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Adept Technology MV Controller Interface Manual

1. AdeptModules Interface cable 3 Phase Power Cord N R EJI to Signal Interface Box cable Motor Connector Encoder Connector AdeptModules Interface cable asa aL P r aii i 5 gt sos a s ads Mr Biss wot Signal Interface Box SIB Figure 2 13 Adept System Cable Installation 50 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Signal Interconnection Installation System Cable Lengths Table 2 6 describes the standard cable lengths Table 2 6 System Cable Lengths Connecting the AdeptModules to the Power Chassis Cable Length AdeptModules Interface Cable 3 m 9 8 ft 6m 19 7 ft 15m 49 2 ft EJI to Signal Interface Box Cable 1 5 m 5 ft EJI to Amps Cable 1 m 3 28 ft Amp Breakout Cable 1 5 m 5 ft Front Panel Cable SIO to VFP 2 m 6 5 ft PA 4 Power Cord 2 9 m 9 5 ft SIB Power Cord 2 9 m 9 5 ft MV Controller Power Cord 2 9 m 9 5 ft MCP Cable 1 66m 5 45 ft The cable between the AdeptModule Interface cable and power chassis is called the Amp Breakout cable
2. Figure 2 15 Connecting the PA 4 Power Chassis to the MV Controller 3 Verify that all connectors are secure and fully inserted and installed in the correct location WARNING Verify that all connectors are fully inserted and screwed down Loose connectors could cause unexpected AdeptModules motion Also a connector can be pulled out or dislodged unexpectedly Installing Signal Cables MV Controller to Signal Interface Box The EJI to Signal Interface Box cable is the interconnect between the controller and the Signal Interface Box This cable assembly has a 50 pin D sub connector on one end for the EJI and a 50 pin D sub connector on the other end for the Signal Interface Box 1 Connect the cable end labeled EJI to the connector marked Arm Signal lower D sub connector on the EJI module 2 The other end of the cable with the 50 pin D sub connector must be connected to the Signal Interface Box connector labeled Arm Signal 3 Verify that all connectors are secure and fully inserted and installed in the correct location WARNING Verify that all connectors are fully inserted and screwed down Loose connectors could cause unexpected AdeptModules motion Also a connector can be pulled out or dislodged unexpectedly NOTE For the differences in connecting the Adept 550 Robot to the Adept PA 4 Power Chassis refer to the Adept 550 Instruction Handbook Rev A Cha
3. e e motor controlled by this module the right hand column is for the second motor controlled by this module A lit LED indicates one of the following conditions High Volts On indicates the high voltage to the amps is DO NOT REMOVE OR INSTALL THIS turned on Do PWM On indicates that current servo is on It does not go on OO ramon until calibration is complete O Q tow voLrs on a a Low Volts On indicates the low voltage supply in the power na chassis is on Note the three LED pairs below indicate faults and are a visible momentarily before the system turns off 4 Open Ckt Fault indicates that an open circuit in the motor i leads has been detected HG P e Uu a Short Fault indicates that an over current in the motor leads uL has been detected o9 Amplifier Control connector the EJI to Amp cable connec Ue tors are installed here Teach Restrict connector the Teach Restrict to B Amp cable is installed here a Motor Power Output connector the Amp Brake out cable is a installed here e E e e 66 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Additional Power Chassis Information Power Chassis Circuit Breaker and Fuse Information NOTE The SSER LVON HPON and ILMT labels on the lower right corner of the front of the power chassis are for dia
4. By answering yes to the above question the joint will move and search for the Index pulse Index found Distance from home switch to index is XX counts Do you want to save this value Y N y Answer yes to the following question even if not correcting calibration If not correcting calibration don t move the module motor to a known position The motor is now calibrated Do you want to correct the calibration by moving to a known position typically the kinematics zero position Y N y Move the joint to defined zero position either with the pendant or manually Typically the Zero position is toward the motor end of the module Press the ENTER key to continue The current position is XX counts Enter new position or press ENTER to leave calibration unchanged 0 Enter the value of 0 zero to make the current position Zero 6 Return to the main menu The user may define a park position after calibration by selecting Park position after calibration in Edit motor calibration parameters menu NOTE Make sure to save the parameters to the system disk at the end of the procedure The parameters can be saved by selecting Save ALL specifications to system disk from the main menu of SPEC AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 95 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 4 Commissioning the
5. A rtisan tisan Technology Group is your source for quality Tecmoboycrow new and certified used pre owned equipment FAST SHIPPING AND SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT DELIVERY Experienced engineers and technicians on staff Sell your excess underutilized and idle used equipment TENS OF THOUSANDS OF at our full service in house repair center We also offer credit for buy backs and trade ins IN STOCK ITEMS www artisantg com WeBuyEquipment EQUIPMENT DEMOS HUNDREDS OF Instra REMOTE INSPECTION LOOKING FOR MORE INFORMATION MANUFACTURERS Remotely inspect equipment before purchasing with Visit us on the web at www artisantg com 7 for more our interactive website at www instraview com information on price quotations drivers technical LEASING MONTHLY specifications manuals and documentation RENTALS ITAR CERTIFIED naia ala aed Contact us 888 88 SOURCE sales artisantg com www artisantg com AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface lt gt GI 8 TODITIDITITTD ol ol c CN TEPEL CSS ms ns adr oL 00400 00100 Rev A July 1997 a ao 150 Rose Orchard Way San Jose CA 95134 USA Phone 408 432 0888 Fax 408 432 8707 CO Otto Hahn Strasse 23 44227 Dortmund Germany Phone 0231 75 89 40 Fax 0231 75 89 450 adept m 11 Voie la Cardon 91126 Palaiseau France Phone 1
6. Release the enabling switch on the MCP to shut off High Power only in emergencies Release the Speed Bars on the MCP Press the DIS PWR Disable Power button on the MCP Press the HIGH POWER ON OFF button on the VFP CAUTION Press an Emergency Stop button or release the enabling switch only in emergency situations In normal operations stop the AdeptModules by releasing the speed bars or pressing the Disable Power button 4 6 Prior to Starting the AdeptModules Software Configuration The AdeptModules Interface allows control of various modules configurations using the V language In order for V to control these configurations it must know the number and types of the AdeptModules in the system and the values of parameters that describe each configuration This information is stored on the system disk so that a configured system will start up ready for action This section describes for configuring the AdeptModules system Itis assumed throughout the software sections of this Instruction Handbook that the user has a working knowledge of the V language and operating system Specific information about V can be found in the V Operating System User s Guide and the V Operating System Reference Guide Adept Utility Disk 88 The Adept Utility Disk contains two program packages for customizing a system disk for a particular AdeptModules system The utility disk also contains the subdirectory SPECDATA which contai
7. The SPEC program provides the capability of performing diagnostic tests With AdeptModules system the diagnostic test feature offers limited functionality This test is mainly used for verifying encoders by moving the AdeptModule manually The diagnostic test CANNOT be used to check discrete inputs such as OVERTRAVEL HOME SWITCH and DRIVE FAULT Also it cannot be used to drive the AdeptModule by applying an analog output DAC Use status LEDs as described in Chapter 2 for verifying inputs 146 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Diagnostic Tests Load and execute the SPEC program Select Perform hardware diagnostics from the main menu and the following screen will appear xxx Diagnostics Robot xxx Press P to toggle power otor Board Channel Encoder position Last zero index Zero index delta Home Overtravel Amp fault Amp enable release DAC voltage DAC count Testing Encoder Channels Robot power is OFF Q or 0 to quit 1 B1 C1 2 B1 C2 3 B1 C3 4 B1 C4 10428 0 0 0 8924 0 0 2048 0 0 OFF ON OFF ON OFF OFF OFF 0 00 Max DAC val is 0 Write down the encoder position shown on the screen Check the functionality of the encoder by moving the AdeptModule a known distance The display should count up or down according to the direction of motio
8. must not be allowed to reduce the safeguarding of the workcell All Emergency Stop Switches must be always accessible In other countries Adept strongly recommends a similar level of safety be obtained in addition to complying with the applicable local and national regulations 22 AdepiModules Instructrion Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 1 7 Working Areas Working Areas 1 8 AdeptModules have both a Manual and an Automatic operating mode While an AdeptModules is in Automatic Mode no personnel are allowed in the workcell Operators with additional safety equipment see Section 1 10 are allowed to work in the AdeptModules workcell when it is in Manual Mode For safety reasons the operator should whenever possible stay outside of the working envelope of the AdeptModules to prevent injury The maximum speed and power of the AdeptModules is reduced but it could still cause injury to the operator Before performing maintenance in the working envelope of the AdeptModules High Power must be switched off and the power to the PA4 power chassis must be disconnected After these precautions a skilled person is allowed to maintain the AdeptModules See Section 1 8 for the personnel specifications Warning Electrical Hazard Impact Hazard Never remove any safeguarding and never make changes in t
9. o o e o i View of noncomponent side fem DEFAULT SETTING 12V HA Wn View A View B Figure 2 11 Configuring 12 or 24 Volts Installing a Brake Release Button When using AdeptModules with a brake mechanism Adept recommends installation of a brake release button so the brake can be disabled and the axis moved manually To install this switch connect a momentary contact switch to pins 8 and 9 on the User Output Brake Release connector on the Signal Interface Box See Figure 2 8 The switch should be located in a position that can be reached in an emergency and should be correctly labeled User Output Brake Rel connector Pin 9 Pin 8 Figure 2 12 Brake Release Button AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 49 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 2 Installation 2 16 Signal Interconnection Installation System Cable Connections EJI to Amp Cable Controller Power Chassis eje eje je EX enen eJenlenj enen e Ts le oao so vee vis va vro Amp Breakout Cable M Module 00 Ta C 5 HE g gt _ gt olm KC PL C Ce gay TES C IM ll AOD ea Cable
10. 0000 aaa 59 Connecting AC Power to the Adept PA 4 Power Chassis 60 Connecting the Power Chassis AC Power Cord 61 Typical AC Power Installation Diagrams 4 AA AA 62 Changing Voltage Setting for Power Chassis 63 Connecting AC Power to the Signal Interface Box 64 Power Entry Module liess ns 65 2 19 Additional Power Chassis Information 0 0 eee eee 66 B Amplifier Module Overview 0 cette men 66 Connectors and Indicators eas 66 Power Chassis Circuit Breaker and Fuse Information 67 Chassis Circuit Breaker 0 tees 67 Chassis and Amplifier Module Fuses 0 0000 ees 67 Removing and Installing Amplifier Modules 000 0 00 0 alai 67 Removing Amplifier Modules 0 000 67 Installing Amplifier Modules es 68 2 20 Installing End Effectors on AdeptModules sllsllssesss 68 Connecting Compressed Air Supply to the AdeptModules optional 68 30 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Environmental and Facility Requirements for AdeptModules 2 1 Environmental and Facility Requirements for AdeptModules The information in this chapter applies to all AdeptModules except when differences are specifically noted
11. 3 Verify that all Emergency Stop switches are pulled out and all access doors to the workcell are closed WARNING Impact Hazard When the system is in Automatic mode no personnel are allowed to enter or stay in the workcell The AdeptModules can move at high speeds and exert considerable force 4 Set the operating keyswitch to AUTO and the other keyswitch to LOCAL 5 Press the COMP PWR button on the MCP 92 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com How to Start AdeptModules 6 Press the blinking HIGH POWER ON OFF button on the VFP NOTE In Automatic mode it may take up to 8 seconds to complete the High Power sequence In Manual Mode Follow these steps to enable High Power in Manual mode with the MCP NOTE If High Power is on and you release the enabling switch on the MCP the system recognizes an emergency stop signal and will turn off High Power immediately 1 Turn on the power switches on the controller and the power chassis 2 Set the VFP System Power switch into the position to turn on system power 3 Verify that all Emergency Stop switches are pulled out and all access doors to the workcell are closed 4 Set the operating keyswitch to MANUAL and the other keyswitch to LOCAL For added safety remove the keys from the keyswitches 5 Press the
12. Both ends of the Amp Breakout cable have Molex connectors One end of the cable is connected to the AdeptModule Interface cables and the opposite end of the cable is connected to the power amplifier see Figure 2 13 Two AdeptModules can be connected to one Dual B amp using one Amp Breakout Cable 1 Connect the Amp Breakout Cable to the AdeptModule Interface cable Snap the two Molex connectors together 2 Connect the other end of the Amp Breakout Cable to the matching connectors on the B Amp modules marked Motor Power Output 3 Connect the motor power barrel connector to the main connector on the AdeptModules and tighten securely 4 Repeat these steps for each additional Module NOTE The system integrator must add adequate strain relief for the Amp Breakout cable connectors at the amplifier modules The connectors that join the Amp Breakout cable and the Interface cable are designed to be inside a cabinet WARNING Verify that all connectors are secure and fully inserted Loose connectors could cause unexpected AdeptModules motion AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 51 Chapter 2 Installation Installing Signal Cables AdeptModules to Signal Interface Box The cable between the AdeptModule and the Signal Interface Box as well as the Amp Breakout cable
13. LINK DIMENSIONS mm DATA 80 Wrist to flange distance 0 DATA 81 Link dimensions 0 SOFTWARE JOINT LIMITS deg or mm DATA 120 Lower joint travel limit SL 10 10 DATA 121 Upper joint travel limit 780 530 210 DATA 123 Max lower joint travel limit 11 11 11 DATA 124 Max upper joint travel limit 781 531 211 CARTESIAN MOTION SPECIFICATIONS DATA 144 Max WORLD TOOL pendant trans DATA 140 Time to reach max WORLD TOOL DATA 143 Min WORLD TOOL pendant trans TRAJECTORY GENERATOR SPEED PARAMETERS DATA 162 rot speed mm sec or deg sec 0 50 0 pendant speed sec 0 16 J EoOt increment 1E 03 1 E 03 Minimum execution time for Cartesian motions mm or deg 1 74533E 05 sec 140 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Sample SPEC File 0 0 DATA 163 Joint speed at SPEED 100 deg sec or mm sec 1200 1200 600 DATA 165 Joint accel at ACCEL 100 deg sec 2 or mm sec 2 16000 16000 16000 DATA 164 jCartesian trans rot speed at SPEED 100 mm sec or deg s 1200 DATA 166 Cartesian trans rot accel at ACCEL 100 mm sec 2 or deg sec 2 16000 DATA 167 Acceleration ramp times se
14. Power to the Adept MV controller and PA 4 power chassis must come from a single source AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Connecting to AC Power Connecting the Power Chassis AC Power Cord The user end of the cord is unterminated Connect each conductor of the power cord securely to the AC power source using the color code shown in Table 2 11 The installation must meet all applicable European international and national standards and regulations Table 2 11 AC Power Cord Specifications for Power Chassis Cord length 3 meters 0 1 m 9 ft 10 in 4 in Cord rating 25 amps Number and size of 5 x 2 5 mm conductor Color code 380 415 VAC line 1 black line 2 black line 3 brown neutral blue ground green yellow Color code 200 240 VAC line 1 black line 2 black line 3 brown no connection blue must be insulated see page 63 ground green yellow WARNING Electrical hazard The installation of the power cord must be done by a skilled person The power supply can injure or kill the person who installs the cord or an incorrect installation can injure or kill anybody that touches the equipment in the workcell AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 61 Artisan Technology Group Quali
15. U Unacceptable Modifications 22 User Output Brake Release connector Pin assignments 46 V VFP see External Front Panel Voltage changing setting onpower chassis 63 maximum operating controller 58 minimum operating controller 58 W Working area 23 152 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Adept User s Manual Comment Form We have provided this form to allow you to make comments about this manual to point out any mistakes you may find or to offer suggestions about information you want to see added to the manual We review and revise user s manuals on a regular basis and any comments or feedback you send us will be given serious consideration Thank you for your input NAME DATE COMPANY ADDRESS PHONE MANUAL TITLE PART NUMBER and REV level COMMENTS MAIL TO Adept Technology Inc Technical Publications Dept 11133 Kenwood Road Cincinnati Ohio 45242 FAX 513 792 0274 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com rtisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com A rtisan tisan Technology Group is your source for quality Tecmoboycrow new and certified used pre owned equipment FAS
16. 2 32 0 X Y Z Theta Robot Control Module 3 32 0 X Y Z Theta Robot Control Module Modules LMMV X Y Z Theta Robot Control Module 32 0 LMMV X Y Z Theta Robot Control Module 32 0 LMMV X Y Z Theta Robot Control Module 0 0 End module Memory 65 0 Kbytes of system memory are available for additional device modules need to specify the disk file from which the device modules are to be read The current default disk directory is C SYSTEM Just press RETURN to use this default Enter desired disk directory You can enter to see a list of device module files available You can enter to see a list of files available with contents Just press RETURN to cancel the pending operation Writing the device module to the system fil Writing configuration data to the system disk Do you want to add another device module Y N AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 127 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Appendix A Software Configuration Using CONFIG C Enter desired file name sca Reading device module file C NSYSTEMNB2K00EOM SYS Reading device module file C NSYSTEMNB2K00SCA SYS Module in file General SCARA Robot Control Module WARNING The system file will be corrupted if the replace operation fails for any reason
17. 2 0 8 550 214 89 51 400 430 450 0 425 25 8 170 204 85 49 500 530 550 600 0 55 3 0 7 576 189 79 45 750 800 0 78 3 5 6 232 156 65 37 950 1000 1200 1 0 4 0 5 555 139 59 33 1400 to 2000 1 4 4 5 4 464 112 47 27 Lubrication Grease For standard non cleanroom modules module part numbers that begin with 90400 XXXXX Shell Alvania No 2 grease is recommended Adept does not supply this grease for the modules product and purchase this grease from a third party For cleanroom modules module part numbers that begin with 90401 XXXXX a special cleanroom grease is required This grease is supplied by Adept Technology The Adept part number is 90401 04029 for a single tube with 50 cc of grease Please contact Adept customer service to order this grease Grease Adapter Nozzle The grease fittings on the modules have a 4 5 mm 0 8 inch diameter and a small ballcheck in the center A special adapter is required for these fittings The grease adapter nozzle is supplied by Adept Technology The Adept part number is 90400 04100 Please contact Adept Customer Service to order a grease adapter nozzle Lubrication Procedures 1 Remove the plastic black circular cap s from the module The cap is approximately 10 mm 0 5 inch diameter e The H Module has two black caps located on each side of the module at the end of the module opposite the motor The M Module has a single black cap located on the same side of the module as the
18. 3 Error Messages and Causes eres 145 Motion Interface E stop sissss nn 145 Protection EMO usas pu d RR UR RC pe VER RE e s 145 RSC Communication Failure Robot a 146 Time Out Enabling Power ens 146 Motor Startup Failure Mtr in Robot 146 D 4 Calibration Related Problems 2 146 D 5 Setup Related Problems 00 0 0 cee eee eee eee 146 D 6 Diagnostic Tests 0 0c eee 146 Testing Encoder Channels aaau aaa ens 147 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com LIst of Figures Figure 1 1 Figure 1 2 Figure 1 3 Figure 2 1 Figure 2 2 Figure 2 3 Figure 2 4 Figure 2 5 Figure 2 6 Figure 2 7 Figure 2 8 Figure 2 9 Figure 2 10 Figure 2 11 Figure 2 12 Figure 2 13 Figure 2 14 Figure 2 15 Figure 2 16 Figure 2 17 Figure 2 18 Figure 2 19 Figure 2 20 Figure 2 21 Figure 2 22 Figure 3 1 Figure 3 2 Figure 3 3 Figure 4 1 Figure 4 2 Figure 4 3 Figure 4 4 Figure 4 5 Figure 4 6 Figure 6 1 Figure 6 2 Figure 6 3 Figure 6 4 List of Figures AdeptModules 6 cee EAE EE eens 17 Adept MV Controller Interface 6 0 nn 17 AdeptModules Joint Motions 00 n 18 Joining the Power Chassis and Controller at theTop 34 Joining the Power Chassis and
19. 69 19 16 16 Fax 1 69 32 04 62 technology inc 1 2 Aza Nakahara Mitsuya Cho Toyohashi Aichi Ken 441 31 Japan 0532 65 2391 Fax 0532 65 2391 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 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 documentation A form is provided at the back of the book for submitting your comments Copyright 1997 by Adept Technology Inc All rights reserved The Adept logo is a registered trademark of Adept Technology Inc Adept AdeptOne AdeptOne MV AdeptThree AdeptThree MV AdeptThree XL PackOne PackOne MV HyperDrive Adept 550 Adept 550 CleanRoom Adept 1850 Adept 1850XP A Series S Series Adept MC Adept CC Adept IC Adept OC Adept MV AdeptVision AIM VisionWare AdeptMotion MotionWare PalletWare AdeptNet AdeptFTP AdeptNFS AdeptTCP IP AdeptForce AdeptModules and V are trademarks of Adept Technology Inc
20. 8 Switch o O a O a maa paa paa paa 1 2 3 4 5 6 7 8 9f101112 agi aka aa emus OOOOOOODOOOOO o 5 Terminal Block MCP Bypass gs at the back of the VFP Plug install SS 43 if no MCP Enable ao in system Power i a TX i 41 User External i i E Stop Devices bd o A System 4 Ng 0 9 alo Faults a External E Stop Input meg ka 45 E Stop Signal To user to backplane i PA Passive E Stop Output e equipment 46 0 8 Aat 12 VDC 0 4 A at 24 VDC ABERPEUISSuM NUES see text Figure 3 2 E Stop Diagram with VFP and MCP 78 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Overview of Safety System e e User supplied 24 V or 12 V BH K1 Terminal block on external Front Panel e TB5 1 2 3 4 516 7 8 9h01 ha X System Power La OJOOOOOOOOOOO x Switch VFP E STOP TB 2 TB 4 185 Pin 44 on digital I O connector TB 7 hd on SIO Module L Li i MCP E STOP External E Stop Input L2 e 188 L3 ka 4 TB 9 N MCP Hold to Run i i aang E User External IEEE ec E Stop Device rore prs TB 3 Safety Gate im Operating QUT T Mutedin Mode VOX 5 Ka Manual Mode Switch aaa TB 4 i i i PE N L3 il2 il N User External eaa ee E E Stop Device PA 4 Power Chassis Pin 42 on digital
21. AdeptModules consist of a precision ground ball screw drive mechanism high capacity linear guides and AC servo motors AdeptModules also include fully sealed belt covers to protect the module from contaminants The AdeptModules are designed to interface with the Adept MV controller and PA 4 power chassis see Figure 1 2 using the Signal Interface Box SIB The Adept MV controller is used to program and control the Modules H Module Adept MV 5 10 Controller Adept PA 4 Power Chassis Signal Interface Box with Dual B amps Figure 1 2 Adept MV Controller Interface AdeptModules Instructrion Handbook Volume 1 Adept MV Controller Interface Rev A 17 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 1 Safety How to Use this Manual This manual is intended for use with Volume 2 of the AdeptModules Manual Mechanical assembly This manual contains information that is useful during installation commissioning and operation of the system as well as during the mechanical assembly and periodical maintenance of the AdeptModule Figure 1 3 AdeptModules Joint Motions Definition of Manipulating Industrial Robot An automatically controlled reprogrammable multipurpose manipulative machine with several degrees of freedom see Figure 1 3 which may be
22. Any trademarks from other companies used in this publication are the property of those respective companies Printed in the United States of America Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Table of Contents UNE C APPPEPPPPEPPEEP PET OPEP CPE PPEEP PEPE PEP PEPE FEET CPP 15 LI Introduction AA AN 17 How to Use this Manual estars e 18 Definition of Manipulating Industrial Robot ee 18 1 2 Notes Cautions and Warnings eren 18 1 3 Precautions and Required Safeguards 0 200 e eee ee 19 AdeptModules Static Forces iiie 19 Safety BONES s bee eh ded nw ht deh he edo tah bees a ee dae eds 19 Additional Safety Information 0 00 eee tenes 20 1 4 Intended Use of the AdeptModules 000 cee eee eee 21 1 5 AdeptModules Modifications eee 22 Acceptable Modifications iliis mn 22 Unacceptable Modifications isse nene 22 1 6 Endangerment Through Additional Equipment Lususss 22 1 7 Working Areds enr RR RE REX EE AGRAR ae ete epee RUPEE NER Nain 23 1 8 Qualification of Personnel lsllllls eee 23 L9 Transport AA 24 1 10 Safety Equipment for Operators AA 24 1 11 Protection Against Unauthorized Operation snanar eee 24 1 12 Operating Modes of AdepiModules 0 cece eee 24 Autornatic MOode iu esca Rx x RR Oed RC RO Oed RR Rod DR 24 Manu
23. COMP PWR button on the MCP 6 Release the enabling switch as instructed by a message on the MCP display and then close the switch again This step checks for proper operation of the enabling switch This step is not required in Automatic mode 7 Press the blinking HIGH POWER ON OFF button on the VFP NOTE In Manual mode it may take up to 20 seconds to complete the High Power sequence To reenable High Power after pressing the MCP emergency stop button turn the emergency stop button to the right clockwise The switch is spring loaded and will return to its normal position Depress the enabling switch High Power can now be reenabled by pressing the COMP PWR button mode control group and the HIGH POWER ON OFF push button on the VFP Calibration Parameters The default calibration parameters are loaded as part of the AdeptModules Quick Setup with joint specific files By default AdeptModules calibrate toward the motor end Calibration of the AdeptModules with the MCP The AdeptModules can be calibrated only when High Power is enabled and Automatic mode is selected If the AdeptModules are in Manual mode you must switch to Automatic mode After changing the operating mode High Power is shut off automatically See the instructions above to enable High Power NOTE Refer to Appendix D for testing and troubleshooting information AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 93 Art
24. Controller at the Bottom 35 Installing Mounting Brackets on an Adept MV Controller 37 Installing Mounting Brackets on an Adept PA 4 Power Chassis 38 Connecting the A Series Monitor and Keyboard 39 External Front Panel VFP 06 eme 41 External Front Panel VFP Installation sen 42 eignal Interface BOX ssc edad eee RU deed PARDS DRA E RR RR ROGER Oe dure and 44 Signal Interface Box LED Indicators i ise 45 User Output Wiring DiIAGraM 6 e en 47 Configuring 12 or 24 Volts mnn 49 Brake Release BUTTON mes 49 Adept System Cable Installation licen 50 AdeptModules to EJI Cable Installation ssee eee 53 Connecting the PA 4 Power Chassis to the MV Controller 54 MCP Connection 0 een 55 AdeptModules System Grounding Diagram isses sisse 57 Adept MV Controller Power Entry Module 00 000 ern 59 Typical 380 415 VAC Connection seen 62 Typical 3 Phase 200 240 VAC Connection iliis 62 Insulating Blue Wire in Power Cord 000 ns 63 Changing Voltage in Power Chassis iiie 64 Digital O Connector Pin Locations on SIO Module 0 ees 77 E Stop Diagram with VFP and MCP 2 ns 78 E Stop Circuitry with Additional Safety Equipment 79 Holding ihe MCP 2 53 93 36 dra pe ba caw es EO QAO ea ea AG 86 MGCP EYOUT x deu dd tete E e D ee dnb a Oo ha a Hee Meade weit a de
25. Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Description of the Manual Control Pendant MCP Brakes 4 4 Certain AdeptModules have holding brakes These brakes are on whenever High Power is off The brakes are intended primarily to restrict Linear Module movement when High Power is off but they also assist in stopping Linear Module motion when the Emergency Stop circuitry is activated or when there is a Linear Module motion error These brakes are not designed to be used as a routine method of stopping Linear Module motion Description of the Manual Control Pendant MCP The MCP assists the operator in teaching AdeptModules locations to be used in application programs The MCP is also used with custom applications that employ teach routines that pause execution at specified points and allow an operator to teach or reteach the AdeptModules locations used by the program The Adept AIM software system makes extensive use of the pendant for teaching AdeptModules locations A description of the necessary basic operations with the MCP such as enabling High Power calibration and moving the AdeptModules follows in the next sections How to Hold the MCP The pendant has a palm activated enabling switch that is connected to the emergency stop circuitry Whenever this switch is released High Power is tur
26. Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 6 Technical Specification Dimensions of the Signal Interface Box STATUS LEDs 4x0 280 ARM AXIS 1 AXIS2 SIGNAL 177 8 7 00 i J Disconnect and Lockout Main Power Before Servicing Equipment USER OUTPUT AXIS3 Z THETA AXIS4 BRAKE REL 25 40 mm 101 60 mm 1 00 in 14 00 in gt 12 70 mm p 381 00 mm N 0 50 in 15 00 in Front View Adept Technology inc San Jose Ca Model AdepiModules Interface 85 34 mm 3 36 in Side View Figure 6 4 AdeptModules Signal Interface Box 114 AdepiModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Dimensions Dimensions of the External Front Panel r 57 41 mm 2 26 in 482 6 mm 19 in 132 6 mm 5 22 in 6 35 mm 0 25 in AE cce ID LAMP SYSTEM Test MANUAL AUTO o POWER O PROGRAM PENDANT LOCAL NETWORK START HIGH POWER ON OFF O EMERGENCY STOP C PROGRAM RUNNING O 14 3 mm 0 56 in r 90 mm 3 5 in 81 3mm 3 2 in AL EH 48 3 mm 1 9 in Figure 6 5 Adept External Front Panel Dimensions AdeptModules Instructi
27. O connector 7 e on SIO Module K1 K2 K3 az Ground The implementation of the K3 High Power contactor is not necessary to achieve Category 1 operation per EN 954 Note This drawing is ONLY an example for the implementation of additional safeguards Figure 3 3 E Stop Circuitry with Additional Safety Equipment AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 79 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 3 Preparation for Safe and Effective Use of the Robot 80 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Commissioning the System 4 1 INtrOdUCTION Si ana Nana bre te bbe KB BKA NADAPA BAN RRSSReWES 83 Physical CONNECTIONS ees 83 4 2 Operating Modes aa nx eee ed dae ee hm x xD x RR ee 83 Manual Operating Mode 1 es 83 Automatic Operating Mode aoaaa 84 4 3 Using the Brake Release Button eee eee eee 84 Brake Release Button 6 tes 84 BOK CA 85 4 4 Description of the Manual Control Pendant MCP 85 How to Hold the MCP 20 85 Description of Buttons on the MCP 00 0 n 87 Mode Control and Joint Axis Control Buttons 87 Speed BOIS eus dere on o does De E CR Rede
28. System 4 8 Once the AdeptModules is calibrated you can move the AdeptModules If High Power is disabled after the calibration process is complete the user will have to Enable Power again but not calibrate If system power is turned off at the VFP then the user must Enable Power and calibrate the system Moving the AdeptModules With the MCP This section describes using the MCP to move the AdeptModules Follow the steps on page 92 to enable High Power and to calibrate the AdeptModules Do not enter the workcell Leave the operating keyswitch in the AUTO position Make sure that all access doors are closed and no person is in the workcell Press the MAN HALT button on the MCP to select the MCP Manual mode then see the following descriptions WARNING Impact Hazard Only an AdeptModules operator with the qualifications and safety equipment given in section 1 8 on page 23 is allowed to work with the AdeptModules MAN HALT Button for Selecting Joint State 96 The MAN HALT button changes the state of the AdeptModules Figure 4 4 Mode Control Buttons When the MAN HALT button is pressed the first time the MCP will be in World state Pressing the MAN HALT button again selects the next state to the right Tool Joint or Free eventually wrapping back to the left most state World If MCP Manual mode is terminated and reentered without turning off system power the last active state is selected The system will remain i
29. Wire in Power Cord WARNING High AC voltage is coupled through EMI capacitors to the blue wire of the PA 4 power chassis power cord To change the voltage setting from 380 415 VAC to 200 240 VAC insulate the blue wire according to the directions provided below 1 Turn off the Adept PA 4 Power Chassis and the Adept MV Controller 2 Disconnect the 5 wire power chassis power cord from the AC power source 3 Locate the two pieces of shrink tubing in the accessories kit one is 7 mm 1 4 inch diameter the other is 19 mm 3 4 inch 4 Place the 7 mm shrink tubing over the end of the blue wire in the power cord and use a heat gun to apply it See Figure 2 21 5 Fold the blue wire back and place the 19 mm shrink tubing over the end of the power cord Use a heat gun to apply the shrink tubing power cord from 19 mm 3 4 inch power chassis shrink tubing blue wire 7 mm 1 4 inch shrink tubing Figure 2 21 Insulating Blue Wire in Power Cord AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 63 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 2 Installation Part 2 Rotating Voltage Selector in Power Chassis Turn off the Adept PA 4 Power Chassis and the Adept MV Controller Open the front air intake grill by loosening two screws and swinging the grille out Inspect the voltage setting it is marked on the fro
30. You should be working with a COPY of your Vt system Are you sure you want to continue Y N Y A 3 Figure A 5 Example Device Module REPLACE Procedure APPEND device modules to system file Select this menu item to add more device modules to your system file If you already have a robot such as an Adept robot installed in your system you should normally use the Append option instead of Replace SELECT device modules for robots Choose this menu item to change which device module corresponds to each of the available robots Any module in the system file can be assigned to any robot If you have copied the external encoder device module to the system file that module will be enabled automatically if you have the V Extensions software license installed Servo Loop Rate The default servo rate is 1 KHz This means the robot position is read from every channel once every millisecond New servo output commands are calculated and the DAC outputs are updated at this millisecond rate CONFIG C can be used to reduce the servo rate to 500 Hz In many applications there will be no detectable reduction in performance However if your system includes an Adept robot you must not change the servo loop rate Adept robots are designed to operate only at 1 KHz The benefit of choosing the 500 Hz rate is reduced processor demand For example at the 1 KHz rate servoing 4 channels will occupy approximately 50 of the CPU time on an Ade
31. a VJI EJI Adept robot systems in addition to MI6 s the first MI6 board should be set to servo board number 3 In systems with two VJI EJI modules dual Adept robots the second VJI EJI should be set to Servo Board 3 This optimizes processor allocation for the servo code with the default V software configuration See Table B 3 for examples of address settings for various configurations The AdeptModules system must be configured as described in Bringing Up an AdeptModules System The AdeptModules Quick Setup will detect multiple robots automatically when the first robot is an Adept robot AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 133 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Appendix B Multiple Robot Configurations The servos must now be restarted The screen will look similar to Adept External Encoder Module Adept XL Robot Module AdeptModules X Y Robot Device in use Robot 2 x Fatal Initialization failure Mtr 1 Robot 2 Device in use Robot 2 x Fatal Initialization failure Mtr 2 Robot 2 Restart completed Warning Multiple robots detected The servo board number for currently selected AdeptModules is mapped to board 3 The board channel and axis mapping is done automatically in this case You can verify the mapping by selecting Change robot options and moto
32. and down into the bracket 4 Install the other two M4 x 8 flat head screws into the chassis on the left hand side Replace the cover on each unit Joining at the Bottom 1 Turn the two units over so you have access to the bottom side 2 Locate the cutout bracket in the accessory kit 3 Place the bracket over the feet of the units as shown in Figure 2 2 4 Install the four M4 x 8 flat head screws in the holes indicated in Figure 2 2 to secure the brackets CAUTION Do not use screws longer than 8 mm to install the bracket Doing so could cause damage to your equipment Bottom View M4 x8 Cutout Bracket flat head Phillips screws 4 each 9 O O OJO OJO O ig Adept MV Controller Adept PA 4 Power Chassis Figure 2 2 Joining the Power Chassis and Controller at the Bottom AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 35 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 2 Installation 36 Space Around the Chassis When the Adept MV Controller is installed vertically allow 25mm 1 inch at the top and bottom of the chassis for proper air cooling For the MV 5 10 allow 75mm 3 inches and for the MV 19 allow 50mm 2 inches at the front of the Adept MV Controller for power and signal cable clearance CAUTION Keep the air filters clean so the forced air cooling system c
33. by changing the sign of the Speed and Direction of Search parameter and then reteaching calibration 1 Load and execute SPEC V2 see instructions on page 91 Select Edit Robot Specifications from the main menu Select Edit Motor Calibration Parameter from the submenu 2 3 4 5 Select and change the Speed and Direction for Search parameter sign Select Teach calibration specs SPEC will prompt in the following Before teaching calibration you should 1 Have properly tuned all motors 94 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com How to Start AdeptModules 2 Have properly set homing configuration homing speeds and distances The above parameters are set during AdeptModules Quick Setup Do you wish to continue Y N y The robot may now be repositioned for teaching Make sure that none of the joints are positioned at either end of the travel distance covering any of the sensors Depress the ENTER key to continue Ready to find home switch Okay to proceed Y N y Answer yes to the above question The joint will move and search for the HOME sensor This will allow the module to return to the start position Distance traveled to home switch XXXX counts Ready to find zero index Okay to proceed Y N y
34. cable connections and near the motor end of the module 104 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Connectors and Pins e The S and Sz Modules have a single black cap located on the same side as the motor housing at the end of the module opposite the motor 2 Move the module slider until the grease nipple s can be seen through the access hole s e The slider of the H Module must be moved to the end of the module travel e The slider of the M Module must be moved to a position 10 mm 0 5 inch from the motor end e The slider of the S and Sz Module must be moved to a position 35 mm 1 5 inch from the end opposite the motor 3 Fill the module with the appropriate amount of grease The H Module requires 20 cc 2 3 oz of grease Fill each side with approximately 10 cc 1 3 oz The M Module requires 10 cc 1 3 oz e The S and Sz Modules require 2 0 cc 0 1 oz 4 Replace the black plastic cap s on the modules 5 3 Connectors and Pins NOTE All four encoder connectors have the same pin assignments for diagnostic purposes Axis encoder connectors can be interchanged provided that no attempt is made to enable the associated axis Connector Pins and Inserter Extractor Tools The modules and spare motors are supplied with JAE connectors with crimp s
35. commissioning or operation of an installation with an AdeptModule without adequate safeguards according to the standards EN 775 ISO 10218 sections 5 6 EN 292 1 and EN 60204 section 13 or national equivalent AdeptModules Static Forces AdeptModule systems include computer controlled mechanisms that are capable of exerting considerable force Like all robot and motion systems and most industrial equipment they must be treated with respect by the user and the operator Safety Barriers Safety barriers must be an integral part of AdeptModules workcell design installation operator training and operating procedures Adept systems are computer controlled and may activate remote devices under program control at times or along paths not anticipated by personnel It is critical that safeguards be in place to prevent personnel from entering the workcell whenever equipment power is present The AdeptModules are not safe on their own The AdeptModules System Integrator or end user must ensure that adequate safeguards safety barriers light curtains safety gates safety floor mats etc will be installed The AdeptModules workcell must be designed according to EN 775 ISO 10218 sections 5 6 EN 292 1 3 71 and EN 60204 section 13 or national equivalent The safety distance to the AdeptModules depends relating to the standard EN 294 on the height of the safety fence The height and the distance of the safety fence must ensure that nobo
36. control PROGRAM RUNNING lamp white When lit this lamp indicates that a V program is running It is a warning that the AdeptModules and other mechanisms in the workcell are under computer control and may move at any time PROGRAM START switch and lamp green A programmer can read the status of the button to trigger special events Operating Keyswitch The keyswitch is a two position rotary switch marked AUTO and MANUAL This switch determines which operating mode is selected The AUTO position permits control of the system from the controller The MANUAL position makes the MCP the single point of control Control Keyswitch The keyswitch is a two position rotary switch marked LOCAL and NETWORK This switch determines which device is able to start AdeptModules motions The LOCAL position makes the Manual Control Pendant MCP or the connected Terminal the single point of control The NETWORK position is used with host supervisory control software LAMP TEST switch When the button is pressed all the indicator lamps should light If an indicator does not light check it before continuing operation AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 41 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 2 Installation e PENDANT connector for attaching the Manual Control Pendant MCP to the front panel In order to enable High Power e
37. current rating of each individual output channel is 750mA Combined maximum current cannot exceed 2 amps from the user outputs WARNING Damage to the Signal Interface Box will occur if the maximum current rating is exceeded 46 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Installing the Signal Interface Box SIB Adept Supplied Equipment User Supplied Equipment Signal3001 1 pose User Output 1 _ 5 Signal 3001 2 Load User Output l _ 5 al Signal 3001 Loau User Output 1 5 Signal 3001 4 Load User Output 1 _ 5 6 Internal use only 7 8 Manual Brake Release 9 Figure 2 10 User Output Wiring Diagram The four user outputs on the User Output Brake Release connector are used in conjunction with the following MV controller signals refer to Table 2 5 Other Adept V programming commands are available to control the user outputs refer to the V Language User s Guide for these commands AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 47 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 2 Installation Table 2 5 User Outputs Specificatio
38. drive or to a duplicate floppy made using Adept s DISKCOPY Utility Figure A 1 shows a graphical interpretation of the primary functions of the CONFIG C program In this example we assume the user wants three robots two using device module A for example an X Y Z Theta module and one using device module B for example a SCARA robot module Using the replace or append operations Module A is copied twice to the boot disk and module B is copied once The robot selection procedure allows the desired modules to be selected and any undesired ones to be ignored Device Module File Device Module File Module A Module B V System File V System File V System File Robot 2 Robot 3 Robot 1 Default Modules Module A Module A Module A Select Module A Module B Robots Module B Replace or Append Figure A 1 Procedure for Copying Device Modules to a System File Procedure to Load CONFIG C 1 Load the utility program into system memory and start execution of the program with the commands load c utill config c execute 1 a config c 2 Follow the prompts provided by the program see below 124 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Robots and Device Modules 3 When complete you can clear the program from memory with the following commands kill 1 delete
39. encoder offsets for the second system Upgrade Procedure for an Existing System A 2 You may at some time the need to upgrade the revision level of the V system software In that case you do not have to repeat the system specification process You must however carefully follow the procedure outlined in the appropriate V release notes to successfully perform the upgrade It is important to follow the correct procedure because the System Files contain all your tuning parameters and mechanism specifications which need to be carried forward to the new V system Correct use of CONFIG C to install the new V system will completely configure the new system to match the previous system Robots and Device Modules The Configuration utility program CONFIG C V2 allows you to copy device modules onto a system disk to make them available for use You will need one device module for each mechanism Groups of one or more device modules are stored in disk files and must be copied as a group AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 123 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Appendix A Software Configuration Using CONFIG C NOTE This program modifies a system disk Do NOT make these changes to the original system disk sent by Adept Instead make changes to a working copy of the system disk that you have transferred to the hard
40. hours could translate to a different lubrication interval in weeks depending on the production schedule of the modules equipment Production Schedule 1 shift per day 2 shifts per day 3 shifts per day 5 days per week 6days per week 7 days per week 40 hours per 96 hours per 168 hours per week week week Lubrication Interval 70 weeks 29 weeks 17 weeks Table 5 1 provides an estimated lubrication schedule in actual production weeks based on the length of the module and an assumption of the travel distance and time required to perform the cycle If your system includes two or more modules all modules should be lubricated at the same time and the time should be determined by the module that requires the most frequent lubrication AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 103 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 5 Maintenance Table 5 1 Lubrication Schedule Lubrication Lubrication Lubrication Estimated Module Cycle Total Interval for Interval for Interval for Module Stroke a y number 1Shift day 2 Shifts day 3 Shifts day travel Time Length mm distance Secondi of hours 5 days week 6days week 7days week m tere hours 40 hrs week 96 hrs week 168 hrs week weeks weeks weeks 130 0 13 1 0 10 684 267 111 64 230 250 0 24 1 5 8 680 217 91 52 300 330 350 0 325
41. io Se ele doe d 87 Command CMD Function Button teens 94 Mode Control Buttons sese eee e eer e ac Re a d ca 96 Speed BONS surr Her BES PRAE RM AA 97 Joint SIOIO a cree a eere ba ated ER any Pa d ona Fono Od a acr KORR E a 98 Adept MV 5 and MV 10 Dimensions isses nn 111 Adept MV 19 Dimensions iii m en 112 Adept PA 4 Power Chassis Dimensions 00000 eee eens 113 AdeptModules Signal Interface Box 0 ees 114 11 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com LIst of Figures Figure 6 5 Adept External Front Panel Dimensions iens 115 Figure 6 6 Adept MV 5 10 and PA 4 With Mounting Brackets Installed 116 Figure 6 7 MCP Cradle Dimensions iie 117 Figure A 1 Procedure for Copying Device Modules to a System File 124 Figure A 2 Robots and Device Modules Menu 0000 sene 125 Figure A 3 Example System Disk Configuration in CONFIG C aaa 126 Figure A 4 Typical Multirobot System Initialization Messages 126 Figure A 5 Example Device Module REPLACE Procedure 0 0000 esses 128 12 AdepiModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com List of Tables Table 1 4
42. module display in the initialization messages as shown in Figure A 4 are listed in the documentation you receive with your device modules 126 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Robots and Device Modules LIST device modules in a device module FILE To determine whether a device module file contains a device module you want transferred to your system disk select this menu selection to display the list which looks like the module list shown in Figure A 3 REPLACE device modules in system file To delete any device modules from your system file you must use this selection to delete ALL of them It then allows you to replace the deleted ones with device modules taken from your device module disk file s Figure A 5 shows a typical terminal session in which the existing device modules are replaced with the contents of an LUMV X Y Z Theta module file REPLACE DEVICE MODULES IN THE SYSTEM FIL This procedure reads device modules from a disk file and uses them to replac all the existing device modules in the system file Enter the drive on which the V system resides A C default is A c Scanning the system file for device modules Reading configuration data from the system disk Robot 1 32 0 X Y Z Theta Robot Control Module
43. or by pressing the COMP PWR button on the MCP The system starts the process to enable High Power The steps are outlined in the following list High Power enable process in Manual mode takes about 8 seconds VFP HIGH POWER ON OFF push button starts blinking operator presses the VFP HIGH POWER ON OFF button The system waits until the HIGH POWER ON OFF push button is pressed If the button has not been pressed in a selected time the system stops enabling power with an error message While in Manual mode the module speed is limited to 250 mm per second 10 ips This is to protect a person who is in the workcell teaching points with the MCP during program development Also the motors run at reduced torque It is important to remember that the module speed is not limited when in Automatic mode User Supplied E Stop Switches The specifications for user supplied E Stop and safety barrier switches are switches with positive driven contacts per EN60204 Section 10 73N1992 minimum switching power 24 VA minimum switching voltage 24 VDC minimum switching current 1 0 A DC AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 71 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 3 Preparation for Safe and Effective Use of the Robot WARNING Do not use switches in the E Stop circuit that do not comply with Category 1 requirement
44. the Adept Z Theta uses RZ 6 to move Selecting and Moving Joint 1 X Figure 4 6 shows the buttons for selecting a joint in the Joint State Press the X1 button to select Joint 1 The LED on the button will turn on The user can now move that joint with the speed bars 98 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Limiting Joint Travel 4 9 NOTE The operator must keep the enabling button depressed to retain High Power while working with the AdeptModules While watching Joint 1 press one of the Speed Bars until that joint starts to move then release the Speed Bar The joint should stop moving Press the other Speed Bar until the joint moves in the opposite direction then release the Speed Bar Selecting and Moving Joint 2 Y Press the Y2 button on the MCP to select Joint 2 The Y2 button LED will illuminate The user can now move Joint 2 Move this joint in the same manner as described for Joint 1 X movement Selecting and Moving Joint 3 Z Press the Z3 button on the MCP to select Joint 3 The Z3 button LED will illuminate The user can now move Joint 3 Move this joint in the same manner as described for Joint 1 X movement Selecting and Moving Joint 4 Theta Press the RX4 button on the MCP to select Joint 4 The RX4 button LED will illuminate The user can now mov
45. the PROGRAM RUNNING light on the external Front Panel VFP are illuminated do not enter the workcell because the AdeptModules or motion device might move unexpectedly The LAMP TEST button on the VFP allows these lights to be periodically checked Warning During Automatic Mode operations no person is allowed to stay in the guarded space of the AdeptModules because serious injury can occur if a person is struck by the AdeptModules 24 AdepiModules Instructrion Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Safety Aspects While Performing Maintenance Manual Mode 1 13 AdeptModules can also be controlled manually when the operating mode key switch is in the MANUAL position and the HIGH POWER light on the VFP is illuminated When Manual mode is selected motion can be initiated only from the Manual Control Pendant MCP Per EN 775 ISO 10218 the maximum speed of the AdeptModules is limited to less than 250 mm per second 10 ips in Manual mode In this mode work can be performed that requires close approach to the installation or AdeptModules such as teaching points program verification or troubleshooting operations Note The MCP has two operating modes In MAN Manual mode the MCP can initiate an AdeptModules motion In COMP Automatic mode the MCP works like a terminal 13 Safety Aspects While Performing Maintena
46. 0 Changing User output voltage 48 Circuit breaker on power chassis 67 Compressed air installation at robot 68 requirements for AdeptModules 31 CONFIG_C 129 modules and robot configured as mul tiple system 133 modules configured as multiple robots 131 servo board address setting on multi ple system 133 CONFIG C program description 122 using 123 Configuring 12 or 24 volts 49 Connections and Indicators 44 Z Theta 45 Control Key Switch on External Front Panel 41 Controller connecting to power chassis 52 54 dimensions Adept MV 5 and MV 10 controllers 111 dimensions MV 19 controller 112 grounding 56 joining to power chassis 34 panel mounting 36 rack mounting 36 Current voltage ratings controller 58 Customer E Stops 71 79 Customer Safety Barrier switch specifications 71 D Device module description 121 documentation 122 loading 123 128 REPLACE APPEND procedure 128 Device module file description 121 Digital I O on SIO connector pinouts 76 input specifications 74 output specifications 75 Dimensions 111 dimensions Adept MV 19 controller 112 Adept MV 5 and MV 10 controllers 111 External Front Panel 114 MCP cradle 117 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 149 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Index mounting brackets 116 power chassis 113 DISKCOPY Utility using to make copies Drive channels des
47. 055 Z Axis 230mm Sz Module 90400 40023 A typical data section within the specification data file looks like this DATA 61 COUNTS PER JOINT TRAVEL 711 1111 444 4444 533593933 277 7778 Following the word DATA is the data section number 61 This number indicates to the motion system where the data is to be stored in system memory The data section number is followed by a descriptive comment about the data section Ensuing lines contain the values as stored in system memory In this case the values are stored in joint order Other data sections such as link dimensions are stored in an order particular to the robot This sample specification file shows the data for Robot Specification Data Version 1 3 Created by SPEC 12 1B1 on 12 May 97 08 17 35 Software 12 1 83 100 Edit D5 21 Feb 1997 Development Test Controller 3305 678 0 Servo rate 1000 Hz Processor 1 0 2 1 5 4Mb Robot 1 Title DATA SI 400 1 0 0 32 AdeptModules X Y Z Robot ECTION AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 137 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Appendix C Sample Specification File OPTION WORD AND MOTOR CONFIGURATION DATA 230 Robot option word 0 DATA 1 Number of joints 3 DATA 2 M
48. 0Hz 180V 264V 10 amps factory 1 phase setting 100V to 120V 50 60Hz 90V 132V 10 amps 1 phase Power to the Adept MV controller and PA 4 power chassis must come from a single source The maximum interruption time operating voltage below specification tolerated by the controller is 16 milliseconds Adept PA 4 Power Chassis Power Consumption The following power consumption information is provided Table 6 2 to allow customers to install adequate electrical wiring and power sources for worst case short duration demands of the Adept PA 4 power chassis The typical values are for calculating air conditioning requirements for a four axis system using two Dual B amps Table 6 2 Power Consumption for PA 4 Power Chassis four axis configuration 380 415 VAC Current RMS 8 5 amps phase 20 amps phase 50 60Hz 3 phase EE Watts 1 65 kW 200 240 VAC 50 60Hz 3 phase Current RMS 7 2 amps phase 17 amps phase n the 380 415 VAC configuration the Adept system draws current for a short duration during the positive peak voltage only 118 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Software Configuration Using CONFIG C A 1 Introduction Terminology Adept Utility Disk Device Module Documentation Software Installation Procedure for a N
49. 2 volts and factory set at 24 VDC refer to page 48 for changing the output voltage setting and the Manual Brake release are available on this connector Refer to page 49 for installation and section 4 3 for use of the brake release button NOTE A 9 pin male D sub connector is supplied with the SIB and must be connected at all times Wire user I O to this connector AC POWER SWITCH Located on the side of the Signal Interface Box AC power must be turned on to use the Signal Interface Box 1 On O Off 44 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Installing the Signal Interface Box SIB Z THETA This is for connecting the Adept Z Theta module WARNING Plugging into Z Theta and the AXIS 3 and 4 connectors at the same time will result in damage to the Signal Interface Box 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 Figure 2 9 Signal Interface Box LED Indicators Table 2 3 LED Status and Indications 24 Volt Failure 11 CPU Error 12 13 14 15 16 Manual Brake Release Future Use Joint1 Overtravel Left Joint1 Home Joint1 Overtravel Right Joint4 Overtravel Right Joint2 Overtravel Left AdeptModules Instruction Handbook Volume 1 Adept MV Controlle
50. 44 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 29 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 2 Installation Connections and Indicators AA 44 Installation of the Signal Interface Box SIB 000 alsa 46 Space Around the Signal Interface BOX 6 0 A000 ees 46 Typical Digital Output Wiring eens 46 Changing User Output Voltage Setting 48 Installing a Brake Release Button 0 0 Aa 49 2 16 Signal Interconnection Installation 00 0 6c 50 System Cable Connections iiis s 50 System Cable Lengths 06 eee enn 5 Connecting the AdeptModules to the Power Chassis 51 Installing Signal Cables AdeptModules to Signal Interface Box 52 Installing Signal Cables MV Controller to Power Chassis 53 Installing Signal Cables MV Controller to Signal Interface Box 54 Connecting the MCP to the VFPP 0 0220 55 MCP CAE eiui iee e e a E E A AA ERREA 55 2 17 Grounding Information anana eee 56 Adept MV Controller Grounding saasaa aaa 56 Adept PA 4 Power Chassis Grounding saaana aaa aaa 56 2 18 Connecting to AC Power 2 eee eee 57 Connecting AC Power to the MV 5 10 Controller 58 AC Power Requirements 3 58 Power Entry Module 0 eee 58 Connecting AC Power Cord
51. 48 Not used 23 Input 1012 24 1012 return 49 Not used 50 Not used 25 Output 0001 26 Output 0001 See Figure 3 2 and Figure 3 3 for more information on pins 41 42 43 and 44 76 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Overview of Safety System n17 Pi Pin 50 Pin 33 O O O O O O O O O O O O O O O O QOQOOQOQ 2020 Q 2000000000 O O O O O O O O O O O O O O O O Figure 3 1 Digital I O Connector Pin Locations on SIO Module AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 77 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 3 Preparation for Safe and Effective Use of the Robot Typical Emergency Stop Circuitry The following drawings show two examples of different types of connections to the Emergency Stop circuitry SIO Module 1 Digital Return Adept External Front Panel High Power On Off Push Button Manual Auto Keyswitch 4 Analog Return oio a es System Power VFP Switch System Power i E Sto y vow p Enable lt o i Oo To Power Relay System Power 5 Controller
52. 7 on page 117 for the dimensions of the cradle AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 55 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 2 Installation 2 17 Grounding Information Adept MV Controller Grounding The detachable three wire power cord connects to the power source and the protective ground The protective ground conductor colored green yellow in the power cord is internally connected to the exposed metal parts of the Adept MV Controller To ensure electrical shock protection the protective ground conductor must be connected to a properly grounded power source see Figure 2 17 Adept PA 4 Power Chassis Grounding The protective ground conductor colored green yellow of the Adept PA 4 Power Chassis is internally connected to the accessible metal parts of the power chassis To ensure electrical shock protection this must be connected to a properly grounded power source 56 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Connecting to AC Power WARNING Ensure that a proper protective ground connection exists before turning on the power The Adept PA 4 power chassis and the Adept MV controller must be connected to the same earth ground Typical Customer Supplie
53. ATA 1034 DATA 1036 DATA 1037 DATA 1035 jCalibration file name standard cal Homing configuration 0 O O Speed and direction for search cts msec SO E05 T5 Speed for fine searches cts msec 1 Ly 1 Max distance to search cts 324000 224000 96000 Max width of home sensor cts 3000 3000 3000 Distance from home sw to first zero index cts 800 800 1000 Motor position at first index cts 5200 5200 4400 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 139 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Appendix C Sample Specification File DATA 1053 Calibration group Il 1 1 DATA 1038 Park position after homing cts 0 O 0 DATA 1044 Saturation time during calibration ms 300 300 300 JOINT MOTION PARAMETERS DATA 180 FINE nulling tolerance cts 20 20 40 DATA 181 COARSE nulling tolerance cts 400 400 400 DATA 1019 Time to be in tolerance sec 0 016 0 016 0 016 DATA 1055 Tolerance checking filter pole 4 4 4 DATA 202 READY location joint values deg or mm 0 O 0 DATA 141 Min joint pendant increment deg or mm 1E 03 1E 03 1E 03 DATA 142 Max joint pendant speed deg sec or mm sec 50 50 50 DATA 240 Free mode enable bit field 65535 DATA 22 Free mode signals 0 0 0
54. Berlin Germany Phone 030 26 01 22 60 Fax 030 26 01 12 60 American National Standards Institute 11 West 42nd Street 13th Floor New York NY 10036 Phone 212 642 4900 Fax 212 398 0023 Document Center Inc 1504 Industrial Way Unit 9 Belmont CA 94002 Phone 415 591 7600 20 AdeptModules Instructrion Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 1 4 Intended Use of the AdeptModules 4 Intended Use of the AdeptModules The installation and use of Adept products must comply with all safety instructions and warnings in this manual Installation and use also must comply with all applicable European international or local requirements and safety standards The AdeptModules are intended for use in parts assembly and material handling for payloads less than 60kg 132 lbs Refer to AdeptModules Instruction Handbook Volume 2 Mechanical Assembly for configuration and related payloads Warning For safety reasons it is prohibited to make certain modifications to AdeptModules See Section 1 5 The Adept MV controller Adept PA 4 power chassis and Signal Interface Box SIB are intended to be used as subassemblies of a complete industrial automation system The controller and power chassis subassemblies must be installed inside a suitable enclosure and must not come into contact with liquids T
55. CAUTION The above specifications for the digital inputs and outputs on the SIO module are different from the specifications for a DIO module Specifically the SIO output current is limited to 100 mA per channel whereas the DIO output is rated at 400 mA AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 75 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 3 Preparation for Safe and Effective Use of the Robot Digital I O Connector Pinouts Table 3 4 Digital I O Connector Pin Assignments on SIO Module Pin Signal Name Pin Signal Pin Signal Pin Signal 1 Input 1001 2 1001 return 27 Output 0002 28 Output 0002 3 Input 1002 4 1002 return 29 Output 0003 30 Output 0003 5 Input 1003 6 1003 return 31 Output 0004 32 Output 0004 7 Input 1004 8 1004 return 33 Output 0005 34 Output 0005 9 Input 1005 10 1005 return 35 Output 0006 36 Output 0006 11 Input 1006 12 1006 return 37 Output 0007 38 Output 0007 13 Input 1007 14 1007 return 39 Output 0008 40 Output 0008 15 Input 1008 16 1008 return 41 Auxiliary 42 External E Stop input E Stop input 17 Input 1009 18 1009 return 43 Auxiliary 44 External E Stop input E Stop input 19 Input 1010 20 1010 return 45 Passive 46 Passive E Stop E Stop output output 21 Input 1011 22 1011 return 47 Not used
56. Facility Ambient Air Quality for AdeptModules Compressed Air for the AdeptModules The AdeptModules do not require compressed air to operate but it is often needed for end effectors or tooling AdeptModule to AdeptModule cabling includes built in air hoses which are rated for 6 Kgf cm maximum pressure The tube diameter is 6mm 23 inch Mounting Surface Specifications The floor at the installation site must comply with all local codes and be level Any mounting structure vibration or flexing will seriously degrade AdeptModules performance Adept recommends using either a mounting plate or a table type base If some other type of mounting structure is used it must adequately resist vibration and flexure Mounting Surface The mounting surface should conform to the following recommended specifications e Material Finished Surface free from projections e Dimensions Determined by AdeptModule Cofiguration e Mounting Surface Flatness Within 0 1 mm 0 004 inch e Mounting Hole Pattern As Shown in AdeptModules Instruction Handbook Volume 2 Mechanical Assembly 2 2 Environmental and Facility Requirements for Controller The Adept MV controller installation must meet the operating environment requirements shown in Table 2 1 See Table 2 8 for electrical requirements Table 2 1 Operating Environment Requirements Ambient temperature 0 40 C 20 80 humidity non condensing Altitude up to 2000 m 6500 f
57. Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 1 Safety Outside Continental United States or Europe For service calls applications questions and training information call the Adept Customer Service Center in San Jose California USA 408 434 5000 408 433 9462 FAX service requests 408 434 6248 FAX applications questions 27 AdepiModules Instructrion Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 1 Safety 28 AdeptModules Instructrion Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Installation 2 1 Environmental and Facility Requirements for AdeptModules 31 Facility Ambient Air Quality for AdeptModules 00 31 Compressed Air for the AdeptModules 00 uaaa aa 31 Mounting Surface Specifications ciiin 31 MOUNTING SUMOCC is cca ens Rak A Eek Ge ed E p PA QURE qs 3 2 2 Environmental and Facility Requirements for Controller 31 2 3 Environmental and Facility Requirements for Power Chassis 32 2 4 Before Unpacking the Adept Equipment 0 cece eee 32 2 5 Transport and Storage AA a 32 2 6 Unpacking and Inspecting the Adept Eq
58. KAG 121 Terrmiriology ax dae ETTEREN e C ea ERU d ORARE A DR RU s 121 Adept Utility Disk ce iea tenai eea an E rt a je de ee et Dee a 122 Device Module Documentation lees 122 Software Installation Procedure for a New System 123 Upgrade Procedure for an Existing System 123 A 2 Robots and Device Modules nanana annann 123 Procedure to Load CONFIG C ow n 124 Frograrm PEOFTITS 3 xr oe voter ce CA Teo qi BANGA ao PUR nU o eoo 125 A 3 Servo Loop Rate r sssri ersan RI REA ER EE 128 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Hev A 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Table of Contents 10 Multiple Robot Configurations 0s eee eee 129 Bil INMOGUCTION 2 enum a Seats a at UE x poer ge Rma EG DANG 131 B 2 AdeptModules Configured as Multiple Robots on One EJI 131 B 3 Configuring AdeptModules With an Adept Robot 133 Address Settings for Multiple Servo Boards 0 cee 133 Sample Specification File AA 135 C T ie a AA PA 137 C 2 Sample SPEC File exce ERES KAR GAS NA UE REA KALASAG ea 137 Test and Troubleshooting selle 143 Ateste ccm PE E L EMT 145 D 2 Discrete Inpuls cece ic ee Ae 9e RR RR Rx RR n 145 STATUS LED HINS ug a rer o rto Dine etn cn Rr t nn kon er ine hos s 145 D
59. Module part number For example The part number of an H Module with 800mm stroke is 90400 10080 The name of the SPEC parameter file name for this module is 10080 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 89 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 4 Commissioning the System The part number of a particular module can be found on the label affixed to the module The JOINT INDEPENDENT and JOINT files are on the Adept Utility Disk in the sub directory SPEC DATA See the Bringing Up AdeptModules System section below for step by step instructions CAUTION If any AdeptModule is replaced with a different AdeptModule i e different part number in a configured system the JOINT file for the new AdeptModule must be loaded Overview of System Bring Up This section outlines the steps in configuring a new system Follow the recommended procedures in the order described in this section After the hardware is installed 1 Load the proper device module s to the working copy of the system disk using the CONFIG C utility 2 Use the SPEC utility s AdeptModules Quick Setup to configure the system 3 Save the SPEC parameters to the system file 4 Finally make a backup copy of the configured V system using the DISKCOPY utility Bringing Up an AdeptModules System AdeptModules in conjunction with V provide the f
60. PECIFICATION PROGRAM Version 12 1 Servo code version 12 1C 0 Servo rate 1000 Hz ROBOT 1 AdeptModules X Y Robot Unrestricted access mode WARNING ROBOT IS DISABLED Exit to system monitor AdeptModules quick setup Change robot options and motor configuration Perform hardware diagnostics Edit robot specifications Load robot specifications from a disk file Save robot specifications to a disk file Save ALL specifications to system disk Change robot number gt Switch to external encoder specifications Enter selection 1 NOTE AdeptModules Quick Setup will be displayed only if the robot uses the LMMV X Y Z Theta or Enhance LMMV X Y Z Theta device module 4 Select AdeptModules Quick Setup Follow the instructions on the screen This selection will allow configuration of the AdeptModules system using the predefined SPEC parameter files provided by Adept Utility First select a JOINT INDEPENDENT file and then JOINT files as described above 5 Save the SPEC parameters to the system file Save SPEC parameters by selecting Save ALL specifications to system disk from main menu The following message will be displayed AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 91 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 4 Commissioning the System 4 7 This function saves the robot
61. Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Installation of the Adept MV Controller and the Adept PA 4 Power Chassis To Install Mounting Brackets on Adept M 5 10 19 controller Remove and discard three existing countersink screws from each side of the chassis at locations shown in drawing Place bracket in desired position and secure with indicated M4 screws and washers from accessories kit Repeat process for other side of controller If the controller is joined to an Adept PA 4 Power Chassis the position of the screws is different than on the side of the contoller See drawing for power chassis Panel Mount 51 0 Rack Mount Flush M4 x 25mm pan head screw two places M4 x 10mm pan head screw M4 x 25mm pan head screws two places each Rack Mount M4 x 10mm pan head screw one place each Rack Mount Figure 2 3 Installing Mounting Brackets on an Adept MV Controller AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 37 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 2 Installation M4 x 25mm pan head screw 2 places g o o o To Install Mounting Brackets on Adept PA 4 Power Chassis Remove and discard 3 existing
62. Stop devices and the MCP and Front Panel E Stops See Figure 3 2 The passive E Stop output uses only electromechanical relays to monitor the E Stop circuits Many safety codes do not permit electronic control of E Stop signals Therefore the passive E Stop output is often required to ensure that the user s equipment is shut down if the E Stop circuit is activated The Passive E Stop output should also be used to control any other user devices in the workcell that need to be stopped in an emergency Such devices might include other moving equipment such as conveyor belts indexing or transfer devices pneumatic systems etc The passive E Stop output is rated at 10 VA for example 0 8A at 12 Vdc or 0 4A at 24 Vdc This rating must not be exceeded The specifications for the relay in the passive E Stop circuit are e maximum switching power 10 VA volt amps e maximum switching voltage 100 Volts DC 70 Volts AC rms e maximum switching current 0 5 Amps DC 0 3 Amps AC rms CAUTION The power through the relay must not exceed 10 VA AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 73 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 3 Preparation for Safe and Effective Use of the Robot Digital Inputs and Outputs of the System Input Output SIO Module The Digital I O connector on the SIO is a 50 pin high density female D Sub con
63. Storage eee 32 2 6 Unpacking and Inspecting the Adept Equipment 32 2 7 Repackaging for Relocation 0 00 cee eee eee 33 2 8 AdeptModules Installation 0 000 cee eee 33 2 9 Installation of the Adept MV Controller and the Adept PA 4 Power Chassis 34 Joining an Adept PA 4 Power Chassis to an Adept MV Controller 34 Joining at he TOP sexe cox px x Ra eae howe X RUDEqUR ea es 35 Joining at the Bottom nn 35 Space Around the Chassis en 36 Installation in a Rack or Panel MOUNT 6 ens 36 Panel MOUNTING iiie men 36 Rack MOUNTING mee 36 2 10 Installing the A Series Monitor and Keyboard Liusss 39 Installation Procedure men 39 2 11 Installing a Terminal in an S Series System LLlslluuess 40 Recommended Terminal for S Series Systems 40 Installation Procedure mens 40 2 12 Installing AdeptWindows PC Turco TN teh ae i te as de cre REN 40 2 13 Installing the External Front Panel cee eee 41 Controls and Indicators os ees 41 Installing the External Front Panel VFP a 42 2 14 Installing Non Adept Peripherals in an A Series System 43 Third Party Monitor Compatibility cse me 43 Third Party Keyboard Compatibility lee 43 Third Party Pointing Device Compatibility cce 43 2 15 Installing the Signal Interface Box SIB ees 44 Con
64. T SHIPPING AND SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT DELIVERY Experienced engineers and technicians on staff Sell your excess underutilized and idle used equipment TENS OF THOUSANDS OF at our full service in house repair center We also offer credit for buy backs and trade ins IN STOCK ITEMS www artisantg com WeBuyEquipment EQUIPMENT DEMOS HUNDREDS OF Instra REMOTE INSPECTION LOOKING FOR MORE INFORMATION MANUFACTURERS Remotely inspect equipment before purchasing with Visit us on the web at www artisantg com 7 for more our interactive website at www instraview com information on price quotations drivers technical LEASING MONTHLY specifications manuals and documentation RENTALS ITAR CERTIFIED naia ala aed Contact us 888 88 SOURCE sales artisantg com www artisantg com
65. Table 2 1 Table 2 2 Table 2 3 Table 2 4 Table 2 5 Table 2 6 Table 2 7 Table 2 8 Table 2 9 Table 2 10 Table 2 11 Table 2 12 Table 3 1 Table 3 2 Table 3 3 Table 3 4 Table 5 1 Table 6 1 Table 6 2 Table B 1 Table B 2 Table B 3 Table C 1 List of Tables Sources for International Standards and Directives 20 Operating Environment Requirements iie eene 31 Monitor Compatibility Specifications 0 AA AA 43 LED Status and Indications eee es 45 User Output Brake Release Connector Pin Assignments 46 User Outputs Specifications sisse ns 48 System Cable Lengths es 5 EJI Specificatioris ic mm cedo ete Ar OE Re AD FR COE ac eae RR RC CR 52 Adept MV Controller Power Requirements 00 ees 58 Adept MV Controller Power Cord Specifications 59 Adept PA 4 Power Chassis Power Requirements 60 AC Power Cord Specifications for Power Chassis 61 Signal Interface Box AC Power Requirements 00 aaa 65 Terminal Assignment of the Terminal Block on the Back of the VFP 72 DIO Input Specifications SIO module 0 00 0 74 DIO Output Specifications SIO module 0 000 ees 75 Digital O Connector Pin Assignments on SIO Module 76 Lubricahon schedule isst siesat eee te Et et eC en ANG 104 Adep t MV Controller Power Requirments ees 118 Power Consumption for PA 4 P
66. URCE www artisantg com Chapter 2 Installation 2 9 Installation of the Adept MV Controller and the Adept PA 4 Power Chassis Joining an Adept PA 4 Power Chassis to an Adept MV Controller The Adept PA 4 power chassis can be joined to the Adept MV 5 10 or the MV 19 controller using the brackets supplied in the accessory kit They must be joined at the top and bottom as described in the following paragraphs Top view with covers removed Adept MV Controller Adept PA 4 Power Chassis Q Q o o l 4 oi o ol o ol i o ol Q O M4 x8 flat head Phillips Q Screws four each o o Figure 2 1 Joining the Power Chassis and Controller at the Top 34 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Installation of the Adept MV Controller and the Adept PA 4 Power Chassis Joining at the Top 1 Turn off power to each unit and disconnect the power cord Place the two units next to each other Remove the top cover from both see Figure 2 1 2 Locate the C shaped bracket in the accessory kit 3 Slip the bracket under the lip of the top edge of the unit on the right hand side and into the two slots in the edge of the chassis Install two M4 x 8 flat head screws into the lip
67. V Controller Interface Rev A 111 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 6 Technical Specification Adept MV 19 Controller Dimensions a a es DU i Figure 6 2 Adept MV 19 Dimensions 112 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Dimensions Adept PA 4 Power Chassis Dimensions 290 mm 11 4 in s Top View 290 mm 85i ia ry e e e e e e e e e e e e e e e e H AH A A A 479 mm 18 9 in DA ins Ill Ill 5 4 in 1 ie mnm 0 7 in Side View Front View Figure 6 3 Adept PA 4 Power Chassis Dimensions AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 113 Artisan Technology Group Quality
68. a config c Program Prompts When you select Robots and Device Modules from the CONFIG C main menu you see the Robots and Device Modules menu as shown in Figure A 2 The following paragraphs describe the menu items xxx ROBOTS AND DE Return to MAIN MENU LIST current CONFIGURATION of system file device modules in a device module FILE ACE device modules in system file END device modules to system file SELECT device modules for robots Enter selection and press RETURN Figure A 2 Robots and Device Modules Menu NOTE To exit the program at any prompt enter Ctrl Z Return to MAIN MENU Choose this item when you are ready to return to the main menu LIST current CONFIGURATION of system file Select this item to display the device modules in your system file and how they are matched to robots Figure A 3 shows a typical display AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 125 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Appendix A Software Configuration Using CONFIG C SYSTEM FILE Scanning th Enter the drive on which the V system resides A C default is A c system file for device modules Reading configuration data from the system disk Robot 1 Modules Memory 32 0 LMMV X Y Z Theta R
69. a ied e ae 87 4 5 How to Stop AdeptModules in Manual Mode lesen 88 4 6 Prior to Starting the AdeptModules 20 88 Software Configuration 60 nn 88 Adept Utility Disk mmm 88 SPEC Be o iii deed dock te e o eared ales RU LA ERROR RO koa SOR as es 89 Overview of AdeptModules Quick Setup 0 00 00 0 aaa 89 Overview of System Bring UD ene 90 Bringing Up an AdeptModules System 0 0 000 0 aa 90 Single Robot With One Motion Board EJI A en 90 4 7 How to Start AdeptModules eee 92 Enable High Power with the MCP 0 22 2 92 IN Automatic Mode 2 000 ed 92 IN Manual Mode 00 eee ed 93 Calibration PAraMeters ee ees 93 Calibration of the AdeptModules with the MCP 0 cece ees 93 Changing Calibration Direction 2 ees 94 4 8 Moving the AdeptModules with the MCP 00 cece eee eee eee 96 MAN HALT Button for Selecting Joint State 0 eee 96 Joint Axis Control BUTTONS eee ees 96 opeed Ae NA 96 Selecting Joint State and Moving the AdeptModules 97 Selecting and Moving Joint 1 eee 98 Selecting and Moving Joint 2 Y eese 98 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 81 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 4 Commissioning the System Selecting and Moving Joint I2 aaa 98 Selecti
70. al MOOG ics ck deed ya xa rex eor ke key deber e a Ro a ee eom a 25 1 13 Safety Aspects While Performing Maintenance LLusu 25 1 14 What to Do in an Emergency Situation cee eee 25 1 15 How to Get Help 0 2 ce nen 25 IPVEULOD Gack TES 25 Europe Germany oo ccc eee 25 PONCE sind E 26 op I PECTUS 26 In the United States 0 eee ees 26 service CIS iss eo ha Ear REC Eg T Ee RR UE EX Ag pag 26 Application Questions iliis enn 26 Applications Internet E Mail Address 0 A000 A00 sees 26 Training Information aee uices o cte toto tomi d dde a 26 Outside Continental United States or Europe 27 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Table of Contents 2 Installation 2 29 2 1 Environmental and Facility Requirements for AdeptModules 31 Facility Ambient Air Quality for AdeptModules 00s saa a 31 Compressed Air for the AdeptModules 31 Mounting Surface Specifications 0 Aa 31 Mounting Surface oo isse nn 3 2 2 Environmental and Facility Requirements for Controller 31 2 3 Environmental and Facility Requirements for Power Chassis 32 2 4 Before Unpacking the Adept Equipment cee eee eee 32 2 5 Transport and
71. an work efficiently See section 5 4 on page 107 for details on cleaning the filters Installation in a Rack or Panel Mount The power chassis and controller can be mounted in a rack or panel by using the mounting brackets that are shipped in the accessories kit The brackets can be attached at the rear of the controller power chassis for panel mounting or they can be attached to the front of the controller power chassis for rack mounting Panel Mounting To panel mount the controller or power chassis install one bracket on each side near the back of the chassis Use the screws and washers from the accessories kit see Figure 2 3 and Figure 2 4 Rack Mounting To rack mount the Adept PA 4 power chassis joined to an Adept MV 5 10 controller in a standard 19 inch equipment rack use the mounting brackets screws and washers from the accessories kit The brackets can be installed in two positions for rack mounting flush and set back see Figure 2 3 and Figure 2 4 To rack mount the Adept MV 19 Controller in a standard 19 inch equipment rack use the mounting brackets screws and washers provided with the accessories kit see Figure 2 3 To rack mount the controller or power chassis by itself in a standard 19 inch equipment rack you must first install the mounting brackets then build an extender panel and attach it to the bracket on one side of the chassis AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface
72. and PA 4 With Mounting Brackets Installed 116 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Dimensions MCP Cradle Dimensions 10 2 mm 0 40 in 28 7 mm 4 X 1 13 in 4 4 Y s i i i 1 N 271 5 mm 10 69 in 203 2 mm 8 0 in 2 X NN TA 4 8 mm 0 19 in 4 X Y aqu 9 7 mm Hi Ke HET 038in ae EH x N g 9 7 mm Y a 0 38 in p 201 mm 4X 7 91 in p 221 mm dl 8 70 in Figure 6 7 MCP Cradle Dimensions AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 117 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 6 Technical Specification 6 2 2 Adept MV Controller Power Consumption 6 3 The following power consumption information is provided Table 6 1 to allow customers to install adequate electrical wiring and power sources for worst case short duration demands of the Adept MV Controller Table 6 1 Adep t MV Controller Power Requirments m Recommended Nominal Minimum Maximum ner Frequency a External Circuit Voltage Operating Operating Range Phasing Voltage Voltage Breaker 8 8 8 user supplied 200V to 240V 50 6
73. andbook Volume 1 Adept MV Controller Interface Rev A 23 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 1 Safety 1 9 Transport Always use adequate equipment to transport and lift Adept devices See Chapter 3 for more information on transporting lifting and installing Warning Do not stay under the AdeptModule while it is transported 1 10 Safety Equipment for Operators Adept advises operators to wear extra safety equipment in the workcell For safety reasons the operators must wear safety glasses protective headgear safety shoes when they are in the AdeptModules workcell Install warning signs around the workcell to make sure anyone working around the AdeptModules system knows they must wear safety equipment 1 11 Protection Against Unauthorized Operation The system must be protected against unauthorized use Restrict access to the keyboard and the Manual Control Pendant by locking them in a cabinet or use another adequate method to prevent access to them 1 12 Operating Modes of AdeptModules The AdeptModules have two different operating modes Automatic Mode AdeptModules systems are computer controlled and the program that is currently running the AdeptModules may cause it to move at times or along paths you may not anticipate When the key switch for the operating mode is in the AUTO position and the HIGH POWER light or
74. atible computers the programs Procomm or Procomm for Windows available from many computer stores include software emulation for the Wyse 75 Recommended Terminal for S Series Systems The recommended terminal for use with the Adept MV controller is the Wyse WY 60 Also required is a Wyse ANSI VT100 style keyboard Wyse P N 900127 02 or 900128 02 Note The WY 60 is also available with ASCII and IBM Enhanced PC keyboards These are not Adept compatible Make sure to order the correct keyboard The WY 60 is available in both 220V and 110V configurations Installation Procedure 1 Make sure the controller is turned off before making any connections 2 Verify that the voltage range marked on the terminal is compatible with local voltage source Connect the AC power cord to the terminal then plug it into an appropriate voltage source 3 Connect a suitable serial cable between the terminal and the RS 232 TERM connector on the System Processor module 4 Ifthe terminal is a Wyse 60 use the set up mode to set the personality to WY 75 When using terminal emulation software on a computer set the software to WY 75 emulation If WY 75 is not available try VT102 or VT100 However not all of the function keys will be usable 5 Set the terminal baud rate to 9600 the default rate for the Adept system To change the Adept system baud rate refer to the information on CONFIG C in the Instructions for Adep
75. bility or lifetime The following information is provided as a guideline to modifications Acceptable Modifications In general the following AdeptModules modifications will not cause problems but may affect AdeptModules performance Attaching tooling utility boxes solenoid packs vacuum pumps screwdrivers cameras lighting etc to the AdeptModule mounting plates combining brackets or cable brackets Attaching hoses pneumatic lines or cables to the AdeptModules These should be designed so they do not restrict joint motion or cause AdeptModules motion errors Unacceptable Modifications If not done properly the modifications listed below will damage the AdeptModules reduce system safety and reliability or shorten the life of the AdeptModules Caution Making any of the modifications outlined below will void the warranty of any components that Adept determines were damaged due to the modification You must contact Adept Customer Service if you are considering any of the following modifications Modifying any of the AdeptModules harnesses or Modules to controller cables Modifying any AdeptModule covers or drive system components Modifying including drilling or cutting any AdeptModules casting or extrusions Routing additional hoses air lines or wires through the modules or modules cable tracks 1 6 Endangerment Through Additional Equipment Additional equipment such as grippers conveyor belts etc
76. bot Specification Utility SPEC to fully define each robot s characteristics 2 Robot Specification Utility Program SPEC V2 The Robot Specification Utility Program the SPEC program allows you to customize your system file with the required control parameters to move a robot installed by CONFIG C It includes routines to interactively test robot I O such as signals from the amplifiers and encoders and to teach robot parameters such as servo gains and calibration specifications The SPEC program also stores these parameters to the system file so that after the system boots from the modified system disk your custom robot s will be ready to run See the AdeptMotion VME Developer s Guide for information on using the SPEC program Device Module Documentation For each type of device module there is a document describing the information that is required by the device module This document is necessary for the configuration procedure since it informs the user how to answer some questions posed by the SPEC program for that particular module If you need this information for other device modules contact Adept Customer Service 122 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Robots and Device Modules Software Installation Procedure for a New System When configuring a new system follow the re
77. c 1 O 1 0 1 0 1 0 1 Oy 05 0 0 0 0 O O O O O O O O O O O O 0 0 0 0 0 0 O 0 0 O 0 O 0 0 O O O DATA 168 Max acceleration 3 140 DATA 173 Max deceleration 3 140 DATA 169 Max program speed 3 140 DATA 170 Max rate of change in Mtr speed sec 50 DATA 171 Startup S curve profile 0 DATA 172 Startup 3 accel and 3 decel 50 50 DATA 174 SCALE ACCEL speed limit 53 1E 16 BACKLASH AND LINEAR COMPENSATION STOP ON FORCE SPECIFICATIONS DATA 1027 Stop on force integrator gain 0 0 0 END AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 141 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Appendix C Sample Specification File 142 AdepiModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Test and Troubleshooting D 1 ee NLA AA AA 145 D 2 Discrete INpuls 25 enced Het eee sa RU 8 ene we eae EES 145 Status LED Hints sie ou dede Wace weeded ey ee E B ORE ea CR 145 D 3 Error Messages and Cause an 145 Motion Interface E stfop i i es 145 RODT POWT OTT 2 esos Ls ek ee OR eh Red HG 145 Protection EMO iad sss OA Ewe a Ra ES A LR a S qe d Cus 145 D 4 Calibration Related Problems 0 0 00 cc cece eee eee e
78. commended procedures in the order described in this section Once your hardware is installed as described earlier in this guide follow these steps to power up and configure the system 1 Copy the V system sent to you by Adept to the hard drive Do not make changes to the master copy that arrived with your system after duplicating it put it somewhere safe and change only the copy Use the DISKCOPY Utility from the Adept Utility Disk to copy the master to either the hard drive or another floppy disk See the Instructions for Adept Utility Programs included with every Adept system for details 2 Load the proper device modules to the working copy of the system disk using the CONFIG C utility 3 Reboot the system to allow V to recognize the new modules You may see initialization errors displayed by V they can be ignored at this point 4 Use the SPEC program to define the robot specifications link lengths encoder type tuning etc 5 Finally save the SPEC parameters to the system file and to a backup data file using SPEC If you are setting up two or more controllers with similar mechanisms you can use the DISKCOPY utility to copy the fully configured System Files from the first controller to a floppy disk then use DISKCOPY to install the files on the second controller If the systems are electrically and mechanically identical you should then only have to use SPEC to enter the correct serial number and calibration parameters
79. cond configuration requires two motion boards VJI EJI A maximum of four AdeptModules can be controlled from one EJI AdeptModules Configured as Multiple Robots on One EJI The following steps describe configuring multiple AdeptModules on a single EJI board 1 Use CONFIG C to load the LMMV X Y Z Theta device modules One device module is required per robot Complete the interactive mapping of the robot to appropriate device modules as described in Appendix A After completing the CONFIG C procedures and saving the change reboot the computer During reboot there might be initialization errors Ignore the errors for now Load and execute SPEC Refer to Bringing Up an AdeptModules System on page 90 Select AdeptModules Quick Setup Refer to Bringing Up an AdeptModules System on page 90 for configuring each robot While configuring you will probably get error messages similar to Device in use Robot 2 Fatal Initialization failure Mtr 1 Robot 2 Device in use Robot 2 Fatal Initialization failure Mtr 2 Robot 2 Ignore the errors for now From the Main Menu select Change Robot Number and repeat step 4 for each robot Select Change Robot Options and Motor configuration from the Main Menu Do you want to change this configuration y n y Do you want to change Robot Option Bits y n n Enter the number of joints in Robot 1 two in this example Change the motor to channel
80. countersunk E pa screws from the side of the chassis at locations shown in drawing M4 x 10mm pan head screw Place bracket in desired position and secure Panel Mount with indicated M4 pan head screws and washers from accessories kit M4 x 25mm pan head screw 2 places Repeat process for other side of chassis If the power chassis is joined to an Adept MV controller n the position of the screws is different than on the side of the controller See the controller drawing M4 x 10mm pan head screw Rack Mount Flush Figure 2 4 Installing Mounting Brackets on an Adept PA 4 Power Chassis 38 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Installing the A Series Monitor and Keyboard 2 10 Installing the A Series Monitor and Keyboard NOTE Peripheral equipment such as the keyboard and monitor supplied by Adept are intended for use in light industrial conditions In more severe conditions the equipment should be protected with a suitable enclosure Installation Procedure An A Series Adept MV controller can be configured with a color monitor and an extended keyboard with built in trackball Both of these devices connect to the VGB module Figure 2 5 illustrates the steps listed below 1 Make sure the controller is turned off before making any connectio
81. cription 121 123 124 E EJI to Amp cable installation 52 54 55 Emergency Stop circuit see E Stop circuit Emergency Stop switch on External Front Panel 41 Enable Power how to from MCP 92 E Stop circuit 71 79 Customer Safety Barrier switch specifications 71 drawings 78 external input 73 External E Stop input 73 External Front Panel 41 42 controls indicators 41 dimensions 114 installation 42 F Fan filter cleaning 107 Fan filter cleaning in controller 107 Fuses amplifier module 67 chassis 67 G gotolink amvmedg firstpage 92 Grounding diagram 57 system information 56 H High Power enable process description of 71 High Power On Off switch on External Front Panel 41 Humidity required range power chassis 32 l Installation AC power 57 65 External Front Panel 42 floor requirements 31 joining power chassis to controller 34 keyboard 39 MCP cradle 55 monitor 39 mounting surface 31 power chassis in rack or panel 36 power cord to controller 59 system cable connections 50 Installing brake release button 49 Installing SIB 44 49 Instructed persons 23 Introduction 17 AdeptModules 17 J Joint description 121 Joint state with AdeptModules 97 K Keyboard installation 39 L Lamp Test button on External Front Panel 41 Local key switch position 41 M Maintenance checking VFP lamps 108 cleaning controller fan filter 107 Manual Control Pendant calibrating AdeptModules 93 connection on External F
82. d Equipment Cabinet Controller Power Chassis Customer Supplied Ground Wire for End of Arm Tooling Typical Power Distribution Rail LI Equipment Cabinet Ground Point L Customer Earth Ground Figure 2 17 AdeptModules System Grounding Diagram 2 18 Connecting to AC Power AC power must be connected separately to the Adept MV controller and the Adept PA 4 power chassis but the power should come from the same source AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 57 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 2 Installation Connecting AC Power to the MV 5 10 Controller The Adept MV Controller can operate at two different voltage settings The identification ID label identifies the model serial numbers the voltages and the current ratings of the controller The label is located on the left side of the controller chassis A smaller serial number label is also located on the front of the chassis above the On Off switch Always have this serial number available when you call Adept Customer Service for technical suppo
83. d system boots from the modified system disk SPEC Data The Adept Utilities Disk contains the subdirectory SPECDATA This subdirectory contains SPEC parameter files for selected AdeptModules and robot configurations Load the SPEC data files from this disk when using AdeptModules Quick Setup from the main menu of the SPEC program These parameters files can be copied to the hard disk ina separate directory Overview of AdeptModules Quick Setup The AdeptModules Quick Setup allows bringing up the system quickly by loading default SPEC parameter files All the appropriate files are on the Adept Utilities Disk in the directory Spec Data These SPEC parameters are optimized for AdeptModules If the application requires further tuning of the parameters use caution in changing them The AdeptModules Quick Setup is divided into two main sections First load the JOINT INDEPENDENT file and then the JOINT specific file for each module in the robot The JOINT INDEPENDENT files contain information such as number of axes Cartesian parameters etc The JOINT INDEPENDENT file naming convention is LM_XYZ or LM_XZ Where XYZ represents number of axes and kinematic configuration of the AdeptModules system Each JOINT file contains information about a specific joint AdeptModule in the system including tuning parameters encoder configuration calibration configuration etc The JOINT data files are named using the last five digits of Adept
84. dup The filter must be inspected and cleaned at least once per month Regular cleaning will prolong the life of the filter If the filter becomes clogged or unusable for any reason you will need to order a new air filter the Adept part number is 40340 00030 1 Turn off the controller 2 Loosen the two screws on the fan filter cover to gain access to the filter 3 Pull the air filter out and inspect for dust or dirt particles If cleaning is required use compressed air to clean the filter Follow appropriate safety procedures regarding use of compressed air 4 Replace the cleaned air filter and secure the filter holder Adept PA 4 Amplifier Chassis Fan Filter Inspection and Cleaning The air filter located on the front of the chassis should be inspected regularly and cleaned at the first sign of dust or dirt buildup The filter must be inspected and cleaned at least once per month Regular cleaning will prolong the life of the filter If the filter becomes clogged or unusable for any reason you will need to order a new air filter The part number for the filter is 40330 11200 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 107 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 5 Maintenance 5 5 WARNING Dangerous voltages are present inside the power chassis Turn off the power to the power chassis and protect it against an u
85. dy can reach the danger zone of the AdeptModules see EN 294 Adept controller systems for AdeptModules have various control features that can aid the integrator or user in constructing system safeguards including Customer Emergency stop circuitry and digital input and output lines The emergency power off circuitry is capable of switching external power systems See Chapter 3 for information on safe and effective use of the AdeptModules AdeptModules Instructrion Handbook Volume 1 Adept MV Controller Interface Rev A 19 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 1 Safety AdeptModules are capable of moving at high speeds If a person is struck by an AdeptModules impacted serious injury could occur AdeptModules configuration joint speed joint orientation and attached payload all contribute to the total amount of energy available to cause injury Additional Safety Information The standards and regulations listed in this handbook contain additional guidelines for AdeptModules system installation safeguarding maintenance testing startup and operator training Table 1 4 below lists sources for the various standards Table 1 4 Sources for International Standards and Directives BSI British Standards Institute Sales Department Linford Wood Milton Keynes MK14 6LE United Kingdom Phone 0181 996 7000 Fax 0181 996 7001 Beuth Verlag GmbH 10722
86. e Joint 4 Move this joint in the same manner as described for Joint 1 X movement If every joint of the system moved correctly in both directions the installation of the hardware is correct Press the DIS PWR button on the MCP to disable High Power NOTE Refer to Appendix D for testing and troubleshooting information Limiting Joint Travel Refer to the AdeptModules Instruction Handbook Volume 2 Mechanical Assembly or to section 4 9 of the Adept 550 Instruction Handbook for limiting joint travel AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 99 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 4 Commissioning the System 100 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Maintenance 5 1 INITOGUCTION 225 Ng 204 s aw dies Meee as hoes REPIeRa Dam NARRA RE ER ma 103 5 2 Modules Lubrication 1 0 0 0 0 eee eens 103 Lubrication Schedule 000 00 en 103 Lubrigation Grede ad naa ne tone LA dor dw end ek 104 Grease Adapter Nozzle iie 104 Lubrication Procedures oe eee ees 104 5 3 Connectors and PINS 0 eee eee ee 105 Connector Pins and Inserter Extractor TOOIS 0 eee 105 5 4 Maintenance and Inspection of Air Filters 00 2 0 eee eee eee 107 Adep
87. e patterns can be found in AdeptModules Instruction Handbook Volume 2 Mechanical Assembly Connecting Compressed Air Supply to the AdeptModules optional Some end effectors may require compressed air for example pneumatic grippers and AdeptModules have built in air lines for this use The user must supply all tubing and fittings to plumb the facility air supply to the AdeptModules The compressed air to the AdeptModules must meet the specifications listed in section 2 1 on page 31 68 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Preparation for Safe and Effective Use of the Robot 3 1 Overview of Safety System eee 71 INMOGUGTION NCC 71 Operating in Manual Mode ieee 71 User Supplied E Stop Switches 00 ees 71 Terminal Block on External Front Panel 00 aa 72 External E STOP Input s 53 AA a hae Ped bares Ahhh hb Pha ees 73 Passive E Stop OUTPUT a iia waa m pog ee eR aa ea a ead Dee 73 Digital Inputs and Outputs of the System Input Output SIO Module 74 INPUT Sigindls s i 0 etord doe AA 74 Output Signals 22 xoc x exe x beeen REX RE Sea ee ag GN 75 Digital I O Connector Pinouts enn 76 Typical Emergency Stop Circuitry eene 78 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 69 Artisan Techno
88. ee 146 D 5 Setup Related Problems cece eee teen eee 146 D 6 Diagnostic Tests a n m exe xr eee wk es RR RR RC aes 146 Encoder Channel 22s sah ea aor wee eG RR REC EORR ERR d 147 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 143 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com rtisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Introduction D 1 Introduction D 2 This appendix is designed to help quickly test and troubleshoot the AdeptModules system interfaced with the Adept MV Controller Discrete Inputs After all the required hardware is connected the Discrete Input signals can be tested for proper operation There are 17 status LEDs on the Signal Interface Box for troubleshooting refer to Section 2 15 for an explanation or the LEDs Status LED Hints D 3 1 The Overtravel LED stays ON in the normal operating condition 2 CE BRR LED is lit when the 9 pin D sub connector is not plugged into the USER OUTPUT BRAKE REL connector WARNING Do not apply power to the system without having this connector plugged into the USER OUTPUT BRAKE REL socket Damage to the Signal Interface Box or unexpected movement of the Modules can occur 3 The ON condition of the status LEDs does not indicate that there is AC power to the Signal Interface Box P
89. ee ee 24 1 10 Safety Equipment for Operators cc eee 24 1 11 Protection Against Unauthorized Operation 000 0 24 1 12 Operating Modes of AdeptModules cece eee 24 Automatic Mode 00 eee eee eens 24 Mandl MGS t eae dds oe ted ok teen a AK ad dioe ad 25 1 13 Safety Aspects While Performing Maintenance 25 1 14 What to Do in an Emergency Situation cece eee 25 1 15 Howto Get Help os cic ic ccd ett ene Oe eee ee RD Ea wee 25 In Europe a fan ea naw beber eX ee ER RE ead area E Sod Raed oes 25 Europe Gerrmoariy s udo ao i paie Saad PRU RH UR RR RO Hed 25 KONG PED T 26 ao PA 26 inthe United STONES uidere e ct edel aa Ee icon aa ee os e dt 26 Service Cols v eX ORE envoi e ee A aUe ce 26 Application Questions iii en 26 Applications Internet E Mail Address 0000 0 0000 000i 26 Training Information 2 n 26 Outside Continental United States or Europe 0 0 eese 27 AdeptModules Instructrion Handbook Volume 1 Adept MV Controller Interface Rev A 15 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com rtisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Introduction 1 1 Introduction AdeptModules are a family of linear modules see Figure 1 1 that can be used separately or combined into 15 unique 2 and 3 axis configurations
90. either fixed in a place or mobile for use in industrial automation applications is called a manipulating robot ISO 10218 1992 E 2 Notes Cautions and Warnings There are four levels of special notation used in this instruction handbook In descending order of importance they are Warning If the actions indicated in a WARNING are not complied with injury or major equipment damage could result A Warning statement will typically describe the potential hazard its possible effect and the measures that must be taken to reduce the hazard Warning If in a WARNING the actions are indicated with an lightning bolt instead of an exclamation mark an electrical danger or shock is possible for personnel working with the system 18 AdeptModules Instructrion Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Precautions and Required Safeguards Caution If the action specified in the CAUTION is not complied with damage to your equipment could result Note A NOTE provides supplementary information emphasizes a point or procedure or gives a tip for easier operation 1 3 Precautions and Required Safeguards This manual must be read by all personnel who install operate or maintain Adept systems or who work within or near the workcell Warning Adept Technology strictly prohibits installation
91. ements Voltage Minimum Maximum Current Frequency Ranges Operating Operating Phasing Voltage Voltage 100V to 120V 90V 132V 2 Amps 50 60Hz and 1 Phase 200V to 240V 180V 264V 1 Amps Power Entry Module The power entry module is located on the right side of the Signal Interface Box It contains the On Off power switch On O Off e the AC power cord socket e the two incoming AC line fuses rated at 2 5 amps e two spare 2 5 amp AC fuses stored in fuse cover sockets The AC power cord for the Signal Interface Box has the same specifications as the Adept MV controller power cord Refer to Table 2 9 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 65 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 2 Installation 2 19 Additional Power Chassis Information B Amplifier Module Overview The B Amplifier module is a plug in module that contains the circuitry and amplifying components to drive two AdeptModules motors In a typical AdeptModules system there is one B Amplifier module in the Adept PA 4 power chassis This Amp module will drive the motors for two AdeptModules NOTE AdeptModules require a Dual B amp or newer version of the PA4 power chassis Connectors and Indicators 1 Status LEDs The left hand column of LEDs is for the first
92. er to page 55 42 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Installing Non Adept Peripherals in an A Series System 2 14 Installing Non Adept Peripherals in an A Series System Third party monitors keyboards and pointing devices can be used with the Adept MV Controller system The equipment must be compatible with certain standards to work successfully with the MV controller Third Party Monitor Compatibility To use a color monitor other than the one supplied by Adept ensure that the monitor selected meets the specifications shown in Table 2 2 Refer to the Adept MV Controller User s Guide for more information and specifications Table 2 2 Monitor Compatibility Specifications Video Display Resolution Third Party Keyboard Compatibility The Adept MV controller can interface to keyboards that are AT compatible and use a standard DIN 5 connector Third Party Pointing Device Compatibility The Adept MV controller can interface to any serial mouse trackballs or other pointing device that uses the Microsoft mouse protocol 1200 bps The connector must be a 9 pin D sub This port can alternatively be used for a touchscreen using ELO Touchsystems protocol To install a touchscreen disconnect any other pointing devices The MV controller will not support the use of more than
93. ew System Upgrade Procedure for an Existing System A 2 Robots and Device Modules Procedure to Load CONFIG_C A 3 Servo Loop Rate AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Prograrm PFOFTITS e mote on ba aoe eae he ein bale boa 119 rtisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Introduction A 1 Introduction AdeptMotion VME provides the flexibility to control a variety of mechanisms In order for V to control these mechanisms it must know the number and type of the mechanisms and the values of parameters that describe each mechanism and its interface This information is stored on the system disk so that the system will start up ready to calibrate This chapter describes the procedure for installing the software device modules required for your system It is assumed throughout the software sections of this User s Guide that the user has a working knowledge of the V operating system Specific information about V can be found in the V Language User s Guide and the V Language Reference Guide Terminology The following terms are referenced throughout this and the following appendixes Understanding of these terms is crucial to successfully configuring a system Device module the software and data that are instal
94. gnostic LEDs that can be viewed behind the front grille These LEDs are for Adept Field Service use only Chassis Circuit Breaker The power chassis circuit breaker is rated at 15 amps and is located on the lower left front of the chassis on the power entry module It also functions as an on off switch to isolate the chassis CAUTION If the circuit breaker trips due to current overload it indicates an internal fault Do not reset the circuit breaker yourself Contact Adept Customer Service at the numbers listed in Section 1 15 Chassis and Amplifier Module Fuses Six chassis fuses are located inside the base of the power chassis on the power control board These fuses are not user replaceable If you suspect that a chassis fuse may have blown contact Customer Service In addition to the fuses in the power chassis there are additional fuses located inside the power amplifier modules The amplifier fuses are not user replaceable If you suspect that an amplifier fuse may have blown contact Customer Service CAUTION Failure of a chassis or an amplifier fuse indicates an internal circuit fault which must be corrected before the fuse is replaced Do not attempt to replace the fuse yourself Contact Adept Customer Service at the numbers listed in Section 1 15 Removing and Installing Amplifier Modules The Adept PA 4 power chassis is shipped from the factory with the amplifier modules installed in the chassis Any unused slots are filled
95. he Adept equipment is not intended for use in any of the following situations In hazardous explosive atmospheres In mobile portable marine or aircraft systems In life support systems In residential installations In situations where the Adept equipment will be subject to extremes of heat or humidity See specifications for allowable temperature and humidity ranges Warning The given instructions about operation installation and maintenance in this Instruction Handbook must be strictly observed Nonintended use of an AdeptModules can cause injury to personnel damage the AdeptModules or other equipment reduce the system reliability and the performance of the system All persons that install commission operate or maintain the AdeptModules must have the necessary qualifications read and follow exactly the instructions in this Instruction Handbook If there is any doubt concerning the application ask Adept to determine if it is an intended use or not AdeptModules Instructrion Handbook Volume 1 Adept MV Controller Interface Rev A 21 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 1 Safety 1 5 AdeptModules Modifications Sometimes AdeptModules must be modified to successfully integrate them into a workcell Unfortunately many modifications can cause an AdeptModules failure or reduce the AdeptModules performance relia
96. he system that will decommission a safeguard Qualification of Personnel This manual assumes that personnel have attended an Adept MV Controller training course and have a working knowledge of the system The user must provide the necessary additional training for all personnel who will be working with the system As noted in this handbook certain procedures should be performed only by skilled or instructed persons For a description of the level of qualification Adept uses the standard terms Skilled persons have technical knowledge or sufficient experience to enable them to avoid the dangers which electricity may create engineers and technicians Instructed persons are adequately advised or supervised by skilled persons to enable them to avoid the dangers which electricity may create operating and maintenance staff All personnel must observe sound safety practices during the installation operation and testing of all electrically powered equipment To avoid injury or damage to equipment always remove power by disconnecting the AC power cord from the source before attempting any repair or upgrade activity Warning The user is obligated to get confirmation of the following points from all entrusted personnel before they start working with the AdeptModules 1 The person has received the Instruction Handbook has read it and has understood it 2 The person will work in the described manner AdeptModules Instructrion H
97. he workcell because the AdeptModules or motion device might move unexpectedly WARNING Impact Hazard In Automatic mode no personnel are allowed to stay in the workcell The AdeptModules can move at high speeds and exert considerable forces CAUTION The LAMP TEST button on the VFP allows you to check the HIGH POWER light and the PROGRAM RUNNING light on the VFP Adept recommends periodically checking the two lights prior to entry into the workcell NOTE The MCP can be used in Automatic COMP and in Manual MAN mode For example it is possible to calibrate the AdeptModules or to enable High Power with the MCP in Automatic mode 4 3 Using the Brake Release Button Brake Release Button The manual brake release on AdeptModules with brake mechanisms can be used to move that axis manually during setup refer to section 2 15 for installing the manual brake release button CAUTION When the Brake Release button is pressed all joints with brakes are released simultaneously and the joints may drop to the bottom of thier travel To prevent possible damage to the equipment make sure that the joint is supported while releasing the brake and verify that any end effector or other installed tooling is clear of all obstructions WARNING The Brake Release function may be needed to help release a trapped person Failure to correctly install the Brake Release button may prevent rescue and cause additional injury or death 84 AdeptModules
98. is called the AdeptModule Interface cable The AdeptModules end has a barrel type connector The Signal Interface Box end has a 25 pin D connector See Figure 2 13 for wire connections 1 Comnect the Encoder signal barrel connector to the main connector on the AdeptModule and tighten it securely 2 Connect the 25 pin D sub connector to the appropriate axis connector on the Signal Interface Box Tighten the two captive screws securely WARNING Verify that all connectors are fully inserted and secured Loose connectors could cause unexpected AdeptModules motion Table 2 7 EJI specifications Number of axes of control maxi 4 axes of robot joint control per EJI module mum Number of belt encoders maxi 2 conveyor belts per EJI module mum Installing Signal Cables MV Controller to Power Chassis The EJI to Amp cable is the interconnect between the controller and the power chassis This cable assembly has a single plug on the controller end for the EJI see Figure 2 14 and four plugs on the amplifier end for the amplifiers 1 Connect the cable end with the single connector to the connector marked Amplifier Signal on the EJI module see Figure 2 14 2 The other end of the cable with four plugs must be connected in the following pattern a Connect the plug labeled Amplifier Crtl 1 to the B1 Control Signal connector on B Amp 1 Tighten the two captive screws securely b Connect the plug labeled Amplifier Crtl 2 to
99. isan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 4 Commissioning the System 4 WARNING Impact Hazard In Automatic mode no personnel are allowed in the workcell The AdeptModules can move at high speeds and exert considerable forces Calibration involves limited AdeptModules motion Observe all safety precautions Set the VFP operating keyswitch to the AUTO position and verify that the other keyswitch is in the LOCAL position If necessary reenable High Power Press the CMD soft button to display the MCP functions see Figure 4 3 Ensure that none of the joints are positioned at the end of their travel covering the sensors This will cause calibration errors Position the joints in the middle of their travel range AUTO STORE START CALIB ALL CMD1 CMD2 Figure 4 3 Command CMD Function Button Press the soft button below the text CALIB in the display to start calibration Changing Calibration Direction AdeptModules calibrate by default toward the motor end of the module By modifying SPEC parameters and teaching calibration the direction of travel for calibration can be changed The following steps should be used as a guideline for changing the parameters Adept assumes that the user has a working knowledge of SPEC and a general understanding of kinematics before performing this procedure The direction of travel for calibration can be changed
100. ither the MCP or the supplied pendant jumper plug must be connected Installing the External Front Panel VFP The VFP can be mounted in a standard 19 inch equipment rack See Figure 6 5 on page 115 for dimensions Since the back of the VFP is open make sure that it is securely mounted and that electronic components on the back side of the panel are protected from contact by users or other equipment Mount the VFP in the same enclosure as the controller or in a separate protected enclosure See Table 2 1 for enclosure requirements See Figure 2 7 as you follow the procedures listed below SIO Nd d eH e VFP LAMP SYSTEM HIGH POWER gt Test MANUAL AUTO ON OFF p c caes O Kal O Vy U ae PROGRAM PROGRAM PENDANT LOCAL NETWORK START RUNNING OS OOV 3 S Figure 2 7 External Front Panel VFP Installation 1 Turn off the power switch on the front of the Adept MV controller 2 Remove the FP MCP bypass plug from the FP MCP connector on the SIO module 3 Locate the 2 meter Front Panel cable that comes with the VFP Plug one end into the FP MCP connector on the SIO module Plug the other end into the 27 pin D Sub connector on the back of the VFP Tighten the thumbscrews on both connectors 4 If you are not using an MCP install the MCP bypass plug in the MCP connector of the VFP If you are using an MCP ref
101. k mounting 36 Power Chassis to AdeptModule cable installation 51 Power entry module on controller 58 65 Program Running lamp on External Front Panel 41 Program Start switch on External Front Panel 41 Q Qualification of personnel 23 R Rack mounting 36 REPLACE procedure 127 REPLACE APPEND procedure 128 Robot definition of industrial 18 Robot Specification Utility GPEC V2 see SPEC program Robots and Device Modules mainmenu 125 S Safety 19 during maintenance 25 equipment for operators 24 qualification of personnel 23 required safeguards 19 sources for information 20 Safety barriers requirements 19 Sample Spec File 135 143 Servo loop rate setting 128 SIB LED status and indications 45 Signal cable installation 52 Skilled persons 23 Software configuration terminology 121 Software installation procedure fora new system 123 procedure for an existing system 123 Space around SIB 46 Spec File Sample 135 143 SPEC program description 122 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 151 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Index Speed bars on MCP 97 S series controller installation 40 System cable connections 50 System file description 121 System grounding diagram 357 T Temperature required range power chassis 32 Terminology for software configuration 121 Typical digital output wiring 46
102. l Buttons Disable Power Switch Button Figure 4 2 MCP Layout Mode Control and Joint Axis Control Buttons The mode control and joint axis control buttons are used to control the AdeptModules from the pendant Speed Bars The speed bars are used to move the AdeptModules when it is in MCP Manual mode The slow button modifies the speed command by the speed bars NOTE The Step button on the lower right corner of the MCP is used to step through motions in a V program See the V Release Notes for details NOTE For more details on MCP use refer to the Adept MV Controller User s Guide AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 87 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 4 Commissioning the System 4 5 5 How to Stop AdeptModules in Manual Mode There are several ways to stop AdeptModules motion In an emergency press an Emergency Stop button Power will be removed from the AdeptModules immediately Use an Emergency Stop button only in emergency situations For a normal stop press the DIS PWR button on the MCP or release the speed bars on the MCP The AdeptModules will stop with controlled deceleration Ways to stop AdeptModules motion e Press the Emergency Stop button on the MCP or another Emergency Stop button only in emergency situations
103. le the encoder cable is not connected Calibration Related Problems D 5 Once the Software setup is done as described in Chapter 4 the AdeptModules are ready to be calibrated The CALIBRATION will fail if the calibration process is started by entering the CAL command while the AdeptModule is covering any one of the sensors at the ends of the modules travel Ensure that the sensors are not covered before calibration For safety make sure to position the AdeptModule towards the center of the travel range Reboot the Adept MV controller if the calibration was attempted while a module was covering one of the sensors 5 Setup Related Problems D 6 1 AdeptModules Quick Setup is not showing up as a menu item in the main menu of SPEC LMMV X Y Z Theta or Enhance LMMV X Y Z Theta device module is not loaded Refer to Chapter 4 2 Initialization errors are reported after going through AdeptModules Quick Setup This will generally happen with a multiple robot configuration The user can have a multiple robot configuration with one EJI board or with multiple motion boards EJL VJI or MI3 6 in the same Adept MV controller The initialization errors indicate that mapping of the motion board the joints and the motors are incorrect It is also possible that the motion board EJI VJI or MI3 6 address is not set correctly Refer to Appendix B for further details on setting up multiple robots Diagnostic Tests
104. led on the system disk to allow V to understand the geometry and specifications of a particular class of mechanism For example the X Y Z Theta device module contains the software and specifications used to control an XY table with a vertical and roll axis Device module file a file that contains one or more device modules For example a device module file might contain two X Y Z Theta device modules and one external encoder device module Drive or Amplifier user supplied hardware that converts a command signal into motor current Drive and amplifier are used interchangeably in this manual Drive channel one of the hardware ports on the motion interface board that is responsible for interfacing with motors A drive channel has digital I O a Digital to Analog Converter DAC to command an amplifier and support for a position encoder to read motor position Motor the actuator associated with a drive channel There must be at least one motor for each joint of a robot and joint and motor numbering are normally identical However some mechanisms contain motor to joint coupling such that the motion of a given joint may involve the motion of more than one motor Joint a moving element of a robot Joints can be either rotational or linear An XY table has two linear joints Axis an element of the device module model of a mechanism For example the X Y Z Theta module has four axes the X axis Y axis Z axis and Roll a
105. lexibility to control a single robot or multiple robot system from one controller A maximum of four AdeptModules can be controlled from one motion board EJI Four AdeptModules can be configured as one robot or two 2 axis robots or any other combination Refer to Appendix B for a multiple robot configuration Single Robot With One Motion Board EJI This section describes configuring a single robot with one motion board 1 Load the appropriate device module file using CONFIG C program refer to Appendix A for details on CONFIG C There are two device module files that can be used with AdeptModules LMMV X Y Z Theta LM Enhanced LMMV X Y Z Theta ELM LMMV X Y Z Theta is included with the system Use of the enhanced LMMV X Y Z Theta module requires an additional kinematics license Contact Adept for further information 2 Reboot the controller after installing the device module files Initialization errors will occur during reboot Ignore the errors for now 3 Load and execute the SPEC program from the Adept Utility Disk or from the hard disk Adept installs the utility programs in the directory C UTIL 90 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Prior to Starting the AdeptModules load util spec execute 1 a spec Follow the prompts provided by the program xxx ADEPT ROBOT S
106. logy Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com rtisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Overview of Safety System 3 1 Overview of Safety System Introduction Adept Technology highly recommends the use of workcell safety features such as light curtains safety gates or safety floor mats to prevent access to the workcell while power is present These devices would open the E Stop circuit and shut down High Power when activated Make sure sufficient E Stop switches are provided in the workcell so they can be easily reached in an emergency It is possible to control different safety features in relation to the AUTO MANUAL operating mode keyswitch and the terminal block on the external Front Panel Together with the Adept Controller system you have various control features to construct indi vidual system safeguards including e Terminal block on the external Front Panel Emergency stop circuitry Digital input and output lines Operating in Manual Mode An important function of the Emergency Stop system is to protect the operator in Manual mode To work in Manual mode the operator switches the lower keyswitch on the VFP to the LOCAL position and the operating mode keyswitch upper one to the MANUAL position Then the operator gives the instruction to enable High Power either through the ENABLE POWER software instruction
107. ly used to drive the inputs b2 ms response time minimum for fast inputs 1001 to 1003 depending on program task configuration when used with V INT EVENT instruction AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Overview of Safety System Output Signals The digital I O connector handles output signals 0001 to 0008 Refer to Table 3 3 for output specifications The locations of the signals on the connector are shown in Table 3 4 The SIO provides separate and connections for each channel no internal common connections This allows you the choice of wiringfor current sourcing or current sinking mode as required Each output channel circuit should be connected to only one output device Each output circuit is short circuit protected Table 3 3 DIO Output Specifications SIO module Operating voltage range 0 to 24 VDC Operational current range per channel Iout lt 100 mA Varop across output in on condition Varop lt 0 85 V at 100 mA V drop 0 80 V at 10 mA Output off leakage current Tout lt 600 WA Turn on response time hardware 3 usec maximum Software scan rate response time 16 ms scan cycle 32 ms max response time Turn off response time hardware 200 usec maximum Software scan rate response time 16 ms scan cycle 32 ms max response time
108. mapping There are a total of four channels that can be used for servo control Map each joint of Robot 1 to board 1 The board number must match the dip switch address setting on the board see the Adept MV Controller User s Guide The default address is set for board 1 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 131 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Appendix B Multiple Robot Configurations For example Table B 1 Motor to channel mapping Robot 1 Joint Axis Type Motor Board Channel 1 1 Primary 1 1 1 2 2 Primary 2 1 2 9 After the mapping is complete respond Y to the following prompt Do you want to change this configuration Y N 10 Enable the appropriate kinematics axis For example with an X and Y axis for Robot 1 enable axis 1 and axis 2 Axis 1 kinematics X axis Enabled Axis 2 kinematics Y axis Enabled 11 Select Change robot number from the main menu Follow steps 6 to 9 for Robot 2 12 The mapping of Robot 2 should look like this Table B 2 Motor to mapping Robot 2 Joint Axis Type Motor Board Channel 1 1 Primary 1 1 3 2 2 Primary 2 1 4 13 When Robot 2 is properly mapped enable the appropriate kinematics axis For example If Robot 2 has X and Z axes enable axis 1 and axis 3 Axis 1 kinematics X axis Enabled Axis 2 kinematic
109. mensions 6 ees 117 6 2 Adept MV Controller Power Consumption 00 cee eee eee 118 6 3 Adept PA 4 Power Chassis Power Consumption 0500eeeees 118 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 109 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com rtisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Dimensions 6 1 Dimensions Adept Linear Modules Dimensions For the dimensions of the Linear Modules refer to the AdeptModules Instruction Handbook Volume 2 Mechanical Assembly manual Adept MV 5 and MV 10 Controllers Dimensions 16 0 mm 0 6 in 286 7 mm j 215 9 mm j 11 3 in B 8 5in ry 4 e e e e e e e e e e LJ IN 477 7 mm 18 8 in c S E cg up O v7 L7 L LI 15 0 mm 0 6 in Note 1 Allow 75 mm 3 in minimum at front for power cord and signal cable clearance 2 Note 2 Allow 25 mm 1 in minimum at top and bottom for air intake and exhaust Figure 6 1 Adept MV 5 and MV 10 Dimensions AdeptModules Instruction Handbook Volume 1 Adept M
110. n If the encoder count doesn t change at all check the encoder power or the encoder cable connection If the encoder reading changes by only 1 count then one of the two phases of the encoder is not connected AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 147 Appendix D Test and Troubleshooting 148 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Index A AC power connecting power cord to controller 59 connecting to controller 58 connecting to power chassis 60 installation diagram for 200 240VAC 62 installation diagram for 380 415VAC 62 requirements for controller 58 voltage current ratings controller 58 Acceptable modifications 22 Adept 111 AdeptModules 17 calibrating from MCP 93 how to start 92 intended uses 21 modifications 22 moving with MCP 96 static forces 19 Air quality facility requirements for robot 31 Amplifier module fuses 67 installing 68 removing 67 APPEND procedure 128 A Series controller installation 39 Auto keyswitch position 41 Automatic Mode 24 Automatic mode how touse 84 Axis description 121 B B amplifier module connections indicators 66 Brakes description 85 C Cable connections system 5
111. n MCP Manual mode until High Power is turned off or the COMP PWR button is pressed see Figure 4 4 Joint Axis Control Buttons The buttons on the far right side are the Joint Axis control buttons see Figure 4 2 on page 87 When the controller is in Manual mode these buttons select which AdeptModules joint will move or the coordinate axis along which the AdeptModules will move AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Moving the AdeptModules With the MCP Speed Bars The speed bars control the AdeptModules speed and direction see Figure 4 5 The joint s that will move when the speed bars are pressed depend s on the state selected with the MAN HALT button Press the speed bars with your left thumb Pressing the speed bars near the outer ends will move the AdeptModules faster pressing the speed bar near the center will move the AdeptModules slower The maximum speed of the AdeptModules in Manual mode is 250 mm per second 10 ips NOTE Refer to Appendix D for testing and troubleshooting information Fast Slow fl Fast Figure 4 5 Speed Bars Selecting Joint State and Moving the AdeptModules Figure 4 6 shows a typical AdeptModules configuration with three degrees of movement Positive motion of the X axis is away from the motor as viewed from above Positive m
112. nal Block on the Back of the VFP Number Description j System Power switch on the external Front Panel contacts are closed when power is turned on Operating Keyswitch on the external Front Panel contacts are closed in Manual mode Emergency Stop switch on the external Front Panel N C Emergency Stop switch on the Manual Control Pendant N C Oo MIEN N OF AI wy N Hold to Run switch on the Manual Control Pendant N O A o OA A not used A N not used 72 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Overview of Safety System External E Stop Input Pins 42 and 44 on the Digital 1 O connector on the SIO module must be connected through a user provided normally closed NC safety circuit Multiple external emergency stop switches can be connected in series See Figure 3 2 The E Stop circuit should also be used to monitor other safety critical items including but not limited to safety barriers and encoder power supplies Pins 41 and 43 also comprise part of the E Stop circuit for most applications connect pin 41 to pin 43 Passive E Stop Output The passive E Stop output from the SIO module consists of a normally open voltage free relay contact It is controlled by signals received from the external E
113. nauthorized return to service before opening the front grille to inspect the air filter Failure to observe this warning could cause injury or damage to your equipment Turn off the power to the power chassis and protect it against an unauthorized return to service Open the front grille by loosening two screws and swinging the grille out Pull the air filter out and inspect for dust or dirt particles If cleaning is required use compressed air to clean the filter Replace the cleaned air filter and secure the grille Check Lamps on VFP Use the Lamp Test button on the external Front Panel to test the lamps once per month Replace any lamps that are not working Contact Adept Customer Service for replacement information 108 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Technical Specification 6 1 DIMENSIONS 2 a cee AG eee KN KG ee E ROE ABA BAG 111 Adept Linear Modules Dimensions ies 111 Adept MV 5 and MV 10 Controllers Dimensions 4 4 111 Adept MV 19 Controller Dimensions 0 00 ees 112 Adept PA 4 Power Chassis Dimensions ee 113 Dimensions of the Signal Interface Box 0 0 0000 eese 114 Dimensions of the External Front Panel 0 0 0 000 aaa 115 Dimensions of the Mounting Brackets 0 000 ees 116 MCP Cradle Di
114. nce 1 14 Only skilled persons with the necessary knowledge about the safety and operating equipment are allowed to maintain the AdeptModules controller and power chassis Warning During maintenance and repair the power of the Adept PA 4 power chassis and the Adept MV controller must be turned off Unauthorized third parties must be prevented from turning on power through the use of fail safe lockout measures Turn off the circuit breakers lock the cabinet and remove the key What to Do in an Emergency Situation 1 15 Press any Emergency Stop button a red push button on a yellow field and then follow the internal procedures of your company or organization for an emergency situation If a fire occurs use CO to extinguish the fire How to Get Help When calling with an equipment related question please have the serial number of the Adept MV Controller Adept PA 4 power chassis and the part numbers of the AdeptModules The serial numbers are located on the product data labels on each piece of equipment The serial number of the Adept MV controller can also be determined by using the ID command see the V Operating System User s Guide In Europe Europe Germany Adept Technology maintains a European Customer Service Center in Dortmund Germany The phone numbers are AdeptModules Instructrion Handbook Volume 1 Adept MV Controller Interface Rev A 25 Artisan Technology Group Quality Instrumentation G
115. ndbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Sample SPEC File DATA 1058 DATA 1063 DATA 1032 DATA 1042 DATA 1045 Hard envelope error limit cts 12000 12000 6000 Velocity envelope error limit ct ms 100000 100000 100000 Machine input polarity Default motion speed cts ms Counts per commutation cycle 4000 4000 2000 SERVO TUNING PARAMETERS DATA 1048 DATA 1049 DATA 1050 DATA 1003 DATA 1005 DATA 1004 DATA 1006 DATA 1060 DATA 1007 DATA 1062 DATA 1061 DATA 1022 Proportional DC loop gain 52 42 26 Location of zero S plane Z plane values 0 932 0 915 0 925 10 41513 88 83855 77 95824 Location of pole S plane Z plane values 0 750 0 000 0 000 287 6821 1E410 1E 10 Integrator gain 1 1 0 57 0 8 Max value for integrator state 14000 14000 10000 Max position error to integrate 27 27 24 Velocity feed forward gain 25 14 0 Minimum acceleration feed forward gain 0 O O Nominal acceleration feed forward gain 1600 1250 700 Default acceleration feed forward gain 1600 1250 700 Maximum acceleration feed forward gain 10000 10000 10000 DAC output filter pole 0 0 0 CALIBRATION PARAMETERS DATA 200 DATA 1023 DATA 1040 DATA 1041 D
116. nections and Indicators iiie nn 44 Installation of the Signal Interface Box SIB 000 lila 46 Space Around the Signal Interface Box isis isses 46 Typical Digital Output WirINg ise mem 46 Changing User Output Voltage Setting 48 Installing a Brake Release Button isssee een 49 6 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Table of Contents 2 16 Signal Interconnection Installation cee eee 50 System Cable Connections 00 eee es 50 System Cable Lengths 0 es 5 Connecting the AdeptModules to the Power Chassis 51 Installing Signal Cables AdeptModules to Signal Interface Box 52 Installing Signal Cables MV Controller to Power Chassis 52 Installing Signal Cables MV Controller to Signal Interface Box 54 Connecting the MCP to the VFP aaua eee 55 MCP Cragales e cueste enm mte PR hr Rie RE o ane i e n ee ea 55 2 17 Grounding Information sas eese 56 Adept MV Controller Grounding 00 ee es 56 Adept PA 4 Power Chassis Grounding isses 56 2 18 Connecting to AC Power a nnns 57 Connecting AC Power to the MV 5 10 Controller 58 AC Power Requirements 0 eee ees 58 Power Entry Module 0 eee teens 58 Connec
117. nector for digital I O communication There are 12 input channels and 8 output channels All channels are opto isolated The same connector also provides access to the Emergency Stop circuit E Stop input and Passive E Stop output To access this connector a cable with a 50 pin male D Sub connector at one end not supplied with the system is needed Input Signals The digital I O connector handles input signals 1001 to 1012 Each channel has an input and a corresponding return line Refer to Table 3 2 for input specifications The locations of the signals on the connector are shown in Table 3 4 Table 3 2 DIO Input Specifications SIO module Operational voltage range 0 to 24 VDC Off state voltage range 0 to 3 VDC On state voltage range 10 to 24 VDC Typical threshold voltage Vin 8 VDC Operational current range 0 to 20 mA Off state current range 0 to 1 2 mA On state current range 7 to 20 mA Typical threshold current per channel 10 mA Impedance V Tin Current at Vi 24 VDC 1 3 KQ minimum lin lt 20 mA Turn on response time hardware Software scan rate response time 5 usec maximum 16 ms scan cycle 32 ms max response time Turn off response time hardware Software scan rate response time 5 usec maximum 16 ms scan cycle 32 ms max response time the input current specifications are provided for reference voltage sources are typical
118. ned off see Figure 4 1 To operate the MCP put your left hand through the opening on the left hand side of the pendant and use your left thumb to operate the pendant speed bars Use your right hand for all the other function buttons AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 85 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 4 Commissioning the System SO USER WORLD e e3 5 Of SIS a COIS Depress the palm activated enabling switch Figure 4 1 Holding the MCP NOTE The MCP must be stored in the MCP cradle to close the enabling switch when it is not being held 86 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Description of the Manual Control Pendant MCP Description of Buttons on the MCP Liquid Crystal Display LCD User LED Speed Bars Enabling Soft Buttons Q OQ OQ LOL O Predefined Function o lo G9 Buttons No TOOL JOINT FREE e e s Manual State LEDs Emergency Stop Switch Mode Control Buttons Joint Axis Contro
119. ng and Moving Joint 4 Theta 00 0 00 0 aaa 98 4 9 Limiting Joint Travel eee 99 82 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Introduction 4 1 Introduction 4 2 This chapter covers commissioning or putting into service the AdeptModules system This includes verifying that the installation is complete starting and stopping the AdeptModules and moving the AdeptModules with the MCP Physical Connections Before turning on the controller and enabling High Power ensure that the following cables are installed correctly See Chapter 3 for installation instructions e AdeptModules to power chassis e AdeptModules to controller e AdeptModules to Signal Interface Box e controller to power chassis e controller to Signal Interface Box e VFP to controller and MCP Make sure you have installed proper safeguards and E Stop circuits as described in Chapter 1 and Chapter 3 CAUTION Ensure that all screws holding the amp modules and blank panels in the power chassis are securely fastened If they are loose power to the AdeptModules cannot be enabled Make sure that the controller is connected to the correct AC power source See Chapter 3 for the power requirements of the devices Operating Modes AdeptModules have two different operating modes The VFP has a two
120. ns oco omo lt 2o4 zoz B PCM e A Series Color Monitor A Series Keyboard Trackball LILITILE EF IL TILE LL LLIPIPILLIPLIP FL JL TJ Jg ITITIITITIL IFTTTTTITITIT ITTITITITITIU II I III KEYBOARD Figure 2 5 Connecting the A Series Monitor and Keyboard 2 Connect the monitor signal cable to the MONITOR connector on the VGB module 3 Connect the double ended keyboard cable to the KEYBOARD connector and the POINTER connector on the VGB module AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 39 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 2 Installation 4 Verify that the voltage range marked on the monitor is compatible with your local voltage source Connect the color monitor AC power cord to the monitor then plug it into an appropriate voltage source 2 11 Installing a Terminal in an S Series System With an S Series Adept MV controller system the customer must supply the terminal and cable to interface to the controller The terminal must be a Wyse Model 60 or 75 with an ANSI keyboard or a compatible terminal A computer with suitable terminal emulation software can also be used For DOS or Windows comp
121. ns Voltage Output saa aa oe ga User 1 Signal 3001 24 VDC 750 mA User 2 Signal 3002 24 VDC 750 mA User 3 Signal 3003 24 VDC 750 mA User 4 Signal 3004 24 VDC 750 mA Output voltage can be configured at either 12 VDC or 24 VDC gt Maximum current rating for all combined channels is 2 amps Changing User Output Voltage Setting The four user outputs are configured for either 24 volts or 12 volts The default setting is 24 volts Jumper JP1 located on the circuit board inside the enclosure is used to change the voltage To change the setting remove the front cover of the Signal Interface Box and locate the jumper on the upper right hand corner of the circuit board Removing the circuit board from the front panel is not necessary see Figure 2 11 WARNING Electrical hazard Disconnect the power cord prior to opening the Signal Interface Box Hazardous voltages exist inside the Signal Interface Box Failure to disconnect the power can cause injury or kill personnel CAUTION Disconnect the power so that damage to the Signal Interface Box does not occur 48 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Installing the Signal Interface Box SIB See view Aand B o 5 o 5 B e Ji gt ui w Front Cover 5 m Board a Md 2 eco
122. ns spec parameters and robot configuration files for selected modules These utility programs are 1 System configuration program CONFIG C V2 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Prior to Starting the AdeptModules This program configures the number and type of robots in a system A special software file called a device module file must be loaded into the system file in order to use the AdeptModules system Refer to Appendix A for a detailed explanation of CONFIG C Refer to the section Bringing Up the AdeptModules System for a detailed step by step procedure 2 Robot specification utility program SPEC V2 The robot specification utility program referred to as the SPEC program allows customizing of the system file with the required control parameters for AdeptModules It includes routines to interactively configure the AdeptModules system The SPEC program allows use of the Quick Setup of the AdeptModules by loading SPEC parameter files provided with the system The SPEC program will allow modification of the parameters before modifying the parameters be sure to understand the effect of each parameter Adept recommends using the default parameters which are loaded during configuration The program also stores these parameters to the system file so that the configure
123. nt of the voltage selector plug To change the voltage setting remove the selector rotate it 180 so the required setting is shown and replace it See Figure 2 22 Close the grille and secure the two screws Clearly mark or alter the ID label on the side of the chassis to show the new voltage configuration Clearly mark or paste an alternative label over the existing label below the circuit breaker on the front of the chassis to show the new voltage configuration Reconnect the Adept PA 4 Power Chassis to the AC power source see Figure 2 20 and Figure 2 21 e Adept PA 4 Power Chassis with Front Air Intake Grille Removed Ap adept O technology inc PH 380 415 V 380 415 V lt 200 240 V c Voltage Selector Plug Vol otage Selector in 380 415 V position Socket Figure 2 22 Changing Voltage in Power Chassis Connecting AC Power to the Signal Interface Box All Signal Interface Boxes have auto ranging power supplies that operate at either 100 120VAC or 200 220 VAC single phase refer toTable 2 12 64 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Connecting to AC Power Table 2 12 Signal Interface Box AC Power Requir
124. obot Control Module 32 0 LMMV X Y Z Theta Robot Control Module 32 0 LMMV X Y Z Theta Robot Control Module 32 0 LMMV X Y Z Theta Robot Control Module 0 0 End module 0 1KB 65 0 Kbytes of system memory are available for additional device modules Press RETURN to continue Figure A 3 Example System Disk Configuration in CONFIG C The module name such as LMMV X Y Z Theta Robot Control Module is extracted from the device module When you first transfer a device module to your system file a default module name such as those shown Later you can change the name with the Edit start up message menu selection in the SPEC program The module name for each selected device module is displayed whenever the system is booted up as shown in Figure A 4 Copyright c Software Controller Processor 1 Robot 1 Robot 2 Robot 3 27 Mar 95 10 1984 1997 by Adept Technology Inc All rights reserved LMMV X Y Z Theta Robot Control Module LMMV X Y Z Theta Lift Robot LMMV X Y Z Theta Loader Robot 12 1 1 100 Edit L 3302 599 0 0 0 2 5 4Mb 100 1 0 0 8 100 2 0 0 8 100 3 0 0 8 49 33 Figure A 4 Typical Multirobot System Initialization Messages The module list in Figure A 3 indicates that there are three copies of module 32 the LMMV X Y Z Theta robot on this particular system disk The module numbers which are part of the Robot number model serial
125. on Handbook Volume 1 Adept MV Controller Interface Hev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 115 Chapter 6 Technical Specification Dimensions of the Mounting Brackets 266 mm 10 47in ole ele ele eje e e ele ele ele a TO Mi Power Chassis with mounting brackets installed 481 mm 18 94 in alen neal enone le le 040 sio vea vis wi oo oo zS 00 goro 6 00 at AN CAN CA TAN v n b opm gb X v FIN Em 4 bid Px Controller and Power Chassis with mounting brackets installed 3 2 mm 0 13 in 22 2 mm i 0 87 in 133 35 mm 5 25 in Y ry 479 mm 18 8 in 146 05 mm 5 75 in Y 133 35 mm 5 25 in 6 8 mm 0 27 in 4x Y 8 56 mm 0 34 in Y a 33 1 mm 1 30 in 10 3 mm 0 41 in 4x Figure 6 6 Adept MV 5 10
126. one pointing type device at a time AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 43 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 2 Installation 2 15 Installing the Signal Interface Box SIB ARM AXIS 1 AXIS2 SIGNAL CG a o o H O o POWER di Disconnect and Lockout Main Power d 9 2 Before Servicing Equipment HI CE USER OUTPUT H amp AXIS3 ZTHETA AXIS4 BRAKE REL o Figure 2 8 Signal Interface Box Connections and Indicators For the location of the following controls and indicators refer to Figure 2 8 POWER A green LED on the front panel is illuminated when the controller power is turned on and the 50 pin Arm Signal cable is connected AXIS 1 4 Each encoder from the module is connected through a 25 pin D sub connector The Brake signal for each axis also uses these connectors ARM SIGNAL This 50 pin male D sub connector is for signals going to the Arm Signal connector on the EJI module within the Adept MV Controller chassis STATUS LED s The seventeen status LEDs are provided for troubleshooting and status reporting refer to Figure 2 9 and Table 2 3 USER OUTPUT BRAKE REL This 9 pin female D sub connector has several functions refer to Table 2 4 for the pin assignments The four user outputs configured at either 24 or 1
127. onnecting AC Power to the Adept PA 4 Power Chassis The Adept PA 4 power chassis provides amplified power signals to drive the module motors in an AdeptModules system The amplifier modules in the Adept PA 4 power chassis receive control signals from the Adept MV controller The amplifier modules then provide the necessary current to drive various joint motors The Adept PA 4 power chassis is shipped from the factory configured for either 380 415 VAC or 200 240 VAC operation depending on the sales order refer to Table 2 10 A voltage setting label is located on the front of the chassis below the circuit breaker The voltage setting is also shown on the ID label on the side of the chassis Verify that the setting matches facility power before installation This chassis is designed for 3 phase operation only If AC voltage needs to be changed from 380 415 VAC to 200 240 VAC refer to page 63 WARNING Electrical hazard Verify that the voltage settings are correct before turning on power Operating the Adept PA 4 power chassis with incorrect voltage settings can cause damage or injury Table 2 10 Adept PA 4 Power Chassis Power Requirements mag Recommended Nominal Minimum Maximum Voltage Piequeneyr Operating Operating Paternal Phasing Circuit Breaker Range Voltage Voltage user supplied 380 to 415 50 60Hz 342 VAC 424 VAC 20 amps VAC 3 phase with neutral 200 to 240 50 60Hz 180 VAC 245 VAC 20 amps VAC 3 phase
128. otor to axis mapping Te ds Lp 0507 07 Oy Op 05 Or 0 0 OF 0 O O 1 2 1 0 O 0 0 O O O 0 0 0 0 0 O 1 3 1 O O O O 0 0 0 0 0 0 0 0 0 DATA 3 Enabled axis mask 7 DATA 4 Velocity servo enable mask 15 ROBOT INITIALIZATION SPECIFICATIONS DATA 17 Module password Null DATA 15 Modular joint type h10080 m20055 sz40023 DATA 20 Hand OPEN CLOSE signals 0 0 O O DATA 220 Timeouts sec 1 Nulling timeout 2 Driv nable timeout 3 Power on amp on delay 4 Brake off delay 5 Brake on delay 8 1 008 O O O DATA 222 Max time to wait for amp power sec 20 16 DATA 221 Time required for clutch to engage sec 0 AMPLIFIER AND ENCODER SPECIFICATIONS DATA 61 Counts per joint travel cts deg or cts mm 400 400 400 DATA 62 Joint travel per count deg cts or mm cts 2 5E 03 2 5E 03 2 5E 03 DATA 1017 Counts per zero index zero disable 8000 8000 4000 DATA 1016 Zero index configuration 5p 5 6 DATA 1015 Encoder sign non zero gt flip sign 0 O I DATA 1009 Motor sign non zero gt flip sign 0 0 1 DATA 1010 Maximum DAC value 32767 32767 13653 DATA 1059 aximum DAC value in Manual mode 17000 15000 8000 DATA 1012 Duty cycle exceeded DAC limit 10922 10922 4551 DATA 1013 Duty cycle exceeded filter pole 18 18 18 DATA 1014 Motor stalled timeout sec 0 5 0 55 05 DATA 1018 Soft envelope error limit cts 6000 6000 3000 138 AdeptModules Instruction Ha
129. ovement of Z axis is downward Before the speed bars will move an axis the correct axis must be selected from the Joint Axis control buttons AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 97 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 4 Commissioning the System JOINT 3 X Axis Joint 1 Y Axis Joint 2 Z Axis Joint 3 JOINT 1 JOINT 2 Figure 4 6 Joint State WARNING Before moving AdeptModules ensure that all personnel are out of the workcell In Joint State only the selected joint moves After calibration of the AdeptModules switching into Manual mode and reenabling High Power you must select the joint mode 1 Press the MAN HALT button to enable the MCP The MCP is in the correct mode when a The LED on the MAN HALT button is illuminated If it is not illuminated press the MAN HALT button b One of the manual state LEDs is also illuminated the Manual state LEDs indicate the type of manual motion that has been selected either World Tool Joint or Free Press the MAN HALT button see Figure 4 4 several times until the JOINT LED is illuminated When the LED on the MAN HALT button and the JOINT LED are lit Joint state is selected and movement of a specified joint must be selected When an Adept Z Theta Module is being used in Joint State the RX 4 button on the MCP is used In World state
130. ower Chassis four axis configuration 118 Motor to channel mapping Robot 1 i aa 132 Motor to mapping Robot 2 eee ees 132 Multiple Robot Address Setting 6 ees 133 AdeptModules Specifications for Sample Spec File 137 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 13 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com rtisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 1T Introductions a a a an RE Aana ood eee bee dees RG IEEE EEG 17 How to Use this Manual eens 18 Definition of Manipulating Industrial Robot eee 18 1 2 Notes Cautions and Warnings 00 cece eee 18 1 3 Precautions and Required Safeguards 200 e eee eee 19 AdeptModules Static Forces 0 000 s 19 Safety BOMIS seu inse tossed Ee Xue AD kk eae Aah eee 19 Additional Safety Information iiis 20 1 4 Intended Use of the AdeptModules ulellslless 21 1 5 AdeptModules Modifications eee 22 Acceptable Modifications eens 22 Unacceptable Modifications 6 eens 22 1 6 Endangerment Through Additional Equipment Lsssss 22 17 Working ATEOS nis mre Reese eave Womans Rp Rn DAL EUR CR ate agate alter 23 1 8 Qualification of Personnel 0 00 eee 23 EM os ei ek ees Ree RR RERO eee eee
131. ower for the LEDs is supplied by the EJI board in the Adept MV Controller 4 No status LEDs are lit when the Arm Signal cable is not connected Error Messages and Causes Some of the common error messages generated with the AdeptModules system and their causes are listed below For a detailed explanation of all of the errors and problems that can occur with the system refer to the V Language Reference Guide Motion Interface E stop This error is reported when the power is turned OFF on the Signal Interface Box and the system is trying to enable High Power EN POWER Another possibility is that the power for the Signal Interface Box is not on If the power is enabled several times the error could be Robot Power off Protection Error This error is reported when the Adept V 12 0 Software License is not installed on the system in use AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 145 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Appendix D Test and Troubleshooting D 4 RSC Communication Failure Robot Time Out Enabling Power The above two errors are reported consecutively when trying to enable high power while the Arm Signal cable is not connected In this case the system may lock up Motor Startup Failure Mtr in Robot This error is reported when calibration is attempted whi
132. pect each item for external damage as it is removed from its container If any damage is evident contact Adept at the numbers listed in section 1 15 Retain all containers and packaging materials These items may be needed to relocate the equipment Should the shipment be incorrect or damaged on arrival the sales order number and purchase order numbers will be important 32 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Repackaging for Relocation 2 7 Repackaging for Relocation If the AdeptModules or other equipment needs to be relocated reverse the steps in the installation procedures in this section Reuse all original packing containers and materials and follow all safety notes used for installation Improper packaging for shipment will void your warranty 2 8 AdeptModules Installation AdeptModules must always be installed on a base A base could be a mounting plate or table AdeptModules must not be installed directly to the floor AdeptModules can be mounted vertically on the wall or inverted from a gantry or the ceiling For mounting specifications refer to AdeptModules Instruction Handbook Volume 2 Mechanical Assembly AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 33 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SO
133. position rotary keyswitch marked MANUAL and AUTO that controls whether the AdeptModules are operating in Manual or Automatic mode For safety reasons High Power is automatically disabled when the operating mode is changed Manual Operating Mode With the keyswitch in the MANUAL position AdeptModules motion can be initiated only from the Manual Control Pendant MCP When the system is in Manual mode the user cannot initiate a motion with the system keyboard This protects the operator in the workcell from unexpected motions of the AdeptModules In Manual mode the maximum speed of the Tool Center Point and the joints of the AdeptModules is reduced to less than 250 mm per second 10 ips Also the motors run at reduced torque AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 83 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 4 Commissioning the System See section 1 10 on page 24 for a description of safety equipment for an operator who is working in the AdeptModules workcell Automatic Operating Mode The AUTO position of the operating keyswitch permits computer control of the AdeptModules A program that is currently running the AdeptModules or motion device may cause it to move at times or along paths you may not anticipate When the amber HIGH POWER light and the white PROGRAM RUNNING light on the VFP are illuminated do not enter t
134. pt 030 processor This leaves the other 50 6 for V operating system language interpreter trajectory generator kinematics disk and serial drivers etc and the user s application programs At the 500 Hz rate servoing 4 channels will occupy 25 of an Adept 030 leaving 75 6 for V and user activity 128 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Multiple Robot Configurations B 1 Introduction PECTUS 131 B 2 AdeptModules Configured as Multiple Robots on One EJI 131 B 3 Configuring AdeptModules with an Adept Robot 133 Address Settings for Multiple Servo Boards 0 00 eese 133 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 129 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com rtisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Introduction B 1 Introduction B 2 This section describes two different scenarios of Multiple Robot Configuration First the AdeptModules configured as multiple robots on one motion board EJI i e two 2 axes AdeptModules robots running from one board is described and then AdeptModules system with Adept robot 550 A1 A XL Palletizer is covered The se
135. pter 2 Figure 2 13 54 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Signal Interconnection Installation Connecting the MCP to the VFP The optional MCP is connected to the system at the Pendant connector on the VFP see Figure 2 16 See Chapter 4 for instructions on using the MCP Install the MCP to the connector that is marked PENDANT on the VFP WARNING The VFP has two key switches one to select the device that controls program execution and one to select the operating mode Before using the MCP in the workcell the operating key switch must be set to MANUAL and the other one to LOCAL This will prevent program execution from being started from the keyboard or terminal External Front Panel VFP LAMP SYSTEM HIGH POWER gt TEST MANUAL AUTO o POWER ONOFF c Ger O Ey of PET Logu nemom SRM ERR Q c 9500 o MCP Bypass Plug Install if no MCP Manual Control Pendant Figure 2 16 MCP Connection MCP Cradle The MCP is stored in the MCP cradle when it is not being held by an operator The cradle has a retaining clip that keeps the Hold to Run switch closed The MCP cradle must be installed outside of the AdeptModules workcell See Figure 6
136. r Interface Rev A 45 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 2 Installation Table 2 4 User Output Brake Release Connector Pin Assignments Pin Number Signal Type Signal Description 1 Output User Output 1 2 Output User Output 2 3 Output User Output 3 4 Output User Output 4 5 Return Return 6 24V Not for Use 7 Input Future Use 8 Return Return 9 Input Manual Brake Release The CE_BRK signal on Pin 7 is not used currently CE BRK pin 7 and 24V pin 6 are tied together in the 9 pin male D sub connector supplied by Adept Do not use the 24V pin 6 for external use Installation of the Signal Interface Box SIB The Signal Interface Box is designed for panel mounting Use M6 UWC 1 4 20 screws with washers for proper mounting Space Around the Signal Interface Box When installing the SIB ensure that there is 25mm 1 inch of free air space around the SIB except on the right side where 50mm 2 inches is required for the AC power cord installation This will allow for proper cooling Also allow 75mm 3 inches in front of the SIB for power and signal cable clearance Typical Digital Output Wiring Figure 2 10 shows the user output wiring The four user outputs on the User Output Brake Rel connector are used in conjunction with the Adept MV controller software signals refer to Table 2 4 The maximum
137. r configuration from the main menu of SPEC In order to verify AdeptModules setup you must change the robot number from main menu as well 134 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Sample Specification File C I INITOAUCTION aa KG ences e saben NBSA eae ed nina ha mag 137 C 2 Sample SPEC File eee eee 137 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 135 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com rtisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Introduction C 1 Introduction C 2 This appendix gives an example of a three axis AdeptModules system SPEC file Don t assume that it will work in all applications 2 Sample SPEC File HEADER Table C 1 shows the contents of a sample specification file that was created for an AdeptModules LMMV X Y Z system with three axes In addition to specification information the file also contains some computed values that were automatically derived from the robot specification data Table C 1 AdeptModules Specifications for Sample Spec File Axis AdeptModule Part Number X Axis 800mm H Module 90400 10080 Y Axis 550mm M Module 90400 20
138. ront Panel 42 how to use 85 88 installation 55 Manual Mode 25 Manual mode High Power enable process 71 how to stop robot 88 howto use 71 83 module speed limited 71 Manual keyswitch position 41 MCP cradle dimensions 117 150 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Index installation 55 MCP see Manual Control Pendant Mode control buttons on MCP 96 Modifications acceptable 22 unacceptable 22 Module how to stop in Manual mode 88 joint locations 18 speed limited in Manual mode 71 transport and storage 32 unpacking and inspection 32 Monitor installation 39 Motor description 121 Mounting brackets dimensions 116 install positions controller 37 power chassis 38 installation 36 Mounting plate specifications 31 Multiple Configurations 129 N Network keyswitch position 41 O Operating environment specifications controller and power chassis 31 Modules 31 Operating Keyswitch on External Front Panel 41 Operating modes Automatic 24 84 Manual 25 83 p Panel mounting 36 Passive E Stop 73 Pendant connection on External Front Panel 42 Physical Connections of the Modules 83 Power chassis changing voltage setting 63 circuit breaker 67 connecting to controller dimensions 113 52 54 55 fuses 67 grounding 56 joining to controller 34 panel mounting 36 rac
139. rt The Adept MV 5 and MV 10 controllers have auto ranging power supplies that operate at either 100 120 VAC or 200 240 VAC single phase The Adept MV 19 controller operates at either 100 120VAC or 200 240 VAC single phase MV 19 controllers are shipped from the factory set to 200 240 VAC single phase Contact Adept Customer Service for details on changing to 100 120 VAC configuration refer to Table 2 8 AC Power Requirements Table 2 8 Adept MV Controller Power Requirements Recommended Nominal Minimum Maximum Sa Frequency External Circuit Voltage Operating Operating Range Phase Voltage Voltage Dreakel 5 5 5 user supplied 200V to 240V 50 60 Hz 180V 260V 10 amps Factory 1 phase Setting 100V to 120V 50 60Hz 90VAC 132VAC 10 amps 1 phase Power to the Adept MV controller and PA 4 power chassis must come from a single source The maximum interruption time operating voltage below specification tolerated by the controller is 16 milliseconds Power Entry Module The power entry module is located at the lower left side of the controller front panel see Figure 2 18 It contains the On Off power switch I On O Off e the AC power cord socket e the two incoming AC line fuses rated at 10 amps 58 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisan
140. s See Table 3 1 for the terminal assignments of the terminal block on the external Front Panel for the monitoring of the Emergency Stop switches on the Manual Control Pendant and the external Front Panel and the Hold to Run button on the MCP Terminal Block on External Front Panel Adept provides voltage free contacts on the terminal block on the back of the external Front Panel for monitoring the emergency circuitry components and other switches It is a vital part of your safety system The user has access to the voltage free contacts of the Emergency Stop switches on the Manual Control Pendant and the external Front Panel Additionally there are contacts for monitoring the Hold to Run switch on the MCP and the position of the System Power and Operating Mode switch on the external Front Panel See Table 3 1 for assignment of the terminals The voltage free contacts can be used to create additional safety circuitry or to monitor the existing one For instance the user can control additional contactors with the voltage free contacts that turn on and off the power supply to the PA 4 power chassis Then it is possible to enable High Power to the motors of the module only if the E Stop circuitry is closed See Figure 3 3 for an example of additional safety equipment that uses the voltage free contacts on the external Front Panel and the external E Stop Inputs on the SIO Module in the Adept MV Controller Table 3 1 Terminal Assignment of the Termi
141. s Y axis Disabled Axis 3 kinematics Z axis Enabled 132 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AdeptModules Configured as Multiple Robots on One EJI Configuring AdeptModules With an Adept Robot B 3 AdeptModules and an Adept robot 550 Adept 3 XL Adept 1850 can be controlled from one Adept MV controller This procedure applies only to the system where the AdeptModules are configured as single robot on one EJI There are several things that must be considered e The Adept robot must be Robot 1 default setting e The AdeptModules must be configured using CONFIG_C as Robot 2 Refer to Bringing Up an AdeptModules System on page 90 and CONFIG_C in Appendix A for more detail e The Motion board VJI EJI addresses must be set properly For example Table B 3 Multiple Robot Address Setting Robot 1 Adept robot VJI address 1 Robot 2 AdeptModules EJI address 3 Address Settings for Multiple Servo Boards If you have MI6 boards installed with a VJI EJI each board must have a unique VME bus address Check the address settings on all boards to ensure they are all different If you purchased the Adept MV controller from Adept with all the motion modules installed the correct DIP switch settings will have already been set In systems with
142. specification information FOR ALL ROBOTS IN THE SYSTEM The information that is currently contained in memory is written to the system boot disk Before writing the data you should make a copy of the boot disk and ALTER ONLY THE COPY of the disk Do you want to write the data to the boot disk Y N Respond Y and the program will ask to verify that the user wants to update the system disk Respond Y and the program will ask Which disk drive contains the system disk A C Insert a system disk in drive A if necessary The program will ask for final verification Then the updating process begins For detailed information on the SPEC program refer to AdeptMotion VME Developer s Guide Use the DISKCOPY utility to make a backup of the configured V system How to Start AdeptModules Before AdeptModules motion can be initiated High Power must be enabled and the AdeptModules must be calibrated NOTE Refer to Appendix D For Testing and Troubleshooting information Enable High Power with the MCP In Automatic Mode Follow these steps to enable High Power in Automatic mode with the MCP NOTE If High Power is on and you release the enabling switch on the MCP the system recognizes an emergency stop signal and will turn off High Power immediately 1 Turn on the power switches on the controller and the power chassis 2 Set the VFP System Power switch into the position to turn on system power
143. stalling Amplifier Modules 1 2 Turn off the power chassis and the Adept MV controller If the slot has a blank panel installed loosen the captive screws at the top and bottom of the panel and remove it Verify that the intended slot for the module is ready to accept the module Align the module with the card guide slots at the top and bottom of the card cage Slide the module in slowly Apply straight forward pressure to the top and bottom handles until it is firmly seated in the rear power connector and the face of the module is flush with the other modules It should not be necessary to use excess pressure or force to engage the connector If the board does not properly connect with the rear power connector remove the module and inspect the connector and guide slots for possible damage or obstructions Tighten the captive screws at the top and bottom of the module WARNING There is an interlock circuit that prevents enabling power if the amp module screws are not tightened securely This also applies to any blank panel cover s There are dangerous voltages present inside the power chassis do not attempt to operate without blank panel cover s installed in any unused slots 2 20 Installing End Effectors on AdeptModules Providing an end effector or other necessary tooling is the responsibility of the user If hazardous voltages are present at the end effector install a ground cable to the end effector Mounting hol
144. t Pollution degree 2 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 31 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 2 Installation 2 3 Environmental and Facility Requirements for Power Chassis 2 4 The Adept PA 4 power chassis is typically installed in the same enclosure as the controller See Table 2 1 for environmental requirements See Table 2 8 on page 58 for electrical requirements i Before Unpacking the Adept Equipment 2 5 Carefully inspect all shipping crates for evidence of damage during transit If any damage is indicated request that the carrier s agent be present at the time the container is unpacked Transport and Storage For the transport and storage of the crates and boxes use an adequate tool such as a pallet jack or a forklift WARNING Some crates and boxes are heavier than others Do not attempt to transport all AdeptModule boxes by hand The use of a pallet jack or forklift etc may be required WARNING The center of gravity of the AdeptModules shipping crates is not in the middle of the boxes Pay attention when you transport the crates Unpacking and Inspecting the Adept Equipment 2 6 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 Ins
145. t MV 19 Controller Fan Filter Inspection and Cleaning 107 Adept MV 5 MV 10 Controller Fan Filter Inspection and Cleaning 107 Adept PA 4 Amplifier Chassis Fan Filter Inspection and Cleaning 107 5 5 Check Lamps on VFP 2 00 eee 108 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 101 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com rtisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Introduction 5 1 Introduction 5 2 Due to their direct drive design the AdeptModules require very little maintenance This chapter describes the preventive maintenance procedures that are required to keep the AdeptModules system operating properly Modules Lubrication Lubrication Schedule Each Module should be lubricated after 5000 kilometers 3 100 miles or 16 400 000 feet of travel To calculate the estimated time it will take for a module to travel this distance use the following equation Number of Hours Travel Distance to Lubricate x Seconds per Cycle Travel Distance per Cycle x 3600 seconds per hour For example if a module performs a 2 meter travel in 4 seconds the recommended number of elapsed hours between lubrication is Number of Hours 5 000 000 meters x 4 seconds per cycle 2 778 hours 2 meters per cycle x 3600 seconds per hour 2 778
146. t Utility Programs 2 12 Installing AdeptWindows PC An Adept MV system can be programmed and controlled by AdeptWindows PC AdeptWindows PC is a MicroSoft Windows based program that allows full programming and control of the AdeptModules from an IBM compatible personal computer The computer can be connected to the Adept controller with a serial cable or by an ethernet link For instructions on installing and configuring AdeptWindows PC see the AdeptWindows User s Guide 40 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Installing the External Front Panel 2 13 Installing the External Front Panel SYSTEM HIGH POWER O MANUAL AUTO o POWER ON OFF Cc EMERGENCY STOP cert COCO PROGRAM PROGRAM PENDANT LOCAL NETWORK START RUNNING Sinag Figure 2 6 External Front Panel VFP Controls and Indicators For the location of the following controls and indicators refer to Figure 2 6 EMERGENCY STOP switch This push pull emergency stop switch removes HIGH POWER and brings any installed motion device to an immediate stop when pressed HIGH POWER ON OFF lamp amber This lamp works in conjunction with the Enable Power command If the amber lamp is on the AdeptModules are operating under servo control When the lamp is off the system is not under servo
147. tModules System 00 ees 90 Single Robot With One Motion Board EJI 90 4 7 How to Start AdeptModules cee eee 92 Enable High Power with the MCP 02022 nn 92 In Awuternaric Mode 2 sche haaa be hada eode ben hana 92 In Manual Mode 00 me 93 Calibration Parameters ees 93 Calibration of the AdeptModules with the MCP 000 cee ees 93 Changing Calibration Direction 6 0 0 en 94 4 8 Moving the AdeptModules With the MCP 002 cece eee eee 96 MAN HALT Button for Selecting Joint State 0 000 00 lasa 96 Joint Axis Control Butfons ee ees 96 Speed BGars usce e aet el eee Pa be TOR WE deae Fe oe oe 97 Selecting Joint State and Moving the AdeptModules 97 Selecting and Moving Joint 1 OQ ieee 98 Selecting and Moving Joint 2 YY eese 99 Selecting and Moving Joint 3 QD ce eee 99 8 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Table of Contents Selecting and Moving Joint 4 Theta es 99 4 9 Limiting Joint Travel 0 2 0 0 0c I IIIA 99 D Maintenance 0 ee 101 Sel INMOGUCTON am serrer pecie Es Ceci en BR Mei enact ane 103 5 2 Modules Lubrication 0 0 0 eee 103 Lubrication Schedule sises dex baa ete hn ete e ee KAPRE NG 103 Lubrication Grease xs e
148. tg com Connecting to AC Power WARNING FOR CONTINUED PROTECTION HIM AINO ISN b 2 3 c G m o 100 240V 50 60HZ Figure 2 18 Adept MV Controller Power Entry Module Connecting AC Power Cord The AC power cord is included in the accessory kit The controller end of the power cord is fitted with an IEC 320 connector The user end of the cord is unterminated WARNING Electrical hazard The installation of the power cord must be done by a skilled person The power supply can injure or kill the person who installs the cords or an incorrect installation can injure or kill anybody who touches the equipment in the AdeptModules workcell Connect each conductor of the power cord securely to the AC power source using the color code shown in Table 2 9 Provide a suitable plug or other facility connection in accordance with all applicable regional and national codes See section 2 17 on page 56 for important information on system grounding Table 2 9 Adept MV Controller Power Cord Specifications Cord length 3 meters 40 1 m 9 ft 10 in 4 in Cord rating 10 amps Number and size of 8 x 1 00 mm conductors Color Code line brown neutral blue ground green yellow AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 59 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 2 Installation 60 C
149. the B2 Control Signal connector on B Amp 1 Tighten the two captive screws securely 52 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Signal Interconnection Installation c Connect the plug labeled Amplifier Crtl 3 to the B1 Control Signal connector on the B d Comnect Amp 2 Tighten the two captive screws securely the plug labeled Amplifier Crtl 4 to the B2 Control Signal connector on the B Amp 2 Tighten the two captive screws securely EJI Module in Adept MV Controller 8 EJI sO Oure 1002 3004 s001 NA AMPLIFIER SIGNAL JP BELT ENCODER 5 ARM SIGNAL 9 Install EJI to Amp cable here Install EJI to Signal Interface Box cable here Figure 2 14 AdeptModules to EJI Cable Installation AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 53 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 2 Installation eh hoa Hosp cc Axis 3 00 Axis 1 0 Axis 2 Axis 4 o c c 88 lt gt gt TO imgs y CS CS Oe
150. the System Input Output SIO Module 74 AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 7 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Table of Contents INPUT Signals iaa gucken eee oie a eed ede on 74 Output Signals aieia enn 75 Digital I O Connector Pinouts iiis n 76 Typical Emergency Stop Circuitry eene 78 4 Commissioning the System eee eee 81 AnD INMOGUCTION PCR PETIT 83 Physical CONNECTIONS eee eens 83 4 2 Operating Modes eee 83 Manual Operating Mode 0 eene 83 Automatic Operating Mode i 3 84 4 3 Using the Brake Release Button 0c cece eee eee 84 Brake Release BUTTON tees 84 IG CA be KAEN 85 4 4 Description of the Manual Control Pendant MCP 85 How to Hold the MCP 00 hes 85 Description of Buttons on the MCP 0 0 eee es 87 Mode Control and Joint Axis Control Buttons 87 Speed BOIS ss weak y Pane eae Rad AMR Ri eae RR ER ws 87 4 5 How to Stop AdeptModules in Manual Mode Lllsses 88 4 6 Prior to Starting the AdeptModules 0 000 cee eee 88 Software Configuration ama pa 00k sree ewe me DED OLE PORES ER Eq an 88 Adept Utility Disko mmm 88 SPEC Be ea 89 Overview of AdeptModules Quick Setup 00 0 sse 89 Overview of System Bring Up a 90 Bringing Up an Adep
151. ting AC Power Cord enn 59 Connecting AC Power to the Adept PA 4 Power Chassis 60 Connecting the Power Chassis AC Power Cord 61 Typical AC Power Installation Diagrams 0 0 0 60 eee ee 62 Changing Voltage Setting for Power Chassis 63 Connecting AC Power to the Signal Interface Box 64 Power Entry Module 00 03 65 2 19 Additional Power Chassis Information cece eee eee 66 B Amplifier Module Overview oe n 66 Connectors and Indicators ee 66 Power Chassis Circuit Breaker and Fuse Information 67 Chassis Circuit Breaker 00 isses es 67 Chassis and Amplifier Module Fuses 00 000 aaa 67 Removing and Installing Amplifier Modules 000 0 0 00 lll 67 Removing Amplifier Modules 0 0 0 0 n 67 Installing Amplifier Modules 0 00 0 m n 68 2 20 Installing End Effectors on AdeptModules 0 0 00 eee eee 68 Connecting Compressed Air Supply to the AdeptModules optional 68 8 Preparation for Safe and Effective Use of the Robot 69 3 1 Overview of Safety System 2 0 annann annann 71 INMOGUCTION AT 71 Operating in Manual Mode kes 71 User Supplied E Stop Switches ossaa 0 eens 71 Terminal Block on External Front Panel 0 0 0 ees 72 External E Stop Input secr eee erra 73 Passive E Stop OUTPUT rre erar eee eR RR dor ce eas 73 Digital Inputs and Outputs of
152. truction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Maintenance and Inspection of Air Filters 5 4 Maintenance and Inspection of Air Filters Adept MV 19 Controller Fan Filter Inspection and Cleaning CAUTION If the fan stops working or the filter becomes dirty the controller could overheat and cause a thermal failure This applies to all models of Adept MV controllers The air filter located on the front of the chassis should be inspected regularly and cleaned at the first sign of dust or dirt buildup The filter must be inspected and cleaned at least once per month Regular cleaning will prolong the life of the filter If the filter becomes clogged or unusable for any reason you will need to order a new air filter the Adept part number is 40330 11190 1 Turn off the controller 2 Open the front grille by loosening two screws and swinging the grille out 3 Pull the air filter out and inspect for dust or dirt particles If cleaning is required use compressed air to clean the filter Follow appropriate safety procedures regarding use of compressed air 4 Replace the cleaned air filter and secure the grille Adept MV 5 MV 10 Controller Fan Filter Inspection and Cleaning The air filter located on the front of the chassis should be inspected regularly and cleaned at the first sign of dust or dirt buil
153. ty Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 2 Installation Typical AC Power Installation Diagrams L1 30 L2 t 380 415V 13 ze SIGUAN 200 240V 20A N n PE F4 10A PE N L3 L2 L1 PE N L1 Adept PA 4 Adept MV 8 MV 19 30 380 415V 10 200 240V Note F4 is user supplied Figure 2 19 Typical 380 415 VAC Connection EA 30 L2 1 wt F200 240v 200 240V B 20A B F4 F5 10A PE L3 L2 L1 PE L2 L1 Adept PA 4 Adept MV 8 MV 19 36 200 240V 10 200 240V Note F4 and F5 are user supplied Figure 2 20 Typical 3 Phase 200 240 VAC Connection 62 AdepiModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Connecting to AC Power Changing Voltage Setting for Power Chassis To change the AC voltage setting from 3 phase 380 415 VAC to 3 phase 200 240 VAC follow the two part procedure below This procedure must be done only by a skilled person and should be performed before installing the power chassis WARNING Electrical hazard Changing the voltage setting in the power chassis must be done by a skilled person The power supply can injure or kill a person who does not perform this procedure correctly Part 1 Insulating the Blue
154. tyle pins If these pins need to be repaired or replaced additional pins and an inserter extractor tool are required Description JAE Part Number Encoder Pins 030 51906 800 Motor Pins 030 51928 800 The motor pins are the larger of the two pins Adept Technology has a limited supply of these pins to send to customers on request Please contact Adept Technology Customer Service AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 105 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 5 Maintenance Description Part Number Color Encoder Pin Inserter JIET D C 20 Red White Extractor Tool Contact JAE directly for this Inserter Extractor Tool JAE Electronics 142 Technology Drive Irvine CA 92718 2401 Phone 714 753 2600 Fax 714 753 2699 A different tool is required for replacing motor pins Description Part Number Color Motor Pin Inserter CIET 16 Blue White Extractor Tool This tool is provided with each spare motor shipped by Adept Contact JAE for additional tools Another source for this tool is Aiconics USA The Aiconics part number is M81969 14 03 Contact the following company for this Aiconics tool Connector MicroTooling Systems 14500 Trinity Blvd Suite 110 Fort Worth Texas 76155 Phone 817 283 4882 Fax 817 354 0790 106 AdeptModules Ins
155. uaranteed 888 88 SOURCE www artisantg com Chapter 1 Safety 49 231 75 89 40 Monday to Friday 8 00 to 17 00 CET 49 231 75 89 450 FAX France For customers in France Adept Technology maintains a Customer Service Center in Paris France The phone numbers are 33 1 69 19 16 16 Monday to Friday 8 30 to 17 30 CET 33 1 69 32 04 62 FAX Italy For customers in Italy Adept Technology maintains a Customer Service Center in Arezzo Italy The phone numbers are 39 575 3986 11 Monday to Friday 8 30 to 17 30 CET 39 575 3986 20 FAX In the United States Adept Technology maintains a Customer Service Center at its headquarters in San Jose CA The phone numbers are Service Calls 800 232 3378 24 hours per day 7 days a week 408 433 9462 FAX Application Questions Note Address all applications questions Monday to Friday 8 00 A M to 5 00 P M in the respective time zone of the regional office calling Western Region 408 434 5033 Midwestern Region 513 792 0266 Eastern Region 203 264 0564 Applications Internet E Mail Address If you have access to the Internet you can send applications questions by e mail to applications adept com Training Information For information regarding Adept Training Courses in the USA please call 408 474 3246 or fax 408 474 3226 26 AdeptModules Instructrion Handbook Volume 1 Adept MV Controller Interface Rev A Artisan Technology
156. uipment 32 2 7 Repackaging for Relocation 0 0060 cee ees 33 2 8 AdeptModules Installation 0 00 eee 33 2 9 Installation of the Adept MV Controller and the Adept PA 4 Power Chassis 34 Joining an Adept PA 4 Power Chassis to an Adept MV Controller 34 Joining at ihe TOP iae pee sak puce Panem Pea eas 35 Joining at the Bottom i i nn 35 Space Around the Chassis 0 ees 36 Installation in a Rack or Panel Mount eee 36 Panel MOUNTING tet ect NA beaded bat fe ce o ea 36 Rack MOUNIING sq co iem p CR e X qp eee MAA a GR SUA 36 2 10 Installing the A Series Monitor and Keyboard LLsusususss 39 Installation Procedure issssseee mens 39 2 11 Installing a Terminal in an S Series System a 40 Recommended Terminal for S Series Systems 40 Installation Procedure oe eee ees 40 2 12 Installing AdeptWindows PC cece IRR 40 2 13 Installing the External Front Panel 00 e eee 41 Controls and MACOS e ue act e eet NBP a etc 41 Installing the External Front Panel VFP 0 ees 42 2 14 Installing Non Adept Peripherals in an A Series System 43 Third Party Monitor Compatibility eens 43 Third Party Keyboard Compatibility 0 0 0 a 43 Third Party Pointing Device Compatibility eese 43 2 15 Installing the Signal Interface Box SIB sussllssslsusse
157. with blank covers Normally you will not need to remove the amplifier modules If you do need to remove and reinstall a module for some reason follow the instructions below The four slots in the chassis are not interchangeable Some slots have special control signals The amplifier modules are factory installed in the correct slots Contact Adept Customer Service if you need to relocate any modules WARNING Do not attempt to install or remove any amplifier modules without first turning off the power to the power chassis and all related external power supplies Failure to observe this warning could cause injury or damage to your equipment Removing Amplifier Modules 1 Turn off the power chassis and the Adept MV controller 2 Note the location of any cables connected to the module then disconnect them 3 Loosen the captive screws at the top and bottom of the module AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 67 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 2 Installation 4 Using both the top handle and bottom handle pull the module straight out of the chassis Remove the module from the chassis and store it in a safe place CAUTION To prevent amplifier modules from being exposed to electrostatic discharge ESD while handling or storing them Adept recommends using an antistatic ground strap when handling modules In
158. xea sx xa e Rea Ronan Ak PAA Pahang pg 104 Grease Adapter Nozzle ss crsrrrsa rradisa een 104 Lubrication Procedures tes 104 5 3 Connectors and Pins srn eee 105 Connector Pins and Inserter Extractor Tools 0 00 ees 105 5 4 Maintenance and Inspection of Air Filters eee eee 107 Adept MV 19 Controller Fan Filter Inspection and Cleaning 107 Adept MV 5 MV 10 Controller Fan Filter Inspection and Cleaning 107 Adept PA 4 Amplifier Chassis Fan Filter Inspection and Cleaning 107 5 5 Check Lamps on VFP 2 cee eee eee eee 108 Technical Specification leeren 109 6 1 DIMENSIONS ees eds cascceerden NERD DN ANDA acide ao edebat aces 111 Adept Linear Modules Dimensions ies 111 Adept MV 5 and MV 10 Controllers Dimensions 0 4 4 Aa 111 Adept MV 19 Controller Dimensions 000 eee ees 112 Adept PA 4 Power Chassis Dimensions ees 113 Dimensions of the Signal Interface BOx i eese 114 Dimensions of the External Front Panel 0 4 ees 115 Dimensions of the Mounting Brackets 0 0 00000 eee 116 MCP Cradle Dimensions ie n 117 6 2 Adept MV Controller Power Consumption 000 cece eee ee 118 6 3 Adept PA 4 Power Chassis Power Consumption lsssss 118 Software Configuration Using CONFIG C 119 A T Introd clion AG LALA NA e Racer aed e Rc haa ERA
159. xis but a two axis XY table uses only two of those axes as robot joints Robot refers to the mechanism you are controlling Robot and mechanism are used interchangeably in this chapter System File disk file that contains the software and data that comprise the V system This file is read into memory when the V system is booted from a system disk AdeptModules Instruction Handbook Volume 1 Adept MV Controller Interface Rev A 121 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Appendix A Software Configuration Using CONFIG C Adept Utility Disk The Adept Utility Disk contains two program packages that are used to customize a system disk for your particular robot configuration These utility programs are 1 System Configuration Program CONFIG_C V2 This package configures the number and type of robots in your system Each different robot type such as Cartesian or SCARA has a special software file called a device module file that you must load into your system file in order to use that robot AdeptMotion VME supports multiple robots on each system they may be the same or different types As an example suppose you want to add two XY tables with your system In that case the user would need to use CONFIG C to transfer two X Y Z Theta device modules to your system file After transferring the device modules to your system file you are ready to use the Ro

Adept Technology MV Controller Interface Manual

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