Parker Hannifin
Differential and Single-Ended Encoders
Differential encoders may be connected without hardware modification. To
connect a line driven, single-ended encoder, connect the encoder signal to
the “+” terminal while providing a common ground between the encoder and
controller. Then attach a resistor divider network across the “
−” terminal, with
one resistor (681 ohms) pulled to +5V, and the other resistor (681 ohms)
pulled to ground.
CANopen Connection
This section contains guidelines and cable specifications for connecting a
CANopen network with multiple slave nodes or a single slave node to the
ACR90x0 master node. The CANopen connector is on the front panel of the
controller. (For specifications, see “CANopen Connector” on page 58.)
Use the following guidelines for installing a CANopen network with the
ACR90x0 controller.
• Route a main trunk line near the point of use.
• Connect drop lines between the trunk line and the CANopen nodes.
• Install termination resistors (120 ohms) at both ends of the trunk line.
Figure 30 on page 87 shows a typical CANopen network for the ACR9000
(ACR90x0) controller, with a main trunk line and drop lines to the CANopen
nodes.
Table 49, also on page 87, contains a minimum CANopen connector pinout
for the installation.
“Selecting CANopen Cables” on page 88, provides information on proper
cable types and lengths, and termination values for the network.
86 ACR9000 Series Hardware Installation Guide
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