User`s guide

Appendix A - sDIO Module
68 Adept SmartController User’s Guide, Rev. K
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. 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 a range of eight Input or Output signals.
Block numbers for general digital I/O can range from 16 to 31. The default block is 16 for
sDIO #1, and 17 for sDIO #2. 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 (Input or Output)
in any other sDIO module (or IO Blox device) in your system.
Default sDIO I/O Configuration
Two sDIO modules can be used with the default I/O signal configuration and no
additional configuration is required. The default configuration consists of the settings
shown in the following table.
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.
Table A-1. Default I/O Configuration for sDIO #1 and #2
Input Signal
Numbers
Block Byte
Output Signal
Numbers
Block Byte
sDIO #1
1033 to 1040 16 1 0033 to 0040 16 1
1041 to 1048 16 2 0041 to 0048 16 2
1049 to 1056 16 3 0049 to 0056 16 3
1057 to 1064 16 4 0057 to 0064 16 4
sDIO #2
1065 to 1072 17 1 0065 to 0072 17 1
1073 to 1080 17 2 0073 to 0080 17 2
1081 to 1088 17 3 0081 to 0088 17 3
1089 to 1096 17 4 0089 to 0096 17 4