Parker ACR8020 User manual

Automation
p/n YPM08126
ACR8020
Hardware Manual
Effective: October 7, 2002

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i
CHANGE NOTICE
ACR8020 Hardware Manual P/N PM08126 Version Change:
From: Version 1.00, Dated 12/8/2000
To: Version 1.01, Dated 12/8/2001
1. Page 6, Plug and Play Capability Added Plug and Play information.
2. Page 16, Digital Input Reference Select
(JP17 and JP18)
Added figure.
3. Page 17, Digital Output Sink/Source
Select (JP15 and JP16)
Added output driver IC source.
4. Page 18, Digital Output Sink/Source
Select (JP15 and JP16)
Added figure.
5. Page 32, Serial Communications Corrected MUX table.
6. Page 33, ACRCOMM Module Setup Added figure information.
7. Page 42, Technical Specification Corrected operating temperature range.
ACR8020 Hardware Manual P/N PM08126 Version Change:
Version 1.00, Dated 12/08/00
1. ACR8020 Hardware Manual Initial Release

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TABLE OF CONTENTS
INTRODUCTION........................................................................................................... 1
CHAPTER 1.................................................................................................................... 3
ACR8020 MOTHERBOARD PLUG AND PLAY CAPABILITY................................ 3
Chapter 1 Overview ............................................................................................ 5
ACR8020 Motherboard Plug and Play Capability .............................................. 6
Dual Port Memory Address Select............................................................... 6
CHAPTER 2.................................................................................................................... 7
ACR8020 MOTHERBOARD HARDWARE SETUP ................................................... 7
Chapter 2 Overview ............................................................................................ 9
ACR8020 Motherboard Switches ....................................................................... 11
Serial Communication Card Selection /User Switch (SW1) ....................... 11
ACR8020 Motherboard Jumpers ........................................................................ 12
ACR8020 Jumper Table List ....................................................................... 12
Encoder Pull-up Select Jumpers (JP5-JP14)................................................ 13
Digital Input Reference Select Jumper (JP17 and JP18) ............................. 15
Digital Output Sink / Source Select Jumpers (JP15 and JP16).................... 17
ACR8020 Motherboard Hardware Wiring.......................................................... 19
Encoder Inputs (P1A, P1B, P1C)................................................................. 20
Analog Input / Output (P2) .......................................................................... 24
Digital Inputs / Outputs (P3 and P4)............................................................ 25
Miscellaneous Output (P9)........................................................................... 26
Digital I/O Power (PWR1)........................................................................... 27
CHAPTER 3............................................................................................................... 29
ACRCOMM MODULE HARDWARE SETUP (OPTIONAL) ................. 29
Chapter 2 Overview ............................................................................................ 31
ACRCOMM Serial Communications ................................................................. 32
ACRCOMM Module Jumpers ............................................................................ 34
ACRCOMM Jumper Table List................................................................... 34
RS-422 Termination Jumpers (J1 thru J4)................................................... 35
Battery Enable Jumpers (J5 and J6) ............................................................. 36
Autobaud Detect Jumper (J7) ...................................................................... 37
ACRCOMM Module Hardware Wiring (Optional)............................................ 38
ACRCOMM Standalone Power (PWR2) .................................................... 39
ACRCOMM Communications (P5) ............................................................ 40
CHAPTER 4............................................................................................................... 41

iii
TECHNICAL SPECIFICATIONS ...................................................................... 41
ACR8020 Technical Specification...................................................................... 42
CHAPTER 5............................................................................................................... 45
ACR8020 MECHANICAL DETAILS................................................................ 45
ACR8020/ACRCOMM Board............................................................................ 46
ACR8020 Typical Connection Diagrams............................................................ 47

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TABLES
Table 2.1 ACR8020 Serial Communication Card Number Select................................. 11
Table 2.2 ACR8020 Encoder Pull-Up Jumpers ............................................................. 14
Table 2.3 ACR8020 Digital Input Reference Jumper .................................................... 15
Table 2.4 ACR8020 Digital Output Sink/Source Select Jumper ................................... 17
Table 2.5 ACR8020 Encoder Input Connectors P1A and P1B...................................... 20
Table 2.6 ACR8020 Encoder Input Connector P1C ...................................................... 21
Table 2.7 ACR8020 Analog I/O Connector................................................................... 24
Table 2.8 ACR8020 Digital I/O Connector ................................................................... 25
Table 2.9 ACR8020 Miscellaneous Output Connector P9 ............................................ 26
Table 2.10 ACR8020 SVCC Power Fuses.................................................................. 26
Table 2.11 ACR8020 Isolated Power Connector ........................................................ 27
Table 2.12 ACR8020 Isolated Power Fuses................................................................ 27
Table 3.1 ACRCOMM RS-422 Termination Jumpers .................................................... 35
Table 3.2 ACRCOMM Autobaud Detect Jumper............................................................ 37
Table 3.3 ACRCOMM Communications Connector....................................................... 40

v
FIGURES
Figure 1. ACR8020 Motherboard Outline..................................................................... 10
Figure 2. ACR8020 Digital Input User Circuit ............................................................. 16
Figure 4. ACRCOMM RS-422 Interface Schematic..................................................... 32
Figure 5. ACRCOMM Module Outline ........................................................................ 33

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Introduction
1
INTRODUCTION
This document provides hardware connection information for the Acroloop ACR8020
motion controller.


WARNING
The ACR8020 board requires that the PC has BOTH
3.3VDCand 5VDC available on the backplane. ATX Style
Power Supplies and Backplanes with both 3.3V and 5V are
recommended for use. Powering up the board without
BOTH 3.3VDC and 5VDC available will permanently
damage the ACR8020 board.
Before powering up any ACR8020 board, please verify the
required voltages are present.
Included in this document is the hardware connection information for the following
optional plug-in modules:
a. ACRCOMM module. This board is required for serial communication operation
of the ACR8020 motion controller. The external power supply input and battery
back-up functions provided by this board are not used with the ACR8020 board.


WARNING
Wiring external power to the ACR8020 through the
ACRCOMM module will permanently damage the
ACR8020 board.

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Chapter 1, ACR8020 Motherboard Plug and Play Capability
3
CHAPTER 1
ACR8020 MOTHERBOARD PLUG AND PLAY CAPABILITY

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Chapter 1, ACR8020 Motherboard Plug and Play Capability
5
CHAPTER 1 OVERVIEW
This section contains diagrams of the interrupt and memory decoding capabilities used in
the Plug and Play setup of the ACR8020 motherboard.
NOTE: It is important to read the README file located on the Acroloop CD
before attempting any PC installation of the ACR8020 board.

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ACR8020 MOTHERBOARD PLUG AND PLAY CAPABILITY
Dual Port Memory Address Select
The ACR8020 can receive and transmit data through it’s Dual Port Memory accessible on
the PCI bus. The dual port memory address range is automatically configured in
Windows via the ACR8020’s PCI Plug and Play interface.
Refer to the Acroloop CD for installation instructions and software libraries that support
the ACR8020 board.
NOTE: It is important to read the README file located on the Acroloop CD
before attempting any PC installation of the ACR8020 board.

Chapter 2, ACR8020 Motherboard Hardware Set-Up
7
CHAPTER 2
ACR8020 MOTHERBOARD HARDWARE SETUP

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Chapter 2, ACR8020 Motherboard Hardware Set-Up
9
CHAPTER 2 OVERVIEW
This section contains diagrams of the jumpers and switches on the ACR8020
motherboard.
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 ACR8020 motherboard are highlighted within the
following jumper tables.

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ACR8020 MOTHERBOARD HARDWARE SETUP
PWR1
P3 P4
P1A
TOP VIEW OF
BOARD
FRONT VIEW OF
BOARD
SIDE VIEW OF
BOARD
XP1 (EXPANSION BUS)
PCI BRACKET
P3 (DIGITAL OUTPUTS) P4 (DIGITAL INPUTS)
P6 (DAC/STEPPER AXIS 0-3 SIMM SOCKET)
P7 (DAC/STEPPER AXIS 4-7 SIMM SOCKET)
P8 (ADC MODULE SIMM SOCKET)
U120 U122 U121 U123
SW2
JP2
JP5 JP6 JP7 JP8 JP9 JP14
JP10 JP11 JP12 JP13
RP6 RP7 RP8 RP9
JP15
JP16
JP1
JP2
JP3
JP4
JP17 JP18
RP1 RP2 RP3 RP4 RP5 RP10
J1
SW1
PWR1
(DIG I/O PWR)
RESET
SWITCH
WATC HDOG LED
USE R LEDS
P2
(
ANALOG INPUT/OUTPUT
)
NOTE: Square pin indicates Pin 1.
Figure 1. ACR8020 Motherboard Outline

Chapter 2, ACR8020 Motherboard Hardware Set-Up
11
ACR8020 MOTHERBOARD SWITCHES
Serial Communication Card Selection / User Switch (SW1)
Serial communications via the COM1 and COM2 communication ports on the optional
ACRCOMM module are performed with multiple cards using different ACR8020 card
numbers. The following table shows how the switch positions 1 through 4 relate to the
ACR8020 card number.
Dip switch positions 5 through 8 are used as dedicated user switch inputs. This portion of
the switch is available to the user as part of the Miscellaneous Input Flags (bits 68 thru
71). Refer to Appendix B, Flag References.
Refer to Figure 1 for switch location.
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. 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.
Refer to Figure 1 for switch location.
Card SW1 Settings
Number 4 3 2 1 Function
0 OFF OFF OFF OFF Serial Communications
1 OFF OFF OFF ON Serial Communications
2 OFF OFF ON OFF Serial Communications
3 OFF OFF ON ON Serial Communications
4 OFF ON OFF OFF Serial Communications
5 OFF ON OFF ON Serial Communications
6 OFF ON ON OFF Serial Communications
7 OFF ON ON ON Serial Communications
8-14 RESERVED
15 ON ON ON ON Flash Bypass Mode
Table 2.1 ACR8020 Serial Communication Card Number Select

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ACR8020 MOTHERBOARD JUMPERS
Jumper Table List
The following is a list of the jumper functions on the ACR8020 motherboard:
JUMPER JUMPER FUNCTION
JP1 Reserved for Future Use
JP2 Reserved for Future Use
JP3 Reserved for Future Use
JP4 Reserved for Factory Test**
JP5 ENC0 Pull-up Voltage Select (Page 13)
JP6 ENC1 Pull-up Voltage Select (Page 13)
JP7 ENC2 Pull-up Voltage Select (Page 13)
JP8 ENC3 Pull-up Voltage Select (Page 13)
JP9 ENC8 Pull-up Voltage Select (Page 13)
JP10 ENC4 Pull-up Voltage Select (Page 13)
JP11 ENC5 Pull-up Voltage Select (Page 13)
JP12 ENC6 Pull-up Voltage Select (Page 13)
JP13 ENC7 Pull-up Voltage Select (Page 13)
JP14 ENC10 Pull-up Voltage Select (Page 13)
JP15 Digital Output Sinking/Sourcing Select (Page 17)
JP16 Digital Output Sinking/Sourcing Select (Page 17)
JP17 Digital Input Sinking/Sourcing Select (Page 15)
JP18 Digital Input Sinking/Sourcing Select (Page 15)
J1 Factory Test Header**
J2 Factory Programming Header**
** Connecting external signals to these headers may cause board failure or damage to
IC’s.
Refer to Figure 1 for locations.