adept technology AdeptViper s650, User Manual

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Chapter 1 - Introduction
10 AdeptViper s650/s850 Robot User’s Guide, Rev A
Adept SmartController CX
The SmartController CX is the foundation of Adept’s family of high-performance
distributed motion and vision controllers. The SmartController CX is designed for use
with Adept Cobra s600 and s800 robots, Adept SmartModules, the AdeptViper robot, and
the Adept sMI6 Module for the SmartMotion product.
The SmartController CX supports an integrated vision option and a conveyor tracking
option. It offers scalability and support for IEEE 1394-based digital I/O and general
motion expansion modules. The IEEE 1394 interface is the backbone of Adept SmartServo,
Adept's distributed controls architecture supporting Adept products. The controller also
includes Fast Ethernet and DeviceNet.
Figure 1-2. Adept SmartController CX
Adept PA-4 CAT-3 Power Chassis
The PA-4 CAT-3 includes AC-DC power conversion electronics that supports a range of
Adept power amplifiers and robot control modules. In addition, the PA-4 CAT-3 includes
dual (redundant) high-power AC contactors that, in combination with the sDAI, meet the
Category-3 E-Stop requirements per EN-954. The PA-4 is configured with J Amplifier
modules to support the AdeptViper robot systems.
The J amplifiers in the AdeptViper robot system are controlled by the sDAI distributed
control module. The sDAI module resides in the PA-4 chassis and contains a RISC
microprocessor and interface circuitry that close the servo loops for high- performance
robot motion. The sDAI is connected to a host Adept SmartController via the SmartServo
interface (based on IEEE 1394).
R
ON
SmartServo IEEE-1394
1 2 3 4
SF ES HD
SW1 1.1 1.2 2.1 2.2 OK
1 2 3
XDIO
LAN HPE
OFF
XSYS
CAMERA
Eth 10/100
XUSR
Device Net
XFP
RS-232/TERM
RS-232-1
XMCP
BELT ENCODER
SmartController
C
X
-+ -+
RS-422/485
XDC1 XDC2
24V 5A
*S/N 3562-XXXXX*
RS-232-2