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Nortech Systems Adept RS-422/485 User's Manual

1. Internal Connections Fa M User Supplied Connections ie 2AN Channel 1 Channe ee Shane ESTOPSRC Front 1 XFP 7 we Panel 1 1 p F System i a o XEPA1 gt XFP 2 DY Power Grn Front Panel I E LED 7 i IO Epaf MEET XFP 15 ak pine A AMIPBilseexeeleeodung i lens 2 mop 7 7 XUSER 2 User E Stop and XUSER 1 Gate Interlock Jumper closed when XUSER 14 D not used MUST open 4 both channels i 1 XUSER 15 independently if used EH S XUSER 7 Logic cyclic ESI check state XUSER 8 ES1 Es2 machines ES2 o x User E Stop Indication Channel 1 Lc amp ES1 XUSER 21 E V ESTOPSRC XUSER 20 Channel 2 L TNA XUSER 4 XUSER 3 24V Manual Auto T _ Line E Stop Front Panel Enable 4 P E 7 1 External User Ws pe ee ee E Stop system 1 I 1 i XFP 3 XFP 4 1 XUSER 16 lo bet Seo Soc I 1 XFP 11 XFP 12 XUSER 17 rdc xcu m MM1 MM1 MM2 L MM2 Manual Auto Keyswitch N 7 N7 XUSER 9 Manel Open MCP 4 XUSER 10 Manual gt lt 250 mm s Auto gt Tone Sae Ea User Manual Auto Indication MM1 XUSER 23 Manual Open DNL XUSER 22 f 24V XFP 5 XFP 6 XUSER 6 I 6V 1 2W y bulb _ High XUSER 5 o Muted Safety Gate Front Panel Active in auto mode UD MR T Power Jug d only l 1 On Off
2. an Terminator o User Supplied ES Controller XFP to Removed from Q Ground Wire o Front Panel XFP Connector 9 a 2 O S 2 x S 3 p E E bet e O 2 Front Panel Y Bl Typical Adept SmartModule HA 24VDC Power from E User Supplied Power Supply to Inn Controller XDC1 0000000 Desktop or Laptop PC User Supplied Power Supply Figure 2 9 System Cable Diagram 34 Adept SmartController User s Guide Rev E System Cable Installation NOTE Figure 2 9 shows the Adept SmartController CS in a SmartModule system Both the SmartController CS and CX models are compatible with other Adept products including AdeptSix 300 Robot AdeptSix 300CR Robot AdeptSix 600 Robot Adept Servo Kits Adept sMI6 Module for Adept SmartMotion Adept Cobra s600 and s800 Robots Adept FireBlox amplifiers See your specific product manual for complete details on system cabling for your Adept product Adept SmartController User s Guide Rev E 35 Chapter 2 SmartController Installation 36 Adept SmartController User s Guide Rev E SmartController Operation 3 1 SmartController CS Connectors and Indicators SIN 1000 XXXXX JJ o E L n o Sarsam Device Net Eth 10 100 B Ea Ps s swi 1 1 12 RS 232
3. o Ge a NS 5 Sinite Device Not Eth 10 10 5 levice Nel th 10 100 9 E e pes swi 1 1 12 mE RS 232 TERM RS 422 485 p 1234 n 3S gt 5 E o00 AJO g O O O L y a WH E 1 2 8 E E XMGP XDC1 XDC2 n e N 24V BA T GI JO F F S N 3562 XXXXX a CAMERA RS 232 TERM RS 422 485 y A RM f PS CE ARNO O9 Ove x is LT a R o SmartServo IEEE 1394 Device Net a i ge l S Y 14 12 24 22 PEU BELT ENCODER Pacan 232 2 g t S R S WW Z a Fo de Eo i o a JE i ecce AE 8 1 2 3 E XMCP XDC1 XDC2 7 T 24V 5A Ont TE 5 VENE JJO olllee emmy J P N 00356 00100 Rev E May 2003 Otto Hahn Strasse 23 44227 Dortmund Germany Phone 49 231 75 89 40 Fax 49 231 75 89 450 cass 3011 Triad Drive Livermore CA 94550 USA Phone 925 245 3400 Fax 925 960 0452 41 rue du Saule Trapu 91300 Massy France Phone 33 1 69 19 16 16 Fax 33 1 69 32 04 62 adept technology inc The information contained herein is the property of Adept Technology Inc and shall not be reproduced in whole or in part without prior written approval of Adept Technology Inc The information herein is sub ject 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 evalu
4. 6 6 346 4 359 6 4 Figure A 3 Panel Mounting the sDIO Adept SmartController User s Guide Rev E 95 Appendix A sDIO Module Table Mounting the sDIO To table mount the sDIO install two brackets on each side near the bottom of the unit Use the screws from the accessories kit see Figure A 4 4X 40356 00001 A 1T u mr DID mu HDL rur Ium T 295 gt 120 9 H T gE 378 7 391 9 4X M3 x 6MM BOTH SIDES oO0O00000000000000000000000000000000 c 0000000000000 o0000000000000000000000000000000 Hi e 000000000000 oO0600060600006000008600000600866000 p ETE 0000000000 e e 9 3 d 16 3 16 0 21 7 120 8 Figure A 4 Table Mounting the sDIO Stack Mounting See the Stacking Components section on page 28 for information on stack mounting the sDIO and SmartController A 2 Installing the sDIO The following procedure details the steps required to successfully install the sDIO To install the sDIO module 1 Remove the sDIO module from its box and set it up near the robot or mount it as described in Mounting the sDIO on page 93 2 Ensure that the 24VDC input power to the SmartController is disengaged 3 Connect a 24VDC cable from the XDC2 port on the SmartController to the XDC1 port on the sDIO Continue to daisy chain the input power fro
5. Pin Signal Signal Wire Pin Number Group Color Locations X3 15 1 1033 red white X3 6 1 1034 orange Pin 9 X3 16 1 1035 green white ge 113 X3 7 1 1036 blue ae X3 17 1 1037 blue white O O X3 8 1 1038 white black 2g S X3 18 1 1039 black red e X3 9 1 1040 red black 0 Po X3 25 1 group 1 return blue red O B O X3 26 1 group 1 return red green O A O X3 10 2 1041 green black O O Q X3 1 2 1042 black Pin gy X3 11 2 1043 orange black Pin 10 Gw X3 2 2 1044 white X3 12 2 1045 blue black X33 2 1046 red X3 26 pin female input X3 13 2 1047 black white connector on sDIO front X3 4 2 1048 green panel X3 19 2 group 2 return white red X3 20 2 group 2 return orange red Adept SmartController User s Guide Rev E 111 Appendix A sDIO Module Table A 6 X4 Input Cable Pin Assignments Pin Signal Wire Pin Number Group Signal color Locations X4 15 3 1049 red white X4 6 3 1050 orange Pin 18 Pin 9 X4 16 3 1051 green white Pin AC X4 7 3 1052 blue b O O X4 17 3 1053 blue white ofo x48 3 1054 white black ofo X4 18 3 1055 black red o S o X4 9 8 1056 red black ums X4 25 3 group 3 return blue red S O X4 26 3 group 3 return red green o O o X4 10 4 1057 green black 9 X4 4 1058 black pin S X4 11 4 1059 orange black Pin 1 X4 2 4 1060 white X4 12 4 1061 blue black X4 26 pin female input X43 4 1062 red connector on sDIO front X4 13
6. terminal at the appropriate XDC connector NOTE The power requirements for the user supplied power supply will vary depending on the configuration of the SmartController and connected devices A minimum configuration of the controller front panel and MCP will require 1A at 24VDC However a 24V 5A power supply is recommended to allow for additional current draw from connected devices such as external IEEE 1394 devices and digital I O loads 30 Adept SmartController User s Guide Rev E Controller Installation 24VDC Power Cabling In order to maintain compliance with EN standards DC power must be delivered over a shielded cable with the shield connected to the return conductors at both ends of the cable as shown in Figure 2 6 Conductors should be 1 5 mm2 1 85 mm 16 to 14 AWG in size The maximum length for the 24VDC cable is 10 meters Adept SmartController Y ShiedY_____Y User Supplied Shielded io und Note Use connector Power Cable DADC 5A supplied by Adept at this end of cable Figure 2 6 User Supplied Power Cable Daisy Chaining Power The SmartController is equipped with two DC power connectors These connectors allow the daisy chaining of power from one controller to another or to a sDIO module When daisy chaining power the power supply circuit must be limited to the lesser of 8 Amps or the ampacity of the cabling This can be done with a circuit breaker or a fuse The DC power can
7. or the RS 232 port on your PC Set the port settings as follows Bits per second 9600 Data bits 8 e Parity None Stop bits 1 Flow control None After configuring the session an empty session window will appear witha flashing cursor HyperTerminal is now ready to connect with the controller 6 Connect 24VDC power to either XDC1 or XDC2 on the controller Polarity is important See Connecting Power on page 30 7 After power is applied the controller firmware boot screen displays in the HyperTerminal session window Press Enter to load from drive D the CompactFlash The V operating system will be loaded from the CompactFlash After loading the Adept system identification information displays followed by a flashing cursor at a dot prompt The Adept SmartController is now ready for use Adept SmartController User s Guide Rev E 47 Chapter 3 SmartController Operation Text Interface Using a Terminal With an Adept SmartController system that does not have the graphical user interface the customer 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 use a computer with suitable terminal emulation software For DOS or Windows compatible computers the programs ProcommPlus or Procomm for Windows available from many computer stores include software emulation for the Wyse 75
8. Adept SmartController User s Guide Rev E 4 1 AdepiVision sAVI Option Introduction The AdeptVision Advanced Vision Interface sAVI product is offered in two forms AdeptVision sAVI Inspection System this is a stand alone machine vision system based on the SmartController CX See page 68 for more information and limitations AdeptVision sAVI option for robot systems this is the machine vision capability added to a SmartController CX in a complete robot or motion control system The AdeptVision sAVI board is an assembly of two boards in a PMC form factor The sAVI board is installed inside the Adept SmartController CX and serves as both frame grabber and vision processor for the AdeptVision sAVI product The sAVI board uses a digital signal processor DSP and features four 640x480 pixel frame buffers Support for 1Kx1K pixel cameras is also available 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 NOTE If you are installing the sAVI board in the field please refer to the AdeptVision sAVI Board Installation Instructions P N 01263 000 supplied with your AdeptVision sAVI board sAVI Board Features These features are supported by the sAVI board Asynchronous frame reset Strobe signals External trigger Field acquire mode for interlaced cameras Ping pon
9. Perform the steps below to unpack the Adept SmartController and optional Adept sDIO Expansion Module optional Front Panel and optional Manual Control Pendant MCP Then see the later sections for information on mounting the equipment 1 Remove the Adept SmartController and any optional sDIO from their boxes Place them near the robot or mount them in a rack See Mounting the SmartController on page 24 2 Remove the optional Front Panel from its box and set it on a flat surface near the Adept SmartController 3 Remove the optional MCP from its box and place it on a flat surface near the Front Panel Repacking for Relocation If the controller needs to be relocated reverse the steps in the installation procedure Reuse all original packing containers and materials and follow all safety notes used for installation Improper packaging for shipment will void your warranty Space Around the Chassis When the SmartController and or sDIO is installed you must allow 10 mm at the back of the unit and 13 mm on the sides of the unit for proper air cooling To facilitate installation make sure that the factory installed CompactFlash Memory Card is in place within the SmartController prior to mounting it This is crucial if you plan to mount it in a way that restricts access to the side of the unit and thus to the CompactFlash Memory compartment see the CompactFlash Memory Card section on page 28 for information Mounting t
10. E lt p t Adept sDIO Module 1 Adept Block 18 Input Signals 1097 to 1128 Output Signals 0097 to 0128 Block 17 Input Signals 1065 to 1096 Output Signals 0065 to 0096 Block 16 default Input Signals 1033 to 1064 Output Signals 0033 to 0064 102 4 enl E p p gt y lt p gt SmartController 1394 cable 24VDC from Customer supplied power supply Figure A 5 Using Multiple sDIO Modules NOTE When adding additional sDIO modules each additional sDIO module must be grounded per all applicable regulations Adept SmartController User s Guide Rev E sDIO Module Connectors and Indicators Configuring a System with an sDIO and a RIO When a system contains an sDIO module and a RIO you must use the DC_SETUP V2 program to select a block number for the RIO This is described in the documentation supplied with the RIO Typically you would use default block 16 for the sDIO and select block 17 for the RIO Once the RIO block number is selected then you assign I O signal numbers for the RIO using the CONFIG_C V2 utility This is the same process as described earlier for the sDIO A 5 sDIO Module Connectors and Indicators 1 1 ma x XDC1 XDC2 fo Bem US I n ET e F ad 2 3 4 5 6 Fi
11. Using the Manual Control Pendant MCP MCP Layout The major areas of the MCP are shown in Figure C 4 Liquid Crystal Display LCD Soft Buttons Predefined Function User LED Buttons Manual State LEDs Speed B e Emergency Stop Switch Mode Control Buttons Joint Axis Control Buttons MCP Enable silet Disable Power Button Programmable Function Buttons 130 Figure C 4 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 program using the buttons they are referred to as soft buttons Programming the MCP is covered in the V Language User s Guide Figure C 4 shows the soft buttons Function Buttons The predefined function buttons have specific system wide functions assigned to them These functions are covered in MCP Predefined Functions on page 133 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 C 4 shows the function buttons Adept
12. 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 A total of nine power pins are provided to allow for more wire connections to decrease the voltage drop across the power supply wires 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 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 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 Adept SmartController User s Guide Rev E 107 Appendix A sDIO Module 108 Table A 4 sDIO Output Circuit Specifications Parameter Value Power supply voltage range 10VDC lt V sup 30VDC Under voltage shutdown 5VDC lt Visg 8VDC Power supply ground current I lt 60 mA Operational current range per Tout 700 mA channel On state resistance anr 0 5A Ron lt 0 32Q 85 C Ron 0 40 125 C Output leaka
13. i 1 Seel T 1 T 3 O EIA EL SA 1 1 g Signal 1004 exp Ea 48 I 8 p 49 i 5 Signal 1005 i F sho Example 2 5 EN aw gt S Signal 1006 yA e E wal 7 o RN l1a Customer power sa 8 Signal 1007 Seif EU Isa supply E Sa j c 1 o pens Ep i Oo i hd O Signal 1008 i Y LESS a Sf A 417 Signal 1009 J4 NZ 18 1 Example 3 See ee i T 1 Sourcing eeu 19 el a k T i Signal 1010 P E s Kre LS i 1 T Signal 1011 ep i p2 1 1 P feo O Sinking Signal 1012 EZ los Figure 3 7 Digital Input Wiring Examples XDIO Connector NOTE Power from pins 41 44 and 47 50 can be substituted for the customer power supply See Figure 3 8 on page 62 and Table 3 11 on page 61 for additional information REACT Input Signals 1001 to 1012 Inputs 1001 to 1012 only may be 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 Fast Input Signals 1001 to 1004 In addition to functioning as normal input signals signals 1001 to 1004 can have the following special uses Fast DIO V Interrupt Events INT EVENT Robot and Encoder Position Latch Vision Trigger 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 l
14. lisse 71 Camera Cable Installation Drawing RS 170 x sra K 0 Ra R R ee Z3 Pin Locations for Camera Cable Connector 12 Pin Hirose Male 77 Lamp Body ConiGerAlOnMent 2 5 1r oh Ga weaned EUH daar 86 SHAMCOMMOIE DIMENSIONS 3 155 ce ore dees rab ric b du MED S b db dr puo 87 SIDICO DIMENSIONS airada rara arde 88 Adept Front Panel Dimensions iiie nnn 89 Adept Front Panel Back VIEW siiis pr a rara 90 MCP DIMEMSIONS 3 2r a rr PaL AA 1 930828 ot dre Rene a AAA 9 MSP clade Dimensions da acd abo edat arat a epe pee i patr dp aun a de pend 92 SDIOMOGUES 235 99 acti Cor ORE OR X RC Rp Pa ag P e i edd 93 REECEMOUNTINGMINESDIO e EE CE 94 PEREIMOUNTING ess KO ax tios ee So erus venga 95 Table Mounting THE SDIO 1a dure doa cec ae oec a cac en 96 Using Muliple SDIO MOGUES si tion derrota 102 SDIO sss Parvi quaa qe See DRI eds I ada 103 Typical DIO INPUT WING a avaro dig rior 105 hypicalsDIO COUTbUT WING dar ide bred ER Hb E USO GR bo ER 109 Trunklines and Droplines Made of Thick and Thin Cable 118 DeviceNet Miek COIS suisses pr 120 Adept SmartController User s Guide Hev E 11 List of Figures Figure B 3 Figure B 4 Figure B 5 Figure B 6 Figure C 1 Figure C 2 Figure C 3 Figure C 4 Figure C 5 Figure C 6 Figure C 7 Figure C 8 Figure C 9 Figure C 10 Figure C 11 Figure C 12 Figure C 13 Figure C 14 Figure C 15 Figure C 16 Figure C 17 Figure C 18 Figure C 19 DeviceNe
15. A single sDIO module can be used with the default I O signal configuration and no additional configuration is required The following signal groups are predefined for use Input signals 1033 to 1064 Output signals 0033 to 0064 The default configuration consists of the settings shown in Table A 1 Table A 1 Default I O Configuration for sDIO Badia Block Byte Me hi Block Byte 1033 to 1040 16 1 0033 to 0040 16 1 1041 to 1048 16 2 0041 to 0048 16 2 1049 to 1056 16 3 0049 to 0056 16 3 1057 to 1064 16 4 0057 to 0064 16 4 Adept SmartController User s Guide Rev E 97 Appendix A sDIO Module 98 Modifying the Default sDIO Configuration The CONFIG_C V2 utility file is used to define the sDIO memory block and I O signal mappings This file contains the main program A CONFIG_C and is located on the CompactFlash in the UTIL directory See the Instructions for Adept Utility Programs manual for instruction on loading and executing this utility You can check how block numbers are assigned by using the SRV NET monitor command NOTE Blocks 1 15 are typically reserved for robot signals Blocks 1 6 are preconfigured for Robots 1 6 for the 3000 series hand control signals including the signals used by the V OPEN OPENI CLOSE CLOSEL RELAX RELAXI statements See the V documentation for more details about these statements In the following situations you must go through a configuration p
16. For any situation where two systems should be cross coupled for example the customer E Stop indication of one SmartController is to be connected to the input of another SmartController the Line E Stop input is the point to bring in the other SmartController s output contacts see Figure 3 5 on page 53 for more information Do not use the Line E Stop for such devices as local E Stop push buttons since their status should be reported to the outside on the local customer E Stop indication output contact while the Line E Stop inputs will not Muted Safety Gate E Stop Circuitry Two pairs of pins on the XUSR connector pins 5 18 and 6 19 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 3 5 on page 53 Table 3 7 on page 49 Table 3 8 on page 50 and Table 3 9 on page 51 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 CAUTION If the cell gate must always cause a robot shutdown do not wire the gate switch into the muted safety gate inputs Instead wire the gat
17. Me CM DiEUMEHOMN cerre cnica acarrea tag 137 Poe SOF FUNCTION sees obese Geis ae eee Sets a dbase rioria 139 C 3 Moving a Robot or Motion Device With the MCP 140 lances H e Nacida donada donada 140 Mode Control BUTIONS s i3 9 ar aaa 140 Emergency SOO Will acia ia dav dae 141 COMVIP PWR BUON x 3273 a por ran ia 141 MAN JAALT BUN ON ao paria ad egin 141 DISPWR BUTTON 4 ex d xa beds arar 142 RURY OU coord ale 142 JON AXIS ool BUPIOFIS cia at Saha 142 SHEP BUM MN rra edo wide maa Regie wns 142 PEABO raid anda Ga ete id 142 In World Tool and Joint Mode ww ees 142 ICOM oe siii ici io dead eat aaek head 143 SIOW BUOM si seddeied heater eX X4 QEGDRG HE RX E Ka Cb PRG send ne keds 143 SGT SIGLO ag fue e qd ee ey a e Pee A da aes 143 WONG SIGNS aus qr aps nach dep bed dio dr EASY M eb dr perd 143 OO SIC sce sor podre perdio eaa eae cn qeu d nd anh don wd 144 Jom Hell Oy a xotg ata a Heath OE 147 FSS SIONS ata quoad aE oes dons anit Dd Uie IR balan I 9 148 Adept SmartController User s Guide Hev E 9 Table of Contents Controlling More Than One ROBOT i iuris 149 Robots With Fewer Than Six JOINTS ee 150 Robots With More Than Six JOINTS ee 150 o ot cose ce gb see oes O A GE MEE GE EE 151 10 Adept SmartController User s Guide Rev E Figure 2 1 Figure 2 2 Figure 2 3 Figure 2 4 Figure 2 5 Figure 2 6 Figure 2 7 Figure 2 8 Figure 2 9 Figure 3 1 Figure 3 2 Figure 3 3 Figure
18. SYSPWRLT XFP 15PDSUBM lo E 9 ESTOPFP1 24VS 2 10 ESTOPFP2 5VD m MANUALSRC1 S 11 MANUALRLY1 MANUALSRC2 4 NPLTEV S 12 MANUALRLY2 s S 13 HIPWRLT SYSPWRLT 7 ce HIEWRHES NC 8 d P 3 D MANUAL AUTO HIGH POWER ON OFF g EPLTSV MANUALSRC2 0 a MANUALSRCI 2PIN_MINI Re MANUALRLY2 MANUALRLY1 1 jews HIPWRLT a HIPWRREQ a EMERGENCY STOP T ESTOPSRC o ESTOPFP2 ESTOPFP1 a 54 Figure 3 6 Front Panel Schematic Emergency Stop Circuits The SmartController provides connections for Emergency Stop E Stop circuits on the XUSR and XFP connectors This gives the SmartController system the ability to duplicate E Stop functionality from a remote location using voltage free contacts See Figure 3 5 on page 53 The XUSR connector provides external two channel E Stop input on pins 1 to 14 and 2 to 15 The XFP connector provides two channel E Stop input on pins 1 to 9 and 2 to 10 NOTE These pins must be shorted if not used Both channels must open independently if used Although an Emergency Stop will occur the SmartController 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 SmartController User s Guide Rev E Connecting Customer Supplied Safety and Power Control Equipment User
19. SmartController Installation NOTE If you are replacing an existing CF the original must be sent to Adept for replacement Press the button inside the CF compartment to eject the original card remove it and return it to Adept Contact Adept Customer Service for assistance 3 Carefully remove the CF from the READ ME FIRST box or shipping container Locate the CF slot and position the card so its connector is facing towards the SmartController and the label is facing up 4 Insert the CF into the SmartController NOTE Your licenses were installed onto the CF at the factory when it was initialized Your licenses must be reinstalled onto a new CF by using the provided passwords and the V INSTALL monitor command These passwords are provided in a box or folder labeled READ ME FIRST Once installed Adept recommends that you do not repeatedly remove and insert the CF Connecting Power The SmartController and sDIO require filtered 24VDC power NOTE Users must provide their own power supply Make sure the power cables and power supply conform to the specifications below 24VDC Power Specifications Table 2 2 Specifications for 24VDC User Supplied Power Supply Customer Supplied Power 24VDC 120W 5A Supply Circuit Protection Not more than 8A below the amperage rating of the cable used Power Cabling 1 5 1 85 mm2 16 14 AWG maximum length 10 meters Shield Termination Braided shield connected to
20. 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 C 9 EXTERNAL E STOP Figure C 9 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 CMDI and CMD as shown in Figure C 10 Adept SmartController User s Guide Rev E 137 Appendix C Using the Manual Control Pendant MCP 138 AUTO STORE START CALIB ALL CMD1 CMD2 o O OQ JO JO Figure C 10 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 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 The programs started by these functions run in task 0 Therefore High Power must be enabled and the robot
21. breakout cable Connect the power supply and strobe lamps through the 9 pin D sub connector see Figure 4 2 on page 71 and Table 4 2 on page 76 for pin assignments Connect the camera breakout cable to the Camera connector on the SmartController CX Adept SmartController User s Guide Hev E Installing Camera Cables 200 OK HPE LAN sw ta 12 SF ES MD 1234 CAMERA NCODER SIN 356230000 RS 232 TERM RS 422 485 RS 232 1 RS 232 2 ec Jo dea OCR JO Ql pe SmartController CX Y XDC1 XDC2 Four Camera Breakout Cabl Strobe Power Connector Up to Two Optional Strobe Lamps O User 12VDC A Power Supply to Drive Cameras Figure 4 3 Camera Cable Installation Drawing RS 170 User Supplied 9 pin Male D Sub Connector peu Um E Up to four cameras can be installed Adept SmartController User s Guide Hev E 10 Meter Camera Cable one for each camera 73 Chapter 4 AdeptVision sAVI Option 4 5 Camera Cable Pin and Signal Information 74 This section provides the pin and signal information for the connectors and cables associated with the AdeptVision product Table
22. compliance with international standards 20 configuring a single sDIO 97 connecting DC Power 30 conveyor tracking using Belt Encoder feature onCX 65 Customer Service assistance 16 Cycle setting on MCP 139 D data entry buttons on MCP 131 default sDIO configuration 97 DEL button on MCP 131 DeviceNet connector description 38 digital I O displaying on MCP 136 digital I O connectors on controller 58 digital input wiring examples XDIO connector 60 digital output wiring 62 DIO output specifications XDIO connector 61 DIP switch settings on SmartController 42 Document Library CD ROM 16 E Edit function onMCP 134 editing global variables with the MCP 134 emergency stop from MCP 131 Emergency Stop circuits 54 Emergency Stop switch on Front Panel 42 onMCP 141 EN 60204 18 20 environmental specifications 23 Adept SmartController User s Guide Hev E 151 Index errors displaying system on MCP 137 Ethernet connector description 39 F fast input signals 1001 to 1004 60 free state on MCP 148 Front Panel connectors and indicators 41 safety features 18 function buttons on MCP 130 H High Power On Off Switch on Front Panel 41 How Can I Get Help 16 HyperTerminal software for serial connection 47 IEEE 1 1 and 1 2 connectors on CX description 40 input and output cable wiring information on sDIO module 111 input signals on XDIO 59 IP address default 39 J joint stat
23. 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 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 B Screw Terminal Field Wiring Adapter Blocks Several manufacturers make screw terminal field wiring blocks usually DIN rail mountable These can be connected to the XDIO 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 Weidmiller AD911886 RD 50 ASJS D Sub to wire transition module 50 pin female D Sub with jackscrews 64 Adept SmartController User s Guide Rev E Belt Encoder Interface on SmartController CX 3 9 Belt Encoder Interface on SmartController CX For use with conveyor tracking
24. specifications environmental 23 speed bar onMCP 131 142 speed setting on MCP 139 stack mounting the sDIO 96 standards compliance 20 starting program execution on MCP 139 status LEDs functions 37 status displaying system on MCP 136 step selecting starting on MCP 139 Store All function on MCP 138 storing programs with the MCP 138 Support phone numbers 16 SW1 DIP switches 38 System 5V Power On LED on Front Panel 41 system cable diagram 34 T table mounting sDIO 96 SmartController 27 technical specifications sAVI module 83 terminal for text based systems 48 text based system installation 48 tool state and tool transformation 145 on MCP 144 U unpacking 23 User Interface installation 46 using multiple sDIO Modules 102 Adept SmartController User s Guide Rev E 153 Index V V Extensions License for Belt Encoder function 65 viewing angle LCD panel on MCP 133 vision option see sAVI option X XDC1 XDC2 24VDC connectors description 40 XDIO connector description 39 digital output wiring 62 functions 59 64 input signals 59 output signals 61 XFP connector on Front Panel description 41 XFP connector on SmartController contacts 50 description 39 XMCP connector description 39 remote MCP connections 51 XSYS connector description 39 XUSR connector contacts 49 50 description 39 154 Adept SmartController User s Guide Rev E P N 00356 00100 Rev E cas adept technology inc 3
25. 15 1 2 How Can Gel Help Rio atada 16 Related MGNUGIS azsxeRetrrereibbesa sr EDEMA eds eed e Qe 16 Adepi Document UDIO taria bom hace WR dee QUE odo hae ars des 16 1 3 Warnings Cautions and Notes sss ses s ce egs c Kg ga a Kg eel eere 17 IE ESPACIO D 0 IET 17 Reading and Training for Users and Operators 1 ee TZ DYVSISM SOTSOU CMOS ETT 18 Safety Features on the Front Panel 0 ccc eee eee 18 Computer Controlled Robots and Motion Devices 18 Manually Controlled Robots and Motion Devices 19 Other Computer Controlled Devices 19 Pr c Sex UU by 5 13 cite tia ade habe Mes d dvd DO db daa 19 Inappropriate Uses of the Adept SmartController 0 2 0 20 1 5 Standards Compliance 2 oeil RP ii a wed wdc 20 1 6 CAT 3 Version of SmartController css vse ea K g 0 R R RR Ra RKR RRR RRR KK a 21 Identification TTT 21 FURCTIONGITY CHONGES 1 668 A rio Aa deo e ore ora 21 MCP Enable Switch Not Functional in Auto Mode 21 High Power Indication on XDIO Connector 0 0 ee 2 S ROIG UE arias e ato ds A id oi 21 Operational Change in SmartModule Systems oaaae 22 2 SmartController Installation 0 0ccecceceeceececceees 23 2 1 Controller Installation soii e 23 BSTOrS UNPACKINO viaria ET 23 IJE Orr ee cios ici Da weeds 23 REPSCKING Tor REIOCOMON 26 9 2 2 9 od a 24 space ALOU GING e 4 sar ard aea deat ne ed cron dr came wea d 24 Mounting the Srnart Controller sic
26. 28 Output 0002 3 Input 1002 4 1002 return 29 Output 0003 30 Output 0003 5 Input 1003 6 1003 return 31 Output 0004 32 Output 0004 7 Input 1004 8 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 41 24V Output 42 24V Output 17 Input1009 18 1009 return 43 24V Output 44 24V Output M UPS a D 21 Input 1011 22 1011 return 47 24V return 48 24V return 23 Input 1012 24 1012 return 49 24V return 50 24V return m us 2 Limited to combined total of 1A of current Adept SmartController User s Guide Hev E 63 Chapter 3 SmartController Operation Digital I O Connector Ordering Details Third Party Sources The XDIO connector on the SmartController is a 50 pin standard density D sub miniature female socket The customer supplied 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 find your local distributor 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
27. 3 4 Figure 3 5 Figure 3 6 Figure 3 7 Figure 3 8 Figure 3 9 Figure 4 1 Figure 4 2 Figure 4 3 Figure 4 4 Figure 5 1 Figure 6 1 Figure 6 2 Figure 6 3 Figure 6 4 Figure 6 5 Figure 6 6 Figure A 1 Figure A 2 Figure A 3 Figure A 4 Figure A 5 Figure A 6 Figure A 7 Figure A 8 Figure B 1 Figure B 2 List of Figures Rack Mounting the SmartController lt sax eee 29 Panel Mounting the SmoarrGController sisi rtr beanie DR Rs 26 Table Mounting the SmartController s gas a scene 27 Stack Mounting the SmartController and sDIO cs x a K RR X 900 KR KR 0 N 28 CompactFlash Memory Card Compartment sese 29 User Supplied Power Cable o 8 cee A 31 Chassis GOUNEN PO a ier tot dor Pepe erat 32 20V CONMECIONS yr a dia wine ag cowie iu EQ arque ete dq a papas 33 system Cable DION iussa p RR K KR RA Cau tee Son d ER Re ra 34 SIMONCOMMONSH dope LC 37 ennarControler CX srrsrrgornrrer tp ENE song eed CORE Ur A CORE Cn 40 FIOM PONG IIT Al CAT 3 E Stop Circuit on XUSR and XFP Connectors R ccc es 52 Non CAT 3 E Stop Circuit on XUSR and XFP Connectors sss 53 FONT PONE Sebefrieifle s uui e choy eo PRU repone kaaa 54 Digital Input Wiring Examples XDIO Connector suaa 60 Digital Output Wiring for XDIO Connector lt ss eee 62 Belt Encoder Tybleelinput Ire 3 35 arre 66 Two Camera Breakout Cable for RS 170 Cameras 0 eee ee 70 Four Camera Breakout Cable For RS 170 Cameras
28. 4 1063 black white pale X4 4 4 1064 green X4 19 4 group 4 return white red X4 20 4 group 4 return orange red 112 Adept SmartController User s Guide Rev E sDIO Digital I O Signals Table A 7 X1 Output Cable Pin Assignments Pin Group Signal name Wire Number Number Color Pin Locations X1 30 1 0033 green black white X1 15 1 0034 green white X1 14 1 0035 red white X1 13 1 0036 black white X1 12 1 0037 blue black X1 11 1 0038 orange black X1 10 1 0039 green black X1 9 1 0040 red black X1 25 1 power orange green X1 26 1 power black white red O X1 38 1 power orange black green O X1 39 1 power blue white orange O X1 40 1 power black white orange E X1 41 1 power white red orange o X1 42 1 power orange white blue Oo X1 43 1 power white red blue O X1 44 1 power black white green gt X1 28 1 group 1 return white black red j X1 29 1 group 1 test red black white o X1 7 2 0041 white black O X1 6 2 0042 blue O X1 5 2 0043 orange X1 4 2 0044 green X1 3 2 0045 red X1 2 2 0046 white X1 1 2 0047 black X1 44 pin female output X1 16 2 0048 blue white connector on sDIO front X1 17 2 power black red panel X1 18 2 power white red X1 19 2 power orange red X1 31 2 power orange black white X1 32 2 power blue black white X1 33 2 power black red green X1 34 2 power white red green X1
29. 59 292 COMMECIONS sarar da dirae ead ss arate daa dma aot dot OR UR Aaa 44 Ro A2Z2 AS5 C ONNSCION ida dr ORA GR T bed Gwdd aed ee Padre 45 3 6 Installing the User Interface 2 2 0 ees 46 Graphical Interface Using AdeptWindows x x s ete 46 Text Interface Using a PC with HyperTerminal Software 47 INSTGIATON Prec ecdue ss sty qe d oda dre te od a 47 Text interface Using a Terminal 4 cs gaa 9 Aa 0 R R 0 dead aaa 48 Recommended Terminal for Text Based Systems 48 IMSTONEMONM PROCSOUIS mE MERECE 48 3 7 Connecting Customer Supplied Safety and Power Control Equipment 49 Connecting Equipment to the System ccoo aa 49 Ernergency STOP CICUS cess rior ter qo ede Pot oed 54 User E Stop Indication Remote Sensing of E Stop 55 line TO UM Uy aa oto a tom ae a cei ted epe ar dues apd dos ns 55 Muted Safety Gate E Stop CIICUINY a 6 R 0 K K ees 55 Remote Manual Mode arse teach ede ok a D a Rae aa aoe dea 56 User Manual Auto Indication 2 0 0 ees 56 User High Power On INGICOTON saves eves Sees Sees betes EXC RO Y a 56 Remote High Power On Off CONIO acc oie naw isis acai ris 57 High Power OnN OP Lamps rrerigisiriiretini rtir idire bE E ean en 57 Remote Front Panel USAS sisse aa how o A ae a Ra e 57 Remote MOP USOG ipg iii imei aeiia k oa ba D 58 3 8 Connecting Customer Supplied Digital I O Equipment 58 6 Adept SmartController User s Guide Hev E
30. 6 OK SF M TR oct Y 2 5 186 5 PR 5 5 TT E T 0000000000000 9 5 000000000000 0000000000000 o a EZ Ground Connection Point Figure 6 2 sDIO Dimensions 88 Adept SmartController User s Guide Hev E Adept Front Panel Dimensions 6 3 Adept Front Panel Dimensions b 38 7 L af so a D o 1 88 9 NA f fF N S 1 JJ il 1 e ox V M 7 T aby A 16 5 13 1 i 129 5 i Figure 6 3 Adept Front Panel Dimensions Adept SmartController User s Guide Rev E 89 Chapter 6 Technical Specifications 4X M4 x 18MM O aj 76 2 MN EN HI 6 4 6 4 90 139 7 Figure 6 4 Adept Front Panel Back View Adept SmartController User s Guide Hev E Adept MCP Dimensions 6 4 Adept MCP Dimensions 221 74 mm gt 8 74 in 184 15 mm R 7 26 in 114 30 mm L O O 4 50 in
31. Cables The X3 and X4 input connectors on the front of the sDIO are similar except that X3 handles the group 1 and group 2 input signals and X4 handles the group 3 and group 4 input signals The optional digital input cables can be connected to either X3 or X4 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 X1 and X2 output connectors are also similar except that X1 handles the group 1 and group 2 output signals and X2 handles the group 3 and group 4 output signals The optional digital output cables can be connected to either X1 or X2 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 X1 to X4 digital I O cables so that they are always plugged into the correct connector Swapping the X3 and X4 or X1 and X2 cables could cause damage to your equipment Depending on the installation this could potentially cause injury to personnel in the area Adept SmartController User s Guide Rev E SDIO Digital I O Signals 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 Table A 5 X3 Input Cable Pin Assignments
32. CompactFlash This allows you to set all the configuration options using the CONFIG_C utility in software without changing the physical DIP switches See the description of the CONFIG_C program in the Instructions for Adept Utility Programs documentation for further information DIP Switch Settings The following table shows the options for DIP switch SW1 on the SmartController Swi 1234 ON OFF Adept SmartController User s Guide Rev E Configuring the Controller Table 3 3 SW1 Settings Row SW1 SW2 SW3 SW 4 Interpretation 1 ON ON ON ON No auto boot all other settings per CompactFlash 2 OFF ON ON ON No auto boot user interface via serial port 7 No auto boot user interface via Ethernet S ON d E AdeptWindows use IP address in CompactFlash a No auto boot user interface via Ethernet Ga S SEE EEN AdeptWindows use default IP address 5 OFF OFF OFF OFF Operation per CompactFlash and NVRAM settings NOTE SW1 is configured by Adept to a default configuration listed in row 5 of Table 3 3 OFF OFF OFF OFF to use the CompactFlash and NVRAM settings Adept recommends that the user maintain this default SW1 configuration for normal SmartController operation The default NVRAM settings are auto boot ethernet and use default IP address The use of any settings other than those in Table 3
33. In Adept systems rated for Category 3 Safety CE Redundant Channel RIA Control Reliable In MV Controller based systems with CIP2 or CIP1 To maintain a dual contact enable in CE Category 3 Emergency Stop systems remove jumper JP3 inside CIP In MV Controller based systems with VFP3 MCP 4 not compatible Cannot maintain a dual contact enable with the MCP 4 must use MCP III In SmartController based systems In systems that are shipped from the factory with an MCP 4 there are no compatibility issues If you are installing an MCP 4 in a system that originally used an MCP III then you must remove 10356 10370 CIM TO MCPIII Adapter This must be done for compliance reasons in order to maintain a dual contact enable in CE Category 3 Emergency Stop systems Adept SmartController User s Guide Rev E 127 Appendix C Using the Manual Control Pendant MCP O L e e USER e q q S 6 O eS 5 3 3 N G3 g OPONE OOOO Depress the palm activated enabling switch Figure C 2 Holding the MCP 3 E E E O 5 Q Hani
34. 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 SOFI 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 See Section 3 8 on page 58 for more information on digital I O signal ranges ua H 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 Adept SmartController User s Guide Rev E MCP Predefined Functions Last Error Press LAST ERROR to display the error messages generated by V 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
35. Power request must be sent from the user terminal an Adept SmartController User s Guide Rev E 41 Chapter 3 SmartController Operation executing program or the MCP Once this request has been made the operator must press this button and high power will be applied Emergency Stop Switch The E Stop is a dual channel passive E Stop that supports Category 3 CE safety requirements It supports a customer programmable E Stop delay that maintains motor power for a programmed time after the E Stop is activated This customizable feature allows the motors to decelerate under servo control to a stop This can aid in eliminating coasting or overshooting on low friction mechanisms It can also aid in the reduction of wear on highly geared high inertia mechanisms while maintaining safety compliance per all standards NOTE Instructions on configuring the E Stop delay can be found within the SPEC V2 section of the Instructions for Adept Utility Programs manual 3 4 Configuring the Controller 42 The SmartController is shipped with the factory configuration described in the next section See Figure 3 1 on page 37 for the location of DIP switch SW1 If you need to make changes to this configuration set DIP switch SW1 as described below Factory Default Settings Refer to row 5 Table 3 3 for the factory default settings for DIP switch SW1 With this default DIP switch setting the system will read the configuration data from the
36. RR RR es 98 Assigning I O Signal N rnbets vision sa pecie Cr p RR oa 99 sDIO Signal Mapping Example T lt x seran ees 101 SPIO Signal Mapping EXOMPIE 2 ss ici 0 SK eer ce ee 10 A 4 Using Multiple sDIO Modules 000 cece eee ees 102 Configuring a System with an sDIO and a RIO x s s s R ccoo 103 A 5 sDIO Module Connectors and Indicators o ooooooooo 103 A 6 SDIO Digital I O Signals 2 2 T Hra 097 87 aaa pee ek be ee ae pee 104 COIN T E ote CEA OS Gah brad aaa os 104 Ree E e adie Awe E wee eee eae RE P ee ia 106 Testing SPIO OUIUIS ex tica Ae wees 106 SDIOLEDS sever Gees prada dees ER Yea 106 sDIO Output Power Supply Current Selection 107 Optional DIO Cables vk x9 a v YR EORR EN CRY OR EH CAU Sedes 110 Reese C ee q o aor Danae Soa ctra 110 Input and Output Cable Wiring Information 111 B Adept DeviceNet een RR 115 B 1 DeviceNet Specifications 0 ccc eee 115 Volutfie DTessrressra ees bees oats Feds ates Hees sees Rega 115 Cas T Zw prp AUT 115 B 2 Limitations of the Adept DeviceNet Scanner Luss 116 B 3 Adept Supplied DeviceNet Hardware leeren 116 Connecting DeviceNet Hardware to the Adept DeviceNet Scanner 117 B 4 DeviceNet Physical Layer and Media 0c cece ees 117 DeviceNet CONNECTIONS seis acces aces K RRR RRR LAL RRR LR 121 Termination of the DeviceNet Network o o o oo ccoo m
37. 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 B 3 Adept Supplied DeviceNet Hardware 116 Adept supplies the following DeviceNet hardware in the SmartController Micro style 12 mm thread DIN connector female See Table B 1 for Pin assignments Table B 1 DeviceNet Signal to Pin Locations Pin Signal Name 1 Drain 2 V 3 V 4 CAN H 5 CAN L See Figure B 6 on page 124 for a drawing of the connectors Adept SmartController User s Guide Rev E DeviceNet Physical Layer and Media Connecting DeviceNet Hardware to the Adept DeviceNet Scanner B 4 To connect DeviceNet components to the Adept DeviceNet Scanner connect a dropline to the female Micro style 12 mm thread DIN connector on the front of the SmartController Then you must configure the DeviceNet Scanner correctly using the CONFIG_C program See the Instructions for Adept Utility Programs for information on using CONFIG_C See the DEVICENET monitor command in the V Operating System Reference Guide for detailed information about the DeviceNet software setup in V NOTE Adept does not supply 24V on the SmartController to power the DeviceNet bus A separate power supply is required to power the components on the DeviceNet bus WARNING The DeviceNet specification requires that the CAN_H and CAN_L signal lines tolerate
38. The HyperTerminal terminal emulation program included with Windows can also be used This type of interface is not suitable for any graphics based programming graphics based application programs such as AIM or SmartController CX systems equipped with the vision option Recommended Terminal for Text Based Systems The recommended text based terminal for use with the Adept SmartController is the Wyse WY 60 You must also specify the Wyse ANSI VT100 style keyboard Wyse p n 900127 02 or 900128 02 Note The WY 60 is also available with ASCII and IBM Enhanced PC keyboards These are not Adept compatible You must make sure you order the correct keyboard The WY 60 is available in both 220V and 110V versions 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 Adept SmartController If you need to fabricate this cable see page 44 for the RS 232 pin description 4 If the terminal is a Wyse 60 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 you
39. USER IE ff Jumper closed when not used 1XFP 13 __ XFP 14 XUSER 19 ESTOPSRC V burned out 4 7 bulb notify prevents High d Ln Power enable M High t up D a gt d ower reques o 9 D o o 9 9 NY i KD 06 6 6 ajla ud ga x x x x x x x ini E Stop E Stop E Stop Reset Manual 2 Auto 2 E Stop E Stop Manual 1 Auto 1 XSYS signals go to PDU or MAI 2 when required No User Connection Figure 3 4 CAT 3 E Stop Circuit on XUSR and XFP Connectors 52 Adept SmartController User s Guide Hev E Connecting Customer Supplied Safety and Power Control Equipment Figure 3 5 shows an E Stop diagram for the original non CAT 3 version of the Adept SmartController E Stop High Power On Off and MANUAL AUTO Controls Internal Connections E LN User Supplied Connections V mV cui e Channel 1 Channel 2 OA song ar ESTOPSRC Front XFP 7 nae LLL y Panel 1 pi System o XFP 1L XFP 2L Power Grn Front Bangl E G P L X i Oral reer l i XFP 15 Se ERG i cr A sl RAMA trie E i Joe McPQ XUSER 2 User E Stop and N Gate Interlock Jumper closed when ep not used MUST open 4 both channels independently if used 4 Logic cyclic ES1 KUSERT check state XUSER 8 Kai ZES2 machines ES2 User
40. e ve E 25 Customer LL Group 1 Return e 1 Power E i i Suppl A bee Group 1 Return qe dnd 2 EE as Signal 1041 410 i oo o i i 9 Signal 1042 S e j Ed Signal 1043 q e O i DIN Signal 1044 42 L Ta x o E 3 Signal 1045 A i e e Signal 1046 S amp w a i i Signal 1047 9 su Signal 1048 e Customer Group 2 Return e i Power i Suppl L Group 2 Return 422 H SE a X H Q ae S 1 p inpr eres Adept Digital Input ignals 1049 1 E signals 1074510398 Cable optional LL Input Group 4 T Signals 1057 1064 A Figure A 7 Typical sDIO Input Wiring NOTE The off state current range exceeds the leakage current of sDIO 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 outputs are looped back to the inputs for monitoring purposes Adept SmartController User s Guide Rev E 105 Appendix A sDIO Module sDIO Outputs The 32 output channels are arranged in four groups of eight Each group is isolated from the other groups and is optically isolated from the sDIO circuitry The eight outputs within each group share a common power supply and a common ground The outputs are accessed through the two female 44 pin D sub output connectors on the front of the sDIO Each connector provides access to two output groups Each group requires 19 pins 8 output signals 1 test
41. ne BELT ENCODER ae 292 1 a 232 2 S SF ES HD i234 i E io O0 10 O JO 9 TEE Jf iC o O dE eo 1 2 3 BED E 2010 XUSR xsvs XFP XMCP XDC1 XDC2 o eft 24V 5A ua PP WAY erPPEPPEP JJ BEES Ne Goon J o al A AA salla x uL K z Figure 3 2 SmartController CX 1 Camera connector This connector is present when the AdeptVision sAVI option is installed The camera breakout cables connect here See Chapter 4 for complete information 2 IEEE 1394 ports 2 1 and 2 2 These ports connect the Adept SmartController with an IEEE 1394 port on a Windows based PC This provides a connection for Adept s ActiveVR Interface software available in V 16 0 Do not use ports 2 1 or 2 2 to connect Adept Smart Servo compatible products or to connect non Adept qualified peripherals such as cameras hard drives printers etc 3 RS 232 1 and RS 232 2 connector These are additional RS 232 serial ports for general use See Section 3 5 on page 44 for more information 4 Belt Encoder connector A 15 pin D Sub connector for up to two belt encoders in a conveyor tracking installation See Section 3 9 on page 65 for more information 40 Adept SmartController User s Guide Hev E Front Panel 3 3 Front Panel 2 4 1 PA n E STOP i O Y M 3 5 IS UN A L S Figure 3 3 Front Panel Before running pr
42. other devices may cause them to operate unexpectedly Make sure that safeguards are in place to prevent personnel from entering the workcell when a program is running Adept Technology highly recommends the use of additional safety features such as light curtains safety gates or safety floor mats to prevent entry to the workcell while HIGH POWER is enabled These devices can be connected using the emergency stop circuitry Program Security Programs and data stored in memory can be changed by trained personnel using the Vt commands and instructions documented in the V manuals To prevent unauthorized alteration of programs you should restrict access to the keyboard This can be done by placing the keyboard in a locked cabinet Alternatively the Vt ATTACH and FSET instructions can be used in your programs to restrict access to the V command prompt Adept SmartController User s Guide Rev E 19 Chapter 1 Introduction Inappropriate Uses of the Adept SmartController 1 5 The Adept SmartController is intended for use as a component subassembly of a complete industrial automation system The SmartController 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 SmartController subassembly is not intended for use in
43. power from the SmartController before plugging in or unplugging any IEEE 1394 cables to or from these connectors Failure to remove power could result in unpredictable behavior by the system 5 DeviceNet connector 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 FCMD program instruction see the V Language Reference Guide for details 38 Adept SmartController User s Guide Hev E SmartController CS Connectors and Indicators 10 11 Ethernet Eth 10 100 connector The shielded RJ 45 receptacle that supports 10 100 BaseT ethernet communications NOTE The default IP address for the controller is located on a label on the bottom side of the controller chassis RS 232 and RS 422 485 connectors These ports support RS 232 and RS 422 485 devices respectively See SmartController Serial I O Connectors on page 44 for pin descriptions and locations XDIO connector 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 ar
44. robot See the documentation for the motion devices you are using for details on their joint assignments Joint 2 Jont1 C Joint 1 Joint 2 Joint 3 Joint 3 C Joint 4 Joint 4 Figure C 17 JOINT State Four Axis SCARA Adept SmartController User s Guide Rev E 147 Appendix C Using the Manual Control Pendant MCP Figure C 18 shows the joint assignments for a typical six axis robot as always the first time you move a robot carefully verify the joint assignments Joint 4 Joint 4 Joint 5 Joint 5 Joint 6 Gripper Joint 6 Figure C 18 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 selections 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 C 19 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 148 Adept Smart
45. see page 71 Although the breakout cables route the signals away from the chassis they do 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 Intercon 1 Contact Adept Applications Support for current Intercon 1 part numbers You can contact Intercon 1 division of Nortech Systems at Phone 800 237 9576 or 218 765 3329 http www nortechsys com intercon Two Camera Breakout Cable for RS 170 Cameras 70 This cable available from Adept P N 10332 01367 has a 44 pin D sub connector on one end and it breaks out to two 12 pin Hirose style camera connectors on the other end The length of the cable is 1 8 meters 70 inches The sAVI board supplies 12 VDC power for cameras through this cable The current rating is 500 mA maximum per camera with a combined maximum of 1 A To Camera connector on SmartController CX cam 1 CABLE ASSY CAMERA INTERFACE 2X CAM 2 H ADEPT y L vy a Figure 4 1 Two Camera Breakout Cable for RS 170 Cameras Adept SmartController User s Guide Rev E Camera Cables Four Camera Breakout Cable for RS 170 Cameras This cable available from Adept P N 10332 01375 has a 44 pin D sub connector on one end and it breaks out to four 12
46. settings shown in row 5 of Table 3 3 and the NVRAM switches set for AUTO boot SmartController Serial I O Connectors The SmartController CS has two serial I O connectors an RS 232 Term and an RS 422 485 port See Figure 3 1 on page 37 for the connector locations The SmartController CX has two additional serial connectors RS 232 1 and RS 232 2 See Figure 3 2 on page 40 for the connector locations RS 232 Connectors 44 All three of the RS 232 connectors are 9 pin DB9 male standard PC connectors The user supplied cable to connect to the RS 232 connectors should be a DB9 F F null modem data transfer cable The pin assignments are the same for all three connectors and are shown in Table 3 4 These ports support 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 hardware handshaking and other communication parameters use the CONFIG_C utility program the V FSET program instruction or the FSET monitor command The V designations for these ports when referenced in a Vt ATTACH or FSET instruction are shown in Table 3 5 on page 45 If you are using a customer supplied ASCII terminal it plugs the RS 232 Term connector on the SmartController Table 3 4 RS 232 Connector Pin Assignments Pin Signal Type 1 DCD Input 2 RXD Input 3 TXD Output 4 DTR Output 5 GND Ground 6 NC 7 RTS Output 8 CT
47. the SmartController To panel mount the SmartController install two brackets on each side at the rear of the unit as shown in Figure 2 2 Use the screws from the accessories kit 200 5 Il L 14 0 274 273 9 j jr AR 8 1 8X M3 x 6MM J R3 6 TYP eum ee oeec amp EU 46 1 o o OOo o Ra TET 29888800 Cy 44 siete etree T amp VO DOOD 0000000000000000 44 9 lle eo OR OD a 44 9 9999900000000000 22222233 Hh Z DRESS 22 h ceso q E 000000000000 l Ps 5 T o o000000000000o o E e e a A 346 6 L 359 8 Figure 2 2 Panel Mounting the SmartController 26 Adept SmartController User s Guide Rev E Controller Installation Table Mounting the SmartConiroller To table mount the SmartController install two brackets on each side near the bottom of the unit as shown in Figure 2 3 Use the screws from the accessories kit 4X 40356 00001 R36 7 124 29 5 Adi q 244 a D i 120 9 a MAD 24 9 378 6 391 8 p oeeo o i 06000000 4X M3 x 6MM 0000000000000000 o o 00600000 o BOTH SIDES 0000000000000000 T 09009 e O0000000000000000 00800800 D INS CARIBE o a O TU
48. the system Failure to do this could cause unexpected robot motion Also a connector could be pulled out or dislodged unexpectedly NOTE The Adept Document Library CD ROM is included in your shipment This CD ROM contains Adept s user documentation in both HTML and PDF format Unless otherwise specified check this CD ROM for documentation that is referenced in this manual Graphical Interface Using AdeptWindows The Adept SmartController system includes the AdeptWindows PC software which is a suite of application programs that provide new capabilities for the Adept SmartController and a user interface for the PC One of these capabilities is to operate the Adept SmartController via a graphical user interface running over an Ethernet connection The procedure for installing AdeptWindows and setting up the user interface for the Adept SmartController system is described in the AdeptWindows Installation Guide which is included in your shipment Refer to this document for details on installing AdeptWindows and establishing an Ethernet connection to the Adept SmartController NOTE Connect the necessary Ethernet cabling between your PC and the Adept SmartController prior to turning on the PC and controller See Section 2 2 on page 34 NOTE After installing the AdeptWindows software refer to the AdeptWindows online help for additional information on setting up the user interface 46 Adept SmartController User s Guide Rev E Installing
49. will not be able to use all of the function keys 5 Set the terminal baud rate to 9600 the default rate for the Adept system To change the baud rate refer to the information on CONFIG C in the Instructions for Adept Utility Programs 48 Adept SmartController User s Guide Hev E Connecting Customer Supplied Safety and Power Control Equipment 3 7 Connecting Customer Supplied Safety and Power Control Equipment Connecting Equipment to the System The connection of the customer supplied safety and power control equipment to the system is done through the XUSR and XFP connectors on the SmartController The XUSR connector 25 pin and XFP 15 pin connector are both female D sub connectors located on the front panel of the SmartController Refer to Table 3 7 for the XUSR pin out explanations Refer to Table 3 8 on page 50 for the XFP pin out explanations See Figure 3 5 on page 53 for the XUSR wiring diagram Table 3 7 Contacts Provided by the XUSR Connector Pin Description Comments Shorted if Pairs SENS NOT Used Voltage Free Contacts Provided by Customer 1 14 User E Stop CH 1 mushroom PB N C contacts Yes safety gates etc 215 User E Stop CH 2 same as pins 1 N C contacts Yes and 14 Line E Stop used for other robotor N C contacts assembly line E Stop 946 interconnection Does not affect baz E Stop indication pins 7 20 Line E Stop Same as pins
50. 0 Two Camera Breakout Cable for RS 170 Cameras 1 ee 70 Four Camera Breakout Cable for RS 170 Camerds 0 cee 7 10 Meter Camera Extension Cables 6 isis 71 4 4 Installing Camera Cables xs eene 72 Connecting the Cables to the RS 170 Standard Camera 72 4 5 Camera Cable Pin and Signal Information oooooooomooo o 74 4 6 SAVI Board Specifications 0 ce eee 83 5 SmartController Maintenance cee 85 5 1 Changing the Lamp in the High Power Indicator 85 6 Technical Specifications 00 0c eee 87 6 1 SmartController Dimensions lt lt e e ccc ee eee 87 6 2 SDIO Dimensions x lt 6 9 9 S crebar bheii eee eens 88 6 3 Adept Front Panel Dimensions nananana eee eee 89 6 4 Adept MCP Dimensions e cece eee 91 Adept SmartController User s Guide Rev E 7 Table of Contents sDIO Module 93 A 1 Mounting the sDIO lt sra 66 R eed EE E eee 93 Pe Mouning ne SD eea E a dat 94 Panel Mounting the SDIO wis midis a me bem pan P 95 Table Mourning Mes e o ccd ooh OM BE PROMS EU NO PER e bbs 96 SOCK MOUNN G rara 96 AZ Installing the sDIO siie cice ride o Hee eel Dd RIS 96 A 3 Configuring a Single SDIO 0 ce eee 97 DefgultsDlO1 O COnMiQuraniOn s 3 x ices Sees dee kd dees Y Red ie aN 97 Modifying the Default sDIO Configuration ae ssa 96 8 R 0 9 X 0 eee 98 Assigning sDIO Signal BIOCKS ci r ccs eser RR
51. 011 Triad Drive Livermore CA 94551 925 245 3400
52. 2 Fast Slow EN Fast Figure C 13 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 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 C 14 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 Adept SmartController User s Guide Rev E 143 Appendix C Using the Manual Control Pendant MCP 144 X direction Z Y direction Z direction RZ CCW Rotation Gripper Activity Figure C 14 WORLD State Four Axis SCARA The T1 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 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 t
53. 3 and 16 N C contacts 4 17 Yes See above comment 518 Muted safety gate CH 1 causes N C contacts Yes i E stop in AUTOMATIC mode only 6 19 Muted Safety Gate CH 2 same as N C contacts Yes pins 5 and 18 Voltage Free Contacts provided by Adept E Stop indication CH 1 Contacts are closed when 720 Front Panel MCP and customer E Stops are not tripped E stop indication CH 2 sameas pins Contacts are closed when 7 and 20 Front Panel MCP and 8 21 customer E stops are not tripped 9 22 MANUAL AUTO indication CH 1 Contacts are closed in AUTOMATIC mode Adept SmartController User s Guide Rev E 49 Chapter 3 SmartController Operation Table 3 7 Contacts Provided by the XUSR Connector Continued des Description Comments add Pairs P NOT Used 10 23 MANUAL AUTO indication CH2 Contacts are closed in 7 AUTOMATIC mode 11 12 No connection 13 24 25 Table 3 8 Contacts Provided by the XFP Connector Pin a Description Comments Pairs Voltage Free Contacts Provided by Customer 19 Front Panel E Stop CH 1 N C contacts 2 10 Front Panel E Stop CH 2 N C contacts Remote MANUAL AUTOMATIC switch CH 1 MANUAL Open AUTOMATIC Closed Remote MANUAL AUTOMATIC switch CH 2 MANUAL Open AUTOMATIC Closed 6 14 Remote High Power on off momentary PB Used to enable High Power Nonvoltage Free Contacts Adept Supplied 5 VDC and GND for High Power U
54. 3 will cause unpredictable results NOTE The default IP address for the controller is located on a label on the bottom side of the controller chassis AdeptWindows PC Graphical User Interface When using the AdeptWindows graphical user interface DIP switch SW1 cannot be set to the switch settings shown in row 2 of Table 3 3 CAUTION Adept strongly recommends using shielded Ethernet cables to connect the SmartController to an Ethernet network Use only switches not hubs that provide shielded RJ 45 connectors Adept cannot ensure reliable operation of the Ethernet connection without proper shielding of all the Ethernet connectors and cables NOTE Adept recommends using switches instead of hubs when making Ethernet connections to the controller When connecting to a switch 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 ASCII Terminal When using an ASCII Terminal or terminal emulation software as the user interface DIP switch SW1 must be set to the switch settings shown in row 2 of Table 3 3 Adept SmartController User s Guide Hev E 43 Chapter 3 SmartController Operation 3 5 AUTO Boot When using the SmartController in an AUTO Boot configuration DIP switch SW1 must be set to the switch
55. 35 2 power red black green X1 36 2 power green black orange X1 21 2 group 2 return blue red X1 22 2 group 2test red green Adept SmartController User s Guide Rev E 113 Appendix A sDIO Module Table A 8 X2 Output Cable Pin Assignments Pin Group Signal Name Wire Number Number Color Pin Locations X2 30 3 0049 green black white X2 15 3 0050 green white X2 14 3 0051 red white X2 13 3 0052 black white X2 12 3 0053 blue black X2 11 3 0054 orange black X2 10 3 0055 green black X2 9 3 0056 red black X2 25 3 power orange green Pin 30 Pin 15 X2 26 3 power black white red Pin A d X2 38 3 power orange black green e X2 39 3 power blue white orange olo X2 40 3 power black white orange Oo o O X2 41 3 power white red orange O E O X2 42 3 power orange white blue R X2 43 3 power white red blue h O o X2 44 3 power black white green eu X2 28 3 group 3return white black red GU X2 29 3 group 3 test red black white O O X2 7 4 0057 white black SoS X2 6 4 0058 blue ME X2 5 4 0059 orange S O pi X24 4 0060 green X oe X2 3 4 0061 red PIS SOR X222 4 0062 white SU X2 1 4 0063 black X2 16 4 0064 blue white mesma eal power peaked connector on sDIO front X2 18 4 power white red panel X2 19 4 power orange red X2 31 4 power orange black white X2 32 4 power blue black whit
56. 4 1 describes the Hirose connector on the breakout cables Table 4 2 describes the Strobe and Power connector on the standard Four Camera Breakout Cable Table 4 3 describes the 10 meter camera extension cable Table 4 4 describes signal information between the 44 pin connector and the camera connectors for the two camera breakout cable Table 4 5 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 4 6 contains information similar to Table 4 5 but it is organized numerically by the 44 pin connector Adept SmartController User s Guide Rev E Camera Cable Pin and Signal Information Table 4 1 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 from camera camera 1 amp 2 only 9 Clock from 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 a 10 meter camera extension cable For special applications this connector will mate with a Hirose Male Plug HR10A 10P 12P user supplied or similar plug See Figure 4
57. 4 for pin locations Adept SmartController User s Guide Rev E 75 Chapter 4 AdeptVision sAVI Option Table 4 2 Standard Breakout Cable Strobe and Power Connecior Pin Assignments Pin Function Notes 1 User 12 VDC to cameras User power return Gnd Strobe 1 Strobe return Gnd Strobe 2 Reserved Reserved Shield chassis ground 2 3 4 5 6 Reserved 7 8 9 D 9 Pin D Sub Female Receptacle 76 Adept SmartController User s Guide Rev E Camera Cable Pin and Signal Information Table 4 3 Adept 10 Meter Camera Cable Pin Assignments Pin at Pin at controller Wire Color camera end end male Function Notes 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 5 shield 6 Hd horizontal drive to camera orange 6 signal 7 Vd vertical drive to camera black signal 7 Shield Clock from camera cam 1 white shield 8 8 amp 2 only Pixel clock from 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 4 4 for pin locations e Connector at camera end 12 Pin Hirose Female HR10A 10P 12
58. 5 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 Overall Braided Shield Wire colors may vary Figure 4 4 Pin Locations for Camera Cable Connector 12 Pin Hirose Male Adept SmartController User s Guide Rev E 77 Chapter 4 AdeptVision sAVI Option Table 4 4 Two Camera Breakout Cable Pin Assignments From Pin To Pin Function AVI 8 CAMI 1 Power return AVI 7 CAM1 2 12V power AVI 12 CAM1 3 Shield video AVI 42 CAMI 4 Video AVI 38 CAMI 5 Shield Hd AVI 36 CAMI 6 Hd horizontal drive AVI 37 CAMI 7 Vd vertical drive AVI 38 CAM1 8 Shield Clock AVI 22 CAMI 9 Clock CAMI 10 not connected CAMI 11 not connected AVI 38 CAMI 12 Shield Vd AVI 6 CAM2 1 Power return AVI 5 CAM2 2 12V power AVI 43 CAM2 3 Shield video AVI 29 CAM2 4 Video AVI 35 CAM2 5 Shield Hd AVI 34 CAM2 6 Hd horizontal drive AVI 19 CAM2 7 Vd vertical drive AVI 35 CAM2 8 Shield Clock AVI 20 CAM2 9 Clock CAM2 10 not connected CAM2 11 not connected AVI 35 CAM2 12 Shield Vd Note that this cable provides 12VDC fused 1A max to the cameras from the Adept controller The fuse is not user replaceable If the total current required by the two cameras exceeds 1A this cable should
59. 65 INPUT_BLOCK 17 INPUT_BYTE 1 IO_OPTIONAL NO sDIO Signal Mapping Example 2 This example shows a sample configuration of the Input signals for two sDIO modules The first sDIO uses default block 16 and is configured as shown The second sDIO is configured so that signals 1065 to 1098 are assigned as shown Notice the signal numbers are in groups of eight per byte SIGNAL 1033 INPUT_BLOCK 16 INPUT_BYTE 1 IO_OPTIONAL YES SIGNAL 1041 INPUT_BLOCK 16 INPUT_BYTE 2 IO_OPTIONAL YES SIGNAL 1049 INPUT_BLOCK 16 INPUT_BYTE 3 IO_OPTIONAL YES SIGNAL 1057 INPUT_BLOCK 16 INPUT_BYTE 4 IO_OPTIONAL YES SIGNAL 1065 INPUT_BLOCK 17 INPUT_BYTE 1 IO_OPTIONAL YES SIGNAL 1073 INPUT_BLOCK 17 INPUT_BYTE 2 IO_OPTIONAL YES SIGNAL 1081 INPUT_BLOCK 17 INPUT_BYTE 3 IO_OPTIONAL YES SIGNAL 1089 INPUT_BLOCK 17 INPUT_BYTE 4 IO_OPTIONAL YES Output signals are assigned in a corresponding manner See CONFIG_C program in the Instructions for Adept Utility Programs for more information on this topic Adept SmartController User s Guide Rev E 101 Appendix A sDIO Module A A Using Multiple sDIO Modules Additional sDIO modules can be added to a system The recommended maximum is four sDIO modules for a SmartController CS system and eight sDIO modules in a CX See Figure A 5 for cabling and configuration information Note that each s
60. 7 y Z 250 70 mm a Puen e e 9 88 in e 279 40 mm 11 01 in 103 12 mm 4 06 in OOO OSI CS AJO Y 114 30 mm 52 07 2 08 in DIS 4 50 in 11 66 mm ESTOP Button 0 46 in 5 84 mm EN 0 23 in L gt A A Switch l Y Depressed 48 26 mm 1 90 in Figure 6 5 MCP Dimensions Adept SmartController User s Guide Rev E 91 Chapter 6 Technical Specifications 10 2 mm 0 40 in 28 7 mm 4 X 1 13 in 2 X A A A C y pii 1 P K 271 5 mm 10 69 in 203 2 mm 8 0 in 2 X 4 8 mm 0 19 in 4X Y L nm D 9 7 mm Hn iH 0 38 in i cr 4x 6 9 7 mm Y a 0 38 in L 201 mm c 4X 7 91 in p 221 mm 8 70 in Figure 6 6 MCP Cradle Dimensions 92 Adept SmartController User s Guide Rev E sDIO Module The sDIO expansion module provides 32 optically isolated digital inputs and 32 optically isolated outputs and also includes an IEEE 1394 interface Figure A 1 sDIO Module A 1 Mounting the sDIO The following mounting options are available for the sDIO Rack mounting Panel mounting Table mounting In addition the SmartController and sDIO can be stack mounted on top of each other See the sections below for information on mounting the sDIO NOTE To maintain compliance with EN 60204 in European installations the mounti
61. Adept SmartController User s Guide Covers the SmartController CS SmartController CX and sDIO Module neos cce VEE gt 8 SmartServo Rara na E evice Net Eth 10 100 5 S EON wen 14 12 Be RS 232 TERM RS 422 485 g F ES HD 4234 pn E i 9 d eeoL el L L R Oe JO e 9 O O O ssss orti 2 by J 5 5 1 2 83 E XDIO XUSR xsvs XFP XMCP XDC1XDC2 o 3 24V 5A JO Z L S N 3562 XXXXX CAMERA RS 232 TERM RS 422 485 e LK l A gt C 60099600968 Y ev AN CEOS lO Arto Alo Reg L J SmartServo IEEE 1394 Device Net OK HPE LAN swi SF ES HD 1234 us RS 232 1 RS 232 2 E eee ri OOO o O 9 a000 orf 4 L n C SmartController CX X XDIO XMCP XDC1 XDC2 Si Loo 2A A PET Git No GL lt s s s s oo OD lo ollo o SY T V ju Adept SmartController User s Guide Covers the SmartController CS SmartContoller CX and sDIO Module S N 1000 XXXXX
62. Adept SmartController User s Guide Rev E 79 Chapter 4 AdeptVision sAVI Option 80 Table 4 5 Four Camera Breakout Cable Pin Assignments Continued From Pin To Pin Function AVI 42 CAM4 4 Video AVI 38 CAM4 5 Shield Hd AVI 36 CAM4 6 Hd horizontal drive AVI 37 CAM4 7 Vd vertical drive 38 CAMA 8 not connected 22 CAM4 9 not connected CAMA 10 not connected z CAM4 11 not connected AVI 17 CAM4 12 Shield Vd Str Pwr 1 User 12 V to cameras rd Str Pwr 2 User power return AVI 26 Str Pwr 3 Strobe 1 AVI 11 Str Pwr 4 Strobe return AVI 39 Str Pwr 5 Strobe 2 AVI 11 Str Pwr 6 Reserved AVI 40 Str Pwr 7 Reserved AVI 11 Str Pwr 8 Reserved AVI Str Pwr 9 Shield chassis ground Note that this cable provides user supplied 12VDC to the cameras obtained from the Strobe and Power connector Adept SmartController User s Guide Rev E Camera Cable Pin and Signal Information Table 4 6 Four Camera Breakout Cable Pin Assignments From Pin To Pin Function Str 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 CAMA 1 Power return AVI
63. Controller User s Guide Rev E 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 deii OD Joint 1 Free i Joint 2 Free Joint 3 Joint 3 Free C 5 Joint 4 Free Joint 4 Gripper Figure C 19 FREE State Four Axis SCARA Controlling More Than One Robot Like 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 C 4 The table below describes the conditions Adept SmartController User s Guide Rev E 149 Appendix C Using the Manual Control Pendant MCP Table C 2 Controlling More Than One Robot DEV LED state Robot selected by pendant OFF 1 ON 2 FLASH
64. DIO must have a unique block number between 16 and 31 for both the input and output signals 1 Connect a 24VDC cable from the XDC2 port on sDIO 1 to the XDC1 port on sDIO 2 See the Connecting Power on page 30 for cabling requirements 2 Connect an IEEE 1394 cable from one of the IEEE 1394 ports on sDIO 1 to one of the IEEE 1394 ports on sDIO 2 3 Execute CONFIG_C and select a block number for sDIO 2 Block 17 is recommended See Modifying the Default sDIO Configuration on page 98 for details on this process 4 In CONFIG_C continue to assign groups of signal numbers to bytes 1 to 4 in the block See sDIO Signal Mapping Example 2 on page 101 5 Repeat steps 1 to 4 for each additional sDIO module 6 Exit CONFIG_C and reboot the controller Recommended Configurations Block 19 Input Signals 1129 to 1160 Output Signals 0129 to 0160 3 Adept sDIO Module 4 1 aF Y O E E C3 1394 cable 24VDC cable RHD lt gt O gt dL 1394 cable 24VDC cable asi DD gt Jo eC ee 1394 cable 24VDC cable q eis 0U c p C 1394 cable 24VDC cable abs Adept sDIO Module 3 Adept sDIO Module 2 p
65. E Stop Indication Remote Sensing of E Stop Two pairs of pins on the XUSR connector pins 7 20 and 8 21 provide voltage free contacts one for each channel to indicate whether the E Stop chain as described above on that channel is closed Both switches are closed on each of the redundant circuits in normal condition no E Stop The user may use these contacts to generate an E Stop for other equipment in the workcell This output does NOT report status of line E Stop input see the section below for more information The load on the contacts must 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 3 5 on page 53 and Table 3 7 on page 49 for the customer E Stop circuitry Line E Stop Input The XUSR connector on the SmartController contains a two channel Line E Stop input for workcell or other equipment emergency stop inputs Generally the customer E Stop Indication contact outputs are used to cause an emergency stop in such external equipment Thus if one were to wire the same equipment s outputs into the customer E Stop input that is in series with the local robot s E Stop push buttons a lock up situation can occur The Line E Stop input comes into the circuit at a point where it cannot affect the customer E Stop indication relays and will not cause such a lock up situation
66. E Stop Indication Channel 1 amp p ES1 Es XUSER 21 L ESTOPSRC XUSER 20 Channel 2 o XUSER 4 XUSER 3 24V iip ios Hd Line E Stop Front Panel nable E E s E External User Tana 4 nia iain E Stop system ji i XFP 3 XFP 4 1 XUSER 16 c n i XUSER 17 eens ABRAM AA R t MM1 C MM2 Manual Auto Keyswitch YV YV MCP4 XUSER 9 Manual Open Enable p 1 N X XUSER 10 Manual gt 250 mm s Switch NS Auto gt 100 MM2 User Manual Auto Indication Note 1 L MM1 XUSER 23 Manual Open SVL MM2 XUSER 22 24V MM1 MM1 MM2 XFP 5 XFP 6 XUSER 6 1 S i XUSER 5 Muted Safety G IHi y Gate Front Panel pub High greg Active in auto mode EL EC da 7 7 Power Jur only On Off E i XUSER 18 Al e closed when ot used IXEP 13 _ _ XFP 14 1 XUSER 19 lt ll ESTOPSRC 0 24V V burned out 4 7 bulb notify prevents High tu Power enable R High t p d n pi D ower reques E 9 Y 9 o Nj y Erabi E Stop E Stop E Stop Reset Auto 1 Manual 2 E Stop E Stop Manual 1 Auto 2 XSYS signals go to PDU when required No User Connection Note 1 If MCP 3 is used an adapter plug must be used at the XMCP connector to close the Channel 2 Enable Figure 3 5 Non CAT 3 E Stop Circuit on XUSR and XFP Connectors Adept SmartController User s Guide Rev E 53 Chapter 3 SmartController Operation Adept Front Panel Schematic ESTOPSRC System Power LED 5VD o
67. I O channels 32 output and 32 input They are wired to connectors X1 through X4 which are located on the front of the sDIO see Figure A 6 on page 103 The electrical specifications for the inputs are similar to the XDIO inputs but have a different wiring configuration The sDIO inputs cannot be used for REACTI programming high speed interrupts or vision triggers See the V Language User s Guide for information on digital I O programming NOTE The signals on the sDIO connectors can be superseded by another sDIO that is installed and addressed as sDIO 1 To use two sDIO modules address the first as sDIO 1 and the second as sDIO 2 sDIO Inputs 104 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 sDIO module s circuitry The eight inputs within each group share a common ground The inputs are accessed through the two female 26 pin D sub input connectors on the front of the sDIO 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 current must flow into the input pin to turn it on Table A 2 sDIO Input Specifications Operational voltage range 0 to 24VDC Off
68. II AdeptVision VME AdeptVision VXL AdeptVision XGS AdeptVision XGS II AdeptWindows AdeptWindows Controller AdeptWindows DDE AdeptWindows Offline Editor AdeptWindows PC AIM AIM Command Server AIM Dispense AIM PCB AIM VisionWare A Series AutoCal AutoTune AutoWidth CCM CCMIL CGM CHAD ACM CHAD ACT CHAD AF CHAD AutoClinchMaster CHAD BLT CHAD CH CHAD ClinchMaster CHAD ClinchMaster II CHAD CS CHAD CSII CHAD ECA CHAD GuideMaster CHAD HT CHAD LGM CHAD LLG CHAD MGE CHAD MixTech CHAD MTM CHAD OFM CHAD PIE CHAD QCB CHAD RC CHAD SGE CHAD TM CHAD VT CimStation CimStation Robotics FlexFeedWare HexSight HyperDrive Microenvironment MicroVt MotionWare ObjectFinder ObjectFinder 2000 PackOne PalletWare Production PILOT SILMA CellFLEX SILMA CellPRO SILMA PaintPRO SILMA PressPRO SILMA SpotPRO SMIF C SMIF EZX SMIF Z SMIF ZX SoftAssembly S Series UltraOne V Vt and VisionTeach are trademarks of Adept Technology Inc Any trademarks from other companies used in this publication are the property of those respective companies Printed in the United States of America Table of Contents 7 evo Ero EpL EaO ari emt ui ped vdd ddpoh 15 1 1 Product Descriptions ss xs s noose ee Xa R R RR KKR RRR REED a wows 15 Adept Ssmancontrole CS erisedi dura I 1 sidra we be p Peer a 15 Adept SmanConitroller CX so ccxciciceen deans eeends as E 15 SDIO Seene D MOTU as q i deter qa a Se me qat url ned Pt ee em vod
69. ING 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 EACH p 1 Record location s of robot 2 H 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 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 the
70. LOCATION 8 ID UO ERROR 2 O O O 0 Figure C 8 DISPLAY Function Button Adept SmartController User s Guide Rev E 135 Appendix C Using the Manual Control Pendant MCP 136 Joint Values When this button is pressed the display shows Jl X XX J2 X XX J3 X XX J4 X XX J5 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 XXImm Y xxx xxmm Z XXX XXxmm y XXX XX p XXX xx r XXX XX The values represent the current location of the robot or motion device in world coordinates See Section C 3 on page 140 for details on world coordinates Status amp ID When this button is pressed the display shows Status SOFTWARE CNTRLR ROBOT ID ID ID S The Status button displays program name 50 d 0 Program Speed Cycle Left Program shows the name 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 I
71. O 10218 EN 775 Manipulating Industrial Robots Safety particularly if the country of use requires a CE certified installation 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 system There are several warnings in this manual that say only skilled or instructed persons should attempt certain procedures The qualifications are as follows Skilled persons have technical knowledge or sufficient experience to enable them to avoid the dangers which electricity may create engineers and technicians Instructed persons are adequately advised or supervised by skilled persons to enable them to avoid the dangers which electricity may create operating and maintenance staff 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 3 of this user s guide Safety Features on the Front Panel The optional external Front Panel has three important safety features the HIGH POWER indicator the MANUAL AUTOMATIC switch and the EMERGENCY STOP switch If you choose not to
72. P To continue the motion once it has started you can release the step 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 Speed pot or STEP not pressed 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 keyswitch is set to Manual the MCP is set to off 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 Speed Bars In World Tool and Joint Mode 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 143 for details on positive and negative directions Adept SmartController User s Guide Rev E Moving a Robot or Motion Device With the MCP In Comp Mode See the description of the Step Button on page 14
73. S Input 9 NC Adept SmartController User s Guide Rev E SmartController Serial I O Connectors NOTE 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 Table 3 5 Serial Connectors and V Designations Controller Connector V Designation CS and CX RS 422 485 LOCAL SERIAL 1 CS and CX RS 232 Term LOCAL SERIAL 2 CX only RS 232 1 SERIAL 1 CX only RS 232 2 SERIAL 2 RS 422 485 Connector The RS 422 485 connector is a 9 pin DB9 male connector The pin assignments are shown in Table 3 6 RS 422 is a point to point protocol for connecting to a single destination This port can also be configured as a multidrop port RS 485 To change the configuration of the RS 422 485 port use the CONFIG_C utility program or the V FSET program instruction See Table 3 5 for the V designation when referenced in a V ATTACH or FSET instruction Table 3 6 RS 422 485 Connector Pin Assignments Pin Signal Type 1 NC 2 RXD Input 3 TXD Output 4 TXD Output 5 GND Ground 6 RXD Input 7 NC 8 NC 9 NC Adept SmartController User s Guide Rev E 45 Chapter 3 SmartController Operation 3 6 Installing the User Interface WARNING Make sure that all cables are installed correctly and fully inserted and screwed down before applying power to
74. SmartController User s Guide Rev E Manual Control Pendant Basics Data Entry Buttons The data entry buttons shown in Figure C 5 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 display 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 C 5 Data Entry Buttons 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 140 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 opt
75. Str Pwr 9 Shield chassis ground AVI 11 Str Pwr 4 Strobe return AVI 11 Str Pwr 6 Reserved AVI 11 Str Pwr 8 Reserved AVI 12 CAMI 3 Shield video AVI 14 CAM3 3 Shield video AVI 15 CAMA 4 Video AVI 16 CAM4 6 Hd horizontal drive AVI 17 CAM4 5 Shield Hd AVI 17 CAM4 12 Shield Vd AVI 18 CAM3 7 Vd vertical drive AVI 19 CAM2 7 Vd vertical drive AVI 20 CAM2 9 Clock AVI 22 CAM1 9 Clock AVI 26 Str Pwr 3 Strobe 1 AVI 29 CAM2 4 Video AVI 30 CAM4 3 Shield video AVI 31 CAM4 7 Vd vertical drive AVI 32 CAM3 6 Hd horizontal drive AVI 33 CAM3 5 Shield Hd AVI 33 CAM3 12 Shield Vd AVI 34 CAM2 6 Hd horizontal drive AVI 35 CAM2 5 Shield Hd AVI 35 CAM2 8 Shield Clock AVI 35 CAM2 12 Shield Vd Adept SmartController User s Guide Rev E 81 Chapter 4 AdeptVision sAVI Option 82 Table 4 6 Four Camera Breakout Cable Pin Assignments Continued From Pin To Pin Function AVI 36 CAMI 6 Hd horizontal drive AVI 37 CAMI 7 Vd vertical drive AVI 38 CAMI 5 Shield Hd AVI 38 CAM1 8 Shield Clock AVI 38 CAMI 12 Shield Vd AVI 39 Str Pwr 5 Strobe 2 AVI 40 Str Pwr 7 Reserved AVI 42 CAMI 4 Video AVI 43 CAM2 3 Shield video AVI 44 CAM3 4 Video Note that this cable provides user supplied 12V dc to the cameras obtained from the Strobe and Power connector not from the Adept controller Adept SmartController User s Gui
76. TERM RS 422 485 B H 1234 x ps 9 E E 000 on O al ER lO al EE lO 3 E o 0 0 0000 lor L J J g 1 ann E XUSR XSYS XFP XMCP XDC1 XDC2 7 Garra a am 3 a a hes Nu o etu Jo Edo Ardo e Jo OE Figure 3 1 SmartController CS All the connectors on the SmartController use standard density spacing D subminiature connectors For customization purposes the user needs to provide connectors of the appropriate gender and pin count or use optional Adept cables NOTE The SmartController CX has all of the connectors and indicators described in this section for the SmartController CS plus additional ones covered in Section 3 2 on page 40 1 Top Three Status LEDs The top three two color LEDs indicate diagnostic test power control and communication status Table 3 1 SmartController LEDs LED Green Indicates Red Indicates OK SF System OK System Fault HPE ES High Power Enabled E Stop Open LAN HD Ethernet Access Read Write from CompactFlash During system bootup the red OK SF and HPE ES LEDs are lit and the red LAN HD LED blinks After system bootup the OK SF LED should show green If the HPE ES LED shows red the E Stop circuit is open During CompactFlash reads and writes the LAN HD LED pulses red When the controller is active on an Ethernet network the LAN HD LED pulses green Adept SmartController User s Guide Rev E 37 Chapter 3 SmartCo
77. Table of Contents ADICICONNECIO cp top dso ds 3 tet Gat epoch tg odian 59 A tr dededhaks tara nakeateerha nen hems 59 REACT Input Sigrncils 1001 To VOI ius tiir ed aoa waned eas 60 Fast npu gonads 100110 IDA s iua a3 54m doo daria tee 60 Output SIGNS e sae asennad ces qe cate omae lea e ale Re rie RT Rte d 61 Digital I O Connector Ordering Details Third Party Sources 64 AMP Part Numbers for 50 Pin Male D Sub 0o ooooooo 64 Thomas and Betts Part Numbers for 50 Pin Male D Sub 64 Screw Terminal Field Wiring Adapter Blocks 64 PhoeniX GOMTGCTIMNGS siria iaa aa 64 Wel Nel sidra raid 64 3 9 Belt Encoder Interface on SmartController CX nnnaanannnn annan 65 4 AdeptVision SAVI Option nannaa annann eee 67 AT Tee TF le 322 25 5550 0088 ona BSR ARDS ri 67 SAVI BOGIG Festes iria airada ai ea eor 67 SAVI Board System Requirements and Restrictions o o 67 Sr e pie a ashe asii A inane a SEC unu ae rar E heen a BG hae 68 AdeptVision sAVI Inspection System Limitations 0ooooooo o o 68 4 2 Camera Compatibility ses 999 0 crm tra e cement 68 Guidelines Tor Cameras a5 4 kok a4 T o A FOR RR 68 Cameras SUDDONEO aad dod aaa adas 69 Standard Resolution Cameras x ees 69 Ii solemne oie s aaro a edema Ce dr pea i dan e debi 69 Downloading Camera Information sesers r 9 R 8 K R 0 R K 9 9 RR Y 9 0 5 gt 69 4 3 Camera Cables 5 252 ne aed Loe sara daa 7
78. a 00660000 s 16 24 METTI e oeeo 9000000000000 o o e 0000000000960 9 S e e o L 16 0 21 6 120 9 Figure 2 3 Table Mounting the SmartController Adept SmartController User s Guide Rev E 27 Chapter 2 SmartController Installation Stacking Components To stack mount the SmartController and an sDIO or sMI6 module install two brackets on each side of the units as shown in Figure 2 4 These brackets are supplied with the sDIO and sMI6 modules 120 9 2X 40356 00002 28 1 16 0 BOTH SIDES 328 9 000000000000 o e 000000000000 0000000000 9 307 bes I J 8X M3 x 6MM i BOTH SIDES EEE 0000 o 0000 133 0 fi 0000 76 5 10000 e 19000 0000 00000 o Figure 2 4 Stack Mounting the SmartController and sDIO CompactFlash Memory Card The SmartController is equipped with a CompactFlash CF The SmartController system uses a CF in place of a traditional hard disk drive In fact it is often referred to as a solid state hard drive The CF is about half the size of a credit card and twice as thick It has no moving parts and is therefore reliable and durable It is also removable and can be moved to another SmartController for replacement or testing The CF capacity shipped with all systems i
79. able 4 1 Table 4 2 Table 4 3 Table 4 4 Table 4 5 Table 4 6 Table 4 7 Table A 1 Table A 2 Table A 3 Table A 4 Table A 5 Table A 6 Table A 7 Table A 8 Table B 1 Table B 2 Table B 3 Table B 4 Table B 5 Table C 1 List of Tables Related Manuals cs ada sacer teen doen e o a es dee bed doa 16 Environmental specific e 11 n aa 05 04 40 e daa a 23 Specifications for 24VDC User Supplied Power Supply aaaeeeaa 30 SMaMCOMMOISH LEDS s ud acd riera dened eaten pa o dea 37 LED SIGS NACAs 8 renato BS bea 38 SUA SSM E 43 RS 232 Connector Pin AssiIQNMents a 0 0 w 9 8 eee ees 44 se al Connections and v Desienallons a4 5 454 rar a 45 RS 422 485 Conriector PIn ASsIGNIMGMS usa acaso pae a e 45 Contacts Provided by the XUSR Connector 0 0 eee 49 Contacts Provided by The XFP CONNECION a4 438 ERR eR e 50 Remote MCP Connections on the XMCP Connector 5 DIO Input Circuit Specifications XDIO CONNECT x s 5 a 0 R eee 59 DIO Output Specifications ADIO connector xe er m m irii 6 XDIO Digital I O Connector Pin ASSIgrrmeris iii cae ne 63 Belt Encoder Connector Pin Assignments e 65 Breakout Cable Camera Connector Pin Assignments RS 170 VAS Standard Breakout Cable Strobe and Power Connector Pin Assignments 76 Adept 10 Meter Camera Cable Pin Assignments 0 e ae Ju Two Camera Breakout Cable Pin Assignments 0 000000 esses 78 Four Camera Breakout Cable Pin Assig
80. able system 122 Adept SmartController User s Guide Rev E DeviceNet Physical Layer and Media The 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 B 5 and the DeviceNet technical specifications and for further information Table B 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 1A 6m 20 ft 0 75A For the calculation of the maximum current at a specific length use the following formula 4 57 i l Where l Length of the drop line in meters m i Maximum current in amps 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 maxim
81. ale and female maximum cable length is 10 meters NOTE The XMCP and XFP connectors on the SmartController can be interchanged without electrical damage However neither the Front Panel nor the MCP will work properly unless they are plugged into the correct connector Remote MCP Usage Customers can build an extension cable to place the MCP in a remote location The extension cable must conform to the following specifications Wire Size must be larger than 26 AWG Connectors must be 15 pin standard D sub male and female Maximum cable length is 10 meters CAUTION Do not modify the cable that is attached to the MCP This could cause unpredictable behavior from the robot system 3 8 Connecting Customer Supplied Digital I O Equipment 58 The SmartController contains two options for connecting Inputs and Outputs IO IO can be hard wired to the XDIO Connector and or CAN network using the DeviceNet connector The XDIO connector on the SmartController provides 12 hard wired inputs and 8 hard wired outputs for Digital I O connections The signals are numbered 1001 through 1012 for the inputs and 1 through 8 for the outputs All the signals have independent source and ground connections These inputs contain 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 100mA compared to 700mA for the extended outputs on the sDIO des
82. any of the following situations In hazardous explosive atmospheres In mobile portable marine or aircraft systems In life support systems n residential installations e In situations where the SmartController subassembly may come into contact with liquids In situations where the SmartController subassembly will be subject to extremes of heat or humidity See specifications for allowable temperature and humidity ranges Standards Compliance 20 The Adept SmartController is intended for use with other equipment and is considered a subassembly rather than a complete piece of equipment on its own The SmartController meets the requirements of these standards N 61000 4 2 N 61000 4 3 N 61000 4 4 N 61000 4 5 N 61000 4 6 E E E E E E N 50081 2 To maintain compliance with the above standards the SmartController 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 s guide Adept SmartController User s Guide Hev E CAT 3 Version of SmartController 1 6 CAT 3 Version of SmartController Identification The Adept SmartController has been modified to be compatible with Category 3 safety requirements The CAT 3 version of both the CS and CX models of the SmartController can be identified by the serial number on the front of the controller Origi
83. atency for fast inputs 1001 to 1004 when used with V INT EVENT instruction See the V Language Reference Guide for a description of the INT EVENT instruction Adept SmartController User s Guide Hev E Connecting Customer Supplied Digital I O Equipment Output Signals The XDIO connector handles output signals 0001 to 0008 Refer to Table 3 11 for output specifications The locations of the signals on the connector are shown in Table 3 12 on page 63 The XDIO 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 3 11 DIO Output Specifications XDIO connector Operating voltage range 0 to 24VDC Operational current range per channel I out X100 mA short circuit Protected Vdrop across output in on condition V drop 2 7 V at 100 mA V drop 2 0 V at 10 mA Output off leakage current I out 600 pA Turn on response time hardware Software scan rate response time 3 psec maximum 16 ms scan cycle 32 ms max response time Turn off response time hardware Software scan rate response time 200 psec maximum 16 ms scan cycle 32 ms max response time Figure 3 8 shows two examples of different connections to the digital outputs on the XDIO connector The examples are negative common and positive common using the internal 24V and
84. ation of this manual by the user is welcomed Your comments assist us in preparation of future doc umentation Please email your comments to techpubs adept com Copyright 2003 by Adept Technology Inc All rights reserved The Adept logo CHAD the CHAD logo and Soft Machines are registered trademarks of Adept Technology Inc ActiveV Adept Adept 1060 Adept 1060 Adept 1850 Adept 1850 XP Adept 540 Adept 560 Adept C40 Adept C60 Adept CC Adept CHADIQ Adept CHADIQh Adept CHADIOt Adept Cobra 550 Adept Cobra 550 CleanRoom Adept Cobra 600 Adept Cobra 800 Adept DeskTop Adept Digital Workcell Adept FFE Adept FlexFeeder 250 Adept IC Adept Impulse Feeder Adept LineVision Adept MC Adept MV Adept MV 10 Adept MV 19 Adept MV4 Adept MV 5 Adept MV 8 Adept NanoBonder EBS Adept NanoBonder LWS Adept NanoCell Adept NanoStage L1P2 Adept NanoStage L3 Adept NanoStage L3P2 Adept OC Adept SmartAmp Adept SmartAxis Adept SmartController CS Adept SmartController CX Adept SmartModule Adept SMIF EZ AdeptAlign 650 AdeptAtlas AdeptCartesian AdeptForce AdeptFTP AdeptGEM AdeptModules AdeptMotion AdeptMotion Servo AdeptMotion VME AdeptNet AdeptNFS AdeptOne AdeptOne MV AdeptOne XL AdeptRAPID AdeptSix 300 AdeptSix 300CL AdeptTCP IP AdeptThree AdeptThree MV AdeptThree XL AdeptI wo AdeptVicron AdeptVicron 3005 AdeptVicron 310D AdeptVision AdeptVision AVI AdeptVision AGS AdeptVision GV AdeptVision I AdeptVision
85. be applied to either the XDC1 or XDC2 connector CAUTION Use only one 24VDC power supply per circuit Failure to do this could result in damage to the equipment Grounding The SmartController is equipped with a grounding point See Figure 2 7 Adept recommends connecting a ground wire from the ground point on the controller to earth ground and that all other interconnected Adept components share the same electrical ground potential The ground wire must meet all local regulations Additional grounding information for other Adept products are provided in the documentation for those products NOTE The maximum length for the ground wire for the SmartController is 3 meters Adept SmartController User s Guide Rev E 31 Chapter 2 SmartController Installation 32 SOON dM M MMM KA MAMM N AM O Oo E amp J Q 5X Y LP S J O K O OOOOOOO0O000C CY CY Ka Aur AD O A AD O xs 2 AM 73 7 43 OOOC O QOQ O YU 0000000000000000 2 numum God 1 D 3888 j 20000000000 a o 100000000000000o o B E Grounding Point Figure 2 7 Chassis Grounding Point The mounting of the controller and all terminations in Europe must be performed in accordance with EN 60204 to maintain proper compliance Installing 24VDC Connectors Use the Adept supplied connectors to connect th
86. ch Adept SmartController User s Guide Rev E 21 Chapter 1 Introduction 22 Operational Change in SmartModule Systems When a CAT 3 SmartController is used in an Adept SmartModules system or an Adept Servo Kit system that includes a PDU 2 there is a minor change in operation compared to the original SmartController The sequence would be 1 In a SmartModule system with a CAT 3 SmartController while operating in Manual Mode power is turned off by releasing the Enable switch on the MCP To re enable power the user must press and hold the Enable switch Next the user must press the Cmp Pwr button on the MCP Then the user must press the High Power button on the Front Panel to turn on High Power to the robot The LCD display on the MCP will instruct the user to press the button The button will be blinking and must be pressed within 10 seconds Ten seconds is the default timeout for the High Power button to be pressed This timeout can be changed using the CONFIG_C utility Adept SmartController User s Guide Rev E 2 1 SmartController Installation Controller Installation This equipment must be shipped and stored in a temperature controlled environment See Table 2 1 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 shock and vibration Table 2 1 Environmental Specificatio
87. cribed in Section A 6 on page 104 See the V Language User s Guide for information on digital I O programming The DeviceNet connector on the SmartController is used to interface to a Controller Area Network CAN using the DeviceNet protocol See Adept DeviceNet on page 115 for more details Adept SmartController User s Guide Hev E Connecting Customer Supplied Digital I O Equipment XDIO Connector The XDIO connector on the SmartController is a 50 pin standard density D Sub female connector see Figure 3 1 on page 37 for location There are 12 inputs and 8 outputs each optically isolated from the circuitry of the SmartController The connector also provides 24V pins for powering customer equipment There are four 24V pins and four ground pins which are limited to a total of 1A of current The source of the 24V is the XDC1 or XDC2 connector on the front of the SmartController Input Signals The XDIO connector handles input signals 1001 to 1012 Each channel has an input and a corresponding return line See Table 3 10 for input specifications The connector pin outs are shown in Table 3 12 on page 63 Table 3 10 DIO Input Circuit Specifications XDIO connector Operational voltage range 0 to 24VDC Off state voltage range 0 to 3VDC On state voltage range 10 to 24VDC Typical threshold voltage Vin RV DC Operational current range 0to6mA Off state current range 0 t
88. cts DeviceNet incorporates CAN which defines the syntax or form of the data transmitted The DeviceNet application layer defines the semantics 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 PMB 499 20423 State Road 7 F6 Boca Raton FL 33498 6797 Phone 1 561 477 7966 Fax 1 561 218 9465 e mail odva powerinternet com Internet http www odva org T These layers are based on the Open Systems Interconnect OSI model Adept SmartController User s Guide Rev E 115 Appendix B Adept DeviceNet B 2 Limitations of the Adept DeviceNet Scanner The DeviceNet Scanner that Adept has incorporated into the SmartController hardware and the V 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
89. d 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 C 11 1 1 50 NEW STEP CYCLE SPEED START Figure C 11 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 the 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 pre
90. d not the center of the tool flange See the V Language Reference Guide for details on TOOL transformations X direction Y direction Z direction Rotation about Tool Z axis Gripper Figure C 15 TOOL State Four Axis SCARA Adept SmartController User s Guide Rev E 145 Appendix C Using the Manual Control Pendant MCP 146 Figure C 16 TOOL State Six Axis Robot Adept SmartController User s Guide Rev E Rotation about TOOL X axis Rotation about TOOL Y axis Rotation about TOOL Z axis Gripper Moving a Robot or Motion Device With the MCP Joint State When joint state is selected movement is about the axis of the specified joint Figure C 17 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 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 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
91. de Hev E sAVI Board Specifications 4 6 sAVI Board Specifications Table 4 7 Technical Specifications Electrical Power Consumption Voltage Avg Current Avg Power Max Current Max Power A W A W 3 3 V 0 0 0 0 5V 1 4 7 2 0 10 12 V 0 08 1 0 0 11 1 3 12V 0 06 0 7 0 09 11 assumes no current drawn from 12 V pins of DB44 connector T Specifications subject to change Adept SmartController User s Guide Hev E 83 Chapter 4 AdeptVision sAVI Option 84 Adept SmartController User s Guide Hev E 5 1 SmartController Maintenance Changing the Lamp in the High Power Indicator The system is equipped with circuitry to detect the potentially dangerous condition of a burned out High Power indicator on the Front Panel If this lamp is burned out you cannot enable High Power until the lamp has been replaced Follow this procedure to replace the High Power indicator bulb The Adept part number for lamp is 27400 29006 1 2 Turn off system power to the SmartController Disconnect the cable between the Front Panel and the SmartController 3 Remove the Front Panel from its mounting location Remove the two screws on the back of the Front Panel 5 Carefully pull the front cover away from the body of the Front Panel You will encounter some resistance as there are three plug type connectors that you need to disconnect as you pull th
92. deptVision sAVI Video output RS 170 monochrome output Speed 30Hz frame rate 60Hz field rate Resolution 525 lines interlaced Signal inputs External horizontal drive Hd and vertical drive Vd sync signals Connector 12 pin Hirose Connector pin out Typical Sony or Panasonic pin out Pulnix cameras should be ordered with special Adept options The most common mode of operation interlaced field or frame grabbing using RS 170 cameras is compatible with the default camera model 0 Camera model 0 is embedded in AdeptVision sAVI for Panasonic s GP MF602 camera Use these guidelines to determine camera compatibility If the camera meets the above requirements there is a good chance that it will work as a plug and play device AdeptVision sAVI 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 Adept SmartController User s Guide Hev E Camera Compatibility Cameras Supported AdeptVision sAVI supports the following cameras Standard Resolution Cameras e Panasonic GP MF602 e Panasonic GP MF802 This camera is supported in the non interlaced full frame shutter mode only Sync strobe mode is supported but the async reset strobe mode is not supported JAICV M10 This camera is supported in the non interlaced full frame shu
93. e X2 33 4 power black red green X2 34 4 power white red green X2 35 4 power red black green X2 36 4 power green black orange X2 21 4 group 4 return blue red X2 22 4 group 4 test red green 114 Adept SmartController User s Guide Rev E B 1 Adept DeviceNet 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 DeviceNet Specifications 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 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 Device profiles to obtain interoperability and interchangeability among like produ
94. e 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 133 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 C 2 MCP Predefined Functions Introduction This section describes the manual control pendant functions related to Loading and starting programs Editing global variables Displaying system status Predefined Function Buttons The MCP has five predefined function buttons for your use They are listed and explained below en le E ao 6 Figure C 6 MCP Predefined Function Buttons Adept SmartController User s Guide Rev E 133 Appendix C Using the Manual Control Pendant MCP The Edit Function The Edit function button allows editing of location variables and real variables that are used by V programs SELECT DATA TO MODIFY REAL LOC Figure C 7 EDIT Function Button REAL Pr
95. e 147 with SCARA robot 147 joint values displaying 136 L labeling DIO cables 110 location displaying current robot on MCP 136 location variables editing with MCP 134 Man Halt button on MCP 141 Manual Control Pendant see MCP manual states free 148 joint 147 tool 144 world 143 Manual Automatic Mode switch on Front Panel 41 MCP CMD function 137 CMDland2 139 data entry buttons 131 DEL button 131 function buttons 130 how to use 125 150 mode control buttons 140 predefined function buttons REC DONE button 131 slow button 131 soft buttons 130 speed bar 131 viewing angle on MCP 133 monitor speed setting on MCP 139 mounting the SmartController 24 133 139 muted safety gate E Stop circuitry 55 O optional DIO cables 110 112 output signals on XDIO 61 P panel mounting sDIO 95 SmartController 26 Power On LED on Front Panel 41 precision point displayed on MCP 135 predefined function buttons on MCP 130 Prog Set function onMCP 139 program starting execution on MCP 139 program cycles setting on MCP 139 program step selecting starting 139 programmable function buttons on MCP 130 R rack mounting sDIO 94 SmartController 25 REACT REACTI input signals 1001 to 1012 60 real variables editing with MCP 134 REC DONE button on MCP 131 related manuals 16 152 Adept SmartController User s Guide Rev E Index remote Manual Mode control 56 remote MCP connections on XMCP co
96. e Micro Style Connector Figure B 4 DeviceNet Connectors Table B 4 DeviceNet Connector Styles Connector Description Open plugable 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 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 Prevents reflection of communication signals on the network Connects the two signal conductors Must be sealed if the end node uses a sealed tee Must be open if the end node uses an open style tap 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 NOTE A terminating resistor must also be used whenever a short drop line exceeds 6m 20 ft Adept SmartController User s Guide Rev E 121 Appendix B Adept DeviceNet Pin 4 Pin 5 Terminating Resistor Figure B 5 Example of a Terminating Resistor Installation on a DeviceNet Bus Power Supply and the DeviceNet Bus The DeviceNet network allows distrib
97. e customer supplied 24VDC power supply to the controller The connectors are Weidmuller 169042 1 Locate two 24VDC connectors that are shipped with the controller See Figure 2 8 on page 33 Use 14 or 16 gauge wires to connect the 24VDC power supply to the controller Strip 7 mm of insulation from the end of the wire that connects to the positive output of the 24VDC supply Insert a small flat blade screwdriver 2 5 mm into the top opening on the right hand positive side of the connector Push the blade in until the clamp in the lower opening folds back Insert the stripped end of the wire into the right hand lower opening then remove the screwdriver from the top opening The clamp will close on the wire Pull on the wire to confirm it is securely attached in the connector Visually inspect the connection to make sure that the clamp has closed on the wire not the insulation Repeat this process for the wire from the negative side of the power supply to the left hand side of the connector Adept SmartController User s Guide Hev E Controller Installation 24VDC connector Adept Part 25040 00201 Insert small flat blade screwdriver to open clamp Insert wire then remove screwdriver to secure wire in clamp negative positive Figure 2 8 24V Connectors NOTE Although no damage will occur the SmartController will not turn on if the DC polarities on the XDC connectors are reversed IEEE 1394 Cable Sp
98. e front cover away from the body NOTE Separate the cover from the body slowly to avoid damaging the two wires that go between the LED and the PC board inside the body Pull the front cover as straight away as possible You do not have to disconnect the wires from the PC board although you can if needed Locate the lamp body in the center of the back side of the front cover Turn the lamp body approximately 20 in either direction and then pull straight back The lamp body is now free You can remove the old lamp and insert a new one 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 5 1 on page 86 Make sure to reconnect the wires from the LED if you disconnected them earlier Push the front cover into the body taking care to align all of the plug type connectors Verify that the wires do not get crimped as you reinstall the cover 10 Replace the two screws on the back of the body 11 Reinstall the Front Panel in its mounting 12 Reconnect the cable between the Front Panel and the SmartController Adept SmartController User s Guide Rev E 85 Chapter 5 SmartController Maintenance Back side of front cover Sa e Wires between LED and e body of Front Panel Be careful when separating front cover from body to avoid High Power On Off damaging the wires Lamp Body Figure 5 1 Lam
99. e short circuit protected This connector also supplies 24VDC power for customer equipment See Section 3 8 on page 58 for more information XUSR connector Provides switch functions for emergency stop E Stop and Manual Automatic interfaces to external push buttons and other equipment For example an external E Stop can be connected to the XUSR connector A line E Stop from other equipment can be connected A muted safety gate that causes an E Stop only in Automatic mode is included Also included are contacts to report the status of E Stop push buttons and the Manual Automatic switch NOTE The SmartController ships with a terminator plug attached to the XUSR connector The terminator plug must be installed in the absence of any customer supplied safety to close the E Stop circuit For more information about the XUSR connector see Section 3 7 on page 49 XSYS connector Connects to the Power Distribution Unit PDU 2 in a SmartModule system or to the XSLV connector on the MAI 2 in an AdeptSix robot system XFP connector Connects to the Front Panel See Section 3 7 on page 49 for information 12 XMCP connector The Manual Control Pendant MCP plugs into this connector The SmartController works with the MCP III or MCP 4 Other Adept pendants will not work because they do not incorporate the dual E Stop channels The MCP 4 P N 90332 12506 requires a special 6 MCP 4 adapter cable 10356 10400 to transition from the MCP s circ
100. e switch contacts in series with the user E Stop inputs Adept SmartController User s Guide Rev E 55 Chapter 3 SmartController Operation Remote Manual Mode The Front Panel provides for a Manual Mode circuit see Figure 3 5 on page 53 Table 3 7 on page 49 and Table 3 8 on page 50 and your robot manual for further details about the customer Remote Manual Mode circuitry The Adept Front Panel or customer supplied panel 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 does not receive commands from devices other than from the MCP the single point of control If the user needs to control the Manual Automatic mode selection from other control equipment then a custom splitter cable or complete replacement of the Adept Front Panel may be required See Figure 3 6 on page 54 for the Front Panel schematic In this situation a pair of contacts should be wired in series with the Adept Front Panel Manual Automatic mode contacts Thus both the Adept Front Panel and the customer contacts need to be closed to allow Automatic mode WARNING Do not wire customer supplied Manual Automatic contacts in parallel with the Adept Front Panel switch contact This would vi
101. ecifications Adept supplies the IEEE 1394 cables to connect the SmartController to other Adept devices in the system If you need a cable of a different length than those supplied by Adept then you must purchase a cable from one of the Adept approved vendors listed below Newnex Technology Corp Go to www newnex com Molex Inc Go to www molex com These purchased cables must meet all specifications of the IEEE 1394 standard Note that Adept uses 6 pin to 6 pin cables The maximum length for a 1394 cable is 4 5 meters The 1394 Trade Association provides detailed specifications for 1394 cables and other related information see www 1394ta org WARNING You must use cables from vendors approved by Adept that meet all specifications of the IEEE 1394 standard Using a non approved or inferior quality IEEE 1394 cable can cause unpredictable system performance Adept SmartController User s Guide Rev E 33 Chapter 2 SmartController Installation 2 2 System Cable Installation Switched AC Power from PDU AC PWR OUT to SmartAmp 1 PDU2 24VDC Power from PDU DC Safety Output to SmartAmp 1 OOO IEEE 1394 Cable Pon EP Ferrite core Termina or installed on all cables at first SmartAmp SmartController AC In M t 1 for PDU2 Controller XSYS Terminator MCP Adapter Cable to PDU 2 m MCP3 Dongle
102. ections 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 C 12 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 C 12 Mode Control Buttons Adept SmartController User s Guide Rev E Moving a Robot or Motion Device With the MCP Emergency Stop Switch The emergency stop switch 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 executing program or the system terminal has control of the robot If 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 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 y
103. ee Figure C 1 Position 1 switch is not pressed high power cannot be enabled Switch is open Position 2 switch is pressed in to the middle position high power can be enabled Switch is closed Position 3 switch is pressed in past the middle position high power is removed Switch is open Position 1 Position 2 Position 3 switch is not switch is pressed in switch is pressed in pressed to the middle position past the middle position Figure C 1 3 Position Enable Switch on MCP 4 126 Adept SmartController User s Guide Rev E Manual Control Pendant Basics MCP 4 Compatibility The MCP 4 has a dual channel four wire E Stop circuit where the switch contacts are in parallel This is different from the MCP III where the switch contacts are in series This difference affects how the MCP 4 is used in various Adept systems Table C 1 covers the compatibility status for the MCP 4 Table C 1 MCP 4 Compatibility Guidelines In Adept systems rated for Category 1 Safety In MV Controller based systems with CIP2 CIP1 or VFP MCP 4 is compatible no issues In SmartController based systems In systems that are shipped from the factory with an MCP 4 there are no compatibility issues If you are installing an MCP 4 in a system that originally used an MCP IIL then Adept recommends removing 10356 10370 CIM TO MCPIII Adapter for reliability but not for compliance reasons
104. en press ENTER to continue 8 Type Y at the following prompt Digital output block 16 Change this value Then press ENTER to continue 9 Enter a new value for the output block number at the following prompt Enter new value Then press ENTER to continue 10 Type Y at the final prompt Do you want to save these changes Then press ENTER to continue After selecting block numbers you must assign groups of signal numbers to each block NOTE You must select a unique block number for the Inputs and Outputs of each sDIO in your system Repeat the procedure above for each sDIO Assigning I O Signal Numbers The I O signal number ranges are valid for the sDIO Inputs 1033 to 1512 Outputs 0033 to 0512 You will need to perform the follow steps to assign I O signals to specific blocks if you choose a block other than 16 1 Load and Execute the CONFIG C V2 utility 2 Select option 2 2 V System Configuration Data Then press ENTER to continue Adept SmartController User s Guide Rev E 99 Appendix A sDIO Module 100 3 9 Select option 2 2 Edit system configuration Then press ENTER to continue Select either option 5 or option 6 5 Change DIGITAL_INPUT configuration or 6 Change DIGITAL_OUTPUT configuration Then press ENTER to continue The program will step you through the process of adding a new statement to assign the appropriate I O signals to a block and then to a b
105. erminating Multi Port Resistor P Tap Node Node Node ES Node Drop Line TT Node Node Node Zero Length Drop Line Short Drop Lines 6m 20ft Figure B 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 plugable you can remove or add components on the bus without powering down the network NOTE This hot plugable 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 SmartController 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 cutlernammer eaton com from the menu item DeviceNet Starter Kit The document is an Adobe Acrobat PDF file Adobe prov
106. ess the REAL soft button and the LCD displays SELECT REAL VARIABLE TO EDIT varl var2 var3 var4 lt MORE gt varl 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 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 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 S CHANGE TRUE FALSE The typing cursor replaces the variable value Use the data entry buttons to input a new value and complete the entry by pressing REC DONE LOC Press the LOC soft button and the LCD displays SELECT LOCATION VARIABLE TO EDIT locl loc2 loc3 loc4 lt MORE gt 134 Adept SmartController User s Guide Rev E MCP Predefined Functions 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 se
107. g mode sAVI Board System Requirements and Restrictions The sAVI board requires the following software versions AdeptWindows version 3 0 or later V version 15 1 or later e AIM version 4 1 or later Adept SmartController User s Guide Rev E 67 Chapter 4 AdeptVision sAVI Option Pixel Format For backwards compatibility with AdeptVision VXL systems which use a 7 bit approach reserving the high bit for binary images AdeptVision sAVI supports 7 bit images and computes binary data from the grayscale pixel values AdepiVision sAVI Inspection System Limitations 4 2 The AdeptVision sAVI Inspection stand alone machine vision system is installed in the SmartController CX and includes the AIM VisionWare application for programming and operating the system The following motion related connectors on the SmartController CX are not functional in an sAVI Inspection system XUSR XSYS XFP and XMCP These connectors can be activated by purchasing the optional Integrated Motion and Vision license Contact Adept Sales for information Camera Compatibility This section describes the sAVI option compatibility with standard and high resolution cameras AdeptVision sAVI customers should buy cameras directly from third party vendors Visit the Adept web site at www adept com for an up to date list of compatible cameras Guidelines for Cameras 68 The following information presents guidelines for camera compatibility with A
108. ge current Tout lt 25 HA Turn on response time 175 usec max 80 usec typical hardware only Turn off response time 60 psec max 28 psec typical hardware only Output voltage at inductive load turnoff Lo 0 5A Load 1 mH Veup 65 S Vaemag Vsup 45 DC short circuit current limit 0 7A lt T im 2 5A Peak short circuit current lovpk S4A A CAUTION The above specs apply only to the output channels on the sDIO See Table 3 11 on page 61 for specs on the XDIO connectors digital output channels Adept SmartController User s Guide Rev E sDIO Digital I O Signals X2 Connector X1 Connector 44 Pin Female D Sub Adept Supplied Equipment Customer Supplied Equipment Wiring S Terminal Smart DIO Bias PP 25 26 m i pu Group 1 37 The Power Pins REA l see text as H HM Connect module q Customer DC aR power return Power S supply if possible 7 a Group 1 Return 28 E 3 n Group 1 Test e HO Typical U Load o xe Signal 0033 e30 iii dei a g equivalent Signa 903416 HoH 5 circuit i O Signal 0035 Sig
109. ground connections Example 1 outputs 0001 to 0004 are shown with positive common Example 2 outputs 0005 to 0008 are shown with negative common Adept SmartController User s Guide Rev E 61 Chapter 3 SmartController Operation 62 NOTE These are examples Either method can be used in any combination on any channel Also an external customer provided power supply could have been provided instead of the power provided on the XDIO connector Adept Supplied Equipment Customer Supplied Equipment Typical Examples equivalent circuit 5 1 Signal 0001 y EE Q Example 1 Sourcing nem PAN Signal 0002 UNE i s Q 4 Signal 0003 1 H ao 0 Outputs Load i 4 ZA 1 Signal 000 57 d i 32 33 Signal 0005 SEL ls 1 Example 2 EE 7 Sinking T Signal 0006 Spec pe c XDIO Connector on the SmartController rs Load gt Signal 0007 Spec je c r aii l 4 peui 139 P Load Signal 0008 Sy scm prp 1 24V 1A qe Ground a7 L 1 Figure 3 8 Digital Output Wiring for XDIO Connector Adept SmartController User s Guide Hev E Connecting Customer Supplied Digital I O Equipment Table 3 12 XDIO Digital I O Connector Pin Assignments Pin Signal Pin Signal Pin Signal Pin Signal 1 Input 1001 2 1001 return 27 Output 0002
110. gure A 6 sDIO 1 Status LEDs Two LEDs indicate link status of the IEEE 1394 connection and system status LINK Green LED communication with another device over IEEE 1394 connection OK OK SF Red LED output driver fault detected due to excessive temperature or current output is automatically shut down solid green LED communication with controller OK blinking green not configured in software 2 IEEE 1394 ports Connects to one of the SmartServo ports on SmartController or IEEE 1394 ports on additional sDIO units 3 X1 Output 44 pin female D sub connector for digital output signals 0033 0048 4 X2 Output 44 pin female D sub connector for digital output signals 0049 0064 5 X3 Input 26 pin female D sub connector for digital input signals 1033 1048 6 X4 Input 26 pin female D sub connector for digital input signals 1049 1064 NOTE For installations that use two or more sDIO modules the above signal numbers apply to the signals for the first sDIO See the V documentation for information on configuring two or more sDIO modules 7 Two 24VDC connectors Connect power from the XDC2 connector on the SmartController to the XDC1 connector on the sDIO see the Connecting Power section on page 30 for power specifications Adept SmartController User s Guide Rev E 103 Appendix A sDIO Module A 6 sDIO Digital I O Signals The sDIO module s digital I O signals are 64 optically isolated digital
111. he SmartController The following mounting options are available for the SmartController e Rack e Panel e Table In addition the SmartController and sDIO can be stack mounted one unit placed on top of another See the sections below for information on mounting the SmartController page 93 for information on mounting the sDIO 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 24 Adept SmartController User s Guide Rev E Controller Installation Rack Mounting the SmartController To rack mount the SmartController in a standard 19 inch equipment rack install the optional mounting brackets on the side of the controller as shown in Figure 2 1 These brackets must be ordered separately they do not come with the SmartController a uo o E um mI e s T 190 0 3X M3 x 6MM dm 40356 00004 BOTH SIDES l a Beso gt o o o 8814 99000000 i El o ooo00000000000 00000008 44 4 21 Mn e osessoso 2 i i 1 HI 2X 25 0 ple 5 oeeo n e c da o J 218 d 000000000000 t T 194 3 6 462 0 38 142 TYP 482 8 Figure 2 1 Rack Mounting the SmartController Adept SmartController User s Guide Hev E 25 Chapter 2 SmartController Installation Panel Mounting
112. ides a free download of the Acrobat Reader program on their web site http www adobe com Adept SmartController User s Guide Rev E DeviceNet Physical Layer and Media Table B 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 B 3 shows how cable selection and trunkline length affect the maximum data rate on the network Figure B 2 shows a thick cable and Figure B 3 a thin cable Table B 3 DeviceNet Data Rates Relative to Cable Type and Length Data Rates 125 Kbps 250 Kbps 500 Kbps Thick Trunk Length 500m 250m 100m 1 640 ft 820 ft 328 ft Thin Trunk Length 100m 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 156m 78m 39m 512 ft 256 ft 128 ft Adept SmartControlle
113. ion controllers The Adept SmartController is designed for use with Adept SmartModules the AdeptSix line of robots and the Adept sMI6 Module for the SmartMotion product All Adept SmartControllers offer known scalability and support for IEEE 1394 based digital I O and general motion expansion modules Adept SmartController CS The IEEE 1394 interface is the foundation of Adept SmartServo Adept s new distributed controls architecture supporting the new family of Adept products including Adept SmartModules AdeptSix robots Adept Cobra s600 and s800 robots and the Adept SmartMotion product The Adept SmartController CS is configured for standard applications that do not require vision or conveyor belt tracking The controller features several high speed communication interfaces including Fast Ethernet IEEE 1394 and DeviceNet The SmartController offers known scalability and support for Adept s IEEE 1394 based digital I O and general motion expansion modules Adept SmartController CX The Adept SmartController CX is a high performance motion and vision controller It has the same capability as the SmartController CS plus additional support for an integrated vision option a conveyor tracking option a more powerful processor an additional pair of serial ports and a second pair of IEEE 1394 network ports NOTE The information in this manual applies to both the CS and CX models except where differences are specifically noted sDIO Ex
114. ions are described in Moving a Robot or Motion Device With the MCP on page 140 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 switch on the MCP This switch has the same effect as pressing the emergency stop switch on the Front Panel Adept SmartController User s Guide Rev E 131 Appendix C Using the Manual Control Pendant MCP To re enable High Power after pressing the MCP emergency stop switch follow this process 1 Turn the emergency stop switch to the right clockwise The switch is spring loaded and will return to its normal position 2 Depress the enabling switch High Power can now be re enabled by pressing the COMP PWR button mode control group or by entering the ENABLE POWER command from the keyboard 3 Press the blinking High Power button on the Front Panel or CIP2 in an MV controller system High Power is enabled and current can flow to the robot motors Re Enabling Power After Enable Switch Released 132 In Automatic Mode Original SmartController When the system is operating in Automatic Mode and you release the Enable switch or go to position 3 in the 3 position switch the system turns off the same as an E stop condition To re enable high power you m
115. le A 3 on page 107 for information about the LEDs and Figure A 6 on page 103 for information on their location NOTE A fault indication is the result of an over temperature or over current condition on one or more of the outputs usually due to a short circuit condition As a result the output driver IC will oscillate on and off as the chip tries to drive the load Note that this red fault LED is active only when An extended output for example a SIGNAL in the range of 33 to 64 has been turned on by a V command Anactivated output has a thermal overload problem usually due to a short in the user s wiring from the output pin to the user s ground 106 Adept SmartController User s Guide Rev E sDIO Digital I O Signals Table A 3 sDIO Chassis LEDs Illumination Upper LED LINK Lower LED OK SF None No IEEE 1394 link Local software not running up Local software active not Blinking Green Not Applicable configured in V Solid Green IEEE 1394 link good asocio cq configured in V Blinking Red Not Applicable Output fault Solid Red Not Applicable Output fault A diagnostic software indicator is not available for the XDIO outputs In a short circuit condition the XDIO outputs will simply fold back supplying the maximum short circuit current to the output pin sDIO Output Power Supply Current Selection The nine power pins for each group are connected together on the sDIO module s board
116. lected the LCD will show loc name X 500 CHANGE NEXT HERE 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 If a precision point is selected the LCD will show loc name Jt1 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 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
117. lly 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 Adept SmartController User s Guide Rev E 141 Appendix C Using the Manual Control Pendant MCP DIS PWR Button The Disable Power button will shut down High Power to the robot or motion device when pressed Unlike the emergency stop switch 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 142 The buttons 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 143 The MCP must be in manual mode before a joint axis control button can be selected STEP Button When the Auto Manual keyswitch is set to Manual V programs cannot initiate motions unless you press the step button and speed bar on the MC
118. lp AdeptWindows DDE software Instructions for Adept Describes the utility programs used for advanced system Utility Programs configurations system upgrades file copying and other system configuration procedures V Operating System User s Describes the V operating system including disk file Guide operations monitor commands and monitor command programs V Language User s Guide Describes the V language and programming of an Adept control system Adept Document Library In addition to the Adept Document Library on CD ROM you can find Adept product documentation on the Adept web site in the Document Library area The Document Library search engine allows you to locate information on a specific topic Additionally the Document Menu provides a list of available product documentation To access the Adept Document Library type the following URL into your browser http www adept com Main KE DATA adept_search htm or select the Document Library link on the Home page of the Adept web site NOTE The Adept Document Library was formerly known as the Knowledge Express 16 Adept SmartController User s Guide Rev E Warnings Cautions and Notes 1 3 Warnings Cautions and Notes There are four levels of special alert notation used in this manual In descending order of importance they are DANGER This indicates an imminently hazardous A situation which if not avoided will result in death or
119. m each sDIO to the next See Connecting Power on page 30 for cabling requirements NOTE European installations must be in accordance with the EN60204 standard 96 Adept SmartController User s Guide Rev E Configuring a Single sDIO A 3 4 Connect an IEEE 1394 cable from one of the SmartServo ports 1 1 or 1 2 on the SmartController to one of the IEEE 1394 ports on the sDIO Continue to daisy chain the IEEE 1394 power from each sDIO to the next WARNING Remove power from the SmartController before plugging in or unplugging any IEEE 1394 cables to SmartServo IEEE 1394 connectors Failure to remove power could result in unpredictable behavior by the system 5 Connect the 24 VDC input power to the SmartController 6 Connect a user supplied ground wire to earth ground Configuring a Single sDIO The SmartController is preconfigured to support one sDIO module Its configuration is based upon an I O block assignment method that uses 4 bytes per block and 8 signals per byte Thus each byte within a block represents an eight signal range of I O Block numbers for general digital I O can range from 16 to 31 the default is 16 Input blocks and output blocks are numbered independently so you can use the same number for both an input and an output block You must be sure that the block number you specify is not used for the same type of block in any other sDIO module or RIO in your system Default sDIO I O Configuration
120. 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 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 Adept SmartController User s Guide Rev E MCP Predefined Functions CMD1 and CMD2 When CMD1 is pressed the system attempts to load the file CMD1 V2 from the default disk an
121. n press the key for joint 1 the LED will flash indicating that you are controlling Joint 7 Table C 3 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 150 Adept SmartController User s Guide Rev E A Adept Document Library 16 AdeptWindows PC Graphical User s Interface 43 AdeptWindows installation 46 ASCII Terminal 43 assigning I O signal numbers 99 assigning sDIO signal blocks 98 AUTO Boot 44 Auto start from the MCP 138 AUTO V2 138 Background mode on MCP 133 Belt Encoder on CX connector description 40 connector pin assignments 65 interface description for conveyor tracking 65 typical input circuit 66 C cable diagram SmartController system 34 calibrating the robot from the MCP 138 camera cables 10 Meter extension cable 71 four camera breakout 71 installation 72 pin signal information 74 82 two camera breakout 70 camera compatibility for sAVI option 68 camera connector on CX description 40 CAT 3 SmartController change in SmartModule systems 22 description 21 E Stop diagram 52 identification 21 MCP Enable switch function change 21 changing the lamp on the High Power indicator 85 Clear Error button on MCP 137 Clear Error function Index onMCP 137 Comp Pwr button onMCP 141 CompactFlash installation 29 mounting considerations 24
122. nal 0036 12 S Load Signal 0037 12 HO Load Signal 0038 e 8 Load Signal 0039 eO LHO 6 1 9 s i Signal 0040 S T Customer AC He i df M Z Power ee di HS Supply 18 E i M Group 2 E M 3 4 l Power Pins 2 LS see text 33 N 3 34 El 35 E Customer DC o 36 N Power o i 3 Group 2 Return e l L O Supply eo Group 2 Test e ls a Signal 0041 HHS Load a Signal 0042 e 16 Load Signal 0043 2 S Load Signal 0044 4 8 Load Signal 0045 S Load Signal 0046 e S Load Signal 0047 l HO Load Doll Signal 0048 12 O Load ca ad i Output Group 3 Signals 0049 0056 Adept Digital Output Output Group 4 Cable optional Signals 0057 0064 44 Pin Female D Sub Figure A 8 Typical sDIO Output Wiring Adept SmartController User s Guide Rev E 109 Appendix A sDIO Module 110 Optional DIO Cables The cables that connect to the input and output connectors on the sDIO 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 24 AWG 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
123. nal SmartController CS Serial Number 3561 xxxxx Original SmartController CX Serial Number 3562 xxxxx CAT 3 SmartController CS Serial Number 1000 xxxxx CAT 3 SmartController CX Serial Number 2000 xxxxx Functionality Changes MCP Enable Switch Not Functional in Auto Mode The CAT 3 version of the SmartController has a significant functional difference from the original SmartController When a CAT 3 SmartController system is operating in Auto Mode the Enable Switch on the MCP has no effect on the operation This means in the Auto mode the Enable switch does not have to be pressed to enable High Power and releasing the Enable switch while running will not turn off High Power This is true for both the MCP 3 and MCP 4 models CAUTION The new functionality of the MCP Enable switch in Auto Mode must be recognized by persons familiar with Adept systems and working patterns and habits adjusted accordingly High Power Indication on XDIO Connector In the CAT 3 SmartController a V controlled normally open relay contact on the XDIO connector pins 45 and 46 will close when High Power has been enabled The user can use this feature to power an indicator lamp or other device that signals High Power is On E Stop Circuit The CAT 3 SmartController modification is shown in the E Stop diagram in Figure 3 4 on page 52 The change from the original SmartController circuit is evident in the center area of the drawing at the MCP 4 Enable swit
124. new functionality of the MCP Enable switch in Auto Mode must be recognized by persons familiar with Adept systems and working patterns and habits adjusted accordingly MCP III The MCP III 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 C 3 on page 128 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 Adept SmartController User s Guide Rev E 125 Appendix C Using the Manual Control Pendant MCP MCP 4 The MCP 4 has the same functionality as the MCP III except that it has a 3 position enable switch and a dual channel E Stop circuit The 3 position enable switch provides additional safety for the operator See the next section for a description of the enable switch 3 Position Enable Switch The 3 position enable switch on the MCP 4 works as follows s
125. ng of the controller and all terminations at the controller must be performed in accordance with this standard Adept SmartController User s Guide Rev E 93 Appendix A sDIO Module Rack Mounting the sDIO To rack mount the sDIO module in a standard 19 inch equipment rack you must first install the mounting brackets see Figure A 2 on each side of the unit These brackets must be ordered separately they do not come with the SDIO 2X 40356 00003 60000000 0000000 200000000 R3 6 CN q F 000000000000000000000000000000000 K au 000009006000090000000000000090000 i T ae 9 e ES 6 1 3 6 462 0 TYP 482 8 Figure A 2 Rack Mounting the sDIO 94 Adept SmartController User s Guide Rev E 2X M3 x 6MM BOTH SIDES 16 0 gt oo 4 25292 H oooooo ie 4 14 0 4 2 14 2 Mounting the sDIO Panel Mounting the sDIO To panel mount the sDIO install one bracket on each side of the back of the unit Use the screws from the accessories kit see Figure A 3 14 0 2X 40356 00000 27 6 1 273 9 10 0 4X M3 x 6MM S TTT 000000000000000000000000000000 4 Y T o 0000000000003 o0 gt e ee a HH S e 000000000000 o Ile 6000606000066000008600000966006060l D R3 6 l 99 soooooooooo000 o 16 0 e 9 es
126. nments oaaae 79 Four Camera Breakout Cable Pin Assignments e 81 Techmical SPHSCMEGTIONS aepo ce Ge abs REESE SSL ote Bob acie qe ons dra 83 Deru VO COMON fOr SDIO ius uoa dude d it ade bb do oet e 97 SLI INOUE SDSCIICATIONS 5 2 2 doeet o o tem eg re nce o ae ae ee Ge 104 SDIGCIncissIS BEDS oa oae see Rd dre d ee SERES aS AR RU deca aa SUR Uoc Ree de da 107 spIO Ooutrput Cireult SOSENICGIONS au s cua ucc a po acit CC CC Ie inae T Re cs 108 X3 Input Cable Pin Assignments sea snaar eaa eee ene Un X4 INPUT Cable Pin Assignrmnernts soii R reme re RE Cs 112 XI Output Cable PINASSIONMEM sa sn acd aeta ccc d A 113 X2 Output Cable Pin Assignments liiis enn 114 DeviceNet Signal to PIN EoGdllOfis i53 9 A ex pe a rt RC RR e 116 Features of a DeviceNet NPW K erir AT C T R pa kodaki ri 119 DeviceNet Data Rates Relative to Cable Type and Length 119 DeviceNet Connector SIVIES eia aaeoa RR as RERO RR RE RO er a 121 Maximum Current on a Dropline Relative to its Length 123 MCP 4 Compatibility Guidelines s x s s s a cen 127 Adept SmartController User s Guide Rev E 13 List of Tables Table C 2 Controlling More Than One ROBOT cena 150 Table C 3 Robots With More Than 6 Axes ra eee eens 150 Adept SmartController User s Guide Rev E 14 Introduction Product Description The Adept SmartController is a member of Adept s family of high performance distributed motion and vis
127. nnector 51 remote sensing of user E Stop switches 55 robot location displaying 136 robot states in manual mode free 148 joint 147 tool 144 world 143 Robotic Industries Association 17 robotic safety 17 RS 232 and RS 485 connectors description 39 RS 232 connectors with V designations 45 RS 232 Term connector pin assignments 44 RS 232 1 and RS 232 2 connectors description 40 RS 422 485 connector description 45 pin assignments 45 S safety 17 sAVI Inspection System description 68 limitations 68 sAVI option camera cables 70 82 camera compatibility 68 cameras supported 69 technical specifications 83 sDIO module assigning signal blocks 98 connectors 103 default configuration 97 digital input circuit specifications 104 digital output circuit specifications 107 mounting options 93 optional DIO cables 110 112 output power supply current selection 107 signal number mapping 101 testing outputs 106 using multiple modules 102 selecting a new program onMCP 139 serial connection to PC using HyperTerminal software 47 serial connectors with V designations 45 serial port 1 RS 232 TERM 44 slow button on MCP 131 143 SmartController CS connectors and indicators 37 description 15 SmartController CX connectors and indicators 40 description 15 SmartController CAT 3 version see CAT 3 SmartController SmartController system cable diagram 34 SmartServo 1 1 and 1 2 connectors description 38 soft buttons on MCP 130
128. not be used 78 Adept SmartController User s Guide Rev E Camera Cable Pin and Signal Information Table 4 5 Four Camera Breakout Cable Pin Assignments From Pin To Pin Function Str Pwr 2 CAMI 1 Power return Str Pwr 1 CAMI 2 12V power AVI 12 CAM1 3 Shield video AVI 42 CAM1 4 Video AVI 38 CAM1 5 Shield Hd AVI 36 CAM1 6 Hd horizontal drive AVI 37 CAM1 7 Vd vertical drive AVI 38 CAM1 8 Shield Clock AVI 22 CAMI 9 Clock CAM1 10 not connected CAM1 11 not connected AVI 38 CAM1 12 Shield Vd Str Pwr 2 CAM2 1 Power return Str Pwr 1 CAM2 2 12V power AVI 43 CAM2 3 Shield video AVI 29 CAM2 4 Video AVI 35 CAM2 5 Shield Hd AVI 34 CAM2 6 Hd horizontal drive AVI 19 CAM2 7 Vd vertical drive AVI 35 CAM2 8 Shield Clock AVI 20 CAM2 9 Clock CAM2 10 not connected CAM2 11 not connected AVI 35 CAM2 12 Shield Vd Str Pwr 2 CAM3 1 Power return Str Pwr 1 CAM3 2 12V power AVI 14 CAM3 3 Shield video AVI 44 CAM3 4 Video AVI 33 CAM3 5 Shield Hd AVI 32 CAM3 6 Hd horizontal drive AVI 18 CAM3 7 Vd vertical drive CAM3 8 not connected CAM3 9 not connected CAM3 10 not connected CAM3 11 not connected AVI 33 CAM3 12 Shield Vd Str Pwr 2 CAMA 1 Power return Str Pwr 1 CAMA 2 12V power AVI 12 CAM4 3 Shield video
129. ns Ambient temperature 5 C to 40 C Storage and shipment temperature 25 C to 55 C Humidity range 5 to 90 nonconducting Altitude up to 2000 m 6500 feet Free space around controller for proper cooling 10 mm at back 13 mm on sides Chassis protection class IP20 NEMA Type 1 Recommendations for customer supplied enclosure for Adept controller Mandatory for installations in EU or EEA countries Enclosure must meet EN 60204 IEC 204 requirements and be rated at IP54 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 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 Contact Adept immediately if any damage is evident See How Can I Get Help on page 16 Retain all containers and packaging materials These items may be needed in the future to settle a damage claim or to transport the equipment to a new location Adept SmartController User s Guide Rev E 23 Chapter 2 SmartController Installation
130. ntroller Operation 2 Bottom Three Status LEDs The bottom three LEDs on the front of the SmartController give the following information about the status of the main controller O Off G Green R Red Table 3 2 LED Status Indicators PED Ts play Error Description 123 O O O 0 No error System clock is dead or too fast Clock interrupts R O O 1 l are not being received O R O 2 Hardware configuration error O O R 4 Memory test failure Free storage error O R R 6 Software serial I O configuration error Initial display set by hardware before software R R R 7 has started G O O 9 Transient display set when PCI is configured O O G C Uninitialized trap G O G D Bus error detected If the SmartController displays any of the above errors cycle the power off then on again If the problem persists then contact Adept Customer Service 3 SW1 DIP switches The DIP switches define certain configuration settings including auto boot and user interface See Configuring the Controller on page 42 for information 4 SmartServo 1 1 and 1 2 These ports connect any SmartServo compatible product to the controller including SmartModules Servo Kits AdeptSix robots Adept Cobra s600 or s800 robots sMI6 sDIO and FireBlox amplifiers The 1 1 and 1 2 ports are interchangeable either one can be used Note on early SmartController CS models these ports were labeled IEEE 1394 WARNING Remove
131. o 0 5 mA On state current range 2to6 mA Typical threshold current 2 5 mA Impedance Vi 1j 3 9 K Ominimum Current at Vi 24VDC I lt 6mA 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 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 Adept SmartController User s Guide Rev E 59 Chapter 3 SmartController Operation 60 NOTE These are examples Either method can be used on any channel Adept Supplied Equipment Customer Supplied Equipment Typical Examples equivalent circuit E p 4 1 e Signal 1001 i Ses ES p 1 Example 1 a T 1 patios 43 e T Signal 1002 i PE ES 4 4 Le o EE 1 ustomer power So ALCATEL US 15 z supply Signal 1003 i EE x alg
132. o cosas ra a ER bs 24 Rack Mounting the SmartController o ooo oomo mom 25 Panel Mounting the SmartController oo oomooo omo 26 Table Mounting the SmartController o o o oooo K R 0 0 R R R R 0 0 9 27 DIGCKING COMPONEN oria kds iow a e dU d in 28 CompactFlash Memory Card i e sae eme e me e A 28 Adept SmartController User s Guide Hev E 5 Table of Contents medling CS OFT OI TEIGISE escitas aa ia 29 Connecting POWOI s esop AAA 30 24VDG Power SpecifiCGliOris s v unori were pe er pda Dod aa 30 LINDE POWer CODING irradia 31 Dalsy hec PO WET aco a a ia itm diia tona eiut ee na fea Poe i 3l ciens AAA EEAS 31 Installing 22V DC OG On nec Os a ica ocio ta a dea 32 IEEE 1394 Cable SHSGMCONONS 6 40 o 9 89 0 RT 0 ideado 33 2 2 System Cable Installation 0 0 eee 34 3 SmartController Operation 2 222242 cece oer RR Rr nann ERE ES 37 3 1 SmartController CS Connectors and Indicators oooo 37 3 2 SmartController CX Connectors and IndicatorsS 40 3 3 FOM PONOT score 41 3 4 Configuring the Controller ananuna x eee 42 FOCTON Derqui SSHINGES 6440 4 20 IT IL 10 0 D TT 42 JI PESE TE SSMINOS i a cir an AG UR ae P d YR RO odd 42 AdeptWindows PC Graphical User Interface 43 ASCII TODO trie E e o ac D e o ea 43 Ne BOO ssri i marep G6 bod SSH bbb due ba pd itr d as 44 3 5 SmartController Serial I O Connectors e e cee ee 44
133. o verify which side of the speed bar opens the gripper The SPEC utility is used to configure gripper activity See the Instructions for Adept Utility Programs 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 yy uon 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 C 15 shows the tool coordinate system for a four axis SCARA robot Figure C 16 shows the tool coordinate system on a six axis robot Adept SmartController User s Guide Rev E Moving a Robot or Motion Device With the MCP NOTE Figure C 15 and Figure C 16 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 an
134. ocations To put the robot into Manual mode the operator should remove the key for safety purposes The system should not be wired so that a PLC or another operator can put the system back into Automatic mode High Power On Off Lamp The Front Panel High Power On Off Lamp P N 27400 29006 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 See Section 5 1 on page 85 for information on changing this lamp Remote Front Panel Usage Users can mount the Front Panel remotely by using an extension cable or by wiring a customer supplied Front Panel control panel to the SmartController using the 15 pin XFP connector The Front Panel contains no active components only switches and lights Customers should be able to adapt the Front Panel s functionality into their own Front Panel design To automatically control the Front Panel s signals use relay contacts instead of switches See Figure 3 6 on page 54 for a schematic drawing of the Front Panel Adept SmartController User s Guide Rev E 57 Chapter 3 SmartController Operation Customers can build an extension cable to place the Front Panel in a remote location The extension cable must conform to the following specifications Wire Size must be larger than 26 AWG Connectors must be 15 pin standard D sub m
135. oco 121 Power Supply and the DeviceNet Bus een 122 Power Capabilities of a DeviceNet Cable System 122 8 Adept SmartController User s Guide Rev E Table of Contents C Using the Manual Control Pendant MCP 125 C 1 Manual Control Pendant Basics xs ee 125 MCP Enable Switch Function on CAT 3 SmartController 125 MEP arcas rior O OET E E dae as 125 MEA doo ld a aa nd 126 a Position Enable SwITOh vist esa reb RERP o es 126 MEFA C OG by s a a oe eR v ce ees dore ee Toce es 127 Connectirig The MCP sass hos ira aa 129 iae 0 e UU oed aT ma abeo gle roma a ae oat eet 130 SOM DUMONS S252 pci inedia cirio 130 Function BUMOMS passt ep tiep ee ae go D Reste 130 DETERMIN BUTTOMS a asas ein arlene da d CO cca nae a pei 131 Mode Control and Joint Axis Control BUttONS 131 Speed Bar and slow BUTTON s 43 233 4 aa 131 Emergency Stop From the MEP wis K g KR ci a a T E RR RE ea 13 Re Enabling Power After Enable Switch Released 10 0 cee 132 lMAUTOMAIC MOGde asec cha deidwd shee a 132 IS Se iore NR T tora dank oR ra 132 Backgrouna Mods cirio A asin aoe 133 C 2 MCP Predefined Functions se eee 133 ico A orden toT Po tonne dab Gee dna dia ohne 188 Predefined Funcion BG TGI sirios 133 TRS ESM lt Hr erae en raid P ermm 134 Me Display FUNGON os dris doo i abd Sae bse EE Z anes 135 The Clear Eror FUNCTION uo Dot ober he Rd aa 137
136. ograms either the optional Adept SmartController Front Panel or customer supplied switches for High Power On Off MAN AUTO and E Stop must be connected to the SmartController XFP connector on the SmartController to enable power safely NOTE Safety regulations dictate the sequence of events required for the user to enable high power For instance a user may be required to press the High Power On button on the Front Panel after pressing the Comp Pwr button on the MCP or issuing the V enable power command Users cannot jumper this button input and still enable power see your robot manual further details Figure 3 3 shows an Adept front panel 1 XFP connector Connects to the XFP connector on the SmartController 2 System 5V Power On LED Indicates whether or not power is connected to the controller 3 Manual Automatic Mode Switch Switches between Manual and Automatic mode In Automatic mode executing programs control the mechanism and the mechanism can run at full speed In Manual mode 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 Please refer to your robot manual for further details 4 High Power On Off Switch amp Lamp Controls high power which is the flow of current to the robot motors Enabling high power is a two step process An Enable
137. olate the Single Point of Control principle and might allow Automatic high speed mode to be selected while an operator is in the cell User Manual Auto Indication Two pairs of pins on the XUSR connector pins 9 22 and 10 23 provide a voltage free contact to indicate whether the Front Panel and or remote Manual Automatic switches are closed The user may use these contacts to control other mechanisms for example conveyor linear modules etc when Manual mode is selected The load on the contacts should not exceed 40VDC or 30VAC at a maximum of 1A User High Power On Indication In the CAT 3 version of the SmartController see page 21 a Vt controlled normally open relay contact on the XDIO connector pins 45 and 46 see Table 3 12 on page 63 will close when High Power has been enabled The user can use this feature to power an indicator lamp or other device that signals High Power is On The limit on these contacts is 1 A at 30VDC or 30VAC 56 Adept SmartController User s Guide Rev E Connecting Customer Supplied Safety and Power Control Equipment Remote High Power On Off Control The easiest and most effective way to provide the high power on off control in a remote location is to mount the Adept Front Panel in the desired location with an extension cable However if the user needs to control high power on off from other control equipment or from a location other than the Adept Front Panel then a custom spli
138. ou press the COMP PWR button to enable High Power you need to take the following actions release the MCP enable switch press and hold the MCP enable switch position 2 in MCP 4 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 Oneof 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 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 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 eventua
139. p Body Contact Alignment 86 Adept SmartController User s Guide Rev E Technical Specifications This chapter shows the dimensions of the SmartController sDIO Adept Front Panel and MCP 6 1 SmartController Dimensions This section shows the dimensions of the SmartController The dimensions for the CS and CX models are the same 44 328 9 Device Net Eth 10 100 OK HPE LAN SWI 14 12 RS 232 TERM RS 422 485 E S Py A E oN oe Va m 0090 O Ql J9 O Jo IEEE 1394 a 3 E o 8 E o E 5 O O O lonnop lo Lr L 86 0 ie XDIO XUSR xsvs XFP XMCP XDC1 XDC2 sees A O No E y OJ Qus JO Q9 C F F Y p 186 5 12 1 fa rh o 0000000000000 O 000000000000 0000 iS 0000000000000000 0000000000000000 k o e D0 ill i 1 i y DO o 00000000000000 o 7 E 189 1 Figure 6 1 SmartController Dimensions Adept SmartController User s Guide Hev E 87 Chapter 6 Technical Specifications 6 2 sDIO Dimensions This section shows the dimensions of the sDIO module 4 4 4 328 9 IEEE 1394 SN 3559 10000 n 14 12 xi xs i XDC XDC2 o j LINK o cC o GERENS Ves OE cx eno aman a 41
140. pansion Module The sDIO expansion module provides 32 optical isolated digital inputs and 32 optical isolated outputs and also includes an IEEE 1394 interface Customers can access I O signals from the following points using these products e the XDIO connector on a SmartController the DeviceNet connector on a SmartController the DIO X1 X4 connectors on an sDIO a Remote I O RIO device on a SmartModule Adept SmartController User s Guide Rev E 15 Chapter 1 Introduction 1 2 How Can Get Help Refer to the How to Get Help Resource Guide Adept P N 00961 00700 for details on getting assistance with your Adept software and hardware Additionally you can access information sources on Adept s corporate web site http www adept com Related Manuals This manual covers the installation and maintenance of an Adept SmartController system including the sDIO There are additional manuals that cover programming the system reconfiguring installed components and adding other optional components The following manuals available on the Adept Document Library CD ROM provided with each system provide information on advanced configurations and system specifications Table 1 1 Related Manuals Manual Title Description AdeptWindows Installation Describes complex network installations installation and use of Guide and AdeptWindows NFS server software the AdeptWindows Offline Editor and the Online He
141. 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 Dual megapixel camera applications require a four camera cable since their combined current draw exceeds the sAVI board s 1A limit in the absence of external power An external 12V power supply is required for this application Similarly due to the current limitation of the sAVI board it 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 4 2 and Table 4 2 for pin information Connect the power and ground on the breakout cable to a 12V power supply producing 2 0A at 12VDC To Camera connector on SmartController CX CAM 1 CAM 2 CAM3 CAMA TB D sub o a Auxiliary D sub Auxiliary Connector H Connector Pin Assignments CABLE ASSY CAMERA INTERFACE 4X ADEPT Pin Signal User 12V to cameras User power return Strobe 1 Strobe return Strobe 2 Reserved Reserved Reserved Shield chassis ground v SL Oo JO Qn E CO M Figure 4 2 Four Camera Breakou
142. r User s Guide Rev E 119 Appendix B Adept DeviceNet 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 Red amp Black DC Power Pair PVC 15 AWG 18 AWG 19 x 30 Tinned _ 7 19 x 28 Tinned amp Stranded Copper Copper Stranded Drain Wire Conductors Figure B 2 DeviceNet Thick Cable 7 2mm 0 285 in Outside Diameter 65 Coverage Tinned Copper Braid Shield r Polypropylene Fillers External Jacket Blue amp White Data Pair Polyethylene 18 AWG 19 x 30 Tinned amp Stranded Copper Conductors Red amp Black DC Power Pair PVC 15 AWG 19x28 Tinned amp Stranded Copper Conductors Overall Non Hydroscopic Wrap Aluminum Mylar Shield Over Each Pair 18 AWG 19 x 30 Tinned Copper Stranded Drain Wire Figure B 3 DeviceNet Thin Cable 120 Adept SmartController User s Guide Rev E DeviceNet Physical Layer and Media DeviceNet Connectors 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 B 4 and Table B 4 for more details Unsealed Screw Unsealed Sealed Sealed Connector Hard Wired Mini Styl
143. rocess to modify the sDIO modules when you have more than one sDIO module when you choose not to use the default I O configuration block 16 when you have a RIO device in your system See page 103 NOTE The first sDIO can use the default configuration each additional sDIO must be assigned unique block numbers between 16 and 31 In these cases you will use CONFIG C V2 to select the block number and to assign the Input and Output signals Assigning sDIO Signal Blocks 1 Load and Execute the CONFIG_C V2 utility 2 Select Option 6 6 Configure 1394 DIO Then press ENTER to continue 3 Select Option 1 1 Configure 1394 DIO Then press ENTER to continue 4 The system will then report specific information about the first sDIO that it recognized Identify the sDIO with the OK LED flashing green and red This is the recognized sDIO Type N to select another sDIO for systems with multiple sDIOs or type Y to configure the recognized sDIO at the following prompt Do you want to configure this board Then press ENTER to continue Adept SmartController User s Guide Rev E Configuring a Single sDIO 5 Type N at the following prompt Attached controller 0 Change this value Then press ENTER to continue 6 Type Y at the following prompt Digital input block 16 Change this value Then press ENTER to continue 7 Enter a new value for the input block at the following prompt Enter new value Th
144. s a e dal afec e DAO GOGO S O SO e MCP cradle retaining clip Figure C 3 Cradling the MCP 128 Adept SmartController User s Guide Rev E Manual Control Pendant Basics outside of the robot or motion device work envelope T WARNING The cradle for the pendant MUST be mounted Connecting the MCP The MCP connects to the XMCP connector on the front of the controller See the system cable diagram in Figure 2 9 on page 34 for more information e For an MCP 3 install the MCP adapter cable and the MCP 3 dongle between the MCP and the controller For an MCP 4 install the MCP adapter cable between the MCP and the controller The dongle is not required for the MCP 4 The pendant emergency stop switch 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 CAUTION Do not modify or extend the MCP cable Doing this will void the warranty on the MCP WARNING The Auto Manual keyswitch on the Adept Front Panel 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 Adept SmartController User s Guide Rev E 129 Appendix C
145. s currently 30 MB and is factory configured by Adept The CF stores the Vt operating system optional AIM software application programs data files and Adept licenses NOTE Adept reserves the right to increase the size of the CF without notice 28 Adept SmartController User s Guide Rev E Controller Installation Not all types of CompactFlash are compatible with the SmartController Adept requires the use of the CF supplied by Adept at the time of controller purchase and that all replacement CF cards be purchased from Adept NOTE With an AdeptWindowsPC ethernet connection you can also use the supplied NFS software to remotely mount hard disk drives and directories located on a Personal Computer PC See the Adept Windows User s Guide for further details CAUTION Use suitable measures for eliminating electrostatic discharge during removal and installation of the CompactFlash This includes but is not limited to the use of a grounded wrist strap while performing this operation CAUTION Do not remove the CompactFlash when power is connected to the SmartController Installing CompactFlash To install a CompactFlash CF into a SmartController 1 Make sure that the SmartController is disconnected from its power source 2 Locate the CF compartment see Figure 2 5 Eject Button CompactFlash Compartment Figure 2 5 CompactFlash Memory Card Compartment Adept SmartController User s Guide Rev E 29 Chapter 2
146. se with Remote High On Off Switch Lamp Power On Off switch above 7 15 SmartController system 5V power on LED 5V 20mA 8 No connection Pin 15 Pin 8 XFP d b600000020 00000020 ML Pin 1 Pin 9 See Figure 3 6 on page 54 for a schematic diagram of the Adept Front Panel 50 Adept SmartController User s Guide Hev E Connecting Customer Supplied Safety and Power Control Equipment Table 3 9 Remote MCP Connections on the XMCP Connector Pin XMCP 15 Pin D Sub Pin MCP 16 Pin CPC Description 1 9 6 7 MCP E stop PB CH 1 2 10 11 12 MCP E stop PB CH 2 3 11 14 16 MCP Enable CH 1 Hold to run 4 12 13 15 MCP Enable CH 2 Hold to run 13 1 4 Serial GND Logic GND 7 2 MCP TXD V to MCP TXD 8 3 MCP RXD V to MCP RXD 14 5 12VDC max 350mA 15 8 12VDC max 50mA Shield 9 Shield GND 6 24V not used on MCP III or MCP 4 5 10 No connection Adept SmartController User s Guide Rev E 51 Chapter 3 SmartController Operation Figure 3 4 shows an E Stop diagram for the CAT 3 version of the Adept SmartController See Section 1 6 on page 21 for a description of the functionality of this version of the controller E Stop High Power On Off and MANUAL AUTO Controls for CAT 3 Version of SmartController
147. serious injury WARNING This indicates a potentially hazardous N situation which if not avoided could result in serious injury or major damage to the equipment CAUTION This indicates a situation which if not avoided could result in minor injury or damage to the equipment NOTE This provides supplementary information emphasizes a point or procedure or gives a tip for easier operation 1 4 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 Adept SmartController User s Guide Hev E 17 Chapter 1 Introduction We also recommend you read the International Standard IEC 204 or the European Standard EN 60204 Safety of Machinery Electrical Equipment of Machines and IS
148. 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 A 8 on page 109 for details on typical digital output wiring Testing sDIO 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 with a 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 troubleshooting When this is connected to an output the output will assume the ground potential when it is off sDIO LEDs A pair of two color LEDs on the sDIO module indicate link status over the IEEE 1394 connection and system status The upper LED lights green when an IEEE 1394 connection is established The lower LED blinks green when the software is active and switches to solid green after the controller software has found and configured the DIO block The lower LED lights solid red whenever an output fault excessive current or temperature is detected on any of the 32 outputs Refer to Tab
149. ssing 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 Adept SmartController User s Guide Rev E 139 Appendix C Using the Manual Control Pendant MCP C 3 Moving a Robot or Motion Device With the MCP 140 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 software 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 dir
150. state voltage range 0 to 3VDC On state voltage range 10 to 24VDC Typical threshold voltage Vin 8VDC Operational current range 0to6mA Off state current range 0 to 5 mA On state current range 2to6mA Typical threshold current 2 5mA Impedance Vi Ljn 3 9 K Qminimum Current at Vi 24VDC lL lt 6mA m 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 input current specifications are provided for reference Voltage sources are typically used to drive the inputs Adept SmartController User s Guide Rev E sDIO Digital I O Signals X4 Connector Adept Supplied Equipment Customer Supplied Equipment Wiring Typical Customer sDIO Module Terminal Input Signals Block equivalent circuit ly eee Part P a Signal 1033 V5 l wa art Present Sensor Yi Signal 1034 Je L e Feeder Empty Sensor Signal 1035 416 iR Part Jammed Sensor Signal 1036 y i ao Sealant Ready Sensor 3 i i o Signal 1037 a e e O E 5 Signal 1038 e o a Signal 1039 8 E s 5 i Signal 1040 e
151. t 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 of these cables or an equivalent See Table 4 3 on page 77 for the pinout Adept SmartController User s Guide Rev E 71 Chapter 4 AdeptVision sAVI Option 4 4 Installing Camera Cables 72 Figure 4 3 on page 73 shows the installation of a typical four camera RS 170 breakout cable and the associated hardware in a SmartController CX system See the AdeptVision User s Guide for information on mounting cameras and strobes in your system CAUTION Turn off the controller before installing or T removing a camera or cable Failure to do this may damage the sAVI board CAUTION When using the four camera breakout cable documentation supplied with your cameras for you must provide 12 VDC power at sufficient current for the type and quantity of cameras you are using See the information on current requirements Connecting the Cables to the RS 170 Standard Camera This section describes the steps for connecting the cables between the sAVI board and the RS 170 Cameras 1 2 3 Turn off the SmartController CX Connect the camera to a 10m camera cable Connect the 10m camera cable to the appropriate connection on the camera
152. t ni Cable 432 3 401 420 and E3032 49 606 DU 33er oe eda 120 DeviceNet ConneGlOlS ri fake ed aka ec axe a ec itae eed an eras daw Rice ea 121 Example of a Terminating Resistor Installation on a DeviceNet Bus 122 DeviceNer Connector PINGUIS 59e 5d be oA be be Reed hon Keates 124 3 Position Enable Switch on MCPA oo ees 126 Earle ETC helen bard ola apa RL ne 128 Celeb Ine MCR a sie jaunt did sed dura od aa o aa 128 MCP LGYVOUR piisit Rica epECRRYG3 PARA eee rus 130 DOT EMI BUNOS aori npare pro ESAS EE 0 12005 T 131 MCP Predefined Function BUTTONS a 60 A 0 h E E 0 L Z Ea es 133 EDITE CIO BUOI sosa daa 134 DISPLAY FUNENON BUTTON eaa mpi epit aro raised 135 CLEAR ERROR FUNCION BUTTON sva mitra a ren 137 Commana EMD RUNCION BURTON 26 rca ea aa md 138 Program Ser FUNCTION BUON im diia dido 139 Mode Control BUON escri ra A a 140 SPesd BOS is brit to dans t 143 WORLD State Four Axis SCARA RRR ARR n 144 TOOL State CFGUEAXIS SCARA 2 acia bare tti Res ek ER OES eK RR OS 145 TOOL Staie GhEAKIS a ee 55a abs radiador 146 JOINT State FOWFAKISSCARA soriana 147 JOINT STATS GIKEAKIS RODOT 2 54 4 E Da doe pred ias 148 FREE State FOUIFAXIS SCARA 3 ipaa ca acd S e ard eu eC gd dnd 149 Adept SmartController User s Guide Hev E 12 Table 1 1 Table 2 1 Table 2 2 Table 3 1 Table 3 2 Table 3 3 Table 3 4 Table 3 5 Table 3 6 Table 3 7 Table 3 8 Table 3 9 Table 3 10 Table 3 11 Table 3 12 Table 3 13 T
153. the SmartController CX supports two independent external belt encoders through a 15 pin male D sub connector The pin assignments for the Belt Encoder connector are shown in Table 3 13 See Figure 3 9 on page 66 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 requires a V Extensions License which can be obtained from Adept Table 3 13 Belt Encoder Connector Pin Assignments 00000000 jai Pin 9 Pin 15 Belt Encoder Connector Pinout Channel 1 Channel 2 Signal Pin Signal Pin A 15 A 11 A 7 A 3 B 14 B 10 B 6 B 2 I 13 I 9 I 5 I 1 Encoder 5V out 4 Encoder 5V out 4 Encoder ground 12 Encoder ground 12 not used 8 not used 8 Pin 1 Pin 8 Adept SmartController User s Guide Hev E 65 Chapter 3 SmartController Operation SmartController CX Belt Encoder Connector Typical input circuit 66 1 26L same for A B and l 539 for both encoders Encoder l A T 1 2 2K Encoder Channel 1 End Pure Encoder power output 5V at 800 mA max 1 A fuse Enc Gnd Shield Encoder Channel 2 Figure 3 9 Belt Encoder Typical Input Circuit
154. the User Interface Text Interface Using a PC with HyperTerminal Software This section describes how to connect with the Adept SmartController using a PC running HyperTerminal software included with Microsoft Windows over a serial connection Note that the SmartController does not support AdeptWindows over a serial connection Additionally for controllers with the vision option the camera vision window will not be visible using a serial connection NOTE This interface is not suitable for application development using graphics based programming graphics based application programs such as AIM or SmartController CX systems equipped with the vision option Installation Procedure 1 Disconnect power from the controller Install the CompactFlash included with the controller 2 Set the controller DIP switches SW1 on the front of the controller to the following sw1 SW2 SW3 SW4 OFF ON ON ON 3 Connect a standard null modem data transfer cable from the PC RS 232 connector to the RS 232 TERM connector on the SmartController 4 Locate and start the HyperTerminal application Hypertrm exe by selecting START gt Programs gt Accessories gt HyperTerminal or START gt Programs gt Accessories gt Communications gt HyperTerminal 5 Create a new HyperTerminal session in Windows by running Hypertrm exe Name the connection Adept SmartController Set the connection as Direct to COM
155. tter cable or complete replacement of the Adept Front Panel will be required See the Front Panel schematic Figure 3 6 on page 54 for details of the Front Panel s wiring In this situation a second momentary contact for high power on off would be placed in parallel with the Adept Front Panel push button contact This second contact should be suppressed when in Manual mode see the note on Single Point of Control below This method allows relocating the push button switch to a more convenient location Implementation of this method must conform to EN standard recommendations 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 6 and 14 and 5 and 13 of the XFP connector provide this remote capability Pins 5 and 13 provide power for the lamp 5VDC and ground respectively Pins 6 and 14 are inputs for voltage free N O contacts from a customer supplied momentary push button switch WARNING To fulfill the Single Point of Control requirement do not place the Manual Automatic and High Power On controls in multiple l
156. tter mode only Sync strobe mode is supported but the async reset strobe mode is not supported High Resolution Cameras Pulnix TM 1020 15 OPT25 This camera is supported in the non interlaced full frame shutter mode only Sync strobe mode is supported but the async reset strobe mode is not supported Option 25 should be ordered from PULNiX e JAI CV M1 This camera is supported in the non interlaced full frame shutter mode only Sync strobe mode is supported but the async reset strobe mode is not supported Downloading Camera Information Custom Camera Modules and related information on cameras supported by the sAVI product can be downloaded from the Adept Web site Go to http www adept com main KE ServicesDB search asp Adept SmartController User s Guide Rev E 69 Chapter 4 AdeptVision sAVI Option 4 3 Camera Cables A two camera breakout cable is standard with Adept vision systems Adept sells an optional four camera cable that is used for connecting cameras to the sAVI board The camera cables connect to the Camera connector on the front of the SmartController CX This connector contains support for two strobe connections through a breakout cable See Tables 4 1 to 4 6 for pin and signal information for the cables For single camera non reset non strobe applications the two camera breakout cable is sufficient Dual megapixel camera applications require a four camera cable because of current limitations
157. ular plastic connector CPC to the SmartController s 15 pin D sub connector The MCP III P N 90332 48050 also requires the special 6 adapter cable In addition the MCP III must use a small MCP III adapter module 10356 10370 plugged into the XMCP connector before the adapter cable is attached The SmartController ships with a terminator plug attached to the XMCP connector NOTE The terminator plug must be installed in the absence of an MCP For more information about the XMCP connector see the description of the Manual Control Pendant in your robot manual Adept SmartController User s Guide Rev E 39 Chapter 3 SmartController Operation 13 24VDC connectors Connect power from a customer supplied 24VDC power supply to the XDC1 connector see the Connecting Power section on page 30 for information if using an sDIO or an sMI6 connect a separate cable from the XDC2 connector on the SmartController to the XDC1 connector on the sDIO or sMI6 3 2 SmartController CX Connectors and Indicators The SmartController CX has all the of connectors and indicators from the SmartController CS plus the additional ones described in this section S N 356220000 CAMERA RS 232 TERM RS 422 485 ce L N gt co do eel eo s SmartServo IEEE 1394 Device E OK HPE LAN
158. um distance from any node on the dropline to the trunk line 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 Adept SmartController User s Guide Rev E 123 Appendix B Adept DeviceNet VIEWED FROM CONTACT END Male Connector pins Micro Style 5 Connector Female Connector sockets LEGEND 1 Drain bare 2 V red 3 V black 4 CAN_H white 5 CAN_L blue Figure B 6 DeviceNet Connector Pinouts 124 Adept SmartController User s Guide Rev E C 1 Using the Manual Control Pendant MCP 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 C 2 on page 128 shows how to hold the MCP There are two versions of the MCP the MCP III also called MCP 3 and the MCP 4 MCP Enable Switch Function on CAT 3 SmartController When a CAT 3 SmartController system is operating in Auto Mode the Enable Switch on the MCP has no effect on the operation This means in the Auto mode the Enable switch does not have to be pressed to enable High Power and releasing the Enable switch while running will not turn off High Power This is true for both the MCP 3 and MCP 4 models See Section 1 6 on page 21 for more information on the CAT 3 SmartController CAUTION The
159. use the Front Panel you should provide similar safety features in the system See Chapter 3 for more information or call Adept Customer Service Computer Controlled Robots and Motion Devices DANGER Entering the workcell when the HIGH POWER 0 light is on can result in severe injury 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 Front Panel 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 5 for details on replacing the bulb 18 Adept SmartController User s Guide Rev E Safety Manually Controlled Robots and Motion Devices Adept robots and other motion devices can also be controlled manually when the HIGH POWER light on the Front Panel 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
160. ust follow the steps from the previous section CAT 3 SmartController In a CAT 3 SmartController when operating in Automatic Mode the Enable Switch is ignored by the system Releasing the Enable switch has no effect on operation See Section 1 6 on page 21 for more information In Manual Mode When the system is operating in Manual Mode and you release the Enable switch or go to position 3 in the 3 position switch the system turns off in a controlled manner This puts the system in a different state than when the E Stop button is pressed To re enable high power follow this process 1 Turn the emergency stop switch to the right clockwise The switch is spring loaded and will return to its normal position 2 Depress the enabling switch High Power can now be re enabled by pressing the COMP PWR button mode control group or by entering the ENABLE POWER command from the keyboard High Power is enabled and current can flow to the robot motors This makes it more convenient during development and programming a system NOTE The exception to this situation is when a CAT 3 SmartController is used in a SmartModules system with a PDU 2 You have to press the blinking High Power button on the Front Panel See Operational Change in SmartModule Systems on page 22 Adept SmartController User s Guide Rev E MCP Predefined Functions Background Mode The pendant is in background mode when the USER LED is not lit and none of th
161. ution of power supplies on the network cable system Follow these general rules to achieve a safe and reliable operation Use power supplies rated at 24V 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 Make sure that each power supply incorporates current limit protection Make sure each power supply is temperature compensated 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 SmartController or any other Adept component Power Capobilities of a DeviceNet Cable System WARNING 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 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 24 VDC power rating 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 c
162. voltages up to 18V Since the supply voltage exceeds 18V improperly wiring the supply voltage to these signal lines may cause permanent damage 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 B 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 B 2 on page 119 for further details Adept SmartController User s Guide Rev E 117 Appendix B Adept DeviceNet 118 Multiple Node Node M M Node Trunk Line Terminating j Resistor Branching Multi Port Drop Line Ma _Tap Node LL 4 Node Multiple Node Node Node Drop Line Daisy Chain Node Drop Line T
163. yte 1 to 4 within a block With the sDIO the first 8 input channels are mapped to byte 1 the second 8 input channels to byte 2 and so on See sDIO Signal Mapping Example 1 Using this process you must assign groups of signal numbers to bytes 1 to 4 for each block See the sDIO Signal Mapping Example 2 for the input settings of a system with two sDIO modules When you are done editing the I O choose not to add a new statement Save the changes if you are satisfied with your choices Continue to select 0 to return through the higher menus Select 0 once more to exit to the system monitor Disconnect your AdeptWindowsPC or serial communication session to the SmartController Cycle the 24VDC input power to the sDIO 10 Cycle the 24VDC input power to the SmartController 11 Reconnect your AdeptWindowsPC or serial communication session to the SmartController Adept SmartController User s Guide Rev E Configuring a Single sDIO sDIO Signal Mapping Example 1 The following example shows the mapping of SIGNAL 1065 to Input_Block 17 and Input_Byte 1 Add a new statement Y N y Le POS_LATCH 2 VIS TRIGGER 31 SIGNAL Enter number of keyword for new statement 3 SIGNAL Value 1001 min 1001 max 1505 1065 INPUT BLOCK Value 0 min 0 max 31 17 INPUT_BYTE Value 1 min 1 max 4 1 I0 OPTIONAL Value NO gt NO 2 gt YES Enter selection 1 SIGNAL 10

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