Page 1 Adept SmartController Covers the SmartController CS, SmartController CX, and sDIO Module SmartServo 1 2 3 4 XDIO XUSR SmartServo IEEE-1394 1 2 3 4 XDIO XUSR User’s Guide Device Net Eth 10/100 XSYS CAMERA Device Net Eth 10/100 BELT ENCODER XSYS *S/N 1000-XXXXX* RS-232/TERM...
Page 3 Adept SmartController Covers the SmartController CS, SmartContoller CX, and sDIO Module SmartServo 1 2 3 4 XDIO XUSR SmartServo IEEE-1394 1 2 3 4 XDIO XUSR P/N: 00356-00100, Rev. E 3011 Triad Drive • Livermore, CA 94550 • USA • Phone 925.245.3400 • Fax 925.960.0452 Otto-Hahn-Strasse 23 •...
Page 4 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 sub- ject to change without notice and should not be construed as a commitment by Adept Technology, Inc. This manual is periodically reviewed and revised.
Page 5: Table Of Contents
Functionality Changes ......... . 21 MCP Enable Switch Not Functional in Auto Mode ... . 21 High Power Indication on XDIO Connector.
Page 6 DIP-Switch Settings ........
Page 7 XDIO Connector..........59 Input Signals.
Page 8 Table of Contents sDIO Module ..........93 A.1 Mounting the sDIO .
Page 9 Mode Control Buttons ......... . 140 Emergency Stop Switch ........141 COMP/PWR Button .
Page 10 Table of Contents Controlling More Than One Robot ....... . 149 Robots With Fewer Than Six Joints .
Page 11 Figure 2-1. Rack Mounting the SmartController ....... . 25 Figure 2-2. Panel Mounting the SmartController .
Page 12 Figure C-1. 3-Position Enable Switch on MCP-4 ....... . 126 Figure C-2.
Page 13 Table 1-1. Related Manuals ..........16 Table 2-1.
Page 14 Table C-2. Controlling More Than One Robot ........150 Table C-3.
Page 15: Introduction
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.
Page 16: How Can I Get Help
Chapter 1 - Introduction How Can I Get Help? Refer to the How to Get Help Resource Guide 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.
Page 17: Warnings, Cautions, And Notes
Warnings, Cautions, and Notes There are four levels of special alert notation used in this manual. In descending order of importance, they are: DANGER: situation which, if not avoided, will result in death or serious injury. WARNING: situation which, if not avoided, could result in serious injury or major damage to the equipment.
Page 18: System Safeguards
High Power. See replacing the bulb. Adept SmartController User’s Guide, Rev. E Chapter 3 of this user’s guide. switch, and the EMERGENCY STOP Entering the workcell when the HIGH POWER light on the optional Front Panel is illuminated, do not...
Page 19: Manually Controlled Robots And Motion Devices
Manually Controlled Robots and Motion Devices Adept robots and other motion devices can also be controlled manually when the light on the Front Panel is illuminated. When this light is lit, motion can be POWER 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 MCP.
Page 20: Inappropriate Uses Of The Adept Smartcontroller
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.
Page 21: Cat-3 Version Of Smartcontroller
SmartController. When a CAT-3 SmartController system is operating in Auto Mode, the Enable Switch on the MCP has no effect on the operation. This means in the Auto mode, the Enable switch does not have to be pressed to enable High Power, and releasing the Enable switch while running will not turn off High Power.
Page 22: Operational Change In Smartmodule Systems
SmartController. The sequence would be: 1. In a SmartModule system with a CAT-3 SmartController, while operating in Manual Mode, power is turned off by releasing the Enable switch on the MCP. 2. To re-enable power, the user must press and hold the Enable switch.
Page 23: Smartcontroller Installation
SmartController Installation 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.
Page 24: Repacking For Relocation
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.
Page 25: Rack Mounting The Smartcontroller
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 brackets must be ordered separately, they do not come with the SmartController. 190.0 R 3.6 2X 40356-00004...
Page 26: Panel Mounting The Smartcontroller
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 200.5 14.0 27.4 273.9 8X M3 x 6MM 16.0 44.9 346.6 359.8 Figure 2-2.
Page 27: Figure 2-3. Table Mounting The Smartcontroller
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 4X 40356-00001 29.5 120.9 24.9 378.6 Figure 2-3. Table Mounting the SmartController Adept SmartController User’s Guide, Rev. E 2-3.
Page 28: Stacking Components
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 and sMI6 modules. 120.9 28.1 16.0 30.7 76.5 186.5 Figure 2-4. Stack Mounting the SmartController and sDIO CompactFlash Memory Card The SmartController is equipped with a CompactFlash system uses a CF in place of a traditional hard disk drive.
Page 29: Installing Compactflash
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).
Page 30: Connecting Power
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.
Page 31: 24Vdc Power Cabling
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 mm size.
Page 32: Installing 24Vdc Connectors
Chapter 2 - SmartController Installation 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.
Page 33: Ieee 1394 Cable Specifications
24VDC connector Adept Part # 25040-00201 negative (-) 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.
Page 34: System Cable Installation
Chapter 2 - SmartController Installation 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 SA DC RESET AUX DC RESET XDCS Terminator Installed XSLV1/ XSLV2 1 2 3 4 AC In...
Page 35 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 •...
Page 36 Chapter 2 - SmartController Installation Adept SmartController User’s Guide, Rev. E...
Page 37: Smartcontroller Operation
SmartController Operation SmartController CS Connectors and Indicators SmartServo 1 2 3 4 XDIO All the connectors on the SmartController use standard density spacing, D-subminiature connectors. For customization purposes, the user needs to provide connectors of the appropriate gender and pin count or use optional Adept cables. NOTE: The SmartController CX has all of the connectors and indicators described in this section for the SmartController CS, plus additional ones covered in...
Page 38: Table 3-2. Led Status Indicators
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.
Page 39 9. XUSR connector Provides switch functions for emergency stop (E-Stop) and Manual/Automatic interfaces to external push buttons and other equipment. For example, an external E-Stop can be connected to the XUSR connector. A line E-Stop from other equipment can be connected. A muted safety gate that causes an E-Stop only in Automatic mode is included.
Page 40: Smartcontroller Cx Connectors And Indicators
Chapter 3 - SmartController Operation 13. 24VDC connectors Connect power from a customer-supplied 24VDC power supply to the XDC1 connector (see “Connecting Power” section on page 30 connect a separate cable from the XDC2 connector on the SmartController to the XDC1 connector on the sDIO or sMI6.
Page 41: Front Panel
RIA and ISO standards. Please refer to your robot manual for further details. 4. High Power On/Off Switch & Lamp Controls high power, which is the flow of current to the robot motors. Enabling high power is a two-step process.
Page 42: Configuring The Controller
Refer to row #5 Table 3-3 With this default DIP switch setting, the system will read the configuration data from the CompactFlash. This allows you to set all the configuration options using the CONFIG_C utility in software without changing the physical DIP switches. See the description of the CONFIG_C program in the further information.
Page 43: Adeptwindows Pc Graphical User Interface
NOTE: The default IP address for the controller is located on a label on the bottom side of the controller chassis. AdeptWindows PC Graphical User Interface When using the AdeptWindows graphical user interface, DIP switch SW1 cannot be set to the switch settings shown in row #2 of CAUTION: Ethernet cables to connect the SmartController to an Ethernet network.
Page 44: Auto Boot
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 AUTO boot. SmartController Serial I/O Connectors The SmartController CS has two serial I/O connectors, an RS-232/Term and an RS-422/485 port.
Page 45: Rs-422/485 Connector
NOTE: To configure the port speed and other communications parameters, use the CONFIG_C utility program, the V instruction, or the FSET monitor command. Table 3-5. Serial Connectors and V Controller CS and CX CS and CX CX only CX only RS-422/485 Connector The RS-422/485 connector is a 9-pin DB9 male connector.
Page 46: Installing The User Interface
Chapter 3 - SmartController Operation Installing the User Interface WARNING: 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.
Page 47: Text Interface Using A Pc With Hyperterminal Software
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.
Page 48: Text Interface Using A Terminal
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.
Page 49: Connecting Customer-Supplied Safety And Power Control Equipment
Connecting Customer-Supplied Safety and Power Control Equipment 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.
Page 50: Table 3-8. Contacts Provided By The Xfp Connector
Pairs Voltage-Free Contacts Provided by Customer Front Panel E-Stop CH 1 2,10 Front Panel E-Stop CH 2 Remote MANUAL/AUTOMATIC switch CH 1. 3,11 MANUAL = Open AUTOMATIC = Closed Remote MANUAL/AUTOMATIC switch CH 2. 4,12 MANUAL = Open AUTOMATIC = Closed...
Page 51: Table 3-9. Remote Mcp Connections On The Xmcp Connector
Connecting Customer-Supplied Safety and Power Control Equipment Table 3-9. Remote MCP Connections on the XMCP Connector Pin XMCP Pin MCP (15-Pin D-Sub) (16-Pin CPC) 2,10 11,12 3,11 14,16 4,12 13,15 Shield Adept SmartController User’s Guide, Rev. E Description MCP E-stop PB CH 1 MCP E-stop PB CH 2 MCP Enable CH 1 (Hold-to-run) MCP Enable CH 2 (Hold-to-run)
Page 52: Figure 3-4. Cat-3 E-Stop Circuit On Xusr And Xfp Connectors
Front Panel XFP-3 XFP-4 XFP-11 XFP-12 Manual/Auto Keyswitch - Manual = Open (|) MCP-4 - Manual => (<250 mm/s) Enable - Auto => 100% Switch 24 V XFP-5 XFP-6 6V, 1.2 W bulb High Front Panel Power On / Off XFP-14 XFP-13 0.24V...
Page 53: Figure 3-5. Non-Cat-3 E-Stop Circuit On Xusr And Xfp Connectors
Enable Front Panel XFP-3 XFP-4 XFP-11 XFP-12 Manual/Auto Keyswitch MCP4 - Manual = Open (|) Enable - Manual => (<250 mm/s) Switch - Auto => 100% Note 1 24 V XFP-5 XFP-6 6V, 1.2 W bulb High Front Panel Power...
Page 54: Emergency Stop Circuits
Chapter 3 - SmartController Operation 24VS "System Power LED" "MANUAL/AUTO" MANUALSRC2 SYSPWRLT MANUALSRC1 2PIN_MINI Figure 3-6. Front Panel Schematic Emergency Stop Circuits The SmartController provides connections for Emergency Stop (E-Stop) circuits on the XUSR and XFP connectors. This gives the SmartController system the ability to duplicate E-Stop functionality from a remote location using voltage-free contacts.
Page 55: User E-Stop Indication - Remote Sensing Of E-Stop
However, safety is maintained because of the speed restriction. CAUTION: If the cell gate must always cause a robot shutdown, do not wire the gate switch into the muted safety gate inputs. Instead, wire the gate switch contacts in series with the user E-Stop inputs.
Page 56: Remote Manual Mode
Manual mode. Certain workcell devices, such as PLCs or conveyors, may need to be turned off when the operating mode switch is set to Manual mode. This is to ensure that the robot controller does not receive commands from devices other than from the MCP, the single point of control.
Page 57: Remote High Power On/Off Control
Panel push button contact. This second contact should be suppressed when in Manual mode (see the note on “Single Point of Control” below). This method allows relocating the push button switch to a more convenient location. Implementation of this method must conform to EN standard recommendations.
Page 58: Remote Mcp Usage
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. •...
Page 59: Xdio Connector
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 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.
Page 60: React Input Signals 1001 To 1012
Chapter 3 - SmartController Operation NOTE: These are examples. Either method can be used on any channel. Adept-Supplied Equipment (equivalent circuit) Signal 1001 Signal 1002 Signal 1003 Signal 1004 Signal 1005 Signal 1006 Signal 1007 Signal 1008 Signal 1009 Signal 1010 Signal 1011 Signal 1012 Figure 3-7.
Page 61: Output Signals
Output Signals The XDIO connector handles output signals 0001 to 0008. Refer to specifications. The locations of the signals on the connector are shown in 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.
Page 62: Figure 3-8. Digital Output Wiring For Xdio Connector
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. Adept-Supplied Equipment (equivalent circuit) Signal 0001 Signal 0002...
Page 63: Table 3-12. Xdio Digital I/O Connector Pin Assignments
Table 3-12. XDIO Digital I/O Connector Pin Assignments Signal Signal Input 1001 1001 return Input 1002 1002 return Input 1003 1003 return Input 1004 1004 return Input 1005 1005 return Input 1006 1006 return Input 1007 1007 return Input 1008 1008 return Input 1009 1009 return...
Page 64: Digital I/O Connector Ordering Details (Third-Party Sources)
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.
Page 65: Belt Encoder Interface On Smartcontroller Cx
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 input circuit drawing. Adept strongly recommends using differential encoder outputs for maximum noise immunity.
Page 66: Figure 3-9. Belt Encoder Typical Input Circuit
Chapter 3 - SmartController Operation SmartController CX Belt Encoder Connector Typical input circuit, 26LS33 same for A, B, and I for both encoders. Enc. Pwr Enc. Gnd Figure 3-9. Belt Encoder Typical Input Circuit Adept SmartController User’s Guide, Rev. E Encoder Channel 1 2.2K Encoder...
Page 67: Adeptvision Savi Option
AdeptVision sAVI Option 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 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.
Page 68: Pixel Format
Chapter 4 - AdeptVision sAVI Option Pixel Format For backwards compatibility with AdeptVision VXL systems, which use a 7-bit approach (reserving the high bit for binary images), AdeptVision sAVI supports 7-bit images and computes binary data from the grayscale pixel values. AdeptVision sAVI Inspection System Limitations The AdeptVision sAVI Inspection stand-alone machine vision system is installed in the SmartController CX and includes the AIM VisionWare application for programming and...
Page 69: Cameras Supported
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. •...
Page 70: Camera Cables
10 meter cable for this purpose. These cables can also be purchased from Intercon 1. Contact Adept Applications Support for current Intercon 1 part numbers. You can contact Intercon 1 (division of Nortech Systems) at: Phone: 800-237-9576 or 218-765-3329 http://www.nortechsys.com/intercon...
Page 71: Four-Camera Breakout Cable For Rs-170 Cameras
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.
Page 72: Installing Camera Cables
Chapter 4 - AdeptVision sAVI Option 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 User’s Guide for information on mounting cameras and strobes in your system. CAUTION: removing a camera or cable.
Page 73: Figure 4-3. Camera Cable Installation Drawing (Rs-170)
SmartServo IEEE-1394 1 2 3 4 XDIO Four-Camera Breakout Cable Strobe/Power Connector Up to Two Optional Strobe Lamps User 12VDC Power Supply to Drive Cameras Figure 4-3. Camera Cable Installation Drawing (RS-170) Adept SmartController User’s Guide, Rev. E CAMERA RS-232/TERM Device Net Eth 10/100 BELT ENCODER...
Page 74: Camera Cable Pin And Signal Information
Chapter 4 - AdeptVision sAVI Option 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. •...
Page 75: Table 4-1. Breakout Cable Camera Connector Pin Assignments (Rs-170)
Table 4-1. Breakout Cable Camera Connector Pin Assignments (RS-170) Function Power return +12V power Shield (video) Video Shield (Hd) Hd (horizontal drive) Vd (vertical drive) Shield (Clock) Clock not connected not connected Shield (Vd) 12-Pin Hirose Female Jack, HR10A-10J-12S This connector will normally be connected to the camera using a 10-meter camera extension cable. For special applications, this connector will mate with a Hirose Male Plug HR10A-10P-12P (user-supplied) or similar plug.
Page 76: Table 4-2. Standard Breakout Cable Strobe And Power Connector Pin Assignments
Chapter 4 - AdeptVision sAVI Option Table 4-2. Standard Breakout Cable Strobe and Power Connector Pin Assignments Function User +12 VDC to cameras User power return (Gnd) Strobe 1 Strobe return (Gnd) Strobe 2 Reserved Reserved Reserved Shield (chassis ground) 9-Pin D-Sub Female Receptacle Adept SmartController User’s Guide, Rev.
Page 77: Figure 4-4. Pin Locations For Camera Cable Connector (12-Pin Hirose Male)
Table 4-3. Adept 10-Meter Camera Cable Pin Assignments Pin # at controller end (male) Function Power return +12V power Shield (video) Video Shield (Hd) Hd (horizontal drive) Vd (vertical drive) Shield (Clock) Pixel clock not used not used Shield (Vd) •...
Page 78: Table 4-4. Two-Camera Breakout Cable Pin Assignments
Chapter 4 - AdeptVision sAVI Option Table 4-4. Two-Camera Breakout Cable Pin Assignments From: Note that this cable provides 12VDC (fused 1A max) to the cameras from the Adept controller. The fuse is not user replaceable. If the total current required by the two cameras exceeds 1A, this cable should not be used.
Page 79: Table 4-5. Four-Camera Breakout Cable Pin Assignments
Table 4-5. Four-Camera Breakout Cable Pin Assignments From: Str/Pwr CAM1 Str/Pwr CAM1 CAM1 CAM1 CAM1 CAM1 CAM1 CAM1 CAM1 CAM1 CAM1 CAM1 Str/Pwr CAM2 Str/Pwr CAM2 CAM2 CAM2 CAM2 CAM2 CAM2 CAM2 CAM2 CAM2 CAM2 CAM2 Str/Pwr CAM3 Str/Pwr CAM3 CAM3 CAM3 CAM3...
Page 80 Chapter 4 - AdeptVision sAVI Option Table 4-5. Four-Camera Breakout Cable Pin Assignments (Continued) From: Note that this cable provides user-supplied 12VDC to the cameras obtained from the Strobe and Power connector. Adept SmartController User’s Guide, Rev. E Function CAM4 Video CAM4 Shield (Hd)
Page 81: Table 4-6. Four-Camera Breakout Cable Pin Assignments
Table 4-6. Four-Camera Breakout Cable Pin Assignments From: Str/Pwr CAM1 Str/Pwr CAM2 Str/Pwr CAM3 Str/Pwr CAM4 Str/Pwr CAM1 Str/Pwr CAM2 Str/Pwr CAM3 Str/Pwr CAM4 Str/Pwr Str/Pwr Str/Pwr Str/Pwr CAM1 CAM3 CAM4 CAM4 CAM4 CAM4 CAM3 CAM2 CAM2 CAM1 Str/Pwr CAM2 CAM4 CAM4 CAM3...
Page 82 Chapter 4 - AdeptVision sAVI Option Table 4-6. Four-Camera Breakout Cable Pin Assignments (Continued) From: CAM1 CAM1 CAM1 CAM1 CAM1 Str/Pwr Str/Pwr CAM1 CAM2 CAM3 Note that this cable provides user-supplied 12V dc to the cameras obtained from the Strobe and Power connector, not from the Adept controller. Adept SmartController User’s Guide, Rev.
Page 83: Savi Board Specifications
sAVI Board Specifications Table 4-7. Technical Specifications Electrical Power Consumption Voltage Avg Current +3.3 V +12 V 0.08* -12 V 0.06 *assumes no current drawn from +12 V pins of DB44 connector Specifications subject to change. Adept SmartController User’s Guide, Rev. E sAVI Board Specifications Avg Power Max Current...
Page 84 Chapter 4 - AdeptVision sAVI Option Adept SmartController User’s Guide, Rev. E...
Page 85: Smartcontroller Maintenance
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.
Page 86: Figure 5-1. Lamp Body Contact Alignment
Chapter 5 - SmartController Maintenance Back side of front cover High Power On/Off Lamp Body Figure 5-1. Lamp Body Contact Alignment Adept SmartController User’s Guide, Rev. E Wires between LED and body of Front Panel. Be careful when separating front cover from body to avoid damaging the wires.
Page 87: Technical Specifications
Technical Specifications This chapter shows the dimensions of the SmartController, sDIO, Adept Front Panel, and MCP. SmartController Dimensions This section shows the dimensions of the SmartController. The dimensions for the CS and CX models are the same. IEEE-1394 1 2 3 4 86.0 XDIO 186.5...
Page 88: Sdio Dimensions
Chapter 6 - Technical Specifications sDIO Dimensions This section shows the dimensions of the sDIO module. IEEE-1394 LINK 186.5 Ground Connection Point Adept SmartController User’s Guide, Rev. E 328.9 Figure 6-2. sDIO Dimensions *S/N 3563-XXXXX* XDC1 XDC2 41.6 0.5A...
Page 89: Adept Front Panel Dimensions
Adept Front Panel Dimensions Adept Front Panel Dimensions 152.4 38.7 STOP 55.9 88.9 16.5 13.1 129.5 Figure 6-3. Adept Front Panel Dimensions Adept SmartController User’s Guide, Rev. E...
Page 90: Figure 6-4. Adept Front Panel Back View
Chapter 6 - Technical Specifications 4X M4 x 18MM 76.2 139.7 Figure 6-4. Adept Front Panel Back View Adept SmartController User’s Guide, Rev. E...
Page 91: Adept Mcp Dimensions
(4.50 in.) EDIT DISP USER SLOW 103.12 mm (4.06 in.) Ð 52.07 mm (2.05 in.) 5.84 mm (0.23 in.) Switch Depressed Adept SmartController User’s Guide, Rev. E 221.74 mm (8.74 in.) 184.15 mm (7.26 in.) EDIT DISP WORLD TOOL JOINT...
Page 92: Figure 6-6. Mcp Cradle Dimensions
Chapter 6 - Technical Specifications 10.2 mm (0.40 in.) (4 X) 28.7 mm (1.13 in.) (2 X) 271.5 mm (10.69 in.) 203.2 mm (8.0 in.) (2 X) Figure 6-6. MCP Cradle Dimensions Adept SmartController User’s Guide, Rev. E 201 mm (7.91 in.) 221 mm (8.70 in.)
Page 93: Sdio Module
The sDIO expansion module provides 32 optically isolated digital inputs and 32 optically isolated outputs and also includes an IEEE 1394 interface. A.1 Mounting the sDIO The following mounting options are available for the sDIO: • Rack mounting • Panel mounting •...
Page 94: Rack 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 must be ordered separately, they do not come with the SDIO. 190.0 2X 40356-00003 R 3.6...
Page 95: Panel 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 186.5 14.0 273.9 27.6 4X M3 x 6MM 10.0 16.0 346.4 359.6 Figure A-3.
Page 96: Stack Mounting
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 4X 40356-00001 29.5 120.9 24.9 378.7 Figure A-4.
Page 97: A.3 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: before plugging in or unplugging any IEEE-1394 cables to SmartServo IEEE-1394 connectors.
Page 98: Modifying The Default Sdio Configuration
Appendix A - sDIO Module Modifying the Default sDIO Configuration 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 manual for instruction on loading and executing this utility.
Page 99: Assigning I/O Signal Numbers
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.
Page 100 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 6 - Change DIGITAL_OUTPUT configuration Then, press ENTER to continue. 5.
Page 101: Sdio Signal Mapping Example 1
sDIO Signal Mapping Example 1 The following example shows the mapping of SIGNAL 1065 to Input_Block 17 and Input_Byte 1. Add a new statement (Y/N)? POS_LATCH VIS_TRIGGER SIGNAL Enter number of keyword for new statement: SIGNAL /INPUT_BLOCK /INPUT_BYTE /IO_OPTIONAL SIGNAL 1065 = "/INPUT_BLOCK 17/INPUT_BYTE 1 /IO_OPTIONAL NO" sDIO Signal Mapping Example 2 This example shows a sample configuration of the Input signals for two sDIO modules.
Page 102: A.4 Using Multiple Sdio Modules
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.
Page 103: Configuring A System With An Sdio And A Rio
Configuring a System with an sDIO and a RIO When a system contains an sDIO module and a RIO, you must use the 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.
Page 104: A.6 Sdio Digital I/O Signals
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 inputs are similar to the XDIO inputs, but have a different wiring configuration.
Page 105: Figure A-7. Typical Sdio Input Wiring
Adept-Supplied Equipment sDIO Module (equivalent circuit) Signal 1033 Signal 1034 Signal 1035 Signal 1036 Signal 1037 Signal 1038 Signal 1039 Signal 1040 Group 1 Return Group 1 Return Signal 1041 Signal 1042 Signal 1043 Signal 1044 Signal 1045 Signal 1046 Signal 1047 Signal 1048 Group 2 Return...
Page 106: Sdio Outputs
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.
Page 107: Sdio Output Power Supply Current Selection
Table A-3. sDIO Chassis LEDs Illumination Upper LED (LINK) None No IEEE 1394 link Blinking Green Not Applicable Solid Green IEEE 1394 link good Blinking Red Not Applicable Solid Red Not Applicable A diagnostic software indicator is not available for the XDIO outputs. In a short circuit condition, the XDIO outputs will simply fold back, supplying the maximum short circuit current to the output pin.
Page 108: Table A-4. Sdio Output Circuit Specifications
Appendix A - sDIO Module Table A-4. sDIO Output Circuit Specifications Parameter Power supply voltage range Under voltage shutdown Power supply ground current Operational current range, per channel On state resistance (I Output leakage current Turn on response time Turn off response time Output voltage at inductive load turnoff (I = 0.5A, Load = 1 mH)
Page 109: Figure A-8. Typical Sdio Output Wiring
Adept-Supplied Equipment Smart-DIO Group 1 Power Pins (see text) Group 1 Return Group 1 Test Signal 0033 (equivalent Signal 0034 circuit) 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...
Page 110: Optional Dio Cables
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.
Page 111: Input And Output Cable Wiring Information
Input and Output Cable Wiring Information The pinouts, signal names, and wire color information for the input and output cables are shown in the next four tables. Table A-5. X3 Input Cable Pin Assignments Signal Signal Number Group X3–15 1033 X3–6 1034 X3–16...
Page 112: Table A-6. X4 Input Cable Pin Assignments
Appendix A - sDIO Module Table A-6. X4 Input Cable Pin Assignments Signal Number Group Signal X4–15 1049 X4–6 1050 X4–16 1051 X4–7 1052 X4–17 1053 X4–8 1054 X4–18 1055 X4–9 1056 X4–25 group 3 return X4–26 group 3 return X4–10 1057 X4–1...
Page 113: Table A-7. X1 Output Cable Pin Assignments
Table A-7. X1 Output Cable Pin Assignments Group Signal name Number Number X1–30 0033 X1–15 0034 X1–14 0035 X1–13 0036 X1–12 0037 X1–11 0038 X1–10 0039 X1–9 0040 X1–25 power X1–26 power X1–38 power X1–39 power X1–40 power X1–41 power X1–42 power X1–43...
Page 114: Table A-8. X2 Output Cable Pin Assignments
Appendix A - sDIO Module Table A-8. X2 Output Cable Pin Assignments Group Signal Name Number Number X2–30 X2–15 X2–14 X2–13 X2–12 X2–11 X2–10 X2–9 X2–25 power X2–26 power X2–38 power X2–39 power X2–40 power X2–41 power X2–42 power X2–43 power X2–44 power...
Page 115: Adept Devicenet
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. DeviceNet Specifications Adept Technology is a member of the Open DeviceNet Vendor Association (ODVA), which is independently run and operated and not directly associated with any one company.
Page 116: Limitations Of The Adept Devicenet Scanner
Appendix B - Adept DeviceNet 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: •...
Page 117: Connecting Devicenet Hardware To The Adept Devicenet Scanner
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 program.
Page 118: Figure B-1. Trunklines And Droplines Made Of Thick And Thin Cable
Appendix B - Adept DeviceNet Multiple Node Node Branching Drop Line Node Node Terminating Resistor Node Node Zero Length Drop Line Figure B-1. Trunklines and Droplines Made of Thick and Thin Cable DeviceNet allows devices to be powered directly from the bus, and devices can use the same cable to communicate with other devices on the bus.
Page 119: Table B-2. Features Of A Devicenet Network
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 250 Kbps 500 Kbps Data Packets 0-8 bytes Bus Topology Linear (trunkline/dropline);...
Page 120: Figure B-2. Devicenet Thick Cable
Appendix B - Adept DeviceNet External Jacket Aluminum/Mylar Shield Over Each Pair 18 AWG 19 x 30 Tinned Copper-Stranded Drain Wire Figure B-2. DeviceNet Thick Cable External Jacket Overall Non-Hydroscopic Wrap Aluminum/Mylar Shield Over Each Pair 18 AWG 19 x 30 Tinned Copper-Stranded Drain Wire Figure B-3.
Page 121: Devicenet Connectors
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 for more details. Table B-4 Unsealed Screw...
Page 122: Power Supply And The Devicenet Bus
Appendix B - Adept DeviceNet 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: •...
Page 123: Table B-5. Maximum Current On A Dropline Relative To Its Length
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.
Page 124: Figure B-6. Devicenet Connector Pinouts
Appendix B - Adept DeviceNet Micro-Style Connector LEGEND: 1 Drain 2 V+ 3 V- 4 CAN_H (white) 5 CAN_L (blue) Figure B-6. DeviceNet Connector Pinouts Adept SmartController User’s Guide, Rev. E (VIEWED FROM CONTACT END) Male Connector (pins) Female Connector (sockets) (bare) (red) (black)
Page 125: Using The Manual Control Pendant (Mcp)
When a CAT-3 SmartController system is operating in Auto Mode, the Enable Switch on the MCP has no effect on the operation. This means in the Auto mode, the Enable switch does not have to be pressed to enable High Power, and releasing the Enable switch while running will not turn off High Power.
Page 126: 126
The 3-position enable switch on the MCP-4 works as follows (see Position 1 - switch is not pressed, high power cannot be enabled. (Switch is open.) Position 2 - switch is pressed in to the middle position, high power can be enabled. (Switch is closed.) Position 3 - switch is pressed in past the middle position, high power is removed.
Page 127: 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.
Page 128: Figure C-2. Holding The Mcp
Appendix C - Using the Manual Control Pendant (MCP) EDIT Depress the palm-activated enabling switch Figure C-3. Cradling the MCP Adept SmartController User’s Guide, Rev. E PROG DISP USER WORLD TOOL JOINT FREE MAIN HALT COMP HOLD SLOW DONE –...
Page 129: Connecting The Mcp
• For an MCP-4, install the MCP adapter cable between the MCP and the controller. The dongle is not required for the MCP-4. The pendant emergency stop switch and the palm-activated enabling switch are wired into the emergency stop circuitry. Therefore, either the pendant or the optional pendant jumper plug must be attached to this connector.
Page 130: Mcp Layout
Display (LCD) User LED EDIT Speed Bars MCP Enable Switch Programmable Function Buttons Soft Buttons The soft buttons have different functions depending on the application program being run, or the selection made from the predefined function buttons. Whenever a soft button is active, its function is shown on the bottom line of the pendant display.
Page 131: Data Entry Buttons
Emergency Stop From the MCP To immediately halt program execution and turn off High Power, press the emergency stop switch on the MCP. This switch has the same effect as pressing the emergency stop switch on the Front Panel. Adept SmartController User’s Guide, Rev. E...
Page 132: Re-Enabling Power After Enable Switch Released
When the system is operating in Automatic Mode and you release the Enable switch (or go to position 3 in the 3-position switch), the system turns off the same as an E-stop condition. To re-enable high power you must follow the steps from the previous section.
Page 133: Background Mode
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.
Page 134: The Edit Function
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 Figure C-7. EDIT Function Button REAL Press the REAL soft button and the LCD displays: SELECT REAL VARIABLE TO EDIT var1 var2...
Page 135: The Display Function
Press the soft button under the variable name to edit that variable. The <MORE> soft button is shown only when there are more than five global location variables in system memory. When a variable has been selected, the LCD will show: loc.name: X = 500 CHANGE NEXT...
Page 136 Appendix C - Using the Manual Control Pendant (MCP) Joint Values When this button is pressed, the display shows: J1 = x.xx J2 = x.xx J4 = x.xx J5 = 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.
Page 137: The Clear Error Function
The Clear Error Function If the MCP is in the Manual position, or the system switch MCP.MESSAGES is enabled, error messages are sent to the MCP. When an error is sent to the MCP, the MCP will beep,...
Page 138: Figure C-10. Command (Cmd) Function Button
Appendix C - Using the Manual Control Pendant (MCP) AUTO START EDIT 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.
Page 139: Prog Set Function
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”.
Page 140: C.3 Moving A Robot Or Motion Device With The Mcp
“freed” from servo control so they can be moved by hand. Mode Control Buttons The mode control buttons, switch control of the robot between the MCP and application programs, and enable High Power (when necessary). Figure C-12. Mode Control Buttons Adept SmartController User’s Guide, Rev. E...
Page 141: Emergency Stop Switch
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.
Page 142: 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.
Page 143: In Comp Mode
In Comp Mode See the description of the Step Button on Fast Slow 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.
Page 144: Tool State
Appendix C - Using the Manual Control Pendant (MCP) Figure C-14. WORLD State (Four-Axis SCARA) The T 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.
Page 145: Figure C-15. Tool State (Four-Axis Scara)
NOTE: Figure C-15 Figure C-16 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.
Page 146: Figure C-16. Tool State (Six-Axis Robot)
Appendix C - Using the Manual Control Pendant (MCP) Figure C-16. TOOL State (Six-Axis Robot) Adept SmartController User’s Guide, Rev. E Rotation about TOOL X axis Rotation about TOOL Y axis Rotation about TOOL Z axis Gripper STEP...
Page 147: Joint State
Joint State When joint state is selected, movement is about the axis of the specified joint. 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.
Page 148: Free State
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). 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.
Page 149: Controlling More Than One Robot
WARNING: 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.
Page 150: Robots With Fewer Than Six Joints
Appendix C - Using the Manual Control Pendant (MCP) Table C-2. Controlling More Than One Robot DEV LED state FLASHING 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.
Page 151: Index
CX, description CAT-3 SmartController change in SmartModule systems description E-Stop diagram identification MCP Enable switch function change changing the lamp on the High Power indicator Clear Error button on MCP Clear Error function Adept SmartController User’s Guide, Rev. E...
Page 152 (1001 to 1004) free state, on MCP Front Panel connectors and indicators safety features function buttons, on MCP High Power On/Off Switch, on Front Panel How Can I Get Help? HyperTerminal software, for serial connection IEEE 1.1 and 1.2 connectors on CX,...
Page 153 remote Manual Mode control remote MCP connections on XMCP connector remote sensing of user E-Stop switches robot location displaying robot states in manual mode free joint tool world Robotic Industries Association robotic safety RS-232 and RS-485 connectors, description RS-232 connectors with V+ designations RS-232/Term connector pin assignments RS-232-1 and RS-232-2 connectors, description...
Page 154 Index V+ Extensions License, for Belt Encoder function viewing angle LCD panel, on MCP vision option, see sAVI option XDC1/XDC2 24VDC connectors, description XDIO connector description digital output wiring functions 59–64 input signals output signals XFP connector on Front Panel, description XFP connector, on SmartController contacts description...
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This manual is also suitable for:

Adept xsys Adept xusr Adept rs-422/485 Smartcontroller cs Smartcontroller cx Sdio

adept technology Adept RS-232/TERM User Manual

1 Introduction

2 Smartcontroller Installation

3 Smartcontroller Operation

4 Adeptvision Savi Option

5 Smartcontroller Maintenance

6 Technical Specifications

Sdio Module

A.1 Mounting the Sdio

A.2 Installing the Sdio

A.3 Configuring a Single Sdio

A.4 Using Multiple Sdio Modules

A.5 Sdio Module Connectors and Indicators

A.6 Sdio Digital I/O Signals

Adept Devicenet

Devicenet Specifications

Limitations of the Adept Devicenet Scanner

Adept Supplied Devicenet Hardware

Devicenet Physical Layer and Media

Using the Manual Control pendant (MCP)

C.1 Manual Control pendant Basics

C.2 MCP Predefined Functions

C.3 Moving a Robot or Motion Device with the MCP

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