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Adept Smar tContr oller User’ s Guide Co ver s the Smar tController CS, Smar tContr oller CX, and sDIO Module 1 2 3 RS-422/485 XUSR XSYS SF XMCP 1.1 SmartController CS LAN HPE 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.
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Adept Smar tContr oller User’ s Guide Co ver s the Smar tController CS, Sm artContoller CX, and sDIO Module P/N: 00356-0 0100, Rev . E Ma y 2003 1 2 3 RS-422/485 XUSR XSYS SF XMCP 1.1 SmartController CS LAN HPE 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.
The information contained herein is the pro perty of Adept Technology, Inc., and shall not be reproduced in whole or in part without prior written approval of Adept Technology, Inc. The information herein is sub- ject to change without notice and should not be cons trued as a commitment by A dep t Technology, Inc.
Adept Smar tController User’ s Guide, Rev . E 5 T able of Contents 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 1.1 Product Description . . . . . . . . . . . . . . . . . . . . . . . .
T ab le of Contents 6 Adept Smar tController User’ s Guide, Rev . E Installing CompactFlash . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 Connecting P ow er . . . . . . . . . . . . . . . . . . . . . . . . . .
T ab le of Contents Adept Smar tController User’ s Guide, Rev . E 7 XDIO Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . .
T ab le of Contents 8 Adept Smar tController User’ s Guide, Rev . E A sDIO Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 A.1 Mounting the sDIO . . . . . . . . . . . . . . . . . . . . . . . . .
T ab le of Contents Adept Smar tController User’ s Guide, Rev . E 9 C Using the Manual Control Pendant (MCP) . . . . . . . . . . . . . . . . . . . . . 125 C.1 Manual Control Pendant Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
T ab le of Contents 10 Adept Smar tController User’ s Guide, Rev . E Controlling More Than One Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 49 Robots With Fewer Than Six Joints . . . . . . . . . . . . . . . . . . . . . . .
Adept Smar tController User’ s Guide, Rev . E 11 List of Figures Figure 2-1. Rack Mounting the SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 Figure 2-2. Panel Mounting the SmartController . . . . . . . . . . . . .
List of Figures Adept Smar tController User’ s Guide, Rev . E 12 Figure B-3. DeviceNet Thin Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 20 Figure B-4. DeviceNet Connectors . . . . . . . . . . . . . . .
Adept Smar tController User’ s Guide, Rev . E 13 List of T ables Table 1-1. Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16 Table 2-1. Environmental Specifications . . . . . . . .
List of T ables Adept Smar tController User’ s Guide, Rev . E 14 Table C-2. Controlling More Than One Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1 50 Table C-3. Robots With More Than 6 Axes . . . . . . . . . . . . . . .
Adept Smar tController User ’ s Guide, Re v . E 15 Intr oduction 1 1.1 Product Description The Adept SmartControlle r is a member of Adept’s family of high-performance distributed motion and vision contr ollers.
Chapter 1 - Introduc tion 16 Adept Smar tController User’ s Guide, Rev . E 1.2 Ho w Can I Get Help? Refer to the How to Ge t Help Resour ce Guide (Adept P/N 00961-00700 ) for details on getting assistance with your Adept software and har dware. Additionally , you ca n access informatio n sour ces on Adept’s corporate web site: http://www .
W ar nings, Ca utions , and Notes Adept Smar tController User’ s Guide, Rev . E 17 1.3 W arnings , Cautions , and Notes There ar e four levels of special alert notation used in this manual.
Chapter 1 - Introduc tion 18 Adept Smar tController User’ s Guide, Rev . E W e also recommend you r ead the Internat ional Standard IEC 204 or t he European Standard EN 60204, Safety of Machinery .
Saf e ty Adept Smar tController User’ s Guide, Rev . E 19 Manually Controlled Robots and Motion De vices Adept robots and other motion devices ca n also be controlled manually when the HIGH POWER light on the Front Panel is illuminated.
Chapter 1 - Introduc tion 20 Adept Smar tController User’ s Guide, Rev . E Inappropriate Uses of the Adept Smar tController The Adept SmartContr oller is intended for use as a component subassembly of a complete industrial automation system. The SmartContr olle r subassembly must be in stalled inside a suitable enclosure.
CA T -3 V er sion of Smar tController Adept Smar tController User’ s Guide, Rev . E 21 1.6 C A T -3 V er sion of Smar tController Identification The Adept SmartControlle r has been modified to be compatible with Category 3 safety requir ements.
Chapter 1 - Introduc tion 22 Adept Smar tController User’ s Guide, Rev . E Operational Change in SmartModule Systems When a CA T - 3 SmartContr oller is used in an Adept SmartModules system, or an Adept Servo Kit system, that includes a PDU-2, there is a minor change in operat ion compared to the original SmartControlle r.
Adept Smar tController User ’ s Guide, Re v . E 23 Smar tController Installation 2 2.1 Controller Installation This equipment must be shipped and stor ed in a temperature-controlled envir onment.
Chapter 2 - Smar tController Installat i on 24 Adept Smar tController User’ s Guide, Rev . E Perform the steps below to unpack the Adept SmartController, and optional Adept sDIO Expansion Module, optional Fr ont Panel, an d optional Manual Control Pendant (MCP).
Controller Installation Adept Smar tController User’ s Guide, Rev . E 25 Rack Mounting the SmartController T o rack mount the SmartController in a st andard 19-inch equipment rack, install the optional mounting brackets on the side of the controller , as shown in Figure 2-1 .
Chapter 2 - Smar tController Installat i on 26 Adept Smar tController User’ s Guide, Rev . E Panel Mounting the SmartController T o panel m ount the SmartController, install two brackets on each side at the rear of the unit, as shown in Fi gure 2-2 .
Controller Installation Adept Smar tController User’ s Guide, Rev . E 27 T able Mounting the SmartController T o table mount the SmartC ontrol ler, install t w o brackets on each side near the bottom of the unit, as shown in Figure 2-3 . Use the screws fr om the accessories kit.
Chapter 2 - Smar tController Installat i on 28 Adept Smar tController User’ s Guide, Rev . E Stacking Components T o stack mount the SmartControl ler and an sDIO or sMI6 module, install two brackets on each side of the units, as shown in Figure 2-4 .
Controller Installation Adept Smar tController User’ s Guide, Rev . E 29 Not all types of Comp actFlash are compatible with the S martControl ler. Adept requires the use of the CF supplied by Adept at the t im e o f c o nt rol le r p urc ha se an d t ha t a ll rep la ce me n t C F c ard s be pu rch as e d f rom A de pt .
Chapter 2 - Smar tController Installat i on 30 Adept Smar tController User’ s Guide, Rev . E NOTE: If you ar e replacing an existing CF , the original must be sent to Adept for replacement. Pr ess the button inside the CF compartment to eject the ori ginal car d, remove it, and return i t to Adept.
Controller Installation Adept Smar tController User’ s Guide, Rev . E 31 24VDC Po wer Cabling In order to maintai n compliance with EN standards, DC power must be deliver ed over a shielded cable, with the shield connected to the return conductors at both ends of the cable as shown in Figure 2-6 .
Chapter 2 - Smar tController Installat i on 32 Adept Smar tController User’ s Guide, Rev . E Figure 2-7. Chassis Grounding P oint The mounting of the contr oller and all terminations in Europe must be performed in accordance with EN 60204 to maintain proper compliance.
Controller Installation Adept Smar tController User’ s Guide, Rev . E 33 Figure 2-8. 24V Connectors NOTE: Although no damage will occur , the SmartController will not turn on if the DC polarities on the XDC connectors are reve rsed.
Chapter 2 - Smar tController Installat i on 34 Adept Smar tController User’ s Guide, Rev . E 2.2 System Cable Installation Figure 2-9. System Cable Diagram STOP R 1 2 3 RS-422/485 XUSR XSYS SF XMCP 1.
System Cab le Installation Adept Smar tController User’ s Guide, Rev . E 35 NOTE: Figure 2-9 shows the Adept SmartC ontr oller CS in a SmartModule system.
Chapter 2 - Smar tController Installat i on 36 Adept Smar tController User’ s Guide, Rev . E.
Adept Smar tController User ’ s Guide, Re v . E 37 Smar tController Operation 3 3.1 Smar tController CS Connectors and Indicator s Figure 3-1. SmartController CS All the connectors on th e SmartController use standar d density spacing, D-subminiature connectors.
Chapter 3 - Smar tController Operation 38 Adept Smar tController User’ s Guide, Rev . E 2. Bottom Three Status LEDs The bottom three LEDs on the fr ont of the SmartController give the following information about the status of the main controller .
Smar tController CS Connectors and I ndicators Adept Smar tController User’ s Guide, Rev . E 39 6. Ethernet (Eth 10/100) connector The shielded RJ-45 receptacle that support s 10/100 BaseT ethernet communications. NOTE: The default IP address for the contro ller is located on a label on the bottom side of the controll er chassis.
Chapter 3 - Smar tController Operation 40 Adept Smar tController User’ s Guide, Rev . E 13. 24VDC connectors Connect power from a customer -supplied 24VDC power supply to the XDC1 connector (see the.
F ront P anel Adept Smar tController User’ s Guide, Rev . E 41 3.3 Front P anel Figure 3-3. Fr ont Panel Before running pr ograms, either the option al Adept SmartContr oller Front Panel or customer.
Chapter 3 - Smar tController Operation 42 Adept Smar tController User’ s Guide, Rev . E executing pr ogram, or the MCP . Once this reques t has been made, the operator m ust press this button and high power will be applied. 5. Emergency Stop Switch The E-Stop is a dual-channel , passive E-Stop th at supports Category 3 CE safety r equir ements.
Configuring the Controller Adept Smar tController User’ s Guide, Rev . E 43 NOTE: SW1 is configured by Adept to a default configuratio n listed in row #5 of T able 3-3 (OFF -OFF-OFF-OFF) to use the CompactF lash and NVRAM settings. Adept recommends that the user maintain this default SW1 configuration for normal SmartC ontroller operation.
Chapter 3 - Smar tController Operation 44 Adept Smar tController User’ s Guide, Rev . E AU T O B o o t When using the SmartController in an AUTO Boot configuration, DIP switch SW1 must be set to the switch settings shown in r ow #5 of T able 3-3 and th e NVRAM sw itches set for AUTO boot.
Smar tController Serial I/O Conne ctors Adept Smar tController User’ s Guide, Rev . E 45 NOTE: T o configure the port speed and other communications parameters, use the CONF IG_C utility pr ogram, the V + FSET program instruction, or the FSET monitor command.
Chapter 3 - Smar tController Operation 46 Adept Smar tController User’ s Guide, Rev . E 3.6 Installing the User Interface NOTE: The Adept Document Library CD -ROM is included in y our shipment. This CD-ROM contains Adept’s user documentation in both HTML and PDF format.
Installing the User Interface Adept Smar tController User’ s Guide, Rev . E 47 T ext Interface Using a PC with HyperT er minal Software This section describes how to connect with the Adept SmartController using a PC running HyperT erminal s oftware (included with Micr osoft W indows) over a serial connection.
Chapter 3 - Smar tController Operation 48 Adept Smar tController User’ s Guide, Rev . E T ext Interface Using a T er minal W i th an Adept SmartControlle r system that does not have the graphical user interface, the customer must s upply the terminal and cable to i nterface to the controll er .
Connecting Cust om e r- Sup plie d Safety and P ower Control Equipment Adept Smar tController User’ s Guide, Rev . E 49 3.7 Connecting Customer -Supplied Safety and Po wer Contr ol Equipment Connect.
Chapter 3 - Smar tController Operation 50 Adept Smar tController User’ s Guide, Rev . E 10,23 MANUAL/AUTO ind ication CH 2 Contacts are closed in AUTOMA TIC mode 1 1,12, 13,24,25 No connection T able 3-8.
Connecting Cust om e r- Sup plie d Safety and P ower Control Equipment Adept Smar tController User’ s Guide, Rev . E 51 T able 3-9. Remote MCP Connect ions on the XMCP Connector Pin XMCP (15-Pin D-S.
Chapter 3 - Smar tController Operation 52 Adept Smar tController User’ s Guide, Rev . E Figure 3-4 shows an E-S top diagram for t he CA T -3 version of the Adept SmartController. See Section 1.6 on page 21 for a description of the functi onality of this version of the controller .
Connecting Cust om e r- Sup plie d Safety and P ower Control Equipment Adept Smar tController User’ s Guide, Rev . E 53 Figure 3-5 shows an E-Stop diagram for the origi nal, non-CA T -3 version of the Adept SmartController .
Chapter 3 - Smar tController Operation 54 Adept Smar tController User’ s Guide, Rev . E Figure 3-6. Front P anel Schem atic Emergency Stop Circuits The SmartController pr ovides connections for Emergency Stop (E-Stop) circuits on the XUSR and XFP connectors.
Connecting Cust om e r- Sup plie d Safety and P ower Control Equipment Adept Smar tController User’ s Guide, Rev . E 55 User E-Stop Indication - Re mote Sensing of E-Stop T wo pairs of pins on the X.
Chapter 3 - Smar tController Operation 56 Adept Smar tController User’ s Guide, Rev . E Remote Manual Mode The Front P anel pr ovides for a Manual Mode cir cuit (see Figure 3-5 o n page 53 , Ta b l e 3 - 7 on page 49 , and T able 3 -8 on pag e 50 , and your robot manual for further details about the customer Remote Manual Mode circuitr y).
Connecting Cust om e r- Sup plie d Safety and P ower Control Equipment Adept Smar tController User’ s Guide, Rev . E 57 Remote High P ow er On/Off Contr ol The easiest and most ef fective way to provide the high power on/of f control in a remote location is to mount the Adept Front Panel in the desir ed location with an extension cable.
Chapter 3 - Smar tController Operation 58 Adept Smar tController User’ s Guide, Rev . E Customers can build an extension cable to plac e the Fr ont Pa nel in a remote location. The extension cable must conform to the following specifications : • W ire Size: must be larg er than 26 A WG.
Connecting Cust omer-Supplied Dig ital I/O Equipme nt Adept Smar tController User’ s Guide, Rev . E 59 XDIO Connector The XDIO connector on the SmartContr oller is a 50-pin, standard density D-Sub female connector (see Figure 3-1 on page 37 for location).
Chapter 3 - Smar tController Operation 60 Adept Smar tController User’ s Guide, Rev . E NOTE: These ar e examples. Either method can be used on any channel. Figure 3-7. Dig ital Input Wiring Examples (XDIO Connector) NOTE: Power fr om pins 41-44 and 47-50 can be substituted for the customer power supply .
Connecting Cust omer-Supplied Dig ital I/O Equipme nt Adept Smar tController User’ s Guide, Rev . E 61 Output Signals The XDIO connector handles output signals 0001 to 0008. Refer to T able 3-11 for output specifications. The locations of the si gnals on the connector ar e shown in T able 3-12 on page 63 .
Chapter 3 - Smar tController Operation 62 Adept Smar tController User’ s Guide, Rev . E NOTE: These are example s. Either method can be used, in any combination, on any channel. Also, an ext ernal customer-pr ovid ed power supply could have been pr ovided instead of the power provided on the XDIO connector .
Connecting Cust omer-Supplied Dig ital I/O Equipme nt Adept Smar tController User’ s Guide, Rev . E 63 T able 3-12. XDIO Dig ital I/O Connector Pin Assignments Pin Signal Pin Signal Pin Signal Pin S.
Chapter 3 - Smar tController Operation 64 Adept Smar tController User’ s Guide, Rev . E Dig ital I/O Connector Ordering Details (Third-P ar ty Sources) The XDIO connector on the SmartController is a 50-pin, standard-density D sub-miniature female socket.
Belt Encoder Inte rf ace on Smar tController CX Adept Smar tController User’ s Guide, Rev . E 65 3.9 Belt Encoder Interf ace on Smar tContr oller CX For use with conve yor tracking, the SmartContr oller CX supports tw o independent external belt encoders thr ough a 15-pin, ma le, D-sub connector .
Chapter 3 - Smar tController Operation 66 Adept Smar tController User’ s Guide, Rev . E Figure 3-9. Belt Encoder Typical Input Cir cuit Encoder + – 220 2.2K 26LS33 SmartController CX Belt Encoder Connector Typical input circuit, same for A, B, and I for both encoders.
Adept Smar tController User ’ s Guide, Re v . E 67 AdeptV ision sA VI Option 4 4.1 Intr oduction The AdeptV ision Advanced V ision Interface (sA VI) product is of fered in two forms: • AdeptV ision sA VI Inspection System - this is a stand-alone machine vision system based on the SmartContr oller CX.
Chapter 4 - AdeptVisio n sA VI Option 68 Adept Smar tController User’ s Guide, Rev . E Pixel Format For backwards compatibility with AdeptV ision VXL systems, which us e a 7-bit approach (reserving the high bit for binary images), AdeptV ision sA VI supports 7-bit images and computes binary data from the grayscale pixel values.
Camera Compatibility Adept Smar tController User’ s Guide, Rev . E 69 Cameras Supported AdeptV ision sA VI supports the followi ng cameras: Standard Reso lution Cameras • P anasonic GP-MF6 02 • P anasonic GP-MF8 02 This camera is supported in the non-in te rlaced, full -frame, sh utter mode on ly .
Chapter 4 - AdeptVisio n sA VI Option 70 Adept Smar tController User’ s Guide, Rev . E 4.3 Camera Cables A two-camera breakout cabl e is standard with Adept vision systems. Adept sells an optional four-camera cable that is used fo r connecting cameras to the sA VI board.
Camera Cab les Adept Smar tController User’ s Guide, Rev . E 71 Four -Camera Break out Cable fo r RS-170 Cameras This cable, available from Adept (P/N 103 32-01375) 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.
Chapter 4 - AdeptVisio n sA VI Option 72 Adept Smar tController User’ s Guide, Rev . E 4.4 Installing Camera Cables Figure 4-3 on page 73 shows the installa tion of a typical four -camera RS-170 br eakout cable and the associated har dware in a SmartController CX s ystem.
Installing Camera Cab les Adept Smar tController User’ s Guide, Rev . E 73 Figure 4-3. Camera Cable Installation Drawing (RS-170) R ON SmartServo IEEE-1394 1 2 3 4 SF ES HD SW1 1.
Chapter 4 - AdeptVisio n sA VI Option 74 Adept Smar tController User’ s Guide, Rev . E 4.5 Camera Cable Pin and Signal Inf o rmation This section provides the pin and signal information for the connectors and cables associated with the AdeptV ision product.
Camera Cab le Pin and Signal Inf or mation Adept Smar tController User’ s Guide, Rev . E 75 T able 4-1. Break out Cable Camera Connector Pin Assignments (RS-170) Pin Function Notes 1P o w e r r e t .
Chapter 4 - AdeptVisio n sA VI Option 76 Adept Smar tController User’ s Guide, Rev . E T able 4-2. Standard Break out Ca ble Str obe and Po wer Connector Pin Assignments Pin Function Notes 1 User +1.
Camera Cab le Pin and Signal Inf or mation Adept Smar tController User’ s Guide, Rev . E 77 Figure 4-4. Pin Locations f or Camera Cable Connector (12-Pin Hirose Male) T able 4-3.
Chapter 4 - AdeptVisio n sA VI Option 78 Adept Smar tController User’ s Guide, Rev . E T able 4-4. T w o-Camera Break out Cable Pin Assignments From: Pin T o: Pin Function AV I 8 C A M 1 1 P o w e r.
Camera Cab le Pin and Signal Inf or mation Adept Smar tController User’ s Guide, Rev . E 79 T able 4-5. Four -Camera Breakout Cable Pin Assignments From: Pin T o: Pin Function Str/Pwr 2 CAM1 1P o w .
Chapter 4 - AdeptVisio n sA VI Option 80 Adept Smar tController User’ s Guide, Rev . E AV I 42 CAM4 4V i d e o AV I 38 CAM4 5S h i e l d ( H d ) AV I 36 CAM4 6 Hd (horizontal drive) AV I 37 CAM4 7 V.
Camera Cab le Pin and Signal Inf or mation Adept Smar tController User’ s Guide, Rev . E 81 T able 4-6. Four -Camera Breakout Cable Pin Assignments From: Pin To : Pin Function Str/Pwr 1 CAM1 2 +12V .
Chapter 4 - AdeptVisio n sA VI Option 82 Adept Smar tController User’ s Guide, Rev . E AV I 36 CAM1 6 Hd (horizontal drive) AV I 37 CAM1 7 Vd (vertical drive) AV I 38 CAM1 5 Shield (Hd) AV I 38 CAM1.
sA VI Board Specifications Adept Smar tController User’ s Guide, Rev . E 83 4.6 sA VI Board Specifications T able 4-7. T e chnical Specifications 1 1 Specifications subject to change. Electrical Power Consumptio n V o ltage A vg Current (A) A vg Power (W) Max Current (A) Max Power (W) + 3 .
Chapter 4 - AdeptVisio n sA VI Option 84 Adept Smar tController User’ s Guide, Rev . E.
Adept Smar tController User ’ s Guide, Re v . E 85 Smar tController Maintenance 5 5.1 Chang ing the Lamp in the High P ow er Indicator The system is equipped with cir cuitry to dete ct the potentially d ang erous co ndition of a burned out High Power indicator on the Front Panel.
Chapter 5 - Smar tController Mainten a nc e 86 Adept Smar tController 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 front cover from body to avoid damaging the wires.
Adept Smar tController User’ s Guide, Rev . E 87 T echnical Specifications 6 This chapter shows the dimensions of the SmartController, sDIO, Ade pt Front Panel, and MCP . 6.1 Smar tController Dimensions This section shows the dimensions of the Smar tContr oller.
Chapter 6 - T echnical Specifications 88 Adept Smar tController 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 LINK *S/N 3563-XXXXX* X1 24V 0.
Adept F r ont P a nel Dimensions Adept Smar tController User ’ s Guide, Re v . E 89 6.3 Adept Fr ont P anel Dimensions Figure 6-3. Adept Front P anel Dimensions STOP R 152.
Chapter 6 - T echnical Specifications 90 Adept Smar tController User’ s Guide, Rev . E Figure 6-4. Adept Front P anel Back Vie w 76.2 139.7 6.4 6.4 4X M4 x 18MM.
Adept MCP Dimensions Adept Smar tController User ’ s Guide, Re v . E 91 6.4 Adept MCP Dimensions Figure 6-5. MCP Dimensions EDIT DISP CLR ERR CMD PROG SET + - Z 3 COMP PWR RUN HOLD MAIN HALT DIS PWR.
Chapter 6 - T echnical Specifications 92 Adept Smar tController 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.
Adept Smar tController User ’ s Guide, Re v . E 93 sDIO Module A The sDIO expansion modul e pro vides 32 optically isolate d digital inputs and 32 optically isolated outputs and also incl udes an IEEE 1394 interface.
Appendix A - sDIO Module 94 Adept Smar tController User’ s Guide , Rev . E Rack Mounting the sDIO T o rack mount the sDIO module in a standa rd 19-inch equipment rack, y ou must first install the mounting brackets (see Figure A-2 ) on each side of the unit.
Mounting the sDI O Adept Smar tController User ’ s Guide, Re v . E 95 Panel Mounting the sDIO T o panel mount the sDIO, install one bracket on each side of the back of the unit. Use the scr ews from the accessori es kit; see Figure A-3 . Figure A-3.
Appendix A - sDIO Module 96 Adept Smar tController User’ s Guide , Rev . E T a ble Mounting the sDIO T o table mount the sD IO, install two brackets on each side near the bottom of the unit. Use the screws from the accessories kit; see Figure A-4 . Figure A-4.
Configuring a Single sDIO Adept Smar tController User ’ s Guide, Re v . E 97 4. Connect an IEEE 1394 cable from one of th e SmartServo ports (1.1 or 1.2) on the SmartController to one of the IEEE 1394 ports on the sDIO. Continue to daisy-chain the IEEE 1394 power from each sDIO to the next.
Appendix A - sDIO Module 98 Adept Smar tController User’ s Guide , Rev . E Modifying the Default sDIO Conf iguration The CONFIG_C.V2 utility file is used to define th e sDIO memory block and I/O signal mappings. This file contains the main pr ogram A.
Configuring a Single sDIO Adept Smar tController User ’ s Guide, Re v . E 99 5. T ype N at the following p r omp t. Attached controlle r 0. Change this value? Then, pres s ENTER to continue. 6. T ype Y at the following prompt. Digital input block: 16 Change this value? Then, pres s ENTER to continue.
Appendix A - sDIO Module 100 Adept Smar tController User ’ s Guide, Re v . E 3. Select option 2. 2 - Edit system configuration Then, pres s ENTER to continue. 4. Select either option 5 or option 6: 5 - Change DIGIT AL_INPUT configuration or 6 - Change DIGIT AL_OUTPUT configuration Then, pres s ENTER to continue.
Configuring a Single sDIO Adept Smar tController User ’ s Guide, Re v . E 101 sDIO Signal Mapping Example 1 The following example shows the mappin g of SIGNAL 1065 to Input_Block 17 and Input_Byte 1.
Appendix A - sDIO Module 102 Adept Smar tController User ’ s Guide, Re v . E A.4 Using Multiple sDIO Modules Additional sDIO modules can be added to a system. The recommended max imum is four sDIO modules for a Smar tControlle r CS system and eight sDIO mod ules in a CX.
sDIO Module Connectors and Indica tors Adept Smar tController User ’ s Guide, Re v . E 103 Configuring a System with an sDIO and a RIO When a system contains an sDIO module and a RIO, you must use the DC_SET UP .V2 program to select a block number for the RI O.
Appendix A - sDIO Module 104 Adept Smar tController User ’ s Guide, Re v . E A.6 sDIO Dig ital I/O Signals The sDIO module’s digital I/O signals ar e 64 optically isolated digital I/O channels (32 output and 32 input). They are wired to conne ctors X1 thr ough X4, which are located on the front of the sDIO (see Fi gure A-6 on page 103 ).
sDIO Digital I/O Signals Adept Smar tController User ’ s Guide, Re v . E 105 Figure A-7. Typical sDIO Input Wiring NOTE: The of f state current range exceed s the leakage curr ent of sDIO outputs. This guarantees that the in puts will not be turned on by the leakage curr ent from the outputs.
Appendix A - sDIO Module 106 Adept Smar tController User ’ s Guide, Re v . E sDIO Outputs The 32 output channels are arranged in four groups of eight. Each group is isolated fr om the other groups and is optically isolated from the sDIO cir cuitry .
sDIO Digital I/O Signals Adept Smar tController User ’ s Guide, Re v . E 107 A diagnostic softwar e indicator is not availa ble for the XDIO outputs. In a short cir cuit condition, the XDIO outputs will simply fold back , supplying the maximum short circuit current to the output pin.
Appendix A - sDIO Module 108 Adept Smar tController User ’ s Guide, Re v . E T able A-4. sDIO Output Circuit Specifications Parameter V alue Power supply voltage range 10VDC ≤ V sup ≤ 30VDC Unde.
sDIO Digital I/O Signals Adept Smar tController User ’ s Guide, Re v . E 109 Figure A-8. Typical sDIO Output Wiring M Adept-Supplied Equipment Customer-Supplied Equipment 25 Customer DC Power Supply.
Appendix A - sDIO Module 110 Adept Smar tController User ’ s Guide, Re v . E Optional DIO Cables The cables that connect to the input and outp ut connectors on the sDIO can be ordered as a set of four cables: two inpu t cables and two output cables.
sDIO Digital I/O Signals Adept Smar tController User ’ s Guide, Re v . E 111 Input and Output Cable Wiring Inf or mation The pinouts, signal names, and wir e color in formation for the input and output cables ar e shown in the next four tables. T able A-5.
Appendix A - sDIO Module 112 Adept Smar tController User ’ s Guide, Re v . E T able A-6. X4 Input Cable Pin Assignments Pin Number Signal Group Signal Wi r e color Pin Locations X4–15 3 1049 red/w.
sDIO Digital I/O Signals Adept Smar tController User ’ s Guide, Re v . E 113 T able A-7. X1 Output Cable Pin Assignments Pin Number Group Number Signal name Wire Color Pin Locations X1–30 1 0033 g.
Appendix A - sDIO Module 114 Adept Smar tController User ’ s Guide, Re v . E T able A-8. X2 Output Cable Pin Assignments Pin Number Group Number Signal Name Wi re Color Pin Locations X2–30 3 0049 .
Adept Smar tController User ’ s Guide, Re v . E 115 Adept De viceNet B DeviceNet is a low-cost commu nications link that connect s industrial devices to a network and eliminates expensive hard wi ring.
Appendix B - Adept De viceNet 116 Adept Smar tController User ’ s Guide, Re v . E B.2 L imitations of the Adept De viceNet Scanner The DeviceNet Scanner that Adept has incorporated into the SmartControlle r hardware and the V + operating system curre ntly supports only a subset of full De viceNet functionality .
De viceNet Ph ysical La yer and Media Adept Smar tController User ’ s Guide, Re v . E 117 Connecting DeviceNet Har dware to the Adept De viceNet Scanner T o connect DeviceNet components to the Adep t DeviceNet Scanner , connect a dr opline to the female Micro-style 12 mm thr ead DIN connector on the fr ont of the SmartController.
Appendix B - Adept De viceNet 118 Adept Smar tController User ’ s Guide, Re v . E Figure B-1. T r unklines and Droplines Made of Thick and Thin Cable DeviceNet allows devices to be powered dir e ctly from the bus, and devices can use the same cable to communicate with other de vices on the bus.
De viceNet Ph ysical La yer and Media Adept Smar tController User ’ s Guide, Re v . E 119 The baud rate of the system depends on the length of the network (end-to-end) and the type of cable. Ta b l e B - 3 shows how cable selection and trunkline length af fect the maximum data rate on the network.
Appendix B - Adept De viceNet 120 Adept Smar tController User ’ s Guide, Re v . E Figure B-2. DeviceNet Thick Cable Figure B-3. De viceNet Thin Cable 11mm (0.
De viceNet Ph ysical La yer and Media Adept Smar tController User ’ s Guide, Re v . E 121 DeviceNet Connectors DeviceNet allows dif ferent co nnectors, which may be grouped into open and sealed connectors. The open connectors ar e available with screw or with cr imp connectors.
Appendix B - Adept De viceNet 122 Adept Smar tController User ’ s Guide, Re v . E Figure B-5. Example of a T erm inating Resi stor Installation on a De viceNet Bus Po wer Supply and the De viceNet Bus The DeviceNet network al lows distribution of power supplies on the network cable system.
De viceNet Ph ysical La yer and Media Adept Smar tController User ’ s Guide, Re v . E 123 The maximum current rating of a thick cable trunk line is 8A.V erify that this complies with your national and international standa r ds. It might be nec essary to limit the maximum current to a lower value if standa rd s in the U.
Appendix B - Adept De viceNet 124 Adept Smar tController User ’ s Guide, Re v . E Figure B-6. DeviceNet Conne ctor Pinouts Male Connector (pins) Female Connector (sockets) 4 3 5 1 2 3 5 2 4 1 Micro-.
Adept Smar tController User ’ s Guide, Re v . E 125 Using the Manual Contr ol P endant (MCP) C C.1 Manual Control P e ndant Basics Adept motion systems are designed to allow co ntr ol of the robot or motion device from the Manual Control Pendant (MCP).
Appendix C - Using the Man ual Control P endant (MCP) 126 Adept Smar tController User ’ s Guide, Re v . E MCP-4 The MCP-4 has the same functionality as the MCP III, except that it has a 3-position enable switch and a dual channel E-Stop circuit. The 3-position enable switch provides additional safety for the operator .
Manual Control P endant Basics Adept Smar tController User ’ s Guide, Re v . E 127 MCP-4 Compatibility The MCP-4 has a dual-channel (four-wir e) E-Stop circuit where the switch contacts are in parallel. This is dif ferent from the MCP III wher e the switch contacts are in s eries.
Appendix C - Using the Man ual Control P endant (MCP) 128 Adept Smar tController User ’ s Guide, Re v . E Figure C-2. Holding the MCP Figure C-3. Cradling the MCP EDIT DISP CLR ERR CMD PROG SET F 1 .
Manual Control P endant Basics Adept Smar tController User ’ s Guide, Re v . E 129 Connecting the MCP The MCP connects to the XMCP connector on th e front of the co ntroller . See the system cable diagram in Figure 2-9 on page 34 for mor e information.
Appendix C - Using the Man ual Control P endant (MCP) 130 Adept Smar tController User ’ s Guide, Re v . E MCP Lay out The major ar eas of the MCP are shown in Figure C-4 .
Manual Control P endant Basics Adept Smar tController User ’ s Guide, Re v . E 131 Data Entr y Buttons The data entry bu ttons shown in Fi gure C-5 are used to input data, normally in r esp onse to prompts that appear on the pendant displa y.
Appendix C - Using the Man ual Control P endant (MCP) 132 Adept Smar tController User ’ s Guide, Re v . E T o re-enable Hi gh Power after pr essing the MCP emer gency stop switch, follow this process: 1. T urn the emergency stop switch to the right (clockwise).
MCP Predefined Functions Adept Smar tController User ’ s Guide, Re v . E 133 Backgr ound Mode The pendant is in backgr ound mode when the USER LED is not lit and none of the predefined functions are be ing used. The USER LED is lit whenever an application program is making use of the MCP .
Appendix C - Using the Man ual Control P endant (MCP) 134 Adept Smar tController User ’ s Guide, Re v . E The Edit Function The Edit function button allows editing of location varia bles and real variables that are used by V + programs.
MCP Predefined Functions Adept Smar tController User ’ s Guide, Re v . E 135 Press the s oft button under the variable name to edit that variable. The <MORE> soft button is shown only when ther e are mor e than five global location variables in system memory .
Appendix C - Using the Man ual Control P endant (MCP) 136 Adept Smar tController User ’ s Guide, Re v . E Joint V alues W hen this button is pressed, the display shows: J1 = x.xx J2 = x.xx J3 = x.xx J4 = x.xx J5 = x.xx J6 = x.xx These values repr esent the current joint positi ons of the robot or motion device.
MCP Predefined Functions Adept Smar tController User ’ s Guide, Re v . E 137 Last Error Pr ess LAST ERROR to display the error messages generated by V + during the current sessi on. The most r ecent error wil l be displayed. The rightmost soft button will be labeled <MORE>.
Appendix C - Using the Man ual Control P endant (MCP) 138 Adept Smar tController User ’ s Guide, Re v . E Figure C-10. Command (CMD) Function Button The AUTO ST AR T , CALIB, CMD1, and CMD2 functions r equire the MCP to be in Auto mode.
MCP Predefined Functions Adept Smar tController User ’ s Guide, Re v . E 139 CMD1 and CMD2 When CMD1 is pressed, the syst em attempts to load the file CMD1.V2 from the default disk, and COMMAND the program CMD1. The pr ogram file CMD1.V2 must re side on the defaul t disk , and it must contain a command pr ogram named “cmd1”.
Appendix C - Using the Man ual Control P endant (MCP) 140 Adept Smar tController User ’ s Guide, Re v . E C.3 Moving a Robot or Moti on De vice With the MCP Introduction The MCP is used with a r obot or motion device primarily to teach robot locations for use in application programs.
Moving a Robot or Motion Device With the MCP Adept Smar tController User ’ s Guide, Re v . E 141 Emergency Sto p Switch The emergency stop switch will stop pr ogram execution and turn off High Power . If your robot is equipped with brakes, they will be activated.
Appendix C - Using the Man ual Control P endant (MCP) 142 Adept Smar tController User ’ s Guide, Re v . E DIS PWR Button The Disable Power button will shut down High Power to the robot or motion device when pressed .
Moving a Robot or Motion Device With the MCP Adept Smar tController User ’ s Guide, Re v . E 143 In Comp Mode See the description of the Ste p Button on page 142 . Figure C-13. Speed Bars Slow Button The slow button selects between the two diff erent speed ranges of the speed bars .
Appendix C - Using the Man ual Control P endant (MCP) 144 Adept Smar tController User ’ s Guide, Re v . E Figure C-14. WORLD State (Four -Axis SC ARA) The T 1 button cycles the gripper solenoids. Press anywhe re on th e “+” side of the speed bar to open the gripper , on the “–” side to close the gripper .
Moving a Robot or Motion Device With the MCP Adept Smar tController User ’ s Guide, Re v . E 145 NOTE: Figure C-15 and Figure C-16 are drawn with the assumption that the TOOL transformation is set to NULL (all values ar e 0).
Appendix C - Using the Man ual Control P endant (MCP) 146 Adept Smar tController User ’ s Guide, Re v . E Figure C-16. TOOL State (Six-Axis Robot) T 1 RZ 6 RY 5 RX 4 Z 3 Y 2 X 1 STEP Rotation about .
Moving a Robot or Motion Device With the MCP Adept Smar tController User ’ s Guide, Re v . E 147 Joint State When joint state is selected, movement is about the axis of the specified joint. Figure C- 17 shows an Adept SCARA robot with thr ee rotati onal joints (Joints 1, 2, and 4) and one translational joint (Joint 3).
Appendix C - Using the Man ual Control P endant (MCP) 148 Adept Smar tController User ’ s Guide, Re v . E Figure C-18 shows the joint assignments for a typica l six-axis r obot (as always, the first time you move a r obot, carefully verify the joint assignments).
Moving a Robot or Motion Device With the MCP Adept Smar tController User ’ s Guide, Re v . E 149 Figure C-19. FREE State (Four -Axis SCARA) Controlling More Than One Robot Like the monitor and each program task, th e Manual Contro l Pendant (MCP) can also have a robot attached.
Appendix C - Using the Man ual Control P endant (MCP) 150 Adept Smar tController User ’ s Guide, Re v . E The MCP selection cycles from one r obot to the next each time the DEV/F3 key is press ed.
Adept Smar tController User’ s Guide, Rev . E 151 A Adept Document Library 16 AdeptWindows PC Graphical User’s Interface 43 AdeptWindows, ins tallation 46 ASCII Terminal 43 assigning I/O sign al numbers 99 assigning s DIO signal blocks 98 AUTO Boot 44 Auto start from the MCP 138 AUTO.
Index 152 Adept Smar tController User’ s Guide, Rev . E errors displaying system on MCP 137 Ethernet connector, description 39 F fast input signals (1001 to 1004) 60 free state, on MCP 148 Front Pan.
Index Adept Smar tController User’ s Guide, Rev . E 153 remote Manual Mode control 56 remote MCP connections on XMCP connector 51 remote sensing of user E-Stop switches 55 robot location displaying .
Index 154 Adept Smar tController User’ s Guide, Rev . E V V+ Extensions License, for Belt Encoder function 65 viewing angle LCD panel, on MCP 133 vision option, see sAVI option X XDC1/XDC2 24VDC con.
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