ACR7000 Controller Differences to ACR9000

Note - more significant differences to be aware of

The 7000 series controller is designed as a replacement for the ACR9000, supporting both servo and stepper axes, up to 8axes.

Default Ethernet IP address of the ACR7000 controllers is: 192.168.100.1 The ACR9000 default was 192.168.10.40

The ACR9000's ethernet port did not auto-detect, 10/100Mbps. The ACR7000 does auto-detect straight-through or crossover ethernet cables and is 10/100Mbps.

The 7000 series controller has the same pinout axis connectors and discrete I/O pinouts as the ACR9000.

The 7000 controller has 2 ethernet ports (a hub) that users can use (one tcp/ip address). The ACR9000 has one ethernet port.

*No CanOpen support for the Expansion I/O bus coupler so this changes to the Ethernet/IP bus coupler but all existing I/O modules can stay the same. Configuration in the software needs to be modified for this change.

Like the IPA drive/controller, the 7000 can be an Ethernet/IP master to a Wago 750-363 Ethernet/IP bus coupler for expansion I/O (or Wago's previous 750-352 or 750-341.)

It can also be a slave on an Ethernet/IP network for Allen Bradley PLC or an Omron PLC. This can be done at same time as being an ENIP master to a Wago 750.　

*No serial port, no usb port but 5 ethernet streams are supported (ACR9000 supported 4).

No battery! The ACR7000 series are all flash based memory products. Using retentive variables such as P38912 - P39167 (DINT) or P39168 - P39423 (32bit FLOATs)? No worry! The ACR7000 is saving these in the background to behave the same as a battery ACR9000 (9000PxUxBx), with the benefit of not having to periodically replace a battery or modify the program when upgrading.

*No IEC support (most users using the 9600 were using the AcroBASIC programs and not the IEC which wasn't expanded to work on Win10 anyway).

*No ACROPLC support. This was a legacy feature implemented in much older ACR controllers and continued into the 9000 family for backward compatibility but this feature has not been continued into the 7000 models.

*Powered from 24volts. The ACR9000 was powered from 120vac or 240vac.

Same AcroBasic programming that's worked for 20 years with the ACR9000 will work with the 7000.

Same comACRserver: any PC communications (VB / LabView / .NET / etc) that OEM/machine builders/power end users developed works the same with the 7000 as the 9000.

*The 7000 controller has 1 auxiallary encoder input and is 15pin D-sub and can only be used with incremental quadrature encoders; the ACR9000 had 9pin aux encoder ports (ENC8 and ENC9) that supported both SSI and quadrature encoders.

The same axis cables do not need to be changed, allowing users to easily upgrade systems. The same cables to connect to Parker drives all work with the 7000 series controller: P series, Aries, Compax3, Gemini Servo & Stepper, Zeta, E-AC, etc.The 7000 controller axis connectors encoder support both quadrature encoder and SSI feedback.

*Much smaller: 4axis 9000P3U4B0 and 4axis ACR74C-A0V2C1shown

The ACR9000 was available in both flash based memory (9000P3U4M0) was a flash based memory where the battery backed RAM was (9000P3U4B0). The ACR7000 series controller is flash based memory only but has non-volatile parameters that are stored, giving users the advantages of a battery backed RAM unit without a battery.

The ACR7000 series controller is same as a flash based ACR9000. To take advantage of the non-volatile parameters, users will need to change the parameters if they were using the battery backed ACR9000:

And of course we also have the ACR7000 integrated stepper and ACR7000 integrated servo for new applications too.

New & Improved software Parker Motion Manager vers2.1 was released in September 2020. Version 1.0 is already out for the 7000stepper.　Version 2.0 supports 7000servo.

Anyone familiar with ACR-View will be able to pick it up very quickly with similar flow and feel but we've taken out what's not needed

and made drastic improvements to the usability:

Projects are saved as 1 .pprj file instead of a zip of a folder of files
More powerful graphing with oscilloscopes & servo tuning and easier to use (auto scaling)

Additional notes in migrating ACR-View project to PMM:

What I'd suggest doing is having ACR-View open with the project, side by side with PMM to go through the Configuration Wizard and set everything the same. Architecturally the same.
Old things taken out (CANopen, EPL), new things added in (easy to invert the default direction to define the other way as positive with simple checkbox, steppers + encoders now have Position Maintenance enabled, scaling for Parker actuators/precision stages).

The programs can be copy & pasted over. That's just text.

*Defines are trickier as in PMM they're in a chart and would have to be inserted in the chart. You can get around this by copying the DEFINES and putting it at the top of Program0 like this (this will throw an error for each define) download but you can ignore the errors on the defines. An import feature will be added new future version of PMM.

Example:

#DEFINE Xposition p12292

PROGRAM
PBOOT
REM This is program 0.
...

END

Again, PMM removes some things like CANopen, EPL, etc that's not on the 7000.

ServoTuner is not part of Configuration Wizard anymore. The default tuning gains for servo axis is the same as the ACR9000 but you may want to change them. Scaling is the same so the number wouldn't change.
If using higher resolution motors (P series motors are absolute but from the drive is 10,000 counts per revolution coming back to controller; as compared to MPP/MPJ 1E encoder 8000 counts, BE J 8000 counts, SM motor E 4000counts)
you may need to scale down the gains a bit. With more encoder counts coming back, the tuning gains may need to be tweaked down a bit.
PMM's ServoTuner screen is really nice allowing easy testing of all the axis and adjusting the gain (No more setting Motion Code... download to Prog0 checkbox, setting the vertical scaling for channels with the AutoScale now in PMM).

Another thing to consider: Pseries drives has a more advanced tuning algorithm. The drive can be setup in step&direction mode. Then DST can be used to tune the drives (via mini-USB) individually.
The axis at the controller would need to be set as external stepper instead of external servo. This takes advantage of the tuning of the Pseries but limits that you cannot do a TLM (torque limit) on the axis to do a clamping/torque move vs a position move.

Other helpful links:

How to get absolute encoder position from P series Indexer (P-series motors with BiSS-C Absolute encoders or MPP/MPJ with 8D, etc):
P SERIES DRIVES - INDEXER VERSION - CAN I GET ABSOLUTE ENCODER POSITION FROM MY DRIVE?

Pseries drive settings for analog torque / step & direction:
P SERIES DRIVES - INDEXER VERSION - ANALOG MODE OR STEP & DIRECTION (PULSE) MODE SAMPLE CONFIGURATIONS & NOTES FOR ACR9000 AND ACR7000 CONTROLLERS