Parker ACR1200 Hardware Manual
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Parker ACR1200 Hardware Manual

Parker ACR1200 Hardware Manual

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p/n YPM08123
Automation
ACR1200
Hardware Manual
Effective: October 7, 2002

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Summary of Contents for Parker ACR1200

  • Page 1 YPM08123 Automation ACR1200 Hardware Manual Effective: October 7, 2002...
  • Page 2 This page intentionally left blank.
  • Page 3 CHANGE NOTICE ACR1200 Hardware Manual P/N PM08123 Version Change: From: Version 1.03, Dated 6/30/2000 Version 1.04, Dated 12/3/2001 Page 5. Figure 1, ACR1200 Motherboard Updated drawing to add pin 1 references Outline. and JP22-JP25 locations. Page 13. Digital Output Sink/Source Select Added sinking IC source to Table 2.4.
  • Page 4 CHANGE NOTICE ACR1200 Hardware Manual P/N PM08123 Version Change: From: Version 1.01, Dated 10/31/1999 Version 1.02, Dated 6/13/2000 Page 5. Figure 1a, ACR1200 Motherboard Corrected connector reference Outline. designations. Added pin 1 markings to PWR1 and PWR2 connector. Page 6. Figure 1b, Motherboard Outline.

  • Page 5: Table Of Contents

    TABLE OF CONTENTS INTRODUCTION......................1 CHAPTER 1........................3 ACR1200 MOTHERBOARD HARDWARE SETUP ........... 3 Chapter 1 Overview .................... 4 ACR1200 Motherboard Switches ............... 7 Serial Communication Card Selection Switch (SW1) ......... 7 ACR1200 Motherboard Jumpers ................ 8 ACR1200 Jumper Table List ............... 8 Encoder Pull-up Select Jumpers (JP8, JP9, JP10) ........
  • Page 6 Table 2.2 ACR1200 Encoder Pull-Up Jumpers ............. 10 Table 2.3 ACR1200 Digital Input Reference Jumper ............ 11 Table 2.4 ACR1200 Digital Output Sink/Source Select Jumper ........13 Table 2.5 ACR1200 EPROM Size Select Jumper ............15 Table 2.6 ACR1200 Battery Back-Up Enable Jumpers ..........16 Table 2.7 ACR1200 Battery Selection Jumpers.............
  • Page 7 FIGURES Figure 1.a. ACR1200 Motherboard Outline – JP11-JP12 Straight Header ....... 5 Figure 1.b. ACR1200 Motherboard Outline – JP11-JP12 Right Angle Header ....6 Figure 2. ACR1200 Digital Input User Circuit ............. 12 Figure 3. ACR1200 Digital Output User Circuit............14 Figure 4.
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  • Page 9: Introduction

    INTRODUCTION This document provides hardware connection information for the Acroloop ACR1200 motion controller. NOTE: This document applies to ACR1200 PCB Revision 2 and above. For Revision 1 boards, please contact Acroloop for correct documentation. Introduction...
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  • Page 11: Chapter 1

    CHAPTER 1 ACR1200 MOTHERBOARD HARDWARE SETUP Chapter 1, ACR1200 Motherboard Hardware Set-Up...

  • Page 12: Chapter 1 Overview

    CHAPTER 1 OVERVIEW This section contains diagrams of the jumpers and switches on the ACR1200 motherboard. 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 13: Figure 1.A. Acr1200 Motherboard Outline - Jp11-Jp12 Straight Header

    ACR1200 MOTHERBOARD HARDWARE SETUP JP16 JP17 JP18 JP19 JP25 JP24 JP23 NOTE: Square pin indicates Pin 1. Figure 1.a. ACR1200 Motherboard Outline Chapter 1, ACR1200 Motherboard Hardware Set-Up...

  • Page 14: Figure 1.B. Acr1200 Motherboard Outline - Jp11-Jp12 Right Angle Header

    ACR1200 MOTHERBOARD HARDWARE SETUP DETAIL A JP11 JP12 (Looking at jumper pins from side of board) NOTE: Square pin indicates Pin 1. Figure 1.b. ACR1200 Motherboard Outline Detail A – JP11-JP12 Right Angle Header ACR1200 Hardware Manual P/N PM08123...

  • Page 15: Acr1200 Motherboard Switches

    Motherboard is performed with multiple cards using different ACR1200 card numbers. The following table shows how the switch positions relate to the ACR1200 card number. Note that Switch 4 should be left in the “OFF” position, unless using the Flash Bypass Mode of operation.

  • Page 16: Acr1200 Motherboard Jumpers

    ACR1200 MOTHERBOARD JUMPERS Jumper Table List The following is a list of the jumper functions on the ACR1200 motherboard: JUMPER JUMPER FUNCTION COM1 RS-422/RS-485 Configuration (Page 18) COM2 RS-422/RS-485 Configuration (Page 18) COM1 and COM2 Autobaud Detect Enable (Page 22)

  • Page 17: Encoder Pull-Up Select Jumpers (Jp8, Jp9, Jp10)

    ACR1200 MOTHERBOARD JUMPERS Encoder Pull-up Select Jumpers (JP8, JP9, JP10) The ACR1200 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 18: Table 2.2 Acr1200 Encoder Pull-Up Jumpers

    ACR1200 MOTHERBOARD JUMPERS Encoder Pull-up Select Jumpers, continued Encoder Pull-Up Jumpers Encoder Resistor Jumper +12V JP10 Table 2.2 ACR1200 Encoder Pull-Up Jumpers Refer to Figure 1 for jumper location. ACR1200 Hardware Manual P/N PM08123...

  • Page 19: Digital Input Reference Select Jumper (Jp15)

    Input Type Reference Voltage JP15 User Supplies Sinking Reference Inputs to Path to GEXT +24VDC Isolated Voltage (VEXT) Sourcing Reference Inputs to Path to VEXT Isolated Common (GEXT) Table 2.3 ACR1200 Digital Input Reference Jumper Chapter 1, ACR1200 Motherboard Hardware Set-Up...

  • Page 20: Figure 2. Acr1200 Digital Input User Circuit

    ACR1200 MOTHERBOARD JUMPERS Figure 2. ACR1200 Digital Input User Circuit ACR1200 Hardware Manual P/N PM08123...

  • Page 21: Digital Output Sink/Source Select Jumpers (Jp20 And Jp21)

    Output Driver IC Type JP20 JP21 User Supplies Installed (U67,U73) (See Warning Above) Sink Motorola / ST Micro Path to VEXT ULN2803A Source Allegro Path to GEXT UDN2981A Table 2.4 ACR1200 Digital Output Sink/Source Select Jumper Chapter 1, ACR1200 Motherboard Hardware Set-Up...

  • Page 22: Figure 3. Acr1200 Digital Output User Circuit

    ACR1200 MOTHERBOARD JUMPERS Figure 3. ACR1200 Digital Output User Circuit ACR1200 Hardware Manual P/N PM08123...

  • Page 23: Eprom Size Select Jumper (Jp7)

    This jumper should not be set by the user. EPROM Size Jumper Memory Part No. 128K x 32 27C2048 256K x 32 27C4096 Table 2.5 ACR1200 EPROM Size Select Jumper Refer to Figure 1 for jumper location. Chapter 1, ACR1200 Motherboard Hardware Set-Up...

  • Page 24: Battery Back-Up Select Jumpers (Jp13 And Jp14)

    These two jumpers allow for disabling and enabling of the battery back-up function on the ACR1200 motherboard, along with the Battery Enable Jumpers, JP11 and JP12. When the jumpers are set to “Battery Function Enabled”, user programs on the board are retained when power is removed (and batteries are enabled –...

  • Page 25: Battery Enable Jumpers (Jp11 And Jp12)

    ACR1200 MOTHERBOARD JUMPERS Battery Enable Jumpers (JP11 and JP12) These two jumpers enable or disable the batteries on the ACR1200 Motherboard. A primary 1000mA-Hr Lithium (LI) coin battery is provided on the board (BT1 – User- Replaceable). A 50mA-Hr rechargeable Vanadium-Lithium (VA-LI) battery is also provided as a short-term secondary back-up source (BT2 –...

  • Page 26: Rs-422/485 Configuration Jumpers (Jp1, Jp2, Jp16, Jp17, Jp18, Jp19)

    ACR1200 MOTHERBOARD JUMPERS RS-422/485 Configuration Jumpers (JP1, JP2, JP16, JP17, JP18, JP19) The ACR1200 serial communication interface is software configurable. At power-up, the default COM1/COM2 communications mode is RS-232. For ACR1200 boards, reconfiguration of the communications ports to RS-422/RS-485 must be performed via an RS-232 port.
  • Page 27 ACR1200 MOTHERBOARD JUMPERS RS-422/485 Configuration Jumpers, continued The following tables show the configuration schemes for the ACR1200 board. Refer to the User’s Guide manual, COM1/COM2 Stream Flags, Appendix B, for bit flag details. Refer to the following page for hardware jumper details.

  • Page 28: Table 2.8 Acr1200 Rs-422/485 Configuration Jumpers

    JP16 In JP18 In COM1/COM2 RXD/TXD JP17 In JP19 In Transmit Enable flags. 2-Wire Interface. Table 2.8 ACR1200 RS-422/485 Configuration Jumpers Refer to Figure 1 for jumper location. RS-422/RS-485 INTERFACE SCHEMATIC COM1 (COM2) JUMPERS SHOWN TXDxA TXDxB (JP2) JP16 JP17...

  • Page 29: Rs-422 Termination Jumpers (Jp22, Jp23, Jp24, Jp25)

    Jumper In Jumper Out TXD1A/TXD1B JP23 Jumper In Jumper Out RXD2A/RXD2B JP24 Jumper In Jumper Out TXD2A/TXD2B JP25 Jumper In Jumper Out Table 2.9 ACR1200 RS-422 Termination Jumpers Refer to Figure 1 for jumper location. Chapter 1, ACR1200 Motherboard Hardware Set-Up...

  • Page 30: Autobaud Detect Jumper (Jp3)

    Autobaud Detect Jumper (JP3) This jumper enables or disables the autobaud detect feature of the serial communications channels on the ACR1200 Motherboard. This jumper works in conjunction with the COM1 Startup Mode (P7013) and COM2 Startup Mode (P7029) parameters listed in the User’s Guide under Miscellaneous Parameters P6912-P7029.

  • Page 31: Duart Select Jumpers (Jp26 And Jp27)

    These jumpers are used by the factory to select the type of DUART (U54) installed on the ACR1200. DUART Select Jumpers (Factory Set) DUART TYPE JP26 JP27 16C552 Other (For future applications) Table 2.11 ACR1200 DUART Select Jumper Refer to Figure 1 for jumper location. Chapter 1, ACR1200 Motherboard Hardware Set-Up...

  • Page 32: Acr1200 Motherboard Hardware Wiring

    ACR1200 MOTHERBOARD HARDWARE WIRING This section contains diagrams of the connectors on the ACR1200 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 33: Encoder Inputs (P1)

    ACR1200 MOTHERBOARD HARDWARE WIRING Encoder Inputs (P1) There is one 26-pin connector provided on the ACR1200 for encoder feedback. The 26- pin connector provides up to three (3) axes of encoder feedback (Encoders 0 thru 2). Refer to Figure 1 for connector location.
  • Page 34 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 ACR1200 board in order for the ACR1200 to read the encoder signals. Warning: This is not a recommended mode of operation. Noise immunity is significantly reduced.

  • Page 35: Table 2.13 Acr1200 Encoder Power Fuses

    The maximum recommended output rating for EVCC is 100 milliamps per encoder (300 milliamps, maximum). See Figure 1 for fuse F2 location. Encoder +5VDC Output Fuse Fuse Circuit Amps Littelfuse Part No. EVCC 0.750 154.750 Table 2.13 ACR1200 Encoder Power Fuses Chapter 1, ACR1200 Motherboard Hardware Set-Up...

  • Page 36: Analog Input/Output (P2)

    Analog Input/Output (P2) The analog input/output connections are made through a 25-pin D-style connector on the side of the ACR1200 motion controller. Refer to Figure 1 for connector location. Note: P2 is a 25-pin D-Sub right angle female connector. Definition...

  • Page 37: Table 2.15 Acr1200 Stepper Power Fuses

    Stepper outputs. The maximum recommended output rating for SVCC is 250 milliamps. See Figure 1 for fuse F1 location. Stepper +5VDC Output Fuse Fuse Circuit Amps Littelfuse Part No. SVCC 0.500 154.500 Table 2.15 ACR1200 Stepper Power Fuses Chapter 1, ACR1200 Motherboard Hardware Set-Up...

  • Page 38: Digital Inputs / Outputs (P3)

    ACR1200 MOTHERBOARD HARDWARE WIRING Digital Inputs / Outputs (P3) There is one 34-pin connector provided on the ACR1200 for digital I/O interface. The 34-pin connector is used for the 16 Digital Inputs and 16 Digital Outputs. Refer to Figure 1 for connector location.

  • Page 39: Communications (P5)

    ACR1200 MOTHERBOARD HARDWARE WIRING Communications (P5) There is one 34-pin connector provided on the ACR1200 communications board for the 2 serial and 1 parallel communications ports. The two serial ports, COM1 and COM2, can be individually configured as RS-232 or RS-422/485 interfaces. Configuration of the COM ports is software selectable by the user.

  • Page 40: Digital I/O Power (Pwr1 And P4)

    ACR1200 MOTHERBOARD HARDWARE WIRING Digital I/O Power (PWR1 and P4) PWR1 is the primary connection for the user supplied voltage for the Digital Inputs and Digital Outputs and should be wired to VEXT as shown in the table below. Refer to Figure 1 for connector location.

  • Page 41: Standalone Power (Pwr2)

    ACR1200 MOTHERBOARD HARDWARE WIRING Standalone Power (PWR2) PWR2 is the connection on the ACR1200 communications board for the main power supply when the card is used as a stand-alone board. Refer to Figure 1 for connector location. Note: PWR2 is a 4-pin male Weidmuller plug.
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  • Page 43: Chapter 2

    CHAPTER 2 TECHNICAL SPECIFICATIONS Chapter 2, ACR1200 Specification...

  • Page 44: Acr1200 Technical Specification

    ACR1200 TECHNICAL SPECIFICATION ITEM SPECIFICATION CPU: 32 Bit Floating Point DSP @ 40 MHz Processor Type: Texas Instruments TMS320C32 Board Size: 8”W x 5H” Axis Configuration: 2 axes configurations Weight: 8.5 ounces Operating Temperature: 0°C to 50°C (32°F to 122°F)
  • Page 45 ACR1200 TECHNICAL SPECIFICATION, continued ITEM SPECIFICATION Feedback Types: Any Differential 5VDC or 12VDC including: - Quadrature Encoder - Glass Scales - Analog (Optional) Watchdog Relay: +24VDC @ 1.0 A Single Pole – Double Throw (SPDT) Hardwire through P2 analog header...
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  • Page 47: Chapter 3

    CHAPTER 3 ACR1200 MECHANICAL DRAWINGS Chapter 3, ACR1200 Mechanical Drawings...

  • Page 48: Acr1200 Mechanical Dimensions

    ACR1200 MECHANICAL DIMENSIONS Figure 5. ACR1200 Mechanical Dimensions ACR1200 Hardware Manual P/N PM08123...

  • Page 49: Acrio/Acr1200 Board Stacking Examples

    ACRIO/ACR1200 BOARD STACKING EXAMPLES Figure 6. ACR1200 Board Stacking Mechanical Dimensions Examples Chapter 3, ACR1200 Mechanical Drawings...

  • Page 50: Acr1200 Typical Connection Diagrams

    ACR1200 TYPICAL CONNECTION DIAGRAMS The following schematic sheets represent some typical connection and wiring diagrams for the ACR1200 Motherboard and associated plug-in modules: For electronic media, refer to the typical connection drawing file, ACR1200 TYPICAL CONNECTIONS.PDF, supplied separately on the AMCS CD P/N CD2000 under the \DOCS directory.

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