Seji Amplifier Module; Figure 5-4. Seji Module Connectors And Indicators - adept technology PA-4 Series User Manual

Chapter 5 - Installation for AdeptOne Robots
5.4

sEJI Amplifier Module

The amplifiers in the AdeptOne robot system are controlled by an sEJI (Smart Enhanced
Joint Interface) distributed-control module. The sEJI module resides in the PA-4 chassis
and contains a RISC microprocessor and interface circuitry that close the servo loops for
high-performance robot motion. The sEJI is connected to a host Adept SmartController
via the SmartServo interface (based on IEEE 1394).
EJI
s
CAUTION
HIGH STATUS
VOLTAGE
INSIDE
1
2
SmartServo
2
T
E
A
C
H
4
R
E
S
T
R
I
C
T
A
M
P
L
I
F
I
6
E
R
S
I
G
N
A
L
A
R
M
8
S
I
G
N
A
L

Figure 5-4. sEJI Module Connectors and Indicators

46 Adept PA-4 Power Chassis User's Guide, Rev E
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1. Status panel: displays alpha-numeric codes that
indicate the operating status of the robot, including
detailed fault codes. See
definitions of the status codes. These codes provide
details for quickly isolating problems during
troubleshooting.
1
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
R
3
S
2
command and control signals between the sEJI and the
3
2
SmartController.
3. RS-232 connector: reserved for future use.
E
X
5
P
I
4. Teach Restrict connector: used for optional CAT-3
O
safety installations. When used, the Teach
Restrict-to-B+ Amp cable is installed on this connector.
X
7
S
L
V 5. EXPIO (EXPansion I/O) connector: this is the interface
to external IO devices, such as the IO Blox.
6. Amplifier Signal connector: install the large single
plug of the sEJI-to-Amp interface cable on this
connector to connect the amps to the sEJI servo
module.
7. XSLV connector: interfaces to the XSYS connector on a
SmartController. The connection provides an interface
S
E
C
to connect the E-Stop safety functionality of the amps,
U
R
I
9
PA-4, and sEJI to the Adept SmartController robot
T
Y
safety system. Must be connected to allow all powered
P
A
N
E robot operations.
L
8. Arm Signal connector: install the large arm signal
cable on this connector to bring the robot encoder
signals into the sEJI servo system.
9. Security Panel connector: used for optional CAT-3
safety installations.
Table 3-2 on page 33 for