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Table of Contents
Important Information for Users ................................................................................................. iv
Chapter 1 – ACRCOMM................................................................................................................. 2
ACRCOMM Overview ................................................................................................................ 3
Serial Communications............................................................................................................ 3
ACRCOMM Hardware Setup................................................................................................... 5
Jumpers ................................................................................................................................... 5
Communications—P5 Connector ............................................................................................ 8
Chapter 2 – EXPAXIS .................................................................................................................... 9
EXPAXIS Overview.................................................................................................................. 10
Cables.................................................................................................................................... 10
Encoder Inputs—XP1A, XP1B, and XP1C............................................................................ 12
Hardware Wiring.................................................................................................................... 16
Module Encoder Pull-ups (Optional)...................................................................................... 18
Module Software.................................................................................................................... 18
Chapter 3 – Additional Specifications....................................................................................... 19
Suggested Stacking of Modules............................................................................................... 20
Environment and Cooling......................................................................................................... 21
Table of Tables
Figure 1 ACRCOMM RS-422 Interface Schematic.................................................................... 4
Figure 2 ACRCOMM Module—PCI version............................................................................... 5
Figure 3 EXPAXIS (9-16) Axis Expansion Board for the ACR1505......................................... 11
Figure 4 XP1A and XP1B ENCODER connector diagram.............................................................. 13
Figure 5 XP1C ENCODER connector diagram ............................................................................. 14
Figure 6 XP2 ANALOG I/O connector diagram............................................................................ 17
Figure 7 Recommended Stacking for ACR1505 Add-on Modules........................................... 20
Table of Figures
Table 1 COM1: MUX Flags and COM Functions....................................................................... 3
Table 2 Receive/Transmit Flags and COM Functions ............................................................... 4
Table 3 ACRCOMM Jumper Functions...................................................................................... 6
Table 4 ACRCOMM RS-422 Termination Jumpers ................................................................... 6
Table 5 ACRCOMM Autobaud Detect Jumper .......................................................................... 7
Table 6 ACRCOMM P5 Communications Connector ................................................................ 8
Table 7 EPXAXIS Feedback devices....................................................................................... 12
Table 8 EXPAXIS Encoder Input Connectors XP1A and XP1B .............................................. 13
Table 9 EXPAXIS Encoder Input Connector XP1C ................................................................. 14
Table 10 EXPAXIS XP1C to two 9 Pin D-Sub Connector Pinout ............................................ 15
Table 11 EXPAXIS XP9 Connector Pinout .............................................................................. 15
Table 12 EXPAXIS XP10 Connector Pinout ............................................................................ 16
Table 13 EXPAXIS Analog I/O Cable Connector DXP2 .......................................................... 17
Table 14 EXPAXIS Module Encoder Pull-Up Jumpers............................................................ 18
-- iii –
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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.
The installation, set up, test, and maintenance procedures given in this User Guide
should only be carried out by competent personnel trained in the installation of
electronic equipment. Such personnel should be aware of the potential electrical and
mechanical hazards associated with mains-powered motion control equipment—
please see the safety warnings below. The individual or group having overall
responsibility for this equipment must ensure that operators are adequately trained.
Under no circumstances will the suppliers of the equipment be liable for any
incidental, consequential or special damages of any kind whatsoever, including but
not limited to lost profits arising from or in any way connected with the use of the
equipment or this guide.
Safety Warning!
High-performance motion control equipment is capable of producing rapid
movement and very high forces. Unexpected motion may occur especially during
the development of controller programs. KEEP WELL CLEAR of any machinery
driven by stepper or servo motors. Never touch any part of the equipment while it is
in operation.
This product is sold as a motion control component to be installed in a complete
system using good engineering practice. Care must be taken to ensure that the
product is installed and used in a safe manner according to local safety laws and
regulations. In particular, the product must be positioned such that no part is
accessible while power may be applied.
This and other information from Parker Hannifin Corporation, its subsidiaries, and
authorized distributors provides product or system options for further investigation
by users having technical expertise. Before you select or use any product or
system, it is important that you analyze all aspects of your application and review
the information concerning the product in the current product catalog. The user,
through its own analysis and testing, is solely responsible for making the final
selection of the system and components and assuring that all performance, safety,
and warning requirements of the application are met.
If the equipment is used in any manner that does not conform to the instructions
given in this user guide, then the protection provided by the equipment may be
impaired.
The information in this user guide, including any apparatus, methods, techniques, and
concepts described herein, are the proprietary property of Parker Hannifin or its
licensors, and may not be copied disclosed, or used for any purpose not expressly
authorized by the owner thereof.
Since Parker Hannifin constantly strives to improve all of its products, we reserve the
right to modify equipment and user guides without prior notice. No part of this user
guide may be reproduced in any form without the prior consent of Parker Hannifin.
– iv –
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C H A P T E R O N E
ACRCOMM
Chapter 1 – ACRCOMM
IN THIS CHAPTER
• ACRCOMM Overview ...........................................................................3
• Serial Communications .........................................................................3
• ACRCOMM Hardware Setup ................................................................5
• Jumpers.................................................................................................5
• Communications—P5 Connector..........................................................8
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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. At
power-up, the default COM1/COM2 communications mode is RS-232. For
ACR1505 boards with the communications option, the serial ports can be
configured by a serial port, or at power-up (or any time) via the PCI bus
communications port.
Table 1 and Table 2 show the configuration schemes for the ACR1505 board
with the serial communication ACRCOMM module option.
Factory Default........................................RS-232
MUX Flags
You can set the communications mode for each COM port. Table 1 shows
how to set up COM1and COM2.
MUX0
CLR (0)
SET (1)
MUX1
CLR (0)
CLR (0)
COM Function
Not Used
RS-232
CLR (0)
SET (1)
SET (1)
SET (1)
RS-422
Not Used
Note: For bit and flag numbers, see “COM1 Stream Flags” and “COM2
Stream Flags” in “Appendix B” of the “ACR Motion Controller User’s Guide,
Part 2.”
Table 1 COM1: MUX Flags and COM Functions
Chapter 1 – ACRCOMM – 3 –
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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.
Receive Flag
CLR (0)
Transmit Flag
CLR (0)
COM Function
Not Used (Default)
CLR (0)
SET (1)
Use for RS-422 Operation:
Full Duplex
Receiver Enabled
Transmitter Enabled
SET (1)
SET (1)
CLR (0)
SET (1)
Not Used
Not Used
Note: For bit and flag numbers, see “COM1 Stream Flags” and “COM2 Stream Flags” in
“Appendix B” of the “ACR Motion Controller User’s Guide, Part 2.”
Table 2 Receive/Transmit Flags and COM Functions
Figure 1 ACRCOMM RS-422 Interface Schematic
– 4 – ACRCOMM and ACREXPAXIS User’s Guide
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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.
If your ACRCOMM module is populated with the above components, you
have an ISA version of the ACRCOMM module, which is incompatible with
the ACR1505.
Jumpers
Chapter 1 – ACRCOMM – 5 –
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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
J3
J4
COM1 RS-422 Termination Resistor Select
(see Table 4, on page 6)
COM2 RS-422 Termination Resistor Select
(see Table 4, on page 6)
COM2 RS-422 Termination Resistor Select
(see Table 4, on page 6)
J5
J6
J7
Not used with the ACR1505
Not used with the ACR1505
COM1 and COM2 Autobaud Detect Enable
(see Table 4, on page 6)
J8
Reserved
Reserved
Reserved
J9
J10
Table 3 ACRCOMM Jumper Functions
RS-422 Communication Ports Line Terminator Jumpers (J1
thru J4)
These jumpers provide termination resistors for the RS-422signals. For
jumper locations, see Figure 2 on page 5.
Factory Default........................................Jumpers in
Communication Ports Termination Jumpers
Signal
Jumper
Termination
Jumper In
No Termination
Jumper Out
RXD1A/RXD1B
TXD1A/TXD1B
RXD2A/RXD2B
TXD2A/TXD2B
J1
J2
J3
J4
Jumper In
Jumper Out
Jumper In
Jumper Out
Jumper In
Jumper Out
Table 4 ACRCOMM RS-422 Termination Jumpers
– 6 – ACRCOMM and ACREXPAXIS User’s Guide
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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”.
When the COM1/2 Startup Mode parameters (bit 15) are set to zero (factory
default-0), the Autobaud detect is enabled and the Autobaud Detect Jumper
(J7) is ignored.
When the COM1/2 Startup Mode parameters (bit 15) are set to one, the
Autobaud Detect Jumper (J7) defines the autobaud detect function (see
Table 5). For jumper locations, see Figure 2 on page 5.
Factory Default........................................Autobaud Detect Enabled
Autobaud Detect Jumper
Function
J7
ON
Autobaud Detect Enabled
Autobaud Detect Disabled
Table 5 ACRCOMM Autobaud Detect Jumper
OFF
Chapter 1 – ACRCOMM – 7 –
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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.
Signal
RXD1
GND
Pin
1
Signal
TXD1
MUX1
TXD1B
RXD1B
TXD2
MUX2
TXD2B
RXD2B
AFD
Pin
2
3
4
TXD1A
RXD1A
RXD2
GND
5
6
7
8
9
10
12
14
16
18
20
22
24
26
28
30
32
34
11
13
15
17
19
21
23
25
27
29
31
33
TXD2A
RXD2A
STB
ERR
INIT
SLIN
GND
PD0
PD1
PD2
PD3
PD4
PD5
PD6
PD7
ACK
BUSY
SLCT
PE
Table 6 ACRCOMM P5 Communications Connector
– 8 – ACRCOMM and ACREXPAXIS User’s Guide
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C H A P T E R T W O
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)...................................................18
• Module Software .................................................................................18
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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.
Plugs on the EXPAXIS module for ENCODERS, DAC/STEPPER and ADC
are different from the base ACR1505 board and caution should be used
when wiring.
Cables
The EXPAXIS module has the following cables:
•
•
•
•
•
XP1A—For ENC10,11,12, and 13
XP1B—For ENC14,15,16, and 17
XP1C—For ENC18 and19
XP9—For Stepper power and ground.
XP10—For High speed interrupt (INTCAP) inputs. EXP-IN0…EXP-IN7
are TTL logic only.
•
XP2—For DAC/STEPPER/ADC I/O. (Corresponds to P2 connector on
the ACR1505 Controller board.
The P2 connector on the ACR1505 Controller board is a D-
Subminiature connector; whereas XP2 on the EXPAXIS module is a 0.1
inch Center Header ribbon cable. To convert the XP2 connector
(EXPAXIS module) for use with the P2 connector (ACR1505), use the
DXP2 cable assembly (part number PWH80500) supplied with the
EXPAXIS module.
Note: There is no watchdog relay on the EXPAXIS module, so the
watchdog signals are not wired on the DXP2 cable assembly. Therefore,
you must use the watchdog safety contacts from the ACR1505
Controller P2 connector for safeguarding the machine.
– 10 – ACRCOMM and ACREXPAXIS User’s Guide
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Figure 3 EXPAXIS (9-16) Axis Expansion Board for the ACR1505
Chapter 2 – EXPAXIS – 11 –
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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). The 20 pin header
provides 2 axes of encoder feedback (Encoder 18 and 19). For connector
locations, see Figure 3 on page 11.
EXPAXIS
Encoder
Pull-up Jumper
Setting
Length of Cable/Type
Differential Line Driver
Remove Pull-ups
100 ft.(Beldon 9330 Shielded
Twisted Pair)
Open Collector Driver
(No Pull-ups on Encoder)
Install Pull-ups and Jumper to
+12 VDC
75 ft. (Beldon 9330 Shielded
Twisted Pair)
Open Collector Driver
(With Pull-ups to +5 VDC on
Encoder)
Install Pull-ups and Jumper
to +5 VDC
(factory Default)
50 ft. (Beldon 9330 Shielded
Twisted Pair)
TTL Driver
(+5 VDC Outputs)
Remove Pull-ups
50 ft. (Beldon 9330 Shielded
Twisted Pair)
Table 7 EPXAXIS Feedback devices
Note: The EXPAXIS module default settings for the encoder input resistor
types and configuration are not the same as the base ACR1505 board. The
EXPAXIS board is set-up for open-collector drivers with pull-ups to +5V on
the encoder inputs.
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 EXPAXIS module in order for the EXPAXIS module to read
the encoder signals.
– 12 – ACRCOMM and ACREXPAXIS User’s Guide
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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.
Figure 4 XP1A and XP1B ENCODER connector diagram
XP1A Pinout
XP1B Pinout
Signal
CHA10
CHB10
MRK10
Pin
Pin
Signal
CHA10'
CHB10'
MRK10'
GND
Signal
CHA14
CHB14
MRK14
Pin
Pin
Signal
CHA14'
CHB14'
MRK14'
GND
1
3
5
7
2
4
6
8
1
3
5
7
2
4
6
8
+5 VDC (100
mA, max)
+5 VDC (100
mA, max)
CHA11
CHB11
MRK11
9
10
12
14
16
CHA11'
CHB11'
MRK11'
GND
CHA15
CHB15
MRK15
9
10
12
14
16
CHA15'
CHB15'
MRK15'
GND
11
13
15
11
13
15
+5 VDC (100
mA, max)
+5 VDC (100
mA, max)
CHA12
CHB12
MRK12
17
19
21
23
18
20
22
24
CHA12'
CHB12'
MRK12'
GND
CHA16
CHB16
MRK16
17
19
21
23
18
20
22
24
CHA16'
CHB16'
MRK16'
GND
+5 VDC (100
mA, max)
+5 VDC (100
mA, max)
CHA13
CHB13
MRK13
25
27
29
31
26
28
30
32
CHA13'
CHB13'
MRK13'
GND
CHA17
CHB17
MRK17
25
27
29
31
26
28
30
32
CHA17'
CHB17'
MRK17'
GND
+5 VDC (100
mA, max)
+5 VDC (100
mA, max)
n/c
33
34
n/c
n/c
33
34
n/c
Note: 100 mA maximum, per encoder.
Note: 100 mA maximum, per encoder.
Table 8 EXPAXIS Encoder Input Connectors XP1A and XP1B
Chapter 2 – EXPAXIS – 13 –
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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.
Figure 5 XP1C ENCODER connector diagram
XP1C Pinout
Signal
CHA18
CHA18’
Pin
1
Signal
Pin
2
MRK18’
3
+5 VDC
4
(100 mA, max)
CHB18
CHB18’
MRK18
CHA19
CHA19’
5
GND
n/c
6
7
8
9
KEY*
MRK19’
10
12
14
11
13
+5 VDC
(100 mA, max)
CHB19
CHB19’
MRK19
15
17
19
GND
n/c
16
18
20
n/c
*
P1C pin 10 is used as a key pin.
Table 9 EXPAXIS Encoder Input Connector XP1C
XP1C 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 part number PWH015, is supplied with the Encoder 18/19
Option.
Ribbon cable conductors 1 thru 9 connect to D-Subminiature Number 1
(conductor 10 is a No Connect). Ribbon cable conductors 11 thru 19 connect
to D- Subminiature Number 2 (conductor 20 is a No Connect). When used in
this manner, the D-sub pinouts are as follows:
– 14 – ACRCOMM and ACREXPAXIS User’s Guide
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XP1C Y-Cable Pinout
Signal
CHA18
CHA18’
CHB18
CHB18’
MRK18
MRK18’
+5 VDC
GND
D-Sub No. 1
Signal
CHA19
CHA19’
CHB19
CHB19’
MRK19
MRK19’
+5 VDC
GND
D-Sub No. 2
1
2
3
4
5
6
7
8
9
1
2
3
4
5
6
7
8
9
n/c
n/c
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.
XP9 Pinout
Definition
+5 VDC (250 mA, max)
+5 VDC (250 mA, max)
GND
Pin
1
Definition
+5 VDC (250 mA, max)
+5 VDC (250 mA, max)
GND
Pin
2
3
4
5
6
RESERVED
RESERVED
GND
7
RESERVED
RESERVED
GND
8
9
10
12
14
16
11
13
15
RESERVED
RESERVED
RESERVED
RESERVED
Table 11 EXPAXIS XP9 Connector Pinout
Chapter 2 – EXPAXIS – 15 –
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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.........................................0.100A maximum
XP10 Pinout
Definition
EXP_IN0
Pin
1
Definition
EXP_IN1
Pin
2
EXP_IN2
3
EXP_IN3
4
EXP_IN4
5
EXP_IN5
6
EXP_IN6
7
EXP_IN7
8
EXP_OUT0
RESERVED
RESERVED
9
EXP_OUT1
RESERVED
RESERVED
10
12
14
11
13
Table 12 EXPAXIS XP10 Connector Pinout
F1 Fuse
When replacing fuses for the EXPAXIS module, use the following tables to
determine the correct part numbers for different vendors.
For fuse location, see Figure 3 on page 11.
Voltage....................................................+5 VDC
Current Rating.........................................0.250A
Type ........................................................Littelfuse 454.500
Time Delay Fuse
Hardware Wiring
Analog I/O—XP2
The Analog I/O connections on the EXPAXIS module is a 40 Pin Header. To
convert the XP2 connector (EXPAXIS module) for use with the P2 connector
(ACR1505), use the DXP2 cable assembly (part number PWH80500)
supplied with the EXPAXIS module.
– 16 – ACRCOMM and ACREXPAXIS User’s Guide
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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.
Figure 6 XP2 ANALOG I/O connector diagram
DXP2 Pinout
Definition
ASIG-8 ( STEP-8 )
ASIG-9 ( STEP-9 )
ASIG-10 ( STEP-10 )
ASIG-11 ( STEP-11 )
ASIG-12 ( STEP-12 )
ASIG-13 ( STEP-13 )
ASIG-14 ( STEP-14 )
ASIG-15 ( STEP-15 )
AIN-8
Pin
1
Pin
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
Definition
AGND-8 ( DIR-8 )
AGND-9 ( DIR-9 )
AGND-10 ( DIR-10 )
AGND-11 ( DIR-11 )
AGND-12 ( DIR-12 )
AGND-13 ( DIR-13 )
AGND-14 ( DIR-14 )
AGND-15 ( DIR-15 )
AIN-9
Module
2
Module 0
3
4
5
6
Module 1
Module 2
7
8
9
AIN-10
10
11
12
13
14
15
16
17
18
19
AIN-11
AIN-12
AIN-13
AIN-14
AIN-15
( LCUR-8 )
( LCUR-9 )
Module 0
Module 1
( LCUR-10 )
( LCUR-11 )
( LCUR-12 )
( LCUR-13 )
( LCUR-14 )
( LCUR-15 )
RESERVED
RESERVED
None
RESERVED
RESERVED
None
AGND
RESERVED
Module 2
Note: Pin definitions in parentheses are for stepper modules.
Table 13 EXPAXIS Analog I/O Cable Connector DXP2
Chapter 2 – EXPAXIS – 17 –
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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........................................Configured for +5 VDC for standard
Parker encoders
Encoder Pull-Up Jumpers
Encoder
Resistor
RP1
Jumper
JP1
+5 VDC
Pins 1 & 2
Pins 1 & 2
Pins 1 & 2
Pins 1 & 2
Pins 1 & 2
Pins 1 & 2
Pins 1 & 2
Pins 1 & 2
Pins 1 & 2
Pins 1 & 2
+12 VDC
Pins 2 & 3
Pins 2 & 3
Pins 2 & 3
Pins 2 & 3
Pins 2 & 3
Pins 2 & 3
Pins 2 & 3
Pins 2 & 3
Pins 2 & 3
Pins 2 & 3
10
11
12
13
14
15
16
17
18
19
RP2
JP2
RP3
JP3
RP4
JP4
RP6
JP6
RP7
JP7
RP8
JP8
RP9
JP9
RP5
JP5
RP10
JP10
Table 14 EXPAXIS Module Encoder Pull-Up Jumpers
Module Software
To access axes 9 through 16, refer to the software manual for the
commands. In addition, AcroView Version 3.11 and higher can display the
extra parameters, and show and program axes 9 through 16.
– 18 – ACRCOMM and ACREXPAXIS User’s Guide
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C H A P T E R T H R E E
Additional
Specifications
Chapter 3 – Additional Specifications
IN THIS CHAPTER
• Suggested Stacking of Modules .......................................................20
• Environment and Cooling..................................................................21
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Suggested Stacking of Modules
Figure 7 Recommended Stacking for ACR1505 Add-on Modules.
– 20 – ACRCOMM and ACREXPAXIS User’s Guide
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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.
Airflow impairment might result from cables coming in the way or lack of fan
direction towards the stack. Record the temperature in several places
(especially around I/O and DSP locations) to ensure even heat flow. Impaired
heat flow might cause malfunctions and eventually lead to permanent loss of
function.
Ambient Operating Temperature ............0°C (32°F) to 45°C (113°F)
Storage Temperature..............................–40°C to 85°C (–40°F to 185°F)
Humidity ..................................................0–95%, non-condensing
Pollution Degree......................................2 (per IEC 61010)
Installation Category ...............................2 (per IEC 61010)
Chapter 3 – Additional Specifications – 21 –
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Index
ACRCOMM module.................................................... 3
autobaud detect................................................... 7
connector, P5....................................................... 8
hardware setup.................................................... 5
jumpers............................................................... 6
autobaud......................................................... 7
battery enable ................................................. 7
termination...................................................... 6
serial communications
XP9................................................................ 15
fuse ................................................................... 16
jumper
resistor packs........................................... 12, 18
voltage configuration ................................ 12, 18
watchdog ........................................................... 10
feedback
encoder input..................................................... 12
fuses
MUX flags........................................................ 3
receive/transmit flags....................................... 4
add-on modules
EXPAXIS module................................................. 16
locations ............................................................ 11
inputs
cooling ...............................................................21
environment .......................................................21
stacking..............................................................20
autobaud detect....................................................... 7
environment............................................................21
EXPAXIS module
encoder.............................................................. 12
installation category................................................ 21
jumpers
ACRCOMM module................................................6
pollution degree...................................................... 21
RS-232.....................................................................3
RS-422......................................................... 3, 4, 6, 8
specifications
cooling............................................................... 21
environmental .................................................... 21
technical support ...................................................... ii
temperature, environment....................................... 21
watchdog signal...................................................... 10
axes 9-16 ...........................................................18
cables.................................................................10
connector
XP10 ..............................................................16
XP1A..............................................................13
XP1B ..............................................................13
XP1C..............................................................14
XP2................................................................16
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