adept technology MV User manual

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Adept MV Controller
User’s Guide
For V+Version 13.0 or Later
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SCSI
RESET
HPE
2
4
6
ES
1
3
5
VJI
AMPLIFIER
SIGNAL
ARM
SIGNAL
BELT
ENCODER
WARNING:
FOR CONTINUED PROTECTION
AGAINST RISK OF FIRE,
REPLACE ONLY WITH SAME
TYPE AND RATING OF FUSE.
USE ONLY WITH
250V FUSES
~100-240V
50/60HZ
5AT
AWC
SF
OK
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HPE
HD
LAN
1
2
3
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LOW VOLTS ON
OPEN CKT FAULT
HV SAG/OVER TEMP
HIGH VOLTS ON
A PHASE SHORT FAULT
B PHASE SHORT FAULT
C PHASE SHORT FAULT
C
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MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY EXTINGUISHED.
PWM ON
LOW VOLTS ON
OPEN CKT FAULT
HV SAG/OVER TEMP
HIGH VOLTS ON
A PHASE SHORT FAULT
B PHASE SHORT FAULT
C PHASE SHORT FAULT
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DO NOT REMOVE OR INSTALL THIS
MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY EXTINGUISHED.
adept
technology, inc.
AWC
HPE
2
4
6
ES
1
3
5
VJI
AMPLIFIER
SIGNAL
ARM
SIGNAL
BELT
ENCODER
AWC
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Adept MV Controller
User’s Guide
For V+Version 13.0 or Later
    
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ON
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KEYBOARD
OK
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FAIL PASS
1
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F
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/
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C
P
D
R
I
V
E
A
6785
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2341
OK
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R
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T
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R
N
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ESTOP
ACC V
SCSI
RESET
HPE
2
4
6
ES
1
3
5
VJI
AMPLIFIER
SIGNAL
ARM
SIGNAL
BELT
ENCODER
WARNING:
FOR CONTINUED PROTECTION
AGAINST RISK OF FIRE,
REPLACE ONLY WITH SAME
TYPE AND RATING OF FUSE.
USE ONLY WITH
250V FUSES
~100-240V
50/60HZ
5AT
AWC
SF
OK
ES
HPE
HD
LAN
1
2
3
R
S
4
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HV SAG/OVER TEMP
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O
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R
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U
T
P
U
T
DO NOT REMOVE OR INSTALL THIS
MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY EXTINGUISHED.
PWM ON
LOW VOLTS ON
OPEN CKT FAULT
HV SAG/OVER TEMP
HIGH VOLTS ON
A PHASE SHORT FAULT
B PHASE SHORT FAULT
C PHASE SHORT FAULT
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DO NOT REMOVE OR INSTALL THIS
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adept
technology, inc.
AWC
HPE
2
4
6
ES
1
3
5
VJI
AMPLIFIER
SIGNAL
ARM
SIGNAL
BELT
ENCODER
AWC
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Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

               
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Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

P/N 00330-01040
Rev. A
Declaration of Conformity/Konformitätserklärung/Déclaration
de Conformité
We/Wir/Nous, Adept Technology, Inc., 150 Rose Orchard Way, San Jose, California 95134, USA,
declare under our sole responsibility that the product / erklären in alleiniger Verantwortung, daß das Produkt /
déclarons sous notre seule responsabilité que le produit:
to which this declaration relates is in conformity with the following standards. / auf das sich diese Erklärung
bezieht, mit den folgenden Normen. / auquel se réfère cette déclaration est conforme aux normes.
We declare that the machine in the form delivered by us, subject to the usage conditions specified below,
complies with the relevant and fundamental safety and health requirements defined in EU Directive
89/336/EEC, Annex I, and the following standards. The machine must not be put into operation until all of the
machinery into which it is incorporated has been declared in compliance with the provisions of the effective
versions of the directives. This includes all supplementary equipment and protective devices.
EU Directives / EG-Richtlinien / Directives Communautaire / Direttiva CE:
89/336, 91/263, 92/31, 93/68 (Machinery)
89/392, 91/368, 93/44, 93/68 (EMC)
73/23, 93/68 (Electrical Equipment)
Usage and installation conditions
The product must be installed and used strictly in accordance with the Adept MV Controller User’s Guide
(document p/n 00330-01031).
The system must incorporate only those plug-in modules and accessories listed in Table 1 or Table 2. If modules
or accessories listed in Table 2 are installed, the user must verify conformance to the EMC Directive after
installation.
This Declaration applies only to those Adept product part numbers specifically listed in this declaration. The
following changes may result in the system not complying with the applicable Directives, and would void this
declaration unless additional testing and/or evaluation is performed by the user:
•unauthorized user modifications;
•substitution or addition of Adept parts not listed on this declaration;
•addition of user-supplied parts and accessories.
17 Mar 1998
Richard J. Casler, Jr. (Vice President, Engineering) San Jose, California, USA
Control system / Steuerung/
Système de commande/
Sistema di comando:
Adept MV-5
Adept MV-10
30340-10000, -30000
30340-20000, -40000
Adept MV-4 30350-15000
Controller Interface Panel 90350-10350
Pendant/Handbediengerät/
Unità portatile:
MCP III 90332-48050
EU/EEA: IEC/ISO:
EN 55011:1991, Class A (EMC: Emissions) CISPR 11: 1990
EN 50082-2: 1995 (EMC: Immunity) —
EN 60204-1: 1992, IP20 (Electrical safety) IEC 204-1: 1992
EN 61131-2: 1992 (Programmable controllers) IEC 1131-2: 1992
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P/N 00330-01040
Rev. A
DEUTSCH: Hiermit erklären wir, daß die nachstehende Maschine in der von uns
gelieferten Ausführung, den einschlägigen, grundlegenden Sicherheits- und
Gesundheitsanforderungen der EG-Richtlinie 89/336/EWG Anhang I, und den
unten aufgefuehrten Standarts entspricht. Dies gilt nur wenn das Geraet unter
den unten genannten Bedingungen verwendet wird. Wir weisen daraufhin, daß
die Inbetriebnahme der Maschine solange untersagt ist, bis festgestellt ist, daß die
Maschine, in die diese Maschine eingebaut werden soll, den Bestimmungen der
Richtlinie in der jeweils gueltigen Fassung entspricht. Dies schließt die
anwenderseitig in die Maschine zu installierenden Ergänzungen und
Schutzeinrichtungen ein.
FRANÇAIS: Par la présente, nous déclarons que la machine décrite
ci-dessous, livrée en l'état, est conforme à la directive communautaire
89/336/CEE, Annexe I, sur les impératifs fondamentaux en matière de
santé et de sécurité. La machine ne pourra être mise en service avant que la
machine dans laquelle elle sera incorporée ne soit déclarée complètement
conforme aux dispositions des directives en cours de validité. Ceci
comprend tout équipement complémentaire et dispositif de protection.
ITALIANO: Si dichiara che la macchina, come da noi fornita, soddisfa i
requisiti fondamentali definiti nella direttiva CE 89/336/EEC, Appendice
I, in fatto di sicurezza e sanità. La messa in funzione della macchina resta
vietata fintanto che l'intero sistema nel quale questa è incorporata sia stato
dichiarato conforme alla versione vigente della suddetta normativa. Il
sistemasi intende comprensivo di tutte le parti accessorie e dispositivi di
sicurezza.
Conditions d'utilisation et d'installations
L'équipement doit être installé et utilisé en respectant scrupuleusement les
instructions du manuel «Manuel d'utilisation du robot Adept MV
Controller».
L'ensemble ne doit comporter que les cartes enfichables ou accessoires
listés dans les tableaux 1 ou 2. Si des accessoires listés dans le tableau 2 sont
installés, l'utilisateur devra, après installation, vérifier la conformité avec
les directives EMC.
Cette déclaration ne s'applique que sur les produits Adept dont les
numéros de référence sont spécifiquement listés dans cette déclaration. Les
modifications suivantes sont susceptibles d'annuler la conformité des
équipements avec les directives de sécurité a moins que de nouveaux tests
ne soient effectués
• Modifications non autorisées des équipements,
• Substitution ou ajout de composants non listés dans cette déclaration,
• Ajout de composants ou accessoires par le client.
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P/N 00330-01040
Rev. A
Plug-in Modules and Accessories / Einschubmodule und
Zubehör / Modules enfichables et accessoires
Table 1. Table/Tabelle/Tableau 1
Table 2. Table/Tabelle/Tableau 2
NOTE: Products listed in Table 2 must be tested by the user in the final system
configuration to assure full compliance with the European EMC Directive.
NOTE: Les produits listés dans le tableau 2 doivent êtres testés par l'utilisateur
après l'assemblage et la configuration finale des équipements afin de s'assurer que
l'ensemble réponde aux directives Européennes EMC.
Description / Beschreibung
Name /
Namen /
Nom
Part Number /
Teilenummer /
Référence
Revision /
Révision
VME Digital I/O Module /
Digitales Ein-/Ausgabemodul
/
Carte d'entrées/sorties VME
DIO 10332-00800 >= P2
VME Graphics Module /
Graphik Modul /
Carte graphique VME
VGB 10332-10250 >= P3
VME Joint Interface Module /
Achssteuerkarte / Carte d'axe EJI 10332-00505 >= A
VME Motion Interface Module
/ Achssteuerkarte / Carte
d'interface Mouvement VME
MI3
MI6 10332-11400 10332-12400 >= P4 >= P2
VME Processor Module /
VME Prozessormodul /
Carte processeur VME
AWC040
AWC060 10350-01040 10350-01060 >=P1 >=P1
VME Vision Module / Vision
modul /Module d'interface
vision VME
EVI 10332-00655 >= P1
Camera / Kamera / Caméra — 15600-00090 >= A
VME SIO Module /
VME SIO Modul /
Module VME SIO
SIO/IDE
SIO/IDE 30332-22350 30332-22351 >= A >= A
Description / Beschreibung
Name /
Namen /
Nom
Part Number /
Teilenummer /
Référence
Revision /
Révision
VME Analog I/O Module /
Analog Ein-Ausgabemodul /
Carte d'entrées-sorties
analogiques VME
AIO 10330-00970 >= B
Force-sensing kit /
VFI Ausrüstung
Capteur d'efforts
VFI 90211-00000, -08464,
-00550 >= B
MP6 Kit / MP6 Ausrüstung /
Kit MP6 MP6 90332-12400 >= A
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P/N 00330-01040
Rev. A
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Adept MV Controller User’s Guide, Rev. B 9
Table of Contents
Introduction . . . . . . . . . . . . . . . . . . . . 25
1
How to Use This Manual . . . . . . . . . . . . . . . . . . . . 26
How to Install and Configure the Adept Controller. . . . . . . 26
Related Manuals. . . . . . . . . . . . . . . . . . . . . 26
Standard Manuals. . . . . . . . . . . . . . . . . . . 27
Other Adept Product Manuals. . . . . . . . . . . . . . 27
Optional V+ Developer’s Manuals . . . . . . . . . . . . 28
What’s New in This Version . . . . . . . . . . . . . . . . . . . 28
Warnings, Cautions, and Notes . . . . . . . . . . . . . . . . . 29
Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Reading and Training for Users and Operators . . . . . . . . 30
System Safeguards. . . . . . . . . . . . . . . . . . . . 31
Safety Features on the Compact Interface Panel (CIP) . . . 31
Computer Controlled Robots and Motion Devices . . . . . 31
Manually Controlled Robots and Motion Devices. . . . . . 31
Other Computer-Controlled Devices . . . . . . . . . . . 31
Program Security . . . . . . . . . . . . . . . . . . . . 32
Voltage Interruptions . . . . . . . . . . . . . . . . . . . 32
Inappropriate Uses of the Adept Controller. . . . . . . . . . 32
Standards Compliance. . . . . . . . . . . . . . . . . . . . . 33
How Can I Get Help? . . . . . . . . . . . . . . . . . . . . . 34
Overview. . . . . . . . . . . . . . . . . . . . . . 35
2
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . 36
Adept MV-5 Controller . . . . . . . . . . . . . . . . . . 36
Adept MV-10 Controller. . . . . . . . . . . . . . . . . . 36
The Adept Compact Controller. . . . . . . . . . . . . . . 37
Graphical User Interface and Text-Based User Interface . . . . . . 39
Graphical User Interface Options . . . . . . . . . . . . . . 39
Text-Based Options . . . . . . . . . . . . . . . . . . . 39
AWC System Processor (68040 or 68060) . . . . . . . . . . . . . 40
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Table of Contents
10 Adept MV Controller User’s Guide, Rev. B
Optional Boards . . . . . . . . . . . . . . . . . . . . . . . 40
System Input/Output Board (SIO) . . . . . . . . . . . . . 40
Adept Graphics Board (VGB) . . . . . . . . . . . . . . . 40
AdeptVision Interface Board (EVI) . . . . . . . . . . . . . 41
AdeptMotion Interface Boards (MI3/MI6) . . . . . . . . . . 41
Adept VME Enhanced Joint Interface Board (EJI) . . . . . . . 41
AdeptForce VME Board (VFI) . . . . . . . . . . . . . . . 41
Digital Input/Output Board (DIO) . . . . . . . . . . . . . . 42
Auxiliary Processor (AWC With 68060 CPU) . . . . . . . . . . 42
Optional Equipment . . . . . . . . . . . . . . . . . . . . . . 43
Compact Interface Panel (CIP) . . . . . . . . . . . . . . 43
Manual Control Pendant (MCP) . . . . . . . . . . . . . . 43
AdeptWindows . . . . . . . . . . . . . . . . . . . . . 43
Color Monitor . . . . . . . . . . . . . . . . . . . . . . 44
Extended Keyboard . . . . . . . . . . . . . . . . . . . 44
Third-Party Terminals for Text-Based User Interface Controllers. . 44
Product Descriptions . . . . . . . . . . . . . . . . . . . . . . 45
AdeptVision . . . . . . . . . . . . . . . . . . . . . . 45
AdeptMotion VME . . . . . . . . . . . . . . . . . . . . 45
AdeptForce VME. . . . . . . . . . . . . . . . . . . . . 45
Installation of Adept Controllers . . . . . . . . . . . . 47
3
Shipping, Storage, Unpacking, and Inspection . . . . . . . . . . . 49
Shipping and Storage . . . . . . . . . . . . . . . . . . 49
Before Unpacking . . . . . . . . . . . . . . . . . . . . 49
Upon Unpacking. . . . . . . . . . . . . . . . . . . . . 49
Repacking for Relocation . . . . . . . . . . . . . . . . . 49
Controller ID Label . . . . . . . . . . . . . . . . . . . . . . 50
Facility Requirements . . . . . . . . . . . . . . . . . . . . . 50
Voltage Interruptions . . . . . . . . . . . . . . . . . . . 51
Enclosure and Disconnect Requirements . . . . . . . . . . . . . 51
Installing the MV-5 and MV-10 Controllers. . . . . . . . . . . . . 53
AC Power Requirements . . . . . . . . . . . . . . . . . 53
Facility Overvoltage Protection . . . . . . . . . . . . . 53
Power Entry Module . . . . . . . . . . . . . . . . . . . 54
The CIP System Power Switch . . . . . . . . . . . . . . . 54
Connecting AC Power Cord . . . . . . . . . . . . . . . . 55
System Grounding Information . . . . . . . . . . . . . . . 55
Fuse Information (MV-5 and MV-10) . . . . . . . . . . . . 55
Procedure to Remove Fuse Holder . . . . . . . . . . . . 56
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Table of Contents
Adept MV Controller User’s Guide, Rev. B 11
Fan and Filter Information (MV-5 and MV-10). . . . . . . . . 56
Cooling Fan . . . . . . . . . . . . . . . . . . . . . 56
Filter Inspection and Cleaning . . . . . . . . . . . . . 57
Compact Controller Installation . . . . . . . . . . . . . . . . . 57
Adept MV-4 Insert Overview . . . . . . . . . . . . . . . . 57
Removing and Installing Boards . . . . . . . . . . . . . . . . . 59
VME Bus Slot Ordering . . . . . . . . . . . . . . . . . . 59
Requirements for Installing Boards on the Backplane . . . . . 59
VME Bus Address Settings . . . . . . . . . . . . . . . . . 60
Upper Backplane Jumper Plugs (P1) . . . . . . . . . . . . 60
Lower Backplane Jumper Plugs (P2) and Third-Party Boards . . 62
Removing Boards . . . . . . . . . . . . . . . . . . . . 62
Installing Boards . . . . . . . . . . . . . . . . . . . . . 62
Installing a Monitor and Keyboard . . . . . . . . . . . . . . . . 64
Installation Procedure . . . . . . . . . . . . . . . . . . 64
Connecting Non-Adept Peripherals to the VGB Board . . . . . 65
Using AdeptWindowsPC . . . . . . . . . . . . . . . . . . . . 66
Installing an ASCII Terminal (User Supplied) . . . . . . . . . . . . 66
Recommended Terminal for Systems Without a VGB
or AdeptWindowsPC . . . . . . . . . . . . . . . . . . . 66
Contacting WYSE . . . . . . . . . . . . . . . . . . . 66
Customer-Supplied Serial Interface Cable . . . . . . . . . . 67
Installation Procedure . . . . . . . . . . . . . . . . . . 67
Installing a Stand-Alone Controller in a Rack or Panel . . . . . . . 67
Space Around the Chassis . . . . . . . . . . . . . . . . 68
Rack Mounting . . . . . . . . . . . . . . . . . . . . . 68
Panel Mounting . . . . . . . . . . . . . . . . . . . . . 68
Installing a Robot Controller in a Rack or Panel . . . . . . . . . . 69
Space Around the Chassis . . . . . . . . . . . . . . . . 69
Rack Mounting . . . . . . . . . . . . . . . . . . . . . 70
Panel Mounting . . . . . . . . . . . . . . . . . . . . . 70
MV-5 and MV-10 Controller Technical Specifications . . . . . . . . 72
MV-4 Insert Technical Specifications . . . . . . . . . . . . . . . 72
The AdeptWindows Controller Board . . . . . . . . . . 73
4
AWC Board Connectors and Indicators . . . . . . . . . . . . . . 74
AWC Board . . . . . . . . . . . . . . . . . . . . . . . . . 75
Processors . . . . . . . . . . . . . . . . . . . . . . . 75
Compact Flash . . . . . . . . . . . . . . . . . . . . . 76
EEPROM . . . . . . . . . . . . . . . . . . . . . . . . 76
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Table of Contents
12 Adept MV Controller User’s Guide, Rev. B
AWC Board Specifications. . . . . . . . . . . . . . . . . 77
Configuring an AWC Module . . . . . . . . . . . . . . . . . . 78
Factory Default Settings . . . . . . . . . . . . . . . . 78
DIP-Switch Settings . . . . . . . . . . . . . . . . . . . . 79
AdeptWindows PC Graphical User Interface . . . . . . . . 80
VGB Graphical User Interface . . . . . . . . . . . . . . 80
ASCII Terminal . . . . . . . . . . . . . . . . . . . . 81
AUTO Boot . . . . . . . . . . . . . . . . . . . . . . 81
CPU Board Number Assignment . . . . . . . . . . . . . 81
System Controller Jumper Settings . . . . . . . . . . . . . 81
Ethernet Connections . . . . . . . . . . . . . . . . . . . . . 82
AWC Module Serial I/O Ports . . . . . . . . . . . . . . . . . . 82
Serial Port 1 (RS-232/TERM) . . . . . . . . . . . . . . . . 82
Terminal Mode (ASCII Terminal) Interface . . . . . . . . . 83
Used With a VGB Interface . . . . . . . . . . . . . . . 83
Serial Port 2 (RS-232) . . . . . . . . . . . . . . . . . . . 83
RS-422/485 Connector . . . . . . . . . . . . . . . . . . 83
LED Status Indicators on the AWC. . . . . . . . . . . . . . 85
The Controller Interface Panel . . . . . . . . . . . . . 87
5
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . 89
Panel Switches and Indicators . . . . . . . . . . . . . . . 89
Emergency Stop Switch . . . . . . . . . . . . . . . . 89
Manual/Automatic Mode Switch . . . . . . . . . . . . 90
High Power On/Off Switch/Lamp. . . . . . . . . . . . . 90
MCP Connector. . . . . . . . . . . . . . . . . . . . 90
System Power Switch . . . . . . . . . . . . . . . . . 90
NET Switch . . . . . . . . . . . . . . . . . . . . . . 91
Side Connectors . . . . . . . . . . . . . . . . . . . . . 91
AWC Interface (JAWC). . . . . . . . . . . . . . . . . 91
User Connector (JUSER) . . . . . . . . . . . . . . . . 91
Back Panel Connectors . . . . . . . . . . . . . . . . . . 92
RS-232 (JCOM) . . . . . . . . . . . . . . . . . . . . 92
Manual Mode Safety Package (MMSP) . . . . . . . . . . 92
AUX (JEXT) . . . . . . . . . . . . . . . . . . . . . . 92
CIB (JSLV) . . . . . . . . . . . . . . . . . . . . . . 92
DeviceNet (JDVC). . . . . . . . . . . . . . . . . . . 92
Digital I/O Connections . . . . . . . . . . . . . . . . 92
Installation of the Controller Interface Panel (CIP) . . . . . . . . . 93
Location of the CIP . . . . . . . . . . . . . . . . . . . . 94
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Table of Contents
Adept MV Controller User’s Guide, Rev. B 13
Connecting the CIP to the AWC . . . . . . . . . . . . . . . . . 94
Connecting the MCP to the CIP . . . . . . . . . . . . . . . . . 96
MCP Cradle . . . . . . . . . . . . . . . . . . . . . 96
MCP Requirements. . . . . . . . . . . . . . . . . . . . 97
The MCP Bypass Plug . . . . . . . . . . . . . . . . . . . 97
Connecting Customer-Supplied Safety and Power Control
Equipment to the CIP . . . . . . . . . . . . . . . . . . . . . 98
Emergency Stop Circuit . . . . . . . . . . . . . . . . . . 103
Remote Sensing of CIP, MCP, and User Emergency
Stop Push Button Switches . . . . . . . . . . . . . . . 104
Muted Safety Gate E-Stop Circuitry. . . . . . . . . . . . 104
JSIO E-Stop Circuitry . . . . . . . . . . . . . . . . . . 104
Remote Manual Mode Control . . . . . . . . . . . . . . . 105
Remote High Power Control . . . . . . . . . . . . . . . . 106
Remote High Power On/Off Lamp . . . . . . . . . . . . 107
Connecting the System Power Switch to the CIP . . . . . . . 107
Manual Mode Safety Package (MMSP) Connector . . . . . . 108
Remote User Panel Connections . . . . . . . . . . . . . . 108
Remote MCP Connections . . . . . . . . . . . . . . . . 108
Remote E-Stop Circuit . . . . . . . . . . . . . . . . . 108
Remote Enable Switch Connections . . . . . . . . . . . 109
Connecting User-Supplied Serial Communications Equipment . . . . 110
RS-232 (JCOM) Connector . . . . . . . . . . . . . . . . 110
Connecting User-Supplied Digital I/O Equipment . . . . . . . . . . 111
JSIO Connector . . . . . . . . . . . . . . . . . . . . 111
REACT Input Signals 1001 to 1012 . . . . . . . . . . . . 113
Fast Input Signals 1001 to 1004 . . . . . . . . . . . . . 113
Output Signals . . . . . . . . . . . . . . . . . . . . 114
Digital I/O Connector Ordering Details (Third-Party Sources) . . 116
AMP Part Numbers for 50-Pin Male D-Sub . . . . . . . . . 117
Thomas and Betts Part Numbers for 50-Pin Male D-Sub . . . 117
Screw-Terminal Field-Wiring Adapter Blocks . . . . . . . . . 117
Phoenix Contact Inc. . . . . . . . . . . . . . . . . . 117
Weidmüller. . . . . . . . . . . . . . . . . . . . . . 118
Extended Digital I/O Signals . . . . . . . . . . . . . . . . . . 119
Extended I/O Inputs . . . . . . . . . . . . . . . . . . . 119
Extended I/O Outputs . . . . . . . . . . . . . . . . . . 122
Testing Extended I/O Outputs . . . . . . . . . . . . . . 122
Extended I/O Outputs Diagnostic Signal for Thermal Overload 122
Extended I/O Output Power Supply Current Selection . . . . 123
Optional DIO Cables. . . . . . . . . . . . . . . . . . . . . . 125
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Table of Contents
14 Adept MV Controller User’s Guide, Rev. B
Labeling Cables . . . . . . . . . . . . . . . . . . . . . 125
Input and Output Cable Wiring Information . . . . . . . . . 125
Adept Graphics Board (VGB) . . . . . . . . . . . . . 131
6
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . 132
Connections and Indicators . . . . . . . . . . . . . . . . . . 133
DIP Switch Settings . . . . . . . . . . . . . . . . . . . . 134
VME Bus Address . . . . . . . . . . . . . . . . . . . . . . . 134
Monitor Video Interface . . . . . . . . . . . . . . . . . . . . 135
Keyboard Interface . . . . . . . . . . . . . . . . . . . . . . 136
Pointer Interface (Mouse, Trackball, or Touchscreen) . . . . . . . . 137
VGB Board Specifications . . . . . . . . . . . . . . . . . . . 137
AdeptVision Enhanced Vision Interface (EVI) Board . . . . 139
7
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . 140
Connections and Indicators . . . . . . . . . . . . . . . . . . 141
VME Bus Address and Configuration . . . . . . . . . . . . . . . 142
EVI Motherboard DIP Switch Setting . . . . . . . . . . . . . 142
Acquisition Switch Setting Mode . . . . . . . . . . . . . . 143
Settings for Normal RS-170 Cameras . . . . . . . . . . . 144
Settings for Pulnix TM-1001 Cameras . . . . . . . . . . . 144
Camera Compatibility . . . . . . . . . . . . . . . . . . . . . 145
Standard RS-170 Cameras. . . . . . . . . . . . . . . . . 145
High-Resolution Cameras . . . . . . . . . . . . . . . . . 145
Installing Video Bus Coupler . . . . . . . . . . . . . . . . . . 146
Camera Cables . . . . . . . . . . . . . . . . . . . . . . . 147
Four-Camera Breakout Cable for RS-170 Cameras . . . . . . 147
10-Meter Camera Extension Cables . . . . . . . . . . . . 148
Custom Pulnix TM-1001 Four-Camera Breakout Cable . . . . . 148
Custom Pulnix TM-1001 D-sub to BNC Adapter Cable . . . . . 150
Installing Camera Cables . . . . . . . . . . . . . . . . . . . 151
Connecting the Cables to the RS-170 Standard Camera . . . . 151
Connecting the Cables to the Pulnix TM-1001 Camera . . . . . 152
Camera Cable Pin and Signal Information . . . . . . . . . . . . 155
EVI Board Specifications . . . . . . . . . . . . . . . . . . . . 165
System Input/Output Board (SIO). . . . . . . . . . . . 167
8
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . 168
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Table of Contents
Adept MV Controller User’s Guide, Rev. B 15
Connections and Indicators. . . . . . . . . . . . . . . . . . . 169
Mass Storage . . . . . . . . . . . . . . . . . . . . . . . . . 170
Floppy Drive . . . . . . . . . . . . . . . . . . . . . . 170
Hard Drive . . . . . . . . . . . . . . . . . . . . . . . 170
Serial I/O Connectors . . . . . . . . . . . . . . . . . . . . . 170
SIO Board Specifications . . . . . . . . . . . . . . . . . . . . 172
AdeptMotion Interface Board (MI3/MI6). . . . . . . . . 173
9
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . 174
Connections and Indicators . . . . . . . . . . . . . . . . . . 175
VME Bus Address . . . . . . . . . . . . . . . . . . . . . . . 176
Jumper Settings and Resistor Configuration on MI3/MI6 . . . . . . . 177
Connecting to User Equipment . . . . . . . . . . . . . . . . . 177
MI3/MI6 Board Specifications . . . . . . . . . . . . . . . . . . 177
Enhanced Joint Interface(EJI) . . . . . . . . . . . . . 179
10
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . 180
Connections and Indicators . . . . . . . . . . . . . . . . . . 181
VME Bus Address . . . . . . . . . . . . . . . . . . . . . . . 182
Address Settings for EJI Boards . . . . . . . . . . . . . . . 182
Address Settings for Multiple Servo Boards . . . . . . . . . . 182
Belt Encoder Interface . . . . . . . . . . . . . . . . . . . . . 184
EJI Board Specifications . . . . . . . . . . . . . . . . . . . . 186
AdeptForce VME Board (VFI) . . . . . . . . . . . . . 187
11
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . 188
Connections and Indicators . . . . . . . . . . . . . . . . . . 188
VME Bus Address . . . . . . . . . . . . . . . . . . . . . . . 189
VFI Board Specifications . . . . . . . . . . . . . . . . . . . . 190
Digital Input/Output Board (DIO) . . . . . . . . . . . . 191
12
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . 192
Connections and Indicators . . . . . . . . . . . . . . . . . . 193
Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Testing Outputs and Fuses . . . . . . . . . . . . . . . . 195
Output Power Supply Voltage Jumpers . . . . . . . . . . . 196
Output Power Supply Current Selection . . . . . . . . . . . 196
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Table of Contents
16 Adept MV Controller User’s Guide, Rev. B
Typical DIO Wiring. . . . . . . . . . . . . . . . . . . . . . . 198
Optional DIO Cables . . . . . . . . . . . . . . . . . . . . . 200
Labeling Cables . . . . . . . . . . . . . . . . . . . . . 200
Input and Output Cable Wiring Information . . . . . . . . . 200
Additional DIO Boards . . . . . . . . . . . . . . . . . . . . . 205
Setting the Board Address . . . . . . . . . . . . . . . . . 205
Labeling Sets of Cables . . . . . . . . . . . . . . . . . . 206
DIO Board Specifications . . . . . . . . . . . . . . . . . . . . 207
Maintenance . . . . . . . . . . . . . . . . . . . . 209
13
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . 210
Fan Filter Inspection and Cleaning MV-5/MV-10 . . . . . . . . . . 211
Spare Parts List MV-5/MV-10 . . . . . . . . . . . . . . . . . . 212
Changing the Lamp on the High Power Indicator . . . . . . . . . . 213
Dimension Drawings . . . . . . . . . . . . . . . . . 217
A
Adept MV-5 and MV-10 Stand-Alone Controller Dimensions . . . . . 218
Adept MV-5 and MV-10 Robot Controller Dimensions . . . . . . . . 219
The Adept Compact Controller Dimensions . . . . . . . . . . . . 220
MCP Cradle Dimensions . . . . . . . . . . . . . . . . . . . . 221
Compact Interface Panel Dimensions . . . . . . . . . . . . . . 222
Position Latch and Vision Trigger . . . . . . . . . . . . 223
B
External Input for Position Latch and Vision Trigger . . . . . . . . . 224
Position Latch . . . . . . . . . . . . . . . . . . . . . . 224
Hardware Interconnection of Boards on an Adept Controller . . 225
Vision Trigger . . . . . . . . . . . . . . . . . . . . . . 226
Combined Vision Trigger and Position Latch
(“Vision in the Loop”) . . . . . . . . . . . . . . . . . . . 226
Additional Standards Compliance Information . . . . . . 227
C
Sources for Standards . . . . . . . . . . . . . . . . . . . . . 228
IEC Test Information . . . . . . . . . . . . . . . . . . . . . . 229
Electromagnetic Compatibility Testing Results . . . . . . . . . . . 230
Color Coding of Indicator Lights . . . . . . . . . . . . . . . . . 231
Color Code Used by Adept for Operator Indicators . . . . . . 231
Color Code Used by Adept for Service Indicators . . . . . . . 232
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Table of Contents
Adept MV Controller User’s Guide, Rev. B 17
Using the Manual Control Pendant (MCP) . . . . . . . . 233
D
Manual Control Pendant Basics . . . . . . . . . . . . . . . . . 235
Connecting the MCP . . . . . . . . . . . . . . . . . 236
MCP Layout . . . . . . . . . . . . . . . . . . . . . . . 237
Soft Buttons. . . . . . . . . . . . . . . . . . . . . . 238
Function Buttons . . . . . . . . . . . . . . . . . . . 239
Data Entry Buttons . . . . . . . . . . . . . . . . . . . 239
Mode Control and Joint/Axis Control Buttons . . . . . . . 240
Speed Bars and Slow Button . . . . . . . . . . . . . . 240
Emergency Stop From the MCP . . . . . . . . . . . . . . 240
Background Mode . . . . . . . . . . . . . . . . . . . . 240
MCP Predefined Functions . . . . . . . . . . . . . . . . . . . 241
Introduction. . . . . . . . . . . . . . . . . . . . . . . 241
Predefined Function Buttons . . . . . . . . . . . . . . . . 241
The Edit Function . . . . . . . . . . . . . . . . . . . 241
The Display Function . . . . . . . . . . . . . . . . . . 244
The Clear Error Function . . . . . . . . . . . . . . . . 245
The CMD Function . . . . . . . . . . . . . . . . . . . 246
Prog Set Function . . . . . . . . . . . . . . . . . . . 247
Moving a Robot or Motion Device With the MCP . . . . . . . . . . 249
Introduction. . . . . . . . . . . . . . . . . . . . . . . 249
Mode Control Buttons. . . . . . . . . . . . . . . . . . . 249
Emergency Stop Button . . . . . . . . . . . . . . . . 250
COMP/PWR Button. . . . . . . . . . . . . . . . . . . 250
MAN/HALT Button . . . . . . . . . . . . . . . . . . . 250
DIS PWR Button . . . . . . . . . . . . . . . . . . . . 251
RUN/HOLD . . . . . . . . . . . . . . . . . . . . . . 251
Joint/Axis Control Buttons . . . . . . . . . . . . . . . . . 251
STEP Button . . . . . . . . . . . . . . . . . . . . . . 251
Speed Bars . . . . . . . . . . . . . . . . . . . . . . . 252
In World, Tool, and Joint Mode . . . . . . . . . . . . . 252
In Comp Mode . . . . . . . . . . . . . . . . . . . . 252
Slow Button . . . . . . . . . . . . . . . . . . . . . . . 252
Robot States . . . . . . . . . . . . . . . . . . . . . . 253
World State. . . . . . . . . . . . . . . . . . . . . . 253
Tool State . . . . . . . . . . . . . . . . . . . . . . 254
Joint State . . . . . . . . . . . . . . . . . . . . . . 256
Free State . . . . . . . . . . . . . . . . . . . . . . 258
Controlling More Than One Robot . . . . . . . . . . . . . 259
Robots With Fewer Than Six Joints . . . . . . . . . . . . 260
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Table of Contents
18 Adept MV Controller User’s Guide, Rev. B
Robots With More Than Six Joints. . . . . . . . . . . . . 260
System Messages . . . . . . . . . . . . . . . . . . 261
E
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . 262
Alphabetical Listing . . . . . . . . . . . . . . . . . . . . . . 262
Numerical List . . . . . . . . . . . . . . . . . . . . . . . . 359
Diagnostics Testing . . . . . . . . . . . . . . . . . 375
F
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . 376
Tests During System Power-up . . . . . . . . . . . . . . . . . . 376
Processor Self-Test . . . . . . . . . . . . . . . . . . . . 376
System Initialization Tests . . . . . . . . . . . . . . . . . 376
RSC Self-Test . . . . . . . . . . . . . . . . . . . . . . 376
Completion of Power-up Tests . . . . . . . . . . . . . . . 376
Tests While Enabling Power . . . . . . . . . . . . . . . . . . . 377
Standard (Non-MMSP System) . . . . . . . . . . . . . . . 377
Manual Mode Safety Package (MMSP) . . . . . . . . . . . 377
Tests During Installation and Servicing . . . . . . . . . . . . . . 377
Continuous Tests . . . . . . . . . . . . . . . . . . . . . . . 378
Watchdog Timer . . . . . . . . . . . . . . . . . . . . . 378
Drive Faults . . . . . . . . . . . . . . . . . . . . . . . 378
RSC Watchdog Timer . . . . . . . . . . . . . . . . . . . 378
Encoder Signals . . . . . . . . . . . . . . . . . . . . . 378
V+FREE Command. . . . . . . . . . . . . . . . . . . . 378
V+Cycle Tests. . . . . . . . . . . . . . . . . . . . . . 378
Adept DeviceNet . . . . . . . . . . . . . . . . . . 379
G
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . 380
Limitations of the Adept DeviceNet Scanner . . . . . . . . . . . . 381
Adept Supplied DeviceNet Hardware . . . . . . . . . . . . . . 382
Connecting DeviceNet Hardware to the Adept Device
Net Scanner . . . . . . . . . . . . . . . . . . . . . . 382
DeviceNet Physical Layer and Media. . . . . . . . . . . . . . . 383
DeviceNet Connectors . . . . . . . . . . . . . . . . . . 386
Termination of the DeviceNet Network . . . . . . . . . . . 386
Power Supply and the DeviceNet Bus . . . . . . . . . . . . 387
Power Capabilities of a DeviceNet Cable System . . . . . 387
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Table of Contents
Adept MV Controller User’s Guide, Rev. B 19
Index . . . . . . . . . . . . . . . . . . . . . . . 391
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