Parker ACR8020 Hardware Manual
  1. Manuals
  2. Brands
  3. Parker Manuals
  4. Computer Hardware
  5. ACR8020
  6. Hardware manual
Parker ACR8020 Hardware Manual

Parker ACR8020 Hardware Manual

Hide thumbs Also See for ACR8020:
Table of Contents

Advertisement

Quick Links

Download this manual
p/n YPM08126
Automation
ACR8020
Hardware Manual
Effective: October 7, 2002

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the ACR8020 and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for Parker ACR8020

Summary of Contents for Parker ACR8020

  • Page 1 YPM08126 Automation ACR8020 Hardware Manual Effective: October 7, 2002...
  • Page 2 This page intentionally left blank.
  • Page 3 CHANGE NOTICE ACR8020 Hardware Manual P/N PM08126 Version Change: From: Version 1.00, Dated 12/8/2000 Version 1.01, Dated 12/8/2001 Page 6, Plug and Play Capability Added Plug and Play information. Page 16, Digital Input Reference Select Added figure. (JP17 and JP18) Page 17, Digital Output Sink/Source Added output driver IC source.

  • Page 4: Table Of Contents

    INTRODUCTION......................1 CHAPTER 1........................3 ACR8020 MOTHERBOARD PLUG AND PLAY CAPABILITY........ 3 Chapter 1 Overview .................... 5 ACR8020 Motherboard Plug and Play Capability ..........6 Dual Port Memory Address Select............... 6 CHAPTER 2........................7 ACR8020 MOTHERBOARD HARDWARE SETUP ........... 7 Chapter 2 Overview ....................
  • Page 5 TECHNICAL SPECIFICATIONS ..............41 ACR8020 Technical Specification..............42 CHAPTER 5 ....................... 45 ACR8020 MECHANICAL DETAILS ..............45 ACR8020/ACRCOMM Board................46 ACR8020 Typical Connection Diagrams............47...
  • Page 6 Table 2.2 ACR8020 Encoder Pull-Up Jumpers ............. 14 Table 2.3 ACR8020 Digital Input Reference Jumper ............ 15 Table 2.4 ACR8020 Digital Output Sink/Source Select Jumper ........17 Table 2.5 ACR8020 Encoder Input Connectors P1A and P1B........20 Table 2.6 ACR8020 Encoder Input Connector P1C ............21 Table 2.7 ACR8020 Analog I/O Connector..............
  • Page 7 FIGURES Figure 1. ACR8020 Motherboard Outline..............10 Figure 2. ACR8020 Digital Input User Circuit ............. 16 Figure 4. ACRCOMM RS-422 Interface Schematic............. 32 Figure 5. ACRCOMM Module Outline ................ 33...
  • Page 8 This page intentionally left blank. ACR8020 Hardware Manual P/N PM08126...

  • Page 9: Introduction

    ACRCOMM module. This board is required for serial communication operation of the ACR8020 motion controller. The external power supply input and battery back-up functions provided by this board are not used with the ACR8020 board. WARNING Wiring external power to the ACR8020 through the ACRCOMM module will permanently damage the ACR8020 board.
  • Page 10 This page intentionally left blank. ACR8020 Hardware Manual P/N PM08126...

  • Page 11: Chapter 1

    CHAPTER 1 ACR8020 MOTHERBOARD PLUG AND PLAY CAPABILITY Chapter 1, ACR8020 Motherboard Plug and Play Capability...
  • Page 12 This page intentionally left blank. ACR8020 Hardware Manual P/N PM08126...

  • Page 13: Chapter 1 Overview

    CHAPTER 1 OVERVIEW This section contains diagrams of the interrupt and memory decoding capabilities used in the Plug and Play setup of the ACR8020 motherboard. NOTE: It is important to read the README file located on the Acroloop CD before attempting any PC installation of the ACR8020 board.

  • Page 14: Acr8020 Motherboard Plug And Play Capability

    ACR8020 MOTHERBOARD PLUG AND PLAY CAPABILITY Dual Port Memory Address Select The ACR8020 can receive and transmit data through it’s Dual Port Memory accessible on the PCI bus. The dual port memory address range is automatically configured in Windows via the ACR8020’s PCI Plug and Play interface.

  • Page 15: Chapter 2

    CHAPTER 2 ACR8020 MOTHERBOARD HARDWARE SETUP Chapter 2, ACR8020 Motherboard Hardware Set-Up...
  • Page 16 This page intentionally left blank. ACR8020 Hardware Manual P/N PM08126...

  • Page 17: Chapter 2 Overview

    CHAPTER 2 OVERVIEW This section contains diagrams of the jumpers and switches on the ACR8020 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 18 ACR8020 MOTHERBOARD HARDWARE SETUP NOTE: Square pin indicates Pin 1. Figure 1. ACR8020 Motherboard Outline ACR8020 Hardware Manual P/N PM08126...

  • Page 19: Acr8020 Motherboard Switches

    Serial Communication Card Selection / User Switch (SW1) Serial communications via the COM1 and COM2 communication ports on the optional ACRCOMM module are performed with multiple cards using different ACR8020 card numbers. The following table shows how the switch positions 1 through 4 relate to the ACR8020 card number.

  • Page 20: Acr8020 Motherboard Jumpers

    ACR8020 MOTHERBOARD JUMPERS Jumper Table List The following is a list of the jumper functions on the ACR8020 motherboard: JUMPER JUMPER FUNCTION Reserved for Future Use Reserved for Future Use Reserved for Future Use Reserved for Factory Test** ENC0 Pull-up Voltage Select (Page 13)

  • Page 21: Encoder Pull-Up Select Jumpers (Jp5-Jp14)

    ACR8020 MOTHERBOARD JUMPERS Encoder Pull-up Select Jumpers (JP5-JP14) The ACR8020 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: The encoder options for the ACR8020 are selectable as follows:...

  • Page 22: Table 2.2 Acr8020 Encoder Pull-Up Jumpers

    ACR8020 MOTHERBOARD JUMPERS Encoder Pull-up Select Jumpers (JP5-JP14), cont’d Encoder Pull-Up Jumpers Encoder Resistor Jumper +12V JP10 JP11 JP12 JP13 RP10 JP14 Table 2.2 ACR8020 Encoder Pull-Up Jumpers Refer to Figure 1 for jumper location. ACR8020 Hardware Manual P/N PM08126...

  • Page 23: Digital Input Reference Select Jumper (Jp17 And Jp18)

    Reference Voltage JP17 JP18 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 ACR8020 Digital Input Reference Jumper Chapter 2, ACR8020 Motherboard Hardware Set-Up...
  • Page 24 JUMPER POSITIONS SINK INPUT To ACR8020 JP17-1 to JP17-2 JP18-1 to JP18-2 GEXT (Isolated Common) SOURCE INPUT +24VDC Isolated Voltage (VEXT) JP17-2 to JP17-3 JP18-2 to JP18-3 To ACR8020 Figure 2. ACR8020 Digital Input User Circuit ACR8020 Hardware Manual P/N PM08126...

  • Page 25: Digital Output Sink/Source Select Jumpers (Jp15 And Jp16)

    JP15 JP16 User Supplies IC Type Installed (U120-U123) (See Warning Above) Sink Motorola / ST Micro Path to VEXT ULN2803A Source Allegro Path to GEXT UDN2981A Table 2.4 ACR8020 Digital Output Sink/Source Select Jumper Chapter 2, ACR8020 Motherboard Hardware Set-Up...
  • Page 26 SINK OUTPUT +24VDC Isolated Voltage (VEXT) JP15-1 to JP15-2 JP16-1 to JP16-2 LOAD From ACR8020 SOURCE OUTPUT From ACR8020 LOAD JP15-2 to JP15-3 JP16-2 to JP16-3 GEXT (Isolated Common) Figure 3. ACR8020 Digital Output User Circuit ACR8020 Hardware Manual P/N PM08126...

  • Page 27: Acr8020 Motherboard Hardware Wiring

    ACR8020 MOTHERBOARD HARDWARE WIRING This section contains diagrams of the connectors on the ACR8020 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 4 amps to protect the controller card.

  • Page 28: Encoder Inputs (P1A, P1B, P1C)

    ACR8020 MOTHERBOARD HARDWARE WIRING Encoder Inputs (P1A, P1B, P1C) There are two 34 pin headers and one 20 pin header provided on the ACR8020 for encoder feedback. The two 34 pin header provide up to eight (8) axes of encoder feedback (Encoders 0 thru 7).

  • Page 29: Table 2.6 Acr8020 Encoder Input Connector P1C

    Usage CHA8 MRK8’ CHA8’ CHB8 CHB8’ N.C. MRK8 KEY** CHA9 MRK9’ CHA9’ CHB9 CHB9’ N.C. MRK9 N.C. Table 2.6 ACR8020 Encoder Input Connector P1C NOTE: P1C pin 10 is used as a key pin. Chapter 2, ACR8020 Motherboard Hardware Set-Up...
  • Page 30 ACR8020 MOTHERBOARD HARDWARE WIRING Encoder Inputs (P1A, P1B, P1C), cont’d. P1C is designed to work in conjunction with a 20 pin ribbon cable terminated to two (2) standard 9-pin female D-sub type connectors. This 12 inch cable, AMCS P/N PWH015, is supplied with the Encoder 8/9 Option.
  • Page 31 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 ACR8020 board in order for the ACR8020 to read the encoder signals. Warning: This is not a recommended mode of operation. Noise immunity is significantly reduced.

  • Page 32: Analog Input/Output (P2)

    Analog Input/Output (P2) The analog input/output connections are made through a 37-pin D-style connector on the side of the ACR8020 motion controller. Refer to Figure 1 for connector location. Note: P2 is a standard 37-pin female D-plug. Pin definitions in parentheses are for stepper modules.

  • Page 33: Digital Inputs / Outputs (P3 And P4)

    Digital Inputs / Outputs (P3 and P4) There are two 34 pin headers provided on the ACR8020 for digital I/O interface. The 34 pin headers are used for the 32 Digital Inputs and 32 Digital Outputs. Refer to Figure 1 for connector location.

  • Page 34: Miscellaneous Output (P9)

    SVCC SVCC RESERVED RESERVED RESERVED RESERVED N.C. N.C. N.C. N.C. Table 2.9 ACR8020 Miscellaneous Output Connector P9 See Figure 1 for fuse F5 location. Stepper +5VDC Output Fuse Fuse Circuit Amps Littelfuse Part No. SVCC 0.500 154.500 Table 2.10 ACR8020 SVCC Power Fuses...

  • Page 35: Digital I/O Power (Pwr1)

    Isolated Common (GEXT) Isolated Common (GEXT) Isolated Voltage (VEXT) Isolated Voltage (VEXT) Table 2.11 ACR8020 Isolated Power Connector Isolated Power Fuse Fuse Circuit Amps Littelfuse Part No. VEXT 154.004 Table 2.12 ACR8020 Isolated Power Fuses Chapter 2, ACR8020 Motherboard Hardware Set-Up...
  • Page 36 This page intentionally left blank. ACR8020 Hardware Manual P/N PM08126...

  • Page 37: Chapter 3

    CHAPTER 3 ACRCOMM MODULE HARDWARE SETUP (OPTIONAL) Chapter 3, ACRCOMM Module Hardware Set-Up...
  • Page 38 This page intentionally left blank. ACR8020 Hardware Manual P/N PM08126...

  • Page 39: Chapter 2 Overview

    The ACRCOMM Plug-In Module provides serial communication ports (2 serial, 1 parallel) capability for the ACR8020 motherboard. ACRCOMM external power input and User-SRAM battery back-up functions are not used with the ACR8020 motherboard. These circuits are not populated on the ACR8020 COMM Board.

  • Page 40: Acrcomm Serial Communications

    (or any time) via the PCI bus communications port. The following tables show the configuration schemes for the ACR8020 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.
  • Page 41 ACRCOMM MODULE HARDWARE SETUP (OPTIONAL) NOTE: Square pin indicates Pin 1. Items F1, F2, F3, and PWR2 shown above are not populated on the ACR8020 COMM Module. Figure 5. ACRCOMM Module Outline Chapter 3, ACRCOMM Module Hardware Set-Up...

  • Page 42: Acrcomm Module Jumpers

    COM1 RS-422 Termination Resistor Select (Page 35) COM2 RS-422 Termination Resistor Select (Page 35) COM2 RS-422 Termination Resistor Select (Page p) Not Used with the ACR8020 Not Used with the ACR8020 COM1 and COM2 Autobaud Detect Enable (Page 37) Reserved...

  • Page 43: 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 44: Battery Enable Jumpers (J5 And J6)

    ACRCOMM MODULE JUMPERS (OPTIONAL) Battery Enable Jumpers (J5 and J6) Not used with the ACR8020 Motherboard. ACR8020 Hardware Manual P/N PM08126...

  • Page 45: Autobaud Detect Jumper (J7)

    ACRCOMM MODULE JUMPERS (OPTIONAL) Autobaud Detect Jumper (J7) This jumper enables or disables the autobaud detect feature of the serial communications channels on the ACRCOMM module. This jumper works in conjunction with the COM1 Startup Mode (P7013) and COM2 Startup Mode (P7029) parameters listed in the Acroloop Motion Controller’s User’s Guide under Miscellaneous Parameters P6912- P7029.

  • Page 46: Acrcomm Module Hardware Wiring (Optional)

    ACRCOMM MODULE HARDWARE WIRING (OPTIONAL) This section contains diagrams of the connectors on the ACRCOMM module. ACR8020 Hardware Manual P/N PM08126...

  • Page 47: Acrcomm Standalone Power (Pwr2)

    ACRCOMM MODULE HARDWARE WIRING (OPTIONAL) Standalone Power (PWR2) Not used with the ACR8020 Mother board. All fuses and PWR2 connector are removed to prevent accidental power application to the ACRCOMM board. WARNING Wiring external power to the ACR8020 through the ACRCOMM module will permanently damage the ACR8020 board.

  • Page 48: 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 3.3 ACRCOMM Communications Connector ACR8020 Hardware Manual P/N PM08126...

  • Page 49: Chapter 4

    CHAPTER 4 TECHNICAL SPECIFICATIONS Chapter 4, ACR8020 Specification...

  • Page 50: Acr8020 Technical Specification

    ACR8020 TECHNICAL SPECIFICATION ITEM SPECIFICATION CPU: 32 Bit Floating Point DSP Processor Type: Texas Instruments TMS320VC33 Board Size: 2 Slots 13.3” x 4.2” Full-Size PCI Form Factor Axis Configuration: 2, 4, 6, or 8 axes configurations Weight: PC Version: TBF Operating Temperature: 0°C to 50°C (32°F to 122°F)
  • Page 51 ACR8020 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...
  • Page 52 This page intentionally left blank. ACR8020 Hardware Manual P/N PM08126...

  • Page 53: Chapter 5

    CHAPTER 5 ACR8020 MECHANICAL DETAILS Chapter 5, ACR8020 Mechanical Drawings...

  • Page 54: Acr8020/Acrcomm Board

    ACR8020/ACRCOMM BOARD The ACR8020 board is a full-size PCI board. When installed in a PC, the board uses two (2) PCI slots (with or without an ACRCOMM module). ACR8020 Hardware Manual P/N PM08126...

  • Page 55: Acr8020 Typical Connection Diagrams

    ACR8020 TYPICAL CONNECTION DIAGRAMS Refer to the typical connection drawing file, ACR8020 TYPICAL CONNECTIONS.PDF, supplied separately on the AMCS CD P/N CD2000 under the \DOCS directory. Chapter 5, ACR8020 Mechanical Drawings...

Table of Contents