Parker ACR8000 User manual

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Automation
p/n YPM08119
ACR8000
Hardware Manual
Effective: October 7, 2002
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CHANGE NOTICE
ACR8000 Hardware Manual P/N PM08119 Version Change:
From: Version 1.02, Dated 7/8/1999
To: Version 1.03, Dated 12/7/2001
1. Page 32, Technical Specification Corrected operating temperature range and Digital I/O
power requirements.
ACR8000 Hardware Manual P/N PM08119 Version Change:
From: Version 1.01, Dated 5/20/1998
To: Version 1.02, Dated 7/8/1999
2. Miscellaneous Added miscellaneous blank page comments.
ACR8000 Hardware Manual P/N PM08119 Version Change:
From: Version 1.00
To: Version 1.01, Dated 5/20/98
1. Page 31, ACR8000 Specification Change the DAC/Stepper Output stepper output
frequency specification.
2. Page 39, ACR8000 Typical
Connection Diagrams
Corrected the Multiple Board RS-232 diagram on
ACR8000 Wiring Diagram page 1.
Corrected the stepper output driver part number from
“7407” to “7406” on ACR8000 Wiring Diagram page 2.
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i
CONTENTS
INTRODUCTION......................................... 1
CHAPTER 1
HARDWARE INSTALLATION .................... 3
Chapter Overview ........................................ 5
Motherboard ................................................ 6
Jumpers ................................................... 6
Address Select............................................6
Serial Port Select ........................................8
Interrupt Select............................................9
Encoder Pull-up Select..............................10
Connectors............................................. 12
Encoder Inputs..........................................12
Analog Input / Output ................................14
Digital Input / Output .................................16
Communications .......................................18
Isolated Power ..........................................20
Standalone Power.....................................21
Daughterboard........................................... 22
Jumpers ................................................. 22
EPROM Size Select ..................................22
Factory Test ..............................................23
Battery Backup Select...............................24
Connectors............................................. 25
DSP Network.............................................25
Factory Test ..............................................26
ACR1000 Master.......................................27
CHAPTER 2
ACR8000 EXPANSION I/O BOARD
(OPTIONAL).............................................. 29
CHAPTER 3
ACR8000 SPECIFICATION ...................... 31
CHAPTER 4
ACR8000 MECHANICAL DRAWINGS ..... 35
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ii ACR8000 Hardware Manual
P/N PM08119 Version 1.00
TABLES
1.1 PC BUS status port bits...........................6
1.2 PC BUS port addresses ..........................7
1.3 Serial port jumpers ..................................8
1.4 PC BUS interrupt jumper .........................9
1.5 Encoder pull-up jumpers........................11
1.6 Encoder input connectors ......................13
1.7 Analog I/O connector.............................15
1.8 Digital I/O connectors ............................17
1.9 Communications connector ...................19
1.10 Isolated power connector.....................20
1.11 Isolated power fuse..............................20
1.12 Standalone power connector ...............21
1.13 Standalone power fuses ......................21
1.14 EPROM size jumpers ..........................22
1.15 Battery backup jumpers.......................24
1.16 DSP network connector.......................25
1.17 Factory test connector .........................26
1.18 ACR1000 master connector ................27
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iii
FIGURES
1.1 Address select switch ..............................6
1.2 Serial port jumpers ..................................8
1.3 PC BUS interrupt jumper .........................9
1.4 Encoder pull-up jumpers........................10
1.5 Encoder input connectors......................12
1.6 Analog I/O connector.............................14
1.7 Digital I/O connectors ............................16
1.8 Communications connector ...................18
1.9 Isolated power connector ......................20
1.10 Standalone power connector...............21
1.11 EPROM size jumpers ..........................22
1.12 Factory test jumper..............................23
1.13 Battery backup jumpers.......................24
1.14 DSP network connector.......................25
1.15 Factory test connector .........................26
1.16 ACR1000 master connector ................27
1.17 ACR8000 Motherboard Mechanical
Dimensions............................................36
1.18 ACR8000 Daughterboard Mechanical
Dimensions............................................37
1.19 ACR8000 Stacking Dimensions ..........38
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iv ACR8000 Hardware Manual
P/N PM08119 Version 1.00
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Introduction 1
INTRODUCTION
This document provides hardware connection information for the Acroloop ACR8000
motion controller.
The ACR8000 is a floating point DSP-based 8 axis motion controller. It has onboard
hardware to read up to eight incremental encoders and supply precision 16-bit analog for
eight servo amplifiers. It is modular in nature and is offered in 2, 4, 6 or 8 axis
configurations. This board will work in standalone mode as well as within a PC-AT bus
chassis. In the PC-AT bus, the board takes one and one half slots.
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