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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2 ACR8000 Hardware Manual
P/N PM08119 Version 1.00
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Chapter 1, Hardware Installation 3
CHAPTER 1
Hardware Installation
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4 ACR8000 Hardware Manual
P/N PM08119 Version 1.00
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Chapter 1, Hardware Installation 5
Chapter Overview
Description:
This chapter contains diagrams of the jumpers and connectors on the ACR8000 mother
and daughter boards.
Before optically isolated digital inputs and outputs can be used, the card must be
connected to an external 24 volt DC power supply. This connection is made at the PWR1
connector and is fused onboard at 3 amps to protect the controller card.
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 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 Acr8000 mother and daughter boards are
highlighted within the following jumper tables.
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6 ACR8000 Hardware Manual
P/N PM08119 Version 1.00
Motherboard Jumpers
Address Select (SW1)
Figure 1.1 Address select switch
The ACR8000 can receive and transmit data through I/O ports on a PC BUS. The
addresses of these ports are selectable using SW1 on the ACR8000 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.
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 Full 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 PC BUS status port bits
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Chapter 1, Hardware Installation 7
Motherboard Jumpers
Address Select (continued)
The following table shows how the switch positions relate to the ACR8000 card number
and I/O port addresses. Note that switches SW1-1 through SW1-5 are reserved and
should be left in the OFF position.
Card SW1 Settings Addresses
Number 6 7 8 Data Status
0 OFF OFF OFF 0x300 0x302
1 OFF OFF ON 0x304 0x306
2 OFF ON OFF 0x308 0x30A
3 OFF ON ON 0x30C 0x30E
4 ON OFF OFF 0x310 0x312
5 ON OFF ON 0x314 0x316
6 ON ON OFF 0x318 0x31A
7 ON ON ON 0x31C 0x31E
Table 1.2 PC BUS port addresses
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8 ACR8000 Hardware Manual
P/N PM08119 Version 1.00
Motherboard Jumpers
Serial Port Select (JS1, JS2)
Figure 1.2 Serial port jumpers
COM1 COM2 JS1 JS2
RS232 RS232 1-2 1-2
RS232 RS422 1-2 2-3
RS422 RS232 2-3 1-2
RS422 RS422 2-3 2-3
Table 1.3 Serial port jumpers
In addition to the above jumper settings, the proper hardware option for RS-232 or
RS-422 communications must be purchased and installed.
The serial communication ports have an automatic baud rate detection feature. Hitting
ENTER key a few times from a dumb terminal or sending several CHR$(13) characters
from a serial host will wake up the communications port.
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Chapter 1, Hardware Installation 9
Motherboard Jumpers
Interrupt Select (JS3)
Figure 1.3 PC BUS interrupt jumper
The ACR8000 can be instructed to interrupt a PC host through the parallel bus by issuing a
SET 112 command in immediate mode or from within a program. Interrupt driven software
at the host level is an advanced topic and should only be attempted by someone with a
thorough knowledge of interrupt driven code.
In order for the PC to see the interrupt, the proper jumper selection from the following table
must be made. IRQ5 is usually a good choice since printer code seldom uses interrupts and
use of the secondary printer port (LPT2) is even rarer.
Level JS3 Common Function
Disabled 1-3 Not Applicable
IRQ3 1-2 Secondary Serial (COM2)
IRQ4 3-4 Primary Serial (COM1)
IRQ5 5-6 Secondary Parallel (LPT2)
IRQ7 7-8 Primary Parallel (LPT1)
IRQ10 9-10 Reserved (unused)
IRQ11 11-12 Reserved (unused)
IRQ12 13-14 Reserved (unused)
IRQ15 15-16 Reserved (unused)
Table 1.4 PC BUS interrupt jumper
IMPORTANT NOTE:
When the ACR8000 is used in a Pentiumprocessor based PCI motherboard, the
selected interrupt must be configured in the PCI motherboard BIOS as a Legacy ISA
interrupt (or Used By ISA in some BIOS’), since the ACR8000 is an ISA board.
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10 ACR8000 Hardware Manual
P/N PM08119 Version 1.00
Motherboard Jumpers
Encoder Pull-up Select (JS21..JS28)
Figure 1.4 Encoder pull-up jumpers
The ACR8000 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 on the application. Pulling up to +12 volts provides higher noise
immunity but causes a slower response time. For high frequency applications (encoder
rates greater than one megahertz) the +5 volt pull-up selection may be necessary.
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Chapter 1, Hardware Installation 11
Motherboard Jumpers
Encoder Pull-up Select (continued)
Line Driver Encoders:
When using line driver (or balanced pair) encoders, the corresponding resistor pack
should be removed from its socket. Leaving the resistor pack in can cause faulty encoder
operation and possibly cause severe encoder damage. It does not matter what pull-up
voltage is selected when the resistor pack is removed. 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.
Table 1.5 Encoder pull-up jumpers
ENC Resistor Jumper +5V +12V
0 RP1 JS21 1-2 *2-3
1 RP2 JS22 1-2 *2-3
2 RP3 JS23 1-2 *2-3
3 RP4 JS24 1-2 *2-3
4 RP5 JS25 1-2 *2-3
5 RP6 JS26 1-2 *2-3
6 RP7 JS27 1-2 *2-3
7 RP8 JS28 1-2 *2-3
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