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Adept IO Blox
User's Guide
P/N: 04638-000, Rev B
July 2006
3011 Triad Drive • Livermore, CA 94551 • USA • Phone 925.245.3400 • Fax 925.960.0452
Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone 49.231.75.89.40 • Fax 49.231.75.89.450
41, rue du Saule Trapu • 91882 • Massy • France • Phone 33.1.69.19.16.16 • Fax 33.1.69.32.04.62
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Summary of Contents for adept technology IO Blox
- Page 1 Adept IO Blox User’s Guide P/N: 04638-000, Rev B July 2006 3011 Triad Drive • Livermore, CA 94551 • USA • Phone 925.245.3400 • Fax 925.960.0452 Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone 49.231.75.89.40 • Fax 49.231.75.89.450 41, rue du Saule Trapu • 91882 • Massy • France • Phone 33.1.69.19.16.16 • Fax 33.1.69.32.04.62...
- Page 2 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 subject to change without notice and should not be construed as a commitment by Adept Technology, Inc.
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Page 3: Table Of Contents
Address Switch Settings ......... . 10 Installing Multiple IO Blox Devices ....... . . 10 Maximum Number of IO Blox Devices per System . - Page 4 4.1 Using the IO Blox with Adept Robots ....... . .
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Page 5: Introduction
Adept products, including the Cobra i-series and s-series robots, Adept Python Linear Modules, Adept Viper robots, and AdeptOne with sEJI robots. The IO Blox offers 8 inputs and 8 outputs, all optically isolated. You can connect up to four IO Blox devices per robot or MB-10 amp. -
Page 6: Adept Document Library
Refer to the How to Get Help Resource Guide (Adept P/N 00961-00700) for details on getting assistance with your Adept software and hardware. Additionally, you can access information sources on Adept’s corporate web site: http://www.adept.com Adept IO Blox User’s Guide, Rev B... -
Page 7: Installation
Installation Dimensions Tie-Wrap Location (1 of 4) 4.96 5.43 4.47 113.6 1.72 43.8 1.77 Figure 2-1. Adept IO Blox Dimensions Adept IO Blox User’s Guide, Rev B... -
Page 8: General Installation On All Adept Robots
IO Blox-to-robot, 1.6 M 04677-016 IO Blox-to-robot, 3.0 M 04677-030 When you install more than one IO Blox device in a system, they must be connected, or daisy-chained, with the cables listed in Table 2-2. Adept IO Blox User’s Guide, Rev B... -
Page 9: Python Modules Cables Options
The IO Blox kit for Adept Python Modules and Adept Servo Kit systems includes a 24 VDC IO Blox Auxiliary Power cable. This cable can be used to provide 24 VDC power to IO Blox. The part number for this cable is 05668-000. This cable can be trimmed from its original 4 M length to the desired length. -
Page 10: Address Switch Settings
The address select switch must be set to the correct address for the system to function. The default setting for a single IO Blox is for both switches 1 and 2 set to Off. When you add multiple IO Blox devices, each additional device must be set to the correct address. See Table 2-4. -
Page 11: Maximum Number Of Io Blox Devices Per System
IO Blox devices. Maximum Number of IO Blox Devices per System There is a limit of 4 IO Blox devices connected to any single IO Blox-based connector. These connectors include: •... -
Page 12: Mounting On A Din Rail
Chapter 2 - Installation Mounting on a DIN Rail The IO Blox can be mounted on a DIN rail using an optional foot element from Phoenix Contact, p/n 2959434. Adept does not supply this foot element - you can order it from Phoenix Contact or another electronic parts supplier. -
Page 13: Installation On An Adept Cobra I600/I800 Or S600/S800 System
Figure 2-4 Figure 2-5. Up to four IO Blox devices can be mounted on a robot. The user needs to make an adapter plate to go between the external mounting holes on the robot and the bolt flanges on the IO Blox. -
Page 14: Cable Installation
See Figure 2-5. 3. Connect the other end of the cable to the JCBL1 connector on the IO Blox. See Figure 3-1 on page 27 for the location of the JCBL1 connector. NOTE: To install multiple IO Blox devices, see “Installing Multiple IO... -
Page 15: Installation On An Adept Cobra S350 System
Installation on an Adept Cobra s350 System Installation on an Adept Cobra s350 System Mechanical Mounting For Adept Cobra s350 robots, the IO Blox can be mounted on a DIN rail - see “Mounting on a DIN Rail” on page Cable Installation 1. -
Page 16: Installation On An Adept Viper System
PA-4 power chassis. Figure 2-7. IO Blox Cable Connection to sDAI Module 3. Connect the other end of the cable to the JCBL1 connector on the IO Blox. See Figure 3-1 on page 27 for the location of JCBL1. -
Page 17: Installation On An Adeptone With Seji System
Installation on an AdeptOne with sEJI System Installation on an AdeptOne with sEJI System Mechanical Mounting For AdeptOne robots with sEJI, the IO Blox can be mounted on a DIN rail - see “Mounting on a DIN Rail” on page Cable Installation 1. -
Page 18: Installation On An Adept Python Modules System
Cable Installation Up to four IO Blox devices can be connected per MB-10 amp on Python systems. IO Blox can be connected to one MB-10 or two MB-10 amps on a multi-axis system. If connecting to a three-axis or four-axis system, IO Blox can be connected to the first and last MB-10 amps in the system. -
Page 19: Connecting The Auxiliary Power Cable
An IO Blox Auxiliary Power Cable is included in the IO Blox kit for Adept Python Modules to provide 24 VDC user power to IO Blox. A male and female 2-pin plug are attached to one end. One plug connects to the mating 2-pin plug on the 24 VDC cable from the PDU or the 24 VDC cable connecting two MB-10 amps in a multi-axis system. -
Page 20: Finishing Cable Installation
5. Strip 7 mm of insulation from the unterminated end of the IO Blox Auxiliary Power cable and connect the white 24 VDC power wire to the +V terminal on the IO Blox; connect the black ground wire to the G terminal on the IO Blox. See Figure 2.1 on page 7 for the location of the +V and G terminals. -
Page 21: Mechanical Mounting
• Onto a module T-slot • Onto a Z-axis harness enclosure Use the M4x8 mounting screws included in the IO Blox mounting kit to mount the IO Blox. IO Blox can also be mounted on a DIN rail - see “Mounting on a DIN Rail”... -
Page 22: Mounting Onto The End Of An L18 Module
Mounting onto the End of an L18 Module 1. Position the IO Blox on the L18 module end cap; align the two mounting holes on the sides of the IO Blox with the corresponding two holes on the end cap. -
Page 23: Mounting Onto A Module T-Slot
Installation on an Adept Python Modules System Mounting onto a Module T-Slot An IO Blox can be mounted using the T-slots on the modules. Use the M4 square nuts (and M4x8 screws) included in the IO Blox mounting kit to mount onto a T-slot. -
Page 24: Mounting Onto A Two-Axis System
Chapter 2 - Installation Mounting onto a Two-Axis System 1. Mount an IO Blox device to the T-bracket cover on the MB-10 amp. See “Mounting onto an MB-10 Amp” on page 21 for information. 2. Optionally, mount another IO Blox onto the T-bracket cover on the other MB-10 amp. -
Page 25: Mounting Onto A Three-Axis System
Installation on an Adept Python Modules System Mounting onto a Three-Axis System 1. To mount an IO Blox device to the X-axis module, mount the IO Blox to the T-bracket cover on the X-axis MB-10 amp. See “Mounting onto an MB-10 Amp”... - Page 26 Chapter 2 - Installation Adept IO Blox User’s Guide, Rev B...
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Page 27: General Operation
IO Blox, which all run under the V+ operating system. After installing an IO Blox on any type of robot, perform the steps in this chapter. If you have an Adept Cobra i600/i800 robot, refer to... -
Page 28: Connecting To Terminals
Section 3.6 on page 34 more information. JCBL1/2 - 8-pin connectors for connecting to host or to daisy-chain to another IO Blox. These two connectors are interchangeable, either one can be used. ADDR_ SEL Switch - two-position DIP-switch used to select one of four addresses. See... -
Page 29: Connecting Input Signals
Connecting Input Signals Connecting Input Signals The IO Blox has 16 optically isolated digital I/O channels (8 high-side driver outputs with common source and 8 independent inputs). They are wired to terminal blocks located on the IO Blox. See Figure 2-1 on page 7. -
Page 30: Example Input Schematic
I6 (LWR) I7 (UPR) 3.9K PS2805-4 PLC 2 (Sink) I7 (LWR) A (UPR) +24VDC B (LWR) – User Supply I8 (UPR) 3.9K PS2805-4 I8 (LWR) Figure 3-3. Typical User Wiring for Input Signals Adept IO Blox User’s Guide, Rev B... -
Page 31: Connecting Output Signals
Section 2.7 on page 18 for information. The outputs are accessed through a 9 x 2 terminal block on the IO Blox. The upper row of this terminal block starts with the “+V” supply input and continues with the eight output pins. -
Page 32: Output Specifications
Chapter 3 - General Operation Output Specifications Table 3-2. IO Blox Output Circuit Specifications Parameter Value Power supply voltage range 11 VDC ≤ +V ≤ 30 VDC Under voltage shutdown 7 VDC ≤ +V ≤ 10.5 VDC ≤ 35 mA... -
Page 33: Example Output Schematic
OUTPUT 5 channels OUTPUT 6 Load OUTPUT 7 – Status CASE TEMP. OUTPUT 8 DETCTION Load STMicroelectronics – OVRTMP LED AC Motors User AC Power Supply Figure 3-4. Typical User Wiring for Output Signals Adept IO Blox User’s Guide, Rev B... -
Page 34: Io Blox Leds
Chapter 3 - General Operation IO Blox LEDs There are two surface-mount style LEDs on the IO Blox: a green STATUS LED and a red OVRTMP LED. See Table 3-3 for descriptions. Table 3-3. IO Blox LED Condition Descriptions Green STATUS LED... -
Page 35: Custom Length Io Blox Cables
The cables that connect power and communications from the host to the IO Blox and between IO Blox devices can be ordered in a standard set of lengths. If there is a need for a custom length cable, the following information describes the parts and method to build it. - Page 36 Chapter 3 - General Operation Table 3-5. IO Blox Cable Wire List FROM Loc. Wire # Loc. Wire # Color Remarks WHT (BLU) GND (Twist w/ LINE 5) SIO1+ (Twist w/LINE 3) WHT(BRN) SIO1- (Twist w/LINE 2) TX232 (Twist w/LINE 8)
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Page 37: Operation On V+-Based Systems
IO configuration. IO Signal Numbers In a typical Adept robot system that runs under V+, IO signal numbers for the IO Blox are pre-configured at the factory and are ready to use. See Table 4-1, “IO Blox Signal Designations,”... - Page 38 8 Input signals: 1113 to 1120 8 Output signals: 0105 to 0112 Adept Cobra s350 System (robot not shown) Figure 4-2. IO Blox I/O Signals and Cable Connections on Adept Cobra s350 Robot System Adept IO Blox User’s Guide, Rev B...
- Page 39 (robot not shown) Adept PA-4 Power Chassis Figure 4-3. IO Blox I/O Signals and Cable Connections on Adept Viper Robot System IO Blox #1 8 Input signals: 1113 to 1120 8 Output signals: 0105 to 0112 Adept PA-4...
- Page 40 MB-10 MB-10 Amp IO Blox Device Note: MB-10 connectors are located on bottom of amp. Adept Python Module Figure 4-5. IO Blox I/O Signals and Signal Cable Connections on Python Module System Adept IO Blox User’s Guide, Rev B...
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Page 41: Configuring Multiple Robot And Amp Systems
IO Blox #4 - Outputs 0129 to 0136 Configuring Multiple Robot and Amp Systems This section describes how to configure IO Blox devices installed on multiple Adept robots and multiple MB-10 amps on a Python Linear Modules system. After installing IO Blox (see... -
Page 42: Digital I/O Block Configuration
Up to four IO Blox devices can be daisy-chained together per robot or MB-10 amp to give you 32 inputs and 32 outputs per robot or amp. For IO Blox devices installed on a a single robot or MB-10 amp, by default, IO Blox occupy the first four bytes of the third block. For IO Blox devices installed on a second robot or MB-10 amp, by default, IO Blox occupy the first four bytes of the fourth block. -
Page 43: Dc_Setup Configuration
IO Blox on MB-10 amps on a multi-axis Python system. Load and Run DC_SETUP.V2 This section goes through the IO Blox initialization. You map the IO Blox devices to logical blocks (see Figure 4-6 on page 43 for information on the default IO Blox logical blocks). - Page 44 4. Follow the on-screen prompts to map IO Blox to the default logical block. 5. If IO Blox are installed on a second MB-10 amp, repeat the above steps to map the IO Blox installed on this amp to the next default logical block.
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Page 45: Using Config_C To Configure I/O
For example, map input signals for the first IO Blox to 1113-1120, input signals for the second IO Blox to 1121-1128, and so on; map output signals for the first IO Blox to 0105-0112, output signals for the second IO Blox to 0113-0120, and so on (these are the default signals). - Page 46 Figure 4-9. CONFIG_C Menu 2. Select option 2 “V+ System Configuration Data.” The following will be displayed. Figure 4-10. Controller Configuration Editor Menu 3. Select option 2 “EDIT system CONFIGURATION.” The following will be displayed. Adept IO Blox User’s Guide, Rev B...
- Page 47 • Two sDIO modules connected to two robots • XIO connected to two robots • Up to four IO Blox devices (per robot or MB-10 amp) connected to two robots or two amps Adept IO Blox User’s Guide, Rev B...
- Page 48 SIGNAL 153 = "/OUTPUT_BLOCK 4 /OUTPUT_BYTE 2 /IO_OPTIONAL YES" MB-10 #2 SIGNAL 161 = "/OUTPUT_BLOCK 4 /OUTPUT_BYTE 3 /IO_OPTIONAL YES" IO Blox SIGNAL 169 = "/OUTPUT_BLOCK 4 /OUTPUT_BYTE 4 /IO_OPTIONAL YES" Figure 4-12. Sample Configuration File for Digital I/O Adept IO Blox User’s Guide, Rev B...
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Page 49: Operation On Microv+-Based Systems
Using the IO Blox in a Cobra i600/i800 System Configuration IO Blox devices that are connected to the robot will be automatically recognized by the system when the robot is turned on. You can connect (or disconnect) IO Blox devices while the system is turned on, but you must issue a SRV.RESET command to update the... -
Page 50: Io Signal Numbers
Chapter 5 - Operation on MicroV+-Based Systems IO Signal Numbers In a typical Cobra i600/i800 system, the MicroV+ IO signal numbers for the IO Blox are pre-configured at the factory and are ready to use. See Table 5-1. Table 5-1. IO Blox Signal Designations... - Page 52 3011 Triad Drive Livermore, CA 94551 P/N: 04638-000, Rev B 925•245•3400...