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
Adept SmartController EX User’s Guide, Rev.C
Page 5 of 96

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
Adept SmartController EX User’s Guide, Rev.C
Page 6 of 96

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
Adept SmartController EX User’s Guide, Rev.C
Page 7 of 96

Adept SmartController EX User’s Guide, Rev.C
Page 9 of 96
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:
Adept SmartController EX User’s Guide, Rev.C
Page 10 of 96