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Adept MV Controller User’s Guide, Rev. B

187

AdeptForce VME Board (VFI)

11

Introduction   . . . . . . . .   . . . . . . . . . . . . . . . . . 188
Connections and Indicators   .   . . . . . . . . . . . . . . . . . 188
VME Bus Address   . . . . . .   . . . . . . . . . . . . . . . . . 189
VFI Board Specifications   . . .   . . . . . . . . . . . . . . . . . 190

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Summary of Contents for MV

Page 1: ...derutilized and idle equipment along with credit for buybacks and trade ins Custom engineering so your equipment works exactly as you specify Critical and expedited services Leasing Rentals Demos In stock Ready to ship TAR certified secure asset solutions Expert team I Trust guarantee I 100 satisfaction All trademarks brand names and brands appearing herein are the property of their respective own...

Page 2: ...S HPE HD LAN 1 2 3 R S 4 8 5 R S 4 2 2 R S 2 3 2 T E R M R S 2 3 2 E T H E R N E T C I P PWM ON LOW VOLTS ON OPEN CKT FAULT HV SAG OVER TEMP HIGH VOLTS ON A PHASE SHORT FAULT B PHASE SHORT FAULT C PHASE SHORT FAULT C O N T R O L S I G N A L A AMP M O T O R P O W E R O U T P U T DO NOT REMOVE OR INSTALL THIS MODULE UNLESS HIGH VOLTS LED IS COMPLETELY EXTINGUISHED PWM ON LOW VOLTS ON OPEN CKT FAULT ...

Page 3: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 4: ... HD LAN 1 2 3 R S 4 8 5 R S 4 2 2 R S 2 3 2 T E R M R S 2 3 2 E T H E R N E T C I P PWM ON LOW VOLTS ON OPEN CKT FAULT HV SAG OVER TEMP HIGH VOLTS ON A PHASE SHORT FAULT B PHASE SHORT FAULT C PHASE SHORT FAULT C O N T R O L S I G N A L A AMP M O T O R P O W E R O U T P U T DO NOT REMOVE OR INSTALL THIS MODULE UNLESS HIGH VOLTS LED IS COMPLETELY EXTINGUISHED PWM ON LOW VOLTS ON OPEN CKT FAULT HV SA...

Page 5: ... 0 10 0 0 2 0 3 3 3 4 3 55 4 64 5 7 8 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 6: ... conditions The product must be installed and used strictly in accordance with the Adept MV Controller User s Guide document p n 00330 01031 The system must incorporate only those plug in modules and accessories listed in Table 1 or Table 2 If modules or accessories listed in Table 2 are installed the user must verify conformance to the EMC Directive after installation This Declaration applies onl...

Page 7: ...china come da noi fornita soddisfa i requisiti fondamentali definiti nella direttiva CE 89 336 EEC Appendice I in fatto di sicurezza e sanità La messa in funzione della macchina resta vietata fintanto che l intero sistema nel quale questa è incorporata sia stato dichiarato conforme alla versione vigente della suddetta normativa Il sistemasi intende comprensivo di tutte le parti accessorie e dispos...

Page 8: ...hik Modul Carte graphique VME VGB 10332 10250 P3 VME Joint Interface Module Achssteuerkarte Carte d axe EJI 10332 00505 A VME Motion Interface Module Achssteuerkarte Carte d interface Mouvement VME MI3 MI6 10332 11400 10332 12400 P4 P2 VME Processor Module VME Prozessormodul Carte processeur VME AWC040 AWC060 10350 01040 10350 01060 P1 P1 VME Vision Module Vision modul Module d interface vision VM...

Page 9: ...P N 00330 01040 Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 10: ...anel CIP 31 Computer Controlled Robots and Motion Devices 31 Manually Controlled Robots and Motion Devices 31 Other Computer Controlled Devices 31 Program Security 32 Voltage Interruptions 32 Inappropriate Uses of the Adept Controller 32 Standards Compliance 33 How Can I Get Help 34 Overview 35 2 Introduction 36 Adept MV 5 Controller 36 Adept MV 10 Controller 36 The Adept Compact Controller 37 Gra...

Page 11: ...Controllers 44 Product Descriptions 45 AdeptVision 45 AdeptMotion VME 45 AdeptForce VME 45 Installation of Adept Controllers 47 3 Shipping Storage Unpacking and Inspection 49 Shipping and Storage 49 Before Unpacking 49 Upon Unpacking 49 Repacking for Relocation 49 Controller ID Label 50 Facility Requirements 50 Voltage Interruptions 51 Enclosure and Disconnect Requirements 51 Installing the MV 5 a...

Page 12: ...he VGB Board 65 Using AdeptWindowsPC 66 Installing an ASCII Terminal User Supplied 66 Recommended Terminal for Systems Without a VGB or AdeptWindowsPC 66 Contacting WYSE 66 Customer Supplied Serial Interface Cable 67 Installation Procedure 67 Installing a Stand Alone Controller in a Rack or Panel 67 Space Around the Chassis 68 Rack Mounting 68 Panel Mounting 68 Installing a Robot Controller in a R...

Page 13: ...e 83 Serial Port 2 RS 232 83 RS 422 485 Connector 83 LED Status Indicators on the AWC 85 The Controller Interface Panel 87 5 Introduction 89 Panel Switches and Indicators 89 Emergency Stop Switch 89 Manual Automatic Mode Switch 90 High Power On Off Switch Lamp 90 MCP Connector 90 System Power Switch 90 NET Switch 91 Side Connectors 91 AWC Interface JAWC 91 User Connector JUSER 91 Back Panel Connec...

Page 14: ...Circuit 108 Remote Enable Switch Connections 109 Connecting User Supplied Serial Communications Equipment 110 RS 232 JCOM Connector 110 Connecting User Supplied Digital I O Equipment 111 JSIO Connector 111 REACT Input Signals 1001 to 1012 113 Fast Input Signals 1001 to 1004 113 Output Signals 114 Digital I O Connector Ordering Details Third Party Sources 116 AMP Part Numbers for 50 Pin Male D Sub ...

Page 15: ...h Setting Mode 143 Settings for Normal RS 170 Cameras 144 Settings for Pulnix TM 1001 Cameras 144 Camera Compatibility 145 Standard RS 170 Cameras 145 High Resolution Cameras 145 Installing Video Bus Coupler 146 Camera Cables 147 Four Camera Breakout Cable for RS 170 Cameras 147 10 Meter Camera Extension Cables 148 Custom Pulnix TM 1001 Four Camera Breakout Cable 148 Custom Pulnix TM 1001 D sub to...

Page 16: ...I 179 10 Introduction 180 Connections and Indicators 181 VME Bus Address 182 Address Settings for EJI Boards 182 Address Settings for Multiple Servo Boards 182 Belt Encoder Interface 184 EJI Board Specifications 186 AdeptForce VME Board VFI 187 11 Introduction 188 Connections and Indicators 188 VME Bus Address 189 VFI Board Specifications 190 Digital Input Output Board DIO 191 12 Introduction 192 ...

Page 17: ...er Dimensions 219 The Adept Compact Controller Dimensions 220 MCP Cradle Dimensions 221 Compact Interface Panel Dimensions 222 Position Latch and Vision Trigger 223 B External Input for Position Latch and Vision Trigger 224 Position Latch 224 Hardware Interconnection of Boards on an Adept Controller 225 Vision Trigger 226 Combined Vision Trigger and Position Latch Vision in the Loop 226 Additional...

Page 18: ... 241 The Display Function 244 The Clear Error Function 245 The CMD Function 246 Prog Set Function 247 Moving a Robot or Motion Device With the MCP 249 Introduction 249 Mode Control Buttons 249 Emergency Stop Button 250 COMP PWR Button 250 MAN HALT Button 250 DIS PWR Button 251 RUN HOLD 251 Joint Axis Control Buttons 251 STEP Button 251 Speed Bars 252 In World Tool and Joint Mode 252 In Comp Mode 2...

Page 19: ...7 Tests During Installation and Servicing 377 Continuous Tests 378 Watchdog Timer 378 Drive Faults 378 RSC Watchdog Timer 378 Encoder Signals 378 V FREE Command 378 V Cycle Tests 378 Adept DeviceNet 379 G Introduction 380 Limitations of the Adept DeviceNet Scanner 381 Adept Supplied DeviceNet Hardware 382 Connecting DeviceNet Hardware to the Adept Device Net Scanner 382 DeviceNet Physical Layer an...

Page 20: ...Table of Contents Adept MV Controller User s Guide Rev B 19 Index 391 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 21: ...2 3 4 4 1 0 5 5 2 4 2 3 4 2 4 5 4 3 1 6 0 6 0 3 7 3 7 8 4 6 5 9 3 7 6 7 5 2 3 7 9 6 5 9 6 7 5 8 3 8 1 6 3 2 35 0 6 0 2 0 13 0 2 9 4 6 0 0 2 9 0 6 13 2 6 9 4 8 2 0 13 3 7 8 3 7 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 22: ...7 6 1 0 7 6 4 6 6 6 6 6 6 6 8 6 6 4 6 2 6 6 6 6 3 8 6 8 1 1171 6 4 6 6 3 6 4 6 3 6 57186 3 9 3 1 6 778 3 9 3 1 6 778 3 3 9 9 1 0 6 7 3 9 3 1 6 7 3 3 9 9 1 0 6 1 3 9 3 1 4 6 2 0 6 0 6 0 6 9 2 1 6 6 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 23: ... List of Tables 0 1 2 0 0 1 3 4 0 0 1 00 0 1 0 1 1 1 2 1 1 5 0 1 2 6 74 21 74 7 0 0 87 0 9 0 87 0 9 7 0 0 1 0 0 2 2 7 0 0 7 0 0 7 0 1 7 0 2 3 0 6 6 0 0 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 24: ...V Controller User s Guide Rev B 23 1 1 8 9 1 8 9 2 8 9 1 1 0 0 1 2 0 0 2 70 1 6 1 1 1 0 12 2 0 0 2 0 2 2 0 0 0 0 0 0 1 0 2 0 1 0 0 1 0 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 25: ...Table of Contents 24 Adept MV Controller User s Guide Rev B 3 5 1 3 1 3 6 5 1 3 6 1 3 5 11 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 26: ...9 Safety 30 Reading and Training for Users and Operators 30 System Safeguards 31 Safety Features on the Compact Interface Panel CIP 31 Computer Controlled Robots and Motion Devices 31 Manually Controlled Robots and Motion Devices 31 Other Computer Controlled Devices 31 Program Security 32 Voltage Interruptions 32 Inappropriate Uses of the Adept Controller 32 Standards Compliance 33 How Can I Get H...

Page 27: ...in the function of the indicators and connectors on the front of each board They cover the Input Output I O capabilities of certain boards and the VMEbus address of all boards These chapters also explain any special switch or jumper settings that you might have to set on particular boards 6 Read and and for maintenance dimension external trigger and standards compliance information 7 Read to learn...

Page 28: ... are covered in this manual Instructions for Adept Utility Programs Adept provides a series of programs for configuring and calibrating various features of your Adept system These utility programs are described in this manual V Language User s Guide V is a complete high level language as well as an operating system This manual covers programming principles for creating V programs Manual Material C...

Page 29: ...lease 00330 01030 of this manual The new products covered in this revision of the manual include The new Compact Controller The Compact Controller combines a PA4 amp chassis with two dual amplifiers an MV 4 chassis insert that installs in the two remaining amplifier slots and a new system processor The MV 19 controller chassis is obsolete The new AdeptWindows Controller AWC system processor boards...

Page 30: ...al notation used in this manual They are If the actions indicated in a WARNING are not complied with injury or major equipment damage could result A Warning statement will typically describe the potential hazard its possible effect and the measures that must be taken to reduce the hazard If the WARNING is indicated with a lightning bolt instead of an exclamation mark an electrical danger or shock ...

Page 31: ...andard IEC 204 or the European Standard EN 60204 Safety of Machinery Electrical Equipment of Machines and ISO 10218 EN 775 Manipulating Industrial Robots Safety particularly if the country of use requires a CE certified installation See for ordering information for national and international standards This manual assumes that the user has attended an Adept training course and has a basic working k...

Page 32: ... device may cause it to move at times or along paths you may not anticipate When the light on the optional CIP is illuminated do not enter the workcell because the robot or motion device might move unexpectedly If this bulb fails you will not be able to enable High Power See for details on replacing the bulb Manually Controlled Robots and Motion Devices Adept robots and other motion devices can al...

Page 33: ...le signals will be turned off You must ensure that these signals are used to prevent a hazardous condition Inappropriate Uses of the Adept Controller The Adept controller is intended for use as a component subassembly of a complete industrial automation system The Adept controller subassembly must be installed inside a suitable enclosure Installation and usage must comply with all safety instructi...

Page 34: ...afety standards See the Declaration of Conformity inside front cover of this manual for additional compliance information about this product To maintain compliance with the above standards the controller must be installed and used properly with any additional equipment in accordance with all regulations of the standards You must also carefully follow all installation instructions in this user guid...

Page 35: ...pt P N 00961 00700 for details on getting assistance with your Adept software or hardware You can obtain this document through Adept On Demand The phone numbers are 800 474 8889 toll free 503 207 4023 toll call Please request document number 1020 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 36: ...ision Interface Board EVI 41 AdeptMotion Interface Boards MI3 MI6 41 Adept VME Enhanced Joint Interface Board EJI 41 AdeptForce VME Board VFI 41 Digital Input Output Board DIO 42 Auxiliary Processor AWC With 68060 CPU 42 Optional Equipment 43 Compact Interface Panel CIP 43 Manual Control Pendant MCP 43 AdeptWindows 43 Color Monitor 44 Extended Keyboard 44 Third Party Terminals for Text Based User ...

Page 37: ...5 chassis has an auto ranging 100 120 200 240 VAC single phase 250 watt power supply The chassis is cooled by a fan located in the lower front section Incoming air is cleaned by a reusable filter Adept MV 10 Controller The Adept MV 10 controller is a 10 slot chassis that is available in either a stand alone or robot configuration see The stand alone version stands horizontally and can be mounted i...

Page 38: ...2 3 4 ON 2 3 4 1 V I D E O B U S M O N I T O R KEYBOARD OK VGB I N P U T S O U T P U T S I N P U T S O U T P U T S DIO FAIL PASS 1 2 3 4 F P M C P D R I V E A 6 7 8 5 ON 2 3 4 1 OK SIO R S 2 3 2 R S 2 3 2 R S 2 3 2 I O 2 4 V 1 0 0 m A E T H E R N E T OK ESTOP ACC V SCSI RESET HPE 2 4 6 ES 1 3 5 VJI AMPLIFIER SIGNAL ARM SIGNAL BELT ENCODER WARNING FOR CONTINUED PROTECTION AGAINST RISK OF FIRE REPLA...

Page 39: ...THIS MODULE UNLESS HIGH VOLTS LED IS COMPLETELY EXTINGUISHED PWM ON LOW VOLTS ON OPEN CKT FAULT HV SAG OVER TEMP HIGH VOLTS ON A PHASE SHORT FAULT B PHASE SHORT FAULT C PHASE SHORT FAULT C O N T R O L S I G N A L A AMP M O T O R P O W E R O U T P U T DO NOT REMOVE OR INSTALL THIS MODULE UNLESS HIGH VOLTS LED IS COMPLETELY EXTINGUISHED adept technology inc HPE 2 4 6 ES 1 3 5 VJI AMPLIFIER SIGNAL AR...

Page 40: ...indows pull down menus icons buttons and slide bars The graphical elements are created using V programming instructions The graphics option also allows connection of a high resolution color monitor optional and an AT style keyboard with an integrated trackball optional Text Based Options The nongraphical configuration for the Adept MV controller consists of a character based user interface for the...

Page 41: ... detail in a separate chapter in this user s guide System Input Output Board SIO The System Input Output board SIO is a two slot 6U VME board that can handle mass storage and serial I O for an Adept controller The SIO board features include 3 5 high density 1 44 MB floppy drive Internal hard drive 1 4 GB Three general purpose RS 232 serial I O ports See for more details Adept Graphics Board VGB Th...

Page 42: ...eyor belt tracking from an external encoder See 1 for more details Up to four MI6 MI3 boards can be installed in an Adept controller as long as there is sufficient processing power and sufficient available slots Adept VME Enhanced Joint Interface Board EJI The Adept VME Enhanced Joint Interface board EJI is required when an Adept robot or Adept Modules are installed in an Adept controller system T...

Page 43: ...iary Processor AWC With 68060 CPU The Adept AWC board with 68060 CPU can be used as auxiliary system processor to add increased processing performance to an Adept system An auxiliary processor can be assigned to handle the processing operations for AdeptMotion VME AdeptVision and Force Sensing or with the optional V Extensions Software License can run multiple instances of the V operating system T...

Page 44: ... that can be added to any Adept controller system that includes a CIP The MCP connects to the front of the CIP The pendant has a palm activated MCP enable switch connected to the remote emergency stop circuit The MCP is often used to manually control a robot or motion device during system development The MCP includes function keys and a 2 line by 40 character LCD display that are fully programmabl...

Page 45: ...resolution of 1024 dots horizontal by 768 lines vertical Extended Keyboard For an Adept controller with the VGB option Adept offers an optional extended keyboard with an integrated trackball Third Party Terminals for Text Based User Interface Controllers For Adept controllers without the VGB or AdeptWindows option the user must supply a terminal to interface to the controller The terminal must be ...

Page 46: ...e for motion control of both simple and complex non Adept robots and other factory mechanisms The hardware consists of an Adept controller with one or several AdeptMotion Interface boards MI3 MI6 installed The AdeptMotion VME control software runs on the V operating system This product can be integrated into an Adept automation system with additional features such as vision guidance and inspection...

Page 47: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 48: ...n 55 Fuse Information MV 5 and MV 10 55 Procedure to Remove Fuse Holder 56 Fan and Filter Information MV 5 and MV 10 56 Cooling Fan 56 Filter Inspection and Cleaning 57 Compact Controller Installation 57 Adept MV 4 Insert Overview 57 Removing and Installing Boards 59 VME Bus Slot Ordering 59 Requirements for Installing Boards on the Backplane 59 VME Bus Address Settings 60 Upper Backplane Jumper P...

Page 49: ...tion Procedure 67 Installing a Stand Alone Controller in a Rack or Panel 67 Space Around the Chassis 68 Rack Mounting 68 Panel Mounting 68 Installing a Robot Controller in a Rack or Panel 69 Space Around the Chassis 69 Rack Mounting 70 Panel Mounting 70 MV 5 and MV 10 Controller Technical Specifications 72 MV 4 Insert Technical Specifications 72 Artisan Technology Group Quality Instrumentation Gua...

Page 50: ...hat the carrier s agent be present at the time the container is unpacked Upon Unpacking Compare the actual items received not just the packing slip with your equipment purchase order and verify that all items are present and that the shipment is correct Inspect each item for external damage as it is removed from its container If any damage is evident contact Adept at the numbers listed in How Can ...

Page 51: ...wn The Adept controller meets the requirements of EN 60204 1 EN 61131 2 IEC 204 IEC 1131 2 IEC 73 and IEC 447 safety standards To maintain compliance with these standards the controller must be installed and used properly with any additional equipment in strict accordance with these standards For more information about safety and standards compliance see Safety on page 30 Standards Compliance on p...

Page 52: ...ct with a method for user service personnel to lock the power in the off position This is required for safety including national and international standards such as OSHA Lockout Tagout USA Free space around controller for proper cooling Robot controller vertical mounting 25 mm at top and bottom Stand alone controller horizontal mounting 25 mm at left and right sides Chassis protection class unmoun...

Page 53: ...2 Adept MV Controller User s Guide Rev B IEC 204 1 EN 60204 1 Failure to provide and use a suitable disconnect device could cause death or injury to personnel Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 54: ...ine spikes not directly due to lightning strikes are not exceeded Transient overvoltage at the point of connection to the power source shall be controlled not to exceed overvoltage category II i e not higher than the impulse voltage corresponding to the rated voltage for the basic insulation The user supplied equipment or transient suppressor shall be capable of absorbing the energy in the transie...

Page 55: ...e fuse holder containing the two incoming AC line fuses spare fuses are stored in the fuse holder see Figure 3 2 the AC power cord socket Figure 3 1 MV 5 MV 10 Power Entry Module The CIP System Power Switch The system power switch on the CIP does not directly control AC power to the controller Rather it is designed to switch a relay that controls AC power to the controller and to any other equipme...

Page 56: ...nd conductor colored green yellow in the power cord is internally connected to the exposed metal parts of the MV Controller To ensure electrical shock protection the protective ground conductor must be connected to a properly grounded power source Ensure that a proper protective ground connection exists before turning on the power Fuse Information MV 5 and MV 10 The two fuses F1 and F2 at the powe...

Page 57: ...ting specifies a 5 amp slow blow type Figure 3 2 MV 5 MV 10 Fuse Holder Fan and Filter Information MV 5 and MV 10 Cooling Fan The chassis is cooled by an internal fan On a robot controller the air intake is through the bottom of the chassis and the exhaust is out through the top On a stand alone controller the air intake is through the right side of the chassis and the exhaust is out through the l...

Page 58: ...upply It plugs into the right two amplifier slots of a PA 4 amp chassis and receives its power from an amplifier receptacle in the PA 4 chassis When the left slots of the PA 4 chassis are loaded with amplifiers the whole unit becomes a small self contained robot controller called the Compact Controller The Compact Controller can control and power the Cobra series of robots and the Adept Modules li...

Page 59: ...hapter 3 Compact Controller Installation 58 Adept MV Controller User s Guide Rev B Figure 3 3 Adept MV 4 Insert Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 60: ... from slot 1 The slot ordering of the Compact Controller is opposite the slot ordering of the MV 5 and MV 10 Subject to the restrictions listed below after you have placed an AWC in slot 1 you are free to place any other board in any other slot Requirements for Installing Boards on the Backplane For the MV 5 and MV 10 additional boards should generally be added to the chassis from left to right st...

Page 61: ... but connects only to the P1 connector in one slot On a typical controller any required jumper plugs are factory installed You do not have to do anything with jumper plugs unless you change the position of the boards in the controller Refer to the following information Five user supplied backplane jumper plugs must be installed on any unused slots in the card cage that are between slots with insta...

Page 62: ...lot 4 No jumpers required for slot 1 or 5 Slot 2 Slot 3 Slot 4 Slot 5 P1 Backplane Edge Connectors for Adept MV 10 Slot 4 Slot 5 Slot 6 Slot 7 Slot 8 Slot 9 Slot 10 No jumpers required for slot 10 Slot 1 Slot 2 Slot 3 Jumper location for slot 2 Jumper location for slot 5 Jumper location for slot 4 Jumper location for slot 3 Jumper location for slot 6 Jumper location for slot 7 Jumper location for ...

Page 63: ...t For safety and functional reasons you must obtain approval from Adept BEFORE adding third party boards to the Adept controller An optional software license is also required Please contact Adept Applications Engineering see page 34 Removing Boards 1 Turn off the controller 2 Loosen the captive screws at the top and bottom of the board 3 Lift up on the top handle and push down on the bottom handle...

Page 64: ...t the top and bottom of the card cage Slide the board in slowly Apply straight forward pressure to the two handles on the outer edge of the board until it is firmly seated in the backplane connector and the face of the board is flush with the other boards 5 Tighten the captive screws at the top and bottom of the board It should not be necessary to use excess pressure or force to engage the connect...

Page 65: ...an connect to the optional VGB board See the for details on using the keyboard and trackball See Figure 3 6 for details the steps are listed below 1 Make sure the controller is turned off before making any connections 2 Verify that the voltage range marked on the monitor is compatible with your local voltage source Connect the color monitor AC power cord to the monitor then plug it into an appropr...

Page 66: ...patible with certain standards to work successfully with the VGB Board see Chapter 6 for details Note that the Adept supplied monitor and keyboard are certified to meet the requirements of EN 60204 1 and other international standards Installation of a non Adept peripheral may not meet these standards P O I N T E R 1 2 3 4 ON 2 3 4 1 V I D E O B U S M O N I T O R KEYBOARD OK VGB Color Monitor Keybo...

Page 67: ...erminal emulation software For DOS or Windows compatible computers the programs ProComm and ProComm for Windows available from many computer stores include software emulation for the Wyse 75 It is also possible to use ASCII terminals VT 100 compatible preferred However some functions such as the SEE editor will be unusable Recommended Terminal for Systems Without a VGB or AdeptWindowsPC The recomm...

Page 68: ...ns 2 Verify that the voltage range marked on the terminal is compatible with your local voltage source Connect the AC power cord to the terminal then plug it into an appropriate voltage source 3 Connect a suitable serial cable between the terminal and the RS 232 Term connector on the system processor board 4 If the terminal is a Wyse 60 use the setup mode to set the personality to WY 75 If you are...

Page 69: ...nting brackets from the accessories kit See Figure 3 7 for instructions See Appendix A for dimensions Figure 3 7 Rack Mounting for MV 5 MV 10 Stand Alone Controller Panel Mounting To panel mount the Adept MV 5 or MV 10 stand alone controller you must use the mounting brackets and screws from the accessories kit See Figure 3 8 for instructions Front Side View of MV 5 or MV 10 To install mounting br...

Page 70: ...n accordance with this standard Space Around the Chassis When the robot controller is installed you must allow 25 mm 1 inch at the top and bottom of the chassis for proper air cooling You must also allow 75 mm 3 inches at the front of the chassis for power and signal cable clearance The air filter must be kept clean so the forced air cooling system can work efficiently See Chapter 13 for details o...

Page 71: ... it to the bracket on one side of the controller The controller can be joined to an Adept PA 4 power chassis and mounted in a rack Refer to the robot instruction handbook that comes with the robot for information Panel Mounting To panel mount the Adept MV 5 or MV 10 robot controller install one bracket on each side near the back of the controller Use the screws and washers from the accessories kit...

Page 72: ...ers from accessories kit Repeat process for other side of controller Note See Appendix A for dimensions of the controller and mounting brackets To install mounting brackets on MV 5 or MV 10 robot controllers Remove and discard 3 existing countersunk screws from side of chassis at locations shown on drawing Place bracket in desired position and secure with indicated M4 screws and washers from acces...

Page 73: ...MV 5 and MV 10 Controllers MV 5 MV 10 Input Voltagea a See Table 3 2 for complete information on input power and Table 3 4 for fuse ratings 100 120 and 200 240 VAC auto ranging 100 120 and 200 240 VAC auto ranging DC Power Supply total 250 W 350 W Isolation Voltage Power Supply 3 kV input to output 1 5 kV line to PE Class 1 3 kV input to output 1 5 kV line to PE Class 1 Isolation Voltage AC Line F...

Page 74: ...PC Graphical User Interface 80 VGB Graphical User Interface 80 ASCII Terminal 81 AUTO Boot 81 CPU Board Number Assignment 81 System Controller Jumper Settings 81 Ethernet Connections 82 AWC Module Serial I O Ports 82 Serial Port 1 RS 232 TERM 82 Terminal Mode ASCII Terminal Interface 83 Used With a VGB Interface 83 Serial Port 2 RS 232 83 RS 422 485 Connector 83 LED Status Indicators on the AWC 85...

Page 75: ...uring compact flash reads and writes the HD LAN LED pulses red When the AWC is active on an Ethernet network the HD LAN LED pulses green Two RS232 ports and one RS422 485 port See 6 78 Ethernet connector Shielded RJ45 receptacle that supports 10 BaseT communications See connector accepts a standard 50 pin cable that routes signals and information to the Note that the does not communicate in format...

Page 76: ...ses a 25 MHz 68040 processor with 8 MB RAM The AWC 060 uses a 50 MHz 68060 with 24 MB RAM See for the location of the CPU on the board The performance of each board depends on the application and the way the application program is written Typically the AWC 060 has 1 5 to 2 times the processing power of the AWC 040 4 3 2 1 ON OFF Memory Expansion PCA Jumper JP2 Processor DIP Switch SW1 i960 FlashRA...

Page 77: ... CF capacity shipped with AIM systems is presently 30 MB this may be increased in the future The optional SIO board can be added to any AWC system assuming two empty slots are available to add hard drive floppy drive and additional serial port capabilities With AdeptWindowsPC systems you can use the supplied NFS software to remotely mount hard drives Compact Flash is addressed as drive D Drive let...

Page 78: ...act Flash mass storage 8 or 30 Mb Electrical Power Consumption 5V 4A 12V 1 A 12V 0 5 A 24V 0 5 A Environmental Temperature Operating 0 C to 55 C cooling air exit Nonoperating 40 C to 85 C Humidity Operating 10 80 Nonoperating 10 90 System I O DeviceNet with CANbus interface Four Fast Inputs 0 24VDC 5mA Auxiliary I O Via I2C 12 digital inputs and 8 outputs 32 digital inputs and outputs JSIO connect...

Page 79: ...e factory default settings for DIP switch SW1 are as follows With this default DIP switch setting the system will read the configuration data from the NVRAM chip This allows you to set all the configuration options in software without changing the physical DIP switches See the description of the CONFIG_C program in the Table 4 2 DIP Switch SW1 Default Settings SW 4 SW 3 SW 2 SW 1 Interpretation OF...

Page 80: ...r interface via serial port ON ON OFF OFF CPU 1 no auto boot user interface via serial AdeptWindows ON OFF ON ON CPU 1 no auto boot user interface via Ethernet AdeptWindows use IP address in 9 ON OFF ON OFF CPU 1 no auto boot user interface via Ethernet AdeptWindows use default IP address ON OFF OFF ON Reserved for future use ON OFF OFF OFF Reserved for future use OFF ON ON ON Reserved for future ...

Page 81: ... a cross over cable that swaps the placement of the transmit and receive pairs on the opposite ends VGB Graphical User Interface When using the VGB graphical user interface DIP switch SW1 must be set as follows Table 4 4 AdeptWindows Interface DIP Switch SW1 Settings SW 4 SW 3 SW 2 SW 1 Interpretation ON ON OFF OFF CPU 1 no auto boot user interface via serial AdeptWindows ON OFF ON ON CPU 1 no aut...

Page 82: ...ss The address is set on DIP Switch SW1 on the AWC board 9 4 shows the switch settings for all processor module combinations including CPU 1 and CPU 2 See for the location of DIP switch SW1 System Controller Jumper Settings In Adept controllers this jumper should not be installed Table 4 6 ASCII Terminal Settings of DIP Switch SW1 SW 4 SW 3 SW 2 SW 1 Interpretation ON ON OFF ON CPU 1 no auto boot ...

Page 83: ...ne RS 422 485 port see Systems using a programmer s terminal ASCII connect through the RS 232 Term port on the AWC module Figure 4 2 AWC Connectors Serial Port 1 RS 232 TERM The RS 232 Term connector is an 8 pin circular mini DIN female connector see The pin assignments and locations are shown in 9 4 This port supports the DTR DCD RTS and CTS signals used for hardware handshaking also known as mod...

Page 84: ...ot for connecting any user supplied terminals This port is designated LOCAL SERIAL 3 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 RS 422 485 Connector The RS 422 485 connector see is a 6 pin circular mini DIN female connector The pin assignment are shown in 9 4 1 RS 422 485 is a point to ...

Page 85: ...e the CONFIG_C utility program or the V FSET program instruction This port is designated LOCAL SERIAL 1 Table 4 9 RS 422 485 Connector Pin Assignments Pin Signal Type 1 GND Ground 2 GND Ground 3 TXD Output 4 RXD Input 5 TXD Output 6 RXD Input Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 86: ... 10 LED Status Indicators LED Display 1 2 3 Error Description O O O 0 No error O O R 1 System clock is dead or too fast Clock interrupts are not being received O R O 2 Hardware configuration error Address switches SYSCTL wrong O R R 3 Graphics board failure VGB not responding R O O 4 Memory test failure Free storage error R R O 6 Software serial I O configuration error G O O C Uninitialized trap G...

Page 87: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 88: ... JSLV 92 DeviceNet JDVC 92 Digital I O Connections 92 Installation of the Controller Interface Panel CIP 93 Location of the CIP 94 Connecting the CIP to the AWC 94 Connecting the MCP to the CIP 96 MCP Cradle 96 MCP Requirements 97 The MCP Bypass Plug 97 Connecting Customer Supplied Safety and Power Control Equipment to the CIP 98 Emergency Stop Circuit 103 Remote Sensing of CIP MCP and User Emerge...

Page 89: ...12 113 Fast Input Signals 1001 to 1004 113 Output Signals 114 Digital I O Connector Ordering Details Third Party Sources 116 AMP Part Numbers for 50 Pin Male D Sub 117 Thomas and Betts Part Numbers for 50 Pin Male D Sub 117 Screw Terminal Field Wiring Adapter Blocks 117 Phoenix Contact Inc 117 Weidmüller 118 Extended Digital I O Signals 119 Extended I O Inputs 119 Extended I O Outputs 122 Testing ...

Page 90: ...passive E Stop that supports Category 3 CE safety requirements It supports a customer programmable ESTOP delay that maintains motor power for a programmed time after the ESTOP is activated This allows the motors to assist in stopping the robot The programmable ESTOP is described in a paper available through Adept On Demand see 250mm s 100 STOP MCP NET Manual Control Pendant Connector Manual Mode A...

Page 91: ...request must be sent from the system terminal an executing program or the manual control pendant Once this request has been made the operator must press this button and high power will be applied High Power cannot be enabled if this lamp is burned out See 5 3 for details MCP Connector The Manual Control Pendant MCP plugs into this connector The CIP works only with the MCP III P N 10332 11000 Assem...

Page 92: ... Connector JUSER All switch functions on the CIP can be duplicated external to the CIP using signals from this connector For example an external ESTOP can be connected to the User connector and this will behave exactly like the ESTOP on the CIP Similarly there is an output on the User connector that can be used to stop external equipment when the CIP ESTOP is pressed See 3 for details Figure 5 2 C...

Page 93: ...d 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 instructions see the V Language Reference Guide for details See 1 for the connector pinouts See for details on connecting DeviceNet components Digital I O Connections There are ...

Page 94: ...nnect cable connecting the CIP connections on the AWC to the JAWC connector on the CIP The Manual Mode Safety Package MMSP option connects to the CIP using the JMMSP and JSIO connectors The MMSP is described in the robot instruction handbook for your robot system All the user connections to the AWC except for the serial ports and the Ethernet connectors are made via the CIP The CIP provides connec...

Page 95: ... wires of a minimum of 0 08mm2 28 AWG size The connectors should be wired so that pin 1 goes to pin 1 pin 2 goes to pin 2 and so on The twisted pairs in the cable must be wired to physically opposing contacts in the connector that is the first twisted pair goes to pins 1 and 26 the second to pins 2 and 27 and so on A shielded Micro D 50 male connector should be used on both ends The entire cable m...

Page 96: ...WITH 250V FUSES 100 240V 50 60HZ 5AF AWC STP SCR C VME SF A B D E N C O D E R M A C H I N E S E R V O MI6 HPE DE1 DE2 DE3 DE4 ES F1 F2 F3 F4 DE5 DE6 F5 F6 HPE 2 4 6 ES 1 3 5 EJI AMPLIFIER SIGNAL ARM SIGNAL BELT ENCODER C A M E R A S S T R O B E S EVI VIDEO BUS P O I N T E R 1 2 3 4 ON 2 3 4 1 V I D E O B U S M O N I T O R KEYBOARD OK VGB MV 10 Controller With AWC Board 1 8m 6 ft SCSI Interface Cab...

Page 97: ...witch to LOCAL O This will prevent program execution from being started from keyboard or terminal Plug the MCP into the connector marked MCP on the CIP The jack and plug are keyed to ensure proper connection The CIP connector is an AMP 16 pin circular plastic male connector A female connector is used on MCP cable MCP Cradle The MCP is stored in the MCP cradle when it is not being held by an operat...

Page 98: ...n tested to withstand 500 V of repetitive electrical bursts per EN61000 4 4 Exposing the MCP to voltages higher than 500 V may cause the robot to shut down In this event it may be necessary to unplug then reconnect the MCP to restart the robot The MCP Bypass Plug The MCP Bypass plug is optional and must be installed when not using the MCP The Adept part number for this plug is P N 10335 01060 Arti...

Page 99: ... off momentary PB used to enable High Power No 4 23 User E Stop CH 1 mushroom PB safety gates remote MCP E stop etc N C contacts Yes 5 24 User E Stop CH 2 same as pins 4 and 23 N C contacts Yes 6 25 Remote ENABLE hold to run N O contacts make to enable Use for Remote MCP Yes 7 26 Remote ENABLE hold to run N O contacts make to enable Use for Remote MCP Yes 8 27 Muted safety gate CH 1 causes E stop ...

Page 100: ...cts are closed when CIP MCP and user E stops are not tripped 15 34 MANUAL AUTO indication CH 1 Contacts are closed in AUTOMATIC mode 16 35 MANUAL AUTO indication CH 1 Contacts are closed in AUTOMATIC mode Nonvoltage Free Contacts 2 21 Adept Supplied 5 VDC and GND for High Power On Off Switch Lamp Use with Remote High Power On Off switch above See 3 for current limits 3 22 User Supplied 24 VDC for ...

Page 101: ...5 3 Remote MCP Connections on the JUSER Connector Pin JUSER Pin MCP Description 37 1 9 Logic GND 17 3 MCP TXD 18 2 MCP RXD 19 5 12 VDC max 350mA 36 8 12 VDC max 50mA 4 23 Note 1 6 7 MCP E stop PB CH 1 5 24 Note 2 11 12 MCP E stop PB CH 2 6 25 Note 2 13 15 MCP Enable CH 1 Hold to run 7 26 Note 2 14 16 MCP Enable CH 2 Hold to run Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOU...

Page 102: ...0 mm s Auto 100 MM1 MM2 Muted Safety Gate Active in auto mode only Jumper closed when not used DM1 JP3 DM1 MCP Enable Switch MM1 MM2 MM1 MM2 MM1 MM2 24 V Test ES1 ES1 ES2 ES2 ESTOPSRC 2200 uF V IN1 V IN1 V IN2 V IN2 Compact Interface Panel E stop and MANUAL AUTO Controls E E E E E See 0 for details on the V IN coils Controller Interface Panel E Stop and MANUAL AUTO Controls User Supplied Connectio...

Page 103: ...mote High Power Power On Off momentarty P B switch lamp 5 6V 0 3A max If JP2 installed them min current 100mA High Power On Off System Power CC1 JP2 1A PTC Fuse 4 7 VREF 0 24V diode forward voltage drop 4 7 Compact Interface Panel Remote Connections Remote High Power on off Momentary P B switch lamp 5 6V 0 3A max If JP2 installed then min current 100mA Central Control High Power on off Momentary s...

Page 104: ... pin connector on the SIO board These JSIO pins are 41 to 43 and 42 to 44 see 0 and 9 4 for the customer E stop circuitry The two required connections will be arranged in series These pins must be shorted if not used Both channels must open independently if used Although an Emergency Stop will occur the CIP will malfunction if one channel is jumpered closed and the other channel is opened It will ...

Page 105: ...tegory 3 operation see and 9 4 for the customer E stop circuitry Muted Safety Gate E Stop Circuitry Two pairs of pins on the 2 connector pins 13 32 and 14 33 provide connections for a safety gate designed to yield an E stop allowing access to the workspace of the robot in 0 mode only not in Automatic Mode The E stop is said to be muted in 0 mode see 9 4 and 9 4 for the customer E stop circuitry Th...

Page 106: ...or 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 The two channel Manual Automatic Mode select circuit is designed to fail to the highest...

Page 107: ... Implementation of either method must conform to EN standard recommendation The European standard EN 775 Ind Robots Part 6 Recommendations for Safety Item 7 2 5 Emergency Stop reads Each robot system operator station shall have a readily accessible emergency stop device The manual intervention and reset procedure to restart the robot system after an emergency stop shall take place outside the rest...

Page 108: ...wise there is no minimum current The third pair of pins which provide for more restricted operation complying with the EN 775 recommendation will prevent the use of the Central Control High Power On Off when the system is in Manual Mode This function will work only when the keyswitches on the CIP are in the following positions Operating keyswitch is in the Automatic Mode Control keyswitch is in th...

Page 109: ... Mode Safety Package MMSP Connector The CIP also provides a connection for a user supplied MMSP circuit see 9 4 and 9 4 for the customer MMSP circuitry Remote User Panel Connections The CIP provides connections for a remote user panel circuitry that allows a second user panel at another location see 9 4 and 9 4 for the customer remote user panel circuitry Remote MCP Connections For the following r...

Page 110: ...e MCP is connected remotely using the remote MCP connection on the JUSER connector wire the MCP enable switch of the MCP to these pins These pins must be shorted if not used The MCP III uses only one switch channel for the Enable function The MCP ESop button uses two channels The MCP Enable switches E stop channel 1 directly while channel 2 is switched by a sense relay DM1 in This means that only ...

Page 111: ...tor is a 9 pin DB 9 male receptacle The signal and pin information are shown in 9 4 See the V Language User s Guide for information on serial I O See the Instructions for Adept Utility Programs for default configuration information using the 7 8 program The serial port on the CIP can be configured for use at up to 38 400 bps Figure 5 8 JCOM Pin Locations The serial port on the CIP does not provide...

Page 112: ... sources or grounds The electrical characteristics of the inputs are similar to the JSIO signals but the outputs have a higher voltage rating 30VDC vs 24VDC and a higher current rating than the JSIO outputs The signals on the JDIOx connectors can be superseded by a DIO board that is installed and addressed as DIO board 1 To use both the JDIOx signals and DIO boards address the first DIO board as D...

Page 113: ...se are examples Either method can be used on any channel Table 5 5 DIO Input Circuit Specifications JSIO connector Operational voltage range 0 to 24 VDC Off state voltage range 0 to 3 VDC On state voltage range 10 to 24 VDC Typical threshold voltage Vin 8 VDC Operational current range 0 to 6 mA Off state current range 0 to 0 5 mA On state current range 2 to 6 mA Typical threshold current 2 5 mA Im...

Page 114: ...uctions 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 User power supply Example 1 Example 2 Example 3 User power supply Signal 1001 Signal 1002 Signal 1003 Signal 1004 Signal 1005 Signal 1006 Signal 1007 Signal 1008 Sign...

Page 115: ...t be configured using the CONFIG_C utility program and DIP switches on the EVI board It does not require the optional V Extensions License See for more details Output Signals The JSIO connector handles output signals 0001 to 0008 On systems with the Manual Mode Safety Package MMSP output channels 0006 to 0008 are used by the MMSP and are not available for users Refer to 9 4 for output specificatio...

Page 116: ...2 User power supply Signal 0001 equivalent circuit Signal 0002 Signal 0003 Signal 0004 Signal 0005 Signal 0006 Signal 0007 EMERGENCY STOP CONNECTIONS See chapter 3 for a description of Emergency Stop Circuit Signal 0008 Adept Supplied Equipment User Supplied Equipment Typical Examples Load Load Load Load JSIO Digital I O Connector on the CIP Outputs 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 ...

Page 117: ...003 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 41a a Pins 41 42 43 and 44 See 0 and 9 4 for more information Auxiliary E Sto...

Page 118: ...uantity 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 B Thomas Betts Sales USA 800 888 0211 Australia 037 750533 Canada 514 347 5318 France 1 46 87 23 85 Germany 06103 4040 Japan 03 379 16411 Korea 276 10398 Singapore 756 ...

Page 119: ...ion module 50 pin female D Sub with jackscrews Weidmüller Sales USA 800 849 9343 or 804 794 2877 Australia 047 354211 Canada 416 475 1507 Germany 05231 4510 France 1 34 50 34 50 Japan 035 820 5747 Singapore 296 6133 UK 01795 58099 Source Weidmüller USA Sept 1994 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 120: ...ups of eight Each group is electrically isolated from the other groups and is optically isolated from the CIP circuitry The eight inputs within each group share a common ground The inputs are accessed through the two 26 pin D sub input connectors on the rear of the CIP Each connector provides access to two input groups Each group requires ten pins eight input signals and two ground references An i...

Page 121: ... latency for fast inputs 1001 to 1004 when used with V INT EVENT instruction Turn on response time hardware Software scan rate response time 5 µsec maximum 16 ms scan cycle 32 ms max response time Turn off response time hardware Software scan rate response time 5 µsec maximum 16 ms scan cycle 32 ms max response time Table 5 8 DIO Extended Input Specifications Continued Artisan Technology Group Qua...

Page 122: ...y DIO Module Input Group 1 Wiring Terminal Block Typical User Input Signals Input Group 2 P1 Connector 26 Pin Female D Sub Input Group 3 Signals 1049 1056 Input Group 4 Signals 1057 1064 P2 Connector 26 Pin Female D Sub Adept Digital Input Cable optional equivalent circuit Adept Supplied Equipment Wiring Terminal Block Adept Digital Input Cable optional P1 Connector 26 Pin Female D Sub User Suppli...

Page 123: ... 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 sy...

Page 124: ...should be used A total of nine power pins are provided to allow for more wire connections to decrease the voltage drop across the power supply wires If you experience an excessive voltage drop make connections to additional power pins to a maximum of nine The ground connection should connect to the power supply directly not the ground connection of the load This will isolate the board from any vol...

Page 125: ...9 31 32 33 34 35 36 21 Group 2 Return 22 Group 2 Test 7 Signal 0041 6 Signal 0042 5 Signal 0043 4 Signal 0044 3 Signal 0045 2 Signal 0046 1 Signal 0047 16 Signal 0048 M User DC Power Supply Connect module power return directly to power supply if possible Load Load Load Load Load Load Load Load Load Load Output Group 2 Group 1 Power Pins see text Group 2 Power Pins see text L N equivalent circuit A...

Page 126: ...lation so that the cables do not get swapped by mistake see the warning below The JDIO3 and JDIO4 output connectors are also similar except that JDIO3 handles the group 1 and group 2 output signals and JDIO4 handles the group 3 and group 4 output signals The optional digital output cables can be connected to either JDIO3 or JDIO4 Make sure to clearly label the cables once you have completed your i...

Page 127: ...k JDIO1 18 1 1039 black red JDIO1 9 1 1040 red black JDIO1 25 1 group 1 return blue red JDIO1 26 1 group 1 return red green JDIO1 10 2 1041 green black JDIO1 1 2 1042 black JDIO1 11 2 1043 orange black JDIO1 2 2 1044 white JDIO1 12 2 1045 blue black JDIO1 3 2 1046 red JDIO1 13 2 1047 black white JDIO1 4 2 1048 green JDIO1 19 2 group 2 return white red JDIO1 20 2 group 2 return orange red Pin 1 Pin...

Page 128: ...JDIO2 18 3 1055 black red JDIO2 9 3 1056 red black JDIO2 25 3 group 3 return blue red JDIO2 26 3 group 3 return red green JDIO2 10 4 1057 green black JDIO2 1 4 1058 black JDIO2 11 4 1059 orange black JDIO2 2 4 1060 white JDIO2 12 4 1061 blue black JDIO2 3 4 1062 red JDIO2 13 4 1063 black white JDIO2 4 4 1064 green JDIO2 19 4 group 4 return white red JDIO2 20 4 group 4 return orange red Pin 1 Pin 9...

Page 129: ...white blue JDIO3 43 1 power white red blue JDIO3 44 1 power black white green JDIO3 28 1 group 1 return white black red JDIO3 29 1 group 1 test red black white JDIO3 7 2 0041 white black JDIO3 6 2 0042 blue JDIO3 5 2 0043 orange JDIO3 4 2 0044 green JDIO3 3 2 0045 red JDIO3 2 2 0046 white JDIO3 1 2 0047 black JDIO3 16 2 0048 blue white JDIO3 17 2 power black red JDIO3 18 2 power white red JDIO3 19...

Page 130: ...white blue JDIO4 43 3 power white red blue JDIO4 44 3 power black white green JDIO4 28 3 group 3 return white black red JDIO4 29 3 group 3 test red black white JDIO4 7 4 0057 white black JDIO4 6 4 0058 blue JDIO4 5 4 0059 orange JDIO4 4 4 0060 green JDIO4 3 4 0061 red JDIO4 2 4 0062 white JDIO4 1 4 0063 black JDIO4 16 4 0064 blue white JDIO4 17 4 power black red JDIO4 18 4 power white red JDIO4 19...

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Page 132: ...ctions and Indicators 133 DIP Switch Settings 134 VME Bus Address 134 Monitor Video Interface 135 Keyboard Interface 136 Pointer Interface Mouse Trackball or Touchscreen 137 VGB Board Specifications 137 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 133: ...nctional replacement for the VGB allowing the use of a PC to display graphics The VGB is a single slot 6U VME board that serves as the graphics processor and controls the video output to the color monitor The VGB has connectors for the monitor keyboard and pointing device mouse trackball etc The VGB also has a direct video bus connection to the EVI board in AdeptVision systems Artisan Technology G...

Page 134: ...le 6 1 for functions Pointer connector a 9 pin male D sub connector for the pointer cable from the Adept integrated keyboard trackball Can also be used for a mouse or touchscreen See page 137 for details Keyboard connector a 5 pin female DIN connector for the keyboard cable from the Adept integrated keyboard trackball See page 136 for details NOTE On a graphics based system the V system monitor wi...

Page 135: ...ept logo display at boot up ON disables logo display 2 OFF the pointer is a mouse Microsoft serial mouse protocol 1200 bps ON the pointer is a touchscreen ELO TouchSystems protocol 1200 bps 3 OFF U S keyboard ON Japanese keyboard 4 Adept internal use only should be set to OFF If you change the settings you must reboot turn controller off then on before the changes take effect Artisan Technology Gr...

Page 136: ...put 9 Not connected 2 Green Video Output 10 Ground 3 Blue Video Output 11 Ground 4 Ground 12 Not connected 5 Self Test Ground 13 Horizontal Sync 6 Red Video Ground 14 Vertical Sync 7 Green Video Ground 15 Not connected 8 Blue Video Ground Table 6 3 Monitor Compatibility Specifications Video Display Resolution 1024 x 768 pixels Frame Rate 60 Hz Format Noninterlaced Line Rate 48 363 kHz Dot Rate 65 ...

Page 137: ...ional synchronous serial interface The keyboard communicates with the UART on the VGB via the clock and data lines The keyboard input uses a standard 5 pin DIN connector The Keyboard connector pin assignments are shown in Table 6 4 Table 6 4 Keyboard Connector Pin Assignments Pin Signal 1 Clock 2 Data 3 not connected 4 Ground 5 5 VDC Pin 1 Pin 5 Pin 6 Pin 10 Pin 15 Pin 11 Artisan Technology Group ...

Page 138: ...e This port operates at 1200bps See Connections and Indicators on page 133 for configuration and compatibility VGB Board Specifications Table 6 5 Pointer Connector Pin Assignments Pin Signal Pin Signal 1 Shield 6 not connected 2 Transmit Data from pointer 7 12 VDC RTS 3 Receive Data to pointer 8 not connected 4 not connected 9 not connected 5 Signal Ground Table 6 6 Technical Specificationsa a Spe...

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Page 140: ...s 145 High Resolution Cameras 145 Installing Video Bus Coupler 146 Camera Cables 147 Four Camera Breakout Cable for RS 170 Cameras 147 10 Meter Camera Extension Cables 148 Custom Pulnix TM 1001 Four Camera Breakout Cable 148 Custom Pulnix TM 1001 D sub to BNC Adapter Cable 150 Installing Camera Cables 151 Connecting the Cables to the RS 170 Standard Camera 151 Connecting the Cables to the Pulnix T...

Page 141: ...ch as the Pulnix TM 1001 and provide additional frame buffers for normal operation The EVI board features a dedicated processor for running convolutions For example the EVI board can process a 3 x 3 convolution on a 512 x 480 image in six milliseconds Refer to the AdeptVision User s Guide and the AdeptVision Reference Guide for complete information on installation configuration operations and prog...

Page 142: ... coupler in AdeptVision systems The other end of the coupler connects to the VGB board NOTE This connector is not used with an AdeptWindowsPC system that does not have a VGB Camera Strobe connector a 44 pin D sub connector for the four camera breakout cables V I D E O B U S C A M E R A S S T R O B E S EVI Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 143: ...tings The shaded cells indicate the settings that are different for each board See Figure 7 1 for the location of SW1 on the EVI board See Figure 7 2 for the position of the A and B settings NOTE When setting the switches you should rotate the board 90 degrees clockwise from the orientation shown in Figure 7 1 the VME bus connectors will be pointing toward you Figure 7 1 Switch Locations on EVI Bo...

Page 144: ...mmended for EVI board 1 or A POS_LATCH 2 and VIS_TRIGGER 2 recommended for EVI board 2 All other switches on SW1 should be set as shown above Acquisition Switch Setting Mode The acquisition mode switches are located on the EVI daughterboard There is one DIP switch bank SW1 and seven three position rotary switches SW2 SW8 that must be set See Figure 7 1 for the location of the acquisition mode swit...

Page 145: ...e 7 3 Acquisition Switch Settings for SW1 1 2 3 4 SW1 B B B B Table 7 4 Acquisition Switch Settings for SW2 SW8 SW2 SW3 SW4 SW5 SW6 SW7 SW8 Rotary Switch Slot Position Note Set SW5 to for pixel clock output Table 7 5 Acquisition Switch Settings for SW1 1 2 3 4 SW1 A B A A Table 7 6 Acquisition Switch Settings for SW2 SW8 SW2 SW3 SW4 SW5 SW6 SW7 SW8 Rotary Switch Slot Position A B C A B C A B C A B...

Page 146: ...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 The pixel resolution of the Adept frame store is 1Kx1K and will work with cameras with a resolution of 500 x 480 or greater If the camera lens etc are good quality the actual number of pixels does not affect compatibility because the i...

Page 147: ... used 1 Make sure the controller On Off switch is turned off 2 Verify that the EVI and VGB boards are installed next to each other in the controller 3 Plug the coupler into the video bus connectors on the EVI and VGB boards Figure 7 3 Video Coupling for a Two Camera Connection C A M E R A S S T R O B E S EVI P O I N T E R 1 2 3 4 ON 2 3 4 1 M O N I T O R KEYBOARD OK VGB Stro Con Video Bus Coupling...

Page 148: ...C Merrifield MN 56465 800 237 9576 Voice 218 765 3900 FAX See Tables 7 7 to 7 14 for pin and signal information Four Camera Breakout Cable for RS 170 Cameras This cable has a 44 pin D sub connector on one end and it breaks out to four 12 pin Hirose style camera connectors and one 9 pin D sub connector on the other end The length of the cable is 1 8 meters 70 inches Due to the current limitation of...

Page 149: ...9 pin D sub connector on the other end The length of the cable is 1 8 meters 70 inches This cable is used with the custom Pulnix TM 1001 D sub to BNC adapter breakout cable described in the next section ADEPT CABLE ASSY CAMERA INTERFACE 4X CAM 1 CAM 2 1 31 15 44 CAM 3 CAM 4 5 9 1 6 D sub Auxiliary Connector To Camera Strobe connector on EVI module Pin Signal 1 User 12V to cameras 2 User power retu...

Page 150: ...turn 5 Strobe 2 6 Frame Reset 1 7 Frame Reset return 8 Frame Reset 2 9 Shield chassis ground D sub Auxiliary Connector Pin Assignments To Camera Strobe connector on EVI board To Camera Strobe connector on EVI board D sub Auxiliary Connector Pin Assignments Pin Signal 1 User 12V to cameras 2 User power return 3 Strobe 1 4 Strobe return 5 Strobe 2 6 Frame Reset 1 7 Frame Reset return 8 Frame Reset 2...

Page 151: ...nd 5 Strobe 2 6 Frame reset 1 7 Frame reset return Gnd 8 Frame reset 2 9 Shield chassis ground D sub Auxiliary Connector Pin Assignments Strobe Frame Reset 1 Strobe Frame Reset 2 Power Ground Gray Yellow Red Orange Black White 9 pin D sub Connector D sub Auxiliary Connector Pin Assignments Pin Signal 1 User 12V to cameras 2 User power return Gnd 3 Strobe 1 4 Strobe return Gnd 5 Strobe 2 6 Frame re...

Page 152: ... EVI board Connecting the Cables to the RS 170 Standard Camera This section describes the steps for connecting the cables between the EVI board and the RS 170 Cameras 1 Turn off the Adept MV controller 2 Connect the camera to a 10m camera cable 3 Connect the 10m camera cable to the appropriate connection on the camera breakout cable 4 Connect the power supply and strobe lamps through the 9 pin D s...

Page 153: ...3 4 ON 2 3 4 1 M O N I T O R KEYBOARD OK VGB Strobe Power Connector User 12VDC Power Supply to Drive Cameras User Supplied 9 pin Male D Sub Connector Up to Two Optional Strobe Lamps Video Bus Coupling Installed Up to four cameras can be installed Four Camera Breakout Cable 10 Meter Camera Cable one for each camera VIDEO BUS Video Bus Coupling Installed 10 Meter Camera Cable one for each camera Up ...

Page 154: ...apter cable to the BNC connector on the back of the first Pulnix camera 7 Connect Strobe 1 on the BNC adapter cable to the first strobe light optional To connect a second Pulnix TM 1001 camera 1 Connect the 10 meter camera extension cable to breakout connector cam2 and the other end of the extension cable to the Hirose connector on the back of the Pulnix camera 2 Connect Frame Reset 2 on the BNC a...

Page 155: ...be installed Intercan Custom Breakout Cable see Figure 10 6 10 Meter Camera Cable one for each camera VIDEO BUS Cameras 3 and 4 not used Pulnix TM 1001 Cameras Strobe 1 Strobe 2 Intercon 1 custom break out cable see Figure 7 5 Video Bus Coupling Installed 10 Meter Camera Cable one for each camera Up to two cameras can be installed Intercon 1 Custom Cable see Figure 7 6 Strobe Power Connector Camer...

Page 156: ...mera cables Table 7 10 describes the 10 meter camera extension cable Table 7 11 describes signal information between the 44 pin connector and the camera and strobe power connectors for the four camera breakout cable The table is organized by camera number Table 7 12 describes signal information between the 44 pin connector and the camera and strobe power connectors for the Pulnix TM 1001 custom fo...

Page 157: ...he camera using the optional 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 7 9 for pin locations Table 7 8 Breakout Cable Camera Connector Pin Assignments for Pulnix TM 1001 Pin Function Notes 1 Power return 2 12V power to camera 3 Shield video 4 Video from camera 5 Shield Hd 6 Hd hor...

Page 158: ...te this connector will mate with the 9 pin D Sub male plug on the BNC adapter cable Table 7 10 Adept 10 Meter Camera Cable Pin Assignments Pin at controller end male Function Notes Wire Color typical Pin at camera end 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 shield 5 6 Hd horizontal drive to camera o...

Page 159: ...4 discrete conductors and overall shield At each end the shield is clamped to connector body Table 7 11 Four Camera Breakout Cable Pin Assignments From Pin To Pin Function Str Pwr 2 CAM1 1 Power return Str Pwr 1 CAM1 2 12V power EVI 12 CAM1 3 Shield video EVI 42 CAM1 4 Video EVI 38 CAM1 5 Shield Hd Table 7 10 Adept 10 Meter Camera Cable Pin Assignments Continued Pin at controller end male Function...

Page 160: ...eld Clock EVI 20 CAM2 9 Clock CAM2 10 not connected CAM2 11 not connected EVI 35 CAM2 12 Shield Vd Str Pwr 2 CAM3 1 Power return Str Pwr 1 CAM3 2 12V power EVI 14 CAM3 3 Shield video EVI 44 CAM3 4 Video EVI 33 CAM3 5 Shield Hd EVI 32 CAM3 6 Hd horizontal drive EVI 18 CAM3 7 Vd vertical drive CAM3 8 not connected CAM3 9 not connected CAM3 10 not connected CAM3 11 not connected EVI 33 CAM3 12 Shield...

Page 161: ...tr Pwr 8 Reserved EVI Str Pwr 9 Shield chassis ground Note that this cable provides user supplied 12VDC to the cameras obtained from the Strobe and Power connector Table 7 12 Pulnix TM 1001 Breakout Cable Pin Assignments From Pin To Pin Function CAM2 1 CAM 1 1 PWR GND CAM3 1 CAM1 1 PWR GND CAM4 1 CAM1 1 PWR GND STROBE 2 CAM1 1 PWR GND CAM2 2 CAM1 2 12V power CAM3 2 CAM1 2 12V power CAM4 2 CAM1 2 1...

Page 162: ...M3 4 Video EVI 33 CAM3 5 Digital GND EVI 32 CAM3 6 Hd EVI 18 CAM3 7 Vd EVI 33 CAM3 12 Digital GND EVI SHIELD CAM3 SHIELD EVI 30 CAM4 3 Analog GND EVI 15 CAM4 4 Video EVI 17 CAM4 5 Digital GND EVI 16 CAM4 6 Hd EVI 31 CAM4 7 Vd EVI 17 CAM4 12 Digital GND EVI SHIELD CAM4 SHIELD EVI 26 STROBE 3 Strobe 1 EVI 11 STROBE 4 Digital GND EVI 39 STROBE 5 Strobe 2 EVI 23 STROBE 6 Frame Reset 1 EVI 11 STROBE 7 ...

Page 163: ...Reserved EVI 11 Str Pwr 8 Reserved EVI 12 CAM1 3 Shield video EVI 14 CAM3 3 Shield video EVI 15 CAM4 4 Video EVI 16 CAM4 6 Hd horizontal drive EVI 17 CAM4 5 Shield Hd EVI 17 CAM4 12 Shield Vd EVI 18 CAM3 7 Vd vertical drive EVI 19 CAM2 7 Vd vertical drive EVI 20 CAM2 9 Clock EVI 22 CAM1 9 Clock EVI 26 Str Pwr 3 Strobe 1 EVI 29 CAM2 4 Video EVI 30 CAM4 3 Shield video EVI 31 CAM4 7 Vd vertical drive...

Page 164: ... 7 14 Pulnix TM 1001 Breakout Cable Pin Assignments From Pin To Pin Function CAM2 1 CAM 1 1 PWR GND CAM3 1 CAM1 1 PWR GND CAM4 1 CAM1 1 PWR GND STROBE 1 CAM1 2 12V power CAM2 2 CAM1 2 12V power CAM3 2 CAM1 2 12V power CAM4 2 CAM1 2 12V power STROBE 2 CAM1 1 PWR GND EVI SHIELD CAM1 SHIELD EVI SHIELD CAM2 SHIELD EVI SHIELD CAM3 SHIELD EVI SHIELD CAM4 SHIELD EVI SHIELD STROBE 9 EVI 11 STROBE 4 Digita...

Page 165: ...CAM4 7 Vd EVI 32 CAM3 6 Hd EVI 33 CAM3 5 Digital GND EVI 33 CAM3 12 Digital GND EVI 34 CAM2 6 Hd EVI 35 CAM2 8 Digital GND EVI 35 CAM2 12 Digital GND EVI 35 CAM2 5 Digital GND EVI 36 CAM1 6 Hd EVI 37 CAM1 7 Vd EVI 38 CAM1 5 Digital GND EVI 38 CAM1 8 Digital GND EVI 38 CAM1 12 Digital GND EVI 39 STROBE 5 Strobe 2 EVI 42 CAM1 4 Video EVI 43 CAM2 3 Analog GND EVI 44 CAM3 4 Video Table 7 14 Pulnix TM ...

Page 166: ...ons Table 7 15 Technical Specificationsa a Specifications subject to change Electrical Power Consumption 5 VDC at 5 0 A 12 V at 1 25 A including 1 amp for cameras 12 V at 0 1 A Width Occupies 1 backplane slot Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 167: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 168: ...utput Board SIO Introduction 168 Connections and Indicators 169 Mass Storage 170 Floppy Drive 170 Hard Drive 170 Serial I O Connectors 170 SIO Board Specifications 172 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 169: ...he System Input Output SIO board is a 2 slot wide 6U VME slave board that provides system I O functions for the controller It has a hard drive floppy drive and three user RS 232 serial ports Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 170: ...onnections and Indicators 8 98 76 0 1 2 3 4 5 78 3 1 2 3 4 F P M C P D R I V E A 6 7 8 5 ON 2 3 4 1 OK SIO R S 2 3 2 R S 2 3 2 R S 2 3 2 I O 2 4 V 1 0 0 m A OK ESTOP ACC V HD RESET 1 2 3 IDE Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 171: ...l ports on the AWC board and one port on the CIP The connectors are DB 9P male 9 pin connectors that are pin compatible with the serial connector for AT compatible computers the signal and pin information are shown in 9 4 and The pinout for all three connectors is the same See the V Language User s Guide for information on serial I O Also see the instruction in the V Language Reference Guide for i...

Page 172: ...Serial I O Connector Pin Assignment on SIO Board Pin Signal Name Pin Signal Name 1 not used 6 DSR Data Set Ready 2 RXD From Device 7 RTS Request to Send 3 TXD To Device 8 CTS Clear to Send 4 DTR Data Terminal Ready 9 not used 5 SG Signal Ground Pin 1 Pin 5 Pin 6 Pin 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 173: ...er Consumption Supplied from VME backplane System I O SIO 5 V at 4 6 A typical 12 V at 1 4 A 12 V at 50 mA Floppy Drive 5 V at 0 23 A average 0 74 A max 12 V not used Hard Drive 5 V at 0 6 A average 1 1 A max 12 V not used Width Occupies 2 backplane slots Serial Ports Three RS 232 at 300 38 4K bps Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 174: ...Introduction 174 Connections and Indicators 175 VME Bus Address 176 Jumper Settings and Resistor Configuration on MI3 MI6 177 Connecting to User Equipment 177 MI3 MI6 Board Specifications 177 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 175: ... controls up to 6 axes of motion the MI3 controls up to 3 axes of motion Each board has industry standard servo drive outputs incremental encoder inputs and digital I O for machine and amplifier control See the AdeptMotion VME Developer s Guide for complete information on installation configuration and operation of the AdeptMotion VME product Artisan Technology Group Quality Instrumentation Guaran...

Page 176: ...indicates the Drive Enable signal is asserted for Axis 1 DE2 indicates the Drive Enable signal is asserted for Axis 2 DE3 indicates the Drive Enable signal is asserted for Axis 3 DE4 indicates the Drive Enable signal is asserted for Axis 4 DE5 indicates the Drive Enable signal is asserted for Axis 5 DE6 indicates the Drive Enable signal is asserted for Axis 6 Encoder connector a 44 pin D Sub femal...

Page 177: ...n on the side of the switch marked open See AdeptMotion VME Developer s Guide for the location of the switch NOTE In systems with an EJI board Adept robot systems and MI3 MI6 s the first MI3 MI6 board should be set to servo board number 3 This allows optimal processor allocation for the servo code with the default V software configuration Table 9 1 VME bus Address Switch Settings for MI 3 MI 6 Boa...

Page 178: ...s between the MI3 MI6 board and your equipment Each connector on the MI3 MI6 has a corresponding cable and MP6 mounting panel The MP6 panels can be installed on standard DIN mounting rails See the AdeptMotion VME Developer s Guide for complete information on the installation and setup of user equipment MI3 MI6 Board Specifications Table 9 2 Technical Specificationsa a Specifications subject to cha...

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Page 180: ...n 180 Connections and Indicators 181 VME Bus Address 182 Address Settings for EJI Boards 182 Address Settings for Multiple Servo Boards 182 Belt Encoder Interface 184 EJI Board Specifications 186 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 181: ...e EJI board has connectors for the power chassis cable and the arm robot signal cable There is another connector for external encoders typically used for belt tracking See the robot instruction handbook for your Adept robot for complete information on installation configuration and operation of the EJI board and your robot Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE w...

Page 182: ... 6 indicates the corresponding output motor drive channel is enabled Amplifier Signal connector the EJI to Amp cable from the power chassis is installed here Belt Encoder connector a 15 pin D Sub connector for up to two belt encoders in a conveyor tracking installation Arm Signal connector the EJI to Robot cable from the Adept robot is installed here HPE 2 4 6 ES 1 3 5 VJI AMPLIFIER SIGNAL ARM SIG...

Page 183: ...s If you have MI6 MI3 boards installed along with an EJI each board must have a unique VME bus address Check the address settings on all boards to make sure they are all different If you purchased the Adept controller from Adept with all the motion boards installed the correct DIP switch settings already will have been set for you by Adept Table 10 1 VMEbus Address Switch Settings for EJI Boards S...

Page 184: ...ings for various configurations Table 10 2 VME Bus Address Settings for Multiple Servo Board Systemsa a For systems equipped with the Adept FlexFeeder system The VJI board for FlexFeeder number 1 should be addressed as servo board number 2 and the VJI board for FlexFeeder number two should be addressed as servo board number 4 First Board Address Second Board Address ThirdBoard Address Fourth Board...

Page 185: ...age 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 10 3 Belt Encoder Connector Pin Assignments Channel 1 Channel 2 Pin Locations Signal Pin Signal Pin A 9 A 13 Figure 10 1 EJI Belt Encoder Connector Pinout A 2 A 6 B 10 B 14 B 3 B 7 I 11 I 15 I 4 I 8 Pull up...

Page 186: ... 1 RP8 is not installed For normal differential operation on channel 2 RP11 is not installed Encoder RP11 RP10 RP9 HCPL 2231 RP11 RP10 RP9 HCPL 2231 RP11 RP10 RP9 HCPL 2231 A A B B I I Encoder power output 5V at 800 mA max 1 A fuse EJI For normal differential operation on channel 1 RP8 is not installed Encoder power output 5V at 800mA max 1 A fuse For normal differential operation on channel 2 RP1...

Page 187: ...ontrollerb b Note that there may be limitations preventing the operation of dual Adept robots from a single controller 3 Number of axes of control maximum 5 axes of robot joint control per VJI EJI board Number of belt encoders maximum 2 conveyor belts per VJI EJI board Width Occupies one backplane slot Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 188: ...ide Rev B 187 AdeptForce VME Board VFI 11 Introduction 188 Connections and Indicators 188 VME Bus Address 189 VFI Board Specifications 190 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 189: ... processes data from the force sensor and then makes those force readings available to user programs See the AdeptForce VME User s Guide for complete information on installation configuration and operation of the AdeptForce VME product Connections and Indicators OK Status LED When lit it indicates the force sensor is connected and communicating normally FORCE SENSOR connector The cable from the fo...

Page 190: ...and jumper settings before you proceed with installation When you add multiple force sensors to an existing system you must use the CONFIG_C utility program to specify which sensor is force sensor number 1 which is number 2 and so on See the AdeptForce VME User s Guide for more information on this process Table 11 1 Address Settings for VFI Board Drawing of Settings Description of Settings Address...

Page 191: ...icationsa a Specifications subject to change Electrical Power Consumption including force sensor 870 mA at 5 VDC 425 mA at 12 V 105 mA at 12 V Maximum VFIs per controller 3 Number of force sensors per VFI 1 Width Occupies one backplane slot Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 192: ...r Supply Voltage Jumpers 196 Output Power Supply Current Selection 196 Typical DIO Wiring 198 Optional DIO Cables 200 Labeling Cables 200 Input and Output Cable Wiring Information 200 Additional DIO Boards 205 Setting the Board Address 205 Labeling Sets of Cables 206 DIO Board Specifications 207 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 193: ...annels See Connecting User Supplied Digital I O Equipment on page 111 for details These DIO signals can have special uses that you should plan for when designing your DIO system See REACT Input Signals 1001 to 1012 on page 113 and Fast Input Signals 1001 to 1004 on page 113 The CIP also has 32 input and 32 output signals These signals duplicate the functionality of one DIO board If you are using a...

Page 194: ...r s Guide Rev B 193 Connections and Indicators 56 17 8 1 8 9 17 8 8 2 8 17 8 1 8 9 8 17 8 8 2 I N P U T S O U T P U T S I N P U T S O U T P U T S DIO FAIL PASS P1 P2 P3 P4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 195: ...oups Each group requires 10 pins 8 input signals and 2 ground references An input is turned on by providing a positive potential on its input pin relative to the ground pin of its group This type of input is considered sinking That is to turn it on current must flow into the input pin The input current specifications are provided for reference voltage sources are typically used to drive the inputs...

Page 196: ...output is considered sourcing That is in the on condition current flows out of the output pin Each output channel circuit should be connected to only one output device Testing Outputs and Fuses Like many solid state I O systems when an output is off a small leakage current will try to flow out of the output This will raise the potential of the output to the power supply voltage level if there is n...

Page 197: ...d range because this could blow the fuse for that group There is no requirement to provide specific power sequencing between the output power supplies and the VME power supply The design of the output section is such that the outputs will not turn on during board power up Output Power Supply Current Selection The 9 power pins for each group are connected together on the board and the current suppl...

Page 198: ...he load ground wires The above specs apply only to the output channels on the DIO board See Chapter 8 for specs on the digital output channels on the SIO board See Chapter 5 for specs on the digital output channels on the CIP Table 12 3 Digital Output Circuit Specifications Low power supply range 10 VDC Vsup 15 VDC High power supply range 15 VDC Vsup 30 VDC Power supply ground current Ig 35 mA Ope...

Page 199: ...y DIO Module Input Group 1 Wiring Terminal Block Typical User Input Signals Input Group 2 P1 Connector 26 Pin Female D Sub Input Group 3 Signals 1049 1056 Input Group 4 Signals 1057 1064 P2 Connector 26 Pin Female D Sub Adept Digital Input Cable optional equivalent circuit Adept Supplied Equipment Wiring Terminal Block Adept Digital Input Cable optional P1 Connector 26 Pin Female D Sub User Suppli...

Page 200: ...0042 5 Signal 0043 4 Signal 0044 3 Signal 0045 2 Signal 0046 1 Signal 0047 16 Signal 0048 M User DC Power Supply Connect module power return directly to power supply if possible Load Load Load Load Load Load Load Load Load Load Output Group 2 Group 1 Power Pins see text Group 2 Power Pins see text L N equivalent circuit Adept Supplied Equipment Wiring Terminal Block P3 Connector 44 Pin Female D Su...

Page 201: ...pleted your installation so that the cables do not get swapped by mistake see the Warning below The P3 and P4 output connectors are also similar except that P3 handles the Group 1 and 2 output signals and P4 handles the Group 3 and 4 output signals The optional digital output cables can be connected to either P3 or P4 Make sure to clearly label the cables once you have completed your installation ...

Page 202: ...e signal numbers for boards 2 7 increase by 32 for each additional board see Table 12 8 9 23 9 7 9 7 23 9C 9 C C 23 9 3 2 9 2 9 2 9 7 2 9 7 27 9 7 2 9 9 7 2 9 3 9 2 9 9 C 23 9 7 9 7 3 2 9 7 7 2 Pin 1 Pin 9 Pin 10 Pin 18 Pin 26 Pin 19 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 203: ...he signal numbers for boards 2 7 increase by 32 for each additional board see Table 12 8 9 23 9 7 9 7 23 9C 9 C 23 9 3 2 9 2 9 2 9 7 2 9 7 27 9 C 7 2 9 9 7 2 9 3 9 2 9 9 23 9 7 9 7 3 2 9 7 7 2 Pin 1 Pin 9 Pin 10 Pin 18 Pin 26 Pin 19 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 204: ... 8 Wire Color Pin Locations 9 7 2 23 9 7 23 9 23 9 23 9 C 2 9 7 2 9 7 2 9 2 9 3 7 27 9 3 23 2 9 3 7 2 27 9 3 23 2 7 9 3 23 2 7 9 3 3 2 2 7 9 3 7 23 2 9 3 3 2 2 9 3 23 27 9 7 3 2 2 9 7 2 23 9C 3 2 9 9 7 9 7 9 9 3 9 C 9 23 9 C 3 2 9 3 3 2 9 3 7 2 9 3 7 2 23 9 3 2 23 9 3 2 27 9 3 3 2 7 9 3 2 27 9 3 7 2 2 7 9 7 2 9 7 27 Pin 1 Pin 15 Pin 16 Pin 30 Pin 44 Pin 31 Artisan Technology Group Quality Instrume...

Page 205: ...23 9 7 23 9 23 9 23 9 2 9 7 2 9 7 2 9 2 9 3 7 27 9 3 23 2 9 3 7 2 27 9 3 23 2 7 9 3 23 2 7 9 3 3 2 2 7 9 3 7 23 2 9 3 3 2 2 9 3 23 27 9 7 3 2 2 9 7 2 23 9C C 3 2 9 9 7 9 7 9 9 3 9 9 23 9 C 3 2 9 3 3 2 9 3 7 2 9 3 7 2 23 9 3 2 23 9 3 2 27 9 3 3 2 7 9 3 2 27 9 3 7 2 2 7 9 7 2 9 7 27 Pin 1 Pin 15 Pin 16 Pin 30 Pin 44 Pin 31 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www...

Page 206: ...t is added must have a unique VME bus address so the controller can recognize it properly The address is set at DIP switch S1 on the DIO board The switch settings are shown below See Figure 12 3 for the location of SW1 The signals on the CIP JDIO connectors can be superseded by a DIO board that is installed and addressed as DIO board 1 To use both the JDIO signals and DIO boards address the first ...

Page 207: ...t of four cables so that they are identified with a specific DIO board Also see the warning on page 200 about swapping the two input cables or the two output cables with each other Figure 12 3 Switch and Jumper Locations on the DIO Board Typical J3 to J6 B A 1 2 3 4 5 6 7 8 OPEN SW1 Adept DIO Board Component Side J3 J6 J4 J5 Adept DIO Board Component Side Typical J3 to J6 Artisan Technology Group ...

Page 208: ...r input circuit specifications Number of channels 32 4 groups of 8 Isolation any I O group to any I O group any I O group to VME bus 300 VDC 1000 VDC Outputs see Table 12 3 for output circuit specifications Number of channels 32 4 groups of 8 Output configuration Current sourcing outputs Power supply voltage 10 to 15 or 15 to 30 VDC jumper selectable Output transient protection Reverse voltage pro...

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Page 210: ...tenance Introduction 210 Fan Filter Inspection and Cleaning MV 5 MV 10 211 Spare Parts List MV 5 MV 10 212 Changing the Lamp on the High Power Indicator 213 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 211: ...s no user serviceable parts other than the items mentioned in this chapter The procedures and replacement of parts mentioned in this section should be performed only by skilled or instructed persons as defined in Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 212: ...lter If the filter becomes clogged or unusable for any reason you will need to order a new air filter the Adept part number is 40340 00030 1 Turn off the controller 2 Loosen the two screws on the fan filter cover to gain access to the filter see 3 Pull the air filter out and inspect for dust or dirt particles If cleaning is required use compressed air to clean the filter Follow appropriate safety ...

Page 213: ...or items in 9 4 or for items not listed Table 13 1 Spare Parts From Adept Description Adept Part Number Quantity General Comments 0 0 F 7 G 3 9 4 8 4 7 E 5 C Table 13 2 Spare Parts From Third Partiesa a These items are not available from Adept Description Specification Quantity General Comments 0 0 2 1 4 C 5 3 8 0 0 2 1 4 C 5 3 8 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 S...

Page 214: ...r bulb 1 Turn off the controller and disconnect system power 2 Remove all cables from the back and side of the CIP Make sure that the cables connected to JDIO1 through JDIO4 are properly labeled The two input cables can be swapped and the two output cables can be swapped This could result in a dangerous situation when you restart the controller 3 Remove the CIP from its mounting location 4 Remove ...

Page 215: ...e CIP Pull the front panel as straight away as possible 6 Locate the lamp body on the back side of the front panel Turn the lamp body approximately 20 in either direction and then pull straight back 7 The lamp body is now free You can remove the old lamp and insert a new one 8 Replace the lamp body by pushing it straight into the lamp housing receptacle Make sure the contacts on the lamp body are ...

Page 216: ...care to align all of the plug type connectors 10 Replace the six front panel screws and the MCP bypass plug retainer screw 11 Reinstall the CIP in its mounting 12 Reconnect the CIP cables Make sure the JDIO1 to JDIO4 cables are correctly reinstalled The prongs on the lamp body must be aligned as shown Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 217: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 218: ...MV 10 Stand Alone Controller Dimensions 218 Adept MV 5 and MV 10 Robot Controller Dimensions 219 The Adept Compact Controller Dimensions 220 MCP Cradle Dimensions 221 Compact Interface Panel Dimensions 222 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 219: ... 215 9 mm 158 8 mm 286 7 mm 15 0 mm 16 0 mm 8 7 mm Note 1 Allow 75 mm minimum at front for power cord and signal cable clearance Note 2 Allow 25 mm minimum at right and left sides for air intake and exhaust Note 1 Allow 75 mm minimum at front for power cord and signal cord clearance Note 1 Allow 25 mm minimum at right and left sides for air intake and exhaust Artisan Technology Group Quality Instr...

Page 220: ...m 16 0 mm 286 7 mm Note 2 Allow 25 mm minimum at top and bottom for air intake and exhaust Note 1 Allow 75 mm minimum at front for power cord and signal cable clearance 57 4 mm Note 1 Allow 75 mm minimum at front for power cord and signal cable clearance Note 1 Allow 25 mm minimum at right and left sides for air intake and exhaust Artisan Technology Group Quality Instrumentation Guaranteed 888 88 ...

Page 221: ...T C O N T R O L S I G N A L A AMP M O T O R P O W E R O U T P U T DO NOT REMOVE OR INSTALL THIS MODULE UNLESS HIGH VOLTS LED IS COMPLETELY EXTINGUISHED PWM ON LOW VOLTS ON OPEN CKT FAULT HV SAG OVER TEMP HIGH VOLTS ON A PHASE SHORT FAULT B PHASE SHORT FAULT C PHASE SHORT FAULT C O N T R O L S I G N A L A AMP M O T O R P O W E R O U T P U T DO NOT REMOVE OR INSTALL THIS MODULE UNLESS HIGH VOLTS LED...

Page 222: ... Cradle Dimensions Figure A 4 MCP Cradle Dimensions 4 X 10 2 mm 0 4 2 X 28 7 mm 1 13 2 X 203 2 mm 8 271 5 mm 10 69 4 X 4 8 mm 0 188 221 mm 8 70 201 mm 7 9 4 X 9 7 mm 0 38 4 X ø9 7 mm ø0 38 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 223: ...I O 12 IN 8 OUT AUX ESTOP JSIO AUX JEXT RS232 4 JCOM MMSP JMMSP CIB JSLV AWC JAWC 50 USER JUSER 37 67 56 mm 2 66 in 279 10 mm 10 99 in 274 32 mm 12 70 mm 12 70 mm 106 68 mm 119 38 mm 4 70 in 132 08 mm 5 20 in 6 35 mm 25 in 7 62 mm 30 in 149 86 mm 5 90 in 304 80 mm 12 00 in 289 56 mm 11 40 in 71 58 mm 2 82 in 78 23 mm 3 08 in 10 80 in 50 in 50 in 4 20 in 250mm s 100 STOP MCP NET Artisan Technology ...

Page 224: ...r Position Latch and Vision Trigger 224 Position Latch 224 Hardware Interconnection of Boards on an Adept Controller 225 Vision Trigger 226 Combined Vision Trigger and Position Latch Vision in the Loop 226 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 225: ...onnecting User Supplied Digital I O Equipment on page 111 for general information about these signals The communication between the AWC EVI MI6 and MI3 boards is through four dedicated lines on the controller backplane Two lines are dedicated to position latching 1 and each monitor board can be configured using CONFIG_C to either latch signal Two lines are provided for vision triggering 2 and the ...

Page 226: ...era to Flash Strobe Unit 3 lines High speed digital input Will also generate interrupt 4 MI6 MI3 hardware encoder latches EJI software encoder latches 1 servocycle error based on switch V STROBE latches encoder 2 lines VPICTURE waits for this trigger if V STROBE is enabled 2 l lines 2 lines for latching encoders 2 lines for latching encoder based on ext input 2 lines for latching encoders 2 lines ...

Page 227: ...e Loop An RS 170 video camera operates at 30 frames per second When the vision system senses an external trigger it will normally have to wait until the start of the next frame before it can capture another picture This can therefore involve a delay of up to 33 ms milliseconds The Adept system allows for a delayed latch where the external trigger is used to signal a picture to be taken by the opti...

Page 228: ...28 IEC Test Information 229 Electromagnetic Compatibility Testing Results 230 Color Coding of Indicator Lights 231 Color Code Used by Adept for Operator Indicators 231 Color Code Used by Adept for Service Indicators 232 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 229: ...s that are referenced in this manual Table C 1 Sources for Standards and Directives F F 5 B B 4 G B 7 C 0 1 C F 7 6 C F 6 0 1 4 4 F 1 6 3 H 0 1 4 4 F F 7 2 C 0 1 2 C 0 3 I I G 0 1 8 G F G C 6 4 7 7 4 4 7 3 G J C C 0 1 C C G 5 55 5 4G 7 55 8 F 78 7 G 5 4G A C 0 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 230: ...chniques All cables between the controller and peripheral equipment including the power chassis in an Adept robot system should be shielded and properly grounded at both termination points Where the use of unshielded cables cannot be avoided additional EMC suppression measures such as the use of twisted pair ferrite inductors or band pass filters should be employed More information on input output...

Page 231: ...ts as mandated by the European Union EU EMC Directive 9 4 summarizes the test results of some of the most critical tests Table C 2 EMC Test Results Test Performed Status 0 F 0 FA 4 3 2 A 3 E 5 4 7 4 A 4 7 A 3 E 5 4 2 K H L 8 M HA 3 E 5 4 A 3 E 5 4 A 3 E 5 6 3 4 3 E 5 7 4 2 3 E 5 4 4 5 7 3 E 5 4 4 5 7 3 E 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 232: ...el CIP and the graphics monitor The colors Yellow Green White and Orange are used Service indicators These are located on the front panels of the controller VME boards and on the amplifier front panels When the Adept controller is installed as instructed inside a recommended enclosure these indicators are not visible to the operator Color Code Used by Adept for Operator Indicators Table C 3 Operat...

Page 233: ...quipment status to facilitate maintenance and testing They do not require action by the operator When the controller is installed as recommended the service indicators are not normally visible to the operator See the relevant chapters earlier in this manual for a brief description of each LED or contact Adept Customer Service for additional information Table C 4 Service Indicator Color Code 7 7 7 ...

Page 234: ...ion 241 Predefined Function Buttons 241 The Edit Function 241 The Display Function 244 The Clear Error Function 245 The CMD Function 246 Prog Set Function 247 Moving a Robot or Motion Device With the MCP 249 Introduction 249 Mode Control Buttons 249 Emergency Stop Button 250 COMP PWR Button 250 MAN HALT Button 250 DIS PWR Button 251 RUN HOLD 251 Joint Axis Control Buttons 251 STEP Button 251 Speed...

Page 235: ...d State 253 Tool State 254 Joint State 256 Free State 258 Controlling More Than One Robot 259 Robots With Fewer Than Six Joints 260 Robots With More Than Six Joints 260 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 236: ...le retaining clip will keep the enabling switch depressed when the pendant is not in use Figure D 2 shows how to place the pendant in its cradle To operate the MCP put your left hand through the opening on the left hand side of the pendant and use your left thumb to operate the pendant speed bars Use your right hand for all the other function buttons The various button groupings of the pendant are...

Page 237: ...ched to this connector If neither one is connected you cannot enable If the pendant or jumper plug is removed is turned off NOTE The CIP design allows for an external MCP connection If this connection is installed and used the MCP bypass plug must be installed on the CIP MCP connector CAUTION Do not modify or extend the MCP cable Doing this will void the warranty on the MCP and the CIP EDIT DISP C...

Page 238: ...ontroller systems that contain a VME Front Panel VFP Damage may also result if older MCPs part numbers other than 10332 11000 are plugged into a CIP WARNING The Auto Manual keyswitch on the CIP be set to Manual if the MCP is to be used inside the robot workcell This enables important safety features to protect the operator by limiting the speed of the robot MCP Layout The major areas of the MCP ar...

Page 239: ...ft buttons EDIT DISP CLR ERR CMD PROG SET F F 1 2 F 3 J 7 J 12 SLOW 0 DEL STEP 1 2 3 4 5 6 7 8 9 T1 RZ 6 RY 5 RX 4 Z 3 Y 2 X 1 COMP PWR RUN HOLD MAN HALT DIS PWR REC DONE YES NO Liquid Crystal Display LCD User LED Speed Bars Joint Axis Control Buttons Disable Power Button Mode Control Buttons Manual State LEDs Predefined Function Buttons Programmable Function Buttons Soft Buttons WORLD TOOL JOINT ...

Page 240: ... numeric buttons 0 9 the decimal point and the 36 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 36 sends the entry to the controller In many cases application programs have users press the 36 button to signal that they have completed a task DEL Button act...

Page 241: ... emergency stop button turn the emergency stop button to the right clockwise The switch is spring loaded and will return to its normal position Depress the enabling switch High Power can now be re enabled by pressing the 3 button mode control group or by entering the 50 command from the keyboard Background Mode The pendant is in background mode when the 0 6 is not lit and none of the predefined fu...

Page 242: ...system status Predefined Function Buttons The has five predefined function buttons for your use They are listed and explained below Figure D 5 MCP Predefined Function Buttons The Edit Function The Edit function button allows editing of location variables and real variables that are used by V programs EDIT DISP CLR ERR CMD PROG SET WORLD TOOL JOINT FREE DEV USER Artisan Technology Group Quality Ins...

Page 243: ...ANGE TRUE FALSE Press the soft button to set the variable to the boolean value of true 1 Press 7 0 to set the variable to false 0 To change the value of the variable press the soft button The 0 6 displays var name _ 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 36 1 If the variable being edited is ...

Page 244: ...ata entry buttons to enter a new value and complete the entry by pressing 36 Press the 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 ...

Page 245: ...r motion device actually has Rotational joint values are expressed in degrees and translational joint values are expressed in millimeters World Location When this button is pressed the display shows X xxx xxmm Y xxx xxmm Z xxx xxmm 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 Moving a Robot or Motion Device With the MCP...

Page 246: ...in the range 1 to 32 Signals 1 2 are on signals 3 8 are off and no other signals in this range are installed To display a different range of signals press the soft buttons under the or labels The next or previous range of signals will be displayed Press the and 7 soft buttons to display input output or soft signal ranges See Connecting User Supplied Digital I O Equipment on page 111 for details on...

Page 247: ...ese 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 instruction in which case the program will pause and the MCP will display and 0 buttons over the two right soft buttons Pressing allows the program to ...

Page 248: ...he pendant displays Enter last two digits of file name STORE auto_ Enter one or two digits press 36 and all programs and variables in system memory will be stored to a file on the default disk with the name autoxx v2 For example if you had entered 11 the file AUTO11 V2 would be created and all programs and global variables in system memory would be stored to that file CMD1 and CMD2 When 6 is press...

Page 249: ...Cycle Press 0 and the cycle count will blink and the typing cursor will appear next to the cycle count Use the data entry keys to enter the number of program cycles to execute Complete the entry by pressing 36 Speed Press 6 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 ...

Page 250: ...ing in world state directions are sent from the 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 to move the robot in a Cartesian coordinate system centered at the robot s end of arm tooling location In joint state directions are sent from the to move individual robot joints In free state selected joints of ...

Page 251: ...owed time MAN HALT Button When there is no program executing or a program has paused for a pendant teach routine pressing the 3 0 button selects manual mode In manual mode the MCP has control of the robot If a program is executing the 3 0 button will stop program execution without shutting off High Power Manual mode cannot be entered if High Power is off E Stop button 0 6 not illuminated To enable...

Page 252: ...are the joint axis control buttons When the MCP is in manual mode these buttons select which robot joint will move or the coordinate axis along which the robot will move The X 1 Y 2 Z 3 RX 4 RY 5 and RZ 6 buttons are covered starting on page 253 The MCP must be in manual mode before a joint axis control button can be selected STEP Button When the CIP keyswitch is set to 0 V programs cannot initiat...

Page 253: ...ter pressing the speed bar near the center will move the robot slower See page 253 for details on positive and negative directions In Comp Mode See the description of the Step Button on page 251 Figure D 12 Speed Bars Slow Button The slow button selects between the two different speed ranges of the speed bars When the slow button 0 6 is lit the slower speed range is selected This slower speed is 2...

Page 254: ...1 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 Figure D 13 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 T1 RZ 6 RY 5 RX 4 Z 3 Y 2 X 1 X direction Y directi...

Page 255: ...ted pressing the speed bar will move the robot tool flange in the positive X direction Pressing the speed bar will move the flange in the negative X direction In a four axis robot positive rotation of the gripper RZ is clockwise as viewed from above Figure D 14 shows the tool coordinate system for a four axis robot Figure D 15 shows the tool coordinate system on a six axis robot NOTE Figure D 14 a...

Page 256: ...e Four Axis SCARA T1 RZ 6 RY 5 RX 4 Z 3 Y 2 X 1 X direction Y direction Z direction Rotation about Tool Z axis Gripper X Y RZ Keyway Z X Y STEP X direction Y direction Z direction Rotation about Tool Z axis Gripper activity Keyway Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 257: ...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 T1 RZ 6 RY 5 RX 4 Z 3 Y 2 X 1 Rotation about TOOL X axis Rotation about TOOL Y axis Rotation about TOOL Z axis Gripper RX RY RZ T1 STEP Rotation a...

Page 258: ...ers to verify how the moves the robot See the documentation for the motion devices you are using for details on their joint assignments Figure D 16 JOINT State Four Axis SCARA Figure D 17 shows the joint assignments for a typical six axis robot as always the first time you move a robot carefully verify the joint assignments T STEP 1 RZ 6 RY 5 RX 4 Z 3 Y 2 X 1 Joint 1 Joint 2 Joint 3 Joint 4 Joint ...

Page 259: ...electing a single button On some robots Free mode may have been disabled by the manufacturer on some or all joints As soon as the 3 button is pressed or another selection is made from the manual control buttons all joints are placed back under servo control and will not move freely Figure D 18 shows the free state for a four axis robot The joint assignments in the free state are the same as the jo...

Page 260: ...n free mode Figure D 18 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 t...

Page 261: ...s 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 t...

Page 262: ... 971 System Messages Introduction 262 Alphabetical Listing 262 Numerical List 359 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 263: ...ntify the message within a V program The ERROR and IOSTAT functions return this error code The ERROR string function returns the error message corresponding to an error code The error code for each message appears at the right margin for all those messages that have a code For convenience the second section in this appendix lists all the V errors in order of their numerical codes All the V message...

Page 264: ...their storage require ments must be known before they are referenced User action Include the REAL or LOC type specification parameter in the AUTO statement that declares the variable or reference the variable in a program instruction in a manner that makes its type clear Ambiguous name 453 Explanation The abbreviation used for the last command instruction or system defined name was not long enough...

Page 265: ... and no scratch frame store is avail able User action Use VSELECT to invalidate a virtual frame store in a physical frame store that is different from the physical frame store being searched Attempt to modify active belt 614 Explanation A program instruction has been executed that will modify the belt variable that is currently being tracked by the robot User action Change the program in order not...

Page 266: ...nds in the auto startup command program may require user action 1 The robot may begin to move during the automatic start up procedure If necessary you can stop the robot by pressing EMERGENCY STOP on the controller or PANIC on the manual control pendant Backplane E STOP detected by CPU 630 Explanation The AdeptMotion system has detected an error or problem and has asserted the BRKSTOP signal on th...

Page 267: ...nabled 615 Explanation A robot operation that references a moving conveyor belt has been attempted when the conveyor tracking feature is disabled User action Enter an ENABLE BELT command and retry the operation Belt servo dead 617 Explanation The belt processor isn t responding to commands from V User action After saving the programs power down the controller and power it up again If this error oc...

Page 268: ...nter a new BPT command specifying a step after the first execut able statement That is after the PROGRAM statement any AUTO and LOCAL statements and all comments and blank lines at the start of the program Calibration program not loaded 425 Explanation A program required for calibration has not been loaded from disk This error usually occurs if some of the calibration programs have not been loaded...

Page 269: ...as been processed when the camera is already running line vision only User action Modify the program to remove redundant VPICTURE ON instruc tions or insert a VPICTURE OFF instruction Camera disconnected 710 Explanation The vision interface hardware indicates that the camera is not con nected User action Check the camera and cabling to make sure they are connected properly If the problem persists ...

Page 270: ... t ALTER and track belt 626 Explanation Either a belt relative motion was specified while ALTER mode was enabled or an attempt was made to enable ALTER mode while the selected robot was tracking a belt Both operations are prohibited because belt tracking and ALTER mode cannot be performed at the same time User action Either disable ALTER mode or stop tracking the belt Can t change modes while task...

Page 271: ...editing a program User action To change the PROGRAM statement replace it with another PRO GRAM statement To delete lines at the beginning of the program move down to line 2 before issuing delete commands Can t execute from SEE program instruction 362 Explanation An attempt has been made to use a SEE editor command that cannot be used after the editor has been initiated with the SEE program instruc...

Page 272: ...erpret the last command or instruction entered User action Check the spelling and usage and reenter the line In the case of an error while loading from the disk edit the affected programs to cor rect the indicated lines they have been converted to bad lines Can t mix MC program instructions 414 Explanation A program instruction has been encountered during processing of a command program or an MC i...

Page 273: ...nation While initiating a string replacement operation the SEE editor is prompting for the string to be used for the replacement User action Enter the desired replacement string Note that if you just press RETURN the string to be searched for will be erased that is an empty string will be used for the replacement Character not in font 742 Explanation In a string of characters to be recognized by o...

Page 274: ...e line or the network User action Modify the program to service the I O device more often add a handshaking protocol or slow down the transmission rate to V COMP mode disabled 603 Explanation The command attempted requires computer control of the robot but COMPUTER mode was not selected on the pendant User action Select COMP mode on the pendant or enable DRY RUN mode from the terminal then reissue...

Page 275: ...m control panel Retry the previous operation Controller overheating 631 Explanation The temperature sensor in the controller power supply has detected an overheating condition High power is switched off User action Make sure the controller fans are operating and are not obstructed Make sure the fan filters are clean Power down the controller to let it cool off Control structure error 473 Explanati...

Page 276: ...he error occurred Data checksum error 510 Explanation An error was detected while transferring information to or from an external device User action Attempt the transfer again If the problem persists contact Adept Customer Service Data error on device 522 Explanation An error was detected while attempting to read information from an external device possibly because a diskette has been damaged or w...

Page 277: ...to assign too many servo axes to a single CPU User action Delete unneeded disk files or use another drive or diskette Recon figure your system so the maximum number of axes per CPU is not exceeded Device hardware not present 658 Explanation An attempt has been made to reference a device that is not present in your system User action Check that the device was correctly specified Check that the devi...

Page 278: ...ce If the intended device is on the network check that the proper connections are made and that the remote system is operating correctly 2 ABORT and KILL the program task that has the device attached or wait for the task to release the device 3 The pull down menu should not be modified with the FSET instruction while it is being displayed A suitable time for modify ing the pull down menu is immedi...

Page 279: ...tion Unlike most other errors this error can be ignored Additional READ instructions to the same directory will correctly return addi tional contents of that directory Directory not empty 571 Explanation The operation attempted to remove an NFS directory that was not empty User action Delete the directory s contents before deleting the directory DO not primed 302 Explanation A DO command was attem...

Page 280: ...V SEE editor you can press the Undo F6 function key or press ESC CTRL C to cancel the changes you have made to a PROGRAM line Duplicate prototype name 718 Explanation The file specified in the current VLOAD command contains a proto type with the same name as one that already exists User action VDELETE the conflicting prototype that already exists As a precau tion save the existing prototypes first...

Page 281: ... about the codes Hard envelope error Mtr n 1027 Explanation The indicated motor was not tracking the commanded position with sufficient accuracy indicating a failure in the hardware servo system or something impeding the path of the robot Because this is consid ered a serious error high power was turned off User Action Turn on high power and try to perform the motion at a slower speed Make sure th...

Page 282: ...indow User action Enter the desired new value as a valid expression for the type of variable selected or press RETURN to cancel the request E STOP 1 detected by CPU 608 Explanation An E STOP condition on E STOP channel 1 has been detected by the CPU Normally this message is suppressed and the cause of the E STOP is reported instead User action If safe to do so attempt to enable HIGH POWER and note...

Page 283: ...is shorted 923 Explanation An E STOP condition has occurred because a short circuit in the E STOP wiring has been detected User action Verify that all E STOP channels are wired and functioning properly If the problem persists contact Adept Customer Service E STOP circuit relay failure 907 Explanation An E STOP condition has occurred because the E STOP chain on one channel is not in the same state ...

Page 284: ...an unre ported RSC error type listr error task 4 where task is the number of the task that received the error If no additional information is available call Adept Customer Service E STOP from user E STOP button 910 Explanation An E STOP condition has occurred because the user E STOP button circuit has been broken User action Restore the user E STOP button circuit Reenable HIGH POWER as desired E S...

Page 285: ...ed because the E STOP button on the MCP has been pressed User action Unlatch the locking E STOP button Reenable HIGH POWER as desired E STOP from robot 640 Explanation The motion interface board has detected an E STOP condition gen erated by the RSC in the robot This error is probably due to low air pressure joint 1 overtravel or motor overheating A subsequent error message may provide more inform...

Page 286: ...ing window Character training has been aborted User action Make sure the given string matches the characters in the training window Fatal Addr Err at aaaaaa m n I xxxx A aaaa F ff None Explanation An internal problem has occurred with the V software or with the system hardware User action It would be appreciated if you would report the error to Adept Application Engineering Please include the deta...

Page 287: ...restart the system Fatal Emul 1010 Trap at aaaaaa m n None Explanation An internal problem has occurred with the V software or with the system hardware User action It would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error mes sage and exactly what you were doing at the time the error occurred To save programs that are in memory y...

Page 288: ... if you would report the error to Adept Application Engineering Please include the details of the error mes sage and exactly what you were doing at the time the error occurred To save programs that are in memory you can restart V tempo rarily by pressing CTRL G The robot servos will not function but you can STORE the programs Then power down the controller and restart the system Fatal I O processo...

Page 289: ... the controller and restart the system Fatal Priv Viol at aaaaaa m n None Explanation An internal problem has occurred with the V software or with the system hardware User action It would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error mes sage and exactly what you were doing at the time the error occurred To save programs that ...

Page 290: ...oller and restart the system Fatal ZDIV Trap at aaaaaa m n None Explanation An internal problem has occurred with the V software or with the system hardware User action It would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error mes sage and exactly what you were doing at the time the error occurred To save programs that are in mem...

Page 291: ...incorrect motor mapping for this module User action Verify that all servo interface boards are correctly installed and con figured use the SPEC V2 utility for motor mapping If the problem persists contact Adept Customer Service Fatal Invalid serial I O configuration None Explanation During initial startup V has detected that the configuration of the hardware for serial communications is not valid ...

Page 292: ...be initialized The problem may be an invalid servo con figuration a missing or improperly configured servo interface board or a hardware failure User action Power down the controller and restart making sure you are using the correct system disk If the problem persists contact Adept Cus tomer Service Fatal Stk Overflow at aaaaaa m n None Explanation A storage stack within V has overflowed If n is 1...

Page 293: ...he system hardware clock is running too fast V cannot run without the clock operating properly User action Power down the controller and try starting it again If the problem persists contact Adept Customer Service File already exists 500 Explanation There is already a disk file or a graphics window with the name supplied to the last storage request User action Reissue the storage request with a di...

Page 294: ... not a valid disk file name the directory path contained invalid syntax or the directory path was too long User action Retry the operation with a correct file name or subdirectory name Verify that syntax of the directory path is correct Check that any default directory path specified by the DEFAULT command is cor rect Check that the total directory path is not too long when the default is combined...

Page 295: ... character recognition OCR some or all of the characters in the font have not been trained User action Display the font with VSHOW FONT to see which characters have not been trained Then train those characters or delete them from the font Font not defined 736 Explanation The font specified for optical character recognition OCR is not defined User action Use VDEF FONT or VLOAD to define the font Fo...

Page 296: ...the front panel HIGH POWER lamp has been detected The lamp is probably burned out This condition is considered a safety hazard An E STOP is not signaled However HIGH POWER cannot be enabled until the lamp is replaced User action Replace the HIGH POWER lamp See 5 3 Function already enabled 422 Explanation Certain functions or operations must not be enabled when they are already enabled or active AL...

Page 297: ...e error Mtr n 1027 Explanation The indicated motor was not tracking the commanded position with sufficient accuracy indicating a failure in the hardware servo system or something impeding the path of the robot Because this is consid ered a serious error high power was turned off User Action Turn on high power and try to perform the motion at a slower speed Make sure that nothing is obstructing the...

Page 298: ...an explicit index in an argument for a V oper ation that requires a null array or 6 specify an index to the right of a blank index for a multiple dimension array User action Correct the line Illegal assignment 403 Explanation The assignment operation just attempted was invalid possibly because it attempted to assign a value to a variable name that is a reserved word or a function User action Reent...

Page 299: ...e mode User action Change to editing the program in read only mode or use a different editor command Illegal I O channel number 518 Explanation An internal I O channel number has been encountered that is invalid This indicates a V internal software problem User action It would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error mes ...

Page 300: ...n has attempted to reference an invalid memory address That is one that is either out of the allowed range or that is not in use for any input output module User action Correct the address or install the missing module Illegal monitor command 300 Explanation The name of the command just attempted was not recognized by the system possibly because it was mistyped or because it was a pro gram instruc...

Page 301: ... Illegal record length 528 Explanation An FOPEN instruction has specified a record length that is not acceptable For example the value is negative or too large or the record length is zero with random access mode specified User action Edit the program to specify a correct record length or specify sequential access mode Illegal use of belt variable 466 Explanation A belt variable has been used in a...

Page 302: ...led 543 Explanation An attempt has been made to perform certain network functions that require that the network be disabled but the network is enabled User action Disable the network and retry the operation Illegal while joints SPIN ing 637 Explanation An attempt has been made to execute a regular motion instruction while a SPIN trajectory is being executed User action Stop the SPIN trajectory wit...

Page 303: ...o or more object finder models that were not trained at the same hierarchical subsample level User action Retrain the models so that they are all at the same hierarchical lev els Information not available 730 Explanation 1 A VGETPIC VPUTPIC VRULER VRULERI or VWINDOW operation has been attempted when the specified frame store binary or grayscale does not contain valid picture data 2 No information ...

Page 304: ...orrupted User action Try the operation again If the error recurs use another diskette Input error Try again 16 Explanation The input provided was not consistent with what V expected User action Provide another response Invalid argument 407 Explanation An argument for a function program instruction or SEE editor command is not in the accepted range User action Check the range of arguments for the f...

Page 305: ...the command Otherwise try a different diskette or reformat the current one Remember that formatting erases all infor mation on the diskette If the diskette was created on an IBM PC be sure it was formatted with one of the formats accepted by the V system Invalid error code Belt n 1010 Explanation An unrecognized error was reported by the controller for the indi cated conveyor belt User action Atte...

Page 306: ...mode or use a differ ent editor command Invalid model name 732 Explanation The name of a prototype subprototype OCR font or correlation template has been incorrectly specified The correct format for pro totype names is proto subproto where proto is a prototype name and subproto is a subprototype name This error occurs if the colon is followed by a blank or when some other character is used instead...

Page 307: ...t been defined User action Check the node definitions Invalid number format 456 Explanation A syntax error was detected while reading a number For example an 8 or 9 digit was encountered while reading an octal number User action Reenter the line with a valid number Invalid orientation 619 Explanation A motion has been requested to a location that is defined by a trans formation with its orientatio...

Page 308: ...An unrecognized error was reported for the indicated robot motor User action Attempt the operation again Contact Adept Customer Service if the error repeats Invalid servo initialization data 625 Explanation During V system initialization after booting from disk servo ini tialization data in the wrong format was found This can be caused by using a version of the SPEC utility that is incompatible wi...

Page 309: ...he value FALSE User action Edit the program to ensure that after a no wait VLOCATE no VFEATURE accesses other than VFEATURE 1 occur if the vision data is indicated by VFEATURE 1 to be invalid Invalid vision argument 735 Explanation An argument for a vision function program instruction or com mand is not in the accepted range User action Check the acceptable range of arguments for the function prog...

Page 310: ...action Abort the currently executing task or execute the program as a dif ferent task if possible I O communication error 507 Explanation A hardware error has been detected in the I O interface User action Try your command again If the problem persists contact Adept Customer Service I O queue full 517 Explanation Too many I O requests have been issued to a device too quickly and there is no more r...

Page 311: ... program step as two or more separate steps Location out of range 610 Explanation V has encountered a location that is too far away to represent pos sibly within an intermediate computation or that is beyond the reach of the robot This probably indicates an error in a location function argument value or in a compound transformation User action Check to make sure you are using location functions an...

Page 312: ...d error 645 is reported There may be a hardware problem with the CIP its cabling or the AWC User action If safe to do so toggle the auto manual keyswitch and attempt to enable HIGH POWER again Reseat the plug affixed to the JAWC connector on the CIP and the plug affixed to the CIP connector on the AWC Verify that the CIP is connected securely If this error per sists contact Adept Customer Service ...

Page 313: ...able switch formerly called HOLD TO RUN has been released Normally this message is sup pressed and error 913 is reported There may be a hardware prob lem with the CIP or its cabling User action Hold the MCP enable switch and reenable HIGH POWER as desired If this error occurs frequently contact Adept Customer Ser vice MCP enable switch 2 off detected by CPU 916 Explanation An E STOP condition has ...

Page 314: ... use of a single equal sign for the equality relational operator User action Check the operation syntax and reenter the line Missing bracket 475 Explanation In the specification of an array element a left bracket has been found with no matching right bracket Either too many left brackets are present or a right bracket has been omitted User action Reenter the line with correctly matching left and r...

Page 315: ...t answer your questions contact Adept Customer Service The following table summarizes information about the codes 1 The test procedures for these messages are for skilled or instructed personnel only Dangerous voltages are present including those on the Security Panel Failure to exercise care can result in death or injury Table E 2 MMSP Diagnostic Error Message Codes Code n Explanation User action...

Page 316: ...k or contact Adept Customer Service 4 Hardware arm power contactor AP2 error Consult your Robot Instruction Handbook or contact Adept Customer Service 5 Hardware cyclic check relay channel 1 SR8 error An error has occurred in the communication or test sequence Try again If the problem persists it may be caused by a faulty E STOP board Consult your Robot Instruction Handbook or contact Adept Custom...

Page 317: ... robot joint 1 or 2 is moving or accelerating too fast there is a fault with the accelerometer system or the accelerometer s built in test function failed If the error occurred while a program was moving the robot try changing the program to move the robot less quickly or with a lower rate of acceleration or deceleration For faults with cables or sensors consult your Robot Instruction Handbook or ...

Page 318: ... a lower rate of acceleration or deceleration For hardware faults consult your Robot Instruction Handbook or contact Adept Customer Service 5 Amplifier 4 voltage restrict sensor channel 2 error The robot joint 4 is moving or accelerating too fast there is a fault with the voltage restrict sensor or the voltage restrict sensor s built in test function failed If the error occurred while a program wa...

Page 319: ...on The indicated motor has stalled while being driven This is usually caused by the robot encountering an obstruction User action Turn high power back on and restart the program Remove the obstruction or modify the program to have the robot follow a differ ent path Motor startup failure Mtr n 1105 Explanation During calibration the indicated motor did not move as expected The problem may be 1 the ...

Page 320: ...t line motion Negative overtravel Mtr n 1032 Explanation The indicated motor has moved beyond the hardware limited nega tive range of motion User action Move the robot back into the working envelope Correct whatever caused the robot to get into the restricted area Then enable power Negative square root 410 Explanation An attempt has been made to calculate the square root of a negative number User ...

Page 321: ...the indicated code does not having mean ing for the current application check to make sure the remote com puter is sending valid data Network node off line 538 Explanation An attempt has been made to send data to a known network node that is off line Either the node has been disabled or it is not con nected to the network User action Check that the remote node is active and connected to the networ...

Page 322: ...the server is up and running Make sure the correct IP address is being used NFS error Code n 1200 to 1299 Explanation Because NFS returns errors that do not have corresponding mean ing in V some NFS errors are reported as a variable NFS error Errors in this range have the following interpretation V error num ber 1200 n corresponds to NFS error code n 9 4 describes the currently known NFS error cod...

Page 323: ... 539 Explanation A request for a logical network connection has been received and rejected because there is no matching connection on the remote node User action Check that the proper logical connection was specified Check that the remote node is operating properly No models 758 Explanation The VSTORE program instruction or monitor command has not found any models to store User action Supply corre...

Page 324: ...rogram No picture data available 723 Explanation A vision operation was attempted that requires processed picture data run length encodings when no processed picture data was available User action Issue a VPICTURE or VWINDOW command or instruction with a mode parameter of 1 or 1 This will provide the processed picture data needed for rulers or reprocessing No program specified 301 Explanation No p...

Page 325: ...d not detect a zero index mark for the indicated belt User action Make sure the value of the BELT ZERO COUNT parameter is set correctly Make sure the belt encoder is connected properly If the problem persists contact Adept Customer Service No zero index Mtr n 1004 Explanation The motor controller did not detect a zero index mark for the indi cated joint User action Before you can resume running th...

Page 326: ...lows output without being attached but all other logical units require attachment for both input and output User action Edit the program to make sure it attaches a logical unit before attempting to use it to perform I O Not configured as accessed 544 Explanation An attempt has been made to access a serial line or other I O device in a manner for which it is not configured For example a Kermit or n...

Page 327: ...mory Note however that this procedure does not retain any variables that are not referenced by any program in memory nor does it retain the values of variables that are defined to be AUTO or LOCAL Not found 356 Explanation The search operation was unable to locate the specified string User action Enter a new search string or consider this an informational message and continue with other operations...

Page 328: ...indicate that either the planned end point of the motion will collide with an object or that a collision has been detected in the middle of a straight line motion Old value n New value n Explanation The specified watchpoint has detected a change in value for the expression being watched The change occurred because of execu tion of the program step just before the one indicated User action Enter a ...

Page 329: ...ansformations are defined with the VTRANS instruction User action Define only the vision transformations that you need If more mem ory must be allocated to vision transformations see the description of the DEVICE instruction Out of network resources 559 Explanation This error applies to many circumstances Listed below are several possible cases 1 Too many ports are simultaneously in use for TCP an...

Page 330: ...o continue the current motion enter the RETRY monitor com mand To continue after the current motion enter the PROCEED monitor command PAUSED 9 Explanation A PAUSE instruction has been executed and thus the current pro gram has suspended execution User action Any monitor command can be entered To continue execution of the program type proceed followed by the task number if it is not 0 Position out ...

Page 331: ...hen the Controller Interface Panel CIP switch moves from MANUAL to AUTO or vice versa User action Use any valid method to enable high power Power failure detected 667 Explanation Indicates that a controller AC power fail condition has been detected If battery backup is installed this error will be reported when power is restored by any I O operations that were canceled due to the power failure Thi...

Page 332: ... configuration data Processor crash CPU n None Explanation V has detected that the specified CPU within the controller has entered a fatal error state A crash message from that processor is displayed immediately following A software error or hardware problem with that processor is likely User action It would be appreciated if you would report the error to Adept Application Engineering Please inclu...

Page 333: ...ion An attempt has been made to use the SEE editor to access a program that does not currently exist User action Enter a Y to have the program created Any other input including just pressing RETURN cancels the edit request Program HOLD 15 Explanation The RUN HOLD button on the pendant has been pressed while a robot program was executing and it is now suspended User action Any monitor command can b...

Page 334: ...ram that is not on the top of the stack for the specified task User action Reenter the DO command and specify the correct program context or eliminate references to automatic variables and subroutine argu ments Use the STATUS command to determine which program is on the top of the stack Program task stopped at program_name step step_number date time 4 Explanation Execution of the program task indi...

Page 335: ...ette to make sure the write protect tab is in the cor rect position Use an FDIRECTORY command to display the disk directory If the file has protected P or read only R protection you cannot access it in the way attempted Recursive macros illegal 357 Explanation An attempt was made to execute a macro recursively That is the macro contained a command character sequence that directly or indirectly res...

Page 336: ...egal 457 Explanation An attempt has been made to use a V reserved word for a variable name See V Language Reference Guide for a list of the reserved key words User action Use a different name for the variable You can for example append a prefix or suffix to the attempted name Return manual control pendant to background display C to exit None Explanation The manual control pendant display must be i...

Page 337: ...s not enabled for use due to an error which is reported by a separate message User action Use the CONFIG_C and or SPEC utilities to correct the module configuration Robot module not loaded ID n 628 Explanation This error occurs only during startup when a robot module has been configured using the CONFIG_C utility but the robot module is not present in memory User Action Use the CONFIG_C utility to...

Page 338: ... is off User action Enable power and retry the operation Robot power off requested 906 Explanation HIGH POWER has been turned off because of a program or user request such as issuing a DISABLE POWER command User action None required Robot power on 627 Explanation An attempt has been made to perform an action that requires high power to be off User action DISABLE POWER and reexecute the action RSC ...

Page 339: ...e arm signal cable User Action If the problem persists contact Adept Customer Service RSC module ID doesn t match robot 676 Explanation The V configuration data contains an explicit ID specification for a robot module for example 6 for the Adept 550 robot and the robot RSC does not contain that ID number User Action Make sure that the correct type of robot is being used Use the CONFIG_C utility to...

Page 340: ...unless the calibration load fails or RSC communications fail If the problem persists contact Adept Customer Service Searching for string exact case None Explanation The SEE editor command 0 has been entered The editor is prepared to search for the string indicated in the search mode indicated User action This is an informational message You can use the Repeat command to perform the indicated searc...

Page 341: ...xplanation A servo interrupt task has used up all the execution time The detec tion algorithm reports an error when the servo interrupt task com pletely occupies 10 or more time slices per second of real time The robot went to a fatal error state when this error occurred and the servo interrupt task stopped running User action Change one or more of the following 1 move servo tasks off CPU 1 to all...

Page 342: ... path of the robot Because this was not considered a serious error a controlled motion stop occurred and high power remains on User action Try to perform the motion at a slower speed Make sure nothing is obstructing the robot s motion Software checksum error 316 Explanation During processing of a FREE command the V system has detected a checksum error in the system memory This indicates a problem ...

Page 343: ... mode SPIN motion not permitted 638 Explanation Either a SPIN instruction has attempted to move a joint that has not been configured with the continuous rotation capability or the robot is currently tracking a belt or moving under control of an ALTER instruction User action Configure the joint with continuous rotation capability or complete the belt tracking or ALTER instruction before attempting ...

Page 344: ...he disk Then enter a ZERO command or power down the controller and restart the sys tem Straight line motion can t alter configuration 612 Explanation A change in configuration was requested during a straight line motion This is not allowed User action Delete the configuration change request or use a joint interpolated motion instruction String too short 417 Explanation A program instruction or com...

Page 345: ...16 nested subdirectories you cannot read the files in subdirectories nested deeper than 16 levels In that case you will need to use the system that created the disk to copy the files to a directory that is nested less deeply Switch can t be enabled 314 Explanation An ENABLE command for a certain switch has been rejected because of some error condition For example ENABLE POWER will fail if the syst...

Page 346: ...ber or press RETURN to access the same task used for the last debugging session Template already defined 748 Explanation When defining a new correlation template with the program instruction VTRAIN MODEL the number of an existing template was given User action Delete the existing template if it is no longer needed or use a differ ent number in the VTRAIN MODEL instruction Template of uniform inten...

Page 347: ...e power amplifier for the indicated motor has signaled a fault condition A momentary power failure or a hardware error may have occurred User action Turn high power back on and restart the program If the error per sists contact Adept Customer Service Timeout enabling power 675 Explanation High power did not enable within the allowed amount of time and the servos reported no other error during the ...

Page 348: ... many array indices 474 Explanation The specification of an array element contains more than three indexes User action Reenter the line with the correct number of indexes Too many closeable windows 554 Explanation The names of too many graphics windows have been specified to appear in the pull down under the Adept logo in the status line at the top of the screen User action Specify all subsequent ...

Page 349: ...st ones have completed User action Edit the program to wait for pending VLOCATE requests to com plete before issuing more Too many windows 550 Explanation An attempt was made to create a graphics window when the maxi mum number of windows were already defined The V system uses two windows for the screen and the top status line Every title bar menu bar and scroll bar is a separate window The pull d...

Page 350: ...planation 1 A variable has been referenced that has not been assigned a value 2 Using the SEE editor an attempt has been made to use a macro return to a memorized cursor position or perform a repeat string search or change without first performing the appropriate initializa tion sequence User action 1 Assign the variable a value or correct its name 2 Define the macro record a cursor position or en...

Page 351: ...untered This error should never be seen and may indicate a software or hardware problem on either the AWC or CIP User action If safe to do so attempt to enable HIGH POWER and note any dif ferent error messages that occur If this error persists contact Adept Customer Service Unexpected text at end of line 451 Explanation The previous command or instruction could not be recognized by V possibly beca...

Page 352: ... V from an external device User action If an external computer is communicating with V when the error occurs verify that it is sending proper error codes Otherwise a software error is indicated It would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error message and exactly what you were doing at the time the error occurred Unknown ...

Page 353: ...und Most often a keyword used for a serial line was used when referencing a window or vice versa User action Correct the line in the executing program or reenter the command with the correct keyword Unknown model 759 Explanation The VPLAN FINDER vision instruction was given the name of a model that does not exist on the system User action Supply the name of an existing model to the VPLAN FINDER vi...

Page 354: ...nt control ler or replaced the controller or the SIO module repeat the test For information on the use of SAFE_UTL refer to the Adept One MV AdeptThree MV Robot Instruction Handbook Variable type mismatch 465 Explanation One or more of the variables in the line is of a type inconsistent with the other variables or with the type required by the command or instruction For example you may be trying t...

Page 355: ... is enabled Each of these messages has the form Vision error details where details represents specific information identifying the error That information will help Adept personnel to identify the specific nature and cause of the error Vision error Bit masking failed on FS n None Vision error Bit packer failure n bus errors instead of 2 None Vision error Bit packer returned wrong data None Vision e...

Page 356: ...Out of memory n None Explanation Either a fixed allocation of memory has been depleted for example run lengths or the general memory allocator has run out of RAM A common cause of this error is the processing of an overly complex binary image In this case the display should show many small regions noise often due to a bad threshold value User action See the general comments above If the problem pe...

Page 357: ... make sure that the vision processor is installed and that your software supports vision Power down the controller and restart If the problem persists contact Adept Customer Service Vision software incompatible 762 Explanation There is an incompatibility between the versions of vision and V software running on your controller It indicates that the system software you have loaded has been built inc...

Page 358: ...d only programs are not stored in the new disk file User action Use the FCOPY command if you want to move read only programs from one disk to another Protected programs cannot be moved from one disk to another Warning SET SPEED switch disabled 54 Explanation A PRIME operation has been performed from the manual control pendant while the SET SPEED system switch is disabled Therefore the monitor spee...

Page 359: ...enabled and the watchpoint expression has changed User action Continue debugging session Wrong disk loaded 521 Explanation The diskette in a disk drive has been changed while a file was still open Further attempts to access the file result in this error Data being written into the file may be lost User action Check your diskette to see if any data was lost If so it s too late now Be more careful i...

Page 360: ...he information for each message below consists of the message code the text of the message and sometimes a comment about the applicability of the message Angle brackets are used to enclose a description of an item that would appear in that position All numbers are decimal 9 4 A 3 6 A lists messages that provide information 9 4 A 6 A lists warning messages that you may receive 9 4 0A 6 A lists the ...

Page 361: ...uction step For TRACE mode of execution 8 HALTED 9 PAUSED 10 Are you sure Y N 11 Change 15 Program HOLD 16 Input error Try again 17 Breakpoint at task program_name step n 18 Watchpoint changed at task program_name step n Old value n New value n Table E 6 Warning Messages Code Message Text 50 Executing in DRY RUN mode 51 Warning Not calibrated 52 Warning Protected and read only programs are not sto...

Page 362: ...3 Controller not in automatic mode 304 Controller not in manual mode 305 Storage area format error 307 Program not executable 308 Program interlocked 309 Program already exists 310 Can t access protected or read only program 311 Invalid when program task active 312 Can t start while program running 313 Can t go on use EXECUTE or PRIME 314 Switch can t be enabled 315 Invalid software configuration ...

Page 363: ... change modes while task running 362 Can t execute from SEE program instruction 363 Unknown editor command 364 Can t create program in read only mode 365 Illegal in read write mode 366 Invalid when program on stack 380 Breakpoint not allowed here 400 Aborted 401 Undefined value 402 Illegal value 403 Illegal assignment 404 Illegal array index 405 Illegal digital signal 406 Undefined program or vari...

Page 364: ...rogram not on top of stack 422 Function already enabled 423 Illegal operation 424 Unknown keyword 425 Calibration program not loaded 426 Can t find calibration program file 450 Can t interpret line 451 Unexpected text at end of line 452 Unknown instruction 453 Ambiguous name 454 Missing argument 455 Invalid program or variable name 456 Invalid number format 457 Reserved word illegal 458 Illegal ex...

Page 365: ...splaced declaration statement 472 Control structure error Step nnn 473 Control structure error 474 Too many array indices 475 Missing bracket 476 Invalid qualifier 477 Ambiguous AUTO invalid 500 File already exists 501 Nonexistent file 502 Illegal I O device command 503 Device full 504 Unexpected end of file 506 File already open 507 I O communication error 508 Device not ready 509 Directory error...

Page 366: ...524 Communications overrun 525 Illegal I O redirection specified 526 No data received 527 Illegal user LUN specified 528 Illegal record length 529 Output record too long 530 Protection error 531 Communication time out 532 Out of I O buffer space 533 Invalid hardware configuration 534 Network restarted remotely 535 Network closed locally 536 Too many network errors 537 Unknown network node 538 Netw...

Page 367: ...cs processor timeout 553 Too many arguments 554 Too many closeable windows 555 Graphics storage area format error 556 Too many icons 557 Can t create new slide bar 558 Graphics software checksum error 559 Out of network resources 560 Invalid network resource 561 Invalid network address 562 Network timeout 563 Remote has not exported network resource 564 Network resource name conflict 565 Network c...

Page 368: ... STOP 1 detected by CPU 609 Illegal joint number 610 Location out of range 611 Must use straight line motion 612 Straight line motion can t alter configuration 613 Illegal motion from here 614 Attempt to modify active belt 615 Belt not enabled 616 Belt window violation 617 Belt servo dead 618 Location too close 619 Invalid orientation 620 Speed pot or STEP not pressed 621 Robot interlocked 622 No ...

Page 369: ... while joints SPIN ing 638 SPIN motion not permitted 639 Manual brake release 640 E STOP from robot 641 E STOP from amplifier 642 SYSFAIL detected by robot 643 E STOP detected by robot 644 Incompatible robot and safety ID 645 Power disabled Manual Auto changed 646 HIGH POWER button not pressed 647 Collision avoidance dead lock 648 User has not tested MMSP system 649 Timeout MCP enable switch not t...

Page 370: ...cted 668 Device in use 669 RSC hardware failure 670 RSC power failure 671 Servo board 12V fuse open 672 Servo board solenoid fuse open 673 Servo board E Stop fuse open 674 Servo task overloaded 675 Timeout enabling power 676 RSC module ID doesn t match robot 701 VISION not enabled 702 No prototypes 703 Too many vision requests pending 704 No objects seen 705 Camera not running Table E 7 Error Mess...

Page 371: ...723 No picture data available 724 Illegal display mode 726 Bad camera calibration 727 Invalid vision X Y ratio 728 Image processing board failure 729 Invalid request while vision training 730 Information not available 731 Unknown sub prototype 732 Invalid model name 733 Vision system out of memory 734 Can t open vision window for read write 735 Invalid vision argument 736 Font not defined 737 Font...

Page 372: ...on system selected 752 AOI not defined 753 Out of vision transform memory 754 Correlation template too big 755 Data overflow 756 A scratch frame store is needed use VSELECT 757 Inconsistent hierarchy levels 758 No models 759 Unknown model 760 Duplicate model 761 No models planned 762 Vision software incompatible 800 Unknown error code 801 Invalid VFEATURE access 802 Invalid camera calibration 803 ...

Page 373: ... 912 E STOP from user enable switch 913 E STOP from MCP enable switch 914 E STOP 2 detected by CPU 915 MCP enable switch 1 off detected by CPU 916 MCP enable switch 2 off detected by CPU 917 Manual mode switch 1 off detected by CPU 918 Manual mode switch 2 off detected by CPU 919 E STOP asserted by CPU 920 Fatal Manual mode switch stuck off 921 E STOP from user muted safety gate 922 E STOP channel...

Page 374: ...uadrature error Belt n 1014 Fatal Initialization failure Mtr n 1015 Initialization failure Belt n 1016 Motor overheating Mtr n 1018 Motor amplifier fault Mtr n 1021 Duty cycle exceeded Mtr n 1022 Skew envelope error Mtr n 1023 Position out of range Mtr n 1025 Encoder fault 1026 Software incompatible Code n 1027 Hard envelope error Mtr n 1032 Negative overtravel Mtr n 1033 Positive overtravel Mtr n...

Page 375: ...107 Fatal Servo init failure CPU n 1108 MMSP diagnostic error Code n 1109 MMSP external sensor fault Code n 1110 Unexpected PSS state Code nnn 1111 E STOP from MMSP Code n 1200 to 1299 NFS error Code n Table E 7 Error Messages Continued Code Message Text Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 376: ...tion of Power up Tests 376 Tests While Enabling Power 377 Standard Non MMSP System 377 Manual Mode Safety Package MMSP 377 Tests During Installation and Servicing 377 Continuous Tests 378 Watchdog Timer 378 Drive Faults 378 RSC Watchdog Timer 378 Encoder Signals 378 V FREE Command 378 V Cycle Tests 378 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 377: ...ed onto each CPU During loading a checksum test is performed on each record System Initialization Tests If the operating system is loaded successfully the V copyright message is displayed V tests NVRAM checksums and verifies that software licenses are consistent with installed hardware V then checks presence of a vision board and makes read write test of the vision framestore RSC Self Test Adept r...

Page 378: ...MMSP including the brakes and ESTOP switches can be tested using the Utility Program SAFE_UTL V2 see appropriate robot instruction handbook for details Tests During Installation and Servicing The Utility program SAFE_UTL V2 is used during commissioning of an MMSP system This utility program tests the MCP and CIP E Stop switches Manual Auto switch robot brakes and robot speed sensors It should also...

Page 379: ...tion and to detect power failures Encoder Signals The position feedback signals from the robot are continuously monitored for quadrature and index errors MI3 MI6 systems include an optional test for loss of differential encoder signals V FREE Command The user can issue the V FREE command at any time This measures a checksum of the V operating system Vision and Servo code area of RAM It validates d...

Page 380: ... 382 Connecting DeviceNet Hardware to the Adept Device Net Scanner 382 DeviceNet Physical Layer and Media 383 DeviceNet Connectors 386 Termination of the DeviceNet Network 386 Power Supply and the DeviceNet Bus 387 Power Capabilities of a DeviceNet Cable System 387 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 381: ...ility These profiles become part of the technical specifications The DeviceNet Specification is divided into two volumes and defines the following elements Volume 1 DeviceNet Communication Protocol and Application Layer 7 Application Layer1 Controller Area Network CAN and its use in DeviceNet Layer 2 Data Link Layer DeviceNet Physical Layer and Media Layer 1 Physical Layer Volume 2 Device profiles...

Page 382: ...n its DeviceNet Scanner to establish connections UCMM is used to establish I O Connections The Adept DeviceNet Scanner can be a Client or a Server on the network The Adept DeviceNet Scanner currently does not support Cyclic or Change of State connections Only I O Messaging is supported I O messages contain only data Currently only the Message Group 2 of the Predefined Master Slave Connection Set i...

Page 383: ...mm thread DIN connector on the back of the CIP Then you must configure the DeviceNet Scanner correctly using the 7 8 program See the DEVICENET instruction in the V Language Reference Guide for detailed information about the DeviceNet software setup in V Adept does not supply 24V on the CIP to power the DeviceNet bus A separate power supply is required to power the components on the DeviceNet bus T...

Page 384: ...s 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 9 4 Figure G 1 Trunklines and Droplines Made of Thick and Thin Cable DeviceNet allows devices to be powered directly from the bus and devices can use the same cable to communicate with other devices on the bus DeviceNet nodes are hot pluggable you...

Page 385: ...rnet at the following address http cutlerhammer eaton com automation whatsnew index html from the menu item DeviceNet Starter Kit The document is an Adobe Acrobat PDF file Adept supplies the Acrobat Reader program on its electronic documentation CD ROM The baud rate of the system depends on the length of the network end to end and the type of cable 9 4 shows how cable selection and trunkline lengt...

Page 386: ...anded Copper Conductors Red Black DC Power Pair PVC 15 AWG 19 x 28 Tinned Stranded Copper Conductors 18 AWG 19 x 30 Tinned Copper Stranded Drain Wire Aluminum Mylar Shield Over Each Pair External Jacket 7 2mm 0 285 in Outside Diameter 65 Coverage Tinned Copper Braid Shield Polypropylene Fillers Blue White Data Pair Polyethylene 18 AWG 19 x 30 Tinned Stranded Copper Conductors Red Black DC Power Pa...

Page 387: ...ea 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 Tab...

Page 388: ...ake 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 Adept does not supply the 24V operating voltage for the DeviceNet bus on the CIP or any other Adept component The DeviceNet specification requires that the CAN_H and CAN_L signal lines tole...

Page 389: ... 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 9 4 and the DeviceNet technical specifications and for further information For the calculation of the maximum cu...

Page 390: ...and 25V The common mode voltage between any two places on the V wire must not exceed 5V Figure G 6 DeviceNet Connector Pinouts Male Connector pins Female Connector sockets 4 3 5 1 2 3 5 2 4 1 Micro Style Connector LEGEND 1 Drain bare 2 V red 3 V black 4 CAN_H white 5 CAN_L blue VIEWED FROM CONTACT END Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 391: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 392: ...ical User s Interface 80 Alphabetical list of messages 262 Arm Power 106 Arm Power On Off Switch Lamp 90 Arm Power On Off Switch LampArm Power On Off Switch Lamp 90 Arm PowerArm Power 106 ASCII Terminal 81 ASCII terminal installation 66 ASCII TerminalASCII Terminal 81 AUTO Boot 81 Auto Boot Settings of DIP Switch SW1 81 Auto Boot Settings of DIP Switch SW1Auto Boot Settings of DIP Switch SW1 81 AU...

Page 393: ...oller Interface Panel CIP Back Panel View 93 Controller Interface Panel CIP Side View 91 Cooling fan MV 5 MV 10 56 CPU Board Number Assignment 81 Current voltage ratings MV 5 MV 10 53 Customer service assistance phone numbers 34 Cycle setting on MCP 248 D DeviceNet JDVC 92 Digital I O displaying on MCP 245 Digital I O Connectors on the CIP 111 Digital Input Wiring Examples JSIO connector 113 Digit...

Page 394: ...trigger 224 External vision trigger 224 F Facility requirements MV 5 MV 10 50 Factory Defaults of DIP Switch SW1 78 Fan cooling MV 5 MV 10 56 Fan filter cleaning 211 inspection 211 Fast Input Signals 113 Floppy drive on SIO module 170 Free state 258 Front Switches and Indicators 89 Fuse information MV 5 MV 10 55 Fuse ratings MV 5 MV 10 56 G Graphics interface controller installation 64 Graphics mo...

Page 395: ...r s model 235 Predefined function buttons 241 248 Manual Mode 105 Manual Mode Safety Package MMSP 92 Manual Mode Safety Package MMSP Connector 108 Manual Mode Safety Package MMSP ConnectorManual Mode Safety Package MMSP Connector 108 Manual Mode Safety Package MMSP Manual Mode Safety Package MMSP 92 Manual ModeManual Mode 105 Manual states free 258 joint 256 tool 254 world 253 Manual Auto Mode Swi...

Page 396: ...les 40 42 Output Signals 114 Output SignalsOutput Signals 114 Overvoltage protection MV 5 MV 10 53 P Panel mounting MV 5 MV 10 68 70 Pointer connector pin assignments 137 Position latch high speed 224 Power entry module MV 5 MV 10 54 Precision point 243 Priming a new program on MCP 248 Processors 75 ProcessorsProcessors 75 Prog Set function on MCP 247 Program starting execution on MCP 248 Program ...

Page 397: ...ignments 84 RS 422 485 ConnectorRS 422 485 Connector 83 S Safety 30 Selecting a new program on MCP 248 Serial I O on SIO module 170 Serial interface Wyse terminal user supplied cable 67 Serial Port 1 RS 232TERM 82 Serial Port 1 RS 232TERM Serial Port 1 RS 232TERM 82 Serial Port 2 RS 232 83 Serial Port 2 RS 232 Serial Port 2 RS 232 83 SF LED 74 Shipping information 49 Side connectors 91 Side connec...

Page 398: ...R 91 V V messages 262 VFI module 41 188 190 connections indicators 188 technical specifications 190 VMEbus address 189 VGB Graphical User s Interface 80 VGB Graphical User s InterfaceVGB Graphical User s Interface 80 VGB module 40 132 137 connections indicators 133 DIP switch settings 134 technical specifications 137 VMEbus address 134 VGB User Interface Settings of DIP Switch SW1 80 VGB User Inte...

Page 399: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 400: ...________ ____________________________________________________________________________________ ____________________________________________________________________________________ ____________________________________________________________________________________ ____________________________________________________________________________________ ___________________________________________________...

Page 401: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 402: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 403: ...00330 01040 Rev B Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 404: ...quipment Have surplus equipment taking up shelf space We ll give it a new home Learn more Visit us at artisantg com for more info on price quotes drivers technical specifications manuals and documentation Artisan Scientific Corporation dba Artisan Technology Group is not an affiliate representative or authorized distributor for any manufacturer listed herein We re here to make your life easier How...

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