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5.3
Connecting Digital I/O to the System
You can connect digital I/O to the system in several different ways. See
Figure
5-2.
Product
XDIO Connector on
SmartController
Optional IO Blox Device,
connects to sDAI in PA-4
Optional sDIO Module,
connects to controller
AdeptViper s650/s850
Robot
IO Blox #1
8 Input signals: 1113 to 1120
8 Output signals: 0105 to 0112
Adept PA-4
J AMP
J AMP
J AMP
s
DAI
CAUTION
HIGH
VOLTAGE
INSIDE
B
R
A
DO NOT REMOVE OR INSTALL THIS
DO NOT REMOVE OR INSTALL THIS
DO NOT REMOVE OR INSTALL THIS
K
MODULE UNLESS HIGH VOLTS LED
MODULE UNLESS HIGH VOLTS LED
MODULE UNLESS HIGH VOLTS LED
STATUS
IS COMPLETELY DISTINGUISHED
IS COMPLETELY DISTINGUISHED
IS COMPLETELY DISTINGUISHED
E
HIGH VOLTS ON
HIGH VOLTS ON
HIGH VOLTS ON
PWM ON
PWM ON
PWM ON
LOW VOLTS ON
LOW VOLTS ON
LOW VOLTS ON
1
R
OPEN CKT FAULT
OPEN CKT FAULT
OPEN CKT FAULT
S
HV SAG/OVER TEMP FAULT
HV SAG/OVER TEMP FAULT
HV SAG/OVER TEMP FAULT
SmartServo
2
3
SHORT FAULT
SHORT FAULT
SHORT FAULT
2
2
CH1
CH2
CH1
CH2
CH1
CH2
E
X
A
A
A
P
M
M
M
I
P
P
P
L
L
L
O
I
I
I
F
F
F
To EXPIO
I
I
I
E
E
E
R
R
R
C
C
C
O
O
O
N
N
N
X
T
T
T
R
R
R
S
O
O
O
L
L
L
L
V
on sDAI
C
C
N
N
P
P
G
G
1
4
2
5
3
6
CH1
CH2
CH1
CH2
CH1
CH2
M
M
M
O
O
O
T
T
T
O
O
O
R
R
R
P
P
P
O
O
O
W
W
W
C
N
E
E
E
R
R
R
2
O
O
O
5
U
U
U
T
T
T
P
P
P
U
U
U
C
T
T
T
N
2
9
adept
technology, inc.
Figure 5-2. Connecting Digital I/O to the System
AdeptViper s650/s850 Robot User's Guide, Rev A
Table 5-1. Digital I/O Connection Options
I/O Capacity
12 inputs
8 outputs
8 inputs, 8 outputs per device; up
to four IO Blox devices per robot
32 inputs, 32 outputs per module;
up to four sDIO per system
Optional
IO Blox Device
Optional
sDIO #1
SmartController
Connecting Digital I/O to the System
For more details
see
Adept SmartController
User's Guide
see
Adept IO Blox User's
Guide
see
Adept SmartController
User's Guide
C N 2 2
AIR 1
AIR 2
C N 2 0
CN20 Connector
For input signals to control
internal robot solenoids
and general user I/O.
Signals can come from
IO Blox device or XDIO
on SmartController.
sDIO #1
32 Input signals: 1033 to 1064
32 Output signals: 0033 to 0064
IEEE-1394
1.1
1.2
X1
X2
X3
R
LINK
OK
SF
CAMERA
RS-232/TERM
R
SmartServo
IEEE-1394
Device Net
Eth 10/100
OK
HPE
LAN
SW1
1.1
1.2
2.1
2.2
BELT ENCODER
RS-232-1
SF
ES
HD
1 2 3 4
ON
OFF
1
2
3
XDIO
XUSR
XSYS
XFP
XDIO Connector
12 Input signals: 1001 to 1012
8 Output signals: 0001 to 0008
Table 5-1
and
*S/N 3563-XXXXX*
X4
XDC1 XDC2
24V
0.5A
- +
- +
*S/N 3562-XXXXX*
RS-422/485
RS-232-2
XMCP
XDC1 XDC2
24V
5A
-+
-+
51
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