Parker ACR1200, Hardware Manual

Page 1: ...Automation p n YPM08123 ACR1200 Hardware Manual Effective October 7 2002...

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Page 3: ...ference designations Page 36 Technical Specification Corrected operating temperature range and Digital I O power requirements ACR1200 Hardware Manual P N PM08123 Version Change From Version 1 02 Dated...

Page 4: ...header Page 33 Table 2 19 ACR1200 Isolated Power Fuses Corrected current rating from 4 Amps to 2 Amps Page 34 Table 2 21 ACR1200 Standalone Power Fuses Corrected current rating from 2 Amps to 4 Amps A...

Page 5: ...3 and JP14 16 Battery Enable Jumpers JP11 and JP12 17 RS 422 485 Configuration Jumpers JP1 JP2 JP16 JP17 JP18 JP19 18 RS 422 Termination Jumpers JP22 JP23 JP24 JP25 21 Autobaud Detect Jumper JP3 22 DU...

Page 6: ...00 RS 422 485 Configuration Jumpers 20 Table 2 9 ACR1200 RS 422 Termination Jumpers 21 Table 2 10 ACR1200 Autobaud Detect Jumper 22 Table 2 11 ACR1200 DUART Select Jumper 23 Table 2 12 ACR1200 Encoder...

Page 7: ...board 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 ACR1200 RS 422 RS 485 Interface Schematic 20 Figure...

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Page 9: ...is 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 Acro...

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Page 11: ...Chapter 1 ACR1200 Motherboard Hardware Set Up 3 CHAPTER 1 ACR1200 MOTHERBOARD HARDWARE SETUP...

Page 12: ...og 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 amplifier The DAC outputs provide...

Page 13: ...3 U67 F1 F3 F4 F5 F2 JP20 JP11 JP13 JP12 BT1 1000mA HR LITHIUM BATTERY BT2 50mA HR VA LI BATTERY SEE DETAIL A JP14 J1 U8 U9 JP7 JP21 SW2 RESET SWITCH WATCHDOG LED USER LEDS 1 13 14 25 VDD STATUS VEE S...

Page 14: ...N PM08123 ACR1200 MOTHERBOARD HARDWARE SETUP DETAIL A JP11 JP12 Pin 1 BT2 BT1 Looking at jumper pins from side of board NOTE Square pin indicates Pin 1 Figure 1 b ACR1200 Motherboard Outline Detail A...

Page 15: ...information from flash at power up or reset Serial communication via the COM1 and COM2 communication ports on the ACRCOMM module will recognize the card as Card Number 15 However the card should be pl...

Page 16: ...nable Select Page 16 JP14 User Memory Battery Power Select Page 16 JP15 Digital Input Sinking Sourcing Select Page 11 JP16 COM1 Half Duplex Select Page 18 JP17 COM1 Half Duplex Select Page 18 JP18 COM...

Page 17: ...ling up to 12 volts provides higher noise immunity but causes a slower response time For high frequency applications encoder rates higher than 1 megahertz the 5 volt pull up section may be necessary L...

Page 18: ...THERBOARD JUMPERS Encoder Pull up Select Jumpers continued Encoder Pull Up Jumpers Encoder Resistor Jumper 5V 12V 0 RP1 JP8 1 2 2 3 1 RP2 JP9 1 2 2 3 2 RP3 JP10 1 2 2 3 Table 2 2 ACR1200 Encoder Pull...

Page 19: ...Isolated 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...

Page 20: ...12 ACR1200 Hardware Manual P N PM08123 ACR1200 MOTHERBOARD JUMPERS Figure 2 ACR1200 Digital Input User Circuit...

Page 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 U67 and U73 The...

Page 22: ...14 ACR1200 Hardware Manual P N PM08123 ACR1200 MOTHERBOARD JUMPERS Figure 3 ACR1200 Digital Output User Circuit...

Page 23: ...This jumper is set at the factory to match the EPROM size required for the current firmware version This jumper should not be set by the user EPROM Size Jumper Memory Part No JP7 128K x 32 27C2048 1...

Page 24: ...jumpers are set to Battery Function Enabled user programs on the board are retained when power is removed and batteries are enabled see Battery Enable Jumpers When the jumpers are set to Battery Funct...

Page 25: ...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 the circuit This preven...

Page 26: ...mplished at power up or at any time If both ports are to be configured to RS 422 RS 485 mode the following must be performed 1 Open serial communication to one of the ports via RS 232 2 Load a PBOOT p...

Page 27: ...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 RS 485 SET 1 SET 1 Not Used RECEIVE TRANSMIT Flags RS 48...

Page 28: ...2 1 to JP2 2 JP2 3 to JP2 4 JP18 Out JP19 Out RS 485 Half Duplex Drivers and Receivers are enabled and disabled by the user via COM1 COM2 RXD TXD Transmit Enable flags 2 Wire Interface JP1 1 to JP1 2...

Page 29: ...120 ohm termination resistors for the RS 422 signals Communication Ports Termination Jumpers Signal Jumper Termination No Termination RXD1A RXD1B JP22 Jumper In Jumper Out TXD1A TXD1B JP23 Jumper In...

Page 30: ...arameters 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 of the CO...

Page 31: ...rs 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 IN 1 2 Other For future app...

Page 32: ...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...

Page 33: ...es up to three 3 axes of encoder feedback Encoders 0 thru 2 Refer to Figure 1 for connector location Note P1 is a 26 pin shrouded male header P1 Usage Pin Pin Usage CHA0 1 2 CHA0 CHB0 3 4 CHB0 MRK0 5...

Page 34: ...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...

Page 35: ...Output EVCC is available on the P1 connector for use with wiring the encoders The maximum recommended output rating for EVCC is 100 milliamps per encoder 300 milliamps maximum See Figure 1 for fuse F...

Page 36: ...to Figure 1 for connector location Note P2 is a 25 pin D Sub right angle female connector P2 Definition Pin Pin Definition Module ASIG 0 1 14 AGND 0 None STEP 0 2 15 DIR 0 LCUR 0 3 16 SVCC ASIG 1 4 1...

Page 37: ...sed 5VDC Stepper Output SVCC is available on the P2 connector for use with wiring the Stepper outputs The maximum recommended output rating for SVCC is 250 milliamps See Figure 1 for fuse F1 location...

Page 38: ...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 10 11...

Page 39: ...uration of the COM ports is software selectable by the user The following diagram shows the connections for the 3 communications ports Refer to Figure 1 for connector location Note P5 is a 34 pin shro...

Page 40: ...d 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 24VDC PWR1 is a 4 pin male Weidmuller plug...

Page 41: ...stand alone board Refer to Figure 1 for connector location Note PWR2 is a 4 pin male Weidmuller plug PWR2 Stand alone Power Connector Usage Pin Stand alone GND 1 Stand alone 5V 2 Stand alone 12V 3 Sta...

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Page 43: ...Chapter 2 ACR1200 Specification 35 CHAPTER 2 TECHNICAL SPECIFICATIONS...

Page 44: ...for external components Encoders Stepper Outputs etc Encoder Inputs Up to 3 per card Differential Quadrature Encoder Open Collector or Line Driver 0 1 Hz to 8 MHz Frequency Range 100mA maximum power...

Page 45: ...lly Isolated standard 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...

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Page 47: ...Chapter 3 ACR1200 Mechanical Drawings 39 CHAPTER 3 ACR1200 MECHANICAL DRAWINGS...

Page 48: ...40 ACR1200 Hardware Manual P N PM08123 ACR1200 MECHANICAL DIMENSIONS Figure 5 ACR1200 Mechanical Dimensions...

Page 49: ...Chapter 3 ACR1200 Mechanical Drawings 41 ACRIO ACR1200 BOARD STACKING EXAMPLES Figure 6 ACR1200 Board Stacking Mechanical Dimensions Examples...

Page 50: ...atic 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 T...