Adept SmartController
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Adept SmartController
User’s Guide
Covers the SmartController CS, SmartContoller CX, and sDIO Module
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2
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P/N: 00356-00100, Rev. E
May 2003
3011 Triad Drive • Livermore, CA 94550 • USA • Phone 925.245.3400 • Fax 925.960.0452
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ject to change without notice and should not be construed as a commitment by Adept Technology, Inc. This
manual is periodically reviewed and revised.
Adept Technology, Inc., assumes no responsibility for any errors or omissions in this document. Critical
evaluation of this manual by the user is welcomed. Your comments assist us in preparation of future doc-
Copyright 2003 by Adept Technology, Inc. All rights reserved.
The Adept logo, CHAD, the CHAD logo, and Soft Machines
are registered trademarks of Adept Technology, Inc.
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Table of Contents
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.1 Product Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Adept SmartController CS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Adept SmartController CX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
sDIO Expansion Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.2 How Can I Get Help? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Adept Document Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.3 Warnings, Cautions, and Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.4 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
System Safeguards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Program Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.5 Standards Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
1.6 CAT-3 Version of SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Functionality Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
E-Stop Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2 SmartController Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.1 Controller Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Before Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Upon Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Repacking for Relocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Space Around the Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Mounting the SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Stacking Components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
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Installing CompactFlash. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.2 System Cable Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3 SmartController Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
3.1 SmartController CS Connectors and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . 37
3.2 SmartController CX Connectors and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . 40
3.3 Front Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
3.4 Configuring the Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
ASCII Terminal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
3.5 SmartController Serial I/O Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.6 Installing the User Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Emergency Stop Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
User Manual/Auto Indication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
High Power On/Off Lamp. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Remote Front Panel Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
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Table of Contents
XDIO Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Input Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Weidmüller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
3.9 Belt Encoder Interface on SmartController CX. . . . . . . . . . . . . . . . . . . . . . . . . . 65
4 AdeptVision sAVI Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
sAVI Board Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Pixel Format. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
4.2 Camera Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Guidelines for Cameras. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Cameras Supported . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4.3 Camera Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
4.4 Installing Camera Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
4.5 Camera Cable Pin and Signal Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
4.6 sAVI Board Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
6 Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
6.1 SmartController Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
6.2 sDIO Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
6.3 Adept Front Panel Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
6.4 Adept MCP Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
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Table of Contents
A sDIO Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
A.1 Mounting the sDIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Rack Mounting the sDIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
A.2 Installing the sDIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
A.3 Configuring a Single sDIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
A.4 Using Multiple sDIO Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
A.5 sDIO Module Connectors and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
A.6 sDIO Digital I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Optional DIO Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
B Adept DeviceNet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
B.1 DeviceNet Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Volume 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Volume 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
B.2 Limitations of the Adept DeviceNet Scanner . . . . . . . . . . . . . . . . . . . . . . . . . . 116
B.3 Adept Supplied DeviceNet Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
B.4 DeviceNet Physical Layer and Media . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
DeviceNet Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
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C.1 Manual Control Pendant Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
MCP III . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
MCP-4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Connecting the MCP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
MCP Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Soft Buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Function Buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Background Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
C.2 MCP Predefined Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Predefined Function Buttons. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
The Edit Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Mode Control Buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
DIS PWR Button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
RUN/HOLD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Joint/Axis Control Buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
STEP Button. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Speed Bars . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Slow Button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Robot States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
World State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Tool State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Joint State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
Free State. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
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Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
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List of Figures
Rack Mounting the SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Table Mounting the SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
User Supplied Power Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Chassis Grounding Point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
24V Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
System Cable Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
SmartController CS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
SmartController CX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Front Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Front Panel Schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Belt Encoder Typical Input Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Lamp Body Contact Alignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
SmartController Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
sDIO Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Adept Front Panel Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Adept Front Panel Back View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
MCP Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
MCP Cradle Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Figure A-1. sDIO Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Figure A-2. Rack Mounting the sDIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Figure A-3. Panel Mounting the sDIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Figure A-4. Table Mounting the sDIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Figure A-5. Using Multiple sDIO Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Figure A-6. sDIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Figure A-7. Typical sDIO Input Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Figure A-8. Typical sDIO Output Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
DeviceNet Thick Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
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List of Figures
DeviceNet Thin Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
DeviceNet Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
DeviceNet Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
Figure C-1. 3-Position Enable Switch on MCP-4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Figure C-2. Holding the MCP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Figure C-3. Cradling the MCP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Figure C-4. MCP Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Figure C-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-10. Command (CMD) Function Button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
Figure C-11. Program Set Function Button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Figure C-12. Mode Control Buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Figure C-13. Speed Bars . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Figure C-14. WORLD State (Four-Axis SCARA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Figure C-15. TOOL State (Four-Axis SCARA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Figure C-16. TOOL State (Six-Axis Robot) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
Figure C-17. JOINT State (Four-Axis SCARA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
Figure C-18. JOINT State (Six-Axis Robot) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
Figure C-19. FREE State (Four-Axis SCARA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
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List of Tables
SmartController LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37
LED Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38
RS-232 Connector Pin Assignments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44
+
Serial Connectors and V Designations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45
RS-422/485 Connector Pin Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45
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 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
DeviceNet Signal to Pin Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .116
Table C-1. MCP-4 Compatibility Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .127
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List of Tables
Table C-2. Controlling More Than One Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .150
Table C-3. Robots With More Than 6 Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .150
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Introduction
1
1.1 Product Description
The Adept SmartController is a member of Adept’s family of high-performance
distributed motion and vision controllers. The Adept SmartController is designed for use
with Adept SmartModules, the AdeptSix line of robots, and the Adept sMI6 Module for
the SmartMotion product. All Adept SmartControllers offer known scalability and
support for IEEE 1394-based digital I/O and general motion expansion modules.
Adept SmartController CS
The IEEE 1394 interface is the foundation of Adept SmartServo, Adept's new distributed
controls architecture supporting the new family of Adept products, including Adept
SmartModules, AdeptSix robots, Adept Cobra s600 and s800 robots, and the Adept
SmartMotion product.
The Adept SmartController CS is configured for standard applications that do not require
vision or conveyor belt tracking. The controller 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 and general motion expansion modules.
Adept SmartController CX
The Adept SmartController CX is a high performance motion and vision controller. It has
the same capability as the SmartController CS, plus additional support for an integrated
vision option, a conveyor tracking option, a more powerful processor, an additional pair
of serial ports, and a second pair of IEEE 1394 network ports.
NOTE: The information in this manual applies to both the CS and CX
models, except where differences are specifically noted.
sDIO Expansion Module
The sDIO expansion module provides 32 optical isolated digital inputs and 32 optical
isolated outputs and also includes an IEEE 1394 interface.
Customers can access I/O signals from the following points using these products:
• the XDIO connector on a SmartController
• the DeviceNet connector on a SmartController
• the DIO X1-X4 connectors on an sDIO
• a Remote I/O (RIO) device on a SmartModule
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Chapter 1 - Introduction
1.2 How Can I Get Help?
getting assistance with your Adept software and hardware.
Additionally, you can access information sources on Adept’s corporate web
site:
Related Manuals
This manual covers the installation and maintenance of an Adept SmartController system,
including the sDIO. There are additional manuals that cover programming the system,
reconfiguring installed components, and adding other optional components. The
following manuals (available on the Adept Document Library CD-ROM provided with
each system) provide information on advanced configurations and system specifications.
Table 1-1. Related Manuals
Manual Title
Description
Guide and AdeptWindows
Online Help
NFS server software, the AdeptWindows Offline Editor, and the
AdeptWindows DDE software.
Utility Programs
Describes the utility programs used for advanced system
configurations, system upgrades, file copying, and other
system configuration procedures.
+
Guide
operations, monitor commands, and monitor command
programs.
+
Describes the V language and programming of an Adept
control system.
Adept Document Library
In addition to the Adept Document Library on CD-ROM, you can find Adept product
documentation on the Adept web site in the Document Library area. The 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 Library, type the following URL into your browser:
or, select the Document Library link on the Home page of the Adept web site.
NOTE: The Adept Document Library was formerly known as the
Knowledge Express.
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Warnings, Cautions, and Notes
1.3 Warnings, Cautions, and Notes
There are four levels of special alert notation used in this manual. In descending order of
importance, they are:
DANGER: This indicates an imminently hazardous
situation which, if not avoided, will result in death or
serious injury.
WARNING: This indicates a potentially hazardous
situation which, if not avoided, could result in serious
injury or major damage to the equipment.
CAUTION: This indicates a situation which, if not avoided,
could result in minor injury or damage to the equipment.
NOTE: This provides supplementary information, emphasizes a point or
procedure, or gives a tip for easier operation.
1.4 Safety
Reading and Training for Users and Operators
Adept systems can include computer-controlled mechanisms that are capable of moving
at high speeds and exerting considerable force. Like all robot and motion systems, and
most industrial equipment, they must be treated with respect by the user and the operator.
This 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 - Safety
Requirements, published by the Robotic Industries Association (RIA) in conjunction with
the American National Standards Institute. The publication, ANSI/RIA R15.06, contains
guidelines for robot system installation, safeguarding, maintenance, testing, startup, and
operator training.
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Chapter 1 - Introduction
We also recommend you read the International Standard IEC 204 or the European
Standard EN 60204, Safety of Machinery – Electrical Equipment of Machines, and ISO 10218
(EN 775), Manipulating Industrial Robots – Safety, particularly if the country of use requires
a CE-certified installation.
This manual assumes that the user has attended an Adept training course and has a basic
working knowledge of the system. The user should provide the necessary additional
training for all personnel who will be working with the system.
There are several warnings in this manual that say only skilled or instructed persons
should attempt certain procedures. The qualifications are as follows.
• Skilled persons have technical knowledge or sufficient experience to enable them
to avoid the dangers which electricity may create (engineers and technicians).
• Instructed persons are adequately advised or supervised by skilled persons to
enable them to avoid the dangers which electricity may create (operating and
maintenance staff).
System Safeguards
Safeguards 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 system
safeguards. These include the emergency stop circuitry and digital input and output lines.
Safety Features on the Front Panel
The optional external Front Panel has three important safety features, the HIGH POWER
indicator, the MANUAL/AUTOMATIC switch, and the EMERGENCY STOP switch. If you
choose not to use the Front Panel, you should provide similar safety features in the
Computer Controlled Robots and Motion Devices
DANGER: Entering the workcell when the HIGH POWER
light is on can result in severe injury.
Adept systems are computer controlled, and the program that is currently running the
robot or motion device may cause it to move at times or along paths you may not
anticipate. When the HIGH POWER light on the optional Front Panel is illuminated, do not
enter the workcell because the robot or motion device might move unexpectedly. If this
replacing the bulb.
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Safety
Manually Controlled Robots and Motion Devices
Adept robots and other motion devices can also be controlled manually when the HIGH
POWER light on the Front Panel is illuminated. When this light is lit, motion can be
initiated from the system keyboard or from the optional Manual Control Pendant (MCP).
If you have to enter the workcell when this light is lit, press the MAN/HALT button on the
MCP. This will prevent anyone else from initiating unexpected motion from the system
keyboard.
Other Computer-Controlled Devices
In addition, Adept systems can be programmed to control equipment or devices other
than the robot or main motion device. 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.
Adept Technology highly recommends the use of additional safety features such as light
curtains, safety gates, or safety floor mats to prevent entry to the workcell while HIGH
POWER is enabled. These devices can be connected using the emergency stop circuitry.
Program Security
+
Programs and data stored in memory can be changed by trained personnel using the V
commands and instructions documented in the V manuals. To prevent unauthorized
+
alteration of programs, you should restrict access to the keyboard. This can be done by
+
placing the keyboard in a locked cabinet. Alternatively, the V ATTACH and FSET
+
instructions can be used in your programs to restrict access to the V command prompt.
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Chapter 1 - Introduction
Inappropriate Uses of the Adept SmartController
The Adept SmartController is intended for use as a component subassembly of a complete
industrial automation system. The SmartController subassembly must be installed inside
a suitable enclosure. Installation and usage must comply with all safety instructions and
warnings in this manual. Installation and usage must also comply with all applicable local
or national statutory requirements and safety standards. The SmartController
subassembly is not intended for use in any of the following situations:
• In hazardous (explosive) atmospheres
• In mobile, portable, marine, or aircraft systems
• 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 be subject to extremes of
heat or humidity. See specifications for allowable temperature and humidity
ranges.
1.5 Standards Compliance
The Adept SmartController is intended for use with other equipment and is considered a
subassembly rather than a complete piece of equipment on its own. The SmartController
meets the requirements of these standards:
EN 61000-4-2
EN 61000-4-3
EN 61000-4-4
EN 61000-4-5
EN 61000-4-6
EN 50081-2
To maintain compliance with the above standards, the SmartController must be installed
and used properly with any additional equipment, in accordance with all regulations of
the standards. You must also carefully follow all installation instructions in this user’s
guide.
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CAT-3 Version of SmartController
1.6 CAT-3 Version of SmartController
Identification
The Adept SmartController has been modified to be compatible with Category 3 safety
requirements. The CAT-3 version of both the CS and CX models of the SmartController
can be identified by the serial number on the front of the controller.
Original SmartController CS
Original SmartController CX
Serial Number: 3561-xxxxx
Serial Number: 3562-xxxxx
CAT-3 SmartController CS
CAT-3 SmartController CX
Serial Number: 1000-xxxxx
Serial Number: 2000-xxxxx
Functionality Changes
MCP Enable Switch Not Functional in Auto Mode
The CAT-3 version of the SmartController has a significant functional difference from the
original SmartController. When a CAT-3 SmartController system is operating in Auto
Mode, the Enable Switch on the MCP has no effect on the operation. This means in the
Auto mode, the Enable switch does not have to be pressed to enable High Power, and
releasing the Enable switch while running will not turn off High Power. This is true for
both the MCP-3 and MCP-4 models.
CAUTION: The new functionality of the MCP Enable
switch in Auto Mode must be recognized by persons
familiar with Adept systems, and working patterns and
habits adjusted accordingly.
High Power Indication on XDIO Connector
+
In the CAT-3 SmartController, a V controlled, normally open relay contact, on the XDIO
connector (pins 45 and 46), will close when High Power has been enabled. The user can
use this feature to power an indicator lamp, or other device, that signals High Power is
On.
E-Stop Circuit
The CAT-3 SmartController modification is shown in the E-Stop diagram in Figure 3-4 on
page 52. The change from the original SmartController circuit is evident in the center area
of the drawing at the MCP-4 Enable switch.
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Chapter 1 - Introduction
Operational Change in SmartModule Systems
When a CAT-3 SmartController is used in an Adept SmartModules system, or an Adept
Servo Kit system, that includes a PDU-2, there is a minor change in operation compared to
the original SmartController. The sequence would be:
1. In a SmartModule system with a CAT-3 SmartController, while 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 button on the MCP.
4. Then the user must press the High Power button on the Front Panel to turn on
High Power to the robot. The LCD display on the MCP will instruct the user to
press the button. The button will be blinking, and must be pressed within 10
seconds. (Ten seconds is the default timeout for the High Power button to be
pressed. This timeout can be changed using the CONFIG_C utility.)
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SmartController Installation
2
2.1 Controller Installation
This equipment must be shipped and stored in a temperature-controlled environment. See
designed to prevent damage from normal shock and vibration. You should protect the
package from shock and vibration.
Table 2-1. Environmental Specifications
Ambient temperature
Storage and shipment temperature
Humidity range
5°C to 40°C
–25°C to +55°C
5 to 90%, nonconducting
up to 2000 m (6500 feet)
10 mm at back, 13 mm on sides
Altitude
Free space around controller (for proper
cooling)
Chassis protection class
IP20 (NEMA Type 1)
Recommendations for customer-supplied Enclosure must meet EN 60204 (IEC 204)
enclosure for Adept controller.
(Mandatory for installations in EU or EEA
countries.)
requirements and be rated at IP54.
Before Unpacking
Carefully inspect all shipping crates for evidence of damage during transit. Pay special
attention to tilt and shock indication labels on the exteriors of the containers. If any
damage is indicated, request that the carrier’s agent be present at the time 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. See “How Can I Get Help?” on page 16.
Retain all containers and packaging materials. These items may be needed in the future to
settle a damage claim or to transport the equipment to a new location.
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Chapter 2 - SmartController Installation
Perform the steps below to unpack the Adept SmartController, and optional Adept sDIO
Expansion Module, optional Front Panel, and optional Manual Control Pendant (MCP).
Then, see the later sections for information on mounting the equipment.
1. Remove the Adept SmartController and any optional sDIO from their boxes.
Place them near the robot, or mount them in a rack. See “Mounting the
2. Remove the optional Front Panel from its box and set it on a flat surface near the
Adept SmartController.
3. Remove the optional MCP from its box and place it on a flat surface near the Front
Panel.
Repacking for Relocation
If the controller needs to be relocated, reverse the steps in the installation procedure.
Reuse all original packing containers and materials and follow all safety notes used for
installation. Improper 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 unit for proper air cooling. To facilitate installation,
make sure that the factory installed CompactFlash Memory Card is in place within the
SmartController prior to mounting it. This is crucial if you plan to mount it in a way that
restricts access to the side of the unit, and thus to the CompactFlash Memory
information).
Mounting the SmartController
The following mounting options are available for the SmartController:
• Rack
• Panel
• Table
In addition, the SmartController and sDIO can be stack mounted (one unit placed on top
of another). See the sections below for information on mounting the SmartController;
page 93 for information on mounting the sDIO.
NOTE: To maintain compliance with EN 60204 in European installations,
the mounting of the controller and all terminations at the controller must
be performed in accordance with this standard.
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Controller Installation
Rack Mounting the SmartController
To rack mount the SmartController in a standard 19-inch equipment rack, install the
brackets must be ordered separately, they do not come with the SmartController.
190.0
3X M3 x 6MM
BOTH SIDES
R 3.6
2X 40356-00004
88.1
44.4
21.8
2X 25.0
19.1
3.8
14.2
3.6
TYP.
462.0
482.8
Figure 2-1. Rack Mounting the SmartController
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Chapter 2 - SmartController Installation
Panel Mounting the SmartController
To panel mount the SmartController, install two brackets on each side at the rear of the
200.5
14.0
8.1
4X 40356-00000
R3.6 TYP.
273.9
27.4
8X M3 x 6MM
16.1
44.9
16.0
44.9
6.6
346.6
359.8
Figure 2-2. Panel Mounting the SmartController
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Controller Installation
Table Mounting the SmartController
To table mount the SmartController, install two brackets on each side near the bottom of
4X 40356-00001
R 3.6
12.1
24.1
29.5
120.9
24.9
378.6
391.8
4X M3 x 6MM
BOTH SIDES
16.2
21.6
16.0
120.9
Figure 2-3. Table Mounting the SmartController
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Chapter 2 - SmartController Installation
Stacking Components
To stack mount the SmartController and an sDIO or sMI6 module, install two brackets on
and sMI6 modules.
2X 40356-00002
BOTH SIDES
120.9
328.9
16.0
28.1
30.7
76.5
*S/N 3563-XXXXX*
XDC1 XDC2
IEEE-1394
1.1 1.2
R
X1
X2
X3
X4
LINK
24V
0.5A
OK SF
-+
-+
8X M3 x 6MM
BOTH SIDES
*S/N 3561-XXXXX*
R
133.0
IEEE-1394
1.1 1.2
Device Net
Eth 10/100
OK
SF
HPE LAN
SW1
RS-232/TERM
RS-422/485
ES
HD
1
2
3
4
ON
OFF
XDIO
1
2
3
XSYS
XFP
XMCP
XUSR
XDC1 XDC2
24V
5A
-+
-+
186.5
Figure 2-4. Stack Mounting the SmartController and sDIO
CompactFlash Memory Card
The SmartController is equipped with a CompactFlash™ (CF). The SmartController
system uses a CF in place of a traditional hard disk drive. In fact, it is often referred to as a
“solid state hard drive”. The CF is about half the size of a credit card 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 all systems is currently 30 MB and is factory configured by
+
Adept. The CF stores the V operating system, optional AIM software, application
programs, data files and Adept licenses.
NOTE: Adept reserves the right to increase the size of the CF without
notice.
28
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Controller Installation
Not all types of CompactFlash are compatible with the SmartController. Adept requires
the use of the CF supplied by Adept at the time of controller purchase and that all
replacement CF cards be purchased from Adept.
NOTE: With an AdeptWindowsPC ethernet connection you can also use
the supplied NFS software to remotely mount hard disk drives and
directories located on a Personal Computer (PC). See the AdeptWindows
User’s Guide for further details.
CAUTION: Use suitable measures for eliminating
electrostatic discharge during removal and installation of
the CompactFlash. This includes, but is not limited to, the
use of a grounded wrist strap while performing this
operation.
CAUTION: Do not remove the CompactFlash when power
is connected to the SmartController.
Installing CompactFlash
To install a CompactFlash (CF) into a SmartController:
1. Make sure that the SmartController is disconnected from its power source.
Eject Button
CompactFlash
Compartment
Figure 2-5. CompactFlash Memory Card Compartment
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Chapter 2 - SmartController Installation
NOTE: If you are replacing an existing CF, the original must be sent to
Adept for replacement. Press the button inside the CF compartment to
eject the original card, remove it, and return it to Adept. Contact Adept
Customer Service for assistance.
3. Carefully remove the CF from the READ ME FIRST box or shipping container.
Locate the CF slot and position the card so its connector is facing towards the
SmartController and the label is facing up.
4. Insert the CF into the SmartController.
NOTE: Your licenses were installed onto the CF at the factory when it was
initialized. Your licenses must be reinstalled onto a new CF by using the
+
provided passwords and the V INSTALL monitor command. These
passwords are provided in a box or folder labeled READ ME FIRST.
Once installed, 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. Make sure the power
cables and power supply conform to the specifications below.
24VDC Power Specifications
Table 2-2. Specifications for 24VDC User-Supplied Power Supply
Customer-Supplied Power
Supply
24VDC, 120W (5A).
Circuit Protection
Not more than 8A (below the
amperage rating of the cable used).
Power Cabling
1.5 - 1.85 mm2 (16-14 AWG),
maximum length 10 meters
Shield Termination
Braided shield connected to “-”
terminal at the appropriate XDC
connector.
NOTE: The power requirements for the user-supplied power supply will
vary depending on the configuration of the SmartController and
connected devices. A minimum configuration of the controller, front
panel and MCP will require 1A at 24VDC. However, a 24V, 5A power
supply is recommended to allow for additional current draw from
connected devices, such as external IEEE 1394 devices and digital I/O
loads.
30
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Controller Installation
24VDC Power Cabling
In order to maintain compliance with EN standards, DC power must be delivered over a
shielded cable, with the shield connected to the return conductors at both ends of the
2
2
size. The maximum length for the 24VDC cable is 10 meters.
Adept SmartController
+
-
+
-
Shield
User-Supplied
Power Supply
24VDC, 5A
User-Supplied Shielded
Power Cable
Note: Use connector
supplied by Adept at
this end of cable.
Figure 2-6. User Supplied Power Cable
Daisy-Chaining Power
The SmartController is equipped with two DC power connectors. These connectors allow
the daisy-chaining of power from one controller to another or to a sDIO module. When
daisy-chaining power, the power supply circuit must be limited to the lesser of 8 Amps or
the ampacity 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.
CAUTION: Use only one 24VDC power supply per circuit.
Failure to do this could result in damage to the equipment.
Grounding
recommends connecting a ground wire from the ground point on the controller to earth
ground and that all other interconnected Adept components share the same electrical
ground potential. The ground wire must meet all local regulations. Additional grounding
information for other Adept products are provided in the documentation for those
products.
NOTE: The maximum length for the ground wire for the SmartController
is 3 meters.
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Chapter 2 - SmartController Installation
Grounding Point
Figure 2-7. Chassis Grounding Point
The mounting of the controller and all terminations in Europe must be performed in
accordance with EN 60204 to maintain proper compliance.
Installing 24VDC Connectors
Use the Adept-supplied connectors to connect the customer-supplied 24VDC power
supply to the controller. The connectors are Weidmuller #169042.
1. Locate two 24VDC connectors that are shipped with the controller. See
2. Use 14 or 16 gauge wires to connect the 24VDC power supply 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 on the
right-hand (positive) side of the connector. Push the blade in until the clamp in
the lower opening folds back.
5. Insert the stripped end of the wire into the right-hand lower opening, then
remove the screwdriver from the top opening. The clamp will close on the wire.
Pull on the wire to confirm it is securely attached in the connector.
6. Visually inspect the connection to make sure that the clamp has closed on the
wire, not the insulation.
7. Repeat this process for the wire from the negative side of the power supply to the
left-hand side of the connector.
32
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Controller Installation
24VDC connector
Adept Part # 25040-00201
Insert small flat-blade screwdriver
to open clamp.
Insert wire, then remove screwdriver
to secure wire in clamp.
negative (-)
Figure 2-8. 24V Connectors
positive (+)
NOTE: Although no damage will occur, the SmartController will not turn
on if the DC polarities on the XDC connectors are reversed.
IEEE 1394 Cable Specifications
Adept supplies the IEEE 1394 cables to connect the SmartController 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:
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 1394 cable is 4.5 meters. The
1394 Trade Association provides detailed specifications for 1394 cables and other related
WARNING: You must use cables from vendors approved
by Adept that meet all specifications of the IEEE 1394
standard. Using a non-approved or inferior quality IEEE
1394 cable can cause unpredictable system performance.
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Chapter 2 - SmartController Installation
2.2 System Cable Installation
Switched AC Power from PDU (AC PWR OUT) to SmartAmp #1
24VDC Power from PDU (DC/Safety Output) to SmartAmp #1
PDU2
PDU2
24V
SA
AUX
CH2
CH1
ES1 ES2
SA DC RESET
IEEE 1394 Cable
AUX DC RESET
XDCS
Ferrite core
installed on
all cables at
first SmartAmp
Terminator
Installed
1
2
XSLV1/
XSLV2
C
I
R
C
U
I
B
R
E
A
K
E
R
AC
PWR
SA
T
SmartController
*S/N 3561-XXXXX*
R
AC
PWR
IN
IEEE-1394
Device Net
Eth 10/100
OK
SF
HPE LAN
SW1
1.1
1.2
RS-232/TERM
RS-422/485
ES
HD
1
2
3
4
ON
OFF
AC In
1
2
3
XDIO
XUSR
XSYS
XFP
XMCP
XDC1 XDC2
24V 5A
for
-
+
-
+
PDU2
Terminator
Installed
MCP Adapter Cable
Controller (XSYS)
to PDU-2
MCP3 Dongle
(Terminator
Removed from
Connector)
Controller (XFP) to
Front Panel (XFP)
User-Supplied
Ground Wire
STOP
R
Front Panel
-
+
Typical Adept
SmartModule
MCP
24VDC Power from
User-Supplied
Power Supply to
Controller (XDC1)
Desktop or Laptop PC
User-Supplied
Power Supply
Figure 2-9. System Cable Diagram
34
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System Cable Installation
system. Both the 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
• Adept Cobra s600 and s800 Robots
• Adept FireBlox amplifiers
See your specific product manual for complete details on system cabling for your
Adept product.
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Chapter 2 - SmartController Installation
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SmartController Operation
3
3.1 SmartController CS Connectors and Indicators
*S/N 1000-XXXXX*
R
SmartServo
Device Net
Eth 10/100
OK
SF
HPE LAN
SW1
1.1
1.2
RS-232/TERM
RS-422/485
ES
HD
1
2
3
4
ON
OFF
1
2
3
XDIO
XMCP
XUSR
XSYS
XFP
XDC1 XDC2
24V 5A
- + - +
Figure 3-1. SmartController CS
All the connectors on the SmartController use standard density spacing, D-subminiature
connectors. For customization purposes, the user needs to provide connectors of the
appropriate gender and pin count or use optional Adept cables.
NOTE: The SmartController CX has all of the connectors and indicators
described in this section for the SmartController CS, plus additional ones
1. Top Three Status LEDs
The top three two-color LEDs indicate diagnostic test, power control, and communication
status.
Table 3-1. SmartController LEDs
LED
Green Indicates
Red Indicates
System Fault
OK/SF
System OK
HPE/ES
High Power Enabled
Ethernet Access
E-Stop Open
LAN/HD
Read/Write from
CompactFlash
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/SF LED should show green. If the HPE/ES LED shows
red, the E-Stop circuit is open. During CompactFlash reads and writes, the LAN/HD LED
pulses red. When the controller is active on an Ethernet network, the LAN/HD LED pulses
green.
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Chapter 3 - SmartController Operation
2. Bottom Three Status LEDs
The bottom three LEDs on the front of the SmartController give the following information
about the status of the main controller.
O = Off G = Green R = Red
Table 3-2. LED Status Indicators
LED Display
Error #
Description
1 2 3
O-O-O
0
1
No error.
System clock is dead or too fast. Clock interrupts
are not being received.
R-O-O
O-R-O
O-O-R
O-R-R
2
4
6
Hardware configuration error.
Memory test failure. Free storage error.
Software serial I/O configuration error.
Initial display set by hardware before software
has started.
R-R-R
7
G-O-O
O-O-G
G-O-G
9
Transient display set when PCI is configured.
Uninitialized trap.
C
D
Bus error detected.
If the SmartController displays any of the above errors, cycle the power off, then on again. If
the problem persists, then contact Adept Customer Service.
3. SW1 DIP switches
The DIP switches define certain configuration settings (including auto boot and user interface).
4. SmartServo 1.1 and 1.2
These ports connect any SmartServo-compatible product to the controller; including
SmartModules, Servo Kits, AdeptSix robots, Adept Cobra s600 or s800 robots, sMI6, sDIO, and
FireBlox amplifiers. The 1.1 and 1.2 ports are interchangeable, either one can be used. (Note: on
early SmartController CS models, these ports were labeled IEEE-1394.)
WARNING: Remove power from the SmartController
before plugging in or unplugging any IEEE-1394 cables to
or from these connectors. Failure to remove power could
result in unpredictable behavior by the system.
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 digital
I/O devices and has currently qualified DeviceNet products from Wago and Beckhoff. Other
+
DeviceNet product types, such as keypads and displays, can be controlled using the V FCMD
38
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SmartController CS Connectors and Indicators
6. Ethernet (Eth 10/100) connector
The shielded RJ-45 receptacle that supports 10/100 BaseT ethernet communications.
NOTE: The default IP address for the controller is located on a label on the
bottom side of the controller chassis.
7. RS-232 and RS-422/485 connectors
I/O Connectors” on page 44 for pin descriptions and locations.
8. XDIO connector
This connector includes 20 signal pairs; 8 digital outputs (100 mA max) and 12 digital inputs,
including four fast inputs (the first four input signals on this connector are the only input
signals that can be configured as fast inputs). The digital outputs are short-circuit protected.
This connector also supplies 24VDC power for customer equipment. See Section 3.8 on page
58 for more information.
9. XUSR connector
Provides switch functions for emergency stop (E-Stop) and Manual/Automatic interfaces to
external push buttons and other equipment. For example, an external E-Stop can be connected
to the XUSR connector. A line E-Stop from other equipment can be connected. A muted safety
gate that causes an E-Stop only in Automatic mode is included. Also included are contacts 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 installed in the absence of
any customer supplied safety to close the E-Stop circuit. For more
10. XSYS connector
Connects to the Power Distribution Unit (PDU-2) in a SmartModule system, or to the XSLV
connector on the MAI-2 in an AdeptSix robot system.
11. XFP connector
12. XMCP connector
The Manual Control Pendant (MCP) plugs into this connector. The SmartController works with
the MCP-III or MCP-4. Other Adept pendants will not work because they do not incorporate
the dual E-Stop channels.
The MCP-4 (P/N 90332-12506) requires a special 6’ MCP-4 adapter cable (10356-10400) to
transition from the MCP’s circular plastic connector (CPC) to the SmartController’s 15-pin
D-sub connector.
The MCP-III (P/N 90332-48050) also requires the special 6’ adapter cable. In addition, the
MCP-III must use a small MCP-III adapter module (10356-10370) plugged into the XMCP
connector before the adapter cable is attached.
The SmartController ships with a terminator plug attached to the XMCP connector.
NOTE: The terminator plug must be installed in the absence of an MCP.
For more information about the XMCP connector, see the description of
the Manual Control Pendant in your robot manual.
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Chapter 3 - SmartController Operation
13. 24VDC connectors
Connect power from a customer-supplied 24VDC power supply to the XDC1 connector (see
connect a separate cable from the XDC2 connector on the SmartController to the XDC1
connector on the sDIO or sMI6.
3.2 SmartController CX Connectors and Indicators
The SmartController CX has all the of connectors and indicators from the
SmartController CS, plus the additional ones described in this section.
*S/N 3562-XXXXX*
CAMERA
R
RS-232/TERM
RS-422/485
RS-232-2
SmartServo
1.1 1.2
IEEE-1394
2.1 2.2
Device Net
Eth 10/100
OK HPE LAN
SW1
BELT ENCODER
RS-232-1
SF
ES
HD
1
2
3
4
ON
OFF
1
2
3
XDIO
XDC1 XDC2
XMCP
XUSR
XSYS
XFP
24V
5A
-+
-+
Figure 3-2. SmartController CX
1. Camera connector
This connector is present when the AdeptVision sAVI option is installed. The camera breakout
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 Interface software, available in V 16.0.
Do not use ports 2.1 or 2.2 to connect Adept Smart Servo-compatible products, or to connect
non-Adept-qualified peripherals, such as cameras, hard drives, printers, etc.
3. RS-232-1 and RS-232-2 connector
information.
4. Belt Encoder connector
A 15-pin D-Sub connector for up to two belt encoders in a conveyor tracking installation. See
Section 3.9 on page 65 for more information.
40
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Front Panel
3.3 Front Panel
2
4
1
STOP
5
R
3
Figure 3-3. Front Panel
Before running programs, either the optional Adept SmartController Front Panel or
customer-supplied switches for High Power On/Off, MAN/AUTO, and E-Stop must be
connected to the SmartController XFP connector on the SmartController to enable power
safely.
NOTE: Safety regulations dictate the sequence of events required for the
user to enable high power. For instance, a user may be required to press
the High Power On button on the Front Panel after pressing the
+
Comp/Pwr button on the MCP or issuing the V “enable power”
command. Users cannot jumper this button input and still enable power
(see your robot manual 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 controller.
3. Manual/Automatic Mode Switch
Switches between Manual and Automatic mode. In Automatic mode, executing programs
control the mechanism, and the mechanism can run at full speed. In Manual mode, the system
limits mechanism speed and torque so that an operator can safely work in the cell. Manual
mode initiates software restrictions on robot speed, commanding no more than 250 mm/sec as
required by RIA and ISO standards. Please refer to your robot manual for further details.
4. High Power On/Off Switch & Lamp
Controls high power, which is the flow of current to the robot motors. Enabling high power is a
two-step process. An “Enable Power” request must be sent from the user terminal, an
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Chapter 3 - SmartController Operation
executing program, or the MCP. Once this request has been made, the operator must press this
button and high power will be applied.
5. Emergency Stop Switch
The E-Stop is a dual-channel, passive E-Stop that supports Category 3 CE safety requirements.
It supports a customer-programmable E-Stop delay that maintains motor power for a
programmed time after the E-Stop is activated. This customizable feature allows the motors to
decelerate under servo control to a stop. This can aid in eliminating coasting or overshooting
on low friction mechanisms. It can also aid in the reduction of wear on highly geared, high
inertia mechanisms, while maintaining safety compliance per all standards.
NOTE: Instructions on configuring 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 configuration described in the next
changes to this configuration, set DIP switch SW1 as described below.
Factory Default Settings
With this default DIP switch setting, the system will read the configuration data from the
CompactFlash. This allows you to set all the configuration options using the CONFIG_C
utility in software without changing the physical DIP switches. See the description of the
further information.
DIP-Switch Settings
The following table shows the options for DIP switch SW1 on the SmartController.
SW1
1 2 3 4
ON
OFF
42
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Configuring the Controller
Table 3-3. SW1 Settings
Row #
SW 1
SW 2
SW 3
SW 4
Interpretation
1
2
ON
ON
ON
ON
ON
ON
ON
No auto boot, all other settings per CompactFlash
No auto boot, user interface via serial port
OFF
No auto boot, user interface via Ethernet
AdeptWindows (use IP address in CompactFlash)
3
ON
ON
OFF
ON
ON
No auto boot, user interface via Ethernet
AdeptWindows (use default IP address)
4
5
OFF
OFF
ON
OFF
OFF
OFF
OFF Operation per CompactFlash and NVRAM settings
NOTE: SW1 is configured by Adept to a default configuration listed in
NVRAM settings. Adept recommends that the user maintain this default
SW1 configuration for normal SmartController operation. The default
NVRAM settings are auto boot, ethernet, and use default IP address. The use
results.
NOTE: The default IP address for the controller is located on a label on the
bottom side of the controller chassis.
AdeptWindows PC Graphical User Interface
When using the AdeptWindows graphical user interface, DIP switch SW1 cannot be set to
CAUTION: Adept strongly recommends using shielded
Ethernet cables to connect the SmartController to an
Ethernet network. Use only switches (not hubs) that
provide shielded RJ-45 connectors. Adept cannot ensure
reliable operation of the Ethernet connection without
proper shielding of all the Ethernet connectors and cables.
NOTE: Adept recommends using switches instead of hubs when making
Ethernet connections to the controller. When connecting to a switch, use a
straight-through cable that connects the “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 on the opposite ends.
ASCII Terminal
When using an ASCII Terminal or terminal-emulation software as the user interface, DIP
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Chapter 3 - SmartController Operation
AUTO Boot
When using the SmartController in an AUTO Boot configuration, DIP switch SW1 must
AUTO boot.
3.5 SmartController Serial I/O Connectors
The SmartController CS has two serial I/O connectors, an RS-232/Term and an
The SmartController CX has two additional serial connectors, RS-232-1 and RS-232-2. See
Figure 3-2 on page 40 for the connector locations.
RS-232 Connectors
All three of the 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
These ports support the DTR, DCD, RTS, and CTS signals used for hardware handshaking
(also known as modem control). By default, these signals are not enabled. To configure
hardware handshaking and other communication parameters, use the CONFIG_C utility
+
program, the V FSET program instruction, or the FSET monitor command. The V+
+
designations for these ports when referenced in a V ATTACH or FSET instruction are
If you are using a customer-supplied ASCII terminal, it plugs the RS-232/Term connector
on the SmartController.
Table 3-4. RS-232 Connector Pin Assignments
Pin
Signal
Type
1
2
3
4
5
6
7
8
9
DCD
RXD
TXD
DTR
GND
NC
Input
Input
Output
Output
Ground
RTS
Output
Input
CTS
NC
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SmartController Serial I/O Connectors
NOTE: To configure the port speed and other communications
+
parameters, use the CONFIG_C utility program, the V FSET program
instruction, or the FSET monitor command.
+
Table 3-5. Serial Connectors and V Designations
+
Controller
Connector
V Designation
CS and CX
CS and CX
CX only
RS-422/485
RS-232/Term
RS-232-1
LOCAL.SERIAL:1
LOCAL.SERIAL:2
SERIAL:1
CX only
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
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
+
+
+
a V ATTACH or FSET instruction.
Table 3-6. RS-422/485 Connector Pin Assignments
Pin
Signal
Type
1
2
3
4
5
6
7
8
9
NC
RXD+
TXD+
TXD-
GND
RXD–
NC
Input
Output
Output
Ground
Input
NC
NC
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Chapter 3 - SmartController Operation
3.6 Installing the User Interface
WARNING: Make sure that all cables are installed correctly
and fully inserted and screwed down before applying
power to the system. Failure to do this could cause
unexpected robot motion. Also, a connector could be
pulled out or dislodged unexpectedly.
NOTE: The Adept Document Library CD-ROM is included in your
shipment. This CD-ROM contains Adept’s user documentation in both
HTML and PDF format. Unless otherwise specified, check this CD-ROM
for documentation that is referenced in this manual.
Graphical Interface Using AdeptWindows
The Adept SmartController system includes the AdeptWindows PC software, which is a
suite of application programs that provide new capabilities for the Adept SmartController
and a user interface for the PC. One of these capabilities is to operate the Adept
SmartController via a graphical user interface running over an Ethernet connection. The
procedure for installing AdeptWindows and setting up the user interface for the Adept
included in your shipment. Refer to this document for details on installing
AdeptWindows and establishing an Ethernet connection to the Adept SmartController.
NOTE: Connect the necessary Ethernet cabling between your PC and the
Adept SmartController prior to turning on the PC and controller. See
NOTE: After installing the AdeptWindows software, refer to the
AdeptWindows online help for additional information on setting up the
user interface.
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Installing the User Interface
Text Interface Using a PC with HyperTerminal Software
This section describes how to connect with the Adept SmartController using a PC running
HyperTerminal software (included with Microsoft Windows) over a serial connection.
Note that the SmartController does not support AdeptWindows over a serial connection.
Additionally, for controllers with the vision option, the camera vision window will not be
visible using a serial connection.
NOTE: This interface is not suitable for application development using
graphics-based programming, graphics-based application programs such
as AIM, or SmartController CX systems equipped with the vision option.
Installation Procedure
1. Disconnect power from the controller. Install the CompactFlash included with the
controller.
2. Set the controller DIP switches SW1 on the front of the controller to the following:
SW1
OFF
SW2
ON
SW3
ON
SW4
ON
3. Connect a standard null-modem data transfer cable from the PC RS-232 connector
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 => Accessories => Communications => HyperTerminal
5. Create a new HyperTerminal session in Windows by running “Hypertrm.exe”.
Name the connection “Adept SmartController”. Set the connection as “Direct to
COM1” (or the RS-232 port on your PC). Set the port settings as follows:
• Bits per second: 9600
• Data bits: 8
• Parity: None
• Stop bits: 1
• Flow control: None
After configuring the session, an empty session window will appear with a
flashing cursor. HyperTerminal is now ready to connect with the controller.
6. Connect 24VDC power to either XDC1 or XDC2 on the controller. Polarity is
7. After power is applied, the controller firmware boot screen displays in the
HyperTerminal session window. Press Enter to load from drive D: (the
+
CompactFlash). The V operating system will be loaded from the CompactFlash.
After loading, the Adept system identification information displays followed by a
flashing cursor at a dot prompt. The Adept SmartController is now ready for use.
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Chapter 3 - SmartController Operation
Text Interface Using a Terminal
With an Adept SmartController system that does not have the graphical user interface, the
customer must supply the terminal and cable to interface to the controller. The terminal
must be a Wyse Model 60 or 75 with an ANSI keyboard, or a compatible terminal. You
may also use a computer with suitable terminal-emulation software. For DOS or
Windows-compatible computers, the programs “ProcommPlus” or “Procomm for
Windows” (available from many computer stores) include software emulation for the
Wyse-75. The HyperTerminal terminal-emulation program included with Windows can
also be used.
This type of interface is not suitable for any graphics-based programming, graphics-based
application programs such as AIM, or SmartController CX systems equipped with the
vision option.
Recommended Terminal for Text-Based Systems
The recommended text-based terminal for use with the Adept SmartController is the
Wyse WY-60. You must also 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 you order the correct
keyboard. The WY-60 is available in both 220V and 110V versions.
Installation Procedure
1. Make sure the controller is turned off before making any connections.
2. Verify that the voltage range marked on the terminal is compatible with your local
voltage source. Connect the AC power cord to the terminal, then plug it into an
appropriate voltage source.
3. Connect a suitable serial cable between the terminal and the RS-232/Term
connector on the Adept SmartController. (If you need to fabricate this cable, see
page 44 for the RS-232 pin description.)
4. If the terminal is a Wyse 60, use the setup mode to set the personality to
“WY-75”. If you are using terminal-emulation software on a computer, set the
software to “WY-75” emulation. If “WY-75” is not available, try “VT102” or
“VT100” (you will not be able to use all of the function keys).
5. Set the terminal baud rate to 9600, the default rate for the Adept system. To
change the baud rate, refer to the information on CONFIG_C in the Instructions
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Connecting Customer-Supplied Safety and Power Control Equipment
3.7 Connecting Customer-Supplied Safety and Power Control
Equipment
Connecting Equipment to the System
The connection of the customer-supplied safety and power control equipment to the
system is done through the XUSR and XFP connectors on the SmartController. The XUSR
connector (25-pin) and XFP (15-pin) connector are both female D-sub connectors located
3-5 on page 53 for the XUSR wiring diagram.
Table 3-7. Contacts Provided by the XUSR Connector
Pin
Pairs
Shorted if
NOT Used
Description
Comments
Voltage-Free Contacts Provided by Customer
User E-Stop CH 1 (mushroom PB,
safety gates, etc.).
N/C contacts
N/C contacts
N/C contacts
1, 14
2,15
Yes
Yes
User E-Stop CH 2 (same as pins 1
and 14).
Line E-Stop (used for other robot or
assembly line E-Stop
interconnection. Does not affect
E-Stop indication (pins 7, 20.))
3,16
Yes
Line E-Stop (Same as pins 3 and 16.
See above comment.)
N/C contacts
N/C contacts
N/C contacts
4,17
5,18
6,19
Yes
Yes
Yes
Muted safety gate CH 1 (causes
E-stop in AUTOMATIC mode only).
Muted Safety Gate CH 2 (same as
pins 5 and 18).
Voltage-Free Contacts provided by Adept
E-Stop indication CH 1. Contacts are closed when
Front Panel, MCP, and
customer E-Stops are not
tripped
7,20
E-stop indication CH 2 (same as pins Contacts are closed when
7 and 20.
Front Panel, MCP, and
customer E-stops are not
tripped
8,21
9,22
MANUAL/AUTO indication CH 1
Contacts are closed in
AUTOMATIC mode
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Chapter 3 - SmartController Operation
Table 3-7. Contacts Provided by the XUSR Connector (Continued)
Pin
Pairs
Shorted if
NOT Used
Description
Comments
MANUAL/AUTO indication CH 2
Contacts are closed in
AUTOMATIC mode
10,23
11,12,
No connection
13,24,25
Pin 13
Pin 1
XUSR
Pin 25
Pin 14
Table 3-8. Contacts Provided by the XFP Connector
Pin
Pairs
Description
Comments
Voltage-Free Contacts Provided by Customer
1,9
Front Panel E-Stop CH 1
N/C contacts
2,10
Front Panel E-Stop CH 2
N/C contacts
Remote MANUAL/AUTOMATIC switch CH 1.
MANUAL = Open AUTOMATIC = Closed
3,11
Remote MANUAL/AUTOMATIC switch CH 2.
MANUAL = Open AUTOMATIC = Closed
4,12
6,14
Remote High Power on/off momentary PB
Nonvoltage-Free Contacts
Used to enable High Power
Adept Supplied 5 VDC and GND for High Power
On/Off Switch Lamp
Use with Remote High
Power On/Off switch above.
5,13
7,15
8
SmartController system 5V power on LED, 5V, 20mA
No connection
Pin 1
Pin 8
XFP
Pin 15
Pin 9
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Connecting Customer-Supplied Safety and Power Control Equipment
Table 3-9. Remote MCP Connections on the XMCP Connector
Pin XMCP
(15-Pin D-Sub)
Pin MCP
(16-Pin CPC)
Description
MCP E-stop PB CH 1
1,9
2,10
3,11
4,12
13
6,7
11,12
14,16
13,15
1,4
2
MCP E-stop PB CH 2
MCP Enable CH 1 (Hold-to-run)
MCP Enable CH 2 (Hold-to-run)
Serial GND/Logic GND
+
7
MCP TXD: “V to MCP TXD”
+
8
3
MCP RXD: “V to MCP RXD”
14
5
+12VDC (max 350mA)
–12VDC (max 50mA)
Shield GND
15
8
Shield
6
9
24V (not used on MCP III or MCP 4)
No connection
5
10
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Chapter 3 - SmartController Operation
Figure 3-4 shows an E-Stop diagram for the CAT-3 version of the Adept SmartController.
controller.
E-Stop, High Power On/Off, and MANUAL/AUTO Controls for
CAT-3 Version of SmartController
F
M
Internal Connections
User Supplied Connections
5 V
XFP-7
24 V
Channel 1
ESTOPSRC
Channel 2
E-Stop
Enable
Front
Panel
System
Power
LED
I
limit = 1.4 A
XFP-1
XFP-2
Front Panel
MCP
Grn
XFP-9 XFP-10
XFP-15
XUSER-2
XUSER-1
User E-Stop and
Gate Interlock
(Jumper closed when
not used, MUST open
both channels
XUSER-14
XUSER-15
XUSER-7
independently if used.)
Logic cyclic
check state
machines
ES1
XUSER-8
ES2
ES2
ES1
User E-Stop Indication
Channel 1
Channel 2
XUSER-21
XUSER-20
ES2
ES1
ESTOPSRC
XUSER-4
XUSER-3
24 V
Manual/Auto
Enable
Line E-Stop
(External User
E-Stop system)
Front Panel
XFP-3
XFP-11
MM1
XFP-4
XUSER-16
XUSER-17
XFP-12
MM2
MM1
MM2
XUSER-9
Manual/Auto Keyswitch
- Manual = Open (|)
- Manual => (<250 mm/s)
- Auto => 100%
XUSER-10
MCP-4
Enable
Switch
User Manual / Auto Indication
(Manual = Open)
MM2
MM1
XUSER-23
XUSER-22
5 V
24 V
XUSER-6
XUSER-5
XFP-5
XFP-6
6V, 1.2 W
bulb
Muted Safety Gate
- Active in auto mode
only
(Jumper closed when
not used)
High
Power
On / Off
Front Panel
XUSER-18
XUSER-19
XFP-14
XFP-13
ESTOPSRC
-
+
0.24V
+
V
burned out
4.7
bulb notify
+
(prevents High
Power enable)
V
High
Power request
HP Light
Enable)
E-Stop
Auto 2
E-Stop
Reset
E-Stop
Manual 2
E-Stop
Auto 1
E-Stop
Manual 1
XSYS signals go to PDU or MAI-2 when required (No User Connection)
Figure 3-4. CAT-3 E-Stop Circuit on XUSR and XFP Connectors
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Connecting Customer-Supplied Safety and Power Control Equipment
Figure 3-5 shows an E-Stop diagram for the original, non-CAT-3 version of the Adept
SmartController.
E-Stop, High Power On/Off and MANUAL/AUTO Controls
F
M
Internal Connections
User Supplied Connections
5 V
XFP-7
24 V
Channel 1
ESTOPSRC
Channel 2
E-Stop
Enable
Front
Panel
System
Power
LED
XFP-1
XFP-2
Front Panel
MCP
Grn
XFP-9 XFP-10
XFP-15
XUSER-2
XUSER-1
User E-Stop and
Gate Interlock
(Jumper closed when
not used, MUST open
both channels
XUSER-14
XUSER-15
XUSER-7
independently if used.)
Logic cyclic
check state
machines
ES1
XUSER-8
ES2
ES2
ES1
User E-Stop Indication
Channel 1
Channel 2
XUSER-21
XUSER-20
ES2
ES1
ESTOPSRC
XUSER-4
XUSER-3
24 V
Manual/Auto
Enable
Line E-Stop
(External User
E-Stop system)
Front Panel
XFP-3
XFP-11
MM1
XFP-4
XUSER-16
XUSER-17
XFP-12
MM2
XUSER-9
Manual/Auto Keyswitch
- Manual = Open (|)
- Manual => (<250 mm/s)
- Auto => 100%
MCP4
Enable
Switch
XUSER-10
User Manual / Auto Indication
(Manual = Open)
MM2
Note 1
MM1
XUSER-23
XUSER-22
5 V
MM2
MM1
MM1
MM2
24 V
XUSER-6
XUSER-5
XFP-5
XFP-6
6V, 1.2 W
bulb
Muted Safety Gate
- Active in auto mode
only
(Jumper closed when
not used)
High
Power
On / Off
Front Panel
XUSER-18
XUSER-19
XFP-14
XFP-13
ESTOPSRC
-
+
0.24V
+
V
burned out
4.7
bulb notify
+
(prevents High
Power enable)
V
High
Power request
HP Light
Enable)
E-Stop
Manual 2
E-Stop
Reset
E-Stop
Auto 1
E-Stop
Auto 2
E-Stop
Manual 1
XSYS signals go to PDU, when required (No User Connection)
Note 1: If MCP-3 is used, an adapter plug must be used
at the XMCP connector to close the Channel 2 Enable.
Figure 3-5. Non-CAT-3 E-Stop Circuit on XUSR and XFP Connectors
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Chapter 3 - SmartController Operation
Adept Front Panel Schematic
ESTOPSRC
XFP
15PDSUBM
1
9
10
11
12
13
14
15
ESTOPFP1
ESTOPFP2
MANUALRLY1
MANUALRLY2
HIPWRLT
24VS
2
3
4
5
6
7
8
MANUALSRC1
MANUALSRC2
HPLT5V
5VD
HIPWRREQ
SYSPWRLT
NC
D
"System Power LED"
"MANUAL/AUTO"
"HIGH POWER ON/OFF"
"EMERGENCY STOP"
ESTOPSRC
5VD
HPLT5V
24VS
MANUALSRC2
MANUALSRC1
SYSPWRLT
2PIN_MINI
D
SWL1
D
SW1
SW2
HIPWRLT
MANUALRLY2
MANUALRLY1
HIPWRREQ
ESTOPFP2
ESTOPFP1
Figure 3-6. Front Panel Schematic
Emergency Stop Circuits
The SmartController provides connections for Emergency Stop (E-Stop) circuits on the
XUSR and XFP connectors. This gives the SmartController system the ability to duplicate
E-Stop functionality from a remote location using voltage-free contacts. See Figure 3-5 on
The XUSR connector provides external two-channel E-Stop input on pins 1 to 14 and 2 to
15. The XFP connector provides two-channel E-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 malfunction if one channel is jumpered closed and
the other channel is opened. It will also malfunction if the channels are
shorted together.
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Connecting Customer-Supplied Safety and Power Control Equipment
User E-Stop Indication - Remote Sensing of E-Stop
Two pairs of pins on the XUSR connector (pins 7, 20 and 8, 21) provide voltage-free
contacts, one for each channel, to indicate whether the E-Stop chain, as described above,
on that channel is closed. Both switches are closed on each of the redundant circuits in
normal condition (no E-Stop). The user may use these contacts to generate an E-Stop for
other equipment in the workcell. This output does NOT report status of “line E-Stop”
input (see the section below for more information). The load on the contacts must not
exceed 40VDC or 30VAC at a maximum of 1A.
These voltage-free contacts are provided by a redundant, cyclically checked,
positive-drive, safety relay circuit for EN-954-1 Category 3 operation (see Figure 3-5 on
Line E-Stop Input
The XUSR connector on the SmartController contains a two-channel Line E-Stop input for
workcell or other equipment emergency stop inputs. Generally, the customer E-Stop
Indication contact outputs are used to cause an emergency stop in such external
equipment. Thus, if one were to wire the same equipment’s outputs into the customer
E-Stop input (that is, in series with the local robot’s E-Stop push buttons), a lock up
situation can occur.
The Line E-Stop input comes 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 example, the customer E-Stop
indication of one SmartController is to be connected to the input of another
SmartController, the Line E-Stop input is the point to bring in the other SmartController’s
Do not use the Line E-Stop for such devices as local E-Stop push buttons since their status
should be reported to the outside on the local customer E-Stop indication output contact
while the Line E-Stop inputs will not.
Muted Safety Gate E-Stop Circuitry
Two pairs of pins on the XUSR connector (pins 5, 18 and 6, 19) provide connections for a
safety gate designed to yield an E-Stop allowing access to the workspace of the robot in
Manual mode only, not in Automatic mode. The E-Stop is said to be “muted” in Manual
The muted capability is useful for the situation where a shutdown must occur if the cell
gate is opened in normal production mode, but you need to open the gate in manual
mode. In muted mode, the gate can be left open for personnel to work in the robot cell.
However, safety is maintained because of the speed restriction.
CAUTION: If the cell gate must always cause a robot
shutdown, do not wire the gate switch into the muted
safety gate inputs. Instead, wire the gate switch contacts in
series with the user E-Stop inputs.
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Chapter 3 - SmartController Operation
Remote Manual Mode
customer Remote Manual Mode circuitry).
The Adept Front Panel, or customer-supplied panel, must be incorporated into the robot
workcell to provide a “Single Point of Control” (the operator) when the controller is
placed in Manual mode. Certain workcell devices, such as PLCs or conveyors, may need
to be turned off when the operating mode switch is set to Manual mode. This is to ensure
that the robot controller does not receive commands from devices other than from the
MCP, the single point of control.
If the user needs to control the Manual/Automatic mode selection from other control
equipment, then a custom splitter cable or complete replacement of the Adept Front Panel
a pair of contacts should 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.
WARNING: Do not wire customer-supplied
Manual/Automatic contacts in parallel 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 closed. The user may use these contacts to control other mechanisms (for example,
conveyor, linear modules, etc.) when Manual mode is selected. The load on the contacts
should not exceed 40VDC or 30VAC at a maximum of 1A.
User High Power On Indication
+
when High Power has been enabled. The user can use this feature to power an indicator
lamp, or other device, that signals High Power is On. The limit on these contacts is 1 A at
30VDC or 30VAC.
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Connecting Customer-Supplied Safety and Power Control Equipment
Remote High Power On/Off Control
The easiest and most effective way to provide the high power on/off control in a remote
location is to mount the Adept Front Panel in the desired location with an extension cable.
However, if the user needs to control high power on/off from other control equipment or
from a location other than the Adept Front Panel, then a custom splitter cable or complete
replacement of the Adept Front Panel will be required. See the Front Panel schematic
momentary contact for high power on/off would be placed in parallel with the Adept Front
Panel push button contact. This second contact should be suppressed when in Manual
mode (see the note on “Single Point of Control” below).
This method allows relocating the push button switch to a more convenient location.
Implementation of this method must conform to EN standard recommendations.
The European standard, EN 775, Ind. Robots, Part 6, Recommendations for Safety: Item
7.2.5 Emergency Stop, reads: “Each robot system operator station shall have a readily
accessible emergency stop device. The manual intervention and reset procedure to restart
the robot system after an emergency stop shall take place outside the restricted space”.
Thus, it is important 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 power for the lamp, +5VDC and ground, respectively. Pins 6 and 14 are inputs
for voltage-free N/O contacts from a customer-supplied momentary push button switch.
WARNING: To fulfill the “Single Point of Control”
requirement, do not place the Manual/Automatic and
High Power On controls in multiple locations. To put the
robot into Manual mode, the operator should remove the
key for safety purposes. The system should not be wired
so that a PLC or another operator can put the system back
into Automatic mode.
High Power On/Off Lamp
+
The Front Panel High Power On/Off Lamp (P/N 27400-29006) will cause a V error if the
lamp burns out. This error 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
Remote Front Panel Usage
Users can mount the Front Panel remotely by using an extension cable or by wiring a
customer-supplied Front Panel (control panel) to the SmartController using the 15-pin
XFP connector. The Front Panel contains no active components, only switches and lights.
Customers should be able to adapt the Front Panel’s functionality into their own Front
Panel design. To automatically control the Front Panel’s signals, use relay contacts instead
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Chapter 3 - SmartController Operation
Customers can build an extension cable to place the Front Panel in a remote location. The
extension cable must conform to the following specifications:
• Wire Size: must be larger than 26 AWG.
• Connectors: must be 15-pin, standard D-sub male and female.
• maximum cable length is 10 meters.
NOTE: The XMCP and XFP connectors on the SmartController can be
interchanged without electrical damage. However, neither the Front
Panel nor the MCP will work properly unless they are plugged into the
correct connector.
Remote MCP Usage
Customers can build an extension cable to place the MCP in a remote location. The
extension cable must conform to the following specifications:
• Wire Size: must be larger than 26 AWG.
• Connectors: must be 15-pin, standard D-sub male and female.
• Maximum cable length is 10 meters.
CAUTION: Do not modify the cable that is attached to the
MCP. This could cause unpredictable behavior from the
robot system.
3.8 Connecting Customer-Supplied Digital I/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 connector on the SmartController provides 12 hard-wired inputs and 8
hard-wired outputs for Digital I/O connections. 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 contain the four high speed inputs that are
used by the system for interrupts and latching. The outputs, although independent, have
a lower current rating of 100mA compared to 700mA for the extended outputs on the
information on digital I/O programming.
The DeviceNet connector on the SmartController is used to interface to a Controller Area
more details.
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Connecting Customer-Supplied Digital I/O Equipment
XDIO Connector
The XDIO connector on the SmartController is a 50-pin, standard density D-Sub female
optically isolated from the circuitry of the SmartController. The connector also provides
24V pins for powering customer equipment. There are four 24V pins and four ground
pins, which are limited to a total of 1A of current. The source of the 24V is the XDC1 or
XDC2 connector on the front of the SmartController.
Input Signals
The XDIO connector handles input signals 1001 to 1012. Each channel has an input and a
Table 3-10. DIO Input Circuit Specifications (XDIO connector)
Operational voltage range
“Off” state voltage range
“On” state voltage range
Typical threshold voltage
Operational current range
“Off” state current range
“On” state current range
Typical threshold current
0 to 24VDC
0 to 3VDC
10 to 24VDC
V
= 8VDC
in
0 to 6 mA
0 to 0.5 mA
2 to 6 mA
2.5 mA
Impedance (V /I )
3.9 K Ωminimum
in in
Current at V = +24VDC
I
≤6 mA
in
in
Turn on response time (hardware)
Software scan rate/response time
5 µsec maximum
16 ms scan cycle/
32 ms max response time
Turn off response time (hardware)
Software scan rate/response time
5 µsec maximum
16 ms scan cycle/
32 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 2 ms
+
maximum latency for fast inputs 1001 to 1004 when used with V
INT.EVENT instruction.
In the following figure, example 1 shows inputs (1001 to 1004) with a negative common,
example 2 shows inputs (1005 to 1008) with a positive common, and example 3 shows
inputs (1009 to 1012) with an independent power supply (no common).
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NOTE: These are examples. Either method can be used on any channel.
Adept-Supplied Equipment Customer-Supplied Equipment
(Typical Examples)
(equivalent circuit)
1
+
Signal 1001
Signal 1002
Signal 1003
Signal 1004
Signal 1005
Signal 1006
Signal 1007
Signal 1008
Signal 1009
Signal 1010
Signal 1011
Signal 1012
Example 1
2
–
3
4
+
–
+
–
Customer power
supply
5
6
+
–
7
8
+
–
9
+
–
Example 2
10
11
12
+
–
+
–
Customer power
supply
13
14
+
–
15
16
+
–
17
18
+
–
+
+
+
+
–
–
–
–
Example 3
Sourcing
19
20
+
–
21
22
+
–
Sinking
23
24
+
–
Figure 3-7. Digital Input Wiring Examples (XDIO Connector)
NOTE: Power from pins 41-44 and 47-50 can be substituted for the
page 61 for additional information.
REACT Input Signals 1001 to 1012
+
Inputs 1001 to 1012 (only) may be used by the V REACT and REACTI instructions. See
use these instructions, you should plan your digital I/O channel usage accordingly.
Fast Input Signals 1001 to 1004
In addition to functioning as 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 INT.EVENT) require the optional V Extensions License.
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 instruction.
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Connecting Customer-Supplied Digital I/O Equipment
Output Signals
page 63. The XDIO connector provides separate positive and negative connections for
each channel (no internal common connections). This allows the choice of wiring for
current-sourcing or current-sinking modes.
Table 3-11. DIO Output Specifications (XDIO connector)
Operating voltage range
0 to 24VDC
Operational current range, per channel
I out ≤100 mA, short-circuit
Protected
Vdrop across output in “on” condition
V drop ≤2.7 V at 100 mA
V drop ≤2.0 V at 10 mA
I out ≤600 µA
Output off leakage current
Turn on response time (hardware)
Software scan rate/response time
3 µsec maximum
16 ms scan cycle/ 32 ms max.
response time
Turn off response time (hardware)
Software scan rate/response time
200 µsec maximum
16 ms scan cycle/ 32 ms max.
response time
Figure 3-8 shows two examples of different connections to the digital outputs 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 0005 to 0008 are shown with negative common.
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NOTE: These are examples. Either method can be used, in any
combination, on any channel. Also, an external customer-provided power
supply could have been provided instead of the power provided on the
XDIO connector.
Adept-Supplied Equipment Customer-Supplied Equipment
(Typical Examples)
(equivalent circuit)
25
+
Signal 0001
Signal 0002
Signal 0003
Signal 0004
Signal 0005
Signal 0006
Signal 0007
Example 1
26
–
Sourcing
27
28
+
–
29
30
+
–
Load
Load
31
32
+
–
33
34
+
–
Example 2
Sinking
35
36
+
–
37
38
+
–
Load
Load
39
40
+
–
Signal 0008
41
42
+24V (1A)
43
44
45
46
47
48
49
50
X
X
Ground
Figure 3-8. Digital Output Wiring for XDIO Connector
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Connecting Customer-Supplied Digital I/O Equipment
Table 3-12. XDIO Digital I/O Connector Pin Assignments
Pin
Signal
Pin
Signal
Pin
Signal
Pin
Signal
1
3
Input 1001
Input 1002
Input 1003
Input 1004
Input 1005
Input 1006
Input 1007
Input 1008
Input 1009
Input 1010
2
4
1001 return
1002 return
1003 return
1004 return
1005 return
1006 return
1007 return
1008 return
1009 return
1010 return
27
29
31
33
35
37
39
41
43
Output 0002+
Output 0003+
Output 0004+
Output 0005+
Output 0006+
Output 0007+
Output 0008+
28
30
32
34
36
38
40
42
44
Output 0002–
Output 0003–
Output 0004–
Output 0005–
Output 0006–
Output 0007–
Output 0008–
5
6
7
8
9
10
12
14
16
18
11
13
15
17
a
24V Output
24V Output
24V Output
24V Output
+
+
V High Power
V High Power
19
20
45
46
On Indicator +
24V return
24V return
On Indicator –
24V return
24V return
21
23
Input 1011
Input 1012
22
24
1011 return
1012 return
47
49
48
50
Output
0001+
Output
0001–
25
26
Pin 17
Pin 33
Pin 1
XDIO
Pin 18
Pin 50
Pin 34
a
Limited to combined total of 1A of current.
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Chapter 3 - SmartController Operation
Digital I/O Connector Ordering Details (Third-Party Sources)
The XDIO connector on the SmartController is a 50-pin, standard-density D sub-miniature
female socket. The customer-supplied cable must terminate in a suitable 50-pin Male
D-sub plug. (The plug is not supplied by Adept.)
Compatible connectors are manufactured by AMP and by Thomas and Betts. Contact
your nearest AMP or T&B Sales Office to find your local distributor.
AMP Part Numbers for 50-Pin Male D-Sub
HDP-20 series D-Sub Connectors. Crimp snap-in contacts. Order item 1 (includes cover)
or item 2 (no cover). Contact pins not included, order separately (item 3, quantity 50).
1. 747960-1 Kit (Connector body, shield, enclosure, jackscrews)
2. 205212-3 Connector body only (alternatives: 205212-1, 205212-2)
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 for 50-Pin Male D-Sub
HOLMBERG-series D-Sub Connectors. Crimp snap-in contacts. Contact pins not
included, order separately (item 2, quantity 50).
1. HM50A Connector body only (alternative: HM50B)
2. 1008424C-02-25 Contact Pin, Male, wire size 28-24AWG (0.08-0.2mm 2)
(Alternatives: 1008404C-02-25, 1008429C-02-25, 1008449C-02-25)
(Pins also available for other wire sizes, contact T&B)
Screw-Terminal Field-Wiring Adapter Blocks
Several manufacturers 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).
Phoenix Contact Inc.
FLKM-D 50 SUB/B “DIN rail mount interface block screw terminal to 50-pin D connector
(female).” (Alternative: FLK-D 50 SUB/B)
Weidmüller
AD911886 - RD 50 ASJS -”D-Sub to wire transition module, 50-pin female D-Sub with
jackscrews”.
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Belt Encoder Interface on SmartController CX
3.9 Belt Encoder Interface on SmartController CX
For use with conveyor tracking, the SmartController CX supports two independent
external belt encoders through a 15-pin, male, D-sub connector. The pin assignments for
input circuit drawing.
Adept strongly recommends using differential encoder outputs for maximum noise
programming a conveyor tracking application.
+
NOTE: Conveyor tracking requires a V Extensions License, which can be
obtained from Adept.
Table 3-13. Belt Encoder Connector Pin Assignments
Channel 1
Signal
Channel 2
Signal
Pin
Pin
A+
A–
B+
B–
I+
15
7
A+
A–
B+
B–
I+
11
3
14
6
10
2
13
5
9
I–
I–
1
Encoder 5V out
Encoder ground
not used
4
Encoder 5V out
Encoder ground
not used
4
12
8
12
8
Pin 1
Pin 8
Pin 9
Pin 15
Belt Encoder Connector Pinout
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Chapter 3 - SmartController Operation
SmartController CX
Belt Encoder Connector
5V
2.2K
Typical input circuit,
same for A, B, and I
Encoder Channel 1
26LS33
A+
for both encoders.
220
Encoder
A–
2.2K
B+
B–
+
–
I+
I–
Encoder power output: 5V at 800 mA max. (1 A fuse)
Enc. Pwr
Enc. Gnd
Shield
Encoder Channel 2
A+
A–
+
–
Encoder
B+
B–
I+
I–
Figure 3-9. Belt Encoder Typical Input Circuit
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AdeptVision sAVI Option
4
4.1 Introduction
The AdeptVision Advanced Vision Interface (sAVI) product is offered in two forms:
• AdeptVision sAVI Inspection System - this is a stand-alone machine vision system
limitations.
• AdeptVision sAVI option for robot systems - this is the machine vision capability
added to a SmartController CX in a complete robot or motion-control system.
The AdeptVision sAVI board is an assembly of two boards in a PMC form factor. The sAVI
board is installed inside the Adept SmartController CX and serves as both frame grabber
and vision processor for the AdeptVision 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.
information on installation, configuration, operations, and programming of your vision
system.
NOTE: If you are installing the sAVI board in the field, please refer to the
AdeptVision sAVI Board Installation Instructions (P/N 01263-000)
supplied with your AdeptVision sAVI board.
sAVI Board Features
These features are supported by the sAVI board:
• Asynchronous frame reset
• Strobe signals
• External trigger
• Field acquire mode (for interlaced cameras)
• Ping-pong mode
sAVI Board System Requirements and Restrictions
The sAVI board requires the following software versions:
• AdeptWindows version 3.0 or later
+
• V version 15.1 or later
• AIM version 4.1 or later
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Chapter 4 - AdeptVision sAVI Option
Pixel Format
For backwards compatibility with AdeptVision VXL systems, which use a 7-bit approach
(reserving the high bit for binary images), AdeptVision sAVI supports 7-bit images and
computes binary data from the grayscale pixel values.
AdeptVision sAVI Inspection System Limitations
The AdeptVision sAVI Inspection stand-alone machine vision system is installed in the
SmartController CX and includes the AIM VisionWare application for programming and
operating the system. The following motion-related connectors on the SmartController CX
are not functional in an sAVI Inspection system: XUSR, XSYS, XFP, and XMCP. These
connectors can be activated by purchasing the optional Integrated Motion and Vision
license. Contact Adept Sales for information.
4.2 Camera Compatibility
This section describes the sAVI option compatibility with standard and high-resolution
cameras. AdeptVision sAVI customers should buy cameras directly from third party
cameras.
Guidelines for Cameras
The following information presents guidelines for camera compatibility with AdeptVision
sAVI:
• Video output: RS-170, monochrome output
• Speed: 30Hz frame rate, 60Hz field rate
• Resolution: 525 lines, interlaced
• Signal inputs: External horizontal drive (Hd) and vertical drive (Vd) sync signals
• Connector: 12-pin Hirose
• Connector pin-out: Typical Sony or Panasonic pin-out. Pulnix cameras should be
ordered with special Adept options.
The most common mode of operation, interlaced field or frame grabbing using RS-170
cameras, is compatible with the default camera model #0. Camera model #0 is embedded
in AdeptVision sAVI for Panasonic's GP-MF602 camera.
Use these guidelines to determine camera compatibility. If the camera meets the above
requirements, there is a good chance that it will work as a plug and play device.
AdeptVision sAVI will work with cameras with a resolution of 500 x 480 or greater. If the
camera, lens, etc., are good quality, the actual number of pixels does not affect
compatibility, because the interface uses the RS-170-standard analog video-link.
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Camera Compatibility
Cameras Supported
AdeptVision sAVI supports the following cameras:
Standard Resolution Cameras
• Panasonic GP-MF602
• Panasonic GP-MF802
This camera is supported in the non-interlaced, full-frame, shutter mode only.
Sync strobe mode is supported but the async reset strobe mode is not supported.
• JAI CV-M10
This camera is supported in the non-interlaced, full-frame, shutter mode only.
Sync strobe mode is supported but 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 supported but the async reset strobe mode is not supported.
Option 25 should be ordered from PULNiX.
• JAI CV-M1
This camera is supported in the non-interlaced, full-frame, shutter mode only.
Sync strobe mode is supported but the async reset strobe mode is not supported.
Downloading Camera Information
Custom Camera Modules and related information on cameras supported by the sAVI
product can be downloaded from the Adept Web site. Go to:
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Chapter 4 - AdeptVision sAVI Option
4.3 Camera Cables
A two-camera breakout cable is standard with Adept vision systems. Adept sells an
optional four-camera cable that is used for connecting cameras to the sAVI board. The
camera cables connect to the Camera connector on the front of the SmartController CX.
This connector contains support for two strobe connections through a breakout cable. See
For single camera, non-reset, non-strobe applications, the two-camera breakout cable is
sufficient. Dual megapixel camera applications require a four-camera cable because of
Although the breakout cables route the signals away from the chassis, 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 1. Contact Adept Applications Support for current Intercon 1 part numbers.
You can contact Intercon 1 (division of Nortech Systems) at:
Phone: 800-237-9576 or 218-765-3329
Two-Camera Breakout Cable for RS-170 Cameras
This cable, available from Adept (P/N 10332-01367), has a 44-pin D-sub connector on one
end, and it breaks out to two 12-pin Hirose- style camera connectors on the other end. The
length of the cable is 1.8 meters (70 inches).
The sAVI board supplies 12 VDC power for cameras through this cable. The current rating
is 500 mA maximum per camera, with a combined maximum of 1 A.
To Camera connector on
SmartController CX
CAM 1
CAM 2
Figure 4-1. Two-Camera Breakout Cable for RS-170 Cameras
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Camera Cables
Four-Camera Breakout Cable for RS-170 Cameras
This cable, available from Adept (P/N 10332-01375) 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. The length of the cable is 1.8 meters (70 inches).
Dual megapixel camera applications require a four-camera cable since their combined
current draw exceeds the sAVI board's 1A limit in the absence of external power. An
external 12V power supply is required for this application.
Similarly, due to the current limitation of the sAVI board, it cannot supply enough current
to operate all four cameras from the four-camera cable. You must supply the external
power to operate the cameras when using this cable. This power must be routed through
power and ground on the breakout cable to a 12V power supply producing 2.0A at
12VDC.
To Camera connector on
SmartController CX
CAM 1
CAM 2
CAM 3
CAM 4
D-sub
Auxiliary
Connector
D-sub Auxiliary Connector
Pin Assignments
Pin Signal
1
2
3
4
5
6
7
8
9
User +12V to cameras
User power return
Strobe 1
Strobe return
Strobe 2
Reserved
Reserved
Reserved
Shield (chassis ground)
Figure 4-2. Four-Camera Breakout Cable For RS-170 Cameras
10-Meter Camera Extension Cables
The 10-meter camera extension cables have a male Hirose connector on one end and a
female Hirose connector on the other end. These cables go between the breakout cables
and the connectors on the cameras. Each camera requires one of these cables (or an
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4.4 Installing Camera Cables
Figure 4-3 on page 73 shows the installation of a typical four-camera RS-170 breakout
cable and the associated hardware in a SmartController CX system. See the AdeptVision
User’s Guide for information on mounting cameras and strobes in your system.
CAUTION: Turn off the controller before installing or
removing a camera or cable. Failure to do this may
damage the sAVI board.
CAUTION: When using the four-camera breakout cable,
you must provide 12 VDC power at sufficient current for
the type and quantity of cameras you are using. See the
documentation supplied with your cameras for
information on current requirements.
Connecting the Cables to the RS-170 Standard Camera
This section describes the steps for connecting the cables between the sAVI board and the
RS-170 Cameras.
1. Turn off the SmartController 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 D-sub connector
5. Connect the camera breakout cable to the Camera connector on the
SmartController CX.
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Installing Camera Cables
*S/N 3562-XXXXX*
CAMERA
R
RS-232/TERM
RS-422/485
SmartServo
1.1 1.2
IEEE-1394
2.1 2.2
Device Net
Eth 10/100
OK HPE LAN
SW1
BELT ENCODER
RS-232-1
RS-232-2
SF
ES
HD
1
2
3
4
ON
OFF
1
2
3
XDIO
XDC1 XDC2
XUSR
XSYS
XFP
XMCP
24V
5A
-+
-+
Four-Camera
Breakout Cable
Strobe/Power
Connector
10-Meter Camera
Cable, one for
each camera
Up to Two
Optional
Strobe
Lamps
User-Supplied
9-pin Male D-Sub
Connector
User 12VDC
Power Supply
to Drive
Cameras
Up to four cameras
can be installed.
Figure 4-3. Camera Cable Installation Drawing (RS-170)
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4.5 Camera Cable Pin and Signal Information
This section provides the pin and signal information for the connectors and cables
associated with the AdeptVision product.
Breakout Cable.
camera connectors for the two-camera breakout cable.
camera and strobe/power connectors for the four-camera breakout cable. The
table is organized by camera number.
by the 44-pin connector.
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Camera Cable Pin and Signal Information
Table 4-1. Breakout Cable Camera Connector Pin Assignments (RS-170)
Pin
Function
Notes
1
2
Power return
+12V power
Shield (video)
Video
to camera
3
4
from camera
5
Shield (Hd)
6
Hd (horizontal drive)
Vd (vertical drive)
Shield (Clock)
Clock
to camera
7
to camera
8
from camera (camera 1 & 2 only)
from camera (camera 1 & 2 only)
9
10
11
12
not connected
not connected
Shield (Vd)
12-Pin Hirose Female Jack, HR10A-10J-12S
This connector will normally be connected to the camera using a 10-meter camera extension cable.
For special applications, this connector will mate with a Hirose Male Plug HR10A-10P-12P
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Table 4-2. Standard Breakout Cable Strobe and Power Connector Pin Assignments
Pin
Function
Notes
1
2
3
4
5
6
7
8
9
User +12 VDC to cameras
User power return (Gnd)
Strobe 1
Strobe return (Gnd)
Strobe 2
Reserved
Reserved
Reserved
Shield (chassis ground)
9-Pin D-Sub Female Receptacle
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Camera Cable Pin and Signal Information
Table 4-3. Adept 10-Meter Camera Cable Pin Assignments
Pin # at
controller
end (male) Function
Pin # at
camera end,
(female)
Wire Color
(typical)
Notes
1
2
3
4
Power return
gray
1
2
3
4
+12V power
Shield (video)
Video
to camera
yellow
red-shield
red-signal
from camera
Shield (Hd)
orange-
shield
5
5
Hd (horizontal drive)
to camera
to camera
orange-
signal
6
7
8
6
7
8
Vd (vertical drive)
Shield (Clock)
black-signal
white-shield
from camera (cam. 1
& 2 only)
Pixel clock
from camera (cam. 1
& 2 only)
white-signal
9
9
10
11
12
not used
reserved
reserved
brown
10
11
12
not used
blue
Shield (Vd)
black-shield
•
Connector at controller end: 12-Pin Hirose Male, HR10A-10P-12P, with ground terminal lug
•
•
Connector at camera end: 12-Pin Hirose Female, HR10A-10P-12S.
Cable specifications: 12 conductors, including 4 coax pairs, 4 discrete conductors, and overall
shield. At each end the shield is clamped to connector body.
Brown
Gray
Black
Blue
1
9
Yellow
2
8
10
5
White
11
12
7
3
Red
Orange
4
6
Wire colors
may vary
Overall
Braided Shield
Figure 4-4. Pin Locations for Camera Cable Connector (12-Pin Hirose Male)
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Chapter 4 - AdeptVision sAVI Option
Table 4-4. Two-Camera Breakout Cable Pin Assignments
From:
Pin
To:
Pin
Function
AVI
AVI
AVI
AVI
AVI
AVI
AVI
AVI
AVI
--
8
CAM1
CAM1
CAM1
CAM1
CAM1
CAM1
CAM1
CAM1
CAM1
CAM1
CAM1
CAM1
CAM2
CAM2
CAM2
CAM2
CAM2
CAM2
CAM2
CAM2
CAM2
CAM2
CAM2
CAM2
1
Power return
+12V power
Shield (video)
Video
7
2
12
42
38
36
37
38
22
--
3
4
5
Shield (Hd)
6
Hd (horizontal drive)
Vd (vertical drive)
Shield (Clock)
Clock
7
8
9
10
11
12
1
not connected
not connected
Shield (Vd)
--
--
AVI
AVI
AVI
AVI
AVI
AVI
AVI
AVI
AVI
AVI
--
38
6
Power return
+12V power
Shield (video)
Video
5
2
43
29
35
34
19
35
20
--
3
4
5
Shield (Hd)
6
Hd (horizontal drive)
Vd (vertical drive)
Shield (Clock)
Clock
7
8
9
10
11
12
not connected
not connected
Shield (Vd)
--
--
AVI
35
Note that this cable provides 12VDC (fused 1A max) to the cameras
from the Adept controller. The fuse is not user replaceable. If the total
current required by the two cameras exceeds 1A, this cable should
not be used.
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Camera Cable Pin and Signal Information
Table 4-5. Four-Camera Breakout Cable Pin Assignments
From:
Pin
To:
Pin
Function
CAM1
CAM1
CAM1
CAM1
CAM1
CAM1
CAM1
CAM1
CAM1
CAM1
CAM1
CAM1
CAM2
CAM2
CAM2
CAM2
CAM2
CAM2
CAM2
CAM2
CAM2
CAM2
CAM2
CAM2
CAM3
CAM3
CAM3
CAM3
CAM3
CAM3
CAM3
CAM3
CAM3
CAM3
CAM3
CAM3
CAM4
CAM4
CAM4
Str/Pwr
Str/Pwr
AVI
2
1
Power return
+12V power
Shield (video)
Video
1
2
12
42
38
36
37
38
22
--
3
AVI
4
AVI
5
Shield (Hd)
AVI
6
Hd (horizontal drive)
Vd (vertical drive)
Shield (Clock)
Clock
AVI
7
AVI
8
AVI
9
--
10
11
12
1
not connected
not connected
Shield (Vd)
--
--
AVI
38
2
Str/Pwr
Str/Pwr
AVI
Power return
+12V power
Shield (video)
Video
1
2
43
29
35
34
19
35
20
--
3
AVI
4
AVI
5
Shield (Hd)
AVI
6
Hd (horizontal drive)
Vd (vertical drive)
Shield (Clock)
Clock
AVI
7
AVI
8
AVI
9
--
10
11
12
1
not connected
not connected
Shield (Vd)
--
--
AVI
35
2
Str/Pwr
Str/Pwr
AVI
Power return
+12V power
Shield (video)
Video
1
2
14
44
33
32
18
--
3
AVI
4
AVI
5
Shield (Hd)
AVI
6
Hd (horizontal drive)
Vd (vertical drive)
not connected
not connected
not connected
not connected
Shield (Vd)
AVI
7
--
8
--
--
9
--
--
10
11
12
1
--
--
AVI
33
2
Str/Pwr
Str/Pwr
AVI
Power return
+12V power
Shield (video)
1
2
12
3
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Chapter 4 - AdeptVision sAVI Option
Table 4-5. Four-Camera Breakout Cable Pin Assignments (Continued)
From:
Pin
To:
Pin
Function
AVI
AVI
AVI
AVI
--
CAM4
42
38
36
37
38
22
--
4
Video
CAM4
5
Shield (Hd)
CAM4
6
Hd (horizontal drive)
Vd (vertical drive)
not connected
not connected
not connected
not connected
Shield (Vd)
CAM4
7
CAM4
8
--
CAM4
9
--
CAM4
10
11
12
1
--
CAM4
--
AVI
--
CAM4
17
--
Str/Pwr
Str/Pwr
Str/Pwr
Str/Pwr
Str/Pwr
Str/Pwr
Str/Pwr
Str/Pwr
Str/Pwr
User +12 V to cameras
User power return
Strobe 1
--
--
2
AVI
AVI
AVI
AVI
AVI
AVI
AVI
26
11
39
11
40
11
--
3
4
Strobe return
Strobe 2
5
6
Reserved
7
Reserved
8
Reserved
9
Shield (chassis ground)
Note that this cable provides user-supplied 12VDC to the cameras obtained
from the Strobe and Power connector.
80
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Camera Cable Pin and Signal Information
Table 4-6. Four-Camera Breakout Cable Pin Assignments
From:
To:
Function
Pin
Pin
CAM1
CAM2
CAM3
CAM4
CAM1
CAM2
CAM3
CAM4
Str/Pwr
Str/Pwr
Str/Pwr
Str/Pwr
CAM1
CAM3
CAM4
CAM4
CAM4
CAM4
CAM3
CAM2
CAM2
CAM1
Str/Pwr
CAM2
CAM4
CAM4
CAM3
CAM3
CAM3
CAM2
CAM2
CAM2
CAM2
Str/Pwr
Str/Pwr
Str/Pwr
Str/Pwr
Str/Pwr
Str/Pwr
Str/Pwr
Str/Pwr
AVI
1
2
2
+12V power
+12V power
+12V power
+12V power
Power return
Power return
Power return
Power return
Shield (chassis ground)
Strobe return
Reserved
1
1
2
1
2
2
1
2
1
2
1
2
1
--
9
AVI
11
11
11
12
14
15
16
17
17
18
19
20
22
26
29
30
31
32
33
33
34
35
35
35
4
AVI
6
AVI
8
Reserved
AVI
3
Shield (video)
Shield (video)
Video
AVI
3
AVI
4
AVI
6
Hd (horizontal drive)
Shield (Hd)
AVI
5
AVI
12
7
Shield (Vd)
AVI
Vd (vertical drive)
Vd (vertical drive)
Clock
AVI
7
AVI
9
AVI
9
Clock
AVI
3
Strobe 1
AVI
4
Video
AVI
3
Shield (video)
Vd (vertical drive)
Hd (horizontal drive)
Shield (Hd)
AVI
7
AVI
6
AVI
5
AVI
12
6
Shield (Vd)
AVI
Hd (horizontal drive)
Shield (Hd)
AVI
5
AVI
8
Shield (Clock)
Shield (Vd)
AVI
12
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Chapter 4 - AdeptVision sAVI Option
Table 4-6. Four-Camera Breakout Cable Pin Assignments (Continued)
From:
To:
Function
Pin
Pin
AVI
AVI
AVI
AVI
AVI
AVI
AVI
AVI
AVI
AVI
CAM1
CAM1
CAM1
CAM1
CAM1
Str/Pwr
Str/Pwr
CAM1
CAM2
CAM3
36
37
38
38
38
39
40
42
43
44
6
7
Hd (horizontal drive)
Vd (vertical drive)
Shield (Hd)
Shield (Clock)
Shield (Vd)
Strobe 2
5
8
12
5
7
Reserved
4
Video
3
Shield (video)
Video
4
Note that this cable provides user-supplied 12V dc to the cameras obtained from the
Strobe and Power connector, not from the Adept controller.
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sAVI Board Specifications
4.6 sAVI Board Specifications
1
Table 4-7. Technical Specifications
Electrical Power Consumption
Voltage
Avg Current
(A)
Avg Power
(W)
Max Current
(A)
Max Power
(W)
+3.3 V
+5V
0
0
7
0
0
1.4
2.0
10
+12 V
-12 V
0.08*
0.06
1.0*
0.7
0.11*
0.09
1.3*
1.1
*assumes no current drawn from +12 V pins of DB44 connector
1
Specifications subject to change.
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Chapter 4 - AdeptVision sAVI Option
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SmartController
Maintenance
5
5.1 Changing the Lamp in the High Power Indicator
The system is equipped with circuitry to detect the potentially dangerous condition of a
burned out High Power indicator on the Front Panel. If this lamp is burned out, you
cannot enable High Power until the lamp has been replaced. Follow this procedure to
replace the High Power indicator bulb. The Adept part number for lamp is 27400-29006.
1. Turn off system power to the SmartController.
2. Disconnect the cable between the Front Panel and the SmartController.
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 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. You do not have to
disconnect the wires from the PC board, although you can if needed.
6. Locate the lamp body in the center of the back side of the front cover. Turn the
lamp body approximately 20° in either direction and then pull straight back.
7. The lamp body is now free. You can remove the old lamp and insert a new one.
8. Replace the lamp body by pushing it straight into the lamp housing receptacle.
Make sure the contacts on the lamp body are properly oriented. See Figure 5-1 on
9. Make sure to reconnect the wires from the LED if you disconnected them earlier.
Push the front cover into the body, taking care to align all of the plug-type
connectors. Verify that the wires do not get crimped as you reinstall the cover.
10. Replace the two screws on the back of the body.
11. Reinstall the Front Panel in its mounting.
12. Reconnect the cable between the Front Panel and the SmartController.
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Chapter 5 - SmartController Maintenance
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.
High Power On/Off
Lamp Body
Figure 5-1. Lamp Body Contact Alignment
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Technical Specifications
6
This chapter shows the dimensions of the SmartController, sDIO, Adept Front Panel, and
MCP.
6.1 SmartController Dimensions
This section shows the dimensions of the SmartController. The dimensions for the CS and
CX models are the same.
328.9
4.4
*S/N 3561-XXXXX*
R
IEEE-1394
1.1 1.2
Device Net
Eth 10/100
OK
SF
HPE LAN
SW1
RS-232/TERM
RS-422/485
ES
HD
1
2
3
4
ON
OFF
1
2
3
XDIO
86.0
XMCP
XUSR
XSYS
XFP
XDC1 XDC2
24V 5A
- + - +
12.1
186.5
189.1
Figure 6-1. SmartController Dimensions
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Chapter 6 - Technical Specifications
6.2 sDIO Dimensions
This section shows the dimensions of the sDIO module.
4.4
328.9
*S/N 3563-XXXXX*
IEEE-1394
1.1
1.2
R
X1
X2
X3
X4
XDC1 XDC2
24V 0.5A
LINK
41.6
OK SF
- + - +
2.5
186.5
5.5
Ground Connection Point
Figure 6-2. sDIO Dimensions
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Adept MCP Dimensions
6.4 Adept MCP Dimensions
221.74 mm
(8.74 in.)
184.15 mm
(7.26 in.)
114.30 mm
(4.50 in.)
CLR
ERR
250.70 mm
(9.88 in.)
PROG
SET
EDIT
DISP
CMD
EDIT
DISP
WORLD TOOL
JOINT FREE
DEV
USER
USER
- +
- +
X
1
MAIN
HALT
279.40 mm
(11.01 in.)
Y
2
DIS
RUN
COMP
PWR
PWR
HOLD
REC
NO
8
YES
9
SLOW
DONE
SLOW
103.12 mm
(4.06 in.)
7
4
1
0
F
F
5
6
1
1
J
ÐJ
12
J
ÐJ
12
7
7
T
2
3
F
1
F
2
2
DEV
DEV
¥
DEL
STEP
F
F
3
3
114.30 mm
(4.50 in.)
52.07 mm
(2.05 in.)
11.66 mm
(0.46 in.)
ESTOP Button
5.84 mm
(0.23 in.)
Switch
Depressed
48.26 mm
(1.90 in.)
Figure 6-5. MCP Dimensions
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Chapter 6 - Technical Specifications
10.2 mm
(0.40 in.)
(4 X)
28.7 mm
(1.13 in.)
(2 X)
271.5 mm
(10.69 in.)
203.2 mm
(8.0 in.)
(2 X)
4.8 mm
(0.19 in.)
(4 X)
9.7 mm
(0.38 in.)
(4 X)
ø 9.7 mm
(ø 0.38 in.)
(4 X)
201 mm
(7.91 in.)
221 mm
(8.70 in.)
Figure 6-6. MCP Cradle Dimensions
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sDIO Module
A
The sDIO expansion module provides 32 optically isolated digital inputs and 32 optically
isolated outputs and also includes an IEEE 1394 interface.
Figure A-1. sDIO Module
A.1 Mounting the 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 sections below for information on mounting the sDIO.
NOTE: To maintain compliance with EN 60204 in European installations,
the mounting of the controller and all terminations at the controller must
be performed in accordance with this standard.
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Appendix A - sDIO Module
Rack Mounting the sDIO
To rack mount the sDIO module in a standard 19-inch equipment rack, you must first
must be ordered separately, they do not come with the SDIO.
190.0
2X M3 x 6MM
BOTH SIDES
2X 40356-00003
R 3.6
16.0
43.9
31.8
14.0
14.2
6.1
4.2
462.0
3.6
TYP.
482.8
Figure A-2. Rack Mounting the sDIO
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Mounting the sDIO
Panel Mounting the sDIO
To panel mount the sDIO, install one bracket on each side of the back of the unit. Use the
186.5
14.0
2X 40356-00000
273.9
27.6
10.0
18.0
4X M3 x 6MM
R 3.6
16.0
6.6
346.4
359.6
Figure A-3. Panel Mounting the sDIO
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Appendix A - sDIO Module
Table Mounting the sDIO
To table mount the sDIO, install two brackets on each side near the bottom of the unit. Use
R 3.6
4X 40356-00001
12.1
29.5
24.1
120.9
24.9
378.7
391.9
4X M3 x 6MM
BOTH SIDES
16.3
16.0
21.7
120.8
Figure A-4. Table Mounting the sDIO
Stack Mounting
the sDIO and SmartController.
A.2 Installing the sDIO
The following procedure details the steps required 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
2. Ensure that the 24VDC input power to the SmartController is disengaged.
3. Connect a 24VDC cable from the XDC2 port on the SmartController to the XDC1
port on the sDIO. Continue to daisy-chain the input power from each sDIO to the
NOTE: European installations must be in accordance with the EN60204
standard.
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Configuring a Single sDIO
4. Connect an IEEE 1394 cable from one of the 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.
WARNING: Remove power from the SmartController
before plugging in or unplugging any IEEE-1394 cables to
SmartServo IEEE-1394 connectors. Failure to remove
power could result in unpredictable behavior by the
system.
5. Connect the 24 VDC input power to the SmartController.
6. Connect a user-supplied ground wire to earth ground.
A.3 Configuring a Single sDIO
The SmartController is preconfigured to support one sDIO module. Its configuration is
based upon an I/O block assignment method that uses 4 bytes per block and 8 signals per
byte. Thus, each byte within a block represents an eight signal range of I/O.
Block numbers for general digital I/O can range from 16 to 31; the default is 16. Input
blocks and output blocks are numbered independently 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 your
system.
Default sDIO I/O Configuration
A single sDIO module can be used with the default I/O signal configuration and no
additional configuration is required. The following signal groups are predefined for use:
• Input signals 1033 to 1064
• Output signals 0033 to 0064
Table A-1. Default I/O Configuration for sDIO
Input Signal
Numbers
Output Signal
Numbers
Block
16
Byte
Block
16
Byte
1033 to 1040
1041 to 1048
1049 to 1056
1057 to 1064
1
2
3
4
0033 to 0040
0041 to 0048
0049 to 0056
0057 to 0064
1
2
3
4
16
16
16
16
16
16
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Appendix A - sDIO Module
Modifying the Default sDIO Configuration
mappings. This file contains the main program A.CONFIG_C and is located on the
manual for instruction on loading and executing this utility. You can check how block
numbers are assigned by using the SRV.NET monitor command.
NOTE: Blocks 1-15 are typically reserved for robot signals. Blocks 1-6 are
preconfigured for Robots 1-6 for the 3000 series hand control signals,
including the signals used by the V+ OPEN, OPENI, CLOSE, CLOSEI,
RELAX, RELAXI statements. See the V+ documentation for more details
about these statements.
In the following situations you must go through 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)
NOTE: The first sDIO can use the default configuration; each additional
sDIO must be assigned unique block numbers, between 16 and 31.
In these cases you will use CONFIG_C.V2 to select the block number and to assign the
Input and Output signals.
Assigning sDIO Signal Blocks
1. Load and Execute the CONFIG_C.V2 utility
2. Select Option 6.
6 - Configure 1394 DIO
Then, press ENTER to continue.
3. Select Option 1.
1 - Configure 1394 DIO
Then, press ENTER to continue.
4. The system will then report specific information about the first sDIO that it
recognized. Identify the sDIO with the OK LED flashing green and red. This is the
recognized sDIO. Type N to select another sDIO for systems with multiple sDIOs
or type Y to configure the recognized sDIO at the following prompt.
Do you want to configure this board?
Then, press ENTER to continue.
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Configuring a Single sDIO
5. Type N at the following prompt.
Attached controller 0. Change this value?
Then, press ENTER to continue.
6. Type Y at the following prompt.
Digital input block: 16 Change this value?
Then, press ENTER to continue.
7. Enter a new value for the input block at the following prompt.
Enter new value:
Then, press ENTER to continue.
8. Type Y at the following prompt.
Digital output block: 16 Change this value?
Then, press ENTER to continue.
9. Enter a new value for the output block number at the 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 assign groups of signal numbers to each block.
NOTE: You must select a unique block number for the Inputs and Outputs
of each sDIO in your system. Repeat the procedure above for each sDIO.
Assigning I/O Signal Numbers
The I/O signal number ranges are valid for the sDIO:
• Inputs 1033 to 1512
• Outputs 0033 to 0512
You will need to perform the follow steps to assign I/O signals to specific blocks, if you
choose a block other than 16.
1. Load and Execute the CONFIG_C.V2 utility.
2. Select option 2.
2 - V+ System Configuration Data
Then, press ENTER to continue.
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Appendix A - sDIO Module
3. Select option 2.
2 - Edit system configuration
Then, press ENTER to continue.
4. Select either option 5 or option 6:
5 - Change DIGITAL_INPUT configuration
or
6 - Change DIGITAL_OUTPUT configuration
Then, press ENTER to continue.
5. The program will step you through the process of adding a new statement to
assign the appropriate I/O signals to a block, and then to a byte (1 to 4) within a
block. With the sDIO, the first 8 input channels are mapped to byte 1, the second 8
this process, you must assign groups of signal numbers to bytes 1 to 4 for each
with two sDIO modules. When you are done editing the I/O choose not to add a
new statement.
6. Save the changes, if you are satisfied with your choices.
7. Continue to select 0 to return through the higher menus. Select 0 once more to exit
to the system monitor.
8. Disconnect your AdeptWindowsPC or serial communication session to the
SmartController.
9. Cycle the 24VDC input power to the sDIO.
10. Cycle the 24VDC input power to the SmartController.
11. Reconnect your AdeptWindowsPC or serial communication session to the
SmartController.
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Configuring a Single sDIO
sDIO Signal Mapping Example 1
The following example shows the mapping of SIGNAL 1065 to Input_Block 17
and Input_Byte 1.
Add a new statement (Y/N)? y
1: POS_LATCH
2: VIS_TRIGGER
3: SIGNAL
Enter number of keyword for new statement: 3
SIGNAL
: Value = 1001 (min = 1001, max = 1505): 1065
: Value = 0 (min = 0, max = 31): 17
: Value = 1 (min = 1, max = 4): 1
: Value = NO
/INPUT_BLOCK
/INPUT_BYTE
/IO_OPTIONAL
1 > NO
2 > YES
Enter selection: 1
SIGNAL 1065 = "/INPUT_BLOCK 17/INPUT_BYTE 1 /IO_OPTIONAL NO"
sDIO Signal Mapping Example 2
This example shows a sample configuration of the Input signals for two sDIO
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 eight per byte.
SIGNAL 1033 = "/INPUT_BLOCK 16 /INPUT_BYTE 1 /IO_OPTIONAL YES"
SIGNAL 1041 = "/INPUT_BLOCK 16 /INPUT_BYTE 2 /IO_OPTIONAL YES"
SIGNAL 1049 = "/INPUT_BLOCK 16 /INPUT_BYTE 3 /IO_OPTIONAL YES"
SIGNAL 1057 = "/INPUT_BLOCK 16 /INPUT_BYTE 4 /IO_OPTIONAL YES"
SIGNAL 1065 = "/INPUT_BLOCK 17 /INPUT_BYTE 1 /IO_OPTIONAL YES"
SIGNAL 1073 = "/INPUT_BLOCK 17 /INPUT_BYTE 2 /IO_OPTIONAL YES"
SIGNAL 1081 = "/INPUT_BLOCK 17 /INPUT_BYTE 3 /IO_OPTIONAL YES"
SIGNAL 1089 = "/INPUT_BLOCK 17 /INPUT_BYTE 4 /IO_OPTIONAL YES"
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Appendix A - sDIO Module
A.4 Using Multiple sDIO Modules
Additional sDIO modules can be added to a system. The recommended maximum is four
sDIO modules for a SmartController CS system and eight sDIO modules in a CX. See
Figure A-5 for cabling and configuration information. Note that each sDIO must have a
unique block number (between 16 and 31) for both the input and output signals.
1. Connect a 24VDC cable from the XDC2 port on sDIO #1 to the XDC1 port on sDIO
2. Connect an IEEE 1394 cable from one of the IEEE 1394 ports on sDIO #1 to one of
the IEEE 1394 ports on sDIO #2.
3. Execute CONFIG_C and select a block number for sDIO #2. Block 17 is
details on this process.
4. In CONFIG_C, continue to assign groups of signal numbers to bytes 1 to 4 in the
5. Repeat steps 1 to 4 for each additional sDIO module.
6. Exit CONFIG_C and reboot the controller.
Recommended
Configurations
Block 19
Input Signals 1129 to 1160
Output Signals 0129 to 0160
*S/N 3563-XXXXX*
IEEE-1394
1.1 1.2
R
X1
X2
X3
X4
XDC1 XDC2
24V 0.5A
Adept sDIO
Module #4
LINK
OK SF
-
+
-
+
24VDC cable
1394 cable
*S/N 3563-XXXXX*
IEEE-1394
1.1 1.2
Block 18
Input Signals 1097 to 1128
Output Signals 0097 to 0128
R
X1
X2
X3
X4
XDC1 XDC2
24V 0.5A
Adept sDIO
Module #3
LINK
OK SF
-
+
-
+
24VDC cable
1394 cable
*S/N 3563-XXXXX*
IEEE-1394
1.1 1.2
Block 17
Input Signals 1065 to 1096
Output Signals 0065 to 0096
R
X1
X2
X3
X4
Adept sDIO
Module #2
XDC1 XDC2
24V 0.5A
LINK
OK SF
-
+
-
+
24VDC cable
1394 cable
*S/N 3563-XXXXX*
IEEE-1394
1.1 1.2
R
X1
X2
X3
X4
Block 16 (default)
Input Signals 1033 to 1064
Output Signals 0033 to 0064
XDC1 XDC2
24V 0.5A
LINK
Adept sDIO
Module #1
OK SF
-
+
-
+
24VDC cable
1394 cable
*S/N 3561-XXXXX*
R
IEEE-1394
1.1 1.2
Device Net
Eth 10/100
OK
SF
HPE LAN
SW1
Adept
RS-232/TERM
RS-422/485
ES
HD
1
2
3
4
ON
OFF
1
2
3
XDIO
XUSR
XSYS
XFP
XMCP
SmartController
XDC1 XDC2
24V 5A
-
+
-
+
1394 cable
24VDC from
Customer-supplied
power supply
Figure A-5. Using Multiple sDIO Modules
NOTE: When adding additional sDIO modules, each additional sDIO
module must be grounded per all applicable regulations.
102
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sDIO Module Connectors and Indicators
Configuring a System with an sDIO and a RIO
program to select a block number for the RIO. This is described in the documentation
supplied with the RIO. Typically, you would use default block 16 for the sDIO, and select
block 17 for the RIO.
Once the RIO block number is selected, then you assign I/O signal numbers for the RIO
A.5 sDIO Module Connectors and Indicators
1
*S/N 3563-XXXXX*
IEEE-1394
1.1 1.2
R
X1
X2
X3
X4
XDC1 XDC2
24V 0.5A
LINK
OK SF
- + - +
2
3
4
5
6
7
Figure A-6. sDIO
1. Status LEDs.
Two LEDs indicate link status of the IEEE 1394 connection and system status.
LINK: Green LED = communication with another device over IEEE 1394
connection OK.
OK/SF: Red LED = output driver fault detected due to excessive temperature 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 on SmartController or
IEEE 1394 ports on additional sDIO units.
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-sub connector, for digital input signals 1033-1048.
6. X4 Input: 26-pin female D-sub connector, for digital input signals 1049-1064.
NOTE: For installations that use two or more sDIO modules, the above
+
signal numbers apply to the signals for the first sDIO. See the V
documentation for information on configuring two or more sDIO
modules.
7. Two 24VDC connectors: Connect power from the XDC2 connector on the
SmartController to the XDC1 connector on the sDIO (see the “Connecting Power”
section on page 30 for power specifications).
Adept SmartController User’s Guide, Rev. E
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Appendix A - sDIO Module
A.6 sDIO Digital I/O Signals
The sDIO module’s digital I/O signals are 64 optically isolated digital I/O channels (32
output and 32 input). They are wired to connectors X1 through X4, which are located on
inputs are similar to the XDIO inputs, but have a different wiring configuration. The sDIO
inputs cannot be used for REACTI programming, high-speed interrupts, or vision
NOTE: The signals on the sDIO connectors can be superseded by another
sDIO that is installed and addressed as sDIO #1. To use two sDIO
modules, address the first as sDIO #1 and the second as sDIO #2.
sDIO Inputs
The 32 input channels are arranged in four groups of eight. Each group is electrically
isolated from the other groups and is optically isolated from the sDIO module’s circuitry.
The eight inputs 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. 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
type of input is considered sinking. That is current must flow into the input pin to turn it
on.
Table A-2. sDIO Input Specifications
Operational voltage range
“Off” state voltage range
“On” state voltage range
Typical threshold voltage
Operational current range
“Off” state current range
“On” state current range
Typical threshold current
0 to 24VDC
0 to 3VDC
10 to 24VDC
V
= 8VDC
in
0 to 6 mA
0 to.5 mA
2 to 6 mA
2.5 mA
Impedance (V /I )
3.9 K Ωminimum
in in
Current at V = +24VDC
I
≤6 mA
in
in
Turn on response time (hardware)
Software scan rate/response time
5 µsec maximum
16 ms scan cycle/
32 ms max response time
Turn off response time (hardware)
Software scan rate/response time
5 µsec maximum
16 ms scan cycle/
32 ms max response time
NOTE: The input current specifications are provided for reference. Voltage
sources are typically used to drive the inputs.
104
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sDIO Digital I/O Signals
Adept-Supplied Equipment
sDIO Module
Customer-Supplied Equipment
Wiring
Typical Customer
Input Signals
Terminal
Block
(equivalent circuit)
15
Part Present Sensor
Feeder Empty Sensor
Part Jammed Sensor
Sealant Ready Sensor
Signal 1033
6
Signal 1034
16
Signal 1035
7
Signal 1036
17
Signal 1037
8
Signal 1038
18
Signal 1039
9
Signal 1040
Customer
Power
Supply
25
+
–
Group 1 Return
26
Group 1 Return
10
Signal 1041
1
Signal 1042
11
Signal 1043
2
Signal 1044
12
Signal 1045
3
Signal 1046
13
Signal 1047
4
Signal 1048
Customer
Power
Supply
19
+
–
Group 2 Return
20
Group 2 Return
Input Group 3
Signals 1049 – 1056
Adept Digital Input
Cable (optional)
Input Group 4
Signals 1057 – 1064
Figure A-7. Typical sDIO Input Wiring
NOTE: The off state current range exceeds the leakage current of sDIO
outputs. This guarantees that the inputs will not be turned on by the
leakage current from the outputs. This is useful in situations where the
outputs are looped-back to the inputs for monitoring purposes.
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Appendix A - sDIO Module
sDIO Outputs
The 32 output channels are arranged in four groups of eight. Each group is isolated from
the other groups and is optically isolated from the sDIO circuitry. The eight outputs
within each group share a common power supply and a common ground.
The outputs are accessed through the two female 44-pin D-sub output connectors on the
front of the sDIO. Each connector provides access to two output groups. Each group
requires 19 pins: 8 output signals, 1 test signal, 9 power supply (all tied together), and 1
power supply ground reference. When an output is on, current will flow in through the
power supply pins and out through the output pins. This type of output is considered
sourcing, that is, in the “on” condition, current flows out of the output pin. See Figure A-8
on page 109 for details on typical digital output wiring.
Testing sDIO Outputs
Like many solid-state I/O systems, when an output is off, a small leakage current will
flow out of the output. This will raise the potential of the output to the power supply
voltage level if there is no load. With 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 troubleshooting. 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 on the sDIO module indicate link status over the IEEE 1394
connection and system status. The upper LED lights green when an IEEE 1394 connection
is established. The lower LED blinks green when the software is active and switches to
solid green after the controller software has found and configured the DIO block. The
lower LED lights solid red whenever an output fault (excessive current or temperature) is
NOTE: A fault indication is the result of an over-temperature or
over-current condition on one or more of the outputs, usually due to a
short-circuit condition. As a result, the output driver IC will oscillate on
and off as the chip tries to drive the load.
Note that this red fault LED is active only when:
• An extended output (for example, a SIGNAL in the range of 33 to 64) has been
+
turned on by a V command.
• An activated output has a thermal overload problem, usually due to a short in the
user’s wiring from the output pin to the user’s ground.
106
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sDIO Digital I/O Signals
Table A-3. sDIO Chassis LEDs
Illumination
Upper LED (LINK)
Lower LED (OK SF)
None
No IEEE 1394 link
Local software not running
Local software active, not
Blinking Green
Solid Green
Not Applicable
+
configured in V
Local software active, and
IEEE 1394 link good
+
configured in V
Blinking Red
Solid Red
Not Applicable
Not Applicable
Output fault
Output fault
A diagnostic software indicator is not available for the XDIO outputs. In a short circuit
condition, the XDIO outputs will simply fold back, supplying the maximum short circuit
current to the output pin.
sDIO Output Power Supply Current Selection
The nine power pins for each group are connected together on the sDIO module’s board,
and the current supplied from the output pins is drawn from these 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
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 eight outputs) of 5.6A that will be required from the power supply. In this case, a
minimum of six power pins should be used. If you experience an excessive voltage drop,
make connections to additional power pins (to a maximum of nine).
The ground connection should connect to the power supply directly, not the ground
connection of the load. This will isolate the board from any voltage drop across the
ground return for the load.
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Appendix A - sDIO Module
Table A-4. sDIO Output Circuit Specifications
Parameter
Value
Power supply voltage range
Under voltage shutdown
10VDC ≤V
≤30VDC
sup
5VDC ≤V ≤8VDC
usd
Power supply ground current
I ≤60 mA
g
Operational current range, per
channel
I
≤700 mA
out
On state resistance (I = 0.5A)
Ron ≤0.32Ω@ 85° C (Ron 0.4Ω@
out
125° C)
Output leakage current
Turn on response time
I
≤25 µA
out
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
(V
- 65) ≤ V
≤ (V
- 45)
sup
sup
demag
turnoff (I = 0.5A, Load = 1 mH)
out
DC short circuit current limit
Peak short circuit current
0.7A ≤I
≤2.5A
LIM
I
≤4A
ovpk
CAUTION: The above specs apply only to the output
on the XDIO connectors digital output channels.
108
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sDIO Digital I/O Signals
Adept-Supplied Equipment
Smart-DIO
Customer-Supplied Equipment
Wiring
Terminal
Block
25
26
38
39
40
Group 1
Power Pins
(see text)
41
42
Connect module
power return
directly to power
supply if possible.
Customer DC
Power
Supply
+
43
44
–
28
Group 1 Return
29
Group 1 Test
Typical User Loads
30
Signal 0033
(equivalent
circuit)
15
Signal 0034
14
Signal 0035
13
Signal 0036
Load
12
Signal 0037
Load
11
Signal 0038
Load
10
Signal 0039
9
Customer AC
Power
Supply
Signal 0040
M
L
N
17
18
19
M
Group 2
Power Pins
31
32
(see text)
33
34
35
36
+
Customer DC
Power
Supply
–
21
Group 2 Return
22
Group 2 Test
7
Signal 0041
Load
6
Signal 0042
Load
5
Signal 0043
Load
Load
4
Signal 0044
Load
Load
3
Signal 0045
Load
2
Signal 0046
Load
1
Signal 0047
16
Signal 0048
Output Group 3
Signals 0049 – 0056
Adept Digital Output
Cable (optional)
Output Group 4
Signals 0057 – 0064
Figure A-8. Typical sDIO Output Wiring
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Appendix A - sDIO Module
Optional DIO Cables
The cables that connect to the input and output connectors on the sDIO 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
2
Adept cables is 0.18 mm (24 AWG). You can use these cables to connect to the digital
inputs/outputs in your system or to a wiring block.
To comply with IEC 1131, if you choose to supply a wiring block, it should be capable of
2
2
accepting wire in the range of 0.18 mm (24 AWG) to 2.0 mm (14 AWG).
Labeling Cables
The X3 and X4 input connectors on the front of the sDIO are similar except that X3 handles
the group 1 and group 2 input 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 installation so that the cables do not
get swapped by mistake; see the warning below.
The X1 and X2 output connectors are also similar except that X1 handles the group 1 and
group 2 output signals and X2 handles the group 3 and group 4 output signals. The
optional digital output cables can be connected to either X1 or X2. Make sure to clearly
label the cables once you have completed your installation so that the cables do not get
swapped by mistake; see the warning below.
WARNING: Make sure to clearly label the X1 to X4 digital
I/O cables so that they are always plugged into the correct
connector. Swapping the X3 and X4 or X1 and X2 cables
could cause damage to your equipment. Depending on the
installation, this could potentially cause injury to
personnel in the area.
110
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sDIO Digital I/O Signals
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 A-5. X3 Input Cable Pin Assignments
Pin
Number
Signal
Group
Wire
Color
Pin
Locations
Signal
X3–15
X3–6
X3–16
X3–7
X3–17
X3–8
X3–18
X3–9
X3–25
X3–26
X3–10
X3–1
X3–11
X3–2
X3–12
X3–3
X3–13
X3–4
1
1
1
1
1
1
1
1
1
1
2
2
2
2
2
2
2
2
2
2
1033
1034
1035
1036
1037
1038
1039
1040
red/white
orange
Pin 9
Pin 18
green/white
blue
blue/white
white/black
black/red
red/black
Pin 26
group 1 return blue/red
group 1 return red/green
1041
1042
1043
1044
1045
1046
1047
1048
green/black
black
orange/black
white
blue/black
red
black/white
green
Pin 19
Pin 10
Pin 1
X3 26-pin female input
connector on sDIO front
panel
X3–19
X3–20
group 2 return white/red
orange/red
group 2 return
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Appendix A - sDIO Module
Table A-6. X4 Input Cable Pin Assignments
Pin
Number
Signal
Group
Wire
color
Pin
Locations
Signal
X4–15
X4–6
X4–16
X4–7
X4–17
X4–8
X4–18
X4–9
X4–25
X4–26
X4–10
X4–1
X4–11
X4–2
X4–12
X4–3
X4–13
X4–4
3
3
3
3
3
3
3
3
3
3
4
4
4
4
4
4
4
4
4
4
1049
1050
1051
1052
1053
1054
1055
1056
red/white
orange
Pin 9
Pin 18
Pin 26
green/white
blue
blue/white
white/black
black/red
red/black
group 3 return blue/red
group 3 return red/green
1057
1058
1059
1060
1061
1062
1063
1064
green/black
black
orange/black
white
blue/black
red
black/white
green
Pin 19
Pin 10
Pin 1
X4 26-pin female input
connector on sDIO front
panel
X4–19
X4–20
group 4 return white/red
group 4 return orange/red
112
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sDIO Digital I/O Signals
Table A-7. X1 Output Cable Pin Assignments
Pin
Number
Group
Number
Wire
Color
Signal name
Pin Locations
X1–30
X1–15
X1–14
X1–13
X1–12
X1–11
X1–10
X1–9
X1–25
X1–26
X1–38
X1–39
X1–40
X1–41
X1–42
X1–43
X1–44
X1–28
X1–29
X1–7
X1–6
X1–5
X1–4
X1–3
X1–2
X1–1
X1–16
X1–17
X1–18
X1–19
X1–31
X1–32
X1–33
X1–34
X1–35
X1–36
X1–21
X1–22
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
0033
0034
0035
0036
0037
0038
0039
0040
power
power
power
power
power
power
power
power
power
green/black/white
green/white
red/white
black/white
blue/black
orange/black
green/black
red/black
orange/green
black/white/red
orange/black/green
blue/white/orange
black/white/orange
white/red/orange
orange/white/blue
white/red/blue
black/white/green
Pin 15
Pin 30
Pin 44
group 1 return white/black/red
group 1 test
0041
red/black/white
white/black
blue
orange
green
red
white
black
blue/white
black/red
0042
0043
0044
0045
0046
0047
0048
power
power
power
power
power
power
power
power
power
Pin 31
Pin 16
Pin 1
X1 44-pin female output
connector on sDIO front
panel
white/red
orange/red
orange/black/white
blue/black/white
black/red/green
white/red green
red/black/green
green/black/orange
group 2 return blue/red
group 2 test red/green
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Appendix A - sDIO Module
Table A-8. X2 Output Cable Pin Assignments
Pin
Number
Group
Number
Wire
Color
Signal Name
Pin Locations
X2–30
X2–15
X2–14
X2–13
X2–12
X2–11
X2–10
X2–9
X2–25
X2–26
X2–38
X2–39
X2–40
X2–41
X2–42
X2–43
X2–44
X2–28
X2–29
X2–7
X2–6
X2–5
X2–4
X2–3
X2–2
X2–1
X2–16
X2–17
X2–18
X2–19
X2–31
X2–32
X2–33
X2–34
X2–35
X2–36
X2–21
X2–22
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
0049
0050
0051
0052
0053
0054
0055
0056
green/black/white
green/white
red/white
black/white
blue/black
orange/black
green/black
red/black
orange/green
black/white/red
orange/black/green
blue/white/orange
black/white/orange
white/red/orange
orange/white/blue
white/red/blue
black/white/green
white/black/red
red/black/white
white/black
Pin 15
power
power
power
power
power
power
power
power
power
group 3 return
group 3 test
0057
Pin 30
Pin 44
0058
0059
0060
0061
0062
0063
0064
blue
orange
green
red
white
black
blue/white
black/red
Pin 31
Pin 16
Pin 1
X2 44-pin female output
connector on sDIO front
panel
power
power
power
power
power
power
power
power
power
group 4 return
group 4 test
white/red
orange/red
orange/black/white
blue/black/white
black/red/green
white/red green
red/black/green
green/black/orange
blue/red
red/green
114
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Adept DeviceNet
B
DeviceNet is a low-cost communications link that connects industrial devices to a
network and eliminates expensive hard wiring. The direct connectivity provides
improved communication between devices as well as important device-level diagnostics
not easily available using hard-wired I/O interfaces.
B.1 DeviceNet Specifications
Adept Technology is a member of the Open DeviceNet Vendor Association (ODVA),
which is independently run and operated and not directly associated with any one
company. The ODVA controls DeviceNet technical specifications with help from Special
Interest Groups (SIGs). Each SIG develops device profiles for one line of product features
to ensure interoperability. These profiles 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 - Application
1
Layer )
• Controller Area Network (CAN) and its use in DeviceNet (Layer 2 - Data
Link Layer)
• DeviceNet Physical Layer and Media (Layer 1 - Physical Layer)
Volume 2
• Device profiles to obtain interoperability and interchangeability among like
products
DeviceNet incorporates CAN, which defines the syntax or form of the data transmitted.
The DeviceNet application layer defines the semantics or meaning of the data transmitted.
For more information on the basics of a DeviceNet cable system, contact ODVA at:
Open DeviceNet Vendor Association, Inc.
PMB 499
20423 State Road 7 #F6
Boca Raton, FL 33498-6797
Phone: (1) 561 477-7966
Fax: (1) 561 218-9465
e-mail: [email protected]
1
These layers are based on the Open Systems Interconnect (OSI) model.
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Appendix B - Adept DeviceNet
B.2 Limitations of the Adept DeviceNet Scanner
The DeviceNet Scanner that Adept has incorporated into the SmartController hardware
+
and the V operating system currently supports only a subset of full DeviceNet
functionality. The following is a summary of the DeviceNet implementation:
• Implemented the Master-Slave operation. This is a complete subset of Peer-to-Peer
operation.
• Implemented the Unconnected Message Manager (UCMM) in its DeviceNet Scanner
to establish connections.
• UCMM is used to establish I/O Connections.
• 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/O messages contain only data.
• Currently, only the Message Group 2 of the Predefined Master/Slave Connection Set is
supported.
• Adept Message Group 2 I/O connections support only the I/O Poll
Command/Response Message of the possible message types.
B.3 Adept Supplied DeviceNet Hardware
Adept supplies the following DeviceNet hardware in the SmartController:
assignments.
Table B-1. DeviceNet Signal to Pin Locations
Pin
Signal Name
Drain
1
2
3
4
5
V+
V-
CAN_H
CAN_L
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DeviceNet Physical Layer and Media
Connecting DeviceNet Hardware to the Adept DeviceNet Scanner
To connect DeviceNet components to the Adept DeviceNet Scanner, connect a dropline to
the female Micro-style 12 mm thread DIN connector on the front of the SmartController.
Then you must configure the DeviceNet Scanner correctly using the CONFIG_C
CONFIG_C.
+
detailed information about the DeviceNet software setup in V .
NOTE: Adept does not supply 24V on the SmartController to power the
DeviceNet bus. A separate power supply is required to power the
components on the DeviceNet bus.
WARNING: The DeviceNet specification requires that the
CAN_H and CAN_L signal lines tolerate voltages up to
18V. Since the supply voltage exceeds 18V, improperly
wiring the supply voltage to these signal lines may cause
permanent damage.
B.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.
Figure B-1 shows several possible topologies. The DeviceNet specifications also specify
system grounding, mixing of thick and thin cable media, termination, and power
distribution.
The basic topology is the trunkline-dropline topology. This topology uses separate
twisted-pair buses for the distribution of signals and power. The specifications allow
trunklines and droplines made of thick or thin cable. The baud rate, maximum distance
on page 119 for further details.
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Appendix B - Adept DeviceNet
Multiple
Node
Branching
Drop Line
Terminating
Resistor
Node
Node
Multi-Port
Trunk Line
Tap
Node
Node
Node
Node
Node
MultipleNode
Daisy Chain
Drop Line
Drop Line
Tap
Node
Terminating
Resistor
Multi-Port
Tap
Node
Node
Drop Line
Node
Node
Node
Short Drop Lines (6m/20ft)
Node
Zero Length Drop Line
Figure B-1. Trunklines and Droplines Made of Thick and Thin Cable
DeviceNet allows devices to be powered directly from the bus, and devices can use the
same cable to communicate with other devices on the bus. DeviceNet nodes are
hot-plugable — you can remove or add components on the bus without powering down
the network.
NOTE: This hot-plugable feature is not fully supported. If you add a new
component to the network, you must make changes in the CONFIG_C
program. Those changes are not active until you reboot the Adept
SmartController.
The power distribution on the network/bus does not need to be in one place. The
distribution of power supplies needs to be well planned since 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 trunkline is 8 amps. DeviceNet allows
opto-isolated, externally powered devices (e.g., AC drive starters and solenoid valves) to
operate on the same bus cable. For detailed information see the DeviceNet Technical
Specifications or the Cutler Hammer DeviceNet Installation Planning Guide. This document
is available on the Internet at the following address:
from the menu item “DeviceNet Starter Kit”. The document is an Adobe Acrobat PDF file.
Adobe provides a free download of the Acrobat Reader program on their web site:
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DeviceNet Physical Layer and Media
Table B-2. Features of a DeviceNet Network
Network Size
Network Length
Baud Rate
A maximum of 64 nodes [0...63]
Selectable, end-to-end network distance varies with speed
Distance (thick cable)
500 m (1,640 ft.)
250 m (820 ft.)
100 m (328 ft.)
0-8 bytes
125 Kbps
250 Kbps
500 Kbps
Data Packets
Bus Topology
Linear (trunkline/dropline); power and signal on the same
network cable
Bus Addressing
System Features
Multi-Master and Master/Slave special case; polled
Removal and replacement of devices from the network under
power not supported by Adept
The baud rate of the system depends on the length of the network (end-to-end) and the
cable.
Table B-3. DeviceNet Data Rates Relative to Cable Type and Length
Data Rates
125 Kbps
500 m
250 Kbps
250 m
500 Kbps
100 m
Thick Trunk Length
(1,640 ft.)
(820 ft.)
(328 ft.)
Thin Trunk Length
100 m
(328 ft.)
100 m
(328 ft.)
100 m
(328 ft.)
Maximum Drop Length
Cumulative Drop Length
6 m
(20 ft.)
6 m
(20 ft.)
6 m
(20 ft.)
156 m
(512 ft.)
78 m
(256 ft.)
39 m
(128 ft.)
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Appendix B - Adept DeviceNet
11mm (0.43) Outside Diameter
65% Coverage Tinned
Copper Braid Shield
Polypropylene Fillers
Blue & White Data-Pair Polyethylene (18
External Jacket
AWG 19 x 30 Tinned & Stranded Copper
Conductors)
Aluminum/Mylar Shield Over Each Pair
Red & Black DC Power Pair PVC (15 AWG
19 x 28 Tinned & Stranded Copper
Conductors)
18 AWG 19 x 30 Tinned
Copper-Stranded Drain Wire
Figure B-2. DeviceNet Thick Cable
7.2mm (0.285 in) Outside Diameter
65% Coverage Tinned
Copper Braid Shield
Polypropylene Fillers
External Jacket
Blue & White Data-Pair Polyethylene (18
AWG 19 x 30 Tinned & Stranded Copper
Conductors)
Overall Non-Hydroscopic Wrap
Red & Black DC Power Pair PVC (15 AWG
19 x 28 Tinned & Stranded Copper
Conductors)
Aluminum/Mylar Shield Over Each Pair
18 AWG 19 x 30 Tinned
Copper-Stranded Drain Wire
Figure B-3. DeviceNet Thin Cable
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DeviceNet Physical Layer and Media
DeviceNet Connectors
DeviceNet allows different connectors, which may be grouped into open and sealed
connectors. The open connectors are available with screw or with crimp connectors. The
Unsealed
Screw
Connector
Sealed
Micro-Style
Connector
Sealed
Mini-Style
Unsealed
Hard Wired
Figure B-4. DeviceNet Connectors
Table B-4. DeviceNet Connector Styles
Connector
Description
Open plugable
Uses screws to attach cable wires to a removable
connector
Open hard-wire
Sealed mini-style
Sealed style micro
Uses wires attached directly to screw terminals
Attaches to taps and thick or thin cable
Attaches to thin cable only – has a reduced
current rating
Termination of the DeviceNet Network
The DeviceNet network uses the Controller Area network (CAN) bus as the physical
layer. This requires that the trunk line of your DeviceNet network be terminated with a
resistor at each end. This terminates the signal lines.
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 uses an open-style tap.
When using the open-style terminating resistor, connect a 121ohms, 1/4W resistor to
CAN_H and CAN_L (between blue and white data-pair wires).
NOTE: A terminating resistor must also be used whenever a short drop
line exceeds 6m (20 ft.).
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Appendix B - Adept DeviceNet
Pin 4
Pin 5
Terminating
Resistor
Figure B-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. Follow these general rules to achieve a safe and reliable operation:
• Use power supplies rated at 24V
• Minimize installation problems by using one power supply with sufficient
current to operate all the attached nodes. This must comply with the national
and international safety standards.
• Make sure that each power supply incorporates current limit protection.
• Make sure each power supply is temperature compensated.
• Provide over current protection for each segment of your DeviceNet 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
WARNING: The DeviceNet specification requires that the
CAN_H and CAN_L signal lines tolerate voltages up to
18V. Since the supply voltage exceeds 18V, improperly
wiring the supply voltage to these signal lines may cause
permanent damage.
A DeviceNet cable system has several power rating constraints. The cable type and the
length of the cable specify the maximum current on a cable. Thick and thin cable have:
• 24 VDC power rating
• Optional power-supply tabs
If the power supplies are equipped with Schottky diodes, the optional power supply tabs
must be protected from bus back-feeding of current among the power supplies on the bus.
We also recommended the use of fuse protection for every trunkline in the cable system.
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DeviceNet Physical Layer and Media
The maximum current rating of a thick cable trunk line is 8A.Verify that this complies
with your national and international standards. It might be necessary to limit the
maximum current to a lower value if standards in the U.S. or Canada apply. The
maximum current value is a theoretical value. The cable size supports a higher current
than 8A. Depending on the topology 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 3A. If you use the thin cable on a
and the DeviceNet technical specifications and for further information.
Table B-5. Maximum Current on a Dropline Relative to its Length
Length of Dropline
1.5 m (5 ft.)
Maximum Current
3A
2A
2.0 m (6.6 ft.)
3.3 m (10 ft.) 1
4.5m (15 ft.)
6m (20 ft.)
1.5A
1A
0.75A
For the calculation of the maximum current at a specific length, use the following formula:
4.57
i = ---------
l
Where:
l= Length of the drop line in meters (m)
i= Maximum current in amps
This calculation applies to the sum of the currents of all the nodes on the selected drop
line. The length (l) is not the cumulative length of the drop line; it is the maximum
distance from any node on the dropline to the trunk line.
It is important to note that voltage differences between the V– and V+ conductors need to
be between 11V and 25V. The common-mode voltage between any two places on the V–
wire must not exceed 5V.
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Appendix B - Adept DeviceNet
(VIEWED FROM CONTACT END)
4
3
2
5
1
Male Connector (pins)
4
3
2
5
Micro-Style
Connector
1
Female Connector (sockets)
LEGEND:
1 Drain
2 V+
(bare)
(red)
3 V-
(black)
4 CAN_H (white)
5 CAN_L (blue)
Figure B-6. DeviceNet Connector Pinouts
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Using the Manual
Control Pendant (MCP)
C
C.1 Manual Control Pendant Basics
Adept motion systems are designed to allow control of the robot or motion device from
There are two versions of the MCP, the MCP III (also called MCP-3) and the MCP-4.
MCP Enable Switch Function on CAT-3 SmartController
When a CAT-3 SmartController system is operating in Auto Mode, the Enable Switch on
the MCP has no effect on the operation. This means in the Auto mode, the Enable switch
does not have to be pressed to enable High Power, and releasing the Enable switch while
running will not turn off High Power. This is true for both the MCP-3 and MCP-4 models.
CAUTION: The new functionality of the MCP Enable
switch in Auto Mode must be recognized by persons
familiar with Adept systems, and working patterns and
habits adjusted accordingly.
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 removed from the motion device. When the MCP is not being used, the operator must
place it in the special cradle provided or remove it from the controller and install the
pendant jumper plug. The cradle retaining clip will keep the enabling switch depressed
in its cradle.
To operate the MCP, put your left hand through the opening on the left-hand side of the
pendant and use your left thumb to operate the pendant speed bars. Use your right hand
for all the other function buttons. The various button groupings of the pendant are
reviewed in this section.
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Appendix C - Using the Manual Control Pendant (MCP)
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. See the next section for a description of the enable switch.
3-Position Enable Switch
Position 1 - switch is not pressed, high power cannot be enabled. (Switch is open.)
Position 2 - switch is pressed in to the middle position, high power can be enabled.
(Switch is closed.)
Position 3 - switch is pressed in past the middle position, high power is removed. (Switch
is open.)
Position 3:
switch is pressed in
past the middle position
Position 1:
switch is not
pressed
Position 2:
switch is pressed in
to the middle position
Figure C-1. 3-Position Enable Switch on MCP-4
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Manual Control Pendant Basics
MCP-4 Compatibility
The MCP-4 has a dual-channel (four-wire) E-Stop circuit where the switch contacts are in
parallel. This is different from the MCP III where the switch contacts are in series. This
compatibility status for the MCP-4.
Table C-1. MCP-4 Compatibility Guidelines
In Adept systems rated for Category 1 Safety
In MV Controller-based
systems with CIP2, CIP1, or
VFP
MCP-4 is compatible, no issues
In SmartController-based
systems
In systems that are shipped from the factory with an MCP-4, there are
no compatibility issues.
If you are installing an 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 Safety (CE: Redundant Channel, RIA: Control Reliable)
In MV Controller-based
systems with CIP2 or CIP1
To maintain a dual contact enable in CE Category 3 Emergency Stop
systems, remove jumper JP3 inside CIP.
In MV Controller-based
systems with VFP3
MCP-4 not compatible. Cannot maintain a dual contact enable with the
MCP-4, must use MCP III.
In SmartController-based
systems
In systems that are shipped from the factory with an MCP-4, there are
no compatibility issues.
If you are installing an MCP-4 in a system that originally used an MCP
III, then you must remove 10356-10370, CIM TO MCPIII Adapter. This
must be done for compliance reasons in order to maintain a dual
contact enable in CE Category 3 Emergency Stop systems.
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Appendix C - Using the Manual Control Pendant (MCP)
CLR
ERR
PROG
SET
EDIT
DISP
CMD
WORLD TOOL
JOINT FREE
DEV
USER
- +
X
1
MAIN
Y
2
DIS
RUN
CO
PW
PWR
HOLD
REC
NO
8
9
SLOW
DONE
7
4
1
0
F
5
6
1
–
J
J
7
12
2
3
F
2
DEV
•
DEL
STEP
F
3
Depress the palm-activated
enabling switch
Figure C-2. Holding the MCP
CLR
ERR
PROG
SET
EDIT
DISP
CMD
WORLD TOOL
JOINT FREE
DEV
USER
- +
X
1
MAIN
HALT
Y
2
DIS
RUN
COMP
PWR
Z
3
PWR
HOLD
REC
RX
NO
8
YES
9
SLOW
DONE
4
RY
5
7
4
1
0
RZ
6
F
5
6
1
–
J
J
7
12
T
1
2
3
F
2
DEV
F3
•
DEL
STEP
MCP cradle retaining clip
Figure C-3. Cradling the MCP
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Manual Control Pendant Basics
WARNING: The cradle for the pendant MUST be mounted
outside of the robot or motion device work envelope.
Connecting the MCP
The MCP connects to the XMCP connector on the front of the controller. See the system
• For an MCP-3, install the MCP adapter cable and the MCP-3 dongle between the
MCP and the controller.
• For an MCP-4, install the MCP adapter cable between the MCP and the controller.
The dongle is not required for the MCP-4.
The pendant emergency stop switch and the palm-activated 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 cannot
enable High Power. If the pendant or jumper plug is removed, High Power is turned off.
CAUTION: Do not modify or extend the MCP cable. Doing
this will void the warranty on the MCP.
WARNING: The Auto/Manual keyswitch on the Adept
Front Panel must be set to Manual if the MCP is to be used
inside the robot workcell. This enables important safety
features to protect the operator by limiting the speed of the
robot.
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Appendix C - Using the Manual Control Pendant (MCP)
MCP Layout
Liquid Crystal
Display (LCD)
Soft
Buttons
Predefined
Function
Buttons
CLR
ERR
User LED
PROG
SET
EDIT
DISP
CMD
WORLD TOOL
JOINT FREE
DEV
USER
Manual State
LEDs
Speed
Bars
- +
X
1
MAN
Emergency Stop
Switch
HALT
Y
2
DIS
RUN
COMP
PWR
PWR
Z
3
HOLD
Mode Control
Buttons
REC
RX
4
NO
8
YES
9
SLOW
DONE
Joint/Axis Control
Buttons
RY
5
7
4
1
0
MCP Enable
Switch
Disable Power
Button
RZ
6
F
5
6
1
–
J
J
7
12
T
1
2
3
F
2
DEV
•
DEL
STEP
F
3
Programmable
Function Buttons
Figure C-4. MCP Layout
Soft Buttons
The soft buttons have different functions depending on the application program being
run, or the selection made from the predefined function buttons. Whenever a soft button
is active, its function is shown on the bottom line of the pendant display. Because these
buttons do not have fixed labels (the labels are defined by the program using the buttons),
they are referred to as soft buttons. (Programming the MCP is covered in the V+ Language
Function Buttons
The predefined function buttons have specific, system-wide functions assigned to them.
programmable function buttons are used in custom application programs, and their
functions will vary depending upon the program being run. See the documentation for
buttons.
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Manual Control Pendant Basics
Data Entry Buttons
to prompts that appear on the pendant display. The data entry buttons include, +/YES, –
/NO, DEL, the numeric buttons (0-9), the decimal point, and the REC/DONE button.
These buttons are similar to the numeric keypad on a standard keyboard.
REC/DONE Button Behaves like the Return or Enter key on a standard keyboard. When
data entry is complete, pressing REC/DONE sends the entry to the controller. In many
cases, application programs have users press the REC/DONE button to signal that they
have completed a task.
DEL Button Acts like the backspace key on a standard keyboard. When data is being
entered, it will appear on the pendant display. DEL will delete any characters that appear
on the pendant display but have not been entered using the REC/DONE button.
Application programs may also assign special functions to the DEL button.
REC
RX
NO
8
YES
9
SLOW
DONE
4
RY
5
7
RZ
6
F
1
4
1
0
5
6
–
J
J
7
12
T
1
2
3
F
DEV
F3
STEP
•
DEL
Figure C-5. Data Entry Buttons
Mode Control and Joint/Axis Control Buttons
The mode control and joint/axis control buttons are used to control the robot from the
pendant. The use of these buttons is covered in “Moving a Robot or Motion Device With
Speed Bars and Slow Button
The speed bars and slow button are used primarily to move the robot when it is in manual
mode. These options are described in “Moving a Robot or Motion Device With the
In some cases, application programs will make special use of the speed bars. See the
documentation for any application program for details on how it uses these buttons.
Emergency Stop From the MCP
To immediately halt program execution and turn off High Power, press the emergency
stop switch on the MCP. This switch has the same effect as pressing the emergency stop
switch on the Front Panel.
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Appendix C - Using the Manual Control Pendant (MCP)
To re-enable High Power after pressing the MCP emergency stop switch, follow this
process:
1. Turn the emergency stop switch to the right (clockwise). The switch is spring
loaded and will return to its normal position.
2. Depress the enabling switch. High Power can now be re-enabled by pressing the
COMP/PWR button (mode control group), or by entering the ENABLE POWER
command from the keyboard.
3. Press the blinking High Power button on the Front Panel (or CIP2 in an MV
controller system). High Power is enabled and current can flow to the robot
motors.
Re-Enabling Power After Enable Switch Released
In Automatic Mode
Original SmartController
When the system is operating in Automatic Mode and you release the Enable switch (or
go to position 3 in the 3-position switch), the system turns off the same as an E-stop
condition. To re-enable high power you must follow the steps from the previous section.
CAT-3 SmartController
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 more information.
In Manual Mode
When the system is operating in Manual Mode and you release the Enable switch (or go to
position 3 in the 3-position switch), the system turns off in a controlled manner. This puts
the system in a different state than when the E-Stop button is pressed. To re-enable high
power, follow this process:
1. Turn the emergency stop switch to the right (clockwise). The switch is spring
loaded and will return to its normal position.
2. Depress the enabling switch. High Power can now be re-enabled by pressing the
COMP/PWR button (mode control group), or by entering the ENABLE POWER
command from the keyboard. High Power is enabled and current can flow to the
robot motors. This makes it more convenient during development and
programming a system.
NOTE: The exception to this situation is when a CAT-3 SmartController is
used in a SmartModules system with a PDU-2. You have to press the
blinking High Power button on the Front Panel. See “Operational
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MCP Predefined Functions
Background Mode
The pendant is in background mode when the USER LED is not lit and none of the
predefined functions are being used. The USER LED is lit whenever an application
program is making use of the MCP. The MCP will not return to background mode until
the program completes execution or is aborted. The LEDs above the predefined function
buttons indicate whether the functions are being used. If one of the LEDs is lit, the MCP
can be returned to background mode by pressing the REC/DONE key (more than one
press may be necessary). The predefined functions are described in “MCP Predefined
When the MCP is in background mode, the viewing angle of the LCD can be changed.
There are three different angles. Press the “2”, “5”, or “8” button to select a different
viewing angle.
C.2 MCP Predefined Functions
Introduction
This section describes the manual control pendant functions related to:
• Loading and starting programs
• Editing global variables
• Displaying system status
Predefined Function Buttons
The MCP has five predefined function buttons for your use. They are listed and explained
below.
CLR
ERR
PROG
SET
EDIT
DISP
CMD
WORLD TOOL
JOINT FREE
DEV
USER
Figure C-6. MCP Predefined Function Buttons
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Appendix C - Using the Manual Control Pendant (MCP)
The Edit Function
The Edit function button allows editing of location variables and real variables that are
+
used by V programs.
SELECT DATA TO MODIFY
REAL
LOC
CLR
ERR
PROG
SET
EDIT
DISP
CMD
WORLD TOOL
JOINT FREE
DEV
USER
Figure C-7. EDIT Function Button
REAL Press the REAL soft button and the LCD displays:
SELECT REAL VARIABLE TO EDIT
var1
var2
var3
var4
<MORE>
var1, var2, etc., are global variable names. Press the soft button under the variable name to
edit that variable. The <MORE> soft button is shown only when there are more than five
global real variables in system memory. When a variable 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 variable to edit.)
Press the TRUE soft button to set the variable to the boolean value of true (–1). Press
FALSE to set the variable to false (0). To change the value of the variable press the
CHANGE soft button. The LCD displays:
var.name = _
CHANGE
TRUE
FALSE
The typing cursor replaces the variable value. Use the data entry buttons to input a new
value, and complete the entry by pressing REC/DONE.
LOC Press the LOC soft button and the LCD displays:
SELECT LOCATION VARIABLE TO EDIT
loc1
loc2
loc3
loc4
<MORE>
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MCP Predefined Functions
Press the soft button under the variable name to edit that variable. The <MORE> soft
button is shown only when there are more than five global location variables in system
memory. When a variable has been selected, the LCD will show:
loc.name: X = 500
CHANGE
NEXT
HERE
(If the variable being edited is from an array, an additional soft button is displayed that
allows you to specify the index of the variable to edit.)
If a precision point is selected, the LCD will show:
#loc.name: Jt1 = -210
CHANGE
NEXT
HERE
Press the CHANGE soft button to change the displayed component of the location
variable. The value will disappear and be replaced with the typing cursor. Use the data
entry buttons to enter a new value, and complete 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
given in millimeters; y, p, and r values are given in degrees. If a precision point is being
edited, the joint values for all the joints in the robot will be shown in succession.
Press the HERE soft button to record the current robot location in the variable being
edited.
WARNING: Be extremely careful when changing location
values. When the robot moves to a modified location, it
could damage equipment in the workcell.
The Display Function
The Display function button allows either the current joint values, the current world
location, the system status, the digital I/O status, or the last error message to be displayed
on the MCP.
JOINT
VALUES LOCATION
WORLD
STATUS
& ID
DIGITAL
I/O
LAST
ERROR
CLR
ERR
PROG
SET
EDIT
DISP
CMD
WORLD TOOL
JOINT FREE
DEV
USER
Figure C-8. DISPLAY Function Button
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Joint Values When 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 represent the current joint positions of the robot or motion device. Values
will be shown only for joints the robot or motion device actually has. Rotational joint
values are expressed in degrees, and translational joint values are expressed in
millimeters.
WORLD LOCATION When this button is pressed, the display shows:
X = xxx.xxmm
y = xxx.xx°
Y = xxx.xxmm
p = xxx.xx°
Z = xxx.xxmm
r = xxx.xx°
The values represent the current location of the robot or motion device in world
Status & ID When this button is pressed, the display shows:
Status
ID
SOFTWARE
ID
CNTRLR
ID
ROBOT
’S
The Status button displays:
program.name
50
Speed
1
0
Program
Cycle Left
Program shows the name of the currently executing or most recently 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 execute.
The Software, Controller, and Robot ID buttons display the ID information for those items.
Digital I/O When this button is pressed, the display shows:
---- ---- ---- ---- ---- ---- 0000 0011
+ 0032-0001 -
OUT
IN
SOFT
The top line shows the status of the range of digital I/O signals indicated on the second
line (1-32 in the above example). A “–” indicates the channel is not installed, a “1”
indicates the signal is on, and a “0” indicates the signal is off. The type of signal that is
being displayed is indicated by the LED on the soft buttons labeled OUT, IN, and SOFT.
The above example shows digital output signals in the range 1 to 32. Signals 1-2 are on,
signals 3-8 are off, and no other signals in this range are installed. See Section 3.8 on page
58 for more information on digital I/O signal ranges.
To display a different range of signals, press the soft buttons under the “+” or “–” labels.
The next or previous range of signals will be displayed. Press the OUT, IN, and SOFT soft
buttons to display input, output, or soft signal ranges.
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MCP Predefined Functions
+
Last Error Press LAST ERROR to display the error messages generated by V during the
current session. The most recent error will be displayed. The rightmost soft button will be
labeled <MORE>. Pressing this button will cycle back through the error messages
generated during the current session.
The Clear Error Function
If the MCP is in the Manual position, or the system switch MCP.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
*EXTERNAL E-STOP*
CLR
ERR
PROG
SET
EDIT
DISP
CMD
WORLD TOOL
JOINT FREE
DEV
USER
Figure C-9. CLEAR ERROR Function Button
The CLR ERR button must be pressed for operation to continue. Pressing the CLR ERR
button will clear the error message from the display and return the MCP to the state it was
in before the error.
The CMD Function
The CMD function button displays the options AUTO START, CALIBRATE, STORE ALL,
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Appendix C - Using the Manual Control Pendant (MCP)
AUTO
START
STORE
ALL
CALIB
CMD1
CMD2
CLR
ERR
PROG
SET
EDIT
DISP
CMD
WORLD TOOL
JOINT FREE
DEV
USER
Figure C-10. Command (CMD) Function Button
The AUTO START, CALIB, CMD1, and CMD2 functions require the MCP to be in Auto
mode. If one of these function buttons is pressed while the MCP is in Manual mode, the
MCP prompts you to place the keyswitch in the Auto position. The operation is halted
and you must press the function button again. The programs started by these buttons may
include a WAIT.START instruction, in which case the program will pause and the MCP
will display START and CANCEL buttons over the two right soft buttons. Pressing START
allows the program to continue. Pressing CANCEL halts program execution.
The programs started by these functions run in task 0. Therefore, High Power must be
enabled and the robot must be calibrated.
Auto Start When AUTO START is pressed, the pendant display shows:
Enter last two digits of file name:
auto_
Enter one or two digits and 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 default disk,
and it must contain a monitor command program named “autoxx”. If the file does not
exist, or does not contain a correctly named program, the operation will be aborted and
the appropriate error message will be displayed on the LCD. For example, if you had
entered “9”, the system would attempt to load the file AUTO9.V2 and COMMAND the
program “auto9”.
Calib When CALIB is pressed, the robot calibration procedure begins (High Power
must be enabled).
Store All When STORE ALL is pressed, the pendant displays:
Enter last two digits of file name:
STORE auto_
Enter one or two digits, press REC/DONE, and all programs and variables in system
memory will be stored to a file on the default disk with the name autoxx.v2. For example,
if you had entered “11”, the file AUTO11.V2 would be created, and all programs and
global variables in system memory would be stored to that file.
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MCP Predefined Functions
CMD1 and CMD2 When CMD1 is pressed, the system attempts to load the file
CMD1.V2 from the default disk, and COMMAND the program CMD1. The program file
CMD1.V2 must reside on the default disk, and it must contain a command program
named “cmd1”. If the file does not exist, or does not contain a correctly named program,
the operation will be aborted and the appropriate error message will be displayed on the
LCD. If CMD2 is pressed, the file CMD2.V2 will be loaded and “cmd2” will be
COMMANDed.
Prog Set Function
Using the Prog Set button, you may select a new program to execute, set the starting step
number, set how many cycles of the program to perform, set the monitor speed, and start
1
1
50
NEW
EDIT
STEP
CYCLE
SPEED
START
CLR
ERR
PROG
SET
DISP
CMD
WORLD TOOL
JOINT FREE
DEV 2
USER
Figure C-11. Program Set Function Button
New Press the NEW soft button and the LCD displays:
SELECT A NEW PROGRAM
prog1
prog2
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 step number will blink, and the typing cursor will appear next
to the step number. Use the data entry buttons to enter the program step to start
execution. Complete the entry by pressing REC/DONE.
Cycle Press CYCLE and the cycle count will blink, and the typing cursor will appear
next to the cycle count. Use the data entry keys to enter the number of program cycles to
execute. Complete the entry by pressing REC/DONE.
Speed Press SPEED and the current monitor speed will blink, and the typing cursor
will appear next to the monitor speed. Use the data entry keys to enter a new monitor
speed. Complete the entry by pressing REC/DONE.
Start The Start button works only when High Power is enabled (this option cannot be
used with DRY.RUN enabled). Press START and the program displayed above the NEW
soft button will begin execution.
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Appendix C - Using the Manual Control Pendant (MCP)
C.3 Moving a Robot or Motion Device With the MCP
Introduction
The MCP is used with a robot or motion device primarily to teach robot locations for use
in application programs. The MCP is also used with custom applications that employ
teach routines that pause execution at specified points and allow an operator to teach or
reteach the robot locations used by the program. The Adept AIM software system makes
extensive use of the pendant for teaching robot locations.
When you move the robot using the MCP, motion will be in world state, tool state, 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,
directions are sent from the MCP to move the robot in a Cartesian coordinate system
centered at the robot’s end-of-arm tooling location.
In joint state, directions are sent from the MCP to move individual robot joints. In free
state, selected joints of the robot are “freed” from servo control so they can be moved by
hand.
Mode Control Buttons
switch control of the robot between the MCP and application programs, and enable High
Power (when necessary).
WORLD TOOL
JOINT FREE
DEV
USER
- +
X
1
MAN
HALT
Y
2
DIS
PWR
RUN
COMP
PWR
Z
3
HOLD
Figure C-12. Mode Control Buttons
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Moving a Robot or Motion Device With the MCP
Emergency Stop Switch
The emergency stop switch will stop program execution and turn off High Power. If your
robot is equipped with brakes, they will be activated.
COMP/PWR Button
If High Power is enabled, the COMP/PWR button selects computer mode. If the system is
in AUTO mode and High Power is disabled, the COMP/PWR button enables High Power
and selects computer mode. In computer mode, an executing program or the system
terminal has control of the robot. (If the robot has not been calibrated and High Power is
turned on, the MCP emergency stop switch LED will be lit, and both the COMP/PWR
and MAN/HALT LEDs will be off.)
After you press the COMP/PWR button to enable High Power, the High Power lamp
begins blinking and the LCD prompts you to press the High Power button. You must
press this button before within the allowed time (this time is programmable) or High
Power will not be enabled.
If the system is in Manual mode and you press the COMP/PWR button to enable High
Power, you need to take the following actions:
• release the MCP enable switch
• press and hold the MCP enable switch (position 2 in MCP-4)
• press 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. In manual mode, the
MCP has control of the robot. If a program is executing, the MAN/HALT button will stop
program execution (without shutting off High Power).
Manual mode cannot be entered if High Power is off (E-Stop button LED not illuminated).
To enable High Power, press the COMP/PWR button. The MCP is in manual mode when:
1. The LED on the MAN/HALT button is illuminated, and
2. One of the manual state LEDs is also illuminated (the manual state LEDs indicate
the type of manual motion that has been selected, either World, Tool, Joint, or
Free).
The system will remain in Manual mode until High Power is turned off or the
COMP/PWR button is pressed. When you have finished moving the robot manually,
press the COMP/PWR button to return control to the controller. If a program attempts to
execute with the MCP in manual mode, the error “Comp mode disabled” will be
generated.
When the MAN/HALT button is pressed the first time, the MCP will be in world state.
Pressing the MAN/HALT button again selects the next state to the right (tool, joint, free),
eventually wrapping back to the leftmost state (world). If manual mode is terminated and
reentered (without turning off system power) the last active state is selected.
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Appendix C - Using the Manual Control Pendant (MCP)
DIS PWR Button
The Disable Power button will shut down High Power to the robot or motion device when
pressed. Unlike the emergency stop switch, the Disable Power Button initiates a
controlled stop, where the robot is decelerated under software control. After the robot has
stopped, power is turned off.
RUN/HOLD
When the RUN/HOLD button is initially pressed, it will stop the robot and pause the
executing program (task 0). If you then press and hold down the button, the program
proceeds until the button is released. When the button is released, the robot stops and the
executing program pauses until the button is pressed again.
Joint/Axis Control Buttons
The buttons on the far right side are the joint/axis control buttons. When the MCP is in
manual mode, these buttons select which robot joint will move, or the coordinate axis
along which the robot will move. The X/1, Y/2, Z/3, RX/4, RY/5, and RZ/6 buttons are
control button can be selected.)
STEP Button
+
When the Auto/Manual keyswitch is set to Manual, V 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 speed bar.
Failure to operate the step button and the speed bar properly results in the following error
message:
*Speed pot or STEP not pressed*
Once a motion has started in this mode, releasing the speed bar also terminates any belt
tracking or motion defined by an ALTER program instruction.
Motions started in this mode have their maximum speeds limited to those defined for
manual control mode.
As an additional safeguard, when High Power is enabled and the keyswitch is set to
Manual, the MCP is set to off mode, not comp or manual mode.
Programs designed to move the robot in manual mode should read the status of the step
and speed bar before starting the move. The program should prompt the user as required.
Speed Bars
In World, Tool, and Joint Mode
The speed bars are used to control the robot’s speed and direction. The joint(s) that will
move when the speed bars are pressed depends on the “state” selected with the
MAN/HALT button. Press the speed bars with your left thumb. Pressing the speed bars
near the outer ends will move the robot faster; pressing the speed bar near the center will
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Moving a Robot or Motion Device With the MCP
In Comp Mode
Fast
Slow
WORLD TOOL
JOINT FREE
DEV
USER
- +
X
1
MAN
PANIC
HALT
Y
2
DIS
PWR
RUN
COMP
PWR
Z
3
HOLD
Fast
Figure C-13. Speed Bars
Slow Button
The slow button selects between the two different speed ranges of the speed bars. When
the slow button LED is lit, the slower speed range is selected. This slower speed is 25% of
the normal MCP speed.
Robot 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
must be selected from the manual control buttons. The world coordinate system for a
move the robot tool flange in the positive X direction. Pressing the “–” speed bar will
move the flange in the negative X direction.
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Appendix C - Using the Manual Control Pendant (MCP)
X
1
X direction
Y direction
Z direction
+Z
Y
2
Z
3
RX
4
RY
5
+RZ (CCW)
RZ
6
Rotation
+Y
T
1
Gripper Activity
STEP
+X
Figure C-14. WORLD State (Four-Axis SCARA)
The T button cycles the gripper solenoids. Press anywhere on the “+” side of the speed
1
bar to open the gripper, on the “–” side to close the gripper.
NOTE: This is the most common gripper setup. The gripper solenoids
may be configured so they operate differently (or they may not be
configured at all). Place your robot in a safe location and cycle the gripper
to verify which side of the speed bar opens the gripper. (The SPEC utility
Tool State
When tool state is selected, movement in the X, 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 positive X axis is aligned with
the center of the tool flange keyway. Before the speed bars will move the robot, an axis of
motion must be selected from the manual control buttons. If X1 is selected, pressing the
“+” speed bar will move the robot tool flange in the positive X direction. Pressing the “–”
speed bar will move the flange in the negative X direction.
In a four-axis robot, positive rotation of the gripper (RZ) is clockwise as viewed from
Figure C-16 shows the tool coordinate system on a six-axis robot.
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Moving a Robot or Motion Device With the MCP
the TOOL transformation is set to NULL (all values are 0). If a TOOL
transformation is in effect, 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
on TOOL transformations.
X
1
X direction
Y
2
Y direction
Z
3
Z direction
RX
4
+Y
RY
5
Rotation about
Tool Z axis
RZ
6
+RZ
+X
Keyway
T
1
Gripper
+Z
STEP
+Y
+
+X
Figure C-15. TOOL State (Four-Axis SCARA)
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X
1
Y
2
Z
3
Rotation about
TOOL X axis
RX
4
Rotation about
TOOL Y axis
RY
5
RX
Rotation about
TOOL Z axis
RZ
6
Gripper
T
1
RY
STEP
T
1
RZ
Figure C-16. TOOL State (Six-Axis Robot)
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Moving a Robot or Motion Device With the MCP
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 three rotational joints (Joints 1, 2, and 4) and one
translational joint (Joint 3). Positive rotation of joints 1 and 2 is counterclockwise as
viewed from above. Positive rotation of Joint 4 is clockwise as viewed from above.
Positive movement of Joint 3 is downward. 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 their
joints. When you first move an unfamiliar robot using joint state, set the monitor speed to
10 or lower, put the robot in a safe area, and carefully move the robot using the different
joint numbers to verify how the MCP moves the robot. See the documentation for the
motion devices you are using for details on their joint assignments.
Joint 2
X
1
Joint 1
Joint 1
Joint 2
Joint 3
Joint 4
Y
2
Joint 3
Z
3
RX
4
Joint 4
RY
5
RZ
6
T
1
STEP
Figure C-17. JOINT State (Four-Axis SCARA)
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Figure C-18 shows the joint assignments for a typical six-axis robot (as always, the first
time you move a robot, carefully verify the joint assignments).
X
1
Y
2
Z
3
Joint 4
RX
Joint 4
4
RY
5
Joint 5
Joint 5
RZ
6
Joint 6
Gripper
T
1
STEP
Joint 6
T
1
Figure C-18. JOINT State (Six-Axis Robot)
Free State
When free state is selected, individual joints are freed from servo control, and the robot
brakes (if any) are released. Unlike the other states, you can make multiple selections from
the manual control 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 have been disabled by the manufacturer on some
or all joints.
As soon as the COMP/PWR button is pressed, or another selection is made from the
manual control buttons, all joints are placed back under servo control and will not move
freely.
Figure C-19 shows the free state for a four-axis SCARA robot. The joint assignments in the
free state are the same as the joint assignments in joint state.
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Moving a Robot or Motion Device With the MCP
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 be freed up). In many cases the
weight on the joint will be sufficient to move the joint and
cause damage or harm. For example, when joint 3 on a
SCARA or Cartesian robot is freed, the joint is free to fall to
the end of its travel. In articulated robots, multiple links of
the robot may be free to fall when a single joint is freed up.
Be extremely careful when selecting a joint in free mode.
Joint 2
X
Joint 1 Free
1
Joint 1
Y
2
Joint 2 Free
Joint 3 Free
Joint 4 Free
Joint 3
Z
3
RX
4
Joint 4
RY
5
RZ
6
Gripper
T
1
STEP
Figure C-19. FREE State (Four-Axis SCARA)
Controlling More Than One Robot
Like the monitor and each program task, the Manual Control Pendant (MCP) can also
have a robot attached. When moving a robot from the MCP or displaying joint values or
world locations by pressing the DISP key, only the currently selected robot is affected. The
robot currently selected by the MCP is shown by the state of the DEV LED (in the manual
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Appendix C - Using the Manual Control Pendant (MCP)
Table C-2. Controlling More Than One Robot
DEV LED state
Robot selected by pendant
OFF
ON
1
2
FLASHING
3 (and above)
The MCP selection cycles from one robot to the next each time the DEV/F3 key is pressed.
Be careful when recording positions with the MCP; the position recorded by HERE or
TEACH commands depends on the robot that is currently selected by the monitor or
program and not on the robot selected by the MCP. The following commands will allow
you to teach the position of robot 2 regardless of which robot is selected by the MCP.
.SELECT ROBOT = 2
.TEACH p[1]
;Choose robot to be accessed by Monitor
;Record location(s) of robot 2
Robots With Fewer Than Six Joints
The MCP has six axis/joint selection buttons. In Cartesian modes (WORLD, TOOL), these
correspond to all six possible Cartesian values: X, Y, Z, RX, RY, RZ. Not all mechanisms
can move in all of these coordinates. For 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, each of the six buttons is used to control a specific joint of the robot. If the
robot has more than six joints, the F2/J7-J12 key can be used to access the 7th to 12th
joints. Only the robot currently selected by the MCP is affected. The currently selected
joint is shown by the state of the LED on the joint/axis key as described below. If you
press the key for joint 1, and the LED is steady, you are controlling Joint 1. If you press
F2/J7-J12, then press the key for joint 1, the LED will flash, indicating that you are
controlling Joint 7.
Table C-3. Robots With More Than 6 Axes
Joint/Axis LED state
Joint range
OFF
None
1 to 6
STEADY
FLASHING
7 to 12
The MCP cycles from one range to the other each time the F2/J7-J12 key is pressed.
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Index
Comp/Pwr button
A
AdeptWindows PC Graphical User’s
Interface 43
CompactFlash
installation 29
compliance
Auto start
AUTO.V2 138
conveyor tracking, using Belt Encoder feature
Cycle
B
Background mode
Belt Encoder on CX
D
interface description for conveyor
tracking 65
digital I/O
C
digital input wiring examples (XDIO
connector) 60
camera cables
installation 72
DIO output specifications (XDIO
connector) 61
camera compatibility
E
Edit function
CAT-3 SmartController
emergency stop
Emergency Stop switch
description 21
identification 21
changing the lamp on the High Power
indicator 85
Clear Error button
Clear Error function
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Index
errors
Manual/Automatic Mode switch, on Front
Panel 41
MCP
F
Front Panel
H
High Power On/Off Switch, on Front
Panel 41
monitor speed
HyperTerminal software, for serial
connection 47
I
O
IEEE 1.1 and 1.2 connectors on CX,
description 40
input and output cable wiring information, on
P
panel mounting
sDIO 95
SmartController 26
J
Prog Set function
joint values
displaying 136
program
L
program cycles
program step
location
location variables
M
R
Man/Halt button
rack mounting
sDIO 94
SmartController 25
REACT/REACTI
real variables
manual states
free 148
joint 147
tool 144
world 143
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Index
SmartCont
roller CS
connectors
and indica
tors 37
remote MCP connections on XMCP
connector 51
descripti
on 15
SmartCont
roller CX
connectors
and indica
on 15
roller, CAT
tors 40
robot location
descripti
SmartCont
displaying 136
-3 version,
iagram 34
robot states in manual mode
free 148
SmartCon
troller, sys
tem cable d
joint 147
SmartServo
1.1 and 1.2
connectors
,
tool 144
description
world 143
s, on MCP
ions, enviro
soft button
specificat
nmental
RS-232-1 and RS-232-2 connectors,
description 40
speed bar
on MCP
speed, se
tting on MC
P
ting the sDI
compliance
stack moun
O
standards
starting p
rogram exe
cution
RS-422/485 connector
description 45
on MCP
status LED
s, function
s
status, di
splaying sy
stem on MC
P
S
step, selecti
Store All f
unction, on
ng starting,
on MCP
MCP 138
th the MCP
safety 17
sAVI Inspection System
description 68
storing p
rograms wi
Support, ph
one numbe
rs 16
limitations 68
SW1 DIP s
witches
sAVI option
System 5
V Power O
n LED, on F
ront Panel
system cabl
e diagram
T
sDIO module
table mo
unting
sDIO
SmartCont
connectors 103
roller 27
specificatio
output power supply current
selection 107
technical
sAVI mo
ns
dule 83
terminal f
or text-base
d systems
text-base
d system in
stallation
tool state
and tool tr
on MCP
ansformatio
n
U
selecting a new program
unpackin
g
serial connection to PC using HyperTerminal
software 47
User Inte
installat
rface
ion 46
using mu
ltiple sDIO
Modules
Adept SmartController User’s Guide, Rev. E
153
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Index
V
V+ Extensions License, for Belt Encoder
function 65
viewing angle
X
XDC1/XDC2 24VDC connectors,
description 40
XDIO connector
description 39
XFP connector, on SmartController
contacts 50
description 39
XMCP connector
description 39
XUSR connector
description 39
154
Adept SmartController User’s Guide, Rev. E
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Download from Www.Somanuals.com. All Manuals Search And Download.
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Livermore, CA 94551
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