adept technology AdeptViper s650, Руководство пользователя

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AdeptViper s650/s850 Robot User’s Guide, Rev A 39
System Installation
4
4.1 System Cable Diagram
Figure 4-1. System Cable Diagram for AdeptViper s650 Robot
C N 2 2
C N 2 0
A I R 1
A I R 2
CAUTION
HIGH
VOLTAGE
INSIDE
B
R
A
K
E
STATUS
SmartServo
1
2
R
S
2
3
2
E
X
P
I
O
X
S
L
V
C
N
P
G
1
2
3
C
N
P
G
4
5
6
C
N
2
5
C
N
2
9
DAI
s
adept
technology, inc.
LOW VOLTS ON
HV SAG/OVER TEMP FAULT
DO NOT REMOVE OR INSTALL THIS
SHORT FAULT
OPEN CKT FAULT
MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED
PWM ON
CH1
HIGH VOLTS ON
CH2
A
M
P
L
I
F
I
E
R
C
O
N
T
R
O
L
CH2 CH1
M
O
T
O
R
P
O
W
E
R
O
U
T
P
U
T
J AMP J AMP J AMP
LOW VOLTS ON
HV SAG/OVER TEMP FAULT
DO NOT REMOVE OR INSTALL THIS
SHORT FAULT
OPEN CKT FAULT
MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED
PWM ON
CH1
HIGH VOLTS ON
CH2
A
M
P
L
I
F
I
E
R
C
O
N
T
R
O
L
CH2 CH1
M
O
T
O
R
P
O
W
E
R
O
U
T
P
U
T
LOW VOLTS ON
HV SAG/OVER TEMP FAULT
DO NOT REMOVE OR INSTALL THIS
SHORT FAULT
OPEN CKT FAULT
MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED
PWM ON
CH1
HIGH VOLTS ON
CH2
A
M
P
L
I
F
I
E
R
C
O
N
T
R
O
L
CH2 CH1
M
O
T
O
R
P
O
W
E
R
O
U
T
P
U
T
Ethernet
to
PC
IEEE 1394 Cable
Adept PA-4
Power Chassis
Adept
SmartController CX
AdeptViper s650
Robot
User-Supplied
Power Supply
Controller (XFP) to
Front Panel (XFP)
Front Panel
T1 Pendant
(optional)
XSYS cable
24VDC Power from
User-Supplied
Power Supply to
Controller (XDC1)
Desktop or Laptop PC
(user-supplied)
Terminator
Installed
User-Supplied Ground Wire
User-Supplied
Ground Wire
User-Supplied Ground Wire
Between PA-4 and SmartController
Grounding
Terminal (M5)
External Brake
Connector
Arm Power/
Signal Cable
J Amp #1
J Amp #2
J Amp #3
sDAI Module
STOP
R
R
ON
SmartServo IEEE-1394
1 2 3 4
SF ES HD
SW1 1.1 1.2 2.1 2.2 OK
1 2 3
XDIO
LAN HPE
OFF
XSYS
CAMERA
Eth 10/100
XUSR
Device Net
XFP
RS-232/TERM
RS-232-1
XMCP
BELT ENCODER
SmartController
C
X
-+ -+
RS-422/485
XDC1 XDC2
24V 5A
*S/N 3562-XXXXX*
RS-232-2