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Adept MV Controller User`s Guide

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1. AT ol E sl AAA taa 1 i CI a ES ONION UOT 8 56 mm e 33 1 mm 10 3mm MV 19 with mounting brackets installed 4x Figure A 5 Mounting Bracket Hole Pattem Dimensions 166 Adept MV Controller User s Guide Rev C External Front Panel VFP 1 Dimensions A 6 Extemal Front Panel VFP 1 Dimensions 482 6 mm 19 in 35 mm 0 25 in 6 57 41 mm celer 2 26 in CT SYSTEM HIGH POWER MANUAL AUTO POWER ON OFF PROGRAM PROGRAM PENDANT LOCAL NETWORK START RUNNING O G EMERGENCY STOP O 132 6 mm 5 22 in 14 3 mm 0 56 in 90 mm 3 5 in 48 3 mm 1 9 in 81 3 mm 3 2 in Figure A 6 Adept Extemal Front Panel VFP 1 Dimensions Adept MV Controller User s Guide Rev C 167 Appendix A Dimension Drawings
2. A 216 mm Y Top View m 216 mm e 52 mm 4 290mm A e Je Jepen 8 6n en en ene A ia e le eUjeH ejeHjeU eU eU e U q DURO 136 mm 3 BIO Y e eal Front View mm Side View Figure A 3 Adept MV 8 Outline Drawing 164 Adept MV Controller User s Guide Rev C Dimensions for Adept MV 19 Controller A 4 Dimensions for Adept MV 19 Controller 290 mm DOOR ONUN Tm EL UI Figure A 4 Adept MV 19 Outline Drawing Adept MV Controller User s Guide Rev C 165 Appendix A Dimension Drawings A 5 Mounting Bracket Dimensions 260 4 mm
3. T IS EN 16 0 mm Note 1 Allow 75 mm minimum at front for power cord and signal cable clearance 480 1 mm 420 3 mm ry Za D 10 A E Jue e 10 e e D 10 158 8 mm gt D 215 9 mm Y Oo e 0 e o Y mE id m 15 0 nct La 462 9 mm Note 2 Allow 25 mm minimum at right and left sides for air intake and exhaust Figure A 1 Adept MV 5 10 Stand Alone Outline Drawing 162 Adept MV Controller User s Guide Rev C Dimensions for Adept MV 5 and MV 10 Robot Controllers A 2 Dimensions for Adept MV 5 and MV 10 Robot Controllers 16 0 mm 57 4 mm Z1 Note 1 Allow 75 mm minimum at front for power cord and signal cable clearance lt lt 215 9 mm 477 7 mm AE d aday DJ UJ 15 0 mm Note 2 Allow 25 mm minimum at top and bottom for air intake and exhaust Figure A 2 Adept MV 5 10 Robot Outline Drawing Adept MV Controller User s Guide Rev C 163 Appendix A Dimension Drawings A 3 Dimensions for Adept MV 8 Controller
4. Depress the palm activated Hold to Run switch Figure D 1 Holding the Operator s MCP Adept MV Controller User s Guide Rev C Manual Control Pendant Basics QJ OI USER WORLD TOOL JOINT FREE DEV e e e e ES CCG COEN PWR PELA O MCP cradle retaining clip Figure D 2 Cradling the Operator s MCP WARNING The cradle for the operator s pendant MUST be mounted outside of the robot or motion device work envelope Connecting the MCP The MCP is connected to the 16 pin connector marked PENDANT on the VFP The pendant emergency stop button and the palm activated Hold to Run switch are wired into the emergency stop circuitry Therefore either the pendant or the pendant jumper plug must be attached to this connector If neither one is connected you cannot enable High Power If the pendant or jumper plug is removed High Power is turned off CAUTION Do not modify or extend the MCP cable Doing this will void the warranty on the MCP the VFP and the SIO module WARNING The Auto Manual keyswitch on the VEP must be set to Manual if the MCP is to be used inside the robot workcell This enables important safety features to protect the oper
5. se elenjen e 030 sio o oo 9 38 9 66 9 96 9 m Bl IE ERI O Mi Em En E 6n EM v VGB vis 030 MI6 DIO o 09 oo MA yy 8 7 v v 8 o6 B M v ES ww ys wv E o v E 8 El M E ales El uu P Vv EN ys v v e e Slots Required Standard Modules installed in all Adept MV controllers 4 System 030 40 MHz 68030 2 4 or 8 MB RAM 32 MHz 68882 or Processor 040 25 MHz 68040 4 or 8 MB RAM 2 System SIO floppy drive hard drive 3 serial I O ports 20 digital I O Input Output channels 12 inputs 8 outputs Optional Modules 1 Graphics VGB graphics processor frame buffer A Series color video output Module 1024 x 768 keyboard trackball input 1 AdeptVision VIS vision framegrabber 640 x 480 pixels supports up to 4 cameras Interface and 2 strobes 1 Auxiliary Sys 030 or 040 3 modules max per controller same specs as main Processor System processor 1 AdeptMotion MI6 6 axes motor control per module up to 4 modules in MV 10 19 Interface MIS 3 axes motor control per module 1 Digital DIO 64 channels 32 input 32 output 2 output ranges 10 15VDC Input Output and 15 30VDC 400 mA max output 8 modules max per controller 1 AdeptForce VFI interface to force sensing unit part of AdeptForce VME product Interf
6. SIO VFP SIO VFP Pin Pin Signal Name Pin Pin Signal Name 1 1 Analog Ground MCP pin 1 14 14 Hold to Run Input MCP pin 14 2 2 TxD MCP pin 2 15 15 Program Start light 12 VDC 100 mA output 3 3 RxD MCP pin 3 16 16 Hold to Run Input MCP pin 16 4 4 Analog Ground MCP pin 4 17 17 High Power On Light 12 VDC 100 mA 5 5 412 V MCP pin 5 18 18 Lamp Test Switch input 6 6 E Stop Input MCP pin 7 19 19 System Power External Switch input MV 8 MV 19 only 7 7 E Stop Control Voltage 24V 20 20 Analog Ground 12 V return MCP pin 6 8 8 12V MCP pin 8 21 21 Reserved 9 9 KeySw 0 Manual Auto input 22 22 Analog Ground 12 V return 10 10 KeySw 1 Local Network input 23 23 Analog Ground 12 V return 11 11 KeySw 2 High Power on off 24 24 Analog Ground 12 V return input 12 12 Program Start Switch input 25 25 Auxiliary Enable external switch input 13 13 Program Run Light 12 VDC 26 26 Analog Ground 12 V return 100 mA output Cable connectors are 26 pin high density D sub SIO end male VFP end female CAUTION The 12 V and 24 V supplies listed above must only be used for their intended purposes The 24 V supply is for the E stop and system power switch only The 12 V is to power the MCP and the VFP only Adept MV Controller User s Guide Rev C 101 Chapter 7 System Input Output Module SIO
7. Manual Control Pendant Figure 7 7 Extemal VME Front Panel and MCP Installation Adept MV Controller User s Guide Rev C Manual Control Pendant MCP 7 9 Manual Control Pendant MCP Connecting the MCP to the VFP The optional MCP is connected to the system at the Pendant connector on the VFP see Figure 7 7 See the Appendix D for instructions on using the MCP See Table 7 7 for information on the MCP connector Install the MCP to the connector that is marked PENDANT on the VFP WARNING The VFP has two keyswitches One to select the device that controls program execution and one to select the operating mode Before it is possible to use the MCP in the workcell the operating keyswitch must be set to MANUAL and the other one to LOCAL This will prevent program execution from being started from the keyboard or terminal CAUTION The coiled cable on the MCP III has been tested to withstand 500 V of repetitive electrical bursts per EN61000 4 4 Exposing the MCP to voltages higher than 500 V may cause the robot to shut down In this event it may be necessary to unplug then reconnect the MCP to restart the robot 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 robot workcell See Figure A 7 on page 168 for the dimensions of
8. the cradle Table 7 7 MCP Cable Connector Pinout Pin Signal Name Pin Signal Name 1 Analog ground 9 Shield 2 TXD transmit to MCP 10 Not used 3 RXD receive from MCP 11 Not used 4 Analog ground 12 Not used 5 12 V 13 Not used 6 E stop 14 Hold to run 7 E stop 15 Not used 8 12V 16 Hold to run AMP 16 pin circular plastic connector male is on VFP female is on MCP cable See next section for information on part numbers Adept MV Controller User s Guide Rev C 99 Chapter 7 System Input Output Module SIO 7 10 User Supplied Extemal Front Panel We recommend using an Adept supplied external front panel VFP However the following details are supplied in case you decide to make your own front panel If a user supplied external front panel is connected to the Adept MV controller it must be designed to meet and all equipment used must be compliant with EN 60204 and all other applicable international and local regulations Construction of Cable from SIO to VFP Pinout as shown in Table 7 9 Wire gauge 28 AWG 0 089 mm Use twisted pair 13 pairs cable with overall shield Twist pairs as follows 1 2 3 4 5 8 9 10 11 13 12 23 14 16 15 17 18 24 19 20 21 22 25 26 Connect shield to shell of connector at both ends The Auxiliary Enable input pin 25 is reserved for future use It should be connected to pin 26 whenever the system power is enab
9. 9 Pin Female 25 Pin DTE Pin Number Function Pin Number Function not used 1 Shield 2 RXD 2 TXD 3 TXD 3 RXD 4 DTR 6 and 8 DSR and CD 5 Signal ground 7 Signal ground 6 DSR 20 DTR 7 RTS 5 CTR 8 CTS 4 RTS Recommended Connections 9 pin to 25 pin Wyse WY 60 Terminal Adept recommends the use of a Wyse WY 60 terminal on S Series Adept MV controllers The previous table shows a full 7 wire DTE interface with hardware handshaking flow control The following simplified connections will work with most terminals using DTE pinouts such as the Wyse WY 60 terminal The WY 60 has a female 25 pin connector This 3 wire interface uses software flow control XON and XOFF control characters Table 5 5 Pin Assignments for 9 pin to 25 pin Wyse WY 60 Terminal Cable 030 RS 232 Wyse WY 60 Terminal 9 Pin Female 25 Pin Male Pin Number Function Pin Number Function not used 1 Shield 2 RXD 2 TXD 3 TXD 3 RXD 5 Signal ground 7 Signal ground 4 RTS CTS 5 DSR 6 DTR 20 Pins 4 5 6 amp 20 linked together Adept MV Controller User s Guide Rev C Serial l O Connections 030 Module Typical Cable Connections 9 pin to 9 pin AFCompatible The 030 module uses AT compatible pinouts Therefore to connect it to another AT compatible 9 pin device the following connections are required to swap over signals as required Remember to enable modem
10. From Pin To Pin Function Str Pwr 2 CAMA 1 Power return Str Pwr 1 CAMA 2 12V power VIS 30 CAMA 3 Shield video VIS 15 CAMA 4 Video VIS 17 CAMA 5 Shield Hd VIS 16 CAM4 6 Hd horizontal drive VIS 31 CAMA 7 Vd vertical drive CAM4 8 not connected CAMA 9 not connected CAM4 10 not connected CAM4 11 not connected VIS 17 CAM4 12 Shield Vd Str Pwr 1 User 12 V to cameras Str Pwr 2 User power return VIS 26 Str Pwr 3 Strobe 1 VIS 11 Str Pwr 4 Strobe return VIS 39 Str Pwr 5 Strobe 2 VIS 11 Str Pwr 6 Reserved VIS 40 Str Pwr 7 Reserved VIS 11 Str Pwr 8 Reserved VIS Str Pwr 9 Shield chassis ground Note that this cable provides user supplied 12V dc to the cameras via the Strobe and Power connector not from the Adept controller Adept MV Controller User s Guide Rev C 121 Chapter 9 AdeptVision VME Module VIS Table 9 8 Four Camera Breakout Cable Pin Assignments sorted by origin From Pin To Pin Function Str Pwr 1 CAM1 2 12V power Str Pwr 1 CAM2 2 12V power Str Pwr 1 CAM3 2 12V power Str Pwr 1 CAMA 2 12V power Str Pwr 2 CAM1 1 Power return Str Pwr 2 CAM2 1 Power return Str Pwr 2 CAM3 1 Power return Str Pwr 2 CAMA 1 Power return VIS Str Pwr 9 Shield chassis ground VIS 11 Str Pwr 4 Strobe return VIS 11 St
11. 040 Technical Specifications SIO Front Panel DIP Switch Functions RS 232 Serial I O Connector Pin Assignment on SIO Module DIO Input Specifications SO module ls s DIO Output Specifications SIO module css Digital I O Connector Pin Assignmentson SIO Module Terminal Assignment of the Terminal Block on the Backofthe VFP MCP Cable ConnectorPinout MCP Connector ManufacturersInformation SIO Front Panel Cable ConnectorPin Assignments TechnicalSpecifications VGB Module Front Panel DIP Switch Functions Monitor Connector Pin Assignments ls Keyboard Connector Pin Assignments 0 4 Pointer Connector Pin Assignments Technical Specifications 1 a e rns Switch SettingsforVlISModule1 Switch Settings for VIS Module 2 lll rss Breakout Cable Camera Connector Pin Assignments Breakout Cable Strobe and Power Connector Pin Assignments Adept 10 Meter Camera Cable Pin Asignments Two Camera Breakout Cable Pin Asignments Four C a mera Breakout Cable Pin Assignments sorted by destination Four Camera Breakout Cable Pin Assignments sorted by origin TechnicalSpecifications aa VMEbus A
12. F1 indicates a fault condition exists on Axis 1 The cause could be an Overtravel or a Drive Fault same for axes 2 through 6 F2 indicates a fault condition exists on Axis 2 F3 indicates a fault condition exists on Axis 3 F4 indicates a fault condition exists on Axis 4 F5 indicates a fault condition exists on Axis 5 F6 indicates a fault condition exists on Axis 6 o Yellow Status LED s When lit HPE indicates the High Power Enable signal is asserted DE1 indicates the Drive Enable signal is asserted for Axis 1 DE2 indicates the Drive Enable signal is asserted for Axis 2 DES indicates the Drive Enable signal is asserted for Axis 3 DEA indicates the Drive Enable signal is asserted for Axis 4 DES5 indicates the Drive Enable signal is asserted for Axis 5 DE6 indicates the Drive Enable signal is asserted for Axis 6 e Encoder connector a 44 pin D Sub female connector for the encoder cable to interface to encoder signals in the installation o Machine connector a 44 pin D Sub female connector for the machine cable to interface to the machine signals in the installation O Servo connector a 44 pin D Sub female connector for the servo cable to interface to the servo signals in the installation 126 Adept MV Controller User s Guide Rev C VMEbus Address 10 3 VMEbus Address Each MI3 MI6 module must have a unique V
13. 8 Position DIP Switch S1 on DIO PC board Switch positions 1 to 6 to select bus address for DIO modules DIO Switch position Module Input Output Number Signals Signals 6 5 4 3 2 1 1 1033 1064 33 64 closed closed closed closed closed closed 2 1065 1096 65 96 closed closed closed closed closed Open 3 1097 1128 97 128 closed closed closed closed Open closed 4 1129 1160 129 160 closed closed closed closed Open Open 5 1161 1192 161 192 closed closed closed Open closed closed 6 1193 1224 193 224 closed closed closed Open closed Open 7 1225 1256 225 256 closed closed closed Open Open closed 8 1257 1288 257 288 closed closed closed Open Open Open Switch position 7 required setting is closed Switch position 8 required setting is open Labeling Sets of Cables The optional Adept input and output cables for the DIO modules are the same for each additional module you that add to a controller Make sure to clearly label each set of four cables so that they are identified with a specific DIO module Also see the warning on page 148 about swapping the two input cables or the two output cables with each other Adept MV Controller User s Guide Rev C 153 Chapter 13 Digital Input Output Module DIO 154
14. 2525222595929559 59255 76 65 VMEbus Address lll ls 77 6 6 040JumperSetings 77 6 7 Use as an Auxiliary Processor lll sls 79 6 8 040 Processor Module Specifications 79 Adept MV Controller User s Guide Rev C 71 Chapter 6 040 Processor Module 6 1 Introduction 6 2 All Adept MV controllers require at least one system processor module the module can be an 030 or an 040 You can have both 030 and 040 modules installed up to a maximum of 4 modules The 040 is a single slot GU VME module that can serve as a main or an auxiliary system processor for an Adept MV controller The CPU for this module is a Motorola 68040 microprocessor running at 22MHz The module can be ordered with 4 or 8 MB of DRAM not field upgradeable The 040 has two serial I O connectors on the front of the module one is an RS 232 port and the other is an RS 422 port In an S Series Adept MV controller the programmer s terminal connects through the RS 232 port on the primary 040 module In an A Series controller the monitor and keyboard normally connect to the Adept VGB module The 040 can be used either as the main system processor or as an auxiliary processor in Adept MV controller systems see section 6 7 Connections and Indicators 72 o Status LED s When lit On SF indicates the VMEbus SYSFAIL signal is being asserted by 040 the 040 module T
15. Recommended Nominal Minimum Maximum External Circuit Voltage Frequency Operating Operating Breaker Range Phasing Voltage Voltage user supplied 200V to 240V 50 60Hz 180V 264V 10 amps factory 1 phase setting 100V to 120V 50 60Hz 90V 132V 10 amps user config 1 phase urable Power to the Adept MV controller and all amplifiers and motion devices must come from a single source The maximum interruption time operating voltage below specification tolerated by the controller is 16 milliseconds If the Adept MV Controller is used with an Adept robot see the robot user s guide for additional power requirements Facility Overvoltage Protection The user must protect the controller from excessive overvoltages and voltage spikes In particular if the country of installation requires a CE certified installation or compliance with IEC 1131 2 the following information may be helpful IEC 1131 2 requires that the installation must ensure that category II overvoltages i e line spikes not directly due to lightening strikes are not exceeded Transient overvoltages at the point of connection to the power source shall be controlled not to exceed overvoltage category II i e not higher than the impulse voltage corresponding to the rated voltage for the basic insulation The user supplied equipment or transient suppressor shall be capable of absorbing the energy in the transient In the industrial environment non p
16. 25 Pin D male 25 Pin D female 25 Pin D male 25 Pin D female 1 Shield 1 Shield 5 CTS 4 RTS 2 TXD 3 RXD 6 amp 8 DSR amp CD 20 DTR 3 RXD 2 TXD 20 DTR 6 and 8 DSR amp CD 4 RIS 5 CTS 7 Ground 7 Ground 66 Adept MV Controller User s Guide Rev C Memory 5 4 Memory 5 5 The 030 system processor can be ordered with 2 4 or 8 MB of DRAM Contact Adept Customer Service for information regarding memory upgrade options for 2 MB and 4 MB processors VMEbus Address Each processor module in an Adept MV controller must have a unique module address The address is set on switch SW2 on the 030 PC board Table 5 8 shows the switch settings for multiple processor modules See Figure 5 3 for the location of SW2 If you are using both 040 and 030 processor modules each module must have a unique address You cannot set an 040 and an 030 to the same address For example if you have an 040 and an 030 installed one of them must be set as module 1 and the other as module 2 See section 5 7 for additional information Table 5 8 Address Settings for the 030 Processor Module SW2 Switch Position Module Number 1 2 3 4 5 6 7 8 1 main proc Off on on on on on on on 2 auxiliary Off on on on on on Off on 3 auxiliary Off on on on on Off on on 4 auxiliary Off on on on on Off Off on a The position notation on DIP switches can vary If the switch is marked ope
17. 2 00 2 eee 44 4 2 Controller ID Label 44 4 3 Facility Requirements 2 lll ls 45 Voltage Interuptions oaoa aaa lens 45 4 4 Connecting AC Power 2 2 2 e 46 AC Power Requirements aa aaa ee 0 46 Facility Overvoltage Protection 46 Power Entry Module 2 a 47 Connecting AC PowerCord a 47 System Grounding Information 0 48 Changing Voltage Settings MV 8 and MV 19 48 4 5 Fuse Information MV 8 and MV 19 50 4 6 Fan and Hiterinformation lll sss 51 Cooling Fani 9 xu uu ku uk a em e E Er La tt Roe d 51 Filter Inspection and Cleaning 2 004 51 4 7 Removing and Installing Modules 52 VMEbus Address Settings lll sns 52 BackplaneJumperPlugs 52 Removing Modules 2 2 25 54 Installing Modules 2 ls 54 4 8 Installing the A Series Monitor and Keyboard 54 4 9 Installing a Terminal in an S Series SysteM 54 4 10 Installing in a Rack or Panel Mount 55 Space Around the Chassis llle 55 Panel Mounting 40400 oor oh E EIE a 55 Rack Mounting 2 2 a 55 4 11 MV 8 and MV 19 Controller Technical Specifications 57 Adept MV Controller User s Guide Rev C 43 Chapter 4 Installation for MV 8 and
18. 3 1 2 Wamings Cautions and Notes 4 L3 Safely ida a aa RA as 4 Reading and Training forUsersand Operators 4 System Safeguards e 5 Safety Featureson Extemal VME Front Panel VFP 5 Computer Controled Robotsand Motion Devices 5 Manually Controlled Robotsand Motion Devices 5 OtherComputer Controled Devices 5 Program Security 2 6 Overspeed Protection iurar a sii aa a i a ae AE Aa a ATA N 6 Voltage Interuptions oaa aa a 6 Inappropriate Usesofthe Adept MV Controller 6 L4 Standards Compliance 000504 7 L5 HowCanlGetHelp 8 Within the Continental United States l l ss 8 SeWice CallSs i 515 9 Lead es Cun sd ios od tede ou Oy sud 8 Application Questions 8 Training Information lll ss 8 Within Europes eue sc RED po RU ME Re E a RT 9 Outside Continental United StaatesorEurope 9 Adept World Wide WebSite 9 Adept Bulletin Board Service lll nn 9 2 Ovewiew o o o eee 1 2A introduction 4 ox xo eA MOORE uk Vrae Ese ub ded 12 22 Contoller Models lll ls 12 AdeptMV 5 Controller a 12 AdeptMV 10Controller 12 Adept MV 8 Controller les 14 AdeptMV 19Controller 2 14 2 3 A Series and
19. less Application Questions o Training Information 2 2 0 0 20 2 Within Europe s s sel oor oes Outside Continental United StatesorEurope Adept World Wide WebSite Adept Bulletin Board Service nn Adept MV Controller User s Guide Rev C Chapter 1 Introduction 1 1 How to Use This Manual Follow These Steps to Install and Configure the Adept MV Controller 1 Read Chapter 1 to learn about Safety and Customer Service issues and Chapter 2 to get an overview of the Adept MV controller and its components Read Chapter 3 or 4 to learn the steps in installing the controller It covers AC power installation fuse information installing and removing modules connecting monitors and keyboards and installing in a rack or panel mount Read Chapters 5 6 and 7 which cover the required System Processor 030 or 040 and System I O modules Pay particular attention to the Emergency Stop circuitry in Chapter 7 Read the appropriate chapters 8 13 depending on which optional modules you have in your controller They explain the function of the indicators and connectors on the front of each module They cover the Input Output I O capabilities of certain modules and the VMEbus address of all modules These chapters also explain any special switch or jumper settings that you might have to set on particula
20. 2 3 A Series and S SeriesContollerOptions AdeptA SeriesOpti0N 2l AdeptSSernesOption 0 2 0 020000 2 4 Standard Modules 2 2 a System Processor 0300r040 0 2 2 00 eee 030 M odul 4 5 Sos etu xe edo voee de Osee dd ue GAG 040 M Oodle i uec RERO A ee m AR o vta System Input Output Module SIO ee 25 OptionalModules 2 2 ee sls s AdeptGraphicsModule VGB AdeptVision VME Interface Module VIS AdeptMotion Interface Modules MI3 MI6 AdeptVMEJoint Interface Module VJ AdeptForce VME Module VFI Digital Input Output Module DIO less Auxiliary Processor 2 ls a 2 6 Optional Equipment s Extemal Front Panel VFP 10rVFP 3 ee ee nn ManualControl Pendant MCP 0084 AdeptNet e vos undis apre t vH ue Pseud ae e do oed Eb al Por vi A SenesColorMonitor lll A Seres Extended Keyboard 0 ee es Third Party Terminalsforan S SeriesController 2 7 PoductDescripions aaa sss AdeptVison VME 1 a AdeptMotion VME ils s s A e ls ss AdeptForce VME a ce oo Als soo a ic e e EM e Eo itus Adept MV Controller User s Guide Rev C Chapter 2 Overview 2 1 Introduction 2 2 The Adept MV series controllers are based on t
21. 1 2 3 4 5 6 7 8 SW1 A B A B SW3 A A B B B B A B SW2 A A A A A B A A SW1 3 3rd switch on SW1 selects either B POS LATCH 1 and VIS TRIGGER 1 recommended for VIS module 1 Or e A POS LATCH 2 and VIS TRIGGER 2 recommended for VIS module 2 All other switches on SW1 SW3 and SW2 should be set as shown above Adept MV Controller User s Guide Rev C 111 Chapter 9 AdeptVision VME Module VIS 9 4 Eo o EN n d Eo po gt E Co Coy Ne C Eo te EA Ea a Jos Da Nenas Bal bL SW1 SW3 SW2 Adept VIS Board Component Side Figure 9 2 Switch Locations on VIS Module Camera Compatbility Compatible cameras can be purchased from Adept See the AdeptVision VME User s Guide for a list of other cameras that can be used with the AdeptVision VME product If you have a camera that is not on that list the following information presents some guidelines for camera compatibility with AdeptVision VME minimum requirements e RS 170 camera video output US style monochrome 30Hz frame rate 60Hz field rate 525 lines interlaced External Hd and Vd sync signals inputs to camera e Connector Hirose HR10 10S 12P e Pinout typical Sony Panasonic etc See Table 9 3 for pinout not Pulnix standard pinout You can use these guidelines to rule out cameras if they do not meet all the above you cannot expect to plug in and
22. 6 Total E stop channel 1 SR5 Consult your Robot Instruction Handbook error or contact Adept Customer Service 7 Total E stop channel 2 SR4 Consult your Robot Instruction Handbook error Communication time out Explanation User action Communications overrun Explanation User action 208 or contact Adept Customer Service 531 An I O operation has not completed within the allotted time interval For data communications the remote communications device has not properly acknowledged data that was sent Make sure the remote device is communicating Make sure connections to the remote device are operating properly 524 Data has been received on an I O device faster than V is processing it and some data has been lost This will happen only on the serial interface line or the network Modify the program to service the I O device more often add a handshaking protocol or slow down the transmission rate to vi Adept MV Controller User s Guide Rev C Appendix E System Messages COMP mode disabled Explanation User action Controller overheating Explanation User action Data checksum error Explanation User action Data error on device Explanation User action Device full Explanation User action User action Device not ready Explanation 603 The command attempted requires computer control of the robot but COMPUTER mod
23. The fan filters must be inspected at least once per month to check for dirt and dust buildup See Chapter 14 for information on inspecting and cleaning the fan filter Adept MV Controller User s Guide Rev C 51 Chapter 4 Installation for MV 8 and MV 19 Controllers 4 7 Removing and Installing Modules The Adept MV controller is shipped from the factory with all the modules specified on the sales order installed in the chassis Any unused slots are filled with blank covers You may want to add modules in the future or remove and re install a module for some reason Additional modules should generally be added to the chassis from left to right starting with the slot to the right of the last existing module However you can add any optional module to any unused slot in any order you like as long as it is a valid configuration see section on backplane jumper plugs below The VGB and VIS modules must be installed side by side See Chapter 2 for more details on required and optional modules CAUTION Always turn off the controller power switch before installing or removing modules Damage to the controller can occur if the controller is not turned off CAUTION You must take precautions to prevent modules from being exposed to electro static discharge ESD while you are handling or storing them Adept recommends using a ground strap on your wrist when working with modules outside of the controller VMEbus Address Settings
24. Chapter 14 Maintenance 14 1 Introduction NOTE The Adept MV Controller has no user serviceable parts other than the items mentioned in this chapter WARNING The procedures and replacement of parts mentioned in this section should only be performed by skilled or instructed persons as defined in section 1 3 on page 4 14 2 Fan Hlter Inspection and Cleaning MV 8 MV 19 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 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 MV controllers Turn off the controller Open the front grill by loosening two screws and swinging the grill out 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 Replace the cleaned air filter and secure the grill Fan Filter Inspection and Cleaning MV 5 MV 10 158 The air filter located on the front of the chassis should be inspected regularly and cle
25. Open Open Closed Open Closed Closed 6 Open Closed Open Open Closed Open Closed Open 2 The position notation on DIP switches can vary If the switch is marked open closed then open off and closed on Address Settings for Multiple Servo Boards If you have MI6 modules installed along with a VJI each module must have a unique VMEbus address Check the address settings on all modules to make sure 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 for you by Adept In systems with a VJI Adept robot systems in addition to MI6 s the first MI6 Module should be set to Servo Board Number 3 In systems with two VJI modules Dual Adept robots the second VJI should be set to Servo Board 3 This is to facilitate optimal processor allocation for the servo code with the default V software configuration See Table 11 2 for examples of address settings for various configurations Adept MV Controller User s Guide Rev C 133 Chapter 11 Adept Joint Interface Module VUl Table 11 2 VMEBus Address Settings for Multiple Servo Board Systems First Board Second Board Third Board Fourth Board Address Address Address Address 2 MI6 1 MI6 2 MI6 1 VJI plus 1 MI6 1 VI 3 MI6 2 VJI 1 VJI 2 VJI 2 VJI plus 1 MI6 1 VI 3 VJI 5 MI6 2 VJI plus 2 MI6 1 VI
26. P4 4 4 0060 green E O B P4 3 4 0061 red o o P42 4 0062 white o E o P4 1 4 0063 black og P4 16 4 0064 blue white Per P4 17 4 power black red Pin su P4 18 4 power white red Pin 1 P4 19 4 power orange red P4 31 4 power orange black white P4 32 4 power blue black white P4 44 Pin Female Output Connector on DIO P4 33 4 power black red green Module Front Panel P4 34 4 power white red green P4 35 4 power red black green P4 36 4 power green black orange P4 21 4 group 4 return blue red P4 22 4 group 4 test red green 2 The signal numbers for 2 7 increase by 32 for each additional module see Table 13 8 152 Adept MV Controller User s Guide Rev C Additional DIO Modules 13 7 Additional DIO Modules Setting the Module Address Additional DIO modules can be installed in an Adept MV controller up to a maximum of 8 modules per controller depending on slot availability The total digital I O channels available including the channels on the SIO modules are maximum digital input channels 268 maximum digital output channels 264 Each module that is added must have a unique VMEbus address so the controller can recognize it properly The address is set at DIP switch S1 on the DIO PC board The switch settings are shown below See Figure 13 3 for the location of S1 Table 13 8 Switch Settings for S1 on DIO Module
27. 181 MCP Layout o a ce ee a a Be RAE ok 182 Data Entry Keys 4 vod x Bom Mee A oo dox xoxo 183 MCP Predefined Function Buttons lll 0004 184 EDIT Function Button 2 ll s s s sss s 185 DISPLAY Function Button rss 186 CLEAR ERROR Function Button s 188 Command CMD Function Button ll sss 188 Program Set Function Button lt lt s koss ee 190 Mode Control Buttons rn 191 Speed Bas sa kee eM AR RE ER AR Re e Ro 193 WORLD State SCARA s ls ses 194 TOOL States 1 4 uy de os oie vov ute bee ee sir T o Me fad 196 TOOL State Six AxisRobot llle 197 JOINT State SCARA uo dex dd uo He E Reo oy le G 198 J OINTState Six Axis Robot ee 199 FREE State Four Axis SCARA aoaaa aa 2 200 List of Tables Operating Environment Requirements ll ss 23 Adept MV ControllerPowerRequirements 24 PowerCord Specifications ee l l a 28 MV 5and MV 10 Fuse Ratings 2 lll 29 Monitor Compatibility Specifications 0 35 Technical SpecificationsforMV Controller 41 Operating Environment Requirements ll ss 45 Adept MV ControllerPowerRequirements 46 PowerCord Specifications 0 eee a 47 Voltage Selection Jumper Settings 48 Fuse Ratings ssc Yelp Go ee Mon ine Sa oe YoY Stank a s 50 Technical Specifications forMV 8 1
28. 408 473 1800 Phone numbers correct as of July 1994 Source Wyse USA Customer Supplied Serial Interface Cable A Wyse WY 60 terminal has a 25 pin female D subminiature connector DB 25F which requires a 25 pin male connector DB 25M on the interface cable The 030 module RS 232 Term connector is a 9 pin male connector DE 9P which requires a 9 pin female connector DE 9F See section 5 3 for details on connecting a Wyse terminal to an 030 module See section 6 3 for information on connecting the 040 module to a Wyse terminal If you are using a terminal other than a Wyse WY 60 check the documentation on the serial connector before you purchase or build the serial interface cable Installation Proc edure 36 1 Make sure the controller is turned off before making any connections 2 Verify the voltage range marked on the terminal is compatible with your 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 If the terminal is a Wyse 60 use the setup mode to set the personality to WY 75 If you are using terminal emulation software on a computer set the software to WY 75 emulation If WY 75 is not available try VT102 or VT100 but you will not be able to use all of the function keys Adept MV Controller User s Guide R
29. 5 100 mA max 12 VDC 45 100 mA max Width Occupies one backplane slot a Specifications subject to change Adept MV Controller User s Guide Rev C 79 System Input Output Module SIO 7linmduction 2 2 2 82 7 2 Connections and Indicators 82 DIP Switch Settings 2 0 da Da o 83 7 3 System Configuration Information 83 74 MassStorage e 83 Floppy DAVE nud a Pe ee A o ds 83 HALDOL A a A x AR CY ues dens 83 75 Serial I O Connectors lll rss 84 7 6 Digital I O Connector lll rss 85 InputSignials 4 2 2 Xon Ro xo ue he a IER 85 Output Sgnals cxx eo A a ag AAA eden 87 Typical Digital Input Wiring ee ee 88 Typical Digital Output Wiring lcs 89 Digital I O ConnectorPinouts lll ss 90 Digital I O Connector Ordering Details Third Party Sources 91 AMP Part Numbersfor50 Pin Male D Sub 91 Thomasand Betts Part Numbersfor50 Pin Male D Sub 92 Screw Terminal Field Wirng Adaptor Blocks 92 7 7 Emergency Stop Circuit 2 2 a 93 ExtemalE Stop Input o 93 Passive EStop Output 2 2 93 7 8 Extemal Front Panel VFP 1 96 Controlsand Indicators lr 96 Installing the Extemal Front Panel VFP 97 7 9 Manual Contr
30. 8 5 Keyboard Interface 8 6 The VGB module supports an AT style extended keyboard with an integrated trackball The keyboard interface is a bidirectional synchronous serial interface The keyboard communicates with the UART on the VGB via the clock and data lines The keyboard input uses a standard 5 pin DIN connector The Keyboard connector pin assignments are shown in Table 8 3 Table 8 3 Keyboard Connector Pin Assignments Pin Signal 1 Clock 2 Data 3 not connected 4 Ground 5 5 VDC Pointer Interface The VGB module supports a standard Microsoft serial mouse protocol compatible pointer The pointer input uses a standard 9 pin D sub connector The pointer interface is serial not parallel Pin assignments for the Pointer connector are shown in Table 8 4 See section 8 2 for configuration and compatibility Table 8 4 Pointer Connector Pin Assignments Pin Signal Pin Signal 1 Shield not connected Transmit Data from pointer 12 VDC RTS Receive Data to pointer not connected N o0o XI o not connected not connected g AIJ N Signal Ground Adept MV Controller User s Guide Rev C 107 Chapter 8 Adept Graphics Module VGB 87 VGBModule Specifications Table 8 5 Technical Specifications Electrical Power Consumption 5Vat23A 12 Vat2mA 12 V at2mA Pointer Input For mouse or trackball Microsoft ser
31. Each module in an Adept MV controller has a unique VMEbus address All modules installed in an Adept MV controller by Adept at the factory have the correct address already set when you receive the controller If you add or change modules you need to check the addresses of the new modules before installing them The address setting for each module is covered in the chapter in this manual for that module Any modules that may have multiple units installed in one controller such as the 030 040 VIS MI3 MI6 or DIO must have a unique address for each of the individual modules Backplane J umper Plugs 52 Five user supplied backplane jumper plugs must be installed on any unused slots in the card cage that are to the left of the last installed module Unused slots to the right of the last installed module do not need jumper plugs When you install a module into a previously unused slot you must first remove the five jumper plugs if any are installed see Figure 4 4 and Figure 4 5 Save the jumpers if a module is moved to a different slot you may need to re install the five jumper plugs onto the five pairs of jumper pins on the backplane next to the empty slot WARNING Only skilled or instructed personnel should attempt to change the backplane jumper plugs This requires access to the interior of the controller and potentially dangerous voltage may be present if the power is not turned off Adept MV Controller User s Guide Rev C Remo
32. Inc 1504 Industrial Way Unit 9 Belmont CA 94002 Phone 415 591 7600 174 Adept MV Controller User s Guide Rev C IEC Test Information C 2 IEC Test Information The Adept MV controller has passed the following IEC 1131 test conditions Voltage drops normal service Severity level PS2 Relative Humidity Severity level RH2 ESD Electro Static Discharge Severity level 4 The Adept MV controller was tested at severity level 4 for ESD In order to maintain compliance Adept advises the use of proper EMC suppression techniques All cables between the controller and peripheral equipment including the power chassis in an Adept robot system should be shielded and properly grounded at both termination points Where the use of unshielded cables cannot be avoided additional EMC suppression measures such as the use of twisted pair ferrite inductors or band pass filters should be employed Every MV controller is 100 tested to ensure Ground Continuity of less than 0 1 at 30A NOTE More information on Input Output performance characteristics for applicable modules in the MV controller is available on request from Adept Please contact Customer Service for a copy Adept MV Controller User s Guide Rev C 175 Appendix C Additional Standards Compliance Information C 3 Hectomagnetic Compatibility Testing Results The Adept MV controller family meets all applicable requirements as mandated by the European
33. P1 Backplane Edge Connectors for Adept MV 10 Slot Slot Slot Slot Slot Slot Slot Slot Slot Slot 1 2 3 4 5 6 7 8 9 10 In a typical MV 10 system jumper plugs are factory installed at slot 3 In an MV 10 system with an AdeptNet board installed in slot 2 jumpers must be installed in slot 2 and slot 4 Figure 3 6 Adept MV 10 Upper Backplane P1 Jumper Plugs 32 Adept MV Controller User s Guide Rev C Removing and Installing Modules Removing Modules 1 Turn off the controller 2 Loosen the captive screws at the top and bottom of the module 3 Lift up on the top handle and push down on the bottom handle as you start to pull the module out of the chassis Remove the module from the chassis and store it in a safe place See page 30 for anti static precautions 4 If the empty slot is not going to be used again and it is to the left of the last installed module you must install five user supplied jumper plugs onto the five pairs of jumper pins on the backplane You can also fill the empty slot by moving all modules on the right of the unused slot to the left CAUTION Do not attempt to install or remove any boards without first turning off the power to the Adept MV Controller and all related external power supplies Failure to observe this caution could cause damage to your equipment Installing Modules 1 Turn off the controller 2 If the slot has a blank panel
34. Passive E Stop Output 2 04 Adept MV Controller User s Guide Rev C Xi Table Of Contents 7 8 Extemal Front Panel VFP 1 ls ss 96 Controlsand Indicators ess 96 Installing the Extemal Front Panel VFP 97 7 9 Manual Control Pendant MCP 99 Connecting the MCP to the VFP 2 00004 99 MCP Cradle ss ook kx a f a AAA 99 7 10 User Supplied Extemal Font Panel 100 Construction of Cable from SIO to VFP lll sns 100 MCP ConnectoF as og o ooo UR RU xus 100 Front Panel MCP Connectorand Cable 101 7 11 SO Module Specifications s 102 8 Adept Graphics Module VGB 103 8 1 Introduction o 104 8 2 Connections and Indicators 104 DIP Switch Settings 105 83 VMEbus Address 2 2 2 e 105 8 4 Monitor Video Interface 00000040 106 8 5 Keyboard Interface 2 ls 107 8 6 Pointer Interface lll ss 107 8 7 VGB Module Specifications l l ss 108 9 Adeptvision VME Module VI oo 109 9 1 Intoducton 2 2 2 2 llle 110 9 2 Connections and Indicators 110 9 3 VMEbus Address and Configuration 111 9 4 Camera Compatibility 112 9 5 Installing
35. female connector The pin assignments and locations are shown in Figure 6 2 and Table 6 2 The connector is configured as a DCE device Data Circuit terminating Equipment If you are connecting to a device such as a terminal configured as DTE Data Terminal Equipment you should connect directly pin 2 to pin 2 pin 3 to pin 3 etc If you are connecting to another DCE device you will need to cross over signals as appropriate with a null modem see page 66 The port supports DTR RTS and CTS signals used for hardware handshake also known as modem control By default these signals are not enabled To configure the port speed and other communications parameters use the CONFIG C utility program the Vt FSET program instruction or the FSET monitor command This port is designated LOCAL SERIAL 2 Used in an S Series System If the controller is an S Series model then the customer supplied ASCII terminal plugs into this connector on the main system processor see Table 6 3 and the terminal installation information in Section 4 9 on page 54 If you have more than one processor module the terminal is always connected to the main processor Used in an A Series System If the controller is an A Series model then this connector can be used for general serial communication However you can redirect the monitor output of an A Series system to this connector on the primary 040 module using a DIP switch on the SIO module see section 7 2
36. of the button to trigger special events Operating Keyswitch The keyswitch is a 2 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 2 position rotary switch marked LOCAL and NETWORK This switch determines which device is able to start robot 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 PENDANT connector for attaching the Manual Control Pendant MCP to the front panel In order to enable High Power either the MCP or the supplied pendant jumper plug must be connected Installing the Extemal Front Panel VFP The VFP can be mounted in a standard 19 equipment rack In a robot installation the VFP must be installed outside of the robot workcell This is so the robot cannot be started from inside the workcell See section A 6 on page 167 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
37. side near the back of the controller Use the screws and washers from the accessories kit See Figure 4 6 Rack Mounting To rack mount the Adept MV 19 controller in a standard 19 inch equipment rack you must 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 4 6 for details To rack mount the Adept MV 8 controller 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 controller The Adept MV 8 controller can be joined to an Adept PA 4 power chassis and mounted in a rack Refer to the documentation that comes with the PA 4 for information Adept MV Controller User s Guide Rev C 55 Chapter 4 Installation for MV 8 and MV 19 Controllers M4 x 25mm screw 2 places po o o To Install Mounting Brackets Remove and discard 3 existing countersunk screws from side of chassis at locations shown o o in drawing Place bracket in desired position and secure XN S with indicated M4 screws and washers from accessories kit le e o Repeat process for other side of controller Note See Appendix A for dimensions of the controller and mounting brackets o o o M4 x 10mm screw Panel Mount M4 x 25mm screw M4 x 25mm screw 2 places 2 places rj o o o ren
38. within five seconds User action Save all your programs and variables on disk and then reboot the system from disk Contact Adept Customer Service if the problem repeats Graphics software checksum error 558 Explanation The code on the graphics board has been corrupted User action Save new or modified programs restart the controller reload the programs If the problem persists contact Adept customer service Graphics storage area format error 555 Explanation During execution of a FREE command V has detected that the information in graphic memory may have been corrupted This may have been caused by a momentary hardware failure or a software error User action Attempt to save as much as possible onto disk Issue ZERO 1 and ZERO2 monitor commands to delete graphics data If the error persists power down the controller and restart the system HALTED 8 Explanation A HALT instruction in the application program has been executed and thus execution of the current program has terminated User action Any monitor command can be entered but PROCEED cannot be used to resume program execution Hard envelope error Mtr n 1027 Explanation The indicated motor was not tracking the commanded position with sufficient accuracy indicating a failure in the hardware servo system or Adept MV Controller User s Guide Rev C 213 Appendix E System Messages something impeding the path of the robot Because
39. 24 Vdc This rating must not be exceeded The specifications for the relay in the passive E Stop circuit are maximum switching power 10 VA volt amps maximum switching voltage 100 Volts DC 70 Volts AC rms maximum switching current 0 5 Amps DC 0 3 Amps AC rms CAUTION The power through the relay must not exceed 10 VA Adept MV Controller User s Guide Rev C 93 Chapter 7 System Input Output Module SIO SIO Module TT E Stop Control Voltage Adept External Front Panel VFP 1 High Power L Digital Return uh Tid Push Button Manual Auto y Analog Return lt Keyswitch E Stop 7 To SystemPower Relay L MV 8 and MV 19 only i 6 o Di e c A Q Qi o 2 o l Hold to Run 14 16 TE a O ge eg mor m MCP Bypass O a Plug install 29 if no MCP Sci in system E Enable amp 8 m Power 41 User External E Stop Devices i EN CON System Faults a era External E Stop Input o ES 45 E Stop Signal 7 To user to backplane Passive F Stop Output e equipment 46 0 8 Aat 12 VDC 0 4 A at 24 VDC tes see text Figure 7 5 E Stop Diagram with VFP and MCP 94 Adept MV Controller User s Guide Rev C Emergency Stop Circuit Table 7 6 Terminal Assignment of the Termi
40. 25 pin DTE 64 Recommended Connections 9 pin to 25 pin Wyse WY 60 Termi Male lam a erp DEL 64 Typical Cable Connections 9 pin to 9 pin AT Compatible 65 DTE DCE orAT style les 66 SA Memon uomo a ete eu ole Rede Aue Endo eie ab fetu 67 5 5 VMEbus Address 67 5 6 030JumperSetings 68 5 7 Use as an Auxiliary Processor lll sss 69 5 8 030 Processor Module Specifications 69 Adept MV Controller User s Guide Rev C 59 Chapter 5 030 Processor Module 5 1 Intoduction 5 2 All Adept MV controllers require at least one system processor module the module can be an 030 or an 040 You can have both 030 and 040 modules installed up to a maximum of 4 modules The 030 is a single slot GU VME module that can serve as the main system processor for an Adept MV controller The CPU for this module is a Motorola 68EC030 microprocessor running at 40 MHz The module can be configured with 2 4 or 8 MB of DRAM This module also includes a Motorola 68882 math coprocessor See the next chapter for information on the 040 module The 030 has two serial I O connectors on the front of the module one is an RS 232 port and the other is an RS 422 485 port In an S Series Adept MV controller the programmer s terminal connects through the RS 232 port on the 030 module In an A Series controller the monitor and keyboard connect
41. 3 VMEbusAddress 2 2 lll sn 139 12 4 VH Module Specifications lll nsn 140 Adept MV Controller User s Guide Rev C 137 Chapter 12 AdeptForce VME Module VFI 12 1 Intoduction The AdeptForce VME Force Interface VFI module is a 6U single slot VME module designed to control force sensing for use with the AdeptForce VME product The VFI module is the interface to the force sensor that is installed on a robot or motion device The VFI module processes data from the force sensor and then makes those force readings available to user programs See the AdeptForce VME User s Guide for complete information on installation configuration and operation of the AdeptForce VME product 12 2 Connections and Indicators 138 1 OK Status LED When lit it indicates the force sensor is connected and communicating normally o FORCE SENSOR connector the cable from the force sensor is installed here FORCE SENSOR Adept MV Controller User s Guide Rev C VMEbus Adaress 12 3 VMEbus Address Each VFI module must have a unique VMEbus address If you use only one force sensor or if your VFI modules are factory installed your vt system should already be configured properly If you add VFI modules to a controller you will have to set the correct address The address is set at DIP switch S1 and jumper J1 on the VFI module T
42. 66682 4 66682 6 66682 8 Pins also available for other wire sizes contact AMP AMP Sales partial list USA 800 522 6752 Canada 416 475 6222 Germany 06103 7090 Japan 044 844 8111 France 1 34 43 27 20 UK 0181 954 2356 Adept MV Controller User s Guide Rev C 91 Chapter 7 System Input Output Module SIO 92 Thomas and Betis Part Numbers for 50 Pin Male D Sub HOLMBERG series D Sub Connectors Crimp snap in contacts Contact pins not included order separately item 2 quantity 50 1 HM50A Connector body only alternative HM50B 2 1008424C 02 25 Contact Pin Male wire size 28 24AWG 0 08 0 2mm Alternatives 1008404C 02 25 1008429C 02 25 1008449C 02 25 Pins also available for other wire sizes contact T amp B Thomas amp Betts Sales USA 800 888 0211 Australia 037 750533 Canada 514 347 5318 France 1 46 87 23 85 Germany 06103 4040 Japan 03 379 16411 Korea 276 10398 Singapore 756 6566 Taiwan 35 779933 UK 01582 60810 Source Thomas amp Betts USA Sept 1994 Sc rew Terminal Field Wiring Ada ptor Blocks Several manufacturers make screw terminal field wiring blocks usually DIN rail mountable These can be connected to the SIO via a suitable shielded 50 pin cable user supplied Phoenix Contact Inc FLKM D 50 SUB B DIN rail mount interface block screw terminal to 50 pin D connector female Alternative FLK D 50 SUB B Phoenix Contact Sales USA 717
43. 667 if a program has a robot attached and has a REACTE routine defined Unlike error 667 if no REACTE routine is defined and a robot is attached the V program stops with this error User action The user may need to restart or repeat any operations that were interrupted by the controller AC power failure Some re initialization of the system may be required for example any robot s connected to the controller will need to be re calibrated after a controller power failure Press HIGH POWER button to enable power 57 Explanation The HIGH POWER ON OFF button on the front panel must be pressed to complete the process of enabling high power User action When the HIGH POWER ON OFF button on the VFP blinks promptly press the button to complete the two step process of enabling high power You must press the button within the time period specified in the vr configuration data Processor crash CPU n None Explanation V has detected that the specified CPU within the controller has entered a fatal error state A crash message from that processor is displayed immediately following A software error or hardware problem with that processor is likely User action It would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error message and exactly what you were doing at the time the error occurred You should store the programs that are in memory power down the controller
44. 9 6 Figure 11 1 Figure 11 2 Figure 13 1 Figure 13 2 Figure 13 3 Figure A 1 Figure A 2 Figure A 3 Figure A 4 Figure A 5 Figure A 6 Figure A 7 xvi Panel Mounting for MV 5 MV 10 Stand Alone Controller Insta lling Mounting Brackets on MV 5 and MV 10 Robot Controllers Power Entry Module lll ll ls ses Adept MV Controller with BackPanelOpen IntemalFuselocations 2 2 2 2 2 2 2 5 Adept MV 8 Backplane JumperPlugs 2004 Adept MV 19 Backplane JumperPlugs css Installing Mounting Brackets 2 2 lll lens RS 422 485 Female Connector Pin Locations on 030 module RS 232 Term Male Connector Pin Locations on 030 module Switch and J umper Locations on the 030 Module RS 422 Connector on 040 Module aoaaa a lll lr sn RS 232 Connectoron 040 Module aaa aaa e Switch and J umper Locations on the 040 Module RS 232 Serial I O Connector Pin LocationsonSIO Module Typical Digital Input Wiring on the SIO 2 rss Typical Digital Output Wiring onthe SIO lll ss Digital O Connector Pin Locationson SO Module E Stop Diagram with VFPPand MCP ExemalFrontPanel VFP 1 lll Extemal VME Front Paneland MCP Installation Monitor Connector Pin Locationson VGB Module Switch Positions A and B in Relation to Arowson SW1 SW3 and SW
45. 9 pin D sub connector see the drawing below and Table 9 4 for pin information To Camera Strobe connector on VIS module ADEPT CABLE ASSY CAMERA INTERFACE 4X Strobe eon Power Strobe Power Connector f Connector Pin Assignments lc ccc Pin Signal 1 User 12V to cameras User power return Strobe 1 Strobe return Strobe 2 Reserved Reserved Reserved Shield chassis ground v SI Q Oo 4001 O0 I9 Figure 9 4 Four Camera Breakout Cable 10 Meter Adept MV Camera Cables The 10 meter Adept MV Camera cables have a male Hirose connector on one end and a female Hirose connector on the other end These cables are intended to go between the breakout cables and the connectors on the cameras Each camera requires one of these cables or an equivalent 114 Adept MV Controller User s Guide Rev C Installing Camera Cables 9 7 Installing Camera Cables Refer to the AdeptVision VME User s Guide for information on mounting cameras and strobes in your system Figure 9 5 shows the installation of a typical four camera breakout cable and the associated hardware CAUTION Turn off the controller before installing or removing a camera or cable Failure to do this may damage the VIS module When using the four camera breakout
46. C 221 Appendix E System Messages Overtravel Mtr n Explanation User action PANIC command Explanation User Action PAUSED Explanation User action 1034 The indicated motor has moved beyond the hardware limited range of motion Move the robot back into the working envelope Correct whatever caused the robot to get into the restricted area Then enable power 633 The operator has entered a V PANIC monitor command which has stopped the current robot motion High power is still enabled To continue the current motion enter the RETRY monitor command To continue after the current motion enter the PROCEED monitor command 9 A PAUSE instruction in the application program has been executed and thus the current program has suspended execution Any monitor command can be entered To continue execution of the program type proceed followed by the task number if it is not 0 Position out of range Jt 1 1002 Explanation User action 1 The requested motion was beyond the software limited range of motion for the indicated joint 2 while enabling high power V detected that the indicated robot joint was outside the software limit 1 Modify the program as required to prevent the invalid motion request Because the robot did not actually move out of range you do not need to move the robot before continuing 2 move the robot back into the working envelope Correct whate
47. E o o o o 3 o o o xe ex Rod ak xe M4 x 10mm screw M4 x 10mm screw Rack Mount Flush Rack Mount Set Back Figure 4 6 Installing Mounting Brackets 56 Adept MV Controller User s Guide Rev C MV 8 and MV 19 Controller Technical Specifications 4 11 MV 8 and MV 19 Contoller Technical Specifications Table 4 6 Technical Specific ations for MV 8 19 Controllers MV 8 MV 19 Input Voltage 100 120 200 240 VAC 100 120 200 240 VAC DC Power Supply total 250 W 500 W Power Available on Backplane 5V 35 A max 80 A max 12 V 8 0 A max 10 0 A max 12V 2 0 A max 10 0 A max 24 V Used for internal Emergency Stop circuitry only Dimensions See Appendix A Operating Environment See Table 4 1 See Table 4 2 for complete information on input power and Table 4 5 for fuse ratings Adept MV Controller User s Guide Rev C 57 030 Processor Module 5 1 Intoduction 2 2 llle 60 5 2 Connections and Indicators 2 00084 60 5 3 Serial I O Connections 030 Module 61 RS 422 485 Connector on 030 Module 61 RS 232 Term Connector on 030 Module 62 Used inan SSer es System lll sls 62 Used inan A SeriesSysem lll rss 62 Typical Cable Connections a s 63 Typical Cable Connections 9 pinto 25 pin DCE 63 Typical Cable Connections 9 pinto
48. Explanation A vision command was entered before the vision system has been enabled User action Enter an ENABLE VISION command and retry the previous command Warning Monitoring watchpoint 55 Explanation Program execution has begun while a watchpoint is set User action None This is an informational message You may want to disable the watchpoint to eliminate its slowing down of program execution Warning Not calibrated 51 Explanation The robot servo system and joint position sensors are not calibrated Thus any location variables that are defined may not represent the locations desired User action Enter a CALIBRATE command or have your program execute a CALIBRATE instruction Warning Protected and read only programs are not stored 52 Explanation A STORE command has been executed while protected and or read only programs are loaded in the vt system memory The protected and read only programs are not stored in the new disk file User action Use the FCOPY command if you want to move protected read only programs from one disk to another But programs marked in the FDIRECTORY listing with the P attribute cannot be moved from one disk to another 230 Adept MV Controller User s Guide Rev C Appendix E System Messages Warning SET SPEED switch disabled 54 Explanation User action A PRIME operation has been performed from the manual control pendant while the SET SPEED system switch is
49. Fan and Filter Information Cooling Fan The chassis is cooled by an internal fan in the chassis On a robot controller the air intake is through the bottom of the chassis and the exhaust is out through the top On a stand alone controller the air intake is through the right side of the chassis and the exhaust is out through the left side Filter Inspection and Cleaning The fan filter must be inspected at least once per month to check for dirt and dust buildup The fan filter is located behind the filter cover on the front of the controller see Figure 3 1 See Chapter 14 for information on inspecting and cleaning the fan filter Adept MV Controller User s Guide Rev C 29 Chapter 3 Installation for MV 5 and MV 10 Controllers 3 7 Removing and Installing Modules The Adept MV controller is shipped from the factory with all the modules specified on the sales order installed in the chassis Any unused slots are filled with blank covers You may want to add modules in the future or remove and re install a module for some reason Additional modules should generally be added to the chassis from left to right starting with the slot to the right of the last existing module However you can add any optional module to any unused slot in any order you like as long as it is a valid configuration see section on backplane jumper plugs below The VGB and VIS modules must be installed side by side also the 040 and NET modules must b
50. MCP 190 Motion Interface module see MI3 MI6 module Mounting brackets dimensions 166 install positions MV 5 MV 10 40 install positions MV 8 MV 19 56 installation MV 5 MV 10 37 39 installation MV 8 MV 19 55 MV 10 controller description 12 MV 19 controller description 14 dimensions 165 MV 5 controller description 12 MV 5 MV 10 robot controller dimensions 163 MV 5 MV 10 stand alone dimensions 162 MV 8 controller description 14 dimensions 164 N Network key switch position 97 O operating environment specifications MV 5 MV 10 23 Operating Key Switch on External Front Panel 97 Optional equipment description of 19 Optional modules 16 18 Overvoltage protection MV 8 MV 19 46 Overvoltage protection MV 5 MV 10 24 P Panel mounting MV 5 MV 10 38 39 MV 8 MV 19 55 Passive E Stop 93 Pendant connection on External Front Panel 97 Pointer connector pin assignments 107 Position latch high speed 170 Power entry module MV 5 MV 10 25 MV 8 MV 19 47 Precision point 186 Priming a new program onMCP 190 Prog Set function onMCP 190 Program starting execution on MCP 190 Program cycles setting on MCP 190 Program Running lamp on External Front Panel 96 Program Start switch on External Front Panel 97 Program step selecting starting 190 R Rack mounting MV 5 MV 10 37 39 MV 8 MV 19 55 REACT instructions used with digital input 85 Real variables 236 Adept MV Controller User s Guide Rev C Ind
51. MV 19 Controllers 4 1 Shipping Storage Unpacking and Inspection Shipping and Storage This equipment must be shipped and stored in a temperature controlled environment within the range 25 C to 55 C The recommended humidity range is 5 to 90 non condensing It should be shipped and stored in the Adept supplied packaging which is designed to prevent damage from normal shock and vibration You should protect the package from excessive shock and vibration Before Unpacking Carefully inspect all shipping crates for evidence of damage during transit Pay special attention to tilt and shock indication labels on the exteriors of the containers If any damage is indicated request that the carrier s agent be present at the time the container is unpacked Upon Unpacking Compare the actual items received not just the packing slip with your equipment purchase order and verify that all items are present and that the shipment is correct Inspect each item for external damage as it is removed from its container If any damage is evident contact Adept at the numbers listed in Chapter 1 Retain all containers and packaging materials These items may become necessary to settle claims or at a later date to relocate equipment Repacking For Relocation 4 2 If the controller needs to be relocated reverse the steps in the installation procedures that follow this section Re use all original packing containers and materials and
52. Manual mode cannot be entered if High Power is off E Stop button LED not illuminated To enable High Power press the COMP PWR button The MCP is in manual mode when 1 The LED on the MAN HALT button is illuminated and 2 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 The system will remain in Manual mode until High Power is turned off or the COMP PWR button is pressed When you have finished moving the robot manually press the COMP PWR button to return control to the controller If a program attempts to execute with the MCP in manual mode the error Comp mode disabled will be generated 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 free eventually wrapping back to the leftmost state world If manual mode is terminated and re entered without turning off system power the last active state is selected DIS PWR Button The Disable Power button will shut down High Power to the robot or motion device when pressed RUN HOLD When the RUN HOLD button is initially pressed it will stop the robot and pause the executing program task 0 If you then press and hold down the button the program proceeds until the button is released When the button is released the robot stops and the executing pr
53. R o gjije s ee C XL 0 T UJ Adept MV Robot Controller example shown MV 10 Adept MV Stand Alone Controller example shown MV 5 Figure 2 1 Adept MV 5 and MV 10 Contollers Adept MV Controller User s Guide Rev C 13 Chapter 2 Overview Adept MV 8 Controller The Adept MV 8 controller is an 8 slot chassis It requires two modules the System Processor module 030 or 040 and the System Input Output SIO module The System Processor module takes one slot and the System Input Output module takes two slots The remaining five slots can be populated with various combinations of optional Adept modules see Figure 2 2 The Adept MV 8 chassis has a user configurable 115 230 VAC single phase 250 watt power supply The chassis is cooled by a fan located in the lower front section Incoming air is cleaned by a reusable filter Adept MV 19 Controller 2 3 The Adept MV 19 controller is a 19 slot chassis The required system processor 030 or 040 and SIO modules occupy 3 slots as in the Adept MV 8 leaving 16 slots open for optional modules The Adept MV 19 is designed to fit in a standard 19 inch rack mount equipment cabinet The Adept MV 19 chassis has a user configurable 115 230 VAC single phase 500 watt power supply Forced air cooling is provided by two fans in the lower section of the chassis Incoming air is cleaned by a reusable filter A Series and S Series Controller O
54. RSC failures almost always cause the RSC to stop communicating altogether rendering it incapable of reporting the failure this error message may be due to some other cause such as electrical noise at the RSC or within or around the arm signal cable User Action If the problem persists contact Adept Customer Service RSC module ID doesn t match robot 7676 Explanation The V configuration data contains an explicit ID specification for a robot module for example 6 for the Adept 550 robot and the robot RSC does not contain that ID number Adept MV Controller User s Guide Rev C 225 Appendix E System Messages User Action Make sure that the correct type of robot is being used Use the CONFIG C utility to change the module ID to 1 in the vt configuration data Correct the module ID in the RSC RSC power failure 670 Explanation The RSC has reported that its power is failing Because a power failure on the RSC almost always causes it to stop communicating altogether rendering it incapable of reporting the failure this error message may be due to some other cause such as electrical noise at the RSC or within or around the arm signal cable It is possible that the power lines to the RSC have an intermittent connection somewhere User Action If the problem persists contact Adept Customer Service Servo board E Stop fuse open 673 Explanation Your servo board has a fused ESTOP circuit and the system
55. S SeriesContollerOptions 14 Adept MV Controller User s Guide Rev C vii Table Of Contents AdeptA SenesOption 2 2 2 2 2 2 2 14 AdeptSSernesOption rn 15 2 4 Standard Modules 15 System Processor 0300r040 lll ss 15 030 Module uds id SAU de eem A 15 040 Module a vue Se o 6 8 de Pe RR ode e ie ei 15 System Input Output Module SIO 15 25 Optional Modules 16 AdeptGraphicsModule VGB rn 16 AdeptVision VME Interface Module VIS 16 AdeptMotion Interface Modules MI3 MI6 16 AdeptVMEJoint Interface Module VJ 18 AdeptForce VME Module VFI 18 Digital Input Output Module DIO 18 Auxiliary Processor 2 ss 18 2 6 Optional Equipment ls ss 19 Extemal Front Panel VFP 1 0rVFP 3 2 000 04 ns 19 ManualControlPendant MCP lll ns 19 AdeptNet une a Wr Saut an eie A ARA aL UR ER OE uns 19 A SernesColorMonitor ls 19 A Series Extended Keyboard 0 0 ee eee 19 Third Party Terminalsforan SSeriesController 20 2 7 PoductDescripions a sls s 20 AdeptVison VME ss s e S ross 20 AdeptMotion VME 2 2 2 252 2 5 2 52 20 AdeptForce VME solo POS nuo LV Rv V RE 20 3 Installation
56. System Input Output Module SIO The External Position Latch feature allows the Robot and AdeptMotion Interface modules VJI and or MI3 MIO to latch the position of robot and conveyor belt encoders This is a hardware function and is very fast The input signal typically will come from a proximity sensor or an external probe The latched values can later be read using the V LATCH function The Position Latch must be configured using the CONFIG C utility program It does not require an optional V Extensions License See Appendix B for more details on using the position latch The Vision Trigger feature allows the AdeptVision Interface module VIS to wait for an external signal to trigger the acquisition of a picture This is a hardware function and is very fast The Vision Trigger must be configured using the CONFIG C utility program and DIP switches on the VIS module It does not require an optional V Extensions License See Appendix B for more details See section 9 3 for configuration of the VIS module Table 7 3 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 7to20mA Typical threshold current per channel 10mA Impedance Vin Lin 1 3KQ mini
57. Technical Specifications Electrical Power Consumption 5VDCat5 0A 12 V at 1 25 A including 1 amp for cameras 12 V at0 1A Width Occupies 1 backplane slot Specifications subject to change 124 Adept MV Controller User s Guide Rev C AdeptMotion Interface Module MI6 MI3 10 10 1 Introduction 2 ls 126 10 2 Connections and Indicators 126 10 3 VMEbus Address 222r sn 127 10 4 Jumper Settings and Resistor Configuration on MI3 MI6 127 10 5 Connecting to User Equipment s s 128 10 6 MI3 MI6 Module Specifications 129 Adept MV Controller User s Guide Rev C 125 Chapter 10 AdeptMotion Interface Module MI6 MI3 10 1 Introduction The AdeptMotion Interface MI6 MI3 module is a 6U single slot VME module designed to control motion axes for use with the AdeptMotion VME product The MI6 module controls 6 axes of motion the MI3 controls 3 axes of motion Each module has servo drive outputs incremental encoder inputs and digital I O for machine and amplifier control See the AdeptMotion VME Developer s Guide for complete information on installation configuration and operation of the AdeptMotion VME product 10 2 Connections and Indicators 11 Red Status LED s When lit ES indicates a latched E Stop signal on the backplane has been asserted from the MI6 module or somewhere else in the system
58. The VGB has connectors for the monitor keyboard and pointing device mouse trackball etc The VGB also has a direct Video Bus connection to the VIS module in AdeptVision VME systems 8 2 Connections and Indicators KEYBOARD e 104 11 OK LED indicates that this module has passed v start up test video Bus connector a 26 pin mini D sub connector for installing one end of the Video Bus cable in AdeptVision VME systems The other end of the cable connects to the VIS module Not used in non vision systems e Monitor connector a 15 pin female mini D sub connector for the color monitor in A Series systems O LED s1 to 4 are for Adept Service use only O DIP Switch 4 position see Table 8 1 for functions O Pointer connector a 9 pin male D sub connector for the pointer cable from the Adept integrated keyboard trackball in an A Series controller O Keyboard connector a 5 pin female DIN connector for the keyboard cable from the Adept integrated keyboard trackball in an A Series controller NOTE On A Series systems the V monitor window is normally displayed on the monitor connected to the VGB module However you can redirect the system monitor input output to the RS 232 Term port on the 030 module See page 62 for details Adept MV Controller User s Guide Rev C VMEbus Adaress DIP Switc h Settings Table 8 1 VGB
59. The size of the hard drive is subject to change Adept MV Controller User s Guide Rev C 83 Chapter 7 System Input Output Module SIO 7 5 Serial I O Connectors There are three RS 232 serial ports for general purpose serial I O functions These global serial ports are referred to as devices SERIAL 1 SERIAL 2 and SERIAL 3 These serial ports can be accessed via the VMEbus by any Adept system processor configured to run V There are also two additional local serial ports on the 030 and 040 modules The connectors are DB 9P male 9 pin connectors that are pin compatible with the serial connector for AT compatible computers the signal and pin information are shown in Table 7 2 and Figure 7 1 The pinout for all three connectors is the same These three connectors are identical to the RS 232 Term connector on the 030 module See Tables 5 3 through 5 7 for information on adaptor cables which may be required for some connections See the V Language User s Guide for information on serial I O Also see the ATTACH instruction in the V Language Reference Guide for information on serial I O programming Both of these manuals are optional and can be ordered from Adept See the Instructions for Adept Utility Programs for configuration information using the CONFIG _C program All three serial ports on the SIO module can be configured for use at up to 19 200 bps Note for very intensive high speed serial operation it may be more effi
60. Typical J3 to J6 Adept DIO Board Component Side Figure 13 3 Switch and J umper Locations on DIO PC Board Adept MV Controller User s Guide Rev C DIO Module Specifications 13 8 DIO Module Specifications Table 13 9 DIO Technical Specifications Electrical Power Consumption 5 VDC 1 0 A typical 5 VDC 1 2 A max 12 VDC none 12 VDC none Width Occupies one backplane slot Inputs see Table 13 1 for Input circuit specifications Number of channels 32 4 groups of 8 Isolation any I O group to any I O group 300 VDC any I O group to VMEbus 1000 VDC Outputs see Table 13 3 for Output circuit specifications Number of channels 32 4 groups of 8 Output configuration Current sourcing outputs Power supply voltage 10 to 15 or 15 to 30 VDC jumper selectable Output transient protection Reverse voltage protection and transient suppression provided Specifications subject to change Adept MV Controller User s Guide Rev C 155 Maintenance 14 1 Introduction 2 2 ls 158 14 2 Fan Filter Inspection and Cleaning MV 8 MV 19 158 14 3 Fan Filter Inspection and Cleaning MV 5 MV 10 158 14 4 VP Lamp Tet sn 159 14 5 Spare Parts ListMV 8 MV 19 159 14 6 Spare Parts ListMV 5 MV 10 02 024 160 Adept MV Controller User s Guide Rev C 157
61. Union EU EMC Directive Table C 2 summarizes the test results of some of the most critical tests Table C 2 EMC Test Results Test Performed Status Fast Transient Burst FTB Passed without qualification EN61000 4 4 to level 3 2 kV power 1 kV I O Electrostatic Discharge ESD Passed without qualification IEC61000 4 2 to level 4 8 kV contact discharge Radiated Immunity Passed without qualification ENV50140 to level 3 10 V m 80 100 MHz 80 mod 1 kHz Conducted Immunity Passed without qualification ENV50141 to level 3 10 V Damped Oscillatory Passed without qualification IEC255 4 1 kV Gradual Shutdown and Start up Passed without qualification IEC1131 2 Surge Passed without qualification EN1000 4 5 to level 3 2 kV common mode on I Os only Radiated Emissions Passed without qualification EN55011 for group 1 ISM to Class A 2 dB Conducted Emissions Passed without qualification EN55011 for group 1 ISM to Class A 2 dB 176 Adept MV Controller User s Guide Rev C Color Coding of Indicator Lights C 4 Color Coding of Indicator Lights Adept uses colored lamps and indicators to indicate equipment status There are two categories of indicator Operator indicators These are located on the exterior of the equipment and form part of the operator interface Specifically the Manual Control Pendant MCP Front Panel VFP and the graphics monitor The col
62. VGB installed AdeptVision VME can be integrated into any Adept automation system AdeptVision VME is a high resolution gray scale vision system based on Adept s multi tasking vt language and operating system Vt isa high level language with extensive vision tools for vision related operations like image capture enhancement and analysis AIM VisionWare software is included with the AdeptVision VME product AdeptMotion VME AdeptMotion VME is a combination hardware and software package for motion control of both simple and complex robots and other factory mechanisms The hardware consists of an Adept MV controller with one or several AdeptMotion Interface modules MI3 MI6 installed The AdeptMotion VME control software runs on the vt operating system This product can be integrated into an Adept automation system with additional features such as vision guidance and inspection conveyor tracking and AIM software AdeptForce VME 20 AdeptForce is a hardware and software package that allows Adept controlled robots to react to sensed forces and moments Tight integration of the force sensor to the robot control system dramatically reduces robot stopping time when forces or moments exceed preset thresholds As a result assembly operations can be performed at higher speeds than are possible with other force sensing units The hardware consists of an AdeptForce VME module VFI installed in the Adept MV controller and the force sensing unit
63. Varop 0 85 V at 100 mA Varop lt 0 80 V at 10 mA Output off leakage current Tout lt 600 pA Turn on response time hardware 3 psec maximum Software scan rate response time 16 ms scan cycle 32 ms max response time Turn off response time hardware 200 psec maximum Software scan rate response time 16 ms scan cycle 32 ms max response time CAUTION The above specifications for the digital inputs and outputs on the SIO module are different than the specifications for the DIO module described in Chapter 13 Specifically the SIO output current is limited to 100 mA per channel whereas the DIO output is rated at 400 mA Adept MV Controller User s Guide Rev C 87 Chapter 7 System Input Output Module SIO Typical Digital Input Wiring The following drawing shows three examples of different types of connections to the digital inputs on the SIO The methods are negative common positive common and independent no common Example 1 inputs 1001 to 1004 shown with negative common Example 2 inputs 1005 to 1008 shown with positive common Example3 inputs 1009 to 1012 shown with fully independent power supply no common Note these are examples in fact any method can be used on any channel 88 Adept Supplied Equipment User Supplied Equipment Typical Examples Figure 7 2 Typical Digital Input W
64. and not a command User action Check the spelling of the command name and enter the command again Use the DO command to invoke a program instruction from the terminal Illegal value 402 Explanation A numeric or expression value that is not in the allowed range was specified within a command or instruction User action Edit the program to use a legal value Illegal when command program active 19 Explanation A command program is active and an attempt has been made to execute a command that would interfere with operation of the command program For example processing a ZERO command would cause the command program to be deleted from the system memory User action Edit the command program and delete the command causing the error 214 Adept MV Controller User s Guide Rev C Appendix E System Messages Image processing board failure 728 Explanation User action The controller circuit board that processes vision images has failed to respond while processing a request to grab a frame After saving the programs variables and vision prototypes in memory power down the controller Make sure the image processor is firmly seated in the controller backplane Contact Adept Customer Service if the problem persists Incompatible robot and safety ID 7644 Explanation User action Initialization failure Explanation User action Input block error Explanation User action Inpu
65. cable you must provide 12 VDC power at sufficient current for the type and quantity of cameras you are using See the documentation supplied with your cameras for information on current requirements VGB VIS edet VIDEO BUS Do4 zoz y Video Bus Coupling Installed 10 Meter Camera Cable one for Up to four cameras each camera can be installed omcoos4o o 32m z 0 User Supplied 9 pin Male D Sub KEYBOARD ay Ha pi elle J ec cds Strobe Power reakout Cable Connector O C User 12VDC Up to Two Power Supply Optional to Drive Strobe Cameras Lamps Figure 9 5 Camera Cable Installation Drawing Adept MV Controller User s Guide Rev C 115 Chapter 9 AdeptVision VME Module VIS 9 8 Camera Cable Pin and Signal Information This section provides the pin and signal information for the connectors and cables associated with the AdeptVision VME product Table 9 3 describes the Hirose connector that is used for all cameras on both the two and four camera breakout cables Table 9 4 describes the Strobe and Power connector on the four camera breakout cable Table 9 5 describes the 10 meter camera cable Table 9 6 describes signal information between the 44 pin connecto
66. commands V Language Reference Guide A complete description of the keywords in the basic V language system AdeptVision Reference Guide Descriptions of the additional V keywords available with the AdeptVision VME option Adept MV Controller User s Guide Rev C 3 Chapter 1 Introduction 12 Wamings Cautions and Notes There are three levels of special notation used in this manual They are WARNING Injury or major equipment damage could result if the actions indicated in a WARNING are not complied with A warning statement typically describes the hazard its possible effect and the measures that must be taken to reduce the hazard CAUTION Damage to your equipment could result if the action specified in the CAUTION is not complied with NOTE A NOTE provides supplementary information emphasizes a point or procedure or gives a tip for easier operation L3 Safety Reading and Training for Users and Operators Adept systems can include computer controlled mechanisms that are capable of moving at high speeds and 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 This manual should be read by all personnel who operate or maintain Adept systems or who work within or near the workcell We recommend you read the American National Standard for Industrial Robot Systems Safety Requirements
67. control using CONFIG C if you are using the DTR DSR RTS or CTS signals Table 5 6 Pin Assignments for 9 pin to 9 pin AFCompatible Cable 030 RS 232 AT Compatible 9 Pin Female 9 Pin Female Pin Number Function Pin Number Function 2 RXD 3 TXD 3 TXD 2 RXD 4 DTR 6and 1 DSR and CD 5 Signal ground 5 Signal ground 6 and 1 DSR 4 DTR 7 RIS 8 CTR 8 CTS 7 RTS Pins 4 6 7 and 8 are used for hardware handshake also known as modem control In some applications you can omit some or all of these lines consult the documentation for the device that you are connecting to the Adept controller P Pin 1 is not connected inside the Adept MV Controller No connection is required but if you are using a standard cable that connects to this pin no damage should occur Adept MV Controller User s Guide Rev C 65 Chapter 5 030 Processor Module DTE DCE or AFstyle There are two ways to make an RS 232 connection detailed research and full understanding or a try it and see method In general you will do no harm if you make an incorrect connection between two genuine RS 232 ports Try either of the connection types described above DTE or DCE and see which works If neither works either the other device has a non standard pinout or the devices are incorrectly configured for example different speeds or different handshake methods The following information may assist if you
68. disabled Therefore the monitor speed specified in the PRIME command has no effect If you want the PRIME command to change the monitor speed type the command enable set speed at the keyboard Warning Watchdog timer disabled 56 Explanation User action Wrong disk loaded Explanation User action Displayed at startup by all CPUs if the watchdog timer on the board is disabled This timer is a hardware device which asserts SYSFAIL on the VME bus which drops high power if the CPU halts or gets hung On the Adept 030 board the green light goes out if SYSFAIL is asserted This message also is displayed whenever user task is started from the monitor and the watchdog timer is disabled Contact Adept Customer Service to verify jumper settings May also indicate a hardware fault 521 The diskette in a disk drive has been changed while a file was still open Further attempts to access the file result in this error Data being written into the file may be lost Check your diskette to see if any data was lost If so it s too late now Be more careful in the future Adept MV Controller User s Guide Rev C 231 Numerics 030 module 15 60 69 jumper settings main or auxiliary 68 serial I O 61 66 technical specifications 69 use as Auxiliary processor 69 VMEbus address 67 040 module 15 72 79 serial I O 73 76 technical specifications 79 use as Auxiliary processor 79 VMEbus address 77 A AC power connecting p
69. displays Enter last two digits of file name STORE auto Enter one or two digits press REC DONE and all programs and variables in system memory will be stored to a file on the default disk with the name autoxx v2 For example if you had entered 11 the file AUTO11 V2 would be created and all programs and global variables in system memory would be stored to that file CMD1 and CMD2 When CMD1 is pressed the LCD prompts you to press the PROGRAM START button on the VFP The system then attempts to load the file CMD1 V2 from the default disk and COMMAND the program CMD1 The program file CMD1 V2 must reside on the default disk and it must contain a command program named cmd1 If the file does not exist or does not contain a correctly named program the operation will be aborted and the appropriate error message will be displayed on the LCD If CMD2 is pressed the file CMD2 V2 will be loaded and cmd2 will be COMMANDed In versions of V prior to 11 3 the VFP keyswitch had to be in the Pendant or Manual position to initiate actions from the Auto Start Calib CMD1 CMD2 and Start function buttons In V version 11 3 and higher the VFP keyswitch position must be in Auto for Calib and does not matter for initiating other functions See the DEFAULT DISK command in theV Language Reference Guide for details on setting the default disk See the description of the utility program CONFIG C in the Instructions for Adept
70. eee 184 Introd ctio xus ao o Severo e ow um fa d 184 Predefined Function Buttons ls 184 The EditFunction ren 185 The Display Function lll 186 The Clear Eror Function 0 0 0 00 44s 188 The CMDFunction 2 ren 188 Prog Set Function 2 00 eee 190 D 3 Moving a Robot or Motion Device withthe MCP 191 INGO CUCTION lt a a Be ee eee ae ma eU b ele es 191 Mode Control Buttons e soe sk a 0 ee e e ei 191 Emergency Stop Button lt oae sasos aie ddai 191 COMP PWRButton gt s i i rsa c aaa dord t aaa 191 MAN HALT Button aaa sss 192 DISPWR Button sss 192 RUN HOLD 25 262i 93x x Ao oo XX RR Re Rs 192 J oint Axis Control Buttons 2 2 2 2 192 SIEP BUttOR ous d cri ae ee aO AS EO 193 Speed Bars s ll ls s a a 193 Slow Button ico e Roe 8 wed ko e G0 OE oe SISTI Wee os 193 RobotStates e a a e ss 194 World State 3 s fat furo o ute ue Tes 194 TOO State xum ey SRL sets ege dde hee Mua A 195 J oifib State T oi al Se wo en S e Les de ee tend DP ci a 198 Free State 2 2 2 2 2 2 2 200 Controlling More Than One Robot 201 Robots With Less Than SixJoints 201 Robots With More Than SxJoints 201 Adept MV Controller User s Guide Rev C 179 Appendix D Using the Manual Control Pendant MCP D 1 Manual Control Pendant Basics 180 Progr
71. electrical requirements shown in Table 4 1 and Table 4 2 Table 4 1 Operating Environment Requirements Ambient temperature while accessing floppy or hard drive 5 C to 40 C 32 to 104 F while not accessing floppy or hard drive 5 C to 50 C 32 to 122 F Humidity 5 to 90 non condensing Altitude up to 2000 m 6500 ft Free space around controller for proper 50 mm 2 in front 25 mm cooling 1 at top Controller sub assembly protection class IP20 unmounted NEMA Type 1 Enclosure requirements to meet EN 60204 and IP54 EN 55011 NOTE Refer to Appendix A for dimension drawings on the Adept MV 8 and MV 19 controllers Voltage Interruptions During a power failure the contents of memory are not saved and you will later have to reload V and your programs from disk In some situations you may find it convenient to provide an external uninterruptable power supply UPS to avoid or reduce power interruptions Adept MV Controller User s Guide Rev C 45 Chapter 4 Installation for MV 8 and MV 19 Controllers 4 4 Connecting AC Power The Adept MV 8 and MV 19 controllers operate at either 100 120 VAC or 200 240 VAC single phase All controllers are shipped from the factory set to 200 240 VAC single phase See Table 4 4 for details on changing to 100 120 VAC configuration AC Power Requirements 46 Table 4 2 Adept MV Controller Power Requirements
72. error An Try again If the problem persists it may error has occurred in the be caused by a faulty ESTOP board Make communication or test a note of the error message and code sequence number and contact Adept Customer Service 3 Hardware arm power Consult your Robot Instruction Handbook contactor AP1 error or contact Adept Customer Service 4 Hardware arm power Consult your Robot Instruction Handbook contactor AP2 error or contact Adept Customer Service 5 Hardware cyclic check relay Try again If the problem persists it may channel 1 SR8 error An be caused by a faulty ESTOP board error has occurred in the Consult your Robot Instruction Handbook communication or test or contact Adept Customer Service Make sequence a note of the error message and code number before contacting Adept Customer Service 6 Hardware cyclic check relay Try again If the problem persists it may channel 2 SR9 error An error has occurred in the communication or test sequence Cat 3 external E STOP Code n 206 be caused by a faulty ESTOP board Consult your Robot Instruction Handbook or contact Adept Customer Service Make a note of the error message and code number before contacting Adept Customer Service 1111 Because these message codes are related to hardware refer to your Robot Instruction Handbook as your primary source of information If it does not answer your questions contact Adept Customer Service The following
73. for MV 5 and MV 10 Controllers 21 3 1 Shipping Storage Unpacking and Inspection 22 Shipping and Storage es 22 Before Unpacking ll 22 Upon Unpacking 2 a a e A e Area a a 22 Repacking ForRelocation 0 eee 22 3 2 ControllerID Label 22 3 3 Facility Requirements 2 2 2 ee lll 23 Voltage Interuptions rs 23 3 4 Connecting AC Power MV 5 and MV 10 24 AC Power Requirements 2 2 2 2 2 2 2 52 5 24 Facility Overvoltage Protection 24 Power Entry Module 2 ls 25 Function of VFP System Power Switch with MV 5 and MV 10 Controllers 25 Remote System PowerOption 25 Connecting AC PowerCord 27 viii Adept MV Controller User s Guide Rev C Table Of Contents System Grounding Information lll rss 28 3 5 Fuse Information MV 5 and MV 10 28 3 6 Fan and Riter Infomation lll 00048 29 COOMO FAN lt 2 uh vele DECR Eden du ee p deal HUE WE ux ue 29 Filter Inspection and Cleaning 2 004 29 3 7 Removing and Installing Modules 30 VMEbus Address Settings llle 30 UpperBackplaneJumperPlugs P1 30 Lower Backplane Jumper Plugs P2 and Third Party Modules 231 Removing Modules 2 25 33 Install
74. for information on that switch O O d O O eom O O O O O O O O O O O O ee O O O Figure 6 2 RS 232 Connector on 040 Module 25 Pin Female DB 25F lower connector 74 Adept MV Controller User s Guide Rev C Serial l O Connections 040 Module Table 6 2 RS 232 Tem Connector Pin Assignments on 040 Module Pin Type Adept Signal Remote Signal 1 Shield 2 input RXD TXD Transmitted Data 3 output TXD RXD Received Data 4 input CTS RTS Request to Send 5 output RTS CTS Clear to Send output always on DSR DCE Ready 7 Signal ground 8 output DTR DCD Data Carrier Detect 15 output Reserved do not connect 17 output Reserved do not connect 20P input DCD not used DTR DTE Ready 24 input Reserved do not connect Pins 4 5 and 8 are used for hardware handshake also known as modem control By default they are disabled To enable them use the CONFIG C utility program the V FSET program instruction or the FSET monitor command In some applications you can omit some or all of these lines consult the documentation for the device that you are connecting to the Adept controller You may connect to pin 20 but ve ignores this signal CAUTION The RS 422 and RS 232 ports on the 040 both use 25 pin female connectors Be sure to label each connector and take precautions to avoid connecting to the wr
75. has detected an open circuit at that location User Action Refer to your hardware documentation consult with Adept Customer Service as needed for details about types and locations of fuses and replace the fuse Servo board 12v fuse open 7671 Explanation Your servo board has a fused 12 volt bus and the system has detected an open circuit at that location User Action Refer to your hardware documentation and replace the fuse Servo board solenoid fuse open 672 Explanation Your servo board has a fused robot solenoid control line and the system has detected an open circuit at that location User Action Refer to your hardware documentation and replace the fuse Servo task overloaded 7674 Explanation A servo interrupt task has used up all the execution time The detection algorithm reports an error when the servo interrupt task completely occupies 10 or more time slices per second of real time The robot went to a fatal error state when this error occurred and the servo interrupt task stopped running User action Change one or more of the following 1 move servo tasks off CPU 1 to allow more time for trajectory generation 2 change CPU 1 from an 030 to an 040 to increase the throughput or 3 reduce the number of robots or axes that you are operating Soft envelope error 1006 Explanation The indicated motor was not tracking the commanded position with sufficient accuracy indicating a failure in
76. ies Fanc torn BUttors xu uode Son ve mw OU eue erue Torr he ID A Data Entry Buttons os sos o d eow Wor pO kha Dia KO Kai Mode Control and Joint Axis Control Buttons Speed Barsand Slow Button lll Emergency Stop From the MCP cs Background Mode 2 2 2 2 25 25 252 D 2 MCP Predefined Functions lll sls xiv Adept MV Controller User s Guide Rev C Table Of Contents Introd ctlon ouo xS Goss x IRSE Yu Gad DO E od 184 Predefined Function Buttons lll 184 The EditFunction 0 lors 185 The Display Function 2 00200 o 186 The ClearEmorFunction 0 00004 188 The CMDFunction ren 188 Prog Set Function a 190 D 3 Moving a Robot or Motion Device with the MCP 191 Introduction 1 aa a 191 Mode Control Buttons s a sn 191 Emergency Stop Button 0 04 191 COMP PWRButton 2 ee A e e a PA 191 MAN HALTButton Skora sss 192 DISPWRButton i poi dor ne a aa sss 192 RUN FIOTID dupla nu aee aa RR oS ais Eee a 192 Joint AxisControlButtons 2 2 2 2 25 5 192 STEP BUON ductu AE Ido ido Faces osi do enam m Ned a dene 193 Speed Balsa cata A oe ute M he pe nda eM UH DR dir 2 193 Slow BUOD uuum moms E AS a Rum Um DLE RO da 193 RobotStates uae doe x ted oco XR e Wiese x 194 World State xs eke a ae ae ee SUE e UA 194 loolState
77. in and 2 make sure that you are pressing the HOLD TO RUN switch and not the RUN HOLD button by mistake This may also be caused by a faulty MCP VFP or cable 553 Too many arguments were specified for the last command or instruction Reenter the command or instruction but with the correct number of arguments Trajectory clock overrun 7636 Explanation User action One of these two conditions has occurred 1 the V internal trajectory task was to be restarted but was still running from the last time that it was initiated or 2 because the trajectory task took too long to write out new setpoints to the servos the commands were not available when the servos expected the data Perform one or more of the following 1 increase the trajectory cycle time if less than 16msec is being used 2 move servo tasks off CPU 1 to allow more time for trajectory generation 3 change CPU 1 from an 030 to an 040 to increase the throughput 4 reduce the number of robots or axes that you are operating or 5 change the servo rate to 1KHz if the trajectory cycle time is set to 2ms Undefined program or variable name 406 Explanation User action The program or variable referenced in a command or program step does not exist possibly because the name was mistyped If the correct name was entered create the program or variable using one of the V editors the appropriate V monitor commands or by loading from a di
78. indicates that this module has passed v start up test E STOP indicates that the E stop circuit is open ACC V indicates that a 3rd party VME board has accessed the Adept VME bus improperly SCSI indicates the hard drive is active 1 4 are for Adept Service use only DIP Switch 8 position see Table 7 1 for functions Reset switch resets all the modules on the backplane FP MCP connector for an external front panel You must install the supplied jumper plug if an external front panel is not used otherwise the controller will not turn on Drive A 3 5 floppy drive 1 4 MB maximum capacity RS 232 three global serial ports for general user serial I O I O 24V 100 mA Digital I O connector for 20 channels of DIO 12 inputs and 8 outputs Also the E Stop circuit wiring is installed at this connector see section 7 7 NOTE The Ethernet connector is not currently used Ethernet communication is available for systems using the 040 processor Contact Adept Customer Service for information about the AdeptNet Ethernet option Adept MV Controller User s Guide Rev C System Configuration Information DIP Switch Settings Table 7 1 SIO Front Panel DIP Switc h Functions Switch Function ON enables Autostart after bootup OFF disables Autostart See the V Operating System User s Guide for details Not used set to OFF S Series systems No effect set to OFF A Series systems OFF V sy
79. installed loosen the captive screws at the top and bottom of the panel and remove it 3 Verify that the intended slot for the module is ready to accept the module If the slot has been unused make sure there are no backplane jumper plugs installed for that slot see Figure 3 5 or Figure 3 6 4 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 two handles on the outer edge of the module until it is firmly seated in the backplane connector and the face of the module is flush with the other modules 5 Tighten the captive screws at the top and bottom of the module CAUTION It should not be necessary to use excess pressure or force to engage the connectors If the board does not properly connect with the backplane remove the module and inspect all connectors and guide slots for possible damage or obstructions Adept MV Controller User s Guide Rev C 33 Chapter 3 Insta llation for MV 5 and MV 10 Controllers 3 8 Installing the A Series Monitor and Keyboard NOTE The peripheral equipment such as the keyboard and monitor supplied by Adept are intended for use in light industrial conditions In more severe conditions they should be protected with a suitable enclosure Installatio n Procedure An A Series Adept MV controller can be configured with a color monitor and an extended keyboard with built in trackball Both of the
80. is a camera strobe connector for camera and strobe signals The VIS module can support up to four cameras and two strobe lights The Video Bus connector provides direct video bus signal connections to the VGB module AdeptMotion Interface Modules MI3 MI6 16 An AdeptMotion Interface module MI3 or MI6 is required to run the AdeptMotion VME product The MI3 module is a single slot GU VME module designed to control three axes of motion the MI6 controls six axes Each module has servo drive outputs incremental encoder inputs and digital I O for machine and amplifier control All external device inputs and outputs are opto isolated Each of the channels on the MI3 MI6 can be configured for either servo control of a robot axis or for conveyor belt tracking from an external encoder Up to four MI6 modules can be installed in an Adept MV 19 controller as long as there is sufficient processing power The MI3 MI6 module can be used with both A Series and S Series Adept MV controllers Adept MV Controller User s Guide Rev C Optional Modules Adept MV 5 has 2 slots for optional modules Adept MV 10 has 7 slots for optional modules Adept MV 8 has 5 slots for optional modules Adept MV 19 has 16 slots for optional modules
81. monitor and each program task the Manual Control Pendant MCP can also have a robot attached When moving a robot from the MCP or displaying joint values or world locations by pressing the DISP key only the currently selected robot is affected The robot currently selected by the MCP is shown by the state of the DEV LED in the manual state LED group see Figure D 3 The table below describes the conditions Robot selected by DEV LED state pendant OFF 1 ON 2 FLASHING 3 and above The MCP selection cycles from one robot to the next each time the DEV F3 key is pressed Be careful when recording positions with the MCP the position recorded by HERE or TEACH commands depends on the robot that is currently selected by the monitor or program and not on the robot selected by the MCP The following commands will allow you to teach the position of robot 2 regardless of which robot is selected by the MCP SE H ECT ROBOT 2 Choose robot to be accessed by Monitor TEACH p 1 Record location s of robot 2 Robots With Less Than Six J oints The MCP has six axis joint selection buttons In Cartesian modes WORLD TOOL these correspond to all six possible Cartesian values X Y Z RX RY RZ Not all mechanisms can move in all of these coordinates For example a 4 axis SCARA robot can only move in X Y Z and RZ Buttons that have no effect on your robot are ignored and in some cases cannot be selec
82. other equipment Mount the VFP in the same enclosure as the controller or in a separate protected enclosure See section 3 3 on page 23 MV 5 10 or section 4 3 on page 45 MV 8 19 for enclosure requirements See Figure 7 7 as you follow the procedure below NOTE If you are installing the VFP in an MV 5 or MV 10 system see page 25 for information on the System Power switch on the VFP 1 Turn off the Adept MV controller power switch 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 26 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 go to section 7 9 Adept MV Controller User s Guide Rev C 97 Chapter 7 System Input Output Module SIO 98 SIO Module 2 Meter Front Panel Cable oa cm eH e External Front Panel VFP LAMP pm Test MANUAL AUTO we O PENDANT LOCAL NETWORK START SYSTEM Poem Oorr ye cde O Q EMERGENCY STOP PROGRAM HIGH POWER PROGRAM RUNNING O Nor
83. return blue red O E O P1 26 1 group 1 return red green e Oo 2 O O P1 10 2 1041 green black 050 black 2 O P1 1 2 1042 ac o e o P1 11 2 1043 orange black cS P1 2 2 1044 white Pin Y Pin 10 Pin 1 P1 12 2 1045 blue black P1 3 2 1046 red P1 13 2 1047 black white P1 26 Pin Female Input Connector on DIO P1 4 2 1048 green Module Front Panel P1 19 2 group 2 return white red P1 20 2 group 2 return orange red The signal numbers for modules 2 7 increase by 32 for each additional module see Table 13 8 Adept MV Controller User s Guide Rev C 149 Chapter 13 Digital Input Output Module DIO Table 13 5 DIO P2 Input Cable Pin Assignments Pin Signal Module 1 Wire Pin Number Group Signal color Locations P2 15 3 1049 red white P2 6 3 1050 orange P2 16 3 1051 green white p2 7 3 1052 blue P2 17 3 1053 blue white P2 8 3 1054 white black P2 18 3 1055 black red S PIER 09 Pin 26 P2 9 3 1056 red black 6 O O O P2 25 3 group 3 return blue red O B O P2 26 3 group 3 return red green O o O O O P2 10 4 1057 green black o O O P2 1 4 1058 black o E o P2 11 4 1059 orange black A o Q P2 2 4 1060 white Pin gy Pin 10 Pin 1 P2 12 4 1061 blue black P2 3 4 1062 red P2 13 4 1063 black white P2 26 Pin Female Input Connector on DIO P2 4 4 1064 green Module Front Panel P2 19 4 group 4 return white red P2 20 orange red 4 gr
84. robot When moving in tool state directions are sent from the MCP to move the robot in a Cartesian coordinate system centered at the robot s end of arm tooling location In joint state directions are sent from the MCP to move individual robot joints In free state selected joints of the robot are freed from servo control so they can be moved by hand Mode Control Buttons The mode control buttons change the state being used to move the robot switch control of the robot between the MCP and application programs and enable High Power when necessary Figure D 11 Mode Control Buttons Emergency Stop Button The emergency stop button will stop program execution and turn off High Power If your robot is equipped with brakes they will be activated COMP PWR Button If High Power is enabled the COMP PWR button selects computer mode If High Power is disabled the COMP PWR button enables High Power and selects computer mode In computer mode an executing program or the system terminal has control of the 1 robot Adept MV Controller User s Guide Rev C 191 Appendix D Using the Manual Control Pendant MCP MAN HALT Button When there is no program executing or a program has paused for a pendant teach routine pressing the MAN HALT button selects manual mode In manual mode the MCP has control of the robot If a program is executing the MAN HALT button will stop program execution without shutting off High Power
85. supplied monitor and keyboard are certified to meet the requirements of EN 60204 1 and other international standards Installation of a non Adept peripheral may not meet these standards Third Party Monitor Compatibility If you choose to use a color monitor other than the one supplied by Adept you must make sure the monitor meets the specifications shown in Table 3 5 Also see Table 8 2 for the pin assignments for the monitor connector on the VGB module Table 3 5 Monitor Compatibility Specifications Video Display Resolution 1024 x 768 pixels Frame Rate 60 Hz Format Non interlaced Line Rate 48 363 kHz Dot Rate 65 000 MHz Video signal Analog RGB Signal level 0 0 7 Vp p Input Impedance 75 ohm 5 at 100 kHz Third Party Keyboard Compatibility The Adept MV controller can interface to keyboards that are AT compatible and use a standard DIN 5 connector See Chapter 8 for the pin assignments on the connector Third Party Pointing Device Compatibility The Adept MV controller can interface to any mouse trackball or other pointing device that uses the Microsoft mouse serial protocol 1200 bps The connector must be a 9 pin D sub the pin assignments are given in Chapter 8 This port can alternatively be used for a touchscreen using ELO TouchSystems protocol See Chapter 8 for configuration and compatibility If you install a touchscreen you must disconnect the trackball or mouse you ca
86. table summarizes information about the codes Code n Explanation User action 0 Adept E stop channel 1 error Consult your Robot Instruction Handbook 1 Adept E stop channel 2 error Consult your Robot Instruction Handbook Adept MV Controller User s Guide Rev C Appendix E System Messages Code n Explanation User action 2 Customer E stop channel 1 Consult your Robot Instruction Handbook error 3 Customer E stop channel 2 Consult your Robot Instruction Handbook error Cat3 external sensor fault Code n 1109 Because these message codes are related to hardware refer to your Robot Instruction Handbook as your primary source of information If it does not answer your questions contact Adept Customer Service If one of these message codes occurs stand away from the robot and attempt to enable power again If the same error code occurs again for no apparent reason there may be a fault with the sensor The following table summarizes information about the message codes WARNING The test procedures for these messages are for skilled or instructed personnel only Dangerous voltages are present including those on the Security Panel Failure to exercise care can result in death or injury Code n Explanation User action 0 Accelerometer channel 1 If the error occurred while a program was error The robot joint 1 or 2 fast there is a fault with the accelerometer s built in test
87. the hardware servo system or 226 Adept MV Controller User s Guide Rev C Appendix E System Messages User Action something impeding the path of the robot Because the amount of inaccuracy was not considered large enough to be a serious error a controlled motion stop occurred and High Power remains on Try to perform the motion at a slower speed Make sure that nothing is obstructing the robot s motion If the error recurs contact Adept Customer Service Software incompatible Code n 1026 Explanation User action The servo code has detected an incompatibility between the servo code and calibration software Make sure that you are using the calibration software in the CALIB directory that you received with the V system you are using If you are using the correct software note the code number and call Adept Customer Service Speed pot or STEP not pressed 620 Explanation User action Subdirectory in use Explanation User action While the VFP was set to MANUAL mode a V program tried to initiate a robot motion but you failed to press the STEP button and speed bar on the MCP 1 If the VFP is accidentally in the MANUAL mode and there is nobody in the workcell switch to the AUTO mode 2 When the VFP is set to MANUAL mode and a V program is about to initiate robot motions press the STEP button and speed bar on the MCP To continue the motion once it has started you can release t
88. to indicate the controller is now configured for 100 120 VAC 9 Connect the AC power cord and the controller is ready to operate amp Gv Gs Go o Gr Go Ga 18 22 25 Go Ga Ge G1 Gs 69 Ge 27 91 Gs o 12 Ge 0 Ga 2 G2 Ge io Numbering pattern on jumper block Remove these screws two on each side to fold down the back panel Configuration Jumper Block O Figure 4 2 Adept MV Contoller with Back Panel Open Adept MV Controller User s Guide Rev C 49 Chapter 4 Installation for MV 8 and MV 19 Controllers side as viewed from front 4 5 Fuse Information MV 8 and MV 19 The two fuses F3 and F4 at the power entry module on the front panel are for the incoming AC power lines There are three fuses F1 F2 and F5 inside the back section of the chassis at the left side looking from the front near the top see Figure 4 3 See the table below for ratings WARNING Only skilled or instructed personnel should attempt to change any fuses F1 F2 and F5 require access to the interior of the controller and potentially dangerous AC voltage may be present if the power cord is not disconnected Always replace blown fuses with new fuses of the same type and rating The controller is shipped with IEC 127 style 5 x 20 mm fuses and fuse holders black installed at F1 F2 F3 F4 and F5 Included in the accessories kit are five alternativ
89. to the Adept VGB module The 030 can be used either as the main system processor or as an auxiliary processor in Adept MV controller systems see section 5 7 Connections and Indicators 60 o Status LED s When lit OK indicates this module has passed vt start up test 1 4 are for Adept Service use only DIP Switch 4 position 1 2 3 are not used and should be set to OFF 4 is for Adept internal use only and should be set to OFF RS 422 485 connector for general serial communication eo RS 232 Term connector terminal connection with an S Series controller can be used for serial communication with an A Series model See page 62 for more information on this connector when used with an A Series model Adept MV Controller User s Guide Rev C Serial l O Connections 030 Module 5 3 Senall O Connections 030 Module RS 422 485 Connector on 030 Module The RS 422 485 connector is a DE 9F 9 pin female connector The pin assignments and locations are shown below RS 422 is a point to point protocol for connection to a single destination This port can also be configured as a multi drop port RS 485 To change the configuration use the CONFIG C utility program or the V FSET program instruction This port is designated LOCAL SERIAL 1 Table 5 1 RS 422 485 Connector Pin Assignments Pin S
90. want to attempt the research method Otherwise we recommend you skip the rest of this sub section The RS 232C standard and its successors EIA 232 D and ANSI EIA TIA 232 E define two types of apparatus e DTE Data Terminal Equipment DCE Data Circuit terminating Equipment used to be known as Data Communications Equipment Modems are supposed to be DCE devices Terminals are supposed to be DTE Both are supposed to use 25 pin D Sub connectors The standard only defines the connector and pinout at the point of demarcation which is to be no more than 3 meters from the DCE device Computers and printers are not explicitly addressed by the standard In practice they often have a DTE type pinout Some have a DCE pinout Increasingly many computer devices use an IBM PC AT style 9 pin connector which is strictly neither DTE nor DCE The standard assumes that you have two devices one DTE the other DCE If you need to connect two DTE devices the standard assumed that you would use a pair of modems or other DCE devices To directly connect two DTE devices you need to use a null modem to make the necessary connections null modem is an adaptor connector or cable that has DCE pinouts at each end Null modems are readily available at most computer stores If you need to build your own null modem the table below shows the typical pinouts Table 5 7 Typical 25 pin Null Modem Ada ptor Pinout
91. work If they do meet all the above there is a good chance they will work The pixel resolution of the Adept frame store is 640x480 we suggest the camera should be at least about 500 x 480 More is normally better if the camera lens etc are good quality The actual number of pixels does not affect compatibility because the interface is via the RS 170 standard video link For interfacing cameras without external sync contact Adept Customer Service 112 Adept MV Controller User s Guide Rev C Installing Video Bus Coupling 9 5 Installing Video Bus Coupling The Video Bus coupling VTV see Figure 9 5 transfers data between the VIS module and the VGB module These two modules must be installed next to each other in the controller chassis Earlier versions of the coupling were constructed with a cable instead of a molded unit Both versions perform the same function 1 Make sure the controller On Off switch is turned off 2 Verify that the VIS and VGB modules are installed side by side in the controller 3 Plug the coupling into the Video Bus connectors on the VIS and VGB modules Camera Breakout Cables 9 6 Adept offers two versions of camera breakout cables a two camera version and a four camera version They both connect to the Camera connector on the front of the module With the four camera model there is support for two strobe connections The breakout cables are intended to route the signals awa
92. 0 video Bus connector a 26 pin mini D sub connector for installing one end of the Video Bus cable in AdeptVision VME systems The other end of the cable connects to the VGB module O Camera Strobe connector a 44 pin D sub connector for either the two camera or four camera breakout cables c A M E R A s s T R o B E s Adept MV Controller User s Guide Rev C VMEbus Adaress and Configuration 9 3 VMEbus Address and Configuration The VIS module will be configured as module 1 unless the system is running the Dual AdeptVision option in which case the second VIS module will be module 2 If you have only one VIS module installed it will be set correctly when the controller is shipped to you If you install a new VIS module as a replacement part or upgrade or have the Dual Vision option see the tables below for the address switch settings The shaded cells indicate the settings that are different for each board See Figure 9 1 for the position of the A and B settings See Figure 9 2 for the location of SW1 SW3 and SW2 on the VIS module Table 9 1 Switch Settings for VIS Module 1 1 2 3 4 5 6 7 8 SW1 A B B B SW3 A A B B B B B B SW2 A A A B A A A A A B gt Figure 9 1 Switch Positions A and B in Relation to Arrows on SWI SW3 and SW2 Table 9 2 Switch Settings for VIS Module 2
93. 0340 00030 1 Front Panel Bypass plug 10330 01040 1 User can build own see Figure 7 5 E stop test plug for I O port 10330 01075 1 on SIO module Table 14 4 Spare Parts From Third Parties Description Specification Quantity General Comments Fuse F1 5 AT 250V 5x20mm 1 AC line fuse at power IEC 127 style entry module Fuse F2 5 AT 250V 5x20mm 1 AC line fuse at power IEC 127 style entry module These items are not available from Adept 160 Adept MV Controller User s Guide Rev C Dimension Drawings A 1 Dimensions for Adept MV 5 and MV 10 Stand Alone Controllers 162 A 2 Dimensions for Adept MV 5 and MV 10 Robot Controllers 163 A 3 Dimensions for Adept MV 8 Controller 164 A 4 Dimensions for Adept MV 19 Controller 165 A 5 Mounting Bracket Dimensions 166 A 6 Extemal Front Panel VFP 1 Dimensions 167 A 7 MCP Cradle Dimensions o enn 168 Adept MV Controller User s Guide Rev C 161 Appendix A Dimension Drawings A 1 Dimensions for Adept MV 5 and MV 10 Stand Alone Controllers a 420 3 mm 286 7 mm LA L
94. 2 Switch Locations on VIS Module lll rss Two Camera Breakout Cable lll ls FourCamera Breakout Cable 0 000 Camera Cable Installation Drawing rns Pin Locations for Camera Cable Connector 12 Pin Hirose Male VjIBeltEncoderConnectorPinout VJ Belt Encoder Typical Input Circuity less Typical Digital Input Setup a Typical Digital Output Setup 0 0 Switch and JumperLocationson DIO PC Board Adept MV 5 10 Stand Alone Outline Drawing Adept MV 5 10 Robot Outline Drawing Adept MV 8 Outline Drawing 2 a Adept MV 19 Outline Drawing 2 2 a Mounting Bracket Hole Pattem Dimensions Adept Extemal Front Panel VFP 1 Dimensions MCP Cradle Dimensions ren Adept MV Controller User s Guide Rev C Table Of Contents Figure D 1 Figure D 2 Figure D 3 Figure D 4 Figure D 5 Figure D 6 Figure D 7 Figure D 8 Figure D 9 Figure D 10 Figure D 11 Figure D 12 Figure D 13 Figure D 14 Figure D 15 Figure D 16 Figure D 17 Figure D 18 Table 3 1 Table 3 2 Table 3 3 Table 3 4 Table 3 5 Table 3 6 Table 4 1 Table 4 2 Table 4 3 Table 4 4 Table 4 5 Table 4 6 Table 5 1 Table 5 2 Table 5 3 Holding the OperatorsMCP 180 Cradling the Operators MCP 2 2 2 2 5 2
95. 2V 50 60Hz 10 amps and 1 phase 200V to 240V 180V 264V Power to the Adept MV controller and all amplifiers and motion devices must come from a single source The maximum interruption time operating voltage below specification tolerated by the controller is 16 milliseconds If the Adept MV Controller is used with an Adept robot see the robot user s guide or instruction handbook for additional power requirements Facility Overvoltage Protection The user must protect the controller from excessive overvoltages and voltage spikes In particular if the country of installation requires a CE certified installation or compliance with IEC 1131 2 the following information may be helpful IEC 1131 2 requires that the installation must ensure that category II overvoltages i e line spikes not directly due to lightening strikes are not exceeded Transient overvoltages at the point of connection to the power source shall be controlled not to exceed overvoltage category II i e not higher than the impulse voltage corresponding to the rated voltage for the basic insulation The user supplied equipment or transient suppressor shall be capable of absorbing the energy in the transient In the industrial environment non periodic overvoltage peaks may appear on mains power supply lines as a result of power interruptions to high energy equipment such as a blown fuse on one branch in a 3 phase system This will cause high curr
96. 3 VJI 5 MI6 6 MI6 11 4 Belt Encoder Interface For use with conveyor tracking the VJI module supports two independent external belt encoders through a single female 15 pin D sub connector The pin assignments for the Belt Encoder connector are shown in Table 11 3 See Figure 11 2 for a typical input circuit drawing Adept strongly recommends using differential encoders outputs for maximum noise immunity See the V Language User s Guide for more information on setting up and programming a conveyor tracking application Table 11 3 Belt Encoder Connector Pin Assignments Channel 1 Channel 2 Signal Pin Signal Pin Pin Locations A 9 A 13 A 2 A 6 B 10 B 14 Wen Pin 8 Pin 15 o B 3 B 7 E O I 11 I 15 O Q I 4 I 8 O 2 B O Pull up 1 Pull up 1 l 6 O Pin 9 O Encoder power out 5 Encoder power out 5 Pina Encoder ground 12 Encoder ground 12 Figure 11 1 VJ I Belt Encoder Connector Pinout User supplied pull up used for single ended encoders only 134 Adept MV Controller User s Guide Rev C Belt Encoder Interface VJ For normal differential operation on channel 1 RP8 is not installed HCPL idis Encoder Channel 1 2231 RP7 A lt RP6 Encoder HCPL eu 2231 HCPL _ 4 2231 Pull up Encoder power output 5V at 800 mA m
97. 40 Module Used in an S SeriesSysteM Used inan A SeriesSysem Connections from 040 RS 232 to Wyse Terminal 6 4 Memory Uco ct us e ovde Yes eR Rut d VN ade up um S 65 VMEbus Address 6 6 040 JumperSettingS 6 7 Use as an Auxiliary Processor 6 8 040 Processor Module Specifications 7 System Input Output Module SIO 7 1 Intoduction 2 2 7 2 Connections and Indicators DIP Switch Settings 2 2 aa a ee 7 3 System Configuration Information 7 4 MassStorage 2 lll sn Floppy DAVE 0 ipod GE oy Yos portat Hard DIVE secu fo gk ee BG EON Aide vid RUE RA e 7 5 Seral I O Connectors 2 2 0004 7 6 Digital I O Connector 2 004 Input Sigrials s 2 vong ue ea he dm Bre LE de a REACTInputSignals1001to 1012 Fast Input Signals 1001 to 1003 OutputSignals a aa a Typical Digital Input Wiring sss Typical Digital Output Wiring Digital O ConnectorPinouts Digital O Connector Ordering Details Third Party Sources AMP Part Numbersfor50 Pin Male D Sub Thomasand Betts Part Numbers for 50 Pin Male D Sub Screw Terminal Field Wiring Adaptor Blocks 7 7 Emergency Stop Circuit 2 ExtemalE Stop Input 0 2004
98. 67 040 module 77 DIO module 153 MI3 MI6 module 127 VFI module 139 VGB module 105 VIS module 111 VJI module 133 Voltage changing settings MV 8 MV 19 48 interruptions MV 5 MV 10 23 interruptions MV 8 MV 19 45 maximum operating MV 5 MV 10 24 maximum operating MV 8 MV 19 46 minimum operating 238 Adept MV Controller User s Guide Rev C 00330 01030 Rev C
99. 7 11 SIO Module Specific ations Table 7 10 Technical Specifications Electrical Power Consumption Supplied from VME backplane System I O SIO 5 V at 4 6 A typical 12 Vat1 4 A 12 V at 50 mA Floppy Drive 5 V at 0 23 A average 0 74 A max 12 V not used Hard Drive 5 V at 0 6 A average 1 1 A max 12 V not used Optional External Front Panel VFP excluding MCP 5 V not used 12 V 0 4 A with lamp test pressed 12 V not used Width Occupies 2 backplane slots Serial Ports Three RS 232 at 300 19 200 bps Specifications subject to change 102 Adept MV Controller User s Guide Rev C Adept Graphics Module VGB 81Iinroduction 104 82 Connections and Indicators 104 DIP Switchi Settings 15 io nor oce kee 93 4e dofus TUR AES o Rs 105 8 3 VMEbus Address 105 8 4 Monitor Video Interface lll sss 106 85 Keyboard Interface aaa a 107 8 6 Pointer interface lll rss 107 8 7 VGB Module Specifications 0008 108 Adept MV Controller User s Guide Rev C 103 Chapter 8 Adept Graphics Module VGB 8 1 Introduction The Adept Graphics module VGB is required for A Series Adept MV controllers The VGB is a single slot GU VME module that serves as the graphics processor and controls the video output to the color monitor
100. 8 Reserved do not use 9 Shield chassis ground 9 Pin D Sub female Receptacle Note this connector will mate with a 9 pin D Sub male plug user supplied The two camera breakout cable does not include this connector Adept MV Controller User s Guide Rev C 117 Chapter 9 AdeptVision VME Module VIS Table 9 5 Adept 10 Meter Camera Cable Pin Assignments Pin at Pin at controller Wire Color camera end end male Function Notes typical female 1 Power return gray 1 2 12V power to camera yellow 2 3 Shield video red shield 3 4 Video from camera red signal 4 5 Shield Hd orange shield 5 6 Hd horizontal drive to camera orange signal 6 7 Vd vertical drive to camera black signal 7 8 Shield Clock to camera cam 1 amp 2 only white shield 8 9 Pixel clock to camera cam 1 amp 2 only white signal 9 10 used reserved brown 10 11 used reserved blue 11 12 Shield Vd black shield 12 Connector at controller end 12 Pin Hirose Male HR10A 10P 12P with ground terminal lug shield e Connector at camera end 12 Pin Hirose Female HR10A 10P 125 Cable specifications 12 conductors including 4 coax pairs 4 discrete conductors and overall shield At each end the shield is clamped to connector body Overall Braided Shield Wire colors may vary Figure 9 6 Pin Locations for Camera Cable Connector 12
101. 9 Controllers 57 RS 422 485 Connector Pin Assignments 61 RS 232 Term Connector Pin Assignments 0 4 62 Pin Assignments for 9 Pin to 25 Pin DCE Cable 63 Adept MV Controller User s Guide Rev C xvii Table Of Contents Table 5 4 Table 5 5 Table 5 6 Table 5 7 Table 5 8 Table 5 9 Table 5 10 Table 6 1 Table 6 2 Table 6 3 Table 6 4 Table 6 5 Table 6 6 Table 7 1 Table 7 2 Table 7 3 Table 7 4 Table 7 5 Table 7 6 Table 7 7 Table 7 8 Table 7 9 Table 7 10 Table 8 1 Table 8 2 Table 8 3 Table 8 4 Table 8 5 Table 9 1 Table 9 2 Table 9 3 Table 9 4 Table 9 5 Table 9 6 Table 9 7 Table 9 8 Table 9 9 Table 10 1 Table 10 2 Table 11 1 xviii Pin Assignments for 9 Pin to 25 Pin DTE Cable Pin Assignments for 9 pin to 25 pin Wyse WY 60 Teminal Cable Pin Assignments for 9 pin to 9 pin AT Compatible Cable Typical 25 pin Null Modem AdaptorPinout Address Settings forthe 030 ProcessorModule JumperSettingsfor030 Processor Module 030 Technical Specifications cll RS 422 Connector Pin Assignments on 040 Module RS 232 Term Connector Pin Assignments on 040 Module Pin Assignments for 25 pin to 25 pin Wyse WY 60 Terminal Cable Address Settings forthe 040 Processor Module J umper Settings for 040 Processor Module
102. 944 1300 Canada 416 890 2820 Germany 05235 550 Japan 045 931 5602 France 1 60 17 98 98 UK 0734 442844 Source Phoenix Contact USA Aug 1994 Weidm ller AD911886 RD 50 ASJS D Sub to wire transition module 50 pin female D Sub with jackscrews Weidm ller Sales USA 800 p849 9343 or 804 p794 2877 Australia 047 354211 Canada 416 p475 1507 Germany 05231 p4510 France 1 34 50 34 50 Japan 035 p820 5747 Singapore 296 6133 UK 01795 58099 Source Weidm ller USA Sept 1994 Adept MV Controller User s Guide Rev C Emergency Stop Circuit 7 7 Emergency Stop Circuit NOTE This section applies to systems that do not include the Manual Mode Safety Package MMSP option For systems that do include the MMS refer to the AdeptOne MV AdeptThree MV Robot Instruction Handbook for complete information on E stop circuits The Emergency Stop E Stop circuit should be used by the customer to include safety devices in the design of a workcell Examples are light curtains safety gates and pressure sensitive mats that 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 See Figure 7 5 for details of the E Stop circuits and Table 7 6 for the signal assignments for the terminal block on the VFP 1 Extemal E Stop Input Pins 42 and 44 on the Digital I O connector on the SIO
103. A 7 MCPCradle Dimensions 4 X 10 2 mm 0 4 lt gt 28 7 mm 1 13 Y s 4 NE 2 4 rar it Ty NP 2X 203 2 mm 8 271 5 mm 10 69 201 mm 7 9 221 mm 8 70 Figure A 7 MCP Cradle Dimensions 168 Adept MV Controller User s Guide Rev C 4 X 4 8 mm 0 188 4X9 7 mm 0 38 4 X 29 7 mm 00 38 Position Latch and Vision Tigger B 1 Extemal Input For Position Latch and Vision Tigger 170 Position Latch 2 8 eue oe aee RE UE do Ae de dae A Gh 170 Vision Tigger s ss s soos 170 Combined Vision Triggerand Position Latch Vision in the Loop 171 Adept MV Controller User s Guide Rev C 169 Appendix B Position Latch and Vision Trigger B l Extemal Input For Position Latch and Vision Tigger The Adept MV 8 and MV 19 controllers provide three special purpose high speed digital inputs or external triggers These inputs may be used in three ways 1 High speed Position Latch signal the AdeptMotion system to latch the current robot position 2 External Vision Trigger signal a picture to be taken by the optional AdeptVision system 3 Combined Vision Trigger and Position Latch Vision in the loop signal a picture to be taken by the optional AdeptVision system and latch the robot position synchronized to the exact moment the vision picture is received The exter
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105. Auxiliary Processor 6 7 Use as an Auxiliary Processor 6 8 Additional 040 System processor modules can be installed in an Adept MV controller and used as auxiliary processors to handle specific functions in an Adept automation system For example you can have an auxiliary 040 dedicated to handling processing for the motion or vision portion of a system while the main 040 handles the v system processing The CONFIG_C utility program is used to specify which portions of the system software are handled by each processor See the V Release Notes for more information on multiple processor systems See Table 6 4 and Table 6 5 for jumper settings required for auxiliary processors If you are using both 030 and 040 processors you will get the most benefit by making the 040 processor module 1 In general the most powerful processor with the greatest amount of memory should be configured as processor 1 The auxiliary processors should be ordered i e numbered first by power and then by memory size The serial ports on an auxiliary processor cannot be accessed by v programs running on the main processor processor 1 040 Processor Module Specifications Table 6 6 040 Technical Specifications Processor 68040 25 MHz Dynamic RAM 4 or 8 Mb Serial Ports one RS 232 EIA 232 D at 300 38 400 bps one RS 422 at 300 38 400 bps Electrical Power Consumption 5 VDC 45 3 5 typical 4 5 A max 12 VDC
106. Current Selection The 9 power pins for each group are connected together on the board and the current supplied from the output pins is drawn from these power pins The number of power pins used in a particular application depends on the total current supplied through that group s outputs The supply current should be limited to a maximum of one amp per power pin Use this limitation to select the number of power pins you need For example each output can source up to 400 mA giving a maximum total current for a group of 8 outputs of 3 2 A that will be required from the power supply In this case a minimum of 4 power pins should be used A total of 9 power pins are provided to allow for more wire connections to decrease the voltage drop across the power supply wires If you experience an excessive voltage drop make connections to additional power pins to a maximum of 9 The ground connection should connect to the power supply directly not the ground connection of the load This will isolate the module from any voltage drop across the load ground wires Table 13 3 Digital Output C irc uit Specific ations Parameter Value Low power supply range 10 VDC lt Vsup 15 VDC High power supply range 15 VDC Vsup 30 VDC Power supply ground current I 35 mA Operational current range per channel Tout lt 400 mA Vout output on Iout 400 mA Vsup 7 0 8 Vout S Vsup Output off leakage current T
107. Do not attempt to install or remove any boards without first turning off the power to the Adept MV Controller and all related external power supplies Failure to observe this caution could cause damage to your equipment Installing Modules 1 Turn off the controller 2 If the slot has a blank panel installed loosen the captive screws at the top and bottom of the panel and remove it 3 Verify that the intended slot for the module is ready to accept the module If the slot has been unused make sure there are no backplane jumper plugs installed for that slot see Figure 4 4 and Figure 4 5 4 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 two handles on the outer edge of the module until it is firmly seated in the backplane connector and the face of the module is flush with the other modules 5 Tighten the captive screws at the top and bottom of the module CAUTION It should not be necessary to use excess pressure or force to engage the connectors If the board does not properly connect with the backplane remove the module and inspect all connectors and guide slots for possible damage or obstructions 48 Installing the A Series Monitor and Keyboard See section 3 8 on page 34 for installation information 4 9 Installing a Terminal in an S Series System See section 3 9 on page 36 for installation information 54 Adept
108. E Start The Start button works only when High Power is enabled this option cannot be used with DRY RUN enabled Press START and the LCD will prompt you to press the PROGRAM START button on the VFP When the PROGRAM START button is pressed the program displayed above the NEW soft button will begin execution In versions of V prior to 11 3 the VFP keyswitch had to be in the Pendant or Manual position to initiate actions from the Auto Start Calib CMD1 CMD2 and Start function buttons In V version 11 3 and higher the VFP keyswitch position must be in Auto for Calib and does not matter for initiating other functions 190 Adept MV Controller User s Guide Rev C Moving a Robot or Motion Device with the MCP D 3 Moving a Robot or Motion Device with the MCP Introduction The MCP is used with a robot or motion device primarily to teach robot locations for use 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 re teach the robot locations used by the program The Adept AIM software system makes extensive use of the pendant for teaching robot locations When you move the robot using the MCP motion will be in world state tool state joint state or in free state When moving in world state directions are sent from the MCP to move the robot in a Cartesian coordinate system centered at the base of the
109. Indicators 138 12 3 VMEbus Address a 139 12 4 VH Module Specifications lll sss 140 13 Digital npuy Output Module DIO 141 13 1 Introduction io ira A e 142 13 2 Connections and Indicators 142 133 PUS sor RR RE Ee oa ee a eee ea BG 142 13 4 Outputs 2 ouo at ae oue wena emt WR e a RAS MR ets 143 Testing Outputsand Fuses 2 rs 144 Output Power Supply Voltage Jumpers 144 Output Power Supply Current Selection 145 13 5 Typical DIO Wiring a 146 13 6 Optional DIO Cables a 148 Eabeling Gables d es Ro a Bee ce o dos Wo a E E We 148 Input and Output Cable Wiring Information 2 148 13 7 Additional DIO Modules 2 0004 153 Setting the Module Address lll ee 153 Labeling Setsof Cables los 153 13 8 DIO Module Specifications 2 200004 155 14 Maintenance 000002 pee ee 157 14 1 Introduction 2010000 Be eo oe Be BE RS Ere Ee M dedu 158 Adept MV Controller User s Guide Rev C xiii Table Of Contents 14 2 Fan Filter Inspection and Cleaning MV 8 MV 19 14 3 Fan Filter Inspection and Cleaning MV 5 MV 10 144 VFP Lamp Tet 2 2 ln 14 5 Spare Parts List MV 8 MV 19 lt lt 14 6 Spare Parts ListMV 5 MV 10 A Dimensi
110. MEbus address The information in Table 10 1 shows how to set the address when you have multiple modules in an Adept MV controller 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 for you by Adept The address is set at DIP Switch SW1 on the MI3 MI6 PC board To operate the switch use a small insulated instrument such as the point of a pencil Each switch position is a miniature rocker switch To open a switch press down on the side of the switch marked open See the AdeptMotion VME Developer s Guide for the location of the switch Table 10 1 VMEbus Address Switc h Settings for MI3 MI6 Module ei Mos Switch Position on Switch SW1 Address 1 2 3 4 1 Closed Closed Closed Closed 2 Closed Closed Closed Open 3 Closed Closed Open Closed 4 Closed Closed Open Open 5 Closed Open Closed Closed 6 Closed Open Closed Open a The position notation on DIP switches can vary If the switch is marked open closed then open off and closed on NOTE In systems with a VJI module Adept robot systems in addition to MI3 MI6 s the first MI3 MI6 module should be set to Servo Board Number 3 This is to facilitate optimal processor allocation for the servo code with the default V software configuration 10 4 Jumper Settings and Resistor Configuration on MI3 MI6 See the AdeptMotion VME Develope
111. MV Controller User s Guide Rev C Installing in a Rack or Panel Mount 4 10 Installing in a Rack or Panel Mount The 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 for panel mounting or they can be attached to the front of the controller for rack mounting NOTE To maintain compliance with EN 60204 the mounting of the controller and all terminations at the controller must be performed in accordance with this standard Space Around the Chassis When the controller is installed you must allow 50 mm 2 inches at the front of the chassis and 25 mm 1 inch at the top of the chassis for proper air cooling The chassis should be mounted in a vertical position for proper cooling flow CAUTION The air filter must be kept clean so the forced air cooling system can work efficiently See Chapter 14 for details on cleaning the filter Most service operations filters and fuses require access to the front of the controller However to replace fuses F1 F2 and F5 qualified personnel will need to remove the controller top cover The controller may need to be removed from its mounting for this procedure Alternatively you may choose to leave sufficient space above the controller or to install it on slide mounts Panel Mounting To panel mount either the Adept MV 8 or MV 19 controller install one bracket on each
112. Module Front Panel DIP Switch Functions Switch Function 1 OFF enables Adept logo display at bootup ON disables logo display 2 OFF the pointer is a mouse Microsoft serial mouse protocol 1200 bps ON the pointer is a touchscreen ELO TouchSystems protocol 1200 bps 3 OFF U S keyboard ON Japanese keyboard 4 Adept internal use only should be set to OFF If you change the settings you must reboot turn controller off then on before the changes take effect 8 3 VMEbus Address The VGB module has a fixed address and should not be modified by the customer Adept MV Controller User s Guide Rev C 105 Chapter 8 Adept Graphics Module VGB 8 4 Monitor Video Interface The VGB module supports a color monitor with a resolution of 1024 by 768 See Table 3 5 for the monitor compatibility specifications The pin assignments for the Monitor connector are shown in Table 8 2 Table 8 2 Monitor Connector Pin Assignments Pin Signal Pin Signal 1 Red Video Output 9 Not connected 2 Green Video Output 10 Ground 3 Blue Video Output 11 Ground 4 Ground 12 Not connected 5 Self Test Ground 13 Horizontal Sync 6 Red Video Ground 14 Vertical Sync 7 Green Video Ground 15 Not connected 8 Blue Video Ground Figure 8 1 Monitor Connector Pin Locations on VGB Module 106 Adept MV Controller User s Guide Rev C Keyboard Interface
113. OP 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 switch and lamp amber This push button switch works in conjunction with the Enable Power command Ven flashing this lamp signals the operator to press the button to enable High Power If the amber lamp is on the robot is operating under servo control with the brakes released When the lamp is on pressing the button engages the brakes if any then disables High Power PROGRAM RUNNING lamp white When lit this lamp indicates that a V program is running It is a warning that the robot and other mechanisms in the workcell are under computer control and may move at any time 1 The lamp flashes for a predetermined time 10 seconds If the button is not pressed the request is canceled and High Power is not enabled The time out duration can be changed using the CONFIG C utility 96 Adept MV Controller User s Guide Rev C External Front Panel VFP 1 SYSTEM POWER switch and lamp green This rotary on off switch supports optional remote control of AC power to the controller On the MV 5 MV 10 the user must provide a suitable external AC contactor See page 25 for connection details On the MV 8 19 an AC power relay is built into the controller When controller power is on the green lamp is lit PROGRAM START switch and lamp green A V program can read the status
114. Pin Hirose Male 118 Adept MV Controller User s Guide Rev C Camera Cable Pin and Signal Information Table 9 6 Two Camera Breakout Cable Pin Assignments From Pin To Pin Function VIS 8 CAMI 1 Power return VIS 7 CAMI 2 12V power VIS 12 CAMI 3 Shield video VIS 42 CAMI 4 Video VIS 38 CAMI 5 Shield Hd VIS 36 CAMI 6 Hd horizontal drive VIS 37 CAMI 7 Vd vertical drive VIS 38 CAMI 8 Shield Clock VIS 22 CAMI 9 Clock CAMI 10 not connected CAMI 11 not connected VIS 38 CAMI 12 Shield Vd VIS 6 CAM2 1 Power return VIS 5 CAM2 2 12V power VIS 43 CAM2 3 Shield video VIS 29 CAM2 4 Video VIS 35 CAM2 5 Shield Hd VIS 34 CAM2 6 Hd horizontal drive VIS 19 CAM2 7 Vd vertical drive VIS 35 CAM2 8 Shield Clock VIS 20 CAM2 9 Clock CAM2 10 not connected CAM2 11 not connected VIS 35 CAM2 12 Shield Vd Note that the Clock output to cameras 1 and 2 may be enabled by a switch on the VIS board if required Also note that this cable provides 12V dc fused 1A max to the cameras from the Adept controller The fuse is not user replaceable If the total current required by the two cameras exceeds 1A this cable should not be used Adept MV Controller User s Guide Rev C 119 Chapter 9 AdeptVision VME Module VIS Table 9 7 Four Camera Breakout Cable Pin Assignments sorte
115. Remove 4 existing screws and washers from side of chassis at locations shown in drawing Place bracket in position and secure with same screws and washers removed e above M UJ EP Repeat process for other side of controller Figure 3 8 Rack Mounting for MV 5 MV 10 Stand Alone Controller Adept MV Controller User s Guide Rev C 37 Chapter 3 Installation for MV 5 and MV 10 Controllers Panel Mounting To panel mount the Adept MV 5 or MV 10 Stand Alone controller you must use the mounting brackets and screws from the accessories kit See Figure 3 9 for instructions Side View of MV 5 or MV 10 To install mounting brackets in panel mount I o Front position j i i Place bracket in position le Secure bracket with 3 screws and washers from accessories kit at locations shown in drawing o Repeat process for other side of controller Tr 7 Figure 3 9 Panel Mounting for MV 5 MV 10 Stand Alone Contoller 38 Adept MV Controller User s Guide Rev C Installing a Robot Controller in a Rack or Panel 3 11 Installing a Robot Controller in a Rack or Panel An MV 5 or MV 10 Robot 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 for panel mounting or they can be attached to the front of the controller for rack mounting NOTE To maintain
116. Setup Adept MV Controller User s Guide Rev C User Power Supply User Power Supply Typical DIO Wiring P4 Connector P3 Connector 44 Pin Female D Sub 44 Pin Female D Sub Adept Supplied Equipment User Supplied Equipment Wiring Terminal DIO Module T Eck grund By Ue 26 1 38 f i Group 1 39 Power Pins 40 B see text 4 m Connect module User DC power return Power ge e i directly to power Supply z H supply if possible 2 3 Group 1 Return e 7 G S o ES pii b 30 S q Typical User Loads OD Signal 0033 amp 30 TOS 28 esent Signal 0034 45 Le Q o9 circuit Signal 0035 pi S Q Signal 0036 e 9 S Load pe Signal 0037 2 tS Load Signal 0038 e O Signal 0039 e 0 HO l Signal 0040 9 HS User AC ee Power Supply pos 17 18 i Group 2 5 e Power Pins 35 l i see text 33 i res 34 S 35 User DC ag 36 coer o i 3 5 Group 2 Return e LAS Upp y os Group 2 Test RN B S Signal 0041 HS Load a Signal 0042 le Load lo Y 5 Signal 0043 5 G Load gt Signal 0044 4 9 Load Signal 0045 2 SH Load S
117. Utility Programs for details on setting the startup default disk Adept MV Controller User s Guide Rev C 189 Appendix D Using the Manual Control Pendant MCP Prog Set Function Using the Prog Set button you may select a new program to execute set the starting step number set how many cycles of the program to perform set the monitor speed and start a memory resident application program 1 1 50 NEW STEP CYCLE SPEED START Q OQ OQ DOLO Figure D 10 Program Set Function Button New Press the NEW soft button and the LCD displays SELECT A NEW PROGRAM progi prog2 prog3 prog4 MORE To select a different program press the soft button under the program name To see additional programs if there are more programs press the MORE soft button Step Press STEP and the step number will blink and the typing cursor will appear next to the step number Use the data entry buttons to enter the program step to start execution Complete the entry by pressing REC DONE Cycle Press CYCLE and the cycle count will blink and the typing cursor will appear next to the cycle count Use the data entry keys to enter the number of program cycles to execute Complete the entry by pressing REC DONE Speed Press SPEED and the current monitor speed will blink and the typing cursor will appear next to the monitor speed Use the data entry keys to enter a new monitor speed Complete the entry by pressing REC DON
118. Video Bus Coupling 113 9 6 Camera BreakoutCables 113 Two Camera Breakout Cable lll ss 113 FourCamera Breakout Cable ls ss 114 10 Meter Adept MV Camera Cables 114 97 Installing Camera Cables 115 9 8 Camera Cable Pin and Signal Information 116 9 9 VIS Module Specifications 124 10 AdeptMotion Interface Module MI6 MI3 125 10 1 Introd ction c suo A a se ie ede esae Mode eee us 126 10 2 Connections and Indicators 126 Xii Adept MV Controller User s Guide Rev C Table Of Contents 10 3 VMEbusAddress 222r sn 127 10 4 Jumper Settings and Resistor Configuration on MI3 MI6 127 10 5 Connecting to User Equipment s s ss 128 10 6 MI3 MI6 Module Specifications 129 11 Adept oint Interface Module VJI 131 111 Introduction lll sn 132 11 2 Connections and Indicators 132 11 3 VMEbus Address uaaa s 133 Address Settings for VJI Modules aoa a aa a 00484 133 Address Settings for Multiple Servo Boards 133 11 4 Belt Encoder Interface lll sls 134 11 5 VJI Module Specifications e 136 l 2 AdeptForce VME Module VH 137 12l nmoduct on 0 2 S uuo e ie ee A 138 122 Connections and
119. access to two output groups Each group requires 19 pins 8 output signals 1 test signal 9 power supply all tied together and 1 power supply ground reference When an output is on current will flow in through the power supply pins and out of the output pins This type of output is considered sourcing that is in the on condition current flows out of the output pin Each output channel circuit should be connected to only one output device Adept MV Controller User s Guide Rev C 143 Chapter 13 Digital Input Output Module DIO Testing Outputs and Fuses Like many solid state I O systems when an output is off a small leakage current will try to flow out of the output This will raise the potential of the output to the power supply voltage level if there is no load With a load connected the output will function normally However if you need to test the output with a voltmeter with a load disconnected you will get a false reading The test signal provides a bias which can be used as a pulldown resistor for system level debugging When this is connected to an output the output will assume the ground potential when it is off The test signal can also be used to test the state of the power fuse for that particular group If the resistance between the test and ground pins is less than 10 K 24 then the fuse is OK If the reading is greater than 10K then the fuse is blown and needs to be replaced Call Adept Customer Servic
120. ace includes 6 axis force torque sensing guarded moves data collection 1 Adept Joint VJI interface to Adept robots and power chassis interface to belt Interface encoders for conveyor tracking 10 inputs 5 outputs on Adept robots with MMSP option Figure 2 2 Adept MV Controller Configuration Adept MV Controller User s Guide Rev C bytes d ae acer coL RN not shown above not shown above 17 Chapter 2 Overview Adept VME oint Interface Module VJ I The Adept VME Joint Interface module VJI is required when an Adept robot such as the Adept 550 AdeptOne or AdeptThree robot is installed in an Adept MV controller system The VJI module interfaces to the encoders and amplifiers for the robot Also the VJI is the interface to belt encoders in conveyor tracking applications for Adept robots AdeptForce VME Module VH The AdeptForce VME module VFI is part of the AdeptForce VME product Other components included in the product are the AdeptForce VME software module and the force sensing unit installed on a robot See the product description later in this chapter for more information Digital Input Output Module DIO The Adept Digital Input Output module DIO is a 64 channel digital I O module with 32 input channels and 32 output channels It is a GU VME slave module and all inputs and outputs are optically isolated Up to 8 DIO modules can be installed in an Adept MV 19 controller depending on slot
121. als 35 power cord MV 5 MV 10 27 power cord MV 8 MV 19 47 J Joint Interface module see VJI module Jointstate 198 with SCARA robot 198 Joint values displaying 187 K Keyboard installation 35 interface to VGB module 107 Keyboard connector pin assignments 107 L Lamp test on VFP 159 Lamp Test button on External Front Panel 97 Local key switch position 97 Location displaying current roboton MCP 187 Location variables editing with MCP 185 M Man Halt button onMCP 192 Manual Control Pendant 19 CMD function 188 CMD1 189 CMD2 189 connection on External Front Panel 97 how to use 180 201 installation 99 Mode control buttons 191 Operator s model 180 Predefined function buttons 190 Programmer s model 180 Manual states free 200 joint 198 tool 195 world 194 Manual key switch position 97 Manuals related 2 MCP 184 Adept MV Controller User s Guide Rev C 235 Index viewing angle on MCP 184 MCP see Manual Control Pendant MI3 MI6 module 16 126 129 connecting to user equipment 128 connections indicators 126 jumper settings 127 technical specifications 129 VMEbus address 127 Modules installing MV 5 MV 10 30 33 installing MV 8 MV 19 52 54 optional description of 16 removing MV 5 MV 10 30 33 removing MV 8 MV 19 52 54 standard description of 15 Monitor compatibility specifications 35 installation 35 video interface 106 Monitor connector pin assignments 106 Monitor speed setting on
122. ammer s Pendant vs Operators Pendant Adept motion systems are designed to allow control of the robot or motion device from the Manual Control Pendant MCP There are two styles of MCPs the operator s pendant and the programmer s pendant The programmer s pendant is designed for use while an application is being written and debugged a programmer s pendant cannot be used inside the robot work envelope The operator s MCP is designed for use during normal system operation Figure D 1 shows how to hold the operator s MCP The operator s pendant has a palm activated Hold to Run switch that is connected to the remote emergency stop circuitry of the controller Whenever this switch is released High Power is removed from the motion device When the operator s MCP is not being used it must be removed from the controller and the pendant jumper plug installed or placed in the special cradle provided The cradle retaining clip will keep the Hold to Run switch depressed when the pendant is not in use Figure D 2 shows how to place the operator s pendant in its cradle 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 The various button groupings of the pendant are reviewed in this section
123. and start it again If the processor ID shown is 1 you can restart V by pressing CTRL G The robot servos will not function but you can STORE the programs in memory If the problem persists contact Adept Customer Service Program already exists 309 Explanation An attempt has been made to LOAD a program that already exists or to COPY or RENAME a program to a name that is already in use User action Delete the conflicting program or use a different name Adept MV Controller User s Guide Rev C 223 Appendix E System Messages Program completed Explanation User action Program HOLD Explanation User action 3 The program has been executed the number of times specified in the last EXECUTE command or instruction Any monitor command can be entered except that PROCEED cannot be used to resume program execution 15 The RUN HOLD button on the pendant has been pressed while a robot program was executing and it is now suspended Any monitor command can be entered To continue execution of the program type proceed or retry or press the PROGRAM START button on the controller The RUN HOLD button can be held down to temporarily resume execution of the program if the front panel keyswitch is in the MANUAL position Program task stopped at program name step step number date time 4 Explanation User action Protected program Explanation User action Protection error E
124. aned 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 40340 00030 1 2 Turn off the controller Loosen the two screws on the fan filter cover to gain access to the filter see Figure 3 1 on page 25 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 Replace the cleaned air filter and secure the filter holder Adept MV Controller User s Guide Rev C VFP Lamp Test 14 4 VFPLamp Test You should perform this test at least every six months to verify all lamps are working With the controller turned on press the Lamp Test button on the VFP If any of the lamps do not light especially the High Power and Program Running lamps contact Adept Customer Service 14 5 Spare Parts List MV 8 MV 19 Part numbers and specifications are subject to change Contact Adept Customer Service for ordering information for items in Table 14 1 or for items not listed Table 14 1 Spare Parts Hom Adept TEE Adept Part Description Number Quantity General Comments Fan Filter 40330 11190 MV 8 1 MV 19 2 Front Panel B
125. as well as an operating system This manual covers programming principles for creating v programs Other Adept Product Manuals When you order AdeptVision VME AdeptMotion VME AdeptForce VME or any AIM software product you will receive manuals that cover those products Also optional hardware such as the Manual Control Pendant will come with a manual A partial list is shown below Manual Material Covered AdeptVision VME User s Guide Concepts and strategies for programming the AdeptVision VME system see also the optional AdeptVision Reference Guide below AdeptMotion VME Developer s Guide Installation configuration and tuning of an AdeptMotion VME system AdeptForce VME User s Guide Installation operation and programming of the AdeptForce VME product Optional V Developer s Manuals If you will be programming v applications you should order the optional V devel oper s manuals first two in the list below These manuals contain a complete description of the commands instructions functions and other features available in the V language and operating system These manuals are essential for advanced applications program ming If you will be programming vision applications you should order the AdeptVision Reference Guide in addition to the V developer s manuals Manual Material Covered V Operating System Reference Guide Descriptions of the V operating system commands known as monitor
126. at created the disk to copy the files to a directory that is nested less deeply Switch can t be enabled 314 Explanation An ENABLE command for a certain switch has been rejected because of some error condition For example ENABLE POWER will fail if the system is in FATAL ERROR state User action Review the description for the switch you are trying to enable correct the error condition and try again SYSFAIL asserted 7629 Explanation A board on the VME bus has encountered a severe error and asserted SYSFAIL which turns off high power If that error is seen it indicates a transient SYSFAIL signal or a problem with either the motion interface board or the SIO module User action Restart the system Check for proper seating of the system boards and correct device connections to the boards Test the system with as many boards removed as possible adding boards back in until the problem board is identified If the problem persists contact Adept customer service Time out nulling errors Mtr n 1003 Explanation The indicated motor took too long to complete the last motion possibly because the robot is blocked and cannot reach its destination User action Turn on high power and retry the motion after making any necessary program changes If this error occurs repeatedly contact Adept Application Engineering for assistance Timeout enabling amplifier Mtr n 1009 Explanation The power amplifier for the indicated m
127. ator by limiting the speed of the robot Adept MV Controller User s Guide Rev C 181 Appendix D Using the Manual Control Pendant MCP MCP Layout The major areas of the MCP are shown in Figure D 3 Liquid Crystal Display LCD at Predefined Function User LED Buttons poe TOOL JOINT FREE Manual State LEDs Speed Bars Emergency Stop Switch Mode Control Buttons Joint Axis Control Buttons Hold to R l EU cd Power Programmable Function Buttons Figure D 3 MCP Layout Soft Buttons 182 The soft buttons have different functions depending on the application program being run or the selection made from the predefined function buttons Whenever a soft button is active its function is shown on the bottom line of the pendant display Because these buttons do not have fixed labels the labels are defined by the program using the buttons they are referred to as soft buttons Programming the MCP is covered in the V Language User s Guide Figure D 3 shows the soft buttons Function Buttons The predefined function buttons have specific system wide functions assigned to them These functions are covered in section D 2 on page 184 The programmable function buttons are used in custom application programs and their functions will vary depending upon the program being run See the documentation for your applications programs for
128. availability The total I O capacity including the channels on the SIO module of a controller with 8 DIO modules is 268 input channels and 264 output channels Auxiliary Processor The Adept 030 and 040 System Processor modules can be used as Auxiliary System processors to add increased processing performance to an Adept system An Auxiliary processor can be assigned to handle the processing operations for AdeptMotion VME AdeptVision VME Force Sensing or with the optional V Extensions Software License can run multiple instances of the V operating system The CONFIG C utility program is used to specify which portions of the system software are handled by each processor 18 For installations in Europe see the Manufacturer s Declaration inside front cover for important EMC information In applications using the VFI module it may be necessary to use additional EMC procedures such as installing the controller in an EMI FRI shielded enclosure Adept MV Controller User s Guide Rev C Optional Equipment 2 6 Optional Equipment Extemal Front Panel VFP 1 or VFP 3 The external Front Panel VFP is a separate control panel that can be added to any Adept MV controller system There are two types of VFPs the VFP 1 and the VFP 3 The VFP 1 is used with all Adept systems that do not include the Manual Mode Safety Package MMSP option The VFP 3 is used with systems that do have the MMSP option installed The VFP connects
129. ax 1 A fuse Enc Pwr K Enc C E Shield Encoder Channel 2 HCPL pit 2231 lt E RP10 ie HCPL np 2231 RP10 RP9 HCPL aki i S F For normal differential operation on channel 2 E RP11 is not installed lI Note 1 Note 2 Connect cable shield to connector shell RP6 amp RP9 3309 6 pin resistor pack socketed RP7 amp RP10 4709 6 pin resistor pack socketed RP8 amp RP11 4709 6 pin resistor pack socketed For single ended encoders remove RP7 and RP10 and install RP8 and RP11 HCPL2231 Hewlett Packard Opto coupler Figure 11 2 VJI Belt Encoder Typical Input Circuity Adept MV Controller User s Guide Rev C 135 Chapter 11 Adept Joint Interface Module VUl 11 5 VJI Module Specifications Table 11 4 Technical Specifications Maximum V JI s per controller 2 Number of axes of control maximum 5 axes of robot joint control per VJI module Number of belt encoders maximum 2 conveyor belts per VJI module Width Occupies one backplane slot Specifications subject to change b Note that there may be limitations preventing the operation of dual Adept robots from a single controller 136 Adept MV Controller User s Guide Rev C AdeptForce VME Module VH 1 2 12 1 Introduction a 138 12 2 Connections and Indicators 138 12
130. be joined to an Adept PA 4 power chassis and the joined units can be mounted in a standard 19 inch equipment rack The Adept MV 10 requires two modules the System Processor module 030 or 040 and the System Input Output SIO module The System Processor module occupies backplane slot 1 and the System Input Output module typically occupies slots 2 and 3 The remaining seven slots can be populated with various combinations of optional Adept modules see Figure 2 2 The Adept MV 10 chassis has an auto ranging 100 120 200 240 VAC single phase 350 watt power supply The chassis is cooled by a fan located in the lower front section Incoming air is cleaned by a reusable filter Adept MV Controller User s Guide Rev C Controller Models e euleul9eulea VGB VIS VJI DIO o 8g 58 f 83 M o i Aud op 2 p z AAE 1 LSE vov S a 0 v Se Pv i d I be ei H LI TS LT LI ER LT O o D g adf D O cx y e 0j O EHI un gt CL fl ds gt gt Cu I gt del ssm gt lt gt rl
131. by cable to the front of the SIO module The VFP gives you complete control over the Adept MV controller including Auto Manual mode selection and push button Emergency Stop switch The VFP can also be used to control AC power to the controller on the MV 5 and MV 10 controllers this feature requires a user supplied 24V power supply and AC contactor The optional Manual Control Pendant can be connected to the VFP See page 96 for more information Manual Control Pendant MCP The Manual Control Pendant MCP is a hand held control unit that can be added to any Adept MV controller system that includes a VFP The MCP connects to the front of the VFP The MCP is available in two versions the operator s pendant and the programmer s pendant The operator s pendant has a palm activated Hold to Run switch connected to the remote emergency stop circuit the programmer s pendant does not have this switch The programmer s pendant cannot be used in installations that require CE Marking for example in EU countries Users should check local and national standards and laws The MCP is often used to manually control a robot or motion device during system development The MCP includes function keys and a 2 line by 40 character LCD display that are fully programmable An Emergency Stop push button switch on the MCP shuts off high power at the Adept MV controller See Appendix D on page 179 for complete information AdeptNet AdeptNet is Adept s Ethernet n
132. checks and is ready to operate The red DIO Fail LED indicates a system failure has been asserted FAIL PASS On Input connector for 16 Group 1 and Group 2 digital input signals e P2 Input connector for 16 Group 3 and Group 4 digital input signals O rs Output connector for 16 Group 1 and Group 2 digital output signals O r4 Output connector for 16 Group 3 and Group 4 digital output signals 13 3 Inputs 142 The 32 input channels are arranged in four groups of eight Each group is electrically opto isolated from the other groups and from the VMEbus circuitry The eight inputs within each group share a common ground The inputs are accessed through the two 26 pin D sub Input connectors on the front of the module Each connector provides access to two input groups Each group requires 10 pins 8 Input signals and 2 Ground references An input is turned on by providing a positive potential on its input pin relative to the ground pin of its group This type of input is considered sinking that is to turn it on current must flow into the input pin Adept MV Controller User s Guide Rev C Outputs Table 13 1 DIO Input Circuit Spec ific ations Operational voltage range 35 VDCS Vi lt 35 VDC Off state voltage range 35 VDC lt Vi 3 VDC On state voltage range 10 VDC Vj 35 VDC Typical threshold vol
133. cient to use the serial port s located on the system processor Table 7 2 RS 232 Serial I O Connector Pin Assignment on SIO Module Pin Signal Name Pin Signal Name 1 not used 6 DSR Data Set Ready 2 RXD From Device 7 RTS Request to Send 3 TXD To Device 8 CTS Clear to Send 4 DTR Data Terminal Ready 9 not used 5 SG Signal Ground Figure 7 1 RS 232 Serial I O Connector Pin Locations on SIO Module 84 Adept MV Controller User s Guide Rev C Digital O Connector 7 6 Digital I O Connector The Digital I O connector on the SIO is a 50 pin high density D Sub female connector for digital I O communication There are 12 input channels and 8 output channels AII 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 you will need a cable with a male 50 pin D Sub connector at one end not supplied with the system See the section on Digital I O Connector Ordering Details Third Party Sources on page 91 for more information Users requiring additional digital I O capability may also purchase one or more 64 channel DIO modules see Chapter 13 See the optional V Language Reference Guide for information on digital I O programming using the SIGNAL instruction the SIG and SIG INS functions and related keywords See the optional V Operating System Refer
134. compliance with EN 60204 the mounting of the controller and all terminations at the controller must be performed in accordance with this standard Space Around the Chassis When the Robot controller is installed you must allow 25 mm inch at the top and bottom of the chassis for proper air cooling You must also allow 75 mm 3 inches at the front of the chassis for power and signal cable clearance CAUTION The air filter must be kept clean so the forced air cooling system can work efficiently See Chapter 14 for details on cleaning the filter Rack Mounting To rack mount the Adept MV 5 or MV 10 Robot controller in a standard 19 inch equipment rack you must first install the mounting brackets see Figure 3 10 then build an extender panel and attach it to the bracket on one side of the controller The controller can be joined to an Adept PA 4 power chassis and mounted in a rack Refer to the documentation that comes with the robot for information Panel Mounting To panel mount the Adept MV 5 or MV 10 Robot controller install one bracket on each side near the back of the controller Use the screws and washers from the accessories kit See Figure 3 10 Adept MV Controller User s Guide Rev C 39 Chapter 3 Installation for MV 5 and MV 10 Controllers M4 x 25mm screw 2 places To Install Mounting Brackets on MV 5 or MV 10 Robot controllers cq Remove and discard 3 existing countersunk o o screws from side o
135. d Make sure the encoder cable is properly connected Try to run the conveyor at a slower speed Contact Adept Customer Service if the error persists Adept MV Controller User s Guide Rev C Appendix E System Messages Encoder quadrature error Mtr n 1008 Explanation User action Envelope error Mtr n Explanation User action The position encoder signal from the specified motor is sending information that is not phased correctly The encoder or its cabling may be defective Turn on high power calibrate the robot and try to perform the motion at a slower speed If the error persists contact Adept Customer Service 1006 The indicated motor was not tracking the commanded position with sufficient accuracy indicating a failure in the hardware servo system or something impeding the path of the robot V disables High Power when this error is reported Turn on high power and try to perform the motion at a slower speed Make sure nothing is obstructing the robot motion If the error recurs contact Adept Customer Service E STOP from amplifier 7641 Explanation User action The motion interface board has detected an E STOP condition generated by the motor amplifiers It indicates that the amplifiers have detected some fault condition Check for a subsequent message To determine if there was an unreported RSC error type listr error task 4 where task is the number of the task that rece
136. d by destination From Pin To Pin Function Str Pwr 2 CAM1 1 Power return Str Pwr 1 CAM1 2 12V power VIS 12 CAMI 3 Shield video VIS 42 CAMI 4 Video VIS 38 CAMI 5 Shield Hd VIS 36 CAMI 6 Hd horizontal drive VIS 37 CAMI 7 Vd vertical drive VIS 38 CAMI 8 Shield Clock VIS 22 CAMI 9 Clock CAMI 10 not connected CAMI 11 not connected VIS 38 CAM1 12 Shield Vd Str Pwr 2 CAM2 1 Power return Str Pwr 1 CAM2 2 12V power VIS 43 CAM2 3 Shield video VIS 29 CAM2 4 Video VIS 35 CAM2 5 Shield Hd VIS 34 CAM2 6 Hd horizontal drive VIS 19 CAM2 7 Vd vertical drive VIS 35 CAM2 8 Shield Clock VIS 20 CAM2 9 Clock CAM2 10 not connected CAM2 11 not connected VIS 35 CAM2 12 Shield Vd Str Pwr 2 CAM3 1 Power return Str Pwr 1 CAM3 2 12V power VIS 14 CAM3 3 Shield video VIS 44 CAM3 4 Video VIS 33 CAM3 5 Shield Hd VIS 32 CAM3 6 Hd horizontal drive VIS 18 CAM3 7 Vd vertical drive CAM3 8 not connected CAM3 9 not connected CAM3 10 not connected CAM3 11 not connected VIS 33 CAM3 12 Shield Vd 120 Adept MV Controller User s Guide Rev C Camera Cable Pin and Signal Information Table 9 7 Four Camera Breakout Cable Pin Assignments sorted by destination
137. d operating procedures Adept systems have various communication features to aid in constructing system safeguards These include the emergency stop circuitry and digital input and output lines These features are described in Chapter 7 of this user s guide Safety Features on Extemal VME Front Panel VFP The optional external VME Front Panel VFP has three important safety features the HIGH POWER and PROGRAM RUNNING indicators and the EMERGENCY STOP switch If you choose not to use the VFP you should provide similar safety features by using the Front Panel MCP and Digital I O connectors on the System I O module Refer to Chapter 7 for more information or call Adept Customer Service at the numbers listed in section 1 5 on page 8 WARNING Entering the workcell when either the HIGH POWER or the PROGRAM RUNNING light is on can result in severe injury This warning applies to each of the next three sections Computer Contmlled Robots and Motion Devices Adept systems are computer controlled and the program that is currently running the robot or motion device may cause it to move at times or along paths you may not anticipate When the HIGH POWER light or the PROGRAM RUNNING light on the optional VFP are illuminated do not enter the workcell because the robot or motion device might move unexpectedly The LAMP TEST button on the VFP allows these lights to be periodically checked Manually Controlled Robots and Motion Devices Adept rob
138. dant while a program is already executing as task 0 User action Stop the program currently executing and then retry the operation Cartesian control of robot not possible 635 Explanation A program has attempted to perform a straight line motion with a robot that does not support such motions User action Change the program to use joint interpolated motion Cat3 diagnostic error Code n 1108 Because these message codes are related primarily to hardware refer to your Robot Instruction Handbook as your primary source of information If it does not answer your questions contact Adept Customer Service The following table summarizes information about the codes WARNING The test procedures for these messages are for skilled or instructed personnel only Dangerous voltages are present including those on the Security Panel Failure to exercise care can result in death or injury Adept MV Controller User s Guide Rev C 205 Appendix E System Messages Code n Explanation User action 0 ESTOP board hardware not Check that the AC supply to the Security responding or Parity error Panel is on and that the DC power supply is configured correctly 1 Hardware state 1 error An Try again If the problem persists it may error has occurred in the be caused by a faulty ESTOP board Make communication or test a note of the error message and code sequence number and contact Adept Customer Service 2 Hardware state 2
139. ddress Switch Settings for MI3 MI6 Module Technical Specifications rss VMEbus Address Switch Settings for VJI Module Adept MV Controller User s Guide Rev C Table Of Contents Table 11 2 Table 11 3 Table 11 4 Table 12 1 Table 12 2 Table 13 1 Table 13 2 Table 13 3 Table 13 4 Table 13 5 Table 13 6 Table 13 7 Table 13 8 Table 13 9 Table 14 1 Table 14 2 Table 14 3 Table 14 4 Table C 1 Table C 2 Table C 3 Table C 4 VMEBus Address Settings for Multiple Servo Board Systems 134 Belt Encoder Connector Pin Assignments 134 TechnicalSpecifications a 136 Address amp ttings for VFI Module 2 2 0 0 es 139 TechnicalSpecifications sa ea rss 140 DIO Input Circuit Specifications lll 143 DIO Output Voltage Range Settings lll sls 144 Digital Output Circuit Specifications 00 145 DIO P1 Input Cable Pin Asignments lll sls 149 DIO P2 Input Cable Pin Asignments lll sls 150 DIO P3 Output Cable Pin Asignments ll sls 151 DIO P4 Output Cable Pin Asignments ll sn 152 Switch SettingsforS1 on DIO Module 153 DIO Technical Specifications 155 Spare Parts From Adept o 159 Spare Parts From Third Parties lll ls 159 Spare Parts From Adept 2 2 00
140. details on these buttons Figure D 3 shows the function buttons Adept MV Controller User s Guide Rev C Manual Control Pendant Basics Data Entry Buttons The data entry buttons are used to input data normally in response to prompts that appear on the pendant display The data entry buttons include YES NO DEL the numeric buttons 0 9 the decimal point and the REC DONE button These buttons are similar to the numeric keypad on a standard keyboard REC DONE Button behaves like the Return or Enter key on a standard keyboard When data entry is complete pressing REC DONE sends the entry to the controller In many cases applications programs have users press the REC DONE button to signal that they have completed a task DEL Button acts like the backspace key on a standard keyboard When data is being entered it will appear on the pendant display DEL will delete any characters that appear on the pendant display but have not been entered using the REC DONE button Applications programs may also assign special functions to the DEL button Figure D 4 Data Entry Keys Mode Control and Joint Axis Control Buttons The mode control and joint axis control buttons are used to control the robot from the pendant The use of these buttons is covered in section D 3 Speed Bars and Slow Button The speed bars and slow button are used primarily to move the robot when it is in manual mode Th
141. dles the basic I O for an Adept MV controller The SIO module features include 3 5 high density 1 44 MB floppy drive Internal hard drive 80 MB Digital I O connector for 20 channels 12 input 8 output Three general purpose RS 232 serial I O ports Adept MV Controller User s Guide Rev C 15 Chapter 2 Overview 2 5 Connector for an optional External Front Panel VFP The SIO module controls the system Emergency Stop E Stop circuitry The system real time clock calendar functions and non volatile memory for Adept software license bits are also handled by the SIO module Optional Modules This section gives a brief description of the optional modules Each module is covered in more detail in a separate chapter in this User s Guide Adept Graphics Module VGB The Adept Graphics module VGB is required for A Series Adept MV controllers The VGB is a single slot GU VME module that serves as the graphics processor and frame buffer and controls the video output to the color monitor The VGB has connectors for the monitor keyboard and pointing device mouse trackball etc The VGB also has a direct Video Bus connection to the VIS module in AdeptVision VME systems AdeptVision VME Interface Module VIS The AdeptVision VME Interface module VIS is required to run the AdeptVision VME product on A Series Adept MV controllers The VIS is a single slot GU VME module that serves as the vision interface There
142. dule V I IL1 inroduction lll les 132 11 2 Connections and Indicators 132 11 3 VMEbus Address a 133 Address Settings for VJI Modules aoa a aaa 2 0484 133 Address Settings for Multiple Servo Boards 133 11 4 Belt Encoder Interface lll a 134 11 5 VJI Module Specifications lll ss 136 Adept MV Controller User s Guide Rev C 131 Chapter 11 Adept Joint Interface Module VUl 1L1 introduction The Adept VME Joint Interface VJI module is a 6U single slot VME module designed to control the motion axes on an Adept robot The VJI module has connectors for the power chassis cable and the arm robot signal cable There is another connector for external encoders typically used for belt tracking See the user s guide for your Adept robot for complete information on installation configuration and operation of the VJI module and your robot 112 Connections and Indicators 132 11 Status LED s When lit ES indicates a latched E Stop signal on the backplane has been asserted from the VJI module or somewhere else in the system HPE indicates the High Power Enable signal is asserted 1 to 6 indicates the corresponding output motor drive channel is enabled o9 Amplifier Signal connector the VJI to Amp cable from the power chassis is installed here Belt Encoder connector a 15 p
143. e VMEbus Check for a subsequent message To determine if there was an unreported RSC error type listr error task 4 where task is the number of the task that received the error If no additional information is available call Adept Customer Service Executing in DRY RUN mode 50 Explanation User action External E STOP Explanation User action Fatal any message Explanation User action File already exists Explanation User action 212 The DRY RUN switch is enabled and program execution has been requested Thus no motion of the robot will occur None unless motion of the robot is desired In that case abort execution of the program and disable the DRY RUN switch 608 The hardware panic button on the controller or pendant has been pressed or the external panic circuit has been interrupted causing high power to be turned off This message is also displayed if the MANUAL button is pressed or the PANIC command is entered while a robot control program is executing If high power is off release the panic button or restore the external panic circuit Then turn on high power If high power is not off reselect COMP mode on the manual control pendant Then resume program execution None An internal problem has occurred with the V software or with the system hardware It would be appreciated if you would report the error to Adept Application Engineering Please include the details of
144. e for information on replacement Output Power Supply Voltage J umpers Each group of signals 1 through 4 has a jumper associated with it to select the power supply voltage range The two ranges are 15 to 30 VDC and 10 to 15 VDC The jumpers are located on the DIO PC board Each jumper has a clip that can be placed in either position A or position B See the table below for the jumper numbers for each group The DIO modules are normally shipped with the ranges set to 15 to 30 VDC You should verify this before connecting I O lines and equipment for the first time Table 13 2 DIO Output Voltage Range Settings Signal Voltage Voltage Group Jumper output in output in Number Number Position A Position B 1 J4 15 to 30V 10 to 15 V 2 J3 15 to 30 V 10 to 15 V 3 J5 15 to 30 V 10 to 15 V 4 J6 15 to 30 V 10 to 15 V CAUTION The power supply voltage should not go below the selected range because this could cause the output transistors to operate in the linear state and dissipate excessive power Likewise the power supply voltage should not exceed the selected range because this could blow the fuse for that group There is no requirement to provide specific power sequencing between the output power supplies and the VME power supply The design of the output section is such that the outputs will not turn on during module power up 144 Adept MV Controller User s Guide Rev C Outputs Output Power Supply
145. e fuse holder inserts gray for 3AG type 1 4 x 1 1 4 fuses Table 4 5 Fuse Ratings MV 8 Chassis MV 19 Chassis Operating Voltage gt 200 240 VAC 100 120 VAC 200 240 VAC 100 120 VAC Fuse Location F3 F4 two AC Line fuses at 2 5 AF 250V 5 AF 250 V 6 3 AF 250V 8 AF 250 V Power Entry module both the same F1 F2 internal chassis left 1 6 AT 250V 2 AT 250V 1 6 AT 250V 2 AT 250V side as viewed from front both the same F5 internal chassis right 0 5 AF 250 V NOTE The F and T suffixes indicate the fuse response time For example a 2 5AF fuse rating specifies a 2 5 amp fast blow type A 1 6AT fuse rating specifies a 1 6 amp fuse time delay slow blow type Fuses F1 and F2 are rated to blow within 60 seconds if the current reaches 200 of the rated value Fuses F3 F4 and F5 are rated to blow within 5 seconds if the current reaches 200 of the rated value 50 Adept MV Controller User s Guide Rev C Fan and Filter Information Top view with cover removed Configuration Jumper Block Power Supply Figure 4 3 Intemal Fuse Locations 4 6 Fanand Filter Information Cooling Fan The chassis is cooled by a fan in the lower front section of the chassis The MV 8 has one fan the MV 19 has two fans Air intake is through the lower front of the chassis and the exhaust is out through the top Filter Inspection and Cleaning
146. e installed side by side See Chapter 2 for more details on required and optional modules CAUTION Always turn off the controller power switch before installing or removing modules or jumper plugs Damage to the controller can occur if the controller is not turned off CAUTION You must take precautions to prevent modules from being exposed to electro static discharge ESD while you are handling or storing them Adept recommends using a ground strap on your wrist when working with modules outside of the controller Use anti static bags to protect modules when outside the controller VMEbus Address Settings Each module in an Adept MV controller has a unique VMEbus address All modules installed in an Adept MV controller by Adept at the factory have the correct address already set when you receive the controller If you add or change modules you need to check the addresses of the new modules before installing them The address setting for each module is covered in the chapter in this manual for that module Any modules that may have multiple units installed in one controller such as the 030 040 VIS MI6 MI3 DIO or VJI must have a unique address for each of the individual modules Upper Backplane J umper Plugs P1 30 Jumper plugs are required next to any unused upper backplane P1 connectors A connector is unused when either slotis empty no module installed module in adjacent slot is 2 slots wide for example SIO bu
147. e may be present if the power cord is not disconnected 1 Make sure the controller is turned off Disconnect the AC power cord from the AC power source or from the front of the controller 2 Remove the top cover of the controller by unscrewing four screws on the top 3 Open and fold down the back section of the controller by removing the upper two screws on each side of the back edge of the chassis see Figure 4 2 When the screws are removed you can fold the back section down to make it easier to access the configuration block which is located inside the back of the controller near the top 4 Change the jumper wires on the configuration block from the 200 240V to the 100 120V settings see Table 4 4 Table 4 4 Voltage Selection Jumper Settings Operating Jumper these pins together on the Voltage Configuration Block 200 240VAC 24 to 16 32 to 40 5to2 100 120 VAC 24 to 8 32 to 16 5to9 5 Change the two internal fuses F1 and F2 from the 200 240V to the 100 120V value see fuse information in Table 4 5 and on the label near the fuses see Figure 4 3 6 Close and secure the back panel and install the top cover Adept MV Controller User s Guide Rev C Connecting AC Power 7 Change the two external fuses F3 and F4 on the power entry module from the 200 240V to the 100 120V value see fuse information in Table 4 5 and the label below the power entry module 8 Mark or alter the ID label
148. e program code to make sure the requested device has not already been attached 508 1 The requested disk device or remote network task is not prepared to communicate with the V system 2 A limited access device like the terminal the manual control pendant or a serial line is attached to a different program task Adept MV Controller User s Guide Rev C 209 Appendix E System Messages User action Directory error Duty cycle exceeded Encoder fault Mtr n Explanation User action Explanation User action Explanation User Action 3 You have tried to write into a pull down window while it is displayed 1 If the intended device is a system microfloppy disk drive make sure the diskette is correctly inserted and formatted 2 If a limited access device is specified ABORT and KILL the program task that has it attached or wait for the program task to release the device If the intended device is on the network check that the proper connections are made and that the remote system is operating correctly 2 ABORT and KILL the program task that has the device attached or wait for the task to release the device 3 The pull down menu should not be modified with the FSET instruction while it is being displayed A suitable time for modifying the pull down menu is immediately after receiving a menu selection event 509 An error occurred while accessing a disk directory possibly beca
149. e the main 030 handles the v system processing The CONFIG_C utility program is used to specify which portions of the system software are handled by each processor See the V Release Notes for more information on multiple processor systems See Table 5 8 and Table 5 9 for switch and jumper settings required for auxiliary processors The serial ports on an auxiliary processor cannot be accessed by v programs running on the main processor processor 1 030 Processor Module Specifications Table 5 10 030 Technical Specifications Processor 68030 40 MHz Math Coprocessor 68882 32 MHz Dynamic RAM 2 4 or 8 Mb Serial Ports one RS 232 at 300 38 400 bps one RS 422 485 at 300 38 400 bps Electrical Power Consumption 5 VDC 0 25V 0 15 V at 3 0 A max 12 VDC x 2 V at 10 mA 12 VDC x 2 V at10 mA Width Occupies one backplane slot Specifications subject to change Adept MV Controller User s Guide Rev C 69 040 Processor Module 6 1 Intoducton 2 12 a 72 6 2 Connections and Indicators 2 00004 72 6 3 Serial I O Connections 040 Module 73 RS 422 Connector on 040 Module 73 RS 232 Term Connector on 040 Module 74 Used inan SSeriesSystem 2 0004 74 Used in an A SeriesSysem 2 020004 74 Connections from 040 RS 232 to Wyse Terminal 76 64 Memory
150. e was not selected on the pendant Select COMP mode on the pendant or enable DRY RUN mode from the terminal then reissue the command 631 The temperature sensor in the controller power supply has detected an overheating condition High Power is switched off Not all controllers support this feature Make sure the controller fans are operating and are not obstructed Make sure the fan filters are clean Power down the controller to let it cool off 510 An error was detected while transferring information to or from an external device Attempt the transfer again If the problem persists contact Adept Customer Service 522 An error was detected while attempting to read information from an external device possibly because a diskette has been damaged or was not formatted properly Attempt the read again Make sure the correct diskette is being used that it is properly installed in the drive and that it is formatted Recall that formatting a diskette erases its contents 503 There is no more space available on a device If received for a disk file the disk is full if there are many small files on the device this error indicates the disk directory is full If received for a servo device an attempt has been made to assign too many servo axes to a single CPU Delete unneeded disk files or use another drive or diskette Reconfigure your system so the maximum number of axes per CPU is not exceeded Check th
151. ee 160 Spare Parts From Third Parties lll 160 Sources for Intemational Standardsand Directives 174 EMC Test Results urge fy ae ELM eu e Sp ged a nade A 176 OperatorindicatorColorCode 177 Service IndicatorColo Code 178 Adept MV Controller User s Guide Rev C Xix Introduction 11 Howto Use This Manual 2 2 0 0 ns Follow These Stepsto Install and Configure the Adept MV Controller Related Manuals 2 2 2 2 2 2 2 2 2 52 52 5 Standard Manuals len OtherAdeptProductManuals Optional V DevelopersManuals 1 2 Wamings Cautions and Notes lcs 1 3 Safety A Sea a atu uev m erm ES Reo Hh fte o Reading and Training forUsersand Operators System Safeguards 2 2 2 2 2 2 2 2 252 52 5 Safety Featureson Extemal VME Front Panel VFP Computer Controled Robots and Motion Devices Manually Controlled Robots and Motion Devices OtherComputer Controled Devices Program Sec rty hao cho doo do sg hok Uo og ie HER Ro o Rud Overspeed Protection ln Voltage Interuptions 2 2 rsen Inappropriate Usesofthe Adept MV Controller L4 Standards Compliance lr L5 HowCanlGetHelp Within the Continental United States lll sss Service Cals
152. een Adept modules These include some safety critical signals including 24 V signals On the MV 5 and MV 10 jumpers are provided next to each P2 connector If a non Adept third party module is installed in a slot and that module uses the P2 lower connector the P2 user signal jumpers for that slot must be removed If a third party VME module is later removed from a slot and you plan to install an Adept module in that slot you must re install the P2 jumper plugs for that slot WARNING For safety and functional reasons you must obtain approval from Adept BEFORE adding third party modules to the Adept controller An optional software license is also required Please contact Adept Applications Engineering at the numbers listed on page 8 Adept MV Controller User s Guide Rev C 31 Chapter 3 Installation for MV 5 and MV 10 Controllers Jumper Jumper No jumpers Jumper location location required location tor slot 3 for slot 4 for slot 5 for slot 2 P1 Backplane Edge Connectors for Adept MV 5 Slot Slot Slot Slot Slot 1 2 3 4 5 In a typical MV 5 system jumper plugs are factory installed at slot 3 Figure 3 5 Adept MV 5 Upper Backplane P1 Jumper Plugs Jumper Jumper Jumper Jumper Jumper Jumper Jumper Jumper No jumpers location location location location location location location required ion Mera forslot3 forslot4 torslot5 forslot6 forslot7 forslot8 forslot9 for slot 10
153. ence Guide for information on the IO and SIGNAL commands Input Signals The digital I O connector handles input signals 1001 to 1012 On systems with the Manual Mode Safety Package MMSP option input channel 1012 is used by the MMSP and is not available for users Each channel has an input and a corresponding return line Refer to Table 7 3 for input specifications The locations of the signals on the connector are shown in Table 7 5 REACT Input Signals 1001 to 1012 Inputs 1001 to 1012 only may be also used by the V REACT and REACTI instructions See the V Language Reference Guide for information on these instructions If you are going to use these instructions you should plan your digital I O channel usage accordingly Inputs on the optional DIO module cannot be used by the REACT and REACTI instructions Fast Input Signals 1001 to 1003 Input signals 1001 to 1003 have several special uses They can be used for e Standard digital I O same as 1004 to 1288 REACT REACTI same as 1004 to 1012 Fast DIO V Interrupt Events INT EVENT Robot and Encoder Position Latch Vision Trigger Fast DIO Interrupt Events using INT EVENT require an optional V Extensions License See the V Language Reference Guide for a description of the INT EVENT instruction The last three functions events latch and trigger can only be obtained using input signals 1001 to 1003 Adept MV Controller User s Guide Rev C 85 Chapter 7
154. ent pulses at relatively low voltage levels The user shall take the necessary steps to prevent damage to the controller system such as by interposing a transformer See IEC 1131 4 for additional information 24 Adept MV Controller User s Guide Rev C Connecting AC Power MV 5 and MV 10 Power Entry Module The power entry module is located on the front of the controller It contains the On Off power switch 2 0n O Off the fuse holder containing the two incoming AC line fuses spare fuses are stored in the fuse holder see Figure 3 4 the AC power cord socket On Off Switch E WARNING FOR CONTINUED PROTECTION AGAINST RISK OF FIRE REPLACE ONLY WITH SAME TYPE AND RATING OF FUSE Fuse Holder c 9 fm o z k 3 i z 3 e 5 m o 5AT 100 240V 50 60HZ AC Power Cord T Socket Serial Number 7 Cc tr ws rj Fan Filter Cover Figure 3 1 MV 5 MV 10 Power Entry Module Function of VFP System Power Switc h with MV 5 and MV 10 Controllers This section describes how to use the System Power switch on the External Front Panel VFP when connected to an MV 5 or MV 10 controller Remote System Power Option The External Front Panels VFP 1 and VFP 3 include support for controlling system power on the MV 5 and MV 10 controllers If you want to use this feature you
155. eparate chapter in this user s guide System Processor 030 or 040 A System Processor module is required for all Adept MV controllers and it can be either an 030 or an 040 module Either of these modules can also be used as an auxiliary system processor in Adept systems see Auxiliary Processor on page 18 030 Module The 030 is a single slot 6U VME module that can serve as the main system processor for an Adept MV controller The CPU for this module is a Motorola 68030 microprocessor running at 40 MHz The module can be configured with 2 4 or 8 MB of DRAM Dynamic Random Access Memory and this memory can be upgraded in the field This module also includes a Motorola 68882 math coprocessor The 030 module has two serial I O ports on the front of the module one is an RS 232 port and the other is an RS 422 485 port 040 Module The 040 module is a single slot GU VME module that can serve as the main system processor for an Adept MV controller The CPU for this module is a Motorola 68040 microprocessor running at a minimum of 25 MHz The module can be ordered with 4 or 8 MB of DRAM It is not possible to upgrade a 4 MB module to an 8 MB module The 040 module has two serial I O ports on the front of the module one is an RS 232 port and the other is an RS 422 port System Input Output Module SIO The System Input Output module SIO is also required for all Adept MV controllers The SIO is a two slot 6U VME module that han
156. eriodic overvoltage peaks may appear on mains power supply lines as a result of power interruptions to high energy equipment such as a blown fuse on one branch in a 3 phase system This will cause high current pulses at relatively low voltage levels The user shall take the necessary steps to prevent damage to the controller system such as by interposing a transformer See IEC 1131 4 for additional information Adept MV Controller User s Guide Rev C Connecting AC Power Power Entry Module The power entry module is located at the lower left side of the controller front panel It contains the On Off power switch 2 On O Off the AC power cord socket the two incoming AC line fuses Connecting AC Power Cord adept technology inc AA C OY ARNING FOR CONTINUE PROTECTION AGAINST RISK OF FIRE REPLACE ONLY WITH SAME TYPE AND RATING OF FUSE U U UY U UU UY UY An AAAA V M MW Y MN YY ame L Figure 4 1 Power Entry Module 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 Connect each conductor of the power cord securely to your AC power source using the color code below You must provide a suitable plug or other facility connection in accordance with all applicable local and na
157. ese options are described in section D 3 In some cases application programs will make special use of the speed bars See the documentation for the application program for details on how it uses these buttons Emergency Stop From the MCP To immediately halt program execution and turn off High Power press the emergency stop button on the MCP This switch has the same effect as pressing the emergency stop button on the controller If you are using the operator s pendant you may also release the Hold to Run switch to halt program execution and turn off High Power Adept MV Controller User s Guide Rev C 183 Appendix D Using the Manual Control Pendant MCP To re enable 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 If you are using the operator s MCP depress the Hold to Run switch High Power can now be re enabled by pressing the COMP PWR button mode control group or by entering the ENABLE POWER command from the keyboard Background Mode D 2 The pendant is in background mode when the USER LED is not lit and none of the predefined functions are being used The USER LED is lit whenever an application program is making use of the MCP The MCP will not return to background mode until the program completes execution or is aborted The LEDs above the predefined function buttons indicate whether t
158. etworking solution for the Adept MV controller AdeptNet allows multiple Adept MV controllers to operate as nodes on a Local Area Network LAN that may include other non Adept devices such as PCs or UNIX based workstations AdeptNet software allows for peer to peer communications file transfer and sharing of a non Adept file server The AdeptNet hardware module requires an 040 System Processor These two modules are installed side by side in the MV controller A Series Color Monitor For the A Series Adept MV controller Adept offers an optional high resolution color monitor with a tilt swivel base The monitor has a maximum resolution of 1024 dots horizontal by 768 lines vertical A Series Extended Keyboard For the A Series Adept MV controller Adept offers an optional extended keyboard with an integrated trackball Adept MV Controller User s Guide Rev C 19 Chapter 2 Overview Third Party Terminals for an S Series Controller 2 7 For S Series Adept MV controllers the user must supply a terminal to interface to the controller The terminal must be a Wyse model 60 or 75 with an ANSI keyboard or a compatible terminal and keyboard Product Descriptions AdeptVision VME AdeptVision VME is a combination hardware and software package for integrated machine vision inspection and guidance applications The hardware is based on an A Series Adept MV controller with an AdeptVision VME module VIS and an Adept Graphics module
159. ev C Installing a Stand Alone Controller in a Rack or Panel 5 Set the baud rate to 9600 that is the default rate for the Adept system To change the baud rate refer to the information on CONFIG C in the Instructions for Adept Utility Programs 3 10 Installing a Stand Alone Controller in a Rack or Panel An MV 5 or MV 10 Stand Alone controller can be mounted in a standard 19 inch equipment rack using the attached mounting brackets The brackets can also be moved to the rear of the controller for panel mounting NOTE To maintain compliance with EN 60204 1 the mounting of the controller and all terminations at the controller must be performed in accordance with this standard Space Around the Chassis When the Stand Alone controller is installed you must allow 25 mm 1 inch at the left and right sides of the chassis for proper air cooling You must also allow 75 mm 3 inches at the front of the chassis for power and signal cable clearance CAUTION The air filter must be kept clean so the forced air cooling system can work efficiently See Chapter 14 for details on cleaning the filter Rack Mounting To rack mount the Adept MV 5 or MV 10 Stand Alone controller in a standard 19 inch equipment rack you must use the mounting brackets from the accessories kit See Figure 3 8 for instructions See Appendix A for dimensions Side View of MV 5 or MV 10 e o Front To install mounting brackets in rack mount e position
160. ex editing with MCP 185 Related manuals 2 Repacking for relocation 22 44 Requirements facility MV 5 MV 10 23 facility MV 8 MV 19 45 Robot location displaying 187 Robotic Industries Association 4 Robotic safety 4 RS 232 connectors on SIO module 84 RS 232 Term connector on 030 used in A Series system 62 used in S Series system 62 RS 232 Term connector on 040 used in A Series system 74 used in S Series system 74 RS 422 connector on 040 module 73 RS 422 485 connector on 030 module 61 S Safety 4 Selecting a new program onMCP 190 Serial I O 9 pin to 25 pin cable DCE for 030 63 9 pin to 25 pin cable DTE for 030 64 9 pin to 9 pin cable for 030 65 on 030 module 61 on 040 module 73 on SIO module 84 Shipping information 22 44 SIO module 15 82 102 Digital I O connector 85 DIP switch settings 83 floppy drive 83 hard drive 83 RS 232 connectors 84 technical specifications 102 Spare parts list 159 160 Speed setting on MCP 190 Speed bar onMCP 193 S series controller installation 36 54 S Series terminal user supplied interface cable 36 Standards compliance 7 sources 174 Starting program execution on MCP 190 Status displaying system on MCP 187 Step selecting starting on MCP 190 Storage information 22 44 Store All function on MCP 189 Storing programs with the MCP 189 System Input Output module see SIO module System Power switch on External Front Panel 25 System Power switc
161. f chassis at locations shown in drawing Place bracket in desired position and secure with indicated M4 screws and washers from lo e o accessories kit Repeat process for other side of controller Note See Appendix A for dimensions of the controller and mounting brackets M4 x 10mm screw Panel Mount M4 x 25mm screw M4 x 25mm screw 2 places 2 places x ui Y ti M4 x 10mm screw M4 x 10mm screw Rack Mount Flush Rack Mount Set Back Figure 3 10 Installing Mounting Brackets on MV 5 and MV 10 Robot Controllers 40 Adept MV Controller User s Guide Rev C MV 5 and MV 10 Controller Technical Specifications 3 12 MV 5 and MV 10 Contoller Technical Specifications Table 3 6 Technical Specifications for MV Controller MV 5 MV 10 Input Voltage 100 120 and 200 240 VAC 100 120 and 200 240 VAC auto ranging auto ranging DC Power Supply total 250W 350W Dimensions See Appendix A Operating Environment See Table 3 1 See Table 3 2 for complete information on input power and Table 3 4 for fuse ratings Adept MV Controller User s Guide Rev C 41 Installation for MV 8 and MV 19 Controllers 4 1 Shipping Storage Unpacking and Inspection 44 Shipping and Storage les 44 Before Unpacking a 44 Upon Unpacking 2 2 252 2 2 s 44 Repacking ForRelocation
162. follow all safety notes used for installation Improper packaging for shipment will void your warranty Controller ID Label 44 The identification ID label is located on the left side of the controller chassis On it you will find the model and serial numbers and the voltage and current ratings A smaller serial number label is also located on the front of the chassis above the On Off switch You should always have this serial number available when you call Adept Customer Service for technical support Adept MV Controller User s Guide Rev C Facility Requirements 4 3 Facility Requirements The Adept MV controller is intended for use with other equipment and is considered a sub assembly rather than a complete piece of equipment on its own The Adept MV controller meets the requirements of EN 60204 IEC 1131 2 IEC 73 and IEC 447 safety standards To maintain compliance with these standards the controller must be installed and used properly with any additional equipment in strict accordance with all regulations of the standards For more information about safety and standards compliance see section 1 3 on page 4 section 1 4 on page 7 and Appendix C The controller must be installed in a suitable enclosure and you must provide a method of locking the enclosure power disconnect in the OFF position such as padlocks Refer to section 5 3 3 of EN 60204 The Adept MV controller installation must meet the environmental and
163. function failed 1 Accelerometer channel 2 error The robot joint 1 or 2 fast there is a fault with the accelerometer s built in test function failed 2 Amplifier 3 voltage restrict sensor channel 1 error The robot joint 3 is moving or failed is moving or accelerating too accelerometer system or the is moving or accelerating too accelerometer system or the accelerating too fast there is a fault with the voltage restrict sensor or the voltage restrict sensor s built in test function moving the robot try changing the program to move the robot less quickly or with a lower rate of acceleration or deceleration For faults with cables or sensors consult your Robot Instruction Handbook or contact Adept Customer Service If the error occurred while a program was moving the robot try changing the program to move the robot less quickly or with a lower rate of acceleration or deceleration For faults with cables or sensors consult your Robot Instruction Handbook or contact Adept Customer Service If the error occurred while a program was moving the robot try changing the program to move the robot less quickly or with a lower rate of acceleration or deceleration For hardware faults consult your Robot Instruction Handbook or contact Adept Customer Service Adept MV Controller User s Guide Rev C 207 Appendix E System Messages Code n Explanation User action 3 Amplifier 3
164. ge from excessive shock and vibration Before Unpacking Carefully inspect all shipping crates for evidence of damage during transit Pay special attention to tilt and shock indication labels on the exteriors of the containers If any damage is indicated request that the carrier s agent be present at the time the container is unpacked Upon Unpacking Compare the actual items received not just the packing slip with your equipment purchase order and verify that all items are present and that the shipment is correct Inspect each item for external damage as it is removed from its container If any damage is evident contact Adept at the numbers listed in Chapter 1 Retain all containers and packaging materials These items may become necessary to settle claims or at a later date to relocate equipment Repacking For Relocation 3 2 If the controller needs to be relocated reverse the steps in the installation procedures that follow this section Re use all original packing containers and materials and follow all safety notes used for installation Improper packaging for shipment will void your warranty Controller ID Label 22 The identification ID label is located on the left or back side of the controller chassis On it you will find the model and serial numbers and the voltage and current ratings A smaller serial number label is also located on the front of the chassis near the On Off switch see Figure 3 1 You should a
165. h on External Front Panel 97 System processor module see 030 or 040 module T Technical specifications 030 module 69 040 module 79 MI3 MI6 module 129 SIO module 102 VFI module 140 VGB module 108 VIS module 124 V l module 136 Technicalsupport 8 Third party vendors AMP 91 Phoenix Contact 92 Thomas and Betts 92 Weidmiiller 92 Wyse Technology 36 TOOL state and TOOL transformation 195 Tool state on MCP 195 TOOL Transformation 195 U Unpacking information 22 44 Adept MV Controller User s Guide Rev C 237 Index V MV 5 MV 10 24 vt minimum operating messages 203 MV 8 MV 19 46 VFI module 18 138 140 overvoltage pr connections indicators 138 MV 5 MV 10 24 technical specifications 140 overvoltage pr VMEbus address 139 MV 8 MV 19 46 VFP see External Front Panel VGB module 16 104 108 WwW connections indicators 104 World Wide Web site DIP switch settings 105 Wyse terminal technical specifications 108 installation 36 VMEbus address 105 Video bus coupling installation 113 Viewing angle LCD panel on MCP 184 VIS module 16 110 124 camera cables 113 123 camera compatibility 112 connections indicators 110 switch settings 111 technical specifications 124 VMEbus address 111 Vision Interface module see VIS module Vision trigger external 170 VJI module 18 132 136 belt encoder interface 134 135 connections indicators 132 technical specifications 136 VMEbus address 133 VMEbus address 030 module
166. he STEP button but must continue to press the speed bar It is easier to do this if the application program is changed to indicate that it is about to move the robot The application program can also be rewritten to check the speed bar and STEP button before initiating robot motion 547 An attempt has been made to delete a subdirectory that still contains files or that is being referenced by another operation for example an FDIRECTORY command Check that all the files within the subdirectory have been deleted Check that no other program tasks are referencing the subdirectory Retry the delete operation Subdirectory list too long 546 Explanation User action A directory path contains too many subdirectories or the directory path is too long to be processed The path is a combination of subdirectories in the file specification and the default directory path set by the DEFAULT monitor command Directory paths are limited to a total of 16 subdirectories and 80 characters including any portion of the directory path specified by the current default path Specify a shorter directory path in the file specification or in the DEFAULT command If you are accessing a foreign disk that contains Adept MV Controller User s Guide Rev C 227 Appendix E System Messages more than 16 nested subdirectories you cannot read the files in subdirectories nested deeper than 16 levels In that case you will need to use the system th
167. he VMEbus specification and the slide in modules are designed to the 6U VME size There are four models of controllers the Adept MV 5 MV 8 MV 10 and the Adept MV 19 Controller Models Adept MV 5 Controller The Adept MV 5 controller is a 5 slot chassis that is available in either a stand alone or robot configuration see Figure 2 1 The stand alone version stands horizontally and can be mounted in a standard 19 inch equipment rack The robot version stands vertically and can be joined to an Adept PA 4 power chassis and the joined units can be mounted in a standard 19 inch equipment rack The Adept MV 5 requires two modules the System Processor module 030 or 040 and the System Input Output SIO module The System Processor module occupies backplane slot 1 and the System Input Output module occupies slots 2 and 3 The remaining two slots can be populated with various combinations of optional Adept modules see Figure 2 2 The Adept MV 5 chassis has an auto ranging 100 120 200 240 VAC single phase 250 watt power supply The chassis is cooled by a fan located in the lower front section Incoming air is cleaned by a reusable filter Adept MV 10 Controller 12 The Adept MV 10 controller is a 10 slot chassis that is available in either a stand alone or robot configuration see Figure 2 1 The stand alone version stands horizontally and can be mounted in a standard 19 inch equipment rack The robot version stands vertically and can
168. he functions are being used If one of the LEDs is lit the MCP can be returned to background mode by pressing the REC DONE key more than one press may be necessary The predefined functions are described in section D 2 When the MCP is in background mode the viewing angle of the LCD can be changed There are three different angles Press the 2 5 or 8 button to select a different viewing angle MCP Predefined Functions Introduction This section describes the manual control pendant functions related to Loading and starting programs Editing global variables Displaying system status Predefined Function Buttons 184 The MCP has five predefined function buttons for your use They are listed and explained below E fe E en 6 Figure D 5 MCP Predefined Function Buttons Adept MV Controller User s Guide Rev C MCP Predefined Functions The Edit Function The Edit function button allows editing of location variables and real variables that are used by v programs SELECT DATA TO MODIFY REAL LOC Figure D 6 EDITFunction Button Real Press the real soft button and the LCD displays SELECT REAL VARIABLE TO EDIT varl var2 var3 var4 MORE varl var2 etc are global variable names Press the soft button under the variable name to edit that variable The MORE soft button is shown only when there are more than five global real variables in
169. he switch and jumper settings on the VFI module should be set as listed in Table 12 1 These are necessary to establish proper communication with other modules on the backplane Confirm the switch and jumper settings before you proceed with installation Table 12 1 Address Settings for VH Module Drawing of Settings Description of Settings S1 address settings for multiple VFI boards Sensor 1 servo board 8 B7 10110111 Sensor 2 servo board 9 B8 10111000 Sensor 3 servo board 10 B9 10111001 Sensor 4 servo board 11 BA 10111010 Address above is B7 10110111 Jumper the pins shown on jumper J1 when VFI board JP1 has 128K ROM with 1K boot page When you add multiple force sensors to an existing system you must use the CONFIG C utility program to specify which sensor is force sensor number 1 which is number 2 and so on See the AdeptForce VME User s Guide for more information on this process Adept MV Controller User s Guide Rev C 139 Chapter 12 AdeptForce VME Module VFI 12 4 VH Module Specifications Table 12 2 Technical Specifications Electrical Power Consumption 870 mA at 5 VDC including f including force sensor 425 mA at 412 V 105 mA at 12 V Maximum VFT s per controller 3 Number of force sensors per VFI 1 Width Occupies one backplane slot Specifications subject to change 140 Adept MV Controller User s Guide Rev C Digital Input Outp
170. his indicates one of the following sO Os conditions AO OscR 200 the system is being booted from disk and V has not yet 2O Ome completed its initialization the system watchdog timer has timed out another module has issued a SYSFAIL signal STP indicates the 68040 processor has stopped executing instructions A and VME these vary in intensity during normal operation of the system SCR indicates the module is configured to be the system controller main processor Otherwise this LED is off B and D are always off C is normally on but off is OK o Abort switch stops execution of the software running on this CPU This button is pressed only during system tests e Reset switch sends a VMEbus reset signal is to all modules on the backplane o RS 422 connector for general serial communication O RS 232 Term connector terminal connection with an S Series controller can be used for serial communication with an A Series model See page 74 for more information on this connector when used with an A Series model Adept MV Controller User s Guide Rev C Serial l O Connections 040 Module 6 3 Senall O Connections 040 Module RS 422 Connector on 040 Module The RS 422 connector upper connector on front of module is a DB 25F 25 pin female connector The pin assignments and locations are shown below RS 422 is a point to point protocol for c
171. his procedure does not retain any variables that are not referenced by any program in memory nor does it retain the values of variables that are defined to be AUTO or LOCAL NVRAM battery failure 7665 Explanation The non volatile RAM battery backup has failed and the RAM may not hold valid data User action Contact Adept Customer Service NVRAM data invalid 7661 Explanation The non volatile RAM has not been initialized or the data has been corrupted User action Power down your controller and restart your system If the error persists contact Adept Customer Service Option not installed 804 Explanation An attempt has been made to use a feature of a vt system option that is not present in this robot system User action Power down the controller and try starting it again Contact Adept Application Engineering if the problem repeats Out of graphics memory 549 Explanation There is no more space in the graphics memory on the system processor for windows icons fonts or other graphics items User action Delete unused graphics items or reduce the size of windows to free up graphics memory Out of I O buffer space 532 Explanation An I O operation cannot be performed because the V system has run out of memory for buffers User action Delete some of the programs or data in the system memory and retry the operation Also see Not enough storage area Adept MV Controller User s Guide Rev
172. ial mouse protocol 1200 bps For touchscreen ELO TouchSystems protocol 1200 bps Keyboard input AT compatible DIN 5 connector Width Occupies one backplane slot Specifications subject to change 108 Adept MV Controller User s Guide Rev C AdeptVision VME Module VIS 9 1 Intoduction 2 110 9 2 Connections and Indicatos 00484 110 9 3 VMEbus Address and Configuration 111 9 4 Camera Compatibility 112 9 5 Installing Video Bus Coupling 113 9 6 Camera BeakoutCables 2 220004 113 Two Camera Breakout Cable 113 FourCamera Breakout Cable 114 10 MeterAdept MV Camera Cables 114 97 Installing Camera Cables 2 00484 115 9 8 Camera Cable Pin and Signal Information 116 9 9 VIS Module Specifications 124 Adept MV Controller User s Guide Rev C 109 Chapter 9 AdeptVision VME Module VIS 9 1 Introduction 9 2 The AdeptVision VME Vision Interface VIS module is a single slot VME module that is a vision framegrabber for use with the AdeptVision VME product Refer to the AdeptVision VME User s Guide and the AdeptVision Reference Guide for complete information on installation configuration operation and programming your vision system Connections and Indic ators 11
173. ial number of the controller see page 44 for information on the ID label If your system includes an Adept robot also have the serial number of the robot The serial numbers can be determined by using the ID command see the V Operating System User s Guide Application Questions Contact your regional Applications support center as shown below San Jose CA 408 434 5033 Western Region States Par T d LA AR MO TX OK KS NE Br P T 7 a eee CO WY MT NM AZ UT NV ID WA OR CA Cincinnati OH 513 792 0266 Midwestern Region States Fax 513 792 0274 Boc Sues EE MI OH West PA West NY IN VP KY TN AL MS IL WI IA MN ND SD Southbury CT 203 264 0564 Eastern Region States Fax 203 264 5114 er LENS 8 00am 5 00pm EST NH VT MA CT RI East NY East PA NJ DE MD VA WV NC SC GA FL Training Information For information regarding Adept Training Courses in the USA please call 408 474 3246 You can see the Adept Training class schedule on the Adept Web site see page 9 8 Adept MV Controller User s Guide Rev C How Can I Get Help Within Europe For service calls application questions and training information in Europe Adept Technology maintains a Customer Service Center in Dortmund Germany The phone numbers are 49 231 75 89 40 from within Europe Monday to Friday 8 00 am to 5 00 PM 49 231 75 89 450 FAX Outside Continental Uni
174. ignal 0046 42 S Load i Signal 0047 4 9 Load Doe Signal 0048 9 2 9 Load IT m Output Group 3 Signals 0049 0056 Volt range jumper J5 Adept Digital Output tput Gro pd Cable optional ee sony Z Caution Set jumpers Nc aa for 15V to 30V or 10V to 15V see text Figure 13 2 Typical Digital Output Setup Adept MV Controller User s Guide Rev C 147 Chapter 13 Digital Input Output Module DIO 13 6 Optional DIO Cables 148 The cables to connect to the Input and Output connectors on the DIO module can be ordered as a set of four cables two input cables and two output cables These cables have a mating plug on one end and unterminated flying leads on the other end The wire size of the Adept cables is 0 18 mm 24AWG You can use these cables to connect to the digital inputs outputs in your system or to a wiring block To comply with IEC 1131 if you choose to supply a wiring block it should be capable of accepting wire in the range of 0 18 mm 24 AWG to 2 0 mm 14 AWG Labeling Cables The P1 and P2 input connectors on the front of the module are similar except that P1 handles the Group 1 and 2 input signals and P2 handles the Group 3 and 4 input signals The optional digital input cables can be connected to either P1 or P2 Make sure to clearly label the cables once you have completed your installation so that the cables do not get swapped by mistake see the Warning below The P3 and P4 output connect
175. ignal Pin Signal 1 RTS 6 RTS 2 RXD 7 RXD 3 TXD 8 TXD 4 CTS 9 CTS 5 Ground Figure 5 1 RS 422 485 Female Connector Pin Locations on 030 module Adept MV Controller User s Guide Rev C 61 Chapter 5 030 Processor Module RS 232 Term Connector on 030 Module The RS 232 Term connector is a DE 9P 9 pin male connector that is pin compatible with the serial connector for AT compatible computers The pin assignments and locations are shown below The port supports DTR DSR RTS and CTS signals used for hardware handshake also known as modem control By default these signals are not enabled To configure the port speed and other communications parameters use the CONFIG C utility program the V FSET program instruction or the FSET monitor command This port is designated LOCAL SERIAL 2 Used in an S Series System If the controller is an S Series model then the customer supplied ASCII or ANSI terminal plugs into this connector on the main system processor see Table 5 3 and the terminal installation information in section 3 9 If you have more than one processor module the terminal is always connected to the main system module in slot 1 Used in an A Series System If the controller is an A Series model then this connector can be used for general serial communication However you can redirect the monitor output of an A Series system to this connector on the 030 module using a DIP
176. igned Date 18 September 1996 Full Name Richard J Casl r Jr Position Vice President Engineering P N 01332 00050 Rev A X1 English Declaration of Conformity as defined in Machinery Directive 89 392 EEC Appendix IIB We herewith declare that the machine as delivered by us complies with the relevant and fundamental safety and health requirements defined in the EC Directive Appendix 1 Deutsch Konformit tserkl rung im Sinne der EG Maschinenrichtlinie 89 392 EWG Anhang II B Hiermit erkl ren wir dafs die nachstehende Maschine in der von uns gelieferten Ausf hrung den einschl gigen grundlegenden Sicherheits und Gesundheitsanforderungen der EG Richlinie Anhang I entspricht Fran aise D claration de Conformit selon la Directive Communautaire relative aux machines 89 392 CEE Annexe II B Par la pr sente mnous d clarons que la machine d crite ci dessous livr e en l tat est conforme la directive communautaire Annexe I sur les imp ratifs fondamentaux en mati re de sant et de s curit Italiano Dichiarazione di Conformit ai sensi della direttiva CE 89 392 EEC relativa a macchinari Appendice IIB Si dichiara che la macchina come da noi fornita soddisfa i requisiti fondamentali definiti nella direttiva CE Appendice Lin fatto di sicurezza e sanit P N 01332 00050 Rev A X1 Table 1 VME Plug in Modules and accessories that meet all applicable Directives and that ma
177. ils of the Vision Trigger Adept MV Controller User s Guide Rev C 171 Additional Standards Compliance Information C 1 Sources for Standards 174 C 2 IEC Test Infomation lll ns 175 C 3 Electromagnetic Compatibility Testing ResulS 176 C 4 Color Coding oflndicatorlights 177 Color Code Used by AdeptforOperatorIndicators 177 Color Code used by AdeptforService Indicators 178 Adept MV Controller User s Guide Rev C 173 Appendix C Additional Standards Compliance Information C 1 Sources for Standards The table below lists sources for the various standards that are referenced in this manual Table C 1 Sources for Intemational 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 Berlin German Phone 030 26 01 22 60 Fax 030 26 01 12 60 IEC International Electrotechnical Commission Rue de Varembe 3 PO Box 131 CH 1211 Geneva 20 Switzerland Phone 41 22 919 0211 Fax 41 22 919 0300 American Electronics Association Europe 40 Rue des Drapiers 1050 Brussels Belgium Phone 322 502 7015 Fax 4322 502 6734 American National Standards Institute 11 West 42nd Street 13th Floor New York NY 10036 Phone 212 642 4900 Fax 212 398 0023 Document Center
178. in D Sub connector for up to two belt encoders in a conveyor tracking installation MPLIFIER SIGNAL O am Signal connector the VJI to Robot cable from the Adept robot is installed here ARM SIGNAL el Adept MV Controller User s Guide Rev C VMEbus Address 11 3 VMEbus Address Address Settings for VJ I Modules The VMEbus address for a single VJI module is set at the factory and will not need to be changed If you have multiple VJI modules each VJI module must have a unique VMEbus address The information in Table 11 1 shows how to set the address when you have multiple modules in an Adept MV controller The address is set at DIP Switch package U18 on the VJI PC board To operate the switch use a small insulated instrument such as the point of a pencil Each switch position is a miniature rocker switch To open a switch press down on the side of the switch marked open The switch is located in the upper right hand corner of the board Table 11 1 VMEbus Address Switch Settings for VJ Module Servo Board Switch Position on DIP Switch U18 Agdiens 1 2 3 4 5 6 7 8 1 Open Closed Open Open Closed Closed Closed Closed 2 Open Closed Open Open Closed Closed Closed Open 3 Open Closed Open Open Closed Closed Open Closed 4 Open Closed Open Open Closed Closed Open Open 5 Open Closed
179. ing Modules 2 s 33 3 8 Installing the A Series Monitorand Keyboard 34 Installation Procedure les 34 Installing Non Adept Peripheralsin an A Series Sytem 35 Third Party Monitor Compatibility 35 Third Party Keyboard Compatibility 35 Third Party Pointing Device Compatibility 35 3 9 Installing a Terminal inan S Series Sytem 36 Recommended TerminalforS Series Systems 36 Contacting WYSES ae aerar ae ud ug uS uos urge um gd P a e a A 36 Customer Supplied Serial Interface Cable 36 Installation Procedure les 36 3 10 Installing a Stand Alone Controllerin a RackorPanel 37 Space Around the Chassis a les 37 Rack Mounting 2 2 2522529252925925555 37 Panel Mourting 00 ca rs AA Xo ge cw x 38 3 11 Installing a RobotContollerina Rack orPanel 39 Space Around the Chassis ooa oaa a aa ss 39 Rack Mounting 5o Go x X aa a a ie ad a ees Y pe e OR 39 Panel MOUNINO c6 wes Ce Ai cae et ek Ey he obo a 39 3 12 MV 5 and MV 10 ContollerTechnical Specifications 41 4 Installation for MV 8 and MV 19 Controllers 43 4 1 Shipping Storage Unpacking and Inspection 44 Shipping and Storage llle 44 Before Unpacking rre 44 Upon Unpacking a ae o a a Se aa aa E a D a ed E aA 44 Repacking For Reloca
180. installed on the robot See the AdeptForce VME User s Guide for complete information on this product Adept MV Controller User s Guide Rev C Installation for MV 5 and MV 10 Controllers 3 1 Shipping Storage Unpacking and Inspection 22 32 ContollerIDLabel lll sss 22 3 3 Facility Requirements lll lll 23 3 4 Connecting AC Power MV 5 and MV 10 24 3 5 Fuse Information MV 5 and MV 10 28 3 6 Fan and Riter Infomation lll ls ss 29 3 7 Removing and Installing Modules 30 3 8 Installing the A Series Monitorand Keyboard 34 3 9 Installing a Terminal in an S Series Sytem 2 36 3 10 Installing a Stand Alone Controllerin a RackorPanel 37 3 11 Installing a RobotContollerina RackorPanel 39 3 12 MV 5 and MV 10 Controller Technical Specifications 41 Adept MV Controller User s Guide Rev C 21 Chapter 3 Installation for MV 5 and MV 10 Controllers 3 1 Shipping Storage Unpacking and Inspection Shipping and Storage This equipment must be shipped and stored in a temperature controlled environment within the range 25 C to 55 C The recommended humidity range is 5 to 90 non condensing It should be shipped and stored in the Adept supplied packaging which is designed to prevent damage from normal shock and vibration You should protect the packa
181. into contact with liquids In situations where the Adept MV controller sub assembly will be subject to extremes of heat or humidity See specifications for allowable temperature and humidity ranges 6 Adept MV Controller User s Guide Rev C Standards Compliance 1 4 Standards Compliance The Adept MV controller is intended for use with other equipment and is considered a sub assembly rather than a complete piece of equipment on its own The Adept MV controller meets the requirements of EN 60204 IEC 1131 2 IEC 73 and IEC 447 safety standards See the Declaration of Conformity just after the Title Page for additional compliance information about this product To maintain compliance with the above standards the controller must be installed and used properly with any additional equipment in accordance with all regulations of the standards You must also carefully follow all installation instructions in this user guide See Appendix C for additional information on standards compliance Adept MV Controller User s Guide Rev C 7 Chapter 1 Introduction L5 HowCanlGetHelp Within the Continental 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 5 00am 5 00pm PST 24 hour emergency coverage 7 days a week 408 433 9462 FAX NOTE When calling with a controller related question please have the ser
182. ion i RZ CCW Y Rotation Gripper Activity X Figure D 13 WORLD State SCARA The T4 button cycles the gripper solenoids Press anywhere on the side of the speed bar to open the gripper on the side to close the gripper NOTE This is the most common gripper setup The gripper solenoids may be configured so they operate differently or they may not be configured at all Place your robot in a safe location and cycle the gripper to verify which side of the speed bar opens the gripper 1 The SPEC utility is used to configure gripper activity See the Instructions for Adept Utility Programs 194 Adept MV Controller User s Guide Rev C Moving a Robot or Motion Device with the MCP Tool State When tool state is selected movement in the X Y or Z direction is along an axis of the tool coordinate system The tool coordinate system is centered at the robot tool flange with the Z axis pointing away from the flange On most robots the positive X axis is aligned with the center of the tool flange key way Before the speed bars will move the robot an axis of motion must be selected from the manual control buttons If X1 is selected pressing the speed bar will move the robot tool flange in the positive X direction Pressing the speed bar will move the flange in the negative X direction In a four axis robot positive rotation of the gripper RZ is clockwise as viewed from above Figure D 14
183. iring on the SIO Adept MV Controller User s Guide Rev C equivalent circuit PA 4 4 e e e Signal 1001 XE ES _ le i Example 1 T 43 ee Signal 1002 MNA a l4 i Dl D C User power 5 0 z supply MA e o Signai1003 jew eo 1 T a L T 5 5 UU pope LS e 3 Signal 1004 i PX Pol i OQ a ES e t o Signal 1005 PEZ 10 Fe Example 2 exl retra IDE A aen O i DSA E Signal 1006 bz BT a etes T 113 4 N User power 8 Signal 1007 PX EM G supply O m II E y 415 E Signal 1008 DX ME M i D a E Q7 e e gt Signal 1009 P2 EB 2 Example 3 dn pier 418 IR A Signal 1010 Paz ag NC Signal 1011 bo 22 mm Signal 1012 bo mm CR Digital O Connector Typical Digital Output Wiring The following drawing shows two examples of different types of connections to the digital outputs on the SIO The methods are negative common and positive common Example 1 outputs 0001 to 0004 shown with positive common Example 2 inputs 0005 to 0008 shown with negative common Note these are examples in fact either method can be used in any combination on any channel Adept Supplied Equipment User Supplied Equipment Typical Examples equivalent circuit i 425 e a Signal 0001 SEF 26 O 2 27 VL 3 Signal 0002 IA 6 igna SG qee Q o jew 429 e 3 S
184. isk to the directory CALIB on the hard disk or working system disk Can t go on use EXECUTE or PRIME 313 Explanation An attempt has been made to continue the execution of a program that has completed or stopped because of a HALT instruction Normally an error results when a PROCEED RETRY or XSTEP command is entered 204 Adept MV Controller User s Guide Rev C Appendix E System Messages or the pendant RUN HOLD button is pressed after a program has completed all its cycles User action Use the EXECUTE or PRIME command or the pendant PRIME function to restart the program from the desired instruction Can t interpret line 450 Explanation V could not interpret the last command or instruction entered User action Check the spelling and usage and re enter the line In the case of an error while loading from the disk edit the affected programs to correct the indicated lines they have been converted to bad lines Can t mix MC amp program instructions 14 Explanation A program instruction has been encountered during processing of a command program or an MC instruction has been encountered in a normal program User action Edit the command program to use the DO command to include the program instruction or remove the MC instruction from the normal program Can t start while program running 312 Explanation An attempt has been made to start execution of a program from the manual control pen
185. ite P3 44 Pin Female Output Connector on DIO P3 33 2 power black red green Module Front Panel P3 34 2 power white red green P3 35 2 power red black green P3 36 2 power green black orange P3 21 2 group 2 return blue red P3 22 2 group 2 test red green 2 The signal numbers for 2 7 increase by 32 for each additional module see Table 13 8 Adept MV Controller User s Guide Rev C 151 Chapter 13 Digital Input Output Module DIO Table 13 7 DIO P4 Output Cable Pin Assignments Pin Group Module 1 Wire Number Number Signal name Color Pin Locations P4 30 3 0049 green black white P4 15 3 0050 green white P4 14 3 0051 red white P4 13 3 0052 black white P4 12 3 0053 blue black P4 11 3 0054 orange black P4 10 3 0055 green black P4 9 3 0056 red black P4 25 3 power orange green P4 26 3 power black white red P4 38 3 power orange black green P4 39 3 power blue white orange P4 40 3 power black white orange P4 41 3 power white red orange Pin 30 on P4 42 3 power orange white blue pin Hat P4 43 3 power white red blue O E O P4 44 3 power black white green O A O P4 28 3 group 3 return white black red o O o P4 29 3 group 3 test red black white 5 O a P4 7 4 0057 white black e P4 6 4 0058 blue O P4 5 4 0059 orange ee
186. ived the error If no additional information is available check that the amplifiers are plugged into the backplane correctly the fixing screws are tightened and the motor and signal cables are connected correctly E STOP from backplane 7643 Explanation User action E STOP from robot Explanation User action The motion interface board has detected an E STOP due to the BRAKE ESTOP signal being asserted on the VMEbus Check for a subsequent message To determine if there was an unreported RSC error type listr error task 4 where task is the number of the task that received the error If no additional information is available call Adept Customer Service 640 The motion interface board has detected an E STOP condition generated by the RSC in the robot This error is probably due to low air pressure joint 1 overtravel or motor overheating A subsequent error message may provide more information Check for a subsequent message To determine if there was an unreported RSC error type listr error task 4 where task is the number of the task that received the error If no additional information is available check for low air pressure joint 1 overtravel or motor overheating Adept MV Controller User s Guide Rev C 211 Appendix E System Messages E STOP from SYSFAIL Explanation User action 642 The motion interface board has detected an E STOP due to the SYSFAIL signal being asserted on th
187. l Specifications 57 5 030 ProcessorModule 0 0 0 59 5lint oduction iere i A A vod ch re eR me eg 60 52 Connections and Indicators sss 60 5 3 Serial I O Connections 030 Module s 61 RS 422 485 Connector on 030 Module 61 RS 232 Term Connector on 030 Module 62 Used inanSSeriesSysem lll lll 62 Used inan A Series Sytem 2l len 62 Typical Cable Connections 63 Typical Cable Connections 9 pin to 25 pin DCE 63 Typical Cable Connections 9 pin to 25 pin DTE 64 Recommended Connections 9 pin to 25 pin Wyse WY 60 Termi nal es Shee x xoxo w Roh c moe RO E dns dece we G 64 Typical Cable Connections 9 pin to 9 pin AT Compatible 65 DIE DCEOorATsyle 66 54 Memo urs oec mu er uet doe uk SUB mq 67 5 5 VMEbus Address 67 5 6 030 JumperSettingS 68 5 7 Use as an Auxiliary Processor 0 00854 69 Adept MV Controller User s Guide Rev C Table Of Contents 5 8 030 Processor Module Specifications 6 040 Proc essor Module 6 1 Introduction aaa a a a 6 2 Connections and Indicators 6 3 Serial I O Connections 040 Module RS 422 Connector on 040 Module RS 232 Term Connector on 0
188. led that is whenever pin 19 is connected to pin 7 MCP Connector If you are building your own front panel you will need a mating receptacle to mate for the MCP connector The following table gives details on the MCP connector Table 7 8 MCP Connector Manufacturers Information Manufacturer AMP Inc CPC connector Series 1 size 17 16 pin Pin and socket inserts sold separately Size 16 type III See page 91 for AMP phone numbers Location Description AMP part number On MCP cable Plug requires socket contact inserts 206037 1 Socket contact 30 26AWG 66428 4 alternative 66424 8 Socket contact 26 24 AWG 66109 4 Cable clamp and backshell 206070 1 On VFP Square flanged receptacle requires pin 206036 1 contacts Free hanging receptacle requires pin 206036 3 contacts Pin contact 26 24AWG 66107 4 alternative 66106 6 Pin contact 30 26AWG 66429 2 alternative 66425 6 Contact Extraction Tool 305183 R Note 30 26 AWG 0 05 0 15 mm 26 24 AWG 0 12 0 2 mm 100 Adept MV Controller User s Guide Rev C User Supplied External Front Panel Front Panel MCP Connector and Cable This cable is supplied with the optional Adept VFP The pinout is included for reference in case you are building your own front panel This cable connects from the FP MCP connector on the SIO module to the J1 connector of the VFP Table 7 9 SO Front Panel Cable Connector Pin Assignments
189. lways have this serial number available when you call Adept Customer Service for technical support Adept MV Controller User s Guide Rev C Facility Requirements 3 3 Facility Requirements The Adept MV controller is intended for use with other equipment and is considered a sub assembly rather than a complete piece of equipment on its own The Adept MV controller meets the requirements of EN 60204 1 IEC 1131 2 IEC 73 and IEC 447 safety standards To maintain compliance with these standards the controller must be installed and used properly with any additional equipment in strict accordance with all requirements of these standards For more information about safety and standards compliance see section 1 3 on page 4 section 1 4 on page 7 and Appendix C The Adept MV controller installation must meet the environmental and electrical requirements shown in Table 3 1 and Table 3 2 Table 3 1 Operating Environment Requirements Ambient temperature controller while accessing floppy or 5 C to 40 C 32 to 104 F hard drive controller while not accessing floppy or 5 C to 50 C 32 to 122 F hard drive Humidity 5 to 90 non condensing Altitude up to 2000 m 6500 ft Pollution degree 2 Free space around controller for proper cooling Robot controller vertical mounting 25 mm at top and bottom Stand alone controller horizontal mounting 25 mm at left and right sides Chassi
190. ly occurs if some of the calibration programs have not been loaded into memory and the CALIBRATE command or instruction is issued with a input mode that does not allow them to be loaded automatically User Action Reissue the CALIBRATE command or instruction with the proper mode The default mode of zero causes CALIBRATE to automatically load the required programs from disk perform the calibration and then delete the programs Calibration sensor failure Mtr n 21106 Explanation During calibration the calibration sensor for the indicated motor could not be read correctly Either the robot is blocked from moving or a hardware error has occurred User action Retry the CALIBRATE command or instruction after making sure that the robot is not blocked If the problem persists contact Adept Customer Service Camera interface board absent 7722 Explanation The vision interface board is not responding to a command from the vision system User action Make sure that the vision interface board is installed properly After saving all the programs and prototypes in memory power down the controller and power it up again Consult Adept Customer Service if the problem persists Can t find calibration program file 26 Explanation While processing a CALIBRATE command or instruction the v system could not find the calibration utility program on the file CAL_UTIL V2 User action Restore the missing file from the V distribution d
191. m moving 2 The robot base has become overheated User action 1 Push the brake release button at the robot base and move the joints back into the normal working range Turn on high power and continue program execution 2 Check the fan filter on the robot base and check the ambient temperature of the robot Allow the robot to cool down turn on high power and continue program execution Keyswitch not set to AUTO 303 Explanation An attempt has been made to perform an operation requiring the front panel keyswitch to be set to the AUTO position User action Move the keyswitch to the AUTO position Keyswitch not set to MANUAL 304 Explanation An attempt has been made to perform an operation requiring the front panel keyswitch to be set to the MANUAL position If you do not have a front panel the keyswitch is assumed to be set to the AUTO position User action Move the keyswitch to the MANUAL position Location out of range 7610 Explanation V has encountered a location that is too far away to represent possibly within an intermediate computation or that is beyond the reach of the robot This probably indicates an error in a location function argument value or in a compound transformation User action Check to make sure you are using location functions and operations correctly and edit the program as required Adept MV Controller User s Guide Rev C 217 Appendix E System Messages Locatio
192. me or it can be set to wait for a triggering event That event would normally be configured to be an external signal from the External Trigger inputs described above This is configured using the CONFIG C utility program See the AdeptVision VME User s Guide and the AdeptVision Reference Guide for a description of the V keywords VPICTURE and V IO WAIT See Section 9 3 in this user s guide for a description of the switches on the VIS module POS LATCH 1 and POS LATCH 2 vIS TRIGGER 1 and VIS TRIGGER 2 170 Adept MV Controller User s Guide Rev C External Input For Position Latch and Vision Trigger Combined Vision Trigger and Position Latch Vision in the Loop An RS 170 video camera operates at 30 frames per second When the Vision system receives an External Trigger it will normally have to wait until the start of the next frame before it can capture another picture This can therefore involve a delay of up to 33 ms milliseconds The Adept system allows for a delayed latch where the External Trigger is used to signal a picture to be taken by the optional AdeptVision system and then the AdeptVision system signals the position of the robot or conveyor belt to be latched synchronized to the exact moment that the vision picture is captured This feature is especially useful when the camera is mounted on a moving robot or the camera is viewing an object on a moving conveyor belt See the AdeptVision VME User s Guide for deta
193. module must be connected through a user provided normally closed NC safety circuit Multiple external emergency stop switches can be connected in series 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 For AdeptMotion VME users see the AdeptMotion VME Developer s Guide for additional information on the E stop circuits Passive E Stop Output The passive E Stop output from the SIO module is a vital part of your safety system This output consists of a normally open voltage free relay contact It is controlled by signals received from the external E Stop devices and the MCP and Front Panel E Stops The passive E Stop output uses only electro mechanical 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 12Vdc or 0 4A at
194. mum Current at Vi 24 VDC lin lt 20mA Turn on response time hardware Software scan rate response time 5 psec maximum 16 ms scan cycle 32 ms max response time Turn off response time hardware Software scan rate response time 5 psec maximum 16 ms scan cycle 32 ms max response time the input current specifications are provided for reference voltage sources are typically used to drive the inputs b2ms response time minimum for fast inputs 1001 to 1003 depending on program task configuration when used with V INT EVENT instruction Adept MV Controller User s Guide Rev C Digital O Connector Output Signals The digital I O connector handles output signals 0001 to 0008 On systems with the Manual Mode Safety Package MMSP option output channels 1006 to 0008 are used by the MMSP and are not available for users Refer to Table 7 4 for output specifications The locations of the signals on the connector are shown in Table 7 5 The SIO provides separate and connections for each channel no internal common connections This allows you the choice to wire for current sourcing or current sinking mode as required Each output channel circuit should be connected to only one output device Table 7 4 DIO Output Specifications SIO module Operating voltage range 0 to 24 VDC Operational current range per channel Tout lt 100 mA Varop across output in on condition
195. must provide an AC contactor with 12V or 24V coil either AC or DC coil limited to less than 500 mA See the drawings on the next two pages for connection details Forthe VFP 1 the user connection for System Power is at the terminal block pins 1 and 2 on the back of the VFP You will need to provide a power supply to match the coil voltage of the external contactor For the VFP 3 in an MMSP system the user connection is located on terminal block TB5 pins 5 and 6 on the Security Panel If you are using a contactor with a 24 V DC coil you can obtain 24VDC from terminal block TBI pins 1 and 2 on the Security Panel If your contactor is not 24VDC you must provide a suitable power supply If you choose not to use this feature the VFP System Power switch will not work The controller power will be controlled only by the switch on the power entry module Contact Adept Customer Service if you have any questions about this installation Adept MV Controller User s Guide Rev C 25 Chapter 3 Installation for MV 5 and MV 10 Controllers enle e Je v of M ol Pins 1 and 2 of terminal erty Life a block on VFP 1 os c y 3 E m Vv E m i
196. n closed then open off and closed on Adept MV Controller User s Guide Rev C 67 Chapter 5 030 Processor Module 5 6 030 Jumper Settings There are two jumpers on the 030 module that must be set correctly depending on if it is used as the main processor or an auxiliary processor See the table below and Figure 5 3 Table 5 9 Jumper Settings for 030 Proc essor Module Processor Type Jumper Setting 030 1 used as main processor SCON JP1 ON SCLK JP3 ON 030 2 4 used as auxiliary SCON JP1 OFF processor SCLK JP3 OFF SCLK JP3 jumper is ON for the main processor when used with newer SIO modules 30330 12350 30330 11351 30332 12350 or 30332 12351 All SIO modules manufactured after 1994 require JP3 It must be OFF when used with older SIO modules 30330 00301 or 30330 10351 ee es Adept 030 Board Component Side Figure 5 3 Switch and J umper Locations on the 030 Module 68 Adept MV Controller User s Guide Rev C Use as an Auxiliary Processor 5 7 Use as an Auxiliary Processor 5 8 Additional 030 System processor modules can be installed in an Adept MV controller and used as auxiliary processors to handle specific functions in an Adept automation system For example you can have an auxiliary 030 dedicated to handling processing for the motion or vision portion of a system whil
197. n memory but it was not enabled for use due to an error which is reported by a separate message User action Use the CONFIG C and or SPEC utilities to correct the module configuration Robot not calibrated 7605 Explanation An attempt has been made to execute a robot control program task 0 when the robot is not calibrated No motion is allowed until the robot is calibrated User action If you want to use the robot issue a CALIBRATE command or have your program execute a CALIBRATE instruction Or enable the DRYRUN switch to allow program execution without using the robot Or execute the program in a task other than task 0 Robot power off 604 Explanation 1 The operator has turned off power by pressing the High Power On Off button 2 High power is not turned on or cannot be turned on because of a hardware failure 3 On a system with the Manual Mode Safety Package MMSP you can get this error if you press the HIGH POWER ON OFF button before it starts to flash User action 1 None 2 Turn on high power and re enter the last command 3 Ona system with the MMSP wait for the HIGH POWER ON OFF button to start to flash before you press it Robot power on 7627 Explanation An attempt has been made to perform an action that requires high power to be off User action DISABLE POWER and re execute the action RSC hardware failure 7669 Explanation The RSC has reported an internal failure Because
198. n too close 7618 Explanation An attempt has been made to move the robot to a location that is too close to the robot column This probably indicates an error in the value of a location function argument or an incorrect compound transformation User action Check to make sure you are using location functions and operations correctly and edit the program as required Manual brake release 7639 Explanation The robot s manual brake release button is active It is not possible to enable power when this button is pressed User Action Make sure that the manual brake release button usually located on the robot is not active If the problem persists even though the button is not pressed call Adept Customer Service Manual control pendant failure 650 Explanation A program has attempted to access the manual control pendant when it is disconnected or has failed User action Make sure the pendant is connected properly If the problem persists contact Adept Customer Service Memory Err at aaaaaa None Explanation During initialization V detected a hardware failure at the indicated memory location User action Power down the controller and start it again If the error persists contact Adept Customer Service Missing argument 7454 Explanation A valid argument was not found for one or more of the arguments required for the requested command or instruction That is the argument was not present at all or an in
199. na o003 e oo gt seal 31 Ols Sac O Signalooos zs 4 m E Mn B Q 5 Signal 0005 Vs p O MOM o 3 m ls Q 5 Signal 0006 NZSE 1 36 O n O prono 37 L e LU oad Signalo007 e t m i E Lees 489 Load Signal 0008 NZR 40 ja V EMERGENCY 43 STOP 44 CONNECTIONS Stop Circuits 45 46 Example 1 User power supply Example 2 User power supply See section later in this chapter for a description of Emergency Figure 7 3 Typical Digital Output Wiring on the SIO Adept MV Controller User s Guide Rev C 89 Chapter 7 System Input Output Module SIO Digital I O Connector Pinouts Table 7 5 Digital I O Connector Pin Assignments on SO 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 St
200. nal Block on the Back of the VFP Number Description A 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 COIN DY OF AJIJ WwW Nn A Hold to Run switch on the Manual Control Pendant N O EH mM not used A N not used Adept MV Controller User s Guide Rev C 95 Chapter 7 System Input Output Module SIO 7 8 Extemal Front Panel VFP 1 The optional external VME front panel VFP is connected to the FP MCP connector on the SIO module There are two types of VFP the VFP 1 and the VFP 3 The VFP 1 is used with all Adept systems that do not include the Manual Mode Safety Package MMSP option The VFP 1 is described in this section The label on the back of the VFP identifies the type VFP 1 or VFP 3 The VFP 3 is used with systems that have the MMSP option installed The VFP 3 is described in the AdeptOne MV AdeptThree MV Robot Instruction Handbook LAMP SYSTEM HIGH POWER uy MANUAL AUTO o POWER I ON OFF EMERGENCY STOP cert PROGRAM PROGRAM PENDANT LOCAL NETWORK START RUNNING O T C s Figure 7 6 Extemal Front Panel VFP 1 Controls and Indicators EMERGENCY ST
201. nal trigger inputs are located on the SIO module The SIO has a total of twelve opto isolated digital inputs Only the first three inputs channel numbers 1001 to 1003 on the SIO may be configured to perform any of the above functions These functions are described in more detail in the following sections Inputs 1001 to 1003 can also be read independently using the normal V SIG and BITS functions and the IO monitor command See section 7 6 on page 85 for general information about these signals The communication between the SIO VMI and VIS modules is via four dedicated lines on the controller backplane Two lines are dedicated to position latching and each VMI can be configured using CONFIG C to either latch signal Two lines are provided for vision triggering and the VIS module can be configured using a DIP switch to respond to either trigger signal It is normally configured to respond to Vision Trigger 1 Position Latch The VMI provides hardware based high speed position latching for each encoder channel This feature is useful for touch probes or for photo sensors on conveyor belts or other applications that require latching the position of the mechanism with quick response time The Position Latch feature uses the External Trigger inputs described above The SIO and VMI each take approximately 5 us to respond thus the total response time is 10 ys Vision Trigger On AdeptVision systems a camera picture can be taken at any ti
202. ndicated by the LED on the soft buttons labeled OUT IN and SOFT The above example shows digital output signals in the range 1 to 32 Signals 1 2 are on signals 3 8 are off and no other signals in this range are installed Adept MV Controller User s Guide Rev C 187 Appendix D Using the Manual Control Pendant MCP To display a different range of signals press the soft buttons under the or labels The next or previous range of signals will be displayed Press the OUT IN and SOFT soft buttons to display input output or soft signal ranges See section 7 6 on page 85 for details on digital I O signal ranges for the SIO module Also see section 13 7 on page 153 for details on digital I O signal ranges for the optional DIO module LastEmor Press LAST ERROR to display the error messages generated by V during the current session The most recent error will be displayed The right most soft button will be labeled lt MORE gt Pressing this button will cycle back through the error messages generated during the current session The Clear Enor Function If the MCP is in the Manual position or the system switch MCP MESSAGES is enabled error messages are sent to the MCP When an error is sent to the MCP the MCP will beep display a blinking error message and light the LED on the CLR ERR button EXTERNAL E STOP Figure D 8 CLEAR ERROR Function Button The CLR ERR button must be pressed for operation to co
203. nnot use more than one pointing device Adept MV Controller User s Guide Rev C 35 Chapter 3 Installation for MV 5 and MV 10 Controllers 3 9 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 You may also be able to use a computer with suitable terminal emulation software For DOS or Windows compatible 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 You must also specify that you require the 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 You must make sure you order the correct keyboard The WY 60 is available in both 220V and 110V configurations depending mainly on the country you buy it in Contacting WYSE Wyse Technology 3571 N First St San Jose CA 95134 USA Tel USA 1 800 GET WYSE Northern Calif 408 473 1600 International partial list GERMANY 0894 600990 FRANCE 1 69 82 91 00 UK 01734 342200 TAIWAN 238 81306 SINGAPORE 254 5860 All others call USA
204. ntinue Pressing the CLR ERR button will clear the error message from the display and return the MCP to the state it was in before the error The CMD Function The CMD function button displays the options AUTO START CALIBRATE STORE ALL CMD1 and CMD2 AUTO STORE START CALIB ALL CMD1 CMD2 Figure D 9 Command CMD Function Button 188 Adept MV Controller User s Guide Rev C MCP Predefined Functions Auto Start When AUTO START is pressed the pendant display shows 1 Enter last two digits of file name auto_ Enter one or two digits and press REC DONE The pendant LCD will prompt you to press the PROGRAM START button on the VFP The system will then attempt to load the file AUTOxx V2 from the default disk and COMMAND the program autoxx xx refers to the digits you entered The program file AUTOxx V2 must reside on the default disk and it must contain a monitor command program named autoxx If the file does not exist or does not contain a correctly named program the operation will be aborted and the appropriate error message will be displayed on the LCD For example if you had entered 9 the system would attempt to load the file AUTO9 V2 and COMMAND the program auto9 Calib When CALIB is pressed the pendant LCD will prompt you to press the PROGRAM START button on the VFP The system will then enable power and calibrate the robot Store All When STORE ALL is pressed the pendant
205. o program specified 301 Explanation No program was specified for an EXECUTE or SEE command or instruction or DEBUG command and no previous program is available as a default User action Type the line again providing a program name No robot connected to system 622 Explanation An attempt has been made to attach a robot with a system that does not support control of a robot Note that some commands instructions and functions implicitly attach the robot User action Make sure the system has been booted from the correct system disk for example use the ID command to display the system identification Change the program so that it does not attempt to attach the robot No vision system selected 751 Explanation The current task has not selected a vision system By default vision system 1 is selected This error may indicate the vision option is not installed User action Use the SELECTY function to select a vision system Nonexistent file 501 Explanation 1 The requested file is not stored on the disk accessed Either the name was mistyped or the wrong disk was read 2 The requested graphics window title menu or scroll bar does not exist User action 1 Check the file name use the FDIRECTORY command to display the directory of the disk 2 Check the name of the graphics window element specified Nonexistent subdirectory 545 Explanation The subdirectory referenced in a file s
206. obots the robot number is appended to the error message in the form Robot Aborted 400 Explanation The last command requested or the program that was executing has been aborted at the operator s request User action None Ambiguous name 7453 Explanation The abbreviation used for the last command instruction or system defined name was not long enough to identify the operation intended User action Reenter the last line using a longer abbreviation Auto Startup None Explanation The automatic startup procedure has begun See the discussion of command programs for more information User action None required for this message but subsequent commands in the auto startup command program may require user action WARNING The robot may begin to move during the automatic startup procedure If necessary you can stop the robot by pressing EMERGENCY STOP on the controller or on the manual control pendant Adept MV Controller User s Guide Rev C 203 Appendix E System Messages Bad block in disk header 523 Explanation While formatting a disk a bad disk block has been found in the disk header area The format operation has failed and the disk is not usable User action Enter the FORMAT command again use a different diskette if the error persists Calibration program not loaded 425 Explanation A program required for calibration has not been loaded from disk This error usual
207. ogram pauses until the button is pressed again Joint Axis Control Buttons The buttons on the far right side are the joint axis control buttons When the MCP is in manual mode these buttons select which robot joint will move or the coordinate axis along which the robot will move The X 1 Y 2 Z 3 RX 4 RY 5 and RZ 6 buttons are covered starting on page 194 The MCP must be in manual mode before a joint axis control button can be selected 192 1 Tf the robot has not been calibrated and High Power is turned on the MCP emergency stop switch LED will be lit and both the COMP PWR and MAN HALT LEDs will be off Adept MV Controller User s Guide Rev C Moving a Robot or Motion Device with the MCP STEP Button When the VFP keyswitch is set to MANUAL vt programs cannot initiate motions unless you press the STEP button and speed bar on the MCP To continue the motion once it has started you can release the STEP button but must continue to press the speed bar Failure to operate the STEP button and the speed bar properly results in the following error message Speed pot or STEP not pressed Once a motion has started in this mode releasing the speed bar also terminates any belt tracking or motion defined by an ALTER program instruction Motions started in this mode have their maximum speeds limited to those defined for manual control mode As an additional safeguard when High Power is enabled and the VFP switch is set
208. ol Pendant MCP 99 Connecting the MCP to the VFP 00084 99 MCP Cradle sotos a bk i a la yore X Xe do n 99 7 10 User Supplied Extemal Font Panel s 100 Construction of Cable from SIO to VFP lll sls 100 MCPConmeGtor al R9 en ee wes srt dada dean ou 100 Front Panel MCP Connectorand Cable 101 7 11 SIO Module Specifications l l ls ss 102 Adept MV Controller User s Guide Rev C 81 Chapter 7 System Input Output Module SIO 7 1 Intoduction 7 2 The System Input Output SIO module is a required module in all Adept MV controllers The 2 slot wide SIO is a6U VME slave module that provides the system I O functions for the controller It serves as the system interface to mass storage hard drive and floppy drive E Stop circuitry three user RS 232 serial ports 20 digital I O channels external front panel control and a real time clock calendar This module also controls AC power for the amplifiers when the system includes the AdeptMotion VME option or an Adept robot Communication between the system processor s and this board occurs over the VMEbus Connections and Indic ators 82 e e SIO O 322 30 Oacov ad et 5j 6 o ej 16 ges ET e MENT M ed e e O eo eo Status LED s When lit OK
209. on Drawings o o A 1 Dimensions for Adept MV 5 and MV 10 Stand Alone Controllers A 2 Dimensions for Adept MV 5 and MV 10 RobotContnllers A 3 Dimensions for Adept MV 8 Controller A 4 Dimensions for Adept MV 19 Contmller A 5 Mounting Bracket Dimensions A 6 Extemal Front Panel VFP 1 Dimensions 2 A 7 MCP Cradle Dimensions lll sns B Position Latch and Vision Tigger B 1 Extemal Input For Position Latch and Vision Trigger Postion Late i aca at 3e X oe hcec o oat Aw US ed Vision Tigger s s ls e s soos Combined Vision Triggerand Position Latch Vision in the Loop C Additional Standards Compliance Information C 1 Sources for Standards C 2 IEC Testinformation ls C 3 Electromagnetic Compatibility Testing Results C 4 Color Coding of Indicator lights Color Code Used by AdeptforOperator Indicators Color Code used by AdeptforService Indicators D Using the Manual Control Pendant MCP D 1 Manual Control Pendant Basics Programmer sPendant vs OperatorsPendant Connecting the MCP 0 048 MCOP EayOUE 2 vine ertet Ver ad Ped tem een ne Ma Ga areas SCR TELE Up un QS SOTEBUMONS mu E ue de ok ev i ide da e
210. ong port Adept MV Controller User s Guide Rev C 75 Chapter 6 040 Processor Module Connections from 040 RS 232 to Wyse Terminal Adept recommends the use of a Wyse WY 60 terminal on S Series Adept MV controllers The following connections will work with most terminals using DTE pinouts such as the Wyse WY 60 terminal The WY 60 has a female 25 pin connector This 3 wire interface uses software flow control XON and XOFF control characters Table 6 3 Pin Assignments for 25 pin to 25 pin Wyse WY 60 Terminal Cable 040 RS 232 Wyse Terminal 25 Pin Female 25 Pin Male Pin Number Function Pin Number Function 1 Shield 1 Shield 2 RXD 2 TXD 3 TXD 3 RXD 7 Signal ground 7 Signal ground 4 RTS 5 CTS 6 DSR DTR 20 Pins 4 5 6 amp 20 linked together 6 4 Memory The 040 system processor can be ordered with either 4 MB or 8 MB of DRAM It is not possible to upgrade a 4 MB module to an 8 MB module 76 Adept MV Controller User s Guide Rev C VMEbus Address 6 5 VMEbus Address Each 040 module in an Adept MV controller must have a unique module address The address is set on Jumper block J22 on the 040 PC board see Figure 6 3 for location of jumpers Table 6 4 shows the jumper settings for multiple processor modules If you are using both 040 and 030 processor modules each module must have a unique address You cannot set an 040 and an 030 to the same address For e
211. only They consist of small LED s typically located on the front of the VME modules They are used to indicate equipment status to facilitate maintenance and testing They do not require action by the operator and when the controller is installed as recommended the service indicators are not normally visible to the operator See the relevant chapters earlier in this manual for a brief description of each LED or contact Adept Customer Service for additional information Table C 4 Service Indicator ColorCode Indicator Lights Red Meaning Non operating condition fault or not ready Yellow Meaning Operating condition requiring caution Green Meaning Normal operation Illuminated Actuators There are no illuminated actuators intended specifically for service use 178 Adept MV Controller User s Guide Rev C Using the Manual Control Pendant MC P D 1 Manual Control Pendant Basics s 180 ProgrammersPendant vs OperatorsPendant 180 MCP Layout 4 s coo o a o AUR ad de ko 182 Soft Buttons sc ee a Roth AC NIS ao E 182 Function Buttons len 182 Data Entry Buttons lll rss 183 Mode Control and Joint Axis Control Buttons 183 Speed Barsand Slow Button lll ls 183 Emergency Stop From the MCP 183 Background Mode 2 2 2 252 2 5 2 52 184 D 2 MCP Predefined Functions 000
212. onnection to a single destination This port cannot be used for multi drop connections Whereas the 030 module has a dual mode RS 422 RS 485 port To change the configuration use the CONFIG_C utility program or the V FSET program instruction This port is designated LOCAL SERIAL 1 Table 6 1 RS 422 Connector Pin Assignments on 040 Module Pin Signal Pin Signal Pin Locations 1 NC 14 aTXD TXD 15 NC Pin 13 3 PRXD 16 brxp Pines E o O 4 RTS 17 NC eo O 5 CTS 18 RTS o 6 DSR 19 NC E o O 7 Signal 20 DTR O E ground O are 8 NC 21 NC 5 O x O 9 NC 22 DSR Pin 1440 10 NC 23 DTR x 11 NC 24 NC 3 Figure 6 1 RS 422 Connector on 040 12 NC 25 NC Module 13 CTS 25 Pin Female DB 25F NC do not connect upperconnector Depending on what type of device you are connecting to you may have to reverse the polarity of the TXD signals b Depending on what type of device you are connecting to you may have to reverse the polarity of the RXD signals CAUTION The RS 422 and RS 232 ports on the 040 both use 25 pin female connectors Be sure to label each connector and take precautions to avoid connecting to the wrong port Adept MV Controller User s Guide Rev C 73 Chapter 6 040 Processor Module RS 232 Term Connector on 040 Module The RS 232 Term connector lower connector on front of module is a DB 25F 25 pin
213. ons can be used in your programs to restrict access to the V command prompt Overspeed Protection Overspeed protection for a robot or motion system has to be taken into account during system integration by the integrator or end user Overspeed protection is not guaranteed by the controller hardware alone The V system software offers some overspeed protection capabilities Voltage Interruptions If the AC supply to the controller is interrupted the passive E stop output will be automatically turned on opened In addition the High Power Brake Release and Drive Enable signals will be turned off You must ensure that these signals are used to prevent a hazardous condition Inappropriate Uses of the Adept MV Controller The Adept MV controller is intended for use as a component sub assembly of a complete industrial automation system The Adept MV controller sub assembly must be installed inside a suitable enclosure Installation and usage must comply with all safety instructions and warnings in this manual Installation and usage must also comply with all applicable local or national statutory requirements and safety standards The Adept MV controller sub assembly is not intended for use in any of the following situations In hazardous explosive atmospheres In mobile portable marine or aircraft systems e In life support systems n residential installations In situations where the Adept MV controller sub assembly may come
214. op output output 21 Input 1011 22 1011 return 47 Not used 48 Not used 23 Input 1012 24 1012 return 49 Not used 50 Not used 25 Output 0001 26 Output 0001 See next section for information on ordering a compatible third party connector Pins 41 42 43 and 44 see Figure 7 5 for more information 90 Adept MV Controller User s Guide Rev C Digital O Connector in 17 Pi Pin 50 Pin 33 00000000000 00000 00000000000 00000 000000000000 0000 LA Pin 18 1 in Figure 7 4 Digital I O Connector Pin Locations on SIO Module Digital I O Connector Ordering Details Third Party Sources The Digital I O Connector on the SIO Module is a 50 pin D sub miniature Female socket The user supplied cable must terminate in a suitable 50 pin Male D sub plug The plug is not supplied by Adept Compatible connectors are manufactured by AMP and by Thomas and Betts Contact your nearest AMP or T amp B Sales Office to locate your local distributor AMP Part Numbers for 50 Pin Male D Sub HDP 20 series D Sub Connectors Crimp snap in contacts Order item 1 includes cover or item 2 no cover Contact pins not included order separately item 3 quantity 50 1 747960 1 Kit Connector body shield enclosure jackscrews 2 205212 3 Connector body only alternatives 205212 1 205212 2 3 1 66682 1 Contact Pin Male wire size 28 24AWG 0 08 0 2mm Alternatives 66682 9 66682 2
215. option 14 Adept MV Controller User s Guide Rev C 233 Index Cooling fan MV 5 MV 10 29 MV 8 MV 19 51 Current voltage ratings MV 5 MV 10 24 MV 8 MV 19 46 Customer service 8 Cycle setting on MCP 190 D Digital I O displaying on MCP 187 Digital I O on SIO 85 92 connector pinouts 90 input specifications 86 output specifications 87 third party connector sources 91 typical input wiring 88 typical output wiring 89 Digital Input Output module see DIO module Dimensions External Front Panel 167 mounting brackets 166 MV 19 165 MV 5 MV 10 robot controller 163 MV 5 MV 10 stand alone 162 MV 8 164 DIO module 18 142 155 connections indicators 142 input specifications 143 inputs 142 optional DIO cables 148 152 output current selection 145 output specifications 145 output voltage jumpers 144 outputs 143 testing outputs and fuses 144 typical input wiring 146 typical output wiring 147 VMEbus address 153 DIP switch settings 030 module 60 SIO module 83 VGB module 105 E Edit function on MCP 185 Editing global variables with the MCP 185 EMC test information 176 Emergency stop from MCP 183 Emergency stop button onMCP 191 Emergency Stop circuit see E Stop circuit Emergency Stop switch on External Front Panel 96 EN 60204 4 7 23 35 37 39 45 55 Error messages alphabetical list 203 list of 203 231 Errors displaying system on MCP 188 E Stop circuit 93 95 drawing 94 external input 93 External E Stop input 93 E
216. ors Yellow Green White and Orange are used Service indicators These are located on the front panels of the controller VME modules and on the amplifier front panels When the Adept controller is installed as instructed inside a recommended enclosure these indicators are not visible to the operator ColorCode Used by Adept for Operator Indicators Table C 3 Operator Indicator Color Code Indicator Lights Yellow Meaning Condition requiring caution Mode Indication This color is used to attract the operator s attention Action Monitoring and or intervention The operator should observe any precautionary measures defined in the documentation for the indicator White and Orange Meaning Neutral Mode Indication These colors are used to provide general information Action Monitoring This type of indicator assists the operator to monitor the equipment status Illuminated Actuators Green Meaning Normal operation Mode Indication or Confirmation This color is used to attract the operator s attention and or for confirmation Action Indicates status May also require operator action See specific documentation for actuator Adept MV Controller User s Guide Rev C 177 Appendix C Additional Standards Compliance Information ColorCode used by Adept for Service Indic ators These additional indicators are intended to assist skilled service personnel
217. ors are also similar except that P3 handles the Group 1 and 2 output signals and P4 handles the Group 3 and 4 output signals The optional digital output cables can be connected to either P3 or P4 Make sure to clearly label the cables once you have completed your installation so that the cables do not get swapped by mistake see the Warning below WARNING Make sure to clearly label the P1 to P4 digital I O cables so that they are always plugged into the correct connector Swapping the P1 and P2 or P3 and P4 cables could cause damage to your equipment Depending on the installation this could potentially cause injury to personnel in the area Also if you have more than one DIO module make sure each set of cables is clearly labeled so they don t get plugged into the wrong module by mistake Input and Output Cable Wiring Information The pinouts signal names and wire color information for the input and output cables are shown in the next four tables Adept MV Controller User s Guide Rev C Optional DIO Cables Table 13 4 DIO P1 Input Cable Pin Assignments Pin Signal Module 1 Wire Pin Number Group Signal Color Locations P1 15 1 1033 red white P1 6 1 1034 orange P1 16 1 1035 green white p1 7 1 1036 blue P1 17 1 1037 blue white P1 8 1 1038 white black P1 18 1 1039 black red NES n Pin 26 P1 9 1 1040 red black O O O P1 25 1 group 1
218. otor has signaled a fault condition A momentary power failure or a hardware error may have occurred User action Turn high power back on and restart the program If the error persists contact Adept Customer Service Timeout enabling power 675 Explanation High power did not enable within the allowed amount of time and the servos reported no other error during the timeout period User action For non Adept robots this error is not applicable For Adept robots double check your installation cabling AC power line voltages circuit breakers amplifier retaining screws cables and contactors For information about the correct configuration for installation refer to your Robot Instruction Handbook Make sure that the 228 Adept MV Controller User s Guide Rev C Appendix E System Messages amplifier chassis is properly connected to a power source and is turned on Try again If the problem persists contact Adept Customer Service Timeout Hold to run not toggled 7649 Explanation User action Too many arguments Explanation User action V did not enable high power because you failed to toggle properly the HOLD TO RUN switch on the manual control pendant This message applies only to systems with the MMSP option in MANUAL mode Do one or more of the following 1 when toggling the HOLD TO RUN switch release it for a minimum of about two seconds and a maximum of six seconds and then press it back
219. ots and other motion devices can also be controlled manually when the HIGH POWER light on the VFP is illuminated When this light is lit motion can be initiated from the system keyboard or from the optional Manual Control Pendant MCP If you have to enter the workcell when this light is lit press the MAN HALT button on the MCP This will prevent anyone else from initiating unexpected motion from the system keyboard Other Computer Controlled Devices In addition Adept systems can be programmed to control equipment or devices other than the robot or main motion device The program controlling these other devices may cause them to operate unexpectedly Make sure that safeguards are in place to prevent personnel from entering the workcell when a program is running Adept Technology highly recommends the use of additional safety features such as light curtains safety gates or safety floor mats to prevent entry to the workcell while HIGH POWER is enabled These devices can be connected using the emergency stop circuitry Adept MV Controller User s Guide Rev C 5 Chapter 1 Introduction Program Security Programs and data stored in memory can be changed by trained personnel using the vt commands and instructions documented in the V manuals To prevent unauthorized alteration of programs you should restrict access to the keyboard This can be done by placing the keyboard in a locked cabinet Alternatively the V ATTACH and FSET instructi
220. oup 4 return 2 The signal numbers for modules 2 7 increase by 32 for each additional module see Table 13 8 150 Adept MV Controller User s Guide Rev C Optional DIO Cables Table 13 6 DIO P3 Output Cable Pin Assignments Pin Group Module 1 Wire Number Number Signal name Color Pin Locations P3 30 1 0033 green black white P3 15 1 0034 green white P3 14 1 0035 red white P3 13 1 0036 black white P3 12 1 0037 blue black P3 11 1 0038 orange black P3 10 1 0039 green black P3 9 1 0040 red black P3 25 1 power orange green P3 26 1 power black white red P3 38 1 power orange black green P3 39 1 power blue white orange P3 40 1 power black white orange P3 41 1 power white red orange Pin 30 one P3 42 1 power orange white blue Pin AT P3 43 1 power white red blue o E O P3 44 1 power black white green O 6 O P3 28 1 group 1 return white black red O O O P3 29 1 group 1 test red black white 3 O P P3 7 2 0041 white black olo P3 6 2 0042 blue NCC P3 5 2 0043 orange E s P3 4 2 0044 green Eis P3 3 2 0045 red o o P3 2 2 0046 white o E o P3 1 2 0047 black O O o P3 16 2 0048 blue white o9 P3 17 2 power black red Pin sU P3 18 2 power white red Pin 1 P3 19 2 power orange red P3 31 2 power orange black white P3 32 2 power blue black wh
221. out 400 pA Turn on response time 10 usec maximum Turn off response time 120 usec maximum CAUTION The above specs apply only to the output channels on the DIO module See Chapter 7 on the SIO Module for specs on the digital output channels on that module Adept MV Controller User s Guide Rev C 145 Chapter 13 Digital Input Output Module DIO 13 5 Typical DIO Wiring Adept Supplied Equipment 146 P2 Connector P1 Connector 26 Pin Female D Sub 26 Pin Female D Sub DIO Module Terminal Typical User Block nput Signals AMD d 1033 415 JADE Poe ae Part Present Sensor 2 Signal 1034 48 e Feeder Empty Sensor 4 Signal 1035 AL sos Part Jammed Sensor Signal 1036 E MON Sealant Ready Sensor 4 3 Signal 1037 4 T Signal 1038 49 m 4 E Signal 1039 4 2 n 4 Signal 1040 42 s n Group 1 Return nas e ito Group 1 Return S ee Signal 1041 41 Signal 1042 e e 9 Signal 1043 4 a Signal 1044 4 e c9 3 Signal 1045 4 2 e Z Signal 1046 2 os 4 Signal 1047 412 eos 4 Signal 1048 4 Group 2 Return ye E Group 2 Return as Input Group 3 Signals 1049 1056 Input Group 4 Signals 1057 1064 User Supplied Equipment Adept Digital Input Cable optional Figure 13 1 Typical Digital Input
222. ovision of Directives 89 336 EEC 89 392 EEC 73 23 EEC under the following usage and environmental conditions 1 The Controller must not be put into operation until all of the machinery into which it is incorporated has been declared in compliance with the provisions of the effective versions of the directives This includes all supplementary equipment and protective devices 2 The Controller must be used in accordance with instructions specified in the Adept MV Controller Instruction Handbook 3 The Controller must incorporate only those MV Plug in Modules listed in Table 1 or Table 2 attached If Plug in Modules listed in Table 2 are installed the user must verify conformance to the EMC Directive after installation 4 This Declaration applies only to those Adept product part numbers specifically listed in this declaration The following changes may result in the system not complying with the applicable Directives and would void this declaration unless additional testing and or evaluation is performed by the user unauthorized user modifications substitution or addition of Adept parts not listed on this declaration addition of user supplied parts and accessories This Declaration is based upon extensive tests and evaluation by T V Rheinland a Notified and Competent Body in their Project Numbers E9372043 and E9572482 The complete File is available at Adept s California address Place San Jose California USA S
223. ower cord MV 5 MV 10 27 connecting power cord MV 8 MV 19 47 connecting MV 5 MV 10 24 connecting MV 8 MV 19 46 requirements MV 5 MV 10 24 requirements MV 8 MV 19 46 voltage current ratings MV 5 MV 10 24 voltage current ratings MV 8 MV 19 46 Adept Joint Interface module see VJI mod ule AdeptForce VME module see VFI module AdeptForce VME product description 20 AdeptMotion Interface module see MI3 MI6 module AdeptMotion VME product description 20 AdeptNet module 19 AdeptVision VME module see VIS mod ule AdeptVision VME product description 20 Alphabetical list of messages 203 A Series controller installation 34 Index Auto start from the MCP 189 Auto keyswitch position 97 AUTO V2 189 Auxiliary system processor module 18 gt B Background mode onMCP 184 Backplane jumper plugs MV 5 MV 10 30 MV 8 MV 19 52 C Calibrating the robot from the MCP 189 Camera cables 10 Meter Adept MV cable 114 four camera breakout 114 installation 115 pin signal information 116 123 two camera breakout 113 Camera compatibility for VISmodule 112 Changing voltage settings MV 8 MV 19 48 Clear error button on MCP 188 Clear error function on MCP 188 Color coding for indicator lights 177 Comp Pwr button onMCP 191 Compliance with international standards 7 174 Configuration block MV 8 MV 19 48 Control Key Switch on External Front Panel 97 Controller A series option 14 models 12 options 14 S series
224. pecification does not exist on the disk that is referenced Note that the subdirectory may be part of a default directory path set by the DEFAULT monitor command User action Check that the subdirectory name was entered correctly Check that the correct disk drive was referenced and that the correct diskette is loaded Use an FDIRECTORY command to display the directory containing the subdirectory Check that the default directory path is correct Not enough program stack space 13 Explanation An attempt was made to call a subroutine process a reaction subroutine or allocate automatic variables when the stack for the program task was too full 220 Adept MV Controller User s Guide Rev C Appendix E System Messages User action Reorganize the program logic to eliminate one or more nested subroutine calls or reactions eliminate some of the automatic variables that are allocated by the programs use the STACK monitor command to increase the size of the stack for the program task The program may be restarted with the RETRY command Not enough storage area 7411 Explanation There is no more space in RAM for programs or variables User action Delete unused programs and variables If the memory is fragmented because of numerous deletions it can be consolidated by issuing the commands STORE save all ZERO and LOAD save all This writes the memory contents to the disk and read them back into memory Note however that t
225. ping cursor Use the data entry buttons to enter a new value and complete the entry by pressing REC DONE Press the NEXT soft button to show the next component of the location variable The location s X Y Z y p and r values will be shown in succession X Y and Z values are given in millimeters y p and r values are given in degrees If a precision point is being edited the joint values for all the joints in the robot will be shown in succession Press the HERE soft button to record the current robot location in the variable being edited WARNING Be extremely careful when changing location values When the robot moves to a modified location it could damage equipment in the workcell The Display Function The Display function button allows either the current joint values the current world location the system status the digital I O status or the last error message to be displayed on the MCP VALUES LOCATION amp ID 1 0 ERROR Figure D 7 DISPLAY Function Button JOINT WORLD STATUS DIGITAL LAST 1 Tf the variable being edited is from an array an additional soft button is displayed that allows you to specify the index of the variable to edit 186 Adept MV Controller User s Guide Rev C MCP Predefined Functions Joint Values When this button is pressed the display shows Jl x xx J2 X XX J3 X XX J4 X XX J5 X XX J6 X XX These values represent the current joint positions of the robot o
226. plied Extemal Contactor using VFP 3 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 Connect each conductor of the power cord securely to your AC power source using the color code below You must provide a suitable plug or other facility connection in accordance with all applicable local and national codes See the next section for important information on system grounding Adept MV Controller User s Guide Rev C 27 Chapter 3 Installation for MV 5 and MV 10 Controllers Table 3 3 Power Cord Specifications Cord length 3 meters 0 1 m 9 ft 10 in 4 in Cord rating 10 amps Number and size of 3 x 1 00 mm conductors Color code line brown neutral blue ground green yellow System Grounding Information The detachable three wire power cord is used for connection to both the power source and protective ground The protective ground conductor colored green yellow in the power cord is internally connected to the exposed metal parts of the MV Controller To ensure electrical shock protection the protective ground conductor must be connected to a properly grounded power source WARNING Ensure that a proper protective ground connection exists before turning on the power 3 5 Fuse Information MV 5 and MV 10 The two fuses F1 and F2 at the power entry mod
227. ptions Adept A Series Option 14 The Adept A Series option for the Adept MV controllers is the advanced configuration that includes the following major features Adept VME Graphics Module VGB High Resolution Color Monitor optional Extended AT style keyboard with an integrated trackball optional Graphical User Interface Compatibility with AdeptVision VME and AIM software products The A Series option allows you to run AdeptVision VME and all AIM software products In addition to running AIM software the vt operating system allows you to create custom user interfaces complete with multiple windows pull down menus icons buttons and slide bars The graphical elements are created using simple v programming instructions Adept MV Controller User s Guide Rev C Standard Modules Adept S Series Option 2 4 The standard configuration for the Adept MV controller is the Adept S Series option consisting of a character based user interface for the v language and a customer supplied terminal The system programmer uses the terminal to write edit test and store application programs The terminal can also be used as an operator interface The Adept S Series configuration is often used in applications not requiring AdeptVision VME AIM software or any other advanced A Series features Standard Modules This section gives a brief description of the standard modules Each module is covered in more detail in a s
228. published by the Robotic Industries Association RIA in conjunction with the American National Standards Institute The publication ANSI RIA R15 06 1992 contains guidelines for robot system installation safeguarding maintenance testing start up and operator training We also recommend you read the European Standard EN 60204 Safety of Machinery Electrical Equipment of Machines particularly if the country of use requires a CE certified installation See section C 1 on page 174 for ordering information for national and international standards This manual assumes that the user has attended an Adept training course and has a basic working knowledge of the system The user should provide the necessary additional training for all personnel who will be working with the system There are several warnings in this manual that say only skilled or instructed persons should attempt certain procedures These are defined as 4 Adept MV Controller User s Guide Rev C Safety 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 System Safeguards Safeguards should be an integral part of robot or motion workcell design installation operator training an
229. r Pwr 6 Reserved VIS 11 Str Pwr 8 Reserved VIS 12 CAMI 3 Shield video VIS 14 CAM3 3 Shield video VIS 15 CAM4 4 Video VIS 16 CAM4 6 Hd horizontal drive VIS 17 CAMA 5 Shield Hd VIS 17 CAMA 12 Shield Vd VIS 18 CAM3 7 Vd vertical drive VIS 19 CAM2 7 Vd vertical drive VIS 20 CAM2 9 Clock VIS 22 CAMI 9 Clock VIS 26 Str Pwr 3 Strobe 1 VIS 29 CAM2 4 Video VIS 30 CAMA 3 Shield video VIS 31 CAMA 7 Vd vertical drive VIS 32 CAM3 6 Hd horizontal drive VIS 33 CAM3 5 Shield Hd VIS 33 CAM3 12 Shield Vd VIS 34 CAM2 6 Hd horizontal drive VIS 35 CAM2 5 Shield Hd VIS 35 CAM2 8 Shield Clock VIS 35 CAM2 12 Shield Vd 122 Adept MV Controller User s Guide Rev C Camera Cable Pin and Signal Information Table 9 8 Four Camera Breakout Cable Pin Assignments sorted by origin From Pin To Pin Function VIS 36 CAMI 6 Hd horizontal drive VIS 37 CAMI 7 Vd vertical drive VIS 38 CAMI 5 Shield Hd VIS 38 CAMI 8 Shield Clock VIS 38 CAMI 12 Shield Vd VIS 39 Str Pwr 5 Strobe 2 VIS 40 Str Pwr 7 Reserved VIS 42 CAMI 4 Video VIS 43 CAM2 3 Shield video VIS 44 CAM3 4 Video Note that this cable provides user supplied 12V dc to the cameras via the Strobe and Power connector not from the Adept controller Adept MV Controller User s Guide Rev C 123 Chapter 9 AdeptVision VME Module VIS 9 9 VIS Module Specifications Table 9 9
230. r and the camera connectors for the two camera breakout cable Table 9 7 describes signal information between the 44 pin connector and the camera and strobe power connectors for the four camera breakout cable The table is organized by camera number Table 9 8 contains information similar to Table 9 7 only itis organized numerically by the 44 pin connector Table 9 3 Breakout Cable Camera Connector Pin Assignments Pin Function Notes 1 Power return 2 12V power to camera 3 Shield video 4 Video from camera 5 Shield Hd 6 Hd horizontal drive to camera 7 Vd vertical drive to camera 8 Shield Clock to camera camera 1 amp 2 only 9 Clock to camera camera 1 amp 2 only 10 not connected 11 not connected 12 Shield Vd 12 Pin Hirose Female Jack HR10A 10J 12S This connector will normally be connected to the camera via the optional 10 Meter Adept MV Camera Cable For special applications this connector will mate with a Hirose Male Plug HR10A 10P 12P user supplied or similar 116 Adept MV Controller User s Guide Rev C Camera Cable Pin and Signal Information Table 9 4 Breakout Cable Stobe and Power Connector Pin Assignments Pin Function Notes 1 User 12 V dc to cameras 2 User power return 3 Strobe 1 4 Strobe return 5 Strobe 2 6 Reserved do not use 7 Reserved do not use
231. r modules Read Chapter 14 and Appendix A B and C for maintenance dimension external trigger and standards compliance information Read Appendix D to learn how to use the Manual Control Pendant and Appendix E for a list of the most common v System Error messages Related Manuals Adept products come with a set of documentation that is defined by the products you have ordered In addition there are optional manuals available if you are going to be programming the Adept system This manual refers to both the standard and optional manuals The following sections give a brief description of the contents and organization of the Adept documentation set Standard Manuals In addition to this Adept Controller User s Guide the following manuals are shipped with the system Manual Material Covered V Operating System User s Guide A description of the V operating system Loading storing and executing programs is covered in this manual Instructions for Adept Utility Programs Adept provides a series of programs for configuring and calibrating various features of your Adept system These utility programs are described in this manual V Release Notes Descriptions of the changes to V This document is updated as each version of V is released Adept MV Controller User s Guide Rev C How to Use This Manual Manual Material Covered V Language User s Guide V is a complete high level language
232. r motion device Values will be shown only for joints the robot or motion device actually has Rotational joint values are expressed in degrees and translational joint values are expressed in millimeters World Location When this button is pressed the display shows X xxx xxmm Y xxx xxmm Z XXX XXMmm y XXX XX p Xxxx xx r XXX XX The values represent the current location of the robot or motion device in world coordinates See section D 3 for details on world coordinates Status amp ID When this button is pressed the display shows Status SOFTWARE CNTRLR ROBOT ID ID ID S The Status button displays program name 50 1 0 Program Speed Cycle Left Program shows the name of the currently executing or most recently executed program Speed shows the current monitor speed Cycle shows the total number of cycles specified when the program was executed Left shows the number of cycles of the program remaining to execute The Software Controller and Robot ID buttons display the ID information for those items Digital I O When this button is pressed the display shows 0000 0011 0032 0001 OUT IN SOFT The top line shows the status of the range of digital I O signals indicated on the second line 1 32 in the above example A indicates the channel is not installed a 1 indicates the signal is on and a 0 indicates the signal is off The type of signal that is being displayed is i
233. r s Guide for information on the correct settings for the switches jumpers and resistor packs on the MI3 MI6 module Adept MV Controller User s Guide Rev C 127 Chapter 10 AdeptMotion Interface Module MI6 MI3 10 5 Connecting to User Equipment 128 The MI3 MI6 module connections to user equipment are divided into three groups the encoder the machine and the servo Adept offers a set of cables and Motion Interface mounting panels MP6 that should be used to make connections between the MI3 MI6 module and your equipment Each connector on the MI3 MI6 has a corresponding cable and MP6 mounting panel The MP6 panels can be installed on standard DIN mounting rails See the AdeptMotion VME Developer s Guide for complete information on the installation and setup of user equipment Adept MV Controller User s Guide Rev C MI3 MI6 Module Specifications 10 6 MI3 MI6 Module Specific ations Table 10 2 Technical Specifications Electrical Power Consumption 5 VDC at 4 0 A max 12 Vat 84 mA 12 V at21 mA Maximum MI6 per controller MV 8 3 MI6 Each two MI6 require at least one 030 System Processor module MV 19 4 MI6 MV 5 2 MI6 MV 10 4 MI6 Number of axes of control 3 axes of control per MI3 module 6 axes of control per MI6 module Width Occupies one backplane slot Specifications subject to change Adept MV Controller User s Guide Rev C 129 Adept oint Interface 1 1 Mo
234. reserved The Adept logo is a registered trademark of Adept Technology Inc Adept AdeptOne AdeptOne MV AdeptThree AdeptThree MV 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 Any trademarks from other companies used in this publication are the property of those respective companies Printed in the United States of America DECLARATION OF CONFORMITY We Adept Technology with Corporate Headquarters at 150 Rose Orchard Way San Jose CA USA and European Technical Center at Otto Hahn Str 23 44227 Dortmund Germany herewith declare that the Controllers MV 5 P N 30340 10000 and 30340 30000 MV 8 P N 30330 15000 MV 10 P N 30340 20000 and 30340 40000 or MV 19 P N 30330 25000 with without Operator s Manual Control Pendant MCP III P N 90332 48050 VME Front Panel Category 1 P N90332 00380 or Category 3 P N 90335 00380 in the form delivered by us to which this Declaration relates comply with the relevant and fundamental safety and health requirements defined in the EC Directive 89 336 EEC Appendix 1 and the following standards EN 55011 1991 Class A EN 50082 2 1995 EN 60204 1 1992 TEC 1131 2 1992 following the pr
235. rom the manual control buttons to free as many joints as required In some cases such as Joints 1 and 2 on an AdeptOne AdeptThree robot multiple joints are freed by selecting a single button On some robots Free mode may have been disabled by the manufacturer on some or all joints As soon as the COMP PWR button is pressed or another selection is made from the manual control buttons all joints are placed back under servo control and will not move freely Figure D 18 shows the free state for a four axis SCARA robot The joint assignments in the free state are the same as the joint assignments in joint state WARNING As soon as a joint is selected from the manual control buttons the related joint is free to move in some cases multiple joints may be freed up In many cases the weight on the joint will be sufficient to move the joint and cause damage or harm For example when joint 3 on a SCARA or Cartesian robot is freed the joint is free to fall to the end of its travel In articulated robots multiple links of the robot may be free to fall when a single joint is freed up Be extremely careful when selecting a joint in free mode Joint 2 Joint C gt gt Joint 1 Free oin Joint 2 Free Joint 3 Joint 3 Free QA Joint 4 Free Joint 4 Gripper Figure D 18 FREE State Four Axis SCARA Adept MV Controller User s Guide Rev C Moving a Robot or Motion Device with the MCP Controlling More Than One Robot Like the
236. s See next page for typical connections to a terminal or other 25 pin DTE device Table 5 3 Pin Assignments for 9 Pin to 25 Pin DC E Cable 030 RS 232 25 Pin Male 9 Pin Female DCE Pin Number Function Pin Number not used Shield 1 1 CD carrier detect not used 8 2 RXD from DCE device 3 3 TXD to DCE device 2 4 DTRP to DCE device 20 5 Signal ground 7 6 DSR from DCE device 6 7 RTS to DCE device 4 8 CTS from DCE device 5 9 RI ring indicator not used 22 Pins 1 and 9 are not connected inside the Adept MV Controller No connection is required but if you are using a standard cable that connects to these pins no damage should occur P Pins 4 6 7 and 8 are used for hardware handshake also known as modem control To enable them use the CONFIG C utility program the V FSET program instruction or the FSET monitor command In some applications you can omit some or all of these lines consult the documentation for the device that you are connecting to the Adept controller Adept MV Controller User s Guide Rev C 63 Chapter 5 030 Processor Module 64 Typical Cable Connections 9 pin to 25 pin DTE Most terminals and some computers use DTE Data Terminal Equipment pinouts Remember to enable modem control using CONFIG C if you are using the DTR DSR RIS or CTS signals Table 5 4 Pin Assignments for 9 Pin to 25 Pin DTE Cable
237. s protection class unmounted IP20 NEMA Type 1 Recommendations for customer supplied enclosure with Adept controller mounted inside enclosure These are mandatory for installations in EU countries or where CE marking is required Enclosure must meet EN 60204 1 IEC 204 1 requirements section 5 3 3 and be rated at IP54 Also enclosure must provide a method of locking the enclosure power disconnect in the OFF position See footnote on page 18 if you are using the optional VFI module NOTE Refer to Appendix A for dimension drawings on the Adept MV 5 and MV 10 controllers Voltage Interuptions During a power failure the contents of memory are not saved and you will later have to reload V and your programs from disk In some situations you may find it convenient to provide an external uninterruptable power supply UPS to avoid or reduce power interruptions Adept MV Controller User s Guide Rev C 23 Chapter 3 Installation for MV 5 and MV 10 Controllers 3 4 Connecting AC Power MV 5 and MV 10 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 AC Power Requirements Table 3 2 Adept MV Controller Power Requirements Recommended Auto Ranging Minimum Maximum External Circuit Nominal Operating Operating Frequency Breaker Voltage Ranges Voltage Voltage Phasing user supplied 100V to 120V 90V 13
238. se devices connect to the VGB module See the V Operating System User s Guide for details on using the keyboard and trackball See Figure 3 7 for details the steps are listed below 1 Make sure the controller is turned off before making any connections 2 Verify the voltage range marked on the monitor is compatible with your local KEYBOARD voltage source Connect the color monitor AC power cord to the monitor then plug it into an appropriate voltage source oJ coe A Series Color Monitor A Series Keyboard Trackball O S LJ LEELTILETLTILIVTILTITILIE LL ELIT J yj yyy py vy Py py yey ty yyy II I I II e 34 Figure 3 7 Connecting the A Series Monitor and Keyboard Adept MV Controller User s Guide Rev C Installing the A Series Monitor and Keyboard 3 Connect the monitor signal cable to the MONITOR connector on the VGB module 4 Connect the double ended keyboard cable to the KEYBOARD connector and the POINTER connector on the VGB module Installing Non Adept Peripherals in an A Series System You can use third party monitors keyboards and pointing devices with an Adept MV controller system The equipment must be compatible with certain standards to work successfully with the Adept MV controller see the following sections for details Note that the Adept
239. sed by the robot encountering an obstruction Turn high power back on and restart the program Remove the obstruction or modify the program to have the robot follow a different path Motor startup failure Mtr n 1105 Explanation User action During calibration the indicated motor did not move as expected The problem may be 1 the motor is obstructed or up against a limit stop 2 the load on the robot is too large for calibration 3 the motor drive hardware is not functioning or 4 the position encoders are not functioning Move the robot away from its limit stops and remove any unusual load Turn high power back on and try to calibrate again Contact Adept Customer Service if the error persists Negative overtravel Mtr n 1032 Explanation User action No air pressure Explanation User action The indicated motor has moved beyond the hardware limited negative range of motion Move the robot back into the working envelope Correct whatever caused the robot to get into the restricted area Then enable power 607 V detected that the air supply to the robot brakes has failed or is too low High power is turned off and cannot be turned on until the air pressure is restored Restore the air pressure turn high power back on and resume program execution If the error persists contact Adept Customer Service Adept MV Controller User s Guide Rev C 219 Appendix E System Messages N
240. shows the tool coordinate system for a four axis SCARA robot Figure D 15 shows the tool coordinate system on a six axis robot NOTE Figure D 14 and Figure D 15 are drawn with the assumption that the TOOL transformation is set to NULL all values are 0 If a TOOL transformation is in effect the tool coordinate system will be offset and rotated by the value of the TOOL transformation Any motion in tool state will now be relative to the offset coordinate system and not the center of the tool flange See the V Language Reference Guide for details on TOOL transformations Adept MV Controller User s Guide Rev C 195 Appendix D Using the Manual Control Pendant MCP X direction Y direction Z direction Rotation about Tool Z axis Gripper Figure D 14 TOOL State 196 Adept MV Controller User s Guide Rev C Moving a Robot or Motion Device with the MCP Rotation about TOOL X axis Rotation about TOOL Y axis Rotation about TOOL Z axis Gripper Figure D 15 TOOL State Six Axis Robot Adept MV Controller User s Guide Rev C 197 Appendix D Using the Manual Control Pendant MCP Joint State When joint state is selected movement is about the axis of the specified joint Figure D 16 shows an Adept SCARA robot with three rotational joints Joints 1 2 and 4 and one translational joint Joint 3 Positive rotation of joints 1 and 2 is counter clockwise as viewed from abo
241. sk file Unexpected text at end of line 451 Explanation User action The previous command or instruction could not be recognized by VU possibly because of a mistyped function name or because an argument was specified where none is allowed Reenter the line correcting the syntax error Adept MV Controller User s Guide Rev C 229 Appendix E System Messages Unexpected zero index Mtr n 1005 Explanation A zero index signal was received from the encoder for this motor at an unexpected time The encoder may be gaining or losing counts there may be a hardware problem with the zero index signal or the Counts per zero index configuration parameter may be set incorrectly User action Turn on high power calibrate the robot and continue to use the system If this error occurs repeatedly contact Adept Customer Service User has not tested Cat3 system 648 Explanation A system with the Manual Mode Safety Package MMSP has not been successfully commissioned with the SAFE UTL utility program User action Test the MMSP with the SAFE UTL utility before enabling power for the first time Adept recommends that you rerun the utility program every six months If you have connected the robot to a different controller or replaced the controller or the SIO module repeat the test For information on the use of SAFE UTL refer to the AdeptOne MV AdeptThree MV Robot Instruction Handbook VISION not enabled 701
242. stem Monitor window displayed on graphics monitor Normal setting ON V system Monitor redirected to RS 232 TERM port on system processor 4 5 6 Not used set to OFF 7 8 Adept internal use only should be set to OFF If you change the settings you must reboot turn controller off then on before the changes take effect 7 3 System Configuration Information 7 4 The Adept system identification and configuration information is stored in non volatile RAM NVRAM on the SIO module If the SIO module ever needs to be changed or replaced this information will need to be reinstalled The information includes the controller ID serial number and information on which Adept software options licenses are enabled for that controller This data is normally set at the factory before the controller is shipped If you receive a new SIO module as a spare part not as part of a controller you will need to initialize the NVRAM using CONFIG C see Instructions for Adept Utility Programs Then you must reboot and use the INSTALL command to re install any optional licenses that you have purchased Mass Storage Hoppy Drive The 1 4 MB floppy drive can access both double density 720 KB and high density 1 44 MB floppy disks Refer to the V Operating System User s Guide for information on formatting floppy disks Hard Drive The 256 MB internal hard drive is located inside the SIO module
243. sure mE sed Mee BRS MU OU atte eee 195 JointState 2 ss 198 Free State a uu Dok GG ke a Bee doe eae lee be XN 200 Controlling More Than One Robot 08 4 201 Robots With Less Than SixJoints 201 Robots With More Than SixJoints 201 E System Messages 0 lll pee 203 Figure 2 1 Figure 2 2 Figure 3 1 Figure 3 2 Figure 3 3 Figure 3 4 Figure 3 5 Figure 3 6 Figure 3 7 Figure 3 8 AdeptMV 5and MV 10Controlles 13 Adept MV Controller Configuration lll 17 MV 5 MV 10 Power Entry Module 2 0004 25 Installation of User Supplied Extemal Contactor Power Supply using VFP 1 26 Installation of User Sup plied Extemal Contactor using VFP 3 27 MV 5 MV 10 Fuse Holder a 29 Adept MV 5 Upper Backplane P1 JumperPlugS 32 Adept MV 10 Upper Backplane P1 JumperPlugs 32 Connecting the A Series Monitorand Keyboard 34 Rack Mounting for MV 5 MV 10 Stand Alone Controller 37 Adept MV Controller User s Guide Rev C XV Table Of Contents Figure 3 9 Figure 3 10 Figure 4 1 Figure 4 2 Figure 4 3 Figure 4 4 Figure 4 5 Figure 4 6 Figure 5 1 Figure 5 2 Figure 5 3 Figure 6 1 Figure 6 2 Figure 6 3 Figure 7 1 Figure 7 2 Figure 7 3 Figure 7 4 Figure 7 5 Figure 7 6 Figure 7 7 Figure 8 1 Figure 9 1 Figure 9 2 Figure 9 3 Figure 9 4 Figure 9 5 Figure
244. switch on the SIO module see section 7 2 for information on that switch Table 5 2 RS 232 Tem Connector Pin Assignments Pin Signal Type Pin Signal Type 1 not used 6 DSR DCE Ready Input 2 RXD From Device Input 7 RTS Request to Send Output 3 TXD To Device Output 8 CTS Clear to Send Input 4 DTR DTE Ready Output 9 not used 5 SG Signal Ground Figure 5 2 RS 232 Term Male Connector Pin Locations on 030 module 62 Adept MV Controller User s Guide Rev C Serial l O Connections 030 Module Typical Cable Connections For many applications including connecting to a serial printer or terminal 25 pin or 9 pin adapter cables may be required The next few tables give some examples Because the Adept MV controller uses the same connector and compatible pinouts as the IBM PC AT computer suitable cables may be available from your local computer dealer Table 5 3 Pin Assignments for 9 Pin to 25 Pin DCE Cable Table 5 4 Pin Assignments for 9 Pin to 25 Pin DTE Cable Table 5 5 Pin Assignments for 9 pin to 25 pin Wyse WY 60 Terminal Cable Table 5 6 Pin Assignments for 9 pin to 9 pin AT Compatible Cable Table 5 7 Typical 25 pin Null Modem Adaptor Pinout Typical Cable Connections 9 pin to 25 pin DCE The following connections will work for many applications including most modems and other DCE Data Circuit terminating Equipment device
245. system memory When a variable has been selected the LCD will display If the variable being edited is an array an additional soft button is displayed that allows you to specify the index of the array element to edit var name XXX CHANGE TRUE FALSE Press the TRUE soft button to set the variable to the boolean value of true 71 Press FALSE to set the variable to false 0 To change the value of the variable press the CHANGE soft button The LCD displays var name _ CHANGE TRUE FALSE The typing cursor replaces the variable value Use the data entry buttons to input a new value and complete the entry by pressing REC DONE Loc Press the LOC soft button and the LCD displays SELECT LOCATION VARIABLE TO EDIT locl1 loc2 loc3 loc4 MORE Adept MV Controller User s Guide Rev C 185 Appendix D Using the Manual Control Pendant MCP Press the soft button under the variable name to edit that variable The MORE soft button is shown only when there are more than five global location variables in system memory When a variable has been selected the LCD will show loc name X 500 CHANGE NEXT HERE If a precision point is selected the LCD will show loc name Jtl 210 CHANGE NEXT HERE Press the CHANGE soft button to change the displayed component of the location variable The value will disappear and be replaced with the ty
246. t error Try again Explanation User action Invalid argument Explanation User action Invalid disk format Explanation The robot and controller do not have the same safety options Make sure that the correct robot and controller are being used together Install or remove the appropriate EN954 Safety Category license in the controller 1015 The indicated belt encoder monitoring system failed to respond to vt during the initialization caused by the DEFBELT instruction Power down the controller and restart If the problem persists contact Adept Customer Service You can prevent this error from being reported by enabling the DRY RUN system switch 511 A read error has occurred while reading a binary data file from the floppy disk This indicates that the wrong file was specified or that the data in the file is corrupted Try the operation again If the error recurs use another diskette 16 The input provided was not consistent with what V expected Provide another response 407 An argument for a function program instruction or SEE editor command is not in the accepted range Check the range of arguments for the function program instruction or editor command being used 520 An attempt has been made to read a disk that is not formatted or is formatted improperly or a FORMAT command has been entered that specifies invalid format parameters for the device specified Adept MV Con
247. t only connects to the P1 connector in one slot On a typical controller jumper plugs are factory installed in slot 3 or slot 4 in an MV 10 with an AdeptNet board installed You do not have to do anything with jumper plugs unless you change the position of the modules in the controller then see the following information Adept MV Controller User s Guide Rev C Removing and Installing Modules Five user supplied backplane jumper plugs must be installed on any unused slots in the card cage that are to the left of the last installed module Unused slots to the right of the last installed module do not need jumper plugs When you install a module into a previously unused slot you must first remove the five jumper plugs if any are installed see Figure 3 5 Save the jumpers if a module is moved to a different slot you may need to re install the five jumper plugs onto the five pairs of jumper pins on the backplane next to the empty slot WARNING Only skilled or instructed personnel should attempt to change the backplane jumper plugs This requires access to the interior of the controller and potentially dangerous voltage may be present if the power is not turned off Lower Backplane J umper Plugs P2 and Third Party Modules The VMEbus standard defines some of the lower backplane P2 bus signals and permits other lines to be used for application specific purposes Adept uses several of these P2 user signals for communication betw
248. tage Vin 6 VDC Operational current range 0 Xl 14mA Off state current range 0 I lt 400 pA On state current range 2 3 mA lt lin lt 14 mA Typical threshold current lin 1 1 mA Impedance Vin lin 2 5 K Q minimum Current at Vin 35 VDC lin lt 14mA Current at 35 VDC lt Vi lt 0 lin lt 50 pA Turn on response time hardware Software scan rate response time 30 psec maximum 16 ms scan cycle 32 ms max response time Turn off response time hardware Software scan rate response time 175 usec maximum 16 ms scan cycle 32 ms max response time The input current specifications are provided for reference voltage sources are typically used to drive the inputs Note that the off state current range encompasses the leakage current of the outputs This guarantees that the inputs will not be turned on by the leakage current from the outputs This is useful in situations where the inputs are connected to the outputs to monitor the state of the outputs 13 4 Outputs The 32 output channels are arranged in four groups of eight Each group is electrically opto isolated from the other groups and from the VMEbus circuitry The eight outputs within each group share a common power supply and a common ground The outputs are accessed through the two 44 pin D sub Output connectors on the front of the module Each connector provides
249. ted Robots With More Than Six J oints In JOINT mode each of the six buttons is used to control a specific joint of the robot If the robot has more than six joints the F2 J7 J12 key can be used to access the 7th to 12th joints Only the robot currently selected by the MCP is affected The currently selected joint is shown by the state of the LED on the joint axis key as described below If you press the key for joint 1 and the LED is steady you are controlling Joint 1 If you press F2 J7 J12 then press the key for joint 1 the LED will flash indicating that you are controlling Joint 7 Joint Axis LED state Joint range OFF None STEADY 1to6 FLASHING 7 to 12 The MCP cycles from one range to the other each time the F2 J7 J12 key is pressed Adept MV Controller User s Guide Rev C 201 System Messages While the V system is being used it is possible for hardware and software errors to occur For example if commands or instructions are not entered in the correct way v rejects the input The usual response is to write an error message to the system terminal indicating what is wrong so that the user can correct the error The following section lists the most common errors and suggests remedies to correct the problem The list of all possible message is contained in the V Language Reference Guide NOTE Ifthe system has more than one robot connected and an error is associated with a specific one of the r
250. ted States or Europe For service calls application questions and training information call the Adept Customer Service Center in San Jose California USA 1 408 434 5000 1 408 433 9462 FAX service requests 1 408 434 6248 FAX application questions Adept World Wide Web Site Adept has a Web site at the following URL http www adept com You can find current information about Adept products and services You can go to the Technical Publications section in the Services area and find information about Adept s manuals including a section on corrections and updates Adept Bulletin Board Service Adept maintains a bulletin board service for Adept customers Adept posts application hints and utilities to this bulletin board and users may post their own hints and application notes There is no charge for access to the bulletin board You will of course incur normal long distance phone charges for the call to the BBS The BBS number is 203 264 5590 The first time you call you will be able to set up an account right from the BBS If you have any questions call 203 264 0564 and ask about the BBS Adept MV Controller User s Guide Rev C 9 Overview 2 1 Introduction s s s sls ls n 2 2 Controller Models AdeptMV 5 Controller 2 00 00 a AdeptMV 10Controller Adept MV 8 Controller a AdeptMV 19Controller
251. ted that the system software is not configured properly for the options or hardware present User action Power down the controller and try starting it again Make sure that the boot disk you are using is valid for your controller If the problem persists contact Adept Customer Service for assistance Invalid when program task active 311 Explanation An attempt has been made to begin execution of a robot or PC program task when that task is already active User action Abort the currently executing task or execute the program as a different task if possible O communication error 507 Explanation A hardware error has been detected in the I O interface 216 Adept MV Controller User s Guide Rev C Appendix E System Messages User action Try your command again If the problem persists contact Adept Customer Service I O queue full 517 Explanation Too many I O requests have been issued to a device too quickly and there is no more room to queue them User action Retry the operation If the problem persists it would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error message and exactly what you were doing at the time the error occurred Joint 1 in brake track or robot overheated 606 Explanation 1 Robot joint 1 has been moved into the hardware brake track area which causes high power to be turned off and prevents the robot fro
252. the amount of inaccuracy was considered enough to be a serious error high power was turned off User Action Turn on high power and try to perform the motion at a slower speed Make sure that nothing is obstructing the robot s motion If the error recurs contact Adept Customer Service Hardware not in system 805 Explanation An instruction has attempted to access optional hardware such as a FORCE board that is not installed in the system User Action Install the needed hardware or remove the instruction that addresses the hardware HIGH POWER button on VFP not pressed 7646 Explanation You failed to press the HIGH POWER ON OFF button on the VFP before the timeout period expired User action If working from the keyboard reissue the ENABLE POWER monitor command and promptly press the HIGH POWER ON OFF button when instructed to do so If working from the MCP follow the procedure appropriate for enabling high power for the safety category of your system Promptly press the HIGH POWER ON OFF button when instructed to do so If the timeout period is too short adjust it by using the CONFIG C utility to change the POWER TIMEOUT statement in the vt configuration data This message also can result from a faulty cable VFP or SIO Illegal monitor command 300 Explanation The name of the command just attempted was not recognized by the system possibly because it was mistyped or because it was a program instruction
253. the error message and exactly what you were doing at the time the error occurred To save programs that are in memory you can restart vt temporarily by The robot servos will not function but you can STORE the programs Then power down the controller and restart the system 500 There is already a disk file or a graphics window with the name supplied to the last storage request Reissue the storage request with a different file name or delete the old file Adept MV Controller User s Guide Rev C Appendix E System Messages File format error 512 Explanation The requested disk file is not in a format acceptable to V because either it was not created by V or the file has been corrupted User action Use another diskette or reference another file File or subdirectory name error 514 Explanation The specified file name or subdirectory was not a valid disk file name the directory path contained invalid syntax or the directory path was too long User action Retry the operation with a correct file name or subdirectory name Verify that syntax of the directory path is correct Check that any default directory path specified by the DEFAULT command is correct Check that the total directory path is not too long when the default is combined with the current file specification Graphics processor timeout 552 Explanation The graphics processor on the system processor failed to respond to a command from V
254. tion oaoa aa a a 44 4 2 Controller ID Label ls ss 44 4 3 Facility Requirements lll sss 45 Voltage Interuptions ns 45 4 4 Connecting AC Power 2 2 2 lll ss 46 Adept MV Controller User s Guide Rev C ix Table Of Contents AC PowerRequirements 2 2 2 2 2 2 2 2 5 46 Facility Overvoltage Protection 46 Power Entry Module 2 a 47 Connecting AC PowerCord s 47 System Grounding Information 2 2 0048 48 Changing Voltage Settings MV 8 and MV 19 48 4 5 Fuse Information MV 8 and MV 19 50 4 6 Fan and filter Information aa 51 Cooling Fan x ra a RU cx UR aaa a a a a dE LR 51 Filter Inspection and Cleaning lll nns 51 4 7 Removing and Installing Modules 52 VMEbus Address Settings lll nn 52 BackplaneJumperPlugs 52 Removing Modules 2 2 5 54 Installing Modules re 54 4 8 Installing the A Series Monitor and Keyboard 54 4 9 Installing a Terminal in an S Series System 54 4 10 Installing in a Rack or Panel Mount 55 Space Around the Chassis ss 55 Panel Mounting ss s ls s rss 55 Rack Mounting i 3c tea eee God hub RP SAA 55 4 11 MV 8 and MV 19 Controller Technica
255. tional codes See the next section for important information on system grounding Table 4 3 Power Cord Specifications Cord length 3 meters 0 1 m 9 ft 10 in 4 in Cord rating 10 amps Number and size of 3 x 1 00 mm conductors Color code line brown neutral blue ground green yellow Adept MV Controller User s Guide Rev C 47 Chapter 4 Installation for MV 8 and MV 19 Controllers 48 System Grounding Information The detachable three wire power cord is used for connection to both the power source and protective ground The protective ground conductor colored green yellow in the power cord is internally connected to the exposed metal parts of the MV Controller To ensure electrical shock protection the protective ground conductor must be connected to a properly grounded power source WARNING Ensure that a proper protective ground connection exists before turning on the power Changing Voltage Settings MV 8 and MV 19 To change the AC voltage setting from 200 240V to 100 120V you must change three jumper wires on the configuration block and change three fuses You should make this change before installing the controller because you must open the top of the controller to get to the configuration block WARNING Only skilled or instructed personnel should attempt to change the AC voltage settings This requires access to the interior of the controller and potentially dangerous AC voltag
256. to MANUAL the MCP is set to OFF mode not COMP or MANUAL mode Speed Bars The speed bars are used to control the robot s speed and direction The joint s that will move when the speed bars are pressed depends 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 robot faster pressing the speed bar near the center will move the robot slower See page 194 for details on positive and negative directions Fast Slow 1 44 Fast Figure D 12 Speed Bars Slow Button The slow button selects between the two different speed ranges of the speed bars When the slow button LED is lit the slower speed range is selected This slower speed is 2576 of the normal MCP speed Adept MV Controller User s Guide Rev C 193 Appendix D Using the Manual Control Pendant MCP Robot States World State When world state is selected movement in the X Y or Z direction is parallel to an axis of the world coordinate system Before the speed bars will move the robot an axis of motion must be selected from the manual control buttons The world coordinate system for a SCARA robot is shown in Figure D 13 If X1 is selected pressing the speed bar will move the robot tool flange in the positive X direction Pressing the speed bar will move the flange in the negative X direction X direction Y direction Z direct
257. troller User s Guide Rev C 215 Appendix E System Messages User action If a FORMAT command has been entered check the command syntax and retry the command Otherwise try a different diskette or reformat the current one Remember that formatting erases all information on the diskette If the diskette was created on an IBM PC be sure it was formatted with one of the formats accepted by the V system Invalid program or variable name 7455 Explanation A user defined name used in a command or instruction was not recognized by V User action Check the name and retype the line Invalid qualifier 476 Explanation An invalid qualifier was specified on the last command User action Enter the command again with a valid qualifier Invalid servo error Mtr n 71001 Explanation An unrecognized error was reported for the indicated robot motor User action Attempt the operation again Contact Adept Customer Service if the error repeats Invalid servo initialization data 7625 Explanation During vt system initialization after booting from disk servo initialization data in the wrong format was found This can be caused by using a version of the SPEC utility that is incompatible with the vt system User action Make sure your system disk has been configured correctly Contact Adept Application Engineering for assistance Invalid software configuration 315 Explanation During initial start up V has detec
258. ule on the front panel are for the incoming AC power lines See the table below for ratings WARNING Only skilled or instructed personnel should attempt to change any fuses Always replace blown fuses with new fuses of the same type and rating Procedure to Remove Fuse Holder 1 Turn off AC power to the controller and disconnect the power cord from the AC power source 2 Remove the AC power cord from the socket on the power entry module 3 To remove the fuse holder insert a small flat blade screwdriver into the slot between the fuse holder and the power cord socket then lift up to release the fuse holder see Figure 3 4 Spare fuses are stored in the sliding compartments 4 To reinstall the fuse holder insert it in place then press down firmly until the entire holder snaps into position 28 Adept MV Controller User s Guide Rev C Fan and Filter Information Table 3 4 MV 5 and MV 10 Fuse Ratings Fuse Rating Type F1 AC Line fuse at Power 5 AT 250 V IEC 127 style Entry module 5x 20mm F2 AC Line fuse at Power 5 AT 250 V IEC 127 style Entry module 5x 20mm NOTE The T suffix indicates the fuse response time a 5 AT fuse rating specifies a 5 amp slow blow type Spare fuses in sliding Fuses compartment F1 and lF Fuse Holder c M vA 20 az ak me BS i Side view of Fuse Holder Figure 3 4 MV 5 MV 10 Fuse Holder 3 6
259. use the diskette was not formatted or the diskette has been damaged in some way Make sure the correct diskette is being used that it is properly installed in the drive and that it is formatted Recall that formatting a diskette erases its contents Mtrn 1021 The indicated motor has been driven fast for too long a period of time The servo system has disabled Arm Power to protect the robot hardware Turn on Arm Power reduce the speed and or acceleration for the motion that was in progress or for motions that preceded that motion and repeat the motion that failed 1025 The servo board has detected a broken encoder wire on the indicated axis Inspect the encoder wiring for intermittent connections or broken wires Try swapping the encoder cable with another You can disable this error with the SPEC utility but do so only as a last resort The detection system is compatible only with certain types of encoders differential Consult the AdeptMotion VME Developer s Guide Verify that the motion interface board is configured correctly for the type of encoder you are using Encoder quadrature error Belt n 1013 210 Explanation User action The position encoder signal from the specified conveyor belt is sending information that is not phased correctly The encoder or its cabling may be defective Encoder error checking is initiated by the DEFBELT instruction and by enabling the BELT switch while a belt is define
260. ut Module DIO 13 1 Introduct on llle 142 13 2 Connections and Indicators 142 133 Inputs so sanaa t ad a a 323 a RO 142 13 4 Qu 2 2 2 2 25 2D 25 2 22 4 143 Testing Outputsand Fuses a eo 144 Output Power Supply Voltage Jumpers 144 Output Power Supply Current Selection 145 13 5 Typical DIO Wiring 2 2 2 2 o 146 13 6 Optional DIO Cables 148 labeling Cables 2 rs 148 Input and Output Cable Wiring Information 2 148 13 7 Additional DIO Modules a 153 Setting the Module Address llle 153 labeling Setsof Cables 0 000 eee 153 13 8 DIO Module Specifications a 155 Adept MV Controller User s Guide Rev C 141 Chapter 13 Digital Input Output Module DIO 13 1 Introduction The Adept Digital I O module is an opto isolated 64 channel digital I O module with 32 input channels and 32 output channels It is a GU VME slave module designed in full conformance with the ANSI IEEE specification See the optional V Language User s Guide for information on digital I O There is also digital I O capability on the SIO module 12 input and 8 output channels See section 7 6 on page 85 for details 13 2 Connections and Indicators 11 bPass Fail LED s The green Pass LED indicates the module e has passed start up
261. va nl J External Front Panel VFP 1 ahi v Ol ia 5 A C UC ME c at a 08800 ws S E P oO O O a elle ejeUleU eH e je le le User supplied 24V Power Supply Adept MV 5 or MV 10 Robot Controller 7 ME ers example shown MV 10 ALE A User supplied Contactor N AC Supply 100 240VAC PE Figure 3 2 Installation of User Supplied Extemal Contactor and Power Supply using VFP 1 26 Adept MV Controller User s Guide Rev C Connecting AC Power MV 5 and MV 10 24VDC power 1 amp max available at TB1 pins 1 and 2 To pins 5 i and 6 of oa y i E Eal o o terminal FE block TB5 o E vi on E Stop v E MMSP Security Panel Board d h 9 Ol 1 Sl A Ue LUJO Spr External Front Panel VFP 3 O O User supplied UY U Contactor Adept MV 5 or MV 10 Robot Controller example shown MV 10 Dei vedi T AC Supply 100 240VAC Figure 3 3 Installation of User Sup
262. valid argument was present A possible cause is the use of a single equal sign for the equality relational operator User action Check the operation syntax and reenter the line Motion interface E STOP 7630 Explanation The AdeptMotion system has detected an error or problem and has asserted the BRKSTOP signal on the VMEBus User action Correct the problem that is causing the motion system to report the error Motor amplifier fault Mtr n 1018 Explanation The power amplifier for the indicated motor has signaled a fault condition on fault line 1 This fault occurs only for devices controlled by 218 Adept MV Controller User s Guide Rev C Appendix E System Messages User action the AdeptMotion Servo system The interpretation of this fault depends on the particular device being controlled Turn high power back on and restart the program If the error persists implement procedures appropriate for your AdeptMotion system If the robot is a standard Adept product contact Adept Customer Service Motor overheating Mtr n 1016 Explanation User action Motor stalled Mtr n Explanation User action The indicated motor is overheating Reduce the speed acceleration and or deceleration of the robot motions or introduce delays in the application cycle to give the motor an opportunity to cool 21007 The indicated motor has stalled while being driven This is usually cau
263. ve Positive rotation of Joint 4 is clockwise as viewed from above Positive movement of Joint 3 is downward Before the speed bars will move a joint the correct joint must be selected from the manual control buttons Different robots or motion devices will have the different joint numbers assigned to their joints When you first move an unfamiliar robot using joint state set the monitor speed to 10 or lower put the robot in a safe area and carefully move the robot using the different joint numbers to verify how the MCP moves the robot See the documentation for the motion devices you are using for details on their joint assignments Figure D 17 shows the joint assignments for a typical six axis robot as always the first time you move a robot carefully verify the joint assignments Joint 2 Jointi 2 Joint 1 Joint 2 Joint 3 Joint 3 H Joint 4 Joint 4 Figure D 16 J OINT State SCARA 198 Adept MV Controller User s Guide Rev C Moving a Robot or Motion Device with the MCP Joint 4 Joint 4 Joint 5 Joint 5 Joint 6 Gripper Figure D 17 J OINTState Six Axis Robot Adept MV Controller User s Guide Rev C 199 Appendix D Using the Manual Control Pendant MCP 200 Free State When free state is selected individual joints are freed from servo control and the robot brakes if any are released Unlike the other states you can make multiple selections f
264. ver caused the robot to get into the restricted area Then enable power Position out of range Mtr 5 1023 Explanation User action 1 The requested motion was beyond the software limited range of motion for the indicated motor 2 while enabling high power vt detected that the indicated robot motor was outside the software limit 1 Modify the program as required to prevent the invalid motion request Because the robot did not actually move out of range you do not need to move the robot before continuing 2 move the robot back into the working envelope Correct whatever caused the robot to get into the restricted area Then enable power Positive overtravel Mtrn 1033 Explanation User action 222 The indicated motor has moved beyond the hardware limited positive range of motion Move the robot back into the working envelope Correct whatever caused the robot to get into the restricted area Then enable power Adept MV Controller User s Guide Rev C Appendix E System Messages Power disabled Manual Auto changed 7645 Explanation V disables power when the VFP switch moves from MANUAL to AUTO or vice versa User action Use any valid method to enable high power Power failure detected by robot 7632 Explanation Indicates that a controller power failure condition has been detected by the robot control software while a robot is attached to a program This error is issued in addition to
265. vi O O i E TEE th o o UT af f d e cdey uo en MAE O Y o d v v O iu Y o EE o solano 0512 gt S EE 606 of D 8 3888 mo del ooo 6 3 8988 o Part Number 00330 01030 Rev C September 1996 ader adept technology inc 150 Rose Orchard Way San Jose CA 95134 USA Phone 408 432 0888 Fax 408 432 8707 Otto Hahn Strasse 23 44227 Dortmund Germany Phone 0231 75 89 40 Fax 0231 75 89 450 41 rue du Saule Trapu 91882 Massy cedex France Phone 33 01 69 19 16 16 Fax 33 01 69 32 04 62 Via don Luigi Sturzo 39 41 52100 Arezzo Italy Phone 575 3986 11 Fax 575 3986 20 1 2 Aza Nakahara Mitsuya Cho Toyohashi Aichi Ken 441 31 Japan 0532 65 2391 Fax 0532 65 2390 The information contained herein is the property of Adept Technology Inc and shall not be repro duced in whole or in part without prior written approval of Adept Technology Inc The informa tion 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 sub mitting your comments Copyright O 1993 1994 1995 1996 by Adept Technology Inc All rights
266. ving and Installing Modules Jumpers for slot 4 Jumpers for slot 5 Jumpers for slot 6 Jumpers for slot 7 No jumpers P1 Backplane required Edge Connectors for slot 8 for Adept MV 8 Slot Slot Slot Slot Slot 4 5 6 7 8 Figure 4 4 Adept MV 8 Backplane J umper Plugs Jumpers Jumpers Jumpers Jumpers Jumpers for slot 4 for slot 5 for slot 6 for slot 17 for slot 18 No jumpers P1 Backplane Uses ace Edge Connectors or slot for Adept MV 19 Slot Slot Slot 4 5 6 Slot 17 Slot 18 Slot 19 a Jumpers for slots 7 to 16 in same position as slots 4 to 6 Figure 4 5 Adept MV 19 Backplane J umper Plugs Adept MV Controller User s Guide Rev C 53 Chapter 4 Installation for MV 8 and MV 19 Controllers Removing Modules 1 Turn off the controller 2 Loosen the captive screws at the top and bottom of the module 3 Lift up on the top handle and push down on the bottom handle as you start to pull the module out of the chassis Remove the module from the chassis and store it in a safe place 4 If the empty slot is not going to be used again and it is to the left of the last installed module you must install five user supplied jumper plugs onto the five pairs of jumper pins on the backplane You can also fill the empty slot by moving all modules on the right of the unused slot to the left CAUTION
267. voltage restrict If the error occurred while a program was sensor channel 2 error The moving the robot try changing the robot joint 3 is moving or program to move the robot less quickly or accelerating too fast thereisa with a lower rate of acceleration or fault with the voltage restrict deceleration sensor or the voltage restrict For hardware faults consult your Robot sensor s built in test function Instruction Handbook or contact Adept failed Customer Service 4 Amplifier 4 voltage restrict If the error occurred while a program was sensor channel 1 error The moving the robot try changing the robot joint 4 is moving or program to move the robot less quickly or accelerating too fast thereisa with a lower rate of acceleration or fault with the voltage restrict deceleration sensor or the voltage restrict For hardware faults consult your Robot sensor s built in test function Instruction Handbook or contact Adept failed Customer Service 5 Amplifier 4 voltage restrict If the error occurred while a program was sensor channel 2 error The moving the robot try changing the robot joint 4 is moving or program to move the robot less quickly or accelerating too fast thereisa with a lower rate of acceleration or fault with the voltage restrict deceleration sensor or the voltage restrict For hardware faults consult your Robot sensor s built in test function Instruction Handbook or contact Adept failed Customer Service
268. xample if you have an 040 and an 030 installed one of them must be set as module 1 and the other as module 2 See section 6 7 for additional information Table 6 4 Address Settings for the 040 Processor Module Jumper Block J22 Jumper Status Module Number 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 1 main proc In In In In Out In In In 2 auxiliary Out In In In Out In In In 3 auxiliary In Out In In Out In In In 4 auxiliary Out Out In In Out In In In 2 In means that the removable jumper is installed across the two indicated pins Out 6 6 means the jumper is not installed 040 J umper Settings The table below shows the jumper settings for J1 and J20 See Figure 6 3 for the location of the jumpers Table 6 5 Jumper Settings for 040 Proc essor Module Jumper number Jumper Setting J1 SCON In for main processor module 1 Out for auxiliary processor module 2 3 or 4 J20 Standard setting is to install jumpers across pins 1 to 3 and pins 2 to 4 Adept MV Controller User s Guide Rev C 77 Chapter 6 040 Processor Module SCON Adept 040 Board Component Side Figure 6 3 Switch and Jumper Locations on the 040 Module 78 Adept MV Controller User s Guide Rev C Use as an
269. xplanation User action Execution of the program task indicated by has terminated for the reason indicated in the message that preceded this message The step number displayed corresponds to the next program step that would be executed for example if PROCEED were entered The current date and time are displayed if the system date and time have been set None This is only an informational message 53 An attempt has been made to list a program that is protected from user access None 530 An I O operation cannot be performed because 1 it attempted to write to a disk that is write protected 2 the user does not have the proper access status or 3 a robot or motion device is interlocked 1 Check the diskette to make sure the write protect tab is in the correct position 2 If the file is protected you cannot access it in the way attempted 3 Check documentation for program or system reboot call Adept Applications Department if problem happens again Return manual control pendant to background display C to exit None Explanation User action 224 The manual control pendant display must be in background mode for the operation you have selected Press the DONE button on the pendant one or more times to exit the current function Adept MV Controller User s Guide Rev C Appendix E System Messages Robot module not enabled 900 Explanation The indicated robot module is present i
270. xternal Front Panel 19 96 98 controls indicators 96 dimensions 167 installation 97 Lamp test 159 making a user supplied version 100 safety features 5 use with MV 5 MV 10 25 External triggers position latch 170 vision trigger 170 External vision trigger 170 F Facility requirements MV 5 MV 10 23 Facility requirements MV 8 MV 19 45 Fan cooling MV 5 MV 10 29 cooling MV 8 MV 19 51 Fan filter cleaning 158 inspection 158 Fast digital input signals 1001 to 1003 85 Floppy drive on SIO module 83 Free state 200 Front Panel see External Front Panel Front Panel MCP connector 234 Adept MV Controller User s Guide Rev C Index pinassignments 101 Fuse holders MV 5 MV 10 28 MV 8 MV 19 50 Fuse information MV 5 MV 10 28 Fuse locations internal MV 8 MV 19 51 Fuse ratings MV 5 MV 10 29 MV 8 MV 19 50 G Graphics module see VGB module Grounding protective system information MV 5 MV 10 28 system information MV 8 MV 19 48 H Hard drive on SIO module 83 High Power On Off switch on External Front Panel 96 l I O 24V 100 mA connector see Digital I O on SIO ID label location MV 5 MV 10 22 location MV 8 MV 19 44 IEC test information 175 Indicator lights color coding 177 Installation AC power MV 5 MV 10 24 AC power MV 8 MV 19 46 External Front Panel 97 in rack or panel MV 5 MV 10 37 39 in rack or panel MV 8 MV 19 55 keyboard 34 54 monitor 34 54 MV 5 MV 10 22 40 MV 8 MV 19 44 56 non Adept peripher
271. y be installed without additional EMC conformance testing in MV 5 MV 8 MV 10 and MV 19 Controllers Minimum Acceptable Part Number R vision Description 10332 11150 P6 PCA VME 030 Processor 10332 00710 P1 PCA VME 040 Processor 30332 12350 P2 SYSIO 2 Module Assy FD HD SIO2 30332 12351 P2 SYSIO 2 Module Assy FD 10332 00800 P2 PCA VME Digital I O DIO 10332 10250 P3 PCA VME Graphics Board VGBIII 10332 00600 P2 PCA VME Frame Grabber VIS 10332 00655 P1 PCA VME Frame Grabber EVI 10332 11400 P4 PCA VME Motion Interface MI 3 10332 12400 P2 PCA VME Motion Interface MI 6 10332 00500 P2 PCA VME Joint Interface VJI III 15600 00090 A Camera CCD Table 2 Plug in Modules and Accessories that may be installed in MV 5 MV 8 MV 10 and MV 19 Controllers but must first be tested in the final system configuration to assure full compliance Part Number Minimum Acceptable Revision Description 90332 02020 AdeptNet 10BaseT Kit 10330 00970 90211 00000 90332 12400 PCA VME Analog I O AIO Adept Force Kit MP6 Kit P N 01332 00050 Rev A X1 Table of Contents 1 Introducohi s oP sl eoe t PU m 1 1 1 How to Use This Manual 2 lll sss 2 Follow These Stepsto Installand Configure the Adept MV Controler 2 Related Manuals 2 2 2 2 2 2 2 2 2 2 52 5 5 2 Standard Manuals s srs i karin a ln 2 OtherAdeptProductManualS 3 Optional V DevelopersManuals
272. y from the chassis they do not connect directly to the camera To connect to the cameras you must use an additional cable Adept offers a 10 meter Adept MV camera cable for this purpose See Tables 9 3 to 9 8 for pin and signal information Two Camera Breakout Cable This cable has a 44 pin D sub connector on one end and it breaks out to two 12 pin Hirose style camera connectors on the other end The length of the cable is 1 8 meters 70 The VIS module supplies 12 VDC power for cameras through this cable The current rating is 500 mA maximum per camera with a combined maximum of 1 A To Camera Strobe connector on VIS module CAM 1 CABLE ASSY CAMERA INTERFACE 2X ADEPT CAM2 Figure 9 3 Two Camera Breakout C able Adept MV Controller User s Guide Rev C 113 Chapter 9 AdeptVision VME Module VIS Four Camera Breakout Cable This cable has a 44 pin D sub connector on one end and it breaks out to four 12 pin Hirose style camera connectors and one 9 pin D sub connector on the other end The length of the cable is 1 8 meters 70 Due to the current limitation of the VMEbus specification the VIS module cannot supply enough current to operate all four cameras from the four camera cable You must supply the external power to operate the cameras when using this cable This power must be routed through the
273. ypass plug 10330 01040 1 User can build own see Figure 7 5 E stop test plug for I O port 10330 01075 1 on SIO module Fuse holder metric 27400 00350 5 These items installed in every 5mm x 20 mm controller when shipped Alternate fuse holder 27400 00360 5 These items included in accessory 1 4 x11 4 kit Table 14 2 Spare Parts From Third Parties Description Specification Quantity General Comments Fuse Fl and F2 same value 1AT 250V 5x20mm 2 for 200 240VAC IEC 127 style Fuse Fl and F2 same value 2AT 250V 5x20mm 2 If 5x20 f for 100 120VAC TEC 127 style A RM Ci not readily available Fuse F3 and F4 same value IEC 127 style 2 install alternative for 200 240VAC fuse holders from MV 8 2 5AF 250V 5x20mm accessory kit and use MV 19 6 3AF 250V 5x20mm 3AG 1 4 x 11 4 Fuse F3 and F4 same value IEC 127 style 2 fuses instead for 100 120VAC MV 8 5AF 250V 5x20mm MV 19 8AF 250V 5x20mm Fuse F5 0 5AF 250V 5x20mm 1 IEC 127 style 1 These items are not available from Adept Adept MV Controller User s Guide Rev C 159 Chapter 14 Maintenance 14 6 Spare Parts List MV 5 MV 10 Part numbers and specifications are subject to change Contact Adept Customer Service for ordering information for items in Table 14 3 or for items not listed Table 14 3 Spare Parts hom Adept Description icu dias Quantity General Comments Fan Filter 4

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