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Using Digital I/O on Robot XIO Connector
Adept Quattro s650H Robot User’s Guide, Rev A 69
Optional I/O Products
These optional products are also available for use with digital I/O:
• XIO Breakout Cable, 5 meters long, with flying leads on user’s end. See page 72
for information. This cable is not compatible with the XIO Termination Block.
• XIO Termination Block, with terminals for user wiring, plus input and output
status LEDs. Connects to the XIO connector with 6-foot cable. See the Adept XIO
Termination Block Installation Guide for details.
XIO Input Signals
The 12 input channels are arranged in two banks of six. Each bank is electrically isolated
from the other bank and is optically isolated from the robot’s ground. The six inputs
within each bank share a common source/sink line.
The inputs are accessed through direct connection to the XIO connector (see Table 5-5 on
page 68), or through the optional XIO Termination Block. See the documentation supplied
with the Termination Block for details.
The XIO inputs cannot be used for REACTI programming, high-speed interrupts, or
vision triggers. See the V+ Language User’s Guide for information on digital I/O
programming.
XIO Input Specifications
NOTE: The input current specifications are provided for reference.
Voltage sources are typically used to drive the inputs.
Table 5-6. XIO Input Specifications
Operational voltage range 0 to 30 VDC
“OFF” state voltage range 0 to 3 VDC
“ON” state voltage range 10 to 30 VDC
Typical threshold voltage V
in
= 8 VDC
Operational current range 0 to 7.5 mA
“OFF” state current range 0 to 0.5 mA
“ON” state current range 2.5 to 7.5 mA
Typical threshold current 2.0 mA
Impedance (V
in
/I
in
) 3.9 KΩ minimum
Current at V
in
= +24 VDC I
in
≤ 6 mA
Turn-on response time (hardware)
Software scan rate/response time
5 µsec maximum
16 ms scan cycle/
32 ms max response time
Turn-off response time (hardware)
Software scan rate/response time
5 µsec maximum
16 ms scan cycle/
32 ms max response time
- Adept Quattro 1
- Table of Contents 5
- List of Figures 11
- Introduction 1 13
- Quattro Robot Base 14
- Adept AIB 14
- Inner Arms 15
- Ball Joints, Outer Arms 16
- Platform 16
- ° platform is 9.78 mm 17
- ° Platform, Top View 18
- ° Platform, Bottom View 18
- 1.2 Installation Overview 20
- 1.4 How Can I Get Help? 21
- Related Manuals 22
- Adept Document Library 22
- Safety 2 23
- Safety Barriers 24
- Impact and Trapping Points 25
- Emergency Recovery Procedures 25
- Chapter 2 - Safety 26
- 2.4 Risk Assessment 27
- 2.6 Robot Modifications 30
- 2.7 Transport 31
- 2.9 Sound Emissions 31
- 2.10 Thermal Hazard 32
- 2.11 Working Areas 32
- Robot Installation 3 35
- 3.3 Repacking for Relocation 37
- 3.5 Mounting Frame 38
- Frame Orientation 39
- Frame Construction 39
- Robot-to-Frame Considerations 39
- 3.6 Mounting the Robot Base 40
- Robot Orientation 41
- Mounting Surfaces 41
- Mounting Options 41
- Install Mounting Hardware 44
- Attaching the Outer Arms 46
- 4.1 System Cable Diagram 51
- 4.2 Cable Parts List 52
- Installing 24 VDC Robot Cable 56
- Specifications for AC Power 57
- IEC 1131-2 58
- IEC 1131-4 for additional 58
- 200–240 VAC 59
- System Operation 5 63
- 5.2 Status Panel Fault Codes 64
- Brake Release Button 65
- SmartController CX 66
- Optional I/O Products 69
- XIO Input Signals 69
- Adept-Supplied Equipment 70
- User-Supplied Equipment 70
- XIO Output Signals 71
- XIO Breakout Cable 72
- 5.6 Commissioning the System 73
- Verifying Installation 74
- System Start-up Procedure 75
- 5.7 Quattro Motions 76
- Containment Obstacles 77
- Tool Flange Rotation Extremes 77
- ° platforms) are 77
- Optional Equipment 81
- Installation 6 81
- 7.1 Dimension Drawings 83
- Units are mm 84
- Dimension Drawings 85
- Figure 7-5. Arm Travel Volume 86
- Quattro AIB 87
- Internal Connections 87
- Quattro XSLV 87
- Panel Connections 87
- 7.3 XSLV Connector 88
- 7.4 Robot Specifications 89
- 7.5 Platform Specifications 90
- 7.6 Robot Mounting Frame 90
- UNLESS OTHERWISE SPECIFIED: 92
- Robot Mounting Frame 93
- Maintenance 8 95
- 8.2 Checking Safety Systems 97
- 8.5 Checking Fan Operation 98
- 8.6 Replacing the AIB Chassis 99
- Securing Screw on AIB Chassis 100
- Securing Screw on AIB 100
- Installing a New AIB Chassis 102
- Battery Replacement Interval 103
- Battery Replacement Procedure 103
- 8.8 Replacing a Platform 105
- °±60° 09023-000 QP09023.SPC 106
- Configuration 106
- °±185° 09068-000 QP09068.SPC 106
- Robot Cleaning/ 109
- Environmental 109
- Concerns 9 109
- 9.2 Cleaning 110
- 9.3 Cleanroom Classification 111
- 9.4 Design Factors 112
- 9.5 Installing Cable Seal Kit 113
- Installation Procedure 114
- Numerics 119
- 3011 Triad Drive 126
- Livermore, CA 94551 126
- 925·245·3400 126
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