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Adept SmartController User’s Guide, Rev. E

List of Tables

Table 1-1.

Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16

Table 2-1.

Environmental Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23

Table 2-2.

Specifications for 24VDC User-Supplied Power Supply. . . . . . . . . . . . . . . . . . .30

Table 3-1.

SmartController LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37

Table 3-2.

LED Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38

Table 3-3.

SW1 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43

Table 3-4.

RS-232 Connector Pin Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44

Table 3-5.

Serial Connectors and V

Designations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45

Table 3-6.

RS-422/485 Connector Pin Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45

Table 3-7.

Contacts Provided by the XUSR Connector . . . . . . . . . . . . . . . . . . . . . . . . . . .49

Table 3-8.

Contacts Provided by the XFP Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . .50

Table 3-9.

Remote MCP Connections on the XMCP Connector . . . . . . . . . . . . . . . . . . .51

Table 3-10.

DIO Input Circuit Specifications (XDIO connector). . . . . . . . . . . . . . . . . . . . . .59

Table 3-11.

DIO Output Specifications (XDIO connector) . . . . . . . . . . . . . . . . . . . . . . . . . .61

Table 3-12.

XDIO Digital I/O Connector Pin Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . .63

Table 3-13.

Belt Encoder Connector Pin Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . .65

Table 4-1.

Breakout Cable Camera Connector Pin Assignments (RS-170) . . . . . . . . . . .75

Table 4-2.

Standard Breakout Cable Strobe and Power Connector Pin Assignments . .76

Table 4-3.

Adept 10-Meter Camera Cable Pin Assignments . . . . . . . . . . . . . . . . . . . . . . .77

Table 4-4.

Two-Camera Breakout Cable Pin Assignments . . . . . . . . . . . . . . . . . . . . . . . . .78

Table 4-5.

Four-Camera Breakout Cable Pin Assignments. . . . . . . . . . . . . . . . . . . . . . . . .79

Table 4-6.

Four-Camera Breakout Cable Pin Assignments. . . . . . . . . . . . . . . . . . . . . . . . .81

Table 4-7.

Technical Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .83

Table A-1.

Default I/O Configuration for sDIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .97

Table A-2.

sDIO Input Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .104

Table A-3.

sDIO Chassis LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .107

Table A-4.

sDIO Output Circuit Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .108

Table A-5.

X3 Input Cable Pin Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .111

Table A-6.

X4 Input Cable Pin Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .112

Table A-7.

X1 Output Cable Pin Assignments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .113

Table A-8.

X2 Output Cable Pin Assignments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .114

Table B-1.

DeviceNet Signal to Pin Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .116

Table B-2.

Features of a DeviceNet Network. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .119

Table B-3.

DeviceNet Data Rates Relative to Cable Type and Length . . . . . . . . . . . . .119

Table B-4.

DeviceNet Connector Styles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .121

Table B-5.

Maximum Current on a Dropline Relative to its Length . . . . . . . . . . . . . . . . .123

Table C-1.

MCP-4 Compatibility Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .127

Summary of Contents for SmartController CS

Page 1: ...E OFF 24V 5A ON RS 232 TERM XFP HD ES XDIO Eth 10 100 S N 1000 XXXXX SW1 Device Net SmartServo XDC1 XDC2 1 2 3 4 OK R 1 2 R ON SmartServo IEEE 1394 1 2 3 4 SF ES HD SW1 1 1 1 2 2 1 2 2 OK 1 2 3 XDIO L...

Page 2: ......

Page 3: ...3 4 OK R 1 2 R ON SmartServo IEEE 1394 1 2 3 4 SF ES HD SW1 1 1 1 2 2 1 2 2 OK 1 2 3 XDIO LAN HPE OFF XSYS CAMERA Eth 10 100 XUSR Device Net XFP RS 232 TERM RS 232 1 XMCP BELT ENCODER SmartController...

Page 4: ...xis Adept SmartController CS Adept SmartController CX Adept SmartModule Adept SMIF EZ AdeptAlign 650 AdeptAtlas AdeptCartesian AdeptForce AdeptFTP AdeptGEM AdeptModules AdeptMotion AdeptMotion Servo A...

Page 5: ...mputer Controlled Devices 19 Program Security 19 Inappropriate Uses of the Adept SmartController 20 1 5 Standards Compliance 20 1 6 CAT 3 Version of SmartController 21 Identification 21 Functionality...

Page 6: ...l I O Connectors 44 RS 232 Connectors 44 RS 422 485 Connector 45 3 6 Installing the User Interface 46 Graphical Interface Using AdeptWindows 46 Text Interface Using a PC with HyperTerminal Software 47...

Page 7: ...ns 67 Pixel Format 68 AdeptVision sAVI Inspection System Limitations 68 4 2 Camera Compatibility 68 Guidelines for Cameras 68 Cameras Supported 69 Standard Resolution Cameras 69 High Resolution Camera...

Page 8: ...and a RIO 103 A 5 sDIO Module Connectors and Indicators 103 A 6 sDIO Digital I O Signals 104 sDIO Inputs 104 sDIO Outputs 106 Testing sDIO Outputs 106 sDIO LEDs 106 sDIO Output Power Supply Current S...

Page 9: ...er After Enable Switch Released 132 In Automatic Mode 132 In Manual Mode 132 Background Mode 133 C 2 MCP Predefined Functions 133 Introduction 133 Predefined Function Buttons 133 The Edit Function 134...

Page 10: ...Table of Contents 10 Adept SmartController User s Guide Rev E Controlling More Than One Robot 149 Robots With Fewer Than Six Joints 150 Robots With More Than Six Joints 150 Index 151...

Page 11: ...l Output Wiring for XDIO Connector 62 Figure 3 9 Belt Encoder Typical Input Circuit 66 Figure 4 1 Two Camera Breakout Cable for RS 170 Cameras 70 Figure 4 2 Four Camera Breakout Cable For RS 170 Camer...

Page 12: ...5 Data Entry Buttons 131 Figure C 6 MCP Predefined Function Buttons 133 Figure C 7 EDIT Function Button 134 Figure C 8 DISPLAY Function Button 135 Figure C 9 CLEAR ERROR Function Button 137 Figure C...

Page 13: ...Camera Connector Pin Assignments RS 170 75 Table 4 2 Standard Breakout Cable Strobe and Power Connector Pin Assignments 76 Table 4 3 Adept 10 Meter Camera Cable Pin Assignments 77 Table 4 4 Two Camera...

Page 14: ...List of Tables Adept SmartController User s Guide Rev E 14 Table C 2 Controlling More Than One Robot 150 Table C 3 Robots With More Than 6 Axes 150...

Page 15: ...features several high speed communication interfaces including Fast Ethernet IEEE 1394 and DeviceNet The SmartController offers known scalability and support for Adept s IEEE 1394 based digital I O a...

Page 16: ...Document Library search engine allows you to locate information on a specific topic Additionally the Document Menu provides a list of available product documentation To access the Adept Document Libra...

Page 17: ...manual should be read by all personnel who operate or maintain Adept systems or who work within or near the workcell We recommend you read the American National Standard for Industrial Robot Systems S...

Page 18: ...feguards must be an integral part of robot or motion workcell design installation operator training and operating procedures Adept systems have various communication features to aid in constructing sy...

Page 19: ...e The program controlling these other devices may cause them to operate unexpectedly Make sure that safeguards are in place to prevent personnel from entering the workcell when a program is running Ad...

Page 20: ...ems In life support systems In residential installations In situations where the SmartController subassembly may come into contact with liquids In situations where the SmartController subassembly will...

Page 21: ...running will not turn off High Power This is true for both the MCP 3 and MCP 4 models High Power Indication on XDIO Connector In the CAT 3 SmartController a V controlled normally open relay contact o...

Page 22: ...hile operating in Manual Mode power is turned off by releasing the Enable switch on the MCP 2 To re enable power the user must press and hold the Enable switch 3 Next the user must press the Cmp Pwr b...

Page 23: ...t 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 C...

Page 24: ...r packaging for shipment will void your warranty Space Around the Chassis When the SmartController and or sDIO is installed you must allow 10 mm at the back of the unit and 13 mm on the sides of the u...

Page 25: ...19 inch equipment rack install the optional mounting brackets on the side of the controller as shown in Figure 2 1 These brackets must be ordered separately they do not come with the SmartController F...

Page 26: ...ntroller To panel mount the SmartController install two brackets on each side at the rear of the unit as shown in Figure 2 2 Use the screws from the accessories kit Figure 2 2 Panel Mounting the Smart...

Page 27: ...table mount the SmartController install two brackets on each side near the bottom of the unit as shown in Figure 2 3 Use the screws from the accessories kit Figure 2 3 Table Mounting the SmartControll...

Page 28: ...and twice as thick It has no moving parts and is therefore reliable and durable It is also removable and can be moved to another SmartController for replacement or testing The CF capacity shipped with...

Page 29: ...ter PC See the AdeptWindows User s Guide for further details Installing CompactFlash To install a CompactFlash CF into a SmartController 1 Make sure that the SmartController is disconnected from its p...

Page 30: ...talled Adept recommends that you do not repeatedly remove and insert the CF Connecting Power The SmartController and sDIO require filtered 24VDC power NOTE Users must provide their own power supply Ma...

Page 31: ...mpacity of the cabling This can be done with a circuit breaker or a fuse The DC power can be applied to either the XDC1 or XDC2 connector Grounding The SmartController is equipped with a grounding poi...

Page 32: ...pply to the controller 3 Strip 7 mm of insulation from the end of the wire that connects to the positive output of the 24VDC supply 4 Insert a small flat blade screwdriver 2 5 mm into the top opening...

Page 33: ...rp Go to www newnex com Molex Inc Go to www molex com These purchased cables must meet all specifications of the IEEE 1394 standard Note that Adept uses 6 pin to 6 pin cables The maximum length for a...

Page 34: ...T C I R C U I T B R E A K E R MCP Typical Adept SmartModule SmartController Terminator Installed Front Panel Ethernet Eth 10 100 to PC AC In for PDU2 Controller XMCP to MCP IEEE 1394 Cable Controller...

Page 35: ...SmartController CS and CX models are compatible with other Adept products including AdeptSix 300 Robot AdeptSix 300CR Robot AdeptSix 600 Robot Adept Servo Kits Adept sMI6 Module for Adept SmartMotion...

Page 36: ...Chapter 2 SmartController Installation 36 Adept SmartController User s Guide Rev E...

Page 37: ...ree two color LEDs indicate diagnostic test power control and communication status During system bootup the red OK SF and HPE ES LEDs are lit and the red LAN HD LED blinks After system bootup the OK S...

Page 38: ...94 5 DeviceNet connector DeviceNet is a field bus for industrial devices This standard supports a variety of products including sensors digital I O analog I O RS 232 and PLCs Adept directly supports d...

Page 39: ...ts to report the status of E Stop push buttons and the Manual Automatic switch NOTE The SmartController ships with a terminator plug attached to the XUSR connector The terminator plug must be installe...

Page 40: ...er 4 for complete information 2 IEEE 1394 ports 2 1 and 2 2 These ports connect the Adept SmartController with an IEEE 1394 port on a Windows based PC This provides a connection for Adept s ActiveVR I...

Page 41: ...further details Figure 3 3 shows an Adept front panel 1 XFP connector Connects to the XFP connector on the SmartController 2 System 5V Power On LED Indicates whether or not power is connected to the...

Page 42: ...figuring the E Stop delay can be found within the SPEC V2 section of the Instructions for Adept Utility Programs manual 3 4 Configuring the Controller The SmartController is shipped with the factory c...

Page 43: ...he Transmit and the Receive pairs to the same pins on both ends of the cable When connecting to a server PC directly use a cross over cable that swaps the placement of the transmit and receive pairs o...

Page 44: ...user supplied cable to connect to the RS 232 connectors should be a DB9 F F null modem data transfer cable The pin assignments are the same for all three connectors and are shown in Table 3 4 These p...

Page 45: ...stination This port can also be configured as a multidrop port RS 485 To change the configuration of the RS 422 485 port use the CONFIG_C utility program or the V FSET program instruction See Table 3...

Page 46: ...an Ethernet connection The procedure for installing AdeptWindows and setting up the user interface for the Adept SmartController system is described in the AdeptWindows Installation Guide which is in...

Page 47: ...ctor to the RS 232 TERM connector on the SmartController 4 Locate and start the HyperTerminal application Hypertrm exe by selecting START Programs Accessories HyperTerminal or START Programs Accessori...

Page 48: ...o specify the Wyse ANSI VT100 style keyboard Wyse p n 900127 02 or 900128 02 Note The WY 60 is also available with ASCII and IBM Enhanced PC keyboards These are not Adept compatible You must make sure...

Page 49: ...Pairs Description Comments Shorted if NOT Used Voltage Free Contacts Provided by Customer 1 14 User E Stop CH 1 mushroom PB safety gates etc N C contacts Yes 2 15 User E Stop CH 2 same as pins 1 and 1...

Page 50: ...1 MANUAL Open AUTOMATIC Closed 4 12 Remote MANUAL AUTOMATIC switch CH 2 MANUAL Open AUTOMATIC Closed 6 14 Remote High Power on off momentary PB Used to enable High Power Nonvoltage Free Contacts 5 13...

Page 51: ...15 Pin D Sub Pin MCP 16 Pin CPC Description 1 9 6 7 MCP E stop PB CH 1 2 10 11 12 MCP E stop PB CH 2 3 11 14 16 MCP Enable CH 1 Hold to run 4 12 13 15 MCP Enable CH 2 Hold to run 13 1 4 Serial GND Log...

Page 52: ...ual Auto Indication Manual Open MCP 4 Enable Switch Manual Auto Enable MM1 MM1 MM2 MM2 XUSER 22 XUSER 23 XUSER 10 XUSER 9 XUSER 17 XUSER 16 XUSER 3 XUSER 4 XUSER 20 XUSER 21 XUSER 8 XUSER 7 XUSER 15 X...

Page 53: ...1 User Manual Auto Indication Manual Open MCP4 Enable Switch Manual Auto Enable MM1 MM2 MM1 MM2 MM1 MM2 XUSER 22 XUSER 23 XUSER 10 XUSER 9 XUSER 17 XUSER 16 XUSER 3 XUSER 4 XUSER 20 XUSER 21 XUSER 8 X...

Page 54: ...Stop input on pins 1 to 9 and 2 to 10 NOTE These pins must be shorted if not used Both channels must open independently if used Although an Emergency Stop will occur the SmartController will malfunct...

Page 55: ...into the circuit at a point where it cannot affect the customer E Stop indication relays and will not cause such a lock up situation For any situation where two systems should be cross coupled for exa...

Page 56: ...uld be wired in series with the Adept Front Panel Manual Automatic mode contacts Thus both the Adept Front Panel and the customer contacts need to be closed to allow Automatic mode User Manual Auto In...

Page 57: ...rtant that the remote High Power push button be located outside of the protected space of the robot Pins 6 and 14 and 5 and 13 of the XFP connector provide this remote capability Pins 5 and 13 provide...

Page 58: ...O Equipment The SmartController contains two options for connecting Inputs and Outputs IO IO can be hard wired to the XDIO Connector and or CAN network using the DeviceNet connector The XDIO connecto...

Page 59: ...ce voltage sources are typically used to drive the inputs NOTE When the program task priorities are properly set there is a 2 ms maximum latency for fast inputs 1001 to 1004 when used with V INT EVENT...

Page 60: ...s normal input signals signals 1001 to 1004 can have the following special uses Fast DIO V Interrupt Events INT EVENT Robot and Encoder Position Latch Vision Trigger Fast DIO interrupt events using IN...

Page 61: ...on the XDIO connector The examples are negative common and positive common using the internal 24V and ground connections Example 1 outputs 0001 to 0004 are shown with positive common Example 2 outputs...

Page 62: ...ided on the XDIO connector Figure 3 8 Digital Output Wiring for XDIO Connector Example 1 Example 2 Signal 0001 equivalent circuit Signal 0002 Signal 0003 Signal 0004 Signal 0005 Signal 0006 Signal 000...

Page 63: ...05 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...

Page 64: ...2 2 3 1 66682 1 Contact Pin Male wire size 28 24AWG 0 08 0 2mm 2 Alternatives 66682 9 66682 2 66682 4 66682 6 66682 8 Pins also available for other wire sizes contact AMP Thomas and Betts Part Numbers...

Page 65: ...circuit drawing Adept strongly recommends using differential encoder outputs for maximum noise immunity See the V Language User s Guide for more information on setting up and programming a conveyor tr...

Page 66: ...coder Typical Input Circuit Encoder 220 2 2K 26LS33 SmartController CX Belt Encoder Connector Typical input circuit same for A B and I for both encoders 2 2K Encoder Channel 1 Encoder Channel 2 Shield...

Page 67: ...sion sAVI product The sAVI board uses a digital signal processor DSP and features four 640x480 pixel frame buffers Support for 1Kx1K pixel cameras is also available Refer to the AdeptVision User s Gui...

Page 68: ...directly from third party vendors Visit the Adept web site at www adept com for an up to date list of compatible cameras Guidelines for Cameras The following information presents guidelines for camer...

Page 69: ...ut the async reset strobe mode is not supported High Resolution Cameras Pulnix TM 1020 15 OPT25 This camera is supported in the non interlaced full frame shutter mode only Sync strobe mode is supporte...

Page 70: ...sis they do not connect directly to the camera To connect to the cameras you must use an extension cable Adept offers a 10 meter cable for this purpose These cables can also be purchased from Intercon...

Page 71: ...the cameras when using this cable This power must be routed through the 9 pin D sub connector see Figure 4 2 and Table 4 2 for pin information Connect the power and ground on the breakout cable to a 1...

Page 72: ...r CX 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...

Page 73: ...HPE OFF XSYS CAMERA Eth 10 100 XUSR Device Net XFP RS 232 TERM RS 232 1 XMCP BELT ENCODER SmartController CX RS 422 485 XDC1 XDC2 24V 5A S N 3562 XXXXX RS 232 2 Up to four cameras can be installed 10...

Page 74: ...and Power connector on the standard Four Camera Breakout Cable Table 4 3 describes the 10 meter camera extension cable Table 4 4 describes signal information between the 44 pin connector and the camer...

Page 75: ...ntal drive to camera 7 Vd vertical drive to camera 8 Shield Clock from camera camera 1 2 only 9 Clock from camera camera 1 2 only 10 not connected 11 not connected 12 Shield Vd 12 Pin Hirose Female Ja...

Page 76: ...E Table 4 2 Standard Breakout Cable Strobe and Power Connector Pin Assignments Pin Function Notes 1 User 12 VDC to cameras 2 User power return Gnd 3 Strobe 1 4 Strobe return Gnd 5 Strobe 2 6 Reserved...

Page 77: ...vertical drive to camera black signal 7 8 Shield Clock from camera cam 1 2 only white shield 8 9 Pixel clock from camera cam 1 2 only white signal 9 10 not used reserved brown 10 11 not used reserved...

Page 78: ...k CAM1 10 not connected CAM1 11 not connected AVI 38 CAM1 12 Shield Vd AVI 6 CAM2 1 Power return AVI 5 CAM2 2 12V power AVI 43 CAM2 3 Shield video AVI 29 CAM2 4 Video AVI 35 CAM2 5 Shield Hd AVI 34 CA...

Page 79: ...2 1 Power return Str Pwr 1 CAM2 2 12V power AVI 43 CAM2 3 Shield video AVI 29 CAM2 4 Video AVI 35 CAM2 5 Shield Hd AVI 34 CAM2 6 Hd horizontal drive AVI 19 CAM2 7 Vd vertical drive AVI 35 CAM2 8 Shiel...

Page 80: ...AVI 17 CAM4 12 Shield Vd Str Pwr 1 User 12 V to cameras Str Pwr 2 User power return AVI 26 Str Pwr 3 Strobe 1 AVI 11 Str Pwr 4 Strobe return AVI 39 Str Pwr 5 Strobe 2 AVI 11 Str Pwr 6 Reserved AVI 40...

Page 81: ...tr Pwr 4 Strobe return AVI 11 Str Pwr 6 Reserved AVI 11 Str Pwr 8 Reserved AVI 12 CAM1 3 Shield video AVI 14 CAM3 3 Shield video AVI 15 CAM4 4 Video AVI 16 CAM4 6 Hd horizontal drive AVI 17 CAM4 5 Shi...

Page 82: ...ield Clock AVI 38 CAM1 12 Shield Vd AVI 39 Str Pwr 5 Strobe 2 AVI 40 Str Pwr 7 Reserved AVI 42 CAM1 4 Video AVI 43 CAM2 3 Shield video AVI 44 CAM3 4 Video Note that this cable provides user supplied 1...

Page 83: ...ns Table 4 7 Technical Specifications1 1 Specifications subject to change Electrical Power Consumption Voltage Avg Current A Avg Power W Max Current A Max Power W 3 3 V 0 0 0 0 5V 1 4 7 2 0 10 12 V 0...

Page 84: ...Chapter 4 AdeptVision sAVI Option 84 Adept SmartController User s Guide Rev E...

Page 85: ...ay from the body NOTE Separate the cover from the body slowly to avoid damaging the two wires that go between the LED and the PC board inside the body Pull the front cover as straight away as possible...

Page 86: ...SmartController User s Guide Rev E Figure 5 1 Lamp Body Contact Alignment High Power On Off Lamp Body Back side of front cover Wires between LED and body of Front Panel Be careful when separating fro...

Page 87: ...r Dimensions This section shows the dimensions of the SmartController The dimensions for the CS and CX models are the same Figure 6 1 SmartController Dimensions 1 2 3 RS 422 485 XUSR XSYS SF XMCP 1 1...

Page 88: ...r User s Guide Rev E 6 2 sDIO Dimensions This section shows the dimensions of the sDIO module Figure 6 2 sDIO Dimensions 328 9 186 5 Ground Connection Point 2 5 4 4 5 5 41 6 SF IEEE 1394 X2 SC DIO LIN...

Page 89: ...Adept Front Panel Dimensions Adept SmartController User s Guide Rev E 89 6 3 Adept Front Panel Dimensions Figure 6 3 Adept Front Panel Dimensions STOP R 152 4 88 9 129 5 13 1 55 9 38 7 16 5 30...

Page 90: ...Chapter 6 Technical Specifications 90 Adept SmartController User s Guide Rev E Figure 6 4 Adept Front Panel Back View 76 2 139 7 6 4 6 4 4X M4 x 18MM...

Page 91: ...R YES WORLD TOOL JOINT FREE DEV USER SLOW 0 DEL STEP 1 2 3 T 1 F 2 F3 J7 J 12 DEV 7 8 REC DONE NO 9 4 5 6 Y 2 X 1 F 1 EDIT DISP USER SLOW F 2 F3 J7 J 12 DEV F 1 221 74 mm 8 74 in 184 15 mm 7 26 in 114...

Page 92: ...Adept SmartController User s Guide Rev E Figure 6 6 MCP Cradle Dimensions 10 2 mm 0 40 in 4 X 28 7 mm 1 13 in 2 X 203 2 mm 8 0 in 2 X 271 5 mm 10 69 in 4 8 mm 0 19 in 4 X 221 mm 8 70 in 201 mm 7 91 in...

Page 93: ...he sDIO The following mounting options are available for the sDIO Rack mounting Panel mounting Table mounting In addition the SmartController and sDIO can be stack mounted on top of each other See the...

Page 94: ...tandard 19 inch equipment rack you must first install the mounting brackets see Figure A 2 on each side of the unit These brackets must be ordered separately they do not come with the SDIO Figure A 2...

Page 95: ...nting the sDIO To panel mount the sDIO install one bracket on each side of the back of the unit Use the screws from the accessories kit see Figure A 3 Figure A 3 Panel Mounting the sDIO 10 0 18 0 346...

Page 96: ...uired to successfully install the sDIO To install the sDIO module 1 Remove the sDIO module from its box and set it up near the robot or mount it as described in Mounting the sDIO on page 93 2 Ensure t...

Page 97: ...tly so you can use the same number for both an input and an output block You must be sure that the block number you specify is not used for the same type of block in any other sDIO module or RIO in yo...

Page 98: ...h a configuration process to modify the sDIO modules when you have more than one sDIO module when you choose not to use the default I O configuration block 16 when you have a RIO device in your system...

Page 99: ...e following prompt Enter new value Then press ENTER to continue 10 Type Y at the final prompt Do you want to save these changes Then press ENTER to continue After selecting block numbers you must assi...

Page 100: ...byte 2 and so on See sDIO Signal Mapping Example 1 Using this process you must assign groups of signal numbers to bytes 1 to 4 for each block See the sDIO Signal Mapping Example 2 for the input setti...

Page 101: ...modules The first sDIO uses default block 16 and is configured as shown The second sDIO is configured so that signals 1065 to 1098 are assigned as shown Notice the signal numbers are in groups of eig...

Page 102: ...and reboot the controller Figure A 5 Using Multiple sDIO Modules NOTE When adding additional sDIO modules each additional sDIO module must be grounded per all applicable regulations 1 2 3 RS 422 485 X...

Page 103: ...ature or current output is automatically shut down solid green LED communication with controller OK blinking green not configured in software 2 IEEE 1394 ports Connects to one of the SmartServo ports...

Page 104: ...n each group share a common ground The inputs are accessed through the two female 26 pin D sub input connectors on the front of the sDIO Each connector provides access to two input groups Each group r...

Page 105: ...ignal 1034 Feeder Empty Sensor 6 Signal 1035 Part Jammed Sensor 16 Signal 1036 Sealant Ready Sensor 7 Signal 1037 17 Signal 1038 8 Signal 1039 18 Signal 1040 9 Group 1 Return 25 Group 1 Return 26 Sign...

Page 106: ...ut with a voltmeter with a load disconnected you will get a false reading The test signal provides a bias that can be used as a pull down resistor for system level troubleshooting When this is connect...

Page 107: ...ted to a maximum of one amp per power pin Use this limitation to select the number of power pins you need For example each output can source up to 700 mA giving a maximum total current for a group of...

Page 108: ...Iout 0 5A Ron 0 32 85 C Ron 0 4 125 C Output leakage current Iout 25 A Turn on response time 175 sec max 80 sec typical hardware only Turn off response time 60 sec max 28 sec typical hardware only Ou...

Page 109: ...nal 26 38 39 40 41 42 43 44 28 Group 1 Return 29 Group 1 Test 30 Signal 0033 15 Signal 0034 14 Signal 0035 13 Signal 0036 12 Signal 0037 11 Signal 0038 10 Signal 0039 9 Signal 0040 Load 17 Customer AC...

Page 110: ...ut signals and X4 handles the group 3 and group 4 input signals The optional digital input cables can be connected to either X3 or X4 Make sure to clearly label the cables once you have completed your...

Page 111: ...X3 26 pin female input connector on sDIO front panel X3 6 1 1034 orange X3 16 1 1035 green white X3 7 1 1036 blue X3 17 1 1037 blue white X3 8 1 1038 white black X3 18 1 1039 black red X3 9 1 1040 re...

Page 112: ...1051 green white X4 7 3 1052 blue X4 17 3 1053 blue white X4 8 3 1054 white black X4 18 3 1055 black red X4 9 3 1056 red black X4 25 3 group 3 return blue red X4 26 3 group 3 return red green X4 10 4...

Page 113: ...X1 40 1 power black white orange X1 41 1 power white red orange X1 42 1 power orange white blue X1 43 1 power white red blue X1 44 1 power black white green X1 28 1 group 1 return white black red X1 2...

Page 114: ...2 40 3 power black white orange X2 41 3 power white red orange X2 42 3 power orange white blue X2 43 3 power white red blue X2 44 3 power black white green X2 28 3 group 3 return white black red X2 29...

Page 115: ...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...

Page 116: ...ns 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...

Page 117: ...sical Layer and Media The DeviceNet physical layer and media specifications are published in the ODVA manual chapter 9 volume 1 It describes possible topologies and components of the physical layer of...

Page 118: ...s on the power supply In general power supplies can be placed at any point in the network The maximum current rating of a trunkline is 8 amps DeviceNet allows opto isolated externally powered devices...

Page 119: ...Rate Distance thick cable 125 Kbps 500 m 1 640 ft 250 Kbps 250 m 820 ft 500 Kbps 100 m 328 ft Data Packets 0 8 bytes Bus Topology Linear trunkline dropline power and signal on the same network cable B...

Page 120: ...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 Tinn...

Page 121: ...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 us...

Page 122: ...ceNet cable installation NOTE Adept does not supply the 24V operating voltage for the DeviceNet bus on the SmartController or any other Adept component Power Capabilities of a DeviceNet Cable System A...

Page 123: ...of the cable decreases the maximum current value See Table B 5 and the DeviceNet technical specifications and for further information For the calculation of the maximum current at a specific length u...

Page 124: ...ontroller User s Guide Rev E Figure B 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...

Page 125: ...T 3 SmartController MCP III The MCP III has a palm activated enabling switch that is connected to the remote emergency stop circuitry of the controller Whenever this switch is released High Power is r...

Page 126: ...ch 3 Position Enable Switch The 3 position enable switch on the MCP 4 works as follows see Figure C 1 Position 1 switch is not pressed high power cannot be enabled Switch is open Position 2 switch is...

Page 127: ...MCP 4 in a system that originally used an MCP III then Adept recommends removing 10356 10370 CIM TO MCPIII Adapter for reliability but not for compliance reasons In Adept systems rated for Category 3...

Page 128: ...5 6 7 8 9 T1 Z 3 Y 2 X 1 COMP PWR RUN HOLD MAIN HALT DIS PWR REC DONE YES NO WORLD TOOL JOINT FREE DEV USER SLOW F2 F3 J 7 J 12 DEV Depress the palm activated enabling switch EDIT DISP CLR ERR CMD PR...

Page 129: ...ted enabling switch are wired into the emergency stop circuitry Therefore either the pendant or the optional pendant jumper plug must be attached to this connector If neither one is connected you cann...

Page 130: ...nction Buttons The predefined function buttons have specific system wide functions assigned to them These functions are covered in MCP Predefined Functions on page 133 The programmable function button...

Page 131: ...have not been entered using the REC DONE button Application programs may also assign special functions to the DEL button Figure C 5 Data Entry Buttons Mode Control and Joint Axis Control Buttons The m...

Page 132: ...troller In a CAT 3 SmartController when operating in Automatic Mode the Enable Switch is ignored by the system Releasing the Enable switch has no effect on operation See Section 1 6 on page 21 for mor...

Page 133: ...pressing the REC DONE key more than one press may be necessary The predefined functions are described in MCP Predefined Functions on page 133 When the MCP is in background mode the viewing angle of t...

Page 134: ...has been selected the LCD will display var name xxx CHANGE TRUE FALSE If the variable being edited is from an array an additional soft button is displayed that allows you to specify the index of the v...

Page 135: ...the entry by pressing REC DONE Press the NEXT soft button to show the next component of the location variable The location s X Y Z y p and r values will be shown in succession X Y and Z values are giv...

Page 136: ...executed program Speed shows the current monitor speed Cycle shows the total number of cycles specified when the program was executed Left shows the number of cycles of the program remaining to execut...

Page 137: ...P MESSAGES is enabled error messages are sent to the MCP When an error is sent to the MCP the MCP will beep display a blinking error message and light the LED on the CLR ERR button shown in Figure C 9...

Page 138: ...d press REC DONE The system attempts to load the file AUTOxx V2 from the default disk and COMMAND the program autoxx xx refers to the digits you entered The program file AUTOxx V2 must reside on the d...

Page 139: ...g2 prog3 prog4 MORE To select a different program press the soft button under the program name To see additional programs if there are more programs press the MORE soft button Step Press STEP and the...

Page 140: ...joint state or in free state When moving in world state directions are sent from the MCP to move the robot in a Cartesian coordinate system centered at the base of the robot When moving in tool state...

Page 141: ...ss the High Power button within the allowed time MAN HALT Button When there is no program executing or a program has paused for a pendant teach routine pressing the MAN HALT button selects manual mode...

Page 142: ...programs cannot initiate motions unless you press the step button and speed bar on the MCP To continue the motion once it has started you can release the step button but must continue to press the spe...

Page 143: ...t States World State When world state is selected movement in the X Y or Z direction is parallel to an axis of the world coordinate system Before the speed bars will move the robot an axis of motion m...

Page 144: ...Y or Z direction is along an axis of the tool coordinate system The tool coordinate system is centered at the robot tool flange with the Z axis pointing away from the flange On most robots the positi...

Page 145: ...ct the tool coordinate system will be offset and rotated by the value of the TOOL transformation Any motion in tool state will now be relative to the offset coordinate system and not the center of the...

Page 146: ...ol Pendant MCP 146 Adept SmartController User s Guide Rev E Figure C 16 TOOL State Six Axis Robot T1 RZ 6 RY 5 RX 4 Z 3 Y 2 X 1 STEP Rotation about TOOL X axis Rotation about TOOL Y axis Rotation abou...

Page 147: ...ownward Before the speed bars will move a joint the correct joint must be selected from the manual control buttons Different robots or motion devices will have the different joint numbers assigned to...

Page 148: ...trol buttons to free as many joints as required In some cases such as Joints 1 and 2 on an AdeptOne AdeptThree robot multiple joints are freed by selecting a single button On some robots Free mode may...

Page 149: ...group see Figure C 4 The table below describes the conditions WARNING As soon as a joint is selected from the manual control buttons the related joint is free to move in some cases multiple joints may...

Page 150: ...or 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...

Page 151: ...ion 21 MCP Enable switch function change 21 changing the lamp on the High Power indicator 85 Clear Error button on MCP 137 Clear Error function on MCP 137 Comp Pwr button on MCP 141 CompactFlash insta...

Page 152: ...8 joint 147 tool 144 world 143 Manual Automatic Mode switch on Front Panel 41 MCP CMD function 137 CMD1 and 2 139 data entry buttons 131 DEL button 131 function buttons 130 how to use 125 150 mode con...

Page 153: ...iple modules 102 selecting a new program on MCP 139 serial connection to PC using HyperTerminal software 47 serial connectors with V designations 45 serial port 1 RS 232 TERM 44 slow button on MCP 131...

Page 154: ...DC2 24VDC connectors description 40 XDIO connector description 39 digital output wiring 62 functions 59 64 input signals 59 output signals 61 XFP connector on Front Panel description 41 XFP connector...

Page 155: ......

Page 156: ...3011 Triad Drive Livermore CA 94551 925 245 3400 P N 00356 00100 Rev E...

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