– 16 – ACR1505 User’s Guide
Analog/Digital I/O—P2 Connector
Inputs and outputs for the drive’s analog connections are located on the
ANALOG
I/O connector.
Note
: For an ACR1505 Controller with two servo and two stepper axes, the
servo signals are sent across channels zero and one, and the stepper
signals are sent across channels two and three.
I/O Signal
Signal High.............................................. 4.2 VDC minimum at +20 mA
Signal Low............................................... 0.5 VDC maximum at –20 mA
Active High .............................................. + output for each driver
Active Low............................................... – output for each driver
DAC Outputs
Voltage .................................................... ±10 VDC
Current Rating......................................... 5 mA, maximum
Resolution ............................................... 16-bit
•
Programmable output (
DAC GAIN
,
DAC OFFSET
)
•
Differential analog input amplifiers (preferred)
•
Single-ended input amplifiers (not recommended)—use caution to avoid
ground loops
High-Speed Outputs
Output delay............................................ <200 ns, after comparing actual
encoder position with specified
values
Open-Collector Output ............................ 24V at 30 mA, max output drive capability
(no pull-ups on board), digital output
Stepper Outputs
Step and Direction .................................. Differential, digital line driver outputs
Step Output Frequency........................... 0 to 6 KHz, pulse width 167
µ
s
6 KHz to 4 MHz, approximately
50% duty cycle
P2 Connector
Figure 6 P2
ANALOG I
/
O
connector, male drive connector pinout
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