adept technology SmartController EX User manual

Adept SmartController EX
User's Guide
Covers the SmartController EX Motion Controller and sDIO Module

Adept SmartController EX
User's Guide
Covers the SmartController EX Motion Controller and sDIO Module
P/N:11069-000 Rev.C
March, 2013
5960 Inglewood Drive • Pleasanton, CA 94588 • USA • Phone [phone] • Fax [phone]
Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone [phone] • Fax [phone]
Block 5000 Ang Mo Kio Avenue 5 • #05-12 Techplace II • Singapore 569870 • Phone [phone] • Fax [phone]

Copyright Notice
The information contained herein is the property of Adept Technology, Inc., and shall not be reproduced
in whole or in part without prior written approval of Adept Technology, Inc. The information herein is
subject to change without notice and should not be construed as a commitment by Adept Technology,
Inc. The documentation is periodically reviewed and revised.
Adept Technology, Inc., assumes no responsibility for any errors or omissions in the documentation. Crit-
ical evaluation of the documentation by the user is welcomed. Your comments assist us in preparation
of future documentation. Please submit your comments to: [e-mail].
Copyright 2013 by Adept Technology, Inc. All rights reserved.
Adept, the Adept logo, the Adept Technology logo, AdeptVision, AIM, Blox, Bloxview, FireBlox, Fireview,
Meta Controls, MetaControls, Metawire, Soft Machines, and Visual Machines are registered trademarks
of Adept Technology, Inc.
Brain on Board is a registered trademark of Adept Technology, Inc. in Germany.
Adept ACE, Adept sDIO, Adept SmartController EX, Adept SmartVision EX, AdeptSight, and eV+ are
trademarks of Adept Technology, Inc.
Any trademarks from other companies used in this publication
are the property of those respective companies.
Created in the United States of America

Table of Contents
Chapter 1: Introduction 9
1.1 Product Description 9
Optional sDIO Expansion Module 9
Optional Adept T20 Pendant 9
1.2 Dangers, Warnings, Cautions, and Notes in Manual 10
1.3 Safety Precautions 11
1.4 What to Do in an Emergency Situation 12
1.5 Additional Safety Information 12
Manufacturer’s Declaration of Compliance (MDOC) 12
Adept Robot Safety Guide 12
1.6 Manufacturer’s Declaration 12
1.7 How Can I Get Help? 13
Related Manuals 13
Adept Document Library 13
Chapter 2: Installation 15
2.1 Controller Installation 15
Before Unpacking 15
Upon Unpacking 15
Repacking for Relocation 16
Space Around the Chassis 16
Mounting the Adept SmartController EX Motion Controller 16
Memory Card 19
Connecting Power 21
IEEE 1394 Cable Specifications 24
2.2 System Cable Installation 25
Chapter 3: Operation 27
3.1 Connectors and Indicators 27
3.2 Front Panel 31
Programming the E-Stop Delay 32
3.3 Installing the Adept ACE Software 32
3.4 Configuring the SmartController 33
Configuring Serial Ports 33
RS-232 Connectors 34
RS-422/485 Connector 35
3.5 Connecting User-Supplied Safety and Power-Control Equipment 36
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Table of Contents
Emergency Stop Circuits 40
Remote Manual Mode 42
User Manual/Auto Indication 42
User High Power On Indication 42
Remote High Power On/Off Control 42
High Power On/Off Lamp 43
Remote Front Panel or User-Supplied Control Panel Usage 43
Remote Pendant Usage 44
3.6 Connecting User-Supplied Digital I/O Equipment 44
DeviceNet Connector 44
XDIO Connector 44
3.7 Belt Encoder Interface 49
Chapter 4: Maintenance 55
4.1 Changing the Lamp in the Front Panel High-Power Indicator 55
Chapter 5: Technical Specifications 57
5.1 Adept SmartController EX Motion Controller Dimensions 57
5.2 sDIO Module Dimensions 58
5.3 Adept Front Panel Dimensions 59
5.4 Adept T20 Pendant Dimensions 60
Chapter 6: sDIO Module 61
6.1 Mounting the sDIO Module 61
Rack-Mounting the sDIO Module 61
Panel-Mounting the sDIO Module 63
Table-Mounting the sDIO Module 63
Stack-Mounting the sDIO Module 64
6.2 Installing the sDIO Module 64
6.3 sDIO Module Connectors and Indicators 65
6.4 Configuring an sDIO Module 66
Default sDIO I/O Configuration 66
Modifying the Default sDIO Configuration 66
6.5 Installing Multiple sDIO Modules 71
Configuring Multiple sDIO Modules 71
6.6 sDIO Digital I/O Signals 72
sDIO Inputs 72
sDIO Outputs 74
Optional DIO Cables 77
Chapter 7: Adept DeviceNet 85
7.1 DeviceNet Specifications 85
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Table of Contents
7.2 Limitations of the Adept DeviceNet Scanner 86
7.3 DeviceNet Port on the Controller 86
Connecting DeviceNet Hardware to the Controller 86
Configuring DeviceNet 87
7.4 DeviceNet Physical Layer and Media 87
DeviceNet Connectors 90
Termination of the DeviceNet Network 91
Power Supply and the DeviceNet Bus 91
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Adept SmartController EX User’s Guide, Rev.C
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Chapter 1: Introduction
1.1 Product Description
The Adept SmartController EX motion controller is a member of Adept’s family of high-per-
formance distributed motion controllers. The Adept SmartController EX motion controller is
designed for use with Adept Python Linear Modules, Adept Cobra s-series robots, the Adept
Viper line of six-axis robots, the Adept sMI6 Module for the SmartMotion product, Adept
SmartServo kits, and Adept Quattro robots.
Figure 1-1. Adept SmartController EX Motion Controller
Optional sDIO Expansion Module
The sDIO expansion module provides 32 optical-isolated digital inputs, 32 optical-isolated out-
puts, and an IEEE 1394 interface.
Customers can access I/O signals from the following points using these products:
lthe XDIO connector on an Adept SmartController EX motion controller
lthe DeviceNet connector on an Adept SmartController EX motion controller
lthe DIO X1 - X4 connectors on an sDIO expansion module
Optional Adept T20 Pendant
The optional Adept T20 pendant provides a user interface and teach pendant in an ergonomic
and rugged package. The pendant is designed for right- or left-handed use. All gripping and
holding positions enable comfortable and fatigue-free operation.

Chapter 1: Introduction
The safety features include:
lEmergency-stop switch (dual channel circuit)
l3-position enable switch (dual channel circuits)
See the Adept T20 pendant User’s Guide, shipped with each pendant, for complete information
on the product.
Figure 1-2. Adept T20 Pendant
1.2 Dangers, Warnings, Cautions, and Notes in Manual
There are six levels of special alert notation that may be used in Adept manuals. In descend-
ing order of importance, they are:
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Chapter 1: Introduction
DANGER:This indicates an imminently hazardous electrical situation
which, if not avoided, will result in death or serious injury.
DANGER:This indicates an imminently hazardous situation which, if
not avoided, will result in death or serious injury.
WARNING:This indicates a potentially hazardous electrical situation
which, if not avoided, could result in serious injury or major damage to
the equipment.
WARNING:This indicates a potentially hazardous situation which, if not
avoided, could result in serious injury or major damage to the equip-
ment.
CAUTION:This indicates a situation which, if not avoided, could result
in damage to the equipment.
NOTE:Notes provide supplementary information, emphasize a point or procedure, or give a tip
for easier operation.
1.3 Safety Precautions
DANGER:Adept robots can cause serious injury or death, or damage to
themselves and other equipment, if the following safety precautions are
not observed:
lAll personnel who install, operate, teach, program, or maintain the system must read
this guide, read the Adept Robot Safety Guide, and complete a training course for their
responsibilities in regard to the system.
lAll personnel who design the robot system must read this guide, read the Adept Robot
Safety Guide, and must comply with all local and national safety regulations for the loca-
tion in which the system is installed.
lThe robot system must not be used for purposes other than described in the robot user’s
guide. Contact Adept if you are not sure of the suitability for your application.
lThe user is responsible for providing safety barriers around the robot to prevent anyone
from accidentally coming into contact with the robot when it is in motion.
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Chapter 1: Introduction
lPower to the robot and its power supply must be locked out and tagged out before any
maintenance is performed.
1.4 What to Do in an Emergency Situation
Press any E-Stop button (a red push-button on a yellow background/field) and then follow the
internal procedures of your company or organization for an emergency situation. If a fire
occurs, use CO2 to extinguish the fire.
1.5 Additional Safety Information
Adept provides other sources for more safety information:
Manufacturer’s Declaration of Compliance (MDOC)
This lists all standards with which each robot complies. See “Manufacturer’s Declaration” on
page 18.
Adept Robot Safety Guide
The Adept Robot Safety Guide provides detailed information on safety for Adept robots. It also
gives resources for more information on relevant standards.
It ships with each robot manual, and is also available from the Adept Document Library. See
Adept Document Library on page 13.
1.6 Manufacturer’s Declaration
The Manufacturer’s Declaration of Incorporation and Conformity for Adept robot systems can
be found on the Adept website, in the Download Center of the Support section.
http://www.adept.com/support/downloads/file-search
NOTE:The Download Center requires that you are logged in for access. If you are not logged in,
you will be redirected to the Adept website Login page, and then automatically returned to the
Download Center when you have completed the login process.
1. From the Download Types drop-down list, select Manufacturer Declarations.
2. From the Product drop-down list, select SmartControls.
3. Click Begin Search.
The list of available documents is shown in the Search Results area, which opens at the
bottom of the page. You may need to scroll down to see it.
4. Use the Description column to locate the document for your SmartController, and then
click the corresponding Download ID number to access the Download Details page.
5. On the Download Details page, click Download to open or save the file.
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Chapter 1: Introduction
1.7 How Can I Get Help?
For details on getting assistance with your Adept software or hardware, you can access the fol-
lowing information sources on the Adept corporate website:
lFor contact information: http://www.adept.com/contact/americas
lFor product support information:
http://www.adept.com/support/service-and-support/main
lFor user discussions, support, and programming examples:
http://www.adept.com/forum/
lFor further information about Adept Technology, Inc.: http://www.adept.com
Related Manuals
This manual covers the installation and maintenance of an Adept SmartController EX motion
controller system, including the sDIO expansion module. There are additional manuals that
cover programming the system, reconfiguring installed components, and adding other
optional components. The following manuals provide information on advanced configurations
and system specifications.
Table 1-1. Related Manuals
Manual Title Description
Adept Robot Safety Guide Contains safety information for Adept robots.
Adept T20 User’s Guide Contains information on the installation and operation of
the Adept T20 pendant.
Adept ACE User's Guide Describes installation and use of the Adept ACE software.
eV+ OS User Guide Describes the eV+ operating system, including disk file oper-
ations, monitor commands, and monitor command pro-
grams.
eV+ Language User's Guide Describes the eV+ language and programming of an Adept
control system.
1 The eV+ manuals are accessible through the Adept Document Library:
Document Library > V+>eV+ Document (preliminary) > [select a manual]
Adept Document Library
The Adept Document Library (ADL) contains documentation for Adept products. You can
access the ADL through either of the following methods:
lSelect Support > Document Library from the menu bar on the Adept website.
lType the following URL into your web browser:
http://www.adept.com/Main/KE/DATA/adept_search.htm
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Chapter 1: Introduction
To locate information on a specific topic, use the Document Library search engine on the ADL
main page.
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Chapter 2: Installation
2.1 Controller Installation
This equipment must be shipped and stored in a temperature-controlled environment. See the
following table. It should be shipped and stored in the Adept-supplied packaging, which is
designed to prevent damage from normal shock and vibration. You should protect the package
from excess shock and vibration.
Table 2-1. Environmental Specifications
Ambient temperature 5° to 40° C (41° to 104° F)
Storage and shipment temperature –25° to +55° C (-13° to 131° F)
Humidity range 5 to 90%, non-condensing
Altitude up to 2000 m (6500 ft)
Free space around controller (for proper cool-
ing)
10 mm at back, 13 mm on sides (0.4 in., 0.5
in.)
Chassis protection class IP-20 (NEMA Type 1)
Before Unpacking
Carefully inspect all shipping containers for evidence of damage during transit. If any damage
is indicated, request that the carrier’s agent be present at the time the container is unpacked.
Upon Unpacking
Compare the actual items received (not just the packing slip) with your equipment purchase
order, and verify that all items are present and that the shipment is correct. Inspect each item
for external damage as it is removed from its container. Contact Adept immediately if any
damage is evident. For contact information, see How Can I Get Help? on page 13
Retain all containers and packaging materials. These items may be needed in the future to set-
tle a damage claim.
Perform the following steps to unpack the Adept SmartController EX motion controller and
Front Panel, optional Adept sDIO expansion module Expansion Module, and optional pend-
ant. Refer to the following sections for information on mounting the equipment.
1. Remove the Adept SmartController EX motion controller and any optional sDIO expan-
sion module from their boxes. Place them near the robot, or mount them in a rack. For
details, see Mounting the Adept SmartController EX Motion Controller on page 16.
2. Remove the optional Front Panel from its box and set it on a flat surface near the Adept
SmartController EX motion controller.

Chapter 2: Installation
3. Remove the optional fromT20 pendant its box and place it on a flat surface near the
Front Panel.
Repacking for Relocation
If the controller needs to be relocated, reverse the steps in the installation procedure. Reuse all
original packing containers and materials and follow all safety notes used for installation.
Improper packaging for shipment will void your warranty.
Space Around the Chassis
When the Adept SmartController EX motion controller and/or sDIO expansion module is
installed, you must allow 10 mm at the back of the unit and 13 mm on the sides of the unit for
proper air cooling.
Mounting the Adept SmartController EX Motion Controller
The following mounting options are available for the controller:
lRack
lPanel
lTable
lStack
The controller and compatible Adept units can be mounted with one unit placed on top
of another.
See Mounting the sDIO Module on page 61 for information on mounting the sDIO expansion
module.
NOTE:To maintain compliance with many standards, the mounting of the controller and all ter-
minations at the controller must be performed in accordance with local and national regulations.
Rack-Mounting the Adept SmartController EX Motion Controller
To rack-mount the controller in a standard 19-inch equipment rack, install the optional mount-
ing brackets on the side of the controller, as shown in the following figure. These brackets must
be ordered separately. They do not come with the controller.
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Chapter 2: Installation
3XM3x6MM
BOTHSIDES
3.8
19.1
2X25.0
14.2
2X 40356-00004
88.1
44.4
21.8
3.6
TYP.462.0482.8
190.0
Figure 2-1. Rack-Mounting the Adept SmartController EX Motion Controller
Panel-Mounting the Adept SmartController EX Motion Controller
To panel-mount the controller, install two brackets on each side at the rear of the unit, as
shown in the following figure. Use the screws from the accessories kit.
27.4
14.0
200.5
4X 40356-00000
8XM3x6MM
273.9
8.1
16.0
44.9
6.6346.6359.8
R3.6 TYP.
16.1
44.9
Figure 2-2. Panel-Mounting the Adept SmartController EX Motion Controller
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Chapter 2: Installation
Table-Mounting the Adept SmartController EX Motion Controller
To table-mount the controller, install two brackets on each side near the bottom of the unit, as
shown in the following figure. These brackets must be ordered separately. They do not come
with the controller.
4XM3x6MM
BOTHSIDES
21.616.0
120.9
16.2
4X40356-00001
120.9
29.5
391.8
378.6
24.9
R3.6
12.1
24.1
Figure 2-3. Table-Mounting the Adept SmartController EX Motion Controller
Stack-Mounting Components
To stack-mount the Adept SmartController EX Motion Controller and a compatible unit, such
as an Adept SmartVision EX vision controller, install two brackets on each side of the units, as
shown in the following figure. These brackets are supplied with compatible Adept units.
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Chapter 2: Installation
2X40356-00002
BOTHSIDES
8XM3 x 6MM
BOTHSIDES
186.5
30.7
76.5
28.1 16.0
120.9
155.8
328.9
Figure 2-4. Stack-Mounting the Adept SmartController EX Motion Controller
Memory Card
The Adept SmartController EX motion controller is equipped with a Secure Digital™(SD)
memory card. The SD card is removable, and can be moved to another Adept SmartController
EX motion controller for testing.
The SD card shipped with all systems is factory-configured and installed by Adept. The SD
card stores the eV+ operating system, application programs, data files, and Adept licenses.
Only the SD card supplied by Adept will work with the Adept SmartController EX motion con-
troller.
NOTE:This SD card is not compatible with the SmartController CX or CS motion controllers.
CAUTION: Use suitable measures for eliminating electrostatic discharge
during removal and installation of the SD card. This includes, but is not
limited to, the use of a grounded wrist strap.
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Chapter 2: Installation
CAUTION: Do not remove the SD card when power is connected to the
controller.
Removing an SD Card
To remove an SD card from a Adept SmartController EX motion controller:
1. Make sure that the controller is disconnected from its power source.
2. Locate the SD compartment (see the following figure).
SD Card Slot
Figure 2-5. SD Memory Card Compartment
NOTE:If you are replacing an existing SD, the original must be sent to Adept for replacement.
3. Press the SD card in, and release. The card will pop out.
Remove the card and return it to Adept. Contact Adept Customer Service.
Installing an SD Card
To install an SD card into a Adept SmartController EX motion controller:
1. Make sure that the controller is powered off.
2. Locate the SD card compartment (see the preceding figure).
3. Carefully remove the SD card from the READ ME FIRST box or shipping container.
Position the card so its contacts are facing towards the controller and to the left. The
label will be facing to the right.
4. Insert the SD card into the controller.
Once installed, Adept recommends that you do not repeatedly remove and insert the SD card.
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