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Adept SmartController EXUser's GuideCovers the SmartController EX Motion Controller and sDIO Module

Chapter 1: IntroductionThe safety features include:lEmergency-stop switch (dual-channel circuit)l3-position enable switch (dual-channel circuits)See t

Chapter 1: Introduction1.2 Dangers, Warnings, Cautions, and Notes in ManualThere are five levels of special alert notation that may be used in Adept m

Chapter 1: Introduction1.3 Safety PrecautionsDANGER:Adept robots can cause serious injury or death, or damage tothemselves and other equipment, if th

Chapter 1: Introduction1.6 Manufacturer’s DeclarationThe Manufacturer’s Declaration of Incorporation and Conformity for Adept robot systems canbe foun

Chapter 1: IntroductionRelated ManualsThis manual covers the installation and maintenance of an Adept SmartController EX motioncontroller system, incl

Adept SmartController EX User’s Guide, Rev. DPage 15 of 94Chapter 2: Installation2.1 Controller InstallationThis equipment must be shipped and stored

Chapter 2: Installation3.Remove the optional T20 pendant from its box and place it on a flat surface near theFront Panel.Repacking for RelocationIf th

Chapter 2: Installation3X M3 x 6MMBOTH SIDES3.819.12X 25.014.22X 40356-0000488.144.421.83.6TYP.462.0482.8190.0Units are mmFigure 2-1. Rack-Mounting th

Chapter 2: InstallationTable-Mounting the Adept SmartController EX Motion ControllerTo table-mount the controller, install two brackets on each side n

Chapter 2: Installation2X 40356-00002BOTH SIDES8X M3 x 6MMBOTH SIDES186.530.776.528.1 16.0120.9155.8328.9Units are mmFigure 2-4. Stack-Mounting the Ad

Chapter 2: InstallationCAUTION: Do not remove the SD card when power is connected to thecontroller.Removing an SD CardTo remove an SD card from a Adep

Chapter 2: InstallationConnecting PowerThe Adept SmartController EX motion controller and sDIO expansion module require filtered24 VDC power.NOTE:Use

Chapter 2: InstallationNOTE:The power requirements for the user-supplied power supply will varydepending on the configuration of the Adept SmartContr

Chapter 2: InstallationNOTE:The power switch on the Adept SmartController EX motion controller willshut down just the controller. The two connectors,

Chapter 2: Installation7.Gently pull on the wire to confirm that it is securely attached to the connector.8.Repeat this process to connect the wire fr

Chapter 2: InstallationWARNING:You must use cables from vendors approved by Adept thatmeet all specifications of the IEEE 1394 standard. Using a non-

Adept SmartController EX User’s Guide, Rev. DPage 27 of 94Chapter 3: Operation3.1 Connectors and Indicators12 4791011 18835612 13 14 15 16 17Figure 3-

Chapter 3: Operation3. Bottom Three Status LEDsNOTE:The bottom status LEDs have different meanings when the SmartCon-troller is used with ePLC Connec

Chapter 3: Operation5.SmartServo 1.1, 1.2, and 1.3These ports connect any Adept SmartServo-compatible product to the controller via theIEEE-1394 cable

Adept SmartController EXUser's GuideCovers the SmartController EX Motion Controller and sDIO ModuleP/N:11069-000 Rev. DFebruary, 20145960 Inglewo

Chapter 3: OperationA muted safety gate that causes an E-Stop only in Automatic mode is included. Alsoincluded are contacts to report the status of E-

Chapter 3: Operation3.2 Front PanelThe following figure shows an Adept Front Panel.23451STOPRFigure 3-2. Front PanelBefore running programs, either th

Chapter 3: Operation4.High Power On/Off Switch & LampControls high power, which is the flow of current to the robot motors. Enabling highpower is

Chapter 3: Operation3.4 Configuring the SmartControllerConfiguring Serial PortsThe Adept SmartController EX motion controller has four serial I/O port

Chapter 3: Operationand other communication parameters, use the eV+ FSET program instruction. The eV+ des-ignations for these ports, when referenced i

Chapter 3: Operationconnector are both female D-sub connectors located on the front panel of the controller. Refer tothe following table for the XUSR

Chapter 3: OperationTable 3-7. Contacts Provided by the XFP ConnectorPinPairsDescription Requirements for User-Supplied Front PanelVoltage-Free Contac

Chapter 3: OperationTable 3-8. Remote Pendant Connections on the XMCP ConnectorPin XMCP(15-Pin D-Sub)Description1, 9 Pendant E-Stop Push-button CH 12,

Chapter 3: OperationThe following figure shows an E-Stop diagram for the Adept SmartController EX motion con-troller. See Emergency Stop Circuits on p

Chapter 3: OperationESTOPSRC24 VS5 VDDSYSPWRLT 7654231171681091112131415XFP15PDSUBMMANUALSRC1HIPWRREQMANUALRLY2MANUALRLY1HIPWRLTESTOPFP2ESTOPFP1HPLT5V

Copyright NoticeThe information contained herein is the property of Adept Technology, Inc., and shall not be reproducedin whole or in part without pri

Chapter 3: OperationNOTE:These contacts do not indicate the status of any connections below the UserE-Stop contacts. Thus, they will NOT indicate the

Chapter 3: OperationCAUTION:If you want the cell gate to always cause a robot shutdown,wire the gate switch contacts in series with the user E-Stop i

Chapter 3: Operationwiring. In this situation, a second momentary contact for high power on/off would be placed inparallel with the Adept Front Panel

Chapter 3: OperationNOTE: The XMCP and XFP connectors on the controller can be interchangedwithout electrical damage. However, neither the Front Panel

Chapter 3: OperationTable 3-10. DIO Input Circuit Specifications (XDIO connector)Operational voltage range 0 to 30 VDCOFF state voltage range 0 to 3 V

Chapter 3: OperationCustomer powersupplyExample 1Example 2Example 3Customer powersupplySignal 1001Signal 1002Signal 1003Signal 1004Signal 1005Signal 1

Chapter 3: OperationREACT Input Signals 1001 to 1012Inputs 1001 to 1012 (only) may be used by the eV+ REACT and REACTI instructions. See theeV+ Langua

Chapter 3: OperationThe following figure shows two examples of different connections to the digital outputs on theXDIO connector. The examples are neg

Chapter 3: OperationTable 3-12. XDIO Digital I/O Connector Pin AssignmentsPin Signal Pin Signal Pin Signal Pin Signal1 Input 1001 2 1001 return 25 Out

Chapter 3: Operation1.1658661-1 Kit (Connector body, shield, enclosure, jackscrews)2.1658641-2 Connector body only3.66682-2 Contact Pin, Male, wire si

Table of ContentsChapter 1: Introduction 91.1 Product Description9Optional sDIO Expansion Module 9Optional Adept T20 Pendant 91.2 Dangers, Warnings, C

Chapter 3: OperationTable 3-13. Belt Encoder Connector Pin AssignmentsSignal Pin Signal PinEncoder 5 V Out 1 ENC2_B- 14Encoder Ground 10 ENC3_B+ 15ENC

Chapter 3: OperationEncoder+–2202.2K26LS33SmartController EX Belt Encoder ConnectorTypical input circuit, same for A, B, and I for both encoders.2.2KE

Chapter 3: OperationFigure 3-8. Belt Encoder ConnectorAdept SmartController EX User’s Guide, Rev. DPage 52 of 94

Adept SmartController EX User’s Guide, Rev. DPage 53 of 94Chapter 4: Maintenance4.1 Changing the Lamp in the Front Panel High-Power IndicatorThe syste

Chapter 4: Maintenance10.Push the front cover into the body, taking care to align all of the plug-type connectors.Verify that the wires do not get cri

Adept SmartController EX User’s Guide, Rev. DPage 55 of 94Chapter 5: Technical SpecificationsThis chapter shows the dimensions of the Adept SmartContr

Chapter 5: Technical Specifications5.2 sDIO Module Dimensions328.9186.5Ground Connection Point2.54.45.541.6Units are mmSFIEEE-1394X2SC-DIOLINK*S/N 356

Chapter 5: Technical Specifications5.3 Adept Front Panel DimensionsSTOPR152.488.9129.513.155.938.716.53076.2139.76.46.44x M4 x 18 mmUnits are mmFigure

Chapter 5: Technical Specifications5.4 Adept T20 Pendant DimensionsFigure 5-4. T20 Pendant DimensionsAdept SmartController EX User’s Guide, Rev. DPage

Adept SmartController EX User’s Guide, Rev. DPage 59 of 94Chapter 6: sDIO ModuleThe sDIO expansion module provides 32 optically-isolated digital input

Table of ContentsRemote Manual Mode 41User Manual/Auto Indication 41User High Power On Indication 41Remote High Power On/Off Control 41High Power On/O

Chapter 6: sDIO ModuleRack-Mounting the sDIO ModuleTo rack-mount the sDIO module in a standard 19-inch equipment rack, you must first installthe mount

Chapter 6: sDIO ModulePanel-Mounting the sDIO ModuleTo panel-mount the sDIO module, install one bracket on each side of the back of the unit, asshown

Chapter 6: sDIO ModuleR 3.616.3391.916.0378.724.924.1120.821.74x 40356-0000112.129.5120.94x M3 x 6 mmboth sidesUnits are mmFigure 6-4. Table-Mounting

Chapter 6: sDIO ModuleWARNING:Remove power from the controller before plugging in orunplugging any IEEE-1394 cables to SmartServo IEEE-1394 connector

Chapter 6: sDIO Module6.4 Configuring an sDIO ModuleThe Adept SmartController EX motion controller is preconfigured to support two sDIO mod-ules. Its

Chapter 6: sDIO ModuleIn the following situations, you must go through a configuration process to modify the sDIOmodules:lwhen you have more than two

Chapter 6: sDIO ModuleField DescriptionComposedStatementProvides a preview of the statement, based on the cur-rent settings in the Item Values field.1

Chapter 6: sDIO ModuleROBOT 1XIOOutput Block 1Byte 1 Byte 2(97-104)Internal IO(3001-3004)XIOInput Block 1Byte 1 Byte 2(1097-1104)XIO(1105-1108) 4 s

Chapter 6: sDIO ModuleByte 1 Byte 2Group 2Group 1 Group 3 Group 4Group 2Group 1 Group 3 Group 4Group 2Group 1 Group 3 Group 4Group 2Group 1 Group 3 Gr

Chapter 6: sDIO Module6.5 Installing Multiple sDIO ModulesSFIEEE-1394X2SC-DIOLINK*S/N 3563-XXXXX*X124V 0.5AROKX4 - + - +1.1 1.2XDC1 XDC2X3SFIEEE

Table of Contents7.2 Limitations of the Adept DeviceNet Scanner847.3 DeviceNet Port on the Controller84Connecting DeviceNet Hardware to the Controller

Chapter 6: sDIO Module6.6 sDIO Digital I/O SignalsThe sDIO module’s digital I/O signals are 64 optically-isolated digital I/O channels (32 outputand 3

Chapter 6: sDIO ModuleNOTE:The input current specifications are provided for reference. Voltage sourcesare typically used to drive the inputs.Adept-S

Chapter 6: sDIO ModuleNOTE: The off-state current range exceeds the leakage current of sDIO outputs. Thisguarantees that the inputs will not be turned

Chapter 6: sDIO ModuleTable 6-3. sDIO Chassis LEDsIllumination Upper LED (LINK) Lower LED (OK SF)None No IEEE 1394 link Local software not runningBlin

Chapter 6: sDIO ModuleTable 6-4. sDIO Output Circuit SpecificationsParameter ValuePower supply voltage range 10 VDC ≤ Vsup≤ 30 VDCUnder-voltage shutdo

Chapter 6: sDIO ModuleMAdept-Supplied EquipmentCustomer-Supplied Equipment25Customer DCPower Supply+–sDIOOutput Group 1WiringTerminal BlockTypical Us

Chapter 6: sDIO ModuleLabeling CablesThe X3 and X4 input connectors on the front of the sDIO module are similar except that X3handles the group 1 and

Chapter 6: sDIO ModulePinNumberSignalGroupSignalNameWireColorX3–12 2 1045 blue/blackX3–3 2 1046 redX3–13 2 1047 black/whiteX3–4 2 1048 greenX3–19 2 gr

Chapter 6: sDIO ModuleTable 6-6. X4 Input Cable Pin AssignmentsPinNumberSignalGroupSignalNameWireColorX4–15 3 1049 red/whiteX4–6 3 1050 orangeX4–16 3

Chapter 6: sDIO ModuleTable 6-7. X1 Output Cable Pin AssignmentsPinNumberGroupNumberSignalNameWireColorX1–30 1 0033 green/black/whiteX1–15 1 0034 gree

Chapter 6: sDIO ModulePinNumberGroupNumberSignalNameWireColorX1–19 2 power orange/redX1–31 2 power orange/black/whiteX1–32 2 power blue/black/whiteX1–

Chapter 6: sDIO ModulePinNumberGroupNumberSignalNameWireColorX2–41 3 power white/red/orangeX2–42 3 power orange/white/blueX2–43 3 power white/red/blue

Adept SmartController EX User’s Guide, Rev. DPage 83 of 94Chapter 7: Adept DeviceNetDeviceNet is a low-cost communications link that connects industri

Chapter 7: Adept DeviceNet7.2 Limitations of the Adept DeviceNet ScannerThe DeviceNet Scanner that Adept has incorporated into the Adept SmartControll

Chapter 7: Adept DeviceNetNOTE:By default, Adept does not supply 24 V on the controller to power theDeviceNet bus. A separate power supply can be use

Chapter 7: Adept DeviceNetThe basic topology is the trunkline-dropline topology. This topology uses separate twisted-pairbuses for the distribution of

Chapter 7: Adept DeviceNetTable 7-2. Features of a DeviceNet NetworkNetwork Size A maximum of 64 nodes [0 - 63]Network Length Selectable, end-to-end n

Chapter 7: Adept DeviceNetFigure 7-3. DeviceNet Thin CableDeviceNet ConnectorsDeviceNet allows different connectors, which may be grouped into open an

Chapter 7: Adept DeviceNetTermination of the DeviceNet NetworkThe DeviceNet network uses the Controller Area Network (CAN) bus as the physical layer.T

Adept SmartController EX User’s Guide, Rev. DPage 9 of 94Chapter 1: Introduction1.1 Product DescriptionThe Adept SmartController EX motion controller

Chapter 7: Adept DeviceNetWhen using the open-style terminating resistor, connect a 121 ohm, ¼ W resistor to CAN_Hand CAN_L (between blue and white da

Chapter 7: Adept DeviceNetIf the power supplies are equipped with Schottky diodes, the optional power supply tabs mustbe protected from bus back-feedi

Chapter 7: Adept DeviceNetFigure 7-7. DeviceNet Connector PinoutsAdept SmartController EX User’s Guide, Rev. DPage 92 of 94

P/N:11069-000 Rev. D5960 Inglew ood DrivePleasanton, C A 94588925·245·3400