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Adept MV Controller User`s Guide

1. Pin Group Board 1 Signal Wire Number Number Name Color Pin Locations P4 30 3 0049 green black white P4 15 3 0050 green white P4 14 3 0051 red white P4 13 3 0052 black white P4 12 3 0053 blue black P4 11 3 0054 orange black P4 10 3 0055 green black P4 9 3 0056 red black P4 25 3 power orange green P4 26 3 power black white red P4 38 3 power orange black green P4 39 3 power blue white orange P4 40 3 power black white orange P4 41 3 power white red orange Pin 15 P4 42 3 power orange white blue Pin ae P4 43 3 power white red blue O o P4 44 3 power black white green O 3 P4 28 3 group 3 return white black red 6 O a P4 29 3 group 3 test red black white O O O P4 7 4 0057 white black O E o P4 6 4 0058 blue O o O P4 5 4 0059 orange og P44 4 0060 green Sos P4 3 4 0061 red olo P4 2 4 0062 white 050 P4 1 4 0063 black O o O P4 16 4 0064 blue white a O P4 17 4 power black red P O g P4 18 4 power white red Pin oto P4 19 4 power orange red Pin 1 P4 31 4 power orange black white P4 32 4 power blue black white P4 33 4 power black red green P4 44 Pin Female Output P4 34 4 power white red green Eno Front Panel P4 35 4 power red black green P4 36 4 power green black orange P4 21 4 group 4 return blue red P4 22 4 group 4 test red green a The signal numb
2. es E 5 s q q 8 5 2 Z z 3 olololelejel o J Oeleleles OLODI SOCO MCP cradle retaining clip Figure D 2 Cradling the MCP WARNING The cradle for the pendant MUST be mounted outside of A the robot or motion device work envelope Connecting the MCP The MCP is connected to the 16 pin connector marked MCP on the CIP see Connecting the MCP to the CIP on page 96 The pendant emergency stop button and the palm activated enabling switch are wired into the emergency stop circuitry Therefore either the pendant or the optional pendant jumper plug must be attached to this connector If neither one is connected you cannot enable High Power If the pendant or jumper plug is removed High Power is turned off NOTE The CIP design allows for an external MCP connection If this connection is installed and used the MCP bypass plug must be installed on the CIP MCP connector CAUTION Do not modify or extend the MCP cable Doing this will N void the warranty on the MCP and the CIP 236 Adept MV Controller User s Guide Rev A Appendix D A A Manual Control Pendant Basics CAUTION Use only the MCP III P N 10332 11000 Assy 90332 48050 with a CIP Other MCPs will not work with the CIP because they d
3. Name Part Number Namen Teilenummer Revision Description Beschreibung Nom R f rence R vision VME Digital I O Module DIO 10332 00800 gt P2 Digitales Ein Ausgabemodul Carte d entr es sorties VME VME Graphics Module VGB 10332 10250 gt P3 Graphik Modul Carte graphique VME VME Joint Interface Module EJI 10332 00505 gt A Achssteuerkarte Carte d axe VME Motion Interface Module MI3 10332 11400 gt P4 Achssteuerkarte Carte MI6 10332 12400 gt P2 d interface Mouvement VME VME Processor Module AWC040 10350 01040 gt P1 VME Prozessormodul AWC060 10350 01060 gt P1 Carte processeur VME VME Vision Module Vision EVI 10332 00655 gt Pl modul Module d interface vision VME Camera Kamera Cam ra 15600 00090 gt A VME SIO Module SIO IDE 30332 22350 gt A VME SIO Modul SIO IDE 30332 22351 gt A Module VME SIO Table 2 Table Tabelle Tableau 2 Name Part Number Namen Teilenummer Revision Description Beschreibung Nom R f rence R vision VME Analog I O Module AIO 10330 00970 gt B Analog Ein Ausgabemodul Carte d entr es sorties analogiques VME Force sensing kit VFI 90211 00000 08464 gt B VFI Ausr stung 00550 Capteur d efforts MP6 Kit MP6 Ausrtistung MP6 90332 12400 gt A Kit MP6 NOTE Products listed in Table 2 must be tested by the user in the final system configuration to
4. DIO Board Wiring Typical User Input Terminal Signals Block equivalent circuit eres 4 Part Present Sensor eg Signal 1033 42 i e ip Feeder Empty Sensor Signal 1034 42 e g i i Part Jammed Sensor Signal 1035 618 1 e 4 Sealant Ready Sensor Signal 1036 4 e E S 2 Signal 1037 417 Se 3 5 Signal 1038 48 os 4 5 i 2 Signal 1039 418 e Signal 1040 2 gt Group 1 Return j re L Group 1 Return 428 Riad Signal 1041 410 E Signal 1042 A Ns Signal 1043 611 i Signal 1044 g a Signal 1045 6 2 gt 8 Signal 1046 42 gt a Signal 1047 PRE o Signal 1048 4 s l Group 2 Return nE ee Group 2 Return 422 Input Group 3 iy Signals 1049 1056 Adept Digital Input Cable Input Group 4 optional Signals 1057 1064 Figure 5 11 Typical Extended Digital Input Wiring Adept MV Controller User s Guide Rev A User Power Supply User Power Supply 121 Chapter 5 Extended Digital I O Signals NOTE The off state current range exceeds the leakage current of extended DIO outputs This guarantees that the inputs will not be turned on by the leakage current from the outputs This is useful in situations where the inputs are connected to the outputs to monitor the state of the outputs Extended I O Outputs 122 The 32 output channels are arranged in four groups of eight Each group is isolated from
5. Code Message Text 706 Invalid request while camera running 707 Unknown prototype 708 Display interface absent 710 Camera disconnected 712 Maximum number of prototypes exceeded 713 Vision not calibrated 714 Camera already running 717 Not enough prototype storage area 718 Duplicate prototype name 719 Camera already off 720 Vision option not installed 721 Bad grip definition 722 Camera interface board absent 723 No picture data available 724 Illegal display mode 726 Bad camera calibration 727 Invalid vision X Y ratio 728 Image processing board failure 729 Invalid request while vision training 730 Information not available 731 Unknown sub prototype 732 Invalid model name 733 Vision system out of memory 734 Can t open vision window for read write 735 Invalid vision argument 736 Font not defined 737 Font already defined 738 Font not completely trained 370 Adept MV Controller User s Guide Rev A Appendix E Table E 7 Error Messages Continued Numerical List Code Message Text 739 Maximum number of samples trained 740 Duplicate character in font 741 Invalid character in font 742 Character not in font 743 Region too big 744 Region too complicated
6. LED Display 12 3 Error Description O O O 0 No error O OR 1 System clock is dead or too fast Clock interrupts are not being received O R O 2 Hardware configuration error Address switches SYSCTL wrong O R R 3 Graphics board failure VGB not responding R O O 4 Memory test failure Free storage error R R O 6 Software serial I O configuration error G O O C Uninitialized trap G O G D Bus error detected If the AWC displays any of the above errors contact Adept Customer Service Adept MV Controller User s Guide Rev A 85 The Controller Interface Panel Introduction Panel Switches and indicators Emergency Stop Switch Manual Automatic Mode Switch High Power On Off Switch Lamp MCP connector ae System Power Switch NET Switch Side connectors AWC Interface JAWO User Connector JUSER Back Panel Connectors RS 232 JCOM f Manual Mode Safety Packag MMSP AUX JEXT E E CIB JSLV DeviceNet JDVC Digital I O Connections Installation of the Controller Interface Panel CIP Location of the CIP Connecting the CIP to the AWC Connecting the MCP to the CIP MCP Cradle MCP Requirements The MCP Bypass Plug Connecting Customer Supplied Safety and Pawei Control Equipment to the CIP a ar ee ee ae ee ee ee ee Emergency Stop Circuit Remote Sensing of CIP MCP Gna User Emergency stop Push Button Switches Muted Safety Gate E Stop Circuitry JSIO E S
7. CAUTION Adept strongly recommends shielded Ethernet cables be used to connect the AWC module to an Ethernet network Use only hubs that provide shielded RJ45 connectors Adept cannot ensure safe and reliable operation of the Ethernet connection without proper shielding of all the Ethernet connectors and cables NOTE When connecting to a hub use a straight through cable that connects the Transmit and the Receive pairs to the same pins on both ends of the cable When connecting to a server PC directly use a cross over cable that swaps the placement of the transmit and receive pairs on the opposite ends VGB Graphical User Interface When using the VGB graphical user interface DIP switch SW1 must be set as follows Table 4 5 VGB User Interface Settings of DIP Switch SW1 SW 4 SW3 SW2 SW 1 Interpretation ON ON ON OFF CPU 1 no auto boot user interface via VGB or serial port use serial port if VGB is absent or if a VGB is present but its use is disabled with its DIP switch 4 80 Adept MV Controller User s Guide Rev A Chapter 4 Configuring an AWC Module ASCII Terminal When using an ASCII Terminal as the user interface set DIP switch SW1 as follows Table 4 6 ASCII Terminal Settings of DIP Switch SW1 SW 4 SW3 SW2 SW1 Interpretation ON ON OFF ON CPU 1 no auto boot user interface via serial port AUTO
8. Adept Supplied Equipment User Supplied Equipment Wiring Terminal DIO Board Ee Sao En 25 1 TS 26 E Group 1 38 pol Power Pins 39 see text oH 4 Connect module User DC 42 m power return directly Power 43 it to power supply if 5 Supply de at possible oy Group 1 Return 4 S Group 1 Test q Typical User Loads 3 Nai Signal 0033 e 5 equivalent Signal 0034 615 O M 2 circuit 14 Q 5 Signal 0035 amp 7 S E Signal 0036 q 3 LS Load Signal 0037 2 96 Load Signal 0038 ot S Load e F l Signal 0039 419 HS f g i User AC Q i Signal 0040 s Ns Supply o js ns 17 i a i 18 i E Group 2 a S Ail My Power Pins 31 TS see text 32 i 2 Pa S 5 i z S User DC 3 36 N Power T 8 21 Supply 8 a Group 2 Return i L 2 a Group 2 Test e igo 5 Signal 0041 2 Ss Load 2 Signal 0042 S Load Signal 0043 4 S Load Signal 0044 4 O Load Signal 0045 2 S oag o Signal 0046 42 tO Load Signal 0047 6 O Load L Signal 0048 418 O Load aR sane E Output Group 3 a Signals 0049 0056 as 2 Output Group 4 dept Digital Output Cable 59 Signals 0057 0064 optional soa q SE oP a Figure 12 2 Typical Digital Output Setup Adept MV Controller User s Guide Rev A 199 Chapter 12 Optional DIO Cables Optional DIO Cables Cables to connect the input and out
9. Signal 0046 Signal 0047 Load Load ene Sa aS Signal 0048 Output Group 3 Signals 0049 0056 Output Group 4 Signals 0057 0064 Female D Sub DOOD DDDDODOD OOCOOOCOWD Load Adept Digital Output Cable optional Figure 5 12 Typical Extended Digital Output Wiring Adept MV Controller User s Guide Rev A Chapter 5 Optional DIO Cables Optional DIO Cables The cables that connect to the input and output connectors on the DIO board can be ordered as a set of four cables two input cables and two output cables These cables have a mating plug on one end and unterminated flying leads on the other end The wire size of the Adept cables is 0 18 mm 24AWG You can use these cables to connect to the digital inputs outputs in your system or to a wiring block To comply with IEC 1131 if you choose to supply a wiring block it should be capable of accepting wire in the range of 0 18 mm 24 AWG to 2 0 mm 14 AWG Labeling Cables The JDIO1 and JDIO2 input connectors on the front of the CIP are similar except that JDIO1 handles the group 1 and group 2 input signals and JDIO2 handles the group 3 and group 4 input signals The optional digital input cables can be connected to either JDIO1 or JDIO2 Make sure to clearly label the cables once you have completed your installation so that the cables do not get swapped by mistake see the warning
10. Serial Port 2 RS 232 This connector is identical to the RS 232 Term connector This connector can be used for general serial communication but not for connecting any user supplied terminals This port is designated LOCAL SERIAL 3 NOTE To configure the port speed and other communications parameters use the CONFIG_C utility program the Vt FSET program instruction or the FSET monitor command RS 422 485 Connector The RS 422 485 connector see Figure 4 2 is a 6 pin circular mini DIN female connector The pin assignment are shown in Table 4 9 RS 422 485 is a point to point protocol for connecting to a single destination This port can also be configured as a multidrop port RS 485 Adept MV Controller User s Guide Rev A 83 Chapter 4 84 AWC Module Serial I O Ports To change the configuration of the RS 422 485 port use the CONFIG_C utility program or the V FSET program instruction This port is designated LOCAL SERIAL 1 Table 4 9 RS 422 485 Connector Pin Assignments Pin Signal Type 1 GND Ground 2 GND Ground 3 TXD Output 4 RXD Input 5 TXD Output 6 RXD Input Adept MV Controller User s Guide Rev A Chapter 4 AWC Module Serial I O Ports LED Status Indicators on the AWC The LEDs on the front of the AWC give the following information about the status of the main AWC CPU O Off G Green R Red Table 4 10 LED Status Indicators
11. When you add multiple force sensors to an existing system you must use the CONFIG_C utility program to specify which sensor is force sensor number 1 which is number 2 and so on See the AdeptForce VME User s Guide for more information on this process Adept MV Controller User s Guide Rev A 189 Chapter 11 VFI Board Specifications VFI Board Specifications Table 11 2 Technical Specifications Electrical Power 870 mA at 5 VDC Consumption including force sensor 425 mA at 12 V 105 mA at 12 V Maximum VFIs per controller 3 Number of force sensors per 1 VFI Width Occupies one backplane slot Specifications subject to change 190 Adept MV Controller User s Guide Rev A Digital Input Output Board DIO Introduction Connections and indicators Inputs Outputs Testing Gutpuis Bi Fleas k Output Power Supply Voltage neo A Output Power Supply Current Selection Typical DIO Wiring Optional DIO Cables Labeling Cables Input and Output Cable Wiring information Additional DIO Boards er Setting the Board Address Labeling Sets of Cables DIO Board Specifications Adept MV Controller User s Guide Rev A 192 193 194 195 195 196 196 198 200 200 200 205 205 206 207 191 Chapter 12 Introduction Introduction 192 The Adept Digital I O board is an opto isolated 64 channel digital I O board with 32 i
12. 221 Compact Interface Panel Dimensions 222 Adept MV Controller User s Guide Rev A 217 Appendix A Adept MV 5 and MV 10 Stand Alone Controller Dimensions Adept MV 5 and MV 10 Stand Alone Controller Dimensions 420 3 mm 286 7 mm AS Pas 16 0 mm Note 1 Allow 75 mm minimum at front for power cord and signal cord clearance a 420 3 mm 4 i o e r S o y adept 158 8 mm D O 215 9 mm o D L O 0 o 1 o a le E U 15 0 mma g 462 9 mm gt Note 1 Allow 25 mm minimum at right and left sides for air intake and exhaust Figure A 1 Adept MV 5 10 Stand Alone Outline Drawing 218 Adept MV Controller User s Guide Rev A Adept MV 5 and MV 10 Robot Controller Dimensions Appendix A Adept MV 5 and MV 10 Robot Controller Dimensions 16 0 mm A 57 4 mm t e le lo Je je je je Je fe le E e 477 7 mm nd o E E Djl LI LI E U i 15 0
13. 400 Aborted 401 Undefined value 402 Ilegal value 403 Ilegal assignment 404 Ilegal array index 405 Ilegal digital signal 406 Undefined program or variable name 407 Invalid argument 362 Adept MV Controller User s Guide Rev A Appendix E Table E 7 Error Messages Continued Numerical List Code Message Text 408 Program argument mismatch 409 Arithmetic overflow 410 Negative square root 411 Not enough storage area 412 Branch to undefined label Step nnn 413 Not enough program stack space 414 Can t mix MC amp program instructions 416 String variable overflow 417 String too short 418 Ilegal memory reference 419 Ilegal when command program active 420 Undefined value in this context 421 Program not on top of stack 422 Function already enabled 423 Ilegal operation 424 Unknown keyword 425 Calibration program not loaded 426 Can t find calibration program file 450 Can t interpret line 451 Unexpected text at end of line 452 Unknown instruction 453 Ambiguous name 454 Missing argument 455 Invalid program or variable name 456 Invalid number format 457 Reserved word illegal 458 Ilegal expression syntax 459 Missing pare
14. Controller overheating 631 Explanation The temperature sensor in the controller power supply has detected an overheating condition High power is switched off User action Make sure the controller fans are operating and are not obstructed Make sure the fan filters are clean Power down the controller to let it cool off Control structure error 473 Explanation An incomplete control structure has been encountered during pro gram execution User action Edit the program to correct the control structure Control structure error Step nn 472 Explanation V has detected an incomplete or inconsistent control structure at the specified step when exiting the program editor loading a pro gram or processing a BPT command User action Edit the program to correct the control structure Note that the actual error may not be at the indicated step If the error occurs in response to a BPT command you can type dir to identify pro 274 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing grams that are not executable and thus might contain the con trol structure error Correlation template too big 754 Explanation A vision correlation template has been defined that is too large User action Redefine a smaller template Cursor at column n None Explanation The SEE editor WHERE extended command is reporting the current column position of the cursor User action None This is an
15. locl loc2 loc3 loc4 lt MORE gt Press the soft button under the variable name to edit that variable The lt MORE gt soft button is shown only when there are more than five global location variables in system memory When a variable has been selected the LCD will show loc name X 500 CHANGE NEXT HERE If a precision point is selected the LCD will show loc name Jtl 210 CHANGE NEXT HERE Press the CHANGE soft button to change the displayed component of the location variable The value will disappear and be replaced with the typing cursor Use the data entry buttons to enter a new value and complete the entry by pressing REC DONE Press the NEXT soft button to show the next component of the location variable The location s X Y Z y p and r values will be shown in succession X Y and Z values are given in millimeters y p and r values are given in degrees If a precision point is being edited the joint values for all the joints in the robot will be shown in succession Press the HERE soft button to record the current robot location in the variable being edited WARNING Be extremely careful when changing location values When the robot moves to a modified location it could damage equipment in the workcell 1 If the variable being edited is from an array an additional soft button is displayed that allows you to specify the index of the variable to edit Adept MV Controller User s Guide Rev
16. A vision command or instruction has referenced an object subproto type that is not known to the vision system This may be due to mistyping the prototype name Use the command VSHOW at the terminal to display the subproto types defined for the specified prototype If necessary load the appropriate prototype file from disk or use VDEFSUBPROTO to define the subprototype User has not tested MMSP system 648 Explanation User action A system with the EN954 Safety Category 3 option the Manual Mode Safety Package MMSP has not been successfully commis sioned with the SAFE UTL utility program Test the MMSP with the SAFE UTL utility before enabling power for the first time You should then rerun the utility program every three months If you have connected the robot to a different control ler or replaced the controller or the SIO module repeat the test For information on the use of SAFE UTIL refer to the Adept One MV AdeptThree MV Robot Instruction Handbook Variable type mismatch 465 Explanation User action Vision aborted Explanation One or more of the variables in the line is of a type inconsistent with the other variables or with the type required by the command or instruction For example you may be trying to mix location vari ables with real valued variables If this error occurs upon exiting from the editor the variable type within the program conflicts with the type of a global varia
17. external triggers These inputs may be used in three ways 1 High speed Position Latch signal the AdeptMotion system to latch the current robot position 2 External Vision Trigger signal a picture to be taken by the optional AdeptVision system 3 Combined Vision Trigger and Position Latch Vision in the loop signal a picture to be taken by the optional AdeptVision system and latch the robot position synchronized to the exact moment the vision picture is received The external trigger inputs are located on the CIP Only the first four inputs channel numbers 1001 to 1004 on the CIP may be configured to perform any of the above functions These functions are described in more detail in the following sections Inputs 1001 to 1004 can also be read independently using the normal Vt SIG and BITS functions and the IO monitor command See Connecting User Supplied Digital I O Equipment on page 111 for general information about these signals The communication between the AWC EVI MI6 and MI3 boards is through four dedicated lines on the controller backplane Two lines are dedicated to position latching and each monitor board can be configured using CONFIG_C to either latch signal Two lines are provided for vision triggering and the EVI board can be configured using a DIP switch to respond to either trigger signal It is normally configured to respond to Vision Trigger 1 Position Latch The MI6 a
18. 11mm 0 43 Outside Diameter 65 Coverage Tinned Copper Braid Shield Polypropylene Fillers External Jacket Blue amp White Data Pair Polyethylene 18 AWG 19 x 30 Tinned amp Stranded Copper Conductors Aluminum Mylar Shield Over Each Pair 18 AWG 19 x 30 Tinned Copper Stranded Drain Wire Red amp Black DC Power Pair PVC 15 AWG 19 x 28 Tinned amp Stranded Copper Conductors Figure G 2 DeviceNet Thick Cable 7 2mm 0 285 in Outside Diameter 65 Coverage Tinned Copper Braid Shield Polypropylene Fillers External Jacke Blue amp White Data Pair Polyethylene 18 AWG 19 x 30 Tinned amp Stranded Copper Overall Non Hydroscopic Wrap Conductors Red amp Black DC Power Pair PVC 15 AWG 4 19x 28 Tinned amp Stranded Copper Conductors Aluminum Mylar Shield Over Each Pair 18 AWG 19 x 30 Tinned Copper Stranded Drain Wire Figure G 3 DeviceNet Thin Cable Adept MV Controller User s Guide Rev A 385 Appendix G DeviceNet Connectors DeviceNet Physical Layer and Media DeviceNet allows different connectors which may be grouped into open and sealed connectors The open connectors are available with screw or with crimp connectors The sealed connectors are available in mini style and micro style sizes See Figure G 4 and Table G 4 Unsealed Screw Unsealed Sealed Sealed Connect Mini Style Micro Style S mard Wired Connester Connector Figure G 4 DeviceNet Connectors Table G
19. 276 Adept MV Controller User s Guide Rev A Appendix E User action Device not ready Explanation User action Device reset Explanation User action Alphabetical Listing Use the DEVICENET command to check that DeviceNet is active and that all critical devices are on line Check your DeviceNet cabling and the individual devices If you have intentionally removed this device use the CONFIG_C utility to remove this device or mark it as not critical 508 1 The requested disk device or remote network task is not pre pared to communicate with the Vt system 2 A limited access device like the terminal the manual control pendant or a serial line is attached to a different program task 3 You have tried to write into a pull down window while it is dis played 1 If the intended device is a system microfloppy disk drive make sure the diskette is correctly inserted and formatted 2 If a limited access device is specified ABORT and KILL the pro gram task that has it attached or wait for the program task to release the device If the intended device is on the network check that the proper connections are made and that the remote system is operating correctly 2 ABORT and KILL the program task that has the device attached or wait for the task to release the device 3 The pull down menu should not be modified with the FSET instruction while it is being displayed A suitable time for mod
20. Appendix D Manual Control Pendant Basics Manual Control Pendant Basics Adept motion systems are designed to allow control of the robot or motion device from the Manual Control Pendant MCP Figure D 1 shows how to hold the MCP The pendant has a palm activated enabling switch that is connected to the remote emergency stop circuitry of the controller Whenever this switch is released High Power is removed from the motion device When the MCP is not being used the operator must place it in the special cradle provided or remove it from the controller and install the pendant jumper plug The cradle retaining clip will keep the enabling switch depressed when the pendant is not in use Figure D 2 shows how to place the pendant in its cradle To operate the MCP put your left hand through the opening on the left hand side of the pendant and use your left thumb to operate the pendant speed bars Use your right hand for all the other function buttons The various button groupings of the pendant are reviewed in this section of 5 6 O of 2 Q 5 a e aes 3 on SO SOCO OIE CIC Depress the palm activated enabling switch Figure D 1 Holding the MCP Adept MV Controller User s Guide Rev A 235 Appendix D Manual Control Pendant Basics
21. index 2 use a value greater than 32767 as an array index 3 spec ify a simple variable where an array variable is required 4 omit an array index in a situation where it is required for example a 1 dimension array is specified when a 2 or 3 dimension array is required 5 specify an explicit index in an argument for a V oper ation that requires a null array or 6 specify an index to the right of a blank index for a multiple dimension array User action Correct the line Ilegal assignment 403 Explanation The assignment operation just attempted was invalid possibly because it attempted to assign a value to a variable name that is a reserved word or a function User action Reenter the line using a different variable name if necessary Ilegal camera number 803 Explanation A vision command or instruction has specified a camera number value that is invalid User action Reenter the command or edit the program using the correct camera number Ilegal digital signal 405 Explanation A number or bit field specifies a digital signal that is not in one of the allowed ranges or that is not installed Attempting to set soft ware signal 2032 brake solenoid will also give this error User action Correct the signal number and check your digital I O configuration Adept MV Controller User s Guide Rev A 297 Appendix E Alphabetical Listing Tllegal expression syntax 458 Explanation
22. 3 Connect the 10m camera cable to the appropriate connection on the camera breakout cable 4 Connect the power supply and strobe lamps through the 9 pin D sub connector see Table 7 7 for pin assignments 5 Connect the camera breakout cable to the camera strobe connection on the EVI board Adept MV Controller User s Guide Rev A 151 Chapter 7 Installing Camera Cables VGB EVI Video Bus Coupling Installed 10 Meter Camera Cable one for each Up to four cameras camera can be installed J E a DEI i User supplied 9 pin Male D sub Connector L j Four Camera Strobe Power Breakout Cable Connector ojo Up to Two Optional User 12VDC Strobe Lamps Power Supply to Drive Cameras Figure 7 7 Camera Cable Installation Drawing RS 170 Connecting the Cables to the Pulnix TM 1001 Camera This section describes the steps for connecting the cables between the EVI board and the Pulnix TM 1001 cameras see Table 7 8 For Pulnix TM 1001 camera switch settings refer to Appendix I of the AdeptVision User s Guide 1 Turn off the Adept MV controller 152 Adept MV Controller User s Guide Rev A Chapter 7 7 Install
23. 6 Hardware cyclic check Try again If the problem persists relay channel 2 SR9 it may be caused by a faulty error An error has E STOP board Consult your Robot occurred in the Instruction Handbook or contact communication or test Adept Customer Service Make a sequence note of the error message and code number before contacting Adept Customer Service MMSP external sensor fault Code n 1109 Because these message codes are related to hardware refer to your Robot Instruction Handbook as your primary source of information If it does not answer your questions contact Adept Customer Ser vice If one of these message codes occurs stand away from the robot and attempt to enable power again If the same error code occurs again for no apparent reason there may be a fault with the sensor The fol lowing table summarizes information about the message codes Adept MV Controller User s Guide Rev A 315 Appendix E A 316 Alphabetical Listing WARNING The test procedures for these messages are for skilled or result in death or injury instructed personnel only Dangerous voltages are present including those on the Security Panel Failure to exercise care can Table E 3 MMSP External Sensor Fault Error Message Codes Coden Explanation User action 0 Accelerometer channel1 If the error occurred while a error The robot joint 1 program was moving the robot try or 2 is moving
24. CPU 1 no auto boot user interface via serial AdeptWindows ON OFF ON ON CPU 1 no auto boot user interface via Ethernet AdeptWindows use IP address in NVRAM ON OFF ON OFF CPU 1 no auto boot user interface via Ethernet AdeptWindows use default IP address ON OFF OFF ON Reserved for future use ON OFF OFF OFF Reserved for future use OFF ON ON ON Reserved for future use OFF ON ON OFF Reserved for future use OFF ON OFF ON CPU 1 no auto boot use SIO switches to select I O OFF ON OFF OFF CPU 1 auto boot use SIO switches to select I O OFF OFF ON ON Reserved for future use OFF OFF ON OFF Reserved for future use OFF OFF OFF ON CPU 2 OFF OFF OFF OFF CPU 1 normal operation per NVRAM settings Adept MV Controller User s Guide Rev A 79 Chapter 4 Configuring an AWC Module AdeptWindows PC Graphical User Interface When using AdeptWindows as the graphical user interface DIP switch SW1 must be set to one of the following Table 4 4 AdeptWindows Interface DIP Switch SW1 Settings SW 4 SW3 SW2 SW 1 Interpretation ON ON OFF OFF CPU 1 no auto boot user interface via serial AdeptWindows ON OFF ON ON CPU 1 no auto boot user interface via Ethernet AdeptWindows use IP address in NVRAM ON OFF ON OFF CPU 1 no auto boot user interface via Ethernet AdeptWindows use default IP address
25. Chapter 5 Table 5 7 JSIO Digital I O Connector Pin Assignments Connecting User Supplied Digital I O Equipment Signal Pin Name Pin Signal Pin Signal Pin Signal 1 Input 1001 2 1001 return 27 Output 0002 28 Output 0002 3 Input 1002 4 1002 return 29 Output 0003 30 Output 0003 5 Input 1003 1003 return 31 Output 0004 32 Output 0004 7 Input 1004 1004 return 33 Output 0005 34 Output 0005 9 Input 1005 10 1005 return 35 Output 0006 36 Output 0006 11 Input 1006 12 1006 return 37 Output 0007 38 Output 0007 13 Input 1007 14 1007 return 39 Output 0008 40 Output 0008 15 Input 1008 16 1008 return 41a Auxiliary 42a External E Stop input E Stop input 17 Input 1009 18 1009 return 432 Auxiliary 44 External E Stop input E Stop input 19 Input 1010 20 1010 return 45 Passive 46 Passive E Stop E Stop output output 21 Input 1011 22 1011 return 47 Not used 48 Not used 23 Input 1012 24 1012 return 49 Not used 50 Not used 25 Output 26 Output 0001 0001 See next section for information on ordering a compatible third party connector Pins 41 42 43 and 44 See Figure 5 7 and Table 5 1 for more information Digital I O Connector Ordering Details Third Party Sources 116 The JSIO connector on the CIP is a 50 pin D sub miniature Female socket The user sup
26. DIO Board equivalent circuit User Supplied Equipment Ls Wiring Typical User Input Terminal Signals Block 4 e Signal 1033 P5 L ge Tat Present Sensor i sp Feeder Empty Sensor Signal 1034 42 e sinais 116 Part Jammed Sensor i Sealant Ready Sensor Signal 1036 e 2 Signal 1037 611 e oO 5 Signal 1038 68 E 3 E Signal 1039 418 e E Signal 1040 2 a a ee User o Group 1 Return 6 Power E Supply E Ea Group 1 Return 426 1 E o Signal 1041 410 oS N i 5 Signal 1042 4 lt E Signal 1043 411 ss em 8 Signal 1044 42 es a Signal 1045 pie o o 5 Signal 1046 PR 5 i a Signal 1047 42 ow Signal 1048 Na E a i User Group 2 Return 49 h Power i Supply Input Group 3 Input Group 4 Female D Sub Signals 1049 Signals 1057 1056 1064 P2 Connector 26 Pin 198 Group 2 Return 420 ee Adept Digital Input Cable optional Figure 12 1 Typical Digital Input Setup Adept MV Controller User s Guide Rev A Chapter 12 Typical DIO Wiring
27. Explanation When defining a new correlation template with the program instruction VTRAIN MODEL the number of an existing template was given User action Delete the existing template if it is no longer needed or use a differ ent number in the VTRAIN MODEL instruction Template of uniform intensity 746 Explanation When defining a correlation template with the VTRAIN MODEL program instruction the area of the image within the given tem plate bounds has uniform intensity Image templates must have some variation in brightness That is there must be some features in the template to correlate with later User action Check the position of the template in the image and make sure it is in the desired place Also view the grayscale image in the current frame to make sure it is valid For example maybe a strobe light did not fire or the lens cap is still on the camera Adept MV Controller User s Guide Rev A 345 Appendix E Alphabetical Listing Template not defined 747 Explanation The correlation template referenced in a VCORRELATE VDELETE VSHOW MODEL or VSTORE operation does not exist User action Check the correlation number supplied to the operation to make sure it is correct Use the Models pull down menu in the vision win dow or the VSHOW MODEL program instruction to get a list of the templates currently defined in the vision system Time out nulling errors Mtr n 1003 Explanation The indicated
28. Free space around controller for proper Robot controller vertical cooling mounting 25 mm at top and bottom Stand alone controller horizontal mounting 25 mm at left and right sides Chassis protection class unmounted IP20 NEMA Type 1 Recommendations for Enclosure must meet EN 60204 customer supplied enclosure for Adept IEC 204 requirements and be controller Mandatory for installations rated at IP54 Also the enclosure in EU or EEA countries must provide a method of locking the enclosure power disconnect in the OFF position a See footnote on page 41 if you are using the optional VFI board NOTE Refer to Appendix A for dimension drawings on the Adept MV 5 and MV 10 controllers and the Compact Controller Voltage Interruptions During a power failure the contents of memory are not saved and you will later have to reload V and your programs from disk In some situations you may find it convenient to provide an external uninterruptible power supply UPS to avoid or reduce power interruptions Enclosure and Disconnect Requirements The Adept controller must be installed in a suitable enclosure that provides the environment temperature etc specified in Table 3 1 and complies with applicable local and national regulations The enclosure must also provide a power disconnect with a method for user service personnel to lock the power in the off position This is required for safety includi
29. Power enable Auto closed Local Network F see Network closed m Manual Auto N User 24V System Power Line User AC Power On Controller ia ad p panen Remote MCP Connector use USER ESTOP and USER RS232 TRX 2V ENABLE for MCP E Stop and TX hold to run connections Ei i o MCP Figure 5 6 J User 37 Pin D sub Connector 102 Adept MV Controller User s Guide Rev A Chapter 5 Connecting Customer Supplied Safety and Power Control Equipment to the CIP JSIO 50 pin D sub CIP connectors User Supplied Connections 24v L Auxiliary ESTOPs L User ESTOP Legacy SYSIO inputs jumper closed when not used V High Power on V IN1 PE1 V Passive ESTOP out Figure 5 7 JSIO Emergency Stop Circuit Emergency Stop Circuit The CIP provides two methods for user supplied Emergency Stop E stop circuits This gives the AWC system the ability to duplicate E stop functionality from a remote location using voltage free contacts Both the JUSER connector and the JSIO connector provide external E stop connections into the CIP The JUSER connector has a two channel E stop input on pins 4 to 23 and 5 to 24 The JSIO connector provides a single channel E stop which controls two relays in the CIP This E stop is for compatibility with legacy applications u
30. Rotation Gripper activity X Figure D 13 WORLD State Four Axis SCARA The T button cycles the gripper solenoids Press anywhere on the side of the speed bar to open the gripper on the side to close the gripper Adept MV Controller User s Guide Rev A 253 Appendix D Moving a Robot or Motion Device With the MCP NOTE This is the most common gripper setup The gripper solenoids may be configured so they operate differently or they may not be configured at all Place your robot in a safe location and cycle the gripper to verify which side of the speed bar opens the gripper Tool State When tool state is selected movement in the X Y or Z direction is along an axis of the tool coordinate system The tool coordinate system is centered at the robot tool flange with the Z axis pointing away from the flange On most robots the positive X axis is aligned with the center of the tool flange keyway Before the speed bars will move the robot an axis of motion must be selected from the manual control buttons If X1 is selected pressing the speed bar will move the robot tool flange in the positive X direction Pressing the speed bar will move the flange in the negative X direction In a four axis robot positive rotation of the gripper RZ is clockwise as viewed from above Figure D 14 shows the tool coordinate system for a four axis SCARA robot Figure D 15 shows the tool coo
31. The speed bars are used to control the robot s speed and direction The joint s that will move when the speed bars are pressed depends on the state selected with the MAN HALT button Press the speed bars with your left thumb Pressing the speed bars near the outer ends will move the robot faster pressing the speed bar near the center will move the robot slower See page 253 for details on positive and negative directions In Comp Mode See the description of the Step Button on page 251 Fast Slow v4 V Figure D 12 Speed Bars Slow Button The slow button selects between the two different speed ranges of the speed bars When the slow button LED is lit the slower speed range is selected This slower speed is 25 of the normal MCP speed 252 Adept MV Controller User s Guide Rev A Appendix D Moving a Robot or Motion Device With the MCP Robot States World State When world state is selected movement in the X Y or Z direction is parallel to an axis of the world coordinate system Before the speed bars will move the robot an axis of motion must be selected from the manual control buttons The world coordinate system for a SCARA robot is shown in Figure D 13 If X1 is selected pressing the speed bar will move the robot tool flange in the positive X o n direction Pressing the direction speed bar will move the flange in the negative X X direction Y direction Z direction
32. User Action To continue the current motion enter the RETRY monitor com mand To continue after the current motion enter the PROCEED monitor command PAUSED 9 Explanation A PAUSE instruction has been executed and thus the current pro gram has suspended execution User action Any monitor command can be entered To continue execution of the program type proceed followed by the task number if it is not 0 Position out of range Jt n 1002 Explanation 1 The requested motion was beyond the software limited range of motion for the indicated joint 2 while enabling high power V detected that the indicated robot joint was outside the software limit User action 1 Modify the program as required to prevent the invalid motion request Because the robot did not actually move out of range you do not need to move the robot before continuing 2 move the robot back into the working envelope Correct whatever caused the robot to get into the restricted area Then enable power Adept MV Controller User s Guide Rev A 329 Appendix E Alphabetical Listing Position out of range Mtr n 1023 Explanation 1 The requested motion was beyond the software limited range of motion for the indicated motor 2 while enabling high power V detected that the indicated robot motor was outside the software limit User action 1 Modify the program as required to prevent the invalid motion request Because the robot did not
33. system can work efficiently See Chapter 13 for details on cleaning the filter Rack Mounting To rack mount the Adept MV 5 or MV 10 stand alone controller in a standard 19 inch equipment rack you must use the mounting brackets from the accessories kit See Figure 3 7 for instructions See Appendix A for dimensions Side View of MV 5 or MV 10 r To install mounting brackets in rack mount Ja Front seno oo position BN Remove 4 existing screws and washers from side of chassis at locations shown in drawing Place bracket in position and secure with same screws and washers removed above Repeat process for other side of controller Figure 3 7 Rack Mounting for MV 5 MV 10 Stand Alone Controller Panel Mounting To panel mount the Adept MV 5 or MV 10 stand alone controller you must use the mounting brackets and screws from the accessories kit See Figure 3 8 for instructions 68 Adept MV Controller User s Guide Rev A Chapter 3 Installing a Robot Controller in a Rack or Panel Side View of MV 5 or MV 10 Los f To install mounting brackets in panel mount we Front position Place bracket in position At locations shown on drawing secure bracket with 3 screws and washers from accessories kit Repeat process for other side of controller o o WU U Figure 3 8 Panel Mounting for MV 5 MV 10 Stand Alone Controller Installing a Robot Controller in a Rack or Panel An MV
34. 12 depending on which optional boards you have in your controller They explain the function of the indicators and connectors on the front of each board They cover the Input Output I O capabilities of certain boards and the VMEbus address of all boards These chapters also explain any special switch or jumper settings that you might have to set on particular boards 6 Read Chapter 13 and Appendix A B and C for maintenance dimension external trigger and standards compliance information 7 Read Appendix D to learn how to use the Manual Control Pendant and Appendix E for a list of the most common V system error messages 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 26 Adept MV Controller User s Guide Rev A Chapter 1 Standard Manuals Manual How to Use This Manual Material Covered V Operating System User s Guide Instructions for Adept Utility Programs V Language User s Guide A description of the V operating system Loading storing and executing programs are covered in this manual Adept provides a series of programs for configuring and calibrating
35. FCMD program instructions see the V Language Reference Guide for details See Figure G 6 on page 389 for the connector pinouts See Appendix G for details on connecting DeviceNet components Digital 1 O Connections There are 40 digital outputs and 44 digital inputs available on the CIP Additional digital I O can be added using DIO boards see Chapter 12 JSIO This connector includes 20 signal pairs 8 digital outputs 100 mA max and 12 digital inputs including four fast inputs the first four input signals on this connector are the only input signals that can be configured as fast inputs The digital outputs are short circuit protected The single channel E Stop input and passive E Stop output are also been included on this connector Adept MV Controller User s Guide Rev A Chapter 5 O Installation of the Controller Interface Panel CIP JDIO 1 4 These four connectors duplicate the function of one DIO board with 32 inputs and 32 outputs 700 mA max a total of 64 1 O points The digital outputs are short circuit protected and protected from thermal overload Note that if a DIO board is installed and addressed as DIO board 1 the JDIO connectors on the CIP are inactive In order to use the JDIO signals the first DIO board must be addressed as DIO board 2 Reserved Do not use DEVICENET JDVC 16 INPUTS GROUP 1 2 JDIO1 RS232 4 JCOM 16 INPUTS 16 OUTPUTS GROUP 1 2 JDIO3 16 OUTPUTS
36. Similarly there is an output on the User connector that can be used to stop external equipment when the CIP ESTOP is pressed See Remote User Panel Connections on page 108 for details CIP SCSI Cable Connector JUSER Connector Figure 5 2 Controller Interface Panel CIP Side View Adept MV Controller User s Guide Rev A 91 Chapter 5 Introduction Back Panel Connectors 92 See Figure 5 3 for the location of the following connectors RS 232 JCOM There is one RS232 connector on the back of the CIP It is a DB 9 connector This RS 232 has no hardware handshake lines See RS 232 JCOM Connector on page 110 for details Manual Mode Safety Package MMSP Connections for the Adept MMSP The MMSP is designed to meet CE Category 3 requirements for Adept s larger robots See your robot instruction hand book for details on the MMSP See Manual Mode Safety Package MMSP Connector on page 108 for details AUX JEXT This connector is reserved for Adept internal use CIB JSLV This connector is reserved for Adept internal use DeviceNet JDVC DeviceNet is a field bus for industrial devices This standard supports a variety of products including sensors digital I O analog I O RS 232 and PLCs Adept directly supports Digital I O devices and has currently qualified DeviceNet products from Wago and Beckhoff Other DeviceNet product types such as keypads and displays can be controlled using the V
37. User action Change the program in order not to modify the variable while the robot is tracking it Attempt to redefine variable class variable name 470 Explanation Upon exiting from the editor the named variable was found in two of the following places the PROGRAM argument list an AUTO statement a LOCAL statement or a GLOBAL statement User action Modify the program to include the variable in only one of these places Attempt to redefine variable type variable name 469 Explanation If a program is being edited the line just entered contains a refer ence to a variable in a manner inconsistent with its use elsewhere in 264 Adept MV Controller User s Guide Rev A Appendix E User action Auto Startup Explanation User action Alphabetical Listing the program The most likely problem is confusing a location vari able with a real variable If you just exited from the editor the named variable conflicts with a global variable that already exists If the new use of the variable is correct you must delete all refer ences to the incorrect variable and then reenter the statement that caused the error If the new use is incorrect use a different variable name If there is a conflict with a global variable either use a DELETE_ command to delete that variable or make the conflicting variable AUTO or LOCAL to the current program None The automatic start up procedure has begun See the discussion o
38. While decoding a numeric or logical expression a compound trans formation or a string expression V has encountered syntax that it does not understand Possible errors include unmatched parenthe ses missing variables or missing operators User action Retype the line containing the expression being careful to follow the V syntax rules Ilegal in debug monitor mode 359 Explanation An operation was attempted that is not accepted in debug monitor mode User action Use a different command change to debug editor mode or exit from the program debugger Ilegal in read write mode 365 Explanation An editor function was attempted that cannot be performed while accessing a program in read write mode User action Change to editing the program in read only mode or use a different editor command Illegal I O channel number 518 Explanation An internal I O channel number has been encountered that is invalid This indicates a V internal software problem User action It would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error mes sage and exactly what you were doing at the time the error occurred Tllegal I O device command 502 Explanation A command to an I O device was rejected by that device Certain devices will not accept all commands For example random access I O is illegal to the terminal or to the Kermit device the GETC fun
39. enabled for use due to an error which is reported by a separate message User action Use the CONFIG_C and or SPEC utilities to correct the module configuration Robot module not loaded ID n 628 Explanation This error occurs only during startup when a robot module has been configured using the CONFIG C utility but the robot module is not present in memory User Action Use the CONFIG C utility to add the robot module to the boot disk before rebooting Robot not attached to this program 601 Explanation An attempt has been made to execute a robot control command or instruction in one of the following invalid situations 1 The system is not configured to control a robot 2 There is no robot connected to the system 3 The robot is attached to a different program task User action 1 Make sure the system is booted from the proper system disk or remove the robot control instruction 336 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing 2 Connect the robot or enable the DRY RUN system switch 3 Modify the program logic as required to ensure that only one program task is controlling the robot at any given time Robot not calibrated 605 Explanation An attempt has been made to execute a robot control program when the robot is not calibrated No motion is allowed until the robot is calibrated User action If you want to use the robot issue a CALIBRATE command or have y
40. lt 4A Adept MV Controller User s Guide Rev A 123 Chapter 5 124 Extended Digital I O Signals CAUTION The above specs apply only to the output channels on the Extended I O See Table 5 6 for specs on the JSIO connectors digital output channels Adept Supplied Equipment P4 Connector 44 Pin DIO Board User Supplied Equipment Wiring Terminal im Block Group 1 38 Power Pins 39 Connect module User DC power return Power see text directly to power Suppl supply if possible 7 HERY Group 1 Return 28 Group 1 Test e 30 i Typical User Loads a Signal 0033 equivalent PPS e Signal 0034 15 circuit 14 Signal 0035 Signal 0036 Input Group 1 13 Load Signal 0037 Signal 0038 12 Load Signal 0039 9 Signal 0040 10 DOOODDDDODOD OCOOCOWWOS Group 2 187 Power Pins 19 see text 32 User DC Power 21 Supply Group 2 Return P3 Connector 44 Pin Female D Sub Signal 0041 Group 2 Test eee Load Signal 0042 Load Input Group 2 Signal 0043 Load Signal 0044 Signal 0045 Load Load
41. request that the carrier s agent be present at the time the container is unpacked Upon Unpacking Compare the actual items received not just the packing slip with your equipment purchase order and verify that all items are present and that the shipment is correct Inspect each item for external damage as it is removed from its container If any damage is evident contact Adept at the numbers listed in How Can I Get Help on page 34 Retain all containers and packaging materials These items may become necessary to settle claims or at a later date to relocate equipment Repacking for Relocation If the controller needs to be relocated reverse the steps in the installation procedures that follow this section Reuse all original packing containers and materials and follow all safety notes used for installation Improper packaging for shipment will void your warranty Adept MV Controller User s Guide Rev A 49 Chapter 3 Controller ID Label Controller ID Label On the MV 5 and MV 10 controllers the identification ID label is located on the left or back side of the controller chassis On it you will find the model and serial numbers and the voltage and current ratings A smaller serial number label is also located on the front of the chassis near the On Off switch see Figure 3 1 You should always have this serial number available when you call Adept Customer Service for technical support See Adept MV 4 Inse
42. 12 VDC none Width Occupies one backplane slot Inputs see Table 12 1 for input circuit specifications Number of channels 32 4 groups of 8 Isolation any I O group to any I O group any I O group to VME bus 300 VDC 1000 VDC Outputs see Table 12 3 for output circuit specifications Number of channels 32 4 groups of 8 Output configuration Current sourcing outputs Power supply voltage 10 to 15 or 15 to 30 VDC jumper selectable Output transient protection Reverse voltage protection and transient suppression provided 4 Specifications subject to change Adept MV Controller User s Guide Rev A 207 Maintenance Introduction Fan Filter Inspection uid Cleaning MV 5 MV 10 Spare Parts List MV 5 MV 10 Changing the Lamp on the High Power Indicator Adept MV Controller User s Guide Rev A 210 211 212 213 209 Chapter 13 Introduction Introduction NOTE The Adept Controller has no user serviceable parts other than the items mentioned in this chapter WARNING The procedures and replacement of parts mentioned in this section should be performed only by skilled or instructed persons as defined in Safety on page 30 210 Adept MV Controller User s Guide Rev A Chapter 13 Fan Filter Inspection and Cleaning MV 5 MV 10 Fan Filter Inspection and Cleaning MV 5 MV 10 The air filter located on the fro
43. 54 55 55 55 56 56 56 57 57 57 59 59 59 60 60 62 62 62 64 64 65 66 47 Chapter 3 Installing an ASCII Terminal User Supplied Recommended Terminal for Systems Without a VGB or AdeptWindowsPC Contacting WYSE Customer Supplied Serial infarfaee Cable Installation Procedure Installing a Stand Alone Controller in a Rack or Panel Space Around the Chassis Rack Mounting Panel Mounting Installing a Robot Controller in a Rack or r Panel Space Around the Chassis Rack Mounting Panel Mounting MV 5 and MV 10 Controller Technica p aficai s MV 4 Insert Technical Specifications 48 Adept MV Controller User s Guide Rev A 66 66 66 67 67 67 68 68 68 69 69 70 70 72 72 Chapter 3 Shipping Storage Unpacking and Inspection Shipping Storage Unpacking and Inspection Shipping and Storage This equipment must be shipped and stored in a temperature controlled environment within the range 25 C to 55 C The recommended humidity range is 5 to 90 nonconducting It should be shipped and stored in the Adept supplied packaging which is designed to prevent damage from normal shock and vibration You should protect the package from excessive shock and vibration Before Unpacking Carefully inspect all shipping crates for evidence of damage during transit Pay special attention to tilt and shock indication labels on the exteriors of the containers If any damage is indicated
44. 745 Expected character s not found 746 Iemplate of uniform intensity 747 Iemplate not defined 748 Iemplate already defined 749 Vision aborted 750 Mixing half and full resolutions 751 No vision system selected 752 AOI not defined 753 Out of vision transform memory 754 Correlation template too big 755 Data overflow 756 A scratch frame store is needed use VSELECT 757 Inconsistent hierarchy levels 758 No models 759 Unknown model 760 Duplicate model 761 No models planned 762 Vision software incompatible 800 Unknown error code 801 Invalid VFEATURE access 802 Invalid camera calibration 803 Illegal camera number Adept MV Controller User s Guide Rev A 371 Appendix E Table E 7 Error Messages Continued Numerical List Code Message Text 804 Option not installed 805 Hardware not in system 859 Database manager internal error 900 Robot module not enabled 901 Obstacle collision detected 903 DeviceNet Critical device off line 904 Fatal E STOP signals are stuck off 905 Fatal I O processor failure 906 Robot power off requested 907 E STOP circuit relay failure 908 E STOP from front panel button 909 E STOP from MCP E STOP button 910 E STOP from user E STOP button 911 E STOP from front pane
45. 89 336 EEC Appendice I in fatto di sicurezza e sanit La messa in funzione della macchina resta vietata fintanto che l intero sistema nel quale questa incorporata sia stato dichiarato conforme alla versione vigente della suddetta normativa Il sistemasi intende comprensivo di tutte le parti accessorie e dispositivi di sicurezza Conditions d utilisation et d installations L quipement doit tre install et utilis en respectant scrupuleusement les instructions du manuel Manuel d utilisation du robot Adept MV Controller L ensemble ne doit comporter que les cartes enfichables ou accessoires list s dans les tableaux 1 ou 2 Si des accessoires list s dans le tableau 2 sont install s l utilisateur devra apr s installation v rifier la conformit avec les directives EMC Cette d claration ne s applique que sur les produits Adept dont les num ros de r f rence sont sp cifiquement list s dans cette d claration Les modifications suivantes sont susceptibles d annuler la conformit des quipements avec les directives de s curit a moins que de nouveaux tests ne soient effectu s e Modifications non autoris es des quipements e Substitution ou ajout de composants non list s dans cette d claration e Ajout de composants ou accessoires par le client P N 00330 01040 Rev A Plug in Modules and Accessories Einschubmodule und Zubeh r Modules enfichables et accessoires Table 1 Table Tabelle Tableau 1
46. AUTOMATIC mode 11 30 Remote CIP s Yes MANUAL AUTOMATIC MANUAL AUTOMATIC switch CH 2 MANUAL Open switch must be in AUTOMATIC Closed AUTOMATIC mode 98 Adept MV Controller User s Guide Rev A Chapter 5 Connecting Customer Supplied Safety and Power Control Equipment to the CIP Table 5 2 Contacts Provided by the JUSER Connector Continued Pin Shorted if Pairs Description Comments NOT Used Voltage Free Contacts Provided by Adept 12 31 System Power Switch Contacts Mainly used to tum on Use with external relay circuit to MV 5 10 AC power with turn on AC Power System Power switch on CIP 13 32 E Stop indication CH 1 Contacts are closed when CIP MCP and user E Stops are not tripped 14 33 E stop Indication CH 2 same as Contacts are closed when pins 13 and 32 CIP MCP and user E stops are not tripped 15 34 MANUAL AUTO indication Contacts are closed in CH 1 AUTOMATIC mode 16 35 MANUAL AUTO indication Contacts are closed in CH 1 AUTOMATIC mode Nonvoltage Free Contacts 2 21 Adept Supplied 5 VDC and Use with Remote High GND for High Power On Off Power On Off switch Switch Lamp above See Remote High Power Control on page 106 for current limits 3 22 User Supplied 24 VDC for Active only in AUTO and Central Control High Power REMOTE NET 1 modes on off Adept MV Controller User s Guide Rev A 99 Chapter 5 Connecting Customer Supplied Safety and
47. Boot When using the AWC board in an AUTO Boot configuration set DIP switch SW1 as follows Table 4 7 Auto Boot Settings of DIP Switch SW1 SW 4 SW3 SW2 SW 1 Interpretation OFF OFF OFF OFF CPU 1 normal operation per NVRAM settings CPU Board Number Assignment An AWC 060 main processor and an AWC 060 auxiliary processor may be installed in the same Adept MV controller chassis Each AWC board must have a unique board address The address is set on DIP Switch SW1 on the AWC board Table 4 3 shows the switch settings for all processor module combinations including CPU 1 and CPU 2 See Figure 4 1 for the location of DIP switch SW1 System Controller Jumper Settings In Adept controllers this jumper should not be installed Adept MV Controller User s Guide Rev A 81 Chapter 4 Ethernet Connections Ethernet Connections The Ethernet connector is a shielded RJ45 receptacle See the AdeptNet User s Guide for details on AdeptNET TCP IP FTP and NFS capabilities see Figure 4 2 for the location of the Ethernet connection Adept strongly recommends the use of shielded twisted pair cables to eliminate interferences from motor amplifier and other sources of electromagnetic radiation Ethernet packet transmissions can be greatly impaired when shielded cable in not used AWC Module Serial I O Ports The AWC board has three serial I O connectors two RS 232 and one RS 422 485 port
48. Buttons that have no effect on your robot are ignored and in some cases cannot be selected Robots With More Than Six Joints In JOINT mode each of the six buttons is used to control a specific joint of the robot If the robot has more than six joints the F2 J7 J12 key can be used to access the 7th to 12th joints Only the robot currently selected by the MCP is affected The currently selected joint is shown by the state of the LED on the joint axis key as described below If you press the key for joint 1 and the LED is steady you are controlling Joint 1 If you press F2 J7 J12 then press the key for joint 1 the LED will flash indicating that you are controlling Joint 7 Table D 1 Robots With More Than 6 Axes Joint Axis LED state Joint range OFF None STEADY 1to6 FLASHING 7 to 12 The MCP cycles from one range to the other each time the F2 J7 J12 key is pressed 260 Adept MV Controller User s Guide Rev A System Messages Introduction 2 2 2 ee ee ew ew we ew wl ew wl 262 Alphabetical Listing 262 Numerical List ses amp e oS oH oe ee Dw wD oe BBY Adept MV Controller User s Guide Rev A 261 Appendix E Introduction Introduction While the V system is being used it is possible for hardware and software errors to occur For example if commands or instructions are not entered in the correct way V rejects the input The usual response
49. Coden Explanation User action 3 Amplifier 3 voltage If the error occurred while a restrict sensor channel 2 program was moving the robot try error The robot joint 3 changing the program to move the is moving or robot less quickly or with a lower accelerating too fast rate of acceleration or deceleration there is a fault with the For hardware faults consult your voltage restrict sensor or Robot Instruction Handbook or the voltage restrict ro Pailt contact Adept Customer Service sensor s built in test function failed 4 Amplifier 4 voltage If the error occurred while a restrict sensor channel 1 program was moving the robot try error The robot joint 4 changing the program to move the is moving or robot less quickly or with a lower accelerating too fast rate of acceleration or deceleration there is a fault with the i For hardware faults consult your voltage restrict sensor or Robot Instruction Handbook or the voltage restrict ro Dealt contact Adept Customer Service sensor s built in test function failed 5 Amplifier 4 voltage If the error occurred while a restrict sensor channel 2 program was moving the robot try error The robot joint 4 changing the program to move the is moving or robot less quickly or with a lower accelerating too fast rate of acceleration or deceleration there is a fault with the For hardware faults consult your voltage restrict sensor or Robot Instruc
50. Controller User s Guide Rev A Adept DeviceNet 380 381 382 382 383 386 386 387 387 379 Appendix G Introduction Introduction DeviceNet is a low cost communications link that connects industrial devices to a network and eliminates expensive hard wiring The direct connectivity provides improved communication between devices as well as important device level diagnostics not easily available using hard wired I O interfaces Adept Technology is a member of the Open DeviceNet Vendor Association ODVA which is independently run and operated and not directly associated with any one company The ODVA controls DeviceNet technical specifications with help from Special Interest Groups SIGs Each SIG develops device profiles for one line of product features to ensure interoperability These profiles become part of the technical specifications The DeviceNet Specification is divided into two volumes and defines the following elements Volume 1 e DeviceNet Communication Protocol and Application Layer 7 Application Layer e Controller Area Network CAN and its use in DeviceNet Layer 2 Data Link Layer e DeviceNet Physical Layer and Media Layer 1 Physical Layer Volume 2 e Device profiles to obtain interoperability and interchangeability among like products DeviceNet incorporates CAN which defines the syntax or form of the data transmitted The DeviceNet application layer defines the sema
51. Guide Rev A Chapter 6 Connections and Indicators Connections and Indicators 9 OK LED indicates that this board has passed its start up test Video Bus connector a 26 pin mini D sub connector for installing one end of the video bus connector in AdeptVision systems The other end of the connector connects to the EVI board Not used in nonvision systems Monitor connector a 15 pin female mini D sub connector for the color monitor See page 135 LEDs 1 to 4 are for Adept Service use only DIP Switch 4 position see Table 6 1 for functions Pointer connector a 9 pin male D sub connector for the pointer cable from the Adept integrated keyboard trackball Can also be used for a mouse or touchscreen See page 137 for details Keyboard connector a 5 pin female DIN connector for the keyboard cable from the Adept integrated keyboard trackball See page 136 for details NOTE On a graphics based system the Vt system monitor window is normally displayed on the monitor connected to the VGB board However you can redirect the system monitor input output to the RS 232 Term port on the processor board Adept MV Controller User s Guide Rev A 133 Chapter 6 VME Bus Address DIP Switch Settings Table 6 1 VGB Board Front Panel DIP Switch Functions Switch Function 1 OFF enables Adept logo d
52. Information EVI Board Specifications Adept MV Controller User s Guide Rev A 140 141 142 142 143 144 144 145 145 145 146 147 147 148 148 150 151 151 152 155 165 139 Chapter 7 Introduction Introduction 140 The AdeptVision Enhanced Vision Interface EVI board is a single slot VME board that is a vision frame grabber for use with the AdeptVision product The EVI board features two 1K x 1K frame buffers These buffers support large format cameras such as the Pulnix TM 1001 and provide additional frame buffers for normal operation The EVI board features a dedicated processor for running convolutions For example the EVI board can process a 3 x 3 convolution on a 512 x 480 image in six milliseconds Refer to the AdeptVision User s Guide and the AdeptVision Reference Guide for complete information on installation configuration operations and programming of your vision system Adept MV Controller User s Guide Rev A Chapter 7 Connections and Indicators Connections and Indicators O Video Bus connector a 26 pin mini D sub connector for installing one end of the Video Bus coupler in AdeptVision systems The other end of the coupler connects to the VGB board NOTE This connector is not used with an AdeptWindowsPC system that does not have a VGB Q Camera Strobe connector a 44 pin D sub connector for the four
53. MV Controller User s Guide Rev A Chapter 7 Table 7 12 Pulnix TM 1001 Breakout Cable Pin Assignments Continued Camera Cable Pin and Signal Information From Pin To Pin Function EVI 37 CAM1 7 Vd EVI 38 CAMI1 8 Digital GND EVI 22 CAM1 9 Clock 1 EVI 38 CAMI 12 Digital GND EVI SHIELD CAM1 SHIELD EVI 43 CAM2 3 Analog GND EVI 29 CAM2 4 Video EVI 35 CAM2 5 Digital GND EVI 34 CAM2 6 Hd EVI 19 CAM2 7 Vd EVI 35 CAM2 8 Digital GND EVI 20 CAM2 9 Clock 2 EVI 35 CAM2 12 Digital GND EVI SHIELD CAM2 SHIELD EVI 14 CAM3 3 Analog GND EVI 44 CAM3 4 Video EVI 33 CAM3 5 Digital GND EVI 32 CAM3 6 Hd EVI 18 CAM3 7 Vd EVI 33 CAM3 12 Digital GND EVI SHIELD CAM3 SHIELD EVI 30 CAM4 3 Analog GND EVI 15 CAM4 4 Video EVI 17 CAM4 5 Digital GND EVI 16 CAM4 6 Hd EVI 31 CAM4 7 Vd EVI 17 CAM4 12 Digital GND EVI SHIELD CAM4 SHIELD EVI 26 STROBE 3 Strobe 1 EVI 11 STROBE 4 Digital GND EVI 39 STROBE 5 Strobe 2 EVI 23 STROBE 6 Frame Reset 1 EVI 11 STROBE 7 GND FR Return EVI 21 STROBE 8 Frame Reset 2 EVI SHIELD STROBE 9 Adept MV Controller User s Guide Rev A 161 Chapter 7 Camera Cable Pin and Signal Information Table 7 13 Four Camera Breakout Cable Pin Assignments From Pin To Pin Function S
54. Optional Boards a System inp t Oulput ee SIO Adept Graphics Board VGB AdeptVision Interface Board EVI AdeptMotion Interface Boards MI3 MI6 Adept VME Enhanced Joint Interface Board EJI AdeptForce VME Board VFI Digital Input Output Board DIO Auxiliary Processor AWC With 68060 CPU Optional Equipment Compact Interface Panel CIP Manual Control Pendant MCP AdeptWindows Color Monitor Extended Keyboard Third Party Terminals for Text Based isk interface Controllers Product Descriptions AdeptVision AdeptMotion VME AdeptForce VME Installation of Adept Controllers Shipping Storage Unpacking and Inspection Shipping and Storage Before Unpacking Upon Unpacking Repacking for Relocation Controller ID Label Facility Requirements Voltage Interruptions E Enclosure and Disconnect Reguirem nis Installing the MV 5 and MV 10 Controllers AC Power Requirements Facility Overvoltage Protection Power Entry Module The CIP System Power Switch Connecting AC Power Cord System Grounding Information Fuse Information MV 5 and MV 10 Procedure to Remove Fuse Holder Adept MV Controller User s Guide Rev A 40 40 40 41 41 41 41 42 42 43 43 43 43 44 44 44 45 45 45 45 47 49 49 49 49 49 50 50 51 51 53 53 53 54 54 55 55 55 56 Table of Contents Fan and Filter Information MV 5 and MV 10 Cooling Fan Filter Inspection and Cleaning Compact Cont
55. Otto Hahn Strasse 23 44227 Dortmund Germany Phone 49 231 75 89 40 Fax 49 231 75 89 450 adept technology inc 44 rue du Saule Trapu 91300 Massy France Phone 33 1 69 19 16 16 Fax 33 1 69 32 04 62 The information contained herein is the property of Adept Technology Inc and shall not be repro duced 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 Adept 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 1993 1998 by Adept Technology Inc All rights reserved The Adept logo is a registered trademark of Adept Technology Inc Adept AdeptOne AdeptOne MV AdeptOne XL AdeptThree AdeptThree MV AdeptThree XL PackOne PackOne MV HyperDrive Adept 550 Adept 550 CleanRoom AdeptCobra 600 Adept 1850 Adept 1850XP A Series S Series Adept MC Adept CC Adept IC Adept OC Adept MV AdeptVision AIM VisionWare AdeptMotion MotionWare PalletWare FlexFeedWare AdeptNet AdeptFTP AdeptNFS AdeptTCP IP AdeptForce AdeptModules AdeptWindows AdeptWindowsPC AdeptWin
56. Out Ras Contacts Provided by the JUSER Connector Remote MCP Connections on the JUSER Connector JCOM Connector Pin Assignments DIO Input Circuit Specifications JSIO connector DIO Output Specifications JSIO connector JSIO Digital I O Connector Pin Assignments DIO Extended Input Specifications a Extended Digital Output Circuit Specifications JDIO1 Input Cable Pin Assignments JDIO2 Input Cable Pin Assignments JDIO3 Output Cable Pin Assignments JDIO4 Output Cable Pin Assignments VGB Board Front Panel DIP Switch Functions Monitor Connector Pin Assignments Monitor Compatibility Specifications Keyboard Connector Pin Assignments Pointer Connector Pin Assignments Technical Specifications Switch Settings for EVI Board 1 Switch Settings for EVI Board 2 Acquisition Switch Settings for SW1 Acquisition Switch Settings for SW2 SW8 Acquisition Switch Settings for SW1 Adept MV Controller User s Guide Rev A 50 53 55 56 72 78 79 80 80 81 81 83 84 85 96 98 100 No 112 114 116 119 123 126 127 128 129 134 135 135 136 137 137 143 143 144 144 Table 7 6 Table 7 7 Table 7 8 Table 7 9 Table 7 10 Table 7 11 Table 7 12 Table 7 13 Table 7 14 Table 7 15 Table 8 1 Table 8 2 Table 9 1 Table 9 2 Table 10 1 Table 10 2 Table 10 3 Table 10 4 Table 11 1 Table 11 2 Table 12 1 Table 12 2 Table 12 3 Table 12 4 Table 12 5 Table 12 6 Table 12 7 Table 12 8 Table 12 9 Tabl
57. P1 Jumper Plugs Connecting the Monitor and Keyboard Rack Mounting for MV 5 MV 10 Stand Alone Controller Panel Mounting for MV 5 MV 10 Stand Alone Controller Installing Mounting Brackets on MV 5 and MV 10 Robot Controllers AWC Board Components Placement AWC Connectors Controller Interface Panel CIP Controller Interface Panel CIP Side View Controller Interface Panel CIP Back Panel View Connecting the CIP to the AWC E JUSER 37 Pin D sub Connector J User 37 Pin and 50 Pin D sub Connector JSIO Emergency Stop Circuit JCOM Pin Locations Digital Input Wiring Examples JSIO Connector Digital Output Wiring for JSIO Connector Typical Extended Digital Input Wiring Typical Extended Digital Output Wiring Monitor Connector Pin Locations on VGB Board Switch Locations on EVI Board Rocker Dip Switch Positions for SWI on Motherboard and Daughterboard l Video Coupling for a Two Camera Connection Four Camera Breakout Cable For RS 170 Cameras Custom Breakout Cable for Pulnix TM 1001 D sub Adapter Cable for Pulnix TM 1001 Camera Cable Installation Drawing RS 170 Camera Installation for Dual Pulnix TM 1001 Cameras Pin Locations for Camera Cable Connector 12 Pin Hirose Male RS 232 Serial I O Connector Pin Locations on SIO Board Adept MV Controller User s Guide Rev A 37 38 54 56 58 61 61 65 68 69 71 75 82 89 91 93 95 101 102 103 No 113 115 121 124 136 142 14
58. Passed without qualification Conducted Emissions EN55011 for group 1 ISM to Class A Passed without qualification Adept MV Controller User s Guide Rev A Appendix C Color Coding of Indicator Lights Color Coding of Indicator Lights Adept uses colored lamps and indicators to indicate equipment status There are two categories of indicator e Operator indicators These are located on the exterior of the equipment and form part of the operator interface specifically the Manual Control Pendant MCP Compact Interface Panel CIP and the graphics monitor The colors Yellow Green White and Orange are used e Service indicators These are located on the front panels of the controller VME boards and on the amplifier front panels When the Adept controller is installed as instructed inside a recommended enclosure these indicators are not visible to the operator Color Code Used by Adept for Operator Indicators Table C 3 Operator Indicator Color Code Indicator Lights Yellow Meaning Condition requiring caution Mode Indication This color is used to attract the operator s attention Action Monitoring and or intervention The operator should observe any precautionary measures defined in the documentation for the indicator White and Orange Meaning Neutral Mode Indication These colors are used to provide general information Action Monitoring This type of indicator as
59. Specifications AdeptMotion Interface Board MI3 MI6 Introduction Connections and indicators VME Bus Address Jumper Settings and Resistor Configuration o on MI3 MI6 Connecting to User Equipment MI3 MI6 Board Specifications Enhanced Joint Interface EJI Introduction Connections and indiedian VME Bus Address Address Settings for EJI Boards Address Settings for Multiple Servo Boards Belt Encoder Interface EJI Board Specifications AdeptForce VME Board VFI Introduction Connections and indlediors VME Bus Address VFI Board Specifications Digital Input Output Board DIO Introduction Connections and indicator Inputs Outputs Testing Outputs and Fust Output Power Supply Voltage aac Output Power Supply Current Selection Adept MV Controller User s Guide Rev A Table of Contents 169 170 170 170 170 172 173 174 175 176 177 177 177 179 180 181 182 182 182 184 186 187 188 188 189 190 191 192 lt 193 194 195 195 196 196 15 Table of Contents 13 16 Typical DIO Wiring Optional DIO Cables Labeling Cables Input and Output Cable Wiring infermiction Additional DIO Boards Setting the Board Address Labeling Sets of Cables DIO Board Specifications Maintenance Introduction Fan Filter Inspection and Cleaning MV 5 MV 10 Spare Paris List M
60. T P P u u T T es Quee 1002 3004 s00s ns u AMPLIFIER SIGNAL A BELT ENCODER v ARM SIGNAL ao See eres tee Q D adept technology inc C C C NA UU nn UYU Figure 2 2 Adept Compact Controller Adept MV Controller User s Guide Rev A Introduction Chapter 2 Graphical User Interface and Text Based User Interface Graphical User Interface and Text Based User Interface Graphical User Interface Options There are two ways to implement a graphical user interface on the Adept Controller e Install the optional VGB board with monitor and keyboard e Install AdeptWindows AdeptWindows may be used via a serial port or AdeptNet Ethernet The graphics option allows you to run AdeptVision and all AIM software products It also allows you to create custom user interfaces complete with multiple windows pull down menus icons buttons and slide bars The graphical elements are created using V programming instructions The graphics option also allows connection of a high resolution color monitor optional and an AT style keyboard with an integrated trackball optional Text Based Options The nongraphical conf
61. User action Edit the PROGRAM line so all the arguments have unique names With the V SEE editor you can press the Undo F6 function key or press ESC CTRL C to cancel the changes you have made to a PROGRAM line Duplicate prototype name 718 Explanation The file specified in the current VLOAD command contains a proto type with the same name as one that already exists User action VDELETE the conflicting prototype that already exists As a precau tion save the existing prototypes first with a VSTORE command Duplicate statement label 464 Explanation The same program statement label is used more than once in a user program User action Change one of the duplicate labels Duty cycle exceeded Mtr n 1021 Explanation The indicated motor has been driven fast for too long a period of time The servo system has disabled Arm Power to protect the robot hardware Adept MV Controller User s Guide Rev A 279 Appendix E Alphabetical Listing User action Turn on Arm Power reduce the speed and or acceleration for the motion that was in progress or for motions that preceded that motion and repeat the motion that failed Encoder fault 1025 Explanation The servo board has detected a broken encoder wire on the indi cated axis User Action Inspect the encoder wiring for intermittent connections or broken wires Try swapping the encoder cable with another You can disable this error with the SPEC utility b
62. VGB EVI Video Bus Coupling Installed RR 3 5 s i e O vevano se Four Camera Breakout Cable Figure 7 3 Video Coupling for a Two Camera Connection 146 Adept MV Controller User s Guide Rev A Chapter 7 Camera Cables Camera Cables Adept sells a standard four camera cable A custom four camera version is avail able for use with the Pulnix TM 1001 They all connect to the camera connector on the front of the board There is support for two strobe connections The breakout cable routes the signals away from the chassis it does not connect directly to the camera To connect to the cameras you must use an extension cable Adept offers a 10 meter cable for this purpose These cables can also be purchased from Inter con 1 Contact Adept Applications Support for current Intercon 1 part numbers You can contact Intercon 1 at Intercon 1 Vision Products Box 1C Merrifield MN 56465 800 237 9576 Voice 218 765 3900 FAX See Tables 7 7 to 7 14 for pin and signal information Four Camera Breakout Cable for RS 170 Cameras This cable has a 44 pin D sub connector on one end and it breaks out to four 12 pin Hirose style camera connectors and one 9 pin D sub connector on the other end The length of the cable is 1 8 meters 70 inches Due to the current limitation of the VM
63. Vt language and operating system These manuals are essential for advanced applications programming If you will be programming vision applications you should order the AdeptVi sion Reference Guide in addition to the V developer s manuals Manual Material Covered V Operating System Reference Descriptions of the V operating system commands Guide known as monitor commands V Language Reference Guide 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 NOTE All of the above manuals are available on the CD ROM that is shipped with the system What s New in This Version 28 This revision 00330 01040 covers products that run under Vtversion 13 0 or later If you are working with a system using V version 12 x or earlier refer to release 00330 01030 of this manual The new products covered in this revision of the manual include e The new Compact Controller The Compact Controller combines a PA4 amp chassis with two dual amplifiers an MV 4 chassis insert that installs in the two remaining amplifier slots and a new system processor The MV 19 controller chassis is obsolete e The new AdeptWindows Controller AWC system processor boards These boards come in 68040 and 68060 versions and include built in Flash RAM and Ethernet connections These system processors replace
64. actually move out of range you do not need to move the robot before continuing 2 move the robot back into the working envelope Correct whatever caused the robot to get into the restricted area Then enable power Positive overtravel Mtrn 1033 Explanation The indicated motor has moved beyond the hardware limited posi tive range of motion User action Move the robot back into the working envelope Correct whatever caused the robot to get into the restricted area Then enable power Power disabled Manual Auto changed 645 Explanation V disables power when the Controller Interface Panel CIP switch moves from MANUAL to AUTO or vice versa User action Use any valid method to enable high power Power failure detected 667 Explanation Indicates that a controller AC power fail condition has been detected If battery backup is installed this error will be reported when power is restored by any I O operations that were canceled due to the power failure This error code may be trapped by a pro gram using the REACTE instruction in order to provide some level of automatic power failure response User action The user may need to restart or repeat any operations that were interrupted by the controller AC power failure Some reinitialization of the system may be required for example any robot s connected to the controller need to be recalibrated after a controller power fail ure Power failure detected by robo
65. allocated even if it is not visible Systems with AdeptVision always have the vision training window allocated User action Where possible change your window definitions to omit menu bars and scroll bars If necessary use the utility program CONFIG_C to increase the number of window buffers Trajectory clock overrun 636 Explanation One of these three conditions has occurred 1 the time for a new trajectory point has arrived but the internal trajectory task has not finished computing the previous point 2 the servos did not receive trajectory data at the expected time because the trajectory task took 348 Adept MV Controller User s Guide Rev A Appendix E User action Alphabetical Listing too long to compute and write out the data or 3 the trajectory interval is equal to or less than the servo interval Perform one or more of the following 1 if the trajectory cycle time is less than 16msec change it to the next longer time 2 move servo tasks off CPU 1 to allow more time for trajectory generation 3 upgrade the system processor to increase the throughput 4 reduce the number of robots or axes that you are operating or 5 if the tra jectory cycle time is set to 2msec make sure the servo interval is Imsec Undefined program or variable name 406 Explanation User action Undefined value Explanation User action The program or variable referenced in a command or program step d
66. and restarted its protocol The local protocol is stopped and all pending I O requests are completed with this error User action 1 Close and reopen the DDCMP line 2 check the remote program logic to see why it restarted the protocol Network timeout 562 Explanation This error occurs when a network transaction is initiated but no reply is received from the server User action Check network integrity Make sure the server is up and running Make sure the correct IP address is being used NES error Code n 1200 to 1299 Explanation Because NFS returns errors that do not have corresponding mean ing in V some NFS errors are reported as a variable NFS error Errors in this range have the following interpretation V error num ber 1200 n corresponds to NFS error code n Table E 4 describes the currently known NFS error codes that are reported in this way Table E 4 NFS Error Message Codes Code n Explanation 19 No such device 30 Read only file system A write operation was attempted on a read only file system 69 Disk quota exceeded The client s disk quota on the server has been exceeded 99 The server s write cache used in the WRITECACHE call was flushed to disk Adept MV Controller User s Guide Rev A 321 Appendix E Alphabetical Listing No air pressure 607 Explanation V detected that the air supply to the robot brakes and hand has failed High power is turned off and cann
67. at an unexpected time The encoder may be gaining or losing counts there may be a hardware problem with the zero index sig nal or the Counts per zero index configuration parameter may be set incorrectly Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing User action Continue to use the system Contact Adept Customer Service if this error occurs repeatedly Unexpected zero index Mtrn 1005 Explanation A zero index signal was received from the encoder for this motor at an unexpected time The encoder may be gaining or losing counts there may be a hardware problem with the zero index signal or the Counts per zero index configuration parameter may be set incor rectly User action Turn on high power calibrate the robot and continue to use the sys tem If this error occurs repeatedly contact Adept Customer Service Unknown editor command 363 Explanation An unknown keystroke or extended command was issued while using the SEE program editor User action Enter another command Unknown error code 800 Explanation An error code that does not correspond to a known error message was received by V from an external device User action If an external computer is communicating with V when the error occurs verify that it is sending proper error codes Otherwise a software error is indicated It would be appreciated if you would report the error to Adept Application Engineering Please inc
68. auto_ Enter one or two digits press REC DONE and all programs and variables in system memory will be stored to a file on the default disk with the name autoxx v2 For example if you had entered 11 the file AUTO11 V2 would be created and all programs and global variables in system memory would be stored to that file CMD1 and CMD2 When CMDI is pressed the system attempts to load the file CMD1 V2 from the default disk and COMMAND the program CMD1 The program file CMD1 V2 must reside on the default disk and it must contain a command program named cmd1 If the file does not exist or does not contain a correctly named program the operation will be aborted and the appropriate error message will be displayed on the LCD If CMD2 is pressed the file CMD2 V2 will be loaded and cmd2 will be COMMANDed Prog Set Function Using the Prog Set button you may select a new program to execute set the starting step number set how many cycles of the program to perform set the monitor speed and start a memory resident application program See Figure D 10 Adept MV Controller User s Guide Rev A 247 Appendix D MCP Predefined Functions 1 1 50 NEW STEP CYCLE SPEED START CLIO OL IO IO Figure D 10 Program Set Function Button New Press the NEW soft button and the LCD displays SELECT A NEW PROGRAM progl prog2 prog3 prog4 lt MORE gt To select a different program press the soft button under t
69. be required from the power supply In this Adept MV Controller User s Guide Rev A Chapter 12 Outputs case a minimum of 4 power pins should be used Nine power pins are provided to allow for more wire connections to decrease the voltage drop across the power supply wires If you experience an excessive voltage drop make connections to additional power pins to a maximum of 9 The ground connection should connect to the power supply directly not to the ground connection of the load This will isolate the board from any voltage drop across the load ground wires Table 12 3 Digital Output Circuit Specifications channel Parameter Value Low power supply range 10 VDC lt Vsup 15 VDC High power supply range 15 VDC lt Vsup lt 30 VDC Power supply ground current I lt 35 mA Operational current range per Iout lt 400 mA Vout output on Lout 400 mA Vag 08 Vege V sup sup Output off leakage current Tout lt 400 pA Turn on response time 10 usec maximum Turn off response time 120 usec maximum CAUTION The above specs apply only to the output channels on the DIO board See Chapter 8 for specs on the digital output channels on the SIO board See Chapter 5 for specs on the digital output channels on the CIP Adept MV Controller User s Guide Rev A 197 Chapter 12 Typical DIO Wiring Typical DIO Wiring Adept Supplied Equipment
70. below The JDIO3 and JDIO4 output connectors are also similar except that JDIO3 handles the group 1 and group 2 output signals and JDIO4 handles the group 3 and group 4 output signals The optional digital output cables can be connected to either JDIO3 or JDIO4 Make sure to clearly label the cables once you have completed your installation so that the cables do not get swapped by mistake see the warning below WARNING Make sure to clearly label the JDIO1 to JDIO4 digital I O cables so that they are always plugged into the correct connector Swapping the JDIO1 and JDIO2 or JDIO3 and JDIO4 cables could cause damage to your equipment Depending on the installation this could potentially cause injury to personnel in the area These cables all also used for wiring the DIO boards If you use both the extended DIO on the CIP and optional DIO boards make sure all cables are clearly marked Input and Output Cable Wiring Information The pinouts signal names and wire color information for the input and output cables are shown in the next four tables Adept MV Controller User s Guide Rev A 125 Chapter 5 Optional DIO Cables Table 5 10 JDIO1 Input Cable Pin Assignments Pin Signal Signal Wire Pin Number Group 8 Color Locations JDIO1 15 1 1033 red white JDIO1 6 1 1034 orange Ee Pin 9 JDIO1 16 1 1035 green white pnag ee JDIO1 7 1 1036 blue O JDIO1 17 1 1037 blue wh
71. connector on the CIP and the plug affixed to the CIP connector on the AWC Verify that the CIP is connected securely If this error per sists contact Adept Customer Service Manual mode switch 2 off detected by CPU 918 Explanation An E STOP condition has occurred during manual mode because the CPU has detected on signal channel 2 that the manual mode key switch has been set to automatic mode Normally this message is suppressed and error 645 is reported There may be a hardware problem with the CIP its cabling or most likely the AWC User action If safe to do so toggle the auto manual key switch and attempt to enable HIGH POWER again Reseat the plug affixed to the JAWC connector on the CIP and the plug affixed to the CIP connector on the AWC Verify that the CIP is connected securely If this error per sists contact Adept Customer Service Adept MV Controller User s Guide Rev A 311 Appendix E Alphabetical Listing Maximum number of prototypes exceeded 712 Explanation A maximum of 25 prototypes may be in the AdeptVision system memory at one time User action If not all of the current prototypes are needed then store them on disk using the VSTORE monitor command and VDELETE the pro totypes that are not needed This will reduce the number of proto types in memory so that more may be VTRAINed or VLOADed Maximum number of samples trained 739 Explanation An attempt has been made to train a charact
72. control All external device inputs and outputs are opto isolated Each of the channels on the MI3 MI6 can be configured for either servo control of a robot axis or for conveyor belt tracking from an external encoder See Chapter 9 for more details Up to four MI6 MI3 boards can be installed in an Adept controller as long as there is sufficient processing power and sufficient available slots Adept VME Enhanced Joint Interface Board EJI The Adept VME Enhanced Joint Interface board EJI is required when an Adept robot or Adept Modules are installed in an Adept controller system The EJI board interfaces to the encoders and amplifiers for the robot Also the EJI is the interface to belt encoders in conveyor tracking applications for Adept robots See Chapter 10 for more details AdeptForce VME Board VFI The AdeptForce VME board VFI is part of the AdeptForce VME product Other components included in the product are the AdeptForce VME software module and the force sensing unit installed on a robot See the product description later in this chapter for more information See Chapter 11 for more details 1 Im applications using the VFI board it may be necessary to use additional EMC procedures such as installing the controller in an EMI RFI shielded enclosure For installations in Europe see the Manufacturer s Declaration of Conformity inside the front cover of this manual for important EMC information Adept MV Controller U
73. error 512 File format error 513 File not opened 514 File or subdirectory name error 515 Already attached to logical unit 516 Not attached to logical unit 517 I O queue full 518 Illegal I O channel number 519 Driver internal consistency error 520 Invalid disk format 521 Wrong disk loaded 522 Data error on device 523 Bad block in disk header 524 Communications overrun 525 Illegal I O redirection specified 526 No data received 527 Illegal user LUN specified 528 Ilegal record length 529 Output record too long 530 Protection error 531 Communication time out 532 Out of I O buffer space 533 Invalid hardware configuration 534 Network restarted remotely 535 Network closed locally 536 Too many network errors 537 Unknown network node 538 Network node off line Adept MV Controller User s Guide Rev A 365 Appendix E Table E 7 Error Messages Continued Numerical List Code Message Text 539 No matching connection 540 Invalid connection specified 541 Invalid network protocol 542 Network not enabled 543 Illegal when network enabled 544 Not configured as accessed 545 Nonexistent subdirectory 546 Subdirectory list too long 547 Subdirectory in use 548 Illegal while pr
74. firmly seated in the controller backplane Contact Adept Cus tomer Service if the problem persists Incompatible robot and safety ID 644 Explanation The robot and controller do not have the same safety options User action Make sure that the correct robot and controller are being used together Install or remove the appropriate EN954 Safety Category license in the controller Inconsistent hierarchy levels 757 Explanation The VPLAN FINDER vision instruction has attempted to combine two or more object finder models that were not trained at the same hierarchical subsample level User action Retrain the models so that they are all at the same hierarchical lev els Information not available 730 Explanation 1 A VGETPIC VPUTPIC VRULER VRULERI or VWINDOW operation has been attempted when the specified frame store binary or grayscale does not contain valid picture data 2 No information is available for VGAPS or VSUBPROTO for example V LAST VER DIST is set to zero or the prototype name specified is not the name of the last object located User action Change the operations that precede the failed one to make sure the required conditions are satisfied Initialization error 505 Explanation An I O device reported an error condition during its initialization Initialization is performed during power up and after a reset and may also be performed after certain nonrecoverable I O errors occur 3
75. for general purpose serial I O functions on the CIP see Figure 5 3 and Figure 5 8 for the location of the JCOM connector and its pin locations This serial port is referred to as device LOCAL SERIAL 4 This serial port can be accessed by any Adept system processor configured to run Vt The connector is a 9 pin DB 9 male receptacle The signal and pin information are shown in Table 5 4 See the V Language User s Guide for information on serial I O See the Instructions for Adept Utility Programs for default configuration information using the CONFIG _C program The serial port on the CIP can be configured for use at up to 38 400 bps Table 5 4 JCOM Connector Pin Assignments Pin Signal Pin Signal 1 Not used 6 Not used 2 RXD 7 Not used 3 TXD 8 Not used 4 Not Used 9 Not used 5 SG Signal Ground Figure 5 8 JCOM Pin Locations NOTE The serial port on the CIP does not provide hardware handshaking signals 110 Adept MV Controller User s Guide Rev A Chapter 5 Connecting User Supplied Digital I O Equipment Connecting User Supplied Digital O Equipment There are two sets of Digital I O connections on the CIP The JSIO connector accesses the first set a group of 12 inputs and 8 outputs The signals are numbered 1001 through 1012 for the inputs and 1 through 8 for the outputs In the JSIO group all the signals have independent source and ground connections This group of inputs contains
76. for the string indicated in the search mode indicated User action This is an informational message You can use the Repeat command to perform the indicated search or you can use Find or Change to initiate a new search or replacement operation The EXACT extended command controls the setting of the search mode Searching for string ignoring case None Explanation The SEE editor command 0 has been entered The editor is prepared to search for the string indicated in the search mode indicated User action This is an informational message You can use the Repeat command to perform the indicated search or you can use Find or Change to initiate a new search or replacement operation The EXACT extended command controls the setting of the search mode Adept MV Controller User s Guide Rev A 339 Appendix E Alphabetical Listing Servo board E Stop fuse open 673 Explanation Your servo board has a fused E STOP circuit and the system has detected an open circuit at that location User Action Refer to your hardware documentation consult with Adept Cus tomer Service as needed for details about types and locations of fuses and replace the fuse Servo board 12v fuse open 671 Explanation Your servo board has a fused 12 volt bus and the system has detected an open circuit at that location User Action Refer to your hardware documentation and replace the fuse Servo board solenoid fuse open 672 E
77. from moving 2 The robot base has become overheated User action 1 Push the brake release button at the robot base and move the joints back into the normal working range Turn on high power and continue program execution 2 Check the fan filter on the robot base and check the ambient temperature of the robot Allow the robot to cool down turn on high power and continue program execution Line too long 354 Explanation An operation was attempted that would have resulted in accessing a program step that contains too many characters A single program step can contain at most about 150 characters User action Enter the program step as two or more separate steps Location out of range 610 Explanation V has encountered a location that is too far away to represent pos sibly within an intermediate computation or that is beyond the reach of the robot This probably indicates an error in a location function argument value or in a compound transformation User action Check to make sure you are using location functions and operations correctly and edit the program as required Location too close 618 Explanation An attempt has been made to move the robot to a location that is too close to the robot column This probably indicates an error in the value of a location function argument or an incorrect compound transformation User action Check to make sure you are using location functions and operations correc
78. has a 9 pin D sub connector on one end and four Video and Sync BNC connectors and power connectors at the other end The cable length is 1 54 meters 60 inches ER Strobe Lia Orange p N Frame Reset 1 Red 9 pin dl ER Black o D sub i Q Strobe Connector S White N Frame Reset 2 Yellow O Power O Ground D sub Auxiliary Connector Pin Assignments ae 5 Signal User 12V to cameras User power return Gnd Strobe 1 Strobe return Gnd Strobe 2 Frame reset 1 Frame reset return Gnd Frame reset 2 Shield chassis ground o CO NI O By CO N Figure 7 6 D sub Adapter Cable for Pulnix TM 1001 150 Adept MV Controller User s Guide Rev A Chapter 7 Installing Camera Cables Installing Camera Cables See the AdeptVision User s Guide for information on mounting cameras and strobes in your system Figure 7 7 shows the installation of a typical four camera RS 170 breakout cable and the associated hardware CAUTION Turn off the controller before installing or removing a i camera or cable Failure to do this may damage the EVI board Connecting the Cables to the RS 170 Standard Camera This section describes the steps for connecting the cables between the EVI board and the RS 170 Cameras 1 Turn off the Adept MV controller 2 Connect the camera to a 10m camera cable
79. in 201 mm 7 9 E 221 mm 8 70 Figure A 4 MCP Cradle Dimensions Adept MV Controller User s Guide Rev A 221 Appendix A Compact Interface Panel Dimensions Compact Interface Panel Dimensions o aday 6 35 mm 25 in 289 56 mm 11 40 in 7 62 mm 304 80 mm 30 in 12 00 in o o Ep 5 9 cl Er a gt O 3 z E 106 68 mm O g 3 58 Po QA 28 4 20 in io 58 58 35 lile l z gs se 53 sig E 2 2 Es os os es E N 7O O lt pA Sa 5 5 2 so o O ei mm 274 32 mm i 59 en 279 10 mm 10 80 in 50 in 10 99 in 67 56 mm 2 66 in 71 58 mm 2 82 in 78 23 mm ___ 3 08 in LF Figure A 5 CIP Dimensions 222 Adept MV Controller User s Guide Rev A Position Latch and Vision Trigger External Input for Position Latch and Vision Trigger 224 Position Latch 224 Hardware PE RR of Boards on an Adepi Controier 225 Vision Trigger 226 Combined Vision Trigger al Position Latch Vision in e Loop 2 oe ko oS ES eee Be Oe aa n a s 226 Adept MV Controller User s Guide Rev A 223 Appendix B External Input for Position Latch and Vision Trigger External Input for Position Latch and Vision Trigger The Adept controller provides four special purpose high speed digital inputs or
80. informational message Database manager internal error 859 Explanation This error indicates that the system has encountered an inconsis tency User action Contact Adept Application Engineering Please record the details of exactly what you were doing at the time the error occurred Data checksum error 510 Explanation An error was detected while transferring information to or from an external device User action Attempt the transfer again If the problem persists contact Adept Customer Service Data error on device 522 Explanation An error was detected while attempting to read information from an external device possibly because a diskette has been damaged or was not formatted properly User action Attempt the read again Make sure the correct diskette is being used that it is properly installed in the drive and that it is format ted Recall that formatting a diskette erases its contents Data overflow 755 Explanation The vision binary correlation hardware has found more matches within the search area than it can process Adept MV Controller User s Guide Rev A 215 Appendix E Alphabetical Listing User Action Search a smaller area or redefine your binary template so that it con tains more distinguishing features Device error 660 Explanation An error was detected for an external device such as one specified in the last DEVICE or SETDEVICE program instruction The actual error
81. input signal User action Restore the front panel external input signal state Reenable HIGH POWER as desired E STOP from MCP enable switch 913 Explanation An E STOP condition has occurred because the enable switch for merly called HOLD TO RUN switch on the MCP has been released During MANUAL mode releasing this switch performs a controlled power off rather than an E STOP User action Hold the MCP enable switch and reenable HIGH POWER as desired E STOP from MCP E STOP button 909 Explanation An E STOP condition has occurred because the E STOP button on the MCP has been pressed User action Unlatch the locking E STOP button Reenable HIGH POWER as desired E STOP from robot 640 Explanation The motion interface board has detected an E STOP condition gen erated by the RSC in the robot This error is probably due to low air pressure joint 1 overtravel or motor overheating A subsequent error message may provide more information User action Check for a subsequent message To determine if there was an unre ported RSC error type listr error task 4 where task is the number of the task that received the error If no additional information is available check for low air pressure joint 1 overtravel or motor overheating E STOP from user enable switch 912 Explanation An E STOP condition has occurred because the user enable switch formerly called the HOLD TO RUN switch has been released 284 Ad
82. interlocked from read write access Program name None Explanation A SEE editor command to change to a different program has been entered User action Enter the name of the new program to be edited or press RETURN to cancel the request Program not executable 307 Explanation Because of program errors detected during loading or upon exiting from the editor this program cannot be executed User action Edit the program to remove any errors Program not on top of stack 421 Explanation A DO context specification has referenced an automatic variable or a subroutine argument in a program that is not on the top of the stack for the specified task User action Reenter the DO command and specify the correct program context or eliminate references to automatic variables and subroutine argu ments Use the STATUS command to determine which program is on the top of the stack Program task stopped at program name step step number date time 4 Explanation Execution of the program task indicated by has terminated for the reason indicated in the message that preceded this message The step number displayed corresponds to the next NEXT program step that would be executed for example if PROCEED were entered The current date and time are displayed if the system date and time have been set User action None This is only an informational message Program task not active 318 Explanation An attempt was made
83. lock 648 User has not tested MMSP system 649 Timeout MCP enable switch not toggled 650 Manual control pendant failure 651 RSC communications failure 368 Adept MV Controller User s Guide Rev A Appendix E Table E 7 Error Messages Continued Numerical List Code Message Text 652 RSC reset 653 RSC time out 654 RSC transmission garbled 655 RSC bad packet format 656 RSC calibration load failure 658 Device hardware not present 659 Device time out 660 Device error 661 NVRAM data invalid 662 Device sensor error 663 Device reset 665 NVRAM battery failure 666 Must use CPU 1 667 Power failure detected 668 Device in use 669 RSC hardware failure 670 RSC power failure 671 Servo board 12V fuse open 672 Servo board solenoid fuse open 673 Servo board E Stop fuse open 674 Servo task overloaded 675 Timeout enabling power 676 RSC module ID doesn t match robot 701 VISION not enabled 702 No prototypes 703 Too many vision requests pending 704 No objects seen 705 Camera not running Adept MV Controller User s Guide Rev A 369 Appendix E Table E 7 Error Messages Continued Numerical List
84. maximum current rating of a thick cable trunk line is 8A Verify that this complies with your national and international standards It might be necessary to limit the maximum current to a lower value if standards in the U S or Canada apply The maximum current value is a theoretical value The cable size supports a higher current than 8A Depending on the topology of nodes relative to the power supply higher currents might be possible See the DeviceNet technical specifications for further information The maximum current rating of a thin cable trunk line is 3A If you use the thin cable on a long line the resistance of the cable decreases the maximum current value See Table G 5 and the DeviceNet technical specifications and for further information Table G 5 Maximum Current on a Dropline Relative to its Length Length of Dropline Maximum Current 1 5 m 5 ft 3A 2 0 m 6 6 ft 2A 3 3 m 10 ft 1 5A 4 5m 15 ft IA 6m 20 ft 0 75A For the calculation of the maximum current at a specific length use the following formula l Length of the drop line in meters m i Maximum current in amps 4 57 i l This calculation applies to the sum of the currents of all the nodes on the selected drop line The length 1 is not the cumulative length of the drop line it is the maximum distance from any node on the dropline to the trunk line Adept MV Controller User s Guide Rev A App
85. mm Note 1 Allow 25 mm minimum at right Note 1 Allow 75 mm minimum at front for and left sides for air intake and exhaust power cord and signal cable clearance Figure A 2 Adept MV 5 10 Robot Outline Drawing 219 Adept MV Controller User s Guide Rev A Appendix A The Adept Compact Controller Dimensions The Adept Compact Controller Dimensions 290 mm N 11 4 in Note 1 Allow 75 mm 3 in minimum at front for power cord and signal cable clearance Note 2 Allow 25 1 in mm minimum at right Top View and left sides for air intake and exhaust 290 mm 216 mm 8 5 in 11 4 in A s JE 4 O O mt O 479 mm 18 9 in a N Ea od LLL i ES 18 mim Side View Front View 0 7 in Figure A 3 Adept Compact Controller Dimensions 220 Adept MV Controller User s Guide Rev A Appendix A MCP Cradle Dimensions MCP Cradle Dimensions 4X 10 2 mm 0 4 t 2xf CN EN 28 7 mm 1 139 4 1 an S 2X 203 2 mm 8 271 5 mm 10 69 gt lt 4 X 4 8 mm 0 188 i i faxozmm LT 0 38 e 4X 99 7 mm 20 38
86. motor took too long to complete the last motion pos sibly because the robot is blocked and cannot reach its destination User action Turn on high power and retry the motion after making any neces sary program changes If this error occurs repeatedly contact Adept Application Engineering for assistance Time out enabling amplifier Mtr n 1009 Explanation The power amplifier for the indicated motor has signaled a fault condition A momentary power failure or a hardware error may have occurred User action Turn high power back on and restart the program If the error per sists contact Adept Customer Service Timeout enabling power 675 Explanation High power did not enable within the allowed amount of time and the servos reported no other error during the timeout period User action For non Adept robots use the SPEC utility to increase the value of the high power time out For Adept robots double check your installation cabling AC power line voltages circuit breakers amplifier retaining screws cables and contactors For information about the correct configura tion for installation refer to your Robot Instruction Handbook Make sure that the amplifier chassis is properly connected to a power source and is turned on Try again If the problem persists contact Adept Customer Service 346 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing Timeout MCP enable switch not toggled 6
87. name used in a command or instruction was not rec ognized by V User action Check the name and retype the line 306 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing Invalid qualifier 476 Explanation An invalid qualifier was specified on the last command User action Enter the command again with a valid qualifier Invalid request while camera running 706 Explanation An operation was attempted that requires the vision system to be idle but it was still processing an image User action Usea VWATT instruction to make program execution wait for the vision system to be idle Invalid request while vision training 729 Explanation A VEDGE INFO or VGAPS instruction has been attempted while the vision system is in prototype training mode User action Use the manual control pendant to terminate prototype training type Ctrl C at the system terminal to abort a VTRAIN command or abort execution of the program that initiated training Invalid servo error Mtr n 1001 Explanation An unrecognized error was reported for the indicated robot motor User action Attempt the operation again Contact Adept Customer Service if the error repeats Invalid servo initialization data 625 Explanation During V system initialization after booting from disk servo ini tialization data in the wrong format was found This can be caused by using a version of the SPEC utility that is incomp
88. new program on MCP 248 Serial I O on SIO module 170 Serial interface Wyse terminal user supplied cable 67 Serial Port 1 RS 232TERM 82 Serial Port 2 RS 232 83 SFLED 74 Shipping information 49 Side connectors 91 Index SIO Used with CIP 192 SIO module 40 168 172 floppy drive 170 hard drive 170 RS 232 connectors 170 technical specifications 172 Spare parts list 212 Speed setting on MCP 248 Speed bar on MCP 252 Standards compliance 33 sources 228 Starting program execution on MCP 248 Status displaying system on MCP 244 Status LEDs 74 Step selecting starting on MCP 248 Storage information 49 Store All function on MCP 247 Storing programs with the MCP 247 Support phone numbers 34 System Controller Jumper Settings 81 System Input Output module see SIO module System Power Switch 90 T Technical specifications EVI module 165 MI3 MI6 module 177 SIO module 172 VFI module 190 VGB module 137 VJI EJI module 186 Terminal mode ASCII Terminal Interface 83 Testing Extended I O Outputs 122 The MCP Bypass Plug 97 Third party vendors Wyse Technology 66 TOOL state and TOOL transformation 254 Tool state Adept MV Controller User s Guide Rev A 395 Index on MCP 254 MV 5 MV 10 53 TOOL Transformation 254 overvoltage protection Typical Extended Input I O Wiring 121 MV 5 MV 10 53 U Unpacking Information 49 Used with a VGB Interface 83 User Connector JUSER 91 V vt messages 262 VFI module
89. of these cables or an equivalent This cable can be used with both RS 170 cameras and the Pulnix TM 1001 camera Custom Pulnix TM 1001 Four Camera Breakout Cable 148 This cable available from Intercon 1 has a 44 pin D sub connector on one end and it breaks out to four 12 pin Hirose style connectors and one 9 pin D sub connector on the other end The length of the cable is 1 8 meters 70 inches This cable is used with the custom Pulnix TM 1001 D sub to BNC adapter breakout cable described in the next section Adept MV Controller User s Guide Rev A Chapter 7 Camera Cables To Camera Strobe connector on EVI board CAM 1 CAM 2 CAM 3 CABLE ASSY CAMERA INTERFACE 4X ADEPT CAM 4 m H D sub Auxiliary D sub Auxiliary Connector Pin Assignments 5 Connector TV in Signal User 12V to cameras User power return Strobe 1 Strobe return Strobe 2 Frame Reset 1 Frame Reset return Frame Reset 2 Shield chassis ground SL CO CO N 9 O A CO N Figure 7 5 Custom Breakout Cable for Pulnix TM 1001 Adept MV Controller User s Guide Rev A 149 Chapter 7 Camera Cables Custom Pulnix TM 1001 D sub to BNC Adapter Cable This cable
90. program task shown has attempted to evaluate an expres sion that is too complex to fit in the stack for that task The value is a hexadecimal number where H1 monitor task and HD task 0 HE task 1 H27 task 26 and H28 task 27 User action If the n value is one of those listed above reduce the complexity of the offending expression If the value is not one of those listed an internal problem with V is indicated In that case it would be appreciated if you would report the error to Adept Application Adept MV Controller User s Guide Rev A 291 Appendix E Alphabetical Listing Engineering Please include the details of the error message and what you were doing at the time the error occurred To save programs that are in memory you can restart Vt tempo rarily by pressing CTRL G The robot servos will not function but you can STORE the programs Then power down the controller and restart the system Fatal System clock dead None Explanation During initial startup V has failed to detect proper operation of the system clock and timer hardware V cannot run without the clock operating properly User action Power down the controller and try starting it again If the problem persists contact Adept Customer Service Fatal System clock too fast None Explanation During initial startup V has detected that the system hardware clock is running too fast V cannot run without the clock operating
91. program using the buttons they are referred to as soft buttons Prog ramming the MCP is covered in the V Language User s Guide Figure D 3 shows the soft buttons 238 Adept MV Controller User s Guide Rev A Appendix D Manual Control Pendant Basics Function Buttons The predefined function buttons have specific system wide functions assigned to them These functions are covered in MCP Predefined Functions on page 241 The programmable function buttons are used in custom application programs and their functions will vary depending upon the program being run See the documentation for your application programs for details on these buttons Figure D 3 shows the function buttons Data Entry Buttons The data entry buttons shown in Figure D 4 are used to input data normally in response to prompts that appear on the pendant display The data entry buttons include YES NO DEL the numeric buttons 0 9 the decimal point and the REC DONE button These buttons are similar to the numeric keypad on a standard keyboard REC DONE Button behaves like the Return or Enter key on a standard keyboard When data entry is complete pressing REC DONE sends the entry to the controller In many cases application programs have users press the REC DONE button to signal that they have completed a task DEL Button acts like the backspace key on a standard keyboard When data is being entered it will appear on the pendant displ
92. properly User action Power down the controller and try starting it again If the problem persists contact Adept Customer Service File already exists 500 Explanation There is already a disk file or a graphics window with the name supplied to the last storage request User action Reissue the storage request with a different file name or delete the old file File already open 506 Explanation A disk file or graphics window is already open on a logical unit and another open request has been attempted User action Modify the program to use a different logical unit number for the file or window you want to open or perform an FCLOSE operation on the file or window currently open on the specified logical unit number before performing the FOPEN operation 292 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing File format error 512 Explanation The requested disk file is not in a format acceptable to V because either it was not created by V or the file has been corrupted User action Use another diskette or reference another file File name too long 570 Explanation The file name in an NFS operation was too long User action Use a shorter file name File not opened 513 Explanation A program request was made to read or write data from a disk device when no file was open or an attempt was made to access a graphics window that is not open User action Modify the progr
93. rating 10 amps Number and size of 3 x 1 00 mm conductors Color code line brown neutral blue ground green yellow System Grounding Information The detachable three wire power cord is used for connection to both the power source and protective ground The protective ground conductor colored green yellow in the power cord is internally connected to the exposed metal parts of the MV Controller To ensure electrical shock protection the protective ground conductor must be connected to a properly grounded power source WARNING Ensure that a proper protective ground connection exists A before turning on the power Fuse Information MV 5 and MV 10 The two fuses F1 and F2 at the power entry module on the front panel are for the incoming AC power lines See the table below for ratings WARNING Only skilled or instructed personnel should attempt to change any fuses Always replace blown fuses with new fuses of the same type and rating Adept MV Controller User s Guide Rev A 55 Chapter 3 Installing the MV 5 and MV 10 Controllers Procedure to Remove Fuse Holder 1 Turn off AC power to the controller and disconnect the power cord from the AC power source 2 Remove the AC power cord from the socket on the power entry module 3 To remove the fuse holder insert a small flat blade screwdriver into the slot between the fuse holder and the power cord socket then lift up to release the fuse holder see Figure 3 2
94. red green nel ce JDIO3 34 2 power white red green JDIO3 35 2 power red black green JDIO3 36 2 power green black orange JDIO3 21 2 group 2 return blue red JDIO3 22 2 group 2test red green 128 Adept MV Controller User s Guide Rev A Chapter 5 Optional DIO Cables Table 5 13 JDIO4 Output Cable Pin Assignments Pin Group Signal Name Wire Number Number Color Pin Locations JDIO4 30 3 0049 green black white JDIO4 15 3 0050 green white JDIO4 14 3 0051 red white JDIO4 13 3 0052 black white JDIO4 12 3 0053 blue black JDIO4 11 3 0054 orange black JDIO4 10 3 0055 green black JDIO4 9 3 0056 red black JDIO4 25 3 power orange green JDIO4 26 3 power black white red JDIO4 38 3 power orange black green JDIO4 39 3 power blue white orange JDIO4 40 3 power black white orange JDIO4 41 3 power white red orange Pin 30 oe JDIO4 42 3 power orange white blue es o JDIO4 43 3 power white red blue O O JDIO4 44 3 power black white green O O JDIO4 28 3 group 3 return white black red O o O JDIO4 29 3 group 3 test red black white o O z JDIO4 7 4 0057 white black ge JDIO4 6 4 0058 blue o o JDIO4 5 4 0059 orange ae tees JDIO4 4 4 0060 green E O JDIO4 3 4 0061 red 0 Po JDIO4 2 4 0062 white o E o JDIO4 1 4 0063 black O o O JDIO4 16 4 0064 blue white as JDIO4 17 4 pow
95. require attachment for both input and output User action Edit the program to make sure it attaches a logical unit before attempting to use it to perform I O Not configured as accessed 544 Explanation An attempt has been made to access a serial line or other I O device in a manner for which it is not configured For example a Kermit or network line cannot be accessed as a simple serial line User action Check on the proper way to access the serial line for the current con figuration Use the configuration utility program to display the serial line configuration and change it if desired Not enough program stack space 413 Explanation An attempt was made to call a subroutine process a reaction sub routine or allocate automatic variables when the stack for the pro gram task was too full User action Reorganize the program logic to eliminate one or more nested sub routine calls or reactions eliminate some of the automatic variables Adept MV Controller User s Guide Rev A 325 Appendix E Alphabetical Listing that are allocated by the programs or use the STACK monitor com mand to increase the size of the stack for the program task The pro gram may be restarted with the RETRY command Not enough prototype storage area 717 Explanation The vision system does not have enough memory to store all of the prototypes requested User action VDELETE unused prototypes load fewer prototypes or use simpler
96. requires a V Extensions License which can be obtained from Adept Table 10 3 Belt Encoder Connector Pin Assignments Channel 1 Channel 2 Signal Pin Signal Pin Pin Locations A 9 A 13 A 2 A 6 B 10 B 14 a eine Pin 1570 o B 3 B V O is I 11 I 15 O o O 4 I 8 oa 2 O 1 1 Pull up Pull up Pin 9 Co Encoder power out 5 Encoder power out 5 en Encoder ground 12 Encoder ground 12 Figure 10 1 EJI Belt Encoder Connector Pinout 184 User supplied pull up used for single ended encoders only Adept MV Controller User s Guide Rev A Chapter 10 Belt Encoder Interface EJI For normal differential operation on channel 1 RP8 is not installed acen ig Encoder Channel 1 2231 ANY lt nee faro Be a RP8 lt E x FP go t l Pull up Encoder power output 5V at 800mA max 1 A fuse Enc Pwr Enc Gnd Ci Shield Encoder Channel 2 RP see HCPL Note 2 RP10 rpo FAN RP11 HE For normal differential operation on channel 2 RP11 is not installed Note 2 Note 2 Connect cable shield to RP6 amp RP9 3009 6 pin resistor pack socketed connector shell RP7 amp RP10 470Q 6 pin resistor pack socketed RP8 amp RP11 470 Q 6 pin resistor pack socketed For single ended encoders remove RP7 and RP10 and install RP8 and RP11 HPCL2331
97. statement To delete lines at the beginning of the program move down to line 2 before issuing delete commands Can t execute from SEE program instruction 362 Explanation An attempt has been made to use a SEE editor command that cannot be used after the editor has been initiated with the SEE program instruction User action Enter another command or exit the editor and reenter from the V monitor Can t exit while lines attached 355 Explanation You attempted to terminate execution of the editor while lines were present in the attach buffer The attach buffer must be empty before the editor can be exited User action You can use SHIFT Copy to deposit the contents of the attach buffer into the current program You can also use ESC K to delete lines from the attach buffer 99 ESC K deletes up to 99 lines from the buffer 270 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing Can t find calibration program file 426 Explanation While processing a CALIBRATE command or instruction the V system could not find the calibration utility program on the file CAL UTIL V2 User action Restore the missing file from the V distribution disk to the direc tory CALIB on the local drive or working system disk Can t go on use EXECUTE or PRIME 313 Explanation An attempt has been made to continue the execution of a program that has completed or stopped because of a HALT instruction Nor
98. the 030 040 and 060 line of system processors which are not compatible with V version 13 0 Adept MV Controller User s Guide Rev A Chapter 1 Warnings Cautions and Notes The new Controller Interface Panel CIP This panel replaces the VFP external front panel The CIP includes the functionality of the VFP and adds additional DIO remote front panel capabilities serial I O and DeviceNet connections The VFP is not compatible with V version 13 0 Ethernet capability is now built into the AWC processors the NET board is obsolete DeviceNet capability has been added to Adept systems Warnings Cautions and Notes There are three levels of special notation used in this manual They are PAN A WARNING If the actions indicated in a WARNING are not complied with injury or major equipment damage could result A Warning statement will typically describe the potential hazard its possible effect and the measures that must be taken to reduce the hazard WARNING If the WARNING is indicated with a lightning bolt instead of an exclamation mark an electrical danger or shock is possible for personnel working with the system CAUTION If the action specified in the CAUTION is not complied with damage to your equipment could result NOTE A NOTE provides supplementary information emphasizes a point or procedure or gives a tip for easier operation Adept MV Controller User s Guide Rev A 29 Cha
99. the SIO board you must move the five P1 jumpers If you install a board into a previously unused slot you must first remove the five jumper plugs if any are installed see Figure 3 4 Save the jumpers if a board is moved to a different slot you may need to reinstall the five jumper plugs onto the five pairs of jumper pins on the backplane next to the empty slot WARNING Only skilled or instructed personnel should attempt to A change the backplane jumper plugs This requires access to the 60 interior of the controller and potentially dangerous voltage may be present if the power is not turned off Adept MV Controller User s Guide Rev A Chapter 3 Removing and Installing Boards NOTE The Compact Controller does not have jumpers on the P1 connectors You cannot leave any empty slots in this controller with the exception of the EJI board which can be placed in slot 4 Jumper Jumper No jumpers Jumper 5 f location location required for location for slot 3 for slot 4 slot 1 or 5 for slot 2 one P1 Backplane Edge Connectors for Adept MV 5 Slot Slot Slot Slot Slot 1 2 3 4 5 Figure 3 4 Adept MV 5 Upper Backplane P1 Jumper Plugs Jumper Jumper Jumper Jumper Jumper Jumper Jumper No jumpers Jumper j 5 eso location location location location location location location required for for slot 2 for slot3 forslot4 forslot5 forslot6 for slot 7 for slot 8 for slot 9 slot 1 or 1
100. the correct address already set when you receive the controller If you add or change boards you need to check the addresses of the new boards before installing them The address setting for each board is covered in the chapter in this manual for that board Any boards that can have multiple units installed in one controller AWC EVI MI6 MI3 DIO or EJI must have a unique address for each of the individual boards Upper Backplane Jumper Plugs P1 Jumper plugs are required next to any unused upper backplane P1 connectors when there are boards installed in a higher number slot For example if there are boards in slots 1 2 and 4 there must be jumpers on slot 3 A connector is unused when either e slot is empty no board installed and there are boards in higher numbered slots e board in adjacent slot is 2 slots wide for example SIO but connects only to the P1 connector in one slot On a typical controller any required jumper plugs are factory installed You do not have to do anything with jumper plugs unless you change the position of the boards in the controller Refer to the following information Five user supplied backplane jumper plugs must be installed on any unused slots in the card cage that are between slots with installed boards For example on the MV 5 and MV 10 controllers the SIO board is two slots wide but has only one set of connectors This leaves an empty slot that has the jumpers installed If you move
101. the four high speed inputs that are used by the system for interrupts and latching The outputs although independent have a lower current rating of only 100mA compared to 700mA for the extended outputs described in the next section The second group of digital I O connections or extended DIO uses four connectors 32 inputs on JDIO1 and JDIO2 and 32 outputs on JDIO3 and JDIO4 The signals are numbered 1033 through 1064 for the inputs and 33 through 64 for the outputs The extended DIO are arranged in groups of eight signals with a common ground connection for each group and a common source for each output group However the groups are independent of each other and do not share sources or grounds The electrical characteristics of the inputs are similar to the JSIO signals but the outputs have a higher voltage rating 30VDC vs 24VDC and a higher current rating than the JSIO outputs NOTE The signals on the JDIOx connectors can be superseded by a DIO board that is installed and addressed as DIO board 1 To use both the JDIOx signals and DIO boards address the first DIO board as DIO board 2 See Chapter 12 for details on DIO boards JSIO Connector The JSIO connector on the CIP is a 50 pin standard density D Sub female connector see Figure 5 3 for location There are 12 inputs and 8 outputs each optically isolated from the circuitry of the CIP The connector also provides access to a single channel Emergency Stop circuit E Stop inpu
102. the other groups and is optically isolated from the CIP circuitry The eight outputs within each group share a common power supply and a common ground The outputs are accessed through the two 44 pin D sub output connectors on the rear of the CIP Each connector provides access to two output groups Each group requires 19 pins 8 output signals 1 test signal 9 power supply all tied together and 1 power supply ground reference When an output is on current will flow in through the power supply pins and out through the output pins This type of output is considered sourcing that is in the on condition current flows out of the output pin See Figure 5 12 for details on typical digital output wiring Testing Extended I O Outputs Like many solid state I O systems when an output is off a small leakage current will flow out of the output This will raise the potential of the output to the power supply voltage level if there is no load With a load connected the output will function normally However if you need to test the output with a voltmeter witha load disconnected you will get a false reading The test signal provides a bias that can be used as a pull down resistor for system level debugging When this is connected to an output the output will assume the ground potential when it is off Extended I O Outputs Diagnostic Signal for Thermal Overload The integrated circuits that provide the output transistors for the extended digi
103. used by the Vt REACT and REACTI instructions See the V Language Reference Guide for information on these instructions If you are going to use these instructions you should plan your digital I O channel usage accordingly Inputs on the optional DIO board or CIP JDIOx connectors cannot be used by the REACT and REACTI instructions Fast Input Signals 1001 to 1004 In addition to functioning as normal input signals signals 1001 to 1004 can have the following special uses e Fast DIO V Interrupt Events INT EVENT e Robot and Encoder Position Latch e Vision Trigger Adept MV Controller User s Guide Rev A 113 Chapter 5 Connecting User Supplied Digital I O Equipment 114 Fast DIO interrupt events using INT EVENT require the optional V Extensions License When the program task priorities are properly set there is a 2 ms maximum latency for fast inputs 1001 to 1004 when used with V INT EVENT instruction See the Vt Language Reference Guide for a description of the INT EVENT instruction The external position latch feature allows the robot and AdeptMotion interface boards EJI and or MI3 MI6 to latch in hardware the position of a robot and or conveyor belt encoders The input signal typically will come from a proximity sensor or an external probe The latched values can later be read using the VT LATCHO function The position latch must be configured using the CONFIG_C utility program It does not require the optional V Ex
104. vision object prototypes or train a new one Adept MV Controller User s Guide Rev A 323 Appendix E Alphabetical Listing No robot connected to system 622 Explanation An attempt has been made to attach a robot with a system that does not support control of a robot Note that some commands instruc tions and functions implicitly attach the robot User action Make sure the system has been booted from the correct system disk for example use the ID command to display the system identifica tion Change the program so that it does not attempt to attach the robot No vision system selected 751 Explanation The current task has not selected a vision system By default vision system 1 is selected This error may indicate the vision option is not installed User action Use the SELECT function to select a vision system No zero index Belt n 1011 Explanation The conveyor belt controller did not detect a zero index mark for the indicated belt User action Make sure the value of the BELT ZERO COUNT parameter is set correctly Make sure the belt encoder is connected properly If the problem persists contact Adept Customer Service No zero index Mtrn 1004 Explanation The motor controller did not detect a zero index mark for the indi cated joint User action Before you can resume running the program you need to recalibrate the robot If the problem persists contact Adept Customer Service No
105. watchdog timers on the CPU boards assert this signal and light the SF LED if severe software errors occur Check the SYSFAIL LEDs on the front edge of the boards The board that has failed should light its LED Restart the system Check for proper seating of the system boards and correct device connections to the boards Test the system with as many boards removed as pos Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing sible adding boards back in until the problem board is identified If the problem persists contact Adept Customer Service SYSFAIL detected by robot 642 Explanation The motion interface board has detected a SYSFAIL signal on the VME bus and has asserted the backplane E STOP signal This error is normally superseded by other errors and not seen User action Check for a subsequent message To determine if there was an unre ported RSC error type listr error task 4 where task is the number of the task that received the error If no additional information is available call Adept Customer Service Task None Explanation The SEE editor DEBUG extended command has been used to ini tiate a program debugging session for the current program The debugger needs to know which program task you want to use when executing the program User action Enter the desired task number or press RETURN to access the same task used for the last debugging session Template already defined 748
106. while a belt is defined User action Make sure the encoder cable is properly connected Try to run the conveyor at a slower speed Contact Adept Customer Service if the error persists Encoder quadrature error Mtr n 1008 Explanation The position encoder signal from the specified motor is sending information that is not phased correctly The encoder or its cabling may be defective User action Turn on high power calibrate the robot and try to perform the motion at a slower speed If the error persists contact Adept Cus tomer Service Enter new value None Explanation The SEE editor s TEACH command is requesting a new value to be assigned to the selected variable that is the one last displayed in the debug window User action Enter the desired new value as a valid expression for the type of variable selected or press RETURN to cancel the request E STOP 1 detected by CPU 608 Explanation An E STOP condition on E STOP channel 1 has been detected by the CPU Normally this message is suppressed and the cause of the E STOP is reported instead User action If safe to do so attempt to enable HIGH POWER and note any dif ferent error messages which occur Verify that the CIP is connected securely If this error occurs frequently contact Adept Customer Ser vice E STOP 2 detected by CPU 914 Explanation An E STOP condition on E STOP channel 2 has been detected by the CPU Normally this message
107. within or around the arm signal cable It is possible that the power lines to the RSC have an intermittent connection somewhere User Action If the problem persists contact Adept Customer Service Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing RSC reset 652 Explanation Vt has detected that the robot signature card RSC has lost power temporarily but is now functioning User action Turn high power back on and resume program execution If the problem persists check the cabling to the robot Contact Adept Cus tomer Service if no solution can be found RSC time out 653 Explanation V has not received a response from the robot signature card RSC when expected during the initial calibration data load The RSC or its cabling is probably faulty User action Power down the controller and check the cables to the robot If the problem persists contact Adept Customer Service RSC transmission garbled 654 Explanation V has received an invalid transmission from the robot signature card RSC Either a hardware problem has occurred or the robot is being operated in an environment with excessive electrical noise User action None unless the calibration load fails or RSC communications fail If the problem persists contact Adept Customer Service Searching for string exact case None Explanation The SEE editor command 0 has been entered The editor is prepared to search
108. 0 P1 Backplane Edge Connectors for Adept MV 10 Slot Slot Slot Slot Slot Slot Slot Slot Slot Slot 1 2 3 4 5 6 7 8 9 10 Figure 3 5 Adept MV 10 Upper Backplane P1 Jumper Plugs Adept MV Controller User s Guide Rev A 61 Chapter 3 Removing and Installing Boards Lower Backplane Jumper Plugs P2 and Third Party Boards The VME bus standard defines some of the lower backplane P2 bus signals and permits other lines to be used for application specific purposes Adept uses several of these P2 user signals for communication between Adept boards These include some safety critical signals including 24V signals On the MV 5 and MV 10 jumpers are provided next to each P2 connector If a non Adept third party board is installed in a slot and that board uses the P2 lower connector the P2 user signal jumpers for that slot must be removed On the Compact Controller jumpers are provided only for slot three Thus third party boards that use the P2 connector can be placed only in slot 3 If a third party VME board is later removed from a slot and you plan to install an Adept board in that slot you must reinstall the P2 jumper plugs for that slot WARNING For safety and functional reasons you must obtain approval from Adept BEFORE adding third party boards to the Adept controller An optional software license is also required Please contact Adept Applications Engine
109. 0 CAM4 3 Analog GND EVI 31 CAM4 7 Vd EVI 32 CAM3 6 Hd EVI 33 CAM3 5 Digital GND EVI 33 CAM3 12 Digital GND EVI 34 CAM2 6 Hd EVI 35 CAM2 8 Digital GND EVI 35 CAM2 12 Digital GND EVI 35 CAM2 5 Digital GND EVI 36 CAM1 6 Hd EVI 37 CAM1 7 Vd EVI 38 CAM1 5 Digital GND EVI 38 CAM1 8 Digital GND EVI 38 CAM1 12 Digital GND EVI 39 STROBE 5 Strobe 2 EVI 42 CAM1 4 Video EVI 43 CAM2 3 Analog GND EVI 44 CAM3 4 Video 164 Adept MV Controller User s Guide Rev A Chapter 7 EVI Board Specifications EVI Board Specifications Table 7 15 Technical Specifications Electrical Power Consumption 5 VDC at 5 0 A 12 V at 1 25 A including 1 amp for cameras 12 V at 0 1 A Width Occupies 1 backplane slot a Specifications subject to change Adept MV Controller User s Guide Rev A 165 System Input Output Board SIO Introduction a soas soso osos mo ee 168 Connections and Indicators a a a a a a a a ee a a a a 169 Mass Storage aoaaa a a 170 Floppy Drive ao aoaaa a a a 170 Hard Drive 2 66 6 6 6 a a 170 Serial I O Connectors 2 ee ee a 170 SIO Board Specifications 2 6 8 a 172 Adept MV Controller User s Guide Rev A 167 Chapter 8 Introduction Introduction The System Input Output SIO board is a 2 slot wide 6U VME slave board that provides system I O functions for the controller It has a hard drive floppy drive and three us
110. 02 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing User action Be sure that the hardware for the I O device is properly installed Repeat the failed I O operation If the problem persists contact Adept Customer Service Initialization failure Belt n 1015 Explanation The indicated belt encoder monitoring system failed to respond to V during the initialization caused by the DEFBELT instruction User action Power down the controller and restart If the problem persists con tact Adept Customer Service You can prevent this error from being reported by enabling the DRY RUN system switch Input block error 511 Explanation A read error has occurred while reading a binary data file from the floppy disk This indicates that the wrong file was specified or that the data in the file is corrupted User action Try the operation again If the error recurs use another diskette Input error Try again 16 Explanation The input provided was not consistent with what V expected User action Provide another response Invalid argument 407 Explanation An argument for a function program instruction or SEE editor command is not in the accepted range User action Check the range of arguments for the function program instruction or editor command being used Invalid camera calibration 802 Explanation A vision system operation has been attempted before the camera to robot calibration ha
111. 1010 Explanation An unrecognized error was reported by the controller for the indi cated conveyor belt User action Attempt the operation again If the error repeats report the situation to Adept Application Engineering Invalid format specifier 461 Explanation An unrecognized output format specifier was encountered in a TYPE or WRITE instruction or in an ENCODE function User action Edit the program to use a valid format specifier Invalid hardware configuration 533 Explanation An attempt has been made to access an I O device in a manner inconsistent with its current configuration Either the I O device is 304 Adept MV Controller User s Guide Rev A Appendix E User action Alphabetical Listing not present in the system or it is configured for some other use For example if a serial communication line is configured as a network port it cannot be accessed as a user serial line Make sure the correct device is being accessed Power down the controller and try starting it again Make sure the boot disk you are using is valid for your controller Use the CONFIG_C utility pro gram to make sure the serial I O configuration is correct If the problem persists contact Adept Application Engineering for assis tance If the error resulted from a disk I O operation it indicates that the disk controller hardware is not configured correctly Adept Cus tomer Service should be contacted in that case Inva
112. 1014 Explanation During initialization of a robot kinematic module the indicated motor failed initialization The problem may be a missing or improperly configured servo interface board or an incorrect motor mapping for this module User action Verify that all servo interface boards are correctly installed and con figured use the SPEC V2 utility for motor mapping If the problem persists contact Adept Customer Service Fatal Invalid serial I O configuration None Explanation During initial startup V has detected that the configuration of the hardware for serial communications is not valid An attempt has been made to configure a serial unit that is not installed or an invalid byte format or baud rate has been requested User action Power down the controller and try starting it again Make sure that the boot disk you are using is valid for your controller Use the CONFIG_C utility program to make sure the serial I O configura tion is correct If the problem persists contact Adept Application Engineering Fatal Servo process dead CPU n 1101 Explanation V failed to detect proper operation of the servo process on the indi cated CPU V will continue to operate but will not allow high power to be turned on 290 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing User action Power down the controller and restart Use the CONFIG C V2 util ity to verify that a servo process is enabled
113. 12 CAM4 3 Shield video EVI 42 CAM4 4 Video Adept MV Controller User s Guide Rev A Camera Cable Pin and Signal Information 159 Chapter 7 Camera Cable Pin and Signal Information Table 7 11 Four Camera Breakout Cable Pin Assignments Continued From Pin To Pin Function EVI 38 CAM4 5 Shield Hd EVI 36 CAM4 6 Hd horizontal drive EVI 37 CAM4 7 Vd vertical drive 38 CAM4 8 not connected 22 CAM4 9 not connected CAM4 10 not connected CAM4 11 not connected EVI 17 CAM4 12 Shield Vd Str Pwr 1 User 12 V to cameras Str Pwr 2 User power return EVI 26 Str Pwr 3 Strobe 1 EVI 11 Str Pwr 4 Strobe return EVI 39 Str Pwr 5 Strobe 2 EVI 11 Str Pwr 6 Reserved EVI 40 Str Pwr 7 Reserved EVI 11 Str Pwr 8 Reserved EVI Str Pwr 9 Shield chassis ground Note that this cable provides user supplied 12VDC to the cameras obtained from the Strobe and Power connector Table 7 12 Pulnix TM 1001 Breakout Cable Pin Assignments From Pin To Pin Function CAM2 1 CAM 1 1 PWR GND CAM3 1 CAM1 1 PWR GND CAM4 1 CAM1 1 PWR GND STROBE 2 CAM1 1 PWR GND CAM2 2 CAMI1 2 12V power CAM3 2 CAM1 2 12V power CAM4 2 CAM1 2 12V power STROBE 1 CAMI1 2 12V power EVI 12 CAMI 3 Analog GND EVI 42 CAM 4 Video EVI 38 CAMI 5 Digital GND EVI 36 CAM1 6 Hd 160 Adept
114. 13 Ilegal motion from here 614 Attempt to modify active belt 615 Belt not enabled 616 Belt window violation 617 Belt servo dead 618 Location too close 619 Invalid orientation 620 Speed pot or STEP not pressed 621 Robot interlocked 622 No robot connected to system Adept MV Controller User s Guide Rev A 367 Appendix E Table E 7 Error Messages Continued Numerical List Code Message Text 623 Stop on force triggered 624 Force protect limit exceeded 625 Invalid servo initialization data 626 Can t ALTER and track belt 627 Robot power on 628 Robot module not loaded ID n 629 SYSFAIL detected by CPU 630 Backplane E STOP detected by CPU 631 Controller overheating 632 Power failure detected by robot 633 PANIC command 635 Cartesian control of robot not possible 636 Trajectory clock overrun 637 Ilegal while joints SPIN ing 638 SPIN motion not permitted 639 Manual brake release 640 E STOP from robot 641 E STOP from amplifier 642 SYSFAIL detected by robot 643 E STOP detected by robot 644 Incompatible robot and safety ID 645 Power disabled Manual Auto changed 646 HIGH POWER button not pressed 647 Collision avoidance dead
115. 2 lt no message gt Signals start of program execution 3 Program completed 4 Program task stopped at 5 lt no message gt Signals start of DO processing 6 lt no message gt Signals completion of DO processing 7 lt program instruction step gt For TRACE mode of execution 8 HALTED 9 PAUSED 10 Are you sure Y N 11 Change 15 Program HOLD 16 Input error Try again 17 Breakpoint at task program_name step n 18 Watchpoint changed at task program_name step n Old value n New value n Table E 6 Warning Messages Code Message Text 50 Executing in DRY RUN mode 51 Warning Not calibrated 52 Warning Protected and read only programs are not stored 53 Protected program 360 Adept MV Controller User s Guide Rev A Appendix E Numerical List Table E 6 Warning Messages Continued Code Message Text 54 Warning SET SPEED switch disabled 55 Warning Monitoring watchpoint 56 Warning Watchdog timer disabled 57 Press HIGH POWER button to enable power 58 Push release hold MCP enable switch 60 Press HIGH POWER button when blinking 100 Network connection opened 101 Network connection closed Table E 7 Error Messages Code Message Text 300 Illegal monitor command 301 No program specified 302 DO not primed 30
116. 2 7 increase by 32 for each additional board see Table 12 8 Adept MV Controller User s Guide Rev A 201 Chapter 12 Optional DIO Cables Table 12 5 DIO P2 Input Cable Pin Assignments Pin Signal Board 1 Wire Pin Number Group Signal color Locations P2 15 3 1049 red white P2 6 3 1050 orange P2 16 3 1051 green white P2 7 3 1052 blue P2 17 3 1053 blue white P2 8 3 1054 white black Pin 9 P2 18 3 1055 black red Pin 18 Pin 26 P2 9 3 1056 red black 6 O O O P2 25 3 group 3 return blue red O A O P2 26 3 group 3 return red green Q O 9 Oo O P2 10 4 1057 green black o a o O o O P2 1 4 1058 black o E o P2 11 4 1059 orange black o9 p Pin 6 AV P2 2 4 1060 white Pin 10 ss P2 12 4 1061 blue black m P2 3 4 1062 red P2 13 4 1063 black white P2 26 Pin Female Input Connector on DIO Board P24 4 1064 green Front Panel P2 19 4 group 4 return white red P2 20 4 group 4 return orange red a The signal numbers for boards 2 7 increase by 32 for each additional board see Table 12 8 202 Adept MV Controller User s Guide Rev A Chapter 12 Optional DIO Cables Table 12 6 DIO P3 Output Cable Pin Assignments Pin Group Board 1 Wire Number Number Signal name Color Pin Locations P
117. 2 919 0300 American Electronics Association Europe 40 Rue des Drapiers 1050 Brussels Belgium Phone 322 502 7015 Fax 322 502 6734 American National Standards Institute 11 West 42nd Street 13th Floor New York NY 10036 USA Phone 212 642 4900 Fax 212 398 0023 Document Center Inc 1504 Industrial Way Unit 9 Belmont CA 94002 USA Phone 415 591 7600 Global Engineering Documents 15 Inverness Way East Englewood Co 80112 USA Phone 800 854 7179 Fax 303 397 2740 US Department of Commerce International Trade Administration Office of EU and Regional Affairs Herbert C Hoover Bldg Room 3036 Washington DC 20230 USA Source of EU Directives Only Phone 202 482 5276 Fax 202 482 2155 Adept MV Controller User s Guide Rev A Appendix C IEC Test Information IEC Test Information The Adept MV controller has passed the following IEC 1131 test conditions e Voltage drops normal service Severity level PS2 e Relative Humidity Severity level RH2 e ESD Electrostatic Discharge Severity level 4 The Adept controller was tested at severity level 4 for ESD In order to maintain compliance Adept advises the use of proper EMC suppression techniques All cables between the controller and peripheral equipment including the power chassis in an Adept robot system should be shielded and properly grounded at both termination points Where the use of unshielded cables cannot be avoided addit
118. 3 146 148 149 150 152 154 158 171 Figure 10 1 Figure 10 2 Figure 12 1 Figure 12 2 Figure 12 3 Figure 13 1 Figure 13 2 Figure A 1 Figure A 2 Figure A 3 Figure A 4 Figure A 5 Figure B 1 Figure D 1 Figure D 2 Figure D 3 Figure D 4 Figure D 5 Figure D 6 Figure D 7 Figure D 8 Figure D 9 Figure D 10 Figure D 11 Figure D 12 Figure D 13 Figure D 14 Figure D 15 Figure D 16 Figure D 17 Figure D 18 Figure G 1 Figure G 2 Figure G 3 Figure G 4 Figure G 5 Figure G 6 Table of Contents EJI Belt Encoder Connector Pinout EJI Belt Encoder Typical Input Circuity Typical Digital Input Setup ar Typical Digital Output Setup Switch and Jumper Locations on the DIO Board CIP Front Panel Screws Lamp Body Contact Alignment m Adept MV 5 10 Stand Alone Outline Drawing Adept MV 5 10 Robot Outline Drawing Adept Compact Controller Dimensions MCP Cradle Dimensions _ CIP Dimensions Interrupt Block Diagram Holding the MCP Cradling the MCP MCP Layout Data Entry Keys MCP Predefined Function Buttons EDIT Function Button DISPLAY Function Button CLEAR ERROR Function Button Command CMD Function Button Program Set Function Button Mode Control Buttons Speed Bars nor WORLD State Four Axis SCARA TOOL State Four Axis SCARA TOOL State Six Axis Robot JOINT State Four Axis SCARA JOINT State Six Axis Robot FREE State Four Axis SCARA Trunklines and Droplines Made of Thic
119. 3 Controller not in automatic mode 304 Controller not in manual mode 305 Storage area format error 307 Program not executable 308 Program interlocked 309 Program already exists 310 Can t access protected or read only program 311 Invalid when program task active 312 Can t start while program running 313 Can t go on use EXECUTE or PRIME 314 Switch can t be enabled 315 Invalid software configuration 316 Software checksum error 317 Controller not in network mode Adept MV Controller User s Guide Rev A 361 Appendix E Table E 7 Error Messages Continued Numerical List Code Message Text 318 Program task not active 319 Program task not in use 350 Can t delete PROGRAM statement 351 First statement must be PROGRAM 352 Invalid in read only mode 353 No other program referenced 354 Line too long 355 Can t exit while lines attached 356 Not found 357 Recursive macros illegal 358 Cancelled 359 Illegal in debug monitor mode 360 Must be in debug mode 361 Can t change modes while task running 362 Can t execute from SEE program instruction 363 Unknown editor command 364 Can t create program in read only mode 365 Ilegal in read write mode 366 Invalid when program on stack 380 Breakpoint not allowed here
120. 3 30 1 0033 green black white P3 15 1 0034 green white P3 14 1 0035 red white P3 13 1 0036 black white P3 12 1 0037 blue black P3 11 1 0038 orange black P3 10 1 0039 green black P3 9 1 0040 red black P3 25 1 power orange green P3 26 1 power black white red P3 38 1 power orange black green P3 39 1 power blue white orange P3 40 1 power black white orange P3 41 1 power white red orange Pin 15 P3 42 1 power orange white blue Pin a P3 43 1 power white red blue O O P3 44 1 power black white green i O P3 28 1 group return white black red o O o P3 29 1 group test red black white O O O P3 7 2 0041 white black O a Oo P3 6 2 0042 blue O o O P3 5 2 0043 orange o 2 P34 2 0044 green a P3 3 2 0045 red ofo P3 2 2 0046 white oco P3 1 2 0047 black O o O P3 16 2 0048 blue white CoS P3 17 2 power black red aan P3 18 2 power white red Pin 31 Pin 16 P3 19 2 power orange red Pin 1 P3 31 2 power orange black white P3 32 2 power blue black white P3 33 2 power black red green P3 44 Pin Female Output P3 34 2 power white red green a eee Front Panel P3 35 2 power red black green P3 36 2 power green black orange P3 21 2 group 2 return blue red P3 22 2 group 2 test red green a The signal numbers for 2 7 increase by 32 for each additional board see Table 12 8 Adept MV Controller User s Guide Rev A 203 Chapter 12 Optional DIO Cables Table 12 7 DIO P4 Output Cable Pin Assignments
121. 4 DeviceNet Connector Styles Connector Description Open pluggable Uses screws to attach cable wires to a removable connector Open hard wire Uses wires attached directly to screw terminals Sealed mini style Attaches to taps and thick or thin cable Sealed style micro Attaches to thin cable only has a reduced current rating Termination of the DeviceNet Network 386 The DeviceNet network uses the Controller Area network CAN bus as the physical layer This requires that the trunk line of your DeviceNet network be terminated with a resistor at each end This terminates the signal lines The terminating resistor e Prevents reflection of communication signals on the network e Connects the two signal conductors e Must be sealed if the end node uses a sealed tee e Must be open if the end node uses an open style tap Adept MV Controller User s Guide Rev A Appendix G DeviceNet Physical Layer and Media When using the open style terminating resistor connect a 121ohms 1 4W resistor to CAN_H and CAN_L between blue and white data pair wires Pin 4 Pin 5 CAN H CANL e Terminating Resistor 121 ohms 1 4W Figure G 5 Example of a Terminating Resistor Installation on a DeviceNet Bus Power Supply and the DeviceNet Bus The DeviceNet network allows distribution of power supplies on the network cable system Follow these general rules to achieve a safe and reliable o
122. 4 is clockwise as viewed from above Positive movement of Joint 3 is downward Before the speed bars will move a joint the correct joint must be selected from the manual control buttons 256 Adept MV Controller User s Guide Rev A Appendix D Moving a Robot or Motion Device With the MCP Different robots or motion devices will have the different joint numbers assigned to their joints When you first move an unfamiliar robot using joint state set the monitor speed to 10 or lower put the robot in a safe area and carefully move the robot using the different joint numbers to verify how the MCP moves the robot See the documentation for the motion devices you are using for details on their joint assignments Joint 2 Jiti CD C gt Joint 1 Joint 2 Joint 3 Joint 3 Joint 4 Joint 4 Figure D 16 JOINT State Four Axis SCARA Figure D 17 shows the joint assignments for a typical six axis robot as always the first time you move a robot carefully verify the joint assignments Adept MV Controller User s Guide Rev A 257 Appendix D Moving a Robot or Motion Device With the MCP 258 Joint 4 Joint 4 Joint 5 Joint 5 Joint 6 Gripper Joint 6 Figure D 17 JOINT State Six Axis Robot Free State When free state is selected individual joints are freed from servo control and the robot brakes if any are released Unlike the other states you can make multiple select
123. 41 188 190 connections indicators 188 technical specifications 190 VME bus address 189 VGB Graphical User s Interface 80 VGB module 40 132 137 connections indicators 133 DIP switch settings 134 technical specifications 137 VME bus address 134 VGB User Interface Settings of DIP Switch SW1 80 Video bus coupling installation 146 Viewing angle LCD panel on MCP 240 Vision Interface module see EVI module Vision trigger external 224 VJI EJI module 41 180 186 belt encoder interface 184 185 connections indicators 181 technical specifications 186 VME bus address 182 VME bus address DIO module 205 EVI module 142 MI3 MI6 module 176 VFI module 189 VGB module 134 EJI module 182 Voltage interruptions MV 5 MV 10 51 maximum operating MV 5 MV 10 53 minimum operating 396 Adept MV Controller User s Guide Rev A 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 Adept MV Controller User s Guide Rev A PART NUMBER 00330 01040 PUBLICATION DATE September 1998 COMMENTS MAIL TO Adept Technology Inc Technical Publications Dept 11133
124. 49 Explanation V did not enable high power because you failed to toggle properly the MCP enable switch on the manual control pendant User action Do one or more of the following 1 when toggling the MCP enable switch release it for a minimum of about two seconds and a maxi mum of ten seconds and then press it back in and 2 make sure that you are pressing the MCP enable switch and not the RUN HOLD button by mistake Too many arguments 553 Explanation Too many arguments were specified for the last command or instruction User action Reenter the command or instruction but with the correct number of arguments Too many array indices 474 Explanation The specification of an array element contains more than three indexes User action Reenter the line with the correct number of indexes Too many closeable windows 554 Explanation The names of too many graphics windows have been specified to appear in the pull down under the Adept logo in the status line at the top of the screen User action Specify all subsequent windows as NOCLOSEABLE or delete some existing windows that appear in this pull down Too many icons 556 Explanation An attempt has been made to define more graphic icons than the system is configured to support User action Delete any icons that are no longed needed If necessary use the CONFIG C utility program to reconfigure your V system to sup port more icons Adept MV C
125. 5 or MV 10 robot controller can be mounted in a rack or panel by using the mounting brackets that are shipped in the accessories kit The brackets can be attached at the rear of the controller for panel mounting or they can be attached to the front of the controller for rack mounting The Compact Controller installs with the PA4 chassis See the robot instruction handbook for your robot system for details on installing the PA4 chassis NOTE To maintain compliance with EN 60204 in European installations the mounting of the controller and all terminations at the controller must be performed in accordance with this standard Space Around the Chassis When the robot controller is installed you must allow 25 mm 1 inch at the top and bottom of the chassis for proper air cooling You must also allow 75 mm 3 inches at the front of the chassis for power and signal cable clearance CAUTION The air filter must be kept clean so the forced air cooling system can work efficiently See Chapter 13 for details on cleaning the filter Adept MV Controller User s Guide Rev A 69 Chapter 3 Installing a Robot Controller in a Rack or Panel Rack Mounting To rack mount the Adept MV 5 or MV 10 robot controller in a standard 19 inch equipment rack you must first install the mounting brackets see Figure 3 9 then build an extender panel and attach it to the bracket on one side of the controller The controller can be joined to an Adept PA 4 power c
126. 7 DIO P1 Input Cable Pin Assignments 201 DIO P2 Input Cable Pin Assignments 202 DIO P3 Output Cable Pin Assignments 203 DIO P4 Output Cable Pin Assignments 204 Switch Settings for S1 on DIO Board 205 DIO Board Technical Specifications 207 Spare Parts From Adept 212 Spare Parts From Third Parties 212 Sources for Standards and Directives 228 EMC Test Results e e psd ek Gg da 20 Operator Indicator Color Code see e ee ee ee as 29l Service Indicator Color Code 232 Robots With More Than 6 Axes 260 MMSP External E STOP Error Message Codes 280 MMSP Diagnostic Error Message Codes 314 MMSP External Sensor Fault Error eae Codes se 4 16 NFS Error Message Codes Che amp se amp e ZT Informational Messages 360 Warning Messages pres ee ee oe me ee oe OOD Error Messages 36 Adept MV Controller User s Guide Rev A 23 Table of Contents Table G 1 Table G 2 Table G 3 Table G 4 Table G 5 24 DeviceNet Signal to Pin Locations Features of a DeviceNet Network a DeviceNet Data Rates Relative to Cable Type and Length DeviceNet Connector Styles Maximum Current on a Dropline Relative to its Length Adept MV Controller User s Guide Rev A 382 384 385 386 388 Introduction How to Use This Manual E How to Install and
127. 8 closed closed closed closed Open closed 4 1129 1160 129 160 closed closed closed closed Open Open 5 1161 1192 161 192 closed closed closed Open closed closed 6 1193 1224 193 224 closed closed closed Open closed Open 7 1225 1256 225 256 closed closed closed Open Open closed 8 1257 1288 257 288 closed closed closed Open Open Open Switch position 7 required setting is closed Switch position 8 required setting is open Adept MV Controller User s Guide Rev A 205 Chapter 12 Additional DIO Boards Labeling Sets of Cables 206 The optional Adept input and output cables for the DIO boards are the same for each additional board that you add to a controller Make sure to clearly label each set of four cables so that they are identified with a specific DIO board Also see the warning on page 200 about swapping the two input cables or the two output cables with each other Typical J3 to J6 Adept DIO Board Component Side Figure 12 3 Switch and Jumper Locations on the DIO Board Adept MV Controller User s Guide Rev A Chapter 12 DIO Board Specifications DIO Board Specifications Table 12 9 DIO Board Technical Specifications Electrical Power Consumption 5 VDC 1 0 A typical 5 VDC 1 2 A max 12 VDC none
128. A 243 Appendix D MCP Predefined Functions 244 The Display Function The Display function button allows either the current joint values the current world location the system status the digital I O status or the last error message to be displayed on the MCP JOINT WORLD STATUS DIGITAL LAST VALUES LOCATION amp ID WO ERROR LO O O O Figure D 7 DISPLAY Function Button Joint Values When this button is pressed the display shows Jl x xx J2 x xx J3 X XX J4 x xx JS x xx J6 X XX These values represent the current joint positions of the robot or motion device Values will be shown only for joints the robot or motion device actually has Rotational joint values are expressed in degrees and translational joint values are expressed in millimeters World Location When this button is pressed the display shows X xxx xxmm Y XXX XXMM Z XXX XXMM xxx xx p xxx xx r XXX xx y The values represent the current location of the robot or motion device in world coordinates See Moving a Robot or Motion Device With the MCP on page 249 for details on world coordinates Status amp ID When this button is pressed the display shows Status SOFTWARE CNTRLR ROBOT ID ID ID S Adept MV Controller User s Guide Rev A Appendix D MCP Predefined Functions The Status button displays program name 50 1 O Program Speed Cycle Left Program shows the na
129. Adept Customer Service E STOP circuit relay failure 907 Explanation An E STOP condition has occurred because the E STOP chain on one channel is not in the same state as the other channel This could be the result of welded contacts on one of the two E STOP Relays a failure on the CIP a short circuit in one of the E STOP channels a failure on the CIP or user connections or the result of a pair of con tacts connected to the E STOP channels being in the opposite state one open the other closed User action Check all user connections to each of the E STOP channels plugs fully seated contacts on each channel in the same closed state If no problem is uncovered in the user connections call Adept Customer Service 282 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing E STOP from amplifier 641 Explanation The motion interface board has detected an E STOP condition gen erated by the motor amplifiers It indicates that the amplifiers have detected some fault condition User action Check for a subsequent message To determine if there was an unre ported RSC error type listr error task 4 where task is the number of the task that received the error If no additional information is available check that the amplifiers are plugged into the backplane correctly the fixing screws are tightened and the motor and signal cables are connected correctly E STOP detected by robot 643 Explana
130. Adept MV Controller User s Guide For V Version 13 0 or Later TA A A od ofelo 19080 esp o fe dA AIC gt r Adept MV Controller User s Guide For V Version 13 0 or Later 6n n enlenlenlenle Jo Jo AWC SIO VGB EVI VJI DIO ox coro o 888 piC Did 3 S gt of ae ae w d Part Number 00330 01040 Rev A September 1998 ceay 150 Rose Orchard Way San Jose CA 95134 USA Phone 408 432 0888 Fax 408 432 8707 aS bat eat 7
131. B Thomas amp Betts Sales USA 800 888 0211 Australia 037 750533 Canada 514 347 5318 France 1 46 87 23 85 Germany 06103 4040 Japan 03 379 16411 Korea 276 10398 Singapore 756 6566 Taiwan 35 779933 UK 01582 60810 Source Thomas amp Betts USA Sept 1994 Screw Terminal Field Wiring Adapter Blocks Several manufacturers make screw terminal field wiring blocks usually DIN rail mountable These can be connected to the SIO via a suitable shielded 50 pin cable user supplied Phoenix Contact Inc FLKM D 50 SUB B DIN rail mount interface block screw terminal to 50 pin D connector female Alternative FLK D 50 SUB B Phoenix Contact Sales USA 717 944 1300 Canada 416 890 2820 Germany 05235 550 Japan 045 931 5602 France 1 60 17 98 98 UK 0734 442844 Source Phoenix Contact USA Aug 1994 Adept MV Controller User s Guide Rev A 117 Chapter 5 Connecting User Supplied Digital I O Equipment 118 Weidmiller AD911886 RD 50 ASJS D Sub to wire transition module 50 pin female D Sub with jackscrews Weidmiiller Sales USA 800 849 9343 or 804 794 2877 Australia 047 354211 Canada 416 475 1507 Germany 05231 4510 France 1 34 50 34 50 Japan 035 820 5747 Singapore 296 6133 UK 01795 58099 Source Weidmtiller USA Sept 1994 Adept MV Controller User s Guide Rev A Chapter 5 Extended Digital I O Signals Extended Digital I O Signals The extended d
132. Configure the Adept Controller Related Manuals Standard Manuals E Other Adept Product Manuals Optional Vt Developer s Manuals What s New in This Version Warnings Cautions and Notes Safety Reading and Training for Users and Operators System Safeguards Safety Features on the Compact lalevdee Panel CIP Computer Controlled Robots and Motion Devices Manually Controlled Robots and Motion Devices Other Computer Controlled Devices Program Security Voltage Interruptions Inappropriate Uses of the Adept Canitoiler Standards Compliance How Can I Get Help Adept MV Controller User s Guide Rev A 26 26 26 27 27 28 28 29 30 30 31 31 31 31 31 32 32 32 33 34 25 Chapter 1 How to Use This Manual How to Use This Manual How to Install and Configure the Adept Controller 1 Read Chapter 1 this chapter to learn about Safety and Customer Service issues and Chapter 2 to get an overview of the Adept controller and its components 2 Read Chapter 3 to learn the steps to follow to install the controller This chapter covers AC power installation fuse information installing and removing boards connecting monitors and keyboards and installing in a rack or panel mount 3 Read Chapter 4 which covers the required system processor Read Chapter 5 which covers the Compact Interface Panel CIP Pay particular attention to the Emergency Stop circuitry 5 Read the appropriate chapters 6
133. Connector Pin Assignments Pin Signal Pin Signal 1 Shield 6 not connected 2 Transmit Data from pointer 7 12 VDC RTS 3 Receive Data to pointer 8 not connected 4 not connected 9 not connected 5 Signal Ground VGB Board Specifications Table 6 6 Technical Specifications Electrical Power Consumption 5Vat23A 12 Vat2mA 12 V at 2mA Pointer Input For mouse or trackball Microsoft serial mouse protocol 1200 bps For touchscreen ELO TouchSystems protocol 1200 bps Keyboard input AT compatible DIN 5 connector Width Occupies one backplane slot Specifications subject to change Adept MV Controller User s Guide Rev A 137 AdeptfVision Enhanced Vision Interface EVI Board Introduction Connections and indicators f VME Bus Address and Configuration EVI Motherboard DIP Switch Setting Acquisition Switch Setting Mode Settings for Normal RS 170 Cameras Settings for Pulnix TM 1001 Cameras Camera Compatibility i Standard RS 170 Cameras High Resolution Cameras Installing Video Bus Coupler Camera Cables Four Camera Breakout Cable for RS 170 Camos 10 Meter Camera Extension Cables Custom Pulnix TM 1001 Four Camera Breakout Cable Custom Pulnix TM 1001 D sub to BNC Adapter Cable Installing Camera Cables Connecting the Cables to the RS 170 Standard Camera Connecting the Cables to the Pulnix TM 1001 Camera Camera Cable Pin and Signal
134. E bus specification the EVI board cannot supply enough current to operate all four cameras from the four camera cable You must supply the external power to operate the cameras when using this cable This power must be routed through the 9 pin D sub connector see Figure 7 4 and Table 7 9 for pin information Connect the power and ground on the breakout cable to a 12V power supply producing 2 0A at 12VDC Adept MV Controller User s Guide Rev A 147 Chapter 7 Camera Cables To Camera Strobe connector on EVI board CAM 1 CAM 2 CAM 3 CABLE ASSY CAMERA INTERFACE 4X ADEPT CAM 4 O LS D sub Auxiliary E Connector O D sub Auxiliary Connector Pin Assignments I 5 Signal User 12V to cameras B User power return o Strobe 1 Strobe return Strobe 2 Reserved Reserved Reserved Shield chassis ground SL o NI O By O N Figure 7 4 Four Camera Breakout Cable For RS 170 Cameras 10 Meter Camera Extension Cables The 10 meter camera extension cables have a male Hirose connector on one end and a female Hirose connector on the other end These cables go between the breakout cables and the connectors on the cameras Each camera requires one
135. GB Introduction Connections and inditas DIP Switch Settings VME Bus Address Monitor Video Interface Keyboard Interface Pointer Interface Mouse Trackball or Pidiehscisent VGB Board Specifications AdeptVision Enhanced Vision Interface EVI Board Introduction Connections and indicators VME Bus Address and Configuration EVI Motherboard DIP Switch Setting Acquisition Switch Setting Mode Settings for Normal RS 170 Cameras Settings for Pulnix TM 1001 Cameras Camera Compatibility f Standard RS 170 Cameras High Resolution Cameras Installing Video Bus Coupler Camera Cables Four Camera Bredkoui Cable for RS 170 Comedi 10 Meter Camera Extension Cables Custom Pulnix TM 1001 Four Camera Breakout Cable Custom Pulnix TM 1001 D sub to BNC Adapter Cable Installing Camera Cables Connecting the Cables to the RS 170 Standard Camera Connecting the Cables to the Pulnix TM 1001 Camera Camera Cable Pin and Signal Information EVI Board Specifications System Input Output Board SIO Introduction Adept MV Controller User s Guide Rev A 125 125 131 132 133 134 134 135 136 137 137 139 140 141 142 142 143 144 144 145 145 145 146 147 147 148 148 150 151 151 152 155 165 167 168 10 11 12 Connections and Indicators Mass Storage Floppy Drive Hard Drive Serial I O Connectors SIO Board
136. GROUP 3 4 JDIO4 WO 12 IN 8 OUT AUX ESTOP JSIO O O O O GROUP 3 4 JDIO2 AUX JEXT Reserved Do not use Figure 5 3 Controller Interface Panel CIP Back Panel View Installation of the Controller Interface Panel CIP The Controller Interface Panel CIP is connected to the AWC by an interconnect cable connecting the CIP connections on the AWC to the JAWC connector on the CIP The Manual Mode Safety Package MMSP option connects to the CIP using the JMMSP and JSIO connectors The MMSP is described in the robot instruction handbook for your robot system All the user connections to the AWC except for the serial ports and the Ethernet connectors are made via the CIP The CIP provides connections for digital I O fast inputs one RS 232 serial port DeviceNet and the user interface to the emergency stop circuitry See Connecting Customer Supplied Safety and Power Control Equipment to the CIP on page 98 for further details Adept MV Controller User s Guide Rev A 93 Chapter 5 Connecting the CIP to the AWC Location of the CIP The CIP contains features that prevent dangerous motions while an operator is in the workcell In order for the installation of the CIP to conform with RIA and European standards for power control functions the CIP must be mounted outside the robot enclosure Mount the CIP outside the same enclosure as the controller or on a separate protected enclosure See the Enclos
137. Hewlett Packard Opto coupler Figure 10 2 EJI Belt Encoder Typical Input Circuity Adept MV Controller User s Guide Rev A 185 Chapter 10 EJI Board Specifications EJI Board Specifications Table 10 4 Technical Specifications Maximum EJIs per controller 3 Number of axes of control 5 axes of robot joint control per VJI EJI maximum board Number of belt encoders 2 conveyor belts per VJI EJI board maximum Width Occupies one backplane slot Specifications subject to change b Note that there may be limitations preventing the operation of dual Adept robots from a single controller 186 Adept MV Controller User s Guide Rev A AdeptForce VME Board VFI Introduction 2 1 ww ee ee ee a Connections and Indicators 6 sees VME Bus Address 2 es se 68 8 8 ee eo ee ee ew ee we a VFI Board Specifications a 1 ee ee ee es Adept MV Controller User s Guide Rev A 187 Chapter 11 Introduction Introduction The AdeptForce VME Force Interface VFI board is a 6U single slot VME board designed to control force sensing for use with the AdeptForce VME product The VFI board is the interface to the force sensor that is installed on a robot or motion device The VFI board processes data from the force sensor and then makes those force readings available to user programs See the AdeptForce VME User s Guide for complete information on installation configurati
138. Input Voltage 100 120 and 200 240 VAC 100 120 and 200 240 VAC auto ranging auto ranging DC Power Supply total 250 W 350 W Isolation Voltage Power 3 kV input to output 3 kV input to output Supply 1 5 kV line to PE Class 1 1 5 kV line to PE Class 1 Isolation Voltage AC Line Filter 1 5 kV line to PE Class 1 1 5 kV line to PE Class 1 Dimensions See Appendix A Operating Environment See Table 3 1 See Table 3 2 for complete information on input power and Table 3 4 for fuse ratings MV 4 Insert Technical Specifications 72 The electrical and environmental requirements for the MV 4 are the same as for the PA4 amplifier chassis See the robot instruction handbook for your robot for these specifications Adept MV Controller User s Guide Rev A The AdeptWindows Controller Board AWC Board Connectors and Indicators AWC Board Processors Compact Flash EEPROM AWC Board Snacilicatione Configuring an AWC Module Factory Default Settings DIP Switch Settings AdeptWindows PC Graphical T intateee VGB Graphical User Interface ASCII Terminal AUTO Boot CPU Board Number Assignment System Controller Jumper Settings Ethernet Connections AWC Module Serial I O Ports Serial Port 1 RS 232 TERM Terminal Mode ASCII Terminal interes Used With a VGB Interface Serial Port 2 RS 232 RS 422 485 Connector LED Status Indicators on the AWC Adept MV Cont
139. Kenwood Rd Cincinnati OH 45242 00330 01040 Rev A
140. M1 Shield Hd EVI 38 CAM1 8 Shield Clock EVI 38 CAM1 12 Shield Vd EVI 39 Str Pwr 5 Strobe 2 EVI 40 Str Pwr 7 Reserved EVI 42 CAMI 4 Video EVI 43 CAM2 3 Shield video EVI 44 CAM3 4 Video Note that this cable provides user supplied 12V dc to the cameras ob tained from the Strobe and Power connector not from the Adept control ler Table 7 14 Pulnix TM 1001 Breakout Cable Pin Assignments From Pin To Pin Function CAM2 1 CAM 1 1 PWR GND CAM3 1 CAM1 1 PWR GND CAM4 1 CAM1 1 PWR GND STROBE 1 CAM1 2 12V power CAM2 2 CAM1 2 12V power CAM3 2 CAMA 2 12V power CAM4 2 CAMA 2 12V power STROBE 2 CAM1 1 PWR GND EVI SHIELD CAM1 SHIELD EVI SHIELD CAM2 SHIELD EVI SHIELD CAM3 SHIELD EVI SHIELD CAM4 SHIELD EVI SHIELD STROBE 9 EVI Ul STROBE 4 Digital GND EVI 11 STROBE 7 GND FR Return EVI 12 CAM1 3 Analog GND EVI 14 CAM3 3 Analog GND EVI 15 CAM4 4 Video EVI 16 CAM4 6 Hd Adept MV Controller User s Guide Rev A 163 Chapter 7 Camera Cable Pin and Signal Information Table 7 14 Pulnix TM 1001 Breakout Cable Pin Assignments Continued From Pin To Pin Function EVI 17 CAM4 5 Digital GND EVI 17 CAM4 12 Digital GND EVI 18 CAM3 7 Vd EVI 19 CAM2 7 Vd EVI 20 CAM2 9 Clock 2 EVI 21 STROBE 8 Frame Reset 2 EVI 22 CAM1 9 Clock 1 EVI 23 STROBE 6 Frame Reset 1 EVI 26 STROBE 3 Strobe 1 EVI 29 CAM2 4 Video EVI 3
141. ME Developer s Guide for complete information on the installation and setup of user equipment MI3 MI6 Board Specifications Table 9 2 Technical Specifications Electrical Power 5 VDC at 4 0 A max Consumption 19 V at 84 mA 12Vat21mA Maximum MI6 per controller MV 19 4 MI 6 MV 5 2 MI 6 MV 10 4 MI 6 Number of axes of control 3 axes of control per MI 3 board 6 axes of control per MI 6 board Width Occupies one backplane slot Specifications subject to change Adept MV Controller User s Guide Rev A 177 Enhanced Joint Interface EJl Introduction b 4 180 Connections Gnd indicdiots Ce ada deda dadda ee te we TT VME Bus Address EE ML Le a ae DR Address Settings for EJI Boards poi 4 boao ao a s a 182 Address Settings for Multiple Servo Boards aoa eta Ge a ae et a 182 Belt Encoder Interface 2 64 58 2 sw 84 EJI Board Specifications 186 Adept MV Controller User s Guide Rev A 179 Chapter 10 Introduction Introduction 180 The Adept VME Enhanced Joint Interface EJI board is a 6U single slot VME board designed to control the motion axes on an Adept robot The EJI board has connectors for the power chassis cable and the arm robot signal cable There is another connector for external encoders typically used for belt tracking See the robot instruction handbook for your Adept robot for complete information on installat
142. N t User Manual Auto indication DM1 Manual open E MM1 e c Muted Safety Gate ee Active in auto mode only Jumper closed when f f 9 fa not used ESTOPSRC 24V aint V4N1 V IN2 quer TE LII Manual 1 Auto 1 Auto 2 Manual 2 to AWC board User Manual Auto Switch Manual Open N Sassa Jumper closed when not used Manual Auto Keyswitch Manual Open F in ando N Manual gt lt 250mm s Auto gt 100 See Figure 5 7 for details on the V IN coils o Figure 5 5 JUSER 37 Pin D sub Connector Adept MV Controller User s Guide Rev A 101 Chapter 5 Connecting Customer Supplied Safety and Power Control Equipment to the CIP J User 37 pin D sub Compact Interface Panel Remote Connections CIP Internal connectors User Supplied Connections Bv H 1APTCFuse A jil High Power on off amp GCI Remote High Power on off Momentary P B switch lamp 5 6V 0 3A max If JP2 installed then min current Pannan Na A 100mA 20 V High Power 21 request lt E ma 24V l DE Central Control High Power VREF 0 24V 4 7 u on off Momentary signal diode forward voltage drop X gt 100msec lt 1 sec Manual Auto in Auto Local Network in Network V burned out bulb notify prevent High lt
143. OP channels See the description of the manual control pendant in the robot instruction handbook for details CAUTION Damage may result if an MCP III is plugged into older i Adept controller systems that contain a VME Front Panel VFP 90 Damage may also result if older MCPs part numbers other than 10332 11000 are plugged into a CIP System Power Switch This switch marked with a lightning bolt allows you to switch a relay or other power switching equipment to control power to the Adept controller and other equipment See User Connector JUSER on page 91 for details The two independent normally open contacts on this switch come out of the User connector and out of a terminal block on the MMSP They are for customer use only Adept MV Controller User s Guide Rev A Chapter 5 Introduction NET Switch This switch should be left in the O position Side Connectors See Figure 5 2 for the location of the following connectors AWC Interface JAWC Connects the CIP to the AWC board The JAWC connector accepts a standard 50 pin SCSI cable Note that the CIP does not communicate in SCSI format See Connecting the CIP to the AWC on page 94 for details User Connector JUSER All switch functions on the CIP can be duplicated external to the CIP using signals from this connector For example an external ESTOP can be connected to the User connector and this will behave exactly like the ESTOP on the CIP
144. Power Control Equipment to the CIP Table 5 3 Remote MCP Connections on the JUSER Connector Pin JUSER Pin MCP Description 37 1 9 Logic GND 17 3 MCP TXD 18 2 MCP RXD 19 5 12 VDC max 350mA 36 8 12 VDC max 50mA 4 23 Note 1 6 7 MCP E stop PB CH 1 5 24 Note 2 11 12 MCP E stop PB CH 2 6 25 Note 2 13 15 MCP Enable CH 1 Hold to run 7 26 Note 2 14 16 MCP Enable CH 2 Hold to run Note 1 Must be used in User E stop circuit Note 2 Must be used in User Enable circuit 100 Adept MV Controller User s Guide Rev A Chapter 5 Connecting Customer Supplied Safety and Power Control Equipment to the CIP JUSER 37 pin D sub Coniroller Interface Panel E Stop and MANUAL AUTO Controls CIP Internal connectors User Supplied Connections Cyclic check circuit for ES1 and ES2 emergency stop relays Channel 1 F M ESTOPSRC Channel 2 24V 24V ov Test Front Panel ea VE q eee i ES2 ES2 MCPQ Z 5 User E Stop and Gate Interlock ESTOPSRC Jumper closed when not used MUST open both d T 7 Rr D channels independently if 2200 uF used CIP will malfunction if one channel is jumpered and the other is opened ES1 ES2 S S ESTOPSRC User E Stop Indication User Enable Jumper closed when T N AR not used MCP Enable Switch E
145. Spare fuses are stored in the sliding compartments 4 To reinstall the fuse holder insert it in place then press down firmly until the entire holder snaps into position Table 3 4 MV 5 and MV 10 Fuse Ratings Fuse Rating Type F1 AC Line fuse at Power 5 AT 250 V IEC 127 style Entry module 5x 20mm F2 AC Line fuse at Power 5 AT 250 V IEC 127 style Entry module 5x 20mm NOTE The T suffix indicates the fuse response time a5 AT fuse rating specifies a 5 amp slow blow type Spare fuses in sliding Fuses compartment F1 and F2 af Side view of fuse holder Fuse Holder c Rz sm So Le D ex ms s F Figure 3 2 MV 5 MV 10 Fuse Holder Fan and Filter Information MV 5 and MV 10 Cooling Fan The chassis is cooled by an internal fan On a robot controller the air intake is through the bottom of the chassis and the exhaust is out through the top On a stand alone controller the air intake is through the right side of the chassis and the exhaust is out through the left side 56 Adept MV Controller User s Guide Rev A Chapter 3 Compact Controller Installation Filter Inspection and Cleaning The fan filter must be inspected at least once per month to check for dirt and dust buildup The fan filter is located behind the filter cover on the front of the controller see Figure 3 1 See Chapter 13 for information on inspecting and cleaning t
146. V 5 MV 10 Changing the Lamp on the High Power Indicator Dimension Drawings Adept MV 5 and MV 10 Stand Alone Controller Dimensions Adept MV 5 and MV 10 Robot Controller Dimensions The Adept Compact Controller Dimensions MCP Cradle Dimensions Compact Interface Panel Dimensions Position Latch and Vision Trigger External Input for Position Latch and Vision Trigger Position Latch Hardware inieiconneetion of Baaids onan Adept Controller Vision Trigger E Combined Vision Trigger an Position Lateh Vision in no Loop rd rei Additional Standards Compliance Information Sources for Standards IEC Test Information Electromagnetic Compatibility Testing Results Color Coding of Indicator Lights Color Code Used by Adept for Gpcralor indicalars Color Code Used by Adept for Service Indicators Adept MV Controller User s Guide Rev A 198 200 200 200 205 205 206 207 209 210 211 212 213 217 218 219 220 221 222 223 224 224 225 226 226 227 228 229 230 231 231 232 D Using the Manual Control Pendant MCP Manual Control Pendant Basics Connecting the MCP MCP Layout Soft Buttons Function Buttons Data Entry Buttons 3 Mode Control and Joint Axis Control Buttons Speed Bars and Slow Button Emergency Stop From the MCP Background Mode MCP Predefined Functions Introduction Pred
147. V 5 and MV 10 Subject to the restrictions listed below after you have placed an AWC in slot 1 you are free to place any other board in any other slot Requirements for Installing Boards on the Backplane For the MV 5 and MV 10 additional boards should generally be added to the chassis from left to right starting with the slot to the right of the last existing board For the Compact Controller additional boards must be added to the chassis from right to left starting with the slot to the left of the last existing board EJI boards are an exception and are delivered in the last slot The VGB and EVI boards must be installed side by side See Chapter 2 for more details on required and optional boards CAUTION Always turn off the controller power switch before installing or removing boards or jumper plugs Damage to the controller can occur if the controller is not turned off exposed to electrostatic discharge ESD while you are handling or storing them Adept recommends using a ground strap on your wrist when working with boards outside of the controller Use antistatic bags to protect boards when outside the controller CAUTION You must take precautions to prevent boards from being Adept MV Controller User s Guide Rev A 59 Chapter 3 Removing and Installing Boards VME Bus Address Settings Each board in an Adept controller has a unique VME bus address All boards installed in an Adept controller by Adept at the factory have
148. WC processor and set DIP switch SW1 and jumper JP2 as described below Factory Default Settings The factory default settings for DIP switch SW1 are as follows Table 4 2 DIP Switch SW1 Default Settings SW 4 SW 3 SW 2 SW 1 Interpretation OFF OFF OFF OFF CPU 1 normal operation per NVRAM settings 78 With this default DIP switch setting the system will read the configuration data from the NVRAM chip This allows you to set all the configuration options in software without changing the physical DIP switches See the description of the CONFIG_C program in the Instructions for Adept Utility Programs Adept MV Controller User s Guide Rev A Chapter 4 DIP Switch Settings Configuring an AWC Module The following table shows the options for DIP switch SW1 on the AWC module The AWC processor must be removed from the controller to set this DIP switch See Figure 4 1 for the location of DIP switch SW1 Table 4 3 SW1 Settings SW 4 SW3 SW2 SW 1 Interpretation ON ON ON ON CPU 1 n0 auto boot all other settings per NVRAM ON ON ON OFF CPU 1 no auto boot user interface via VGB or serial port use serial port if VGB is absent or if a VGB is present but its use is disabled with its DIP switch 4 ON ON OFF ON CPU 1 no auto boot user interface via serial port ON ON OFF OFF
149. WC Board 75 AWC Board Components Placement 75 AWC Board Connectors and Indicators 74 AWC Board Specifications 77 AWC Connectors 82 AWC Interface JAWC 91 AWC Module Serial I O Ports 82 Back Panel Connectors 92 Background mode on MCP 240 Backplane jumper plugs MV 5 MV 10 60 C Calibrating the robot from the MCP 247 Camera cables 10 Meter Adept MV cable 148 four camera breakout 147 148 installation 151 pin signal information 155 164 Camera compatibility for EVI module 145 CIB JSLV 92 CIP used with SIO 192 Clear error button on MCP 246 Clear error function on MCP 245 Color coding for indicator lights 231 Comp Pwr button on MCP 250 Compact Flash 76 Compliance with international standards 33 228 Connecting Customer Supplied Safety and Power Control Equipment to the CIP 98 Adept MV Controller User s Guide Rev A 391 Index Connecting the CIP to the AWC 94 Connecting the MCP to the CIP 96 Connecting the System Power Switch to the CIP 107 Contacts Provided by the JUSER Connector 98 Controller graphics interface option 39 models 36 options 39 text interface option 39 Controller Interface Panel CIP Back Panel View 93 Controller Interface Panel CIP Side View 91 Cooling fan MV 5 MV 10 56 CPU Board Number Assignment 81 Current voltage ratings MV 5 MV 10 53 Customer service assistance phone numbers 34 Cycle setting on MCP 248 D DeviceNet JDVC 92 Digital I O displaying on MCP 245 Digital I O Conne
150. a remote node because it does not follow the expected protocol If the KERMIT device was being accessed this error indicates the remote server reported an error or sent a message not understood by the Vt Kermit driver User action Check that the network software version on the remote node is com patible with the network software on the local node DISABLE and ENABLE the affected network nodes and retry the operation If this error occurs repeatedly contact Adept Application Engineering for assistance See the Vt Language User s Guide for information on Kermit Invalid network resource 560 Explanation This error occurs when referring to a node that has not been defined User action Check the node definitions Invalid number format 456 Explanation A syntax error was detected while reading a number For example an 8 or 9 digit was encountered while reading an octal number User action Reenter the line with a valid number Invalid orientation 619 Explanation A motion has been requested to a location that is defined by a trans formation with its orientation pointed up instead of down User action Correct the definition of the destination transformation For exam ple you may need to correct the base transformation in the com pound transformation The p component of all destination transformations should be approximately 180 degrees Invalid program or variable name 455 Explanation A user defined
151. action Either disable ALTER mode or stop tracking the belt Can t change modes while task running 361 Explanation A command was issued to change from debug monitor mode to debug editor mode while the program task being debugged was executing You can change to debug editor mode only when the associated task is stopped User action Stop execution of the program task being debugged or continue without using debug editor mode Adept MV Controller User s Guide Rev A 269 Appendix E Alphabetical Listing Can t create new slide bar 557 Explanation An attempt has been made to create a graphic slide bar in the hori zontal or vertical scroll bar Slide bars should be created only in the main window although they can appear in the title or menu bars User action Modify the arguments for the GSLIDE instruction to have the slide bar created within the window Can t create program in read only mode 364 Explanation An attempt has been made to initiate editing of a program in read only access mode but the program does not exist User action If the program name was entered incorrectly enter the command again with the correct name Do not select read only access with R when creating a new program Can t delete PROGRAM statement 350 Explanation An attempt has been made to delete the PROGRAM statement while editing a program User action To change the PROGRAM statement replace it with another PRO GRAM
152. age to these signal lines may cause permanent damage 382 Adept MV Controller User s Guide Rev A Appendix G DeviceNet Physical Layer and Media DeviceNet Physical Layer and Media The DeviceNet physical layer and media specifications are published in the ODVA manual chapter 9 volume 1 It describes possible topologies and components of the physical layer of the DeviceNet Figure G 1 shows several possible topologies The DeviceNet specifications also specify system grounding mixing of thick and thin cable media termination and power distribution The basic topology is the trunkline dropline topology This topology uses separate twisted pair buses for the distribution of signals and power The specifications allow trunklines and droplines made of thick or thin cable The baud rate maximum distance from end to end of the network and cable size are dependent on each other See Table G 2 Node H H Node Terminating Multiple Trunk Line Resistor Node Branching Multi Port _Tap Drop Line Node Es Node Multiple Drop Line Node Dais Nod P y nes Node Node Chain Drop Line Terminating Multi Port Resistor Tap Tap Node Z Node Node m wr Node Drop Line T Node Node Node Zero Length Dro
153. al Camera interface board absent 722 Explanation The vision interface board is not responding to a command from the vision system User action Make sure that the vision interface board is installed properly After saving all the programs and prototypes in memory power down the controller and power it up again Consult Adept Customer Service if the problem persists 268 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing Camera not running 705 Explanation An attempt has been made to process a vision system operation when the camera is not running line vision only User action Enter a VPICTURE ON command and retry the vision operation that failed Cancelled 358 Explanation An editor debugger or pendant operation has been terminated due to operator intervention User action This is usually an informative message to acknowledge the cancella tion of the operation Can t access protected or read only program 310 Explanation An attempt has been made to edit a protected or read only program These programs cannot be edited User action None Can t ALTER and track belt 626 Explanation Either a belt relative motion was specified while ALTER mode was enabled or an attempt was made to enable ALTER mode while the selected robot was tracking a belt Both operations are prohibited because belt tracking and ALTER mode cannot be performed at the same time User
154. al cable to the MONITOR connector on the VGB board 4 Connect the double ended keyboard cable to the KEYBOARD connector and the POINTER connector on the VGB board Adept MV Controller User s Guide Rev A Chapter 3 Installing a Monitor and Keyboard SS Color Monitor iti C00 emg q 52 5 Keyboard Trackball yj yy yy jy yyy fy Yj fj j J yy yy yyy 1 f 7yyy try yy yj y yy II I l KEYBOARD Figure 3 6 Connecting the Monitor and Keyboard Connecting Non Adept Peripherals to the VGB Board You can use third party monitors keyboards and pointing devices with an Adept controller system The equipment must be compatible with certain standards to work successfully with the VGB Board see Chapter 6 for details Note that the Adept supplied monitor and keyboard are certified to meet the requirements of EN 60204 1 and other international standards Installation of a non Adept peripheral may not meet these standards Adept MV Controller User s Guide Rev A 65 Chapter 3 Using AdeptWindowsPC Using AdeptWindowsPC The AdeptWindows option provides a graphical user interface without the Video Graphics Board VGB A PC running the AdeptWindowsPC software can be connected to the Adept controller through either an Ethernet network or an RS 232 serial connectio
155. am to open the file or graphics window before attempting to read or write data File or subdirectory name error 514 Explanation The specified file name or subdirectory was not a valid disk file name the directory path contained invalid syntax or the directory path was too long User action Retry the operation with a correct file name or subdirectory name Verify that syntax of the directory path is correct Check that any default directory path specified by the DEFAULT command is cor rect Check that the total directory path is not too long when the default is combined with the current file specification File too large 569 Explanation The NFS operation caused a file to grow beyond the server s limit User action Close the file open a new file and retry the previous operation Find None Explanation While initiating a string search or replacement operation the SEE editor is prompting for the string to be found in the program User action Enter the desired search string or press RETURN to cancel the request Adept MV Controller User s Guide Rev A 293 Appendix E Alphabetical Listing First statement must be PROGRAM 351 Explanation An attempt was made to insert or deposit a program statement above the PROGRAM statement which must be the first statement in the program User action Move the cursor to below the PROGRAM line of the program before attempting to insert or deposit statements Fon
156. amplifier with two dual amplifiers and a four slot chassis that fits into the remaining two slots of the PA4 amplifier chassis The compact controller is not available in a stand alone version The Adept Compact Controller requires one board an AWC board in a 68040 or 68060 configuration The AWC occupies backplane slot 1 The remaining slots can be populated with various combinations of optional Adept boards see Figure 2 2 The four slot chassis gets power from the PA4 backplane and does not require its own external power supply See the robot instruction handbook for your Cobra robot or AdeptModules systems for details on the PA4 power requirements Adept MV Controller User s Guide Rev A 37 Chapter 2 38 VJI DO NOT REMOVE OR INSTALL THIS MODULE UNLESS HIGH VOLTS LED 1S COMPLETELY EXTINGUISHED O Henvorts on DO NOT REMOVE OR INSTALL THIS MODULE UNLESS HIGH VOLTS LED 1S COMPLETELY EXTINGUISHED O HenvorTts on O Peron O towvoLtson O OPEN ckr FAULT O wvsaciover Teme O a PHASE SHORT FAULT O B PHASE SHORT FAULT O C PHASE SHORT FAULT O Pwmon O towvorts on O OPEN ckr Faut O Hv sacover Teme O A PHASE SHORT FAULT O B PHASE SHORT FAULT O C PHASE SHORT FAULT c c o o N N T T R R o o L L s s 1 1 e a N N A A L L m m o o T f T o o R R P P o o w w E E R R T a E u u T
157. as not been initialized or the data has been corrupted User action Power down your controller and restart your system If the error persists contact Adept Customer Service Obstacle collision detected 901 Explanation A possible or actual collision has been detected between the robot and a statically defined obstacle Obstacles may include fixed objects in the workcell as well as structural elements of the robot such as its base This error is similar to Location out of range in that it is often detected by the kinematic solution programs as the robot is moving User action Move the robot away from the obstacle and continue the motion or modify the executing application program to avoid the obstacle For application programs this error may indicate that either the planned end point of the motion will collide with an object or that a collision has been detected in the middle of a straight line motion Old value n New value n Explanation The specified watchpoint has detected a change in value for the expression being watched The change occurred because of execu tion of the program step just before the one indicated User action Enter a PROCEED Ctrl P RETRY SSTEP Ctrl Z or XSTEP Ctrl X command to resume program execution Otherwise enter any other monitor command Option not installed 804 Explanation An attempt has been made to use a feature of a V system option that is not present in this robot sys
158. assure full compliance with the European EMC Directive NOTE Les produits list s dans le tableau 2 doivent tres test s par l utilisateur apr s l assemblage et la configuration finale des quipements afin de s assurer que l ensemble r ponde aux directives Europ ennes EMC P N 00330 01040 Rev A P N 00330 01040 Rev A Table of Contents Introduction How to Use This Manual ER How to Install and Configure the Adept Controller Related Manuals Standard Manuals Other Adept Product Manuals Optional V Developer s Manuals What s New in This Version Warnings Cautions and Notes Safety A Reading and Training for Users and Operators System Safeguards Safety Features on the Compdel i teif ce Fania CIP Computer Controlled Robots and Motion Devices Manually Controlled Robots and Motion Devices Other Computer Controlled Devices Program Security Voltage Interruptions Inappropriate Uses of the Adept Conifoliai Standards Compliance How Can Get Help Overview Introduction i E Adept MV 5 Controller Adept MV 10 Controller The Adept Compact Controller Graphical User Interface and Text Based User infenaee Graphical User Interface Options Text Based Options AWC System Processor 68040 or 68060 Adept MV Controller User s Guide Rev A 25 26 26 26 27 27 28 28 29 30 30 31 31 31 31 31 32 32 32 33 34 35 36 36 36 37 39 39 39 40 Table of Contents 10
159. ast Error Press LAST ERROR to display the error messages generated by ve during the current session The most recent error will be displayed The rightmost soft button will be labeled lt MORE gt Pressing this button will cycle back through the error messages generated during the current session The Clear Error Function If the MCP is in the Manual position or the system switch MCP MESSAGES is enabled error messages are sent to the MCP When an error is sent to the MCP the MCP will beep display a blinking error message and light the LED on the CLR ERR button shown in Figure D 8 Adept MV Controller User s Guide Rev A 245 Appendix D MCP Predefined Functions 246 EXTERNAL E STOP Figure D 8 CLEAR ERROR Function Button The CLR ERR button must be pressed for operation to continue Pressing the CLR ERR button will clear the error message from the display and return the MCP to the state it was in before the error The CMD Function The CMD function button displays the options AUTO START CALIBRATE STORE ALL CMD1 and CMD2 as shown in Figure D 9 AUTO STORE START CALIB ALL CMD1 CMD2 oO O O O JO Figure D 9 Command CMD Function Button The AUTO START CALIB CMD1 and CMD2 functions require the MCP to be in Auto mode If one of these function buttons is pressed while the MCP is in Manual mode the MCP prompts you to place the keyswitch in the Auto position The operation is halted and
160. at no objects were seen in response to a VTRAIN or VLOCATE command In the VLOCATE case it is an error only if you expect to see objects User action In the training case make sure the training object is visible under the camera If you expect to see objects check the threshold parame ter the minimum area parameter and the camera hardware No other program referenced 353 Explanation A command was issued that attempted to reference a previously edited program but no other program has been edited during the current editing session User action Use the New or GoTo function key command or the N keyboard command to change to a new program No picture data available 723 Explanation A vision operation was attempted that requires processed picture data run length encodings when no processed picture data was available User action Issue a VPICTURE or VWINDOW command or instruction with a mode parameter of 1 or 1 This will provide the processed picture data needed for rulers or reprocessing No program specified 301 Explanation No program was specified for an EXECUTE or SEE command or instruction or DEBUG command and no previous program is avail able as a default User action Type the line again providing a program name No prototypes 702 Explanation This is the response to the monitor commands VSTORE and VSHOW without a parameter when no prototypes currently exist User action Load some
161. atible with the Vt system User action Make sure your system disk has been configured correctly Contact Adept Application Engineering for assistance Invalid software configuration 315 Explanation During initial startup V has detected that the system software is not configured properly for the options or hardware present User action Power down the controller and try starting it again Make sure that the boot disk you are using is valid for your controller If the prob lem persists contact Adept Customer Service for assistance Adept MV Controller User s Guide Rev A 307 Appendix E Alphabetical Listing Invalid statement label 463 Explanation The program statement label was not an integer from 0 to 65535 User action Reenter the line with a valid label Invalid steps will be changed to lines None Explanation The AUTO BAD extended command has been used to change the action to be taken when an invalid line is detected while editing Subsequently such a line will automatically be changed to a bad line with a question mark in column one User action None This is an informational message Invalid VFEATURE access 801 Explanation A VFEATURE function has been used to access from the vision sys tem data that is not valid In particular after a VLOCATE instruc tion in no wait mode the vision data is invalid if VFEATURE 1 returns the value FALSE User action Edit the program to ensure tha
162. ations Operational voltage range 0 to 24 VDC Off state voltage range 0 to 3 VDC On state voltage range 10 to 24 VDC Typical threshold voltage Vin 8 VDC Operational current range 0 to 6 mA Off state current range 0 to 5 mA On state current range 2 to 6 mA Typical threshold current 2 5 mA Impedance Vin lin 3 9 K Q minimum Current at Vin 24 VDC In lt 6 MA Adept MV Controller User s Guide Rev A 119 Chapter 5 Extended Digital I O Signals Table 5 8 DIO Extended Input Specifications Continued Turn on response time hardware 5 psec maximum Software scan rate response time 16 ms scan cycle 32 ms max response time Turn off response time hardware 5 psec maximum Software scan rate response time 16 ms scan cycle 32 ms max response time NOTE The input current specifications are provided for reference Voltage sources are typically used to drive the inputs NOTE With properly set program task priorities there is a 2 ms maximum latency for fast inputs 1001 to 1004 when used with Vt INT EVENT instruction 120 Adept MV Controller User s Guide Rev A Chapter 5 Extended Digital I O Signals Adept Supplied Equipment P2 Connector 26 Pin P1 Connector 26 Pin Female D Sub Female D Sub User Supplied Equipment
163. ay DEL will delete any characters that appear on the pendant display but have not been entered using the REC DONE button Application programs may also assign special functions to the DEL button Figure D 4 Data Entry Keys Adept MV Controller User s Guide Rev A 239 Appendix D Manual Control Pendant Basics Mode Control and Joint Axis Control Buttons The mode control and joint axis control buttons are used to control the robot from the pendant The use of these buttons is covered in Moving a Robot or Motion Device With the MCP on page 249 Speed Bars and Slow Button The speed bars and slow button are used primarily to move the robot when it is in manual mode These options are described in Moving a Robot or Motion Device With the MCP on page 249 In some cases application programs will make special use of the speed bars See the documentation for any application program for details on how it uses these buttons Emergency Stop From the MCP To immediately halt program execution and turn off High Power press the emergency stop button on the MCP This switch has the same effect as pressing the emergency stop button on the controller To re enable High Power after pressing the MCP emergency stop button turn the emergency stop button to the right clockwise The switch is spring loaded and will return to its normal position Depress the enabling switch High Power can now be re enabl
164. ble that is already defined Check the syntax for the operation and reenter the line correcting the mismatch Delete conflicting global variables if appropriate 749 1 The Abort menu item in the vision window has been selected If a vision instruction in a V program was being executed it is aborted and the error code for this message is returned for access with the ERROR function 2 a V program has been aborted when it was executing a vision instruction In this case the error code for Adept MV Controller User s Guide Rev A 353 Appendix E Alphabetical Listing the standard Aborted message is normally returned 3 a VABORT instruction was issued User action If you selected the Abort menu item by mistake you can make the Vt program continue by typing retry n on the keyboard where n is the number of the task that stopped Typing proceed n also resumes program execution but the aborted vision instruction is not retried Vision error lt details gt None The following vision error messages can be displayed on the V system terminal any time while the VISION system switch is enabled When one of these errors occurs all pending vision commands for example VLOCATE are aborted and the VISION switch is disabled The user must reenable the VISION switch in order to resume using the vision system Prototypes are not deleted from memory when these errors occur or when the VISION switch is enabled Each of thes
165. c tion cannot read from a disk file opened for random access This error may also indicate a hardware problem with the device control ler 298 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing User action Correct the I O command as required to suit the device If you con tinue to have difficulty contact Adept Application Engineering for assistance Illegal I O redirection specified 525 Explanation An unacceptable I O redirection has been specified in a DEFAULT monitor command a disk I O monitor command LOAD or STORE or in an ATTACH instruction Either there is a syntax error or the requested redirection is not allowed for your I O con figuration User action Check the syntax of the offending statement Check your I O con figuration to make sure the requested redirection device is allowed Illegal joint number 609 Explanation A joint number has been specified out of the allowed range User action Correct the joint number Illegal memory reference 418 Explanation An operation has attempted to reference an invalid memory address That is one that is either out of the allowed range or that is not in use for any input output module User action Correct the address or install the missing module Ilegal monitor command 300 Explanation The name of the command just attempted was not recognized by the system possibly because it was mistyped or because it was a pro
166. camera breakout cables Adept MV Controller User s Guide Rev A 141 Chapter 7 VME Bus Address and Configuration VME Bus Address and Configuration The EVI board will be configured as board 1 unless the system is running the dual AdeptVision option in which case the second EVI board will be board 2 If you have only one EVI board installed it will be set correctly when the controller is shipped to you EVI Motherboard DIP Switch Setting If you install a new EVI board as a replacement part or upgrade or have the dual vision option see the tables below for the address switch settings The shaded cells indicate the settings that are different for each board See Figure 7 1 for the location of SW1 on the EVI board See Figure 7 2 for the position of the A and B settings NOTE When setting the switches you should rotate the board 90 degrees clockwise from the orientation shown in Figure 7 1 the VME bus connectors will be pointing toward you EVI Mother Board DIP Switches Adept EVI Board Component Side EVI Daughter Board DIP and Rotary Switches Figure 7 1 Switch Locations on EVI Board 142 Adept MV Controller User s Guide Rev A Chapter 7 VME Bus Address and Configuration B Figure 7 2 Rocker Dip Switch Positions for SW1 on Motherboard and Daughterboard Refer to the settings shown in Table 7 1 when installing the first EVI board i
167. can be used User action Change the motion instruction to one that requests a straight line motion Negative overtravel Mtr n 1032 Explanation The indicated motor has moved beyond the hardware limited nega tive range of motion User action Move the robot back into the working envelope Correct whatever caused the robot to get into the restricted area Then enable power Negative square root 410 Explanation An attempt has been made to calculate the square root of a negative number User action Correct the program as required Network closed locally 535 Explanation An attempt has been made to access a DDCMP serial line when the protocol is not active The protocol was probably stopped because of some other error condition User action Restart the DDCMP protocol Network connection closed 101 Explanation A client connection has closed on the given logical unit Adept MV Controller User s Guide Rev A 319 Appendix E Alphabetical Listing User action None This is an informational message Network connection opened 100 Explanation A new client connection has been established on the given logical unit User action None This is an informational message Network connection terminated 565 Explanation This error occurs when input or output operations are attempted on a network connection that has already been terminated User action Reestablish the network connection and retry th
168. ccessories 17 Mar 1998 Richard J Casler Jr Vice President Engineering San Jose California USA P N 00330 01040 Rev A DEUTSCH Hiermit erkl ren wir dafs die nachstehende Maschine in der von uns gelieferten Ausf hrung den einschl gigen grundlegenden Sicherheits und Gesundheitsanforderungen der EG Richtlinie 89 336 EWG Anhang I und den unten aufgefuehrten Standarts entspricht Dies gilt nur wenn das Geraet unter den unten genannten Bedingungen verwendet wird Wir weisen daraufhin dafs die Inbetriebnahme der Maschine solange untersagt ist bis festgestellt ist da die Maschine in die diese Maschine eingebaut werden soll den Bestimmungen der Richtlinie in der jeweils gueltigen Fassung entspricht Dies schliefst die anwenderseitig in die Maschine zu installierenden Erg nzungen und Schutzeinrichtungen ein FRAN AIS Par la pr sente nous d clarons que la machine d crite ci dessous livr e en l tat est conforme la directive communautaire 89 336 CEE Annexe I sur les imp ratifs fondamentaux en mati re de sant et de s curit La machine ne pourra tre mise en service avant que la machine dans laquelle elle sera incorpor e ne soit d clar e compl tement conforme aux dispositions des directives en cours de validit Ceci comprend tout quipement compl mentaire et dispositif de protection ITALIANO Si dichiara che la macchina come da noi fornita soddisfa i requisiti fondamentali definiti nella direttiva CE
169. ce of the CIP If an MCP is being used refer to Connecting the MCP to the CIP on page 96 for more information 4 In order to enable High Power plugs with appropriate jumpers or contacts must be attached at the JSIO and JUSER connectors Jumper plugs are supplied if these connectors are not used 94 Adept MV Controller User s Guide Rev A Chapter 5 Connecting the CIP to the AWC 1 8m 6 ft SCSI Interface gt S888 2 z zk p id MV 10 Controller With AWC Board Controller Interface Panel CIP Figure 5 4 Connecting the CIP to the AWC Adept MV Controller User s Guide Rev A 95 Chapter 5 Connecting the MCP to the CIP Connecting the MCP to the CIP The optional MCP is connected to the system at the pendant connector on the CIP The controller does not have to be turned off to connect or disconnect the MCP Note that if the MCP or the MCP bypass plug is removed High Power will be turned off See Table 5 1 for information on the MCP connector pin outs WARNING The CIP has two switches A keyswitch to select the N device that controls program execution and a paddle switch to select 96 the operating mode Before the MCP can be used in the workcell the operating key switch must be set to MANUAL and the NET switch to LOCAL O This will prevent program execution from being started from keyboard or terminal P
170. crobat PDF file Adept supplies the Acrobat Reader program on its electronic documentation CD ROM Table G 2 Features of a DeviceNet Network Network Size A maximum of 64 nodes 0 63 Network Length Selectable end to end network distance varies with speed Baud Rate Distance thick cable 125 Kbps 500 m 1 640 ft 250 Kbps 250 m 820 ft 500 Kbps 100 m 328 ft Data Packets 0 8 bytes Bus Topology Linear trunkline dropline power and signal on the same network cable Bus Addressing Multi Master and Master Slave special case polled System Features Removal and replacement of devices from the network under power not supported by Adept The baud rate of the system depends on the length of the network end to end and the type of cable Table G 3 shows how cable selection and trunkline length affect the maximum data rate on the network Figure G 2 shows a thick cable and Figure G 3 a thin cable Adept MV Controller User s Guide Rev A Appendix G DeviceNet Physical Layer and Media Table G 3 DeviceNet Data Rates Relative to Cable Type and Length Data Rates 125 Kbps 250 Kbps 500 Kbps Thick Trunk Length 500 m 250 m 100 m 1 640 ft 820 ft 328 ft Thin Trunk Length 100 m 100 m 100 m 328 ft 328 ft 328 ft Maximum Drop Length 6m 6m 6m 20 ft 20 ft 20 ft Cumulative Drop Length 156 m 78 m 39 m 512 ft 256 ft 128 ft
171. ctors on the CIP 111 Digital Input Wiring Examples JSIO connector 113 Digital Input Output module see DIO module Digital Output Wiring 115 Dimensions MV 5 MV 10 robot controller 219 MV 5 MV 10 stand alone 218 DIO Extended Input Specifications 119 DIO module 42 192 207 connections indicators 193 input specifications 194 inputs 194 optional DIO cables 125 129 200 204 output current selection 196 output specifications 197 output voltage jumpers 196 outputs 195 testing outputs and fuses 195 typical input wiring 198 typical output wiring 199 VME bus address 205 DIO Output Specifications JSIO connector 114 DIP switch settings VGB module 134 DIP Switch Settings 79 Edit function on MCP 241 Editing global variables with the MCP 241 EEPROM 76 EMC test information 230 Emergency stop from MCP 240 Emergency stop button on MCP 250 Emergency Stop Circuit 103 Emergency Stop Switch 89 EN 60204 30 33 50 65 68 69 Enhanced Joint Interface module see VJI EJI module Error messages alphabetical list 262 list of 262 numerical list 359 Errors displaying system on MCP 245 ESLED 74 Ethernet Connections 82 EVI module 41 140 camera cables 147 camera compatibility 145 connections indicators 141 switch settings 143 technical specifications 165 VME bus address 142 Extended Digital I O Signals 119 Extended I O Digital Output Circuit Specifications 123 Extended I O Inputs 119 Extended I O Outputs 122 External Front Panel saf
172. d Like the Compact Flash this NVRAM can be transferred to another AWC board for replacement or testing purposes see Figure 4 1 for the NVRAM location WARNING Use suitable measures for eliminating Electro static df discharge during removal and installation of the EEPROM 76 Adept MV Controller User s Guide Rev A Chapter 4 AWC Board AWC Board Specifications Table 4 1 AWC Board Specifications Processor 68040 25MHz or 68060 50MHz Dynamic RAM 8 or 24 Mb subject to change Serial Ports Three RS 232 at 300 38 400 bps One RS 4227485 at 300 38 400 bps Ethernet 10 base T 100 base T will be available in future Compact Flash mass storage 8 or 30 Mb Electrical Power Consumption 5V 4A 12V 1A 12V 0 5 A 24V 0 5 A Environmental Temperature Operating 0 C to 55 C cooling air exit Nonoperating 40 C to 85 C Humidity Operating 10 80 Nonoperating 10 90 System I O DeviceNet with CANbus interface Four Fast Inputs 0 24VDC 5mA Auxiliary I O Via I C 12 digital inputs and 8 outputs 32 digital inputs and outputs JSIO connectors on CIP Width Occupies one VME backplane slot Adept MV Controller User s Guide Rev A 77 Chapter 4 Configuring an AWC Module Configuring an AWC Module The AWC processors are shipped with the factory configuration described in Table 4 2 If you need to make changes to this configuration remove the A
173. d by the program Bad grip definition 721 Explanation The DEFGRIP instruction was performed with incorrect parameters User action Check the DEFGRIP parameter values The locations specified by the transformations must not be unreasonably far from the proto type and the widths and heights of the grip rectangles must not be unreasonably large An unreasonable distance is one greater than a couple of image widths Belt not enabled 615 Explanation A robot operation that references a moving conveyor belt has been attempted when the conveyor tracking feature is disabled User action Enter an ENABLE BELT command and retry the operation Belt servo dead 617 Explanation The belt processor isn t responding to commands from V User action After saving the programs power down the controller and power it up again If this error occurs repeatedly contact Adept Customer Service Belt window violation 616 Explanation Either a robot motion has been planned that will move the robot outside of the belt window or the robot has moved outside of the belt window while tracking the belt User action Modify the program so that the robot will not move outside the belt window Consult the BELT MODE parameter and the WINDOW instruction for different ways to define the belt window 266 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing Branch to undefined label Step nnn 412 Explanation A
174. d not exceed 40VDC or 30VAC at a maximum of 1A Remote High Power Control 106 The CIP also provides a connection for an additional user supplied High Power enable circuit see Figure 5 5 Figure 5 6 Figure 5 7 Table 5 2 and Table 5 3 for the customer High Power circuitry The CIP has two different methods of remote operation of the High Power push button located on the CIP These connections are optional The first method allows relocating the push button switch to a more convenient location The second allows the startup of multiple robots from a central control computer that can communicate with the robot controllers Implementation of either method must conform to EN standard recommendation The European standard EN 775 Ind Robots Part 6 Recommendations for Safety Item 7 2 5 Emergency Stop reads Each robot system operator station shall have a readily accessible emergency stop device The manual intervention and reset procedure to restart the robot system after an emergency stop shall take place outside the restricted space Thus it is important that the remote High Power push button be located outside of the protected space of the robot Pins 1 and 20 2 and 21 and 3 and 22 of the JUSER connector provide this remote capability The first two circuits allow the duplication of the CIP High Power switch and lamp with no difference in operation Pins 2 and 21 provide power for the lamp 5VDC and ground respectively Pi
175. dant to background display C to exit None Explanation The manual control pendant display must be in background mode for the operation you have selected User action Press the DONE button on the pendant one or more times to exit the current function Robot already attached to program 602 Explanation A program has executed more than one ATTACH instruction for the robot without executing a DETACH in between Or an attempt has been made to SELECT another robot when one is already attached The robot is still attached even after this error occurs Adept MV Controller User s Guide Rev A 335 Appendix E Alphabetical Listing User action Check the program logic remove redundant ATTACH instruc tions or DETACH the current robot before attempting to SELECT another robot Robot interlocked 621 Explanation 1 An attempt has been made to access a robot or external device that is already being used by a different program task or by the sys tem monitor 2 an attempt has been made to calibrate the robot with the controller in manual mode which is not allowed for safety reasons User action 1 Review the program logic and make sure the robot or device is being controlled by only one program task 2 move the CIP key switch to the automatic mode position or set the user manual mode signals appropriately Robot module not enabled 900 Explanation The indicated robot module is present in memory but it was not
176. de the system limits mechanism speed and torque so that an operator can safely work in the cell Manual mode initiates software restrictions on robot speed commanding no more than 250 mm sec as required by RIA and ISO standards For Category 3 mechanisms such as the AdeptOne XL safety regulations require that the software speed and torque limiting be enforced by hardware This hardware must be redundant and self testing The Manual Mode Safety Package MMSP available for the Adept XL series of robots implements this functionality See Figure 5 1 for the location of the Manual Automatic mode switch on the CIP High Power On Off Switch Lamp This switch marked with a robot figure and the international on off symbol 1 O controls high power which is the flow of current from the amplifiers to the robot motors Enabling high power is a two step process An Enable Power request must be sent from the system terminal an executing program or the manual control pendant Once this request has been made the operator must press this button and high power will be applied NOTE High Power cannot be enabled if this lamp is burned out See Changing the Lamp on the High Power Indicator on page 213 for details MCP Connector The Manual Control Pendant MCP plugs into this connector The CIP works only with the MCP II P N 10332 11000 Assembly 90332 48050 Other Adept pendants will not work because they do not incorporate the dual EST
177. depends upon the type of device referenced User action Check the instruction to make sure the parameters are valid Refer to the documentation for the device type referenced for information on how to determine what has caused the error Device full 503 Explanation There is no more space available on a device If received for a disk file the disk is full if there are many small files on the device this error indicates the directory is full If received for a servo device an attempt has been made to assign too many servo axes to a single CPU User action Delete unneeded disk files or use another drive or diskette Recon figure your system so the maximum number of axes per CPU is not exceeded Device hardware not present 658 Explanation An attempt has been made to reference a device that is not present in your system User action Check that the device was correctly specified Check that the device hardware is present and is configured properly Device in use 668 Explanation An attempt has been made to attach assign or configure a hard ware device e g a VMI axis which is already being used User action Check the program code to make sure the requested device has not already been attached DeviceNet Critical device off line 903 Explanation A DeviceNet device marked as critical using the CONFIG C util ity is off line Power is disabled and cannot be enabled until this device is on line
178. deptWindowsPC option allows a PC connected to the controller using either Ethernet AdeptNet or a serial port to display graphics including AIM Vision and V graphics windows See the AdeptWindows User s Guide for more details Color Monitor For an Adept controller with the VGB option Adept offers an optional high resolution color monitor with a tilt swivel base The monitor has a maximum resolution of 1024 dots horizontal by 768 lines vertical Extended Keyboard For an Adept controller with the VGB option Adept offers an optional extended keyboard with an integrated trackball Third Party Terminals for Text Based User Interface Controllers 44 For Adept controllers without the VGB or AdeptWindows option the user must supply a terminal to interface to the controller The terminal must be a Wyse model 60 or 75 with an ANSI keyboard or a compatible terminal and keyboard Alternatively a PC with suitable terminal emulation software may be used In all cases the text based interface to the Adept controller requires the use of the RS232 Term port on the main system processor Adept MV Controller User s Guide Rev A Chapter 2 Product Descriptions Product Descriptions AdeptVision AdeptVision is a combination hardware and software package for integrated machine vision inspection and guidance applications The hardware is based on the features of the AdeptVision board EVI AdeptVision requires a graphical user inter
179. dicates the Drive Enable signal is asserted for Axis 3 DE4 indicates the Drive Enable signal is asserted for Axis 4 DE5 indicates the Drive Enable signal is asserted for Axis 5 DE6 indicates the Drive Enable signal is asserted for Axis 6 Encoder connector a 44 pin D Sub female connector for the encoder cable to interface to encoder signals in the installation Machine connector a 44 pin D Sub female connector for the machine cable to interface to the machine signals in the installation Servo connector a 44 pin D Sub female connector for the servo cable to interface to the servo signals in the installation Adept MV Controller User s Guide Rev A 175 Chapter 9 VME Bus Address VME Bus Address Each MI3 MI6 board must have a unique VME bus address The information in Table 9 1 shows how to set the address when you have multiple boards in an Adept controller If you purchased the Adept controller from Adept with all the motion boards installed the correct DIP switch settings already will have been set for you by Adept The address is set at DIP Switch SW1 on the MI3 MI6 board To operate the switch use a small insulated instrument such as the point of a pencil Each switch position is a miniature rocker switch To open a switch press down on the side of the switch marked open See AdeptMotion VME Developer s Guide for the location of the switch Table 9 1 VME bus Address Switch Setti
180. dles on the outer edge of the board until it is firmly seated in the backplane connector and the face of the board is flush with the other boards Tighten the captive screws at the top and bottom of the board CAUTION It should not be necessary to use excess pressure or force to engage the connectors If the board does not properly connect with the backplane remove the board and inspect all connectors and guide slots for possible damage or obstructions Adept MV Controller User s Guide Rev A 63 Chapter 3 Installing a Monitor and Keyboard Installing a Monitor and Keyboard NOTE The peripheral equipment such as the keyboard and monitor supplied by Adept are intended for use in light industrial conditions In more severe conditions they should be protected with a suitable enclosure Installation Procedure 64 An Adept controller can be configured with a color monitor and an extended keyboard with built in trackball Both of these devices can connect to the optional VGB board See the V Operating System User s Guide for details on using the keyboard and trackball See Figure 3 6 for details the steps are listed below 1 Make sure the controller is turned off before making any connections 2 Verify that the voltage range marked on the monitor is compatible with your local voltage source Connect the color monitor AC power cord to the monitor then plug it into an appropriate voltage source 3 Connect the monitor sign
181. does not receive commands from devices other than from the MCP the single point of control The two channel Manual Automatic Mode select circuit is designed to fail to the highest safety condition If either channel is open the controller will be in Manual mode This requires that the User Remote Manual Mode Control electrical contacts be in series with the contacts on the CIP Auto Manual mode selector switch To select Automatic mode both the Remote Manual Mode Control and the CIP Auto Manual Switch must be in Automatic mode both switches must be closed The CIP provides connections for a remote user panel circuitry that allows a second user panel at another location see Figure 5 5 Figure 5 6 Table 5 2 and Table 5 3 for the customer remote user panel circuitry Two separate inputs on the JUSER connector 10 29 and 11 30 provide connections for remote MANUAL AUTOMATIC functionality Adept MV Controller User s Guide Rev A 105 Chapter 5 Connecting Customer Supplied Safety and Power Control Equipment to the CIP e MANUAL Open e AUTOMATIC Close NOTE These pins must be jumpered if not used Two pairs of pins on the JUSER connector pins 15 34 and 16 35 provide a voltage free contact to indicate whether the CIP and or remote AUTOMATIC MANUAL switches are closed The user may use these contacts to control other mechanisms e g conveyor linear modules etc when MANUAL mode is selected The load on the contacts shoul
182. dows DDE AdeptWindows Off line Editor AdeptGEM 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 Declaration of Conformity Konformit tserklGrung D claration de Conformit We Wir Nous Adept Technology Inc 150 Rose Orchard Way San Jose California 95134 USA declare under our sole responsibility that the product erkl ren in alleiniger Verantwortung daf das Produkt d clarons sous notre seule responsabilit que le produit Control system Steuerung Adept MV 5 30340 10000 30000 Syst me de commande Adept MV 10 30340 20000 40000 re eee ee Adept MV 4 30350 15000 P Controller Interface Panel 90350 10350 Pendant Handbediengerat MCP III 90332 48050 Unita portatile to which this declaration relates is in conformity with the following standards auf das sich diese Erklarung bezieht mit den folgenden Normen auquel se r f re cette d claration est conforme aux normes We declare that the machine in the form delivered by us subject to the usage conditions specified below complies with the relevant and fundamental safety and health requirements defined in EU Directive 89 336 EEC Annex I and the following standards The machine must not be put into operation until all of the machinery into which it is incorporated has been declared in com
183. e hard drive is subject to change Serial I O Connectors There are three RS 232 serial ports for general purpose serial I O functions These global serial ports are referred to as devices SERIAL 1 SERIAL 2 and SERIAL 3 These serial ports can be accessed via the VME bus by any Adept system processor configured to run V There are also three additional local serial ports on the AWC board and one port on the CIP The connectors are DB 9P male 9 pin connectors that are pin compatible with the serial connector for AT compatible computers the signal and pin information are shown in Table 8 1 and Figure 8 1 The pinout for all three connectors is the same See the V Language User s Guide for information on serial I O Also see the ATTACH instruction in the V Language Reference Guide for information on serial I O programming Both of these manuals are optional and can be ordered from Adept See the Instructions for Adept Utility Programs for configuration information using the CONFIG _C program All three serial ports on the SIO board can be configured for use at up to 38 400 bps Note for very intensive high speed serial operation it may be more efficient to use the serial port s located on the system processor 170 Adept MV Controller User s Guide Rev A Chapter 8 Serial I O Connectors Table 8 1 RS 232 Serial I O Connector Pin Assignment on SIO Board Pin Signal Name Pin Signal Name 1 not used 6 DSR Da
184. e 13 1 Table 13 2 Table C 1 Table C 2 Table C 3 Table C 4 Table D 1 Table E 1 Table E 2 Table E 3 Table E 4 Table E 5 Table E 6 Table E 7 Table of Contents Acquisition Switch Settings for SW2 SW8 144 Breakout Cable Camera Connector Pin Assignments RS 170 156 Breakout Cable Camera Connector Pin Assignments for Pulnix TM 1001 156 Breakout Cable Strobe and Power Connector Pin Assignments for Pulnix TM 1001 a 167 Adept 10 Meter Camera Cable Pin Assignments ca mos 157 Four Camera Breakout Cable Pin Assignments 158 Pulnix TM 1001 Breakout Cable Pin Assignments 160 Four Camera Breakout Cable Pin Assignments 162 Pulnix TM 1001 Breakout Cable Pin Assignments 163 Technical Specifications 165 RS 232 Serial I O Connector Pin Assignment on SIO Board 171 Technical Specifications sa 172 VME Bus Address Switch Settings for MI 3 MI 6 Board 176 Technical Specifications cas 177 VME Bus Address Switch Settings for EJI Boards SE 182 VME Bus Address Settings for Multiple Servo Board Systems 183 Belt Encoder Connector Pin Assignments 184 Technical Specifications 186 Address Settings for VFI Board 189 Technical Specifications 190 DIO Input Circuit Specifications 194 DIO Output Voltage Range Settings 196 Digital Output Circuit Specifications 19
185. e Three general purpose RS 232 serial I O ports See Chapter 8 for more details Adept Graphics Board VGB 40 The Adept Graphics board VGB is a single slot 6U VME board that serves as the graphics processor and frame buffer and controls the video output to the color monitor The VGB has connectors for a dedicated monitor keyboard and pointing device mouse trackball etc The VGB also has a direct video bus connection to the EVI board in AdeptVision systems See Chapter 6 for more details Adept MV Controller User s Guide Rev A Chapter 2 Optional Boards AdepivVision Interface Board EVI The AdeptVision Interface board EVI is required to run the AdeptVision product on Adept controllers The EVI is a single slot 6U VME board that serves as the vision interface There is a camera strobe connector for camera and strobe signals The EVI board can support up to four cameras and two strobe lights The Video Bus connector provides direct video bus signal connections to the optional VGB board AdeptNet is required when using the EVI with AdeptWindows See Chapter 7 for more details AdeptMotion Interface Boards MI3 MI6 An AdeptMotion Interface board MI3 or MI6 is required to run the AdeptMotion VME product The MI3 board is a single slot 6U VME board designed to control three axes of motion The MI6 controls six axes Each board has servo drive outputs incremental encoder inputs and digital I O for machine and amplifier
186. e is no minimum current The third pair of pins which provide for more restricted operation complying with the EN 775 recommendation will prevent the use of the Central Control High Power On Off when the system is in Manual Mode This function will work only when the keyswitches on the CIP are in the following positions e Operating keyswitch is in the Automatic Mode e Control keyswitch is in the NET position The user supplied voltage to provide a Central Control High Power On Off function drives a relay in the CIP with the following electrical characteristics e Coil 24 VDC at 1440 Q including a parallel flyback diode e Timing the High Power signal transition will be seen only if the signal is off at least 32 milliseconds followed by on for at least 32 milliseconds After a positive transition there must be no positive transitions for at least 2 seconds before another positive transition will be recognized Connecting the System Power Switch to the CIP The CIP also provides a connection for a user supplied system power circuit see Figure 5 5 Figure 5 6 Table 5 2 and Table 5 3 for the customer system power switch circuitry Adept MV Controller User s Guide Rev A 107 Chapter 5 Connecting Customer Supplied Safety and Power Control Equipment to the CIP The CIP includes support for turning on and off system power to the controller If you use this switch you must provide an AC contactor with the fol
187. e messages has the form Vision error lt details gt where lt details gt represents specific information identifying the error That information will help Adept personnel to identify the specific nature and cause of the error Vision error Bit masking failed on FS n None Vision error Bit packer failure n bus errors instead of 2 None Vision error Bit packer returned wrong data None Vision error Bus error reading video FBn a at a time None Vision error Bus error writing video FBn a at a time None Vision error Bus error reading video ILUTm n None Vision error Bus error writing video ILUTm n None Vision error Bus error reading video register aaa None Vision error Bus error writing video register aaa None 354 Explanation A failure of the vision hardware has occurred User action See the general comments above If the problem persists contact Adept Customer Service and provide the exact details of the error message Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing Vision error Camera multiplexor or frame grabber failure n None Explanation Generally this error indicates that a failure of the vision hardware has occurred User action See the general comments above If the problem persists contact Adept Customer Service and provide the exact details of the error message Vision error Internal confusion n None Explanati
188. e number used for licensing and tracking the Compact Controller Adept MV Controller User s Guide Rev A 57 Chapter 3 Compact Controller Installation Figure 3 3 Adept MV 4 Insert 58 Adept MV Controller User s Guide Rev A Chapter 3 Removing and Installing Boards Removing and Installing Boards The Adept controller is shipped from the factory with all the boards specified on the sales order installed in the chassis Any unused slots are filled with blank covers You may want to add boards in the future or remove and reinstall a board for some reason VME Bus Slot Ordering The VME bus specification includes the concept of slot ordering with slots being ordered from 1 to the maximum number of slots in the VME backplane In all VME systems the system controller functions must be performed by a board in slot one In Adept s case the AWC board performs the system controller functions and slot number 1 in all Adept controllers must be filled with an AWC board On MV 10 controllers slot 1 is the first slot on the left side of the controller On MV 5 controllers there are two blank covers on the left side followed by slot 1 On the MV 5 and MV 10 controllers the slot numbering goes to the right from slot 1 On the Compact Controller slot 1 is the first slot on the right side of the controller insert and slot ordering goes to the left from slot 1 The slot ordering of the Compact Controller is opposite the slot ordering of the M
189. e original opera tion Network error Code n value received Explanation An error code between 255 and 1 inclusive has been received from the network The error code which does not have meaning to Vt is being reported to the user User action Application dependent If the indicated code does not having mean ing for the current application check to make sure the remote com puter is sending valid data Network node off line 538 Explanation An attempt has been made to send data to a known network node that is off line Either the node has been disabled or it is not con nected to the network User action Check that the remote node is active and connected to the network Check that the local node is connected to the network Network not enabled 542 Explanation An attempt has been made to access a remote network node or per form certain network functions when the network is not enabled User action Enable the network and retry the operation Network resource name conflict 564 Explanation The name specified for an NFS mount matches an existing network name such as an NFS disk name 320 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing User action Choose a different name Network restarted remotely 534 Explanation V has received a DDCMP start up message from the remote system when the protocol was already started The remote system has prob ably stopped
190. ecial applications this connector will mate with a Hirose Male Plug HR10A 10P 12P user supplied or similar plug See Figure 7 9 for pin locations Table 7 8 Breakout Cable Camera Connector Pin Assignments for Pulnix TM 1001 Pin Function Notes 1 Power return 2 12V power to camera 3 Shield video 4 Video from camera 5 Shield Hd 6 Hd horizontal drive from camera to LEN line enable 7 Vd vertical drive from camera to FEN frame enable 8 Shield Clock 9 Clock from camera to VSCLOCK pixel clock 10 not connected 11 not connected 12 Shield Vd 12 Pin Hirose Female Jack HR10A 10J 12S 156 Adept MV Controller User s Guide Rev A Chapter 7 Camera Cable Pin and Signal Information Table 7 9 Breakout Cable Strobe and Power Connector Pin Assignments for Pulnix TM 1001 Pin Function Notes 1 User 12 VDC to cameras 2 User power return Gnd 3 Strobe 1 4 Strobe return Gnd 5 Strobe 2 6 Frame Reset 1 7 Frame Reset return Gnd 8 Frame Reset 2 9 Shield chassis ground 9 Pin D Sub Female Receptacle Note this connector will mate with the 9 pin D Sub male plug on the BNC adapter cable Table 7 10 Adept 10 Meter Camera Cable Pin Assignments Pin at Pin at controller Wire Color camera end end male Function No
191. ed Adept MV Controller User s Guide Rev A 127 Chapter 5 Optional DIO Cables Table 5 12 JDIO3 Output Cable Pin Assignments Pin Group Signal name Wire Number Number Color Pin Locations JDIO3 30 1 0033 green black white JDIO3 15 1 0034 green white JDIO3 14 1 0035 red white JDIO3 13 1 0036 black white JDIO3 12 1 0037 blue black JDIO3 11 1 0038 orange black JDIO3 10 1 0039 green black JDIO3 9 1 0040 red black JDIO3 25 1 power orange green JDIO3 26 1 power black white red JDIO3 38 1 power orange black green JDIO3 39 1 power blue white orange JDIO3 40 1 power black wnhite orange JDIO3 41 1 power white red orange Bi Pin 30 Sir JDIO3 42 1 power orange white blue ae JDIO3 43 1 power white red blue o E o JDIO3 44 1 power black wnhite green O a O JDIO3 28 1 group 1 return white black red O o O JDIO3 29 1 group 1 test red black white A JDIO3 7 2 0041 white black ga JDIO3 6 2 0042 blue 0 0 JDIO3 5 2 0043 orange Gan JDIO3 4 2 0044 green o A JDIO3 3 2 0045 red 0 Po JDIO3 2 2 0046 white o Do JDIO3 1 2 0047 black E are JDIO3 16 2 0048 blue white o S JDIO3 17 2 power black red Pin 3 el JDIO3 18 2 power white red Pin 1 JDIO3 19 2 power orange red JDIO3 31 2 power orange black white JDIO3 32 2 power blue black white pea se ae dak JDIO3 33 2 power black
192. ed by pressing the COMP PWR button mode control group or by entering the ENABLE POWER command from the keyboard Background Mode 240 The pendant is in background mode when the USER LED is not lit and none of the predefined functions are being used The USER LED is lit whenever an application program is making use of the MCP The MCP will not return to background mode until the program completes execution or is aborted The LEDs above the predefined function buttons indicate whether the functions are being used If one of the LEDs is lit the MCP can be returned to background mode by pressing the REC DONE key more than one press may be necessary The predefined functions are described in MCP Predefined Functions on page 241 When the MCP is in background mode the viewing angle of the LCD can be changed There are three different angles Press the 2 5 or 8 button to select a different viewing angle Adept MV Controller User s Guide Rev A Appendix D MCP Predefined Functions MCP Predefined Functions Introduction This section describes the manual control pendant functions related to e Loading and starting programs e Editing global variables e Displaying system status Predefined Function Buttons The MCP has five predefined function buttons for your use They are listed and explained below ee Jes 8 em 18 Figure D 5 MCP Predefined Function Buttons The Edit Function The Edit functi
193. efined Function Buttons The Edit Function The Display Function The Clear Error Function The CMD Function Prog Set Function Moving a Robot or Motion Device With the MCP Introduction Mode Control Buitoni Emergency Stop Button COMP PWR Button MAN HALT Button DIS PWR Button RUN HOLD Joint Axis Control Buitons STEP Button Speed Bars In World Tool and Joint Mode In Comp Mode Slow Button Robot States World State Tool State Joint State Free State Controlling More Than One Robot Robots With Fewer Than Six Joints Adept MV Controller User s Guide Rev A Table of Contents 233 235 236 237 238 239 239 240 240 240 240 241 241 241 241 244 245 246 247 249 249 249 250 250 250 251 251 251 251 252 252 252 252 253 253 254 256 258 259 260 17 Table of Contents 18 Robots With More Than Six Joints System Messages Introduction Alphabetical Listing Numerical List Diagnostics Testing Introduction Tests During System Power di Processor Self test System Initialization Tests RSC Self test E i Completion of Power up Tests Tests While Enabling Power E Standard Non MMSP veem Manual Mode Safety Package MMSP Tests During Installation and Servicing Continuous Tesis Watchdog Timer Drive Faults RSC Watchdog Timer Encoder Signals V FREE Co
194. efore connecting I O lines and equipment for the first time Table 12 2 DIO Output Voltage Range Settings Signal Voltage Voltage Group Jumper Output in Output in Number Number Position A Position B 1 J4 15 to 30 V 10 to 15 V 2 J3 15 to 30 V 10 to 15 V 3 J5 15 to 30 V 10 to 15 V 4 J6 15 to 30 V 10 to 15 V CAUTION The power supply voltage should not go below the f selected range because this could cause the output transistors to operate in the linear state and dissipate excessive power Likewise the power supply voltage should not exceed the selected range because this could blow the fuse for that group There is no requirement to provide specific power sequencing between the output power supplies and the VME power supply The design of the output section is such that the outputs will not turn on during board power up Output Power Supply Current Selection 196 The 9 power pins for each group are connected together on the board and the current supplied from the output pins is drawn from these power pins The number of power pins used in a particular application depends on the total current supplied through that group s outputs The supply current should be limited to a maximum of one amp per power pin Use this limitation to select the number of power pins you need For example each output can source up to 400 mA giving a maximum total current for a group of 8 outputs of 3 2 A that will
195. em There are several warnings in this manual that say only skilled or instructed persons should attempt certain procedures The qualifications follow e Skilled persons have technical knowledge or sufficient experience to enable them to avoid the dangers which electricity may create engineers and technicians e 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 30 Adept MV Controller User s Guide Rev A Chapter 1 Safety System Safeguards Safeguards must 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 These features are described in Chapter 5 of this user s guide Safety Features on the Compact Interface Panel CIP The optional external Compact Interface Panel CIP has three important safety features the HIGH POWER indicator the MANUAL AUTOMATIC switch and the EMERGENCY STOP switch If you choose not to use the CIP you should provide similar safety features by using the CIP JUSER connector on the CIP See Chapter 5 for more information or call Adept Customer Service at the numbers listed in How Can I Get Help on page 34 WARNING Entering the workcell whe
196. em has occurred or the robot is being oper ated in an environment with excessive electrical noise Check the connections of the robot cables Turn high power back on calibrate the robot and resume program execution If the problem persists contact Adept Customer Service RSC hardware failure 669 Explanation The RSC has reported an internal failure Because RSC failures almost always cause the RSC to stop communicating altogether rendering it incapable of reporting the failure this error message may be due to some other cause such as electrical noise at the RSC or within or around the arm signal cable User Action If the problem persists contact Adept Customer Service RSC module ID doesn t match robot 676 Explanation The V configuration data contains an explicit ID specification for a robot module for example 6 for the Adept 550 robot and the robot RSC does not contain that ID number User Action Make sure that the correct type of robot is being used Use the CONFIG C utility to change the module ID to 1 in the V configu ration data Correct the module ID in the RSC RSC power failure 670 338 Explanation The RSC has reported that its power is failing Because a power fail ure on the RSC almost always causes it to stop communicating alto gether rendering it incapable of reporting the failure this error message may be due to some other cause such as electrical noise at the RSC or
197. en executed the number of times specified in the last EXECUTE command or instruction User action Any monitor command can be entered except that PROCEED can not be used to resume program execution Program program name doesn t exist Create it Y N None Explanation An attempt has been made to use the SEE editor to access a program that does not currently exist User action Enter a Y to have the program created Any other input including just pressing RETURN cancels the edit request Program HOLD 15 Explanation The RUN HOLD button on the pendant has been pressed while a robot program was executing and it is now suspended User action Any monitor command can be entered To continue execution of the program type proceed or retry or press the PROGRAM START but ton on the controller The RUN HOLD button can be held down to temporarily resume execution of the program if the front panel key switch is in the MANUAL position Program interlocked 308 Explanation An attempt has been made to access a program that is already in use by some V process For example you have attempted to delete or edit a program that is being executed or execute a program that is being edited 332 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing User action Abort the program or exit the editor as appropriate and retry the operation You can use the SEE editor in read only mode to look at programs that are
198. endix G DeviceNet Physical Layer and Media It is important to note that voltage differences between the V and V conductors need to be between 11V and 25V The common mode voltage between any two places on the V wire must not exceed 5V VIEWED FROM CONTACT END PP Male Connector pins Micro Style Connector Female Connector sockets LEGEND 1 Drain bare 2 V red 3 V black 4 CAN_H white 5 CAN_L blue Figure G 6 DeviceNet Connector Pinouts Adept MV Controller User s Guide Rev A 389 index A AC power connecting power cord MV 5 MV 10 55 connecting MV 5 MV 10 53 requirements MV 5 MV 10 53 voltage current ratings MV 5 MV 10 53 Adept Joint Interface module see VJI EJI module Adept MV 4 Insert 58 Adept MV 4 Insert Overview 57 93 AdeptAWC PA4 Controller 38 AdeptForce VME module see VFI module AdeptForce VME product description 45 AdeptMotion Interface module see MI3 MI6 module AdeptMotion VME product description 45 AdeptVision VME module see EVI module AdeptVision VME product description 45 AdeptWindows Interface DIP Switch SW1 Settings 80 AdeptWindows PC Graphical User Interface 80 Alphabetical list of messages 262 Arm Power 106 Arm Power On Off Switch Lamp 90 ASCII Terminal 81 ASCII terminal installation 66 AUTO Boot 81 Auto Boot Settings of DIP Switch SW1 81 Auto start from the MCP 247 AUTO V2 247 AUX JEXT 92 Auxiliary system processor module 42 A
199. ept MV Controller User s Guide Rev A Appendix E Alphabetical Listing During MANUAL mode releasing this switch performs a con trolled power off rather than an E STOP User action Hold the user enable switch and reenable HIGH POWER as desired If the switch was already pressed check the switch and the associ ated connectors and wiring Executing in DRY RUN mode 50 Explanation The DRY RUN switch is enabled and program execution has been requested Thus no motion of the robot will occur User action None unless motion of the robot is desired In that case abort execu tion of the program and disable the DRY RUN switch Expected character s not found 745 Explanation While training characters for subsequent optical character recogni tion OCR the number of characters in the given string did not cor respond to the number of characters found in the training window Character training has been aborted User action Make sure the given string matches the characters in the training window Fatal Addr Err at aaaaaa m n I xxxx A aaaa F ff None Explanation An internal problem has occurred with the V software or with the system hardware User action It would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error mes sage and exactly what you were doing at the time the error occurred To save programs that are in memory you can restart V te
200. er RS 232 serial ports 168 Adept MV Controller User s Guide Rev A Chapter 8 Connections and Indicators Connections and Indicators O Status LEDs When lit 9 Sl OK indicates that this board has passed V start up test 1900 O E STOP indicates that the E stop circuit is open 3O Oacev pe ACC V indicates that a 3rd party VME board has accessed the Adept VME bus improperly HD indicates the hard drive is active 1 4 are for Adept Service use only o O 6 TS qm DIP Switch 8 position not used Reset switch resets all the boards on the backplane P O FP MCP connector not used The jumper plug must be in place Otherwise the controller will not turn on lg q PS e Drive A 3 5 floppy drive 1 4 MB maximum capacity RS 232 three global serial ports for general user serial I O O 1 0 24V 100 mA not used The jumper plug must be in place Adept MV Controller User s Guide Rev A 169 Chapter 8 Mass Storage Mass Storage Floppy Drive The 1 4 MB floppy drive can access both double density 720 KB and high density 1 44 MB floppy disks Refer to the V Operating System User s Guide for information on formatting floppy disks Hard Drive The 1 4 GB internal hard drive is located inside the SIO board The capacity of th
201. er black red Pin 3 EN JDIO4 18 4 power white red Pin 1 JDIO4 19 4 power orange red JDIO4 31 4 power orange black white JDIO4 32 4 power blue black white P4 44 pin female output JDIO433 4 power black red green a coroner JDIO4 34 4 power white red green JDIO4 35 4 power red black green JDIO4 36 4 power green black orange JDIO4 21 4 group 4 return blue red JDIO4 22 4 group 4 test red green Adept MV Controller User s Guide Rev A 129 Adept Graphics Board VGB Introduction Connections and indicator DIP Switch Settings VME Bus Address Monitor Video Interface Keyboard Interface Pointer Interface Mouse Trackball or ade issigsn VGB Board Specifications Adept MV Controller User s Guide Rev A 132 133 134 134 135 136 137 137 131 Chapter 6 Introduction Introduction 132 The Adept Graphics board VGB provides graphics capability for Adept controllers You may also use a PC and the AdeptWindowsPC software as a graphical operator interface AdeptWindowsPC is a functional replacement for the VGB allowing the use of a PC to display graphics The VGB is a single slot 6U VME board that serves as the graphics processor and controls the video output to the color monitor The VGB has connectors for the monitor keyboard and pointing device mouse trackball etc The VGB also has a direct video bus connection to the EVI board in AdeptVision systems Adept MV Controller User s
202. er more than 30 times for optical character recognition OCR User action Display the font with VSHOW FONT and determine which char acters have already been trained 30 times Don t train those charac ters any more MCP enable switch 1 off detected by CPU 915 Explanation An E STOP condition has occurred because the CPU has detected on signal channel 1 that the MCP enable switch formerly called HOLD TO RUN has been released Normally this message is sup pressed and error 913 is reported There may be a hardware prob lem with the CIP or its cabling User action Hold the MCP enable switch and reenable HIGH POWER as desired If this error occurs frequently contact Adept Customer Ser vice MCP enable switch 2 off detected by CPU 916 Explanation An E STOP condition has occurred because the CPU has detected on signal channel 2 that the MCP enable switch formerly called HOLD TO RUN has been released Normally this message is sup pressed and error 913 is reported There may be a hardware prob lem with the CIP or its cabling User action Hold the MCP enable switch and reenable HIGH POWER as desired Reseat the plug affixed to the JAWC connector on the CIP and the plug affixed to the CIP connector on the AWC Memory Err at aaaaaa None Explanation During initialization Vt detected a hardware failure at the indi cated memory location 312 Adept MV Controller User s Guide Rev A Appendix E Alphabet
203. ere is a good chance that it will work as a plug and play device The pixel resolution of the Adept frame store is 1Kx1K and will work with cameras with a resolution of 500 x 480 or greater If the camera lens etc are good quality the actual number of pixels does not affect compatibility because the interface uses the RS 170 standard analog video link High Resolution Cameras The only qualified 1024 x1024 pixel camera is the Pulnix TM 1001 This camera must be ordered from Pulnix with option 24 2 to correctly configure the pinouts A maximum of two TM 1001 cameras may be connected to the EVI board For more details see the AdeptVision User s Guide 1 For interfacing cameras without external sync contact Adept Application Support see How Can I Get Help on page 34 Adept MV Controller User s Guide Rev A 145 Chapter 7 Installing Video Bus Coupler Installing Video Bus Coupler The video bus coupling VTV see Figure 7 7 transfers data between the EVI board and the VGB board These two boards must be installed next to each other in the controller chassis When using AdeptWindowsPC as the operator interface there may not be a VGB installed In this case the VTV is not used 1 Make sure the controller On Off switch is turned off 2 Verify that the EVI and VGB boards are installed next to each other in the controller 3 Plug the coupler into the video bus connectors on the EVI and VGB boards 6H e
204. ering see page 34 Removing Boards 1 Turn off the controller 2 Loosen the captive screws at the top and bottom of the board 3 Lift up on the top handle and push down on the bottom handle as you start to pull the board out of the chassis Remove the board from the chassis and store it in a safe place See page 59 for antistatic precautions 4 Ifthe empty slot is not going to be used again and it is between installed boards you must install five user supplied jumper plugs onto the five pairs of jumper pins on the backplane You can also fill the empty slot by moving all boards toward slot 1 CAUTION Do not attempt to install or remove any boards without A first turning off the power to the Adept Controller and all related external power supplies Failure to observe this caution could cause damage to your equipment Installing Boards 1 Tum off the controller 62 Adept MV Controller User s Guide Rev A Chapter 3 Removing and Installing Boards If the slot has a blank panel installed loosen the captive screws at the top and bottom of the panel and remove it Verify that the intended slot for the board is ready to accept the board If the slot has been unused make sure there are no backplane jumper plugs installed for that slot see Figure 3 4 or Figure 3 5 Align the board with the card guide slots at the top and bottom of the card cage Slide the board in slowly Apply straight forward pressure to the two han
205. error indicates a safety hazard and prevents HIGH POWER from being enabled Check any user manual mode switch which may be in use Verify that the CIP is connected securely Restart your V controller to clear the error and repeat the test If the problem persists contact Adept Customer Service Fatal OVF Trap at aaaaaa m n None Explanation An internal problem has occurred with the V software or with the User action system hardware It would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error mes sage and exactly what you were doing at the time the error occurred To save programs that are in memory you can restart V tempo rarily by pressing CTRL G The robot servos will not function but you can STORE the programs Then power down the controller and restart the system Fatal Priv Viol at aaaaaa m n None Explanation An internal problem has occurred with the V software or with the User action system hardware It would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error mes sage and exactly what you were doing at the time the error occurred To save programs that are in memory you can restart V tempo rarily by pressing CTRL G The robot servos will not function but you can STORE the programs Then power down the controller and restart the system Fatal Spurio
206. ers for 2 7 increase by 32 for each additional board see Table 12 8 204 Adept MV Controller User s Guide Rev A Chapter 12 Additional DIO Boards Setting the Board Address Additional DIO Boards Additional DIO boards can be installed in an Adept controller up to a maximum of 8 boards per controller depending on slot availability The total digital I O channels available including the channels on the CIP is e maximum digital input channels 268 e maximum digital output channels 264 Each board that is added must have a unique VME bus address so the controller can recognize it properly The address is set at DIP switch S1 on the DIO board The switch settings are shown below See Figure 12 3 for the location of SW1 NOTE The signals on the CIP JDIO connectors can be superseded by a DIO board that is installed and addressed as DIO board 1 To use both the JDIO signals and DIO boards address the first DIO board as DIO board number 2 Table 12 8 Switch Settings for S1 on DIO Board 8 Position DIP Switch S1 on DIO PC board Switch positions 1 to 6 to select bus address for DIO boards DIO Switch position Board Input Output Number Signals Signals 6 5 4 3 2 1 1 1033 1064 33 64 closed closed closed closed closed closed 2 1065 1096 65 96 closed closed closed closed closed Open 3 1097 1128 97 12
207. essage indicates how case will be considered in sub sequent searches for the current or future search for strings None This is an informational message Skew envelope error Mtr n 1022 Explanation The two motors associated with a split robot axis were not tracking User action each other with sufficient accuracy Make sure nothing is obstructing the robot motion Turn on high power and try to perform the motion at a slower speed If necessary use the SPEC utility to increase the maximum skew error Soft envelope error Mtrn 1006 Explanation The indicated motor was not tracking the commanded position with User action sufficient accuracy indicating a failure in the hardware servo system or something impeding the path of the robot Because this was not considered a serious error a controlled motion stop occurred and high power remains on Try to perform the motion at a slower speed Make sure nothing is obstructing the robot s motion Software checksum error 316 Explanation During processing of a FREE command the V system has detected User action a checksum error in the system memory This indicates a problem with the system software or hardware Note however that a check sum error will be introduced if any patches are made to the system software after the system is loaded from disk and started up The following codes are appended to the message indicating where the error occurred Os opera
208. est nionee VGB Graphical User Interface ASCII Terminal AUTO Boot CPU Board Number Assignment System Controller Jumper Settings Ethernet Connections AWC Module Serial I O Ports Serial Port 1 RS 232 TERM Terminal Mode ASCII Terminal infataee Used With a VGB Interface Serial Port 2 RS 232 RS 422 485 Connector LED Status Indicators on the AWC 5 The Controller Interface Panel Introduction Panel Switches nd indicators Emergency Stop Switch Manual Automatic Mode Switch High Power On Off Switch Lamp MCP Connector Dr v System Power Switch NET Switch Side Connectors AWC Interface JAWC User Connector JUSER Back Panel Connectors RS232 JCOM Manual Mode Safety Packtoe MMSP AUX JEXT CIB JSLV DeviceNet JDVC Digital I O Connections Installation of the Controller Interface Panel CIP Location of the CIP 12 Adept MV Controller User s Guide Rev A 77 78 78 79 80 80 81 81 81 81 82 82 82 83 83 83 83 85 87 89 89 89 90 90 90 90 91 91 91 91 92 92 92 92 92 92 92 93 94 Table of Contents Connecting the CIP to the AWC Connecting the MCP to the CIP MCP Cradle MCP Requirements The MCP Bypass Plug Connecting Customer Supplied Safety and Power Control Equipment to the CIP Emergency Stop Circuit 94 96 96 97 97 98 E 03 Remote Sensing of CIP MCP and Usai r Emergency ae Push But ton Switches Mu
209. ety features 31 use with MV 5 MV 10 54 External triggers 392 Adept MV Controller User s Guide Rev A position latch 224 vision trigger 224 External vision trigger 224 F Facility requirements MV 5 MV 10 50 Factory Defaults of DIP Switch SW1 78 Fan cooling MV 5 MV 10 56 Fan filter cleaning 211 inspection 211 Fast Input Signals 113 Floppy drive on SIO module 170 Free state 258 Front Switches and Indicators 89 Fuse information MV 5 MV 10 55 Fuse ratings MV 5 MV 10 56 G Graphics interface controller installation 64 Graphics module see VGB module Grounding protective system information MV 5 MV 10 55 H Hard drive on SIO module 170 HD LED 74 HPS LED 74 I 111 I O Connections 92 ID label location MV 5 MV 10 50 IEC test information 229 Indicator lights color coding 231 Input and Output Cable Wiring Information 125 Input Signals 111 Index Installation AC power MV 5 MV 10 53 in rack or panel MV 5 MV 10 67 69 keyboard 64 monitor 64 MV 5 MV 10 50 71 non Adept peripherals 65 power cord MV 5 MV 10 55 J JCOM Connector Pin Assignments 110 JCOM Pin Locations 110 JDIO 1 4 93 Joint Interface module see EJI module Joint state 256 with SCARA robot 256 Joint values displaying 244 JSIO 92 JSIO Connector 111 JSIO E stop Circuitry 104 J User 37 Pin and 50 Pin D sub Connector 102 JUSER 37 Pin D sub Connector 101 K Keyboard installation 64 interface to VGB module 136 Keyboard connector p
210. everal plug type connectors that you need to disconnect as you pull the front panel away from the body of the CIP Pull the front panel as straight away as possible 6 Locate the lamp body on the back side of the front panel Turn the lamp body approximately 20 in either direction and then pull straight back 7 The lamp body is now free You can remove the old lamp and insert a new one 8 Replace the lamp body by pushing it straight into the lamp housing receptacle Make sure the contacts on the lamp body are properly oriented See Figure 13 2 214 Adept MV Controller User s Guide Rev A Chapter 13 Changing the Lamp on the High Power Indicator The prongs on the lamp body must be aligned as shown O O O O O O O O O O O O O Figure 13 2 Lamp Body Contact Alignment 9 Push the CIP front panel into the CIP body taking care to align all of the plug type connectors 10 Replace the six front panel screws and the MCP bypass plug retainer screw 11 Reinstall the CIP in its mounting 12 Reconnect the CIP cables Make sure the JDIO1 to JDIO4 cables are correctly reinstalled Adept MV Controller User s Guide Rev A 215 Dimension Drawings Adept MV 5 and MV 10 Stand Alone Controller Dimensions 218 Adept MV 5 and MV 10 Robot Controller Dimensions 219 The Adept Compact Controller Dimensions 220 MCP Cradle Dimensions
211. f command programs for more information None required for this message but subsequent commands in the auto startup command program may require user action WARNING The robot may begin to move during the automatic EMERGENCY STOP on the controller or PANIC on the manual M start up procedure If necessary you can stop the robot by pressing control pendant Backplane E STOP detected by CPU 630 Explanation User action The AdeptMotion system has detected an error or problem and has asserted the BRKSTOP signal on the VMEBus If that error is seen it indicates a transient BRAKE ESTOP signal or a problem with either the motion interface board or the AWC module Correct the problem that is causing the motion system to report the error Bad block in disk header 523 Explanation User action While formatting a disk a bad disk block has been found in the disk header area The format operation has failed and the disk is not usable Enter the FORMAT command again use a different diskette if the error persists Adept MV Controller User s Guide Rev A 265 Appendix E Alphabetical Listing Bad camera calibration 726 Explanation A VPUTCAL instruction has been used to pass vision calibration data to the AdeptVision system and one or more of the data ele ments is not valid User action Make sure the program reads the calibration data from a valid data file or make sure valid values are asserte
212. f Power up Tests If any of the initialization tests fail one or more messages are displayed Otherwise the system ID message is displayed controller serial number Vt version etc 376 Adept MV Controller User s Guide Rev A Appendix F Tests While Enabling Power Tests While Enabling Power Standard Non MMSP System Checks for response from the power chassis Adept robots only Manual Mode Safety Package MMSP On robots equipped with the MMSP option the Manual mode speed sensors safety relays and power contactors are automatically tested every time High Power is enabled in Manual mode Other parts of the MMSP including the brakes and ESTOP switches can be tested using the Utility Program SAFE_UTL V2 see appropriate robot instruction handbook for details Tests During Installation and Servicing The Utility program SAFE_UTL V2 is used during commissioning of an MMSP system This utility program tests the MCP and CIP E Stop switches Manual Auto switch robot brakes and robot speed sensors It should also be used periodically during routine maintenance every six months On Non MMSP systems SAFE_UTL V2 can be used to test the CIP and MCP Adept MV Controller User s Guide Rev A 377 Appendix F Continuous Tests Continuous Tests Watchdog Timer Each CPU contains a watchdog timer to check that the Vt operating system is functioning If the timer detects no activity it will turn on a signal SYSFAIL on
213. f the robot Because this is consid ered a serious error high power was turned off User Action Turn on high power and try to perform the motion at a slower speed Make sure that nothing is obstructing the robot s motion If the error recurs contact Adept Customer Service Hardware not in system 805 Explanation An instruction has attempted to access optional hardware such as a FORCE board that is not installed in the system User Action Install the needed hardware or remove the instruction that addresses the hardware HIGH POWER button not pressed 646 Explanation You did not press the HIGH POWER ON OFF button before the timeout period expired This message also can result from a faulty cable Controller Interface Panel CIP or AWC 296 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing User action If working from the keyboard reissue the ENABLE POWER moni tor command and promptly press the HIGH POWER ON OFF but ton when instructed to do so If working from the MCP follow the procedure appropriate for enabling high power for the safety cate gory of your system Promptly press the HIGH POWER ON OFF button when instructed to do so If the timeout period is too short adjust it by using the CONFIG_C utility to change the POWER_TIMEOUT statement in the V configuration data Ilegal array index 404 Explanation An attempt has been made to 1 use a negative value as an array
214. face which may be either the Adept Graphics board VGB or the AdeptWindowsPC interface See the AdeptVision User s Guide for details AdeptVision is a high resolution grayscale vision system based on Adept s multitasking V language and operating system V is a high level language with extensive vision tools for vision related operations such as calibration image capture enhancement and analysis AIM VisionWare software is included with the AdeptVision stand alone product bundles See the Vision Ware User s Guide for details AdeptMotion VME AdeptMotion VME is a combination hardware and software package for motion control of both simple and complex non Adept robots and other factory mechanisms The hardware consists of an Adept controller with one or several AdeptMotion Interface boards MI3 MI6 installed The AdeptMotion VME control software runs on the V operating system This product can be integrated into an Adept automation system with additional features such as vision guidance and inspection conveyor tracking and AIM software AdeptForce VME AdeptForce is a hardware and software package that allows Adept controlled robots to react to sensed forces and moments Tight integration of the force sensor with the robot control system dramatically reduces robot stopping time when forces or moments exceed preset thresholds As a result assembly operations can be performed at higher speeds than are possible with other force sensin
215. ff response time hardware 175 usec maximum Software scan rate response time 16 ms scan cycle 32 ms max response time The input current specifications are provided for reference voltage sources are typically used to drive the inputs Adept MV Controller User s Guide Rev A Chapter 12 Outputs Note that the off state current range encompasses the leakage current of the outputs This guarantees that the inputs will not be turned on by the leakage current from the outputs This is useful in situations where the inputs are connected to the outputs to monitor the state of the outputs Outputs The 32 output channels are arranged in four groups of eight Each group is electrically opto isolated from the other groups and from the VME bus circuitry The eight outputs within each group share a common power supply and a common ground The outputs are accessed through the two 44 pin D sub Output connectors on the front of the board Each connector provides access to two output groups Each group requires 19 pins 8 output signals 1 test signal 9 power supply all tied together and 1 power supply ground reference When an output is on current will flow in through the power supply pins and out of the output pins This type of output is considered sourcing That is in the on condition current flows out of the output pin Each output channel circuit should be connected to only one output device Testing Outputs and Fu
216. for other equipment in the workcell The load on the contacts should not exceed 40VDC or 30VAC at a maximum of 1A These voltage free contacts are provided by a redundant cyclically checked positive drive safety relay circuit for EN 954 1 Category 3 operation see Figure 5 5 Figure 5 6 and Table 5 2 for the customer E stop circuitry Muted Safety Gate E Stop Circuitry Two pairs of pins on the JUSER connector pins 8 27 and 9 28 provide connections for a safety gate designed to yield an E stop allowing access to the workspace of the robot in MANUAL mode only not in Automatic Mode The E stop is said to be muted in MANUAL mode see Figure 5 5 Figure 5 6 Table 5 2 and Table 5 3 for the customer E stop circuitry The muted capability is useful for the situation where a shutdown must occur if the cell gate is opened in normal production mode but you need to open the gate in manual mode In muted mode the gate can be left open for personnel to work in the robot cell However safety is maintained because of the speed restriction and the added sensors of the Manual Mode Safety Package CAUTION If the cell gate must always cause a robot shutdown do wire the gate switch contacts in series with the User E stop inputs M not wire the gate switch into the muted safety gate inputs Instead 104 JSIO E Stop Circuitry Six pins provide two single channel E stop inputs and a single channel output The output relay contact Passi
217. for this CPU If the prob lem persists contact Adept Customer Service Fatal Servo code incompatible CPU n 1102 Explanation During initialization Vt detected an improper version of servo soft ware on the indicated CPU V will continue to operate but will not allow high power to be turned on User action Power down the controller and restart If the problem persists con tact Adept Customer Service Fatal Servo dead Mtr n 1104 Explanation The servo process for the indicated motor is not responding to com mands from V V will continue to operate but will not allow high power to be turned on User action Power down the controller and restart If the problem persists con tact Adept Customer Service Fatal Servo init failure Board n 1107 Explanation During system initialization the indicated servo interface board could not be initialized The problem may be an invalid servo con figuration a missing or improperly configured servo interface board or a hardware failure User action Power down the controller and restart making sure you are using the correct system disk If the problem persists contact Adept Cus tomer Service Fatal Stk Overflow at aaaaaa m n None Explanation A storage stack within V has overflowed If n is 1 the error indi cates the V monitor has encountered an expression that has paren theses nested too deeply Any of the following values for n indicates that the
218. for use with the AdeptMotion VME product The MI6 board controls up to 6 axes of motion the MI3 controls up to 3 axes of motion Each board has industry standard servo drive outputs incremental encoder inputs and digital I O for machine and amplifier control See the AdeptMotion VME Developer s Guide for complete information on installation configuration and operation of the AdeptMotion VME product Adept MV Controller User s Guide Rev A Chapter 9 Connections and Indicators Connections and Indicators O o O Es Seana EEE ee ZZE q P P P 90000090 O Red Status LEDs When lit ES indicates a latched E Stop signal on the backplane has been asserted from the MI6 board or somewhere else in the system F1 indicates a fault condition exists on Axis 1 The cause could be an Overtravel or a Drive Fault The same applies to axes 2 through 6 F2 indicates a fault condition exists on axis 2 F3 indicates a fault condition exists on axis 3 F4 indicates a fault condition exists on axis 4 F5 indicates a fault condition exists on axis 5 F6 indicates a fault condition exists on axis 6 Yellow Status LEDs When lit HPE indicates the High Power Enable signal is asserted DE1 indicates the Drive Enable signal is asserted for Axis 1 DE2 indicates the Drive Enable signal is asserted for Axis 2 DE3 in
219. ftware system makes extensive use of the pendant for teaching robot locations When you move the robot using the MCP motion will be in world state tool state joint state or in free state When moving in world state directions are sent from the MCP to move the robot in a Cartesian coordinate system centered at the base of the robot When moving in tool state directions are sent from the MCP to move the robot in a Cartesian coordinate system centered at the robot s end of arm tooling location In joint state directions are sent from the MCP to move individual robot joints In free state selected joints of the robot are freed from servo control so they can be moved by hand Mode Control Buttons The mode control buttons Figure D 11 change the state being used to move the robot switch control of the robot between the MCP and application programs and enable High Power when necessary Figure D 11 Mode Control Buttons Adept MV Controller User s Guide Rev A 249 Appendix D Moving a Robot or Motion Device With the MCP Emergency Stop Button The emergency stop button will stop program execution and turn off High Power If your robot is equipped with brakes they will be activated COMP PWR Button If High Power is enabled the COMP PWR button selects computer mode If the system is in AUTO mode and High Power is disabled the COMP PWR button enables High Power and selects computer mode In computer mode an execu
220. g the Manual Control Pendant MCP Manual Control Pendant Basics Connecting the MCP MCP Layout Soft Buttons Function Buttons Data Entry Buttons Mode Control and Joint Axis Control Buttons Speed Bars and Slow Button Emergency Stop From the MCP Background Mode MCP Predefined Functions Introduction Predefined Function Buong The Edit Function The Display Function The Clear Error Function The CMD Function Prog Set Function Moving a Robot or Motion Device With the MCP Introduction Mode Control Buttons Emergency Stop Button COMP PWR Button MAN HALT Button DIS PWR Button RUN HOLD Joint Axis Control Bullen STEP Button Speed Bars In World Tool and Join Mode In Comp Mode Slow Button Robot States Adept MV Controller User s Guide Rev A 235 236 237 238 239 239 240 240 240 240 241 241 241 241 244 245 246 247 249 249 249 250 250 250 251 251 251 251 252 252 252 252 253 233 Appendix D World State 2 1 we ee ee ee ee ee 253 Tool State 2 5 58 2 6 ss ss 254 Jont Stale ss ps ws is eo E wo wo amp 2 256 Free State 1 1 we ee ee ee ee 258 Controlling More Than One Robot 259 Robots With Fewer Than Six Joints 260 Robots With More Than Six Joints 260 234 Adept MV Controller User s Guide Rev A
221. g units The hardware consists of an AdeptForce VME board VFI installed in the Adept MV controller and the force sensing unit installed on the robot See the AdeptForce VME User s Guide for details Adept MV Controller User s Guide Rev A 45 Installation of Adept Controllers Shipping Storage Unpacking and Inspection Shipping and Storage Before Unpacking Upon Unpacking Repacking for Relocation Controller ID Label Facility Requirements Voltage Interruptions f Enclosure and Disconnect Reguirem nis Installing the MV 5 and MV 10 Controllers AC Power Requirements Facility Overvoltage Protection Power Entry Module The CIP System Power Switch Connecting AC Power Cord System Grounding Information Fuse Information MV 5 and MV 10 Procedure to Remove Fuse Holder Fan and Filter Information MV 5 and MV 10 Cooling Fan Filter Inspection and Cleaning Compact Controller Installation Adept MV 4 Insert Overview Removing and Installing Boards VME Bus Slot Ordering E Requirements for Installing Boards on nthe Backplane VMEbus Address Settings Upper Backplane Jumper Plugs PI Lower Backplane Jumper Plugs P2 and Third Party Beards Removing Boards Installing Boards Installing a Monitor and Koybodid Installation Procedure Connecting Non Adept peripherals b ihe VGB oaa Using AdeptWindowsPC Adept MV Controller User s Guide Rev A 49 49 49 49 49 50 50 51 51 53 53 53 54
222. gnored Additional READ instructions to the same directory will correctly return addi tional contents of that directory Directory not empty 571 Explanation The operation attempted to remove an NFS directory that was not empty User action Delete the directory s contents before deleting the directory DO not primed 302 Explanation A DO command was attempted without specifying a program instruction to be executed and no previous DO had been entered User action Provide the desired instruction with the DO command Driver internal consistency error 519 Explanation An I O device or servo has responded in an unexpected manner User action Retry the operation that caused the error If it persists contact Adept Customer Service 278 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing Duplicate character in font 740 Explanation A character appears more than once in the string that defines a font for optical character recognition OCR User action Delete all but one occurrence of each character in the string of char acters being defined Duplicate model name 760 Explanation You are attempting to name a new model with a name that already exists User action Either use a different model name or delete the model with the name you want to use Duplicate PROGRAM arguments 468 Explanation At least two of the arguments in a PROGRAM statement have the same name
223. gram For example processing a ZERO command would cause the command program to be deleted from the system mem ory User action Edit the command program and delete the command causing the error Ilegal when network enabled 543 Explanation An attempt has been made to perform certain network functions that require that the network be disabled but the network is enabled User action Disable the network and retry the operation Ilegal while joints SPIN ing 637 Explanation An attempt has been made to execute a regular motion instruction while a SPIN trajectory is being executed User action Stop the SPIN trajectory with a SPIN or BRAKE instruction before executing a regular motion instruction Ilegal while protocol active 548 Explanation This message indicates that the user tried to enter passthru mode or did something unexpected on the serial line configured for use with Kermit while a file was being processed User action Make sure there is no file being accessed by Kermit and retry the failed operation Adept MV Controller User s Guide Rev A 301 Appendix E Alphabetical Listing Image processing board failure 728 Explanation The controller circuit board that processes vision images has failed to respond while processing a request to grab a frame User action After saving the programs variables and vision prototypes in memory power down the controller Make sure the image processor is
224. gram instruction and not a command User action Check the spelling of the command name and enter the command again Use the DO command to invoke a program instruction from the terminal Ilegal motion from here 613 Explanation The motion just attempted cannot be performed from the current robot location For example NEST can be executed only immedi ately after a READY instruction CALIBRATE can be executed only after power up LIMP or NEST and only CALIBRATE or READY can be executed when the robot is in the nest Adept MV Controller User s Guide Rev A 299 Appendix E Alphabetical Listing User action Perform the appropriate operation sequence before retrying the desired motion Tllegal operation 423 Explanation A program instruction has attempted to perform an operation that is not possible User action Check the instruction executing when the error occurred Make sure all conditions necessary for its successful completion are met Illegal PROGRAM statement 467 Explanation An attempt has been made to 1 enter a line other than a PROGRAM statement as the first line of a program or 2 enter a PROGRAM statement that contains a syntax error User action Move below the first line of the program or reenter the line cor rectly With the V SEE editor you can press the Undo function key or press ESC CTRL C to cancel the changes you have made to a PROGRAM line Tllegal record length 528 Ex
225. hanged while a file was still open Further attempts to access the file result in this error Data being written into the file may be lost User action Check your diskette to see if any data was lost If so it s too late now Be more careful in the future 358 Adept MV Controller User s Guide Rev A Appendix E Numerical List Numerical List This section lists all the V messages that have a numeric code Most message codes associated with errors can be made available to a program by the ERROR function which returns the code of the latest error that occurred In addition the ERROR function returns the error message associated with any V error code The information for each message below consists of the message code the text of the message and sometimes a comment about the applicability of the message Angle brackets lt gt are used to enclose a description of an item that would appear in that position All numbers are decimal Table E 5 Informational Messages on page 360 lists messages that provide information Table E 6 Warning Messages on page 360 lists warning messages that you may receive Table E 7 Error Messages on page 361 lists the error messages that you may receive Adept MV Controller User s Guide Rev A 359 Appendix E Numerical List Table E 5 Informational Messages Code Message Text Comments 0 Not complete 1 Success General success response
226. hassis and mounted in a rack Refer to the robot instruction handbook that comes with the robot for information Panel Mounting 70 To panel mount the Adept MV 5 or MV 10 robot controller install one bracket on each side near the back of the controller Use the screws and washers from the accessories kit see Figure 3 9 Adept MV Controller User s Guide Rev A Chapter 3 Installing a Robot Controller in a Rack or Panel M4 x 25mm screw 2 places To install mounting brackets on MV 5 or MV 10 robot controllers pa Remove and discard 3 existing countersunk screws from side of chassis at locations shown o on drawing Place bracket in desired position and secure with o o o indicated M4 screws and washers from accessories kit 5 A Repeat process for other side of controller Note See Appendix A for dimensions of the o o controller and mounting brackets M4 x 10mm screw Panel Mount M4 x 25mm screw M4 x 25mm screw 2 places 2 places pa Y 4 x 10mm screw 4 x 10mm screw Rack Mount Flush Rack Mount Set Back Figure 3 9 Installing Mounting Brackets on MV 5 and MV 10 Robot Controllers Adept MV Controller User s Guide Rev A 71 Chapter 3 MV 5 and MV 10 Controller Technical Specifications MV 5 and MV 10 Controller Technical Specifications Table 3 5 Technical Specifications for MV 5 and MV 10 Controllers MV 5 MV 10
227. he P1 and P2 or P3 and P4 cables could cause damage to your equipment Depending on the installation this could potentially cause injury to personnel in the area Also if you have more than one DIO board make sure each set of cables is clearly labeled so they don t get plugged into the wrong board by mistake Input and Output Cable Wiring Information The pinouts signal names and wire color information for the input and output cables are shown in Table 12 4 through Table 12 7 200 Adept MV Controller User s Guide Rev A Chapter 12 Optional DIO Cables Table 12 4 DIO P1 Input Cable Pin Assignments Pin Signal Board 1 Wire Pin Number Group Signal Color Locations P1 15 1 1033 red white P1 6 1 1034 orange P1 16 1 1035 green white P1 7 1 1036 blue P1 17 1 1037 blue white P1 8 1 1038 white black P1 18 1 1039 black red Pin 18 109 Pin 26 P1 9 1 1040 red black O O O O P1 25 1 group return blue red O A O P1 26 1 group 1 return red green Q O 9 O O PI IO 2 1041 green black o a o O2 P1 1 2 1042 black o E o P1 11 2 1043 orange black o9 E Pin 6 AV P1 2 2 1044 white Pin 10 S P1 12 2 1045 blue black m P1 3 2 1046 red P1 13 2 1047 black white P1 26 Pin Female Input Connector on DIO Board P1 4 2 1048 green Front Panel P1 19 2 group 2 return white red P1 20 2 group 2 return orange red The signal numbers for boards
228. he fan filter Compact Controller Installation The Compact Controller includes an Adept PA 4 amplifier chassis This chassis supplies power to both the amplifiers and the MV 4 insert described below The facility power requirements as well as fuse and fan filter information are given in the robot instruction handbook for the robot system you have received Please see these manuals for details on electrical installation Adept MV 4 Insert Overview The MV 4 insert is a four slot chassis with an integrated power supply It plugs into the right two amplifier slots of a PA 4 amp chassis and receives its power from an amplifier receptacle in the PA 4 chassis When the left slots of the PA 4 chassis are loaded with amplifiers the whole unit becomes a small self contained robot controller called the Compact Controller The Compact Controller can control and power the Cobra series of robots and the Adept Modules line of products The basic MV 4 insert configuration has the AWC board in slot one the far right slot rather than the far left slot as in other MV chassis and a EJI board in slot 4 the leftmost slot The two middle slots are available for other boards such as DIO VGB or EVI Third party boards may be installed in slot 3 make sure you remove the P2 jumpers before installing a board See Removing and Installing Boards on page 59 The serial number of a MV 4 insert is printed on a label on its side and its front This is th
229. he program name To see additional programs if there are more programs press the lt MORE gt soft button Step Press STEP and the step number will blink and the typing cursor will appear next to the step number Use the data entry buttons to enter the program step to start execution Complete the entry by pressing REC DONE Cycle Press CYCLE and the cycle count will blink and the typing cursor will appear next to the cycle count Use the data entry keys to enter the number of program cycles to execute Complete the entry by pressing REC DONE Speed Press SPEED and the current monitor speed will blink and the typing cursor will appear next to the monitor speed Use the data entry keys to enter a new monitor speed Complete the entry by pressing REC DONE Start The Start button works only when High Power is enabled this option cannot be used with DRY RUN enabled Press START and the program displayed above the NEW soft button will begin execution 248 Adept MV Controller User s Guide Rev A Appendix D Moving a Robot or Motion Device With the MCP Moving a Robot or Motion Device With the MCP Introduction The MCP is used with a robot or motion device primarily to teach robot locations for use in application programs The MCP is also used with custom applications that employ teach routines that pause execution at specified points and allow an operator to teach or reteach the robot locations used by the program The Adept AIM so
230. 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 Program Security Programs and data stored in memory can be changed by trained personnel using the V commands and instructions documented in the Vt 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 Vt ATTACH and FSET instructions can be used in your programs to restrict access to the V command prompt Voltage Interruptions If the AC supply to the controller is interrupted the passive E stop output will be automatically 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 Controller 32 The Adept controller is intended for use as a component subassembly of a complete industrial automation system The Adept controller subassembly 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 controller
231. ical Listing User action Power down the controller and start it again If the error persists contact Adept Customer Service Misplaced declaration statement 471 Explanation Upon loading a program or exiting from the program editor V has encountered an AUTO or LOCAL statement that follows an execut able program instruction User action Edit the program to make sure that AUTO and LOCAL statements are preceded only by blank lines comments or other AUTO and LOCAL statements Missing argument 454 Explanation A valid argument was not found for one or more of the arguments required for the requested command or instruction That is the argument was not present at all or an invalid argument was present A possible cause is the use of a single equal sign for the equality relational operator User action Check the operation syntax and reenter the line Missing bracket 475 Explanation In the specification of an array element a left bracket has been found with no matching right bracket Either too many left brackets are present or a right bracket has been omitted User action Reenter the line with correctly matching left and right brackets Missing parenthesis 459 Explanation An attempt was made to evaluate an expression that did not have correctly matching left and right parentheses User action Correct the expression Missing quote mark 460 Explanation A quoted string has been encoun
232. ide Rev A 376 376 376 376 376 376 377 377 377 377 378 378 378 378 378 378 378 375 Appendix F Introduction Introduction Diagnostic self tests are performed when power to the Adept controller is applied and then continuously through the operating cycle of the V code These tests check numerous areas within the controller to ensure that it is operating properly Tests During System Power up Processor Self Test After power is turned on each CPU performs basic functional checks including CPU register and mathematical tests EPROM content checksum test 100 RAM read write test and a watchdog timer test If any of the CPU tests fail a message is displayed If the tests pass no message is displayed and the V operating system will be loaded onto each CPU During loading a checksum test is performed on each record System Initialization Tests If the operating system is loaded successfully the V copyright message is displayed Vt tests NVRAM checksums and verifies that software licenses are consistent with installed hardware Vt then checks presence of a vision board and makes read write test of the vision framestore RSC Self Test Adept robots include a Robot Signature Card RSC inside the robot On power up the RSC performs CPU EEPROM checksum code checksum and RAM tests Vt tests communication with the RSC then reads the results of the RSC Diagnostics Completion o
233. ify ing the pull down menu is immediately after receiving a menu selection event 663 The device is busy processing a reset operation The reset could have been requested with a SETDEVICE instruction by another program task that is accessing the device or the device could have initiated the reset on its own Use software interlocks to prevent a second program task from accessing the device after a reset operation has been requested Note that the requesting SETDEVICE instruction will wait for the reset to complete Refer to the documentation for the specific device for information on its self generated resets Adept MV Controller User s Guide Rev A 2771 Appendix E Alphabetical Listing Device sensor error 662 Explanation A hardware error occurred in the sensing system accessed with the last DEVICE instruction User action Refer to the documentation for the sensing system for information on how to determine the cause of the error Device time out 659 Explanation The device has not responded within the expected time User action Check the documentation for the device type referenced for how to determine what has caused the error Check that the device hard ware is configured properly Directory error 509 Explanation This error can occur when performing a READ instruction follow ing an FOPEND instruction on an NFS mounted directory User action Unlike most other errors this error can be i
234. igital I O signals are 64 optically isolated digital I O channels 32 input and 32 output They are wired to connectors JDIO1 through JDIO4 which are located on the back of the CIP see Figure 5 3 The electrical specifications for the inputs are similar to the JSIO inputs but have a different wiring configuration In addition they may not be used for REACTI programming high speed interrupts or vision triggers The outputs have a higher current carrying capacity than the JSIO NOTE The signals on the JDIOx connectors can be superseded by a DIO board that is installed and addressed as DIO board 1 To use both the JDIOx signals and DIO boards address the first DIO board as DIO board 2 See Chapter 12 for details on DIO boards Extended I O Inputs The 32 input channels are arranged in four groups of eight Each group is electrically isolated from the other groups and is optically isolated from the CIP circuitry The eight inputs within each group share a common ground The inputs are accessed through the two 26 pin D sub input connectors on the rear of the CIP Each connector provides access to two input groups Each group requires ten pins eight input signals and two ground references An input is activated by providing a positive potential on its input pin relative to the ground pin of its group This type of input is considered sinking that is to turn it on current must flow into the input pin Table 5 8 DIO Extended Input Specific
235. igned to the 6U VME size There are three models of controllers the Adept MV 5 MV 10 and the Adept Compact Controller Adept MV 5 Controller The Adept MV 5 controller is a 5 slot chassis that is available in either a stand alone or robot configuration see Figure 2 1 The stand alone version stands horizontally and can be mounted in a standard 19 inch equipment rack The robot version stands vertically It can be joined to an Adept PA 4 power chassis and the joined units can be mounted in a standard 19 inch equipment rack The Adept MV 5 requires one board an AWC board in a 68040 or 68060 configuration The AWC occupies backplane slot 1 The remaining slots can be populated with various combinations of optional Adept boards see Figure 2 1 The Adept MV 5 chassis has an auto ranging 100 120 200 240 VAC single phase 250 watt power supply The chassis is cooled by a fan located in the lower front section Incoming air is cleaned by a reusable filter Adept MV 10 Controller 36 The Adept MV 10 controller is a 10 slot chassis that is available in either a stand alone or robot configuration see Figure 2 1 The stand alone version stands horizontally and can be mounted in a standard 19 inch equipment rack The robot version stands vertically It can be joined to an Adept PA 4 power chassis and the joined units can be mounted in a standard 19 inch equipment rack The Adept MV 10 requires one board an AWC board in a 68040 or 68060 configu
236. iguration for the Adept MV controller consists of a character based user interface for the V language and a customer supplied terminal or computer The system programmer uses the terminal to write edit test and store application programs The terminal also can be used as an operator interface This configuration is used in applications not requiring AdeptVision or AIM software Adept MV Controller User s Guide Rev A 39 Chapter 2 AWC System Processor 68040 or 68060 AWC System Processor 68040 or 68060 An AWC system processor board is required for all Adept controllers and can be configured with a 68040 or 68060 CPU The 68060 based AWC can also be used as an auxiliary system processor see Auxiliary Processor AWC With 68060 CPU on page 42 for details The AWC board includes Compact Flash RAM that takes the place of a traditional hard drive It also includes an Ethernet connection for general network communications and for the AdeptWindowsPC interface See Chapter 4 for more details Optional Boards This section gives a brief description of the optional boards Each board is covered in more detail in a separate chapter in this user s guide System Input Output Board SIO The System Input Output board SIO is a two slot 6U VME board that can handle mass storage and serial I O for an Adept controller The SIO board features include e 3 5 high density 1 44 MB floppy drive e Internal hard drive gt 1 4 GB
237. ike the monitor and each program task the Manual Control Pendant MCP can also have a robot attached When moving a robot from the MCP or displaying joint values or world locations by pressing the DISP key only the currently selected robot is affected The robot currently selected by the MCP is shown by the state of the DEV LED in the manual state LED group see Figure D 3 The table below describes the conditions Adept MV Controller User s Guide Rev A 259 Appendix D Moving a Robot or Motion Device With the MCP Robot selected by DEV LED state pendant OFF 1 ON 2 FLASHING 3 and above The MCP selection cycles from one robot to the next each time the DEV F3 key is pressed Be careful when recording positions with the MCP the position recorded by HERE or TEACH commands depends on the robot that is currently selected by the monitor or program and not on the robot selected by the MCP The following commands will allow you to teach the position of robot 2 regardless of which robot is selected by the MCP SELECT ROBOT 2 Choose robot to be accessed by Monitor TEACH p 1 Record location s of robot 2 Robots With Fewer Than Six Joints The MCP has six axis joint selection buttons In Cartesian modes WORLD TOOL these correspond to all six possible Cartesian values X Y Z RX RY RZ Not all mechanisms can move in all of these coordinates For example a 4 axis SCARA robot can move in only X Y Z and RZ
238. iled to respond to a command from V within five seconds User action Save all your programs and variables on disk and then reboot the system from disk Contact Adept Customer Service if the problem repeats Graphics software checksum error 558 Explanation The code on the graphics board has been corrupted Adept MV Controller User s Guide Rev A 295 Appendix E Alphabetical Listing User action Save new or modified programs restart the controller and reload the programs If the problem persists contact Adept customer ser vice Graphics storage area format error 555 Explanation During execution of a FREE command V has detected that the information in graphics memory may have been corrupted This may have been caused by a momentary hardware failure or a soft ware error User action Attempt to save as much as possible onto disk Issue ZERO 1 and ZERO 2 monitor commands to delete graphics data If the error per sists power down the controller and restart the system HALTED 8 Explanation A HALT instruction has been executed and thus execution of the current program has terminated User action Any monitor command can be entered but PROCEED cannot be used to resume program execution Hard envelope error Mtr n 1027 Explanation The indicated motor was not tracking the commanded position with sufficient accuracy indicating a failure in the hardware servo system or something impeding the path o
239. imensions 218 N Numeric list of messages 359 O OK LED 74 operating environment specifications MV 5 MV 10 50 Optional DIO Cables 125 Optional equipment description of 43 Optional modules 40 42 Output Signals 114 Overvoltage protection MV 5 MV 10 53 P Panel mounting MV 5 MV 10 68 70 Pointer connector pin assignments 137 Position latch high speed 224 Power entry module MV 5 MV 10 54 Precision point 243 Priming a new program on MCP 248 Processors 75 Prog Set function on MCP 247 Program starting execution on MCP 248 Program cycles setting on MCP 248 Program step selecting starting 248 394 Adept MV Controller User s Guide Rev A R Rack mounting MV 5 MV 10 68 70 REACT Input Signals 1001 to 1012 113 Real variables editing with MCP 242 Related manuals 26 Remote Control of the AUTOMATIC MANUAL Switch 105 Remote Enable Switch Connections 109 Remote E stop Circuit 108 Remote MCP Connections 108 Remote MCP connections on the JUSER Connector 100 Remote Sensing of CIP MCP and User Emergency Stop Push Button Switches 104 Remote User Panel Connections 108 Repacking for relocation 49 Requirements facility MV 5 MV 10 50 Robot location displaying 244 Robotic Industries Association 30 Robotic safety 30 RS232 JCOM 92 RS 232 connectors on SIO module 170 RS 232 Term Connector Pin Assignments 83 RS 422 485 Connector 83 RS 422 485 Connector Pin Assignments 84 S Safety 30 Selecting a
240. inassignments 136 L Labeling Cables 125 LAN LED 74 LEDs status 74 Location displaying current robot on MCP 244 Location variables editing with MCP 243 M Man Halt button on MCP 250 Manual Control Pendant 43 CMD function 246 Adept MV Controller User s Guide Rev A 393 Index CMD1 247 CMD2 247 how to use 235 260 Mode control buttons 249 Operator s model 235 Predefined function buttons 241 248 Manual Mode 105 Manual Mode Safety Package MMSP 92 Manual Mode Safety Package MMSP Connector 108 Manual states free 258 joint 256 tool 254 world 253 Manual Auto Mode Switch 90 Manuals related 26 MCP viewing angle on MCP 240 MCP Cable Connector Pinout 96 MCP connector 90 MCP Cradle 96 MCP Requirements 97 MCP see Manual Control Pendant Mechanical Installation of the CIP 94 Messages 262 MI 3 MI 6 module 41 MI3 MI6 module 174 177 connecting to user equipment 177 connections indicators 175 jumper settings 177 technical specifications 177 VME bus address 176 Monitor compatibility specifications 135 installation 64 video interface 135 Monitor connector pin assignments 135 Monitor speed setting on MCP 248 Motion Interface module see MI 3 MI 6 module Mounting brackets install positions MV 5 MV 10 71 installation MV 5 MV 10 67 69 Muted Safety Gate E stop Circuitry 104 MV 10 controller description 36 MV 5 controller description 36 MV 5 MV 10 robot controller dimensions 219 MV 5 MV 10 stand alone d
241. ing Camera Cables Connect the 10 meter camera extension cable to breakout connector cam1 and the other end of the extension cable to the Hirose connector on the back of the Pulnix camera Connect the BNC adapter cable to the auxiliary connector on the 4 camera cable Connect the power and ground on the BNC adapter cable to a 12V power supply that provides at least 600mA at 12V Each Pulnix TM 1001 camera requires 600mA at 12V Therefore if you are using two Pulnix TM 1001 cameras your power supply must be capable of providing 600mA at 12V for each camera Connect Frame Reset 1 on the BNC adapter cable to the BNC connector on the back of the first Pulnix camera Connect Strobe 1 on the BNC adapter cable to the first strobe light optional To connect a second Pulnix TM 1001 camera 1 PAN Connect the 10 meter camera extension cable to breakout connector cam2 and the other end of the extension cable to the Hirose connector on the back of the Pulnix camera Connect Frame Reset 2 on the BNC adapter cable to the BNC connector on the back of the second Pulnix camera Connect Strobe 2 on the BNC adapter cable to the second strobe light optional CAUTION A maximum of two Pulnix TM 1001 cameras may be installed on the EVI board NOTE Do not mix Pulnix TM 1001 and RS 170 cameras on the same EVI Vision board They require different board switch settings See page 144 Adept MV Controller User s Guide Rev A 153 Chap
242. ion configuration and operation of the EJI board and your robot Adept MV Controller User s Guide Rev A Chapter 10 Connections and Indicators Connections and Indicators O Status LEDs When lit ES indicates a latched E Stop signal on the backplane has been asserted from the EJI board or somewhere else in the system HPE indicates the High Power Enable signal is asserted 1 to 6 indicates the corresponding output motor drive channel is enabled Amplifier Signal connector the EJI to Amp cable from the power chassis is installed here O Belt Encoder connector a 15 pin D Sub connector for up to two belt encoders in a conveyor tracking installation O Arm Signal connector the EJI to Robot cable from the Adept robot is installed here Adept MV Controller User s Guide Rev A 181 Chapter 10 VME Bus Address VME Bus Address Address Settings for EJI Boards The VME bus address for a single EJI board is set at the factory and will not need to be changed If you have multiple EJI boards each EJI board must have a unique VME bus address The information in Table 10 1 shows how to set the address when you have multiple boards in an Adept controller The address is set at DIP switch U18 on the EJI board To operate the switch use a small insulated instrument such as the point of a pencil Each switch position is a miniatu
243. ion detection enabled are simultaneously blocking each other s path That is neither robot can perform its next motion until the other robot moves out of the way User action Change the application program to prevent the deadlock situation 272 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing Command None Explanation A SEE editor extended command has been initiated with the X com mand User action Enter the desired extended command or press RETURN to cancel the request Communication time out 531 Explanation An I O operation has not completed within the allotted time inter val For data communications the remote communications device has not properly acknowledged data that was sent User action Make sure the remote device is communicating Make sure connec tions to the remote device are operating properly Communications overrun 524 Explanation Data has been received on an I O device faster than V is process ing it and some data has been lost This will happen only on the serial interface line or the network User action Modify the program to service the I O device more often add a handshaking protocol or slow down the transmission rate to V COMP mode disabled 603 Explanation The command attempted requires computer control of the robot but COMPUTER mode was not selected on the pendant User action Select COMP mode on the pendant or enable DRY RUN mode f
244. ional EMC suppression measures such as the use of twisted pair ferrite inductors or band pass filters should be employed NOTE More information on input output performance characteristics for applicable boards in the Adept controller is available on request from Adept Please contact Customer Service for a copy Adept MV Controller User s Guide Rev A 229 Appendix C Electromagnetic Compatibility Testing Results Electromagnetic Compatibility Testing Results 230 The Adept controllers meet all applicable requirements as mandated by the European Union EU EMC Directive Table C 2 summarizes the test results of some of the most critical tests Table C 2 EMC Test Results Test Performed Status Fast Transient Burst FTB EN61000 4 4 to level 3 2 kV power 1 kV I O Passed without qualification Electrostatic Discharge ESD TEC61000 4 2 to level 4 8 kV contact discharge Passed without qualification Radiated Immunity ENV50140 to level 3 10 V m 80 100 MHz 80 mod O 1 kHz Passed without qualification Conducted Immunity ENV50141 to level 3 10 V Passed without qualification Damped Oscillatory TEC255 4 1 kV Passed without qualification Gradual Shutdown and Startup EN 61131 2 Passed without qualification Surge EN1000 4 5 to level 3 2 kV common mode on I Os only Passed without qualification Radiated Emissions EN55011 for group 1 ISM to Class A
245. ions from the manual control buttons to free as many joints as required In some cases such as Joints 1 and 2 on an AdeptOne AdeptThree robot multiple joints are freed by selecting a single button On some robots Free mode may have been disabled by the manufacturer on some or all joints As soon as the COMP PWR button is pressed or another selection is made from the manual control buttons all joints are placed back under servo control and will not move freely Figure D 18 shows the free state for a four axis SCARA robot The joint assignments in the free state are the same as the joint assignments in joint state Adept MV Controller User s Guide Rev A Appendix D Moving a Robot or Motion Device With the MCP WARNING As soon as a joint is selected from the manual control buttons the related joint is free to move in some cases multiple joints may be freed up In many cases the weight on the joint will be sufficient to move the joint and cause damage or harm For example when joint 3 on a SCARA or Cartesian robot is freed the joint is free to fall to the end of its travel In articulated robots multiple links of the robot may be free to fall when a single joint is freed up Be extremely careful when selecting a joint in free mode Joint 2 Joint 1 Free Jiti CD Joint 2 Free Joint 3 Joint 3 Free Joint 4 Free Joint 4 Gripper Figure D 18 FREE State Four Axis SCARA Controlling More Than One Robot L
246. ired in series with any other E stop contacts on the USERESTOP CH1 pins 4 and 23 and USERESTOP CH1 pins 5 and 24 108 Adept MV Controller User s Guide Rev A Chapter 5 Connecting Customer Supplied Safety and Power Control Equipment to the CIP Remote Enable Switch Connections Two pairs of pins on the JUSER connector pins 6 25 and 7 26 provide connection for an MCP enable switch momentary push button This input duplicates the functionality of the MCP enable switch on MCP Electrically the enable switch is wired in series with the MCP enable switch connections on the CIP If the MCP is connected remotely using the remote MCP connection on the JUSER connector wire the MCP enable switch of the MCP to these pins NOTE These pins must be shorted if not used NOTE The MCP III uses only one switch channel for the Enable function The MCP ESop button uses two channels The MCP Enable switches E stop channel 1 directly while channel 2 is switched by a sense relay DM1 in Figure 5 5 This means that only channel 1 of the Remote Enable Switch is active Please contact Adept for custom modifications of the MCP III or MCP bypass plug if you need a two channel MCP enable function Adept MV Controller User s Guide Rev A 109 Chapter 5 Connecting User Supplied Serial Communications Equipment Connecting User Supplied Serial Communications Equipment RS 232 JCOM Connector There is one RS 232 serial port JCOM
247. is plug is P N 10335 01060 Adept MV Controller User s Guide Rev A 97 Chapter 5 Connecting Customer Supplied Safety and Power Control Equipment to the CIP Connecting Customer Supplied Safety and Power Control Equipment to the CIP The connection of the customer supplied safety and power control equipment to the CIP is through the JUSER connector This connector is a 37 pin female D sub connector located on the side panel of the CIP Refer to Table 5 2 and Table 5 3 for the JUSER pin out explanations See Figure 5 5 and Figure 5 6 for the wiring diagram Table 5 2 Contacts Provided by the JUSER Connector Pin Shorted if Pairs Description Comments NOT Used Voltage Free Contacts Provided by User 1 20 Remote High Power on off used to enable High Power No momentary PB 4 23 User E Stop CH 1 mushroom N C contacts Yes PB safety gates remote MCP E stop etc 5 24 User E Stop CH 2 same as pins N C contacts Yes 4 and 23 6 25 Remote ENABLE hold to run N O contacts make to Yes enable Use for Remote MCP 7 26 Remote ENABLE hold to run N O contacts make to Yes enable Use for Remote MCP 8 27 Muted safety gate CH 1 causes N C contacts Yes E stop in AUTOMATIC mode only 9 28 Muted Safety Gate CH 2 same N C contacts Yes as pins 8 and 27 10 29 Remote CIP s Yes MANUAL AUTOMATIC MANUAL AUTOMATIC switch CH 1 MANUAL Open switch must be in AUTOMATIC Closed
248. is suppressed and the cause of the E STOP is reported instead There may be a hardware problem with the CIP its cabling or the AWC User action Hold the MCP enable switch and reenable HIGH POWER as desired Reseat the plug affixed to the JAWC connector on the CIP Adept MV Controller User s Guide Rev A 281 Appendix E Alphabetical Listing and the plug affixed to the CIP connector on the AWC If this error persists contact Adept Customer Service E STOP asserted by CPU 919 Explanation An E STOP condition has been generated by V in response to an internal error condition This error should not normally be seen User action If safe to do so attempt to enable HIGH POWER and note any dif ferent error messages that occur If this error persists contact Adept Customer Service E STOP channels 1 and 2 do not match 922 Explanation An E STOP condition has occurred because the two redundant E STOP signal channels do not report the same E STOP state User action If an external E STOP circuit is being used verify that both channels are wired and functioning properly Verify that the proper revision of MCP is being used Verify that the CIP is connected securely E STOP circuit is shorted 923 Explanation An E STOP condition has occurred because a short circuit in the E STOP wiring has been detected User action Verify that all E STOP channels are wired and functioning properly If the problem persists contact
249. is to write an error message to the system terminal indicating what is wrong so that the user can correct the error Alphabetical Listing 262 The following section contains all the error messages produced by V explains what they mean and indicates what should be done in response This list also includes a variety of informational messages that V displays under certain circumstances Almost every V message has a numeric code that can be used to identify the message within a V program The ERROR and IOSTAT functions return this error code The ERROR string function returns the error message corresponding to an error code The error code for each message appears at the right margin for all those messages that have a code For convenience the second section in this appendix lists all the V errors in order of their numerical codes All the V messages are described in this section Each description includes the text of the message its error code an explanation of the likely cause of the message and a suggestion of what action you should take NOTE If the system has more than one robot connected and an error is associated with a specific one of the robots the robot number is appended to the error message in the form Robot Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing Aborted 400 Explanation The last command requested or the program that was executing has been aborted at the operator
250. isplay at boot up ON disables logo display 2 OFF the pointer is a mouse Microsoft serial mouse protocol 1200 bps ON the pointer is a touchscreen ELO TouchSystems protocol 1200 bps 3 OFF U S keyboard ON Japanese keyboard 4 Adept internal use only should be set to OFF If you change the settings you must reboot turn controller off then on before the changes take effect VME Bus Address The VGB board has a fixed address that should not be modified by the customer 134 Adept MV Controller User s Guide Rev A Chapter 6 Monitor Video Interface Monitor Video Interface The VGB board supports a color monitor with a resolution of 1024 by 768 See Table 6 3 for the monitor compatibility specifications The pin assignments for the Monitor connector are shown in Table 6 2 Table 6 2 Monitor Connector Pin Assignments Pin Signal Pin Signal 1 Red Video Output 9 Not connected 2 Green Video Output 10 Ground 3 Blue Video Output 11 Ground 4 Ground 12 Not connected 5 Self Test Ground 13 Horizontal Sync 6 Red Video Ground 14 Vertical Sync 7 Green Video Ground 15 Not connected 8 Blue Video Ground Table 6 3 Monitor Compatibility Specifications Video Display Resolution 1024 x 768 pixels Frame Rate 60 Hz Format Noninterlaced Line Rate 48 363 kHz Dot Rate 65 000 MHz Video signal Analog RGB Signal level 0 0 7 Vp p I
251. ite E o E JDIO1 8 1 1038 white black 5 O A JDIO1 18 1 1039 black red ida JDIO1 9 1 1040 red black o E o JDIO1 25 1 group 1 return blue red O o E JDIO1 26 1 group 1 return red green E OG JDIO1 10 2 1041 green black jo JDIO1 1 2 1042 black Pin 19 ae JDIO1 11 2 1043 orange black Pin 1 JDIO1 2 2 1044 white JDIO1 12 2 1045 blue black JDIO1 3 2 1046 red J eae pac seh E a E input connector on JDIO1 13 2 1047 black white rear panel JDIO1 4 2 1048 green JDIO1 19 2 group 2 return white red JDIO1 20 2 group 2 return orange red 126 Adept MV Controller User s Guide Rev A Chapter 5 Optional DIO Cables Table 5 11 JDIO2 Input Cable Pin Assignments Pin Signal Wire Pin Number Group Signal color Locations JDIO2 15 3 1049 red white JDIO2 6 3 1050 orange Pin18 DS JDIO2 16 3 1051 green white Pin 26 JDIO2 7 3 1052 blue O JDIO2 17 3 1053 blue white O JDIO2 8 3 1054 white black O JDIO2 18 3 1055 black red a JDIO2 9 3 1056 red black o JDIO2 25 3 group 3 return blue red O JDIO2 26 3 group 3 return red green O JDIO2 10 4 1057 green black Pin 19 JDIO2 1 4 1058 black Pin 10 Pin 1 JDIO2 11 4 1059 orange black JDIO2 2 4 1060 white P2 26 pin female input JDIO2 12 4 1061 blue black connectoron CIP redt JDIO2 3 4 1062 red panel JDIO2 13 4 1063 black white JDIO2 4 4 1064 green JDIO2 19 4 group 4 return white red JDIO2 20 4 group 4return orange r
252. ith two EJI boards dual Adept robots the second EJI should be set to servo board 3 This allows optimal processor allocation for the servo code with the default V software configuration See Table 10 2 for examples of address settings for various configurations Table 10 2 VME Bus Address Settings for Multiple Servo Board Systems Second Fourth First Board Board Third Board Board Address Address Address Address 2 MI6 1 MI6 3 MI6 1 VJI plus 1 MI6 1 VJI 3 MI6 2 VJI 1 VJI 3 VJI 2 VJI plus 1 MI6 1 VJI 3 VJI 5 MI6 2 VJI plus 2 MI6 1 VJ 3 VJ 5 MI6 7 MI6 For systems equipped with the Adept FlexFeeder system The VJI board for FlexFeeder number 1 should be addressed as servo board number 2 and the VJI board for FlexFeeder number two should be addressed as servo board number 4 Adept MV Controller User s Guide Rev A 183 Chapter 10 Belt Encoder Interface Belt Encoder Interface For use with conveyor tracking EJI boards support two independent external belt encoders through a single female 15 pin D sub connector The pin assignments for the Belt Encoder connector are shown in Table 10 3 See Figure 10 2 for a typical input circuit drawing Adept strongly recommends using differential encoder outputs for maximum noise immunity See the V Language User s Guide for more information on setting up and programming a conveyor tracking application NOTE Conveyor tracking
253. k and Thin Cable DeviceNet Thick Cable DeviceNet Thin Cable DeviceNet Connectors Example of a Terminating Resistor Installation on a Device Net Bus DeviceNet Connector Pinouts Adept MV Controller User s Guide Rev A 184 185 198 199 206 214 215 218 219 220 221 222 225 235 236 238 239 241 242 244 246 246 248 249 252 253 255 256 257 258 259 383 385 385 386 387 389 21 Table 3 1 Table 3 2 Table 3 3 Table 3 4 Table 3 5 Table 4 1 Table 4 2 Table 4 3 Table 4 4 Table 4 5 Table 4 6 Table 4 7 Table 4 8 Table 4 9 Table 4 10 Table 5 1 Table 5 2 Table 5 3 Table 5 4 Table 5 5 Table 5 6 Table 5 7 Table 5 8 Table 5 9 Table 5 10 Table 5 11 Table 5 12 Table 5 13 Table 6 1 Table 6 2 Table 6 3 Table 6 4 Table 6 5 Table 6 6 Table 7 1 Table 7 2 Table 7 3 Table 7 4 Table 7 5 22 List of Tables Operating Environment Specifications Adept MV 5 and MV 10 Controller Power r Requirements Power Cord Specifications MV 5 and MV 10 Fuse Ratings Technical Specifications for MV 5 a MV 10 Controllers AWC Board Specifications DIP Switch SW1 Default Settings SW1 Settings AdeptWindows Interface DIP Switch sw1 Settings VGB User Interface Settings of DIP Switch SW1 ASCII Terminal Settings of DIP Switch SW1 Auto Boot Settings of DIP Switch SW1 RS 232 Term Connector Pin Assignments RS 422 485 Connector Pin ic alan LED Status Indicators MCP Cable Connector Pin
254. l control panel that can be added to an Adept controller system The CIP connects to the AWC board It includes the basic hardware interface as well as connections for e Remote emergency stop circuitry e Remote front panel circuitry e 40 digital output signals e 44 digital input signals e One serial I O connector e The Manual Mode Safety Package MMSP e DeviceNet See Chapter 2 for details Manual Control Pendant MCP The Manual Control Pendant MCP is a hand held control unit that can be added to any Adept controller system that includes a CIP The MCP connects to the front of the CIP The pendant has a palm activated MCP enable switch connected to the remote emergency stop circuit The MCP is often used to manually control a robot or motion device during system development The MCP includes function keys and a 2 line by 40 character LCD display that are fully programmable An Emergency Stop push button switch on the MCP shuts off High Power at the Adept controller See Appendix D for details AdeptWindows AdeptWindows is an application suite for the personal computer PC that provides additional capabilities for the Adept controller and an interface to the PC See the AdeptWindows User s Guide for details Adept MV Controller User s Guide Rev A 43 Chapter 2 Optional Equipment The AdeptWindowsPC component enables a customer supplied PC to display the real time Graphical User Interface for an Adept controller The A
255. l external input 912 E STOP from user enable switch 913 E STOP from MCP enable switch 914 E STOP 2 detected by CPU 915 MCP enable switch 1 off detected by CPU 916 MCP enable switch 2 off detected by CPU 917 Manual mode switch 1 off detected by CPU 918 Manual mode switch 2 off detected by CPU 919 E STOP asserted by CPU 920 Fatal Manual mode switch stuck off 921 E STOP from user muted safety gate 922 E STOP channels 1 and 2 do not match 923 E STOP circuit is shorted 924 Front panel HIGH POWER lamp failure 925 Front panel serial bus failure 372 Adept MV Controller User s Guide Rev A Appendix E Table E 7 Error Messages Continued Numerical List Code Message Text 999 Aborted 1001 Invalid servo error Mtr n 1002 Position out of range Jt 1003 Time out nulling errors Mtr n 1004 No zero index Mtr n 1005 Unexpected zero index Mtr n 1006 Soft envelope error Mtr n 1007 Motor stalled Mtr n 1008 Encoder quadrature error Mtr n 1009 Timeout enabling amplifier Mtr n 1010 Invalid error code Belt n 1011 No zero index Belt n 1012 Unexpected zero index Belt n 1013 Encoder quadrature error Belt n 1014 Fatal Initialization failure Mtr n 1015 Initialization failure Belt n 1016 Motor overheating Mtr n 1018 Motor amplifier fault Mt
256. ler User s Guide Rev A 193 Chapter 12 Inputs Inputs 194 The 32 input channels are arranged in four groups of eight Each group is electrically opto isolated from the other groups and from the VME bus circuitry The eight inputs within each group share a common ground The inputs are accessed through the two 26 pin D sub input connectors on the front of the board Each connector provides access to two input groups Each group requires 10 pins 8 input signals and 2 ground references An input is turned on by providing a positive potential on its input pin relative to the ground pin of its group This type of input is considered sinking That is to turn it on current must flow into the input pin Table 12 1 DIO Input Circuit Specifications Operational voltage range 35 VDCS Vin lt 35 VDC Off state voltage range 35 VDC lt Vin lt 3 VDC On state voltage range 10 VDC lt Vin lt 35 VDC Typical threshold voltage Vin 6 VDC Operational current range O lt I lt 14mA Off state current range O lt I lt 400 uA On state current range 2 3 mA lt Iin lt 14 mA Typical threshold current In 1 1 mA Impedance V I 2 5 K Q minimum Current at Vin 35 VDC In lt 14 mA Current at 35 VDC lt Vin lt 0 Iin lt 50 pA Turn on response time hardware 30 usec maximum Software scan rate response time 16 ms scan cycle 32 ms max response time Turn o
257. lid in read only mode 352 Explanation An editor function was attempted that cannot be performed while User action accessing a program in read only mode Change to editing the program in read write mode or use a differ ent editor command Invalid model name 732 Explanation The name of a prototype subprototype OCR font or correlation User action template has been incorrectly specified The correct format for pro totype names is proto subproto where proto is a prototype name and subproto is a subprototype name This error occurs if the colon is followed by a blank or when some other character is used instead of a colon Font names have the form FONT_n where n is an integer in the range 0 to 50 The special name FONT O refers to all fonts Similarly template names have the form TMPL_n Prototype names should not begin with FONT_ or TMPL_ Enter the attempted operation again correctly specifying the proto type subprototype OCR font or correlation template Invalid network address 561 Explanation This error occurs when an NFS server has not correctly exported the User action path being accessed or when an IP network address specified is not of class A B or C Check the IP addresses used to refer to network nodes Adept MV Controller User s Guide Rev A 305 Appendix E Alphabetical Listing Invalid network protocol 541 Explanation A message has been received and rejected by
258. lowing electrical characteristics e 12V or 24V AC or DC coil limited to less than 500 mA The user connection for system power is at the JUSER connector pins 6 and 24 You will need to provide a power supply to match the coil voltage of the external contactor In addition the system power switch has a second pole that is wired through the 25 pin cable to the Manual Mode Safety Package Access to this pole is at TB5 pins 5 and 6 on the E Stop PCA of the MMSP You can wire to whichever contact is more convenient Manual Mode Safety Package MMSP Connector The CIP also provides a connection for a user supplied MMSP circuit see Figure 5 5 Figure 5 6 Table 5 2 and Table 5 3 for the customer MMSP circuitry Remote User Panel Connections The CIP provides connections for a remote user panel circuitry that allows a second user panel at another location see Figure 5 5 Figure 5 6 Table 5 2 and Table 5 3 for the customer remote user panel circuitry Remote MCP Connections For the following remote MCP connections see Figure 5 5 and Figure 5 6 and refer to Table 5 2 and Table 5 3 for the customer Remote MCP circuitry NOTE If a remote MCP connection has been added through the JUSER connector the optional MCP bypass plug P N 10335 01060 must be installed in the MCP connector on the CIP Remote E Stop Circuit When using a remote connector for the MCP the MCP E stop push button contacts red mushroom switch must be w
259. lude the details of the error message and exactly what you were doing at the time the error occurred Unknown function 462 Explanation While accepting a program statement V has encountered a refer ence to a function that it does not recognize This could be due to a mistyped function name or the leaving out of an operator between a symbol and a left parenthesis User action Check the spelling and syntax and reenter the line Unknown instruction 452 Explanation An instruction was entered or read from a disk file that was not recognized by the system This error is often caused by mistyping the instruction name or trying to use a command as an instruction Adept MV Controller User s Guide Rev A 351 Appendix E Alphabetical Listing or vice versa Note that statements with errors are turned into bad lines beginning with a question mark If the message occurred while loading a file from the disk the file was probably created off line or with a different V system differ ent version or options and the indicated line is not compatible with the Vt system in use User action Correct the line or enter it again making sure the spelling and usage are correct When using the SEE editor an invalid statement is either converted to a bad line or must be corrected before you can leave that line depending on the setting of the AUTO BAD feature In the case of an error while loading from the disk edit the program to co
260. lug the MCP into the connector marked MCP on the CIP The jack and plug are keyed to ensure proper connection The CIP connector is an AMP 16 pin circular plastic male connector A female connector is used on MCP cable Table 5 1 MCP Cable Connector Pin Out Pin Signal Name Pin Signal Name Ground 9 Shield 2 TXD transmit to MCP 10 Not used 3 RXD receive from 11 E Stop2 MCP 4 Ground 12 E stop2 5 12V 13 Enable2 6 E Stop1 14 Enable1 7 E stop1 15 Enable 2 8 12 V 16 Enable 1 MCP Cradle The MCP is stored in the MCP cradle when it is not being held by an operator The cradle has a retaining clip that keeps the MCP enable switch closed The MCP cradle must be installed outside of the robot workcell Adept MV Controller User s Guide Rev A Chapter 5 Connecting the MCP to the CIP MCP Requirements An MCP IL must used with AWC based system in order to apply power to the robot The MCP III is the only MCP that incorporates a dual channel E stop CAUTION The coiled cable on the MCP III has been tested to withstand 500 V of repetitive electrical bursts per EN61000 4 4 Exposing the MCP to voltages higher than 500 V may cause the robot to shut down In this event it may be necessary to unplug then reconnect the MCP to restart the robot The MCP Bypass Plug The MCP Bypass plug is optional and must be installed when not using the MCP The Adept part number for th
261. m and then the AdeptVision system signals the position of the robot or conveyor belt to be latched synchronized to the exact moment that the vision picture is captured This feature is especially useful when the camera is mounted on a moving robot or the camera is viewing an object on a moving conveyor belt See the AdeptVision User s Guide for details of the vision trigger Adept MV Controller User s Guide Rev A Additional Standards Compliance Information Sources for Standards 2 2 2s 8 s8 8 2 ss 2 228 IEC Test Information ee ee eS ee ee Electromagnetic Compatibility Testing Results e Bode 2 amp ee d 200 Color Coding of Indicator Lights ie Color Code Used by Adept for Oper i dedas s ara n Color Code Used by Adept for Service Indicators 232 Adept MV Controller User s Guide Rev A 227 Appendix C Sources for Standards Sources for Standards The table below lists sources for the various standards that are referenced in this manual Table C 1 Sources for Standards and Directives BSI British Standards Institute Sales Department Linford Wood Milton Keynes MK14 6LE United Kingdom Phone 0181 996 7000 Fax 0181 996 7001 Beuth Verlag GmbH 10722 Berlin Germany Phone 030 26 01 22 60 Fax 030 26 01 12 60 IEC International Electrotechnical Commission Rue de Varembe 3 PO Box 131 CH 1211 Geneva 20 Switzerland Phone 41 22 919 0211 Fax 41 2
262. m running 312 Explanation An attempt has been made to start execution of a program from the manual control pendant while a program is already executing as task 0 User action Stop the program currently executing and then retry the operation Cartesian control of robot not possible 635 Explanation A program has attempted to perform a straight line motion with a robot that does not support such motions User action Change the program to use joint interpolated motion Change 11 Explanation You are being given an opportunity to modify the location value just created by a HERE or POINT command User action Enter any desired new components separated by commas or press the RETURN key to indicate that no changes are desired change to None Explanation While initiating a string replacement operation the SEE editor is prompting for the string to be used for the replacement User action Enter the desired replacement string Note that if you just press RETURN the string to be searched for will be erased that is an empty string will be used for the replacement Character not in font 742 Explanation In a string of characters to be recognized by or trained for optical character recognition OCR one or more characters are not in the current font definition User action Redefine the font to include the missing character s Collision avoidance dead lock 647 Explanation Two robots with collis
263. m the AWC to the CIP Power down and restart the controller If this problem persists contact Adept Customer Ser vice for assistance Force protect limit exceeded 624 Explanation At least one force sensor strain gauge reading has exceeded the pre set limit causing a robot panic stop This may happen due to high forces experienced during an insertion a crash or high acceleration User action Ifa crash occurred ensure that the work area is cleared If the limit was exceeded in normal operation the limit should be increased or Protect mode should be disabled Enable high power with the man ual control pendant and continue operation Front panel HIGH POWER lamp failure 924 Explanation HIGH POWER has been disabled because a failure Open Circuit in the front panel HIGH POWER lamp has been detected The lamp is probably burned out This condition is considered a safety hazard An E STOP is not signaled However HIGH POWER cannot be enabled until the lamp is replaced User action Replace the HIGH POWER lamp See Changing the Lamp on the High Power Indicator on page 213 Function already enabled 422 Explanation Certain functions or operations must not be enabled when they are already enabled or active ALTER mode is an example of such a function User action Avoid reenabling the function or operation Graphics processor timeout 552 Explanation The graphics processor on the system processor fa
264. mally an error results when a PROCEED RETRY or XSTEP com mand is entered or the pendant RUN HOLD button is pressed after a program has completed all its cycles User action Use the EXECUTE or PRIME command or the pendant PRIME function to restart the program from the desired instruction Can t interpret line 450 Explanation V could not interpret the last command or instruction entered User action Check the spelling and usage and reenter the line In the case of an error while loading from the disk edit the affected programs to cor rect the indicated lines they have been converted to bad lines Can t mix MC amp program instructions 414 Explanation A program instruction has been encountered during processing of a command program or an MC instruction has been encountered in a normal program User action Edit the command program to use the DO command to include the program instruction or remove the MC instruction from the normal program Can t open vision window for read write 734 Explanation An attempt has been made to open the vision window in read write mode but the vision system is performing some critical processing that precludes it from releasing the window User action Change the program to have it try the FOPEN again later or specify WRITEONLY if no reading will be performed Adept MV Controller User s Guide Rev A 271 Appendix E Alphabetical Listing Can t start while progra
265. me of the currently executing or most recently executed program Speed shows the current monitor speed Cycle shows the total number of cycles specified when the program was executed Left shows the number of cycles of the program remaining to execute The Software Controller and Robot ID buttons display the ID information for those items Digital O When this button is pressed the display shows 0000 0011 0032 0001 OUT IN SOFT The top line shows the status of the range of digital I O signals indicated on the second line 1 32 in the above example A indicates the channel is not installed a 1 indicates the signal is on and a 0 indicates the signal is off The type of signal that is being displayed is indicated by the LED on the soft buttons labeled OUT IN and SOFT The above example shows digital output signals in the range 1 to 32 Signals 1 2 are on signals 3 8 are off and no other signals in this range are installed To display a different range of signals press the soft buttons under the or labels The next or previous range of signals will be displayed Press the OUT IN and SOFT soft buttons to display input output or soft signal ranges See Connecting User Supplied Digital I O Equipment on page 111 for details on digital I O signal ranges for the CIP Also see Additional DIO Boards on page 205 for details on digital I O signal ranges for the optional DIO board L
266. ments From Pin To Pin Function Str Pwr 2 CAM1 Power return Str Pwr 1 CAM1 12V power EVI 12 CAM1 Shield video EVI 42 CAM1 4 Video EVI 38 CAM1 5 Shield Hd Adept MV Controller User s Guide Rev A Chapter 7 Table 7 11 Four Camera Breakout Cable Pin Assignments Continued From Pin To Pin Function EVI 36 CAM1 6 Hd horizontal drive EVI 37 CAM1 7 Vd vertical drive EVI 38 CAM1 8 Shield Clock EVI 22 CAM1 9 Clock CAM1 10 not connected CAM1 11 not connected EVI 38 CAM1 12 Shield Vd Str Pwr 2 CAM2 1 Power return Str Pwr 1 CAM2 2 12V power EVI 43 CAM2 3 Shield video EVI 29 CAM2 4 Video EVI 35 CAM2 5 Shield Hd EVI 34 CAM2 6 Hd horizontal drive EVI 19 CAM2 7 Vd vertical drive EVI 35 CAM2 8 Shield Clock EVI 20 CAM2 9 Clock CAM2 10 not connected CAM2 11 not connected EVI 35 CAM2 12 Shield Vd Str Pwr 2 CAM3 1 Power return Str Pwr 1 CAM3 2 12V power EVI 14 CAM3 3 Shield video EVI 44 CAM3 4 Video EVI 33 CAM3 5 Shield Hd EVI 32 CAM3 6 Hd horizontal drive EVI 18 CAM3 7 Vd vertical drive Ee CAM3 8 not connected ao CAM3 9 not connected CAM3 10 not connected CAM3 11 not connected EVI 33 CAM3 12 Shield Vd Str Pwr 2 CAM4 1 Power return Str Pwr 1 CAM4 2 12V power EVI
267. mer Ser vice Vision system out of memory 733 Explanation The vision system has run out of free memory for the last operation attempted This message should not be confused with Vision error Out of memory This error does not disable the vision switch and is always returned in direct response to the last vision instruc tion 356 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing User action Reduce the complexity of the image or reduce the number of models in memory If the problem persists contact Adept Customer Service Warning Monitoring watchpoint 55 Explanation Program execution has begun while a watchpoint is set User action None This is an informational message You may want to disable the watchpoint to eliminate its slowing down of program execution Warning Not calibrated 51 Explanation The robot servo system and joint position sensors are not calibrated Thus any location variables that are defined may not represent the locations desired User action Enter a CALIBRATE command or have your program execute a CALIBRATE instruction Warning Protected and read only programs are not stored 52 Explanation A STORE command has been executed while protected and or read only programs are loaded in the V system memory The pro tected and read only programs are not stored in the new disk file User action Use the FCOPY command if you want to move read only programs fr
268. mmand V Cycle Tests Adept DeviceNet Introduction Limitations of the Adept DeviceNet Scanner Adept Supplied DeviceNet Hardware Connecting DeviceNet Hardware to the Adept DeviceNet Scanner E O RA E es DeviceNet Physical Layer and Media DeviceNet Connectors Termination of the DeviceNet Network Power Supply and the DeviceNet Bus Power Capabilities of a DeviceNet Cable seara Adept MV Controller User s Guide Rev A 260 261 262 262 359 375 376 376 376 376 376 376 377 377 377 377 378 378 378 378 378 378 378 379 380 381 382 382 383 386 386 387 387 Table of Contents MOOS cs e eae ee ee Bae SR RES ES Se HE DOE Adept MV Controller User s Guide Rev A 19 Figure 2 1 Figure 2 2 Figure 3 1 Figure 3 2 Figure 3 3 Figure 3 4 Figure 3 5 Figure 3 6 Figure 3 7 Figure 3 8 Figure 3 9 Figure 4 1 Figure 4 2 Figure 5 1 Figure 5 2 Figure 5 3 Figure 5 4 Figure 5 5 Figure 5 6 Figure 5 7 Figure 5 8 Figure 5 9 Figure 5 10 Figure 5 11 Figure 5 12 Figure 6 1 Figure 7 1 Figure 7 2 Figure 7 3 Figure 7 4 Figure 7 5 Figure 7 6 Figure 7 7 Figure 7 8 Figure 7 9 Figure 8 1 20 List of Figures Adept MV 5 and MV 10 Controllers Adept Compact Controller MV 5 MV 10 Power Entry Module MV 5 MV 10 Fuse Holder Adept MV 4 Insert Adept MV 5 Upper Backplane P1 Jumper Plugs Adept MV 10 Upper Backplane
269. mpo rarily by pressing CTRL G The robot servos will not function but you can STORE the programs Then power down the controller and restart the system Fatal Bus Err at aaaaaa m n I xxxx t aaaa F ff None Explanation A computer error occurred because of a bad read from memory because of noise on the internal data bus or because of a hardware problem Adept MV Controller User s Guide Rev A 285 Appendix E User action Alphabetical Listing To save programs that are in memory you can restart Vt tempo rarily by pressing CTRL G The robot servos will not function but you can STORE the programs Then power down the controller and restart the system If the problem persists contact Adept Customer Service Fatal CHK Trap at aaaaaa m n None Explanation An internal problem has occurred with the V software or with the User action system hardware It would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error mes sage and exactly what you were doing at the time the error occurred To save programs that are in memory you can restart V tempo rarily by pressing CTRL G The robot servos will not function but you can STORE the programs Then power down the controller and restart the system Fatal Emul 1010 Trap at aaaaaa m n None Explanation An internal problem has occurred with the V software or with the User action sys
270. n Ethernet is required when using the AdeptVision system Each Adept controller connected to a PC in this fashion requires the AdeptWindows software license See the AdeptWindows User s Guide for more details Installing an ASCII Terminal User Supplied If the controller does not have either a VGB or the AdeptWindows options you must supply the terminal and cable to interface to the controller The terminal must be a Wyse Model 60 or 75 with an ANSI keyboard or a compatible terminal You may also be able to use a computer with suitable terminal emulation software For DOS or Windows compatible computers the programs ProComm and ProComm for Windows available from many computer stores include software emulation for the Wyse 75 It is also possible to use ASCII terminals VT 100 compatible preferred However some functions such as the SEE editor will be unusable Recommended Terminal for Systems Without a VGB or AdeptWindowsPC The recommended terminal for use with the Adept MV controller is the Wyse WY 60 You must also specify that you require the Wyse ANSI VT100 style keyboard Wyse p n 900127 02 or 900128 02 CAUTION The WY 60 is also available with ASCII and IBM A Enhanced PC keyboards These are NOT Adept compatible You 66 must make sure you order the correct keyboard The WY 60 is available in both 220V and 110V configurations depending mainly on the country you buy it in Contacting WYSE Wyse Tech
271. n the HIGH POWER light is on A can result in severe injury 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 on the optional CIP is illuminated do not enter the workcell because the robot or motion device might move unexpectedly If this bulb fails you will not be able to enable High Power See Chapter 13 for details on replacing the bulb Manually Controlled Robots and Motion Devices Adept robots and other motion devices can also be controlled manually when the HIGH POWER light on the CIP 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 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 MV Controller User s Guide Rev A 31 Chapter 1 Safety Adept Technology
272. n the Pulnix TM 1001 camera cables Table 7 10 describes the 10 meter camera extension cable Table 7 11 describes signal information between the 44 pin connector and the camera and strobe power connectors for the four camera breakout cable The table is organized by camera number Table 7 12 describes signal information between the 44 pin connector and the camera and strobe power connectors for the Pulnix TM 1001 custom four camera breakout cable The table is organized by camera number Table 7 13 contains information similar to Table 7 11 but it is organized numerically by the 44 pin connector Table 7 14 contains information similar to Table 7 12 but it is organized numerically by the 44 pin connector Adept MV Controller User s Guide Rev A 155 Chapter 7 Camera Cable Pin and Signal Information Table 7 7 Breakout Cable Camera Connector Pin Assignments RS 170 Pin Function Notes 1 Power return 2 12V power to camera 3 Shield video 4 Video from camera 5 Shield Hd 6 Hd horizontal drive to camera 7 Vd vertical drive to camera 8 Shield Clock to camera camera 1 amp 2 only 9 Clock to camera camera 1 amp 2 only 10 not connected 11 not connected 12 Shield Vd 12 Pin Hirose Female Jack HR10A 10J 12S This connector will normally be connected to the camera using the optional 10 meter camera extension cable For sp
273. nd MI3 provide hardware based high speed position latching for each encoder channel This feature is useful for touch probes or for photo sensors on conveyor belts or for other applications that require latching the position of the mechanism with quick response time The position latch feature uses the external trigger inputs described above The AWC and the monitored servo board each take approximately 5 us to respond Thus the total response time is 10 ps The EJI provide software based position latches with a response time of approximately 1 to 2 ms 224 1 POS_LATCH 1 and POS_LATCH 2 2 VIS TRIGGER 1 and VIS_TRIGGER 2 Adept MV Controller User s Guide Rev A Appendix B External Input for Position Latch and Vision Trigger Hardware Interconnection of Boards on an Adept Controller based on switch VPICTURE waits for this 2 lines for latching V gt STROBE latches trigger if V gt STROBE is ancoders encoder 2 lines enabled 2 1 lines 2 lines 2 lines for latching 2 lines for 2 lines for enc_latch encoder based on latching latching ext input encoders encoders 2 lines generates ext_trigger _ ext trigger signal l based on ext input 7 lines V IO WAIT VME interrupt waits for 2 lines one Interrupt 4 interrupts 3 or EVI board generated 5 V then int 3 and or by 2 lines for knows that 5 in reponse high speed latching picture has to indicate digital inputs encoders been taken that valid and encoder pictureis on posi
274. nexistent file 501 Explanation 1 The requested file is not stored on the disk accessed Either the name was mistyped or the wrong disk was read 2 The requested graphics window title menu or scroll bar does not exist User action 1 Check the file name use the FDIRECTORY command to display the directory of the disk 2 Check the name of the graphics window element specified 324 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing Nonexistent subdirectory 545 Explanation The subdirectory referenced in a file specification does not exist on the disk that is referenced Note that the subdirectory may be part of a default directory path set by the DEFAULT monitor command User action Check that the subdirectory name was entered correctly Check that the correct disk drive was referenced and that the correct diskette is loaded Use an FDIRECTORY command to display the directory containing the subdirectory Check that the default directory path is correct Not a directory 567 Explanation The caller specified a nondirectory in an NFS directory operation User action Specify a directory in the operation or use the correct nondirectory operation Not attached to logical unit 516 Explanation A program has attempted to perform I O to a logical unit that it has not attached with an ATTACH instruction Logical unit 4 allows output without being attached but all other logical units
275. ng Please include the details of the error mes sage and exactly what you were doing at the time the error occurred To save programs that are in memory you can restart V tempo rarily by pressing CTRL G The robot servos will not function but you can STORE the programs Then power down the controller and restart the system Fatal DIV Instr Err at aaaaaa m n None Explanation The V system has detected an error from a divide instruction This User action indicates a processor fault Power down the controller and try starting it again If the problem persists contact Adept Customer Service Adept MV Controller User s Guide Rev A 289 Appendix E Alphabetical Listing Fatal Force Err None Explanation The force processor has detected an error condition You can con tinue to use the V system but the force sensing system cannot be used until you act upon the error User action None required if you do not intend to use the force sensing system Otherwise refer to the documentation for the force sensing system for information on how to respond to the error Fatal Graphics display processor error None Explanation The graphics processing unit on the graphics system processor has failed to respond to commands from the V system User action Power down the controller and try starting it again If the problem persists contact Adept Customer Service Fatal Initialization failure Mtr n
276. ng national and international standards such as e OSHA Lockout Tagout USA Adept MV Controller User s Guide Rev A 51 Chapter 3 Enclosure and Disconnect Requirements e TEC 204 1 e EN 60204 1 WARNING Failure to provide and use a suitable disconnect device A could cause death or injury to personnel 52 Adept MV Controller User s Guide Rev A Chapter 3 Installing the MV 5 and MV 10 Controllers Installing the MV 5 and MV 10 Controllers The Adept MV 5 and MV 10 controllers have auto ranging power supplies that operate at either 100 120 VAC or 200 240 VAC single phase AC Power Requirements Table 3 2 Adept MV 5 and MV 10 Controller Power Requirements Recommended Auto Ranging Minimum Maximum External Circuit Nominal Operating Operating Frequency Breaker Voltage Ranges Voltage Voltage Phasing user supplied 100V to 120V 90V 132V 50 60Hz 10 amps 1 phase 200V to 240V 180V 264V Power to the Adept MV controller and all amplifiers and motion devices must come from a single source 4 The maximum interruption time operating voltage below specification tolerated by the controller is 16 milliseconds If the Adept MV Controller is used with an Adept robot see the robot instruction handbook for additional power requirements Facility Overvoltage Protection The user must protect the controller from excessive overvoltage and voltage spikes In particular if
277. ngs for MI 3 MI 6 Board Switch Position on Switch SW12 Servo Board Address 1 2 3 4 1 Closed Closed Closed Closed 2 Closed Closed Closed Open 3 Closed Closed Open Closed 4 Closed Closed Open Open 5 Closed Open Closed Closed 6 Closed Open Closed Open The position notation on DIP switches can vary If the switch is marked open closed then open off and closed on NOTE In systems with an EJI board Adept robot systems and MI3 MI6 s the first MI3 MI6 board should be set to servo board number 3 This allows optimal processor allocation for the servo code with the default V software configuration 176 Adept MV Controller User s Guide Rev A Chapter 9 Jumper Settings and Resistor Configuration on MI3 MI6 Jumper Settings and Resistor Configuration on MI3 MI6 See the AdeptMotion VME Developer s Guide for information on the correct settings for the switches jumpers and resistor packs on the MI3 MI6 board Connecting to User Equipment The MI3 MI6 board connections to user equipment are divided into three groups the encoder the machine and the servo Adept offers a set of cables and Motion Interface mounting panels MP6 that should be used to make connections between the MI3 MI6 board and your equipment Each connector on the MI3 MI6 has a corresponding cable and MP6 mounting panel The MP6 panels can be installed on standard DIN mounting rails See the AdeptMotion V
278. nology 3571 N First St San Jose CA 95134 USA Tel USA 1 800 GET WYSE Northern Calif 408 473 1600 Adept MV Controller User s Guide Rev A Chapter 3 Installing a Stand Alone Controller in a Rack or Panel International partial list Germany 0894 600990 France 1 39 44 00 44 UK 01734 342200 Taiwan 238 81305 Singapore 553 4900 All others call USA 408 473 1800 Phone numbers correct as of November 1997 Source Wyse USA Customer Supplied Serial Interface Cable A Wyse WY 60 terminal has a 25 pin female D subminiature connector DB 25F which requires a 25 pin male connector DB 25M on the interface cable The AWC board RS 232 Term connector is a 9 pin male connector DE 9P which requires a 9 pin female connector DE 9F See ASCII Terminal on page 81 for details on connecting a Wyse terminal to an AWC board If you are using a terminal other than a Wyse WY 60 check the documentation on the serial connector before you purchase or build the serial interface cable Installation Procedure 1 Make sure the controller is turned off before making any connections 2 Verify that the voltage range marked on the terminal is compatible with your local voltage source Connect the AC power cord to the terminal then plug it into an appropriate voltage source 3 Connect a suitable serial cable between the terminal and the RS 232 Term connector on the system processor board 4 If the terminal is a Wyse 60
279. nput Impedance 75 ohm 5 at 100 kHz Adept MV Controller User s Guide Rev A 135 Chapter 6 Keyboard Interface Figure 6 1 Monitor Connector Pin Locations on VGB Board Keyboard Interface The VGB board supports an AT style extended keyboard with an integrated trackball The keyboard interface is a bidirectional synchronous serial interface The keyboard communicates with the UART on the VGB via the clock and data lines The keyboard input uses a standard 5 pin DIN connector The Keyboard connector pin assignments are shown in Table 6 4 Table 6 4 Keyboard Connector Pin Assignments Pin Signal 1 Clock 2 Data 3 not connected 4 Ground 5 5 VDC 136 Adept MV Controller User s Guide Rev A Chapter 6 Pointer Interface Mouse Trackball or Touchscreen Pointer Interface Mouse Trackball or Touchscreen The VGB board supports a standard Microsoft serial mouse protocol compatible pointer The pointer input uses a standard 9 pin D sub connector The pointer interface is serial not parallel Pin assignments for the Pointer connector are shown in Table 6 5 This port can alternatively be used for a touchscreen using ELO TouchSystems protocol When installing a touchscreen disconnect the trackball or mouse Only one pointing device is usable at a time This port operates at 1200bps See Connections and Indicators on page 133 for configuration and compatibility Table 6 5 Pointer
280. nput channels and 32 output channels It is a6U VME slave board designed in full conformance with the ANSI IEEE specification See the Vt Language User s Guide for information on digital I O The CIP contains 12 input and 8 output digital channels See Connecting User Supplied Digital I O Equipment on page 111 for details These DIO signals can have special uses that you should plan for when designing your DIO system See REACT Input Signals 1001 to 1012 on page 113 and Fast Input Signals 1001 to 1004 on page 113 The CIP also has 32 input and 32 output signals These signals duplicate the functionality of one DIO board If you are using additional DIO boards with the CIP see Additional DIO Boards on page 205 for details on configuring the DIO boards Adept MV Controller User s Guide Rev A Chapter 12 Connections and Indicators Connections and Indicators Pass Fail LEDs The green pass LED indicates the board has passed start up checks and is ready to operate The red fail LED indicates a system failure has been asserted Q P1 Input connector for 16 Group 1 and Group 2 digital input signals P2 Input connector for 16 Group 3 and Group 4 digital input signals O P3 Output connector for 16 Group 1 and Group 2 digital output signals P4 Output connector for 16 Group 3 and Group 4 digital output signals Adept MV Control
281. ns 1 and 20 are inputs for voltage free N O contacts from a user supplied momentary push button switch The user supplied Remote High Power switch drives a relay in the CIP The contact of the relay generates a V High Power request signal which is used internally The electrical characteristics are as follow e Coil 24 VDC at 1440 Q including a parallel flyback diode Adept MV Controller User s Guide Rev A Chapter 5 Connecting Customer Supplied Safety and Power Control Equipment to the CIP e Timing the High Power signal transition will be seen only if the signal is off at least 32 milliseconds followed by on for at least 32 milliseconds After a positive transition there must be no positive transitions for at least 2 seconds before another positive transition will be recognized Remote High Power On Off Lamp The CIP High Power On Off Lamp will cause a V error if the lamp burns out This error prevents High Power from being turned on This safety feature prevents a user from not realizing that High Power is enabled because the High Power indicator is burned out This feature can be added to the Remote High Power lamp as well A jumper must be installed on JP2 inside the CIP See Changing the Lamp on the High Power Indicator on page 213 for details on accessing the JP2 jumper The Remote High Power lamp current limitations are Maximum current 300mA at 5V Minimum current 100mA if JP2 is installed Otherwise ther
282. nt of the chassis should be inspected regularly and cleaned at the first sign of dust or dirt buildup The filter must be inspected and cleaned at least once per month Regular cleaning will prolong the life of the filter If the filter becomes clogged or unusable for any reason you will need to order a new air filter the Adept part number is 40340 00030 1 Turn off the controller 2 Loosen the two screws on the fan filter cover to gain access to the filter see Figure 3 1 on page 54 3 Pull the air filter out and inspect for dust or dirt particles If cleaning is required use compressed air to clean the filter Follow appropriate safety procedures regarding use of compressed air 4 Replace the cleaned air filter and secure the filter holder Adept MV Controller User s Guide Rev A 211 Chapter 13 Spare Parts List MV 5 MV 10 Spare Parts List MV 5 MV 10 Part numbers and specifications are subject to change Contact Adept Customer Service for ordering information for items in Table 13 1 or for items not listed Table 13 1 Spare Parts From Adept Adept Part Description Number Quantity General Comments Fan Filter 40340 00030 1 MCP Bypass plug 10330 01040 1 User can build own see Table 5 1 SIO board is used E stop test plug required of the 10330 01075 1 Table 13 2 Spare Parts From Third Parties IEC 127 style General Description Specification Qua
283. nthesis Adept MV Controller User s Guide Rev A 363 Appendix E Table E 7 Error Messages Continued Numerical List Code Message Text 460 Missing quote mark 461 Invalid format specifier 462 Unknown function 463 Invalid statement label 464 Duplicate statement label 465 Variable type mismatch 466 Ilegal use of belt variable 467 Ilegal PROGRAM statement 468 Duplicate PROGRAM arguments 469 Attempt to redefine variable type variable name 470 Attempt to redefine variable class variable name 471 Misplaced declaration statement 472 Control structure error Step nnn 473 Control structure error 474 Too many array indices 475 Missing bracket 476 Invalid qualifier 477 Ambiguous AUTO invalid 500 File already exists 501 Nonexistent file 502 Ilegal I O device command 503 Device full 504 Unexpected end of file 506 File already open 507 I O communication error 508 Device not ready 509 Directory error 510 Data checksum error 364 Adept MV Controller User s Guide Rev A Appendix E Table E 7 Error Messages Continued Numerical List Code Message Text 511 Input block
284. ntics or meaning of the data transmitted For more information on the basics of a DeviceNet cable system contact ODVA at Open DeviceNet Vendor Association Inc State Road 7 Suite 499 Boca Raton FL 33498 Phone 1 954 340 5412 Fax 1 954 340 5413 or 1 561477 6621 Internet http www ovda org 1 These layers are based on the Open Systems Interconnect OSI model 380 Adept MV Controller User s Guide Rev A Appendix G Limitations of the Adept DeviceNet Scanner Limitations of the Adept DeviceNet Scanner The DeviceNet Scanner that Adept has incorporated into the AWC hardware and the Vt operating system currently supports only a subset of full DeviceNet functionality The following is a summary of the DeviceNet implementation Implemented the Master Slave operation This is a complete subset of Peer to Peer operation Implemented the Unconnected Message Manager UCMM in its DeviceNet Scanner to establish connections UCMM is used to establish I O Connections The Adept DeviceNet Scanner can be a Client or a Server on the network The Adept DeviceNet Scanner currently does not support Cyclic or Change of State connections Only I O Messaging is supported I O messages contain only data Currently only the Message Group 2 of the Predefined Master Slave Connection Set is supported Adept Message Group 2 I O connections support only the I O Poll Command Response Message of the possible message types The Adep
285. ntity Comments Fuse F1 5 AT 250V 5x20mm 1 AC line fuse at power IEC 127 style entry module Fuse F2 5 AT 250V 5x20mm 1 AC line fuse at power entry module These items are not available from Adept 212 Adept MV Controller User s Guide Rev A Chapter 13 Changing the Lamp on the High Power Indicator Changing the Lamp on the High Power Indicator The system is equipped with circuitry to detect the potentially dangerous condition of a burned out High Power indicator If this lamp is burned out you cannot enable High Power until the lamp has been replaced To replace the High Power indicator bulb 1 Turn off the controller and disconnect system power 2 Remove all cables from the back and side of the CIP WARNING Make sure that the cables connected to JDIO1 through A JDIO4 are properly labeled The two input cables can be swapped and the two output cables can be swapped This could result in a dangerous situation when you restart the controller 3 Remove the CIP from its mounting location 4 Remove the six screws from the front of the CIP as shown in Figure 13 1 Also remove the MCP bypass plug retaining screw Adept MV Controller User s Guide Rev A 213 Chapter 13 Changing the Lamp on the High Power Indicator Remove these seven screws Figure 13 1 CIP Front Panel Screws 5 Carefully pull the front panel away from the body of the CIP You will encounter considerable resistance as there are s
286. nto your Adept MV controller Table 7 1 Switch Settings for EVI Board 1 If you add a second EVI board in your controller refer to the settings shown in Table 7 2 when installing the second board Table 7 2 Switch Settings for EVI Board 2 1 2 3 4 5 6 7 8 SW1 B B A A A A B A SW1 3 3rd switch on SW1 selects either e B POS_LATCH 1 and VIS_TRIGGER 1 recommended for EVI board 1 Or e A POS LATCH2 and VIS TRIGGER 2 recommended for EVI board 2 All other switches on SW1 should be set as shown above Acquisition Switch Setting Mode The acquisition mode switches are located on the EVI daughterboard There is one DIP switch bank SW1 and seven three position rotary switches SW2 SW8 that must be set See Figure 7 1 for the location of the acquisition mode switches on the EVI board Adept MV Controller User s Guide Rev A 143 Chapter 7 VME Bus Address and Configuration Settings for Normal RS 170 Cameras The tables below show the settings for the acquisition switches when using a normal RS 170 camera Table 7 3 Acquisition Switch Settings for SW1 1 2 3 4 SW1 B B B B Table 7 4 Acquisition Switch Settings for SW2 SW8 SW2 SW3 sw4 SW5 SW6 SW7 SW8 ia OD ISIS TE S ol l o Slot ABC ABC ABC ABC ABC ABC ABC P
287. o not incorporate the dual ESTOP channels Damage may result if an MCP III is plugged into older Adept controller systems that contain a VME Front Panel VFP Damage may also result if older MCPs part numbers other than 10332 11000 are plugged into a CIP WARNING The Auto Manual keyswitch on the CIP must be set to Manual if the MCP is to be used inside the robot workcell This enables important safety features to protect the operator by limiting the speed of the robot MCP Layout The major areas of the MCP are shown in Figure D 3 Adept MV Controller User s Guide Rev A 237 Appendix D Manual Control Pendant Basics Liquid Crystal Display LCD Soft Buttons COL FOL IOL TOL IO Predefined Function AE e fo O o O Batons USER Pa Tool dont Fage e Ro State Ba Mimos O o id ET E Emergency Stop ES Y Switch N 2 TDs 5 e PWR o Mode Control Buttons Joint Axis Control OOOH ii MCP Enable 5 Sien 5 Disable Power Button CNO eo Programmable Function Buttons Figure D 3 MCP Layout Soft Buttons The soft buttons have different functions depending on the application program being run or the selection made from the predefined function buttons Whenever a soft button is active its function is shown on the bottom line of the pendant display Because these buttons do not have fixed labels the labels are defined by the
288. o other program tasks are referencing the subdirectory Retry the delete operation Subdirectory list too long 546 Explanation A directory path contains too many subdirectories or the directory User action path is too long to be processed The path is a combination of subdi rectories in the file specification and the default directory path set by the DEFAULT monitor command Directory paths are limited to a total of 16 subdirectories and 80 characters including any portion of the directory path specified by the current default path Specify a shorter directory path in the file specification or in the DEFAULT command If you are accessing a foreign disk that con tains more than 16 nested subdirectories you cannot read the files in subdirectories nested deeper than 16 levels In that case you will need to use the system that created the disk to copy the files to a directory that is nested less deeply Switch can t be enabled 314 Explanation An ENABLE command for a certain switch has been rejected User action because of some error condition For example ENABLE POWER will fail if the system is in FATAL ERROR state Review the description for the switch you are trying to enable cor rect the error condition and try again SYSFAIL detected by CPU 629 344 Explanation A board on the VME bus has encountered a severe error and User action asserted the SYSFAIL signal which turns off HIGH POWER The
289. object models Not enough storage area 411 Explanation There is no more space in RAM for programs or variables User action Delete unused programs and variables If the memory is frag mented because of numerous deletions it can be consolidated by issuing the commands STORE save all ZERO and LOAD save all This writes the memory contents to the disk and reads them back into memory Note however that this procedure does not retain any variables that are not referenced by any program in memory nor does it retain the values of variables that are defined to be AUTO or LOCAL Not found 356 Explanation The search operation was unable to locate the specified string User action Enter a new search string or consider this an informational message and continue with other operations Not owner 566 Explanation The client does not have the correct access identity to perform the requested NFS operation User action Modify the LOCAL ID statement in the V configuration file using the CONFIG C utility as required to gain access to the server You may also need to change the access setup on the server itself NVRAM battery failure 665 Explanation The nonvolatile RAM battery backup has failed and the RAM may not hold valid data User action Replace NVRAM battery 326 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing NVRAM data invalid 661 Explanation The nonvolatile RAM h
290. oes not exist possibly because the name was mistyped If the correct name was entered create the program or variable using one of the V editors or the appropriate V monitor com mands or by loading from a disk file 401 1 A variable has been referenced that has not been assigned a value 2 Using the SEE editor an attempt has been made to use a macro return to a memorized cursor position or perform a repeat string search or change without first performing the appropriate initializa tion sequence 1 Assign the variable a value or correct its name 2 Define the macro record a cursor position or enter the desired search replacement string s Undefined value in this context 420 Explanation User action An automatic variable or subroutine argument value appears in a monitor command but the specified program is not on the execu tion stack for the specified program task Automatic variables and subroutine arguments have values only when the program that defines them is on a stack Change the monitor command to not reference the variables Check that the program is on the expected execution stack You can place a PAUSE instruction or breakpoint in the program to stop it while it is on the execution stack Adept MV Controller User s Guide Rev A 349 Appendix E Alphabetical Listing Unexpected end of file 504 Explanation 1 If a file was being loaded from the disk the end of the file wa
291. oftware scan rate response time 16 ms scan cycle 32 ms max response time Adept MV Controller User s Guide Rev A Chapter 5 Connecting User Supplied Digital I O Equipment The following drawing shows two examples of different connections to the digital outputs on the JSIO connector The examples are negative common and positive common Example 1 outputs 0001 to 0004 are shown with positive common Example 2 outputs 0005 to 0008 are shown with negative common NOTE These are examples Either method can be used in any combination on any channel Adept Supplied Equipment User Supplied Equipment i Typical Examples equivalent circuit 2 Signal 0001 Fec A t Example 1 5 ignal ZEK 26 1 2 Rimge 1 Q Sourcing 6 Baer 27 l E Signal 0002 Sp je Q a User Power 9 l at C Supply Signal 0003 Ki 20 a l S Signal 0004 SE aft s2 l D o oga e Signal 0005 SC las Q Example 2 S Bees 7 Sinking o 1 Hm 435 Q Signal 0006 Eai m e Cue Power g 437 Load Supply E Signal 0007 SC o l e www 432 Load Dn Signal 0008 aC lo o 5 E 7 41 42 E a p os Sei see Emergency paresis 48 Stop Circuit on _ ___ page 103 for details 45 46 E Figure 5 10 Digital Output Wiring for JSIO Connector Adept MV Controller User s Guide Rev A 115
292. om one disk to another Protected programs cannot be moved from one disk to another Warning SET SPEED switch disabled 54 Explanation A PRIME operation has been performed from the manual control pendant while the SET SPEED system switch is disabled Therefore the monitor speed specified in the PRIME command has no effect User action If you want the PRIME command to change the monitor speed type the command enable set speed at the keyboard Warning Watchdog timer disabled 56 Explanation Displayed at startup by all CPUs if the watchdog timer on the board is disabled This timer is a hardware device that asserts SYSFAIL on the VME bus which drops high power if the CPU halts or gets hung The board that has failed should light its SF LED This message also is displayed whenever a user task is started from the monitor and the watchdog timer is disabled Adept MV Controller User s Guide Rev A 357 Appendix E Alphabetical Listing User action Do not use this system The watchdog timer must be enabled for safe operation of your system The watchdog timer setting on the AWC cannot be changed by the user Report this problem to Adept Customer Service Watchpoint changed at task program name step n 18 Explanation A watchpoint has been enabled and the watchpoint expression has changed User action Continue debugeing session Wrong disk loaded 521 Explanation The diskette in a disk drive has been c
293. on This error message should never appear User action See the general comments above If the problem persists contact Adept Application Engineering and provide the exact details of the error message Vision error No acquire interrupt at level 4 None Explanation A failure of the vision hardware has occurred User action See the general comments above Contact Adept Customer Service if the problem persists Vision error Out of memory n None Explanation Either a fixed allocation of memory has been depleted for example run lengths or the general memory allocator has run out of RAM A common cause of this error is the processing of an overly complex binary image In this case the display should show many small regions noise often due to a bad threshold value User action See the general comments above If the problem persists contact Adept Application Engineering and provide the exact details of the error message Vision error Read of video FBn different than data written None Explanation A failure of the vision hardware has occurred User action See the general comments above If the problem persists contact Adept Customer Service and provide the exact details of the error message Vision error Video ILUTm n read different than write None Explanation A failure of the vision hardware has occurred Adept MV Controller User s Guide Rev A 355 Appendix E Alphabetical Listing Use
294. on and operation of the AdeptForce VME product Connections and Indicators 188 O OK Status LED When lit it indicates the force sensor is connected and communicating normally amp FORCE SENSOR connector The cable from the force sensor is installed here Q FORCE SENSOR Adept MV Controller User s Guide Rev A Chapter 11 VME Bus Address VME Bus Address Each VFI board must have a unique VME bus address If you use only one force sensor or if your VFI boards are factory installed your V system should already be configured properly If you add VFI boards to a controller you will have to set the correct address The address is set at DIP switch S1 and jumper J1 on the VFI board The switch and jumper settings on the VFI board should be set as listed in Table 11 1 These are necessary to establish proper communication with other boards on the backplane Confirm the switch and jumper settings before you proceed with installation Table 11 1 Address Settings for VFI Board Drawing of Settings Description of Settings S1 address settings for multiple VFI boards Sensor 1 servo board 8 B7 10110111 Sensor 2 servo board 9 B8 10111000 Sensor 3 servo board 10 B9 10111001 Sensor 4 servo board 11 BA 10111010 Address above is B7 10110111 JP4 Jumper the pins shown on jumper J1 when VFI board has 128K ROM with 1K boot page
295. on button allows editing of location variables and real variables that are used by V programs Adept MV Controller User s Guide Rev A 241 Appendix D MCP Predefined Functions SELECT DATA TO MODIFY REAL LOC Figure D 6 EDIT Function Button Real Press the REAL soft button and the LCD displays SELECT REAL VARIABLE TO EDIT varl var2 var3 var4 lt MORE gt var1 var2 etc are global variable names Press the soft button under the variable name to edit that variable The lt MORE gt soft button is shown only when there are more than five global real variables in system memory When a variable has been selected the LCD will display var name XXX CHANGE TRUE FALSE Press the TRUE soft button to set the variable to the boolean value of true 1 Press FALSE to set the variable to false 0 To change the value of the variable press the CHANGE soft button The LCD displays var name _ CHANGE TRUE FALSE The typing cursor replaces the variable value Use the data entry buttons to input anew value and complete the entry by pressing REC DONE 1 Tf the variable being edited is from an array an additional soft button is displayed that allows you to specify the index of the variable to edit 242 Adept MV Controller User s Guide Rev A Appendix D MCP Predefined Functions Loc Press the LOC soft button and the LCD displays SELECT LOCATION VARIABLE TO EDIT
296. ontroller User s Guide Rev A 347 Appendix E Alphabetical Listing Too many network errors 536 Explanation 1 The number of errors detected by the DDCMP protocol has exceeded the maximum allowed The local protocol is stopped and all pending I O requests are completed with this error 2 The V Kermit driver experienced more errors than permitted by the KERMIT RETRY parameter User action 1 Use the NET monitor command to determine the type of errors that have occurred Check for noise on the communication line errors in the remote DDCMP implementation or program logic that sends messages faster than they can be processed Use the appropri ate FCMND instruction to increase the maximum number of errors 2 Set the KERMIT RETRY parameter to a larger value increase the retry threshold on the remote server restart the Kermit session and retry the operation that failed Too many vision requests pending 703 Explanation A program has issued too many VLOCATE commands before the first ones have completed User action Edit the program to wait for pending VLOCATE requests to com plete before issuing more Too many windows 550 Explanation An attempt was made to create a graphics window when the maxi mum number of windows were already defined The V system uses two windows for the screen and the top status line Every title bar menu bar and scroll bar is a separate window The pull down window is always
297. or changing the program to move the accelerating too fast robot less quickly or with a lower there is a fault with the rate of acceleration or deceleration o ssa aries For faults with cables or sensors builtin eet Pancha consult your Robot Instruction failed Handbook or contact Adept Customer Service 1 Accelerometer channel2 If the error occurred while a error The robot joint1 program was moving the robot try or 2 is moving or changing the program to move the accelerating too fast robot less quickly or with a lower there is a fault with the rate of acceleration or deceleration AERAR a For faults with cables or sensors built imtesi funcion consult your Robot Instruction failed Handbook or contact Adept Customer Service 2 Amplifier 3 voltage If the error occurred while a restrict sensor channel 1 error The robot joint 3 is moving or accelerating too fast there is a fault with the voltage restrict sensor or the voltage restrict sensor s built in test function failed program was moving the robot try changing the program to move the robot less quickly or with a lower rate of acceleration or deceleration For hardware faults consult your Robot Instruction Handbook or contact Adept Customer Service Adept MV Controller User s Guide Rev A Appendix E Table E 3 MMSP External Sensor Fault Error Message Codes Continued Alphabetical Listing
298. osition Note Set SW5 to ABC for pixel clock output Settings for Pulnix TM 1001 Cameras The tables below show the settings for the acquisition switches when using a Pulnix TM 1001 camera Table 7 5 Acquisition Switch Settings for SW1 1 2 3 4 SW1 A B A A Table 7 6 Acquisition Switch Settings for SW2 SW8 SW2 SW3 SW4 SW5 SW6 SW7 SW8 Rotary switch AS ADI ADI HD IS HA Slot ABC ABC ABC ABC ABC ABC ABC Position 144 Adept MV Controller User s Guide Rev A Chapter 7 Camera Compatibility Camera Compatibility Standard RS 170 Cameras Compatible cameras can be purchased from Adept See the AdeptVision User s Guide for a list of other cameras that can be used with the AdeptVision product If you have a camera that is not on that list the following information presents some guidelines for camera compatibility with AdeptVision minimum requirements e RS 170 camera video output US style monochrome 30Hz frame rate 60Hz field rate 525 lines interlaced e External Hd and Vd sync signals inputs to camera e Connector Hirose HR10 10S 12P e Pinout typical Sony Panasonic etc See Table 7 7 for pinout not Pulnix standard pinout Pulnix cameras maybe special ordered with Sony pinouts Use these guidelines to determine camera compatibility If the camera meets the above requirements th
299. ot be turned on until the air pressure is restored User action Restore the air pressure turn high power back on and resume pro gram execution If the error persists contact Adept Customer Ser vice No data received 526 Explanation An I O read request without wait has not found any data to return This is not really an error condition User action Continue polling the I O device until data is received or use a read request that waits automatically for data to be received No matching connection 539 Explanation A request for a logical network connection has been received and rejected because there is no matching connection on the remote node User action Check that the proper logical connection was specified Check that the remote node is operating properly No models 758 Explanation The VSTORE program instruction or monitor command has not found any models to store User action Supply correct model names to the VSTORE instruction No models planned 761 Explanation Recognition cannot commence because no object models have been planned for the given virtual camera User action Supply the correct virtual camera number or plan that uses the spec ified camera number See the VPLAN FINDER instruction in the AdeptVision Reference Guide 322 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing No objects seen 704 Explanation The vision system reports th
300. ot responding or Check that the AC supply to the Security Panel is on and that the DC power supply is configured correctly test sequence 1 Hardware state 1 error An error has occurred in the communication or Try again If the problem persists it may be caused by a faulty E STOP board Make a note of the error message and code number and contact Adept Customer Service 314 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing Table E 2 MMSP Diagnostic Error Message Codes Continued Coden Explanation User action 2 Hardware state 2 error Try again If the problem persists An error has occurred in it may be caused by a faulty the communication or E STOP board Make a note of the test sequence error message and code number and contact Adept Customer Service 3 Hardware arm power Consult your Robot Instruction contactor AP1 error Handbook or contact Adept Customer Service 4 Hardware arm power Consult your Robot Instruction contactor AP2 error Handbook or contact Adept Customer Service 5 Hardware cyclic check Try again If the problem persists relay channel 1 SR8 it may be caused by a faulty error An error has E STOP board Consult your Robot occurred in the Instruction Handbook or contact communication or test Adept Customer Service Make a sequence note of the error message and code number before contacting Adept Customer Service
301. otocol active 549 Out of graphics memory 550 Too many windows 551 Font not loaded 552 Graphics processor timeout 553 Too many arguments 554 Too many closeable windows 555 Graphics storage area format error 556 Too many icons 557 Can t create new slide bar 558 Graphics software checksum error 559 Out of network resources 560 Invalid network resource 561 Invalid network address 562 Network timeout 563 Remote has not exported network resource 564 Network resource name conflict 565 Network connection terminated 566 Not owner 366 Adept MV Controller User s Guide Rev A Appendix E Numerical List Table E 7 Error Messages Continued Code Message Text 567 Not a directory 568 Is a directory 569 File too large 570 File name too long 571 Directory not empty 600 Stopped due to servoing error 601 Robot not attached to this program 602 Robot already attached to program 603 COMP mode disabled 604 Robot power off 605 Robot not calibrated 606 Joint 1 in brake track or robot overheated 607 No air pressure 608 External E STOP 1 detected by CPU 609 Ilegal joint number 610 Location out of range 611 Must use straight line motion 612 Straight line motion can t alter configuration 6
302. our program execute a CALIBRATE instruction Or enable the DRY RUN switch to allow program execution without using the robot Robot power off 604 Explanation The requested operation cannot be performed because HIGH POWER is off User action Enable power and retry the operation Robot power off requested 906 Explanation HIGH POWER has been turned off because of a program or user request such as issuing a DISABLE POWER command User action None required Robot power on 627 Explanation An attempt has been made to perform an action that requires high power to be off User action DISABLE POWER and reexecute the action RSC bad packet format 655 Explanation Vt has received an incorrect data packet from the robot signature card during the initial calibration data load User action None unless the calibration load fails If the problem persists con tact Adept Customer Service RSC calibration load failure 656 Explanation V cannot load calibration data from the robot signature card RSC Adept MV Controller User s Guide Rev A 337 Appendix E User action Alphabetical Listing Power down the controller and make sure the robot cables are cor rectly and securely connected If the problem persists contact Adept Customer Service RSC communications failure 651 Explanation V has lost communications with the robot signature card RSC User action Either a hardware probl
303. ource Guide Adept P N 00961 00700 for details on getting assistance with your Adept software or hardware You can obtain this document through Adept On Demand The phone numbers are 800 474 8889 toll free 503 207 4023 toll call Please request document number 1020 Adept MV Controller User s Guide Rev A Overview Introduction E Adept MV 5 Controller i Adept MV 10 Controller The Adept Compact Controller Graphical User Interface and Text Based User interage Graphical User Interface Options Text Based Options AWC System Processor 68040 or 68060 Optional Boards System insunfOurput Board SIO Adept Graphics Board VGB AdepiVision Interface Board EVI AdeptMotion Interface Boards MI3 MI6 Adept VME Enhanced Joint Interface Board EJI AdeptForce VME Board VFI Digital Input Output Board DIO Auxiliary Processor AWC With 68060 CPU Optional Equipment a Compact Interface Panel CIP Manual Control Pendant MCP AdeptWindows Color Monitor Extended Keyboard Third Party Terminals for Text Based User a Gontellers Product Descriptions AdeptVision AdeptMotion VME AdeptForce VME Adept MV Controller User s Guide Rev A 36 36 36 37 39 39 39 40 40 40 40 41 41 41 41 42 42 43 43 43 43 44 44 44 45 45 45 45 35 Chapter 2 Introduction Introduction The Adept controllers are based on the VME Bus specification and the slide in boards are des
304. p Line Short Drop Lines 6m 20ft Figure G 1 Trunklines and Droplines Made of Thick and Thin Cable DeviceNet allows devices to be powered directly from the bus and devices can use the same cable to communicate with other devices on the bus DeviceNet nodes are hot pluggable you can remove or add components on the bus without powering down the network Adept MV Controller User s Guide Rev A 383 Appendix G DeviceNet Physical Layer and Media 384 NOTE This hot pluggable feature is not fully supported If you add a new component to the network you must make changes in the CONFIG_C program Those changes are not active until you reboot the Adept controller The power distribution on the network bus does not need to be in one place The distribution of power supplies needs to be well planned since there are certain constraints on the power supply In general power supplies can be placed at any point in the network The maximum current rating of a trunkline is 8 amps DeviceNet allows opto isolated externally powered devices e g AC drive starters and solenoid valves to operate on the same bus cable For detailed information see the DeviceNet Technical Specifications or the Cutler Hammer DeviceNet Installation Planning Guide This document is available on the Internet at the following address http cutlerhammer eaton com automation whatsnew index html from the menu item DeviceNet Starter Kit The document is an Adobe A
305. peration e Use power supplies rated at 24V e Minimize installation problems by using one power supply with sufficient current to operate all the attached nodes This must comply with the national and international safety standards e Make sure that each power supply incorporates current limit protection e Make sure each power supply is temperature compensated e Provide over current protection for each segment of your DeviceNet cable installation NOTE Adept does not supply the 24V operating voltage for the DeviceNet bus on the CIP or any other Adept component CAUTION The DeviceNet specification requires that the CAN_H and CAN_L signal lines tolerate voltages up to 18V Since the supply voltage exceeds 18V improperly wiring the supply voltage to these signal lines may cause permanent damage Power Capabilities of a DeviceNet Cable System A DeviceNet cable system has several power rating constraints The cable type and the length of the cable specify the maximum current on a cable Thick and thin cable have Adept MV Controller User s Guide Rev A 387 Appendix G DeviceNet Physical Layer and Media 388 e 24 VDC power rating e Optional power supply tabs If the power supplies are equipped with Schottky diodes the optional power supply tabs must be protected from bus back feeding of current among the power supplies on the bus We also recommended the use of fuse protection for every trunkline in the cable system The
306. pins you need For example each output can source up to 700 mA giving a maximum total current for a group of eight outputs of 5 6A that will be required from the power supply In this case a minimum of six power pins should be used A total of nine power pins are provided to allow for more wire connections to decrease the voltage drop across the power supply wires If you experience an excessive voltage drop make connections to additional power pins to a maximum of nine The ground connection should connect to the power supply directly not the ground connection of the load This will isolate the board from any voltage drop across the ground return for the load Table 5 9 Extended Digital Output Circuit Specifications Parameter Value Power supply voltage range 10 VDC lt Vsup lt 30 VDC Under voltage shutdown 5 VDC lt Vasa lt 8VDC Power supply ground current I lt 60 mA Operational current range per Tout lt 700 mA channel On state resistance Igy 0 5A Ron lt 0 32Q 85 C Ron 0 40 125 C Output leakage current Tout lt 25 pA Turn on response time 175 psec max 80 psec typical hardware only Turn off response time 60 psec max 28 psec typical hardware only Output voltage at inductive load V sup 65 lt Vaemag lt V sup 45 turnoff Lou 0 54 Load 1 mH DC short circuit current limit 0 7A lt I m lt 2 5A Peak short circuit current Iovpk
307. planation An FOPEN instruction has specified a record length that is not acceptable For example the value is negative or too large or the record length is zero with random access mode specified User action Edit the program to specify a correct record length or specify sequential access mode Tllegal use of belt variable 466 Explanation A belt variable has been used in a context where it is not allowed probably in a compound transformation but not at the leftmost posi tion User action Edit the program to use the belt variable correctly Ilegal user LUN specified 527 Explanation An I O instruction has specified a logical unit number LUN that is not defined in the V system or cannot be accessed in the manner attempted See the description of the ATTACH instruction for a list of the valid logical unit numbers and the devices to which they apply 300 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing User action Edit the program to use a logical unit number appropriate for the instruction Ilegal value 402 Explanation A numeric or expression value that is not in the allowed range was specified within a command or instruction User action Edit the program to use a legal value Ilegal when command program active 419 Explanation A command program is active and an attempt has been made to execute a command that would interfere with operation of the com mand pro
308. pliance with the provisions of the effective versions of the directives This includes all supplementary equipment and protective devices EU EEA IEC ISO EN 55011 1991 Class A EMC Emissions CISPR 11 1990 EN 50082 2 1995 EMC Immunity EN 60204 1 1992 IP20 Electrical safety TEC 204 1 1992 EN 61131 2 1992 Programmable controllers TEC 1131 2 1992 EU Directives EG Richilinien Directives Communautaire Direttiva CE 89 336 91 263 92 31 93 68 Machinery 89 392 91 368 93 44 93 68 EMC 73 23 93 68 Electrical Equipment Usage and installation conditions The product must be installed and used strictly in accordance with the Adept MV Controller User s Guide document p n 00330 01031 The system must incorporate only those plug in modules and accessories listed in Table 1 or Table 2 If modules or accessories listed in Table 2 are installed the user must verify conformance to the EMC Directive after installation This Declaration applies only to those Adept product part numbers specifically listed in this declaration The following changes may result in the system not complying with the applicable Directives and would void this declaration unless additional testing and or evaluation is performed by the user eunauthorized user modifications esubstitution or addition of Adept parts not listed on this declaration eaddition of user supplied parts and a
309. plied cable must terminate in a suitable 50 pin Male D sub plug The plug is not supplied by Adept Compatible connectors are manufactured by AMP and by Thomas and Betts Contact your nearest AMP or T amp B Sales Office to locate your local distributor Adept MV Controller User s Guide Rev A Chapter 5 Connecting User Supplied Digital I O Equipment AMP Part Numbers for 50 Pin Male D Sub HDP 20 series D Sub Connectors Crimp snap in contacts Order item 1 includes cover or item 2 no cover Contact pins not included order separately item 3 quantity 50 1 747960 1 Kit Connector body shield enclosure jackscrews 2 205212 3 Connector body only alternatives 205212 1 205212 2 3 1 66682 1 Contact Pin Male wire size 28 24AWG 0 08 0 2mm 2 Alternatives 66682 9 66682 2 66682 4 66682 6 66682 8 Pins also available for other wire sizes contact AMP AMP Sales partial list USA 800 522 6752 Canada 416 475 6222 Germany 06103 7090 Japan 044 844 8111 France 1 34 43 27 20 UK 0181 954 2356 Thomas and Betts Part Numbers for 50 Pin Male D Sub HOLMBERG series D Sub Connectors Crimp snap in contacts Contact pins not included order separately item 2 quantity 50 1 HM50A Connector body only alternative HM50B 2 1008424C 02 25 Contact Pin Male wire size 28 24AWG 0 08 0 2mm 2 Alternatives 1008404C 02 25 1008429C 02 25 1008449C 02 25 Pins also available for other wire sizes contact T amp
310. program editor press the Undo key to allow you to continue edit ing Invalid when program task active 311 Explanation An attempt has been made to begin execution of a robot or PC pro gram task when that task is already active User action Abort the currently executing task or execute the program as a dif ferent task if possible I O communication error 507 Explanation A hardware error has been detected in the I O interface User action Try your command again If the problem persists contact Adept Customer Service I O queue full 517 Explanation Too many I O requests have been issued to a device too quickly and there is no more room to queue them User action Retry the operation If the problem persists it would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error message and exactly what you were doing at the time the error occurred Is a directory 568 Explanation The caller specified a directory in a nondirectory NFS operation User action Specifying a file that is not a directory repeat the operation or per form the correct directory operation Adept MV Controller User s Guide Rev A 309 Appendix E Alphabetical Listing Joint 1 in brake track or robot overheated 606 Explanation 1 Robot joint 1 has been moved into the hardware brake track area which causes high power to be turned off and prevents the robot
311. program instruction references a program label that is not defined in the program Either the label is missing or was mistyped when defined or in the reference User action Check the label definition and reference Breakpoint at task program name step n 17 Explanation A breakpoint was encountered before the indicated step Any out put associated with the breakpoint is displayed after the message shown above User action Enter a PROCEED CTRL P RETRY SSTEP CTRL Z or XSTEP CTRL X command to resume program execution Otherwise enter any other monitor command Breakpoint not allowed here 380 Explanation An attempt has been made to set a breakpoint before the first exe cutable statement of a program User action Enter a new BPT command specifying a step after the first execut able statement That is after the PROGRAM statement any AUTO and LOCAL statements and all comments and blank lines at the start of the program Calibration program not loaded 425 Explanation A program required for calibration has not been loaded from disk This error usually occurs if some of the calibration programs have not been loaded into memory and the CALIBRATE command or instruction is issued with a input mode that does not allow them to be loaded automatically User Action Reissue the CALIBRATE command or instruction with the proper mode The default mode of zero causes CALIBRATE to automati cally load the required p
312. pter 1 Safety Safety 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 contains guidelines for robot system installation safeguarding maintenance testing startup and operator training We also recommend you read the International Standard IEC 204 or the European Standard EN 60204 Safety of Machinery Electrical Equipment of Machines and ISO 10218 EN 775 Manipulating Industrial Robots Safety particularly if the country of use requires a CE certified installation See Sources for Standards on page 228 for ordering information for national and international standards This manual assumes that the user has attended 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 syst
313. put connectors on the DIO board to the DIO devices can be ordered as a set of four cables two input cables and two output cables These cables have a mating plug on one end and unterminated flying leads on the other end The wire size of the Adept cables is 0 18 mm 24AWG You can use these cables to connect to the digital inputs outputs in your system or to a wiring block To comply with IEC 1131 if you choose to supply a wiring block it should be capable of accepting wire in the range of 0 18 mm2 24 AWG to 2 0 mm 14 AWG Labeling Cables The P1 and P2 input connectors on the front of the board are similar except that P1 handles the Group 1 and 2 input signals and P2 handles the Group 3 and 4 input signals The optional digital input cables can be connected to either P1 or P2 Make sure to clearly label the cables once you have completed your installation so that the cables do not get swapped by mistake see the Warning below The P3 and P4 output connectors are also similar except that P3 handles the Group 1 and 2 output signals and P4 handles the Group 3 and 4 output signals The optional digital output cables can be connected to either P3 or P4 Make sure to clearly label the cables once you have completed your installation so that the cables do not get swapped by mistake see the Warning below WARNING Make sure to clearly label the P1 to P4 digital I O cables so that they are always plugged into the correct connector Swapping t
314. r action See the general comments above If the problem persists contact Adept Customer Service and provide the exact details of the error message Vision not calibrated 713 Explanation A vision command was entered that required the vision system to be calibrated and the vision system is not calibrated User action Calibrate the vision system or load calibration data from a disk file VISION not enabled 701 Explanation A vision command was entered before the vision system has been enabled User action Enter an ENABLE VISION command and retry the previous com mand Vision option not installed 720 Explanation During initialization the V system failed to detect the presence of the vision processor No vision instructions or commands will be accepted Otherwise V will operate normally User action Check to make sure that the vision processor is installed and that your software supports vision Power down the controller and restart If the problem persists contact Adept Customer Service Vision software incompatible 762 Explanation There is an incompatibility between the versions of vision and V software running on your controller It indicates that the system software you have loaded has been built incorrectly and is likely to crash This message should never be seen User action Do not use this system software Reload your system software with a known good version Report this problem to Adept Custo
315. r n 1021 Duty cycle exceeded Mtr n 1022 Skew envelope error Mtr n 1023 Position out of range Mtr n 1025 Encoder fault 1026 Software incompatible Code n 1027 Hard envelope error Mtr n 1032 Negative overtravel Mtr n 1033 Positive overtravel Mtr n 1034 Overtravel Mtr n 1101 Fatal Servo process dead CPU n Adept MV Controller User s Guide Rev A 373 Appendix E Table E 7 Error Messages Continued Numerical List Code Message Text 1102 Fatal Servo code incompatible CPU n 1104 Fatal Servo dead Mtr n 1105 Motor startup failure Mtr n 1106 Calibration sensor failure Mtr n 1107 Fatal Servo init failure CPU n 1108 MMSP diagnostic error Code n 1109 MMSP external sensor fault Code n 1110 Unexpected PSS state Code nnn 1111 E STOP from MMSP Code n 1200 to 1299 NFS error Code n 374 Adept MV Controller User s Guide Rev A Diagnostics Testing Introduction Tests During System Power id Processor Self Test System Initialization Tests RSC Self Test Completion of Power up Tests Tests While Enabling Power E Standard Non MMSP Sela r Manual Mode Safety Package MMSP Tests During Installation and Servicing Continuous Tests Watchdog Timer Drive Faults RSC Watchdog Timer Encoder Signals Vt FREE Command Vt Cycle Tests Adept MV Controller User s Gu
316. ram Remove the obstruction or modify the program to have the robot follow a differ ent path Motor startup failure Mtrn 1105 Explanation During calibration the indicated motor did not move as expected The problem may be 1 the motor is obstructed or up against a limit stop 2 the load on the robot is too large for calibration 3 the motor drive hardware is not functioning or 4 the position encod ers are not functioning User action Move the robot away from its limit stops and remove any unusual load Turn high power back on and try to calibrate again Contact Adept Customer Service if the error persists Must be in debug mode 360 Explanation An editor function was attempted that is accepted only when the program debugger is active 318 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing User action Use a different editor command or activate the program debugger with the SEE editor DEBUG extended command or the DEBUG monitor command Must use CPU 1 666 Explanation A command or instruction that requires execution on CPU 1 has been attempted on a different CPU User action Reexecute the command or instruction on CPU 1 Must use straight line motion 611 Explanation A joint controlled motion instruction was attempted while the sys tem was in a mode requiring that only straight line motions be used For example while tracking a conveyor only straight line motions
317. rams or data in RAM may have been corrupted This may have been caused by a momentary hardware failure or a software error User action Attempt to save as much as possible onto the disk Then enter a ZERO command or power down the controller and restart the sys tem Straight line motion can t alter configuration 612 Explanation A change in configuration was requested during a straight line motion This is not allowed User action Delete the configuration change request or use a joint interpolated motion instruction String too short 417 Explanation A program instruction or command expected a string argument with a certain minimum length and received one that was too short User action Review the syntax for the program instruction and edit the program to pass a string of the correct length String variable overflow 416 Explanation An attempt has been made to create a string value that is greater than the maximum string length of 128 characters User action Edit the program to generate strings of the proper length Adept MV Controller User s Guide Rev A 343 Appendix E Alphabetical Listing Subdirectory in use 547 Explanation An attempt has been made to delete a subdirectory that still con User action tains files or that is being referenced by another operation for exam ple an FDIRECTORY command Check that all the files within the subdirectory have been deleted Check that n
318. ration The AWC occupies backplane slot 1 The remaining slots can be populated with various combinations of optional Adept boards see Figure 2 1 The Adept MV 10 chassis has an auto ranging 100 120 200 240 VAC single phase 350 watt power supply The chassis is cooled by a fan located in the lower front section Incoming air is cleaned by a reusable filter Adept MV Controller User s Guide Rev A Chapter 2 Introduction enlenlen e 0 Jo EVI VJI DIO Ai U Y M Aa Yi po Lk Mm i o e J S o p lo aye fhe x vu a Cp i o 237 LJ LI LJ Adept MV Robot Controller Adept MV Stand Alone Controller example shown is an MV 10 example shown is an MV 5 Figure 2 1 Adept MV 5 and MV 10 Controllers The Adept Compact Controller The Adept Compact Controller is designed for the Adept Cobra series of robots and the AdeptModules product line up to four axes It includes a PA4
319. rdinate system on a six axis robot NOTE Figure D 14 and Figure D 15 are drawn with the assumption that the TOOL transformation is set to NULL all values are 0 If a TOOL transformation is in effect the tool coordinate system will be offset and rotated by the value of the TOOL transformation Any motion in tool state will now be relative to the offset coordinate system and not the center of the tool flange See the V Language Reference Guide for details on TOOL transformations 1 The SPEC utility is used to configure gripper activity See the Instructions for Adept Utility Programs 254 Adept MV Controller User s Guide Rev A Appendix D Moving a Robot or Motion Device With the MCP X direction Y direction Z direction Rotation about Tool Z axis Gripper activity X Figure D 14 TOOL State Four Axis SCARA Adept MV Controller User s Guide Rev A 255 Appendix D Moving a Robot or Motion Device With the MCP Rotation about TOOL X axis Rotation about TOOL Y axis Rotation about TOOL Z axis Gripper activity Figure D 15 TOOL State Six Axis Robot Joint State When joint state is selected movement is about the axis of the specified joint Figure D 16 shows an Adept SCARA robot with three rotational joints Joints 1 2 and 4 and one translational joint Joint 3 Positive rotation of joints 1 and 2 is counterclockwise as viewed from above Positive rotation of Joint
320. re rocker switch To open a switch press down on the side of the switch marked open The switch is located in the upper right hand corner of the board Table 10 1 VMEbus Address Switch Settings for EJI Boards Soma Board Switch Position on DIP Switch U184 Address 1 2 3 4 5 6 7 8 1 Open Closed Open Open Closed Closed Closed Closed 2 Open Closed Open Open Closed Closed Closed Open 3 Open Closed Open Open Closed Closed Open Closed 4 Open Closed Open Open Closed Closed Open Open 5 Open Closed Open Open Closed Open Closed Closed 6 Open Closed Open Open Closed Open Closed Open a The position notation on DIP switches can vary If the switch is marked open closed then open off and closed on Address Settings for Multiple Servo Boards 182 If you have MI6 MI3 boards installed along with an EJI each board must have a unique VME bus address Check the address settings on all boards to make sure they are all different If you purchased the Adept controller from Adept with all the motion boards installed the correct DIP switch settings already will have been set for you by Adept Adept MV Controller User s Guide Rev A Chapter 10 VME Bus Address In systems with an EJI Adept robot systems in addition to MI6 MI3 s the first MI6 MI3 board should be set to servo board number 3 In systems w
321. red in the fuse holder see Figure 3 2 e the AC power cord socket On Off Switch 6 x Ca E H Id WARNING FOR CONTINUED PROTECTION use older AGAINST RISK OF FIRE HF REPLACE ONLY WITH SAME TYPE AND RATING OF FUSE AC Power Cord PEM Socket TH IAB yy z Serial Number H gt p D Fan Filter Cover Figure 3 1 MV 5 MV 10 Power Entry Module The CIP System Power Switch 54 The system power switch on the CIP does not directly control AC power to the controller Rather it is designed to switch a relay that controls AC power to the controller and to any other equipment you may want to switch along with the controller See System Power Switch on page 90 for details Adept MV Controller User s Guide Rev A Chapter 3 Installing the MV 5 and MV 10 Controllers Connecting AC Power Cord The AC power cord is included in the accessory kit The controller end of the power cord is fitted with an IEC 320 connector The user end of the cord is not terminated Connect each conductor of the power cord securely to your AC power source using the color code below You must provide a suitable plug or other facility connection in accordance with all applicable local and national codes See the next section for important information on system grounding Table 3 3 Power Cord Specifications Cord length 3 meters 0 1 m 9 ft 10 in 4 in Cord
322. ro or vice versa but not both Region too big 743 Explanation While using optical character recognition OCR to recognize text VOCR or train a font VTRAIN OCR a region in the given win dow was more than 63 pixels in the horizontal or vertical dimen sion 334 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing User action Make sure there are no extraneous regions in the training window If the characters in the font are too large use a camera lens with a shorter focal length or increase the distance between the camera and the text Region too complicated 744 Explanation While using optical character recognition OCR to train a font VTRAIN OCR a character region was encountered with more than 20 concavities and holes User action Look at the binary image with VDISPLAY mode 2 Perhaps the threshold needs adjustment Remote has not exported network resource 563 Explanation The NFS server has not exported the designated path for use by cli ents User action Check the NFS server setup and check the path that the V system uses Reserved word illegal 457 Explanation An attempt has been made to use a V reserved word for a variable name See V Language Reference Guide for a list of the reserved key words User action Use a different name for the variable You can for example append a prefix or suffix to the attempted name Return manual control pen
323. rograms from disk perform the calibration and then delete the programs 1 The command keys CTRL P CTRL X and CTRL Z are accepted only while using the V program debugger in its monitor mode Adept MV Controller User s Guide Rev A 267 Appendix E Alphabetical Listing Calibration sensor failure Mtr n 1106 Explanation During calibration the calibration sensor for the indicated motor could not be read correctly Either the robot is blocked from moving or a hardware error has occurred User action Retry the CALIBRATE command or instruction after making sure that the robot is not blocked If the problem persists contact Adept Customer Service Camera already off 719 Explanation A VPICTURE operation to turn the camera off has been processed when the camera is already off line vision only User action Modify the program to remove redundant VPICTURE OFF instruc tions Camera already running 714 Explanation A VPICTURE operation to turn the camera on has been processed when the camera is already running line vision only User action Modify the program to remove redundant VPICTURE ON instruc tions or insert a VPICTURE OFF instruction Camera disconnected 710 Explanation The vision interface hardware indicates that the camera is not con nected User action Check the camera and cabling to make sure they are connected properly If the problem persists consult your vision system man u
324. roller Installation Adept MV 4 Insert Overview Removing and Installing Boards VME Bus Slot Ordering Requirements for Installing Boards on nthe Backplane VME Bus Address Settings Upper Backplane Jumper Plugs P1 Lower Backplane Jumper a P2 and Third Party Boards Removing Boards Installing Boards Installing a Monitor and Keybodid Installation Procedure E Connecting Non Adept Peripheral i the VGB bodid Using AdeptWindowsPC Installing an ASCII Terminal User Supplied Recommended Terminal for Systems Without a VGB or AdeptWindowsPC E dd E Contacting WYSE Customer Supplied Serial misiace Cable Installation Procedure Installing a Stand Alone Controller in a Rack or Panal Space Around the Chassis Rack Mounting Panel Mounting Installing a Robot Controller in a Rack or Panel Space Around the Chassis Rack Mounting Panel Mounting MV 5 and MV 10 Controller Teehnicdl Specifications MV 4 Insert Technical Specifications The AdeptWindows Controller Board AWC Board Connectors and Indicators AWC Board Processors Compact Flash EEPROM Adept MV Controller User s Guide Rev A 56 56 57 57 57 59 59 59 60 60 62 62 62 64 64 65 66 66 66 66 67 67 67 68 68 68 69 69 70 70 72 72 73 74 75 75 76 76 11 Table of Contents AWC Board Specifications Configuring an AWC Module Factory Default Settings DIP Switch Settings AdeptWindows PC Graphical l
325. roller User s Guide Rev A 74 75 75 76 76 77 78 78 79 80 80 81 81 81 81 82 82 82 83 83 83 83 85 73 Chapter 4 AWC Board Connectors and Indicators AWC Board Connectors and Indicators Zam CEEE Geo amzamidm NUNAS NONDD NNE 74 O Status LEDs Six bicolor LEDs indicate diagnostic test power control and communication status The left column of LEDs is for V system status information See LED Status Indicators on the AWC on page 85 The right column of LEDs gives the following status information LED Label Red LED Green LED SF OK System Fault System O K ES HPE ESTOP open High Power Enabled HD LAN Read Write from CF Ethernet access During system bootup the red SF OK and ES HPE LEDs are lit and the red HD LAN LED blinks After system bootup the SF OK LED should show green If the ES HPE LED shows red the E Stop circuit is open During compact flash reads and writes the HD LAN LED pulses red When the AWC is active on an Ethernet network the HD LAN LED pulses green Two RS232 ports and one RS422 485 port See AWC Module Serial I O Ports on page 82 Ethernet connector Shielded RJ45 receptacle that supports 10 BaseT communications See Ethernet Connections on page 82 CIP connector accepts a standard 50 pin SCSI cable that routes signals and informa
326. rom the terminal then reissue the command Controller not in automatic mode 303 Explanation An attempt has been made to initiate program execution or PRIME a program from the monitor window or command terminal when the controller is not in automatic mode User action Select automatic mode by moving the switch on the front panel to the automatic position or by activating the proper switch on a cus tom control panel Retry the previous command Adept MV Controller User s Guide Rev A 273 Appendix E Alphabetical Listing Controller not in manual mode 304 Explanation An attempt has been made to perform an operation that requires the controller to be in manual mode when it is not in manual mode If you do not have a front panel connected the controller is assumed to be in automatic mode User action Select manual mode by moving the switch on the front panel to the manual position or by activating the proper switch on a custom control panel Retry the previous operation Controller not in network mode 317 Explanation An attempt has been made to use a serial line configured for net work use but the controller is not in network mode If you do not have a front panel connected the controller is assumed to be in local mode User action Select network mode by moving the switch on the front panel to the network position or by activating the proper switch on a custom control panel Retry the previous operation
327. rrect the indicated instruction Unknown keyword 424 Explanation The keyword in an FSET instruction is unknown in the context in which it was found Most often a keyword used for a serial line was used when referencing a window or vice versa User action Correct the line in the executing program or reenter the command with the correct keyword Unknown model 759 Explanation The VPLAN FINDER vision instruction was given the name of a model that does not exist on the system User action Supply the name of an existing model to the VPLAN FINDER vision instruction Unknown network node 537 Explanation A reference has been made to a network node address that is not known by the local network User action Check that the correct node address was specified Check that the remote node is active and connected to the network If explicit rout ing tables are used check that they specify this node Unknown prototype 707 Explanation A vision command or instruction has referenced an object prototype that is not known to the vision system This may be due to mistyp ing the prototype name 352 Adept MV Controller User s Guide Rev A Appendix E User action Alphabetical Listing Enter the command VSHOW at the terminal for a list of the known prototypes If necessary load the appropriate prototype file from disk or VTRAIN the prototype Unknown sub prototype 731 Explanation User action
328. rror or hardware problem with that processor is likely It would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error mes sage and exactly what you were doing at the time the error occurred You should store the programs that are in memory power down the controller and start it again If the processor ID shown is 1 you can restart V by pressing CTRL G The robot servos will not function but you can STORE the programs in memory If the problem per sists contact Adept Customer Service Program already exists 309 Explanation An attempt has been made to LOAD a program that already exists User action or to COPY or RENAME a program to a name that is already in use Delete the conflicting program or use a different name Adept MV Controller User s Guide Rev A 331 Appendix E Alphabetical Listing Program argument mismatch 408 Explanation The arguments in a CALL CALLS or EXECUTE instruction do not match the arguments in the program being referenced because they are of different types User action Modify the CALL CALLS or EXECUTE instruction or the PROGRAM statement of the referenced program so that the argu ment types match If arguments are omitted in the CALL CALLS or EXECUTE instruction make sure the appropriate commas are included to position the arguments that are present Program completed 3 Explanation The program has be
329. rt Overview on page 57 for the location of the ID label on the Compact Controller Facility Requirements The Adept controller is intended for use with other equipment and is considered a subassembly rather than a complete piece of equipment on its own The Adept controller meets the requirements of EN 60204 1 EN 61131 2 TEC 204 IEC 1131 2 IEC 73 and IEC 447 safety standards To maintain compliance with these standards the controller must be installed and used properly with any additional equipment in strict accordance with these standards For more information about safety and standards compliance see Safety on page 30 Standards Compliance on page 33 and Appendix C The Adept controller installation must meet the environmental and electrical requirements shown in Table 3 1 and Table 3 2 Table 3 1 Operating Environment Specifications Environment Variable Specification Ambient temperature controller while accessing floppy or hard drive controller while not accessing 5 C to 40 C 41 to 104 F 5 C to 50 C 41 to 122 F floppy or hard drive Humidity 5 to 90 noncondensing Altitude up to 2000 m 6500 ft Pollution degree 2 per IEC 1131 2 EN 61131 2 50 Adept MV Controller User s Guide Rev A Chapter 3 Enclosure and Disconnect Requirements Table 3 1 Operating Environment Specifications Continued Environment Variable Specification
330. s cs ee ee ee eo ee A Testing Extended I O Outputs te dee 122 Extended I O Outputs Diagnostic Signal for Thermal Overload 122 Extended I O Output Power Supply Current Selection 123 Optional DIO Cables ke did id o AO Labeling Cables 5 oao w aoa ao a a a 129 Input and Output Cable Wiring inoino samai e e pizo 88 Adept MV Controller User s Guide Rev A Chapter 5 Introduction Introduction The Controller Interface Panel CIP is the primary hardware interface to an Adept controller The CIP can be face gasket mounted gasket not included Manual Automatic Switch Manual Control Pendant Connector Manual Mode Auto Mode Arm Power Emergency Stop O Network Switch System Power Switch Figure 5 1 Controller Interface Panel CIP Panel Switches and Indicators Emergency Stop Switch The ESTOP is a dual channel passive E Stop that supports Category 3 CE safety requirements It supports a customer programmable ESTOP delay that maintains motor power for a programmed time after the ESTOP is activated This allows the motors to assist in stopping the robot The programmable ESTOP is described in a paper available through Adept On Demand see How Can I Get Help on page 34 Adept MV Controller User s Guide Rev A 89 Chapter 5 Introduction Manual Automatic Mode Switch In Automatic Auto mode executing programs control the mechanism and the mechanism can be run at full speed In Manual mo
331. s User action encountered unexpectedly 2 If a program is reading a file this error code merely indicates that the end of the file has been reached and should not be interpreted as a real error 3 This message results if a CTRL Z is pressed in response to a pro gram PROMPT 4 A break condition was detected on a serial line 1 Try again to read the file 2 Close the file and continue program execution 3 Treat the program as having been aborted early by user request 4 Make sure your program traps CTRL Z transmissions Unexpected PSS state Code nnn 1110 Explanation The software has detected an unexpected change in the power User action sequencing control hardware The code value indicates what state has been encountered This error should never be seen and may indicate a software or hardware problem on either the AWC or CIP If safe to do so attempt to enable HIGH POWER and note any dif ferent error messages that occur If this error persists contact Adept Customer Service Unexpected text at end of line 451 Explanation The previous command or instruction could not be recognized by User action Vt possibly because of a mistyped function name or because an argument was specified where none is allowed Reenter the line correcting the syntax error Unexpected zero index Belt n 1012 350 Explanation A zero index signal was received from the encoder for this motor belt
332. s robot power cannot be enabled Check the wiring of your E STOP circuits Verify that the Controller Interface Panel CIP is connected properly Contact Adept Cus tomer Service for assistance at aaaaaa m n None An internal problem has occurred with the V software or with the system hardware It would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error mes sage and exactly what you were doing at the time the error occurred To save programs that are in memory you can restart V tempo rarily by pressing CTRL G The robot servos will not function but you can STORE the programs Then power down the controller and restart the system Fatal I O processor failure 905 Explanation User action The I O processor on the main CPU board did not start up properly This processor is critical to the safe operation of the robot Therefore if this error occurs HIGH POWER cannot be enabled Power down and restart your controller Try a different boot device Reload your system software If this problem persists contact Adept Customer Service for assistance Fatal Manual mode switch stuck off 920 Explanation During system initialization a hardware test of the manual mode circuit has found that the key switch is stuck in automatic mode Adept MV Controller User s Guide Rev A 287 Appendix E User action Alphabetical Listing This
333. s been done User action Execute the camera to robot calibration program provided by Adept or load previous calibration data The latter can be done for example by calling the subroutine load line provided on the Adept Utility Disk in the file LOADAREA V2 Adept MV Controller User s Guide Rev A 303 Appendix E Alphabetical Listing Invalid character in font 741 Explanation An invalid character appears in the string that defines a font for optical character recognition OCR The characters in the string must be in the range ASCII 33 to 126 User action Delete the invalid character from the string Invalid connection specified 540 Explanation An invalid logical network connection has been specified For exam ple a zero connection ID is invalid User action Specify a valid logical connection ID Invalid disk format 520 Explanation An attempt has been made to read a disk that is not formatted or is formatted improperly or a FORMAT command has been entered that specifies invalid format parameters for the device specified User action If a FORMAT command has been entered check the command syn tax and retry the command Otherwise try a different diskette or reformat the current one Remember that formatting erases all infor mation on the diskette If the diskette was created on an IBM PC be sure it was formatted with one of the formats accepted by the V system Invalid error code Beltn
334. s request User action None Already attached to logical unit 515 Explanation A program has executed more than one ATTACH instruction for a specific logical unit without executing a DETACH in between The program is still attached to the logical unit after this error occurs User action Check the program logic and remove redundant ATTACH instruc tions Ambiguous AUTO invalid 477 Explanation When exiting from the program editor V has encountered an auto matic variable with undetermined type That is the system cannot determine if the variable is real valued or a transformation Auto matic variables cannot be ambiguous since their storage require ments must be known before they are referenced User action Include the REAL or LOC type specification parameter in the AUTO statement that declares the variable or reference the variable in a program instruction in a manner that makes its type clear Ambiguous name 453 Explanation The abbreviation used for the last command instruction or system defined name was not long enough to identify the operation intended User action Reenter the last line using a longer abbreviation AOI not defined 752 Explanation An attempt has been made to place a vision tool using an AOI area of interest that has not been defined User action Define the AOI using the VDEF AOI instruction Are you sure Y N 10 Explanation The requested command will ha
335. see Figure 4 2 Systems using a programmer s terminal ASCII connect through the RS 232 Term port on the AWC module RS 422 485 RS 232 Term RS 232 EtherNet Figure 4 2 AWC Connectors Serial Port 1 RS 232 TERM 82 The RS 232 Term connector is an 8 pin circular mini DIN female connector see Figure 4 2 The pin assignments and locations are shown in Table 4 8 This port supports the DTR DCD RTS and CTS signals used for hardware handshaking also known as modem control By default these signals are not enabled To configure the port speed and other communications parameters use the CONFIG C utility program the V FSET program instruction or the FSET monitor command This port is designated LOCAL SERIAL 2 Adept MV Controller User s Guide Rev A Chapter 4 AWC Module Serial I O Ports Terminal Mode ASCII Terminal Interface The customer supplied ASCII terminal plugs into this connector on the AWC module See ASCII Terminal on page 81 Used With a VGB Interface In systems with a PC or VGB interface this connector can be used for general serial communication However the user can redirect the monitor output to this connector See VGB Graphical User Interface on page 80 Table 4 8 RS 232 Term Connector Pin Assignments Pin Signal Type 1 DTR Output 2 CTS Input 3 TXD Output 4 GND Ground 5 RXD Input 6 RTS Output 7 DCD Input 8 GND Ground
336. ser s Guide Rev A 41 Chapter 2 Optional Boards Digital Input Output Board DIO The Adept Digital Input Output board DIO is a 64 channel digital I O board with 32 input channels and 32 output channels It is a6U VME slave board and all inputs and outputs are optically isolated Up to 8 DIO boards can be installed depending on slot availability The total I O capacity including the channels on the Compact Interface Panel of a controller with 8 DIO boards is 268 input channels and 264 output channels See Chapter 12 for more details Auxiliary Processor AWC With 68060 CPU 42 The Adept AWC board with 68060 CPU can be used as auxiliary system processor to add increased processing performance to an Adept system An auxiliary processor can be assigned to handle the processing operations for AdeptMotion VME AdeptVision and Force Sensing or with the optional V Extensions Software License can run multiple instances of the V operating system The CONFIG C utility program is used to specify which portions of the system software are handled by each processor See CPU Board Number Assignment on page 81 for details on configuring the Adept AWC board as an auxiliary processor See the manual Instructions for Adept Utility Programs for details on the CONFIG C utility program Adept MV Controller User s Guide Rev A Chapter 2 Optional Equipment Optional Equipment Compact Interface Panel CIP The CIP is an externa
337. ses Like many solid state I O systems when an output is off a small leakage current will try to flow out of the output This will raise the potential of the output to the power supply voltage level if there is no load With a load connected the output will function normally However if you need to test the output with a voltmeter with a load disconnected you will get a false reading The test signal provides a bias which can be used as a pull down resistor for system level debugging When this is connected to an output the output will assume the ground potential when it is off The test signal also can be used to test the state of the power fuse for that particular group If the resistance between the test and ground pins is less than 10 KQ then the fuse is good If the reading is greater than 10KQ then the fuse is blown and needs to be replaced Call Adept Customer Service for information on replacement Adept MV Controller User s Guide Rev A 195 Chapter 12 Outputs Output Power Supply Voltage Jumpers Each group of signals 1 through 4 has a jumper associated with it to select the power supply voltage range The two ranges are 15 to 30 VDC and 10 to 15 VDC The jumpers are located on the DIO PC board Each jumper has a clip that can be placed in either position A or position B See Table 12 2 for the jumper numbers for each group The DIO boards are normally shipped with the ranges set to 15 to 30 VDC You should verify this b
338. sible cases 1 Too many ports are simultaneously in use for TCP and NFS there are no more buffers available for incoming and outgoing packets Too many drives are being mounted Too many NFS calls were made simultaneously from separate tasks to a nonfunctional NFS server 4 Too many node names are being defined An incoming IP packet was fragmented into too many pieces and V was unable to reassemble it This is a highly unlikely occurrence User action Correct the problem generating the error 328 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing Output record too long 529 Explanation A TYPE PROMPT or WRITE instruction has attempted to output a line that is too long The maximum line length is 512 characters User action Change the program to output less information from each instruc tion Remember that you can concatenate the output from separate instructions by using S to suppress the carriage return and line feed normally done at the end of each TYPE output Overtravel Mtrn 1034 Explanation The indicated motor has moved beyond the hardware limited range of motion User action Move the robot back into the working envelope Correct whatever caused the robot to get into the restricted area Then enable power PANIC command 633 Explanation The operator has entered a V PANIC monitor command which has stopped the current robot motion High power is still enabled
339. sing the 50 pin connector on the SIO board These JSIO pins are 41 to 43 and 42 to 44 see Figure 5 5 Figure 5 6 Figure 5 7 and Table 5 2 for the customer E stop circuitry The two required connections will be arranged in series NOTE These pins must be shorted if not used Both channels must open independently if used Although an Emergency Stop will occur the CIP will malfunction if one channel is jumpered closed and the other channel is opened It will also malfunction if the channels are shorted together Adept MV Controller User s Guide Rev A 103 Chapter 5 Connecting Customer Supplied Safety and Power Control Equipment to the CIP Remote Sensing of CIP MCP and User Emergency Stop Push Button Switches A method has been provided to indicate the status of the ESTOP chain inclusive of the CIP Emergency Stop push button the MCP Emergency Stop push button and the User Emergency Stop Contacts NOTE These contacts do not indicate the status of any contacts below the User E stop contacts Thus they will not indicate the MCP ENABLE contacts or the Manual Mode Teach Restrict Sensor contacts Two pairs of pins on the JUSER connector pins 7 25 and 8 26 provide voltage free contacts one for each channel to indicate whether the ESTOP chain as described above on that channel is closed Both switches are closed on each of the redundant circuits in normal condition no ESTOP The user may use these contacts to generate an E stop
340. sists the operator in monitoring the equipment status Illuminated Actuators Green Meaning Normal operation Mode Indication or Confirmation This color is used to attract the operator s attention and or for confirmation Action Indicates status May also require operator action See specific documentation for actuator Adept MV Controller User s Guide Rev A 231 Appendix C Color Coding of Indicator Lights Color Code Used by Adept for Service Indicators 232 These additional indicators are intended to assist skilled service personnel only They consist of small LEDs typically located on the front of the VME boards They are used to indicate equipment status to facilitate maintenance and testing They do not require action by the operator When the controller is installed as recommended the service indicators are not normally visible to the operator See the relevant chapters earlier in this manual for a brief description of each LED or contact Adept Customer Service for additional information Table C 4 Service Indicator Color Code Indicator Lights Red Meaning Nonoperating condition fault or not ready Yellow Meaning Operating condition requiring caution Green Meaning Normal operation Illuminated Actuators There are no illuminated actuators intended specifically for service use Adept MV Controller User s Guide Rev A Usin
341. subassembly is not intended for use in any of the following situations e Im hazardous explosive atmospheres e n mobile portable marine or aircraft systems e In life support systems e n residential installations e n situations where the Adept controller subassembly may come into contact with liquids e Insituations where the Adept controller subassembly will be subject to extremes of heat or humidity See specifications for allowable temperature and humidity ranges Adept MV Controller User s Guide Rev A Chapter 1 Standards Compliance Standards Compliance The Adept controller is intended for use with other equipment and is considered a subassembly rather than a complete piece of equipment on its own The Adept controller meets the requirements of EN 60204 EN 61131 2 IEC 204 IEC 1131 2 IEC 73 and IEC 447 safety standards See the Declaration of Conformity inside front cover of this manual for additional compliance information about this product To maintain compliance with the above standards the controller must be installed and used properly with any additional equipment in accordance with all regulations of the standards You must also carefully follow all installation instructions in this user guide See Appendix C for additional information on standards compliance Adept MV Controller User s Guide Rev A 33 Chapter 1 How Can I Get Help How Can Get Help 34 Refer to the How to Get Help Res
342. t 632 Explanation Indicates that a controller power failure condition has been detected by the robot control software while a robot is attached to a program 330 Adept MV Controller User s Guide Rev A Appendix E User action Alphabetical Listing This error is issued in addition to 667 if a program has a robot attached and has a REACTE routine defined Unlike error 667 if no REACTE routine is defined and a robot is attached the V program stops with this error The user may need to restart or repeat any operations that were interrupted by the controller AC power failure Some reinitialization of the system may be required for example any robot s connected to the controller will need to be recalibrated after a controller power failure Press HIGH POWER button to enable power 57 Explanation The HIGH POWER ON OFF button on the front panel must be User action pressed to complete the process of enabling high power When the HIGH POWER ON OFF button on the Controller Inter face Panel CIP blinks promptly press the button to complete the two step process of enabling high power You must press the but ton within the time period specified in the V configuration data Processor crash CPU n None Explanation V has detected that the specified CPU within the controller has User action entered a fatal error state A crash message from that processor is displayed immediately following A software e
343. t after a no wait VLOCATE no VFEATURE accesses other than VFEATURE 1 occur if the vision data is indicated by VFEATURE 1 to be invalid Invalid vision argument 735 Explanation An argument for a vision function program instruction or com mand is not in the accepted range User action Check the acceptable range of arguments for the function program instruction or command being used Check the vision calibration to make sure the scaling is reasonable Invalid vision X Y ratio 727 Explanation A VPUTCAL instruction has been used to pass vision calibration data to the AdeptVision system and the x scale to y scale is not in the acceptable range User action Make sure the program reads the calibration data from a valid data file or make sure valid values are asserted by the program 308 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing Invalid when program on stack 366 Explanation An attempt has been made to edit a PROGRAM or AUTO state ment while the program appears on some task execution stack While a task is on a stack its subroutine arguments and automatic variable values are kept on the stack Changes to these statements would modify the stack which is not allowed User action Remove the program from the stack by allowing the task to run until the desired program executes a RETURN instruction or issue a KILL monitor command to clear the stack If you are using the SEE
344. t DeviceNet Scanner does not support Cyclic or Change of State connections Adept MV Controller User s Guide Rev A 381 Appendix G Adept Supplied DeviceNet Hardware Adept Supplied DeviceNet Hardware Adept supplies the following DeviceNet hardware in the CIP Micro style 12 mm thread DIN connector female See Table G 1 for Pin assignments Table G 1 DeviceNet Signal to Pin Locations Pin Signal Name 1 Drain 2 V 3 V 4 CAN_H 5 CAN_L Installed on the Adept XL series of robots is a DeviceNet cable that you can use to route signals from the base of the robot to the outer link See Figure G 6 for a drawing of the connectors Connecting DeviceNet Hardware to the Adept DeviceNet Scanner To connect DeviceNet components to the Adept DeviceNet Scanner connect a dropline to the female Micro style 12 mm thread DIN connector on the back of the CIP Then you must configure the DeviceNet Scanner correctly using the CONFIG_C program See the DEVICENET instruction in the V Language Reference Guide for detailed information about the DeviceNet software setup in V NOTE Adept does not supply 24V on the CIP to power the DeviceNet bus A separate power supply is required to power the components on the DeviceNet bus CAUTION The DeviceNet specification requires that the CAN_H and CAN_L signal lines tolerate voltages up to 18V Since the supply voltage exceeds 18V improperly wiring the supply volt
345. t already defined 737 Explanation An attempt has been made to VLOAD a font file for subsequent optical character recognition that contains a font with the same number as one already in memory The load operation has been aborted and none of the fonts in the file have been loaded User action Rename or delete the font currently defined in memory Font not completely trained 738 Explanation During planning of a font for optical character recognition OCR some or all of the characters in the font have not been trained User action Display the font with VSHOW FONT to see which characters have not been trained Then train those characters or delete them from the font Font not defined 736 Explanation The font specified for optical character recognition OCR is not defined User action Use VDEF FONT or VLOAD to define the font Font not loaded 551 Explanation The specified font does not exist User action Specify another font font 1 is always loaded Front panel serial bus failure 925 Explanation The serial i2c bus from the AWC to the CIP has failed This bus is used for I O to the front panel and for the digital I O signals con nected to the CIP High power is disabled if a failure occurs on this bus This message may occur normally when certain diagnostic pro grams are run 294 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing User action Check the cabling fro
346. t and Passive E Stop output To access this connector a user supplied cable with a 50 pin male D Sub connector at one end is required See the V Language User s Guide for information on digital I O programming Input Signals The JSIO connector handles input signals 1001 to 1012 On systems with the Manual Mode Safety Package MMSP option input channel 1012 is used by the MMSP and is not available for users Each channel has an input and a corresponding return line See Table 5 5 for input specifications The connector pin outs are shown in Table 5 7 Adept MV Controller User s Guide Rev A 111 Chapter 5 Table 5 5 DIO Input Circuit Specifications JSIO connector Connecting User Supplied Digital I O Equipment Operational voltage range 0 to 24 VDC Off state voltage range 0 to 3 VDC On state voltage range 10 to 24 VDC Typical threshold voltage Vin 8 VDC Operational current range 0 to 6 mA Off state current range 0 to 0 5 mA On state current range 2 to 6 mA Typical threshold current 2 5 mA Impedance Vin lin 3 9 K Q minimum Current at Vin 24 VDC In lt 6 MA Turn on response time hardware Software scan rate response time 5 psec maximum 16 ms scan cycle 32 ms max response time Turn off response time hardware Software scan rate response time 5 psec maximum 16 ms scan cycle 32 ms max response time NOTE The inpu
347. t current specifications are provided for reference voltage sources are typically used to drive the inputs NOTE When the program task priorities are properly set there is a 2 ms maximum latency for fast inputs 1001 to 1004 when used with Vt INT EVENT instruction In the following figure example 1 shows inputs 1001 to 1004 with a negative common example 2 shows inputs 1005 to 1008 with a positive common and example 3 shows inputs 1009 to 1012 with an independent power supply no common NOTE These are examples Either method can be used on any channel 112 Adept MV Controller User s Guide Rev A Chapter 5 Digital 1 O Connector on CIP Module Inputs Connecting User Supplied Digital I O Equipment Adept Supplied Equipment equivalent circuit User Supplied Equipment Typical Examples Signal 1001 NR wi 42 Example 1 1 WAM 4e e e Signal 1002 Ds o Es saeia tjs Se supply Signal 1003 i ez Es le US 47 E ss Signal 1004 eM Efe oe Se 49 i m Signal 1005 Dez 0 e Example 2 ea ju 7 l Signal 1006 BE Je A ie 1 RR p 1 N User power Signal 1007 f d z supply E 115 1 Signal 1008 F e Temo Puana Sourcing h y Example 3 gt er Den mo 21 Ranna Figure 5 9 Digital Input Wiring Examples JSIO Connector REACT Input Signals 1001 to 1012 Inputs 1001 to 1012 only may be
348. ta Set Ready 2 RXD From Device 7 RTS Request to Send 3 TXD To Device 8 CTS Clear to Send 4 DTR Data Terminal Ready 9 not used 5 SG Signal Ground Figure 8 1 RS 232 Serial I O Connector Pin Locations on SIO Board Adept MV Controller User s Guide Rev A 171 Chapter 8 SIO Board Specifications SIO Board Specifications Table 8 2 Technical Specifications Electrical Power Consumption Supplied from VME backplane System I O SIO 5 V at 4 6 A typical 12 V at 1 4 A 12 V at 50 mA Floppy Drive 5 V at 0 23 A average 0 74 A max 12 V not used Hard Drive 5 V at 0 6 A average 1 1 A max 12 V not used Width Occupies 2 backplane slots Serial Ports Three RS 232 at 300 38 4K bps Specifications subject to change 172 Adept MV Controller User s Guide Rev A AdeptMotion Interface Board MI3 MI6 INMOGUCHION ss s 6 s s ss sos 5S oS 6 So amp Soe ass 174 Connections and Indicators 6 6 es eee 175 VME Bus Address 6 ee ee ee ee 176 Jumper Settings and Resistor Configuration on MI3 MI6 177 Connecting to User Equipment 4868 177 MI3 MI6 Board Specifications 5 585888 177 Adept MV Controller User s Guide Rev A 173 Chapter 9 Introduction Introduction 174 The AdeptMotion Interface MI6 MI3 board is a 6U single slot VME board designed to control motion axes
349. tal outputs incorporate a diagnostic indicator that indicate when a thermal overload shutdown has occurred most likely the result of a short circuit condition When the indicator is active the associated output can not be activated All the diagnostic indicators for the extended digital outputs have been wire or ed together to provide a software indicator that can be read by the V STATE real valued function see the Vt Language Reference Guide If an output is not responding use the STATE function to determine if a hardware shutdown is present Note that the indicator is active only when the output that has been shutdown has been asserted For example when a V SIGNAL 33 instruction is issued Adept MV Controller User s Guide Rev A Chapter 5 Extended Digital I O Signals This diagnostic software indicator is not available for the JSIO outputs In a short circuit condition the JSIO outputs will simply fold back supplying the maximum short circuit current to the output pin Extended I O Output Power Supply Current Selection The nine power pins for each group are connected together on the board and the current supplied from the output pins is drawn from these power pins The number of power pins used in a particular application depends on the total current supplied through that group s outputs The supply current should be limited to a maximum of one amp per power pin Use this limitation to select the number of power
350. ted Safety Gate E Stop Circuitry JSIO E Stop Circuitry Remote Manual Mode Control Remote High Power Control i Remote High Power On Off Lamp Connecting the System Power Switch to the CIP Manual Mode Safety Package MMSP Connector Remote User Panel Connections Remote MCP Connections Remote E Stop Circuit Remote Enable Switch Connections Connecting User Supplied Serial Communications Equipa RS 232 JCOM Connector Connecting User Supplied Digital 1 O Baibment JSIO Connector REACT Input Signals 1001 to 1012 Fast Input Signals 1001 to 1004 Output Signals Digital I O Connector idaho Details Third Party Sources AMP Part Numbers for 50 Pin Male D Sub Thomas and Betis Part Numbers for 50 Pin Male D Sub Screw Terminal Field Wiring Adapter Blocks Phoenix Contact Inc Weidmilller Extended Digital I O Signals Extended I O Inputs Extended I O Outputs Testing Extended I O Outputs 104 104 104 105 106 107 107 108 108 108 108 109 NO NO 111 111 113 lt 113 114 116 117 117 117 117 118 119 119 122 122 Extended I O Outputs Diagnostic Signal for Thermal Overload 122 Extended I O Output Power Supply Current Selection Optional DIO Cables Adept MV Controller User s Guide Rev A 123 125 13 Table of Contents 14 Labeling Cables Input and Output Cable Wiring Infomation Adept Graphics Board V
351. tem User action Power down the controller and try starting it again Contact Adept Application Engineering if the problem repeats 1 The command keys CTRL P CTRL X and CTRL Z are accepted only while using the V program debugger in its monitor mode Adept MV Controller User s Guide Rev A 327 Appendix E Alphabetical Listing Out of graphics memory 549 Explanation There is no more space in the graphics memory on the system pro cessor for windows icons fonts or other graphics items User action Delete unused graphics items or reduce the size of windows to free up graphics memory Out of I O buffer space 532 Explanation An I O operation cannot be performed because the Vt system has run out of memory for buffers User action Delete some of the programs or data in the system memory and retry the operation Also see Not enough storage area Out of vision transform memory 753 Explanation The space allocated for vision transformations is inadequate A vision transformation may be defined for each task for each CPU running V user tasks Vision transformations are defined with the VTRANS instruction User action Define only the vision transformations that you need If more mem ory must be allocated to vision transformations see the description of the DEVICE instruction Out of network resources 559 Explanation This error applies to many circumstances Listed below are several pos
352. tem hardware It would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error mes sage and exactly what you were doing at the time the error occurred To save programs that are in memory you can restart V tempo rarily by pressing CTRL G The robot servos will not function but you can STORE the programs Then power down the controller and restart the system Fatal Emul 1111 Trap at aaaaaa m n None 286 Explanation An internal problem has occurred with the V software or with the User action system hardware It would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error mes sage and exactly what you were doing at the time the error occurred Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing To save programs that are in memory you can restart Vt tempo rarily by pressing CTRL G The robot servos will not function but you can STORE the programs Then power down the controller and restart the system Fatal E STOP signals are stuck off 904 Explanation During system startup a test is performed to ensure that no E STOP User action Fatal Ieg Instr Explanation User action signals are stuck in the off state This error message is followed by one or more standard E STOP error messages that indicate which signals are stuck If this error occur
353. tensions License See Appendix B for more details on using the position latch The vision trigger feature allows the AdeptVision interface board EVI to wait for an external signal to trigger the acquisition of a picture The vision trigger must be configured using the CONFIG_C utility program and DIP switches on the EVI board It does not require the optional V Extensions License See Appendix B for more details Output Signals The JSIO connector handles output signals 0001 to 0008 On systems with the Manual Mode Safety Package MMSP output channels 0006 to 0008 are used by the MMSP and are not available for users Refer to Table 5 6 for output specifications The locations of the signals on the connector are shown in Table 5 7 The JSIO connector provides separate positive and negative connections for each channel no internal common connections This allows the choice of wiring for current sourcing or current sinking modes Table 5 6 DIO Output Specifications JSIO connector Operating voltage range 0 to 24 VDC Operational current range per channel I lt 100 mA short circuit Protected Varop across output in on condition V drop lt 2 7 V at 100 mA V drop lt 2 0 V at 10 mA Output off leakage current I su lt 600 pA Turn on response time hardware 3 usec maximum Software scan rate response time 16 ms scan cycle 32 ms max response time Turn off response time hardware 200 psec maximum S
354. ter 7 Installing Camera Cables VGB EVI Video Bus Coupling aded Installed 10 Meter Camera Cable one for each Up to two cameras camera can be installed mO4 ZOz es E U E mM Pulnix TM 1001 o Cameras 9s TD E BE b Intercon 1 Custom l Cable see Figure 7 6 Strobe 1 O as Strobe 2 3 Strobe Power Cameras 3 and 4 Connector not used E E 7 User 12VDC Power Supply to Drive Cameras KEYBOARD Intercon 1 custom break out cable see Figure 7 5 Figure 7 8 Camera Installation for Dual Pulnix TM 1001 Cameras 154 Adept MV Controller User s Guide Rev A Chapter 7 Camera Cable Pin and Signal Information Camera Cable Pin and Signal Information This section provides the pin and signal information for the connectors and cables associated with the AdeptVision product Table 7 7 describes the Hirose connector that is used for all cameras except the Pulnix TM 1001 on the camera breakout cables Table 7 8 describes the Hirose connector that is used for the Pulnix TM 1001 on the custom four camera breakout cable Table 7 9 describes the Strobe and Power connector o
355. tered that has no matching quote mark before the end of the line User action Insert a quote mark at the end of the string Strings may not cross line boundaries Adept MV Controller User s Guide Rev A 313 Appendix E Mixing half and full resolutions Alphabetical Listing 750 Explanation A model recognition prototype OCR font or correlation template was defined using a full frame image but was applied to a half frame image field only or vice versa User action Make sure the correct virtual camera is being used for both defining the model and applying the model Associated with each virtual camera is a calibration array that contains information indicating whether full frame or half frame images are to be acquired with the virtual camera MMSP diagnostic error Code n 1108 Because these message codes are related primarily to hardware refer to your Robot Instruction Handbook as your primary source of information If it does not answer your questions contact Adept Customer Service The following table summarizes information about the codes A WARNING The test procedures for these messages are for skilled or instructed personnel only Dangerous voltages are present including those on the Security Panel Failure to exercise care can result in death or injury Table E 2 MMSP Diagnostic Error Message Codes Coden Explanation User action Parity error 0 E STOP board hardware n
356. tes typical female 1 Power return gray 1 2 12V power to camera yellow 2 3 Shield video red shield 3 4 Video from camera red signal 4 5 Shield Hd orange E shield Hd horizontal drive to camera orange signal 7 Vd vertical drive to camera black signal 7 Shield Clock to camera cam 1 white shield 8 8 amp 2 only Adept MV Controller User s Guide Rev A 157 Chapter 7 Camera Cable Pin and Signal Information Table 7 10 Adept 10 Meter Camera Cable Pin Assignments Continued Pin at Pin at controller Wire Color camera end end male Function Notes typical female Pixel clock to camera cam 1 white signal 9 9 amp 2 only 10 not used reserved brown 10 11 not used reserved blue 11 12 Shield Vd black shield 12 e Connector at controller end 12 Pin Hirose Male HR10A 10P 12P with ground terminal lug shield See Figure 7 9 for pin locations e Connector at camera end 12 Pin Hirose Female HR10A 10P 12S e Cable specifications 12 conductors including 4 coax pairs 4 discrete conductors and overall shield At each end the shield is clamped to connector body 158 Gray Blue Yellow Overall Braided Shield Black _ Orange Wire colors may vary Figure 7 9 Pin Locations for Camera Cable Connector 12 Pin Hirose Male Table 7 11 Four Camera Breakout Cable Pin Assign
357. the COMP PWR button to return control to the controller If a program attempts to execute with the MCP in manual mode the error Comp mode disabled will be generated 1 Tf the robot has not been calibrated and High Power is turned on the MCP emergency stop switch LED will be lit and both the COMP PWR and MAN HALT LEDs will be off 250 Adept MV Controller User s Guide Rev A Appendix D Moving a Robot or Motion Device With the MCP When the MAN HALT button is pressed the first time the MCP will be in world state Pressing the MAN HALT button again selects the next state to the right tool joint free eventually wrapping back to the leftmost state world If manual mode is terminated and reentered without turning off system power the last active state is selected DIS PWR Button The Disable Power button will shut down High Power to the robot or motion device when pressed Unlike the Emergency Stop Button the Disable Power Button initiates a controlled stop where the robot is decelerated under software control After the robot has stopped power is turned off RUN HOLD When the RUN HOLD button is initially pressed it will stop the robot and pause the executing program task 0 If you then press and hold down the button the program proceeds until the button is released When the button is released the robot stops and the executing program pauses until the button is pressed again Joint Axis Control Buttons The bu
358. the VME backplane This will disable HIGH POWER Drive Faults The controller continuously monitors fault signals from each servo amplifier Adept amplifiers check motor open circuit over current voltage sag and amplifier temperature RSC Watchdog Timer The RSC in Adept robots contains a watchdog timer to monitor its operation and to detect power failures Encoder Signals The position feedback signals from the robot are continuously monitored for quadrature and index errors MI3 MI6 systems include an optional test for loss of differential encoder signals V FREE Command The user can issue the Vt FREE command at any time This measures a checksum of the V operating system Vision and Servo code area of RAM It validates data structures where user program data resides During null time a simple check on CPU diagnostics is performed V Cycle Tests Communication between V and servo code is tested every cycle of the V code If communication is lost arm power is turned off and a fatal error message is displayed 378 Adept MV Controller User s Guide Rev A Introduction Limitations of the Adept DeviceNet Scanner Adept Supplied DeviceNet Hardware Connecting DeviceNet Hardware to the Adept DeviceNet Scanner S468 42628848 ES is A DeviceNet Physical Layer and Media DeviceNet Connectors Termination of the DeviceNet Neiwoik Power Supply and the DeviceNet Bus Power Capabilities of a DeviceNet Cable vale Adept MV
359. the country of installation requires a CE certified installation or compliance with IEC 1131 2 or EN 61131 2 the following information may be helpful IEC 1131 2 and EN 61131 2 require that the installation must ensure that category II overvoltage i e line spikes not directly due to lightning strikes are not exceeded Transient overvoltage at the point of connection to the power source shall be controlled not to exceed overvoltage category II i e not higher than the impulse voltage corresponding to the rated voltage for the basic insulation The user supplied equipment or transient suppressor shall be capable of absorbing the energy in the transient Adept MV Controller User s Guide Rev A 53 Chapter 3 Installing the MV 5 and MV 10 Controllers In the industrial environment nonperiodic overvoltage peaks may appear on main power supply lines as a result of power interruptions to high energy equipment such as a blown fuse on one branch in a 3 phase system This will cause high current pulses at relatively low voltage levels The user shall take the necessary steps to prevent damage to the controller system such as by interposing a transformer See IEC 1131 4 for additional information Power Entry Module The power entry module located on the front of the controller is shown in Figure 3 1 It contains e the On Off power switch I On O Off e the fuse holder containing the two incoming AC line fuses spare fuses are sto
360. the robot is currently tracking a belt or moving under control of an ALTER instruction User action Configure the joint with continuous rotation capability or complete the belt tracking or ALTER instruction before attempting to execute the SPIN instruction Step syntax MUST be valid None Explanation The SEE editor s AUTO BAD extended command has been used to change the action to be taken when an invalid line is detected while editing Subsequently the editor will require that such a line be cor rected before you will be able to perform any operation that would move the cursor off the bad line User action None This is an informational message Stop on force triggered 623 Explanation A force sensor Guarded Mode trip occurred when the robot was not under program control 342 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing User action High power must be reenabled before robot motion may continue If the trip was not desired make sure that Guarded Mode is disabled before the program relinquishes control of the robot to the manual control pendant Stopped due to servoing error 600 Explanation Program execution has stopped because of one or more servo errors User action Correct the source of the reported servo errors referring to your sys tem hardware manual as required Storage area format error 305 Explanation During execution of a FREE command V has detected that pro g
361. ting program or the system terminal has control of the robot After you press the COMP PWR button to enable High Power the High Power lamp begins blinking and the LCD prompts you to press the High Power button You must press this button before within the allowed time this time is programmable or High Power will not be enabled If the system is in Manual mode and you press the COMP PWR button to enable High Power you need to take the following actions e release the MCP enable switch e press and hold the MCP enable switch e press the High Power button within the allowed time MAN HALT Button When there is no program executing or a program has paused for a pendant teach routine pressing the MAN HALT button selects manual mode In manual mode the MCP has control of the robot If a program is executing the MAN HALT button will stop program execution without shutting off High Power Manual mode cannot be entered if High Power is off E Stop button LED not illuminated To enable High Power press the COMP PWR button The MCP is in manual mode when 1 The LED on the MAN HALT button is illuminated and 2 One of the manual state LEDs is also illuminated the manual state LEDs indicate the type of manual motion that has been selected either World Tool Joint or Free The system will remain in Manual mode until High Power is turned off or the COMP PWR button is pressed When you have finished moving the robot manually press
362. ting system V V interpreter or trajectory generator Vi vision software Sv servo software Report to Adept Application Engineering the error and information about any possible contributing circumstances You can continue to use the system but you should keep in mind the possibility of a problem with the hardware Adept MV Controller User s Guide Rev A 341 Appendix E Alphabetical Listing Software incompatible Code n 1026 Explanation The servo code has detected an incompatibility between the servo code and calibration software User action Make sure that you are using the calibration software in the CALIB directory that you received with the V system you are using If you are using the correct software note the code number and call Adept Customer Service Speed pot or STEP not pressed 620 Explanation While the controller was in manual control mode a V program tried to initiate a robot motion but you failed to press the STEP but ton and speed bar on the MCP User action When a V program is about to initiate robot motions press the STEP button and speed bar on the MCP To continue the motion once it has started you can release the STEP button but must con tinue to press the speed bar Set the controller to automatic mode SPIN motion not permitted 638 Explanation Either a SPIN instruction has attempted to move a joint that has not been configured with the continuous rotation capability or
363. tion The motion interface board has detected an E STOP due to the BRAKE ESTOP signal being asserted on the VMEbus User action Check for a subsequent message To determine if there was an unre ported RSC error type listr error task 4 where task is the number of the task that received the error If no additional information is available call Adept Customer Service E STOP from user E STOP button 910 Explanation An E STOP condition has occurred because the user E STOP button circuit has been broken User action Restore the user E STOP button circuit Reenable HIGH POWER as desired E STOP from user muted safety gate 921 Explanation An E STOP condition has occurred because the user muted safety gate has been opened during automatic mode During MANUAL mode this error should not be seen User action Close the muted safety gate and reenable HIGH POWER as desired If the gate was already closed check the switch the associated con nectors and wiring E STOP from front panel button 908 Explanation An E STOP condition has occurred because the E STOP button on the CIP front panel has been pressed Adept MV Controller User s Guide Rev A 283 Appendix E Alphabetical Listing User action Unlatch the locking E STOP button Reenable HIGH POWER as desired E STOP from front panel external input 911 Explanation An E STOP condition has occurred because it was requested through the front panel external
364. tion Handbook or the voltage restrict ro Pailt contact Adept Customer Service sensor s built in test function failed 6 Total E stop channel 1 Consult your Robot Instruction SR5 error Handbook or contact Adept Customer Service 7 Total E stop channel 2 Consult your Robot Instruction SR4 error Handbook or contact Adept Customer Service Adept MV Controller User s Guide Rev A 317 Appendix E Alphabetical Listing Motor amplifier fault Mtr n 1018 Explanation The power amplifier for the indicated motor has signaled a fault condition on fault line 1 This fault occurs only for devices con trolled by the AdeptMotion Servo system The interpretation of this fault depends on the particular device being controlled User action Turn high power back on and restart the program If the error per sists implement procedures appropriate for your AdeptMotion sys tem If the robot is a standard Adept product contact Adept Customer Service Motor overheating Mtr n 1016 Explanation The indicated motor is overheating User action Reduce the speed acceleration and or deceleration of the robot motions or introduce delays in the application cycle to give the motor an opportunity to cool Motor stalled Mtr n 1007 Explanation The indicated motor has stalled while being driven This is usually caused by the robot encountering an obstruction User action Turn high power back on and restart the prog
365. tion to the CIP Note that the CIP does not communicate in SCSI format See Chapter 5 for details Adept MV Controller User s Guide Rev A Chapter 4 AWC Board AWC Board The AWC board is a single slot 6U VME module that plugs into the backplane of any Adept MV chassis including MV 4 MV 5 and MV 10 Jumper JP2 Memory Expansion PCA gt N Processor JE I Ba ON OFF 4 4 3 2 1 oN EE ao Oe DIP Switch SW1 x s i960 E Y FlashRAM Memory Card Compact Flash NVRAM Q Battery Figure 4 1 AWC Board Components Placement Processors There are two processor memory configurations for the AWC board The AWC 040 uses a 25 MHz 68040 processor with 8 MB RAM The AWC 060 uses a 50 MHz 68060 with 24 MB RAM See Figure 4 1 for the location of the CPU on the board The performance of each board depends on the application and the way the application program is written Typically the AWC 060 has 1 5 to 2 times the processing power of the AWC 040 Adept MV Controller User s Guide Rev A 75 Chapter 4 AWC Board The additional 16 MB of RAM on the AWC 060 is provided through a memory expansion PCA While this is removable it is considered by Adept to be an integral part of the AWC 060 The AWC 060 is tested and stocked with the memory e
366. tions have CCD OK to been latched move cam EVI CIP MI6 EJI MI3 hardware software encoder encoder latches latches 1 servocycle error 3 lines to flash from strobe unit camera high speed digital input will also generate interrupt 4 Figure B 1 Interrupt Block Diagram Adept MV Controller User s Guide Rev A 225 Appendix B External Input for Position Latch and Vision Trigger Vision Trigger On AdeptVision systems a camera picture can be taken at any time or it can be set to wait for a triggering event That event would normally be configured to be an external signal from the External Trigger inputs described above This is configured using the CONFIG_C utility program See the AdeptVision User s Guide and the AdeptVision Reference Guide for a description of the V keywords VPICTURE and V IO WATT See VME Bus Address and Configuration on page 142 for a description of the switches on the EVI board Combined Vision Trigger and Position Latch Vision in the Loop 226 An RS 170 video camera operates at 30 frames per second When the vision system senses an external trigger it will normally have to wait until the start of the next frame before it can capture another picture This can therefore involve a delay of up to 33 ms milliseconds The Adept system allows for a delayed latch where the external trigger is used to signal a picture to be taken by the optional AdeptVision syste
367. tly and edit the program as required Macro Z ends None Explanation Definition of a SEE editor macro command has been initiated 310 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing User action Enter the keystrokes to define the macro and then enter Z to termi nate the definition Manual brake release 639 Explanation The robot s manual brake release button is active It is not possible to enable power when this button is pressed User Action Make sure that the manual brake release button usually located on the robot is not active If the problem persists even though the but ton is not pressed call Adept Customer Service Manual control pendant failure 650 Explanation A program has attempted to access the manual control pendant when it is disconnected or has failed User action Make sure the pendant is connected properly If the problem per sists contact Adept Customer Service Manual mode switch 1 off detected by CPU 917 Explanation An E STOP condition has occurred during manual mode because the CPU has detected on signal channel 1 that the manual mode keyswitch has been set to automatic mode Normally this message is suppressed and error 645 is reported There may be a hardware problem with the CIP its cabling or the AWC User action If safe to do so toggle the auto manual keyswitch and attempt to enable HIGH POWER again Reseat the plug affixed to the JAWC
368. to abort a task that was not active Adept MV Controller User s Guide Rev A 333 Appendix E Alphabetical Listing User action None required if the correct task number was specified Otherwise use the STATUS command to determine which task number should have been used Program task not in use 319 Explanation A program task cannot be accessed because it has never been used Such program tasks do not use any system memory and do not appear in the STATUS display User action None Protected program 53 Explanation An attempt has been made to list a program that is protected from user access User action None Protection error 530 Explanation An I O operation cannot be performed because 1 it attempted to write to a disk that is write protected or 2 the user does not have the proper access status User action Check the diskette to make sure the write protect tab is in the cor rect position Use an FDIRECTORY command to display the disk directory If the file has protected P or read only R protection you cannot access it in the way attempted Recursive macros illegal 357 Explanation An attempt was made to execute a macro recursively That is the macro contained a command character sequence that directly or indirectly restarted execution of the macro User action Change the macro definitions as necessary to make sure neither macro invokes itself You can have the U macro invoke the Y mac
369. top Circuitry Remote Manual Mode Control Adept MV Controller User s Guide Rev A 89 89 89 90 90 90 90 91 91 91 91 92 92 92 92 92 92 92 93 94 94 96 96 97 97 98 103 104 104 104 105 87 Chapter 5 Remote High Power Control 106 Remote High Power On Off Lamp we ee 107 Connecting the System Power Switch to the CIP Se ee ee amp FOF Manual Mode Safety Package MMSP Connector 108 Remote User Panel Connections 108 Remote MCP Connections 108 Remote E Stop Circuit soa eh ee Rocko ge E pd MDB Remote Enable Switch Coniisctions a ee 109 Connecting User Supplied Serial Communications supino 110 RS 232 JCOM Connector i ee ee da GM Connecting User Supplied Digital 1 O Eauisment ee eon a aa a JSIO Connector 26 62 amp 4 s 4 i REACT Input Signals 1001 to 1012 Cok ae we ee Be oT Fast Input Signals 1001 to 1004 2 2 2 2 2 2 4718 Output Signals 114 Digital I O Connector Siding Details Third Party suites 116 AMP Part Numbers for 50 Pin Male D Sub a a H7 Thomas and Betts Part Numbers for 50 Pin Male D Sub aa Screw Terminal Field Wiring Adapter Blocks 117 Phoenix Contact Inc 117 Weidmuller N8 Extended Digital I O Signals IT119 Extended I O Inputs 4Id19 Extended I O Output
370. tr Pwr 1 CAM1 2 12V power Str Pwr 1 CAM2 2 12V power Str Pwr 1 CAM3 2 12V power Str Pwr 1 CAM4 2 12V power Str Pwr 2 CAM1 1 Power return Str Pwr 2 CAM2 1 Power return Str Pwr 2 CAM3 1 Power return Str Pwr 2 CAM4 1 Power return EVI Str Pwr 9 Shield chassis ground EVI 11 Str Pwr 4 Strobe return EVI 11 Str Pwr 6 Reserved EVI 11 Str Pwr 8 Reserved EVI 12 CAM1 3 Shield video EVI 14 CAM3 3 Shield video EVI 15 CAM4 4 Video EVI 16 CAM4 6 Hd horizontal drive EVI 17 CAM4 5 Shield Hd EVI 17 CAM4 12 Shield Vd EVI 18 CAM3 7 Vd vertical drive EVI 19 CAM2 7 Vd vertical drive EVI 20 CAM2 9 Clock EVI 22 CAM1 9 Clock EVI 26 Str Pwr 3 Strobe 1 EVI 29 CAM2 4 Video EVI 30 CAM4 3 Shield video EVI 31 CAM4 7 Vd vertical drive EVI 32 CAM3 6 Hd horizontal drive EVI 33 CAM3 5 Shield Hd EVI 33 CAM3 12 Shield Vd EVI 34 CAM2 6 Hd horizontal drive EVI 35 CAM2 5 Shield Hd EVI 35 CAM2 8 Shield Clock EVI 35 CAM2 12 Shield Vd 162 Adept MV Controller User s Guide Rev A Chapter 7 Table 7 13 Four Camera Breakout Cable Pin Assignments Continued Camera Cable Pin and Signal Information From Pin To Pin Function EVI 36 CAMI Hd horizontal drive EVI 37 CAMI Vd vertical drive EVI 38 CA
371. ttons on the far right side are the joint axis control buttons When the MCP is in manual mode these buttons select which robot joint will move or the coordinate axis along which the robot will move The X 1 Y 2 Z 3 RX 4 RY 5 and RZ 6 buttons are covered starting on page 253 The MCP must be in manual mode before a joint axis control button can be selected STEP Button When the CIP keyswitch is set to MANUAL V programs cannot initiate motions unless you press the step button and speed bar on the MCP To continue the motion once it has started you can release the ster button but must continue to press the speed bar Failure to operate the step button and the speed bar properly results in the following error message Once a motion has started in this mode releasing the speed bar also terminates any belt tracking or motion defined by an ALTER program instruction Motions started in this mode have their maximum speeds limited to those defined for manual control mode As an additional safeguard when High Power is enabled and the CIP switch is set to MANUAL the MCP is set to orr mode not comp or MANUAL mode Programs designed to move the robot in manual mode should read the status of the step and speed bar before starting the move The program should prompt the user as required Adept MV Controller User s Guide Rev A 251 Appendix D Moving a Robot or Motion Device With the MCP Speed Bars In World Tool and Joint Mode
372. ure and Disconnect Requirements on page 51 for enclosure requirements and refer to Appendix A for dimensions of the CIP Connecting the CIP to the AWC The CIP connects to the AWC through the JAWC connector The AWC to CIP cable is a 1 8m 6 foot SCSI 2 50 wire cable with a male Micro D 50 pin shielded connector on each end The Micro D connector has two rows of 25 pins spaced at 1 27mm 050 inches apart see Figure 5 4 A custom cable not to exceed 10m 33 feet may be fabricated It should be made to the ANSI SCSI Parallel Interface 2 SPI 2 standard and should incorporate twisted pair wires of a minimum of 0 08mm 28 AWG size The connectors should be wired so that pin 1 goes to pin 1 pin 2 goes to pin 2 and so on The twisted pairs in the cable must be wired to physically opposing contacts in the connector that is the first twisted pair goes to pins 1 and 26 the second to pins 2 and 27 and so on A shielded Micro D 50 male connector should be used on both ends The entire cable must be shielded with a foil and drain wire To connect the CIP to the AWC 1 Turn off the Adept controller power switch and disconnect main power 2 Plug one end the CIP interface panel cable into the CIP connector on the AWC board Plug the other end into the SCSI connector JAWC on the left side of the CIP Be sure the spring latches are engaged 3 When not using an MCP install the optional MCP bypass plug into the MCP connector on the fa
373. us Int at aaaaaa m n None 288 Explanation An internal problem has occurred with the V software or with the User action system hardware It would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error mes sage and exactly what you were doing at the time the error occurred Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing To save programs that are in memory you can restart Vt tempo rarily by pressing CTRL G The robot servos will not function but you can STORE the programs Then power down the controller and restart the system Fatal Uninit Trap at aaaaaa m n None Explanation An internal problem has occurred with the V software or with the User action system hardware It would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error mes sage and exactly what you were doing at the time the error occurred To save programs that are in memory you can restart V tempo rarily by pressing CTRL G The robot servos will not function but you can STORE the programs Then power down the controller and restart the system Fatal ZDIV Trap at aaaaaa m n None Explanation An internal problem has occurred with the V software or with the User action system hardware It would be appreciated if you would report the error to Adept Application Engineeri
374. use the setup mode to set the personality to WY 75 If you are using terminal emulation software on a computer set the software to WY 75 emulation If WY 75 is not available try VT102 or VT100 however you will not be able to use all of the function keys 5 Set the baud rate to 9600 the default rate for the Adept system To change the Adept system baud rate refer to the information on CONFIG_C in the manual Instructions for Adept Utility Programs Installing a Stand Alone Controller in a Rack or Panel An MV 5 or MV 10 stand alone controller can be mounted in a standard 19 inch equipment rack using the attached mounting brackets The brackets also can be moved to the rear of the controller for panel mounting There is no stand alone version of the Compact Controller Adept MV Controller User s Guide Rev A 67 Chapter 3 Installing a Stand Alone Controller in a Rack or Panel NOTE For installations in Europe to maintain compliance with EN 60204 1 the mounting of the controller and all terminations at the controller must be performed in accordance with this standard Space Around the Chassis When the stand alone controller is installed you must allow 25 mm 1 inch at the left and right sides of the chassis for proper air cooling You must also allow 75 mm 3 inches at the front of the chassis for power and signal cable clearance CAUTION The air filter must be kept clean so the forced air cooling
375. ut do so only as a last resort E STOP from MMSP Code n 1111 Because these message codes are related to hardware refer to your Robot Instruction Handbook as your primary source of information If it does not answer your questions contact Adept Customer Ser vice The following table summarizes information about the codes Table E 1 MMSP External E STOP Error Message Codes Coden Explanation 0 Adept E stop channel 1 error 1 Adept E stop channel 2 error 2 Customer E stop channel 1 error 3 Customer E stop channel 2 error Hard envelope error Mtr n 1027 Explanation The indicated motor was not tracking the commanded position with sufficient accuracy indicating a failure in the hardware servo system or something impeding the path of the robot Because this is consid ered a serious error high power was turned off User Action Turn on high power and try to perform the motion at a slower speed Make sure that nothing is obstructing the robot s motion If the error recurs contact Adept Customer Service Encoder quadrature error Beltn 1013 Explanation The position encoder signal from the specified conveyor belt is sending information that is not phased correctly The encoder or its 280 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing cabling may be defective Encoder error checking is initiated by the DEFBELT instruction and by enabling the BELT switch
376. various features of your Adept system These utility programs are described in this manual V is a complete high level language as well as an operating system This manual covers programming principles for creating V programs NOTE All of the above manuals are available on the CD ROM that is shipped with the system Other Adept Product Manuals When you order AdeptVision VME AdeptMotion VME AdeptForce VME or any AIM software product you will receive manuals that cover those products Also optional hardware may come with a manual A partial list is shown below Manual Material Covered AdeptVision VXL User s Guide AdeptMotion VME User s Guide AdeptForce VME User s Guide Concepts and strategies for programming the AdeptVision VME system see also the optional AdeptVision Reference Guide below Installation configuration and tuning of an AdeptMotion VME system Installation operation and programming of the AdeptForce VME product NOTE All of the above manuals are available on the CD ROM that is shipped with the system Adept MV Controller User s Guide Rev A 27 Chapter 1 What s New in This Version Optional V Developer s Manuals If you will be programming V applications you should order the optional Vt developer s manuals first two in the list below These manuals contain a com plete description of the commands instructions functions and other features available in the
377. ve E stop Output is different from the emergency stop outputs described above This contact closes only when High Power is on not when the emergency stop circuit is closed Adept MV Controller User s Guide Rev A Chapter 5 Connecting Customer Supplied Safety and Power Control Equipment to the CIP CAUTION These are single channel contacts and are not suitable for A EN 954 1 Category 3 operation The two pairs of pins on the JSIO connector pins 41 42 and 43 44 provide connections for User and Auxiliary E Stop circuitry see Figure 5 5 Table 5 2 and Table 5 3 for the customer E stop circuitry NOTE These pins must be jumpered closed if not used The High Power On contacts and JSIO connector pins 45 and 46 are called the Passive E stop Output because they are compatible with older Adept equipment The load on the contacts should not exceed Maximum Voltage 40VDC 30VAC Maximum Current 1A Remote Manual Mode Control The CIP also provides a connection for a user supplied Manual Mode circuit see Figure 5 5 Figure 5 7 Table 5 2 and Table 5 3 for the customer Manual Mode circuitry This circuitry must be incorporated into the robot workcell to provide a Single Point of Control the operator when the controller is placed in Manual mode Certain workcell devices such as PLCs or conveyors may need to be turned off when the operating mode switch is set to Manual mode This is to ensure that the robot controller
378. ve a significant effect on the state of the system and V wants to know if you really want it to happen Adept MV Controller User s Guide Rev A 263 Appendix E Alphabetical Listing User action To have V continue type y followed by a carriage return An n fol lowed by a carriage return or just a carriage return causes the com mand to be aborted Arithmetic overflow 409 Explanation The result of a calculation was outside the allowable range for real variables or V has encountered a number that is outside the allowed range for integers while converting a real valued number to a decimal hexadecimal or octal integer or logical value Logical values use 32 bit integers but most program instructions that require integer arguments allow only 16 bit integers Also real vari ables can have only magnitudes in the range from about 5 4E 20 to 9 2E 18 User action Modify the program as required A scratch frame store is needed use VSELECT 756 Explanation VCORRELATE returns this error when performing a grayscale hier archical search or binary search and no scratch frame store is avail able User action Use VSELECT to invalidate a virtual frame store in a physical frame store that is different from the physical frame store being searched Attempt to modify active belt 614 P Explanation A program instruction has been executed that will modify the belt variable that is currently being tracked by the robot
379. xpansion board installed Do not tamper with the memory expansion PCA Compact Flash In place of the traditional hard drive AWC systems use Compact Flash CF Compact Flash is a small solid state hard drive that is about half the size of a credit card and twice as thick Compact Flash has no moving parts and is therefore reliable and durable It is removable and can be moved to another AWC board for replacement or testing see Figure 4 1 for location Two Compact Flash sizes are available For systems that do not use AIM most customers V programs will fit onto the 8 MB Compact Flash AIM based systems require more memory The CF capacity shipped with AIM systems is presently 30 MB this may be increased in the future NOTE The optional SIO board can be added to any AWC system assuming two empty slots are available to add hard drive floppy drive and additional serial port capabilities With AdeptWindowsPC systems you can use the supplied NFS software to remotely mount hard drives Compact Flash is addressed as drive D Drive letters A and C are reserved for the floppy and hard drives on the SIO WARNING Use suitable measures for eliminating electrostatic discharge during removal and installation of the Compact Flash This includes but is not limited the use of a grounded wrist strap while performing this operation EEPROM The controller serial number and license information is maintained in NVRAM on the AWC boar
380. xplanation Your servo board has a fused robot solenoid control line and the system has detected an open circuit at that location User Action Refer to your hardware documentation and replace the fuse Servo task overloaded 674 Explanation A servo interrupt task has used up all the execution time The detec tion algorithm reports an error when the servo interrupt task com pletely occupies 10 or more time slices per second of real time The robot went to a fatal error state when this error occurred and the servo interrupt task stopped running User action Change one or more of the following 1 move servo tasks off CPU 1 to allow more time for trajectory generation 2 upgrade the sys tem processor to increase the throughput or 3 reduce the number of robots or axes that you are operating Set for CASE DEPENDENT searches None Explanation The EXACT extended command has been used to change the method by which character case is considered during string searches The message indicates how case will be considered in sub sequent searches for the current or future search for strings User action None This is an informational message 340 Adept MV Controller User s Guide Rev A Appendix E Alphabetical Listing Set for CASE INDEPENDENT searches None Explanation The EXACT extended command has been used to change the User action method by which character case is considered during string searches The m
381. you must press the function button again The programs started by these buttons may include a WAIT START instruction in which case the program will pause and the MCP will display START and CANCEL buttons over the two right soft buttons Pressing START allows the program to continue Pressing CANCEL halts program execution Adept MV Controller User s Guide Rev A Appendix D MCP Predefined Functions The programs started by these functions run in task 0 Therefore High Power must be enabled and the robot must be calibrated Auto Start When AUTO START is pressed the pendant display shows Enter last two digits of file name auto Enter one or two digits and press REC DONE The system attempts to load the file AUTOxx V2 from the default disk and COMMAND the program autoxx xx refers to the digits you entered The program file AUTOxx V2 must reside on the default disk and it must contain a monitor command program named autoxx If the file does not exist or does not contain a correctly named program the operation will be aborted and the appropriate error message will be displayed on the LCD For example if you had entered 9 the system would attempt to load the file AUTO9 V2 and COMMAND the program auto9 Calib When CALIB is pressed the robot calibration procedure begins High Power must be enabled Store All When STORE ALL is pressed the pendant displays Enter last two digits of file name STORE

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