adept technology MotionBlox-10 User manual

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Adept MotionBlox-10
Servo Kit
Installation Guide
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Adept MotionBlox-10
Servo Kit
Installation Guide
P/N: 05851-000, Rev. B
April 2007
3011 Triad Drive • Livermore, CA 94551 • USA • Phone [phone] • Fax [phone]
Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone [phone] • Fax [phone]
41, rue du Saule Trapu • 91882 • Massy • France • Phone [phone] • Fax [phone]
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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 sub-
ject 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 doc-
umentation. Please e-mail your comments to: [email protected].
Copyright ©2002, 2003, 2005, 2006, 2007 by Adept Technology, Inc. All rights reserved.
The Adept logo, AdeptVision, AIM, HexSight, and HexaVision
are registered trademarks of Adept Technology, Inc.
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Adept MotionBlox-10 Servo Kit Installation Guide, Rev. B 5
Table of Contents
1Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.1 Product Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Adept Servo Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Servo Kit Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Adept MB-10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2 Required System Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Power Distribution Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Use with Other Adept Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.3 Optional System Components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
IO Blox Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.4 Available Support Resources. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
How Can I Get Help? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
Adept Document Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2Servo Kit Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.1 Mounting the MB-10 T-Bracket . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.2 MB-10 T-Bracket Dimension Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.3 Mounting the MB-10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.4 Mounting the Motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.5 Connecting the Motor to the MB-10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Motor Cable Leads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Attaching the Encoder and Battery Cables. . . . . . . . . . . . . . . . . . . . . . . . . 15
Attaching the Brake Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
Attaching the Motor Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.6 Connecting Power to the MB-10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Attaching the 24 VDC Power Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Attaching the AC Power Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
Attaching the IEEE 1394 Cable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Attaching the Interface Cable to the IO Blox Device (optional) . . . . . . . 17
Installing the MB-10 T-Bracket Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
2.7 Power Distribution Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.8 Adept Servo Kit Cable Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
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Table of Contents
6 Adept MotionBlox-10 Servo Kit Installation Guide, Rev. B
3System Requirements and Specifications . . . . . . . . . . . . . . . . . . . . . . . 21
3.1 System Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Power Requirements for SmartController System . . . . . . . . . . . . . . . . . . . . . 21
3.2 System Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Servo Motor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Determining Maximum Number of Devices per PDU3 . . . . . . . . . . . . . . . . . 23
Calculation Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Motor Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
100 W Motor Dimensions (without brake) . . . . . . . . . . . . . . . . . . . . . 24
100 W Motor Dimensions (with brake) . . . . . . . . . . . . . . . . . . . . . . . . 25
200 W Motor Dimensions (without brake) . . . . . . . . . . . . . . . . . . . . . 26
200 W Motor Dimensions (with brake) . . . . . . . . . . . . . . . . . . . . . . . . 27
400 W Motor Dimensions (without brake) . . . . . . . . . . . . . . . . . . . . . 28
400 W Motor Dimensions (with brake) . . . . . . . . . . . . . . . . . . . . . . . . 29
750 W Motor Dimensions (without brake) . . . . . . . . . . . . . . . . . . . . . 30
750 W Motor Dimensions (with brake) . . . . . . . . . . . . . . . . . . . . . . . . 31
3.3 MB-10 Servo Kit Cable Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Amp-to-Amp Cable Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Amp-to-Motor Cable Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4Adept Servo Kit Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.2 Using CONFIG_C to Append Device Modules . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.3 Using DC_SETUP to Configure the Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Configuration for JTS Coordinated-Joint-Control Robot Module . . . . . . . . 39
Configuration for LM Linear-Module Robot Module. . . . . . . . . . . . . . . . . . . 44
4.4 Testing the Axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.5 Modifying the Default Parameters to Optimize Performance . . . . . . . . . . . . . . 50
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Adept MotionBlox-10 Servo Kit Installation Guide, Rev. B 7
Introduction 1
1.1 Product Description
Adept Servo Kit
Adept Servo Kits offer a convenient and economical way to add one or more incremental
axes to an existing system. The kits are plug-compatible with Adept's SmartServo
distributed-servo network. The SmartServo network utilizes the IEEE-1394 protocol to
provide real-time communications with an individual axis.
Servo Kit Components
The Servo Kit consists of an Adept MotionBlox-10 (MB-10), a matched AC servo motor
with absolute encoder, an amplifier mounting bracket, and related documentation.
Complementary components, such as power and interface cables, remote I/O kit, and
cable accessories, are available as options.
Adept MB-10
The Adept MB-10 is a distributed-servo amplifier that can be mounted close to the motor,
thereby eliminating the need for panel space typically required for servo amplifiers. This
also simplifies installation and reduces the cables required to interface with the
mechanism. As an option, motor and encoder extension harnesses made from high-flex
robotic cable can be ordered.
The MB-10 features an on-board RISC microprocessor that executes the advanced servo
loop. Adept’s IEEE-1394-based SmartServo network recognizes the MB-10 as a network
node. The MB-10 is compatible with single-phase nominal AC voltage input of 200-240 V,
50 or 60 Hz.
Servo Motors
The servo motors for the Servo Kit are compact, CE compliant, low noise, high speed, and
high power. The motors feature an absolute encoder that eliminates the need for homing.
Encoder resolution is 65,536 counts per revolution. Additionally, the motors are totally
enclosed and self-cooled by natural convection when mounted in an appropriate ambient
environment. The MB-10 includes an internal regenerative dump resistor designed to
handle approximately 20 Watts under nominal conditions. (For systems configured for
regenerative power applications (such as vertical axes), contact Adept Customer Service
for more information (see Section 1.4 on page 8).)
The servo motors are available in four sizes: 100 W, 200 W, 400 W, and 750 W. The
primary advantage of the larger motors is the additional torque created. (The MB-10
amplifier is not able to drive the 750 W motor to its maximum capability.) All the motors
are available with or without brakes.
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Chapter 1 - Introduction
8 Adept MotionBlox-10 Servo Kit Installation Guide, Rev. B
1.2 Required System Components
Power Distribution Unit
The Power Distribution Unit (PDU3) is a safety device that switches AC power to the
MB-10 when High Power is enabled. The PDU3 also supplies DC power for the MB-10
circuits.
Use with Other Adept Robots
If you are using an Adept Servo Kit with another Adept robot (such as an Adept Cobra,
Viper, or Quatro), you will need the following additional items:
• PDU3 Expansion Kit - P/N 90430-30001
• XSYS Y-Cable - P/N 00411-000
• Kit for Multi-Mixed Robot Systems - P/N 06600-000
NOTE: Make sure that you install the Terminator plug on the open XSLV
connector on the last PDU3 in your system.
1.3 Optional System Components
IO Blox Device
Adept offers a remote Input/Output option with the Adept Servo Kit. The IO Blox offers
eight inputs and eight outputs, all optically isolated. You can daisy-chain up to four IO
Blox devices per robot or MB-10 amp. See the Adept IO Blox User’s Guide for information.
1.4 Available Support Resources
How Can I Get Help?
Refer to the How to Get Help Resource Guide (Adept P/N 00961-00700) for details on
getting assistance with your Adept software and hardware.
Additionally, you can access the following information sources on Adept’s corporate web
site:
• For Contact information: http://www.adept.com/main/contact/index. html
• For Product Support information: http://www.adept.com/main/services/index.asp
• For general information about Adept Technology, Inc.: http://www.adept.com
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Available Support Resources
Adept MotionBlox-10 Servo Kit Installation Guide, Rev. B 9
Related Manuals
This guide covers the installation of the Servo Kit. There are additional manuals that cover
programming, system configuration, and adding optional components. The following
manuals (available on the Adept Document Library on CD-ROM) provide additional
information related to the Servo Kit.
Adept Document Library
In addition to Adept’s Document Library on CD-ROM, you can find product
documentation on the Adept web site in the Document Library area. The Document
Library search engine allows you to locate information on a specific topic. Additionally,
the Document Menu provides a list of available product documentation.
To access Adept’s Document Library, type the following URL into your browser:
http://www.adept.com/Main/KE/DATA/adept_search.htm
or, select the Adept Document Library link from the Services area of the Adept web site.
Table 1-1. Related Manuals
Manual Title Description
Adept SmartController
User’s Guide
Describes the installation and operation of the Adept
SmartController, and the sDIO product.
Adept Python Linear
Modules User’s Guide
Describes how to assemble and install Adept Python Linear
Modules.
Adept SmartMotion
Developer Guide
Describes the SPEC utility used to modify servo tuning and
calibration parameters.
Adept IO Blox User’s Guide Describes the IO Blox product.
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Adept MotionBlox-10 Servo Kit Installation Guide, Rev. B 11
Servo Kit Installation 2
2.1 Mounting the MB-10 T-Bracket
The MB-10 fits securely onto the mounting T-bracket provided with your Adept Servo Kit.
Use the M4 x 10 flathead screws to securely attach the mounting bracket to the desired
mounting surface. See Figure 2-1.
Figure 2-1. The MB-10 Mounting T-Bracket
MB-10 T-Bracket
M4 x 10 Flathead screw
(1 of 4)
Mounting
Surface
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Chapter 2 - Servo Kit Installation
12 Adept MotionBlox-10 Servo Kit Installation Guide, Rev. B
2.2 MB-10 T-Bracket Dimension Drawings
Figure 2-2. Top View of MB-10 T-Bracket
Figure 2-3. Side View of MB-10 T-Bracket
-B-
141.38
∅11.20 x 90°
28.58
115.57
70.69
4X R 2.03
2X
2X
49.99
∅5.51 THRU
∅8.97 x 90° SLOT
10.49
56.08
2X
3.81
∅4.50 THRU SLOT
142.24
71.63
71.25
38.61
4X M4
71.12
18.92
TYPICAL FAR SIDE
83.82
38.61
58.42
5.46 MIN
-A-
10.67
152.91
146.56
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MB-10 T-Bracket Dimension Drawings
Adept MotionBlox-10 Servo Kit Installation Guide, Rev. B 13
Figure 2-4. Back View of MB-10 T-Bracket
40.13
142.24
55.5
2X
49.02
10.16
121.9
1.57
2X
2X R25
4X R12
70.61
10.16
2X
2X
71.63
61.98
50.50
2X
8.97 x 90
2X
2X
-A-
19.05
18.24
2X
4X
6.35
4.50 THRU
3.81
-A-
4.40 THRU
19.51
15.01
10.49
4.50 THRU
FOR DIAMETER 5.512
2X
4.50 THRU SLOT
2X
23.37
28.58
53.49
6X
R 5.08
8.97 x 90
30.00
2X
SLOT
1.14
11.20 x 90
2X
39.50
2X
8.97 x 90
5.512 THRU
2X
2.54
8.97 x 90
25.53
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Chapter 2 - Servo Kit Installation
14 Adept MotionBlox-10 Servo Kit Installation Guide, Rev. B
2.3 Mounting the MB-10
To mount the MB-10 onto the T-bracket, use the four M3 x 40 screws. See Figure 2-5.
Figure 2-5. Installing MB-10 onto the T-Bracket
2.4 Mounting the Motor
The servo motors included with the Servo Kit are designed for easy mounting. Refer to
the dimension drawings in Chapter 3 to determine positions for mounting motors to the
appropriate flange or adapter plate.
M3 x 40 Socket-Head
Cap Screw (1 of 4)
MB-10
T-Bracket
Cover
M3 Flathead
Screw (1 of 4)
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Connecting the Motor to the MB-10
Adept MotionBlox-10 Servo Kit Installation Guide, Rev. B 15
2.5 Connecting the Motor to the MB-10
The following procedure details the sequence of steps that must be completed to connect
the servo motor to the MB-10. Make sure that the system power is turned off before
attaching any cables.
Motor Cable Leads
Motors have cable leads with the following plugs: an encoder plug, a motor plug, and a
brake plug for those motors with brakes. See the “Adept MB-10 Amps” chapter in the
Adept Python Linear Modules User’s Guide for plug specifications.
Attaching the Encoder and Battery Cables
Attach the encoder cable from the servo motor to the encoder connector on the MB-10 (see
Figure 2-6). Tighten the captive screws to secure the encoder connector.
In addition to an encoder cable, each motor is shipped with a battery and a battery
harness. Use the velcro strap provided on the back of the battery to attach the battery to
the motor.
NOTE: The battery harness must be directly connected to the motor in
order for the battery to power the encoder.
Figure 2-6. MB-10 Connections
NOTE: Some applications may require that the MB-10 be mounted
remotely from the motor. For these applications the user should purchase
Adept’s optional high-flex extension cables. We recommended that the
extension cables not exceed four meters (13.1 feet) in length. See
“Amp-to-Motor Cable Kits” on page 32 for information.
Motor
Connector
24VDC
Connectors
Encoder
Connector
Brake
Connector
IEEE-1394
Connectors
AC Power
Connectors
IO Blox
Connector
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Chapter 2 - Servo Kit Installation
16 Adept MotionBlox-10 Servo Kit Installation Guide, Rev. B
Attaching the Brake Cable
The servo motors (100 W, 200 W, 400 W, and 750 W) are offered with or without brakes. If
you are working with a servo motor without a brake cable, skip this step.
If you have a servo motor equipped with a brake, the motor will have three cable leads.
Motors without brakes have two cable leads. Attach the brake cable (labeled with a “B”) to
the brake connector on the MB-10. See Figure 2-6 on page 15.
Attaching the Motor Cable
Attach the motor cable (the cable with the white, red, green, and blue wires) to the motor
connector on the MB-10. See Figure 2-6 on page 15.
2.6 Connecting Power to the MB-10
NOTE: See Figure 2-10 on page 20 for a system cable diagram.
The MB-10 amp receives 24 VDC and switched AC power from a Power Distribution
Unit 3 (PDU3). See the “Power Distribution Unit 3” chapter in the Adept Python Linear
Modules User’s Guide for information.
Attaching the 24 VDC Power Cable
Attach the 24 VDC power cable to one of the 24 VDC connectors on the MB-10.This cable
provides 24 VDC power to the MB-10. There are two 24 VDC connectors on the MB-10;
either may be used. See Figure 2-6 on page 15. Attach the connector with the black and
red wires. The two-pin User connector can be used to provide 24 VDC power to an
optional remote I/O device (IO Blox). See the Adept IO Blox User’s Guide for information.
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Connecting Power to the MB-10
Adept MotionBlox-10 Servo Kit Installation Guide, Rev. B 17
Attaching the AC Power Cable
Attach the AC power cable to the AC- power connector on the MB-10. This cable provides
AC voltage (High Power) to the MB-10 from the PDU3. Also, separately attach its green
ground lug, indicated by the black arrow in Figure 2-7.
Figure 2-7. Attaching the AC Power and Ground Cables
Attaching the IEEE 1394 Cable
Attach the IEEE 1394 cable to the right-most connector in the MB-10. There are two of
these connectors, either one can be used. See Figure 2-6 on page 15.
Attaching the Interface Cable to the IO Blox Device (optional)
This step only applies if you have purchased the optional remote IO device (IO Blox).
The Adept IO Blox device is designed for adding digital Input and Output capability to
Adept products. The IO Blox offers eight inputs and eight outputs, all optically isolated,
and you can combine up to four devices on each MB-10 amp.
The IO Blox uses clamp-style terminal strips for installing customer wiring. The device
can be installed on a robot or MB-10 amp, or in a panel-mount environment on a DIN Rail.
The product is offered with several cable options for different installation locations. Refer
to the Adept IO Blox User’s Guide for installation instructions.
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Chapter 2 - Servo Kit Installation
18 Adept MotionBlox-10 Servo Kit Installation Guide, Rev. B
Installing the MB-10 T-Bracket Cover
Secure the strain relief clamps on both sides of the MB-10 T-bracket. Then install the cover
on the MB-10 T-bracket. See Figure 2-8. This completes the process of attaching the MB-10
cables.
Figure 2-8. T-Bracket Cover on the MB-10
2.7 Power Distribution Unit
The PDU3 is a power distribution and safety device that provides switched AC power to
the MB-10(s) for E-Stop functionality. The PDU3 also supplies DC power to the MB-10
circuits for basic operation.
The PDU3 performs the following functions with regard to the Servo Kit:
1. Supplies switched AC power to the MB-10.
2. Provides AC power filtering and surge protection.
3. Supplies 24 VDC power to the MB-10 and optional IO Blox.
4. Provides CAT-3 E-Stop functionality.
NOTE: See the Adept Python Linear Modules User’s Guide for more
information on the PDU3.
See the system cable diagram in Section 2.8 on page 20 for details on connecting the
PDU3.
MB-10 T-Bracket Cover
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Power Distribution Unit
Adept MotionBlox-10 Servo Kit Installation Guide, Rev. B 19
Figure 2-9. Adept PDU3
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