Parker ACR2000 Hardware Manual
  1. Manuals
  2. Brands
  3. Parker Manuals
  4. Computer Hardware
  5. ACR2000
  6. Hardware manual
Parker ACR2000 Hardware Manual

Parker ACR2000 Hardware Manual

Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
p/n YPM08117
Automation
ACR2000
Hardware Manual
Effective: October 7, 2002

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the ACR2000 and is the answer not in the manual?

Questions and answers

Related Manuals for Parker ACR2000

Summary of Contents for Parker ACR2000

  • Page 1 YPM08117 Automation ACR2000 Hardware Manual Effective: October 7, 2002...
  • Page 2 This page intentionally left blank.
  • Page 3 CHANGE NOTICE ACR2000 Hardware Manual P/N PM08117 Version Change: From: Version 1.08, Dated 5/24/2000 Version 1.09, Dated 12/7/2001 Page 11, Digital Output Sink/Source Added Sinking Output Driver chip source. Select Jumpers (J7 and J8) Page 26, ACRCOMM Serial Corrected MUX Flag table.
  • Page 4 CHANGE NOTICE, continued ACR2000 Hardware Manual P/N PM08117 Version Change: From: Version 1.05, Dated 5/20/1998 Version 1.06, Dated 7/8/1999 ACR2000 Motherboard Jumpers – Removed +5VDC reference. Digital Input Reference Select Jumper (J5) ACR2000 Motherboard Jumpers – Removed +5VDC reference. Added jumper warning.
  • Page 5 CHANGE NOTICE, continued ACR2000 Hardware Manual P/N PM08117 Version Change: From: Version 1.04, Dated 1/19/98 Version 1.05, Dated 5/20/98 The following changes have been incorporated into ACR2000 Hardware Manual Version 1.05: ACR2000 Motherboard Switches – Added Flash Bypass Mode information.
  • Page 6 This page intentionally left blank.

  • Page 7: Table Of Contents

    TABLE OF CONTENTS INTRODUCTION......................1 CHAPTER 1........................3 ACR2000 MOTHERBOARD HARDWARE SETUP ........... 3 Chapter 1 Overview .................... 4 ACR2000 Motherboard Switches ............... 6 Address Selection Switch (SW1)..............6 ACR2000 Motherboard Jumpers ................ 7 ACR2000 Jumper Table List ............... 7 Encoder Pull-up Select Jumpers (J1 thru J4) ..........
  • Page 8 ACR2000 Mechanical Dimensions..............40 ACRCOMM Module Mechanical Dimensions........... 41 ACR2000 Board Stacking Examples ..............42 ACR2000 Typical Connection Diagrams............43 ACR2000 Hardware Manual P/N PM08117...
  • Page 9 TABLES Table 1.1 ACR2000 PC BUS Status Port Bits ..............6 Table 1.2 ACR2000 PC BUS Port Addresses..............6 Table 1.3 ACR2000 Encoder Pull-Up Jumpers ..............8 Table 1.4 ACR2000 Digital Input Reference Jumper ............9 Table 1.5 ACR2000 Digital Output Sink/Source Select Jumper ........11 Table 1.6 ACR2000 EPROM Size Select Jumpers............
  • Page 10 Figure 4. ACRCOMM RS-422 Interface Schematic............. 26 Figure 5. ACRCOMM Module Outline ................ 27 Figure 6. ACR2000 Mechanical Dimensions..............40 Figure 7. ACRCOMM Mechanical Dimensions.............. 41 Figure 8. ACR2000 Board Stacking Mechanical Dimensions Examples ......42 ACR2000 Hardware Manual P/N PM08117...

  • Page 11: Introduction

    Refer to separate ACRIO Hardware Manual – Reverse Layout, P/N PM08124: a. ACRIO module. This board provides expanded I/O capabilities for the ACR2000 motion controller. An additional 32 Digital Inputs and 32 Digital Outputs are provided by this board.
  • Page 12 This page intentionally left blank. ACR2000 Hardware Manual P/N PM08117...

  • Page 13: Chapter 1

    CHAPTER 1 ACR2000 MOTHERBOARD HARDWARE SETUP Chapter 1, ACR2000 Motherboard Hardware Set-Up...

  • Page 14: Chapter 1 Overview

    CHAPTER 1 OVERVIEW This section contains diagrams of the jumpers and switches on the ACR2000 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.

  • Page 15: Figure 1. Acr2000 Motherboard Outline

    ACR2000 MOTHERBOARD HARDWARE SETUP NOTE: Square pin indicates Pin 1. Figure 1. ACR2000 Motherboard Outline Chapter 1, ACR2000 Motherboard Hardware Set-Up...

  • Page 16: Acr2000 Motherboard Switches

    ACR2000 MOTHERBOARD SWITCHES Address Selection Switch (SW1) The ACR2000 can receive and transmit data through I/O ports on a PC BUS. The addresses of these ports are selectable using SW1 on the ACR2000 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 17: Acr2000 Motherboard Jumpers

    ACR2000 MOTHERBOARD JUMPERS Jumper Table List The following is a list of the jumper functions on the ACR2000 motherboard: JUMPER JUMPER FUNCTION ENC0 Pull-up Voltage Select (Page 7) ENC1 Pull-up Voltage Select (Page 7) ENC2 Pull-up Voltage Select (Page 7)

  • Page 18: Encoder Pull-Up Select Jumpers (J1 Thru J4)

    ACR2000 MOTHERBOARD JUMPERS Encoder Pull-up Select Jumpers (J1 thru J4) The ACR2000 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 19: Digital Input Reference Select Jumper (J5)

    Input Type Reference Voltage User Supplies Sinking Reference Inputs to Path to GEXT Isolated +24VDC Voltage (VEXT) Sourcing Reference Inputs to Path to +24VDC Isolated Common (GEXT) (VEXT) Table 1.4 ACR2000 Digital Input Reference Jumper Chapter 1, ACR2000 Motherboard Hardware Set-Up...

  • Page 20: Figure 2. Acr2000 Digital Input User Circuit

    ACR2000 MOTHERBOARD JUMPERS Figure 2. ACR2000 Digital Input User Circuit ACR2000 Hardware Manual P/N PM08117...

  • Page 21: Digital Output Sink/Source Select Jumpers (J7 And J8)

    Output Driver IC Type User Supplies Installed (U14/U15) (See Warning Above) Sink Motorola / ST Micro Path to VEXT ULN2803A Source Allegro Path to GEXT UDN2981A Table 1.5 ACR2000 Digital Output Sink/Source Select Jumper Chapter 1, ACR2000 Motherboard Hardware Set-Up...

  • Page 22: Figure 3. Acr2000 Digital Output User Circuit

    ACR2000 MOTHERBOARD JUMPERS Figure 3. ACR2000 Digital Output User Circuit ACR2000 Hardware Manual P/N PM08117...

  • Page 23: Eprom Size Select Jumpers (J9 And J12)

    These jumpers should not be set by the user. EPROM Size Jumpers Memory Part No. 128K x 32 27C2048 256K x 32 27C4096 Table 1.6 ACR2000 EPROM Size Select Jumpers Refer to Figure 1 for jumper location. Chapter 1, ACR2000 Motherboard Hardware Set-Up...

  • Page 24: Battery Back-Up Select Jumpers (J10 And J11)

    When no ACRCOMM module is present, the jumpers must be set to “Battery Function Disabled” position for ACR2000 to function. Battery Back-up Jumpers Battery Function Battery Function Disabled Battery Function Enabled Table 1.7 ACR2000 Battery Back-Up Enable Jumpers Refer to Figure 1 for jumper location. ACR2000 Hardware Manual P/N PM08117...

  • Page 25: Interrupt Select Jumper (J13)

    ACR2000 MOTHERBOARD JUMPERS Interrupt Select Jumper (J13) The ACR2000 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 26: Acr2000 Motherboard Hardware Wiring

    ACR2000 MOTHERBOARD HARDWARE WIRING This section contains diagrams of the connectors on the ACR2000 motherboard. Before optically-isolated digital inputs and outputs can be used, the card must be connected to an external +24V DC power supply. This connection is made at the PWR1 connector and is fused on-board at 2 amps to protect the controller card.

  • Page 27: Encoder Inputs (P1)

    ACR2000 MOTHERBOARD HARDWARE WIRING Encoder Inputs (P1) There is one 34 pin header provided on the ACR2000 for encoder feedback. The 34 pin header provides up to four (4) axes of encoder feedback. Refer to Figure 1 for connector location.
  • Page 28 When using a single-ended encoder (an encoder without the A-, B-, or Z- outputs), additional pull-ups and pull-down resistors must be added externally to the ACR2000 board in order for the ACR2000 to read the encoder signals. Warning: This is not a recommended mode of operation. Noise immunity is significantly reduced.

  • Page 29: Analog Input/Output (P2)

    Analog Input/Output (P2) The analog input/output connections are made through a 44-pin D-style connector on the side of the ACR2000 motion controller. Refer to Figure 1 for connector location. P2 is a high density type HDP22 right-angle receptacle connector, AMP part number 748482-5.

  • Page 30: Table 1.11 Acr2000 Isolated Power Fuses

    Stepper SIMM Module outputs. The maximum recommended output rating for SVCC is 250 milliamps. See Figure 1 for fuse F2 location. Stepper +5VDC Output Fuse Fuse Circuit Amps Littelfuse Part No. SVCC 0.500 154.500 Table 1.11 ACR2000 Isolated Power Fuses ACR2000 Hardware Manual P/N PM08117...

  • Page 31: Digital Inputs / Outputs (P3)

    ACR2000 MOTHERBOARD HARDWARE WIRING Digital Inputs / Outputs (P3) There is one 34 pin header provided on the ACR2000 for digital I/O interface. The 34 pin header is used for both the 16 Digital Inputs and 16 Digital Outputs. Refer to Figure 1 for connector location.

  • Page 32: Digital I/O Power (Pwr1)

    Note: PWR1 is a 4-pin male Weidmuller plug. PWR1 Isolated Power Connector Usage Isolated Common (GEXT) Isolated Common (GEXT) +24VDC Isolated Voltage (VEXT) +24VDC Isolated Voltage (VEXT) Table 1.13 ACR2000 Isolated Power Connector Isolated Power Fuse Fuse Circuit Amps Littelfuse Part No. VEXT 154.002 Table 1.14 ACR2000 Isolated Power Fuses...

  • Page 33: Chapter 2

    CHAPTER 2 ACRCOMM MODULE HARDWARE SETUP (OPTIONAL) Chapter 2, ACRCOMM Module Hardware Set-Up...

  • Page 34: Chapter 2 Overview

    CHAPTER 2 OVERVIEW The ACRCOMM Plug-In Module provides stand-alone operation capability for the ACR2000 motherboard. ACRCOMM functions include external power input, User- SRAM battery back-up capability, and communication ports (2 serial, 1 parallel). This section contains diagrams of the jumpers and switches on the ACRCOMM module.

  • Page 35: Acrcomm Serial Communications

    (RS-232) at the next power-up sequence. ACR2000/PS Boards: For PC ACR2000 boards with the communications option, the serial ports may be configured as above via a serial port, or at power-up (or any time) via the ISA bus communications port.

  • Page 36: Figure 4. Acrcomm Rs-422 Interface Schematic

    ACRCOMM SERIAL COMMUNICATIONS, continued The following tables show the configuration schemes for the ACR2000 board with the serial communication ACRCOMM module option. Refer to the User’s Guide manual, COM1/COM2 Stream Flags, Appendix B, for bit flag details. MUX Flags, Set-up communication type flags:...

  • Page 37: Figure 5. Acrcomm Module Outline

    ACRCOMM MODULE HARDWARE SETUP (OPTIONAL) NOTE: Square pin indicates Pin 1. Figure 5. ACRCOMM Module Outline Chapter 2, ACRCOMM Module Hardware Set-Up...

  • Page 38: Acrcomm Module Jumpers

    COM2 RS-422 Termination Resistor Select (Page 29) COM2 RS-422 Termination Resistor Select (Page 29) Battery BT2 Enable/Disable (Page 30) Battery BT1 Enable/Disable (Page 30) COM1 and COM2 Autobaud Detect Enable (Page 31) Reserved Reserved Reserved ACR2000 Hardware Manual P/N PM08117...

  • Page 39: Rs-422 Termination Jumpers (J1 Thru J4)

    ACRCOMM MODULE JUMPERS (OPTIONAL) RS-422 Communication Ports Line Terminator Jumpers (J1 thru J4) These jumpers provide termination resistors for the RS-422 signals. Communication Ports Termination Jumpers Signal Jumper Termination No Termination RXD1A/RXD1B Jumper In Jumper Out TXD1A/TXD1B Jumper In Jumper Out RXD2A/RXD2B Jumper In Jumper Out...

  • Page 40: Battery Enable Jumpers (J5 And J6)

    Battery Selection Jumpers Battery Type/Function Battery Load Enable (BT1 and BT2 installed) Battery Load Enable (BT1 only installed) Battery Load Disable Table 2.2 ACRCOMM Battery Selection Jumpers Refer to Figure 4 for jumper location. ACR2000 Hardware Manual P/N PM08117...

  • Page 41: Autobaud Detect Jumper (J7)

    ACRCOMM module. This jumper works in conjunction with the COM1 Startup Mode (P7013) and COM2 Startup Mode (P7029) parameters listed in the ACR2000/ACR8000 User’s Guide under Miscellaneous Parameters P6912-P7029. When the Startup Enable bit is not set (0 - default) in the COM1/2 Startup Mode parameters, the jumper is ignored and Autobaud detect is always enabled.

  • Page 42: Acrcomm Module Hardware Wiring (Optional)

    ACRCOMM MODULE HARDWARE WIRING (OPTIONAL) This section contains diagrams of the connectors on the ACRCOMM module. ACR2000 Hardware Manual P/N PM08117...

  • Page 43: Acrcomm Standalone Power (Pwr2)

    ACRCOMM MODULE HARDWARE WIRING (OPTIONAL) Standalone Power (PWR2) PWR2 is the connection on the ACRCOMM communications board for the main power supply when the card is used as a stand-alone board. Power monitor LED’s, D1 thru D3, are available for visual confirmation of power applied to board (monitor point is after fuses F1 thru F3).

  • Page 44: Acrcomm Communications (P5)

    Figure 4 for connector location. 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 2.5 ACRCOMM Communications Connector ACR2000 Hardware Manual P/N PM08117...

  • Page 45: Chapter 3

    CHAPTER 3 SPECIFICATIONS Chapter 3, ACR2000 Specification...

  • Page 46: Acr2000 Specification

    Fused +5VDC Stepper Output available on P2 connector up to 250 mA. Step Output Frequency : 0 to 6 KHz, pulse width 167us 6 KHz to 4 MHz, approx. 50% duty cycle ACR2000 Hardware Manual P/N PM08117...
  • Page 47 COM1, COM2, and LPT available on optional ACRCOMM module Simultaneous communications on all 4 ports Serial Communications: 2 ports standard (COM1, COM2) (ACRCOMM Module) Software Configurable RS-232 or RS-422 Automatic Baud Detect (300 Hz - 38.4 KHz) Chapter 3, ACR2000 Specification...
  • Page 48 This page intentionally left blank. ACR2000 Hardware Manual P/N PM08117...

  • Page 49: Chapter 4

    CHAPTER 4 ACR2000 MECHANICAL DRAWINGS Chapter 4, ACR2000 Mechanical Drawings...

  • Page 50: Acr2000 Mechanical Dimensions

    ACR2000 MECHANICAL DIMENSIONS Figure 6. ACR2000 Mechanical Dimensions ACR2000 Hardware Manual P/N PM08117...

  • Page 51: Acrcomm Module Mechanical Dimensions

    ACRCOMM MODULE MECHANICAL DIMENSIONS Figure 7. ACRCOMM Mechanical Dimensions Chapter 4, ACR2000 Mechanical Drawings...

  • Page 52: Acr2000 Board Stacking Examples

    ACR2000 BOARD STACKING EXAMPLES Figure 8. ACR2000 Board Stacking Mechanical Dimensions Examples Note: ACRCOMM and ACRIO Modules can be stacked on the ACR2000 Base Board in any order. The above stacking illustration examples are for reference only. ACR2000 Hardware Manual...

  • Page 53: Acr2000 Typical Connection Diagrams

    ACR2000 TYPICAL CONNECTION DIAGRAMS The following schematic sheets represent some typical connection and wiring diagrams for the ACR2000 Motherboard and associated plug-in modules: For electronic media, refer to the typical connection drawing file, ACR2000 TYPICAL CONNECTIONS.PDF, supplied separately on the AMCS CD P/N CD2000 under the \DOCS directory.

Table of Contents