adept technology MV-4 Manuals

Manuals and User Guides for adept technology MV-4. We have 1 adept technology MV-4 manual available for free PDF download: User Manual

adept technology MV-4 User Manual

adept technology MV-4 User Manual (404 pages)

Brand: adept technology | Category: Controller | Size: 5.59 MB

Table of Contents

Table of Contents
10
Introduction
26
- How to Use this Manual
  27
  - How to Install and Configure the Adept Controller
    27
  - Related Manuals
    27
  - Other Adept Product Manuals
    28
  - Standard Manuals
    28
  - Developer's Manuals
    29
  - Optional
    29
- What's New in this Version
  29
- Warnings, Cautions, and Notes
  30
- Safety
  31
- Standards Compliance
  34
- How Can I Get Help
  35
Overview
36
- Introduction
  37
  - Adept MV-10 Controller
    37
  - Adept MV-5 Controller
    37
  - The Adept Compact Controller
    38
- Graphical User Interface and Text-Based User Interface
  40
  - Graphical User Interface Options
    40
  - Text-Based Options
    40
- AWC System Processor (68040 or 68060)
  41
- Optional Boards
  41
- Optional Equipment
  44
- Product Descriptions
  46
  - Adeptforce VME
    46
  - Adeptmotion VME
    46
  - Adeptvision
    46
Installation of Adept Controllers
48
Chapter 3 Installing an ASCII Terminal (User Supplied)

67
- Recommended Terminal for Systems Without a VGB or Adeptwindowspc
  67
- Installing a Stand-Alone Controller in a Rack or Panel
  68
  - Space Around the Chassis
    69
  - Rack Mounting
    69
  - Panel Mounting
    69
- Installing a Robot Controller in a Rack or Panel
  70
  - Space Around the Chassis
    70
  - Rack Mounting
    71
  - Panel Mounting
    71
- MV-5 and MV-10 Controller Technical Specifications
  73
- MV-4 Insert Technical Specifications
  73
- The Adeptwindows Controller Board
  74
  - AWC Board Connectors and Indicators
    75
  - AWC Board
    76
    
    Processors
    76
    
    Compact Flash
    77
    
    Eeprom
    77
    
    AWC Board Specifications
    78
  - Configuring an AWC Module
    79
    
    Factory Default Settings
    79
    
    DIP-Switch Settings
    80
    
    Adeptwindows PC Graphical User Interface
    81
    
    VGB Graphical User Interface
    81
    
    ASCII Terminal
    82
    
    AUTO Boot
    82
    
    CPU Board Number Assignment
    82
    
    System Controller Jumper Settings
    82
  - Ethernet Connections
    83
  - AWC Module Serial I/O Ports
    83
    
    Serial Port 1 (RS-232/TERM)
    83
    
    RS-422/485 Connector
    84
    
    Serial Port 2 (RS-232)
    84
    
    Terminal Mode (ASCII Terminal) Interface
    84
    
    Used with a VGB Interface
    84
    
    LED Status Indicators on the AWC
    86
- The Controller Interface Panel
  88
  - Introduction
    90
    
    Emergency Stop Switch
    90
    
    Panel Switches and Indicators
    90
    
    High Power On/Off Switch/Lamp
    91
    
    Manual/Automatic Mode Switch
    91
    
    MCP Connector
    91
    
    System Power Switch
    91
    
    AWC Interface (JAWC)
    92
    
    NET Switch
    92
    
    Side Connectors
    92
    
    User Connector (JUSER)
    92
    
    Aux (Jext)
    93
    
    Back Panel Connectors
    93
    
    Cib (Jslv)
    93
    
    Devicenet (JDVC)
    93
    
    Digital I/O Connections
    93
    
    Jcom)
    93
    
    Manual Mode Safety Package (MMSP)
    93
    
    Rs232 (Jcom)
    93
  - Installation of the Controller Interface Panel (CIP)
    94
    
    Location of the CIP
    95
  - Connecting the CIP to the AWC
    95
  - Connecting the MCP to the CIP
    97
    
    MCP Cradle
    97
    
    MCP Requirements
    98
    
    The MCP Bypass Plug
    98
  - Connecting Customer-Supplied Safety and Power Control Equipment
    99
  - Equipment to the CIP
    99
    
    To the CIP
    99
    
    Emergency Stop Circuit
    104
    
    JSIO E-Stop Circuitry
    105
    
    Muted Safety Gate E-Stop Circuitry
    105
    
    Remote Sensing of CIP, MCP, and User Emergency Stop Push But- Ton Switches
    105
    
    Remote Sensing of CIP, MCP, and User Emergency Stop Push Button Switches
    105
    
    Remote Manual Mode Control
    106
Chapter 5 Remote High Power Control

107
- Remote High Power On/Off Lamp
  108
- Connecting the System Power Switch to the CIP
  108
- Manual Mode Safety Package (MMSP) Connector
  109
- Remote User Panel Connections
  109
- Remote MCP Connections
  109
  - Remote E-Stop Circuit
    109
  - Remote Enable Switch Connections
    110
- Connecting User-Supplied Serial Communications Equipment
  111
  - RS-232 (JCOM) Connector
    111
- Connecting User-Supplied Digital I/O Equipment
  112
  - JSIO Connector
    112
  - REACT Input Signals 1001 to 1012
    114
  - Fast Input Signals 1001 to 1004
    114
  - Output Signals
    115
  - Digital I/O Connector Ordering Details (Third-Party Sources)
    117
    
    AMP Part Numbers for 50-Pin Male D-Sub
    118
    
    Thomas and Betts Part Numbers for 50-Pin Male D-Sub
    118
  - Screw-Terminal Field-Wiring Adapter Blocks
    118
    
    Phoenix Contact Inc
    118
    
    Weidmüller
    119
- Extended Digital I/O Signals
  120
  - Extended I/O Inputs
    120
  - Extended I/O Outputs
    123
    
    Extended I/O Outputs Diagnostic Signal for Thermal Overload
    123
    
    Testing Extended I/O Outputs
    123
    
    Extended I/O Output Power Supply Current Selection
    124
- Optional DIO Cables
  126
  - Labeling Cables
    126
  - Input and Output Cable Wiring Information
    126
- Adept Graphics Board (VGB)
  132
  - Introduction
    133
  - Connections and Indicators
    134
    
    DIP Switch Settings
    135
  - VME Bus Address
    135
  - Monitor Video Interface
    136
  - Keyboard Interface
    137
  - Pointer Interface (Mouse, Trackball, or Touchscreen)
    138
  - VGB Board Specifications
    138
- Adeptvision Enhanced Vision Interface (EVI) Board
  140
  - Introduction
    141
  - Connections and Indicators
    142
  - VME Bus Address and Configuration
    143
    
    EVI Motherboard DIP Switch Setting
    143
    
    Acquisition Switch Setting Mode
    144
    
    Settings for Normal RS-170 Cameras
    145
    
    Settings for Pulnix TM-1001 Cameras
    145
  - Camera Compatibility
    146
    
    High-Resolution Cameras
    146
    
    Standard RS-170 Cameras
    146
  - Installing Video Bus Coupler
    147
  - Camera Cables
    148
    
    Four-Camera Breakout Cable for RS-170 Cameras
    148
    
    10-Meter Camera Extension Cables
    149
    
    Custom Pulnix TM-1001 Four-Camera Breakout Cable
    149
    
    Custom Pulnix TM-1001 D-Sub to BNC Adapter Cable
    151
  - Installing Camera Cables
    152
    
    Connecting the Cables to the RS-170 Standard Camera
    152
    
    Connecting the Cables to the Pulnix TM-1001 Camera
    153
  - Camera Cable Pin and Signal Information
    156
  - EVI Board Specifications
    166
- System Input/Output Board (SIO)
  168
  - Introduction
    169
  - Connections and Indicators
    170
  - Mass Storage
    171
    
    Floppy Drive
    171
    
    Hard Drive
    171
  - Serial I/O Connectors
    171
  - SIO Board Specifications
    173
- Adeptmotion Interface Board (MI3/MI6)
  174
  - Introduction
    175
  - Connections and Indicators
    176
  - VME Bus Address
    177
  - Jumper Settings and Resistor Configuration on MI3/MI6
    178
  - Connecting to User Equipment
    178
  - MI3/MI6 Board Specifications
    178
- Enhanced Joint Interface(EJI)
  180
  - Introduction
    181
  - Connections and Indicators
    182
  - VME Bus Address
    183
    
    Address Settings for EJI Boards
    183
    
    Address Settings for Multiple Servo Boards
    183
  - Belt Encoder Interface
    185
  - EJI Board Specifications
    187
- Adeptforce VME Board (VFI)
  188
  - Introduction
    189
  - Connections and Indicators
    189
  - VME Bus Address
    190
  - VFI Board Specifications
    191
- Digital Input/Output Board (DIO)
  192
  - Introduction
    193
  - Connections and Indicators
    194
  - Inputs
    195
  - Outputs
    196
    
    Testing Outputs and Fuses
    196
    
    Output Power Supply Current Selection
    197
    
    Output Power Supply Voltage Jumpers
    197
  - Typical DIO Wiring
    199
  - Optional DIO Cables
    201
    
    Input and Output Cable Wiring Information
    201
    
    Labeling Cables
    201
  - Additional DIO Boards
    206
    
    Setting the Board Address
    206
    
    Labeling Sets of Cables
    207
  - DIO Board Specifications
    208
- Maintenance
  210
  - Introduction
    211
  - Fan Filter Inspection and Cleaning MV-5/MV-10
    212
  - Spare Parts List MV-5/MV-10
    213
  - Changing the Lamp on the High Power Indicator
    214
  - Dimension Drawings
    218
  - Adept MV-5 and MV-10 Stand-Alone Controller Dimensions
    219
  - Adept MV-5 and MV-10 Robot Controller Dimensions
    220
  - The Adept Compact Controller Dimensions
    221
  - MCP Cradle Dimensions
    222
  - Compact Interface Panel Dimensions
    223
  - Position Latch and Vision Trigger
    224
  - External Input for Position Latch and Vision Trigger
    225
    
    Position Latch
    225
    
    Hardware Interconnection of Boards on an Adept Controller
    226
    
    Combined Vision Trigger and Position Latch ("Vision in the Loop")
    227
    
    Vision Trigger
    227
  - Additional Standards Compliance Information
    228
  - Sources for Standards
    229
  - IEC Test Information
    230
  - Electromagnetic Compatibility Testing Results
    231
  - Color Coding of Indicator Lights
    232
    
    Color Code Used by Adept for Operator Indicators
    232
    
    Color Code Used by Adept for Service Indicators
    233
  - Using the Manual Control pendant (MCP)
    234
  - Manual Control pendant Basics
    236
    
    Connecting the MCP
    237
    
    MCP Layout
    238
    
    Soft Buttons
    239
    
    Data Entry Buttons
    240
    
    Function Buttons
    240
    
    Background Mode
    241
    
    Emergency Stop from the MCP
    241
    
    Mode Control and Joint/Axis Control Buttons
    241
    
    Speed Bars and Slow Button
    241
  - MCP Predefined Functions
    242
    
    Introduction
    242
    
    Predefined Function Buttons
    242
    
    The Edit Function
    242
    
    The Display Function
    245
    
    The Clear Error Function
    246
    
    The CMD Function
    247
    
    Prog Set Function
    248
  - Moving a Robot or Motion Device with the MCP
    250
    
    Introduction
    250
    
    Mode Control Buttons
    250
    
    COMP/PWR Button
    251
    
    Emergency Stop Button
    251
    
    MAN/HALT Button
    251
    
    DIS PWR Button
    252
    
    Joint/Axis Control Buttons
    252
    
    Run/Hold
    252
    
    STEP Button
    252
    
    In Comp Mode
    253
    
    In World, Tool, and Joint Mode
    253
    
    Slow Button
    253
    
    Speed Bars
    253
    
    Robot States
    254
  - System Messages
    262
  - Introduction
    263
  - Alphabetical Listing
    263
  - Numerical List
    360
Appendix D

254
- World State
  254
- Tool State
  255
- Joint State
  257
- Free State
  259
- Controlling more than One Robot
  260
  - Robots with Fewer than Six Joints
    261
  - Robots with more than Six Joints
    261
- F Diagnostics Testing
  376
  - Introduction
    377
  - Tests During System Power-Up
    377
    
    Completion of Power-Up Tests
    377
    
    Processor Self-Test
    377
    
    RSC Self-Test
    377
    
    System Initialization Tests
    377
  - Tests While Enabling Power
    378
    
    Manual Mode Safety Package (MMSP)
    378
    
    Standard (Non-MMSP System)
    378
  - Tests During Installation and Servicing
    378
  - Continuous Tests
    379
    
    Cycle Tests
    379
    
    Drive Faults
    379
    
    Encoder Signals
    379
    
    FREE Command
    379
    
    RSC Watchdog Timer
    379
    
    Watchdog Timer
    379
- G Adept Devicenet
  380

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