Adept SmartController
User’s Guide
Page
00356-00100, Rev. E May
Page
Table of Contents
Table of Contents
SmartController Operation
SmartController Maintenance
SDIO Module
Using the Manual Control Pendant MCP 125
Index
List of Figures
Figure A-1
List of Figures
List of Tables
List of Tables
Adept SmartController CS
Introduction
Product Description
Adept SmartController CX
Adept Document Library
How Can I Get Help?
Related Manuals
Introduction
Safety
Reading and Training for Users and Operators
Safety Features on the Front Panel
System Safeguards
Computer Controlled Robots and Motion Devices
Manually Controlled Robots and Motion Devices
Safety
Program Security
Other Computer-Controlled Devices
Standards Compliance
Inappropriate Uses of the Adept SmartController
Functionality Changes
CAT-3 Version of SmartController
Identification
Stop Circuit
Operational Change in SmartModule Systems
Before Unpacking
SmartController Installation
Controller Installation
Upon Unpacking
Space Around the Chassis
SmartController Installation
Repacking for Relocation
Mounting the SmartController
Controller Installation
Rack Mounting the SmartController
Panel Mounting the SmartController
Panel Mounting the SmartController
Table Mounting the SmartController
Table Mounting the SmartController
Stacking Components
CompactFlash Memory Card
Installing CompactFlash
CompactFlash Memory Card Compartment
Connecting Power
24VDC Power Specifications
Daisy-Chaining Power
24VDC Power Cabling
Grounding
Installing 24VDC Connectors
Grounding Point
Ieee 1394 Cable Specifications
V Connectors
System Cable Installation
PDU2
System Cable Installation
Page
Top Three Status LEDs
SmartController CS Connectors and Indicators
SmartController Operation
Green Indicates Red Indicates
DeviceNet connector
LED Display Error # Description
SW1 DIP switches
Bottom Three Status LEDs
Xdio connector
Ethernet Eth 10/100 connector
RS-232 and RS-422/485 connectors
Xusr connector
SmartController CX Connectors and Indicators
High Power On/Off Switch & Lamp
System 5V Power On LED
Manual/Automatic Mode Switch
Front Panel
DIP-Switch Settings
Configuring the Controller
Factory Default Settings
Emergency Stop Switch
AdeptWindows PC Graphical User Interface
Configuring the Controller
Row # Interpretation
Ascii Terminal
Auto Boot
SmartController Serial I/O Connectors
RS-232 Connectors
Pin Signal Type
SmartController Serial I/O Connectors
RS-422/485 Connector
Controller Connector + Designation
Installing the User Interface
Graphical Interface Using AdeptWindows
Installation Procedure
Text Interface Using a PC with HyperTerminal Software
Installing the User Interface
Start = Programs = Accessories = HyperTerminal
Text Interface Using a Terminal
Recommended Terminal for Text-Based Systems
Connecting Equipment to the System
Pin Description Comments Shorted if Pairs Not Used
Pin Pairs
Description Comments
Pin 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 Circuits
User E-Stop Indication Remote Sensing of E-Stop
Muted Safety Gate E-Stop Circuitry
Line E-Stop Input
Remote Manual Mode
User High Power On Indication
High Power On/Off Lamp
Remote High Power On/Off Control
Remote Front Panel Usage
Connecting Customer-Supplied Digital I/O Equipment
Remote MCP Usage
Connecting Customer-Supplied Digital I/O Equipment
Xdio Connector
Input Signals
React Input Signals 1001 to
Fast Input Signals 1001 to
Output Signals
11. DIO Output Specifications Xdio connector
Digital Output Wiring for Xdio Connector
Pin Signal
Digital I/O Connector Ordering Details Third-Party Sources
Screw-Terminal Field-Wiring Adapter Blocks
Belt Encoder Interface on SmartController CX
Channel Signal Pin
Belt Encoder Interface on SmartController CX
Belt Encoder Typical Input Circuit
Introduction
SAVI Board Features
AdeptVision sAVI Option
SAVI Board System Requirements and Restrictions
AdeptVision sAVI Inspection System Limitations
Camera Compatibility
Pixel Format
Guidelines for Cameras
Cameras Supported
Standard Resolution Cameras
High Resolution Cameras
Camera Compatibility
Camera Cables
Two-Camera Breakout Cable for RS-170 Cameras
Meter Camera Extension Cables
Four-Camera Breakout Cable for RS-170 Cameras
Camera Cables
Installing Camera Cables
Connecting the Cables to the RS-170 Standard Camera
Installing Camera Cables
Camera Cable Installation Drawing RS-170
Camera Cable Pin and Signal Information
Camera Cable Pin and Signal Information
Pin Function
Pin 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 Specifications
Page
SmartController Maintenance
Changing the Lamp in the High Power Indicator
SmartController Maintenance
Lamp Body Contact Alignment
Technical Specifications
SmartController Dimensions
SDIO Dimensions
Technical Specifications
Adept Front Panel Dimensions
Adept Front Panel Dimensions
Adept Front Panel Back View
Adept MCP Dimensions
Adept MCP Dimensions
MCP Cradle Dimensions
SDIO Module a
Mounting the sDIO
Rack Mounting the sDIO
Appendix a sDIO Module
Panel Mounting the sDIO
Mounting the sDIO
Table Mounting the sDIO
Installing the sDIO
Stack Mounting
Configuring a Single sDIO
Configuring a Single sDIO
Default sDIO I/O Configuration
Input Signal Block Byte Output Signal Numbers
Assigning sDIO Signal Blocks
Modifying the Default sDIO Configuration
Configure 1394 DIO
Enter new value
Assigning I/O Signal Numbers
+ System Configuration Data Then, press Enter to continue
Do you want to save these changes?
Edit system configuration Then, press Enter to continue
100 Adept SmartController User’s Guide, Rev. E
SDIO Signal Mapping Example
Adept SmartController User’s Guide, Rev. E 101
Using Multiple sDIO Modules
102 Adept SmartController User’s Guide, Rev. E
SDIO Module Connectors and Indicators
SDIO Module Connectors and Indicators
Configuring a System with an sDIO and a RIO
Status LEDs
SDIO Inputs
SDIO Digital I/O Signals
104 Adept SmartController User’s Guide, Rev. E
SDIO Digital I/O Signals
Adept SmartController User’s Guide, Rev. E 105
SDIO LEDs
Testing sDIO Outputs
SDIO Outputs
106 Adept SmartController User’s Guide, Rev. E
Illumination Upper LED Link Lower LED OK SF
SDIO Output Power Supply Current Selection
Adept SmartController User’s Guide, Rev. E 107
Parameter Value
108 Adept SmartController User’s Guide, Rev. E
Smart-DIO
Adept SmartController User’s Guide, Rev. E 109
Labeling Cables
Optional DIO Cables
110 Adept SmartController User’s Guide, Rev. E
Pin Signal Wire Number Group Color Locations
Input and Output Cable Wiring Information
Adept 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 113
114 Adept SmartController User’s Guide, Rev. E
Adept DeviceNet B
DeviceNet Specifications
Volume
Adept SmartController User’s Guide, Rev. E 115
Adept Supplied DeviceNet Hardware
Pin Signal Name
Limitations of the Adept DeviceNet Scanner
Appendix B Adept DeviceNet
DeviceNet Physical Layer and Media
DeviceNet Physical Layer and Media
Adept 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 119
Figure B-2. DeviceNet Thick Cable
120 Adept SmartController User’s Guide, Rev. E
Termination of the DeviceNet Network
DeviceNet Connectors
Connector Description
Adept SmartController User’s Guide, Rev. E 121
Power Capabilities of a DeviceNet Cable System
Power Supply and the DeviceNet Bus
122 Adept SmartController User’s Guide, Rev. E
Length of Dropline Maximum Current
Adept SmartController User’s Guide, Rev. E 123
Figure B-6. DeviceNet Connector Pinouts
124 Adept SmartController User’s Guide, Rev. E
Manual Control Pendant Basics
Using the Manual C Control Pendant MCP
MCP Enable Switch Function on CAT-3 SmartController
Adept SmartController User’s Guide, Rev. E 125
Position Enable Switch
Appendix C Using the Manual Control Pendant MCP
126 Adept SmartController User’s Guide, Rev. E
MCP-4 Compatibility
Manual Control Pendant Basics
Adept SmartController User’s Guide, Rev. E 127
128 Adept SmartController User’s Guide, Rev. E
CMD
Connecting the MCP
Adept SmartController User’s Guide, Rev. E 129
Function Buttons
MCP Layout
Soft Buttons
130 Adept SmartController User’s Guide, Rev. E
Data Entry Buttons
Mode Control and Joint/Axis Control Buttons
Emergency Stop From the MCP
Speed Bars and Slow Button
CAT-3 SmartController
Re-Enabling Power After Enable Switch Released
Original SmartController
132 Adept SmartController User’s Guide, Rev. E
Introduction
Background Mode
MCP Predefined Functions
Predefined Function Buttons
Edit Function
134 Adept SmartController User’s Guide, Rev. E
Display Function
Adept SmartController User’s Guide, Rev. E 135
136 Adept SmartController User’s Guide, Rev. E
CMD Function
Clear Error Function
Adept SmartController User’s Guide, Rev. E 137
Figure C-10. Command CMD Function Button
138 Adept SmartController User’s Guide, Rev. E
Prog Set Function
Adept SmartController User’s Guide, Rev. E 139
Moving a Robot or Motion Device With the MCP
Mode Control Buttons
140 Adept SmartController User’s Guide, Rev. E
COMP/PWR Button
Emergency Stop Switch
Moving a Robot or Motion Device With the MCP
MAN/HALT Button
Speed Bars
Joint/Axis Control Buttons
142 Adept SmartController User’s Guide, Rev. E
Robot States
Comp Mode
Slow Button
World State
Tool State
144 Adept SmartController User’s Guide, Rev. E
+RZ
Adept SmartController User’s Guide, Rev. E 145
Figure C-16. Tool State Six-Axis Robot
146 Adept SmartController User’s Guide, Rev. E
Joint State
Adept SmartController User’s Guide, Rev. E 147
Free State
148 Adept SmartController User’s Guide, Rev. E
Controlling More Than One Robot
Adept SmartController User’s Guide, Rev. E 149
Robots With More Than Six Joints
DEV LED state Robot selected by pendant
Robots With Fewer Than Six Joints
Joint/Axis LED state Joint range
Index
Adept SmartController User’s Guide, Rev. E 151
Index
152 Adept SmartController User’s Guide, Rev. E
143
Adept SmartController User’s Guide, Rev. E 153
154 Adept SmartController User’s Guide, Rev. E
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Triad Drive