adept technology SmartFleet EX User manual

Adept
SmartFleet EX Appliance
User's Guide
(Including the Enterprise Manager
and Fleet Manager)

Adept
SmartFleet EX Appliance
User's Guide
(Including the Enterprise Manager
and Fleet Manager)
P/N: 11445-000 Rev. A
March, 2012
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 +65.6755-
0598

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 2012 by Adept Technology, Inc.
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 Enterprise Manager, Adept Fleet Manager, Adept SmartFleet EX, Adept MT400, and SetNetGo 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
Adept Fleet Manager 9
Adept Enterprise Manager 9
Adept SmartFleet EX 9
Features 10
What Comes with the Adept Enterprise Manager and Adept Fleet Manager Bundles? 11
What Doesn’t Come with an Adept SmartFleet EX? 12
1.2 Warnings, Cautions, and Notes 12
1.3 Precautions and Required Safeguards 13
1.4 Manufacturer’s Declaration 13
1.5 How Can I Get Help? 13
Related Manuals 14
Adept Document Library 14
Chapter 2: Installation 15
2.1 Site Preparation 15
2.2 Transport and Storage 15
2.3 Before Unpacking 15
Inspecting 16
2.4 Mounting the Adept SmartFleet EX 16
Space Around the Chassis 16
Mounting Options 16
2.5 Connecting Power 18
Chassis Grounding 19
Chapter 3: Connectors and Indicators 21
3.1 Keyboard and Mouse Ports 24
3.2 Serial I/O Connectors 24
3.3 Connecting a Monitor 25
3.4 Connecting to a Network 25
3.5 Connecting USB Peripherals 25
3.6 Sound Connections 25
3.7 Expansion Slots 25
3.8 24 VDC Power 26
Power Switch 26
Adept SmartFleet EX User’s Guide, Rev. A
Page 5 of 54

Table of Contents
24 VDC Connector 26
Chapter 4: Configuration 27
4.1 Ethernet Connection 27
4.2 Overview 27
4.3 Setting the IP Address on Your PC 27
4.4 Connecting Your PC to the Adept SmartFleet EX 28
4.5 Connecting to SetNetGo 28
4.6 Configuring Network Settings for the LAN Ethernet Port 28
4.7 Enabling SetNetGo and Defining Login Information 30
Synchronizing Time 30
4.8 Configuring ARAM 31
4.9 Enabling the ARCL Server 31
4.10 Connecting the Adept SmartFleet EX to Your Network 32
4.11 Configuring a Robot to Connect to the Adept SmartFleet EX Appliance 33
Enabling Enterprise Manager 33
4.12 Customizing Each Robot 34
Separate Charging Stations (MT400 Robots) 34
Distinct "Voices" 34
Chapter 5: Operation 35
5.1 Turning Power ON and OFF 35
Reaction to a Power Failure 35
5.2 Updating ARAM 35
Starting and Stopping ARAM 35
ARAM Crash Recovery 36
5.3 Resetting to Factory Defaults 36
5.4 Generating a Map for a Fleet 36
5.5 Managing Queueing (Adept Enterprise Manager only) 37
Manually Clearing the Entire Queue 38
Queueing Examples 39
Queueing Parameters 40
5.6 Troubleshooting 43
Including a .debug File 44
Chapter 6: Options 47
6.1 Mounting Options 47
6.2 Expansion Slot Options 47
6.3 Installing PCIe Cards 47
Adept SmartFleet EX User’s Guide, Rev. A
Page 6 of 54

Table of Contents
Chapter 7: Technical Specifications 49
7.1 Processing Specifications 49
7.2 Environmental Specifications 49
7.3 Power Requirements 49
7.4 Dimensions 50
7.5 Connections 51
External 51
Internal 51
Optional 51
Adept SmartFleet EX User’s Guide, Rev. A
Page 7 of 54

Adept SmartFleet EX User’s Guide, Rev. A
Page 9 of 54
Chapter 1: Introduction
Ideally, when managing a fleet of robots, all of the robots operate identically. However, main-
taining identical configurations on each individual robot can be time-consuming. The Adept
Enterprise Manager™ and Adept Fleet Manager™ solve this problem by allowing you to man-
age map and configuration updates from a central communication point. These are then
pushed out to each robot in the fleet. They also allow the mobile robots to work within close
range of each other, without traffic issues or collisions.
This manual covers both the Adept Enterprise Manager and Adept Fleet Manager software,
and the Adept SmartFleet EX appliance.
1.1 Product Description
The Adept Enterprise Manager and Adept Fleet Manager bundles are hardware and software
solutions that helps you to manage a fleet of Adept mobile robots. With either application, the
Adept SmartFleet EX™ appliance can communicate with all of the robots in the fleet and per-
form a variety of fleet-oriented tasks.
Adept Fleet Manager
The Adept Fleet Manager allows you to manage map and configuration updates in a central
location. These are then pushed out to each robot in the fleet. It also allows the mobile robots to
work within close range of each other, without traffic issues or collisions.
The Adept Fleet Manager bundle consists of an Adept SmartFleet EX appliance, the Adept
Fleet Manager software, and the Fleet Manager license.
Adept Enterprise Manager
The Adept Enterprise Manager does all of what the Adept Fleet Manager does, with additional
queueing capabilities. This includes job input, queueing, and dispatch software for both single-
robot or multi-robot systems.
The Adept Enterprise Manager bundle consists of an Adept SmartFleet EX appliance, the
Adept Enterprise Manager software, and the Enterprise Manager license.
Adept SmartFleet EX
The Adept SmartFleet EX is an appliance with the processor needed for running either the
Adept Enterprise Manager or Adept Fleet Manager software, and the connectivity for com-
municating with a fleet of mobile robots.
For day-to-day operation, this only involves the use of the appliance's Ethernet port. For less
common upgrades, connectors are provided for attaching a mouse, keyboard, and monitor.

Chapter 1: Introduction
Figure 1-1. Adept SmartFleet EX Appliance
Features
The following is a list of the key features of the Adept Enterprise Manager and Adept Fleet
Manager software. Both applications, running on the Adept SmartFleet EX appliance:
lAllow you to manage the configuration for the entire fleet of robots.
Each robot downloads its configuration data from the Adept SmartFleet EX appliance,
thus saving you time and making updates less error-prone.
Adept SmartFleet EX User’s Guide, Rev. A
Page 10 of 54

Chapter 1: Introduction
lHelp optimize traffic flow by sharing each robot's position and trajectory with other
robots in its vicinity.
This allows each robot to make path adjustments to avoid potential conflicts.
lSave wireless bandwidth.
Each robot only sends and receives information from the Adept SmartFleet EX appli-
ance, rather than needing information from each individual robot. This leaves valuable
WiFi space for other devices.
lServe as a proxy for robot data, such as location, battery state, and job status.
As a result, not only does this save wireless bandwidth, it also allows all of the robots
in a fleet to connect to one central point, allowing an operator to monitor all the robots
from a single application.
lRun robustly without human intervention.
The Adept SmartFleet EX is an appliance, not a server, therefore it does not need main-
tenance from IT staff. It can handle power outages without a loss, it is solely dedicated
to the task and won't be affected by other services, and, if something happens to the
appliance, it can be replaced and the new one will operate identically, once the con-
figuration is re-created on the new appliance.
What Comes with the Adept Enterprise Manager and Adept Fleet Manager
Bundles?
Hardware
The Adept Enterprise Manager and Adept Fleet Manager bundles include the Adept Smart-
Fleet EX appliance, shown in the previous figure, a power cable, brackets for rack-mounting,
and any expansion slot cards that you order. The standard Adept SmartFleet EX appliance
includes:
lIntel®Core Duo, dual core, 2.16 GHz
l2 GB DDR2 memory
l80 GB hard drive (2.5 in.)
lAll of the connectors listed in the table Connectors and Indicators on page 21.
lRack-mount brackets
l24 VDC power supply
Software
The following software is pre-loaded on the hard drive:
lAdept's SetNetGo embedded LINUX
lAdept Enterprise Manager or Adept Fleet Manager software
lEnterprise Manager or Fleet Manager license
Adept SmartFleet EX User’s Guide, Rev. A
Page 11 of 54

Chapter 1: Introduction
Options
lAny PCIe cards that you order are already installed. The available options are covered
in Options on page 47. There are two PCIe expansion slots.
lDesktop-mounting brackets (see Mounting Options on page 16)
What Doesn’t Come with an Adept SmartFleet EX?
lKeyboard, mouse, and monitor
lIf power interruption is a concern, a UPS is recommended. Contact Adept Customer
Service for more information.
1.2 Warnings, Cautions, and Notes
There are six levels of special alert notation that are used in Adept manuals. In descending
order of importance, they are:
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
equipment.
CAUTION:This indicates a situation which, if not avoided, could result
in damage to the equipment.
Adept SmartFleet EX User’s Guide, Rev. A
Page 12 of 54

Chapter 1: Introduction
NOTE:Notes provide supplementary information, emphasizes a point or procedure,
or gives a tip for easier operation.
1.3 Precautions and Required Safeguards
This manual and the Adept Robot Safety Guide must be read by all personnel who install, oper-
ate, or maintain Adept systems, or who work with or near the robot.
1.4 Manufacturer’s Declaration
The Manufacturer’s Declaration of Incorporation and Conformity for the Adept SmartFleet EX
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 auto-
matically 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 the product category.
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 Adept SmartFleet EX appli-
ance, 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.
1.5 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
Adept SmartFleet EX User’s Guide, Rev. A
Page 13 of 54

Chapter 1: Introduction
Related Manuals
This manual covers the installation and startup of an Adept SmartFleet EX appliance with
either the Adept Enterprise Manager or Adept Fleet Manager software. There are additional
manuals that cover programming the system, reconfiguring installed components, and adding
other optional or related components. The following manuals, available on the Adept Doc-
ument Library, provide information on safety, related products, advanced configurations and
system specifications.
Table 1-1. Related Manuals
Manual Title Description
Adept Robot Safety Guide Describes safety aspect for Adept robots.
Adept Motivity User's Guide Describes the software for mobile robots, Enterprise Manager, and
Fleet Manager.
Adept MT400 Robot User’s Guide Describes the operation and maintenance of the MT400 robot.
How to Get Help Resource Guide Information on contacting Adept, and on-line resources.
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
or
lType the following URL into your web browser:
http://www.adept.com/Main/KE/DATA/adept_search.htm
To locate information on a specific topic, use the Document Library search engine on the ADL
main page.
Adept SmartFleet EX User’s Guide, Rev. A
Page 14 of 54

Adept SmartFleet EX User’s Guide, Rev. A
Page 15 of 54
Chapter 2: Installation
This chapter covers the installation of the Adept SmartFleet EX appliance.
2.1 Site Preparation
The primary concern in preparing for the installation of an Adept SmartFleet EX for running
either the Adept Enterprise Manager or Adept Fleet Manager software is the appropriate setup
of communication, which will be needed between:
lMT400 robots and the Adept SmartFleet EX appliance
Access must be allowed for robots to initiate a connection to the Adept Enterprise Man-
ager or Adept Fleet Manager.
lthe Operator Terminal(s) and the Adept SmartFleet EX appliance
Access must be allowed for the Operator Terminal(s) to initiate a connection with the
Adept Enterprise Manager or Adept Fleet Manager.
lthe factory equipment management system (WMS or MES) and the Adept SmartFleet EX
appliance
Access must be allowed for the manufacturing management system to initiate a con-
nection with the Adept Enterprise Manager or Adept Fleet Manager.
Static IP addresses are needed for the Adept SmartFleet EX appliance and each robot.
2.2 Transport and Storage
The Adept SmartFleet EX must be shipped and stored in a temperature-controlled envi-
ronment, within the range –25° to +55° C (-13° to 131° F). The recommended humidity range is
5 to 90%, non-condensing.
The Adept SmartFleet EX must always be stored and shipped in a clean, dry area that is free
from condensation.
It should be shipped and stored in the Adept-supplied packaging, which is designed to pre-
vent damage from normal shock and vibration. You should protect the package from excessive
shock and vibration. For environmental specifications, refer to Environmental Specifications
on page 49.
The Adept SmartFleet EX weighs 2.69 kg (5.92 lbs).
2.3 Before Unpacking
Carefully inspect all packaging for evidence of damage during transit. If any damage is indi-
cated, request that the carrier’s agent be present at the time the package is opened.

Chapter 2: Installation
Inspecting
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 unpacked. Contact Adept immediately if any damage is evident.
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.
2.4 Mounting the Adept SmartFleet EX
The Adept SmartFleet EX appliance is not intended for use in hazardous environments (explo-
sive gas, water, dust, oil mist). It has an IP rating of IP-20 (NEMA Type 1).
Space Around the Chassis
When the appliance is installed, you must allow 10 mm at the back and 13 mm on the sides
of the unit for proper air circulation.
Mounting Options
The following mounting options are available for the Adept SmartFleet EX:
lRack
lDesktop
The following sections cover each mounting option.
Rack Mounting
To rack-mount the Adept SmartFleet EX in a standard 19-inch equipment rack, install the
mounting brackets on the side, as shown in the following figure. These come with the Adept
SmartFleet EX.
Adept SmartFleet EX User’s Guide, Rev. A
Page 16 of 54

Chapter 2: Installation
66
6
31.8
22.2 TYP.
4x 462
482.8
R 3.6 TYP. THRU
3.6 TYP.
2x 77
2x 09228-100
1.3
6
REMOVABLE FEET
18.5
29
14.2 1.5
2x M3 x 6MM
BOTH SIDES
188.8
Figure 2-1. Rack-Mounting the Adept SmartFleet EX
Adept SmartFleet EX User’s Guide, Rev. A
Page 17 of 54

Chapter 2: Installation
Desktop Mounting
To table-mount the Adept SmartFleet EX, 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 Adept SmartFleet EX.
4x RUBBER FEET MUST BE REMOVED BEFORE INSTLATION
2x 29.6
2x 120.9
24.9
2x 378.7 391.9
24.1 TYP.
12.1 TYP.
R 3.6 TYP.
4x 40356-00001
2x 120.9 16 TYP.
2x 21.6
2x 16.3
4x M3 x 6mm
BOTH SIDES
Figure 2-3
Figure 2-2. Table-Mounting the Adept SmartFleet EX
2.5 Connecting Power
The Adept SmartFleet EX comes with an in-line 24 VDC power supply, with a connector that
fits the 24 VDC plug on the front of the unit. If you are going to rack-mount the unit, Adept rec-
ommends using Velcro or other means to attach the power supply to the inside of the rack, in
order to conserve rack space. You need to maintain the 13 mm space at each side of the Adept
SmartFleet EX needed for cooling.
Adept SmartFleet EX User’s Guide, Rev. A
Page 18 of 54

Chapter 2: Installation
1. Connect the AC plug of the power supply to AC power.
The power supply takes 100 – 240 VAC.
2. Plug the other end of the power supply into the 24 VDC plug on the Adept SmartFleet
EX.
NOTE:The unit will start booting as soon as 24 VDC power is applied.
Chassis Grounding
The Adept SmartFleet EX is equipped with a chassis grounding point. See the following figure.
Adept recommends connecting a ground wire from the chassis ground point on the Adept
SmartFleet EX to earth ground. The ground wire must meet all local regulations.
NOTE:This is not the same as the 24 VDC ground, on the front of the unit, which
is not used.
NOTE:The maximum length for the ground wire for the Adept SmartFleet EX is 3
meters.
Grounding Point
Figure 2-3. Chassis Grounding Point
In many locations, the mounting and all terminations of the Adept SmartFleet EX must be per-
formed in accordance with local and national regulations to maintain regulatory compliance.
Adept SmartFleet EX User’s Guide, Rev. A
Page 19 of 54