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Nortech Systems XUSR, RS-232/TERM Parameter Value, Adept SmartController User’s Guide, Rev. E

Models: RS-422/485 XSYS XUSR RS-232/TERM

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Appendix A - sDIO Module

Table A-4. sDIO Output Circuit Specifications

Parameter	Value


Power supply voltage range	10VDC ≤ Vsup ≤ 30VDC
Under voltage shutdown	5VDC ≤ Vusd ≤ 8VDC
Power supply ground current	Ig ≤ 60 mA
Operational current range, per	Iout ≤ 700 mA
channel

On state resistance (Iout = 0.5A)	Ron ≤ 0.32Ω @ 85° C (Ron 0.4Ω @
	125° C)

Output leakage current	Iout ≤ 25 µA
Turn on response time	175 µsec. max., 80 µsec typical
	(hardware only)

Turn off response time	60 µsec. max., 28 µsec typical
	(hardware only)

Output voltage at inductive load	(Vsup - 65) ≤ Vdemag ≤ (Vsup - 45)
turnoff (Iout = 0.5A, Load = 1 mH)
DC short circuit current limit	0.7A ≤ ILIM ≤ 2.5A
Peak short circuit current	Iovpk ≤ 4A

CAUTION: The above specs apply only to the output channels on the sDIO. See Table 3-11 on page 61 for specs on the XDIO connectors digital output channels.

108	Adept SmartController User’s Guide, Rev. E

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Nortech Systems XUSR, RS-232/TERM, RS-422/485, XSYS manual Parameter Value, Adept SmartController User’s Guide, Rev. E

Contents

Adept SmartController User’s GuidePage 00356-00100, Rev. E May Page Table of Contents Table of Contents SmartController OperationSmartController Maintenance SDIO Module Using the Manual Control Pendant MCP 125 Index List of Figures Figure A-1List of Figures List of Tables List of Tables Introduction Product DescriptionAdept SmartController CS Adept SmartController CXHow Can I Get Help? Related ManualsAdept Document Library IntroductionSafety Reading and Training for Users and OperatorsSystem Safeguards Safety Features on the Front PanelComputer Controlled Robots and Motion Devices Safety Program SecurityManually Controlled Robots and Motion Devices Other Computer-Controlled DevicesStandards Compliance Inappropriate Uses of the Adept SmartControllerCAT-3 Version of SmartController IdentificationFunctionality Changes Stop CircuitOperational Change in SmartModule Systems SmartController Installation Controller InstallationBefore Unpacking Upon UnpackingSmartController Installation Repacking for RelocationSpace Around the Chassis Mounting the SmartControllerController Installation Rack Mounting the SmartControllerPanel Mounting the SmartController Panel Mounting the SmartControllerTable Mounting the SmartController Table Mounting the SmartControllerStacking Components CompactFlash Memory CardInstalling CompactFlash CompactFlash Memory Card CompartmentConnecting Power 24VDC Power Specifications24VDC Power Cabling Daisy-Chaining PowerGrounding Installing 24VDC Connectors Grounding PointIeee 1394 Cable Specifications V ConnectorsSystem Cable Installation PDU2System Cable Installation Page SmartController CS Connectors and Indicators SmartController OperationTop Three Status LEDs Green Indicates Red IndicatesLED Display Error # Description SW1 DIP switchesDeviceNet connector Bottom Three Status LEDsEthernet Eth 10/100 connector RS-232 and RS-422/485 connectorsXdio connector Xusr connectorSmartController CX Connectors and Indicators System 5V Power On LED Manual/Automatic Mode SwitchHigh Power On/Off Switch & Lamp Front PanelConfiguring the Controller Factory Default SettingsDIP-Switch Settings Emergency Stop SwitchConfiguring the Controller Row # InterpretationAdeptWindows PC Graphical User Interface Ascii TerminalSmartController Serial I/O Connectors RS-232 ConnectorsAuto Boot Pin Signal TypeRS-422/485 Connector SmartController Serial I/O ConnectorsController Connector + Designation Installing the User Interface Graphical Interface Using AdeptWindowsText Interface Using a PC with HyperTerminal Software Installing the User InterfaceInstallation Procedure Start = Programs = Accessories = HyperTerminalText Interface Using a Terminal Recommended Terminal for Text-Based SystemsConnecting Equipment to the System Pin Description Comments Shorted if Pairs Not UsedPin Pairs Description CommentsPin Xmcp Pin MCP Description Pin D-Sub Pin CPC CAT-3 E-Stop Circuit on Xusr and XFP Connectors Stop, High Power On/Off and MANUAL/AUTO Controls Adept Front Panel Schematic Emergency Stop CircuitsMuted Safety Gate E-Stop Circuitry User E-Stop Indication Remote Sensing of E-StopLine E-Stop Input Remote Manual Mode User High Power On IndicationRemote High Power On/Off Control High Power On/Off LampRemote Front Panel Usage Connecting Customer-Supplied Digital I/O Equipment Remote MCP UsageXdio Connector Connecting Customer-Supplied Digital I/O EquipmentInput Signals React Input Signals 1001 to Fast Input Signals 1001 toOutput Signals 11. DIO Output Specifications Xdio connectorDigital Output Wiring for Xdio Connector Pin Signal Digital I/O Connector Ordering Details Third-Party Sources Screw-Terminal Field-Wiring Adapter BlocksChannel Signal Pin Belt Encoder Interface on SmartController CXBelt Encoder Interface on SmartController CX Belt Encoder Typical Input Circuit SAVI Board Features AdeptVision sAVI OptionIntroduction SAVI Board System Requirements and RestrictionsCamera Compatibility Pixel FormatAdeptVision sAVI Inspection System Limitations Guidelines for CamerasStandard Resolution Cameras High Resolution CamerasCameras Supported Camera CompatibilityCamera Cables Two-Camera Breakout Cable for RS-170 CamerasFour-Camera Breakout Cable for RS-170 Cameras Meter Camera Extension CablesCamera Cables Installing Camera Cables Connecting the Cables to the RS-170 Standard CameraInstalling Camera Cables Camera Cable Installation Drawing RS-170Camera Cable Pin and Signal Information Camera Cable Pin and Signal Information Pin FunctionPin Function Pin Locations for Camera Cable Connector 12-Pin Hirose Male From Pin Function From Pin Function Str/Pwr User +12 V to cameras User power return Pin Pin SAVI Board Specifications SAVI Board SpecificationsPage SmartController Maintenance Changing the Lamp in the High Power IndicatorSmartController Maintenance Lamp Body Contact AlignmentTechnical Specifications SmartController DimensionsSDIO Dimensions Technical SpecificationsAdept Front Panel Dimensions Adept Front Panel DimensionsAdept Front Panel Back View Adept MCP Dimensions Adept MCP DimensionsMCP Cradle Dimensions SDIO Module a Mounting the sDIORack Mounting the sDIO Appendix a sDIO ModulePanel Mounting the sDIO Mounting the sDIOInstalling the sDIO Table Mounting the sDIOStack Mounting Configuring a Single sDIO Default sDIO I/O ConfigurationConfiguring a Single sDIO Input Signal Block Byte Output Signal NumbersModifying the Default sDIO Configuration Assigning sDIO Signal BlocksConfigure 1394 DIO Assigning I/O Signal Numbers + System Configuration Data Then, press Enter to continueEnter new value Do you want to save these changes?Edit system configuration Then, press Enter to continue 100 Adept SmartController User’s Guide, Rev. ESDIO Signal Mapping Example Adept SmartController User’s Guide, Rev. E 101Using Multiple sDIO Modules 102 Adept SmartController User’s Guide, Rev. ESDIO Module Connectors and Indicators Configuring a System with an sDIO and a RIOSDIO Module Connectors and Indicators Status LEDsSDIO Digital I/O Signals SDIO Inputs104 Adept SmartController User’s Guide, Rev. E SDIO Digital I/O Signals Adept SmartController User’s Guide, Rev. E 105Testing sDIO Outputs SDIO OutputsSDIO LEDs 106 Adept SmartController User’s Guide, Rev. ESDIO Output Power Supply Current Selection Illumination Upper LED Link Lower LED OK SFAdept SmartController User’s Guide, Rev. E 107 Parameter Value 108 Adept SmartController User’s Guide, Rev. ESmart-DIO Adept SmartController User’s Guide, Rev. E 109Optional DIO Cables Labeling Cables110 Adept SmartController User’s Guide, Rev. E Input and Output Cable Wiring Information Pin Signal Wire Number Group Color LocationsAdept SmartController User’s Guide, Rev. E 111 112 Adept SmartController User’s Guide, Rev. E Pin Group Signal name Wire Number Color Pin Locations Adept SmartController User’s Guide, Rev. E 113114 Adept SmartController User’s Guide, Rev. E DeviceNet Specifications VolumeAdept DeviceNet B Adept SmartController User’s Guide, Rev. E 115Pin Signal Name Limitations of the Adept DeviceNet ScannerAdept Supplied DeviceNet Hardware Appendix B Adept DeviceNetDeviceNet Physical Layer and Media DeviceNet Physical Layer and MediaAdept SmartController User’s Guide, Rev. E 117 118 Adept SmartController User’s Guide, Rev. E Data Rates Kbps Adept SmartController User’s Guide, Rev. E 119Figure B-2. DeviceNet Thick Cable 120 Adept SmartController User’s Guide, Rev. EDeviceNet Connectors Connector DescriptionTermination of the DeviceNet Network Adept SmartController User’s Guide, Rev. E 121Power Supply and the DeviceNet Bus Power Capabilities of a DeviceNet Cable System122 Adept SmartController User’s Guide, Rev. E Length of Dropline Maximum Current Adept SmartController User’s Guide, Rev. E 123Figure B-6. DeviceNet Connector Pinouts 124 Adept SmartController User’s Guide, Rev. EUsing the Manual C Control Pendant MCP MCP Enable Switch Function on CAT-3 SmartControllerManual Control Pendant Basics Adept SmartController User’s Guide, Rev. E 125Appendix C Using the Manual Control Pendant MCP Position Enable Switch126 Adept SmartController User’s Guide, Rev. E Manual Control Pendant Basics MCP-4 CompatibilityAdept SmartController User’s Guide, Rev. E 127 128 Adept SmartController User’s Guide, Rev. E CMDConnecting the MCP Adept SmartController User’s Guide, Rev. E 129MCP Layout Soft ButtonsFunction Buttons 130 Adept SmartController User’s Guide, Rev. EMode Control and Joint/Axis Control Buttons Emergency Stop From the MCPData Entry Buttons Speed Bars and Slow ButtonRe-Enabling Power After Enable Switch Released Original SmartControllerCAT-3 SmartController 132 Adept SmartController User’s Guide, Rev. EBackground Mode MCP Predefined FunctionsIntroduction Predefined Function ButtonsEdit Function 134 Adept SmartController User’s Guide, Rev. EDisplay Function Adept SmartController User’s Guide, Rev. E 135136 Adept SmartController User’s Guide, Rev. E Clear Error Function CMD FunctionAdept SmartController User’s Guide, Rev. E 137 Figure C-10. Command CMD Function Button 138 Adept SmartController User’s Guide, Rev. EProg Set Function Adept SmartController User’s Guide, Rev. E 139Mode Control Buttons Moving a Robot or Motion Device With the MCP140 Adept SmartController User’s Guide, Rev. E Emergency Stop Switch Moving a Robot or Motion Device With the MCPCOMP/PWR Button MAN/HALT ButtonJoint/Axis Control Buttons Speed Bars142 Adept SmartController User’s Guide, Rev. E Comp Mode Slow ButtonRobot States World StateTool State 144 Adept SmartController User’s Guide, Rev. E+RZ Adept SmartController User’s Guide, Rev. E 145Figure C-16. Tool State Six-Axis Robot 146 Adept SmartController User’s Guide, Rev. EJoint State Adept SmartController User’s Guide, Rev. E 147Free State 148 Adept SmartController User’s Guide, Rev. EControlling More Than One Robot Adept SmartController User’s Guide, Rev. E 149DEV LED state Robot selected by pendant Robots With Fewer Than Six JointsRobots With More Than Six Joints Joint/Axis LED state Joint rangeIndex Adept SmartController User’s Guide, Rev. E 151Index 152 Adept SmartController User’s Guide, Rev. E143 Adept SmartController User’s Guide, Rev. E 153154 Adept SmartController User’s Guide, Rev. E Page Triad Drive