The ACR9000 control platform controls a total of 16-axis of motion with up to 8 axes of analog servo/stepper and up to 16 axes over an optional Ethernet Power Link Bus. The ACR supports a wide variety of motion control applications, providing the machine designer an unprecedented level of flexibility. Everything from single-axis point-to-point motion through multi-tasking programs controlling highperformance multi-axis circular interpolation is available within the ACR platform.

ACR9000 Motion Controller - Features:
• Programmed using Parker's AcroBasic programming language
• Multitasking of up to 24 simultaneous programs
• Multiple coordinate systems
• Interpolation of up to eight axes in any combination
• On-the-fly motion parameter changes
• Segmented electronic camming
• Electronic gearing with real-time phase advance
• Linear, circular and helical interpolation
• Automatic tangential and parallel tool alignments
• Interruptible moves
• Analog or digital feedback
• Dual-loop feedback
• Gantry lock
• Data teach and playback
• Backlash and ballscrew compensation

ACR9000 Motion Controller - Technical Specifications:
• Voltage Input : 120/240 VAC
• Axes/controller : 2, 4, 6 or 8 axes, servo or stepper control
• Processor : 32-bit floating-point DSP @ 150 MFLOPS / 75 MHz
• Trajectory Calculation : 64-bit precision
• User Memory : 1 MB Flash-based. Retains user programs and system configurationparameters
• Firmware: Flash-based
• Size : 3.58” W x 10.5” H x 5.3” D (2-4 axes) / 5.0” W x 10.5” H x 5.3” D (6-8 axes)
• Operating System : Multi-tasking RTOS
• Battery Backup : Non-volatile memory retains all system and user variables
• Temperature : 0-45 C (32-113F)
• Humidity : 0-95%, non-condensing
• Standards : UL Listed, CE (LVD and EMC)
• Connections :
    - 10/100 Base-T Ethernet
    - USB 2.0
    - EtherNet/IP compatibility
    - CANopen for expansion I/O
• Encoder Input: Standard Quadrature Encoder, SSI
• Inputs/Ouputs: 24 VDC optically isolated onboard
• Standards: CE (EMC & LVD), UL and cUL Recognized