Location Of The Cip; Connecting The Cip To The Awc - adept technology MV User Manual

Chapter 5

Location of the CIP

The CIP contains features that prevent dangerous motions while an operator is in
the workcell. In order for the installation of the CIP to conform with RIA and
European standards for power control functions, the CIP must be mounted
outside the robot enclosure. Mount the CIP outside the same enclosure as the
controller, or on a separate, protected enclosure. See the
 
<> 3

 



for dimensions of the CIP.

Connecting the CIP to the AWC

The CIP connects to the AWC through the JAWC connector. The AWC to CIP
cable is a 1.8m (6 foot) SCSI-2 50-wire cable with a male Micro D 50-pin shielded
connector on each end. The Micro D connector has two rows of 25 pins spaced at
1.27mm (.050 inches) apart (see '  
( ).
A custom cable, not to exceed 10m (33 feet), may be fabricated. It should be made
to the ANSI SCSI Parallel Interface 2 (SPI-2) standard and should incorporate
twisted pair wires of a minimum of 0.08mm
should be wired so that pin 1 goes to pin 1, pin 2 goes to pin 2, and so on. The
twisted pairs in the cable must be wired to physically opposing contacts in the
connector, that is, the first twisted pair goes to pins 1 and 26, the second to pins 2
and 27 and so on. A shielded Micro D 50 male connector should be used on both
ends. The entire cable must be shielded with a foil and drain wire.
To connect the CIP to the AWC:
1. Turn off the Adept controller power switch, and disconnect main power.
2. Plug one end the CIP interface-panel cable into the CIP connector on the AWC
board. Plug the other end into the SCSI connector (JAWC) on the left side of
the CIP. Be sure the spring latches are engaged.
3. When not using an MCP, install the optional MCP bypass plug into the MCP
connector on the face of the CIP. If an MCP is being used, refer to

6*


#*

  1
4. In order to enable High Power, plugs with appropriate jumpers or contacts
must be attached at the JSIO and JUSER connectors. Jumper plugs are supplied
if these connectors are not used.
94
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
for enclosure requirements and refer to
for more information.
Adept MV Controller User's Guide, Rev. B

Connecting the CIP to the AWC

%  


2
(28 AWG) size. The connectors