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Adept SmartController EX

User's Guide

Covers the SmartController EX Motion Controller and sDIO Module

Summary of Contents for sDIO

Page 1: ...Adept SmartController EX User s Guide Covers the SmartController EX Motion Controller and sDIO Module ...

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Page 3: ... P N 11069 000 Rev C March 2013 5960 Inglewood Drive Pleasanton CA 94588 USA Phone 925 245 3400 Fax 925 960 0452 Otto Hahn Strasse 23 44227 Dortmund Germany Phone 49 231 75 89 40 Fax 49 231 75 89 450 Block 5000 Ang Mo Kio Avenue 5 05 12 Techplace II Singapore 569870 Phone 65 6755 2258 Fax 65 6755 0598 ...

Page 4: ...d Your comments assist us in preparation of future documentation Please submit your comments to techpubs adept com Copyright 2013 by Adept Technology Inc All rights reserved Adept the Adept logo the Adept Technology logo AdeptVision AIM Blox Bloxview FireBlox Fireview Meta Controls MetaControls Metawire Soft Machines and Visual Machines are registered trademarks of Adept Technology Inc Brain on Bo...

Page 5: ...Installation 15 2 1 Controller Installation 15 Before Unpacking 15 Upon Unpacking 15 Repacking for Relocation 16 Space Around the Chassis 16 Mounting the Adept SmartController EX Motion Controller 16 Memory Card 19 Connecting Power 21 IEEE 1394 Cable Specifications 24 2 2 System Cable Installation 25 Chapter 3 Operation 27 3 1 Connectors and Indicators 27 3 2 Front Panel 31 Programming the E Stop ...

Page 6: ...imensions 57 5 2 sDIO Module Dimensions 58 5 3 Adept Front Panel Dimensions 59 5 4 Adept T20 Pendant Dimensions 60 Chapter 6 sDIO Module 61 6 1 Mounting the sDIO Module 61 Rack Mounting the sDIO Module 61 Panel Mounting the sDIO Module 63 Table Mounting the sDIO Module 63 Stack Mounting the sDIO Module 64 6 2 Installing the sDIO Module 64 6 3 sDIO Module Connectors and Indicators 65 6 4 Configurin...

Page 7: ...he Controller 86 Connecting DeviceNet Hardware to the Controller 86 Configuring DeviceNet 87 7 4 DeviceNet Physical Layer and Media 87 DeviceNet Connectors 90 Termination of the DeviceNet Network 91 Power Supply and the DeviceNet Bus 91 Adept SmartController EX User s Guide Rev C Page 7 of 96 ...

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Page 9: ...r EX Motion Controller Optional sDIO Expansion Module The sDIO expansion module provides 32 optical isolated digital inputs 32 optical isolated out puts and an IEEE 1394 interface Customers can access I O signals from the following points using these products l the XDIO connector on an Adept SmartController EX motion controller l the DeviceNet connector on an Adept SmartController EX motion contro...

Page 10: ...ept T20 pendant User s Guide shipped with each pendant for complete information on the product Figure 1 2 Adept T20 Pendant 1 2 Dangers Warnings Cautions and Notes in Manual There are six levels of special alert notation that may be used in Adept manuals In descend ing order of importance they are Adept SmartController EX User s Guide Rev C Page 10 of 96 ...

Page 11: ...y Precautions DANGER Adept robots can cause serious injury or death or damage to themselves and other equipment if the following safety precautions are not observed l All personnel who install operate teach program or maintain the system must read this guide read the Adept Robot Safety Guide and complete a training course for their responsibilities in regard to the system l All personnel who desig...

Page 12: ...ocument Library on page 13 1 6 Manufacturer s Declaration The Manufacturer s Declaration of Incorporation and Conformity for Adept robot systems can be found on the Adept website in the Download Center of the Support section http www adept com support downloads file search NOTE The Download Center requires that you are logged in for access If you are not logged in you will be redirected to the Ade...

Page 13: ...and system specifications Table 1 1 Related Manuals Manual Title Description Adept Robot Safety Guide Contains safety information for Adept robots Adept T20 User s Guide Contains information on the installation and operation of the Adept T20 pendant Adept ACE User s Guide Describes installation and use of the Adept ACE software eV OS User Guide Describes the eV operating system including disk file...

Page 14: ...Chapter 1 Introduction To locate information on a specific topic use the Document Library search engine on the ADL main page Adept SmartController EX User s Guide Rev C Page 14 of 96 ...

Page 15: ...me the container is unpacked Upon Unpacking Compare the actual items received not just the packing slip with your equipment purchase order and verify that all items are present and that the shipment is correct Inspect each item for external damage as it is removed from its container Contact Adept immediately if any damage is evident For contact information see How Can I Get Help on page 13 Retain ...

Page 16: ...otion Controller The following mounting options are available for the controller l Rack l Panel l Table l Stack The controller and compatible Adept units can be mounted with one unit placed on top of another See Mounting the sDIO Module on page 61 for information on mounting the sDIO expansion module NOTE To maintain compliance with many standards the mounting of the controller and all ter minatio...

Page 17: ...artController EX Motion Controller To panel mount the controller install two brackets on each side at the rear of the unit as shown in the following figure Use the screws from the accessories kit 27 4 14 0 200 5 4X 40356 00000 8X M3 x 6MM 273 9 8 1 16 0 44 9 6 6 346 6 359 8 R3 6 TYP 16 1 44 9 Figure 2 2 Panel Mounting the Adept SmartController EX Motion Controller Adept SmartController EX User s G...

Page 18: ...DES 21 6 16 0 120 9 16 2 4X 40356 00001 120 9 29 5 391 8 378 6 24 9 R3 6 12 1 24 1 Figure 2 3 Table Mounting the Adept SmartController EX Motion Controller Stack Mounting Components To stack mount the Adept SmartController EX Motion Controller and a compatible unit such as an Adept SmartVision EX vision controller install two brackets on each side of the units as shown in the following figure Thes...

Page 19: ...The SD card shipped with all systems is factory configured and installed by Adept The SD card stores the eV operating system application programs data files and Adept licenses Only the SD card supplied by Adept will work with the Adept SmartController EX motion con troller NOTE This SD card is not compatible with the SmartController CX or CS motion controllers CAUTION Use suitable measures for eli...

Page 20: ...lease The card will pop out Remove the card and return it to Adept Contact Adept Customer Service Installing an SD Card To install an SD card into a Adept SmartController EX motion controller 1 Make sure that the controller is powered off 2 Locate the SD card compartment see the preceding figure 3 Carefully remove the SD card from the READ ME FIRST box or shipping container Position the card so it...

Page 21: ...wer Supply User Supplied Power Supply 24 VDC 10 5 120 W 5 A Circuit Protection Not more than 8 A below the amper age rating of the cable used Power Cabling 1 5 1 85 mm2 16 14 AWG full cover braided shield cable maximum length 10 meters Shield Termination Braided shield connected to the marked frame ground screw on the right side of the controller near the XDC connector On the other end of the cabl...

Page 22: ...ontroller User Supplied Shielded Power Cable Note Use connector supplied by Adept at this end of cable Shield from cable Star washer M3 x 6 screw Shield from cable to frame ground on power supply Circuit protection 8A Frame Ground Figure 2 7 User Supplied Power Cable Daisy Chaining Power The Adept SmartController EX motion controller is equipped with two DC power connectors These connectors allow ...

Page 23: ...ound wire for the controller is 3 meters Grounding Point Figure 2 8 Chassis Grounding Point The mounting of the controller and all terminations must be performed in accordance with local and national regulations Installing 24 VDC Connectors Use the Adept supplied connector to connect the user supplied 24 VDC power supply to the Adept SmartController EX motion controller 1 Locate the 24 VDC connect...

Page 24: ...nectors are reversed IEEE 1394 Cable Specifications Adept supplies the IEEE 1394 cables to connect the Adept SmartController EX motion con troller to other Adept devices in the system If you need a cable of a different length than those supplied by Adept then you must purchase a cable from one of the Adept approved vendors listed below l CEI www componentsexpress com l Molex Inc www molex com Thes...

Page 25: ...em Cable Installation The Adept SmartController EX motion controller is used in many Adept systems including Adept Python Linear Modules Adept Cobra s series robots the Adept Viper line of six axis robots Adept Quattro robots and the Adept sMI6 Module for the SmartMotion product See your specific product manual for complete details on system cabling for your Adept Smart Controller system Adept Sma...

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Page 27: ...l Adept cables 1 SD Card Slot See Installing an SD Card on page 20 2 Top Three Status LEDs The top three two color LEDs indicate diagnostic test power control and com munication status Table 3 1 Controller LEDs LED Green Indicates Red Indicates OK SF System OK System Fault HPE ES High Power Enabled E Stop Open FW HD SmartServo Con nection Read Write from SD card During system bootup the red OK SF ...

Page 28: ... 2 Hardware configuration error O O R 4 Memory test failure Free storage error O R R 6 Software serial I O configuration error R R R 7 Initial display set by hardware before software has started G O O 9 Transient display set when PCI is configured O O G C Uninitialized trap G O G D Bus error detected If the Adept SmartController EX motion controller displays an error cycle the power off then on ag...

Page 29: ...future use 9 RS 232 1 and RS 232 2 connectors These are RS 232 serial ports for general use See Configuring Serial Ports on page 33 for more information 10 RS 232 and RS 422 485 connectors These ports support RS 232 and RS 422 485 devices respectively See Configuring Serial Ports on page 33 for pin descriptions and locations 11 DeviceNet connector DeviceNet is a field bus for industrial devices Th...

Page 30: ...el See Connecting User Supplied Safety and Power Control Equipment on page 36 for information 16 XMCP connector The optional Adept T20 pendant plugs into this connector via the T20 adapter cable which has the mating connector for the XMCP connector The controller ships with a ter minator plug in the XMCP connector The plug must be installed in the absence of a pendant or the E Stop circuit will re...

Page 31: ...utton input and still enable power see your robot manual for further details 1 XFP connector Connects to the XFP connector on the controller 2 System 5 V Power On LED Indicates whether or not power is connected to the controller 3 Manual Automatic Mode Switch Switches between Manual and Automatic mode In Automatic mode executing pro grams control the mechanism and the mechanism can run at full spe...

Page 32: ...reduction of wear on highly geared high inertia mechanisms while maintaining safety compliance per all standards Programming the E Stop Delay To set the programmable E Stop delay from the Adept ACE software go to the object editor for the robot and enable Expert Access Object Expert Access NOTE This requires a password to enable Once enabled you will be able to see and modify the following three p...

Page 33: ...tions as you step through the installation process 4 When the install is complete click Finish 5 After closing the Adept ACE Setup wizard click Exit on the CD ROM menu and pro ceed to the Start up Procedure NOTE You will have to restart the PC after installing the Adept ACE software 3 4 Configuring the SmartController Configuring Serial Ports The Adept SmartController EX motion controller has four...

Page 34: ...of RS 232 connectors are 9 pin DB9 male standard PC connectors The user supplied cable to connect to the RS 232 connectors should be a DB9 F F null modem data transfer cable The pin assignments are the same for all three connectors and are shown in the following table Table 3 3 RS 232 Connector Pin Assignments Pin RS 232 1 RS 232 2 RS 232 Term Signal Type Signal Type 1 Reserved NC 2 RXD Input RXD ...

Page 35: ...fol lowing table NOTE To configure the port speed and other communications parameters use Adept ACE soft ware Table 3 4 Serial Connectors and eV Designations Connector eV Designation RS 422 485 LOCAL SERIAL 1 RS 232 Term LOCAL SERIAL 2 RS 232 1 SERIAL 1 RS 232 2 SERIAL 2 RS 422 485 Connector The RS 422 485 connector is a 9 pin DB9 male connector The pin assignments are shown in the following table...

Page 36: ...cription Comments Voltage Free Contacts Provided by Customer 1 14 User E Stop CH 1 mushroom push button safety gates etc N C contacts Shorted if NOT Used 2 15 User E Stop CH 2 same as pins 1 14 N C contacts Shorted if NOT Used 3 16 Line E Stop used for other robot or assembly line E Stop inter connection Does not affect E Stop indication pins 7 20 N C contacts Shorted if NOT Used 4 17 Line E Stop ...

Page 37: ...omentary push but ton User must supply momen tary push button to enable High Power to system Non voltage Free Contacts 5 13 Adept Supplied 5 VDC and GND for High Power On Off Switch Lamp User must supply lamp or use 1 W 47 ohm resistor system will not operate if not present 7 15a Controller system 5 V power on LED 5 V 20 mA Optional indicator only 8 No connection Pin 1 Pin 8 Pin 9 Pin 15 XFP See t...

Page 38: ... connection Shield Shield GND 6 24 V 5 No connection Table 3 9 XSYS Connector Pin Assignments Pin Signal Description 1 ESTOPGND GND Return 2 MANUAL1 Manual Mode ESTOP Ckt CH 1 3 MANUAL2 Manual Mode ESTOP Ckt CH 2 4 HIPWRDIS High Power Disable 5 HIPWRREQ High Power Request 6 AUTO1 Auto Mode ESTOP Ckt CH 1 7 AUTO2 Auto Mode ESTOP Ckt CH 2 8 N C No Connection 9 ESTOPSRC 24 V Output to Slave ESTOP NOT...

Page 39: ...ER 9 XUSER 17 XUSER 16 XUSER 3 XUSER 4 XUSER 20 XUSER 21 XUSER 8 XUSER 7 XUSER 15 XUSER 14 XUSER 1 XUSER 2 XFP 1 XFP 9 XFP 2 XFP 10 XUSER 6 XUSER 5 XUSER 18 XUSER 19 XSYS 9 XSYS 1 XSYS 7 XSYS 6 XSYS 3 XSYS 2 XSYS 5 Muted Safety Gate Active in auto mode only Jumper closed when not used ESTOPSRC Auto 2 Auto 1 Manual 2 Manual 1 High Power Request Ilimit 1 4 A Connections at Adept Robot or Module syst...

Page 40: ...emote location using voltage free contacts See the figure CAT 3 E Stop Circuit on XUSR and XFP Connectors on page 39 The XUSR connector provides external two channel E Stop input on pin pairs 1 14 and 2 15 The XFP connector provides two channel E Stop input on pin pairs 1 9 and 2 10 NOTE These pins must be shorted if not used Both channels must open independently if used Although an Emergency Stop...

Page 41: ...E Stop indication relays and will not cause such a lock up situation For any situation where two systems should be cross coupled for example the customer E Stop indication of one con troller is to be connected to the input of another controller the Line E Stop input is the point to bring in the other controller s output contacts See the figure CAT 3 E Stop Circuit on XUSR and XFP Connectors on pag...

Page 42: ... allel with the Adept Front Panel switch contact This would violate the Single Point of Control principle and might allow Automatic high speed mode to be selected while an operator is in the cell User Manual Auto Indication Two pairs of pins on the XUSR connector pins 9 22 and 10 23 provide a voltage free contact to indicate whether the Front Panel and or remote Manual Automatic switches are close...

Page 43: ...rror prevents High Power from being turned on This safety feature prevents a user from not realizing that High Power is enabled because the High Power indi cator is burned out See Changing the Lamp in the Front Panel High Power Indicator on page 55 for information on changing this lamp Remote Front Panel or User Supplied Control Panel Usage Users can mount the Front Panel remotely by using an exte...

Page 44: ...controller is a 50 pin standard density D Sub female connector see SmartController EX Connectors and Indicators on page 27 for location There are 12 inputs and 8 outputs each optically isolated from the circuitry of the controller The signals are numbered 1001 through 1012 for the inputs and 1 through 8 for the outputs All the signals have independent source and ground connections These inputs con...

Page 45: ...onse time Turn off response time hardware Software scan rate response time 5 µsec maximum 1 ms scan cycle 1 ms max response time NOTE The input current specifications are provided for reference voltage sources are typically used to drive the inputs NOTE When the program task priorities are properly set there is a 1 ms maximum latency for the fast inputs when used with the eV INT EVENT instruction ...

Page 46: ...be substituted for the customer power supply See the figure Digital Output Wiring for XDIO Connector on page 48 and the table DIO Input Circuit Specifications XDIO connector on page 45 for additional information REACT Input Signals 1001 to 1012 Inputs 1001 to 1012 only may be used by the eV REACT and REACTI instructions See the eV Language Reference Guide for information on these instructions If y...

Page 47: ...rrent range per channel I out 100 mA short circuit pro tected 1 A total at 24 V V drop across output in on condition V drop 2 7 V at 100 mA V drop 2 0 V at 10 mA Output off leakage current I out 600 µA Turn on response time hardware Software scan rate response time 3 µsec maximum 1 ms scan cycle 1 ms max response time Turn off response time hardware Software scan rate response time 200 µsec maximu...

Page 48: ...king 24 V 1 A X X Ground Figure 3 7 Digital Output Wiring for XDIO Connector Table 3 12 XDIO Digital I O Connector Pin Assignments Pin Signal Pin Signal Pin Signal Pin Signal 1 Input 1001 2 1001 return 25 Output 0001 26 Output 0001 3 Input 1002 4 1002 return 27 Output 0002 28 Output 0002 5 Input 1003 6 1003 return 29 Output 0003 30 Output 0003 7 Input 1004 8 1004 return 31 Output 0004 32 Output 00...

Page 49: ...ers make screw terminal field wiring blocks usually DIN rail mountable These can be connected to the XDIO via a suitable shielded 50 pin cable user supplied 3 7 Belt Encoder Interface For use with conveyor tracking the Adept SmartController EX motion controller supports four independent external belt encoders through a 26 pin female D sub connector The pin assign ments for the Belt Encoder connect...

Page 50: ...it on page 52 for a schematic Adept strongly recommends using differential encoder outputs for maximum noise immunity See the Adept ACE User s Guide for more information on setting up and programming a con veyor tracking application NOTE Conveyor tracking requires the eV Extensions License which can be obtained from Adept Adept SmartController EX User s Guide Rev C Page 50 of 96 ...

Page 51: ... 10 ENC3_B 15 ENC1_A 2 ENC3_B 16 ENC1_A 3 ENC4_B 17 ENC2_A 4 ENC4_B 18 ENC2_A 5 ENC1_Z 19 ENC3_A 6 ENC1_Z 20 ENC3_A 7 ENC2_Z 21 ENC4_A 8 ENC2_Z 22 ENC4_A 9 ENC3_Z 23 ENC1_B 11 ENC3_Z 24 ENC1_B 12 ENC4_Z 25 ENC2_B 13 ENC4_Z 26 BELT ENCODER Pin 1 Pin 9 Pin 10 Pin 18 Pin 19 Pin 26 Adept SmartController EX User s Guide Rev C Page 51 of 96 ...

Page 52: ...rcuit same for A B and I for both encoders 2 2K Encoder Channel 1 Encoder Channel 2 Shield Enc Gnd Enc Pwr A A 5 V B B I I Encoder A A B B I I Encoder power output 5 V at 800 mA max 1 A current limit Figure 3 8 Belt Encoder Typical Input Circuit Adept SmartController EX User s Guide Rev C Page 52 of 96 ...

Page 53: ...Chapter 3 Operation Figure 3 9 Belt Encoder Connector Adept SmartController EX User s Guide Rev C Page 53 of 96 ...

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Page 55: ...d the controller 3 Remove the Front Panel from its mounting location 4 Remove the two screws on the back of the Front Panel 5 Carefully pull the front cover away from the body of the Front Panel You will encounter some resistance as there are three plug type connectors that you need to disconnect as you pull the front cover away from the body NOTE Separate the cover from the body slowly to avoid d...

Page 56: ...ws on the back of the body 12 Reinstall the Front Panel in its mounting 13 Reconnect the cable between the Front Panel and the controller High Power On Off Lamp Body Back side of front cover Wires between LED and body of Front Panel Be careful when separating front cover from body to avoid damaging the wires Figure 4 1 Lamp Body Contact Alignment Adept SmartController EX User s Guide Rev C Page 56...

Page 57: ...martController EX motion controller sDIO expansion module Adept Front Panel and T20 pendant 5 1 Adept SmartController EX Motion Controller Dimensions NOTE The dimensions for the CS and CX SmartController motion controllers were the same as these 328 9 189 1 12 1 4 4 186 5 86 0 Figure 5 1 Adept SmartController EX Motion Controller Dimensions ...

Page 58: ...Module Dimensions 328 9 186 5 Ground Connection Point 2 5 4 4 5 5 41 6 SF IEEE 1394 X2 SC DIO LINK S N 3563 XXXXX X1 24V 0 5A R OK X4 1 1 1 2 XDC1 XDC2 X3 Figure 5 2 sDIO Module Dimensions Adept SmartController EX User s Guide Rev C Page 58 of 96 ...

Page 59: ...ecifications 5 3 Adept Front Panel Dimensions STOP R 152 4 88 9 129 5 13 1 55 9 38 7 16 5 30 76 2 139 7 6 4 6 4 4X M4 x 18 MM Figure 5 3 Adept Front Panel Dimensions Adept SmartController EX User s Guide Rev C Page 59 of 96 ...

Page 60: ...Chapter 5 Technical Specifications 5 4 Adept T20 Pendant Dimensions Figure 5 4 T20 Pendant Dimensions Adept SmartController EX User s Guide Rev C Page 60 of 96 ...

Page 61: ...e l Rack mounting l Panel mounting l Table mounting l Stack mounting NOTE To maintain compliance with local and national standards the mounting of the sDIO and all terminations at the sDIO must be performed in accordance with those standards Rack Mounting the sDIO Module To rack mount the sDIO module in a standard 19 inch equipment rack you must first install the mounting brackets on each side of ...

Page 62: ...DIO Module 3 6 TYP 6 1 4 2 31 8 16 0 43 9 14 2 2X 40356 00003 R 3 6 190 0 2X M3 x 6MM BOTH SIDES 482 8 462 0 14 0 Figure 6 2 Rack Mounting the sDIO Module Adept SmartController EX User s Guide Rev C Page 62 of 96 ...

Page 63: ...8 0 346 4 4X M3 x 6 MM 14 0 6 6 16 0 359 6 27 6 273 9 2X 40356 00000 R 3 6 186 5 Figure 6 3 Panel Mounting the sDIO Module Table Mounting the sDIO Module To table mount the sDIO module install two brackets on each side near the bottom of the unit as shown in the following figure NOTE These brackets must be ordered separately They do not come with the sDIO module Adept SmartController EX User s Gui...

Page 64: ...sDIO module from its box and mount it as described in Mounting the sDIO Module on page 61 2 Ensure that the 24 VDC input power to the controller is disconnected 3 Connect a 24 VDC cable from the unused XDC port on the controller to the XDC1 port on the sDIO module Continue to daisy chain the input power from each sDIO module to the next See Connecting Power on page 21 for cabling requirements 4 Co...

Page 65: ...t down solid green LED communication with controller OK blinking green not configured in software 2 IEEE 1394 ports Connects to one of the SmartServo ports on controller or IEEE 1394 ports on additional sDIO modules 3 X1 Output 44 pin female D sub connector for digital output signals 0033 0048 4 X2 Output 44 pin female D sub connector for digital output signals 0049 0064 5 X3 Input 26 pin female D...

Page 66: ...tion additional modules must be assigned unique block numbers between 16 and 31 To use the default signal con figuration for the second sDIO module you need to assign it to block 17 for input and output Table 6 1 Default I O Configuration for sDIO Modules 1 and 2 Input Signal Numbers Block Byte Output Signal Numbers Block Byte sDIO 1 1033 to 1040 16 1 0033 to 0040 16 1 1041 to 1048 16 2 0041 to 00...

Page 67: ...troller and click Next 3 Click the Configuration tab l Select DIGITAL_INPUT to modify the input settings l Select DIGITAL_OUTPUT to modify the output settings 4 Modify or add signal ranges as needed l If a signal range is not present click Add to add it l Modify existing values with Edit The following table describes the items on the Add Edit Statement editor window Field Description Input Output ...

Page 68: ...Chapter 6 sDIO Module Figure 6 6 Controller Configuration Screen Digital Input Adept SmartController EX User s Guide Rev C Page 68 of 96 ...

Page 69: ...129 1136 1137 1144 Byte 3 Byte 4 Input Block 3 ROBOT 2 XIO Input Block 2 Byte 1 Byte 2 0137 0144 Internal IO 3001 3004 XIO Output Block 2 Byte 1 Byte 2 1145 1152 XIO 1153 1156 4 spare IO Blox 1 Input Block 4 Byte 1 Byte 2 0145 0152 IO Blox 2 0153 0160 IO Blox 3 IO Blox 4 0161 0168 0169 0176 Byte 3 Byte 4 IO Blox 1 Byte 1 Byte 2 1161 1168 IO Blox 2 1169 1176 IO Blox 3 IO Blox 4 1177 1184 1185 1192 ...

Page 70: ... 4 Input Block 17 Byte 1 Byte 2 1065 1072 1073 1080 1081 1088 1089 1096 Byte 3 Byte 4 Output Block 17 sDIO 1 sDIO 2 Byte 1 Byte 2 Group 2 Group 1 Group 3 Group 4 Group 2 Group 1 Group 3 Group 4 Group 2 Group 1 Group 3 Group 4 Group 2 Group 1 Group 3 Group 4 0201 0208 0209 0216 0217 0224 0225 0232 Byte 3 Byte 4 Input Block 18 Byte 1 Byte 2 1201 1208 1209 1216 1217 1224 1225 1232 Byte 3 Byte 4 Outpu...

Page 71: ...ck 17 default Input Signals 1065 to 1096 Output Signals 0065 to 0096 Adept sDIO Module 2 Block 18 Input Signals 1201 to 1232 Output Signals 0201 to 0232 Block 19 Input Signals 1233 to 1264 Output Signals 0233 to 0264 Recommended Configurations Adept sDIO Module 3 Adept sDIO Module 4 Figure 6 9 Using Multiple sDIO Modules NOTE When adding additional sDIO modules each additional sDIO module must be ...

Page 72: ...nputs within each group share a common ground The inputs are accessed through the two female 26 pin D sub input connectors on the front of the sDIO module Each connector provides access to two input groups Each group requires ten pins eight input signals and two ground references An input is activated by providing a positive potential on its input pin relative to the ground pin of its group This t...

Page 73: ...1 Return 25 Group 1 Return 26 Signal 1041 10 Signal 1042 1 Signal 1043 11 Signal 1044 2 Signal 1045 12 Signal 1046 3 Signal 1047 13 Signal 1048 4 Group 2 Return 19 Group 2 Return 20 Customer Power Supply Customer Power Supply sDIO Module Input Group 1 Wiring Terminal Block Typical Customer Input Signals Input Group 2 X3 Connector 26 Pin Female D Sub Input Group 3 Signals 1049 1056 Input Group 4 Si...

Page 74: ... a load connected the output will function normally However if you need to test the output with a voltmeter with a load disconnected you will get a false reading The test signal provides a bias that can be used as a pull down resistor for system level trou bleshooting When this is connected to an output the output will assume the ground potential when it is off sDIO LEDs A pair of two color LEDs o...

Page 75: ...e power pins The number of power pins used in a particular application depends on the total current supplied through that group s outputs A total of nine power pins are provided to allow for more wire connections to decrease the voltage drop across the power supply wires The supply current should be limited to a maximum of one amp per power pin Use this lim itation to select the number of power pi...

Page 76: ...A Turn on response time 175 µsec max 80 µsec typical hardware only Turn off response time 60 µsec max 28 µsec typical hardware only Output voltage at inductive load turnoff Iout 0 5 A Load 1 mH Vsup 65 Vdemag Vsup 45 DC short circuit current limit 0 7 A ILIM 2 5 A Peak short circuit current Iovpk 4 A CAUTION The above specs apply only to the output channels on the sDIO module See the table DIO Out...

Page 77: ...valent circuit Figure 6 11 Typical sDIO Output Wiring Optional DIO Cables The cables that connect to the input and output connectors on the sDIO module can be ordered as a set of four cables two input cables and two output cables These cables have a mating plug on one end and unterminated flying leads on the other end The wire size of the Adept cables is 0 18 mm2 24 AWG You can use these cables to...

Page 78: ...t Depending on the installation this could potentially cause injury to personnel in the area Input and Output Cable Wiring Information The pinouts signal names and wire color information for the input and output cables are shown in the next four tables Table 6 5 X3 Input Cable Pin Assignments Pin Number Signal Group Signal Name Wire Color X3 15 1 1033 red white X3 6 1 1034 orange X3 16 1 1035 gree...

Page 79: ...e Pin Number Signal Group Signal Name Wire Color X3 19 2 group 2 return white red X3 20 2 group 2 return orange red X3 26 pin female input connector on sDIO module Adept SmartController EX User s Guide Rev C Page 79 of 96 ...

Page 80: ...8 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 1057 green black X4 1 4 1058 black X4 11 4 1059 orange black X4 2 4 1060 white X4 12 4 1061 blue black X4 3 4 1062 red X4 13 4 1063 black white X4 4 4 1064 green X4 19 4 group 4 return white red X4 20 4 group 4 return orange red X4 26 pin female input connector on sDIO module Adept Sma...

Page 81: ...te red X1 38 1 power orange black green X1 39 1 power blue white orange 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 29 1 group 1 test red black white X1 7 2 0041 white black X1 6 2 0042 blue X1 5 2 0043 orange X1 4 2 0044 green X1 3 2 0045 red X...

Page 82: ...44 pin female output connector on sDIO module Table 6 8 X2 Output Cable Pin Assignments Pin Number Group Number Signal Name Wire Color X2 30 3 0049 green black white X2 15 3 0050 green white X2 14 3 0051 red white X2 13 3 0052 black white X2 12 3 0053 blue black X2 11 3 0054 orange black X2 10 3 0055 green black X2 9 3 0056 red black X2 25 3 power orange green X2 26 3 power black white red X2 38 3...

Page 83: ...nge X2 4 4 0060 green X2 3 4 0061 red X2 2 4 0062 white X2 1 4 0063 black X2 16 4 0064 blue white X2 17 4 power black red X2 18 4 power white red X2 19 4 power orange red X2 31 4 power orange black white X2 32 4 power blue black white X2 33 4 power black red green X2 34 4 power white red green X2 35 4 power red black green X2 36 4 power green black orange X2 21 4 group 4 return blue red X2 22 4 gr...

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Page 85: ...erability These profiles become part of the technical specifications The DeviceNet Specification is divided into two volumes and defines the following elements Volume 1 l DeviceNet Communication Protocol and Application Layer 7 Application Layer1 l Controller Area Network CAN and its use in DeviceNet Layer 2 Data Link Layer l DeviceNet Physical Layer and Media Layer 1 Physical Layer Volume 2 l Dev...

Page 86: ...n only data l Currently only the Message Group 2 of the Predefined Master Slave Connection Set is sup ported l Adept Message Group 2 I O connections support only the I O Poll Command Response Message of the possible message types 7 3 DeviceNet Port on the Controller The DeviceNet port on the Adept SmartController EX Motion Controller has the following con figuration Micro style 12 mm thread DIN co...

Page 87: ...o the Adept ACE User s Guide for details on configuring DeviceNet NOTE The local setting baud rate must match the DeviceNet node s setting 7 4 DeviceNet Physical Layer and Media The DeviceNet physical layer and media specifications are published in the ODVA manual chapter 9 volume 1 It describes possible topologies and components of the physical layer of the DeviceNet The figure Trunk Lines and Dr...

Page 88: ... the network bus does not need to be in one place The distribution of power supplies needs to be well planned because there are certain constraints on the power supply In general power supplies can be placed at any point in the network The maximum current rating of a trunk line is 8 amps DeviceNet allows opto isolated externally powered devices e g AC drive starters and solenoid valves to operate ...

Page 89: ...ows how cable selection and trunk line length affect the max imum data rate on the network The figure DeviceNet Thick Cable on page 89 shows a thick cable and the figure DeviceNet Thin Cable on page 90 shows a thin cable Table 7 3 DeviceNet Data Rates Relative to Cable Type and Length Data Rates 125 Kbps 250 Kbps 500 Kbps Thick Trunk Length 500 m 1 640 ft 250 m 820 ft 100 m 328 ft Thin Trunk Lengt...

Page 90: ...style sizes See the following figure and table for more details Figure 7 4 DeviceNet Connectors Table 7 4 DeviceNet Connector Styles Connector Description Unsealed screw con nector Uses screws to attach cable wires to a removable con nector Unsealed hard wired Uses wires attached directly to screw terminals Sealed mini style Attaches to taps and thick or thin cable Sealed micro style Attaches to t...

Page 91: ...ine exceeds 6 m 20 ft Figure 7 5 Example of a Terminating Resistor Installation on a DeviceNet Bus Power Supply and the DeviceNet Bus The DeviceNet network allows distribution of power supplies on the network cable system Fol low these general rules to achieve safe and reliable operation l Use power supplies rated at 24 V l Minimize installation problems by using a single power supply with suffici...

Page 92: ...gher current than 8 A Depending on the topol ogy of nodes relative to the power supply higher currents might be possible See the DeviceNet technical specifications for further information The maximum current rating of a thin cable trunk line is 3 A If you use the thin cable on a long line the resistance of the cable decreases the maximum current value See the following table and the DeviceNet tech...

Page 93: ...ltage differences between the V and V conductors need to be between 11 V and 25 V The common mode voltage between any two places on the V wire must not exceed 5 V Figure 7 6 DeviceNet Connector Pinouts Adept SmartController EX User s Guide Rev C Page 93 of 96 ...

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Page 96: ...P N 11069 000 Rev C 5960 Inglewood Drive Pleasanton CA 94588 925 245 3400 ...

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