Sdai Module; Figure 3-6. Sdai Module Connectors And Indicators - adept technology PA-4 Series User Manual

Chapter 3 - Installation for Adept Viper and Cobra s850 Robots
3.3

sDAI Module

The Adept sDAI module is a single-slot board designed to control the motion axes on an
Adept Viper robot. The sDAI connectors and indicators are described in
s DAI
CAUTION
HIGH
VOLTAGE
INSIDE
B
1 R
A
K
STATUS
E
1
2 R
S
SmartServo 2
3
2
2
E
X
P
I
O
3
X
10
S
L
V
C
C
4
N N
11
P P
G G
4
1
2 5
3 6
5
C
N
2
5
6
C
N
2
9

Figure 3-6. sDAI Module Connectors and Indicators

NOTE: The above descriptions apply to the sDAI (used with the Adept
Viper s650/s850 and Cobra s850 robots), the sDAI 100W (used with the
Adept Viper s1300 robot,) and the sDAI HP (used with the Viper s1700
robot).
32 Adept PA-4 Power Chassis User's Guide, Rev E
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1. Brake connector: connects to the optional brake release box.
The brake release box is used to release the robot brakes
manually via a selector switch for each axis.
2. SmartServo ports 1 and 2: the IEEE-1394 cable from the
SmartServo connector on the SmartController can be
installed in port 1 or 2. This connection relays command and
7
control signals between the sDAI and the SmartController.
3. Amplifier Signal connector: the sDAI-to-Amp interface cable
8
is installed on this connector at the factory. This connector is
covered when shipped and users should not need to access it.
9
4. CNPG123 connector: the CNPG123 plug on the Interface Box
wire harness is installed on this connector. Provides an
interface for the respective joint position encoders.
5. CN25 connector: the CN25 plug on the Interface Box wire
harness is installed on this connector.
6. CN29 connector: the CN29 plug on the Interface Box wire
harness is installed on this connector.
7. Status panel: displays alpha-numeric codes that indicate the
operating status of the robot, including detailed fault codes.
See Table 3-2 on page 33
These codes provide details for quickly isolating problems
during troubleshooting.
8. RS-232 connector: reserved for future use.
9. EXPIO (EXPansion I/O) connector: this is the interface to
external IO devices, such as the IO Blox.
10. XSLV connector: interfaces to the XSYS connector on a
SmartController. The connection provides an interface so that
the sDAI is a slave to the dual-channel emergency stop
circuits of the controller.
11. CNPG456 connector: not used (except on Viper s1700 robot
systems).
Figure
for definitions of the status codes.
3-6.