Adept SmartController User’s Guide Covers the SmartController and sDIO Module SmartServo OK HPE LAN SF ES HD 1.1 SW1 1 2 3 4 1.2 IEEE-1394 2.1 Device Net 2.
Adept SmartController User’s Guide Covers the SmartController and sDIO Module SmartServo OK HPE LAN SF ES HD 1.1 SW1 1 2 3 4 1.2 IEEE-1394 2.1 Device Net 2.2 RS-232/TERM RS-422/485 RS-232-1 RS-232-2 Eth 10/100 BELT ENCODER ON OFF 1 2 3 XDIO XUSR XSYS XFP XMCP XDC1 XDC2 24V 5A -+ -+ SmartController CX *S/N 3562-XXXXX* CAMERA R P/N: 00356-00100, Rev. K August 2012 5960 Inglewood Drive • Pleasanton, CA 94588 • USA • Phone 925.245.3400 • Fax 925.960.
The information contained herein is the property of Adept Technology, Inc., and shall not be reproduced in whole or in part without prior written approval of Adept Technology, Inc. The information herein is subject 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.
Table of Contents 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 1.1 Product Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Adept SmartController CX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 sDIO Expansion Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Optional Adept T2 Pendant . . . . . . . . . .
Table of Contents 3 SmartController Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 3.1 SmartController CX Connectors and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . 31 3.2 Front Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 3.3 Installing the Adept ACE Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 3.4 Configuring the Controller. . . . . . . . .
Table of Contents 5.3 Adept Front Panel Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 5.4 Adept T2 Pendant Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 A sDIO Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 A.1 Mounting the sDIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 Rack-Mounting the sDIO . . . . . . . . .
List of Figures Figure 1-1. Adept SmartController CX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Figure 1-2. Adept T2 Pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 Figure 2-1. Rack-Mounting the SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Figure 2-2. Panel-Mounting the SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 Figure 2-3.
List of Figures Figure A-1. sDIO Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 Figure A-2. Rack-Mounting the sDIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 Figure A-3. Panel-Mounting the sDIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 Figure A-4. Table-Mounting the sDIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
List of Tables Table 1-1. Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17 Table 2-1. Environmental Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19 Table 2-2. Specifications for 24 VDC User-Supplied Power Supply . . . . . . . . . . . . . . . . . .26 Table 3-1. SmartController LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31 Table 3-2.
1 Introduction 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 Python Linear Modules, Adept Cobra s-series robots, the Adept Viper line of six-axis robots, the Adept sMI6 Module for the SmartMotion product, Adept SmartServo kits, and Adept Quattros.
Chapter 1 - Introduction The safety features include: • Emergency-stop switch (dual channel circuit) • Two 3-position enable switches (dual channel circuits) See the Adept T2 Pendant User’s Guide, shipped with each pendant, for complete information on the product. Figure 1-2. Adept T2 Pendant 1.2 Dangers, Warnings, Cautions, and Notes in Manual There are six levels of special alert notation used in Adept manuals.
Safety Precautions WARNING: This indicates a potentially hazardous situation which, if not avoided, could result in injury or major damage to the equipment. CAUTION: This indicates a situation which, if not avoided, could result in damage to the equipment. NOTE: Notes provide supplementary information, emphasizes a point or procedure, or gives a tip for easier operation. 1.
Chapter 1 - Introduction 1.5 Additional Safety Information Adept provides other sources for more safety information: Manufacturer’s Declaration of Compliance (MDOC) This lists all standards with which each robot complies. See “Manufacturer’s Declaration” on page 16. Adept Robot Safety Guide The Adept Robot Safety Guide provides detailed information on safety for Adept robots. It also gives resources for more information on relevant standards.
How Can I Get Help? 1.7 How Can I Get Help? For details on getting assistance with your Adept software or hardware, you can access the following information sources on the Adept corporate website: • For Contact information: http://www.adept.com/contact/americas • For Product Support information: http://www.adept.com/support/service-and-support/main • For user discussions, support, and programming examples: http://www.adept.com/forum/ • For further information about Adept Technology, Inc.: http://www.
Chapter 1 - Introduction Adept Document Library The Adept Document Library (ADL) contains documentation for Adept products. You can access the ADL as follows: • Select Support > Document Library from the menu bar on the Adept website Home page. • Type the following URL into your web browser: http://www.adept.com/Main/KE/DATA/adept_search.htm To locate information on a specific topic, use the Document Library search engine on the ADL main page. 18 Adept SmartController User’s Guide, Rev.
SmartController Installation 2.1 2 Controller Installation This equipment must be shipped and stored in a temperature-controlled environment. See Table 2-1. It should be shipped and stored in the Adept-supplied packaging, which is designed to prevent damage from normal shock and vibration. You should protect the package from excess shock and vibration. Table 2-1.
Chapter 2 - SmartController Installation 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 SmartController”. 2. Remove the Front Panel from its box and set it on a flat surface near the Adept SmartController. 3. Remove the optional pendant from its box and place it on a flat surface near the Front Panel.
Controller Installation Rack-Mounting the SmartController To rack-mount the SmartController in a standard 19-inch equipment rack, install the optional mounting brackets on the side of the controller, as shown in Figure 2-1. These brackets must be ordered separately. They do not come with the SmartController. 190.0 R 3.6 3X M3 x 6MM BOTH SIDES 2X 40356-00004 88.1 44.4 2X 25.0 21.8 3.6 TYP. 19.1 3.8 462.0 14.2 482.8 Figure 2-1.
Chapter 2 - SmartController Installation Panel-Mounting the SmartController To panel-mount the SmartController, install two brackets on each side at the rear of the unit, as shown in Figure 2-2. Use the screws from the accessories kit. 200.5 14.0 4X 40356-00000 273.9 27.4 R3.6 TYP. 8X M3 x 6MM 8.1 16.1 16.0 44.9 44.9 6.6 346.6 359.8 Figure 2-2. Panel-Mounting the SmartController 22 Adept SmartController User’s Guide, Rev.
Controller Installation Table-Mounting the SmartController To table-mount the SmartController, install two brackets on each side near the bottom of the unit, as shown in Figure 2-3. These brackets must be ordered separately. They do not come with the SmartController. 4X 40356-00001 R 3.6 12.1 29.5 24.1 120.9 24.9 378.6 391.8 4X M3 x 6MM BOTH SIDES 16.2 16.0 21.6 120.9 Figure 2-3. Table-Mounting the SmartController Adept SmartController User’s Guide, Rev.
Chapter 2 - SmartController Installation Stack-Mounting Components To stack-mount the SmartController and a compatible unit, such as an sDIO, install two brackets on each side of the units, as shown in Figure 2-4. These brackets are supplied with compatible Adept units. 16.0 2X 40356-00002 BOTH SIDES 328.9 IEEE-1394 1.1 R *S/N 3563-XXXXX* 1.2 X1 X4 X3 X2 LINK XDC1 XDC2 24V OK SF -+ 8X M3 x 6MM BOTH SIDES 30.7 0.5A SC-DIO 120.9 28.
Controller Installation CAUTION: Do not remove the CompactFlash when power is connected to the SmartController. Removing CompactFlash To remove a CompactFlash (CF) from a SmartController: 1. Make sure that the SmartController is disconnected from its power source. 2. Locate the CF compartment (see the following figure). Eject Button CompactFlash Compartment Figure 2-5. CompactFlash Memory Card Compartment NOTE: If you are replacing an existing CF, the original must be sent to Adept for replacement. 3.
Chapter 2 - SmartController Installation Connecting Power The SmartController and sDIO require filtered 24 VDC power. NOTE: Users must provide their own power supply. Make sure the power cables and power supply conform to the specifications below. 24 VDC Power Specifications Table 2-2. Specifications for 24 VDC User-Supplied Power Supply Customer-Supplied Power Supply 24 VDC (-10%, +5%), 120 W (5 A) Circuit Protection Not more than 8 A (below the amperage rating of the cable used) Power Cabling 1.
Controller Installation 24 VDC Power Cabling In order to maintain compliance with standards in many countries, DC power must be delivered over a shielded cable, with the shield connected to the frame ground at both ends of the cable, as shown in Figure 2-7. Conductors should be 1.5 mm2- 1.85 mm2 (16 to 14 AWG) in size. The maximum length for the 24 VDC cable is 10 meters.
Chapter 2 - SmartController Installation Grounding Point Figure 2-8. Chassis Grounding Point Installing 24 VDC Connectors Use the Adept-supplied connectors to connect the customer-supplied 24 VDC power supply to the controller. The connectors are Weidmuller #169042. 1. Locate two 24 VDC connectors that are shipped with the controller. See Figure 2-9 on page 28. 2. Use 14 or 16 gauge wires to connect the 24 VDC power supply to the controller. 3.
System Cable Installation 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: • Newnex Technology Corp. Go to www.newnex.com • Molex, Inc.
SmartController Operation SmartController CX Connectors and Indicators *S/N 3562-XXXXX* CAMERA R SmartServo OK HPE LAN SF ES HD 1.1 SW1 1 2 3 4 IEEE-1394 1.2 2.1 Device Net 2.2 RS-232/TERM RS-422/485 RS-232-1 RS-232-2 Eth 10/100 BELT ENCODER ON OFF 1 2 3 XDIO XFP XSYS XUSR XMCP XDC1 XDC2 24V 5A -+ -+ SmartController CX 3.1 3 Figure 3-1. SmartController CX All the connectors on the SmartController use standard-density spacing, D-subminiature connectors.
Chapter 3 - SmartController Operation 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 1 2 3 Error # O-O-O 0 No error. R-O-O 1 System clock is dead or too fast. Clock interrupts are not being received. O-R-O 2 Hardware configuration error. O-O-R 4 Memory test failure. Free storage error.
SmartController CX Connectors and Indicators 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 program instruction (see the V+ Language Reference Guide for details).
Chapter 3 - SmartController Operation XMCP connector The optional Adept T2 Pendant plugs into this connector, via the T1/T2 Pendant Adapter cable, which has the mating connector for the XMPC. The SmartController ships with a terminator plug attached to the XMCP connector. The terminator plug must be installed in the absence of a pendant. If nothing is connected to the XMCP, then the E-Stop circuit is open, and you will not be able to start the system.
Front Panel 3.2 Front Panel 2 4 1 STOP 5 R 3 Figure 3-2. Front Panel Before running programs, either the Adept Front Panel or customer-supplied switches for High Power On/Off, MAN/AUTO, and E-Stop must be connected to the 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.
Chapter 3 - SmartController Operation 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 executing program, or a pendant. 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.
Configuring the Controller 4. When the install is complete, click Finish. 5. After closing the Adept ACE Setup wizard, click Exit on the CD-ROM menu and proceed to the Start-up Procedure. NOTE: You will have to restart the PC after installing the Adept ACE software 3.4 Configuring the Controller The SmartController is shipped with the factory configuration described in this section. See Figure 3-1 on page 31 for the location of DIP switch SW1.
Chapter 3 - SmartController Operation NOTE: SW1 is configured by Adept to a default configuration listed in row #5 of the preceding table (OFF-OFF-OFF-OFF) to use the CompactFlash and 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 IP address from CF card. If the CF card IP address is not set (0.0.0.0), the system will use the default IP address.
Configuring the Controller 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 Adept ACE software. RS-232 Pin Assignments Table 3-4.
Chapter 3 - SmartController Operation Table 3-6. RS-422/485 Connector Pin Assignments Pin Signal Type 1 NC 2 RXD+ Input 3 TXD+ Output 4 TXD- Output 5 GND Ground 6 RXD– Input 7 NC 8 NC 9 NC Serial Port Configuration From the Adept ACE software: 1. Double-click on the controller in the tree structure pane. This opens the object editor for the controller. 2. Select Configure > Configure . 3. Click Configuration. 4. Select SERIAL 5.
Connecting Customer-Supplied Safety and Power-Control Equipment Figure 3-3. Configuring Serial Ports 3.5 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 on the front panel of the SmartController.
Chapter 3 - SmartController Operation Table 3-7. Contacts Provided by the XUSR Connector Pin Pairs Description Comments Shorted if NOT Used Voltage-Free Contacts Provided by Customer 1, 14 User E-Stop CH 1 (mushroom push-button, safety gates, etc.) N/C contacts 2, 15 User E-Stop CH 2 (same as pins 1, 14) N/C contacts N/C contacts 3, 16 Line E-Stop (used for other robot or assembly line E-Stop interconnection.
Connecting Customer-Supplied Safety and Power-Control Equipment Table 3-8. Contacts Provided by the XFP Connector Pin Pairs Requirements for User-Supplied Front Panel Description Voltage-Free Contacts Provided by Customer Front Panel E-Stop CH 1 User must supply N/C contacts Front Panel E-Stop CH 2 User must supply N/C contacts 3, 11 Remote Manual/Automatic switch CH 1.
Chapter 3 - SmartController Operation Table 3-9.
Connecting Customer-Supplied Safety and Power-Control Equipment The following figure shows an E-Stop diagram for the Adept SmartController. E-Stop, High Power On/Off, and MANUAL/AUTO Controls for SmartController F Internal Connections 5V 24 V E-Stop Enable XFP-7 Front Panel System Power LED Ilimit = 1.
Chapter 3 - SmartController Operation Adept Front Panel Schematic ESTOPSRC XFP 24 VS 5 VD MANUALSRC1 MANUALSRC2 HPLT5V SYSPWRLT NC 16 15PDSUBM 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ESTOPFP1 ESTOPFP2 MANUALRLY1 MANUALRLY2 HIPWRLT HIPWRREQ 17 D "System Power LED" "MANUAL/AUTO" "HIGH POWER ON/OFF" "EMERGENCY STOP" 5 VD HPLT5 V ESTOPSRC 24 VS MANUALSRC2 SYSPWRLT MANUALSRC1 2-PIN_MINI D SWL1 D SW2 SW1 HIPWRLT MANUALRLY2 MANUALRLY1 HIPWRREQ ESTOPFP2 ESTOPFP1 Figure 3-5.
Connecting Customer-Supplied Safety and Power-Control Equipment 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.
Chapter 3 - SmartController Operation Remote Manual Mode The Front Panel provides for a Manual Mode circuit (see Figure 3-4 on page 45, Table 3-7 on page 42, and Table 3-8 on page 43, and your robot manual for further details about the customer Remote Manual Mode circuitry). The Adept Front Panel, or the customer-supplied panel, must be incorporated into the robot workcell to provide a “Single Point of Control” (the pendant) when the controller is placed in Manual mode.
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 will be required.
Chapter 3 - SmartController Operation NOTE: The system was evaluated by Underwriters Laboratory with an Adept Front Panel. If you provide a substitute Front Panel, the system may no longer be UL compliant. 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.
Connecting Customer-Supplied Digital I/O Equipment inputs that are used by the system for interrupts and latching. The outputs, although independent, have a lower current rating of 100 mA compared to 700 mA for the extended outputs on the sDIO (described in Section A.6 on page 75). See the V+ Language User’s Guide for information on digital I/O programming. The connector also provides 24 V pins for powering customer equipment.
Chapter 3 - SmartController Operation NOTE: These are examples. Either method can be used on any channel.
Connecting Customer-Supplied Digital I/O Equipment 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 1008 when used with the V+ INT.EVENT instruction. See the V+ Language Reference Guide for a description of the INT.EVENT instruction. Output Signals The XDIO connector handles output signals 0001 to 0008. Refer to Table 3-12 for output specifications.
Chapter 3 - SmartController Operation Adept-Supplied Equipment XDIO Connector on the SmartController - Outputs (equivalent circuit) Signal 0001 Signal 0002 Signal 0003 Signal 0004 Signal 0005 Signal 0006 Signal 0007 Signal 0008 + 25 – 26 + 27 – 28 + 29 – 30 + 31 – 32 + 33 – 34 + 35 – 36 Customer-Supplied Equipment (Typical Examples) Example 1 Sourcing Load Load Example 2 Sinking + 37 – 38 + 39 – 40 Load Load 41 +24 V (1 A) 42 43 44 X X Ground 45 46 47 48 4
Connecting Customer-Supplied Digital I/O Equipment Table 3-13.
Chapter 3 - SmartController Operation 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.
Belt Encoder Interface on SmartController CX 3.7 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 the Belt Encoder connector are shown in the following table. See Figure 3-8 on page 58 for a typical input circuit drawing. Adept strongly recommends using differential encoder outputs for maximum noise immunity.
Chapter 3 - SmartController Operation SmartController CX Belt Encoder Connector 5V Typical input circuit, same for A, B, and I for both encoders. Encoder Channel 1 2.2K 26LS33 220 2.2K A+ Encoder A– B+ B– + – I+ I– Encoder power output: 5 V at 800 mA max. (1 A fuse) Enc. Pwr Enc. Gnd Shield A+ Encoder Channel 2 + Encoder – A– B+ B– I+ I– Figure 3-8. Belt Encoder Typical Input Circuit 58 Adept SmartController User’s Guide, Rev.
SmartController Maintenance 4.1 4 Changing the Lamp in the Front Panel 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 lamp. The Adept part number for the lamp is 27400-29006. WARNING: Lockout and tagout power before servicing.
Chapter 4 - SmartController Maintenance 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 4-1 on page 60. 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.
Technical Specifications 5 This chapter shows the dimensions of the SmartController, sDIO, Adept Front Panel, and T2 pendant. 5.1 SmartController Dimensions 328.9 4.4 SmartServo OK HPE LAN SF ES HD 1.1 SW1 1 2 3 4 1.2 IEEE-1394 2.1 Device Net 2.2 RS-232/TERM RS-422/485 RS-232-1 RS-232-2 Eth 10/100 BELT ENCODER ON OFF 86.0 1 2 3 XDIO XUSR 186.5 XFP XSYS XMCP XDC1 XDC2 24V 5A -+ -+ SmartController CX *S/N 3562-XXXXX* CAMERA R 12.1 189.1 Figure 5-1.
Chapter 5 - Technical Specifications sDIO Dimensions 328.9 4.4 IEEE-1394 1.1 1.2 R *S/N 3563-XXXXX* X1 X3 X2 LINK -+ 186.5 5.5 Ground Connection Point Figure 5-2. sDIO Dimensions 62 XDC1 XDC2 24V OK SF 2.5 X4 Adept SmartController User’s Guide, Rev. K 0.5A -+ SC-DIO 5.2 41.
Adept Front Panel Dimensions 5.3 Adept Front Panel Dimensions 152.4 38.7 STOP 55.9 88.9 R 16.5 30 13.1 129.5 4X M4 x 18 MM 76.2 6.4 6.4 139.7 Figure 5-3. Adept Front Panel Dimensions Adept SmartController User’s Guide, Rev.
Chapter 5 - Technical Specifications 5.4 Adept T2 Pendant Dimensions Figure 5-4. T2 Pendant Dimension 64 Adept SmartController User’s Guide, Rev.
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.
Appendix A - sDIO Module Rack-Mounting the sDIO To rack-mount the sDIO module in a standard 19-inch equipment rack, you must first install the mounting brackets (see Figure A-2) on each side of the unit. These brackets 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 6.1 3.6 TYP. 4.2 462.0 14.2 482.8 Figure A-2.
Installing the sDIO Table-Mounting the sDIO To table-mount the sDIO, install two brackets on each side near the bottom of the unit. See the following figure. These brackets must be ordered separately. They do not come with the sDIO. R 3.6 4X 40356-00001 12.1 29.5 24.1 120.9 24.9 378.7 391.9 4X M3 x 6 MM BOTH SIDES 16.3 16.0 21.7 120.8 Figure A-4.
Appendix A - sDIO Module 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 a user-supplied ground wire to earth ground on each sDIO. 6. Connect the 24 VDC input power to the SmartController. A.3 Configuring an sDIO The SmartController is preconfigured to support two sDIO modules.
Configuring an sDIO Modifying the Default sDIO Configuration In most system installations you can use the default I/O configurations, and you will not have to modify the I/O configuration. If you need to modify the I/O configuration, use the steps given in Configuration Procedure. NOTE: Blocks 1-15 are typically reserved for robot signals.
Appendix A - sDIO Module 3. If a signal range is not present, click Add to add it. Modify existing values with Edit. 4. For Statement Type select SIGNAL. 5. Enter the values for the signal. See Figure A-6. For IO_OPTIONAL enter YES. 6. When you have configured all of the I/O, click Done. Figure A-6.
Configuring an sDIO sDIO Inputs/Outputs Up to four sDIO modules can be added to a system. The first sDIO occupies the first 4 bytes of block 16. See Figure A-8 on page 72. Additional sDIO modules need to be configured using the controller object editor in Adept ACE. Refer to the steps under “Configuration Procedure” on page 69, and the values in Figure A-8. After selecting block numbers, you must assign groups of signal numbers to each block.
Appendix A - sDIO Module Input Block 16 Byte 1 Byte 2 Byte 3 Byte 4 sDIO #1 Group 1 Group 2 Group 3 Group 4 (1033-1040) (1041-1048) (1049-1056) (1057-1064) Byte 2 Byte 3 Output Block 16 Byte 1 Group 1 Group 2 Group 3 (0033-0040) (0041-0048) (0049-0056) Byte 4 Group 4 (0057-0064) Input Block 17 Byte 1 Byte 2 Byte 3 Byte 4 sDIO #2 Group 1 (1065-1072) Group 2 (1073-1080) Group 3 Group 4 (1081-1088) (1089-1096) Output Block 17 Byte 1 Group 1 (0065-0072) Byte 2 Byte 3 Byte 4
Using Multiple sDIO Modules A.4 Using Multiple sDIO Modules Additional sDIO modules can be added to a system. The recommended maximum is eight sDIO modules. See Figure A-9 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 24 VDC cable from the XDC2 port on sDIO #1 to the XDC1 port on sDIO #2. See the “Connecting Power” on page 26 for cabling requirements. 2.
Appendix A - sDIO Module A.5 sDIO Module Connectors and Indicators 1 IEEE-1394 1.1 1.2 *S/N 3563-XXXXX* X1 X2 X3 X4 LINK XDC1 XDC2 24V 0.5A -+ OK SF 2 3 4 5 6 SC-DIO R -+ 7 Figure A-10. 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.
sDIO Digital I/O Signals 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 the front of the sDIO (see Figure A-10 on page 74). The electrical specifications for the 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 triggers.
Appendix A - sDIO Module Adept-Supplied Equipment Wiring Terminal Block sDIO Module (equivalent circuit) Signal 1033 Signal 1034 Input Group 1 Signal 1036 Signal 1037 Signal 1038 Signal 1039 Signal 1040 Group 1 Return Group 1 Return Signal 1041 Signal 1042 Signal 1043 Input Group 2 X3 Connector – 26-Pin Female D-Sub Signal 1035 Signal 1044 Signal 1045 Signal 1046 Signal 1047 Signal 1048 X4 Connector – 26-Pin Female D-Sub Group 2 Return Group 2 Retur n Input Group 3 Signals 1049 – 1056 Customer
sDIO Digital I/O Signals 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.
Appendix A - sDIO Module Table A-3. sDIO Chassis LEDs Illumination Upper LED (LINK) Lower LED (OK SF) None No IEEE 1394 link Blinking Green Not Applicable Solid Green IEEE 1394 link good Blinking Red Solid Red Not Applicable Not Applicable Local software not running Local software active, not configured in V+ Local software active, and configured in V+ Output fault Output fault A diagnostic software indicator is not available for the XDIO outputs.
sDIO Digital I/O Signals Table A-4. sDIO Output Circuit Specifications Parameter Value Under voltage shutdown 10 VDC Vsup 30 VDC 5 VDC Vusd 8 VDC Power supply ground current Ig 60 mA Operational current range, per channel Iout 700 mA On state resistance (Iout = 0.5 A) Ron 0.32 @85C (Ron 0.4 @ 125C) Output leakage current Iout 25 µA Turn on response time 175 µsec. max., 80 µsec typical (hardware only) Turn off response time 60 µsec. max.
Appendix A - sDIO Module Adept-Supplied Equipment Wiring Terminal Block sDIO Output Group 1 ? Group 1 Return Group 1 Test Signal 0033 Signal 0034 Signal 0035 Signal 0036 Signal 0037 Signal 0038 Signal 0039 Signal 0040 Group 2 Power Pins (see text) Group 2 Return Group 2 Test Signal 0041 Signal 0042 Signal 0043 Signal 0044 Signal 0045 Signal 0046 Signal 0047 Signal 0048 X2 Connector – 44-Pin Female D-Sub 25 26 38 39 40 41 42 43 44 Connect module power return directly to power supply if possible.
sDIO Digital I/O Signals To comply with IEC 1131, if you choose to supply a wiring block, it should be capable of accepting wire in the range of 0.18 mm2 (24 AWG) to 2.0 mm2 (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.
Appendix A - sDIO Module 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.
sDIO Digital I/O Signals Table A-6.
Appendix A - sDIO Module Table A-7.
sDIO Digital I/O Signals Table A-8.
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.
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.
DeviceNet Physical Layer and Media WARNING: The DeviceNet specification requires that the CAN_H and CAN_L signal lines tolerate voltages up to 18 V. Since the supply voltage exceeds 18 V, improperly wiring the supply voltage to these signal lines may cause equipment 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.
Appendix B - Adept DeviceNet 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 with the Adept ACE software. Those changes are not active until you reboot the Adept SmartController.
DeviceNet Physical Layer and Media Table B-2. Features of a DeviceNet Network Network Size A maximum of 64 nodes [0...63] Network Length Selectable, end-to-end network distance varies with speed Baud Rate Distance (thick cable) 125 Kbps 500 m (1,640 ft.) 250 Kbps 250 m (820 ft.) 500 Kbps 100 m (328 ft.
Appendix B - Adept DeviceNet 11mm (0.43) Outside Diameter 65% Coverage Tinned Copper Braid Shield Polypropylene Fillers External Jacket Aluminum/Mylar Shield Over Each Pair 18 AWG 19 x 30 Tinned Copper-Stranded Drain Wire Blue & White Data-Pair Polyethylene (18 AWG 19 x 30 Tinned & Stranded Copper Conductors) Red & Black DC Power Pair PVC (15 AWG 19 x 28 Tinned & Stranded Copper Conductors) Figure B-2. DeviceNet Thick Cable 7.2mm (0.
DeviceNet Physical Layer and Media Table B-4. DeviceNet Connector Styles Connector Description Open plugable Uses screws to attach cable wires to a removable connector Open hard-wire Uses wires attached directly to screw terminals Sealed mini-style Attaches to taps and thick or thin cable Sealed micro-style 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.
Appendix B - Adept DeviceNet 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 safe and reliable operation: • Use power supplies rated at 24 V • Minimize installation problems by using a single power supply with sufficient current to operate all the attached nodes. This must comply with national and international safety standards.
DeviceNet Physical Layer and Media Table B-5. Maximum Current on a Dropline Relative to its Length Length of Dropline Maximum Current 1.5 m (5 ft.) 3A 2.0 m (6.6 ft.) 2A 3.3 m (10 ft.) 1 1.5 A 4.5 m (15 ft.) 1A 6 m (20 ft.) 0.75 A For the calculation of the maximum current at a specific length, use the following formula: 4.
Appendix B - Adept DeviceNet (VIEWED FROM CONTACT END) 4 3 1 2 5 Male Connector (pins) 3 4 2 1 5 Micro-Style Connector Female Connector (sockets) LEGEND: 1 2 3 4 5 Drain V+ VCAN_H CAN_L (bare) (red) (black) (white) (blue) Figure B-6. DeviceNet Connector Pinouts 96 Adept SmartController User’s Guide, Rev.
Index dimensions Front Panel 63 sDIO module 62 SmartController 61 DIO output specifications (XDIO connector) 53 DIP switch settings, on SmartController 37 Document Library CD-ROM 18 Numerics 24 VDC grounding 27 power specifications 26 A Adept ACE DIP switch setting 38 Adept Document Library 18 assigning I/O signal numbers 71 AUTO Boot 38 E emergency situation, what to do 15 Emergency Stop circuits 46 switch on Front Panel 36 environmental specifications 19 Ethernet connector, description 33 B Belt Enco
Index L labeling DIO cables S 81 M Manual/Automatic Mode switch, on Front Panel 35 mounting the SmartController 20 muted safety gate E-Stop circuitry 47 O optional DIO cables 80–83 output signals, on XDIO 53 P panel mounting sDIO 66 SmartController 22 pendant dimensions 64 remote usage 50 Power On LED, on Front Panel 35 R rack mounting sDIO 66 SmartController 21 REACT/REACTI input signals (1001 to 1012) 52 related manuals 17 remote Manual Mode control 48 remote pendant connections on XMCP connector 4
Index U unpacking 19 User High Power On indication 48 Manual/Auto indication 48 using multiple sDIO modules 73 V V+ Extensions License, for Belt Encoder function 57 X XDC1/XDC2 24 VDC connectors, description 34 XDIO connector description 33 digital output wiring 54 functions 50–56 input signals 51 output signals 53 pin assignments 55 XFP connector Front Panel, description 35 SmartController contacts 43 description 33 XMCP connector description 34 remote pendant connections 44 XSYS connector description 3
P/N: 00356-00100, Rev.
