Appendix A: Host Controller Connection Examples60A.4 Connecting the Acroloop ACR-8010SGDG, CN13 CMD-IN4 GND20 PAO21 PAO22 PBO23 PBO24 PCO25 PCO26 SV ON5ASIG-xAGND-xP*OUT-yCHAnCHAn'CHBnCHBn'MRKn'CASEP*P*P*MRKn33 GND AGNDP*P* = Twisted Pairn = Axis Designation, 0, 1, 2...x = Analog output numbery = Digital output numberLEGEND - Acroloop (ACR-8010), Minimum Servo InterfaceEncoder type is Differential Line Driver (+5 Volt Outputs) so Pullups should be removedEncoders 0-3 are on P1A connectorEncoders 4-7 are on P1B connectorASIG-0 and AGND-0 through ASIG-7 and GND-7 are on P2 connectorAGND is on P2 connectorOUT-32 through OUT-63 are on P3 connectorTorque Reference should bemapped to one of theseanalog outputsServo on should bemapped to one of thesedigital outputs
