adept technology Adept XUSR Manuals

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adept technology Adept XUSR User Manual (156 pages)

Nortech Systems SmartController User's Guide

Brand: adept technology | Category: Controller | Size: 3.85 MB

Table of Contents
5
1 Introduction

15
- Product Description
  15
  - Adept Smartcontroller CS
    15
  - Adept Smartcontroller CX
    15
  - Sdio Expansion Module
    15
- How Can I Get Help
  16
  - Related Manuals
    16
  - Adept Document Library
    16
  - Table 1-1. Related Manuals
    16
- Warnings, Cautions, and Notes
  17
- Safety
  17
- Standards Compliance
  20
- CAT-3 Version of Smartcontroller
  21
2 Smartcontroller Installation

23
3 Smartcontroller Operation

37
4 Adeptvision Savi Option

67
5 Smartcontroller Maintenance

85
- Changing the Lamp in the High Power Indicator
  85
- Figure 5-1. Lamp Body Contact Alignment
  86
6 Technical Specifications

87
Sdio Module

93
- A.1 Mounting the Sdio
  
  93
  - Figure A-1. Sdio Module
    93
    
    Figure A-2. Rack Mounting the Sdio
    94
    
    Rack Mounting the Sdio
    94
    
    Figure A-3. Panel Mounting the Sdio
    95
    
    Panel Mounting the Sdio
    95
    
    Stack Mounting
    96
- A.2 Installing the Sdio
  
  96
  - Figure A-4. Table Mounting the Sdio
    96
- A.3 Configuring a Single Sdio
  
  97
  - Default Sdio I/O Configuration
    97
  - Table A-1. Default I/O Configuration for Sdio
    97
    
    Assigning Sdio Signal Blocks
    98
    
    Modifying the Default Sdio Configuration
    98
    
    Assigning I/O Signal Numbers
    99
    
    Sdio Signal Mapping Example 1
    101
    
    Sdio Signal Mapping Example 2
    101
- A.4 Using Multiple Sdio Modules
  
  102
  - Figure A-5. Using Multiple Sdio Modules
    102
    
    Configuring a System with an Sdio and a RIO
    103
- A.5 Sdio Module Connectors and Indicators
  
  103
  - Figure A-6. Sdio
    103
- A.6 Sdio Digital I/O Signals
  
  104
  - Sdio Inputs
    104
  - Table A-2. Sdio Input Specifications
    104
    
    Figure A-7. Typical Sdio Input Wiring
    105
    
    Sdio Leds
    106
    
    Sdio Outputs
    106
    
    Testing Sdio Outputs
    106
    
    Sdio Output Power Supply Current Selection
    107
  - Table A-3. Sdio Chassis Leds
    107
  - Table A-4. Sdio Output Circuit Specifications
    108
    
    Figure A-8. Typical Sdio Output Wiring
    109
    
    Labeling Cables
    110
    
    Optional DIO Cables
    110
    
    Input and Output Cable Wiring Information
    111
  - Table A-5. X3 Input Cable Pin Assignments
    111
  - Table A-6. X4 Input Cable Pin Assignments
    112
  - Table A-7. X1 Output Cable Pin Assignments
    113
  - Table A-8. X2 Output Cable Pin Assignments
    114
Adept Devicenet

115
Using the Manual Control pendant (MCP)

125
- C.1 Manual Control pendant Basics
  
  125
  - MCP Enable Switch Function on CAT-3 Smartcontroller
    125
  - Mcp III
    125
  - 126
    126
    
    3-Position Enable Switch
    126
    
    Figure C-1. 3-Position Enable Switch on MCP-4
    126
    
    MCP-4 Compatibility
    127
  - Table C-1. MCP-4 Compatibility Guidelines
    127
    
    Figure C-2. Holding the MCP
    128
    
    Figure C-3. Cradling the MCP
    128
    
    Connecting the MCP
    129
    
    Figure C-4. MCP Layout
    130
    
    Function Buttons
    130
    
    MCP Layout
    130
    
    Soft Buttons
    130
    
    Data Entry Buttons
    131
    
    Emergency Stop from the MCP
    131
    
    Figure C-5. Data Entry Buttons
    131
    
    Mode Control and Joint/Axis Control Buttons
    131
    
    Speed Bars and Slow Button
    131
    
    In Automatic Mode
    132
    
    In Manual Mode
    132
    
    Re-Enabling Power after Enable Switch Released
    132
    
    Background Mode
    133
- C.2 MCP Predefined Functions
  
  133
  - Figure C-6. MCP Predefined Function Buttons
    133
    
    Figure C-7. EDIT Function Button
    134
    
    The Edit Function
    134
    
    Figure C-8. DISPLAY Function Button
    135
    
    The Display Function
    135
    
    Figure C-9. CLEAR ERROR Function Button
    137
    
    The Clear Error Function
    137
    
    The CMD Function
    137
    
    Figure C-10. Command (CMD) Function Button
    138
    
    Figure C-11. Program Set Function Button
    139
    
    Prog Set Function
    139
  - Introduction
    133
  - Predefined Function Buttons
    133
- C.3 Moving a Robot or Motion Device with the MCP
  
  140
  - Introduction
    140
  - Mode Control Buttons
    140
    
    Figure C-12. Mode Control Buttons
    140
    
    COMP/PWR Button
    141
    
    Emergency Stop Switch
    141
    
    MAN/HALT Button
    141
    
    DIS PWR Button
    142
    
    Run/Hold
    142
  - Joint/Axis Control Buttons
    142
    
    STEP Button
    142
  - Speed Bars
    142
    
    In World, Tool, and Joint Mode
    142
    
    In Comp Mode
    143
  - Slow Button
    143
  - Robot States
    143
    
    Figure C-13. Speed Bars
    143
    
    World State
    143
    
    Figure C-14. WORLD State (Four-Axis SCARA)
    144
    
    Tool State
    144
    
    Figure C-15. TOOL State (Four-Axis SCARA)
    145
    
    Figure C-16. TOOL State (Six-Axis Robot)
    146
    
    Figure C-17. JOINT State (Four-Axis SCARA)
    147
    
    Joint State
    147
    
    Figure C-18. JOINT State (Six-Axis Robot)
    148
    
    Free State
    148
  - Controlling more than One Robot
    149
    
    Figure C-19. FREE State (Four-Axis SCARA)
    149
    
    Robots with Fewer than Six Joints
    150
    
    Robots with more than Six Joints
    150
Index

151

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adept technology Adept XUSR User Manual (156 pages)

Table of Contents

1 Introduction

2 Smartcontroller Installation

3 Smartcontroller Operation

4 Adeptvision Savi Option

5 Smartcontroller Maintenance

6 Technical Specifications

Sdio Module

A.1 Mounting the Sdio

A.2 Installing the Sdio

A.3 Configuring a Single Sdio

A.4 Using Multiple Sdio Modules

A.5 Sdio Module Connectors and Indicators

A.6 Sdio Digital I/O Signals

Adept Devicenet

Devicenet Specifications

Limitations of the Adept Devicenet Scanner

Adept Supplied Devicenet Hardware

Devicenet Physical Layer and Media

Using the Manual Control pendant (MCP)

C.1 Manual Control pendant Basics

C.2 MCP Predefined Functions

C.3 Moving a Robot or Motion Device with the MCP

Index

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