Upgrading from ACR8020 to ACR9000 Part 1

Owned by Jack Degrano
Last updated: Apr 12, 2024 by Corey Boyles
2 min read

Even though the ACR9000 shares the same fundamental firmware as the ACR8020, it is significantly different in areas that require you to consider the differences before attempting the upgrade.

POWER AND COMMUNICATION
The ACR8020 is PCI-based and requires installation in a PC to provide logic power to the controller. It also offers the option of a serial communication via an add-on module (part number SBD12550.) It cannot be run without a PC.

The ACR9000 is standalone and plugs directly into 120/240VAC so does not require a PC to be dedicated to run the controller. The ACR9000 communicates through a null modem RS232, and has optional USB and Ethernet ports.

Both controllers require an external 24VDC supply for the optically-isolated digital I/O.

CONFIGURING I/O
The ACR8020 has either sinking or sourcing digital I/O, an option selected when ordered, and can be changed through jumpers and I/O chips. All inputs must be sinking or sourcing, you cannot have a mix of both. All outputs must be sinking or sourcing, again, no mixing. All connections on the 8020 come out on ribbon cable headers. To make connections easier, breakout boxes (RBB, RBC, and RBD) can be connected for easy screw terminals connections. If using a RBB or RBD breakout box, the I/O cannot be changed from sinking to sourcing or vice-versa. The I/O on the board must match the RBB or RBD type, sinking or sourcing. The RBC breakout box for the ACR8020 has a jumper for matching its configuration to the 8020. For the ACR9000, the I/O are independently optically-isolated and can either be sinking or sourcing. The ACR9000 are connected via 25-pin d-sub connectors and we offer a VM25-MC-02 terminal breakout module that can be used for screw terminal connections.

Again, both controllers require an external 24VDC supply for the optically-isolated digital I/O.

EXPANSION I/O
The ACR8020 had the ability of adding digital inputs and digital outputs via daughter cards. Up to four of these cards could be added. Each card has 32 inputs and 32 outputs so a total of 160 digital inputs and 160 digital outputs are possible including the 32/32 on the main board.

The ACR9000 also has the ability of having expansion I/O via the optional CANopen port. It can support up to 512 digital inputs and 512 digital outputs plus the ability of remapping some of the CANopen I/O to the ACR8020's Expansion I/O parameters and bits (P4104 - P4111, Bits 256 - 511). This will allow minimal change to AcroBASIC programs when using expansion I/O. See the CANopen section of the ACR9000 Hardware Installation Guide for more information on remapping the CANopen I/O.

COMMAND OUTPUTS
The ACR8020 can support up to 16 axes of servo (DAC) or stepper command outputs depending upon the hardware ordered.
Currently the ACR9000 supports only 8 axes. The ACR9030 and ACR9040 supports 16 axes. Each axis on the ACR9000 can be configured as a Servo or Stepper at the time of use. The ACR9030 can support 8 axes of Servo or Stepper and 8 axes of Ethernet Powerlink (AriesEPL servo drive or Compax3-EPL servo drive). The ACR9040 supports 16 axes of Ethernet Powerlink (AriesEPL servo drive or Compax3-EPL servo drive).