Parker ACR2000 User manual

Automation
p/n YPM08117
ACR2000
Hardware Manual
Effective: October 7, 2002

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CHANGE NOTICE
ACR2000 Hardware Manual P/N PM08117 Version Change:
From: Version 1.08, Dated 5/24/2000
To: Version 1.09, Dated 12/7/2001
1. Page 11, Digital Output Sink/Source
Select Jumpers (J7 and J8)
Added Sinking Output Driver chip source.
2. Page 26, ACRCOMM Serial
Communications
Corrected MUX Flag table.
3. Page 36, ACR2000 Technical
Specification
Corrected operating temperature range. Added tolerances to
power consumption values.
ACR2000 Hardware Manual P/N PM08117 Version Change:
From: Version 1.07, Dated 9/30/1999
To: Version 1.08, Dated 5/24/2000
1. ACR2000, ACRIO Section Removed ACRIO section. ACRIO board has separate
hardware manual.
ACR2000 Hardware Manual P/N PM08117 Version Change:
From: Version 1.06, Dated 7/8/1999
To: Version 1.07, Dated 9/30/1999
1. Page 5, ACR2000 Motherboard
Hardware
Added U14/U15 Digital Output Driver locations to Figure
1.
2. Page 6, ACR2000 Motherboard
Jumpers
Added jumper reference table.
3. Page 11, ACR2000 Motherboard
Jumpers – Digital Output
Added warning about installing jumpers with wrong output
driver IC’s.
4. Page 25, ACRCOMM Module Added communications set-up details.
5. Page 27, ACRCOMM Hardware Setup Updated outline drawing to include LED’s and unused
jumpers.
6. Page 28, ACRCOMM Module Jumpers Added jumper reference table.
7. Page 30, ACRCOMM Module Jumpers
– Battery Enable Jumpers (J5 and J6)
Added reference and replacement options to first paragraph.
8. ACRCOMM Module Jumpers –
Extended Card Address Jumper (J8)
Removed J8 Jumper Reference information
9. Page 33, ACRCOMM Module
Hardware Wiring – Standalone Power
(PWR2)
Added LED reference to PWR2 table.
10. ACRIO Module Hardware Added U1 thru 4 Digital Output Driver locations to Figure
5.
11. ACRIO Module Jumpers Added jumper reference table.
12. ACRIO Module Jumpers – Digital
Output
Added warning about installing jumpers with wrong output
driver IC’s. Corrected IC reference designations.

CHANGE NOTICE, continued
ACR2000 Hardware Manual P/N PM08117 Version Change:
From: Version 1.05, Dated 5/20/1998
To: Version 1.06, Dated 7/8/1999
1. ACR2000 Motherboard Jumpers –
Digital Input Reference Select Jumper
(J5)
Removed +5VDC reference.
2. ACR2000 Motherboard Jumpers –
Digital Output Sink/Source Select
Jumpers
(J7 and J8)
Removed +5VDC reference. Added jumper warning.
3. ACR2000 Motherboard Hardware
Wiring
Removed +5VDC reference.
4. ACR2000 Motherboard Hardware
Wiring, Digital I/O Power (PWR1)
Removed +5VDC reference.
5. Chapter 3 Overview Removed +5VDC reference.
6. ACRIO Module Jumpers – Digital
Input Reference Select Jumpers (J3 and
J4)
Removed +5VDC reference.
7. ACRIO Module Jumpers – Digital
Output Sink/Source Select Jumpers
(J5 and J6)
Removed +5VDC reference. Added jumper warning.
8. ACRIO Module Hardware Wiring,
Digital I/O Power (PWR1)
Removed +5VDC reference.

CHANGE NOTICE, continued
ACR2000 Hardware Manual P/N PM08117 Version Change:
From: Version 1.04, Dated 1/19/98
To: Version 1.05, Dated 5/20/98
The following changes have been incorporated into ACR2000 Hardware Manual Version
1.05:
1. ACR2000 Motherboard Switches –
Address Selection Switch (SW1)
Added Flash Bypass Mode information.
2. ACR2000 Motherboard Hardware
Wiring – Analog Input/Output (P2)
Added Stepper Output fuse information.
3. ACRIO Digital I/O Power (PWR1) Corrected the Isolated Power Fuse current rating from
“2 Amps” to “4 Amps”.
4. ACR2000 Specification Corrected the DAC/Stepper Output Step Output frequency
specification.
5. ACR2000 Specification Corrected the Digital Outputs specification.
6. ACRIO Specification Added ACRIO Specification.
7. ACRIO Module Mechanical
Dimensions
Corrected the ACRIO mechanical dimension from the top of
the board to the center of the bottom hole. Changed the
value from “3.700” to “3.750”.
8. ACR2000 Typical Connection
Diagrams
Corrected the Multiple Board RS-232 diagram on ACR2000
Wiring Diagram page1.
Corrected the Stepper Output open-collector drivers from
“7407” to “7406” in ACR2000 Wiring Diagram page 2.

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i
TABLE OF CONTENTS
INTRODUCTION........................................................................................................... 1
CHAPTER 1.................................................................................................................... 3
ACR2000 MOTHERBOARD HARDWARE SETUP ................................................... 3
Chapter 1 Overview ............................................................................................ 4
ACR2000 Motherboard Switches ....................................................................... 6
Address Selection Switch (SW1)................................................................. 6
ACR2000 Motherboard Jumpers ........................................................................ 7
ACR2000 Jumper Table List ....................................................................... 7
Encoder Pull-up Select Jumpers (J1 thru J4) ............................................... 8
Digital Input Reference Select Jumper (J5) ................................................. 9
Digital Output Sink / Source Select Jumpers (J7 and J8) ............................ 11
EPROM Size Select Jumpers (J9 and J12) .................................................. 13
Battery Back-Up Select Jumpers (J10 and J11)........................................... 14
Interrupt Select Jumper (J13)....................................................................... 15
ACR2000 Motherboard Hardware Wiring.......................................................... 16
Encoder Inputs (P1)...................................................................................... 17
Analog Input / Output (P2) .......................................................................... 19
Digital Inputs / Outputs (P3)........................................................................ 21
Digital I/O Power (PWR1)........................................................................... 22
CHAPTER 2 .................................................................................................................. 23
ACRCOMM MODULE HARDWARE SETUP (OPTIONAL) .................................. 23
Chapter 2 Overview ............................................................................................ 24
ACRCOMM Serial Communications ................................................................. 25
ACRCOMM Module Jumpers ............................................................................ 28
ACRCOMM Jumper Table List................................................................... 28
RS-422 Termination Jumpers (J1 thru J4)................................................... 29
Battery Enable Jumpers (J5 and J6) ............................................................. 30
Autobaud Detect Jumper (J7) ...................................................................... 31
ACRCOMM Module Hardware Wiring (Optional)............................................ 32
ACRCOMM Standalone Power (PWR2) .................................................... 33
ACRCOMM Communications (P5) ............................................................ 34
CHAPTER 3 .................................................................................................................. 35
ACR2000 SPECIFICATION........................................................................................ 35
ACR2000 Specification....................................................................................... 36
CHAPTER 4 .................................................................................................................. 39
ACR2000 MECHANICAL DRAWINGS..................................................................... 39

ACR2000 Hardware Manual
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ACR2000 Mechanical Dimensions..................................................................... 40
ACRCOMM Module Mechanical Dimensions................................................... 41
ACR2000 Board Stacking Examples .................................................................. 42
ACR2000 Typical Connection Diagrams............................................................ 43

iii
TABLES
Table 1.1 ACR2000 PC BUS Status Port Bits................................................................... 6
Table 1.2 ACR2000 PC BUS Port Addresses.................................................................... 6
Table 1.3 ACR2000 Encoder Pull-Up Jumpers ................................................................. 8
Table 1.4 ACR2000 Digital Input Reference Jumper ........................................................ 9
Table 1.5 ACR2000 Digital Output Sink/Source Select Jumper ..................................... 11
Table 1.6 ACR2000 EPROM Size Select Jumpers.......................................................... 13
Table 1.7 ACR2000 Battery Back-Up Enable Jumpers ................................................... 14
Table 1.8 ACR2000 PC BUS Interrupt Select Jumpers................................................. 15
Table 1.9 ACR2000 Encoder Input Connector ................................................................ 17
Table 1.10 ACR2000 Analog I/O Connector................................................................... 19
Table 1.11 ACR2000 Isolated Power Fuses..................................................................... 20
Table 1.12 ACR2000 Digital I/O Connector.................................................................... 21
Table 1.13 ACR2000 Isolated Power Connector ............................................................. 22
Table 1.14 ACR2000 Isolated Power Fuses..................................................................... 22
Table 2.1 ACRCOMM RS-422 Termination Jumpers .................................................... 29
Table 2.2 ACRCOMM Battery Selection Jumpers .......................................................... 30
Table 2.3 ACRCOMM Autobaud Detect Jumper............................................................ 31
Table 2.3 ACRCOMM Standalone Power Connector ..................................................... 33
Table 2.4 ACRCOMM Standalone Power Fuses............................................................. 33
Table 2.5 ACRCOMM Communications Connector....................................................... 34

ACR2000 Hardware Manual
P/N PM08117
iv
FIGURES
Figure 1. ACR2000 Motherboard Outline....................................................................... 5
Figure 2. ACR2000 Digital Input User Circuit ................................................................ 10
Figure 3. ACR2000 Digital Output User Circuit ............................................................. 12
Figure 4. ACRCOMM RS-422 Interface Schematic..................................................... 26
Figure 5. ACRCOMM Module Outline ........................................................................ 27
Figure 6. ACR2000 Mechanical Dimensions................................................................... 40
Figure 7. ACRCOMM Mechanical Dimensions.............................................................. 41
Figure 8. ACR2000 Board Stacking Mechanical Dimensions Examples ........................ 42

Introduction
1
INTRODUCTION
This document provides hardware connection information for the Acroloop ACR2000
motion controller.
Included in this document is the hardware connection information for the following
optional plug-in modules:
a. ACRCOMM module. This board is required for stand-alone operation of the
ACR2000 motion controller. Power supply input, battery back-up, and
communication ports are provided by this board.
Refer to separate ACRIO Hardware Manual – Reverse Layout, P/N PM08124:
a. ACRIO module. This board provides expanded I/O capabilities for the ACR2000
motion controller. An additional 32 Digital Inputs and 32 Digital Outputs are
provided by this board. Up to four expanded I/O boards can be piggy-backed, for
a total of 288 digital I/O.

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Chapter 1, ACR2000 Motherboard Hardware Set-Up
3
CHAPTER 1
ACR2000 MOTHERBOARD HARDWARE SETUP

ACR2000 Hardware Manual
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CHAPTER 1 OVERVIEW
This section contains diagrams of the jumpers and switches on the ACR2000 mother
board.
Encoder pull-up jumpers must be set correctly based on the types of encoders being used.
Failure to set these jumpers correctly may cause damage to the encoders or to the
receivers on the controller card.
There are no analog adjustment “pots” on the board. All analog gain and offset is under
software control. The analog outputs must be wired to differential control signal inputs
on a servo amplifier. The DAC SIMM module outputs provide an analog control voltage
of ±10 volts.
Stepper SIMM module outputs provide open-collector step and direction signals. There
are no pull-up resistors provided on the Stepper outputs.
Factory default jumper settings for the ACR2000 motherboard are highlighted within the
following jumper tables.

Chapter 1, ACR2000 Motherboard Hardware Set-Up
5
ACR2000 MOTHERBOARD HARDWARE SETUP
NOTE: Square pin indicates Pin 1.
Figure 1. ACR2000 Motherboard Outline

ACR2000 Hardware Manual
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6
ACR2000 MOTHERBOARD SWITCHES
Address Selection Switch (SW1)
The ACR2000 can receive and transmit data through I/O ports on a PC BUS. The
addresses of these ports are selectable using SW1 on the ACR2000 motherboard. The
data port is used to both transmit and receive. Both the transmit and receive channels are
connected to 512 byte First In / First Out (FIFO) hardware buffers.
Refer to Figure 1 for switch location.
The status port is used to see if data is waiting to be received from the card and if it is OK
to send data to the card. The byte read from the status port is defined as follows:
BIT Definition Description
BIT7 Transmit Not Full Clear to send one byte
BIT6 Transmit Not Half Empty Clear to send up to 255 bytes
BIT5 Receive Not Empty Data Available
BIT4 Transmit Not Empty Still something in the buffer
Table 1.1 ACR2000 PC BUS Status Port Bits
The following table shows how the switch positions relate to the ACR2000 card number
and I/O port addresses.
Note that Switch 4 should be left in the “OFF” position, unless using the Flash Bypass
Mode of operation. Flash Bypass Mode is selected when the user does not want to load
the program information from flash at power-up or reset. The card will not communicate
via the PC BUS at Card Number 15, so after the board is powered-up or reset in Flash
Bypass Mode, the SW1 settings must be placed back to a valid card number. Serial
communications via the COM1 and COM2 communication ports on the ACRCOMM
module will recognize the card as Card Number 15. However, the card should be placed
back to a valid card number during normal operation.
Card SW1 Settings Addresses
Number 4 3 2 1 Data Status
0 OFF OFF OFF OFF 0x300 0x302
1 OFF OFF OFF ON 0x304 0x306
2 OFF OFF ON OFF 0x308 0x30A
3 OFF OFF ON ON 0x30C 0x30E
4 OFF ON OFF OFF 0x310 0x312
5 OFF ON OFF ON 0x314 0x316
6 OFF ON ON OFF 0x318 0x31A
7 OFF ON ON ON 0x31C 0x31E
8-14 RESERVED
15 ON ON ON ON Flash Bypass Mode
Table 1.2 ACR2000 PC BUS Port Addresses

Chapter 1, ACR2000 Motherboard Hardware Set-Up
7
ACR2000 MOTHERBOARD JUMPERS
Jumper Table List
The following is a list of the jumper functions on the ACR2000 motherboard:
JUMPER JUMPER FUNCTION
J1 ENC0 Pull-up Voltage Select (Page 7)
J2 ENC1 Pull-up Voltage Select (Page 7)
J3 ENC2 Pull-up Voltage Select (Page 7)
J4 ENC3 Pull-up Voltage Select (Page 7)
J5 Digital Input Sinking/Sourcing Select (Page 9)
J6 Factory Test Header**
J7 Digital Output Sinking/Sourcing Select (Page 11)
J8 Digital Output Sinking/Sourcing Select (Page 11)
J9 Factory Set Firmware Eprom Size Select (Page 13)
J10 Battery Back-up Enable Select (Page 14)
J11 Battery Back-up Enable Select (Page 14)
J12 Firmware Eprom Size Select (Page 13)
J13 ISA Interrupt Select (Page 15)
** Connecting external signals to this header may cause board failure or damage to
IC’s.

ACR2000 Hardware Manual
P/N PM08117
8
ACR2000 MOTHERBOARD JUMPERS
Encoder Pull-up Select Jumpers (J1 thru J4)
The ACR2000 is capable of handling various types of incremental open-collector and line
driver encoders. Care must be taken to setup each channel to match the encoder type as
described below:
Open Collector Encoders:
When using open-collector encoders, the encoder channels must be pulled to either +5 or
+12 volts, depending upon the application. Pulling up to +12 volts provides higher noise
immunity, but causes a slower response time. For high frequency applications (encoder
rates higher than 1 megahertz) the +5 volt pull-up section may be necessary.
Line Driver Encoders:
When using line driver (or balanced pair) encoders, the corresponding resistor pack
should be removed from it’s socket. Leaving the resistor pack in the socket can cause
faulty encoder operation and possibly severe encoder damage. Optionally, the resistor
pack can be replaced with an 8-pin isolated resistor pack to supply termination resistance
for the balanced signal pairs.
Pull-up Selection:
The following table lists the pull-up jumper settings for each encoder:


WARNING
Wiring a line driver encoder with the pull-up selected to
+12 volts will permanently damage the encoder.
Encoder Pull-Up Jumpers
Encoder Resistor Jumper +5V +12V
0 RP2 J1 1-2 2-3
1 RP1 J2 1-2 2-3
2 RP4 J3 1-2 2-3
3 RP3 J4 1-2 2-3
Table 1.3 ACR2000 Encoder Pull-Up Jumpers
Refer to Figure 1 for jumper location.

Chapter 1, ACR2000 Motherboard Hardware Set-Up
9
ACR2000 MOTHERBOARD JUMPERS
Digital Input Reference Select (J5)
This jumper selects the reference voltage to be used for the optically-isolated inputs. The
reference voltage selected applies to all inputs; there are no combinations available.
Isolated voltage (VEXT) refers to +24VDC.


WARNING
Wiring VEXT with the incorrect voltage will permanently
damage the Digital I/O circuitry. The isolated voltage
(VEXT) is selected as +24VDC.
Refer to Figure 1 for jumper location.
Digital Input Reference Jumper
Input Type Reference Voltage J5 User Supplies
Sinking Reference Inputs to
Isolated +24VDC Voltage (VEXT)
1-2 Path to GEXT
Sourcing Reference Inputs to
Isolated Common (GEXT)
2-3 Path to +24VDC
(VEXT)
Table 1.4 ACR2000 Digital Input Reference Jumper

ACR2000 Hardware Manual
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10
ACR2000 MOTHERBOARD JUMPERS
Figure 2. ACR2000 Digital Input User Circuit