adept technology MV User manual

Adept MV Controller
User’s Guide
®
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ON
2341
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KEYBOARD
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VGB
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ON
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SIO
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OK
ESTOP
ACC V
SCSI
RESET
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3
2
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040
STP
SCR
C
VME
SF
A
B
D
RESET
ABORT
#1
#2
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
®
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DIO
FAIL PASS
1 2 3 4
F
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D R
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V E
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6785
ON
2341
OK
SIO
R
S
2 3 2
R
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2 3 2
R
S
2 3 2
I /
O
2 4
V
1 0 0
m
A
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H
E
R N
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OK ESTOP ACC V SCSI
RESET
USE ONLY WITH
250V FUSES
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C H
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HPE DE1 DE2 DE3 DE4
ES F1 F2 F3 F4 DE5
DE6
F5 F6
S E
R
V
O
MI6
R
S
4 2 2
R
S
2 3 2
/
T
E
R
M
040
STP SCR
C
VME
SF
A B D
RESET ABORT
#1 #2
WARNING:
FOR CONTINUED PROTECTION AGAINST RISK OF FIRE,
REPLACE ONLY WITH SAME TYPE AND RATING OF FUSE.
5AT ~100-240V
50/60HZ

Adept MV Controller
User’s Guide
Part Number 00330-01030, Rev C
September 1996
®
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VIS
P
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1
2
3
4
ON
2341
V
I
D
E
O
B
U
S
M
O
N
I
T
O
R
KEYBOARD
OK
VGB
I
N
P
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S
O
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P
U
T
S
I
N
P
U
T
S
O
U
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P
U
T
S
DIO
FAIL PASS
1
2
3
4
F
P
/
M
C
P
D
R
I
V
E
A
6785
ON
2341
OK
SIO
R
S
2
3
2
R
S
2
3
2
R
S
2
3
2
I
/
O
2
4
V
1
0
0
m
A
E
T
H
E
R
N
E
T
OK
ESTOP
ACC V
SCSI
RESET
R
S
4
2
2
R
S
2
3
2
/
T
E
R
M
040
STP
SCR
C
VME
SF
A
B
D
RESET
ABORT
#1
#2
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
®
I
N
P
U
T
S
O
U
T
P
U
T
S
I
N
P
U
T
S
O
U
T
P
U
T
S
DIO
FAIL PASS
1 2 3 4
F
P
/
M
C
P
D R
I
V E
A
6785
ON
2341
OK
SIO
R
S
2 3 2
R
S
2 3 2
R
S
2 3 2
I /
O
2 4
V
1 0 0
m
A
E
T
H
E
R N
E
T
OK ESTOP ACC V SCSI
RESET
USE ONLY WITH
250V FUSES
E
N C
O
D
E
R
M
A
C H
I
N
E
HPE DE1 DE2 DE3 DE4
ES F1 F2 F3 F4 DE5
DE6
F5 F6
S E
R
V
O
MI6
R
S
4 2 2
R
S
2 3 2
/
T
E
R
M
040
STP SCR
C
VME
SF
A B D
RESET ABORT
#1 #2
WARNING:
FOR CONTINUED PROTECTION AGAINST RISK OF FIRE,
REPLACE ONLY WITH SAME TYPE AND RATING OF FUSE.
5AT ~100-240V
50/60HZ
adept
te hnology, inc.
®
c
150 Rose Orchard Way • San Jose, CA 95134 • USA • Phone [phone] • Fax [phone]
Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone [phone] • Fax [phone]
41, rue du Saule Trapu • 91882 • Massy cedex • France • Phone [phone] • Fax [phone]
Via don Luigi Sturzo 39/41 • 52100 Arezzo • Italy • Phone [phone] • Fax [phone]
1-2, Aza Nakahara Mitsuya-Cho • Toyohashi, Aichi-Ken • 441-31 • Japan • (0532) 65-2391 • Fax [phone]

The information contained herein is the property of Adept Technology, Inc. and shall not be repro-
duced in whole or in part without prior written approval of Adept Technology, Inc. The informa-
tion herein is subject to change without notice and should not be construed as a commitment by
Adept Technology, Inc. This manual is periodically reviewed and revised.
Adept Technology, Inc. assumes no responsibility for any errors or omissions in this
document. Critical evaluation of this manual by the user is welcomed. Your comments
assist us in preparation of future documentation. A form is providedat the back of the book for sub-
mitting your comments.
Copyright © 1993, 1994, 1995, 1996 by Adept Technology, Inc. All rights reserved.
The Adept logo is a registered trademark of Adept Technology, Inc.
Adept, AdeptOne, AdeptOne-MV, AdeptThree, AdeptThree-MV, PackOne, PackOne-MV,
HyperDrive, Adept 550, Adept 550 CleanRoom, Adept 1850, Adept 1850XP,
A-Series, S-Series, Adept MC, Adept CC, Adept IC, Adept OC, Adept MV,
AdeptVision, AIM, VisionWare, AdeptMotion, MotionWare, PalletWare,
AdeptNet, AdeptFTP, AdeptNFS, AdeptTCP/IP, AdeptForce, AdeptModules,
and V+are trademarks of Adept Technology, Inc.
Any trademarks from other companies used in this publication
are the property of those respective companies.
Printed in the United States of America

P/N 01332-00050
Rev. A-X1
DECLARATION OF CONFORMITY
We, Adept Technology, with Corporate Headquarters at 150 Rose Orchard Way, San Jose, CA.,
USA, and European Technical Center at Otto-Hahn Str. 23, 44227 Dortmund, Germany,
herewith declare that the:
Controllers MV-5 (P/N 30340-10000 and 30340-30000), MV-8 (P/N 30330-15000),
MV-10 (P/N 30340-20000 and 30340-40000) or MV-19 (P/N 30330-25000),
with/without
Operator’s Manual Control Pendant (MCP III) (P/N 90332-48050)
VME Front Panel Category 1 (P/N90332-00380) or Category 3 (P/N 90335-00380)
in the form delivered by us to which this Declaration relates, comply with the relevant and
fundamental safety and health requirements defined in the EC Directive 89/336/EEC,
Appendix 1, and the following standards:
EN 55011:1991, Class A
EN 50082-2: 1995
EN 60204-1: 1992
IEC 1131-2: 1992
following the provision of Directives:
89/336/EEC
89/392/EEC
73/23/EEC
under the following usage and environmental conditions:
1. The Controller 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.
2. The Controller must be used in accordance with instructions specified in the Adept MV
Controller Instruction Handbook.
3. The Controller must incorporate only those MV Plug-in Modules listed in Table 1 or Table 2
attached. If Plug-in Modules listed in Table 2 are installed, the user must verify conformance to
the EMC Directive after installation.
4. 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
This Declaration is based upon extensive tests and evaluation by TÜV Rheinland, a Notified and
Competent Body, in their Project Numbers E9372043 and E9572482. The complete File is available at
Adept’s California address.
Place: San Jose, California, USA Signed:
Date: 18 September 1996 Full Name: Richard J. Casler, Jr.
Position: Vice President, Engineering

P/N 01332-00050
Rev. A-X1
English
Declaration of Conformity
as defined in Machinery Directive 89/392/EEC, Appendix IIB
We herewith declare that the machine as delivered by us complies with the
relevant and fundamental safety and health requirements defined in the EC
Directive, Appendix 1.
Deutsch
Konformitätserklärung
im Sinne der EG-Maschinenrichtlinie 89-392/EWG, Anhang II B
Hiermit erklären wir, daß die nachstehende Maschine in der von uns gelieferten
Ausführung, den einschlägigen, grundlegenden Sicherheits- und
Gesundheitsanforderungen der EG-Richlinie Anhang I, entspricht.
Française
Déclaration de Conformité,
selon la Directive Communautaire relative aux machines
89/392/CEE, Annexe II B.
Par la présente, mnous déclarons que la machine décrite ci-dessous, livrée en
l'état, est conforme à la directive communautaire, Annexe I, sur les impératifs
fondamentaux en matière de santé et de sécurité.
Italiano
Dichiarazione di Conformità
ai sensi della direttiva CE 89/392/EEC relativa a macchinari Appendice IIB
Si dichiara che la macchina , come da noi fornita, soddisfa i requisiti fondamentali
definiti nella direttiva CE, Appendice I,in fatto di sicurezza e sanità.

P/N 01332-00050
Rev. A-X1
Table 1
VME Plug-in Modules and accessories that meet all applicable Directives and that may be
installed, without additional EMC conformance testing, in MV-5, MV-8, MV-10, and MV-19
Controllers
Table 2
Plug-in Modules and Accessories that may be installed in MV-5, MV-8, MV-10, and MV-19
Controllers but must first be tested in the final system configuration to assure full
compliance.
Part Number Minimum Acceptable
Revision Description
10332-11150 P6 PCA, VME 030 Processor
10332-00710 P1 PCA, VME 040 Processor
30332-12350 P2 SYSIO 2 Module Assy FD/HD (SIO2)
30332-12351 P2 SYSIO 2 Module Assy FD
10332-00800 P2 PCA, VME Digital I/O (DIO)
10332-10250 P3 PCA, VME Graphics Board (VGBIII)
10332-00600 P2 PCA VME Frame Grabber (VIS)
10332-00655 P1 PCA VME Frame Grabber (EVI)
10332-11400 P4 PCA, VME Motion Interface, MI-3
10332-12400 P2 PCA, VME Motion Interface, MI-6
10332-00500 P2 PCA, VME Joint Interface (VJI III)
15600-00090 A Camera, CCD
Part Number Minimum Acceptable
Revision Description
90332-02020 P1 AdeptNet 10BaseT Kit
10330-00970 B PCA, VME Analog I/O (AIO)
90211-00000 B Adept Force Kit
90332-12400 A MP6 Kit

Adept MV Controller User’s Guide, Rev C vii
Table of Contents
1Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 How to Use This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Follow These Steps to Install and Configure the Adept MV Controller . . 2
Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Standard Manuals . . . . . . . . . . . . . . . . . . . . . . . 2
Other Adept Product Manuals . . . . . . . . . . . . . . . . . 3
Optional V+ Developer’s Manuals . . . . . . . . . . . . . . . 3
1.2 Warnings, Cautions, and Notes . . . . . . . . . . . . . . . . . . . . . . 4
1.3 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Reading and Training for Users and Operators . . . . . . . . . . . . . 4
System Safeguards . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Safety Features on External VME Front Panel (VFP) . . . . . . . 5
Computer-Controlled Robots and Motion Devices . . . . . . . 5
Manually-Controlled Robots and Motion Devices . . . . . . . . 5
Other Computer-Controlled Devices . . . . . . . . . . . . . . 5
Program Security . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Overspeed Protection . . . . . . . . . . . . . . . . . . . . . . . . . 6
Voltage Interruptions . . . . . . . . . . . . . . . . . . . . . . . . . 6
Inappropriate Uses of the Adept MV Controller . . . . . . . . . . . . 6
1.4 Standards Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.5 How Can I Get Help? . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Within the Continental United States . . . . . . . . . . . . . . . . . . 8
Service Calls . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Application Questions . . . . . . . . . . . . . . . . . . . . . 8
Training Information . . . . . . . . . . . . . . . . . . . . . . 8
Within Europe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Outside Continental United States or Europe . . . . . . . . . . . . . . 9
Adept World Wide Web Site . . . . . . . . . . . . . . . . . . . . . . 9
Adept Bulletin Board Service . . . . . . . . . . . . . . . . . . . . . . 9
2Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.2 Controller Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Adept MV-5 Controller . . . . . . . . . . . . . . . . . . . . . . . . 12
Adept MV-10 Controller . . . . . . . . . . . . . . . . . . . . . . . 12
Adept MV-8 Controller . . . . . . . . . . . . . . . . . . . . . . . . 14
Adept MV-19 Controller . . . . . . . . . . . . . . . . . . . . . . . 14
2.3 A-Series and S-Series Controller Options . . . . . . . . . . . . . . . . 14

Table Of Contents
viii Adept MV Controller User’s Guide, Rev C
Adept A-Series Option . . . . . . . . . . . . . . . . . . . . . . . . 14
Adept S-Series Option . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.4 Standard Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
System Processor (030 or 040) . . . . . . . . . . . . . . . . . . . . . 15
030 Module . . . . . . . . . . . . . . . . . . . . . . . . . . 15
040 Module . . . . . . . . . . . . . . . . . . . . . . . . . . 15
System Input/Output Module (SIO) . . . . . . . . . . . . . . . . . . 15
2.5 Optional Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Adept Graphics Module (VGB) . . . . . . . . . . . . . . . . . . . . 16
AdeptVision VME Interface Module (VIS) . . . . . . . . . . . . . . . 16
AdeptMotion Interface Modules (MI3/MI6) . . . . . . . . . . . . . . 16
Adept VME Joint Interface Module (VJI) . . . . . . . . . . . . . . . . 18
AdeptForce VME Module (VFI) . . . . . . . . . . . . . . . . . . . . 18
Digital Input/Output Module (DIO) . . . . . . . . . . . . . . . . . . 18
Auxiliary Processor . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.6 Optional Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . 19
External Front Panel (VFP-1 or VFP-3) . . . . . . . . . . . . . . . . . . 19
Manual Control Pendant (MCP) . . . . . . . . . . . . . . . . . . . . 19
AdeptNet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
A-Series Color Monitor . . . . . . . . . . . . . . . . . . . . . . . . . 19
A-Series Extended Keyboard . . . . . . . . . . . . . . . . . . . . . 19
Third-Party Terminals for an S-Series Controller . . . . . . . . . . . . . 20
2.7 Product Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . 20
AdeptVision VME . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
AdeptMotion VME . . . . . . . . . . . . . . . . . . . . . . . . . . 20
AdeptForce VME . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3Installation for MV-5 and MV-10 Controllers . . . . . . . . . . . . . . 21
3.1 Shipping, Storage, Unpacking and Inspection . . . . . . . . . . . . . 22
Shipping and Storage . . . . . . . . . . . . . . . . . . . . . . . . . 22
Before Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Upon Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Repacking For Relocation . . . . . . . . . . . . . . . . . . . . . . . 22
3.2 Controller ID Label . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.3 Facility Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Voltage Interruptions . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.4 Connecting AC Power (MV-5 and MV-10) . . . . . . . . . . . . . . . 24
AC Power Requirements . . . . . . . . . . . . . . . . . . . . . . . 24
Facility Overvoltage Protection . . . . . . . . . . . . . . . . 24
Power Entry Module . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Function of VFP System Power Switch with MV-5 and MV-10 Controllers 25
Remote System Power Option . . . . . . . . . . . . . . . . . 25
Connecting AC Power Cord . . . . . . . . . . . . . . . . . . . . . 27