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AdeptModules and AdeptMotion VME User`s Guide

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2. From Ampilier To MP6 Panel Wire Label CN1 Connector Description wire Comments Screw Color Pin Module Terminal Bundle Wire Number Encoder Phase A P1 31 MP6 E 01 Encoder 01 Red Twisted Pair Encoder Phase A P1 30 MP6 E 02 Encoder 02 Black Twisted Pair Encoder Phase B P1 29 MP6 E 04 Encoder 03 Green Twisted Pair Encoder Phase B P1 28 MP6 E 05 Encoder 04 Black Twisted Pair Encoder Phase l P1 27 MP6 E 06 Encoder 05 White Twisted Pair Encoder Phase I P1 26 MP6 E 07 Encoder 06 Black Twisted Pair Shield Ground NC MP6 E 03 Encoder 09 Drain Single Wire Overtravel P1 20 MP6 M 01 Machine 01 Red Twisted Pair Overtravel P1 19 MP6 M 04 Machine 02 Black Twisted Pair Home P1 18 MP6 M 05 Machine 05 Green Twisted Pair Home P1 17 MP6 M 06 Machine 06 Black Twisted Pair Brake P1 03 MP6 M 07 Machine 07 White Twisted Pair Brake P1 02 MP6 M 08 Machine 08 Black Twisted Pair Shield Ground NC MP6 M 09 Machine 09 Drain Single Wire Drive Enable P1 10 MP6 S 01 Servo 01 Red Twisted Pair Drive Enable P1 09 MP6 S 02 Servo 02 Black Twisted Pair Drive Fault P1 22 MP6 S 04 Servo 03 White Twisted Pair Drive Fault P1 21 MP6 S 05 Servo 04 Black Twisted Pair Shield Ground NC MP6 S 03 Servo 07 Drain Single Wire CD P1 06 MP6 S 07 Servo 05 Red Twisted Pair CD P1 07 MP6 S 08 Servo 06 Black Twisted Pair Shield Ground NC MP6 S 03 Servo 07 Drain Single Wire
3. Data Suggested Section Parameter Units Value Robot start up message n a see footnote 1 Module password n a see footnote Calibration file name n a see footnote Robot model number n a see footnote Robot serial number n a see footnote 20 Hand OPEN signal n a see footnote 20 Hand CLOSE signal n a see footnote 220 1 Time out nulling error limit Seconds 5 5 221 Time required for clutch to engage Seconds not applicable 220 4 Time required for brakes to release Seconds 0 220 5 Time required for brakes to engage Seconds 0 220 2 Max time to wait for high power not Seconds 3 on all systems 220 3 Delay from high power on to amp Seconds 3 008 enable 222 Max time to wait for amp enable Seconds 1 Use default values in SPEC for initial configuration 48 AdeptModules and AdeptMotion VME User s Guide Rev A Chapter 6 Example SPEC File Parameters Table 6 2 Encoder Parameters Data Section Parameter Units H Module M Module Sz Module 61 Encoder scale factor counts rev 400 400 400 Or counts mm 1017 Encoder counts per zero counts 8000 8000 4000 index 1016 Encoder configuration n a 2 2 1 or 28 1015 Encoder sign n a 1 1 1 a With some S and Sz Modules a zero index value of 1 results in Unexpected zero index or No zero index If so try a value of 2 y Table 6 3 Motor Amplifier Parameters Data
4. Phase COW rotation yy AdeptModules and AdeptMotion VME User s Guide Rev A 65 Adept User s Manual Comment Form We have provided this form to allow you to make comments about this manual to point out any mistakes you may find or to offer suggestions about information you want to see added to the manual We review and revise user s manuals on a regular basis and any comments or feedback you send us will be given serious consideration Thank you for your input NAME DATE COMPANY ADDRESS PHONE MANUAL TITLE PART NUMBER and REV level COMMENTS MAIL TO Adept Technology Inc Technical Publications Dept 150 Rose Orchard Way San Jose CA 95134 FAX 408 432 8707 Index A Adept Bulletin Board 16 C compliance with international standards 14 Customer Service 15 E EN 60204 12 14 M manuals related 10 R related manuals 10 Robotic Industries Association 12 Robotic safety 12 S Safety 12 standards compliance 14 system safeguards 13 T technical support 15 V V developer s manuals 11 69 70
5. AdeptModules and AdeptMotion VME User s Guide Rev A Amplifier Alarm Clear Signal 4 5 Amplifier Alarm Clear Signal The amplifier experiences an MVE fault whenever high power is switched off High power can be switched on while the Drive Fault is set however high power will be immediately switched off Enable power instruction will fail if the Drive Enable output is set during a Drive Fault condition The amplifier has an Alarm Clear input that must be asserted whenever high power is enabled This can be done by including a device i e time interval relay in parallel with the high power contactor used by the VMPM MP6 M high power enable output When power is enabled to the robot the time interval relay automatically asserts a signal to clear the amplifier Alarm Clear signal The time interval relay then drops the signal after the specified period of time has elapsed See the end of this section for a source for a time interval relay WARNING Permanently asserting the Alarm Clear input signal is not recommended as this would disable protection from potentially hazardous and expensive amplifier failures You can reset the Alarm Clear input signal by several alternative methods 1 You may choose to use digital inputs from the SIO or DIO board and use a custom program to enable power that includes instructions for clearing the Alarm Clear signal 2 If a PLC is being used for other digital I O functions the PLC can monitor th
6. 100 mm 4 or more and the space behind the amplifier should be 50 mm 2 or more When mounting multiple amplifiers side by side the spacing should be more than 10 mm 0 4 or more The mounting guidelines for the amplifiers are detailed in Figure 4 2 MAIN CNTL MAIN CNTL MAIN CNTL ELO Lies Seles S95 este gre le mm 4 in or more Figure 4 2 Amplifier AC Power Wiring 32 Each amplifier has two screw terminals for AC power connection one labeled MAIN and one labeled CNTL CNTL with 3 screws is connected directly to 200 220 VAC 10 with the top screw terminal as the field ground Because CNTL powers the encoders and overtravel sensors this power must remain on at all times The MAIN terminal with two screws is connected to 200 220 VAC 10 but MAIN is controlled by the high power circuitry developed by the customer Figure 4 4 shows the AC power wiring of the amplifiers Both AC power inputs have fused protection Table 4 4 shows the information on the fuse ratings and the Adept part numbers for ordering spares Table 4 4 Fuse Label AC input Fused Fuse Rating Adept Part No F1 CNTL 10A 250V 90400 04022 F2 MAIN 10A 250V 90400 04022
7. 24VDC PS P1 12 Red Single Wire 24VDC Ground PS P1 01 Black Single Wire Alarm Clear Relay P1 08 Red Single Wire a MP6 E and MP6 S numbers refer to pins on a DB 9 connector 40 AdeptModules and AdeptMotion VME User s Guide Rev A Home and Overtravel Sensors 4 8 Home and Overtravel Sensors All AdeptModules are built with two internal sensors housed within each axis One sensor is located at each end of the travel These sensors can be used as overtravel switches The Adept MV controller supports several different methods of calibrating each axis One of the most common methods is to use a dedicated home sensor This sensor is not provided in the AdeptModule axis You have two options to address the Adept MV Controller s requirements for calibration 1 Provide an external home switch and use the two internal sensors as overtravel switches Wire each of these sensors into the overtravel switch s input terminals provided on the VMPM MP6 M field wiring panel Then supply an externally mounted home sensor for each axis Wire this home sensor to the home sensor inputs provided on the VMPM MP6 M Refer to the AdeptMotion VME Developer s Guide for details on wiring 2 Useone of the overtravel sensors for the home sensor function You can wire one of the internal overtravel sensors to the Home sensor input terminals provided on the VMPM MP6 M Refer to Figure 4 5 in this manual for a wiring diagr
8. Amplifier Information DF Output 22 Drive Fault Alarm output DF 21 In alarm condition DF contact is in open state and motor servo is turned off Control On power Off Kai on 0 3 sec max Fault occurs 2 id DF Close output Open DE Close input Open Alarm Clear Close j input Open Servo On Off NO Output 18 Overtravel Sensor output NO 17 Slider moves into overtravel position and NO PO contact is in open state PO 20 If modules are not connected to amplifier or sensor cables are broken NO PO 19 PO contacts are in open state NO Sensor PO Sensor Direct Motor Mounting Motor o HM Slider Left Right PO Sensor NO Sensor Side Motor Mounting Motor 9 Sz Slider Sensor Close output Open 64 AdeptModules and AdeptMotion VME User s Guide Rev A Signal Description CD Analog 6 Torque Command input CD Input 5 Analog voltage input proportional to motor output torque Command input voltage 10VDC Input impedance 20K ohms 3xT Output torque T Rated torque Command input V A Output 31 Encoder outputs A 30 e A A B B B 29 90400 60111 1000 lines revolution B 28 90400 60131 2000 lines revolution l 27 e l l l 26 1 lines revolution Maximum frequency 150 KHz for phase A and B Phase A Phase B
9. Cable end All Modules Flanged Connector inside SRCD2A21 16PC A FO JMR2116M Module unit All Modules Flanged Connector inside SRCD2A21 10PC A FO JMR2110M Module unit Robot Cable Mounting Screws The Robot Cables require a special metric mounting screw of size M3 x 57 These screws cannot be purchased off the shelf in the United States Adept Technology can provide these screws to customers at no charge Please contact Adept Customer Service to obtain these screws 60 AdeptModules and AdeptMotion VME User s Guide Rev A Amplifier Information 8 1 Amplifier Specifications Table 8 1 Control Input Torque command Rated torque at 3 3v Maximum torque 3x rated torque Motor 90400 601 11 Tamagawa Seiki 125w AC servo motor TS3275N504E29 TS3275N563E29 with brake 90400 60131 Tamagawa Seiki 300w AC servo motor TS4073N9E31 TS4073N27E31 with brake Position Feedback 90400 60111 1000 lines revolution 90400 60131 2000 lines revolution Maximum frequency 150 KHz Maximum Motor Speed 3600 r p m I O Input Drive Enable Alarm Clear Brake Release Output Drive Fault Positive Negative Overtravel Alarms Main Voltage Error MVE Overheat OH Control Power Under Voltage CUV Motor Over Current OC Encoder Cable Break LOS Power Single phase 180 240VAC Required power 90400 60111 510VA max at maximum torque 90400 60131 1170VA ma
10. Part Number Brake Mechanism Payload kg ogee Type 90400 Stroke Speed Ball Screw Motor Mouni Moving Moving mm mm sec Pitch mm Slider Module H Module 14030 300 600 10 Direct 40 20 14040 400 18 14050 500 16 14060 600 14 14080 800 10 14100 1000 6 M Module 24025 250 600 10 Direct 40 28 24035 350 27 24045 450 26 24055 550 25 24075 750 23 24095 950 20 Sz Module 40013 130 600 10 Left 15 9 5 40023 230 9 0 41033 330 8 0 41043 430 7 5 41053 530 7 0 41063 630 6 0 46 AdeptModules and AdeptMotion VME User s Guide Rev A Example SPEC File Parameters This section lists example SPEC file values generated for a 3 axis J Style configuration consisting of 600 mm H Module 450 mm M Module 130 mm Sz Module The last four values in Table 6 6 Joint Motion Parameters are specific to stroke length and must be set based on the stroke length of the modules used NOTE These parameters are for guideline and may not be optimal for your application Please refer to Chapter 7 and 8 of the AdeptMotion VME Developer s Guide for more details on using the SPEC utility to configure the AdeptModules with AdeptMotion VME product AdeptModules and AdeptMotion VME User s Guide Rev A 47 Chapter 6 Example SPEC File Parameters Table 6 1 Robot Initialization Specs
11. Developer s Manuals see rev ava ees 3 1 2 Warnings Cautions and Notes 0 00 cece eee eens 3 L3 Safety i usu ek Die KG ee BNG TAG BANG LAP ee Du 4 Reading and Training for Users and Operators 00 e eee eee annan 4 SYSTEM Safeguards v iur Kasabay eh eos RR ACE D ea ee RR Ga Eae d 5 Safety Features on External VME Front Panel VFP 5 Computer Controlled Robots and Motion Devices 5 Manually Controlled Robots and Motion Devices 5 Other Computer Controlled DEVICES see ve ve enan ees 5 Program SSCUNADY i Risse AN a ote LN LAN ok NG Mb Dit fiti ke tees es 6 Overspeed Protec NON iun eX eat wea HE eR bes Ee dede eie A 6 Voltage InterupTlons ic sce nee Raed a ed eurem Fac Y e 6 Inappropriate Uses of the Adept MV Controller sese 6 1 4 Standards Compliance 0 ccc eens 6 1 5 How Can I Get Help 0 0c te eee nn n nn nna 7 Within the Continental United States n aaua 00 aan 7 SONICS CONS AA AA 7 Application Questions x e tpe eee 7 Applications Internet E Mail Address i eene 7 Training Inforricitiohi s ec ihr ote DAANAN ea ae ac n cR 7 WITAM EUT ODS 255 a HAS sendet ao Ma Rare Raa occa en ata e dr n ti D did 7 FANGE sus daw ata REALE DEN GARA PINA ena hed daa en Yi 7 Outside Continental United States or Europe aaan 8 Adept Bulletin Board Service BBS 1 0 0 00 0 aa 8 2 AdeptModules Overview llle
12. Left Right Slider LAP Body Figure 2 1 Motor Mount Table 2 2 Extended Stroke Modules Extended Strokes Module Type Part Number Stroke yp 90400 mm Speed mm sec Ball S Pitch Motor Mount H Module 11120 1200 1200 40b Right 11140 1400 1080 11160 1600 840 11180 1800 680 11200 2000 560 M Module 21115 1150 1200 40 Right 21135 1350 1080 21155 1550 840 S Module 31063 630 1200 20 Right Sz Module 41033 330 600 10 Left Standard 41043 430 41053 530 41063 630 See Figure 2 1 P 50 reduction due to timing belt Module Moment Capacity Figure 2 2 shows the rolling pitching and yawing moments of a module Rolling pitching and yawing moment capacities are specified for each module in Table 2 1 The rolling moment capacity is the torque capacity of the module around the x axis The x axis runs through the centerline of the ball screw 22 AdeptModules and AdeptMotion VME User s Guide Rev A Modules Specifications The pitching moment capacity is the torque capacity of the module around the y axis of the module The y axis is the axis perpendicular to the x axis and in the same plane as the module top surface The yawing moment capacity is the torque capacity of the module around the z axis of the module The z axis is the axis perpendicular to both the x axis and y axis and perpendicular to the top surface of the module Z
13. Number 00961 00830 formerly titled the AdeptMotion VME User s Guide The AdeptMotion VME Developer s Guide is a required reference when interfacing the AdeptModules to AdeptMotion VME There are four steps involved in interfacing an AdeptModules system to the MV Controller and AdeptMotion VME 1 Setup the Adept MV Controller and AdeptMotion VME 2 Assemble the AdeptModules system 3 Build the power and emergency stop circuitry including modules amplifiers 4 Configure the AdeptModules system with the SPEC utility This manual covers steps 3 and 4 from the list above The Adept MV Controller User s Guide and AdeptMotion VME Developer s Guide cover step 1 and the Module Main Unit Instruction Manual shipped with each module covers step 2 How This Manual is Organized Chapter 2 reviews the AdeptModules product including product part numbers and specifications e Chapter 3 reviews the components of the different AdeptMotion VME products and the additional components required to interface the amplifiers and build the power and emergency stop circuitry This chapter makes several references to the AdeptMotion VME Developer s Guide Chapter 4 provides a detailed explanation of amplifier mounting wiring and interfacing to the different AdeptMotion VME products Specifically the wiring diagram for the power and emergency stop circuitry is explained In addition Chapter 4 includes information on amplifier faults AdeptModules a
14. distance use the following equation Travel Distance to Lubricate x Seconds Cycle Travel Distance Cycle x 3600 seconds hour Number of Hours For example if a module performs a 2 meter travel in 4 seconds the recommended number of elapsed hours between lubrication is 5 000 000 meters x 4 seconds cycle 2 778 hours 2 meters cycle x 3600 seconds hour Number of Hours 2 778 hours could translate to a different lubrication interval in weeks depending on the production schedule of the modules equipment Production Schedule 1 shift day 2 shifts day 3 shifts day 5 days week 6 days week 7 days week 40 hours week 96 hours week 168 hours week Lubrication Interval 70 weeks 29 weeks 17 weeks The table below provides a estimated lubrication schedule in actual production weeks based on the length of the module and an assumption of the travel distance and time required to perform the cycle If your system includes two or more modules all modules should be lubricated at the same time and the time should be determined by the module that requires the most frequent lubrication AdeptModules and AdeptMotion VME User s Guide Rev A 55 Chapter 7 Modules Lubrication and Cable Hardware Table 7 1 a Lubrication Lubrication Lubrication Estimated Module Cycle Total Interval for Interval for Interval for Module Stroke y numberof 1 Shift day 2 Shift day
15. sec 165 Joint accel at ACCEL 100 mm sec or 20000 30000 35000 degrees sec 141 Minimum JOINT pendant mm or 0 001 0 001 0 001 increment degrees 142 Maximum JOINT pendant mm sec or 50 50 25 speed degrees sec aa BREE mode Enabled Sa Enabled Enabled Enabled Disabled 22 FREE mode digital signal n a 0 0 0 clutch Velocity Serve Enables a Enabled Enabled Enabled Disabled 123 Minimum lower joint limit mm or see footnote degrees 120 Lower joint limit mm or 2 see footnote degrees 121 Upper joint limit mm or degrees 124 Maximum upper joint limit mm or KR NAO degrees These values depend on stroke length of each module 52 AdeptModules and AdeptMotion VME User s Guide Rev A Chapter 6 Example SPEC File Parameters Table 6 7 Cartesian Motion Parameters Suggested Parameter Units Value Cartesian translation speed at SPEED mm sec 1200 or 600 100 1st Cartesian rotation speed at SPEED deg sec 0 100 2nd Cartesian rotation speed at deg sec 0 SPEED 100 3rd Cartesian rotation speed at deg sec 0 SPEED 100 Translational acceleration at ACCEL mm sec 20000 100 1st Cartesian rotational accelerationat deg sec 0 ACCEL 100 2nd Cartesian rotational acceleration deg sec 0 at ACCEL 100 3rd Cartesian rotational acceleration deg sec 0 at ACCEL 100 Maximum WORLD TOOL pendant mm sec 50 translation speed Maximum WORLD TOOL pendant deg
16. 2 90400 60300 Manual AdeptModules and AdeptMotion VME User s Guide Optional Table 4 2 Part Number 90400460110 MV Amplifier Interface Package for S or Sz Module includes Part Number Description Oty 90400 60111 Amplifier for S or Sz Module 1 Part Model EXD1A10A00AD 90400 60200 Amplifier to VMP MP6 Cable 1 24420 00002 OPTO22 G4IDC5D Input Module 2 5 28 VDC 3 required for AdeptMotion VME and VMP panels only 24420 00003 OPTO22 G4ODC5D Output Module 5 60 VDC 2 90400 60300 Manual AdeptModules and AdeptMotion VME User s Guide Optional AdeptModules and AdeptMotion VME User s Guide Rev A 29 Chapter 4 Amplifier Installation 4 2 AdeptModules Installation and Maintenance 30 Connection of Modules to Amplifiers It is very important that the modules are connected to the appropriate amplifier interface packages The motor of the module must match the amplifier The wattage of the amplifier is marked to the left of the CN2 connector on the amplifier The following table lists the module the motor type in the module and the compatible amplifier interface package Table 4 3 Module Module Part Motor in mper w Interface Amplifier Type Number Module Package H Module 9040X 1XXXX 300 W 90400A60130 90400 60131 M Module 9040X 2X0XX 300 W 90400A60130 90400 60131 S Module 9040X 3X0XX 100 W 90400A60110 90400 60111 Sz M
17. 3 Shift day travel Time Length mm distance Seconds hours 5days week 6 days week 7days week Mete hours 40 hrs week 96 hrs week 168 hrs week weeks weeks weeks 130 0 13 1 0 10 684 267 111 64 230 250 0 24 1 5 8 680 217 91 52 300 330 350 0 325 2 0 8 550 214 89 51 400 430 450 0 425 2 5 8 170 204 85 49 500 530 550 600 0 55 3 0 7 576 189 79 45 750 800 0 78 3 5 6 232 156 65 37 950 1000 1200 1 0 4 0 5 555 139 59 33 1400 to 2000 1 4 4 5 4 464 112 47 27 Lubrication Grease For standard non cleanroom modules module part numbers that begin with 90400 xxxxx Shell Alvania No 2 grease is recommended Adept recommends that the customer purchase this grease from a third party Adept does not offer this grease for the modules product For cleanroom modules module part numbers that begin with 90401 xxxxx a special cleanroom grease is required This grease is supplied by Adept Technology The Adept part number is 90401 04029 and is a single tube with 50 cc of grease Please contact Adept Customer Service to order this grease 56 AdeptModules and AdeptMotion VME User s Guide Rev A Modules Lubrication Grease Adaptor Nozzle The grease zerk fittings on the modules are very special with a 4 5 mm diameter and a small ballcheck in the center There are two compatible grease gun nozzles manufactured by Yamada Corporation of Japan for this size zerk fitting Nozzle HSP 1 is 120 mm in length and HSP 2 is 240 mm in length As of May 1996 Yam
18. 9 2 1 Introduction ie i cee LG ecl ELLA Oe ee Dada 9 Module Types sss exer ete lok Pe tt TREE Ur ends EE HO 9 FENIOGUIG it aod s dede ae eh Taha faccre d aot eoe o d tbe 9 MEN OUE k y na nat pe eo et ers rone HP RE palace ees 9 WO CUS gt cette ES a aa ake ther ete pate aM De eA ate C wae 9 eem E 10 Gantry Support Modules coru aE ht oer ea Ea ea ate oe an POR 10 AdeptModules and AdeptMotion VME User s Guide Rev A V Table of Contents Class 10 Cleanroom Modules 0 000 L kl L kk Lk a kak ka ka a ka koka a ka kwa 10 2 2 Modules Specifications eten nn kn ees 11 Module Moment Capacity aanas saaana eaaa a aa aa n 12 2 3 Calculating Yawing Moment on S and Sz Modules 14 Calculating Static Yawing Moment cerises tesia sia ka ak kaa ak a n kw 14 Calculating Dynamic Yawing MOMeNt L kw av ka ak eee 14 3 AdepiMotion VME Overview sene 17 3 1 AdeptMotion VME Overview Lel lekl l kk nan kanon ees 17 Adept Supplied COMPONENTS kk kk kk a kk ka ak ka aa ka aa ka a ak a a ko 17 AdeptMotion VME Components saasaa ek ka ka aa aaa kk aa aa bon an kan 18 VA EXTENSIONS BI Cerise ess ousa ice E ee her Grate PP RUE que e ayes 18 Customer Supplied Components kk kek kaa aa nn 18 4 Amplifier installation 0 ccc cece RR 19 4 1 Amplifier Interface Packages LIL cece eee kan kanna 19 4 2 AdeptModules Installation and Maintenance oneu 20 Connecti
19. Replace the black plastic cap s on the modules 7 2 Pins Connectors and Screws Connector Pins and Inserter Extractor Tools The modules and spare motors are supplied with JAE connectors with crimp style pins If these pins need to be repaired or replaced additional pins and an inserter extractor tool are required Description JAE Part Number Encoder Pins 030 51906 800 Motor Pins 030 51928 800 The motor pins are the larger of the two pins Adept Technology San Jose has a limited supply of these pins to send to customers upon request Please contact Adept Technology Customer Service 58 AdeptModules and AdeptMotion VME User s Guide Rev A Pins Connectors and Screws In order to replace encoder or motor pins an inserter extractor tool is required Description Part Number Color Encoder Pin JIET D C 20 Red White Inserter Extractor Tool Contact JAE directly for this Inserter Extractor Tool JAE Electronics 142 Technology Drive Irvine CA 92718 2401 Phone 714 753 2600 Fax 714 753 2699 A different tool is required for replacing motor pins Description Part Number Color Motor Pin CIET 16 Blue White Inserter Extractor Tool This tool is provided with each spare motor shipped by Adept Contact JAE for additional tools Another source for this tool is Aiconics USA The Aiconics part number is M81969 14 03 Contact the following company for this A
20. a single MV Controller Table 3 1 Product Name Number of Axes Package Part Number AdeptMotion VME 4 axis 4 90330A00400 AdeptMotion VME 3 Axis 3 90332A00420 AdeptMotion VME 6 Axis 6 90332A00410 Adept Supplied Components If you have purchased an Adept MV Controller solely to control an AdeptModules system or multiple AdeptModules systems you need the following items from Adept MV Controller AdeptMotion VME package V Extensions License required for controlling 2 or more Modules systems External Front Panel Manual Control Pendant required for running SPEC utility AdeptModules with appropriate cables and brackets AdeptModules Amplifier Interface Package for each module If you already have an Adept SCARA Robot system and plan to add an AdeptModules system as a second robot you require the following items AdeptMotion VME package V Extensions License required for controlling an Adept SCARA robot and one or more Adept Modules systems AdeptModules with appropriate cables and brackets AdeptModules Amplifier Interface Package for each module AdeptModules and AdeptMotion VME User s Guide Rev A 27 Chapter 3 AdeptMotion VME Overview AdeptMotion VME Components Table 3 2 Amp to Product Name VME Board Interface Panel Kit VNMEPIO VME VMP MP6 Cables Cable AdeptMotion VMI VMP Kit 90330 01000 90400 60200 VME 4 axis 10330 00400 90330 0
21. an Adept training course and has a basic working knowledge of the system The user should provide the necessary additional training for all personnel who will be working with the system There are several warnings in this manual that say only skilled or instructed persons should attempt certain procedures These are defined as Skilled persons have technical knowledge or sufficient experience to enable them to avoid the dangers which electricity may create engineers and technicians Instructed persons are adequately advised or supervised by skilled persons to enable them to avoid the dangers which electricity may create operating and maintenance staff AdeptModules and AdeptMotion VME User s Guide Rev A Safety System Safeguards Safeguards should be an integral part of robot or motion workcell design installation operator training and operating procedures Adept systems have various communication features to aid in constructing system safeguards These include the emergency stop circuitry and digital input and output lines Some of these features are described in the Adept MV Controller User s Guide Safety Features on External VME Front Panel VFP The optional external VME Front Panel VFP has four important safety features the HIGH POWER and PROGRAM RUNNING indicators the TERMINAL PENDANT keyswitch and the EMERGENCY STOP switch If you choose not to use the VFP you should provide similar safety features by using
22. changed by switching the wiring of the home switch sensor and the positive overtravel sensor Changing the calibration of a Z axis module is recommended so that the module moves up out of the workspace during calibration The default wiring diagram for the amplifier to VMP MP6 cable shows the connection of the negative overtravel sensor to the home switch input and the connection of the positive overtravel sensor to the positive overtravel input With the default wiring configuration H Modules and M Modules and other direct mount motor modules have the home switch near the motor For S Module and Sz Module and other side mount motors the home switch is opposite the motor end In order to change the calibration direction of the module the home switch and positive overtravel inputs on the VMPM Machine must be switched and the calibration direction in the SPEC utility must be changed AdeptModules and AdeptMotion VME User s Guide Rev A Amplifier Faults 4 10 Amplifier Faults LEDs on the amplifier s front panel indicate the fault state of the amplifier When the amplifier is wired according to the wire lists in Table 4 5 and Table 4 6 any of the faults listed above assert the Drive Fault input to the VMPS MP6 S panel The Drive Fault input causes machine high power and motor servo power to be switched off and or prevented from being switched on until the fault is cleared The table below summarizes the amplifier alarm codes
23. devices other than the robot or main motion device The program controlling these other devices may cause them to operate unexpectedly Make sure that safeguards are in place to prevent personnel from entering the workcell when a program is running Adept Technology highly recommends the use of additional safety features such as light curtains safety gates or safety floor mats to prevent entry to the workcell while HIGH POWER is enabled These devices can be connected using the emergency stop circuitry AdeptModules and AdeptMotion VME User s Guide Rev A 15 Chapter 1 Introduction and Safety Program Security Programs and data stored in memory can be changed by trained personnel using the V commands and instructions documented in the V manuals To prevent unauthorized alteration of programs you should restrict access to the keyboard This can be done by placing the keyboard in a locked cabinet Alternatively the V ATTACH and FSET instructions can be used in your programs to restrict access to the V command prompt Overspeed Protection Overspeed protection for a robot or motion system has to be taken into account during system integration by the integrator or end user Overspeed protection is not guaranteed by the controller hardware alone The V system software offers some overspeed protection capabilities Voltage Interruptions If the AC supply to the controller is interrupted the passive E stop output will be automatica
24. requests 408 434 6248 FAX application questions NOTE When calling with a controller related question please have the serial number of the controller If your system includes an Adept robot also have the serial number of the robot The serial numbers can be determined by using the ID command see the V Operating System User s Guide Adept Bulletin Board Service BBS Adept maintains a bulletin board service for Adept customers Adept posts application hints and utilities to this bulletin board and users may post their own hints and applica tion notes There is no charge for access to the bulletin board The BBS number is 203 264 5590 The first time you call you will be able to set up an account right from the BBS If you have any questions call 800 232 3378 and ask about the BBS 18 AdeptModules and AdeptMotion VME User s Guide Rev A 2 1 AdeptModules Overview Introduction AdeptModules are a family of linear motion actuators which can be used separately or combined into 15 unique 2 and 3 axis configurations AdeptModules consist of a precision ground ball screw drive mechanism high capacity linear guides and AC servo motors AdeptModules also include fully sealed belt covers to protect the module from contaminants Module Types AdeptModules are offered in the four module types described in the following sections H Module The H module is the largest module with the highest payload and moment capaci
25. the Front Panel MCP and Digital I O connectors on the System I O module Refer to the Adept MV Controller User s Guide for more information or call Adept Customer Service at the numbers listed in section 1 5 on page 17 WARNING Entering the workcell when either the HIGH POWER or the PROGRAM RUNNING light is on can result in severe injury This warning applies to each of the next three sections Computer Controlled Robots and Motion Devices Adept systems are computer controlled and the program that is currently running the robot or motion device may cause it to move at times or along paths you may not anticipate When the HIGH POWER light and the PROGRAM RUNNING light on the optional VFP are illuminated do not enter the workcell because the robot or motion device might move unexpectedly The LAMP TEST button on the VFP allows these lights to be periodically checked Manually Controlled Robots and Motion Devices Adept robots and other motion devices can also be controlled manually when the HIGH POWER light on the VFP is illuminated When this light is lit motion can be initiated from the system keyboard or from the optional Manual Control Pendant MCP If you have to enter the workcell when this light is lit press the MAN HALT button on the MCP This will prevent anyone else from initiating unexpected motion from the system keyboard Other Computer Controlled Devices In addition Adept systems can be programmed to control equipment or
26. their causes and solutions Encoder cable not connected Encoder breakage Table 4 7 Alarms LED Causes Solutions Main Voltage Error MVE No main AC power Supply proper voltage motor power Supplied power is not 180 240VAC and assert Alarm Clear Excessive regenerative voltage Check Duty Cycle Amplifier Overheat OH Heavy duty on motor Check Duty Cycle Temperature around Amp is high Cool around the Amp Alarm Clear after cooling down Control power low CUV Control power supply voltage is low Verify power supply and voltage Internal or unstable wires 5 12 24 VDC Supply proper power and Alarm Clear Motor Over current OC Excessive motor acceleration Check Duty Cycle Motor coil or wire short circuited Fix short circuit Encoder cable break LOS Encoder cable break Verify encoder and encoder cable cycle power this alarm cannot be reset by Alarm Clear After the condition that caused the amplifier to assert the Drive Fault signal is remedied the amplifier Alarm Clear input signal must be asserted to clear the Drive Fault output signal AdeptModules and AdeptMotion VME User s Guide Rev A 43 5 1 Brake Release and Modules with Brakes Installing Brake Release Button When using AdeptModules with a brake mechanism Adept recommends that a brake release button be installed so that the brake can be disabled to move the Z axis manually T
27. 0450 AdeptMotion MI3 MP6 Kit 90330 02000 90400 60200 VME 3 Axis 10330 11400 90332 12400 AdeptMotion MI6 MP6 Kit 90330 02000 90400 60200 VME 6 Axis 10330 12400 90332 12400 28 Note Unless otherwise noted every reference to the MI6 module in this document is applicable to the MI3 module except the number of channels The MI6 supports up to six servo channels and the MI3 has three servo channels The MI6 and MI3 have functionality similar to the VMI whereas VMP has functionality similar to the MP 6 V Extensions License The V Extensions Software License is required for multiple mechanism support The Part Number for the license is 09961 0002 If two or more AdeptModules devices are connected to a single MV Controller or one or more AdeptModules devices are connected to an MV Controller with an Adept SCARA robot then the V Extensions Software License is required If only one AdeptModules device a single robot consisting of 1 or more axes is connected to the MV Controller then the V Extensions software license is not required Customer Supplied Components You are required to supply the following items e 24 VDC power supply This power supply is used to drive the modules amplifiers The current rating of the power supply is dependent on the number and type of modules being powered For modules without a brake the required current rating is 100 mA For modules with a brake the required current rat
28. 13N pa Output B 28 E Current l lt 40mA o e Figure 4 5 AdeptModules and AdeptMotion VME User s Guide Rev A 37 Chapter 4 Amplifier Installation 4 7 MP6 and M16 M13 Configuration and Wiring 38 Refer to the AdeptMotion VME Developer s Guide Chapter 4 for more details The MP6 interface panels differ from the VMP interface panels in that the MP6 panels do not use the same number of OPTO22 modules The MP6 interface panels do not require input modules because the signals are optically isolated on the MI3 MI6 board The MP6 M interface panel requires one DC output module for High Power Enable and one output module for Brake Release if the axis includes a brake Configuration of the Boards Follow the procedure described in section 4 3 of AdeptMotion VME Developer s Guide Special Considerations f using AdeptModule amplifiers then DRIVE FAULT BLOCK DELAY TIME must be set to 1 0 sec Refer to the AdeptMotion VME Developer s Guide for jumper settings on MI3 MI6 boards You must determine the voltage level of input signals such as DRIVE FAULT HOME SWITCH and OVERTRAVEL SWITCH before MI6 Logic Voltage Configuration for Digital Input Signal is set Refer to page 53 in the AdeptMotion VME Developer s Guide This is critical because all the inputs go directly into the board There are no external OPTO 22 input modules NOTE This selection of the resistors for proper voltage setting on MI6 MI3 board should not b
29. 30 mm stroke lengths and a 20 mm pitch ball screw for stroke from 330 mm to 630 mm The S module has a single 25 mm linear guide and a 100 watt motor without a holding brake AdeptModules and AdeptMotion VME User s Guide Rev A 19 Chapter 2 AdeptModules Overview 20 The S module is 66 mm 2 6 wide and 66 mm 2 6 in height The overall length of the S module depends on the stroke length The standard S modules are supplied with right side mounted motors z Module The Sz module has the same profile and design as the S module but has a left side mounted motor and a 100 watt motor with a holding brake for use in vertical applications Gantry Support Modules Gantry Support Modules consist of a single 25 mm linear guide in a cross section similar to the S Sz module The gantry support is intended to be used with a G 1 or P 1 configuration and therefore is available in stroke lengths to match the stroke length of an H Module The gantry support module is provided with a bracket which mounts to the end of the M module and mates with a bracket affixed to the linear guide on the gantry support bracket Class 10 Cleanroom Modules All standard modules are offered in a Class 10 compatible cleanroom version The cleanroom modules have three differences from standard modules cleanroom modules are assembled with a different belt material to greatly reduce the generation of particles cleanroom modules contain a special cleanroom
30. 5 5 5 msec 1041 Speed for fine search counts 3 3 2 msec 1044 Motor stalled msec 100 100 100 timeout during cal 1034 Maximum search counts see footnote see footnote see footnote distance 1036 Max home switch counts 400 400 1000 width Hard stop found counts see footnote see footnote see footnote position error 1037 Distance from edge counts see footnote see footnote see footnote of home switch or hard stop or current position to first zero index 1035 Motor position at counts 0 0 0 zero index or home switch or hard stop or current position Calibration groups n a 1 2 3 1038 Park position after counts 0 0 0 calibration Should be set to a value that is slightly larger than the total stroke length for the module P This parameter is not applicable modules are calibrated to an overtravel sensor not a hardstop Must be measured for each axis AdeptModules and AdeptMotion VME User s Guide Rev A 51 Chapter 6 Example SPEC File Parameters Table 6 6 Joint Motion Parameters Data Section Parameter Units H Module M Module Sz Module 1080 FINE nulling tolerance encoder 4 4 4 counts 1081 COARSE nulling tolerance encoder 400 400 400 counts 1019 Time required to be in seconds 0 016 0 016 0 016 tolerance 202 READY position mm or 0 0 0 degrees 163 Joint speed at SPEED 100 mm sec or 1200 1200 600 degrees
31. Module Yawing moment calculations are shown in the table below Table 2 3 L1A non L1A Part Part M2 x L2 Motor End Motor End Number Description M2 kg L2 m kg x m m m 9040x 30013 130 mm 5 5 3 0 065 0 34 0 222 0 268 9040x 30023 230 mm S 6 0 0 115 0 69 0 322 0 368 9040x 30033 330 mm S 6 6 0 165 1 09 0 422 0 468 9040x 30043 430 mm 5 7 3 0 215 1 57 0 522 0 568 9040x 30053 530 mm S 8 0 0 265 2 12 0 622 0 668 9040x 31063 630 mm S 8 7 0 315 2 74 0 722 0 768 9040x 40013 130 mm Sz 5 5 0 065 0 36 0 222 0 268 9040x 40023 230 mm Sz 6 2 0 115 0 71 0 322 0 368 9040x 41033 330 mm Sz 6 8 0 165 1 12 0 422 0 468 9040x 41043 430 mm Sz 7 5 0 215 1 61 0 522 0 568 9040x 41053 530 mm Sz 82 0 265 2 17 0 622 0 668 9040x 41063 630 mm Sz 8 9 0 315 2 80 0 722 0 768 Where x 0 for Standard modules and x 1 for Cleanroom modules 26 AdeptModules and AdeptMotion VME User s Guide Rev A 3 1 AdeptMotion VME Overview Adept Technology provides three motion control products AdeptMotion VME controls AdeptMotion VME Overview up to 4 axes per package AdeptMotion VME 3 axis controls up to 3 axes per package and AdeptMotion VME 6 Axis controls up to 6 axes per package All three products are provided with the X Y Z Theta kinematics modules which is required to interface with an AdeptModules system With all three products a maximum of 24 axes can be controlled on
32. Section Parainet r Units H Module M Module Sz Module 1009 Motor sign n a 1 1 1 1010 Maximum DAC DAC 32767 32767 15000 value counts 1012 Duty cycle DAC 15000 15000 10920 exceeded DAC limit counts 1013 Duty cycle n a 13 13 13 exceeded filter parameter 1014 Motor stalled seconds 0 5 0 5 0 5 timeout 1018 Envelope error enc 10000 10000 5000 limit counts 1032 Machine Input n a 4 4 4 Polarity AdeptModules and AdeptMotion VME User s Guide Rev A 49 Chapter 6 Example SPEC File Parameters Table 6 4 Servo Tuning Parameters Data Section Parameter Units H Module M Module Sz Module 1048 Proportional Gain DAC counts 35 30 70 DC Gain enc_cnt 1049 Proportional zero none 0 95 0 94 0 85 1050 Proportional pole none 0 0 0 1003 Integral gain DAC counts 1 0 93 3 enc_cnts ms 1005 Max integrator value DAC counts 6000 6000 2000 1004 Max integrator step enc_cnts ms 20 20 10 1006 Velocity feedforward DAC counts 0 0 0 enc_cnts ms 1007 Acceleration feedforward DAC counts 0 0 0 enc cnts ms 1022 DAC Output filter none 0 0 0 50 AdeptModules and AdeptMotion VME User s Guide Rev A Chapter 6 Example SPEC File Parameters Table 6 5 Calibration Parameters Data Section Parameter Units H Module M Module Sz Module 1023 Homing n a 0 0 0 configuration 1040 Speed and direction counts
33. User s Guide AdepiModules and AdeptMotion VME AdepiModules and AdeptMotion VME User s Guide E 7 E d E 1 E OS Es technology ine Part Number 90400 60300 Rev A April 1996 ccery 150 Rose Orchard Way San Jose CA 95134 USA Phone 408 432 0888 Fax 408 432 8707 Ke Otto Hahn Strasse 23 44227 Dortmund Germany Phone 0231 75 89 40 Fax 0231 75 89 450 erc TER b 11 Voie la Cardon 91126 Palaiseau France Phone 1 69 19 16 16 Fax 1 69 32 04 62 Via don Luigi Sturzo 39 41 52100 Arezzo Italy Phone 575 3986 11 Fax 575 3986 20 1 2 Aza Nakahara Mitsuya Cho Toyohashi Aichi Ken 441 31 Japan 0532 65 2391 Fax 0532 65 2390 The information contained herein is the property of Adept Technology Inc and shall not be reproduced in whole or in part without prior written approval of Adept Technology Inc The information herein is subject to change without notice and should not be construed as a commitment by Adep
34. a ant Sale ved ke ei ae EA Lubrication Gredse cas ees Ake ek ae ee ae Grease Adaptor Nozzle ww eens Lubrication Procedures 0 000 kk kk kek kk kk kk enan 7 2 Pins Connectors and Screws eooeeeesson Connector Pins and Inserter Extractor Tools DDK Compatible Connectors 0 00 kk en nannan JAE connectors and DDK Connector Cross Reference List Robot Cable Mounting Screws 6 0 0 0 8 Amplifier InfOrmatiON eeeeeeee 8 1 Amplifier Specifications 0 a 8 2 Interface Connector Signal Specifications 8 3 Signal Description 0 00 0 ce eee AdeptModules and AdeptMotion VME User s Guide Rev A Table of Contents vii 1 1 Introduction and Safety How to Use This Manual This manual provides information required to interface the AdeptModules product to one of Adept Technology s motion control products The AdeptModules can be interfaced to the AdeptMotion VME product 4 axis the AdeptMotion VME 3 Axis or the AdeptMotion VME 6 axis products The customer is required to build a power and emergency stop circuitry including the AdeptModules amplifiers The procedure is the identical procedure required when interfacing third party mechanisms to AdeptMotion VME products This manual assumes that the customer has an Adept MV Controller with one of the AdeptMotion VME products which includes the AdeptMotion VME Developer s Guide Part
35. ada America does not stock these items in the United States Adept Technology is still investigating a United States and European supplier for a compatible grease nozzle AdeptModules and AdeptMotion VME User s Guide Rev A 57 Chapter 7 Modules Lubrication and Cable Hardware Lubrication Procedures 1 Remove the plastic black circular cap s from the module The cap is approximately 10 mm 0 5 diameter The H Module has two black caps located on each side of the module at the end of the module opposite the motor The M Module has a single black cap located on the same side of the module as the cable connections and near the motor end of the module e TheSand Sz Modules have a single black cap located on the same side as the motor housing at the end of the module opposite the motor 2 Move the module slider until the grease nipple s can be seen through the access hole s e The slider of the H Module must be moved to the end of the module travel The slider of the M Module must be moved to a position 10 mm 0 5 from the motor end The slider of the S and Sz Module must be moved to a position 35 mm 1 5 from the end opposite the motor 3 Fill the module with the appropriate amount of grease The H Module requires 20 cc 2 3 oz of grease It is recommended to fill each side with approximately 10 cc 1 3 oz The M Module requires 10 cc 1 3 oz e The S and Sz Module require 2 0 cc 0 1 oz 4
36. am The other internal sensor can be used as a overtravel switch WARNING This method protects only one end of the module with an overtravel sensor The other end is protected only by properly set soft limit parameters Soft limits are not invoked until after the axis has been successfully calibrated This method may not meet generally accepted safety standards Overtravel Sensor Wiring for MI6 MI3 MI6 MI3 has only one input per channel for overtravel sensors You can still have two separate switches on each axis of the mechanism Typically one switch would be at each end of the axis These should be connected in series or parallel as described below Refer to the AdeptMotion VME Developer s Guide for more detail Overtravel switches can be either normally closed or normally open Adept strongly recommends using normally closed switches for fail safe operation If the switches are normally closed N C wire the switches in series Terminals 2 and 3 on each channel of the MP6 M are provided to help wire the switches in series If the switches are normally open N O wire them in parallel Connect both the switches to same input terminals terminals 1 and 4 on the MP6 M Terminals 2 and 3 are not required for wiring overtravel switches in parallel AdeptModules and AdeptMotion VME User s Guide Rev A 41 Chapter 4 Amplifier Installation 4 9 Changing Calibration Direction 42 The calibration direction of each module can be
37. axis Yawing Pitching Y axis Rolling X axis Z axis Z axis N M Y axis X axis J Jp ET T J Rollin V M t He d Y axis Pitching XS pu gt Moment Around TR Y axis X axis Yawing Moment Around Z axis Figure 2 2 AdeptModules and AdeptMotion VME User s Guide Rev A 23 Chapter 2 AdeptModules Overview 2 3 Calculating Yawing Moment on S and Sz Modules When configuring a S or Sz Module it is very important that the yawing moment of the module is not exceeded Exceeding the yawing moment will result in a premature failure of the linear guide within the S or Sz Module In each case the mounting of the module the mass of the module the mass of the payload and the acceleration of the module determine the total static and dynamic yawing moment The maximum yawing moment of the S and Sz Module is 10 N m Therefore Total Yawing Moment Static Yawing Moment Dynamic Yawing Moment lt 10 N m Calculating Static Yawing Moment For a Sz Module in a vertical orientation the static yawing moment is calculated with the following formula Static Yawing Moment vertical M1 x L3 x Ag Where M1 payload mounted on module kilograms L3 distance from the centerline of the flange to payload perpendicular to the module centerline meters Ag gravitational acceleration constant 9 8 m sec For a S module in a horizontal orientation with the flange plate perpendicu
38. e Drive Enable signal and set the Alarm Clear signal for a specified period of time when the Drive Enable signal is set When using a automatic device like a time interval relay or one of the alternatives above the Alarm Clear input signal should be asserted at least for 20 milliseconds but no more than 100 milliseconds to ensure fault free operation See Figure 4 3 High Power CLOSE Enable signal from MV OPEN High Power ON CLOSE Relay and Contact RLY2 OFF OPEN Alarm Clear ON Relay RLY1 y OFF ke 20 msec to 100 msec time interval CLOSE Alarm Clear Contact OPEN Figure 4 3 Alarm Clear Reset Timing AdeptModules and AdeptMotion VME User s Guide Rev A 33 Chapter 4 Amplifier Installation Figure 4 4 shows the wiring of a time interval relay in the Power and Emergency Stop Circuitry The Alarm Clear input signal is asserted by shorting CN1 connector Pin 8 to the same 24VDC Ground Signal supplied to Pin 1 of the CN1 Connector Time Interval Relay Supplier One source for a time interval relay is NTE Electronics Inc One source for these relays is R amp D Electronics Their phone number is 408 262 7144 Ask for part number R63 11AD10 24 which is a 24VAC DC DPDT relay 34 AdeptModules and AdeptMotion VME User s Guide Rev A Amplifier Alarm Clear Signal
39. e confused with the logic voltage supplied to MP6 M The logic supply voltage is for OPTO22 Output Modules and it should match the logic rating of the optical isolators Amplifiers to MP6 Wiring Follow the procedure described in section 4 9 of AdeptMotion VME Developer s Guide Special Considerations MP6 S wiring You must supply 9 pin D sub male connector and pins Follow the pin assignments in Table 4 6 There is only one pin 3 assigned to Shield SHD Since there are two separate cables having two separate shields the shields must be tied together MP6 E wiring User must supply 9 pin D sub male connector and pins Follow the pin assignments in Table 4 6 The MP6 E panel does not require Power and Power Com from an external power supply Power to the encoders is provided by the AdeptModules amplifiers MP6 M wiring there is one overtravel connector and one home sensor on the MP6 M Therefore one sensor is connected directly to the home sensor and the other to the overtravel connector AdeptModules and AdeptMotion VME User s Guide Rev A MP6 and MI6 MIS Configuration and Wiring Table 4 5 Amplifier to VMP Wiring From Amplifier To VMP Panel Wire Label CN1 Description Connector id Comments Pin Module rain Bundleo ere Label Encoder Phase A P1 31 VMPE 01 Encoder 01 Red Twisted Pair Encod
40. er Phase A P1 30 VMPE 02 Encoder 02 Black Twisted Pair Encoder Phase B P1 29 VMPE 03 Encoder 03 Green Twisted Pair Encoder Phase B P1 28 VMPE 04 Encoder 04 Black Twisted Pair Encoder Phase l P1 27 VMPE 05 Encoder 05 White Twisted Pair Encoder Phase I P1 26 VMPE 06 Encoder 06 Black Twisted Pair Shield Ground NC VMPE 09 Encoder 09 Drain Single Wire Positive Overtravel P1 20 VMPM 01 Machine 01 Red Twisted Pair Positive Overtravel P1 19 VMPM 02 Machine 02 Black Twisted Pair Home P1 18 VMPM 05 Machine 05 Green Twisted Pair Home P1 17 VMPM 06 Machine 06 Black Twisted Pair Brake P1 03 VMPM 07 Machine 07 White Twisted Pair Brake P1 02 VMPM 08 Machine 08 Black Twisted Pair Shield Ground NC VMPM 09 Machine 09 Drain Single Wire Drive Enable P1 10 VMPS 01 Servo 01 Red Twisted Pair Drive Enable P1 09 VMPS 02 Servo 02 Black Twisted Pair Drive Fault P1 22 VMPS 03 Servo 03 White Twisted Pair Drive Fault P1 21 VMPS 04 Servo 04 Black Twisted Pair Shield Ground NC VMPS 07 Servo 07 Drain Single Wire CD P1 06 VMPS 05 Servo 05 Red Twisted Pair CD P1 07 VMPS 06 Servo 06 Black Twisted Pair Shield Ground NC VMPS 07 Servo 07 Drain Single Wire 24VDC PS P1 12 Red Single Wire 24VDC Ground PS P1 01 Black Single Wire Alarm Clear Relay P1 08 Red Single Wire AdeptModules and AdeptMotion VME User s Guide Rev A 39 Chapter 4 Amplifier Installation Table 4 6 Amplifier to MP6 Wiring
41. f the cable connects to connector CN1 on the amplifier with a 34 pin Honda connector The VMP end of the cable is provided with unterminated wires to connect directly to the VMP screw terminals See Table 4 5 The VMPE panel does not require Power and Power Com from an external power supply Power to the encoders is provided by the AdeptModules amplifiers AdeptModules and AdeptMotion VME User s Guide Rev A VMP amp VMI Configuration and Wiring nq m 5VDC 2 Amplifier or 12VDC 24VDC i B Power 24V Depends on ower S l 12 424VDC VMI Voltage Supply upply 24V Setting VMPS PwriH i Les CMM Refer to PWR COM v 4VGND v AdeptMotion Er 10 DE A VME Developer s DES 9 DE Guide 24V 24VGND E A V 0 ma 22 DF 24VDC 10 MA 21 DF ak LH 24VGND SHD KI ML 20K CD 6 CD 20K Dt ak 5 7 CD A GND VMPM 424V Eo 20 PO v 19 PO PO v 24V x3 24VGND Required v Power for A Brake HM 18 NOU 24VDC 300mA 17 NO HM NO vy 24V 9 EM 24VGND A e BRI 3 BR 2 BR BR m 424V MEL ga i 24VGND ve Clear co ALARM V Reset ED o ne 48 CLEAR Ta ge Contact As 31 A 5 m 30 A xq Line Dri A ine Driver 29 B xj TI SN751
42. grease cleanroom modules have two air fittings to connect a vacuum supply for removing particles from the internal cavity of the module AdeptModules and AdeptMotion VME User s Guide Rev A Modules Specifications 2 2 Modules Specifications Table 2 1 Standard and Cleanroom Modules Ball Rated Moment Capacity n m Ib ft Module Part Stroke Max Repeatability Screw M Motor Thrust Type Number inn Speed tmm tin Pitch Payload Mounte Force 9040x mm sec mm kg Ib n lb Roll Pitch Yaw H module 10030 300 1200 0 01 0 0004 20 60 132 Direct 300 67 600 442 400 295 350 258 10040 400 10050 500 10060 600 10080 800 10100 1000 17120 1200 M Module 20025 250 1200 0 01 0 0004 20 60 132 Direct 300 67 70 52 120 89 120 89 20035 350 20045 450 20055 550 20075 750 20095 950 S Module 30013 130 600 0 01 0 0004 10 20 44 Right 240 54 27 20 10 7 4 10 7 4 horizontal 30023 230 30033 330 1200 0 01 0 0004 20 20 44 Right 120 27 27 20 10 7 4 10 7 4 30043 430 30053 530 Sz Module 40013 130 600 0 01 0 0004 10 15 33 Left 240 54 27 20 10 7 4 10 7 4 vertical 40023 230 Where x 0 for Standard modules and x 1 for Cleanroom modules P See Figure 2 1 See Figure 2 2 AdeptModules and AdeptMotion VME User s Guide Rev A 21 Chapter 2 AdeptModules Overview Direct
43. he most straightforward method of installing a brake release is to connect a momentary contact switch across pins 7 and 8 on the VMPM MP6 M for each axis with a brake See Figure 5 1 Sw v Brake Release on VMPM MP6 M Figure 5 1 H Module M Module with Brake 5 2 H Module and M Modules can be special ordered with brake mechanisms These modules include 300 watt motors with holding brakes and a 10 mm pitch for the internal ballscrew Table 5 1 shows the specifications of H and M modules with brakes Depending on the module used and the payload on the module you may need to install an external dumping resistor on the amplifier to dissipate the excess energy from the motor Without a dumping resistor the module may exhibit an Amplifier Overheat OH Alarm if there is excessive energy from the motor An upfront method to determine if a dumping resistor is required is to multiply the payload in kg attached to the module by the module stroke in mm If the answer is greater than 4000 then an external dumping resistor is required For example a 750 mm M Module with a 7 kg payload requires a dumping resistor because the product of 7 x 750 is 5250 Please contact Adept Technology Customer Service for more information on installing a dumping resistor on an H or M module with a brake mechanism AdeptModules and AdeptMotion VME User s Guide Rev A 45 Chapter 5 Brake Release and Modules with Brakes Table 5 1
44. iconics tool Connector MicroTooling Systems 14500 Trinity Blvd Suite 110 Fort Worth Texas 76155 Phone 817 283 4882 Fax 817 354 0790 DDK Compatible Connectors JAE connectors have 12 to 14 week lead times An alternative source for JAE compatible connectors is DDK Electronics DDK can generally offer much shorter lead times The DDK JM Series of connectors are compatible with JAE SRCD connectors However the DDK connectors are solder style connectors while the JAE connectors are crimp style Contact DDK directly for these connectors DDK Electronics Inc USA DDK Electronics Europe LTD 3001 Oakmead Village Drive Grange Lodge Market Square Santa Clara CA 95051 Westerham Kent TN16 1AR U K Phone 408 980 8344 Phone 0959 5 61224 Fax 408 980 9750 Fax 0959 5 61034 AdeptModules and AdeptMotion VME User s Guide Rev A 59 Chapter 7 Modules Lubrication and Cable Hardware JAE connectors and DDK Connector Cross Reference List The following table lists the compatible DDK connectors Table 7 2 Part No Cable JAE Connector DDK Connector 90400 0300x Controller to Module SRCD6A21 16SC A FO JMSP2116F x 3 6 9 Cable Module End 90400 0300x Controller to Module SRCD6A21 10SC A FO JMSP2110F x 3 6 9 Cable Module End 90400 03100 Cable Inside cable track SRCD1A21 16PC A FO JMCR2116M Cable end 90400 03100 Cable Inside cable track SRCD1A21 10PC A FO JMCR2110M
45. ing is 400 mA Therefore a 3 axis system with an H Module M Module and Sz Module requires a power supply with a current rating of at least 600 mA 24 VDC Time Interval Relay This is used for the Amplifier Alarm Clear Other methods can be used to clear amplifiers Please refer to section 4 5 on page 33 for more details 5VDC 12 VDC Power supply for VMP MP6 panels AdeptMotion VME is shipped configured for 12 volts Refer to section 3 9 of the AdeptMotion VME Developer s Guide for more detail 9 pin D sub connectors two per module for connecting Amplifier to VMP MP6 cable to MP6 E and MP6 S panels AdeptModules and AdeptMotion VME User s Guide Rev A Amplifier Installation 4 1 Amplifier Interface Packages An Amplifier Interface package AIP is required for each module ordered There is one amplifier interface package compatible with the H and M Modules and a separate one compatible with the S and Sz Modules These AIPs must be ordered separately The components of the two AIPs are as follows Table 4 1 Part Number 90400460130 MV Amplifier Interface Package for H or M Module includes Part Number Description Oty 90400 60131 Amplifier for H or M Module 1 Part Model EXD1A30A00AD 90400 60200 Amplifier to VMP MP6 Cable 1 24420 00002 OPTO22 G4IDC5D Input Module 2 5 28 VDC 3 required for AdeptMotion VME and VMP panels only 24420 00003 OPTO22 G4ODC5D Output Module 5 60 VDC
46. ion and Wiring Refer to the AdeptMotion VME Developer s Guide Chapter 3 for more details Figure 4 5 shows the typical wiring of a single AdeptModules amplifier to the VMP panel The VMP S and VMP M require a5 VDC or 12 VDC power supply The AdeptMotion VME product is shipped configured for 12 VDC Refer to the AdeptMotion VME Developer s Guide section 3 3 for more details on configuring the VMI 5 VDC logic NOTE This selection of the resistors for proper voltage setting on the VMI board should match with the power supply connected to the VMP S and VMP M The logic supply voltage is for OPTO22 Input and Output Modules and it should match the Logic rating of the optical isolators The OPTO22 Input and Output modules are used on the VMP Panels The three inputs per axis are used as follows Home Switch VMP M Positive Overtravel VMP M Drive Fault VMP S The 2 outputs per axis are used as follows Drive Enable VMP S Brake Release VMP M For vertical modules that include motor with brake NOTE Each VMP panel set requires one output on the VMPM for High Power Enable When you purchase a horizontal module only one DC output module is required leaving an extra DC output module The extra DC output can be used for the High Power Enable Amplifier to VMP Wiring 36 The amplifier to VMP cable part number 90400 60200 is used to connect each amplifier to the VMP interface panels The amplifier end o
47. lar to the ground the static yawing moment is calculated with the following formula Static Yawing Moment horizontal M1 x L1 x Ag Where M1 payload mounted module kilograms L1 distance from the centerline of the flange to payload along the module centerline meters Ag gravitational acceleration constant 9 8 m sec For a S module in a horizontal orientation with the flange plate parallel to the ground there is no yawing moment created by the payload Calculating Dynamic Yawing Moment 24 There are two typical S Sz Module configurations Case 1 has a fixed module and moving slider Case 2 has a moving module and the slider is mounted to another module or fixture AdeptModules and AdeptMotion VME User s Guide Rev A Calculating Yawing Moment on S and Sz Modules Case 1 Fixed Module with Moving Slider In this case the dynamic yawing moment is determined by the following formula Dynamic Yawing Moment M1 x L1 x Ay M1 x L3 x Az where M1 payload mounted to the S or Sz Module in kilograms L1 Distance from flange center to center of mass of M1 along module axis meters Ay acceleration of the module carrying S Sz Module in m sec L3 Distance from flange center to center of mass of M1 perpendicular to module axis meters If M1 is inline with the module axis and not offset the value of L1 is zero Az acceleration of the S Sz Module in m sec Case 2 Moving Module with payl
48. lation safety features configuration and maintenance of your Adept controller V Operating System User s Guide A description of the V operating system Loading storing and executing programs is covered in this manual Instructions for Adept Utility Programs Adept provides a series of programs for configuring and calibrating various features of your Adept system These utility programs are described in this manual V Release Notes Descriptions of the changes to V These P 8 documents are updated as each version of V is released Other Adept Product Manuals When you order AdeptVision VME AdeptForce VME or any AIM software product you will receive manuals that cover those products Also optional hardware such as the Manual Control Pendant will come with a manual See the following partial list 12 AdeptModules and AdeptMotion VME User s Guide Rev A Warnings Cautions and Notes Manual Material Covered AdeptVision VME User s Guide AdeptForce VME User s Guide Manual Control Pendant User s Guide Concepts and strategies for programming the AdeptVision VME system see also the optional Adept Vision Reference Guide below Installation operation and programming of the AdeptForce VME product Basic use and programming of the manual control pendant Optional V Developer s Manuals If you will be programming V applications you should order the optional V devel oper s manua
49. lly turned on opened In addition the High Power Brake Release and Drive Enable signals will be turned off You must ensure that these signals are used to prevent a hazardous condition Inappropriate Uses of the Adept MV Controller The Adept MV controller is intended for use as a component sub assembly of a complete industrial automation system The Adept MV controller sub assembly must be installed inside a suitable enclosure Installation and usage must comply with all safety instructions and warnings in this manual Installation and usage must also comply with all applicable local or national statutory requirements and safety standards The Adept MV controller sub assembly is not intended for use in any of the following situations In hazardous explosive atmospheres In mobile portable marine or aircraft systems In residential installations In situations where the Adept MV controller sub assembly may come into contact with liquids In situations where the Adept MV controller sub assembly will be subject to extremes of heat or humidity See specifications for allowable temperature and humidity ranges 1 4 Standards Compliance 16 See the Adept MV Controller User s Guide for information regarding compliance with European and other standards AdeptModules and AdeptMotion VME User s Guide Rev A How Can I Get Help 1 5 How Can I Get Help Within the Continental United States Adept Technology maintains a Custo
50. ls first three in the list below These manuals contain a complete descrip tion of the commands instructions functions and other features available in the V language and operating system These manuals are essential for advanced applications programming If you will be programming vision applications you should order the Adept Vision Reference Guide in addition to the V developer s manuals Manual Material Covered V Operating System Reference Guide V Language User s Guide V Language Reference Guide Descriptions of the V operating system commands known as monitor commands V isa complete high level language as well as an operating system This manual covers programming principles for creating vt programs A complete description of the keywords in the basic V language system AdeptVision Reference Guide Descriptions of the additional V keywords available with the AdeptVision VME option 1 2 Warnings Cautions and Notes There are three levels of special notation used in this manual They are WARNING Injury or major equipment damage could result if the actions indicated in a WARNING are not complied with A warning statement typically describes the hazard its possible effect and the measures that must be taken to reduce the hazard AdeptModules and AdeptMotion VME User s Guide Rev A 13 Chapter 1 Introduction and Safety CAUTION Damage to your equipment could res
51. mer Service Center at its headquarters in San Jose CA The phone numbers are Service Calls 800 232 3378 24 hours per day 7 days a week 408 433 9462 FAX Application Questions 800 232 3378 Monday to Friday 8 00 a m to 5 00 p m Pacific time 408 434 6248 FAX Applications Internet E Mail Address If you have access to the Internet you can send applications questions by e mail to applications adept com This method also enables you to attach a file such as a portion of V program code to your message Training Information For information regarding Adept Training Courses in the USA please call 408 434 5024 Within Europe For European customers outside of France Adept Technology maintains a Customer Ser vice Center in Dortmund Germany The phone numbers are 49 231 75 89 40 from within Europe Monday to Friday 8 00 a m to 5 00 p m CET 49 231 75 89 450 FAX France For customers in France Adept Technology maintains a Customer Service Center in Paris France The phone numbers are 33 1 69 19 16 16 Monday to Friday 8 30 a m to 5 30 p m CET 33 1 69 32 04 62 FAX AdeptModules and AdeptMotion VME User s Guide Rev A 17 Chapter 1 Introduction and Safety Outside Continental United States or Europe For service calls application questions and training information call the Adept customer service center in San Jose California USA 408 434 5000 408 433 9462 FAX service
52. nd AdeptMotion VME User s Guide Rev A 11 Chapter 1 Introduction and Safety Chapter 5 explains special configuration issues for the AdeptModules system including changing the calibration direction on a module installing a brake release button and special considerations using an H or M Module with a brake Chapter 6 provides a list of initial SPEC file parameters that should be used to configure the AdeptModules system Chapter 7 gives an explanation of the lubrication schedule and required lubrication hardware for the AdeptModules Chapter 7 also provides sourcing information on special pins screws and connectors used in the AdeptModules product Chapter 8 provides technical information on the amplifiers used to run the AdeptModules Amplifier specifications signal specifications and descriptions are provided Related Manuals Adept products come with a set of documentation that is defined by the products you have ordered In addition there are optional manuals available if you are going to be programming the Adept system This manual refers to both the standard and optional manuals The following sections give a brief description of the contents and organization of the Adept documentation set Standard Manuals In addition to this AdeptModules and AdeptMotion VME User s Guide the following manuals are shipped with the system Manual Material Covered Adept MV Controller User s Guide This manual details the instal
53. oad at end of module In this case the dynamic yawing moment is determined by the following formula Dynamic Yawing Moment M1 x L1A LIB M2 x L2 x Ay M1 x L3 x Az where M1 payload mounted to the S or Sz Module in kilograms L1A Worst case distance from flange center to end of module where M1 is mounted along module axis meters see Table 2 3 NOTE This distance is dependent on the mounting of the payload When the payload M1 is mounted opposite the motor end use the values in column labeled L1A non motor end When the payload M1 is mounted on the motor end of the module use the values in the column labeled LIA motor end L1B Distance from end of module closest to M1 to the center of mass of M1 along module axis meters M2 mass of the S or Sz Module in kilograms see Table 2 3 L2 Worst case distance from flange center to center of mass of M2 along module axis meters see Table 2 3 Ay acceleration of the module carrying S Sz Module in m sec L3 Distance from flange center to center of mass of M1 perpendicular to module axis meters If M1 is inline with the module axis and not offset this value is zero Az acceleration of the S Sz Module in m sec Values for Ay and Az are obtained from the EXA EXC or Adept MV Controller depending on which controller is being used AdeptModules and AdeptMotion VME User s Guide Rev A 25 Chapter 2 AdeptModules Overview Values for S Sz
54. odule 9040X AX0XX 100 W 90400A60110 90400 60111 AdeptModules and AdeptMotion VME User s Guide Rev A AdeptModules Installation and Maintenance Amplifier Dimensions Figure 4 1 shows the dimensions of the 100 W and 300 W amplifiers The 300 watt amplifier 90400 60131 includes a heat sink which increases the depth of the amplifier to 245 mm P N 90400 60131 245 mm I lt gt 45mm 80 mm P N 90400 60111 220 mm 9 mm 215 mm l CN2 CN1 SENSOR VF 250 mm zT 17 5 mm E Nag 4 5 mm Puls Figure 4 1 AdeptModules and AdeptMotion VME User s Guide Rev A 31 Chapter 4 Amplifier Installation 4 3 3 Amplifier Mounting 4 4 li mm 4 in or more le 10 mm 0 5 in or more HF s VRIE VAI IB VRIE C on c ent c cnt OMM w N VF N VF N VF Pu 50 mm bou um Po Gum oO O an one 2in gt ue O cuvQ Fe ANO O cwo oc oc O or more NG Los O Los O Los O L Si ou ou ou The amplifiers should be properly mounted for adequate air cooling The temperature of the amplifiers must remain between 0 and 50 degrees C 32 to 122 F If the temperature of the amplifiers cannot be maintained at less than 50 degrees C 122 F then a fan is required for forced air cooling When mounting the amplifiers the space above and below the amplifiers should be
55. on of Modules to Amplifiers csse 20 AtnplifierbIImiensiOkis s s o Rte oe soe Vene a eter 21 4 3 Amplifier Mounting ll ll ll ll L lk L L kk kn kk ak kw n kk on koka n koka a kon a knn 22 4 4 Amplifier AC Power Wiring 0 000 Lk ken kk kn kk n koka n kann ak kon konn n 22 4 5 Amplifier Alarm Clear Signal IL L ll rl len n kak kk eee 23 Time Interval Relay Supplier iin 24 4 6 VMP 8 VMI Configuration and Wiring lessen 26 ArnplifierTo VMP WING mag er E ne e e OC de de dm 26 4 7 MP6 and MI6 MI3 Configuration and WifiNQ eeeeeoonen 28 Config ration of The BOGS 3 a ce n pex RER aa 28 Amplifiers to MP6 Wiring w ks kk kwa aa ka aa HR Hem 28 4 8 Home and Overtravel Sensors ll Luk kak ka kk kn kaka m kan n kanon n 31 Overtravel Sensor Wiring for MI6 MI3 0 va kav ka avk a a kk aa ak kaa won 31 4 9 Changing Calibration Direction eee ken kk ek eee 32 4 10 Amplifier Fauls anen kn emen E a eee ce a e x eee kon 33 D Brake Release and Modules with Brakes aaa 35 5 1 Installing Brake Release Button ele nen eee 35 5 2 H Module M Module with Brake 00 e eee eee eee 35 vi AdeptModules and AdeptMotion VME User s Guide Rev A 6 Example SPEC File Parameters 7 Modules Lubrication and Cable Hardware 7 1 Modules Lubrication eee a Lubrication Schedule ia sx xr
56. sec 0 rotation speed Time to reach max pendant speed seconds 0 16 Minimum WORLD TOOL pendant mm 0 001 translation increment Minimum WORLD TOOL pendant degrees 0 001 rotation increment a Must be set to 600 if any modules in system are rated for 600 mm sec maximum speed for example an Sz Module a 130 or 230 S Module or an H or M Module with brake AdeptModules and AdeptMotion VME User s Guide Rev A 53 Chapter 6 Example SPEC File Parameters Table 6 8 General Motion Specifications Data Section Parameter Units Suggested Value 168 Maximum allowable acceleration 100 173 Maximum allowable deceleration 100 169 Maximum allowable program speed 100 170 Maximum rate of change of monitor Yo sec 25 speed 162 Minimum execution time for joint sec 0 motions 162 Minimum execution time for sec 0 Cartesian motions 171 Default S curve profile at system 1 startup 172 Default acceleration at system startup 100 172 Default deceleration at system startup 100 174 Upper speed limit for SCALE ACCEL 1E 16 54 AdeptModules and AdeptMotion VME User s Guide Rev A 7 1 Modules Lubrication and Cable Hardware Modules Lubrication Lubrication Schedule Each Module should be lubricated after 5000 kilometers 3 100 miles or 16 400 000 feet of travel In order to calculate the estimated elapsed time in hours to achieve this module travel
57. t P1 22 Output DF Driver Fault P1 23 S GND Signal Line Driver Ground P1 24 S GND Signal Line Driver Ground P1 25 Not connected P1 26 Output l Encoder Phase P1 27 Output l Encoder Phase P1 28 Output B Encoder Phase B P1 29 Output B Encoder Phase B P1 30 Output A Encoder Phase A P1 31 Output A Encoder Phase A P1 32 33 34 Not connected 62 AdeptModules and AdeptMotion VME User s Guide Rev A Signal Description 8 3 Signal Description DE Input 10 Drive Enable Servo On input DE Enabling DE following DF output closure turns on motor DF Output Close Open DE Input Close Open Servo On Off Alarm Input 8 Alarm Clear input Clear All alarms except LOS can be reset by this input Alarm Clear should be a one shot input if Alarm Clear is always on alarm function is inoperative Before clearing alarm output alarm cause should be removed to prevent fatal error 20 msec min 100 msec max re Alarm Clear input Close Open DF output Close Open lt P No DF output during this period BR Input 3 Brake Release input BR 2 Enabling BR releases motor brake 24VDC must be supplied to Pin 12 24VDC and referenced to Pin 1 24V GND to release brake BR input Close Open Brake Lock Release AdeptModules and AdeptMotion VME User s Guide Rev A 63 Chapter 8
58. t Technology Inc This manual is periodically reviewed and revised Adept Technology Inc assumes no responsibility for any errors or omissions in this document Critical evaluation of this manual by the user is welcomed Your comments assist us in preparation of future documentation A form is provided at the back of the book for submitting your comments Copyright 1996 by Adept Technology Inc All rights reserved The Adept logo is a registered trademark of Adept Technology Inc Adept AdeptOne AdeptOne MV AdeptThree AdeptThree MV PackOne PackOne MV HyperDrive Adept 550 Adept 550 CleanRoom Adept 1850 Adept 1850XP A Series S Series Adept MC Adept CC Adept IC Adept OC Adept MV AdeptVision AIM VisionWare AdeptMotion MotionWare PalletWare AdeptNet AdeptFIP AdeptNFS AdeptTCP IP AdeptForce AdeptModules and V are trademarks of Adept Technology Inc Any trademarks from other companies used in this publication are the property of those respective companies Printed in the United States of America Table of Contents 1 introduction and DOMEN coi e a tk e a e a e th UR CR ER e ka DOR CRT De 1 1 1 How to Use This Manual 00 lel kel knn nen ann knn n nn hn 1 How This Manual is Organized iis RR ERE ER 1 Rel TSd MONUOUS a aa saint sR eA a en BN REM oh Re adi beg d 2 standard MOMWONS we ca e Wa GN Be bea Si haa a sink ad OR Ye d 2 Other Adept Product Manuals LW L L L Lk kk ccs 2 Optional V
59. ty The H module is offered in standard stroke lengths between 300 mm 12 and 1000 40 mm and special order stroke lengths from 1200 mm 47 to 2000 mm 80 The H module consists of a 20 mm pitch ball screw two 25 mm linear guides and a 300 watt motor without a holding brake The H module is 180 mm 7 wide and 90 mm 3 5 in height The overall length of the H module depends on the stroke length The standard H modules are supplied with direct mount motors Extended stroke H modules are supplied with side mount motors M Module The M Module is the mid size module with the mid range payload and moment capacity The M Module is offered in standard stroke lengths between 250 mm 10 and 950 mm 37 and special order stroke lengths from 1 150 mm to 1 550 mm The M module consists of a 20 mm pitch ball screw a single 50 mm linear guide and the same 300 watt motor without a holding brake The M module is 116 mm 4 6 wide and 85 mm 3 4 in height The overall length of the M module depends on the stroke length The standard M modules are supplied with direct mount motors Extended stroke M modules are supplied with side mount motors S Module The S Module is the smallest profile module intended for horizontal applications The S Module is offered in standard stroke lengths between 130 mm 5 and 530 mm 21 and special order stroke length of 630 mm 24 8 The S module consists of a 10 mm pitch ball screw for 130 mm and 2
60. ult if the action specified in the CAUTION is not complied with NOTE A NOTE provides supplementary information emphasizes a point or procedure or gives a tip for easier operation 1 3 Safety 14 WARNING See the Adept MV Controller User s Guide for additional safety information Reading and Training for Users and Operators Adept systems can include computer controlled mechanisms that are capable of moving at high speeds and exerting considerable force Like all robot and motion systems and most industrial equipment they must be treated with respect by the user and the operator This manual should be read by all personnel who operate or maintain Adept systems or who work within or near the workcell We recommend you read the American National Standard for Industrial Robot Systems Safety Requirements published by the Robotic Industries Association RIA in conjunction with the American National Standards Institute The publication ANSI RIA R15 06 1992 contains guidelines for robot system installation safeguarding maintenance testing start up and operator training We also recommend you read the European Standard EN 60204 Safety of Machinery Electrical Equipment of Machines particularly if the country of use requires a CE certified installation Seethe Adept MV Controller User s Guide for ordering information for national and international standards This manual assumes that the user has attended
61. x at maximum torque Operational Conditions Temperature 0 50 C 32 122 F Humidity 20 85 Non Condensing Storage Conditions Temperature 20 70 C 4 158 F Humidity less than 90 AdeptModules and AdeptMotion VME User s Guide Rev A 61 Chapter 8 Amplifier Information 8 2 Interface Connector Signal Specifications The connector used in the VMP MP6 to amplifier cable part number 90400 60200 is manufactured by Honda This connector interfaces to the CN1 connector on the amplifier Table 8 2 Adept Part Number Honda Part Number Connector 90400 04062 MR 34M Connector Cover 90400 04066 MR 34L Table 8 3 CN1 Pinouts Pin Number Signal Type Signal Label Signal Description P1 1 Input 24V GND 24VDC Ground P1 2 Input BR Brake Release P1 3 Input BR Brake Release P1 4 Not connected P1 5 Input CD Torque Command Ground P1 6 Input CD Torque Command P1 7 Input CD Torque Command Ground P1 8 Input Alarm Clear Alarm Clear P1 9 Input DE Drive Enable P1 10 Input DE Drive Enable P1 11 Not connected P1 12 Input 24VDC 24VDC P1 13 14 15 16 Not connected P1 17 Output NO Negative Overtravel P1 18 Output NO Negative Overtravel P1 19 Output PO Positive Overtravel P1 20 Output PO Positive Overtravel P1 21 Output DF Driver Faul

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