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Introduction

1

INTRODUCTION

This document provides hardware connection information for the Acroloop ACR2000
motion controller.

Included in this document is the hardware connection information for the following
optional plug-in modules:

a. ACRCOMM module. This board is required for stand-alone operation of the

ACR2000 motion controller. Power supply input, battery back-up, and
communication ports are provided by this board.

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. Up to four expanded I/O boards can be piggy-backed, for
a total of 288 digital I/O.

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Содержание ACR2000

Страница 1: ...Automation p n YPM08117 ACR2000 Hardware Manual Effective October 7 2002...

Страница 2: ...This page intentionally left blank...

Страница 3: ...ions to Figure 1 2 Page 6 ACR2000 Motherboard Jumpers Added jumper reference table 3 Page 11 ACR2000 Motherboard Jumpers Digital Output Added warning about installing jumpers with wrong output driver...

Страница 4: ...ved 5VDC reference Added jumper warning 3 ACR2000 Motherboard Hardware Wiring Removed 5VDC reference 4 ACR2000 Motherboard Hardware Wiring Digital I O Power PWR1 Removed 5VDC reference 5 Chapter 3 Ove...

Страница 5: ...he Isolated Power Fuse current rating from 2 Amps to 4 Amps 4 ACR2000 Specification Corrected the DAC Stepper Output Step Output frequency specification 5 ACR2000 Specification Corrected the Digital O...

Страница 6: ...This page intentionally left blank...

Страница 7: ...nterrupt Select Jumper J13 15 ACR2000 Motherboard Hardware Wiring 16 Encoder Inputs P1 17 Analog Input Output P2 19 Digital Inputs Outputs P3 21 Digital I O Power PWR1 22 CHAPTER 2 23 ACRCOMM MODULE H...

Страница 8: ...ACR2000 Hardware Manual P N PM08117 ii ACR2000 Mechanical Dimensions 40 ACRCOMM Module Mechanical Dimensions 41 ACR2000 Board Stacking Examples 42 ACR2000 Typical Connection Diagrams 43...

Страница 9: ...BUS Interrupt Select Jumpers 15 Table 1 9 ACR2000 Encoder Input Connector 17 Table 1 10 ACR2000 Analog I O Connector 19 Table 1 11 ACR2000 Isolated Power Fuses 20 Table 1 12 ACR2000 Digital I O Connec...

Страница 10: ...ital Input User Circuit 10 Figure 3 ACR2000 Digital Output User Circuit 12 Figure 4 ACRCOMM RS 422 Interface Schematic 26 Figure 5 ACRCOMM Module Outline 27 Figure 6 ACR2000 Mechanical Dimensions 40 F...

Страница 11: ...d for stand alone operation of the ACR2000 motion controller Power supply input battery back up and communication ports are provided by this board Refer to separate ACRIO Hardware Manual Reverse Layou...

Страница 12: ...ACR2000 Hardware Manual P N PM08117 2 This page intentionally left blank...

Страница 13: ...Chapter 1 ACR2000 Motherboard Hardware Set Up 3 CHAPTER 1 ACR2000 MOTHERBOARD HARDWARE SETUP...

Страница 14: ...ntroller card There are no analog adjustment pots on the board All analog gain and offset is under software control The analog outputs must be wired to differential control signal inputs on a servo am...

Страница 15: ...Chapter 1 ACR2000 Motherboard Hardware Set Up 5 ACR2000 MOTHERBOARD HARDWARE SETUP NOTE Square pin indicates Pin 1 Figure 1 ACR2000 Motherboard Outline...

Страница 16: ...lowing table shows how the switch positions relate to the ACR2000 card number and I O port addresses Note that Switch 4 should be left in the OFF position unless using the Flash Bypass Mode of operati...

Страница 17: ...7 J4 ENC3 Pull up Voltage Select Page 7 J5 Digital Input Sinking Sourcing Select Page 9 J6 Factory Test Header J7 Digital Output Sinking Sourcing Select Page 11 J8 Digital Output Sinking Sourcing Sel...

Страница 18: ...up section may be necessary Line Driver Encoders When using line driver or balanced pair encoders the corresponding resistor pack should be removed from it s socket Leaving the resistor pack in the so...

Страница 19: ...lated voltage VEXT refers to 24VDC WARNING Wiring VEXT with the incorrect voltage will permanently damage the Digital I O circuitry The isolated voltage VEXT is selected as 24VDC Refer to Figure 1 for...

Страница 20: ...ACR2000 Hardware Manual P N PM08117 10 ACR2000 MOTHERBOARD JUMPERS Figure 2 ACR2000 Digital Input User Circuit...

Страница 21: ...O circuitry The isolated voltage VEXT is 24VDC Selecting the wrong jumper settings for the type of output drivers installed on the board will permanently damage the output driver IC s U14 and U15 The...

Страница 22: ...ACR2000 Hardware Manual P N PM08117 12 ACR2000 MOTHERBOARD JUMPERS Figure 3 ACR2000 Digital Output User Circuit...

Страница 23: ...e jumpers are set at the factory to match the EPROM size required for the current firmware version These jumpers should not be set by the user EPROM Size Jumpers Memory Part No J9 J12 128K x 32 27C204...

Страница 24: ...ams on the board are retained when power is removed When an ACRCOMM module is present and the jumpers are set to Battery Function Disabled user programs on the board are not retained when power is rem...

Страница 25: ...a good choice since printer code seldom uses interrupts and use of the secondary printer port LPT2 is even rarer Level J13 Common Function Disabled 1 3 Not Applicable IRQ3 1 2 Secondary Serial COM2 I...

Страница 26: ...ptically 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...

Страница 27: ...of encoder feedback Refer to Figure 1 for connector location Note P1 is a 34 pin shrouded male header P1 Usage Pin Usage Pin CHA0 1 CHA0 2 CHB0 3 CHB0 4 MRK0 5 MRK0 6 VCC 7 GND 8 CHA1 9 CHA1 10 CHB1 1...

Страница 28: ...r Install Pull ups and Jumper to 12V 75 ft Beldon 9330 Shielded Twisted Pair Open Collector Driver With Pull ups to 5 V on Encoder Install Pull ups and Jumper to 5V 50 ft Beldon 9330 Shielded Twisted...

Страница 29: ...In Pin Contacts AMCS P N CN033 AMP P N 748333 7 3 Strain Relief AMCS P N CN045 AMP P N 748678 3 NOTE Hand tool AMP P N 90430 1 is required for the above crimp contacts P2 Usage Pin Usage Pin Usage Pi...

Страница 30: ...pper Output SVCC is available on the P2 connector for use with wiring the Stepper SIMM Module outputs The maximum recommended output rating for SVCC is 250 milliamps See Figure 1 for fuse F2 location...

Страница 31: ...efer to Figure 1 for connector location Note P3 is a 34 pin shrouded male header P3 Usage Pin Usage Pin INP 00 1 INP 01 2 INP 02 3 INP 03 4 INP 04 5 INP 05 6 INP 06 7 INP 07 8 INP 08 9 INP 09 10 INP 1...

Страница 32: ...table below Refer to Figure 1 for connector location Isolated voltage VEXT refers to 24VDC Note PWR1 is a 4 pin male Weidmuller plug PWR1 Isolated Power Connector Usage Pin Isolated Common GEXT 1 Isol...

Страница 33: ...Chapter 2 ACRCOMM Module Hardware Set Up 23 CHAPTER 2 ACRCOMM MODULE HARDWARE SETUP OPTIONAL...

Страница 34: ...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 sw...

Страница 35: ...rformed 1 Open serial communication to one of the ports via RS 232 2 Load a PBOOT program containing the desired communication flags configuration for COM1 and COM2 ports This will configure the seria...

Страница 36: ...tails MUX Flags Set up communication type flags MUX1 FLAG MUX0 FLAG COMM FUNCTION CLR 0 CLR 0 Not Used CLR 0 SET 1 RS 232 Default SET 1 CLR 0 RS 422 SET 1 SET 1 Not Used RECEIVE TRANSMIT Flags RS 422...

Страница 37: ...Chapter 2 ACRCOMM Module Hardware Set Up 27 ACRCOMM MODULE HARDWARE SETUP OPTIONAL NOTE Square pin indicates Pin 1 Figure 5 ACRCOMM Module Outline...

Страница 38: ...ION J1 COM1 RS 422 Termination Resistor Select Page 29 J2 COM1 RS 422 Termination Resistor Select Page 29 J3 COM2 RS 422 Termination Resistor Select Page 29 J4 COM2 RS 422 Termination Resistor Select...

Страница 39: ...ide termination resistors for the RS 422 signals Communication Ports Termination Jumpers Signal Jumper Termination No Termination RXD1A RXD1B J1 Jumper In Jumper Out TXD1A TXD1B J2 Jumper In Jumper Ou...

Страница 40: ...factory replaceable only This allows for continued back up of the user memory during replacement of the primary battery The factory default jumper settings are set to disconnect the batteries from th...

Страница 41: ...llaneous 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 The default operation...

Страница 42: ...ACR2000 Hardware Manual P N PM08117 32 ACRCOMM MODULE HARDWARE WIRING OPTIONAL This section contains diagrams of the connectors on the ACRCOMM module...

Страница 43: ...board monitor point is after fuses F1 thru F3 Refer to Figure 4 for connector fuse and LED location Note PWR2 is a 4 pin male Weidmuller plug PWR2 Stand alone Power Connector Power Monitor LED Refere...

Страница 44: ...n of the COM ports is software selectable by the user The following diagram shows the connections for the 3 communications ports Refer to Figure 4 for connector location Note P5 is a 34 pin shrouded m...

Страница 45: ...Chapter 3 ACR2000 Specification 35 CHAPTER 3 SPECIFICATIONS...

Страница 46: ...n does not include any additional power required for external components Encoders Stepper Outputs etc Encoder Inputs Up to 4 per card Differential Quadrature Encoder Open Collector or Line Driver 0 1...

Страница 47: ...External Voltage Supplied Output Loads 16 Outputs 50 mA continuously each or Up to 6 Outputs 125mA continuously each distributed across the two 2 output drivers as follows up to 3 between OUT32 and OU...

Страница 48: ...ACR2000 Hardware Manual P N PM08117 38 This page intentionally left blank...

Страница 49: ...Chapter 4 ACR2000 Mechanical Drawings 39 CHAPTER 4 ACR2000 MECHANICAL DRAWINGS...

Страница 50: ...ACR2000 Hardware Manual P N PM08117 40 ACR2000 MECHANICAL DIMENSIONS Figure 6 ACR2000 Mechanical Dimensions...

Страница 51: ...Chapter 4 ACR2000 Mechanical Drawings 41 ACRCOMM MODULE MECHANICAL DIMENSIONS Figure 7 ACRCOMM Mechanical Dimensions...

Страница 52: ...R2000 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 ill...

Страница 53: ...matic 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...

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