BenutzerhandbuchInhaltsverzeichnisAdept SmartController User’s Guide3Table of Contents5List of Figures11List of Tables13Introduction151.1 Product Description15Adept SmartController CS15Adept SmartController CX15sDIO Expansion Module151.2 How Can I Get Help?16Related Manuals16Adept Document Library161.3 Warnings, Cautions, and Notes171.4 Safety17Reading and Training for Users and Operators17System Safeguards18Safety Features on the Front Panel18Computer Controlled Robots and Motion Devices18Manually Controlled Robots and Motion Devices19Other Computer-Controlled Devices19Program Security19Inappropriate Uses of the Adept SmartController201.5 Standards Compliance201.6 CAT-3 Version of SmartController21Identification21Functionality Changes21MCP Enable Switch Not Functional in Auto Mode21High Power Indication on XDIO Connector21E-Stop Circuit21Operational Change in SmartModule Systems22SmartController Installation232.1 Controller Installation23Before Unpacking23Upon Unpacking23Repacking for Relocation24Space Around the Chassis24Mounting the SmartController24Rack Mounting the SmartController25Panel Mounting the SmartController26Table Mounting the SmartController27Stacking Components28CompactFlash Memory Card28Installing CompactFlash29Connecting Power3024VDC Power Specifications3024VDC Power Cabling31Daisy-Chaining Power31Grounding31Installing 24VDC Connectors32IEEE 1394 Cable Specifications332.2 System Cable Installation34SmartController Operation373.1 SmartController CS Connectors and Indicators373.2 SmartController CX Connectors and Indicators403.3 Front Panel413.4 Configuring the Controller42Factory Default Settings42DIP-Switch Settings42AdeptWindows PC Graphical User Interface43ASCII Terminal43AUTO Boot443.5 SmartController Serial I/O Connectors44RS-232 Connectors44RS-422/485 Connector453.6 Installing the User Interface46Graphical Interface Using AdeptWindows46Text Interface Using a PC with HyperTerminal Software47Installation Procedure47Text Interface Using a Terminal48Recommended Terminal for Text-Based Systems48Installation Procedure483.7 Connecting Customer-Supplied Safety and Power Control Equipment49Connecting Equipment to the System49Emergency Stop Circuits54User E-Stop Indication - Remote Sensing of E-Stop55Line E-Stop Input55Muted Safety Gate E-Stop Circuitry55Remote Manual Mode56User Manual/Auto Indication56User High Power On Indication56Remote High Power On/Off Control57High Power On/Off Lamp57Remote Front Panel Usage57Remote MCP Usage583.8 Connecting Customer-Supplied Digital I/O Equipment58XDIO Connector59Input Signals59REACT Input Signals 1001 to 101260Fast Input Signals 1001 to 100460Output Signals61Digital I/O Connector Ordering Details (Third-Party Sources)64AMP Part Numbers for 50-Pin Male D-Sub64Thomas and Betts Part Numbers for 50-Pin Male D-Sub64Screw-Terminal Field-Wiring Adapter Blocks64Phoenix Contact Inc.64Weidmüller643.9 Belt Encoder Interface on SmartController CX65AdeptVision sAVI Option674.1 Introduction67sAVI Board Features67sAVI Board System Requirements and Restrictions67Pixel Format68AdeptVision sAVI Inspection System Limitations684.2 Camera Compatibility68Guidelines for Cameras68Cameras Supported69Standard Resolution Cameras69High Resolution Cameras69Downloading Camera Information694.3 Camera Cables70Two-Camera Breakout Cable for RS-170 Cameras70Four-Camera Breakout Cable for RS-170 Cameras7110-Meter Camera Extension Cables714.4 Installing Camera Cables72Connecting the Cables to the RS-170 Standard Camera724.5 Camera Cable Pin and Signal Information744.6 sAVI Board Specifications83SmartController Maintenance855.1 Changing the Lamp in the High Power Indicator85Technical Specifications876.1 SmartController Dimensions876.2 sDIO Dimensions886.3 Adept Front Panel Dimensions896.4 Adept MCP Dimensions91sDIO Module93A.1 Mounting the sDIO93Rack Mounting the sDIO94Panel Mounting the sDIO95Table Mounting the sDIO96Stack Mounting96A.2 Installing the sDIO96A.3 Configuring a Single sDIO97Default sDIO I/O Configuration97Modifying the Default sDIO Configuration98Assigning sDIO Signal Blocks98Assigning I/O Signal Numbers99sDIO Signal Mapping Example 1101sDIO Signal Mapping Example 2101A.4 Using Multiple sDIO Modules102Configuring a System with an sDIO and a RIO103A.5 sDIO Module Connectors and Indicators103A.6 sDIO Digital I/O Signals104sDIO Inputs104sDIO Outputs106Testing sDIO Outputs106sDIO LEDs106sDIO Output Power Supply Current Selection107Optional DIO Cables110Labeling Cables110Input and Output Cable Wiring Information111Adept DeviceNet115B.1 DeviceNet Specifications115Volume 1115Volume 2115B.2 Limitations of the Adept DeviceNet Scanner116B.3 Adept Supplied DeviceNet Hardware116Connecting DeviceNet Hardware to the Adept DeviceNet Scanner117B.4 DeviceNet Physical Layer and Media117DeviceNet Connectors121Termination of the DeviceNet Network121Power Supply and the DeviceNet Bus122Power Capabilities of a DeviceNet Cable System122Using the Manual ControlPendant (MCP)125C.1 Manual Control Pendant Basics125MCP Enable Switch Function on CAT-3 SmartController125MCP III125MCP-41263-Position Enable Switch126MCP-4 Compatibility127Connecting the MCP129MCP Layout130Soft Buttons130Function Buttons130Data Entry Buttons131Mode Control and Joint/Axis Control Buttons131Speed Bars and Slow Button131Emergency Stop From the MCP131Re-Enabling Power After Enable Switch Released132In Automatic Mode132In Manual Mode132Background Mode133C.2 MCP Predefined Functions133Introduction133Predefined Function Buttons133The Edit Function134The Display Function135The Clear Error Function137The CMD Function137Prog Set Function139C.3 Moving a Robot or Motion Device With the MCP140Introduction140Mode Control Buttons140Emergency Stop Switch141COMP/PWR Button141MAN/HALT Button141DIS PWR Button142RUN/HOLD142Joint/Axis Control Buttons142STEP Button142Speed Bars142In World, Tool, and Joint Mode142In Comp Mode143Slow Button143Robot States143World State143Tool State144Joint State147Free State148Controlling More Than One Robot149Robots With Fewer Than Six Joints150Robots With More Than Six Joints150Index151Größe: 3,67 MBSeiten: 156Language: EnglishHandbuch öffnen
