Omron Adept Viper s1300, Руководство пользователя

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Chapter 1 - Introduction
10 Adept Viper s1300 Robot User’s Guide, Rev B
Adept SmartController CX™
The SmartController CX is the foundation of Adept’s family of high-performance
distributed motion controllers. The SmartController CX is designed for use with Adept
Cobra s600 and s800 robots, Adept Python Modules, Adept Viper robots, Adept Quattro
robots, and the Adept sMI6 Module for the SmartMotion product.
The SmartController CX supports a conveyor tracking option. It offers scalability and
support for IEEE 1394-based digital I/O and general motion expansion modules. The
IEEE 1394 interface is the backbone of Adept SmartServo, Adept's distributed controls
architecture supporting Adept products. The controller also includes Fast Ethernet and
DeviceNet.
Figure 1-2. Adept SmartController CX
Adept PA-4™ CAT-3 Power Chassis
The PA-4 CAT-3 includes AC-DC power conversion electronics that support a range of
Adept power amplifiers and robot control modules. In addition, the PA-4 CAT-3 includes
dual (redundant) high-power AC contactors. The PA-4 is configured with J Amplifier
modules to support the Adept Viper s1300 robot systems.
The J and K amplifiers in the Adept Viper s1300 robot system are controlled by the sDAI
(100 W) distributed control module. The sDAI module resides in the PA-4 chassis and
contains a RISC microprocessor and interface circuitry that close the servo loops for high-
performance robot motion. The sDAI is connected to a host Adept SmartController via the
SmartServo interface (based on IEEE 1394).
R
ON
SmartServo IEEE-1394
1 2 3 4
SF ES HD
SW1 1.1 1.2 2.1 2.2 OK
1 2 3
XDIO
LAN HPE
OFF
XSYS
CAMERA
Eth 10/100
XUSR
Device Net
XFP
RS-232/TERM
RS-232-1
XMCP
BELT ENCODER
SmartController
CX
-+ -+
RS-422/485
XDC1 XDC2
24V 5A
*S/N 3562-XXXXX*
RS-232-2