Adept technology Adept XSYS Guia de Instalação

Adept SmartMotionInstallation Guide1 2 3RS-422/485XUSRXSYSSFXMCP1.1SmartController CSLANHPEOFF24V 5AONRS-232/TERMXFPHDESXDIOEth 10/10

Adept SmartMotion Installation Guide, Rev. B 11Introduction 11.1 Product DescriptionThe Adept SmartMotion product consists of a hardware and software

Chapter 1 - Introduction12 Adept SmartMotion Installation Guide, Rev. BAdept sMI6 Motion Interface ModuleThe Adept sMI6 Motion Interface module is a s

SafetyAdept SmartMotion Installation Guide, Rev. B 13There are several warnings in this manual that say only skilled or instructed persons should att

Chapter 1 - Introduction14 Adept SmartMotion Installation Guide, Rev. BAdept Technology highly recommends the use of additional safety features such a

Warnings, Cautions, and NotesAdept SmartMotion Installation Guide, Rev. B 151.3 Warnings, Cautions, and NotesThere are four levels of special alert n

Chapter 1 - Introduction16 Adept SmartMotion Installation Guide, Rev. B1.4 How Can I Get Help?Refer to the How to Get Help Resource Guide (Adept P/N 0

Adept SmartMotion Installation Guide, Rev. B 17System Installation 22.1 Overview of Installation ProcessThis section provides a summary of the major s

Chapter 2 - System Installation18 Adept SmartMotion Installation Guide, Rev. B2.2 Adept sMI6 Connectors and IndicatorsAdept sMI6 LED DescriptionsFigur

Adept sMI6 Connectors and IndicatorsAdept SmartMotion Installation Guide, Rev. B 19Figure 2-2. Adept sMI6 Module Front PanelAdept sMI6 Connectors 1.

Chapter 2 - System Installation20 Adept SmartMotion Installation Guide, Rev. B2.3 System Cable Diagram Figure 2-3. Adept SmartMotion System Cable Diag

Adept sMI6 Hardware ConfigurationAdept SmartMotion Installation Guide, Rev. B 212.4 Adept sMI6 Hardware ConfigurationsMI6 Digital Input Logic Voltage

Chapter 2 - System Installation22 Adept SmartMotion Installation Guide, Rev. BFigure 2-5. Location of Jumpers on Main PCAJumpers for Overtravel signal

Proper Wiring and Electrical Design PracticesAdept SmartMotion Installation Guide, Rev. B 232.5 Proper Wiring and Electrical Design PracticesDesignin

Chapter 2 - System Installation24 Adept SmartMotion Installation Guide, Rev. B2.6 Enclosure for SmartController and sMI6 The Adept SmartController and

Installing the Adept SmartControllerAdept SmartMotion Installation Guide, Rev. B 252.7 Installing the Adept SmartController Refer to the System Cable

Chapter 2 - System Installation26 Adept SmartMotion Installation Guide, Rev. B2.9 Installing MP6 Panels The three 6-channel Motion-interface Panels (M

Installing MP6 PanelsAdept SmartMotion Installation Guide, Rev. B 27Panel Mounting the MP6 Panels If you do not want to use DIN-rail mounting, you ca

Chapter 2 - System Installation28 Adept SmartMotion Installation Guide, Rev. BFigure 2-6. MP6-S Panel – Layout and Dimensions Figure 2-7. MP6-E Panel

Installing MP6 PanelsAdept SmartMotion Installation Guide, Rev. B 29Figure 2-8. MP6-M Panel – Layout and Dimensions CHAN1CHAN2CHAN1 to 3CHAN4 to 6CHA

Adept SmartMotionInstallation Guide02170-000, Rev BApril, 20031 2 3RS-422/485XUSRXSYSSFXMCP1.1SmartController CSLANHPEOFF24V 5AONRS-2

Chapter 2 - System Installation30 Adept SmartMotion Installation Guide, Rev. BFigure 2-9. Typical System Wiring for One Axis of MotionCustomer's

MP6 Machine (MP6-M) Panel WiringAdept SmartMotion Installation Guide, Rev. B 312.10 MP6 Machine (MP6-M) Panel Wiring The MP6-M is used to interface t

Chapter 2 - System Installation32 Adept SmartMotion Installation Guide, Rev. BInput Voltage ConfigurationSee “sMI6 Digital Input Logic Voltage Configu

MP6 Machine (MP6-M) Panel WiringAdept SmartMotion Installation Guide, Rev. B 33Overtravel Limit Switches (Input)One Overtravel Limit switch input is

Chapter 2 - System Installation34 Adept SmartMotion Installation Guide, Rev. BTable 2-4. MP6-M Connector Terminal Assignments (Typical, 1 of 6)PinSign

MP6 Servo (MP6-S) Panel WiringAdept SmartMotion Installation Guide, Rev. B 352.11 MP6 Servo (MP6-S) Panel Wiring The MP6-S is used to interface to th

Chapter 2 - System Installation36 Adept SmartMotion Installation Guide, Rev. BConnecting the DrivesEach channel (1 to 6) has a 9-pin female D-connecto

MP6 Servo (MP6-S) Panel WiringAdept SmartMotion Installation Guide, Rev. B 37Drive Enable (Output)The Drive Enable signals (DE+, DE–) are outputs to

Chapter 2 - System Installation38 Adept SmartMotion Installation Guide, Rev. B2.12 MP6 Encoder (MP6-E) Panel Wiring Encoder CompatibilityThe MP6-E is

MP6 Encoder (MP6-E) Panel WiringAdept SmartMotion Installation Guide, Rev. B 39Adept recommends using a linear power supply instead of a switching po

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 app

Chapter 2 - System Installation40 Adept SmartMotion Installation Guide, Rev. BConnecting the EncodersEach encoder channel has its own 9-pin D-connecto

MP6 Encoder (MP6-E) Panel WiringAdept SmartMotion Installation Guide, Rev. B 41Figure 2-10. Encoder Input CircuitryFigure 2-11. Encoder Input Schemat

Chapter 2 - System Installation42 Adept SmartMotion Installation Guide, Rev. BSingle-Ended EncodersFigure 2-12. Single-Ended Encoder Wiring Using Inve

Adept SmartMotion Installation Guide, Rev. B 43Software Configuration 33.1 IntroductionAfter the Adept SmartMotion system hardware has been installed

Chapter 3 - Software Configuration44 Adept SmartMotion Installation Guide, Rev. B3.2 Phase 1 - Preparation for Software ConfigurationTo prepare for th

Phase 5 - Testing the SystemAdept SmartMotion Installation Guide, Rev. B 45Then you can optimize your mechanism by fine tuning the performance using

Chapter 3 - Software Configuration46 Adept SmartMotion Installation Guide, Rev. B

Adept SmartMotion Installation Guide, Rev. B 47Technical Specifications 44.1 Dimensions for sMI6 Module Figure 4-1. Dimensions for sMI6 Module24V.094R

Chapter 4 - Technical Specifications48 Adept SmartMotion Installation Guide, Rev. B4.2 Dimensions for Mounting sMI6 Module Figure 4-2. Rack MountingFi

Dimensions for Mounting sMI6 ModuleAdept SmartMotion Installation Guide, Rev. B 49Figure 4-4. Table Mounting4X 40356-00001378.629.516.014.34X M3 x 6M

Adept SmartMotion Installation Guide, Rev. B 5Table of Contents1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 4 - Technical Specifications50 Adept SmartMotion Installation Guide, Rev. B4.3 MP6 to sMI6 Cables Table 4-1 shows the pinout for the cable tha

MP6 to sMI6 CablesAdept SmartMotion Installation Guide, Rev. B 51Table 4-2 shows the pinout for the cable that connects between the XMACHINE connecto

Chapter 4 - Technical Specifications52 Adept SmartMotion Installation Guide, Rev. BTable 4-3 shows the pinout for the cable that connects between the

Typical Input and Output Circuits in sMI6Adept SmartMotion Installation Guide, Rev. B 534.4 Typical Input and Output Circuits in sMI6 Input Circuits

Chapter 4 - Technical Specifications54 Adept SmartMotion Installation Guide, Rev. BFigure 4-7. Category 3 E-Stop Circuit Logic cyclic check state mac

Emergency Stop CircuitsAdept SmartMotion Installation Guide, Rev. B 55Figure 4-8. Category 1 E-Stop Circuit Logic cyclic check state machines Channe

Chapter 4 - Technical Specifications56 Adept SmartMotion Installation Guide, Rev. B

Adept SmartMotion Installation Guide Rev B 57Aapplication development, motion control 45BBrake Release signals, for sMI6 33CCat-1 E-Stop circuit, for

Index58 Adept SmartMotion Installation Guide Rev BRrack mounting, sMI6 48rail mounting, MP6 Panels 26related manuals 16Robotic Industries Association

Table of Contents6 Adept SmartMotion Installation Guide, Rev. B2.10 MP6 Machine (MP6-M) Panel Wiring . . . . . . . . . . . . . . . . . . . . . . . . .

3011 Triad DriveLivermore, CA 94551925•245•3400P/N: 02170-000, Rev. B

Table of ContentsAdept SmartMotion Installation Guide, Rev. B 74.4 Typical Input and Output Circuits in sMI6 . . . . . . . . . . . . . . . . . . . . .

Adept SmartMotion Installation Guide, Rev B 9List of FiguresFigure 1-1. Adept sMI6 Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . .