the axes attached to the master. In this mode, the 3D arc is defined by a start point, an intermediate point and an end point of the arc. These points can be specified as incremental or absolute position. For successive 3D arcs, the end poimt of the arc is used as the start point of the next arc. Figure 1. Example of how points can be randomly spaced in time, greatly reducing program length. NURBS ACR controllers provide Non-Uniform Rational Basis Splines, or NURBS. NURBS are industry standard tools for the represen- tation and design of geometry. These give ACR controllers a mathematical method for defining an entire curve of up to eight axes. Highlights include: • Free-form curves can be accurately defined • Suitable for high-speed machining up to eight axes • Gives better surface finish • Shorter program and fewer data points • No break between points at high speed • No need for high-speed data transfer from the host • No error due to approximating NURB curve by smaller Automatic Tangential Orientation linear line segments. The Automatic Tangential Orientation feature automatcially orients a theta axis to a user set angle along an X-Y path. Rather than jump at discontinuous geometries, the control delays the next move and waits for the theta axis to orient. Tangential Orientation TANG Z X Y ANG 90 Figure 2. Example shows few control points needed to draw random This command will hold the tool at 90 degrees along the path shape and accompanying program. above. Parker Hannifin Corporation 7 Compumotor Division compumotor.com Catalog 8180/USA Motion Controllers ACR Family CAM – Electronic Cam SYNC – Master Synchronizing The CAM command is used to create motion that emulates a It is sometimes necessary to run several coordinated groups of mechanical cam. The ability to segment the CAM gives the axes’ masters in synchronization with another master. In programmer flexibility. The CAM profiler will automatically sewing, for example, if an X-Y table is under a needle, the table linearly interpolate between any two points regardless of the can only move when the needle is up and out of the fabric. In density of the points. this example, the SYNC command can be used to coordinate the movement of the needle to the movement of the table. Using SYNC moves rather than coordinated moves gives users the flexibility of using different motion profiles for different masters while still keeping them in sync. TRG CAM – Triggered Cam The TRG command solves the problem of following error due to the time delay between a triggered input and the actual start of physical motion. For example, if a web line is moving at 60 The figure above shows a velocity vs. time graph for five axes feet per second and there is a 2-microsecond hysteresis before attached to different masters that move with independent motion takes place, the result will be an error: accelerations and decelerations, yet are synchronized amongst themselves. They all complete their moves within the 60ft/sec x 12in/ft = 720in/sec x .002sec = 1.44 inches of error prescribed time interval of tmsec specified by the user. This The TRG CAM command negates this and therefore mechanism can be useful in coil-winding applications when the increases repeatability and accuracy to within on microsecond. wire feed moves continuously yet other axes must come and Barring mechanical limitations, the electronic accuracy is now go at their own pace while remaining synchronized to the wire improved by a factor of 2000 to 0.007”. feed. TMOV – Time-Based Move Backlash and Ballscrew Compensation The TMOV command allows moves to be completed in a Backlash and Ballscrew Compensation allow the user to specific amount of time. Prior to TMOV, the programmer would need to program with a calculator to determine the speed, electrically compensate for the inherent inaccuracies of their acceleration and deceleration needed to arrive at a destination mechanical systems. The Backlash Compensation simply in a specific amount of time. takes into account the mechanical backlash when changing direction on the mechanical system. Once the backlash value is entered into the system, the ACR controller automatically compensates for lost travel due to backlash when changing direction, thus ensuring accurate positioning. The ballscrew compensation feature allows the user to map the inaccuracy of the mechanical actuator along the entire travel length required by the application. Once this inaccuracy is mapped, the ACR controller automatically compensates by cross-referencing the correction map and adjusting the commanded position of the axis to ensure the actual desired position is reached on the load itself. This capability allows the user to eliminate the costly linear encoder often used to compensate for mechanical Once Velocity, Accel and Decel are set on the default variations along the travel of the actuator. settings, TMOV will calculate Velocity, Accel and Decel based on length and time of move. Parker Hannifin Corporation 8 Compumotor Division compumotor.com Catalog 8180/USA Motion Controllers ACR Family Dual Feedback Control Simultaneous CAM, Gear and Jog The unique setpoint summation technique of the ACR controls The Dual Feedback capability of the ACR products allows the allows up to 3 different move profiles to be superimposed onto user to close two loops of feedback around a single mechani- a commanded move. This unique technique allows the cal axis. One encoder is found on the servo motor and another machine builder to accommodate for changes in environmental on the load itself. This allows the ACR controller to automati- conditions such as temperature and will allow a cam profile to cally compensate for the inherent mechanical compliance be advanced or retarded very simply. ACR controllers allow within the traditional screw driven actuator. The position loop is easy integration into vision systems by allowing offsets mea- closed with the load encoder while the velocity loop is closed sured by the camera to be superimposed “on the fly” without with the motor encoder. This ensures the most accurate the need of changing a distance parameter and making an positioning possible while maintaining stiffness required for additional move. aggressive acceleration and velocity moves. Current LOCK – Gantry Lock Control Position Primary Setpoint The LOCK command redirects one axis to follow the primary Gear Offset setpoint of a second axis. This command is essential for controlling a gantry system where two mechanical systems Jog Offset need to be coupled. Once the two axis are locked, a special control loop will minimize the error between the two axis Cam Offset assuring perfect coordination. Floating-Point Mathematics Precision Provided with 64-bit precision floating-point math functions, ACR controllers give you: • Six “decimal” digit numbers as standard and 16 “decimal” digit floating-point numbers to provide greater accuracy • Global and local variable operation • Simultaneous performance of intermediate calculations for trajectories, parametric evaluations, PLC operations, high- speed position captures and many other tasks. Compare the 32-bit and 64-bit precision floating-point variables to other motion controllers; you won’t get rounding errors with the ACR controllers. For example, a simple electronic gearing ratio can be set to a floating-point number unlike other controllers with limited gear ratio ranges. If a PC host is used, it only requires updating the graphical display and feeding new LOOK – Dynamic Multi-block Look operator information to the motion controller; the ACR Ahead controllers take care of everything else. In many machining and assembly operations, it is essential that overshoot be minimized in order to maintain quality and finish in the part being produced. The LOOK ahead command dynamically analyzes upcoming move parameters to assure that the system can perform the desired move. If the moves are too demanding for the system to execute, the move profile will automatically be limited to the maximize speed that can complete the desired move. Parker Hannifin Corporation 9 Compumotor Division compumotor.com Catalog 8180/USA Motion Controllers ACR Family Simultaneous Port Access Tables A and B illustrate the Master and Axis parameters. For The ACR controllers are unique since they can communicate example, the vector velocity for MASTERprofiler 0 is stored in both ASCII and binary simultaneously. Benefits of this “two hardware parameter number P8193. Variable P8193 is a 32-bit access doors approach” include: floating-point variable. If the programmer wanted to display the current position of AXIS0 on the operator display, a request • Unrestricted integration of front-end software designs would be made to the ACR controller to retrieve the 32-bit-long • Simple ASCII codes can be transmitted to the board over integer stored in hardware register P12288. There are approxi- any of the on-board communications ports (COM1, COM2, mately 15,000 parameters pre-programmed into the ACR LPT and the PC-bus) controllers. • Communications can be increased dramatically to allow increased data throughput to and from the controller. HSINT – High-Speed Uninterruptible Hardware Parameter Access Move ACR firmware is engineered for maximum flexibility with an The HSINT command gives the programmer a way to initiate an open design allows designer complete access to virtually incremental move based on an input. On webs it is common to every possible motion control parameter and flag. There are up initiate motion on the leading edge of a marker. to eight masters and up to eight axes on an ACR controller. A With the command, one needs to define a target position, master controls a group of axes; therefore, each master then a window. Then point to an input and the controller will controls a unique group of variable that can be monitored or initiate the incremental move once it reaches the correct state. changed on-the-fly. All this is accomplished at high speed due to the 1- microsecond latching of any input or parameter Table A: Master Parameters Examples PLS – Programmable Limit Switch Position Parameters Type MASTER0 The PLS command allows sequencing an output parameter Vector Position FP32 P8192 (usually physical I/O bits) based on the changing values of an Vector Velocity FP32 P8193 input parameter (usually an encoder). The simpliest PLS is used in most drum sequencers found in washing machines to Vector Acceleration FP32 P8194 control wash cycles. Vector Jerk FP32 P8195 Vector Length FP32 P8196 The ACR PLS allows user to: Target Velocity FP32 P8196 Target Acceleration FP32 P8197 • Select from a variety of output parameters • Advance and retard the source parameter and mask and scale the output parameter • Control the number of I/O bits the PLS operates on. Table B: Axis Parameters Examples Position Parameters Type AXIS0 Current Position LONG P12288 Target Position LONG P12289 Actual Position LONG P12290 Following Error LONG P12291 Hardware Capture LONG P12292 Software Capture LONG P12293 Primary Setpoint LONG P12294 Secondary Setpoint LONG P12295 Parker Hannifin Corporation 10 Compumotor Division compumotor.com Catalog 8180/USA Motion Controllers ACR8020 PCI/PC Bus Operation The ACR8020 is Compumotor’s premier controller for PCI ACR8020 Exclusives bus operation. It has the ability to run eight servo loops (16 with expansion board), DAC or Stepper outputs and 10 • 120 MFLOPS, 32-bit floating-point DSP encoders (20 with expansion board) at 20 MHz counting rate. It • 8 axes of servos or steppers (expandable to 16) can also be equipped with up to 8 analog (12- or 16-bit • 10 encoder inputs at 20 MHz (expandable to 20) resolution) inputs. Multi-axis coordinated motion can be • User and system memory 512 KB (expandable to 2 MB) performed in multiple groups of axes. Because of the each ACR8020’s modular design, a combination of both servo and • Encoder loss and fault protection stepper axes can be applied on the same controller. All of • 64 optically isolated 24VDC I/O expandable to 320 I/O Compumotor’s Acroloop products utilize the same system • Dual-port memory standard software and programming language; this assures users • Master PCI DMA interface complete flexibility in upgrading their hardware while maintain- • Full-size PCI card ing their investment in program development. • Optional communications interface (includes 2 serial ports– The ACR8020’s processing speed is unmatched in the RS232/RS422/RS485–and 1 parallel port) industry at 120 Mega Floating-point Operations Per Second (MFLOPS)! ACR8020 (1- to 8-Axes) Ordering Parker Hannifin Corporation 11 Compumotor Division compumotor.com Catalog 8180/USA Motion Controllers ACR8020 ACR8020 (9- to 16-Axes) Ordering Parker Hannifin Corporation 12 Compumotor Division compumotor.com Catalog 8180/USA Motion Controllers ACR8020 ACR8020 Specifications Value Hardware Axes/controller 2-8 axes (Expandable to 16) PC-Bus interface PCI Standalone option NA Processor 32- /64-bit floating-point DSP @ 120 MFLOPS / 60 MHz Trajectory calculation 64-bit precision User memory 512 KB (expandable to 2 MB); 2 MB (standard for 9- to 16-axes cards) System memory 512 KB (expandable to 2 MB); 2 MB (standard for 9- to 16-axes cards) Firmware Flash-based Flash memory 512 KB (expandable to 2 MB) Size Full-size PCI Operating system Multi-tasking RTOS Performance Multi-tasking 16 coordinated systems, motion/PLC programs Trajectory update Every 100-500 usec Servo update 25 usec/axis Ladder Logic PLC 100-500 usec scan time Interpolation Linear, circular, sinusoidal, helical and elliptical, splines, NURBS, 3D arcs Servo loop PID, velocity feedforward, acceleration feedforward notch, LoPass filtering Position regulation Hardware, < 1usec Communications Simultaneous PCI, serial and LPT ports Communications PC bus Bus mastering PCI with dual-port memory Optional interface 2 serial ports (RS232 and/or RS422), 1 parallel port (8 bits) Inputs Encoder input 10 (expandable to 20) at 20 MHz post-quadrature Analog input - Auxiliary Up to 8 (12- or 16-bit) Command Signal Analog outputs Up to 16 (16-bit precision) Stepper outputs Up to 16 @ 1 MHz Digital I/O 64, 24 VDC optically-isolated (expandable to 320) Software Support Standard language Visual Basic, Visual C++, C++ Program tools AcroVIEW Motion/PLC Program Development tools ActiveX controls/OCX controls Operating system Windows® NT, 98, 2000, XP Additional firmware highlights Triggered floating point electronic GEARING Triggered segmented electronic CAM On-the-fly position and velocity matching Ladder Logic PLC Interruptible moves Either analog or digital feedback for position or velocity loops Dual-encoder feedback Data teach and learn functions Parameter-based with over 15,000 addressable pre-defined hardware registers Sinusoidal commutation NURBS and splines 3D arcs Automatic tangential tool operation Parker Hannifin Corporation 13 Compumotor Division compumotor.com Catalog 8180/USA Motion Controllers ACR8010 PC-Bus Operation The ACR8010 is Compumotor’s feature-rich controller for ISA This product is the successor to the very popular ACR8000 PC-bus Operation. The ACR8010 is capable of standalone or and offers plug compatibility with the older product. PC-bus operation. It has the ability to run up to eight servo ACR8010 Exclusives loops, with up to 10 encoders at 20 MHz. It can be equipped • 8 axes of servo or stepper control with eight optional analog inputs through a 12- or 16-bit analog/digital converter (ADC) and introduce these inputs into • 60 MFLOPS floating-point DSP servo loops. Because of the unit’s modular design, it is • Up to 10 encoder inputs at 20 MHz possible to have several axes of servo with several axes of • User and system memory 512 KB standard (each expandable to 2MB) stepper on the same controller. All of Compumotor’s Acroloop • Encoder loss and encoder fault protection products utilize the same system software and programming language; this assures users complete flexibility in upgrading • 64 optically isolated 24 VDC inputs and outputs (expandable their hardware while maintaining their investment in program to 320 optically isolated 24 VDC inputs and outputs) development. • Up to 4 communication channels (PC bus, 2 serial RS-232/RS-422, 1 parallel port) The ACR8010 is Compumotor’s answer to affordable high- • Dual-port memory option performance control when flexibility, real-time speed and ease of programming are most needed. • Single slot plug-and-play controller ACR8010 Ordering Parker Hannifin Corporation 14 Compumotor Division compumotor.com Catalog 8180/USA Motion Controllers ACR8010 ACR8010 Specifications Value Hardware Axes/controller 1-8 axes PC-Bus interface ISA Standalone option Yes Processor 32- /64-bit floating-point DSP @ 60 MFLOPS / 60 MHz Trajectory calculation 64-bit precision User memory 512 KB (expandable to 2 MB) System memory 512 KB (expandable to 2 MB) Firmware 2 128 KB x 16 EPROMs Flash memory 512 KB (expandable to 2 MB) Size Full-size ISA board Operating system Real-time system independent of PC Performance Multi-tasking 8 coordinated systems, motion/PLC programs Trajectory update Every 200-500 usec Servo update 50 usec/axis Ladder Logic PLC 200-500 usec scan time Interpolation Linear, circular, sinusoidal, helical and elliptical, splines, NURBS, 3D arcs Servo loop PID, velocity feedforward, acceleration feedforward notch, LoPass filtering and programmable filtering Position regulation Hardware, < 1usec Communications Simultaneous ISA, serial and LPT ports Communications PC bus Dual 512 x 8 hardware FIFOs Optional interface 2 serial ports (RS232 and/or RS422), 1 parallel port (8 bits) Inputs Encoder input 10 @ 20 MHz post-quadrature Analog input - Auxiliary Up to 8 (12- or 16-bit) Command Signal Analog outputs Up to 8 (16-bit precision) Stepper outputs Up to 8 @ 1 MHz Digital I/O 64, 24 VDC optically-isolated (expandable to 320) Software Support Standard language Visual Basic, Visual C++, C++ Program tools AcroVIEW Motion/PLC Program Development tools ActiveX controls/OCX controls Operating system Windows® NT, 98, 2000, XP Additional firmware highlights Triggered floating point electronic GEARING Triggered segmented electronic CAM On-the-fly position and velocity matching Ladder Logic PLC Interruptible moves Either analog or digital feedback for position or velocity loops Dual-encoder feedback Data teach and learn functions Parameter-based with over 15,000 addressable pre-defined hardware registers Sinusoidal commutation NURBS and splines 3D arcs Automatic tangential tool operation Parker Hannifin Corporation 15 Compumotor Division compumotor.com Catalog 8180/USA Motion Controllers ACR2000 ACR2000 Specifications Value Hardware Axes/controller 1-4 axes PC-Bus interface ISA Standalone option Yes Processor 32- /64-bit floating-point DSP @ 50 MFLOPS / 50 MHz Trajectory calculation 64-bit precision User memory 512 KB System memory 512 KB Firmware 2 128 K x 16 EPROMs Flash memory 512 KB Size Half-size ISA board Operating system Real-time system independent of PC Performance Multi-tasking 8 coordinated systems, motion/PLC programs Trajectory update Every 200-500 usec Servo update 50 usec/axis Ladder Logic PLC 200-500 usec scan time Interpolation Linear, circular, sinusoidal, helical and elliptical, splines, NURBS, 3D arcs Servo loop PID, velocity feedforward, acceleration feedforward notch, LoPass filtering and programmable filtering Position regulation Hardware, < 1usec Communications Simultaneous ISA, serial and LPT ports Communications PC bus Dual 512 x 8 hardware FIFOs Standalone 2 serial ports (RS232 and/or RS422), 1 parallel port (8 bits) Protocols Binary (PC), string and ASCII Inputs Encoder input 4 (32-bit registers), up to 8 MHz post quadrature Analog input - Auxiliary Up to 8 (12-bit) Command Signal Analog outputs Up to 4 (16-bit precision) Stepper outputs Up to 4 @ 1 MHz Digital I/O 32, 24 VDC optically-isolated (expandable to 288) Software Support Standard language Visual Basic, Visual C++, C++ Program tools AcroVIEW Motion/PLC Program Development tools ActiveX controls/OCX controls Operating system Windows® NT, 98, 2000, XP Additional firmware highlights Triggered floating point electronic GEARING Triggered segmented electronic CAM On-the-fly position and velocity matching Ladder Logic PLC Interruptible moves Either analog or digital feedback for position or velocity loops Dual-encoder feedback Data teach and learn functions Parameter-based with over 15,000 addressable pre-defined hardware registers Sinusoidal commutation NURBS and splines 3D arcs Automatic tangential tool operation Parker Hannifin Corporation 16 Compumotor Division compumotor.com Catalog 8180/USA Motion Controllers ACR1500 PC-Based, OEM-Priced The ACR1500 is Compumotor’s OEM 4-axes PC bus-based ACR 1500 Exclusives controller. The ACR1500 is a PC bus-based card only and offers no serial or LPT ports as an option. It has the ability to • 4 axes of servo or stepper control run up to four servo loops with up to four encoders at 8 MHz • 40 MFLOPS floating-point DSP (post-quadrature). The ACR1500 can also be equipped with • 4 encoder inputs at 8 MHz (post-quadrature) eight analog inputs through a 12- or 16-bit analog-to-digital • User and system memory 128 KB standard converter and introduce these inputs into the servo loop. • 48 TTL I/O with an industry standard Opto 22, 50-pin Because of the modular output design of the ACR family, it is connector possible to have two axes of servo with two axes of steppers • Low-cost 16-bit bus on the same controller or all axes of one type. Unlike other • High performance at a low cost members of the Compumotor Acroloop controller line, the ACR1500 utilizes a 16-bit bus, which reduces cost dramati- cally. With this feature, the ACR1500 provides a high level of control at roughly half the cost! All of Compumotor’s Acroloop products utilize the same system software and programming Higher-Performance language; this assures users complete flexibility in upgrading PCI Version their hardware while maintaining their investment in program Coming Soon development. The ACR1500 is Compumotor’s answer to affordable, high- performance control in a standalone package when low cost, real-time speed and ease of programming are most needed. ACR1500 Ordering Parker Hannifin Corporation 17 Compumotor Division compumotor.com Catalog 8180/USA Motion Controllers ACR1500 ACR1500 Specifications Value Hardware Axes/controller 1-4 axes PC-Bus interface ISA Standalone option NA Processor 32- /64-bit floating-point DSP @ 40 MFLOPS / 40 MHz Trajectory calculation 64-bit precision User memory 128 KB System memory 128 KB Firmware 256 KB x 16 EPROM Flash memory 128 KB Size Half-size ISA board Operating system Real-time system independent of PC Performance Multi-tasking 8 coordinated systems, motion/PLC programs Trajectory update Every 200-750 usec Servo update 75 usec/axis Ladder Logic PLC 200-750 usec scan time Interpolation Linear, circular, sinusoidal, helical and elliptical, splines, NURBS, 3D arcs Servo loop PID, velocity feedforward, acceleration feedforward notch, LoPass filtering and programmable filtering Position regulation Hardware, < 1usec Communications ISA Communications PC bus Dual 512 x 8 hardware, FIFOs Optional interface NA Protocols Binary (PC), string and ASCII Inputs Encoder input 4 (32-bit registers) up to 8 MHz post-quadrature Analog input - Auxiliary Up to 8 (12- or 16-bit) Command Signal Analog outputs Up to 4 (16-bit precision) Stepper outputs Up to 4 @ 1 MHz Digital I/O 48 Opto 22-compatible, programmable as inputs or outputs in groups of 8 Software Support Standard language Visual Basic, Visual C++, C++ Program tools AcroVIEW Motion/PLC Program Development tools ActiveX controls/OCX controls Operating system Windows® NT, 98, 2000, XP Additional firmware highlights Triggered floating point electronic GEARING Triggered segmented electronic CAM On-the-fly position and velocity matching Ladder Logic PLC Interruptible moves Either analog or digital feedback for position or velocity loops Dual-encoder feedback Data teach and learn functions Parameter-based with over 15,000 addressable pre-defined hardware registers Sinusoidal commutation Automatic tangential tool operation Parker Hannifin Corporation 18 Compumotor Division compumotor.com Catalog 8180/USA Motion Controllers ACR1200 2-Axes, Standalone Control The ACR1200 is Compumotor’s OEM two-axes standalone ACR 1200 Exclusives controller. The ACR1200 is a standalone controller card only and offers no PC port as an option. It comes with two serial • 2 axes of servo or stepper control ports–RS232 and RS422–and has the ability to run two servo • 40 MFLOPS floating-point DSP loops with up to three encoders at 20 MHz. It can also be • Up to 3 encoder inputs at 20 MHz equipped with eight analog inputs through a 12- or 16-bit • Standard user and system memory of 128 KB each analog/digital converter and introduce these inputs into the • Encoder loss and encoder fault protection servo loop. Because of the modular design of our outputs, it is • High performance at a low cost possible to control 2 servo or 2 stepper axes on the same • Standard 32 optically isolated, 24 VDC I/O (expandable to controller. This level of control has previously not been available 160 optically isolated, 24 VDC I/O) at this price. All of Compumotor’s Acroloop products utilize the same system software and programming language; this assures users complete flexibility in upgrading their hardware while maintaining their investment in program development. The ACR1200 is Compumotor’s answer to affordable, high- performance, standalone control when low cost, real-time speed and ease of programming are most needed. ACR1200 Ordering Parker Hannifin Corporation 19 Compumotor Division compumotor.com Catalog 8180/USA Motion Controllers ACR1200 ACR1200 Specifications Value Hardware Axes/controller 2 axes PC-Bus interface NA (standalone only) Standalone option Yes Processor 32- /64-bit floating-point DSP @ 40 MFLOPS / 40 MHz Trajectory calculation 64-bit precision User memory 128 KB System memory 128 KB Firmware 2 128 KB x 16 EPROMS Flash memory 128 KB Size 8” W x 5” H Operating system Real-time system independent of PC Performance Multi-tasking 8 coordinated systems, motion/PLC programs Trajectory update Every 200-750 usec Servo update 75 usec/axis Ladder Logic PLC 200-750 usec scan time Interpolation Linear, circular, sinusoidal, helical and elliptical, splines, NURBS, 3D arcs Servo loop PID, velocity feedforward, acceleration feedforward notch, LoPass filtering and programmable filtering Position regulation Hardware, < 1usec Communications Simultaneous, serial ports Communications PC bus NA Optional interface 2 serial ports (RS232 and/or RS422) Protocols String and ASCII Inputs Encoder input 3 (32-bit registers), up to 20 MHz post quadrature Analog input - Auxiliary Up to 8 (12- or 16-bit) Command Signal Analog outputs Up to 2 (16-bit precision) Stepper outputs Up to 2 @ 1 MHz Digital I/O 32, 24 VDC optically-isolated (expandable to 160) Software Support Standard language Visual Basic, Visual C++, C++ Program tools AcroVIEW Motion/PLC Program Development tools ActiveX controls/OCX controls Operating system Windows® NT, 98, 2000, XP Additional firmware highlights Triggered floating point electronic GEARING Triggered segmented electronic CAM On-the-fly position and velocity matching Ladder Logic PLC Interruptible moves Either analog or digital feedback for position or velocity loops Dual-encoder feedback Data teach and learn functions Parameter-based with over 15,000 addressable pre-defined hardware registers Sinusoidal commutation NURBS and splines 3D arcs Automatic tangential tool operation Parker Hannifin Corporation 20 Compumotor Division compumotor.com Catalog 8180/USA Motion Controllers AcroView Diagnostic and Programming Tool AcroView is a powerful code-development tool that assists the user of ACR family products in programming, debugging and commissioning their application. Several features are incorpo- rated to assist both the novice and expert users in developing code. Code development begins with the setup wizard, which quickly and easily guides the user through the setup and configuration of the ACR controller. Using the tuning tool along with the built-in oscilloscope function makes servo tuning a snap. Next, the program editor and ladder editor tools allow straightforward development of both motion and I/O application code. Finally, the diagnostic tools, included with AcroView, permit easy troubleshooting and optimization of the code to ensure the highest level of performance and reliability when using the ACR family of control products. AcroView Features • PC-bus or serial connection support • Configuration wizard • Tuning tool • Built-in oscilloscope • Structured text program editor • Ladder logic program editor • Real-time terminal interface • Servo loop diagnostic tool • CPU utilization tool Parker Hannifin Corporation 21 Compumotor Division compumotor.com Catalog 8180/USA AcroCUT Motion Controllers Cutting-Edge Software AcroCUT software is specifically designed to handle PLASMA, Retrace - AcroCUT allows users to retrace the cut path to OXY-FUEL, LASER, and WATERJET machine tool cutting back up all the way to the beginning. applications. Acroloop has worked extensively with manu- facturers and machine tool operators to create a state-of-the- Kerf Compensation - AcroCUT includes automatic kerf art PC cutting control software package. The PC software can compensation. be customized for the OEM or used to retrofit old cutting machines. Cornering - AcroCUT provides automatic corner slowdown based on acute angle threshold. AcroCUT Features Dripfeed Function - Allows large part files to be executed Turnkey Solution - Implement AcroCUT with the Acroloop on-the-fly from an off-line PC using the serial link minimizing motion controllers, chassis, operator interfaces, enclosures, download time and maximizing machine cut time. and customized front panels for a complete OEM solution for PC-based Plasma, Oxy-Fuel, Laser, and WaterJet machine tool Pause and Resume - On, off, path, pause and resume control. features are included with AcroCUT. Machines can retrace, skip, resume, jog or home after the pause. PC-Based - AcroCUT allows users to implement an open- architecture solution with the latest PC-based CNC motion Plate Alignment - AcroCUT features automatic plate align- controllers and incorporating standard off-the-shelf industrial ment for sheet placement. PC components available from Acroloop. Feedrate Override - AcroCUT includes a built-in feedrate G Codes - AcroCUT works with standard EIA RS-274 G override function. The feedrate override can be executed codes. AcroCUT is also directly compatible with standard CAM through software or from BCD input. packages. Mechanical Compensation - AcroCUT has built-in M Codes - AcroCUT also uses standard M codes. The M ballscrew or backlash compensation. codes in AcroCUT are completely programmable. M codes simply send customized files to the controller. The files could Displays - AcroCUT can display the user programmable be PLC files or another complete multi-tasked motion program. information including current position, program status informa- tion and a graphical display of the part being processed. All of Gantry Control - AcroCUT features built-in gantry control (for the displays are programmable (size, color, location) by the controlling 2 servos on a single axis). user. Home - A built-in homing routine is available for all axes Diagnostics - AcroCUT can diagnose electrical input/output (programmable). conditions or to dynamically tune the servo system with AcroCUT’s built-in 4-channel oscilloscope. Jog - AcroCUT provides continuous or incremental jog modes with optional joystick control. Customized - Don’t see what you need? Have Compumotor customize the PC software specifically to meet your application Library Parts - Built-in user-definable library parts are requirements. included in the AcroCUT spftware package. Thirty different shapes are provided, and the user can create additional library parts. Parker Hannifin Corporation 22 Compumotor Division compumotor.com Catalog 8180/USA Motion Controllers AcroMill 1-8 Axes Machine Tool Software Package AcroMill is a powerful machine tool software package designed File Transfer - Files can be transferred to AcroMill via RS-232 to work with the ACR family of motion controllers. AcroMill from the hard disk drive or from a floppy disk drive. Users can software is specifically designed to handle machine tool also automatically convert DXF posts into the appropriate G applications and is capable of controlling from 1 to 8 axes. and M codes with AcroMill. Compumotor has extensive CNC machine tool experience, which we have put to work to create an off-the-shelf software Run/Dry Run - AcroMill gives users the ability to run or dry package that can easily be integrated into CNCs. run a program. Programs can also be started from a user programmable block number. AcroMill Features Feedrate Override - AcroMill has a built-in feedrate override G Codes - AcroMill works with standard EIA RS-274 G codes. function that can be executed through the AcroMill software or The basic G codes designed around the GE Fanuc OM from an external BCD input. controller works directly with AcroMill. AcroMill is also directly compatible with standard CAM packages and appropriate post Spindle Override - AcroMill’s built-in spindle override function files for machine execution. permits spindle override commands to be executed through software or from an external BCD input. M Codes - AcroMill also uses standard M codes. The M codes in AcroMill are completely programmable. M codes MDI - AcroMill allows manual data input operation for simply send customized files to the controller. The files could immediate execution of blocks. be PLC files or another complete multi-tasked motion program. Displays - AcroMill can display the user programmable PC-Based - AcroMill allows users to implement an open- information including current position, program status architecture solution with the latest PC-based CNC motion information and a graphical display of the part being controllers and incorporating standard off-the-shelf industrial processed. PC components available from Compumotor. Diagnostics - AcroMill can diagnose electrical input/output PLC - AcroMill can interface with the ACR controller’s on-board conditions or dynamically tune the servo system with PLC to create customized automatic tool change (ATC) AcroMILL’s built-in 4-channel oscilloscope. operations. Error Correction - AcroMill includes programmable ballscrew Home/Jog - AcroMill provides a programmable homing compensation, backlash compensation, tool radius routine for all axes, as well as programmable continuous or compensation, and tool offset registers. incremental jog modes. Block Processing Speed - AcroMill has a 2- to 4- Handwheel - AcroMill’s external handwheel operation allows a millisecondblock-processing speed depending on the number handwheel to be programmed to any encoder input with a of axes being controlled. given axis selected through AcroMill. Customized - Don’t see what you need? Have Compumotor Library Parts - Built-in user-definable library parts available in customize the PC software specifically to meet your application the AcroMill software package. Library parts are parametric G requirements. and M code files that can be customized (sized) by the user on the screen. Parker Hannifin Corporation 23 Compumotor Division compumotor.com Catalog 8180/USA Motion Controllers AcroMill AcroMill for Windows® NT is designed to work with a touch screen or mouse; therefore, all the menu selections are large enough to allow easy finger control and selection. New programs can be created while the machine is running a program. Full compliments of Can Cycles and Macro and Modal Macro ability are offered. Probing cycle as well as NURBS, Splines and three-dimen- sional three-point arc generation are offered. OEM users can access and pass variables in the SYSVAR storage area in the CNC from their own independent software application in case a custom installation is required. This means that the OEM can externally affect machine operation from their own piece of software on the fly. This can be very handy in applications like vision, grinding and welding. AcroMill’s function-interface screens include . . . Selecting library parts Setting up system parameters Tuning axis servos using built-in four-channel oscilloscope Monitoring status And editing a program even while running a different program. Parker Hannifin Corporation 24 Compumotor Division compumotor.com Catalog 8180/USA Motion Controllers Breakout Modules Breakout Modules RBD Features RBC Features • Compatible with the ACR2000, ACR8010 and ACR8020 • Compatible with the ACR2000, ACR8010 and ACR8020 • General application breakout board • Easy controller connectivity to digital servo and stepper drives • Screw terminals for encode feedback • Provides 1 axis connector for each amplifier connection • Screw terminals for digital I/O • Simplified system wiring • 2 serial and 1 parallel port DB connectors • Screw terminals for digital I/O • Status LEDs for encoder, digital I/O and communication • 2 serial and 1 parallel port DB connectors diagnostics • Cables available for all Parker drive families RBB Features • Low-cost breakout boards • 4-inch SnapTrack mounting • Individual boards for encoder, digital I/O and communications • Screw terminals for all board signals • DB connectors for communication signals • Status LEDs for diagnostics Parker Hannifin Corporation 25 Compumotor Division compumotor.com Catalog 8180/USA Motion Controllers ACH Controller Chassis ACH Controller Chassis The ACH3120 controller chassis is a standard chassis, ACH3200 Features designed to accommodate a standalone ACR1200 controller. The ACH3120 is designed to support the standard digital I/O • For use with standalone ACR2000 controller and 1 expansion digital I/O board. • Industrial standalone chassis (4.38”W x 11”H x 6.75”D) The ACH3200 controller chassis is a standalone chassis and • Encoder feedback connector is designed to accommodate a standalone ACR2000 controller. • Digital I/O connector The ACH3200 is designed to support the standard digital I/O • 2 serial and 1 parallel port connector and up to 2 expansion digital I/O boards. • Digital I/O power supply connector • Heavy duty power connector (120 VAC standard) ACH3121 Features • Integral power supply (5 VDC, +/- 12 VDC) • Cooling fan • For use with ACR1200 controller • Industrial standalone chassis (4.38”W x 11”H x 6.75”D) • Encoder feedback connector • Digital I/O connector • 2 serial and 1 parallel port connector • Heavy duty power connector, 120 VAC • Integral power supply (5VDC, +/- 12VDC) • Cooling fan Parker Hannifin Corporation 26 Compumotor Division compumotor.com Catalog 8180/USA Motion Controllers Operator Interface Complete Motion Box The OPS1200 is an operator interface and ACR1200 2-axes controller built into one unit. OPS1200 Features • LED backlit 4-line x 40-character display • 40-key, motion control sealed keyboard with 3 hidden keys and 9 programmable function keys • Tactile membrane keypad • Panel mountable • NEMA 12 design • 2 axes of stepper or servo DAC outputs • 2 feedback encoder inputs with 20 MHz counting rate • Built-in hardware encoder-fault detection • 16 inputs, 16 outputs, all 24 volts optically isolated • Expandable to 48 inputs and 48 outputs • PRINT, INKEY$ functions in ACR1200 firmware to interface with KBD/Display • Complete motion system for 1 or 2 axes of motion with ACR1200 as the main engine • Canned software for various applications • Power requirements: +5V, +12V, -12V • Small package: 10.3”W x 6.6”H x 3.1”D • Optional custom panel overlay • 1 parallel port, 2 serial ports RS232/RS422 Parker Hannifin Corporation 27 Compumotor Division compumotor.com Catalog 8180/USA Motion Controllers Application Story Feature-Rich Controller Solves Unique Challenges TM hile developing its FAST series of fully- “It became very clear at an early stage that W automated fiber automation machines, engi- thetypical motion controller wasn’t sophisticated neers at Palomar Photonics Automation (for- enough to handle our requirements,” says John merly Axsys Technologies) of Pittsburgh, Penn- Bridgen, applications manager of Palomar sylvania, turned to Parker Acroloop for a highly Photonics Automation Division. “The ACR con- sophisticated motion control- troller quickly became our ler. Beyond the typical re- controller of choice because quirements of a high-speed of Parker Acroloop’s exten- and PCI-bus platform that sive support, ease of use, was powerful enough to technical expertise and will- handle multi-axis coordinated ingness to work with us on motion control, they had our unique requirements.” some very specific needs Parker Acroloop teamed unique to their machine’s ap- with Palomar to create the plication. Feedback Transformation Palomar needed the abil- module. Optical alignment re- ity to implement multi-dimen- quires precise control in both sional inverse kinematics to Cartesian and polar coordi- control their six degrees of nate systems; certain feed- freedom fiber-align- back and ment engine. Fur- motion thermore, the con- elements troller needed the are thus ability to control non-lin- multiple alignment ear to engines simulta- each neously, creating a other’s control system with work up to 18 axes of tightly synchronized, high-pre- space. cision motion. To correlate the different reference frames re- When choosing a motion con- quired, the team added new input parameters to troller solution, users cannot always predict the standard firmware set of the ACR controller, where their application needs are going to be which is at the heart of Palomar’s FAST automa- even a few months down the road in a typical tion products. These parameters enabled design cycle. Frequently, the needs start at Palomar to describe the non-linearities math- some base level where most controllers can do ematically and allow the controller to perform the the job. As the application nears completion, it transformations in real-time to correlate the feed- often has gained functionality that was not in back signals to motion. the original specification. It is common to end Palomar engineers began with alignment as up hitting the top end several months into a de- their primary focus, so they could develop a stan- sign cycle because the controller that met the dard system. “The nice thing about this platform original specification cannot meet the new re- Continued on next page quirements. Parker Hannifin Corporation 28 Compumotor Division compumotor.com Catalog 8180/USA Motion Controllers Application Story Feature-Rich Controller, continued is a customer can easily configure it to work with balance the production line by controlling all of the critical assembly machines.” a variety of parts,” says Bridgen. “It is a nice sys- tem for develop- Repeatability is another advantage. “When you put a device on the system, you can be sure the ment, as it relies on well-defined automa- system will find the same optical peak as it did a tion to develop pro- week ago,” says Bridgen. Palomar continues to expand this line on the same basic platform, rather cesses.” Building upon its than reinventing the wheel. That means proven performance at lower costs to customers. standard platform, Palomar provided “The success of our project is the additional ca- pacities of character- built on the success of our ization and attach- suppliers, and Parker Acroloop ment of parts all on one turnkey production-grade has been no exception.” system. This system can load, align and attach an input or output device (e.g., a planar light cir- – John Bridgen, applications manager, cuit) to a fiber or array of fibers. It can align to Palomar Photonics Automation Division such a device in less than two minutes, from part Another key feature of Parker Acroloop’s ACR load to peak power to final attach. It increases quality and saves time. “Doing the same job by controller for this application is high-speed servo hand would take at least an hour under the best loop closure. These high-speed loops run at of conditions,” adds Mike Formica, vice president/ 100usec for an eight-axes coordinated group, en- general manager. abling the FAST products to make the real-time trajectory corrections necessary for high-speed That kind of speed increase addresses the pro- duction bottle- optical fiber alignment. The standard dual-ported neck problems RAM, 32-bit wide PCI format, true multi-thread that optical communication and advanced onboard PLC ca- alignment pro- pability were critical in coordinating control of this complex machine. cesses experi- ence when an These elements are controlled seamlessly, upstream wire largely in part to the ACR’s high flexibility and pow- bonder ma- erful features. chine is clipping “Parker Acroloop’s aggressive product devel- opment schedule and willingness to implement along at 10 bonds per sec- new features makes it obvious that they are com- ond and fre- mitted to providing the industry’s most advanced quently runs out of parts. This equipment isn’t a products,” says Bridgen. “They have been, and complete cure, but it is a 30-fold improvement. will continue to be, a strong partner to us. The success of our project is built on the success of “We’re working on ways to increase speed even further,” says Bridgen. “Because we also manu- our suppliers, and Parker Acroloop has been no facture die bonders and wire bonders, we can exception.” Parker Hannifin Corporation 29 Compumotor Division compumotor.com Catalog 8180/USA Offer of Sale The items described in this document days. This limited warranty gives you requested modification or such allegations of infringement, and are hereby offered for sale at prices specific legal right. You may have cancellation shall be at Seller’s Seller having sole control over the others which vary from state to state. to be established by Parker Hannifin discretion, and shall be upon such defense of any allegations or actions Corporation, its subsidiaries and its Some states do not allow limitations terms and conditions as Seller may including all negotiations for on duration of an implied warranty, so authorized distributors. This offer and require. settlement or compromise. If an item its acceptance by any customer the above limitation may not apply to sold hereunder is subject to a claim 7. Special Tooling: A tooling (“Buyer”) shall be governed by all of you. This Limited Warranty is void if that it infringes the Intellectual charge may be imposed for any failure of the SOFTWARE has the following Terms and Conditions. Property Rights of a third party, Seller special tooling, including without Buyer’s order for any item described resulted from accident, abuse, or may, at its sole expense and option, limitation, dies, fixtures, molds and misapplication. THIS WARRANTY in this document, when procure for Buyer the right to patterns, acquired to manufacture communicated to Parker Hannifin COMPRISES THE SOLE AND continue using said item, replace or items sold pursuant to this contract. Corporation, its subsidiary or an ENTIRE WARRANTY PERTAINING modify said item so as to make it Such special tooling shall be and TO ITEMS PROVIDED authorized distributor (“Seller”) orally non-infringing, or offer to accept remain Seller’s property or in writing, shall constitute HEREUNDER. SELLER MAKES return of said item and return the notwithstanding payment of any NO OTHER WARRANTY, acceptance of this offer. purchase price less a reasonable charges therefore by Buyer. GUARANTEE, OR allowance for depreciation. 1. Terms and Conditions of Sale: 8. Buyer’s Property: Any designs, REPRESENTATION OF ANY KIND Notwithstanding the foregoing, Seller All descriptions, quotations, tools, patterns, materials, drawings, WHATSOEVER. ALL OTHER shall have no liability for claims of proposals, offers, acknowledgments, confidential information or equipment WARRANTIES, INCLUDING BUT infringement based on information acceptances and sales of Seller’s furnished by Buyer or any other items NOT LIMITED TO, provided by Buyer, or directed to products are subject to and shall be which become Buyer’s property, may MERCHANTABILITY AND items delivered hereunder for which governed exclusively by the terms be considered obsolete and may be FITNESS FOR PURPOSE, the designs are specified in whole or and conditions stated herein. Buyer’s destroyed by Seller after two (2) WHETHER EXPRESS, IMPLIED, part by Buyer, or infringements acceptance of any offer to sell is consecutive years have elapsed OR ARISING BY OPERATION OF resulting from the modification, limited to these terms and conditions. without Buyer placing an order for the LAW, TRADE USAGE, OR combination or use in a system of Any terms or conditions in addition items which are manufactured using COURSE OF DEALING ARE any item sold hereunder. The to, or inconsistent with those stated such property. Seller shall not be HEREBY DISCLAIMED. foregoing provisions of this Part 10 herein, proposed by Buyer in any responsible for any loss or damage to shall constitute Seller’s sole and acceptance of any offer by Seller, are NOTWITHSTANDING THE such property while it is in Seller’s exclusive liability and Buyer’s sole hereby objected to. No such FOREGOING, THERE ARE NO possession or control. and exclusive remedy for WARRANTIES WHATSOEVER ON additional, different or inconsistent 9. Taxes: Unless otherwise infringement of Intellectual Property terms and conditions shall become ITEMS BUILT OR ACQUIRED indicated on the face hereof, all Rights. WHOLLY OR PARTIALLY, TO part of the contract between Buyer prices and charges are exclusive of and Seller unless expressly accepted BUYER’S DESIGNS OR If a claim is based on information excise, sales, use, property, in writing by Seller. Seller’s SPECIFICATIONS. provided by Buyer or if the design for occupational or like taxes which may acceptance of any offer to purchase an item delivered hereunder is 5. Limitation of Remedy: be imposed by any taxing authority by Buyer is expressly conditional specified in whole or in part by Buyer, SELLER’S LIABILITY ARISING upon the manufacture, sale or upon Buyer’s assent to all the terms Buyer shall defend and indemnify FROM OR IN ANY WAY delivery of the items sold hereunder. and conditions stated herein, Seller for all costs, expenses or CONNECTED WITH THE ITEMS If any such taxes must be paid by including any terms in addition to, or judgments resulting from any claim SOLD OR THIS CONTRACT Seller or if Seller is liable for the inconsistent with those contained in that such item infringes any patent, SHALL BE LIMITED collection of such tax, the amount Buyer’s offer. Acceptance of Seller’s trademark, copyright, trade dress, EXCLUSIVELY TO REPAIR OR thereof shall be in addition to the products shall in all events constitute trade secrets or any similar right. REPLACEMENT OF THE ITEMS amounts for the items sold. Buyer such assent. SOLD OR REFUND OF THE 11. Force Majeure: Seller does not agrees to pay all such taxes or to 2. Payment: Payment shall be made PURCHASE PRICE PAID BY assume the risk of and shall not be reimburse Seller therefore upon by Buyer net 30 days from the date BUYER, AT SELLER’S SOLE liable for delay or failure to perform receipt of its invoice. If Buyer claims of delivery of the items purchased OPTION. IN NO EVENT SHALL any of Seller’s obligations by reason exemption from any sales, use or SELLER BE LIABLE FOR ANY hereunder. Amounts not timely paid of circumstances beyond the other tax imposed by any taxing shall bear interest at the rate of 1-1/ INCIDENTAL, CONSEQUENTIAL reasonable control of Seller authority, Buyer shall save Seller 2% for each month or a portion OR SPECIAL DAMAGES OF ANY (hereinafter "Events of Force harmless from and against any such thereof that Buyer is late in making KIND OR NATURE WHATSOEVER, Majeure"). Events of Force Majeure tax, together with any interest or payment. Any claims by Buyer for INCLUDING BUT NOT LIMITED shall include without limitation, penalties thereon which may be TO LOST PROFITS ARISING omissions or shortages in a shipment accidents, acts of God, strikes or assessed if the items are held to be shall be waived unless Seller receives FROM OR IN ANY WAY labor disputes, acts, laws, rules or taxable. notice thereof within 30 days after CONNECTED WITH THIS regulations of any government or 10. Indemnity for Infringement of Buyer’s receipt of the shipment. AGREEMENT OR ITEMS SOLD government agency, fires, floods, Intellectual Property Rights: Seller HEREUNDER, WHETHER delays or failures in delivery of 3. Delivery: Unless otherwise shall have no liability for infringement ALLEGED TO ARISE FROM carriers or suppliers, shortages of provided on the face hereof, delivery of any patents, trademarks, BREACH OF CONTRACT, materials and any other cause shall be made FOB Seller’s plant. copyrights, trade dress, trade secrets EXPRESS OR IMPLIED beyond Seller’s control. Regardless of the method of delivery, or similar rights except as provided in WARRANTY, OR IN TORT, however, risk of loss shall pass to 12. Entire Agreement/Governing this Part 10. Seller will defend and INCLUDING WITHOUT Buyer upon Seller’s delivery to a Law: The terms and conditions set indemnify Buyer against allegations of LIMITATION, NEGLIGENCE, carrier. Any delivery dates shown are forth herein, together with any infringement of U.S. patents, U.S. FAILURE TO WARN OR STRICT approximate only and Seller shall amendments, modifications and any trademarks, copyrights, trade dress LIABILITY. have no liability for any delays in different terms or conditions and trade secrets (hereinafter delivery. 6. Changes, Reschedules and expressly accepted by Seller in ‘Intellectual Property Rights’). Seller Cancellations: Buyer may request writing, shall constitute the entire 4. Warranty: Seller warrants that will defend at its expense and will pay to modify the designs or Agreement concerning the items the hardware sold hereunder shall be the cost of any settlement or specifications for the items sold sold, and there are no oral or other free from defects in material damages awarded in any action hereunder as well as the quantities representations or agreements which workmanship for a period of two brought against Buyer based on an and delivery dates thereof, or may pertain thereto. This Agreement shall years from the date of shipment to allegation that an item sold pursuant request to cancel all or part of this be governed in all respects by the law Buyer. Seller warrants that the to this contract infringes the order; however, no such requested of the State of Ohio. No actions SOFTWARE will perform substantially Intellectual Property Rights of a third modification or cancellation shall arising out of the sale of the items in accordance with the party. Seller’s obligation to defend become part of the contract between sold hereunder or this Agreement accompanying materials for a period and indemnify Buyer is contingent on Buyer and Seller unless accepted by may be brought by either party more of ninety (90) days from the date of Buyer notifying Seller within ten (10) Seller in a written amendment to this than two (2) years after the cause of receipt. Any implied warranties on the days after Buyer becomes aware of Agreement. Acceptance of any such action accrues. SOFTWARE are limited to ninety (90) Parker Hannifin Corporation 30 Compumotor Division compumotor.com Catalog 8180/USA Offer of Sale The items described in this document are hereby offered for sale by Parker Hannifin Corporation, its subsidiaries or its authorized distributors. This offer and its acceptance are governed by the provisions stated on the document entitled "Offer of Sale." Controllers Model Type Page ACR8020 Multi-axis Motion Controller .......................... 11 ACR8010 Multi-axis Motion Controller .......................... 14 ACR2000 Multi-axis Motion Controller .......................... 16 ACR1500 Multi-axis Motion Controller .......................... 18 ACR1200 Multi-axis Motion Controller .......................... 20 AcroView Machine Tool Software .................................. 22 AcroCUT Machine Tool Software .................................. 23 AcroMill Machine Tool Software .................................. 24 RBB Breakout Module ........................................... 26 RBC Breakout Module ........................................... 26 RBD Breakout Module ........................................... 26 ACH3121 Controller Chassis ......................................... 27 ACH3200 Controller Chassis ......................................... 27 OPS1200 Operator Interface ......................................... 28 Application Story ...................................................................... 29 WARNING ! FAILURE OR IMPROPER SELECTION OR IMPROPER USE OF THE PRODUCTS AND/OR SYSTEMS DESCRIBED HEREIN OR RELATED ITEMS CAN CAUSE DEATH, PERSONAL INJURY AND PROPERTY DAMAGE. This document and other information from Parker Hannifin Corporation, its subsidiaries and authorized distributors provide product and/or system options for further investigation by users having technical expertise. It is important that you analyze all aspects of your application and review the information concerning the product or system in the current product catalog. Due to the variety of operating conditions and applications for these products or systems, the user, through its own analysis and testing, is solely responsible for making the final selection of the products and systems and assuring that all performance, safety and warning requirements of the application are met. The products described herein, including without limitation, product features, specifications, designs, availability and pricing, are subject to change by Parker Hannifin Corporation and its subsidiaries at any time without notice.