Nortech Systems XUSR manuale d’uso

Adept Smar tContr oller User’ s Guide Co ver s the Smar tController CS, Smar tContr oller CX, and sDIO Module 1 2 3 RS-422/485 XUSR XSYS SF XMCP 1.1 SmartController CS LAN HPE OFF 24V 5A ON RS-232/TERM XFP HD ES XDIO Eth 10/100 *S/N 1000-XXXXX* SW1 Device Net SmartServo XDC1 XDC2 - + - + 1 2 3 4 OK R 1.2 R ON SmartServo IEEE-1394 1 2 3 4 SF ES HD[...]

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Adept Smar tContr oller User’ s Guide Co ver s the Smar tController CS, Sm artContoller CX, and sDIO Module P/N: 00356-0 0100, Rev . E Ma y 2003 1 2 3 RS-422/485 XUSR XSYS SF XMCP 1.1 SmartController CS LAN HPE OFF 24V 5A ON RS-232/TERM XFP HD ES XDIO Eth 10/100 *S/N 1000-XXXXX* SW1 Device Net SmartServo XDC1 XDC2 - + - + 1 2 3 4 OK R 1.2 R ON Sm[...]

The information contained herein is the pro perty 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 sub- ject to change without notice and should not be cons trued as a commitment by A dep t Technology, Inc. This manual is periodically revi e[...]

Adept Smar tController User’ s Guide, Rev . E 5 T able of Contents 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 1.1 Product Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 Adept SmartController CS . . . . . . . . . . .[...]

T ab le of Contents 6 Adept Smar tController User’ s Guide, Rev . E Installing CompactFlash . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 Connecting P ow er . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 24VDC Power Specifications . . . . . . . . . . . . . . [...]

T ab le of Contents Adept Smar tController User’ s Guide, Rev . E 7 XDIO Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 REACT Input Signals 1001 to 1012 . . . . . . . . . . . . . .[...]

T ab le of Contents 8 Adept Smar tController User’ s Guide, Rev . E A sDIO Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 A.1 Mounting the sDIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 Rack Mounting the sDIO . . . . . . . . . . . . .[...]

T ab le of Contents Adept Smar tController User’ s Guide, Rev . E 9 C Using the Manual Control Pendant (MCP) . . . . . . . . . . . . . . . . . . . . . 125 C.1 Manual Control Pendant Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125 MCP Enable Switch Function on C AT -3 SmartC ontroller . . . . . . . . . . . . . . [...]

T ab le of Contents 10 Adept Smar tController User’ s Guide, Rev . E Controlling More Than One Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 49 Robots With Fewer Than Six Joints . . . . . . . . . . . . . . . . . . . . . . . . . . 1 50 Robots With More Than Six Joints . . . . . . . . . . . . . . . . . . . . . . . . . . . [...]

Adept Smar tController User’ s Guide, Rev . E 11 List of Figures Figure 2-1. Rack Mounting the SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 Figure 2-2. Panel Mounting the SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 Figure 2-3. Table Mounting the SmartController . . . . . .[...]

List of Figures Adept Smar tController User’ s Guide, Rev . E 12 Figure B-3. DeviceNet Thin Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 20 Figure B-4. DeviceNet Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 Figure B-5. Example of a Terminating Res[...]

Adept Smar tController User’ s Guide, Rev . E 13 List of T ables Table 1-1. Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16 Table 2-1. Environmental Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 Table 2-2. Specifications for 2[...]

List of T ables Adept Smar tController User’ s Guide, Rev . E 14 Table C-2. Controlling More Than One Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1 50 Table C-3. Robots With More Than 6 Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .150[...]

Adept Smar tController User ’ s Guide, Re v . E 15 Intr oduction 1 1.1 Product Description The Adept SmartControlle r is a member of Adept’s family of high-performance distributed motion and vision contr ollers. Th e Adept SmartController is designed for us e with Adept SmartModu les, the AdeptSix line of robots, and the Adept sMI6 Module for t[...]

Chapter 1 - Introduc tion 16 Adept Smar tController User’ s Guide, Rev . E 1.2 Ho w Can I Get Help? Refer to the How to Ge t Help Resour ce Guide (Adept P/N 00961-00700 ) for details on getting assistance with your Adept software and har dware. Additionally , you ca n access informatio n sour ces on Adept’s corporate web site: http://www .adept[...]

W ar nings, Ca utions , and Notes Adept Smar tController User’ s Guide, Rev . E 17 1.3 W arnings , Cautions , and Notes There ar e four levels of special alert notation used in this manual. In descending or der of importance, they are: NOTE: This pr ovides supplementary info rmation, emphasizes a point or procedure, or gives a tip for easi er ope[...]

Chapter 1 - Introduc tion 18 Adept Smar tController User’ s Guide, Rev . E W e also recommend you r ead the Internat ional Standard IEC 204 or t he European Standard EN 60204, Safety of Machinery – Ele ctr ical Equipment of Machines , and ISO 10218 (EN 775), Manipulating Industrial Robots – Safety , part icularly if the country of use require[...]

Saf e ty Adept Smar tController User’ s Guide, Rev . E 19 Manually Controlled Robots and Motion De vices Adept robots and other motion devices ca n also be controlled manually when the HIGH POWER light on the Front Panel is illuminated. When this light is lit, motion can be initiated from the system keyboar d or from the optional Manual Control P[...]

Chapter 1 - Introduc tion 20 Adept Smar tController User’ s Guide, Rev . E Inappropriate Uses of the Adept Smar tController The Adept SmartContr oller is intended for use as a component subassembly of a complete industrial automation system. The SmartContr olle r subassembly must be in stalled inside a suitable enclosure. Installation and usage m[...]

CA T -3 V er sion of Smar tController Adept Smar tController User’ s Guide, Rev . E 21 1.6 C A T -3 V er sion of Smar tController Identification The Adept SmartControlle r has been modified to be compatible with Category 3 safety requir ements. The CA T -3 version of both the CS and CX models of the SmartControlle r can be identified by the seria[...]

Chapter 1 - Introduc tion 22 Adept Smar tController User’ s Guide, Rev . E Operational Change in SmartModule Systems When a CA T - 3 SmartContr oller is used in an Adept SmartModules system, or an Adept Servo Kit system, that includes a PDU-2, there is a minor change in operat ion compared to the original SmartControlle r. The sequence would be: [...]

Adept Smar tController User ’ s Guide, Re v . E 23 Smar tController Installation 2 2.1 Controller Installation This equipment must be shipped and stor ed in a temperature-controlled envir onment. See T a ble 2-1 . It should be shipped and store d in the Adept-supplied packaging, which is designed to prevent damage fr om normal sh ock and vibratio[...]

Chapter 2 - Smar tController Installat i on 24 Adept Smar tController User’ s Guide, Rev . E Perform the steps below to unpack the Adept SmartController, and optional Adept sDIO Expansion Module, optional Fr ont Panel, an d optional Manual Control Pendant (MCP). Then, see the later s ections for information on mounting the equipment. 1. Remove th[...]

Controller Installation Adept Smar tController User’ s Guide, Rev . E 25 Rack Mounting the SmartController T o rack mount the SmartController in a st andard 19-inch equipment rack, install the optional mounting brackets on the side of the controller , as shown in Figure 2-1 . These brackets must be order ed separately , they do not come with the [...]

Chapter 2 - Smar tController Installat i on 26 Adept Smar tController User’ s Guide, Rev . E Panel Mounting the SmartController T o panel m ount the SmartController, install two brackets on each side at the rear of the unit, as shown in Fi gure 2-2 . Use th e screws from the accessories kit. Figure 2-2. Panel Mounting the SmartController 200.5 16[...]

Controller Installation Adept Smar tController User’ s Guide, Rev . E 27 T able Mounting the SmartController T o table mount the SmartC ontrol ler, install t w o brackets on each side near the bottom of the unit, as shown in Figure 2-3 . Use the screws fr om the accessories kit. Figure 2-3. T able Mounting the SmartController 21.6 12.1 29.5 16.2 [...]

Chapter 2 - Smar tController Installat i on 28 Adept Smar tController User’ s Guide, Rev . E Stacking Components T o stack mount the SmartControl ler and an sDIO or sMI6 module, install two brackets on each side of the units, as shown in Figure 2-4 . These bracke ts are s upplied with the sDIO and sMI6 modules. Figure 2-4. Stack Mounting the Smar[...]

Controller Installation Adept Smar tController User’ s Guide, Rev . E 29 Not all types of Comp actFlash are compatible with the S martControl ler. Adept requires the use of the CF supplied by Adept at the t im e o f c o nt rol le r p urc ha se an d t ha t a ll rep la ce me n t C F c ard s be pu rch as e d f rom A de pt . NOTE: W ith an AdeptW ind[...]

Chapter 2 - Smar tController Installat i on 30 Adept Smar tController User’ s Guide, Rev . E NOTE: If you ar e replacing an existing CF , the original must be sent to Adept for replacement. Pr ess the button inside the CF compartment to eject the ori ginal car d, remove it, and return i t to Adept. Contact Adept Customer Service for assistance. 3[...]

Controller Installation Adept Smar tController User’ s Guide, Rev . E 31 24VDC Po wer Cabling In order to maintai n compliance with EN standards, DC power must be deliver ed over a shielded cable, with the shield connected to the return conductors at both ends of the cable as shown in Figure 2-6 . Conductors should b e 1.5 mm 2 - 1.85 mm 2 (16 to[...]

Chapter 2 - Smar tController Installat i on 32 Adept Smar tController User’ s Guide, Rev . E Figure 2-7. Chassis Grounding P oint The mounting of the contr oller and all terminations in Europe must be performed in accordance with EN 60204 to maintain proper compliance. Installing 24VDC Connectors Use the Adept-supplied connectors to co nnect the [...]

Controller Installation Adept Smar tController User’ s Guide, Rev . E 33 Figure 2-8. 24V Connectors NOTE: Although no damage will occur , the SmartController will not turn on if the DC polarities on the XDC connectors are reve rsed. IEEE 1394 Cable Specifications Adept supplies the IEEE 1394 cables to conne ct the SmartController to other Adept d[...]

Chapter 2 - Smar tController Installat i on 34 Adept Smar tController User’ s Guide, Rev . E 2.2 System Cable Installation Figure 2-9. System Cable Diagram STOP R 1 2 3 RS-422/485 XUSR XSYS SF XMCP 1.1 SmartController CS LAN HPE OFF 24V 5A ON RS-232/TERM XFP HD ES XDIO Eth 10/100 *S/N 3561-XXXXX* SW1 Device Net IEEE-1394 XDC1 XDC2 - + - + 1 2 3 4[...]

System Cab le Installation Adept Smar tController User’ s Guide, Rev . E 35 NOTE: Figure 2-9 shows the Adept SmartC ontr oller CS in a SmartModule system. Both the SmartController CS and CX models are compatible with other Adept pr oducts, including: • AdeptSix 300 Robot • AdeptSix 300CR Robot • AdeptSix 600 Robot •A d e p t S e r v o K i[...]

Chapter 2 - Smar tController Installat i on 36 Adept Smar tController User’ s Guide, Rev . E[...]

Adept Smar tController User ’ s Guide, Re v . E 37 Smar tController Operation 3 3.1 Smar tController CS Connectors and Indicator s Figure 3-1. SmartController CS All the connectors on th e SmartController use standar d density spacing, D-subminiature connectors. For customization purposes, the user needs to pr ovide connectors of the appropriate [...]

Chapter 3 - Smar tController Operation 38 Adept Smar tController User’ s Guide, Rev . E 2. Bottom Three Status LEDs The bottom three LEDs on the fr ont of the SmartController give the following information about the status of the main controller . O = Of f G = Green R = Red If the SmartController displays any of the above err ors, cycle the power[...]

Smar tController CS Connectors and I ndicators Adept Smar tController User’ s Guide, Rev . E 39 6. Ethernet (Eth 10/100) connector The shielded RJ-45 receptacle that support s 10/100 BaseT ethernet communications. NOTE: The default IP address for the contro ller is located on a label on the bottom side of the controll er chassis. 7. RS-232 and RS[...]

Chapter 3 - Smar tController Operation 40 Adept Smar tController User’ s Guide, Rev . E 13. 24VDC connectors Connect power from a customer -supplied 24VDC power supply to the XDC1 connector (see the “Connecting Power” sectio n on page 30 for information); if using an sDIO or an sMI6, connect a separate cable from the XDC2 conne ctor on the Sm[...]

F ront P anel Adept Smar tController User’ s Guide, Rev . E 41 3.3 Front P anel Figure 3-3. Fr ont Panel Before running pr ograms, either the option al Adept SmartContr oller Front Panel or customer-suppl ied switches for Hi gh Powe r On/Off, MAN/AUTO, and E -Stop must be connected to the SmartControlle r XFP connector on the SmartContr oller to [...]

Chapter 3 - Smar tController Operation 42 Adept Smar tController User’ s Guide, Rev . E executing pr ogram, or the MCP . Once this reques t has been made, the operator m ust press this button and high power will be applied. 5. Emergency Stop Switch The E-Stop is a dual-channel , passive E-Stop th at supports Category 3 CE safety r equir ements. I[...]

Configuring the Controller Adept Smar tController User’ s Guide, Rev . E 43 NOTE: SW1 is configured by Adept to a default configuratio n listed in row #5 of T able 3-3 (OFF -OFF-OFF-OFF) to use the CompactF lash and NVRAM settings. Adept recommends that the user maintain this default SW1 configuration for normal SmartC ontroller operation. The de[...]

Chapter 3 - Smar tController Operation 44 Adept Smar tController User’ s Guide, Rev . E AU T O B o o t When using the SmartController in an AUTO Boot configuration, DIP switch SW1 must be set to the switch settings shown in r ow #5 of T able 3-3 and th e NVRAM sw itches set for AUTO boot. 3.5 Smar tContr oller Ser ial I/O Connector s The SmartCon[...]

Smar tController Serial I/O Conne ctors Adept Smar tController User’ s Guide, Rev . E 45 NOTE: T o configure the port speed and other communications parameters, use the CONF IG_C utility pr ogram, the V + FSET program instruction, or the FSET monitor command. RS-422/485 Connector The RS-422/485 connector is a 9-pin DB9 ma le connector . The pin a[...]

Chapter 3 - Smar tController Operation 46 Adept Smar tController User’ s Guide, Rev . E 3.6 Installing the User Interface NOTE: The Adept Document Library CD -ROM is included in y our shipment. This CD-ROM contains Adept’s user documentation in both HTML and PDF format. Unless otherwise specified, check this CD-ROM for documentation that is re [...]

Installing the User Interface Adept Smar tController User’ s Guide, Rev . E 47 T ext Interface Using a PC with HyperT er minal Software This section describes how to connect with the Adept SmartController using a PC running HyperT erminal s oftware (included with Micr osoft W indows) over a serial connection. Note that the SmartController does no[...]

Chapter 3 - Smar tController Operation 48 Adept Smar tController User’ s Guide, Rev . E T ext Interface Using a T er minal W i th an Adept SmartControlle r system that does not have the graphical user interface, the customer must s upply the terminal and cable to i nterface to the controll er . The terminal must be a W yse Model 60 or 75 with an [...]

Connecting Cust om e r- Sup plie d Safety and P ower Control Equipment Adept Smar tController User’ s Guide, Rev . E 49 3.7 Connecting Customer -Supplied Safety and Po wer Contr ol Equipment Connecting Equipment to the System The connection of the customer-supplied sa fety and power control equipment to the system is done thr ough the XUSR and XF[...]

Chapter 3 - Smar tController Operation 50 Adept Smar tController User’ s Guide, Rev . E 10,23 MANUAL/AUTO ind ication CH 2 Contacts are closed in AUTOMA TIC mode 1 1,12, 13,24,25 No connection T able 3-8. Contacts Pro vided by the XFP Connect or Pin Pairs Description Comments V oltage-Free Contacts Pr ovided by Customer 1,9 Front Panel E-Stop CH [...]

Connecting Cust om e r- Sup plie d Safety and P ower Control Equipment Adept Smar tController User’ s Guide, Rev . E 51 T able 3-9. Remote MCP Connect ions on the XMCP Connector Pin XMCP (15-Pin D-Sub) Pin MCP (16-Pin CPC) Description 1,9 6,7 MCP E-stop PB CH 1 2,10 1 1 ,12 MCP E-stop PB CH 2 3,1 1 14,16 MCP Enable C H 1 (Hold-to-run) 4,12 13,15 [...]

Chapter 3 - Smar tController Operation 52 Adept Smar tController User’ s Guide, Rev . E Figure 3-4 shows an E-S top diagram for t he CA T -3 version of the Adept SmartController. See Section 1.6 on page 21 for a description of the functi onality of this version of the controller . Figure 3-4. C AT -3 E-Stop Circuit on XUSR and XFP Connectors Logi[...]

Connecting Cust om e r- Sup plie d Safety and P ower Control Equipment Adept Smar tController User’ s Guide, Rev . E 53 Figure 3-5 shows an E-Stop diagram for the origi nal, non-CA T -3 version of the Adept SmartController . Figure 3-5. Non-C AT -3 E-Stop Circuit on XUSR and XFP C onnectors Logic cyclic check state machines Channel 1 Channel 2 ES[...]

Chapter 3 - Smar tController Operation 54 Adept Smar tController User’ s Guide, Rev . E Figure 3-6. Front P anel Schem atic Emergency Stop Circuits The SmartController pr ovides connections for Emergency Stop (E-Stop) circuits on the XUSR and XFP connectors. This gives the SmartController system the ability to dupli cate E-Stop functionality from[...]

Connecting Cust om e r- Sup plie d Safety and P ower Control Equipment Adept Smar tController User’ s Guide, Rev . E 55 User E-Stop Indication - Re mote Sensing of E-Stop T wo pairs of pins on the XUSR connector (pins 7, 20 and 8, 21) provide voltage-free contacts, one for each channel, to indicate wh ethe r the E-Stop chain, as described above, [...]

Chapter 3 - Smar tController Operation 56 Adept Smar tController User’ s Guide, Rev . E Remote Manual Mode The Front P anel pr ovides for a Manual Mode cir cuit (see Figure 3-5 o n page 53 , Ta b l e 3 - 7 on page 49 , and T able 3 -8 on pag e 50 , and your robot manual for further details about the customer Remote Manual Mode circuitr y). The Ad[...]

Connecting Cust om e r- Sup plie d Safety and P ower Control Equipment Adept Smar tController User’ s Guide, Rev . E 57 Remote High P ow er On/Off Contr ol The easiest and most ef fective way to provide the high power on/of f control in a remote location is to mount the Adept Front Panel in the desir ed location with an extension cable. However ,[...]

Chapter 3 - Smar tController Operation 58 Adept Smar tController User’ s Guide, Rev . E Customers can build an extension cable to plac e the Fr ont Pa nel in a remote location. The extension cable must conform to the following specifications : • W ire Size: must be larg er than 26 A WG. • Connectors : must be 15-pin, st andar d D-sub male and[...]

Connecting Cust omer-Supplied Dig ital I/O Equipme nt Adept Smar tController User’ s Guide, Rev . E 59 XDIO Connector The XDIO connector on the SmartContr oller is a 50-pin, standard density D-Sub female connector (see Figure 3-1 on page 37 for location). Ther e are 12 inputs and 8 outputs, each optically isolated from the ci r cuitry of the Smar[...]

Chapter 3 - Smar tController Operation 60 Adept Smar tController User’ s Guide, Rev . E NOTE: These ar e examples. Either method can be used on any channel. Figure 3-7. Dig ital Input Wiring Examples (XDIO Connector) NOTE: Power fr om pins 41-44 and 47-50 can be substituted for the customer power supply . See Figure 3-8 on pa ge 62 and T able 3-1[...]

Connecting Cust omer-Supplied Dig ital I/O Equipme nt Adept Smar tController User’ s Guide, Rev . E 61 Output Signals The XDIO connector handles output signals 0001 to 0008. Refer to T able 3-11 for output specifications. The locations of the si gnals on the connector ar e shown in T able 3-12 on page 63 . The XDIO connector pr ovides separate po[...]

Chapter 3 - Smar tController Operation 62 Adept Smar tController User’ s Guide, Rev . E NOTE: These are example s. Either method can be used, in any combination, on any channel. Also, an ext ernal customer-pr ovid ed power supply could have been pr ovided instead of the power provided on the XDIO connector . Figure 3-8. Digital Output Wiring for [...]

Connecting Cust omer-Supplied Dig ital I/O Equipme nt Adept Smar tController User’ s Guide, Rev . E 63 T able 3-12. XDIO Dig ital I/O Connector Pin Assignments Pin Signal Pin Signal Pin Signal Pin Signal 1 I nput 1001 2 1001 return 27 Output 0002+ 28 Outp ut 0002– 3 I nput 1002 4 1002 return 29 Output 0003+ 30 Outp ut 0003– 5 I nput 1003 6 10[...]

Chapter 3 - Smar tController Operation 64 Adept Smar tController User’ s Guide, Rev . E Dig ital I/O Connector Ordering Details (Third-P ar ty Sources) The XDIO connector on the SmartController is a 50-pin, standard-density D sub-miniature female socket. The customer-s upplied cable must terminate in a suitable 50-pin Ma le D-sub plug. (The plug [...]

Belt Encoder Inte rf ace on Smar tController CX Adept Smar tController User’ s Guide, Rev . E 65 3.9 Belt Encoder Interf ace on Smar tContr oller CX For use with conve yor tracking, the SmartContr oller CX supports tw o independent external belt encoders thr ough a 15-pin, ma le, D-sub connector . The pin assignments for the Belt Encoder connecto[...]

Chapter 3 - Smar tController Operation 66 Adept Smar tController User’ s Guide, Rev . E Figure 3-9. Belt Encoder Typical Input Cir cuit Encoder + – 220 2.2K 26LS33 SmartController CX Belt Encoder Connector Typical input circuit, same for A, B, and I for both encoders. 2.2K Encoder Channel 1 Encoder Channel 2 Shield Enc. Gnd Enc. Pwr A– A+ 5V [...]

Adept Smar tController User ’ s Guide, Re v . E 67 AdeptV ision sA VI Option 4 4.1 Intr oduction The AdeptV ision Advanced V ision Interface (sA VI) product is of fered in two forms: • AdeptV ision sA VI Inspection System - this is a stand-alone machine vision system based on the SmartContr oller CX. See page 68 for more information and limitat[...]

Chapter 4 - AdeptVisio n sA VI Option 68 Adept Smar tController User’ s Guide, Rev . E Pixel Format For backwards compatibility with AdeptV ision VXL systems, which us e a 7-bit approach (reserving the high bit for binary images), AdeptV ision sA VI supports 7-bit images and computes binary data from the grayscale pixel values. AdeptVision sA VI [...]

Camera Compatibility Adept Smar tController User’ s Guide, Rev . E 69 Cameras Supported AdeptV ision sA VI supports the followi ng cameras: Standard Reso lution Cameras • P anasonic GP-MF6 02 • P anasonic GP-MF8 02 This camera is supported in the non-in te rlaced, full -frame, sh utter mode on ly . Sync strobe mode is supported but the as yn [...]

Chapter 4 - AdeptVisio n sA VI Option 70 Adept Smar tController User’ s Guide, Rev . E 4.3 Camera Cables A two-camera breakout cabl e is standard with Adept vision systems. Adept sells an optional four-camera cable that is used fo r connecting cameras to the sA VI board. The camera cables connect to the Camera connector on the fr ont of the Smart[...]

Camera Cab les Adept Smar tController User’ s Guide, Rev . E 71 Four -Camera Break out Cable fo r RS-170 Cameras This cable, available from Adept (P/N 103 32-01375) has a 44-pin D-sub connector on one end, and it breaks out to four 12-pin Hirose-style camera connectors and one 9-pin D-sub connector on the other end. The length of the cable is 1.8[...]

Chapter 4 - AdeptVisio n sA VI Option 72 Adept Smar tController User’ s Guide, Rev . E 4.4 Installing Camera Cables Figure 4-3 on page 73 shows the installa tion of a typical four -camera RS-170 br eakout cable and the associated har dware in a SmartController CX s ystem. See the Ad eptV ision User ’s Guide for information on mounting cameras a[...]

Installing Camera Cab les Adept Smar tController User’ s Guide, Rev . E 73 Figure 4-3. Camera Cable Installation Drawing (RS-170) R ON SmartServo IEEE-1394 1 2 3 4 SF ES HD SW1 1.1 1.2 2.1 2.2 OK 123 XDIO LAN HPE OFF XSYS CAMERA Eth 10/100 XUSR Device Net XFP RS-232/TERM RS-232-1 XMCP BELT ENCODER SmartController CX -+ -+ RS-422/485 XDC1 XDC2 24V[...]

Chapter 4 - AdeptVisio n sA VI Option 74 Adept Smar tController User’ s Guide, Rev . E 4.5 Camera Cable Pin and Signal Inf o rmation This section provides the pin and signal information for the connectors and cables associated with the AdeptV ision product. • T a ble 4-1 describes the Hir ose connector on the breakout cables. • T a ble 4-2 de[...]

Camera Cab le Pin and Signal Inf or mation Adept Smar tController User’ s Guide, Rev . E 75 T able 4-1. Break out Cable Camera Connector Pin Assignments (RS-170) Pin Function Notes 1P o w e r r e t u r n 2+ 1 2 V p o w e r t o c a m e r a 3 Shield (video) 4V i d e o f r o m c a m e r a 5S h i e l d ( H d ) 6 Hd (horizontal d rive) to camera 7 Vd [...]

Chapter 4 - AdeptVisio n sA VI Option 76 Adept Smar tController User’ s Guide, Rev . E T able 4-2. Standard Break out Ca ble Str obe and Po wer Connector Pin Assignments Pin Function Notes 1 User +12 VDC to cameras 2 User power r eturn (Gnd) 3S t r o b e 1 4 Strobe r etu rn (Gnd) 5S t r o b e 2 6R e s e r v e d 7R e s e r v e d 8R e s e r v e d 9[...]

Camera Cab le Pin and Signal Inf or mation Adept Smar tController User’ s Guide, Rev . E 77 Figure 4-4. Pin Locations f or Camera Cable Connector (12-Pin Hirose Male) T able 4-3. Adept 10-Meter Camera Cable Pin Assignments Pin # at controller end (male) Function Notes W ire Color (typical) Pin # at camera end, (female) 1 Power return gray 1 2 +12[...]

Chapter 4 - AdeptVisio n sA VI Option 78 Adept Smar tController User’ s Guide, Rev . E T able 4-4. T w o-Camera Break out Cable Pin Assignments From: Pin T o: Pin Function AV I 8 C A M 1 1 P o w e r r e t u r n A VI 7 CAM1 2 +12V power A VI 12 CAM1 3 Shield (video) AV I 4 2 C A M 1 4 V i d e o AV I 3 8 C A M 1 5 S h i e l d ( H d ) A VI 36 CAM1 6[...]

Camera Cab le Pin and Signal Inf or mation Adept Smar tController User’ s Guide, Rev . E 79 T able 4-5. Four -Camera Breakout Cable Pin Assignments From: Pin T o: Pin Function Str/Pwr 2 CAM1 1P o w e r r e t u r n Str/Pwr 1 CAM1 2 +12V power AV I 12 CAM1 3 Shield (video) AV I 42 CAM1 4V i d e o AV I 38 CAM1 5S h i e l d ( H d ) AV I 36 CAM1 6 Hd [...]

Chapter 4 - AdeptVisio n sA VI Option 80 Adept Smar tController User’ s Guide, Rev . E AV I 42 CAM4 4V i d e o AV I 38 CAM4 5S h i e l d ( H d ) AV I 36 CAM4 6 Hd (horizontal drive) AV I 37 CAM4 7 Vd (vertical drive) -- 38 CAM4 8 not connected -- 22 CAM4 9 not connected -- -- CAM4 10 not connected -- -- CAM4 1 1 not conne cted AV I 17 CAM4 12 Shi[...]

Camera Cab le Pin and Signal Inf or mation Adept Smar tController User’ s Guide, Rev . E 81 T able 4-6. Four -Camera Breakout Cable Pin Assignments From: Pin To : Pin Function Str/Pwr 1 CAM1 2 +12V power Str/Pwr 1 CAM2 2 +12V power Str/Pwr 1 CAM3 2 +12V power Str/Pwr 1 CAM4 2 +12V power Str/Pwr 2 CAM1 1P o w e r r e t u r n Str/Pwr 2 CAM2 1P o w [...]

Chapter 4 - AdeptVisio n sA VI Option 82 Adept Smar tController User’ s Guide, Rev . E AV I 36 CAM1 6 Hd (horizontal drive) AV I 37 CAM1 7 Vd (vertical drive) AV I 38 CAM1 5 Shield (Hd) AV I 38 CAM1 8S h i e l d ( C l o c k ) AV I 38 CAM1 12 Shield (Vd) AV I 39 Str/P wr 5 Strobe 2 AV I 40 Str/Pwr 7 Reserved AV I 42 CAM1 4V i d e o AV I 43 CAM2 3S[...]

sA VI Board Specifications Adept Smar tController User’ s Guide, Rev . E 83 4.6 sA VI Board Specifications T able 4-7. T e chnical Specifications 1 1 Specifications subject to change. Electrical Power Consumptio n V o ltage A vg Current (A) A vg Power (W) Max Current (A) Max Power (W) + 3 . 3 V 0000 +5V 1.4 7 2.0 10 +12 V 0.0 8* 1.0* 0.1 1* 1.3* [...]

Chapter 4 - AdeptVisio n sA VI Option 84 Adept Smar tController User’ s Guide, Rev . E[...]

Adept Smar tController User ’ s Guide, Re v . E 85 Smar tController Maintenance 5 5.1 Chang ing the Lamp in the High P ow er Indicator The system is equipped with cir cuitry to dete ct the potentially d ang erous co ndition of a burned out High Power indicator on the Front Panel. If this lamp is burned out, you cannot enable High Power unti l the[...]

Chapter 5 - Smar tController Mainten a nc e 86 Adept Smar tController User’ s Guide , Rev . E Figure 5-1. Lamp Body Contact Alignment High Power On/Off Lamp Body Back side of front cover Wires between LED and body of Front Panel. Be careful when separating front cover from body to avoid damaging the wires.[...]

Adept Smar tController User’ s Guide, Rev . E 87 T echnical Specifications 6 This chapter shows the dimensions of the SmartController, sDIO, Ade pt Front Panel, and MCP . 6.1 Smar tController Dimensions This section shows the dimensions of the Smar tContr oller. The dimensions for the CS and CX models ar e the same. Figure 6-1. SmartController Di[...]

Chapter 6 - T echnical Specifications 88 Adept Smar tController User’ s Guide, Rev . E 6.2 sDIO Dimensions This section shows the dimensions of the sDIO module. Figure 6-2. sDIO Dimensions 328.9 186.5 Ground Connection Point 2.5 4.4 5.5 41.6 SF IEEE-1394 X2 SC-DIO LINK *S/N 3563-XXXXX* X1 24V 0.5A R OK X4 - + - + 1.1 1.2 XDC1 XDC2 X3[...]

Adept F r ont P a nel Dimensions Adept Smar tController User ’ s Guide, Re v . E 89 6.3 Adept Fr ont P anel Dimensions Figure 6-3. Adept Front P anel Dimensions STOP R 152.4 88.9 129.5 13.1 55.9 38.7 16.5 30[...]

Chapter 6 - T echnical Specifications 90 Adept Smar tController User’ s Guide, Rev . E Figure 6-4. Adept Front P anel Back Vie w 76.2 139.7 6.4 6.4 4X M4 x 18MM[...]

Adept MCP Dimensions Adept Smar tController User ’ s Guide, Re v . E 91 6.4 Adept MCP Dimensions Figure 6-5. MCP Dimensions EDIT DISP CLR ERR CMD PROG SET + - Z 3 COMP PWR RUN HOLD MAIN HALT DIS PWR YES WORLD TOOL JOINT FREE DEV USER SLOW 0 DEL STEP 12 3 T 1 F 2 F 3 J 7 J 12 DEV Ð 7 8 REC DONE NO 9 456 Y 2 X 1 ¥ F 1 EDIT DISP + - USER SLOW F 2 [...]

Chapter 6 - T echnical Specifications 92 Adept Smar tController User’ s Guide, Rev . E Figure 6-6. MCP Cradle Dimensions 10.2 mm (0.40 in.) (4 X) 28.7 mm (1.13 in.) (2 X) 203.2 mm (8.0 in.) (2 X) 271.5 mm (10.69 in.) 4.8 mm (0.19 in.) (4 X) 221 mm (8.70 in.) 201 mm (7.91 in.) 9.7 mm (0.38 in.) (4 X) ø 9.7 mm (ø 0.38 in.) (4 X)[...]

Adept Smar tController User ’ s Guide, Re v . E 93 sDIO Module A The sDIO expansion modul e pro vides 32 optically isolate d digital inputs and 32 optically isolated outputs and also incl udes an IEEE 1394 interface. Figure A-1. sDIO Module A.1 Mounting the sDIO The following mounting options are available for the sDIO: •R a c k m o u n t i n g[...]

Appendix A - sDIO Module 94 Adept Smar tController User’ s Guide , Rev . E Rack Mounting the sDIO T o rack mount the sDIO module in a standa rd 19-inch equipment rack, y ou must first install the mounting brackets (see Figure A-2 ) on each side of the unit. These brackets must be order ed separa tely , they do not come with the SDIO. Figure A-2. [...]

Mounting the sDI O Adept Smar tController User ’ s Guide, Re v . E 95 Panel Mounting the sDIO T o panel mount the sDIO, install one bracket on each side of the back of the unit. Use the scr ews from the accessori es kit; see Figure A-3 . Figure A-3. Panel Mounting the sDIO 10.0 18.0 346.4 4X M3 x 6MM 14.0 6.6 16.0 359.6 27.6 273.9 2X 40356-00000 [...]

Appendix A - sDIO Module 96 Adept Smar tController User’ s Guide , Rev . E T a ble Mounting the sDIO T o table mount the sD IO, install two brackets on each side near the bottom of the unit. Use the screws from the accessories kit; see Figure A-4 . Figure A-4. T able Mounting the sDIO Stack Mounting See the “Stacking Compon ents” section on p[...]

Configuring a Single sDIO Adept Smar tController User ’ s Guide, Re v . E 97 4. Connect an IEEE 1394 cable from one of th e SmartServo ports (1.1 or 1.2) on the SmartController to one of the IEEE 1394 ports on the sDIO. Continue to daisy-chain the IEEE 1394 power from each sDIO to the next. 5. Connect the 24 VDC input power to the SmartController[...]

Appendix A - sDIO Module 98 Adept Smar tController User’ s Guide , Rev . E Modifying the Default sDIO Conf iguration The CONFIG_C.V2 utility file is used to define th e sDIO memory block and I/O signal mappings. This file contains the main pr ogram A.CONFIG_C and is located on the CompactFlash in the UTIL directory . See the Instructions for Ad[...]

Configuring a Single sDIO Adept Smar tController User ’ s Guide, Re v . E 99 5. T ype N at the following p r omp t. Attached controlle r 0. Change this value? Then, pres s ENTER to continue. 6. T ype Y at the following prompt. Digital input block: 16 Change this value? Then, pres s ENTER to continue. 7. Enter a new value for the input block at th[...]

Appendix A - sDIO Module 100 Adept Smar tController User ’ s Guide, Re v . E 3. Select option 2. 2 - Edit system configuration Then, pres s ENTER to continue. 4. Select either option 5 or option 6: 5 - Change DIGIT AL_INPUT configuration or 6 - Change DIGIT AL_OUTPUT configuration Then, pres s ENTER to continue. 5. The program wi ll step you thr [...]

Configuring a Single sDIO Adept Smar tController User ’ s Guide, Re v . E 101 sDIO Signal Mapping Example 1 The following example shows the mappin g of SIGNAL 1065 to Input_Block 17 and Input_Byte 1. Add a new statement (Y/N)? y 1: POS_LATCH 2: VIS_TRIGGER 3: SIGNAL Enter number of keyword for new stat ement: 3 SIGNAL : Value = 1001 (m in = 1001,[...]

Appendix A - sDIO Module 102 Adept Smar tController User ’ s Guide, Re v . E A.4 Using Multiple sDIO Modules Additional sDIO modules can be added to a system. The recommended max imum is four sDIO modules for a Smar tControlle r CS system and eight sDIO mod ules in a CX. See Figure A-5 for cabling and configuration inf ormation. Note that each sD[...]

sDIO Module Connectors and Indica tors Adept Smar tController User ’ s Guide, Re v . E 103 Configuring a System with an sDIO and a RIO When a system contains an sDIO module and a RIO, you must use the DC_SET UP .V2 program to select a block number for the RI O. Thi s is describe d in the documentation supplied with the RIO. T ypically , you would[...]

Appendix A - sDIO Module 104 Adept Smar tController User ’ s Guide, Re v . E A.6 sDIO Dig ital I/O Signals The sDIO module’s digital I/O signals ar e 64 optically isolated digital I/O channels (32 output and 32 input). They are wired to conne ctors X1 thr ough X4, which are located on the front of the sDIO (see Fi gure A-6 on page 103 ). The el[...]

sDIO Digital I/O Signals Adept Smar tController User ’ s Guide, Re v . E 105 Figure A-7. Typical sDIO Input Wiring NOTE: The of f state current range exceed s the leakage curr ent of sDIO outputs. This guarantees that the in puts will not be turned on by the leakage curr ent from the outputs. This is useful in situations wher e the outputs ar e l[...]

Appendix A - sDIO Module 106 Adept Smar tController User ’ s Guide, Re v . E sDIO Outputs The 32 output channels are arranged in four groups of eight. Each group is isolated fr om the other groups and is optically isolated from the sDIO cir cuitry . The eight outputs within each gr oup share a common power supply and a common gr ound. The outputs[...]

sDIO Digital I/O Signals Adept Smar tController User ’ s Guide, Re v . E 107 A diagnostic softwar e indicator is not availa ble for the XDIO outputs. In a short cir cuit condition, the XDIO outputs will simply fold back , supplying the maximum short circuit current to the output pin. sDIO Output Po wer Supply Current Selection The nine power pins[...]

Appendix A - sDIO Module 108 Adept Smar tController User ’ s Guide, Re v . E T able A-4. sDIO Output Circuit Specifications Parameter V alue Power supply voltage range 10VDC ≤ V sup ≤ 30VDC Under voltage shutdown 5VDC ≤ V usd ≤ 8V DC Power supply ground curr ent I g ≤ 60 mA Operational current range, per channel I out ≤ 70 0 mA On sta[...]

sDIO Digital I/O Signals Adept Smar tController User ’ s Guide, Re v . E 109 Figure A-8. Typical sDIO Output Wiring M Adept-Supplied Equipment Customer-Supplied Equipment 25 Customer DC Power Supply + – Smart-DIO Output Group 1 Wiring Terminal Block Typical User Loads X1 Connector – 44-Pin Female D-Sub Output Group 3 Signals 0049 – 0056 Out[...]

Appendix A - sDIO Module 110 Adept Smar tController User ’ s Guide, Re v . E Optional DIO Cables The cables that connect to the input and outp ut connectors on the sDIO can be ordered as a set of four cables: two inpu t cables and two output cables. These cables have a mating plug on one end and unte rminated flying lead s on the other end. The w[...]

sDIO Digital I/O Signals Adept Smar tController User ’ s Guide, Re v . E 111 Input and Output Cable Wiring Inf or mation The pinouts, signal names, and wir e color in formation for the input and output cables ar e shown in the next four tables. T able A-5. X3 Input Cable Pin Assignments Pin Number Signal Group Signal Wir e Color Pin Locations X3?[...]

Appendix A - sDIO Module 112 Adept Smar tController User ’ s Guide, Re v . E T able A-6. X4 Input Cable Pin Assignments Pin Number Signal Group Signal Wi r e color Pin Locations X4–15 3 1049 red/white X4 26-pin f emale input connector on sDIO fro nt panel X4–6 3 1050 orange X4–16 3 1051 green/white X4–7 3 1 052 blue X4–17 3 1053 blue/wh[...]

sDIO Digital I/O Signals Adept Smar tController User ’ s Guide, Re v . E 113 T able A-7. X1 Output Cable Pin Assignments Pin Number Group Number Signal name Wire Color Pin Locations X1–30 1 0033 green/black/white X1 44-pin f emale output connector on sDIO fro nt panel X1–15 1 0034 gr een/white X1–14 1 0035 red/white X1–13 1 0036 black/whi[...]

Appendix A - sDIO Module 114 Adept Smar tController User ’ s Guide, Re v . E T able A-8. X2 Output Cable Pin Assignments Pin Number Group Number Signal Name Wi re Color Pin Locations X2–30 3 0049 green/black/white X2 44-pin female output connector on sDIO fr ont panel X2–15 3 0050 green/white X2–14 3 0051 red/white X2–13 3 0052 black/whit[...]

Adept Smar tController User ’ s Guide, Re v . E 115 Adept De viceNet B DeviceNet is a low-cost commu nications link that connect s industrial devices to a network and eliminates expensive hard wi ring. The direct connectivity pr ovides improved communication between devices as we ll as important device-level diagnostics not easily available us in[...]

Appendix B - Adept De viceNet 116 Adept Smar tController User ’ s Guide, Re v . E B.2 L imitations of the Adept De viceNet Scanner The DeviceNet Scanner that Adept has incorporated into the SmartControlle r hardware and the V + operating system curre ntly supports only a subset of full De viceNet functionality . The following is a summary of the [...]

De viceNet Ph ysical La yer and Media Adept Smar tController User ’ s Guide, Re v . E 117 Connecting DeviceNet Har dware to the Adept De viceNet Scanner T o connect DeviceNet components to the Adep t DeviceNet Scanner , connect a dr opline to the female Micro-style 12 mm thr ead DIN connector on the fr ont of the SmartController. Then you must co[...]

Appendix B - Adept De viceNet 118 Adept Smar tController User ’ s Guide, Re v . E Figure B-1. T r unklines and Droplines Made of Thick and Thin Cable DeviceNet allows devices to be powered dir e ctly from the bus, and devices can use the same cable to communicate with other de vices on the bus. DeviceNet nodes ar e hot-plugable — you can remove[...]

De viceNet Ph ysical La yer and Media Adept Smar tController User ’ s Guide, Re v . E 119 The baud rate of the system depends on the length of the network (end-to-end) and the type of cable. Ta b l e B - 3 shows how cable selection and trunkline length af fect the maximum data rate on the network. Fi gure B-2 shows a thick cable, and Figu re B-3 [...]

Appendix B - Adept De viceNet 120 Adept Smar tController User ’ s Guide, Re v . E Figure B-2. DeviceNet Thick Cable Figure B-3. De viceNet Thin Cable 11mm (0.43) Outside Diameter 65% Cover age Tinned Copper Braid Shield P olypropylene Fillers Blue & White Data-P air Poly ethylene (18 A WG 19 x 30 Tinned & Stranded Copper Conductors) Red &[...]

De viceNet Ph ysical La yer and Media Adept Smar tController User ’ s Guide, Re v . E 121 DeviceNet Connectors DeviceNet allows dif ferent co nnectors, which may be grouped into open and sealed connectors. The open connectors ar e available with screw or with cr imp connectors. The sealed connectors ar e available in mi ni-style and micro-style s[...]

Appendix B - Adept De viceNet 122 Adept Smar tController User ’ s Guide, Re v . E Figure B-5. Example of a T erm inating Resi stor Installation on a De viceNet Bus Po wer Supply and the De viceNet Bus The DeviceNet network al lows distribution of power supplies on the network cable system. Follow these general rules to achieve a safe and r eliab [...]

De viceNet Ph ysical La yer and Media Adept Smar tController User ’ s Guide, Re v . E 123 The maximum current rating of a thick cable trunk line is 8A.V erify that this complies with your national and international standa r ds. It might be nec essary to limit the maximum current to a lower value if standa rd s in the U.S. or Canada apply . The ma[...]

Appendix B - Adept De viceNet 124 Adept Smar tController User ’ s Guide, Re v . E Figure B-6. DeviceNet Conne ctor Pinouts Male Connector (pins) Female Connector (sockets) 4 3 5 1 2 3 5 2 4 1 Micro-Style Connector LEGEND: 1 Drain (bare) 2 V+ (red) 3 V- (black) 4 CAN_H (white) 5 CAN_L ( blue ) (VIEWED FROM CONTACT END)[...]

Adept Smar tController User ’ s Guide, Re v . E 125 Using the Manual Contr ol P endant (MCP) C C.1 Manual Control P e ndant Basics Adept motion systems are designed to allow co ntr ol of the robot or motion device from the Manual Control Pendant (MCP). Figure C-2 on page 128 shows how to hold the MCP . There ar e two versions of the MCP , the MC [...]

Appendix C - Using the Man ual Control P endant (MCP) 126 Adept Smar tController User ’ s Guide, Re v . E MCP-4 The MCP-4 has the same functionality as the MCP III, except that it has a 3-position enable switch and a dual channel E-Stop circuit. The 3-position enable switch provides additional safety for the operator . See the next section for a [...]

Manual Control P endant Basics Adept Smar tController User ’ s Guide, Re v . E 127 MCP-4 Compatibility The MCP-4 has a dual-channel (four-wir e) E-Stop circuit where the switch contacts are in parallel. This is dif ferent from the MCP III wher e the switch contacts are in s eries. This differ ence affects how the MCP-4 is used in various Adept sy[...]

Appendix C - Using the Man ual Control P endant (MCP) 128 Adept Smar tController User ’ s Guide, Re v . E Figure C-2. Holding the MCP Figure C-3. Cradling the MCP EDIT DISP CLR ERR CMD PROG SET F 1 + - 0 • DEL STEP 123 456 789 T 1 Z 3 Y 2 X 1 COMP PWR RUN HOLD MAIN HALT DIS PWR REC DONE YES NO WORLD TOOL JOINT FREE DEV USER SLOW F 2 F 3 J 7 J 1[...]

Manual Control P endant Basics Adept Smar tController User ’ s Guide, Re v . E 129 Connecting the MCP The MCP connects to the XMCP connector on th e front of the co ntroller . See the system cable diagram in Figure 2-9 on page 34 for mor e information. • For an MCP-3, install the MCP adapter cable and the MCP-3 dongle between the MCP and the co[...]

Appendix C - Using the Man ual Control P endant (MCP) 130 Adept Smar tController User ’ s Guide, Re v . E MCP Lay out The major ar eas of the MCP are shown in Figure C-4 . Figure C-4. MCP Lay out Soft Buttons The soft buttons have different functions depending on the applica tion pr ogram being run, or the se lection made from the predefine d fun[...]

Manual Control P endant Basics Adept Smar tController User ’ s Guide, Re v . E 131 Data Entr y Buttons The data entry bu ttons shown in Fi gure C-5 are used to input data, normally in r esp onse to prompts that appear on the pendant displa y. The data entry buttons include, +/YES, – /NO, DEL, the numeric buttons (0-9), the decimal point, and th[...]

Appendix C - Using the Man ual Control P endant (MCP) 132 Adept Smar tController User ’ s Guide, Re v . E T o re-enable Hi gh Power after pr essing the MCP emer gency stop switch, follow this process: 1. T urn the emergency stop switch to the right (clockwise). The s witch is spring loaded and will return to its normal position. 2. Depress the en[...]

MCP Predefined Functions Adept Smar tController User ’ s Guide, Re v . E 133 Backgr ound Mode The pendant is in backgr ound mode when the USER LED is not lit and none of the predefined functions are be ing used. The USER LED is lit whenever an application program is making use of the MCP . The MCP will not retur n to background mode until the pro[...]

Appendix C - Using the Man ual Control P endant (MCP) 134 Adept Smar tController User ’ s Guide, Re v . E The Edit Function The Edit function button allows editing of location varia bles and real variables that are used by V + programs. Figure C-7. EDIT Function Button REAL Press the REAL soft button and the LCD d isplays: SELECT REAL VARIABLE TO[...]

MCP Predefined Functions Adept Smar tController User ’ s Guide, Re v . E 135 Press the s oft button under the variable name to edit that variable. The <MORE> soft button is shown only when ther e are mor e than five global location variables in system memory . When a variable has been selected, the LCD will s how: loc.name: X = 500 CHANGE N[...]

Appendix C - Using the Man ual Control P endant (MCP) 136 Adept Smar tController User ’ s Guide, Re v . E Joint V alues W hen this button is pressed, the display shows: J1 = x.xx J2 = x.xx J3 = x.xx J4 = x.xx J5 = x.xx J6 = x.xx These values repr esent the current joint positi ons of the robot or motion device. V alues will be shown only for join[...]

MCP Predefined Functions Adept Smar tController User ’ s Guide, Re v . E 137 Last Error Pr ess LAST ERROR to display the error messages generated by V + during the current sessi on. The most r ecent error wil l be displayed. The rightmost soft button will be labeled <MORE>. Pressing this button will cycle back through the err or messages ge[...]

Appendix C - Using the Man ual Control P endant (MCP) 138 Adept Smar tController User ’ s Guide, Re v . E Figure C-10. Command (CMD) Function Button The AUTO ST AR T , CALIB, CMD1, and CMD2 functions r equire the MCP to be in Auto mode. If one of the s e function butt ons is pr essed while the MCP is in Manua l mode, the MCP prompts you to place [...]

MCP Predefined Functions Adept Smar tController User ’ s Guide, Re v . E 139 CMD1 and CMD2 When CMD1 is pressed, the syst em attempts to load the file CMD1.V2 from the default disk, and COMMAND the program CMD1. The pr ogram file CMD1.V2 must re side on the defaul t disk , and it must contain a command pr ogram named “cmd1”. If the file does [...]

Appendix C - Using the Man ual Control P endant (MCP) 140 Adept Smar tController User ’ s Guide, Re v . E C.3 Moving a Robot or Moti on De vice With the MCP Introduction The MCP is used with a r obot or motion device primarily to teach robot locations for use in application programs. The MCP is also used with custom appli cations that employ teac[...]

Moving a Robot or Motion Device With the MCP Adept Smar tController User ’ s Guide, Re v . E 141 Emergency Sto p Switch The emergency stop switch will stop pr ogram execution and turn off High Power . If your robot is equipped with brakes, they will be activated. COMP/PWR Button If High Power is enabled, the COM P/PWR button sele cts computer mod[...]

Appendix C - Using the Man ual Control P endant (MCP) 142 Adept Smar tController User ’ s Guide, Re v . E DIS PWR Button The Disable Power button will shut down High Power to the robot or motion device when pressed . Unlike the emer gency stop swit ch, the Disable Power Button initiates a co nt rol le d s to p , w he re t he rob ot is d ec el er [...]

Moving a Robot or Motion Device With the MCP Adept Smar tController User ’ s Guide, Re v . E 143 In Comp Mode See the description of the Ste p Button on page 142 . Figure C-13. Speed Bars Slow Button The slow button selects between the two diff erent speed ranges of the speed bars . When the slow button LED is lit, the slower speed ra nge is sele[...]

Appendix C - Using the Man ual Control P endant (MCP) 144 Adept Smar tController User ’ s Guide, Re v . E Figure C-14. WORLD State (Four -Axis SC ARA) The T 1 button cycles the gripper solenoids. Press anywhe re on th e “+” side of the speed bar to open the gripper , on the “–” side to close the gripper . NOTE: This is the most common g[...]

Moving a Robot or Motion Device With the MCP Adept Smar tController User ’ s Guide, Re v . E 145 NOTE: Figure C-15 and Figure C-16 are drawn with the assumption that the TOOL transformation is set to NULL (all values ar e 0). If a TOOL transformation is in effect, the tool coor dinate system will be offset and rotated by the value of the T OOL tr[...]

Appendix C - Using the Man ual Control P endant (MCP) 146 Adept Smar tController User ’ s Guide, Re v . E Figure C-16. TOOL State (Six-Axis Robot) T 1 RZ 6 RY 5 RX 4 Z 3 Y 2 X 1 STEP Rotation about TOOL X axis Rotation about TOOL Y axis Rotation about TOOL Z axis Gripper RX RY RZ T 1[...]

Moving a Robot or Motion Device With the MCP Adept Smar tController User ’ s Guide, Re v . E 147 Joint State When joint state is selected, movement is about the axis of the specified joint. Figure C- 17 shows an Adept SCARA robot with thr ee rotati onal joints (Joints 1, 2, and 4) and one translational joint (Joint 3). Positive rotation of joints[...]

Appendix C - Using the Man ual Control P endant (MCP) 148 Adept Smar tController User ’ s Guide, Re v . E Figure C-18 shows the joint assignments for a typica l six-axis r obot (as always, the first time you move a r obot, carefully verify the joint assignments). Figure C-18. JOINT State (Six-Axis Robot) Free State When free state is selected, in[...]

Moving a Robot or Motion Device With the MCP Adept Smar tController User ’ s Guide, Re v . E 149 Figure C-19. FREE State (Four -Axis SCARA) Controlling More Than One Robot Like the monitor and each program task, th e Manual Contro l Pendant (MCP) can also have a robot attached. When moving a r obot fr om the MCP or displaying joint values or worl[...]

Appendix C - Using the Man ual Control P endant (MCP) 150 Adept Smar tController User ’ s Guide, Re v . E The MCP selection cycles from one r obot to the next each time the DEV/F3 key is press ed. Be ca ref ul wh e n rec o rdi ng po si ti on s w i th th e M CP ; t he po si ti on rec ord e d by H ER E o r TEACH commands depends on the robot that i[...]

Adept Smar tController User’ s Guide, Rev . E 151 A Adept Document Library 16 AdeptWindows PC Graphical User’s Interface 43 AdeptWindows, ins tallation 46 ASCII Terminal 43 assigning I/O sign al numbers 99 assigning s DIO signal blocks 98 AUTO Boot 44 Auto start from the MCP 138 AUTO.V2 138 B Background mode on MCP 133 Belt Encoder on CX connec[...]

Index 152 Adept Smar tController User’ s Guide, Rev . E errors displaying system on MCP 137 Ethernet connector, description 39 F fast input signals (1001 to 1004) 60 free state, on MCP 148 Front Panel connectors and indicators 41 safety features 18 function buttons, on MCP 130 H High Power On/Off Switch, on Front Panel 41 How Can I Get Help? 16 H[...]

Index Adept Smar tController User’ s Guide, Rev . E 153 remote Manual Mode control 56 remote MCP connections on XMCP connector 51 remote sensing of user E-Stop switches 55 robot location displaying 136 robot states in manual mo de free 148 joint 147 tool 144 world 143 Robotic Industries Association 17 robotic safety 17 RS-232 and RS-485 co nnecto[...]

Index 154 Adept Smar tController User’ s Guide, Rev . E V V+ Extensions License, for Belt Encoder function 65 viewing angle LCD panel, on MCP 133 vision option, see sAVI option X XDC1/XDC2 24VDC connectors, description 40 XDIO connector description 39 digital output wiring 62 functions 59 – 64 input signals 59 output signals 61 XFP connector on[...]

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3011 Triad Drive Livermore, CA 94551 925•245•3400 P/N: 00356-00100, Re v . E[...]