Adept EX SmartContoller Bedienungsanleitung

Adept SmartController EXUser's GuideCovers the SmartController EX Motion Controller and sDIO Module

Chapter 1: IntroductionThe safety features include:lEmergency-stop switch (dual channel circuit)l3-position enable switch (dual channel circuits)See t

Chapter 1: IntroductionDANGER:This indicates an imminently hazardous electrical situationwhich, if not avoided, will result in death or serious injur

Chapter 1: IntroductionlPower to the robot and its power supply must be locked out and tagged out before anymaintenance is performed.1.4 What to Do in

Chapter 1: Introduction1.7 How Can I Get Help?For details on getting assistance with your Adept software or hardware, you can access the fol-lowing in

Chapter 1: IntroductionTo locate information on a specific topic, use the Document Library search engine on the ADLmain page.Adept SmartController EX

Adept SmartController EX User’s Guide, Rev. BPage 15 of 96Chapter 2: Installation2.1 Controller InstallationThis equipment must be shipped and stored

Chapter 2: Installation3.Remove the optional fromT20 pendant its box and place it on a flat surface near theFront Panel.Repacking for RelocationIf the

Chapter 2: Installation3X M3 x 6MMBOTH SIDES3.819.12X 25.014.22X 40356-0000488.144.421.83.6TYP.462.0482.8190.0Figure 2-1. Rack-Mounting the Adept Smar

Chapter 2: InstallationTable-Mounting the Adept SmartController EX Motion ControllerTo table-mount the controller, install two brackets on each side n

Chapter 2: Installation2X 40356-00002BOTH SIDES8X M3 x 6MMBOTH SIDES186.530.776.528.1 16.0120.9155.8328.9Figure 2-4. Stack-Mounting the Adept SmartCon

Chapter 2: InstallationCAUTION: Do not remove the SD card when power is connected to thecontroller.Removing an SD CardTo remove an SD card from a Adep

Chapter 2: InstallationConnecting PowerThe Adept SmartController EX motion controller and sDIO module require filtered 24 VDCpower.NOTE:Users must pr

Chapter 2: InstallationNOTE:The power requirements for the user-supplied power supply will vary depending on theconfiguration of the Adept SmartContr

Chapter 2: InstallationNOTE:The power switch on the Adept SmartController EX motion controller will shut down boththe controller and the second 24 V

Chapter 2: Installation7.Gently pull on the wire to confirm that it is securely attached to the connector.8.Repeat this process to connect the wire fr

Chapter 2: InstallationWARNING:You must use cables from vendors approved by Adept thatmeet all specifications of the IEEE 1394 standard. Using a non-

Adept SmartController EX User’s Guide, Rev. BPage 27 of 96Chapter 3: Operation3.1 Connectors and Indicators12 4791011 18835612 13 14 15 16 17Figure 3-

Chapter 3: Operationwrites, the FW/HD LED pulses red. When a robot is connected on one of theSmartServo ports, the FW/HD LED shows green3. Bottom Thre

Chapter 3: Operation5.SmartServo 1.1, 1.2, and 1.3These ports connect any Adept SmartServo-compatible product to the controller via theIEEE-1394 cable

Adept SmartController EXUser's GuideCovers the SmartController EX Motion Controller and sDIO ModuleP/N:11069-000 Rev. BFebruary, 20125960 Inglewo

Chapter 3: Operationconnected to the XUSR connector. A line E-Stop from other equipment can be connected.A muted safety gate that causes an E-Stop onl

Chapter 3: Operation3.2 Front PanelThe following figure shows an Adept Front Panel.23451STOPRFigure 3-2. Front PanelBefore running programs, either th

Chapter 3: Operation4.High Power On/Off Switch & LampControls high power, which is the flow of current to the robot motors. Enabling highpower is

Chapter 3: OperationYou install Adept ACE software from the Adept Software CD-ROM. Adept ACE needs Micro-soft .NET Framework. The Adept ACE Setup Wiza

Chapter 3: Operation6.Set the values as appropriate for your port.7.Click Accept.8.Click Done.9.Click Yes, to write the values to the eV+ system disk.

Chapter 3: OperationTable 3-3. RS-232 Connector Pin AssignmentsPin RS-232-1 RS-232-2 RS-232/TermSignal Type Signal Type1 Reserved - NC -2 RXD Input RX

Chapter 3: OperationTable 3-5. RS-422/485 Connector Pin AssignmentsPin Signal Type1 NC2 RXD+ Input3 TXD+ Output4 TXD- Output5 GND Ground6 RXD– Input7

Chapter 3: OperationTable 3-6. Contacts Provided by the XUSR ConnectorPinPairsDescription CommentsVoltage-Free Contacts Provided by Customer1, 14 User

Chapter 3: OperationPinPairsDescription Requirements for User-Supplied Front Panel4, 12 Remote Manual/Automatic switch CH 2.Manual = Open Automatic =

Chapter 3: OperationPin XMCP(15-Pin D-Sub)Description15 No connectionShield Shield GND6 24 V5 No connectionTable 3-9. XSYS Connector Pin AssignmentsPi

Copyright NoticeThe information contained herein is the property of Adept Technology, Inc., and shall not be reproducedin whole or in part without pri

Chapter 3: OperationThe following figure shows an E-Stop diagram for the Adept SmartController EX motion con-troller. See Introduction on page 9 for a

Chapter 3: OperationESTOPSRC24 VS5 VDDSYSPWRLT 7654231171681091112131415XFP15PDSUBMMANUALSRC1HIPWRREQMANUALRLY2MANUALRLY1HIPWRLTESTOPFP2ESTOPFP1HPLT5V

Chapter 3: OperationNOTE: These contacts do not indicate the status of any connections below the User E-Stop con-tacts. Thus, they will NOT indicate t

Chapter 3: OperationCAUTION:If you want the cell gate to always cause a robot shutdown,wire the gate switch contacts in series with the user E-Stop i

Chapter 3: Operationwiring. In this situation, a second momentary contact for high power on/off would be placed inparallel with the Adept Front Panel

Chapter 3: OperationNOTE: The XMCP and XFP connectors on the controller can be interchanged without electricaldamage. However, neither the Front Panel

Chapter 3: OperationTable 3-10. DIO Input Circuit Specifications (XDIO connector)Operational voltage range 0 to 30 VDC“Off” state voltage range 0 to 3

Chapter 3: OperationCustomer powersupplyExample 1Example 2Example 3Customer powersupplySignal 1001Signal 1002Signal 1003Signal 1004Signal 1005Signal 1

Chapter 3: OperationFast DIO interrupt events (using INT.EVENT) require the optional eV+ Extensions License.When the program task priorities are prope

Chapter 3: OperationExample 1Example 2Signal 0001(equivalent circuit)Signal 0002Signal 0003Signal 0004Signal 0005Signal 0006Signal 0007Signal 0008Adep

Table of ContentsChapter 1: Introduction 91.1 Product Description9sDIO Module Expansion Module 9Optional Adept T20 Pendant 91.2 Dangers, Warnings, Cau

Chapter 3: OperationPin Signal Pin Signal Pin Signal Pin Signal13 Input 1007 14 1007 return 37 Output 0007+ 38 Output 0007–15 Input 1008 16 1008 retur

Chapter 3: Operationference is that a custom resistor network and two differential receivers are used on each of theA and B inputs. See the figure Bel

Chapter 3: OperationTable 3-13. Belt Encoder Connector Pin AssignmentsSignal Pin Signal PinEncoder 5 V Out 1 ENC2_B-14Encoder Ground 10 ENC3_B+15ENC1_

Chapter 3: OperationEncoder+–2202.2K26LS33SmartController EX Belt Encoder ConnectorTypical input circuit, same for A, B, and I for both encoders.2.2KE

Chapter 3: OperationFigure 3-9. Belt Encoder ConnectorAdept SmartController EX User’s Guide, Rev. BPage 54 of 96

Adept SmartController EX User’s Guide, Rev. BPage 55 of 96Chapter 4: Maintenance4.1 Changing the Lamp in the Front Panel High-Power IndicatorThe syste

Chapter 4: Maintenance10.Push the front cover into the body, taking care to align all of the plug-type connectors.Verify that the wires do not get cri

Adept SmartController EX User’s Guide, Rev. BPage 57 of 96Chapter 5: Technical SpecificationsThis chapter shows the dimensions of the Adept SmartContr

Chapter 5: Technical Specifications5.2 sDIO Module Dimensions328.9186.5Ground Connection Point2.54.45.541.6SFIEEE-1394X2SC-DIOLINK*S/N 3563-XXXXX*X124

Chapter 5: Technical Specifications5.3 Adept Front Panel DimensionsSTOPR152.488.9129.513.155.938.716.53076.2139.76.46.44X M4 x 18 MMFigure 5-3. Adept

Table of ContentsEmergency Stop Circuits 41Remote Manual Mode 43User Manual/Auto Indication 43User High Power On Indication 43Remote High Power On/Off

Chapter 5: Technical Specifications5.4 Adept T20 Pendant DimensionsFigure 5-4. T20 Pendant DimensionsAdept SmartController EX User’s Guide, Rev. BPage

Adept SmartController EX User’s Guide, Rev. BPage 61 of 96Chapter 6: sDIO ModuleThe sDIO expansion module provides 32 optically-isolated digital input

Chapter 6: sDIO Module3.6 TYP.6.14.231.816.043.914.22X 40356-00003R 3.6190.02X M3 x 6MM BOTH SIDES482.8462.014.0Figure 6-2. Rack-Mounting the sDIO M

Chapter 6: sDIO ModulePanel-Mounting the sDIO ModuleTo panel-mount the sDIO module, install one bracket on each side of the back of the unit, asshown

Chapter 6: sDIO ModuleR 3.616.3391.916.0378.724.924.1120.821.74X 40356-0000112.129.5120.94X M3 x 6 MMBOTH SIDESFigure 6-4. Table-Mounting the sDIO Mod

Chapter 6: sDIO ModuleWARNING:Remove power from the controller before plugging in orunplugging any IEEE-1394 cables to SmartServo IEEE-1394 connector

Chapter 6: sDIO Module6.4 Configuring an sDIO ModuleThe Adept SmartController EX motion controller is preconfigured to support two sDIO mod-ules. Its

Chapter 6: sDIO Modulelwhen you replace an sDIO module in either of the two preceding situationsNOTE:The first two sDIO modules can use the default s

Chapter 6: sDIO ModuleFigure 6-6. Controller Configuration Screen, Digital InputAdept SmartController EX User’s Guide, Rev. BPage 68 of 96

Chapter 6: sDIO ModuleROBOT 1XIOOutput Block 1Byte 1 Byte 2(97-104)Internal IO(3001-3004)XIOInput Block 1Byte 1 Byte 2(1097-1104)XIO(1105-1108) 4 s

Table of Contents7.2 Limitations of the Adept DeviceNet Scanner867.3 DeviceNet Port on the Controller86Connecting DeviceNet Hardware to the Controller

Chapter 6: sDIO ModuleByte 1 Byte 2Group 2Group 1 Group 3 Group 4Group 2Group 1 Group 3 Group 4Group 2Group 1 Group 3 Group 4Group 2Group 1 Group 3 Gr

Chapter 6: sDIO Module6.5 Installing Multiple sDIO ModulesSFIEEE-1394X2SC-DIOLINK*S/N 3563-XXXXX*X124V 0.5AROKX4 - + - +1.1 1.2XDC1 XDC2X3SFIEEE

Chapter 6: sDIO Module6.6 sDIO Digital I/O SignalsThe sDIO module’s digital I/O signals are 64 optically-isolated digital I/O channels (32 outputand 3

Chapter 6: sDIO ModuleNOTE:The input current specifications are provided for reference. Voltage sources are typicallyused to drive the inputs.Adept-S

Chapter 6: sDIO ModuleNOTE: The off-state current range exceeds the leakage current of sDIO outputs. This guaranteesthat the inputs will not be turned

Chapter 6: sDIO ModuleTable 6-3. sDIO Chassis LEDsIllumination Upper LED (LINK) Lower LED (OK SF)None No IEEE 1394 link Local software not runningBlin

Chapter 6: sDIO ModuleTable 6-4. sDIO Output Circuit SpecificationsParameter ValuePower supply voltage range 10 VDC £ Vsup£ 30 VDCUnder voltage shutdo

Chapter 6: sDIO ModuleMAdept-Supplied EquipmentCustomer-Supplied Equipment25Customer DCPower Supply+–sDIOOutput Group 1WiringTerminal BlockTypical Us

Chapter 6: sDIO ModuleThe X1 and X2 output connectors are also similar except that X1 handles the group 1 andgroup 2 output signals and X2 handles the

Chapter 6: sDIO ModuleTable 6-5. X3 Input Cable Pin AssignmentsPinNumberSignalGroupSignalNameWireColorX3–15 1 1033 red/whiteX3–61 1034 orangeX3–16 1 1

Chapter 6: sDIO ModuleTable 6-6. X4 Input Cable Pin AssignmentsPinNumberSignalGroupSignalNameWireColorX4–15 3 1049 red/whiteX4–6 3 1050 orangeX4–16 3

Chapter 6: sDIO ModuleTable 6-7. X1 Output Cable Pin AssignmentsPinNumberGroupNumberSignalNameWireColorX1–30 1 0033 green/black/whiteX1–15 1 0034 gree

Chapter 6: sDIO ModulePinNumberGroupNumberSignalNameWireColorX1–19 2 power orange/redX1–31 2 power orange/black/whiteX1–32 2 power blue/black/whiteX1–

Chapter 6: sDIO ModulePinNumberGroupNumberSignalNameWireColorX2–41 3 power white/red/orangeX2–42 3 power orange/white/blueX2–43 3 power white/red/blue

Adept SmartController EX User’s Guide, Rev. BPage 85 of 96Chapter 7: Adept DeviceNetDeviceNet is a low-cost communications link that connects industri

Chapter 7: Adept DeviceNet7.2 Limitations of the Adept DeviceNet ScannerThe DeviceNet Scanner that Adept has incorporated into the Adept SmartControll

Chapter 7: Adept DeviceNetNOTE:Adept does not supply 24 V on the controller to power the DeviceNet bus. A separatepower supply is required to power t

Chapter 7: Adept DeviceNetFigure 7-1. Trunk Lines and Drop Lines Made of Thick and Thin CableDeviceNet allows devices to be powered directly from the

Chapter 7: Adept DeviceNetNetwork Size A maximum of 64 nodes [0...63]Bus Topology Linear (trunk line/drop line); power and signal on the same net-work

Adept SmartController EX User’s Guide, Rev. BPage 9 of 96Chapter 1: Introduction1.1 Product DescriptionThe Adept SmartController EX motion controller

Chapter 7: Adept DeviceNetFigure 7-3. DeviceNet Thin CableDeviceNet ConnectorsDeviceNet allows different connectors, which may be grouped into open an

Chapter 7: Adept DeviceNetTermination of the DeviceNet NetworkThe DeviceNet network uses the Controller Area Network (CAN) bus as the physical layer.T

Chapter 7: Adept DeviceNetPower Capabilities of a DeviceNet Cable SystemA DeviceNet cable system has several power rating constraints. The cable type

Chapter 7: Adept DeviceNetIt is important to note that voltage differences between the V– and V+ conductors need to bebetween 11 V and 25 V. The commo

P/N:11069-000 Rev. B5960 Inglew ood DrivePleasanton, CA 94588925·245·3400