Adept SmartController User’s Guide Covers the SmartController CS, SmartController CX, and sDIO Module *S/N 1000-XXXXX* SmartServo OK SF HPE ES LAN HD SW1 Device Net Eth 10/100 1.2 1.1 SmartController CS R RS-232/TERM RS-422/485 1 2 3 4 ON OFF 1 2 3 XDIO XMCP XFP XSYS XUSR XDC1 XDC2 24V 5A -+ -+ 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 CS, SmartContoller CX, and sDIO Module *S/N 1000-XXXXX* SmartServo OK SF HPE ES SW1 LAN HD 1.1 Device Net 1.2 Eth 10/100 RS-232/TERM RS-422/485 1 2 3 4 ON OFF 1 2 3 XDIO XMCP XFP XSYS XUSR XDC1 XDC2 24V 5A -+ -+ SmartController CS R SmartServo OK HPE LAN SF ES HD 1.1 SW1 1 2 3 4 1.2 IEEE-1394 2.1 Device Net 2.
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 1.1 Product Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 Adept SmartController CS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 Adept SmartController CX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 sDIO Expansion Module. . . . . . . . . . . . .
Table of Contents Installing CompactFlash . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 Connecting Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 24VDC Power Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 24VDC Power Cabling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Daisy-Chaining Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents XDIO Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Input Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . REACT Input Signals 1001 to 1012 . . . . . . . . . . . . . . . . . . . . . . . . . . . Fast Input Signals 1001 to 1004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents A sDIO Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 A.1 Mounting the sDIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 Rack Mounting the sDIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 Panel Mounting the sDIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 Table Mounting the sDIO . . . . . . . . . .
Table of Contents C Using the Manual Control Pendant (MCP) . . . . . . . . . . . . . . . . . . . . . 125 C.1 Manual Control Pendant Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125 MCP Enable Switch Function on CAT-3 SmartController . . . . . . . . . . . . . . MCP III . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . MCP-4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents Controlling More Than One Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149 Robots With Fewer Than Six Joints . . . . . . . . . . . . . . . . . . . . . . . . . . 150 Robots With More Than Six Joints . . . . . . . . . . . . . . . . . . . . . . . . . . . 150 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151 10 Adept SmartController User’s Guide, Rev.
List of Figures Figure 2-1. Rack Mounting the SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 Figure 2-2. Panel Mounting the SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 Figure 2-3. Table Mounting the SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Figure 2-4. Stack Mounting the SmartController and sDIO . . . . . . . . . . . . . . . . . . . . . . . 28 Figure 2-5.
List of Figures Figure B-3. DeviceNet Thin Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120 Figure B-4. DeviceNet Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 Figure B-5. Example of a Terminating Resistor Installation on a DeviceNet Bus . . . . . 122 Figure B-6. DeviceNet Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124 Figure C-1.
List of Tables Table 1-1. Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16 Table 2-1. Environmental Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23 Table 2-2. Specifications for 24VDC User-Supplied Power Supply. . . . . . . . . . . . . . . . . . .30 Table 3-1. SmartController LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
List of Tables Table C-2. Controlling More Than One Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .150 Table C-3. Robots With More Than 6 Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .150 Adept SmartController User’s Guide, Rev.
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.
Chapter 1 - Introduction 1.2 How Can I Get Help? Refer to the How to Get Help Resource Guide (Adept P/N 00961-00700) for details on getting assistance with your Adept software and hardware. Additionally, you can access information sources on Adept’s corporate web site: http://www.adept.com Related Manuals This manual covers the installation and maintenance of an Adept SmartController system, including the sDIO.
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.
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.
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.
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.
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.
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.
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 shock and vibration. Table 2-1.
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 SmartController” on page 24. 2.
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 26 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. Use the screws from the accessories kit. 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 Stacking Components To stack mount the SmartController and an sDIO or sMI6 module, install two brackets on each side of the units, as shown in Figure 2-4. These brackets are supplied with the sDIO and sMI6 modules. 2X 40356-00002 BOTH SIDES 328.9 IEEE-1394 1.1 R *S/N 3563-XXXXX* 1.2 X2 X1 X3 X4 LINK XDC1 XDC2 24V OK SF -+ 8X M3 x 6MM BOTH SIDES 30.7 0.5A SC-DIO 120.9 16.0 28.1 -+ *S/N 3561-XXXXX* R IEEE-1394 76.
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.
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.
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 cable as shown in Figure 2-6. Conductors should be 1.5 mm2- 1.85 mm2 (16 to 14 AWG) in size. The maximum length for the 24VDC cable is 10 meters. Adept SmartController -+ + Shield User-Supplied Shielded Power Cable Note: Use connector supplied by Adept at this end of cable.
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 Figure 2-8 on page 33. 2.
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 (-) positive (+) Figure 2-8. 24V Connectors NOTE: Although no damage will occur, the SmartController will not turn on if the DC polarities on the XDC connectors are reversed. IEEE 1394 Cable Specifications Adept supplies the IEEE 1394 cables to connect the SmartController to other Adept devices in the system.
Chapter 2 - SmartController Installation 2.2 System Cable Installation Switched AC Power from PDU (AC PWR OUT) to SmartAmp #1 PDU2 24VDC Power from PDU (DC/Safety Output) to SmartAmp #1 PDU2 24V SA AUX CH1 CH2 ES1 ES2 IEEE 1394 Cable SA DC RESET AUX DC RESET XDCS Terminator Installed 1 Ferrite core installed on all cables at first SmartAmp 2 XSLV1/ XSLV2 AC PWR SA C I R C U I T B R E A K E R SmartController *S/N 3561-XXXXX* R PWR IN IEEE-1394 OK SF HPE ES LAN HD 1 2 3 SW1 1.
System Cable Installation NOTE: Figure 2-9 shows the Adept SmartController CS in a SmartModule 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.
Chapter 2 - SmartController Installation 36 Adept SmartController User’s Guide, Rev.
SmartController Operation 3.1 3 SmartController CS Connectors and Indicators *S/N 1000-XXXXX* SmartServo OK SF HPE ES LAN HD SW1 1.1 Device Net Eth 10/100 1.2 RS-232/TERM RS-422/485 1 2 3 4 ON OFF 1 2 3 XDIO XFP XSYS XUSR XMCP XDC1 XDC2 24V 5A -+ -+ SmartController CS R Figure 3-1. SmartController CS All the connectors on the SmartController use standard density spacing, D-subminiature connectors.
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 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 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 These ports support RS-232 and RS-422/485 devices, respectively. See “SmartController Serial I/O Connectors” on page 44 for pin descriptions and locations. 8.
Chapter 3 - SmartController Operation 13. 24VDC connectors Connect power from a customer-supplied 24VDC power supply to the XDC1 connector (see the “Connecting Power” section on page 30 for information); if using an sDIO or an sMI6, connect a separate cable from the XDC2 connector on the SmartController to the XDC1 connector on the sDIO or sMI6. 3.
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.
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.
Configuring the Controller Table 3-3.
Chapter 3 - SmartController Operation AUTO Boot When using the SmartController in an AUTO Boot configuration, DIP switch SW1 must be set to the switch settings shown in row #5 of Table 3-3 and the NVRAM switches set for AUTO boot. 3.5 SmartController Serial I/O Connectors The SmartController CS has two serial I/O connectors, an RS-232/Term and an RS-422/485 port. See Figure 3-1 on page 37 for the connector locations. The SmartController CX has two additional serial connectors, RS-232-1 and RS-232-2.
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 RS-422/485 LOCAL.SERIAL:1 CS and CX RS-232/Term LOCAL.SERIAL:2 CX only RS-232-1 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.
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.
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.
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.
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 on the front panel of the SmartController.
Chapter 3 - SmartController Operation Table 3-7. Contacts Provided by the XUSR Connector (Continued) Pin Pairs Description MANUAL/AUTO indication CH 2 10,23 11,12, 13,24,25 Shorted if NOT Used Comments Contacts are closed in AUTOMATIC mode No connection Pin 13 Pin 1 XUSR Pin 25 Pin 14 Table 3-8.
Connecting Customer-Supplied Safety and Power Control Equipment Table 3-9.
Chapter 3 - SmartController Operation Figure 3-4 shows an E-Stop diagram for the CAT-3 version of the Adept SmartController. See Section 1.6 on page 21 for a description of the functionality of this version of the controller. E-Stop, High Power On/Off, and MANUAL/AUTO Controls for CAT-3 Version of SmartController F Internal Connections 5V 24 V E-Stop Enable XFP-7 Front Panel System Power LED Channel 1 ESTOPSRC Ilimit = 1.
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.
Chapter 3 - SmartController Operation Adept Front Panel Schematic ESTOPSRC XFP 24VS MANUALSRC1 MANUALSRC2 HPLT5V 5VD 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" 5VD HPLT5V ESTOPSRC 24VS MANUALSRC2 SYSPWRLT MANUALSRC1 2PIN_MINI D SWL1 D SW2 SW1 HIPWRLT MANUALRLY2 MANUALRLY1 HIPWRREQ ESTOPFP2 ESTOPFP1 Figure 3-6.
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.
Chapter 3 - SmartController Operation Remote Manual Mode The Front Panel provides for a Manual Mode circuit (see Figure 3-5 on page 53, Table 3-7 on page 49, and Table 3-8 on page 50, and your robot manual for further details about the 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.
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.
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.
Connecting Customer-Supplied Digital I/O Equipment XDIO Connector The XDIO connector on the SmartController is a 50-pin, standard density D-Sub female connector (see Figure 3-1 on page 37 for location). There are 12 inputs and 8 outputs, each 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.
Chapter 3 - SmartController Operation NOTE: These are examples. Either method can be used on any channel.
Connecting Customer-Supplied Digital I/O Equipment Output Signals The XDIO connector handles output signals 0001 to 0008. Refer to Table 3-11 for output specifications. The locations of the signals on the connector are shown in Table 3-12 on 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.
Chapter 3 - SmartController Operation 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.
Connecting Customer-Supplied Digital I/O Equipment Table 3-12.
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.
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 the Belt Encoder connector are shown in Table 3-13. See Figure 3-9 on page 66 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: 5V at 800 mA max. (1 A fuse) Enc. Pwr Enc. Gnd Shield A+ Encoder Channel 2 + Encoder – A– B+ B– I+ I– Figure 3-9. Belt Encoder Typical Input Circuit 66 Adept SmartController User’s Guide, Rev.
AdeptVision sAVI Option 4.1 4 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 based on the SmartController CX. See page 68 for more information and 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.
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.
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.
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 Tables 4-1 to 4-6 for pin and signal information for the cables.
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.
Chapter 4 - AdeptVision sAVI Option 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.
Installing Camera Cables SmartServo OK HPE LAN SF ES HD 1.1 SW1 1 2 3 4 1.2 IEEE-1394 2.1 Device Net 2.
Chapter 4 - AdeptVision sAVI Option 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. • Table 4-1 describes the Hirose connector on the breakout cables. • Table 4-2 describes the Strobe and Power connector on the standard Four-Camera Breakout Cable. • Table 4-3 describes the 10-meter camera extension cable.
Camera Cable Pin and Signal Information Table 4-1.
Chapter 4 - AdeptVision sAVI Option Table 4-2. Standard Breakout Cable Strobe and Power Connector Pin Assignments Pin Function Notes 1 User +12 VDC to cameras 2 User power return (Gnd) 3 Strobe 1 4 Strobe return (Gnd) 5 Strobe 2 6 Reserved 7 Reserved 8 Reserved 9 Shield (chassis ground) 9-Pin D-Sub Female Receptacle 76 Adept SmartController User’s Guide, Rev.
Camera Cable Pin and Signal Information Table 4-3. Adept 10-Meter Camera Cable Pin Assignments Pin # at controller end (male) Function Notes 1 Power return 2 +12V power 3 Shield (video) 4 Video 5 6 7 Wire Color (typical) gray 1 to camera yellow 2 red-shield 3 from camera red-signal 4 orangeshield 5 to camera orangesignal 6 7 Shield (Hd) Hd (horizontal drive) Vd (vertical drive) to camera black-signal Shield (Clock) from camera (cam.
Chapter 4 - AdeptVision sAVI Option Table 4-4.
Camera Cable Pin and Signal Information Table 4-5.
Chapter 4 - AdeptVision sAVI Option Table 4-5.
Camera Cable Pin and Signal Information Table 4-6.
Chapter 4 - AdeptVision sAVI Option Table 4-6.
sAVI Board Specifications 4.6 sAVI Board Specifications Table 4-7. Technical Specifications1 Electrical Power Consumption Voltage Avg Current (A) Avg Power (W) Max Current (A) Max Power (W) +3.3 V 0 0 0 0 +5V 1.4 7 2.0 10 +12 V 0.08* 1.0* 0.11* 1.3* -12 V 0.06 0.7 0.09 1.1 *assumes no current drawn from +12 V pins of DB44 connector 1 Specifications subject to change. Adept SmartController User’s Guide, Rev.
Chapter 4 - AdeptVision sAVI Option 84 Adept SmartController User’s Guide, Rev.
SmartController Maintenance 5.1 5 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.
Chapter 5 - SmartController Maintenance Back side of front cover High Power On/Off Lamp Body Wires between LED and body of Front Panel. Be careful when separating front cover from body to avoid damaging the wires. Figure 5-1. Lamp Body Contact Alignment 86 Adept SmartController User’s Guide, Rev.
6 Technical Specifications 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* IEEE-1394 OK SF HPE ES LAN HD SW1 1.1 Device Net Eth 10/100 1.2 RS-232/TERM RS-422/485 1 2 3 4 ON OFF 86.0 1 2 3 XDIO XUSR 186.
Chapter 6 - Technical Specifications 6.2 sDIO Dimensions This section shows the dimensions of the sDIO module. 328.9 4.4 IEEE-1394 1.1 1.2 *S/N 3563-XXXXX* X1 X2 X3 LINK -+ 5.5 186.5 Ground Connection Point Figure 6-2. sDIO Dimensions 88 XDC1 XDC2 24V OK SF 2.5 X4 Adept SmartController User’s Guide, Rev. E 0.5A -+ SC-DIO R 41.
Adept Front Panel Dimensions 6.3 Adept Front Panel Dimensions 152.4 38.7 STOP 55.9 88.9 R 16.5 30 13.1 129.5 Figure 6-3. Adept Front Panel Dimensions Adept SmartController User’s Guide, Rev.
Chapter 6 - Technical Specifications 4X M4 x 18MM 76.2 6.4 6.4 139.7 Figure 6-4. Adept Front Panel Back View 90 Adept SmartController User’s Guide, Rev.
Adept MCP Dimensions 6.4 Adept MCP Dimensions 221.74 mm (8.74 in.) 184.15 mm (7.26 in.) EDIT 114.30 mm (4.50 in.) DISP EDIT CLR ERR DISP USER USER PROG SET CMD WORLD TOOL JOINT FREE -+ -+ MAIN DEV 250.70 mm (9.88 in.) X 1 HALT Y 2 RUN DIS COMP HOLD PWR PWR REC Z 3 NO YES 7 8 9 F1 F1 4 5 6 J7ÐJ 12 F2 J7ÐJ 12 F2 1 2 3 T1 DEV DEV F3 F3 0 ¥ DEL STEP SLOW SLOW 103.12 mm (4.06 in.) DONE 279.40 mm (11.01 in.) 114.30 mm (4.50 in.) 52.07 mm (2.05 in.) 11.
Chapter 6 - Technical Specifications 28.7 mm (1.13 in.) (2 X) 10.2 mm (0.40 in.) (4 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) 201 mm (7.91 in.) 221 mm (8.70 in.) Figure 6-6. MCP Cradle Dimensions 92 Adept SmartController User’s Guide, Rev. E ø 9.7 mm (ø 0.38 in.
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.
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. 4.2 462.0 482.8 Figure A-2. Rack Mounting the sDIO 94 Adept SmartController User’s Guide, Rev. E 14.
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 screws from the accessories kit; see Figure A-3. 186.5 14.0 273.9 27.6 10.0 2X 40356-00000 18.0 4X M3 x 6MM R 3.6 16.0 6.6 346.4 359.6 Figure A-3. Panel Mounting the sDIO Adept SmartController User’s Guide, Rev.
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 the screws from the accessories kit; see Figure A-4. 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 See the “Stacking Components” section on page 28 for information on stack mounting the sDIO and SmartController. A.
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.
Appendix A - sDIO Module Modifying the Default sDIO Configuration The CONFIG_C.V2 utility file is used to define the sDIO memory block and I/O signal mappings. This file contains the main program A.CONFIG_C and is located on the CompactFlash in the \UTIL\ directory. See the Instructions for Adept Utility Programs manual for instruction on loading and executing this utility. You can check how block numbers are assigned by using the SRV.NET monitor command.
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.
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.
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.
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.
sDIO Module Connectors and Indicators Configuring a System with an sDIO and a RIO When a system contains an sDIO module and a RIO, you must use the DC_SETUP.V2 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 using the CONFIG_C.V2 utility.
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 the front of the sDIO (see Figure A-6 on page 103). 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.
sDIO Digital I/O Signals 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 Group 2 Return X4 Connector – 26-Pin Female D-Sub Customer-Supplied Equipment Group 2 Retur n Input Group 3
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.
sDIO Digital I/O Signals 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.
Appendix A - sDIO Module Table A-4. sDIO Output Circuit Specifications Parameter Value Power supply voltage range 10VDC ≤ Vsup ≤ 30VDC Under voltage shutdown 5VDC ≤ Vusd ≤ 8VDC Power supply ground current Ig ≤ 60 mA Operational current range, per channel Iout ≤ 700 mA On state resistance (Iout = 0.5A) Ron ≤ 0.32Ω @ 85° C (Ron 0.4Ω @ 125° C) 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.
sDIO Digital I/O Signals Adept-Supplied Equipment Wiring Terminal Block Smart-DIO 25 26 38 39 40 41 42 43 44 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 0044 Signal 0045 Signal 0046 Signal 0047 Signal 0048 + – Customer DC Power Supply 28 29 Typical User Loads 30 15 14 13 Load 12 Load 11 Load 10 9 M 17 18 19
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 Adept cables is 0.18 mm2 (24 AWG). You can use these cables to connect to the digital inputs/outputs in your system or to a wiring block.
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.
Appendix A - sDIO Module Table A-6.
sDIO Digital I/O Signals Table A-7.
Appendix A - sDIO Module 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 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 program. See the Instructions for Adept Utility Programs for information on using CONFIG_C.
Appendix B - Adept DeviceNet Multiple Node Branching Drop Line Node Node Terminating Resistor Trunk Line Multi-Port Tap Node Node Drop Line Node Node Node Terminating Resistor Tap Multi-Port Tap Multiple Node Daisy Chain Drop Line Node Node Node Drop Line Node Node Node Zero Length Drop Line Node Short Drop Lines (6m/20ft) Figure B-1.
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 Blue & White Data-Pair Polyethylene (18 AWG 19 x 30 Tinned & Stranded Copper Conductors) External Jacket Aluminum/Mylar Shield Over Each Pair 18 AWG 19 x 30 Tinned Copper-Stranded Drain Wire 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 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 sealed connectors are available in mini-style and micro-style sizes. See Figure B-4 and Table B-4 for more details. Unsealed Screw Connector Unsealed Hard Wired Sealed Mini-Style Sealed Micro-Style Connector Figure B-4. DeviceNet Connectors Table B-4.
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.
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.
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 124 Adept SmartController User’s Guide, Rev.
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 the Manual Control Pendant (MCP). Figure C-2 on page 128 shows how to hold the MCP. 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.
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 The 3-position enable switch on the MCP-4 works as follows (see Figure C-1): Position 1 - switch is not pressed, high power cannot be enabled. (Switch is open.
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 difference affects how the MCP-4 is used in various Adept systems. Table C-1 covers the compatibility status for the MCP-4. Table C-1.
Appendix C - Using the Manual Control Pendant (MCP) EDIT CLR ERR DISP USER PROG SET CMD WORLD TOOL JOINT FREE -+ DEV X 1 MAIN HALT Y 2 RUN DIS COMP HOLD PWR PWR NO YES 7 8 9 F1 4 5 6 J –J 7 12 F2 1 2 3 T1 0 • DEL STEP REC SLOW DEV F3 DONE Z 3 Depress the palm-activated enabling switch Figure C-2.
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 cable diagram in Figure 2-9 on page 34 for more information. • 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.
Appendix C - Using the Manual Control Pendant (MCP) MCP Layout The major areas of the MCP are shown in Figure C-4.
Manual Control Pendant Basics Data Entry Buttons The data entry buttons shown in Figure C-5 are used to input data, normally in response 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.
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.
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.
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. REAL EDIT SELECT DATA TO MODIFY LOC CLR ERR DISP USER PROG SET CMD WORLD TOOL JOINT FREE DEV 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 var1, var2, etc., are global variable names.
MCP Predefined Functions Press the soft button under the variable name to edit that variable. The 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.
Appendix C - Using the Manual Control Pendant (MCP) 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.
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 . 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.
Appendix C - Using the Manual Control Pendant (MCP) AUTO START CALIB STORE ALL CMD1 CMD2 EDIT DISP CLR ERR CMD PROG SET USER WORLD TOOL JOINT FREE DEV 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.
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.
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.
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.
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).
Moving a Robot or Motion Device With the MCP In Comp Mode See the description of the Step Button on page 142. Fast Slow USER WORLD TOOL JOINT FREE -+ PANIC MAN DEV X 1 HALT Y 2 RUN DIS COMP HOLD PWR PWR Z 3 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.
Appendix C - Using the Manual Control Pendant (MCP) +Z adept X 1 X direction Y 2 Y direction Z 3 Z direction RX 4 +RZ (CCW) +Y RY 5 RZ 6 Rotation T1 Gripper Activity STEP +X Figure C-14. WORLD State (Four-Axis SCARA) The T1 button cycles the gripper solenoids. Press anywhere on the “+” side of the speed bar to open the gripper, on the “–” side to close the gripper. NOTE: This is the most common gripper setup.
Moving a Robot or Motion Device With the MCP NOTE: Figure C-15 and Figure C-16 are drawn with the assumption that 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 center of the tool flange. See the V+ Language Reference Guide f or details on TOOL transformations.
Appendix C - Using the Manual Control Pendant (MCP) X 1 Y 2 Z 3 RX RY RX 4 Rotation about TOOL X axis RY 5 Rotation about TOOL Y axis RZ 6 Rotation about TOOL Z axis T1 Gripper STEP T1 RZ Figure C-16. TOOL State (Six-Axis Robot) 146 Adept SmartController User’s Guide, Rev.
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.
Appendix C - Using the Manual Control Pendant (MCP) 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 Joint 5 RX 4 Joint 4 RY 5 Joint 5 RZ 6 Joint 6 T1 Gripper STEP T1 Joint 6 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.
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.
Appendix C - Using the Manual Control Pendant (MCP) Table C-2. Controlling More Than One Robot DEV LED state Robot selected by pendant OFF 1 ON 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.
Index A Adept Document Library 16 AdeptWindows PC Graphical User’s Interface 43 AdeptWindows, installation 46 ASCII Terminal 43 assigning I/O signal numbers 99 assigning sDIO signal blocks 98 AUTO Boot 44 Auto start from the MCP 138 AUTO.
Index errors displaying system on MCP 137 Ethernet connector, description 39 High Power On/Off Switch, on Front Panel 41 How Can I Get Help? 16 HyperTerminal software, for serial connection 47 Manual/Automatic Mode switch, on Front Panel 41 MCP CMD function 137 CMD1 and 2 139 data entry buttons 131 DEL button 131 function buttons 130 how to use 125–150 mode control buttons 140 predefined function buttons 133–139 REC/DONE button 131 slow button 131 soft buttons 130 speed bar 131 viewing angle, on MCP 133
Index remote Manual Mode control 56 remote MCP connections on XMCP connector 51 remote sensing of user E-Stop switches 55 robot location displaying 136 robot states in manual mode free 148 joint 147 tool 144 world 143 Robotic Industries Association 17 robotic safety 17 RS-232 and RS-485 connectors, description 39 RS-232 connectors with V+ designations 45 RS-232/Term connector pin assignments 44 RS-232-1 and RS-232-2 connectors, description 40 RS-422/485 connector description 45 pin assignments 45 S safety
Index V V+ Extensions License, for Belt Encoder function 65 viewing angle LCD panel, on MCP 133 vision option, see sAVI option X XDC1/XDC2 24VDC connectors, description 40 XDIO connector description 39 digital output wiring 62 functions 59–64 input signals 59 output signals 61 XFP connector on Front Panel, description XFP connector, on SmartController contacts 50 description 39 XMCP connector description 39 remote MCP connections 51 XSYS connector, description 39 XUSR connector contacts 49–50 description
P/N: 00356-00100, Rev.