Parker ACR8010 User manual
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Instra
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p/n YPM08121
ACR8010
Hardware Manual
Effective: October 7, 2002
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i
CHANGE NOTICE
ACR8010 Hardware Manual P/N PM08121 Version Change:
From: Version 1.04, Dated 9/30/1999
To: Version 1.05, Dated 12/7/2001
1. Page 12, Jumper List Corrected JP31 and JP32 descriptions.
2. Page 18, Digital Output Sink/Source
Jumper (JP29 and JP30)
Added output sink driver source.
3. Page 24, RS-422/RS-485 Configuration
Jumpers
Corrected MUX table.
4. Page 40, ACR8010 Technical
Specification
Corrected operating temperature specification.
ACR8010 Hardware Manual P/N PM08121 Version Change:
From: Version 1.03, Dated 8/16/1999
To: Version 1.04, Dated 9/30/1999
1. Page 5, ACR8010 Motherboard Plug
and Play
Added note about README file on AMCS CD.
2. Page 12, ACR8010 Motherboard
Jumpers
Added jumper list reference table.
3. Page 18, ACR8010 Motherboard
Jumpers – Digital Output
Added warning about jumper installation with incorrect
driver IC’s.
4. Page 23, ACR8010 Motherboard
Jumpers – RS-422/RS-485
Configuration
Added additional information about RS-422/RS-485 set-up.
5. Page 14, ACR8010 Motherboard
Hardware Wiring – Encoder Inputs
Corrected signal names on P1C table.
6. ACRIO Section Moved ACRIO Module to separate document.
ACR8010 Hardware Manual P/N PM08121 Version Change:
From: Version 1.02, Dated 7/8/1999
To: Version 1.03, Dated 8/16/1999
1. ACR8010 Motherboard Jumpers –
Battery Back-up Select Jumpers (JP4
and JP5)
Added default configuration information.
2. ACR8010 Motherboard Hardware
Wiring – Encoder Inputs (P1A, P1B,
and P1C)
Added P1C interface information to standard DB9
connector.
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ACR8010 Hardware Manual
P/N PM08121
ii
CHANGE NOTICE, continued
ACR8010 Hardware Manual P/N PM08121 Version Change:
From: Version 1.01 Beta, Dated 5/14/1999
To: Version 1.02, Dated 7/8/1999
1. Chapter 3 Overview Removed +5VDC reference.
2. ACRIO Module Jumpers – Digital
Input Reference Select Jumpers (J3 and
J4)
Removed +5VDC reference.
3. ACRIO Module Jumpers – Digital
Output Sink/Source Select Jumpers
(J5 and J6)
Removed +5VDC reference. Added jumper warning.
4. ACRIO Module Hardware Wiring,
Digital I/O Power (PWR1)
Removed +5VDC reference.
5 ACR8010 Motherboard Jumpers – RS-
422/RS-485 Configuration Jumpers
Updated and corrected jumper information.
ACR8010 Hardware Manual P/N PM08121 Version Change:
From: Version 1.00 Beta, Dated 11/6/1998
To: Version 1.01, Dated 5/14/1999
1. ACR8010 Motherboard Hardware
Setup
Updated and corrected jumper drawing.
2. ACR8010 Motherboard Jumpers –
Digital Input Reference Select Jumpers
Updated and corrected jumper information.
3. ACR8010 Motherboard Jumpers – RS-
422/RS-485 Configuration Jumpers
Updated and corrected jumper information.
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iii
TABLE OF CONTENTS
INTRODUCTION........................................................................................................... 1
CHAPTER 1.................................................................................................................... 3
ACR8010 MOTHERBOARD PLUG AND PLAY CAPABILITY................................ 3
Chapter 1 Overview ............................................................................................ 4
ACR8010 Motherboard Plug and Play Capability .............................................. 5
I/O Port Address Select................................................................................ 5
Interrupt Select ............................................................................................. 6
CHAPTER 2.................................................................................................................... 7
ACR8010 MOTHERBOARD HARDWARE SETUP ................................................... 7
Chapter 2 Overview ............................................................................................ 8
ACR8010 Motherboard Switches ....................................................................... 10
Serial Communication Card Selection Switch (SW1A) .............................. 10
User Switch (SW1B).................................................................................... 11
ACR8010 Motherboard Jumpers ........................................................................ 12
ACR8010 Jumper Table List ....................................................................... 12
Encoder Pull-up Select Jumpers (JP19,20,21,23,24,26,27,28,31)............... 14
Digital Input Reference Select Jumper (JP33 and JP34) ............................. 16
Digital Output Sink / Source Select Jumpers (JP29 and JP30).................... 18
EPROM Size Select Jumper (JP22)............................................................. 20
Battery Back-Up Select Jumpers (JP4 and JP5) .......................................... 21
Battery Enable Jumpers (JP2 and JP3)......................................................... 22
RS-422/485 Configuration Jumpers (JP1, JP6, JP9, JP10, JP13,
JP14) ............................................................................................................ 23
RS-422 Termination Jumpers (JP7, JP8, JP11, JP12) ................................. 26
Autobaud Detect Jumper (JP15) .................................................................. 27
ACR8010 Motherboard Hardware Wiring.......................................................... 28
Encoder Inputs (P1A, P1B, P1C)................................................................. 29
Analog Input / Output (P2) .......................................................................... 33
Digital Inputs / Outputs (P3 and P4)............................................................ 34
Miscellaneous Output (P9)........................................................................... 35
Communications (P5) .................................................................................. 36
Digital I/O Power (PWR1)........................................................................... 37
Standalone Power (PWR2) .......................................................................... 38
CHAPTER 3 .................................................................................................................. 39
TECHNICAL SPECIFICATIONS................................................................................ 39
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ACR8010 Hardware Manual
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iv
ACR8010 Technical Specification...................................................................... 40
CHAPTER 4 .................................................................................................................. 43
ACR8010 MECHANICAL DRAWINGS..................................................................... 43
ACR8010 Mechanical Dimensions..................................................................... 44
ACRIO/ACR8010 Board Stacking Examples..................................................... 45
ACR8010 Typical Connection Diagrams............................................................ 46
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v
TABLES
Table 1.1 ACR8010 PC BUS Status Port Bits................................................................. 5
Table 1.2 ACR8010 PC BUS Port Addresses.................................................................. 5
Table 1.3 ACR8010 PC BUS Interrupt Select ................................................................. 6
Table 2.1 ACR8010 Serial Communication Card Number Select................................. 10
Table 2.2 ACR8010 Encoder Pull-Up Jumpers ............................................................. 15
Table 2.3 ACR8010 Digital Input Reference Jumper .................................................... 16
Table 2.4 ACR8010 Digital Output Sink/Source Select Jumper ................................... 18
Table 2.5 ACR8010 EPROM Size Select Jumper ......................................................... 20
Table 2.6 ACR8010 Battery Back-Up Enable Jumpers ................................................. 21
Table 2.7 ACR8010 Battery Selection Jumpers............................................................. 22
Table 2.9 ACR8010 RS-422/485 Interface Jumpers...................................................... 25
Table 2.8 ACR8010 RS-422 Termination Jumpers ....................................................... 26
Table 2.10 ACR8010 Autobaud Detect Jumper .............................................................. 27
Table 2.11 ACR8010 Encoder Input Connectors P1A and P1B...................................... 29
Table 2.12 ACR8010 Encoder Input Connector P1C NOTE: P1C pin 10 is used as a
key pin. ...................................................................................................................... 30
Table 2.13 ACR8010 Analog I/O Connector................................................................... 33
Table 2.14 ACR8010 Digital I/O Connector ................................................................... 34
Table 2.15 ACR8010 Miscellaneous Output Connector P9 ............................................ 35
Table 2.16 ACR8010 SVCC Power Fuses....................................................................... 35
Table 2.17 ACR8010 Communications Connector ......................................................... 36
Table 2.18 ACR8010 Isolated Power Connector ............................................................. 37
Table 2.19 ACR8010 Isolated Power Fuses..................................................................... 37
Table 2.20 ACR8010 Standalone Power Connector........................................................ 38
Table 2.21 ACR8010 Standalone Power Fuses ............................................................... 38
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ACR8010 Hardware Manual
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vi
FIGURES
Figure 1.. ACR8010 Motherboard Outline....................................................................... 9
Figure 2. ACR8010 Digital Input User Circuit ............................................................. 17
Figure 3. ACR8010 Digital Output User Circuit........................................................... 19
Figure 4. ACR8010 RS-422/RS-485 Interface Schematic ............................................ 25
Figure 5. ACR8010 Mechanical Dimensions................................................................ 44
Figure 6. ACR8010 Board Stacking Mechanical Dimensions Examples ..................... 45
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Introduction
1
INTRODUCTION
This document provides hardware connection information for the Acroloop ACR8010
motion controller.
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ACR8010 Hardware Manual
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Chapter 1, ACR8010 Motherboard Plug and Play Capability
3
CHAPTER 1
ACR8010 MOTHERBOARD PLUG AND PLAY CAPABILITY
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ACR8010 Hardware Manual
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CHAPTER 1 OVERVIEW
This section contains diagrams of the interrupt, I/O ports, and memory decoding
capabilities used in the Plug and Play setup of the ACR8010 motherboard.
NOTE: It is important to read the README file located on the Acroloop CD
before attempting any PC installation of the ACR8010 board.
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Chapter 1, ACR8010 Motherboard Plug and Play Capability
5
ACR8010 MOTHERBOARD PLUG AND PLAY CAPABILITY
I/O Port Address Select
The ACR8010 can receive and transmit data through I/O ports on a PC BUS. The port
address is automatically configured in Windows 95 using the ACR8010’s Plug and Play
interface. When using DOS or Windows NT, the port address is selected using the
supplied ACROPNP utilities. The data port is used to both transmit and receive. Both
transmit and receive channels are connected to 512 byte First In / First Out (FIFO)
hardware buffers.
NOTE: It is important to read the README file located on the Acroloop CD
before attempting any PC installation of the ACR8010 board.
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 ACR8010 PC BUS Status Port Bits
The following table shows the available ACR8010 I/O port addresses.
Port I/0 Block Address Function
Number Reserved Data Status
0 0x300-0x303 0x300 0x302
1 0x304-0x307 0x304 0x306
2 0x308-0x30B 0x308 0x30A
3 0x30C-0x30F 0x30C 0x30E
4 0x310-0x313 0x310 0x312
5 0x314-0x317 0x314 0x316
6 0x318-0x31B 0x318 0x31A
7 0x31C-0x31F 0x31C 0x31E
Table 1.2 ACR8010 PC BUS Port Addresses
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ACR8010 Hardware Manual
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6
ACR8010 MOTHERBOARD PLUG AND PLAY CAPABILITY
Interrupt Select
The ACR8010 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 interrupt selection from the following
table must be made. The interrupt is automatically configured in Windows 95 using the
ACR8010’s Plug and Play interface. When using DOS or Windows NT, the interrupt is
selected using the supplied ACROPNP utilities.
NOTE: It is important to read the README file located on the Acroloop CD
before attempting any PC installation of the ACR8010 board.
Level Common Function
Disabled Not Applicable
IRQ3 Secondary Serial (COM2)
IRQ4 Primary Serial (COM1)
IRQ5 Secondary Parallel (LPT2)
IRQ7 Primary Parallel (LPT1)
IRQ10 Reserved (unused)
IRQ11 Reserved (unused)
IRQ12 Reserved (unused)
IRQ15 Reserved (unused)
Table 1.3 ACR8010 PC BUS Interrupt Select
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Chapter 2, ACR8010 Motherboard Hardware Set-Up
7
CHAPTER 2
ACR8010 MOTHERBOARD HARDWARE SETUP
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ACR8010 Hardware Manual
P/N PM08121
8
CHAPTER 2 OVERVIEW
This section contains diagrams of the jumpers and switches on the ACR8010 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 ACR8010 motherboard are highlighted within the
following jumper tables.
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Chapter 2, ACR8010 Motherboard Hardware Set-Up
9
ACR8010 MOTHERBOARD HARDWARE SETUP
NOTE: Square pin indicates Pin 1.
Figure 1.. ACR8010 Motherboard Outline
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ACR8010 Hardware Manual
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ACR8010 MOTHERBOARD SWITCHES
Serial Communication Card Selection Switch (SW1A)
Serial communications via the COM1 and COM2 communication ports on the ACR8010
Motherboard are performed with multiple cards using different ACR8010 card numbers.
The following table shows how the switch positions relate to the ACR8010 card number.
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 ACR8010 Serial Communication Card Number Select
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Chapter 2, ACR8010 Motherboard Hardware Set-Up
11
ACR8010 MOTHERBOARD SWITCHES
User Switch (SW1B)
This four position dip switch is a dedicated user switch. 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.
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