ACORN CNC controller _rev4 Specifications Manual

For Revision 190201

Updated 9/16/19

Overview

ACORN is technically a breakout board for the BeagleBone Green or BeagleBone Black
embedded computer. The remainder of this document will refer to the breakout board with
BeagleBone installed as ACORN. It is a low cost motion control processor, PLC, and drive interface
board. It is intended to operate entry level machining equipment with up to four axes.

Features

Motion Control Processor, PLC, and Drive

Function: Interface
Maximum number of 4
Axes:
Maximum pulse rate: 400kHz
Control Interface: 100 Mb/s Ethernet to PC
Drive Application: Drives with step and direction inputs
Digital PLC Inputs: 8
Digital PLC Outputs: 8
Analog Output resolution: 12 bits
Dimensions (W*D*H): 5.4 * 4.2 * 0.7 inches

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 Typical Connections

Connections

Two connection methods are available. A female DB25 connector is available that can mate
with many stepper control units with a straight through cable. The inputs and outputs are 5V
compatible. Check the DB25 pinout and circuit descriptions to determine if it is compatible with a
particular control unit. The DB25 provides the simplest and quickest connection method if it is
compatible.
Screw terminals are available for custom configurations. This allows for additional I/O and the
most connection versatility. All input and output signals on the DB25 connector are available on the
screw terminals except with 24V levels.
Inputs may only be used on the DB25 or screw terminal, not both. For example, only screw
terminal input 1 or DB25 input 1 may be connected at the same time. However, screw terminal input
1 may be used at the same time as DB25 input 2.

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 DB25 (H6) Signals
Out put 1 1
14 Out put 2
St ep 1 2
15 Input 5
Direct ion 1 3
16 Out put 3
St ep 2 4
17 Out put 4
Direct ion 2 5
18
St ep 3 6
19
Direct ion 3 7
20
St ep 4 8
21
Direct ion 4 9
22
Input 1 10
23
Input 2 11
24
Input 3 12
25
Input 4 13

24V COM

Chassis GND

Drive Interface Section

Four sets of step, direction, and enable outputs are provided to control motor drives. The outputs are
open collector type and can provide up to 400kHz step frequency.

ACORN Drive Outputs

Motor Drive Connection Example

External Power Supply

+24 VDC

Stepper Drive +24 VDC

4 COM

24 COM
3 EN

2 DR

Enable
1 ST
Direction
Step

H2 or H3

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PLC Section
The ACORN has 8 digital inputs, 8 digital outputs, and one analog output. Check the “ACORN I/O
Map” and “ACORN Specifications” sections to determine I/O type and capability.

Outputs

5V logic level relay outputs are available on the DB25 connector. 8 open collector outputs are
normally wired with a ribbon cable to an external 8 relay board.

Internal Circuitry
Screw Terminal Outputs
Internal Circuitry +24 VDC
DB25 Connector Outputs

+5 VDC
Out put

OUT P UT

Com m on

Inputs
ACORN uses optically isolated inputs for screw terminal inputs. These inputs can be used with 24
VDC sensors or switches. The 24 VDC for inputs may be supplied from the ACORN logic supply.
For improved isolation and noise immunity, a separate 24 VDC may be used to power the inputs.
Compare the specifications of sensors to the “ACORN Specifications” chart to ensure reliable
operation.
DB25 inputs are only compatible with 5V logic levels. These inputs are not isolated.

Internal Circuitry
Screw Terminal Inputs

Internal Circuitry +24 VDC

DB25 Connector Inputs

+5 VDC 1.2k
220

INP UT
INP UT

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 Input Connection Examples

ACORN Inputs
Switch Wiring Example

External Power Supply

1
+24 VDC
2

3
24 COM

H1 or H4

ACORN Inputs
Sinking (NPN) Sensor Wiring Example

External Power Supply

1
+24 VDC
2
+24 VDC
3
24 COM
Sensor
4

5
24 COM
Notice: Do not use 2 wire sensors. The voltage drop across 2
wire sensors usually causes unreliable operation. If a 2 wire
sensor works when connected, it still may be unreliable for long
H1 or H4
term use.

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Analog Output

An analog output is provided for controlling spindle speed. The output voltage range is 0 to 10 VDC.

Internal Circuitry
Analog Output

+24 VDC ANALOG

- Analog Out put

+
Analog Comm on

24 COM

Analog Output Calculations

The analog output uses a 12 bit digital to analog converter (DAC) to generate analog from the DAC
request sent from the PLC program. The 12 bit value allows a DAC request of 0 to 4095, which
corresponds to 0 to 9.998 volts in the 0 to 10V range.

Analog Output Wiring

The analog output should be wired using a shielded twisted pair for best results. The analog output
terminal is paired with a common terminal for direct wiring of the signal, common, and shield. In most
cases, it is best to connect the shield to the common only at the ACORN. Routing analog cables
away from power wires and other noise sources is also critical for good performance. See “ACORN
Connections” section for terminal locations.

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 ACORN I/O Map
Input Specification Input Location 1 Input Location 2
Numbe Connect Pi
Function Type Type Connector Pin
r or n
1 General Purpose Sourcing H4 5 Logic w/ 5V Pullup H6 10
2 General Purpose Sourcing H4 4 Logic w/ 5V Pullup H6 11
3 General Purpose Sourcing H4 3 Logic w/ 5V Pullup H6 12
4 General Purpose Sourcing H4 2 Logic w/ 5V Pullup H6 13
5 General Purpose Sourcing H1 5 Logic w/ 5V Pullup H6 15
6 General Purpose Sourcing H1 4 - - -
7 General Purpose Sourcing H1 3 - - -
8 General Purpose Sourcing H1 2 - - -

Output Specification Output Location 1 Output Location 2

Numbe Connect
Function Type Pin Type Connector Pin
r or
1 General Purpose Open Collector H10 2 5V Logic H6 1
2 General Purpose Open Collector H10 3 5V Logic H6 14
3 General Purpose Open Collector H10 4 5V Logic H6 16
4 General Purpose Open Collector H10 5 5V Logic H6 17
5 General Purpose Open Collector H10 6 - - -
6 General Purpose Open Collector H10 7 - - -
7 General Purpose Open Collector H10 8 - - -
8 General Purpose Open Collector H10 9 - - -

17-28 Analog out 12 bit DAC H8 1 - - -

ACORN Specifications

Characteristic Min. Typ. Max. Unit

24 Volt Supply Current (Vsupply) 0.5 - - A
24V Input Pullup Voltage (Vinp) 22 - 26 VDC
24V Input Off Voltage 19.1 - 26 VDC
24V Input On Voltage 0 - 5.9 VDC
24V Input Operating current 9 11 15 mA
Open Collector Output Current 0 10 50 mA
Open Collector Output Voltage 0 24 Vsupply VDC
DB25 Input Pullup Voltage (internal) (VCC) 3.8 4.4 5.5 VDC
DB25 Input On Voltage VCC x 0.7 - - VDC
DB25 Input Off Voltage - - VCC x 0.3 VDC
DB25 Output High Voltage 3.66 4.4 VCC VDC
DB25 Output Low Voltage 0 0.1 0.44 VDC
DB25 Low Level Output Current 0 3 20 mA
DB25 High Level Output Current 0 3 20 mA
Analog Output Current 0 1 10 mA
Analog Output Voltage 0 - 10 V
Analog Output Resolution - 12 - bits

Relay Output Current (relay board) 0.01 - 10 A @ 125VAC

Relay Output Current (relay board) 0.01 - 10 A @ 28VDC
5 Volt Supply Current (relay board) 0.3 - - A

Size: 5.4 * 4.2 * 0.7 (W*D*H) Inches

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 ACORN Connections

Input 24 VDC

Direction 4
Direction 2

Direction 3
Direction 1

Common

Common

Common

Common
Enable 4
Enable 2

Enable 3
Enable 1
Input 6
Input 7
Input 5

Input 8

Step 4
Step 2

Step 3
Step 1
Input 24 VDC H1 H2 H3 Heartbeat (RED)
+24 Power (GRN)
In 5
In 6
In 7
In 8
Input 4

Enable 3
Enable 1

Enable 4
Enable 2
Input 3 In 4
Input 2 In 3 Out 1
Input 1 In 2 Out 2
In 1 Out 3
H4 Out 4
Out 5
Out 6
H6 Out 7
Common Input 4 Out 8
Common Input 3
Common Input 2
Common Input 1
Common Direction 4
Common Step4
Direction 3 Common
Common OUT1
Common Step3 OUT2
Direction 2 OUT3
Output 4 H10 OUT4
Output 3 Step 2 P10 OUT5
Direction 1 OUT6
Input 5 OUT7
Output 2 Step 1 OUT8
Output 1 5V
H8 H9
Encoder Input

Analog Common
Analog 0 - 10V

Common
Common
24 VDC
24 VDC
Chassis GND
-B
Ethernet

+5V -A
+B -Index
+A Return
+Index N/C

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 ACORN Mounting Footprint

5.400"
(137.2mm)
4.800"
(121.9mm)

4.200"
(106.7mm)

3.600"
(91.4mm)

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 8 Relay Board Mounting Footprint

0.150"
(3.8mm)

Out 1 NC
Common
Out 1 NO
Out 2 NC
Common
Out 2 NO
Out 3 NC
Common
Out 3 NO
GND
Output 1 Out 4 NC
Output 2 Common
Output 3 Out 4 NO
5.669" Output 4
(144mm) Output 5 Out 5 NC
Output 6 Common
Output 7 Out 5 NO
Output 8
5V IN Out 6 NC
Common
Out 6 NO
5.354" Out 7 NC
(136mm) Common
Out 7 NO
Out 8 NC
Common
Out 8 NO

1.890"
(48mm)
2.205"
(56mm)

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 RELAY ISO9002

1. MAIN FEATURES
• Switching capacity available by 10A in spite of
small size design for highdensity P.C. board
mounting technique.
• UL,CUL,TUV recognized.
• Selection of plastic material for high temperature and
better chemical solution performance.
• Sealed types available.
• Simple relay magnetic circuit to meet low cost of
mass production.

2. APPLICATIONS
• Domestic appliance, office machine, audio, equipment, automobile, etc.
( Remote control TV receiver, monitor display, audio equipment high rushing current use application.)

3. ORDERING INFORMATION
SRD XX VDC S L C
Model of relay Nominal coil voltage Structure Coil sensitivity Contact form
A:1 form A
S:Sealed type L:0.36W
SRD 03 05 06 09 12 24 48VDC B:1 form B
F:Flux free type D:0.45W C:1 form C

4. RATING
CCC FILE NUMBER:CH0052885-2000 7A/240VDC
CCC FILE NUMBER:CH0036746-99 10A/250VDC
UL /CUL FILE NUMBER: E167996 10A/125VAC 28VDC
TUV FILE NUMBER: R9933789 10A/240VAC 28VDC
5. DIMENSION(unit:mm) DRILLING(unit:mm) WIRING DIAGRAM

1
6. COIL DATA CHART (AT20 C)
Coil Nominal Nominal Coil Power Pull-In Drop-Out Max-Allowable
Coil
Voltage Voltage Current Resistance Consumption Voltage Voltage Voltage
Sensitivity
Code (VDC) (mA) (Ω) ±10% (W) (VDC) (VDC) (VDC)
SRD 03 03 120 25 abt. 0.36W 75%Max. 10% Min. 120%
(High 05 05 71.4 70
Sensitivity) 06 06 60 100
09 09 40 225
12 12 30 400
24 24 15 1600
48 48 7.5 6400
SRD 03 03 150 20 abt. 0.45W 75% Max. 10% Min. 110%
(Standard) 05 05 89.3 55
06 06 75 80
09 09 50 180
12 12 37.5 320
24 24 18.7 1280
48 48 10 4500 abt. 0.51W
7. CONTACT RATING 9.REFERENCE DATA
Type SRD Coil Temperature Rise
Item FORM C FORM A
50

45

7A 28VDC 40
Contact Capacity 10A 28VDC
10A 125VAC 35

Resistive Load (cosΦ=1) 10A 240VAC 30

7A 240VAC 25

Inductive Load 3A 120VAC 5A 120VAC 20

(cosΦ=0.4 L/R=7msec) 3A 28VDC 5A 28VDC 15

10

Max. Allowable Voltage 250VAC/110VDC 250VAC/110VDC 5

Max. Allowable Power Force 800VAC/240W 1200VA/300W 0

0.0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
Coil Power (W)
Contact Material AgCdO AgCdO Operation Time
8. PERFORMANCE (at initial value) 12

Type 10
SRD Operation time
Item 8

Contact Resistance 100mΩ Max. 6

Operation Time 10msec Max. 4

Release Time 5msec Max. Release time

Dielectric Strength 2

Between coil & contact 1500VAC 50/60HZ (1 minute) 0

0.0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8

Between contacts 1000VAC 50/60HZ (1 minute) Coil Power (W)

Life Expectancy
Insulation Resistance 100 MΩ Min. (500VDC) AC120V/DC24V cosΦ=1
Max. ON/OFF Switching 100

Mechanically 300 operation/min 5

Electrically 30 operation/min 3
2
Ambient Temperature -25°C to +70°C 10
Operating Humidity 45 to 85% RH 5
Vibration 3

Endurance 10 to 55Hz Double Amplitude 1.5mm 2

Error Operation 10 to 55Hz Double Amplitude 1.5mm 1

0 2 4 6 8 10 12
Shock Current of Load (A)
Endurance 100G Min. Life Expectancy
100
Error Operation 10G Min.
Life Expectancy 5

7
Mechanically 10 operations. Min. (no load)
3
2
Electrically 105 operations. Min. (at rated coil voltage) AC : 120V TV-5
10
Weight abt. 10grs.
5

3
2

1
0 1 2 3 4 5 6 7 8
2 Current of Load (A)
Acorn CNC control board Mounting Footprint.

5.4”

3.6” 4.2”

4.8”

.150” / 3.8 mm diameter

- Holes are clearence for 6-32 (.150” / 3.8 mm diameter diameter)
- 6-32 metal standoffs are recommended
 Acorn CNC 8 Relay Module Mounting Footprint.

2.205”
56mm

5.354” 5.669”
136mm 144mm

1.890”
48 mm .150” / 3.8 mm diameter

- Holes are clearence for 6-32 (.150” / 3.8 mm diameter)

- 6-32 metal standoffs are recommended

The 8 Realy Module Din Rail Mounting holes accept Din Rail standard clips such as the Wago 209188 clip and
alternatives. https://www.wago.com/us/rail-chassis-terminal-blocks/mounting-foot/p/209-188
Data sheet  |  Item number: 209-188
Mounting foot; can be assembled on terminal blocks with fixing flange; gray
www.wago.com/209-188

Color:

Data
Geometrical Data

Width 5 mm / 0.197 inch

Height from upper-edge of DIN-35 rail 5.1 mm / 0.201 inch
Depth 42.4 mm / 1.669 inch

Material Data

Weight 0.96 g

Commercial data

Product Group 2 (Terminal Block Accessories)

Country of origin DE
GTIN 4017332200998

Downloads
CAD/CAE-Data
CAD data

3D Download 209-188 URL Download

EPLAN

EPLAN Data Portal 209-188 Download

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