User Information Warning! ACR Series products are used to control electrical and mechanical components of motion control systems. You should test your motion system for safety under all potential conditions. Failure to do so can result in damage to equipment and/or serious injury to personnel.
Table of Contents Important Information for Users ................................................................................................. iv Chapter 1 – ACRCOMM................................................................................................................. 2 ACRCOMM Overview ................................................................................................................ 3 Serial Communications.........................................................................
Important Information for Users Important Information for Users It is important that motion control equipment is installed and operated in such a way that all applicable safety requirements are met. It is your responsibility as an installer to ensure that you identify the relevant safety standards and comply with them; failure to do so may result in damage to equipment and personal injury. In particular, you should study the contents of this user guide carefully before installing or operating the equipment.
CHAPTER ONE ACRCOMM Chapter 1 – ACRCOMM IN THIS CHAPTER • • • • • ACRCOMM Overview ........................................................................... 3 Serial Communications ......................................................................... 3 ACRCOMM Hardware Setup ................................................................ 5 Jumpers................................................................................................. 5 Communications—P5 Connector..........................
ACRCOMM Overview The ACRCOMM Plug-In Module provides serial communication ports (2 serial, 1 parallel) capability for the ACR1505 motherboard. ACRCOMM external power input and User-SRAM battery back-up functions are not used with the ACR1505 motherboard. These circuits are not populated on the ACR1505 COMM Board. This section contains diagrams of the jumpers and switches on the ACRCOMM module. Serial Communications The ACR1505 serial communication interface is software configurable.
Receive/Transmit Flags You can set the flow control flags for RS-422 communications mode for each COM port. Table 2 shows how to set up COM1and COM2.
ACRCOMM Hardware Setup The PCI version of the ACRCOMM module (part number SBD12550) does not require an external power source. Note: In Figure 2, the black square on the jumpers indicates pin 1. Figure 2 ACRCOMM Module—PCI version Warning! The PCI version of the ACRCOMM module is not populated with the following components: F1 through F3, D1 through D3, and PWR2.
The following is a list of the jumper functions on the ACRCOMM module: Jumper Description J1 COM1 RS-422 Termination Resistor Select (see Table 4, on page 6) J2 COM1 RS-422 Termination Resistor Select (see Table 4, on page 6) J3 COM2 RS-422 Termination Resistor Select (see Table 4, on page 6) J4 COM2 RS-422 Termination Resistor Select (see Table 4, on page 6) J5 Not used with the ACR1505 J6 Not used with the ACR1505 J7 COM1 and COM2 Autobaud Detect Enable (see Table 4, on page 6) J8 Reserve
Battery Enable Jumpers (J5 and J6) These jumpers are not used with the ACR1505 Controller. 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. For more information, see “Miscellaneous Parameters P6912-P7029” in the “ACR Motion Controller’s User’s Guide Part 2”.
Communications—P5 Connector There is one 34 pin header provided on the ACRCOMM module 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 interfaces. Configuration of the COM ports is software selectable by the user. The following diagram shows the connections for the 3 communications ports. For jumper locations, see Figure 2 on page 5. Note: P5 is a 34-pin shrouded male header.
CHAPTER TWO EXPAXIS Chapter 2 – EXPAXIS IN THIS CHAPTER • • • • • EXPAXIS Overview............................................................................. 10 Cables ................................................................................................. 10 Encoder Inputs—XP1A, XP1B, and XP1C ......................................... 12 Hardware Wiring.................................................................................. 16 Module Encoder Pull-ups (Optional) .....................
EXPAXIS Overview The EXPAXIS Plug-In Module provides additional axes support to the base ACR1505. A maximum of 8 Axes (Stepper or Servo) and up to 10 Encoders are available. Additionally, either of the 12 Bit or the 16 Bit ADC option can be added to this board. With the fully loaded EXPAXIS option, an ACR1505 can have up to 12 Servo/Stepper Outputs, 14 Incremental Encoders, and 16 Single Ended (8 Differential) ADC Channels.
Figure 3 EXPAXIS (9-16) Axis Expansion Board for the ACR1505 Chapter 2 – EXPAXIS – 11 –
Encoder Inputs—XP1A, XP1B, and XP1C The EXPAXIS module accepts any feedback device that supplies either a +5 VDC or +12 VDC differential signal. The most common type of device is a differential encoder. For common encoder setups, see Table 7. For connector locations, see Figure 3 on page 11. There are two 34 pin headers and one 20 pin header provided on the EXPAXIS module for encoder feedback. The two 34 pin header provide up to eight (8) axes of encoder feedback (Encoders 10 thru 17).
XP1A and XP1B Connector The XP1A connector provides access to encoders ENC10, ENC11, ENC12, and ENC13, which use jumpers J1, J2, J3, and J4 respectively. The XP1B connector provides access to encoders ENC14, ENC15, ENC16, and ENC17, which use jumpers J6, J7, J8, and J9 respectively. XP1A and XP1B are 34-pin shrouded male headers.
XP1C Connector The XP1C connector provides access to encoders ENC18, and ENC19, which use jumpers J5 and J10 respectively. XP1C is a 20-pin shrouded male header.
XP1C Y-Cable Pinout Signal D-Sub No. 1 Signal D-Sub No. 2 CHA18 1 CHA19 1 CHA18’ 2 CHA19’ 2 CHB18 3 CHB19 3 CHB18’ 4 CHB19’ 4 MRK18 5 MRK19 5 MRK18’ 6 MRK19’ 6 +5 VDC 7 +5 VDC 7 GND 8 GND 8 n/c 9 n/c 9 Table 10 EXPAXIS XP1C to two 9 Pin D-Sub Connector Pinout XP9 Connector The XP9 connector provides fused, +5 VDC power for open collector stepper outputs. or connector locations, see Figure 3 on page 11.
XP10 Connector The XP10 connector provides +5 VDC TTL I/O for INTCAP and other special functions. For connector locations, see Figure 3 on page 11. Voltage .................................................... +5 VDC Current Rating......................................... 0.
The XP2 connector is not pin compatible with the P2 connector on the ACR1505. This is because the ACR1505 has differential stepper outputs and the watchdog relay. Important!: Single-ended encoders are not recommended mode of operation. Noise immunity is significantly reduced. Note: DXP2 is a standard 40-pin female D-plug. XP2 is a 40-pin shrouded male header.
Module Encoder Pull-ups (Optional) The ACR1505 can supply +5 VDC or +12 VDC pull-up resistors to each encoder. Use Table 14 to determine the correct jumper configurations. For jumper locations, see Figure 3 on page 11. Factory Default........................................
CHAPTER THREE Additional Specifications Chapter 3 – Additional Specifications IN THIS CHAPTER • Suggested Stacking of Modules ....................................................... 20 • Environment and Cooling..................................................................
Suggested Stacking of Modules Figure 7 Recommended Stacking for ACR1505 Add-on Modules.
Environment and Cooling The Add-on modules operates in an ambient temperature range of 0°C (32°F) to 45°C (113°F). The modules can tolerate atmospheric pollution degree 2—only dry, non-conductive pollution is acceptable. Therefore, it is recommended that the cards be mounted in a suitable enclosure. As you add modules, you must ensure that there are no hot spots created in the board stack due to airflow impairment.
Index ACRCOMM module.................................................... 3 autobaud detect ................................................... 7 connector, P5....................................................... 8 hardware setup .................................................... 5 jumpers ............................................................... 6 autobaud ......................................................... 7 battery enable ................................................. 7 termination ....
