Adept technology Adept XUSR Dokumentacja Pobierz pdf (Strona 67)

Chapter 3 - SmartController Operation

66 Adept SmartController User’s Guide, Rev. H

Figure 3-8. Belt Encoder Typical Input Circuit

Encoder

–

220

2.2K

26LS33

SmartController CX

Belt Encoder Connector

Typical input circuit,

same for A, B, and I

for both encoders.

2.2K

Encoder Channel 1

Encoder Channel 2

Shield

Enc. Gnd

Enc. Pwr

A–

A+

B+

B–

I+

I–

Encoder

–

A–

A+

B+

B–

I+

I–

Encoder power output: 5 V at 800 mA max. (1 A fuse)

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1 2 ... 62 63 64 65 66 67 68 69 70 71 72 ... 159 160

Shipping and 1
• Equipment Demos 1
Adept SmartController 2
Table of Contents 6
List of Figures 12
List of Tables 14
Introduction 1 16
Optional Adept T1/T2 Pendant 17
1.3 How Can I Get Help? 18
Adept Document Library 19
1.5 Safety 20
System Safeguards 21
1.6 Standards Compliance 22
Identification 23
Functionality Changes 24
E-Stop Circuit 24
2.1 Controller Installation 26
Repacking for Relocation 27
Space Around the Chassis 27
Mounting the SmartController 27
CompactFlash Memory Card 31
™ (CF). The CompactFlash is 31
CompactFlash 32
Compartment 32
Eject Button 32
Connecting Power 33
Frame Ground 34
Grounding Point 35
2.2 System Cable Installation 36
SmartController Operation 3 38
SmartController CX 41
3.3 Front Panel 42
Factory Default Settings 43
DIP-Switch Settings 43
RS-232 Connectors 45
RS-422/485 Connector 46
Equipment 50
Pin 1Pin 13 51
Pin 14Pin 25 51
Line E-Stop 54
(External User 54
E-Stop system) 54
Adept Front Panel Schematic 55
Remote Manual Mode 57
User Manual/Auto Indication 57
High Power On/Off Lamp 58
Remote Pendant Usage 59
DeviceNet Connector 60
XDIO Connector 60
(Typical Examples) 61
Encoder Channel 1 67
Encoder Channel 2 67
AdeptVision sAVI Option 4 68
4.2 Camera Compatibility 69
4.3 Camera Cables 70
To Camera connector on 71
Auxiliary 72
Connector 72
4.4 Installing Camera Cables 73
Installing Camera Cables 74
Pin Function Notes 75
Pin Function 76
From: Pin To: Pin Function 78
Function 81
Maintenance 5 84
SmartController 84
Technical Specifications 6 86
6.2 sDIO Dimensions 87
Adept Front Panel Dimensions 88
All dimensions are in mm 90
6.6 Adept MCP Dimensions 91
Adept MCP Dimensions 92
A.1 Mounting the sDIO 94
Rack-Mounting the sDIO 95
Panel-Mounting the sDIO 96
A.2 Installing the sDIO 97
A.3 Configuring an sDIO 98
Recommended 103
Configurations 103
- + - + 104
A.6 sDIO Digital I/O Signals 105
(equivalent circuit) 106
Ω @ 85° C (Ron 0.4 Ω 109
Optional DIO Cables 110
Adept DeviceNet B 116
CONFIG_C 118
DeviceNet Connectors 121
¼ W resistor to 122
----------= 124
Appendix B - Adept DeviceNet 125
Using the Manual 126
Control Pendant (MCP) C 126
Figure C-2. Holding the MCP 129
Figure C-3. Cradling the MCP 129
Connecting the MCP 130
MCP Layout 131
Emergency Stop From the MCP 133
C.2 MCP Predefined Functions 134
REAL LOC 135
EDIT DISP 138
Introduction 141
Mode Control Buttons 141
Joint/Axis Control Buttons 143
Speed Bars 144
Slow Button 144
Robot States 145
Gripper 150
Numerics 154
5960 Inglewood Drive 159
Pleasanton, CA 94588 159
925•245•3400 159

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