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Summary of Contents for Parker ACR8000
- Page 1 (217) 352-9330 | Click HERE Find the Parker ACR8000 at our website:...
- Page 2 YPM08119 Automation ACR8000 Hardware Manual Effective: October 7, 2002 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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- Page 4 Corrected the Multiple Board RS-232 diagram on Connection Diagrams ACR8000 Wiring Diagram page 1. Corrected the stepper output driver part number from “7407” to “7406” on ACR8000 Wiring Diagram page 2. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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Page 6: Table Of Contents
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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com... - Page 7 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 ACR8000 Hardware Manual P/N PM08119 Version 1.00 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
- Page 8 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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Page 10: 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. - Page 11 This page intentionally left blank. ACR8000 Hardware Manual P/N PM08119 Version 1.00 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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Page 12: Hardware Installation
CHAPTER 1 Hardware Installation Chapter 1, Hardware Installation Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com... - Page 13 This page intentionally left blank. ACR8000 Hardware Manual P/N PM08119 Version 1.00 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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Page 14: Chapter Overview
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. -
Page 15: Motherboard
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. - Page 16 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...
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Page 17: Serial Port Select
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. ACR8000 Hardware Manual P/N PM08119 Version 1.00 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com... -
Page 18: Interrupt Select
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. -
Page 19: Encoder Pull-Up Select
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:... -
Page 20: Encoder Pull-Up Jumpers
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. -
Page 21: Connectors
Motherboard Connectors Encoder Inputs (P1A, P1B) Figure 1.5 Encoder input connectors ACR8000 Hardware Manual P/N PM08119 Version 1.00 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com... - Page 22 Motherboard Connectors Encoder Inputs (P1A, P1B), Cont’d Note: P1A and P1B are 34-pin shrouded male headers. Usage Usage Usage Usage CHA0 CHA0' CHA4 CHA4' CHB0 CHB0' CHB4 CHB4' MRK0 MRK0' MRK4 MRK4' CHA1 CHA1' CHA5 CHA5' CHB1 CHB1' CHB5 CHB5' MRK1 MRK1' MRK5...
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Page 23: Analog Input / Output
Motherboard Connectors Analog Input / Output (P2) Figure 1.6 Analog I/O connector ACR8000 Hardware Manual P/N PM08119 Version 1.00 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com... - Page 24 Motherboard Connectors Analog Input / Output (P2), Cont’d Note: P2 is a standard 37-pin female D-plug. Pin definitions in parentheses are for stepper modules. Definition Definition Module ASIG-0 ( STEP-0 ) AGND-0 ( DIR-0 ) ASIG-1 ( STEP-1 ) AGND-1 ( DIR-1 ) Module 0 ASIG-2 ( STEP-2 ) AGND-2 ( DIR-2 )
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Page 25: Digital Input / Output
Motherboard Connectors Digital Input / Output (P3 / P4) Figure 1.7 Digital I/O connectors ACR8000 Hardware Manual P/N PM08119 Version 1.00 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com... - Page 26 Motherboard Connectors Digital Input / Output (P3 / P4), Cont’d Note: P3 and P4 are 34-pin shrouded male headers. Usage Usage Usage Usage OUT-32 OUT-33 INP-00 INP-01 OUT-34 OUT-35 INP-02 INP-03 OUT-36 OUT-37 INP-04 INP-05 OUT-38 OUT-39 INP-06 INP-07 OUT-40 OUT-41 INP-08 INP-09...
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Page 27: Communications
Motherboard Connectors Communications (P5) Figure 1.8 Communications connector ACR8000 Hardware Manual P/N PM08119 Version 1.00 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com... - Page 28 Motherboard Connectors Communications (P5), Cont’d Note: P5 is a 34-pin shrouded male header. Usage Usage RXD1 TXD1 MUX1 TXD1A TXD1B RXD1A RXD1B RXD2 TXD2 MUX2 TXD2A TXD2B RXD2A RXD2B INIT SLIN BUSY SLCT Table 1.9 Communications connectors Chapter 1, Hardware Installation Artisan Technology Group - Quality Instrumentation ...
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Page 29: Isolated Power
External +24v Table 1.10 Isolated power connector Fuse Circuit Amps Microfuse Part # +24v 273.5 Table 1.11 Isolated power fuse ACR8000 Hardware Manual P/N PM08119 Version 1.00 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com... -
Page 30: Standalone Power
Motherboard Connectors Standalone Power (PWR2) Figure 1.10 Standalone power connector Note: PWR2 is a male 4-pin Weidmüller plug. Description Standalone GND Standalone +5V Standalone -12V Standalone +12V Table 1.12 Standalone power connector Fuse Circuit Amps Microfuse Part # 273004 -12v 273.125 +12v 273.25... -
Page 31: Daughterboard
64k x 32 27C1024 128k x 32 27C2048 256k x 32 27C4096 512k x 32 27C8192 Table 1.14 EPROM size jumpers ACR8000 Hardware Manual P/N PM08119 Version 1.00 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com... -
Page 32: Factory Test
Daughterboard Jumpers Factory Test (JS3) Figure 1.12 Factory test jumper This jumper is for factory testing purposes only and should be left in the 1-2 position for normal operation. Chapter 1, Hardware Installation Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com... -
Page 33: Battery Backup Select
Battery Backup Select (JS4, JS5) Figure 1.13 Battery backup jumpers These two jumpers determine if the battery pack on the ACR8000 daughterboard is enabled or disabled. When enabled, user programs on the board are retained when power is removed. Battery... -
Page 34: Connectors
Daughterboard Connectors DSP Network (P1) Figure 1.14 DSP network connector Note: P1 is a 10-pin shrouded male header. Usage Usage CLOCK CLOCK' DATA DATA' FRAME FRAME' N.C. N.C. SYNC SYNC' Table 1.16 DSP network connector Chapter 1, Hardware Installation Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com... -
Page 35: Factory Test
Factory test connector Note: P2 is a 12-pin keyed male header. Usage Usage EMU1 EMU0 EMU2 EMU3 Table 1.17 Factory test connector ACR8000 Hardware Manual P/N PM08119 Version 1.00 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com... -
Page 36: Acr1000 Master
Daughterboard Connectors ACR1000 Master (P7) Figure 1.16 ACR1000 master connector Note: P7 is a 10-pin shrouded male header. Usage Usage SLRDY MSTRT SLACK SLINT N.C. N.C. Table 1.18 ACR1000 master connector Chapter 1, Hardware Installation Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com... - Page 37 This page intentionally left blank. ACR8000 Hardware Manual P/N PM08119 Version 1.00 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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Page 38: Acr8000 Expansion I/O Board (Optional)
CHAPTER 2 ACR8000 Expansion I/O Board (Optional) Chapter 2, ACR8000 Expansion I/O Board Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com... - Page 39 ACR8000 Expansion I/O Board (Optional) The I/O for the ACR8000 expansion I/O cards is mapped into the previously reserved bits 256 through 511. There are also four new bits (Bits 116 thru 119, ACR2000/ACR8000 User’s Guide, Miscellaneous Output Flags) which act as card enable control bits.
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Page 40: Acr8000 Specification
CHAPTER 3 ACR8000 SPECIFICATION Chapter 3, ACR8000 Specification Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com... - Page 41 Step Output Frequency : 0 to 6KHz, pulse width 167us 6KHz to 4MHz, approx. 50% duty cycle ACR8000 Hardware Manual P/N PM08119 Version 1.00 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
- Page 42 Simultaneous communications on all 4 ports Serial Communications: 2 ports standard (COM1, COM2) Software Configurable RS-232 or RS-422 Automatic Baud Detect (300 Hz - 38.4 KHz) Chapter 3, ACR8000 Specification Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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Page 44: Acr8000 Mechanical Drawings
CHAPTER 4 ACR8000 MECHANICAL DRAWINGS Chapter 4, ACR8000 Mechanical Drawings Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com... -
Page 45: Acr8000 Motherboard Mechanical Dimensions
ACR8000 Motherboard Mechanical Dimensions Figure 1.17 ACR8000 Motherboard Mechanical Dimensions ACR8000 Hardware Manual P/N PM08119 Version 1.00 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com... -
Page 46: Acr8000 Daughterboard Mechanical Dimensions
ACR8000 Daughterboard Mechanical Dimensions Figure 1.18 ACR8000 Daughterboard Mechanical Dimensions Chapter 4, ACR8000 Mechanical Drawings Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com... -
Page 47: Acr8000 Stacking Dimensions
ACR8000 Stacking Mechanical Dimensions Figure 1.19 ACR8000 Stacking Dimensions ACR8000 Hardware Manual P/N PM08119 Version 1.00 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com... - Page 48 The following schematic sheets represent some typical connection and wiring diagrams for the ACR8000 board: For electronic media, refer to the typical connection drawing file, ACR8000 TYPICAL CONNECTIONS.PDF, supplied separately on the AMCS CD P/N CD2000 under the \DOCS directory. Chapter 4, ACR8000 Mechanical Drawings...
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