adept technology MV User manual

Adept MV Controller
User’s Guide
®
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ESTOP
ACC V
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RESET
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040
STP
SCR
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VME
SF
A
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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
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1 2 3 4
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D R
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6785
ON
2341
OK
SIO
R
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2 3 2
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2 3 2
R
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2 3 2
I /
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2 4
V
1 0 0
m
A
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OK ESTOP ACC V SCSI
RESET
USE ONLY WITH
250V FUSES
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HPE DE1 DE2 DE3 DE4
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DE6
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MI6
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4 2 2
R
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2 3 2
/
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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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1
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4
ON
2341
V
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KEYBOARD
OK
VGB
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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

Table Of Contents
Adept MV Controller User’s Guide, Rev C ix
System Grounding Information . . . . . . . . . . . . . . . . . . . . 28
3.5 Fuse Information (MV-5 and MV-10) . . . . . . . . . . . . . . . . . . 28
3.6 Fan and Filter Information . . . . . . . . . . . . . . . . . . . . . . . . 29
Cooling Fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Filter Inspection and Cleaning . . . . . . . . . . . . . . . . . . . . 29
3.7 Removing and Installing Modules . . . . . . . . . . . . . . . . . . . . 30
VMEbus Address Settings . . . . . . . . . . . . . . . . . . . . . . 30
Upper Backplane Jumper Plugs (P1) . . . . . . . . . . . . . . . . . 30
Lower Backplane Jumper Plugs (P2) and Third-Party Modules . . . . 31
Removing Modules . . . . . . . . . . . . . . . . . . . . . . . . . 33
Installing Modules . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3.8 Installing the A-Series Monitor and Keyboard . . . . . . . . . . . . . . 34
Installation Procedure . . . . . . . . . . . . . . . . . . . . . . . . 34
Installing Non-Adept Peripherals in an A-Series System . . . . . . . . 35
Third-Party Monitor Compatibility . . . . . . . . . . . . . . . 35
Third-Party Keyboard Compatibility . . . . . . . . . . . . . . 35
Third-Party Pointing Device Compatibility . . . . . . . . . . . 35
3.9 Installing a Terminal in an S-Series System . . . . . . . . . . . . . . . . 36
Recommended Terminal for S-Series Systems . . . . . . . . . . . . 36
Contacting WYSE . . . . . . . . . . . . . . . . . . . . . . . 36
Customer-Supplied Serial Interface Cable . . . . . . . . . . . . . . 36
Installation Procedure . . . . . . . . . . . . . . . . . . . . . . . . 36
3.10 Installing a Stand-Alone Controller in a Rack or Panel . . . . . . . . . 37
Space Around the Chassis . . . . . . . . . . . . . . . . . . . . . . 37
Rack Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Panel Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
3.11 Installing a Robot Controller in a Rack or Panel . . . . . . . . . . . . 39
Space Around the Chassis . . . . . . . . . . . . . . . . . . . . . . 39
Rack Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Panel Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
3.12 MV-5 and MV-10 Controller Technical Specifications . . . . . . . . . 41
4Installation for MV-8 and MV-19 Controllers . . . . . . . . . . . . . . 43
4.1 Shipping, Storage, Unpacking and Inspection . . . . . . . . . . . . . . 44
Shipping and Storage . . . . . . . . . . . . . . . . . . . . . . . . 44
Before Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Upon Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Repacking For Relocation . . . . . . . . . . . . . . . . . . . . . . 44
4.2 Controller ID Label . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.3 Facility Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Voltage Interruptions . . . . . . . . . . . . . . . . . . . . . . . . 45
4.4 Connecting AC Power . . . . . . . . . . . . . . . . . . . . . . . . . 46

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x Adept MV Controller User’s Guide, Rev C
AC Power Requirements . . . . . . . . . . . . . . . . . . . . . . . 46
Facility Overvoltage Protection . . . . . . . . . . . . . . . . 46
Power Entry Module . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Connecting AC Power Cord . . . . . . . . . . . . . . . . . . . . . 47
System Grounding Information . . . . . . . . . . . . . . . . . . . . 48
Changing Voltage Settings (MV-8 and MV-19) . . . . . . . . . . . . 48
4.5 Fuse Information (MV-8 and MV-19) . . . . . . . . . . . . . . . . . . 50
4.6 Fan and Filter Information . . . . . . . . . . . . . . . . . . . . . . . 51
Cooling Fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Filter Inspection and Cleaning . . . . . . . . . . . . . . . . . . . . . 51
4.7 Removing and Installing Modules . . . . . . . . . . . . . . . . . . . 52
VMEbus Address Settings . . . . . . . . . . . . . . . . . . . . . . . 52
Backplane Jumper Plugs . . . . . . . . . . . . . . . . . . . . . . . 52
Removing Modules . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Installing Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
4.8 Installing the A-Series Monitor and Keyboard . . . . . . . . . . . . . . 54
4.9 Installing a Terminal in an S-Series System . . . . . . . . . . . . . . . 54
4.10 Installing in a Rack or Panel Mount . . . . . . . . . . . . . . . . . . 55
Space Around the Chassis . . . . . . . . . . . . . . . . . . . . . . 55
Panel Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Rack Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
4.11 MV-8 and MV-19 Controller Technical Specifications . . . . . . . . . 57
5030 Processor Module . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
5.2 Connections and Indicators . . . . . . . . . . . . . . . . . . . . . . 60
5.3 Serial I/O Connections, 030 Module . . . . . . . . . . . . . . . . . . 61
RS-422/485 Connector (on 030 Module) . . . . . . . . . . . . . . . . 61
RS-232/Term Connector (on 030 Module) . . . . . . . . . . . . . . . 62
Used in an S-Series System . . . . . . . . . . . . . . . . . . . 62
Used in an A-Series System . . . . . . . . . . . . . . . . . . . 62
Typical Cable Connections . . . . . . . . . . . . . . . . . . 63
Typical Cable Connections, 9-pin to 25-pin (DCE) . . . . . . . 63
Typical Cable Connections, 9-pin to 25-pin (DTE) . . . . . . . . 64
Recommended Connections, 9-pin to 25-pin (Wyse WY-60 Termi-
nal) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Typical Cable Connections, 9-pin to 9-pin (AT-Compatible) . . 65
DTE, DCE, or AT-style? . . . . . . . . . . . . . . . . . . . . . 66
5.4 Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
5.5 VMEbus Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
5.6 030 Jumper Settings . . . . . . . . . . . . . . . . . . . . . . . . . . 68
5.7 Use as an Auxiliary Processor . . . . . . . . . . . . . . . . . . . . . . 69

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5.8 030 Processor Module Specifications . . . . . . . . . . . . . . . . . . 69
6040 Processor Module . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
6.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
6.2 Connections and Indicators . . . . . . . . . . . . . . . . . . . . . . 72
6.3 Serial I/O Connections, 040 Module . . . . . . . . . . . . . . . . . . . 73
RS-422 Connector (on 040 Module) . . . . . . . . . . . . . . . . . 73
RS-232/Term Connector (on 040 Module) . . . . . . . . . . . . . . 74
Used in an S-Series System . . . . . . . . . . . . . . . . . . 74
Used in an A-Series System . . . . . . . . . . . . . . . . . . 74
Connections from 040 RS-232 to Wyse Terminal . . . . . . . . 76
6.4 Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
6.5 VMEbus Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
6.6 040 Jumper Settings . . . . . . . . . . . . . . . . . . . . . . . . . . 77
6.7 Use as an Auxiliary Processor . . . . . . . . . . . . . . . . . . . . . . 79
6.8 040 Processor Module Specifications . . . . . . . . . . . . . . . . . . 79
7System Input/Output Module (SIO) . . . . . . . . . . . . . . . . . . . 81
7.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
7.2 Connections and Indicators . . . . . . . . . . . . . . . . . . . . . . 82
DIP Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . . 83
7.3 System Configuration Information . . . . . . . . . . . . . . . . . . . . 83
7.4 Mass Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Floppy Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Hard Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
7.5 Serial I/O Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . 84
7.6 Digital I/O Connector . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
REACT Input Signals 1001 to 1012 . . . . . . . . . . . . . . . 85
Fast Input Signals 1001 to 1003 . . . . . . . . . . . . . . . . 85
Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Typical Digital Input Wiring . . . . . . . . . . . . . . . . . . . . . . 88
Typical Digital Output Wiring . . . . . . . . . . . . . . . . . . . . . 89
Digital I/O Connector Pinouts . . . . . . . . . . . . . . . . . . . . 90
Digital I/O Connector Ordering Details (Third-Party Sources) . . . . . 91
AMP Part Numbers for 50-Pin Male D-Sub . . . . . . . . . . . 91
Thomas and Betts Part Numbers for 50-Pin Male D-Sub . . . . 92
Screw-Terminal Field-Wiring Adaptor Blocks . . . . . . . . . . . . . 92
7.7 Emergency Stop Circuit . . . . . . . . . . . . . . . . . . . . . . . . . 93
External E-Stop Input . . . . . . . . . . . . . . . . . . . . . . . . . 93
Passive E-Stop Output . . . . . . . . . . . . . . . . . . . . . . . . 93

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xii Adept MV Controller User’s Guide, Rev C
7.8 External Front Panel (VFP-1) . . . . . . . . . . . . . . . . . . . . . . 96
Controls and Indicators . . . . . . . . . . . . . . . . . . . . . . . . 96
Installing the External Front Panel (VFP) . . . . . . . . . . . . . . . . 97
7.9 Manual Control Pendant (MCP) . . . . . . . . . . . . . . . . . . . . . 99
Connecting the MCP to the VFP . . . . . . . . . . . . . . . . . . . 99
MCP Cradle . . . . . . . . . . . . . . . . . . . . . . . . . . 99
7.10 User-Supplied External Front Panel . . . . . . . . . . . . . . . . . . 100
Construction of Cable from SIO to VFP . . . . . . . . . . . . . . . 100
MCP Connector . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Front Panel/MCP Connector and Cable . . . . . . . . . . . . . . 101
7.11 SIO Module Specifications . . . . . . . . . . . . . . . . . . . . . . 102
8Adept Graphics Module (VGB) . . . . . . . . . . . . . . . . . . . . . 103
8.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
8.2 Connections and Indicators . . . . . . . . . . . . . . . . . . . . . . 104
DIP Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . 105
8.3 VMEbus Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
8.4 Monitor Video Interface . . . . . . . . . . . . . . . . . . . . . . . . 106
8.5 Keyboard Interface . . . . . . . . . . . . . . . . . . . . . . . . . . 107
8.6 Pointer Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
8.7 VGB Module Specifications . . . . . . . . . . . . . . . . . . . . . . . 108
9AdeptVision VME Module (VIS) . . . . . . . . . . . . . . . . . . . . . . 109
9.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
9.2 Connections and Indicators . . . . . . . . . . . . . . . . . . . . . . 110
9.3 VMEbus Address and Configuration . . . . . . . . . . . . . . . . . . 111
9.4 Camera Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . 112
9.5 Installing Video Bus Coupling . . . . . . . . . . . . . . . . . . . . . . 113
9.6 Camera Breakout Cables . . . . . . . . . . . . . . . . . . . . . . . 113
Two-Camera Breakout Cable . . . . . . . . . . . . . . . . . . . . 113
Four-Camera Breakout Cable . . . . . . . . . . . . . . . . . . . . 114
10-Meter Adept MV Camera Cables . . . . . . . . . . . . . . . . 114
9.7 Installing Camera Cables . . . . . . . . . . . . . . . . . . . . . . . 115
9.8 Camera Cable Pin and Signal Information . . . . . . . . . . . . . . . 116
9.9 VIS Module Specifications . . . . . . . . . . . . . . . . . . . . . . . 124
10 AdeptMotion Interface Module (MI6/MI3) . . . . . . . . . . . . . . 125
10.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
10.2 Connections and Indicators . . . . . . . . . . . . . . . . . . . . . . 126

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10.3 VMEbus Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
10.4 Jumper Settings and Resistor Configuration on MI3/MI6 . . . . . . . . 127
10.5 Connecting to User Equipment . . . . . . . . . . . . . . . . . . . . 128
10.6 MI3/MI6 Module Specifications . . . . . . . . . . . . . . . . . . . . 129
11 Adept Joint Interface Module(VJI) . . . . . . . . . . . . . . . . . 131
11.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
11.2 Connections and Indicators . . . . . . . . . . . . . . . . . . . . . . 132
11.3 VMEbus Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Address Settings for VJI Modules . . . . . . . . . . . . . . . . . . . 133
Address Settings for Multiple Servo Boards . . . . . . . . . . . . . . 133
11.4 Belt Encoder Interface . . . . . . . . . . . . . . . . . . . . . . . . . 134
11.5 VJI Module Specifications . . . . . . . . . . . . . . . . . . . . . . . 136
12 AdeptForce VME Module (VFI) . . . . . . . . . . . . . . . . . . . . 137
12.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
12.2 Connections and Indicators . . . . . . . . . . . . . . . . . . . . . . 138
12.3 VMEbus Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
12.4 VFI Module Specifications . . . . . . . . . . . . . . . . . . . . . . . 140
13 Digital Input/Output Module (DIO) . . . . . . . . . . . . . . . . . 141
13.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
13.2 Connections and Indicators . . . . . . . . . . . . . . . . . . . . . . 142
13.3 Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
13.4 Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Testing Outputs and Fuses . . . . . . . . . . . . . . . . . . . . . . 144
Output Power Supply Voltage Jumpers . . . . . . . . . . . . . . . 144
Output Power Supply Current Selection . . . . . . . . . . . . . . . 145
13.5 Typical DIO Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
13.6 Optional DIO Cables . . . . . . . . . . . . . . . . . . . . . . . . . 148
Labeling Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
Input and Output Cable Wiring Information . . . . . . . . . . . . . 148
13.7 Additional DIO Modules . . . . . . . . . . . . . . . . . . . . . . . . 153
Setting the Module Address . . . . . . . . . . . . . . . . . . . . . 153
Labeling Sets of Cables . . . . . . . . . . . . . . . . . . . . . . . 153
13.8 DIO Module Specifications . . . . . . . . . . . . . . . . . . . . . . 155
14 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
14.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158

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14.2 Fan Filter Inspection and Cleaning MV-8/MV-19 . . . . . . . . . . . . 158
14.3 Fan Filter Inspection and Cleaning MV-5/MV-10 . . . . . . . . . . . . 158
14.4 VFP Lamp Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
14.5 Spare Parts List MV-8/MV-19 . . . . . . . . . . . . . . . . . . . . . . 159
14.6 Spare Parts List MV-5/MV-10 . . . . . . . . . . . . . . . . . . . . . . 160
ADimension Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
A.1 Dimensions for Adept MV-5 and MV-10 Stand-Alone Controllers . . . . 162
A.2 Dimensions for Adept MV-5 and MV-10 Robot Controllers . . . . . . . 163
A.3 Dimensions for Adept MV-8 Controller . . . . . . . . . . . . . . . . . 164
A.4 Dimensions for Adept MV-19 Controller . . . . . . . . . . . . . . . . 165
A.5 Mounting Bracket Dimensions . . . . . . . . . . . . . . . . . . . . . 166
A.6 External Front Panel (VFP-1) Dimensions . . . . . . . . . . . . . . . . 167
A.7 MCP Cradle Dimensions . . . . . . . . . . . . . . . . . . . . . . . . 168
BPosition Latch and Vision Trigger . . . . . . . . . . . . . . . . . . . . . 169
B.1 External Input For Position Latch and Vision Trigger . . . . . . . . . . . 170
Position Latch . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Vision Trigger . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Combined Vision Trigger and Position Latch (“Vision in the Loop”) . . 171
CAdditional Standards Compliance Information . . . . . . . . . . . . 173
C.1 Sources for Standards . . . . . . . . . . . . . . . . . . . . . . . . . 174
C.2 IEC Test Information . . . . . . . . . . . . . . . . . . . . . . . . . . 175
C.3 Electromagnetic Compatibility Testing Results . . . . . . . . . . . . . 176
C.4 Color-Coding of Indicator Lights . . . . . . . . . . . . . . . . . . . . 177
Color-Code Used by Adept for Operator-Indicators . . . . . . . . . 177
Color-Code used by Adept for Service-Indicators . . . . . . . . . . 178
DUsing the Manual Control Pendant (MCP) . . . . . . . . . . . . . . . 179
D.1 Manual Control Pendant Basics . . . . . . . . . . . . . . . . . . . . 180
Programmer’s Pendant vs. Operator’s Pendant . . . . . . . . . . . 180
Connecting the MCP . . . . . . . . . . . . . . . . . . . . 181
MCP Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Soft Buttons . . . . . . . . . . . . . . . . . . . . . . . . . 182
Function Buttons . . . . . . . . . . . . . . . . . . . . . . . 182
Data Entry Buttons . . . . . . . . . . . . . . . . . . . . . . 183
Mode Control and Joint/Axis Control Buttons . . . . . . . . . 183
Speed Bars and Slow Button . . . . . . . . . . . . . . . . . 183
Emergency Stop From the MCP . . . . . . . . . . . . . . . . . . . 183
Background Mode . . . . . . . . . . . . . . . . . . . . . . . . . 184
D.2 MCP Predefined Functions . . . . . . . . . . . . . . . . . . . . . . . 184

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Adept MV Controller User’s Guide, Rev C xv
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
Predefined Function Buttons . . . . . . . . . . . . . . . . . . . . . 184
The Edit Function . . . . . . . . . . . . . . . . . . . . . . . 185
The Display Function . . . . . . . . . . . . . . . . . . . . . 186
The Clear Error Function . . . . . . . . . . . . . . . . . . . 188
The CMD Function . . . . . . . . . . . . . . . . . . . . . . 188
Prog Set Function . . . . . . . . . . . . . . . . . . . . . . . 190
D.3 Moving a Robot or Motion Device with the MCP . . . . . . . . . . . . 191
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Mode Control Buttons . . . . . . . . . . . . . . . . . . . . . . . . 191
Emergency Stop Button . . . . . . . . . . . . . . . . . . . 191
COMP/PWR Button . . . . . . . . . . . . . . . . . . . . . . 191
MAN/HALT Button . . . . . . . . . . . . . . . . . . . . . . 192
DIS PWR Button . . . . . . . . . . . . . . . . . . . . . . . . 192
RUN/HOLD . . . . . . . . . . . . . . . . . . . . . . . . . . 192
Joint/Axis Control Buttons . . . . . . . . . . . . . . . . . . . . . . 192
STEP Button . . . . . . . . . . . . . . . . . . . . . . . . . . 193
Speed Bars . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
Slow Button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
Robot States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
World State . . . . . . . . . . . . . . . . . . . . . . . . . . 194
Tool State . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Joint State . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Free State . . . . . . . . . . . . . . . . . . . . . . . . . . 200
Controlling More Than One Robot . . . . . . . . . . . . . . . . . . 201
Robots With Less Than Six Joints . . . . . . . . . . . . . . . . 201
Robots With More Than Six Joints . . . . . . . . . . . . . . . 201
ESystem Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
List of Figures
Figure 2-1. Adept MV-5 and MV-10 Controllers . . . . . . . . . . . . . . . . . . 13
Figure 2-2. Adept MV Controller Configuration . . . . . . . . . . . . . . . . . . 17
Figure 3-1. MV-5/MV-10 Power Entry Module . . . . . . . . . . . . . . . . . . . 25
Figure 3-2. Installation of User-Supplied External Contactor/Power Supply using VFP-1 26
Figure 3-3. Installation of User-Supplied External Contactor using VFP-3 . . . . . . 27
Figure 3-4. MV-5/MV-10 Fuse Holder . . . . . . . . . . . . . . . . . . . . . . . 29
Figure 3-5. Adept MV-5 Upper Backplane (P1) Jumper Plugs . . . . . . . . . . . 32
Figure 3-6. Adept MV-10 Upper Backplane (P1) Jumper Plugs . . . . . . . . . . . 32
Figure 3-7. Connecting the A-Series Monitor and Keyboard . . . . . . . . . . . . 34
Figure 3-8. Rack Mounting for MV-5/MV-10 Stand-Alone Controller . . . . . . . . 37

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xvi Adept MV Controller User’s Guide, Rev C
Figure 3-9. Panel Mounting for MV-5/MV-10 Stand-Alone Controller . . . . . . . . . 38
Figure 3-10. Installing Mounting Brackets on MV-5 and MV-10 Robot Controllers . . . 40
Figure 4-1. Power Entry Module . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Figure 4-2. Adept MV Controller with Back Panel Open . . . . . . . . . . . . . . . 49
Figure 4-3. Internal Fuse Locations . . . . . . . . . . . . . . . . . . . . . . . . . 51
Figure 4-4. Adept MV-8 Backplane Jumper Plugs . . . . . . . . . . . . . . . . . . 53
Figure 4-5. Adept MV-19 Backplane Jumper Plugs . . . . . . . . . . . . . . . . . 53
Figure 4-6. Installing Mounting Brackets . . . . . . . . . . . . . . . . . . . . . . . 56
Figure 5-1. RS-422/485 Female Connector Pin Locations (on 030 module) . . . . . . 61
Figure 5-2. RS-232/Term Male Connector Pin Locations (on 030 module) . . . . . . 62
Figure 5-3. Switch and Jumper Locations on the 030 Module . . . . . . . . . . . . 68
Figure 6-1. RS-422 Connector on 040 Module . . . . . . . . . . . . . . . . . . . . 73
Figure 6-2. RS-232 Connector on 040 Module . . . . . . . . . . . . . . . . . . . . 74
Figure 6-3. Switch and Jumper Locations on the 040 Module . . . . . . . . . . . . 78
Figure 7-1. RS-232 Serial I/O Connector Pin Locations on SIO Module . . . . . . . . 84
Figure 7-2. Typical Digital Input Wiring on the SIO . . . . . . . . . . . . . . . . . . 88
Figure 7-3. Typical Digital Output Wiring on the SIO . . . . . . . . . . . . . . . . . 89
Figure 7-4. Digital I/O Connector Pin Locations on SIO Module . . . . . . . . . . . 91
Figure 7-5. E-Stop Diagram with VFP and MCP . . . . . . . . . . . . . . . . . . . 94
Figure 7-6. External Front Panel (VFP-1) . . . . . . . . . . . . . . . . . . . . . . . 96
Figure 7-7. External VME Front Panel and MCP Installation . . . . . . . . . . . . . 98
Figure 8-1. Monitor Connector Pin Locations on VGB Module . . . . . . . . . . . 106
Figure 9-1. Switch Positions A and B in Relation to Arrows on SW1, SW3, and SW2 . 111
Figure 9-2. Switch Locations on VIS Module . . . . . . . . . . . . . . . . . . . . 112
Figure 9-3. Two-Camera Breakout Cable . . . . . . . . . . . . . . . . . . . . . 113
Figure 9-4. Four-Camera Breakout Cable . . . . . . . . . . . . . . . . . . . . . 114
Figure 9-5. Camera Cable Installation Drawing . . . . . . . . . . . . . . . . . . 115
Figure 9-6. Pin Locations for Camera Cable Connector (12-Pin Hirose Male) . . . 118
Figure 11-1. VJI Belt Encoder Connector Pinout . . . . . . . . . . . . . . . . . . 134
Figure 11-2. VJI Belt Encoder Typical Input Circuity . . . . . . . . . . . . . . . . . 135
Figure 13-1. Typical Digital Input Setup . . . . . . . . . . . . . . . . . . . . . . . 146
Figure 13-2. Typical Digital Output Setup . . . . . . . . . . . . . . . . . . . . . . 147
Figure 13-3. Switch and Jumper Locations on DIO PC Board . . . . . . . . . . . . 154
Figure A-1. Adept MV-5/10 Stand-Alone Outline Drawing . . . . . . . . . . . . . 162
Figure A-2. Adept MV-5/10 Robot Outline Drawing . . . . . . . . . . . . . . . . 163
Figure A-3. Adept MV-8 Outline Drawing . . . . . . . . . . . . . . . . . . . . . 164
Figure A-4. Adept MV-19 Outline Drawing . . . . . . . . . . . . . . . . . . . . 165
Figure A-5. Mounting Bracket Hole Pattern Dimensions . . . . . . . . . . . . . . 166
Figure A-6. Adept External Front Panel (VFP-1) Dimensions . . . . . . . . . . . . 167
Figure A-7. MCP Cradle Dimensions . . . . . . . . . . . . . . . . . . . . . . . . 168

Table Of Contents
Adept MV Controller User’s Guide, Rev C xvii
Figure D-1. Holding the Operator’s MCP . . . . . . . . . . . . . . . . . . . . . . 180
Figure D-2. Cradling the Operator’s MCP . . . . . . . . . . . . . . . . . . . . . 181
Figure D-3. MCP Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Figure D-4. Data Entry Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
Figure D-5. MCP Predefined Function Buttons . . . . . . . . . . . . . . . . . . . 184
Figure D-6. EDIT Function Button . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Figure D-7. DISPLAY Function Button . . . . . . . . . . . . . . . . . . . . . . . . 186
Figure D-8. CLEAR ERROR Function Button . . . . . . . . . . . . . . . . . . . . . 188
Figure D-9. Command (CMD) Function Button . . . . . . . . . . . . . . . . . . 188
Figure D-10. Program Set Function Button . . . . . . . . . . . . . . . . . . . . . 190
Figure D-11. Mode Control Buttons . . . . . . . . . . . . . . . . . . . . . . . . . 191
Figure D-12. Speed Bars . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
Figure D-13. WORLD State (SCARA) . . . . . . . . . . . . . . . . . . . . . . . . . 194
Figure D-14. TOOL State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
Figure D-15. TOOL State (Six-Axis Robot) . . . . . . . . . . . . . . . . . . . . . . 197
Figure D-16. JOINT State (SCARA) . . . . . . . . . . . . . . . . . . . . . . . . . 198
Figure D-17. JOINT State (Six-Axis Robot) . . . . . . . . . . . . . . . . . . . . . . 199
Figure D-18. FREE State (Four-Axis SCARA) . . . . . . . . . . . . . . . . . . . . . 200
List of Tables
Table 3-1. Operating Environment Requirements . . . . . . . . . . . . . . . . . 23
Table 3-2. Adept MV Controller Power Requirements . . . . . . . . . . . . . . . 24
Table 3-3. Power Cord Specifications . . . . . . . . . . . . . . . . . . . . . . 28
Table 3-4. MV-5 and MV-10 Fuse Ratings . . . . . . . . . . . . . . . . . . . . . 29
Table 3-5. Monitor Compatibility Specifications . . . . . . . . . . . . . . . . . . 35
Table 3-6. Technical Specifications for MV Controller . . . . . . . . . . . . . . . 41
Table 4-1. Operating Environment Requirements . . . . . . . . . . . . . . . . . 45
Table 4-2. Adept MV Controller Power Requirements . . . . . . . . . . . . . . . 46
Table 4-3. Power Cord Specifications . . . . . . . . . . . . . . . . . . . . . . 47
Table 4-4. Voltage Selection Jumper Settings . . . . . . . . . . . . . . . . . . 48
Table 4-5. Fuse Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Table 4-6. Technical Specifications for MV-8/19 Controllers . . . . . . . . . . . . 57
Table 5-1. RS-422/485 Connector Pin Assignments . . . . . . . . . . . . . . . . 61
Table 5-2. RS-232/Term Connector Pin Assignments . . . . . . . . . . . . . . . . 62
Table 5-3. Pin Assignments for 9-Pin to 25-Pin (DCE) Cable . . . . . . . . . . . . 63

Table Of Contents
xviii Adept MV Controller User’s Guide, Rev C
Table 5-4. Pin Assignments for 9-Pin to 25-Pin (DTE) Cable . . . . . . . . . . . . . 64
Table 5-5. Pin Assignments for 9-pin to 25-pin (Wyse WY-60 Terminal) Cable . . . . 64
Table 5-6. Pin Assignments for 9-pin to 9-pin (AT-Compatible) Cable . . . . . . . . 65
Table 5-7. Typical 25-pin Null-Modem Adaptor Pinout . . . . . . . . . . . . . . . 66
Table 5-8. Address Settings for the 030 Processor Module . . . . . . . . . . . . . . 67
Table 5-9. Jumper Settings for 030 Processor Module . . . . . . . . . . . . . . . . 68
Table 5-10. 030 Technical Specifications . . . . . . . . . . . . . . . . . . . . . . 69
Table 6-1. RS-422 Connector Pin Assignments (on 040 Module) . . . . . . . . . . . 73
Table 6-2. RS-232/Term Connector Pin Assignments (on 040 Module) . . . . . . . 75
Table 6-3. Pin Assignments for 25-pin to 25-pin (Wyse WY-60 Terminal) Cable . . . 76
Table 6-4. Address Settings for the 040 Processor Module . . . . . . . . . . . . . 77
Table 6-5. Jumper Settings for 040 Processor Module . . . . . . . . . . . . . . . . 77
Table 6-6. 040 Technical Specifications . . . . . . . . . . . . . . . . . . . . . . 79
Table 7-1. SIO Front Panel DIP Switch Functions . . . . . . . . . . . . . . . . . . 83
Table 7-2. RS-232 Serial I/O Connector Pin Assignment on SIO Module . . . . . . . 84
Table 7-3. DIO Input Specifications (SIO module) . . . . . . . . . . . . . . . . . . 86
Table 7-4. DIO Output Specifications (SIO module) . . . . . . . . . . . . . . . . . 87
Table 7-5. Digital I/O Connector Pin Assignments on SIO Module . . . . . . . . . . 90
Table 7-6. Terminal Assignment of the Terminal Block on the Back of the VFP . . . . 95
Table 7-7. MCP Cable Connector Pinout . . . . . . . . . . . . . . . . . . . . . 99
Table 7-8. MCP Connector: Manufacturer’s Information . . . . . . . . . . . . . 100
Table 7-9. SIO Front Panel Cable/Connector Pin Assignments . . . . . . . . . . 101
Table 7-10. Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . 102
Table 8-1. VGB Module Front Panel DIP Switch Functions . . . . . . . . . . . . . 105
Table 8-2. Monitor Connector Pin Assignments . . . . . . . . . . . . . . . . . . 106
Table 8-3. Keyboard Connector Pin Assignments . . . . . . . . . . . . . . . . . 107
Table 8-4. Pointer Connector Pin Assignments . . . . . . . . . . . . . . . . . . 107
Table 8-5. Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . 108
Table 9-1. Switch Settings for VIS Module 1 . . . . . . . . . . . . . . . . . . . . 111
Table 9-2. Switch Settings for VIS Module 2 . . . . . . . . . . . . . . . . . . . . 111
Table 9-3. Breakout Cable Camera Connector Pin Assignments . . . . . . . . . 116
Table 9-4. Breakout Cable Strobe and Power Connector Pin Assignments . . . . 117
Table 9-5. Adept 10-Meter Camera Cable Pin Assignments . . . . . . . . . . . 118
Table 9-6. Two-Camera Breakout Cable Pin Assignments . . . . . . . . . . . . 119
Table 9-7. Four-Camera Breakout Cable Pin Assignments (sorted by destination) .
120
Table 9-8. Four-Camera Breakout Cable Pin Assignments (sorted by origin) . . . 122
Table 9-9. Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . 124
Table 10-1. VMEbus Address Switch Settings for MI3/MI6 Module . . . . . . . . . 127
Table 10-2. Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . 129
Table 11-1. VMEbus Address Switch Settings for VJI Module . . . . . . . . . . . . 133