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Adept SmartController EX
User's Guide
Covers the SmartController EX Motion Controller and sDIO Module
Adept SmartController EX
User's Guide
Covers the SmartController EX Motion Controller and sDIO Module
P/N:11069-000 Rev. B
February, 2012
5960 Inglewood Drive • Pleasanton, CA 94588 • USA • Phone 925.245.3400 • Fax 925.960.0452
Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone +49.231.75.89.40 • Fax+49.231.75.89.450
Block 5000 Ang Mo Kio Avenue 5 • #05-12 Techplace II• Singapore 569870 • Phone +65.6755 2258 • Fax +65.6755 0598
Copyright Notice
The information contained herein is the property of Adept Technology, Inc., and shall not be reproduced
in whole or in part without prior written approval of Adept Technology, Inc. The information herein is
subject to change without notice and should not be construed as a commitment by Adept Technology,
Inc. The documentation is periodically reviewed and revised.
Adept Technology, Inc., assumes no responsibility for any errors or omissions in the documentation. Critical evaluation of the documentation by the user is welcomed. Your comments assist us in preparation
of future documentation. Please submit your comments to: techpubs@adept.com.
Copyright 2012 by Adept Technology, Inc. All rights reserved.
Adept, the Adept logo, the Adept Technology logo, AdeptVision, AIM, Blox, Bloxview, FireBlox, Fireview,
Meta Controls, MetaControls, Metawire, Soft Machines, and Visual Machines are registered trademarks
of Adept Technology, Inc.
Brain on Board is a registered trademark of Adept Technology, Inc. in Germany.
Adept ACE, Adept sDIO, Adept SmartController EX, Adept SmartVision EX, AdeptSight, and eV+ are
trademarks of Adept Technology, Inc.
Any trademarks from other companies used in this publication
are the property of those respective companies.
Created in the United States of America
Table of Contents
Chapter 1: Introduction 9
1.1 Product Description
sDIO Module Expansion Module 9
Optional Adept T20 Pendant 9
1.2 Dangers, Warnings, Cautions, and Notes in Manual
1.3 Safety Precautions
1.4 What to Do in an Emergency Situation
1.5 Additional Safety Information
Manufacturer’s Declaration of Compliance (MDOC) 12
Adept Robot Safety Guide 12
1.6 Manufacturer’s Declaration
1.7 How Can I Get Help?
Related Manuals 13
Adept Document Library 13
10
11
12
12
12
13
Chapter 2: Installation 15
2.1 Controller Installation
Before Unpacking 15
Upon Unpacking 15
Repacking for Relocation 16
Space Around the Chassis 16
Mounting the Adept SmartController EX Motion Controller 16
Memory Card 19
Connecting Power 21
IEEE 1394 Cable Specifications 24
2.2 System Cable Installation
15
25
9
Chapter 3: Operation 27
3.1 Connectors and Indicators
3.2 Front Panel
Programming the E-Stop Delay 32
3.3 Installing the Adept ACE Software
3.4 Configuring the SmartController
Configuring Serial Ports 33
RS-232 Connectors 34
RS-422/485 Connector 35
3.5 Connecting User-Supplied Safety and Power-Control Equipment
Adept SmartController EX User’s Guide, Rev. B
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27
31
32
33
36
Table of Contents
Emergency Stop Circuits 41
Remote Manual Mode 43
User Manual/Auto Indication 43
User High Power On Indication 43
Remote High Power On/Off Control 43
High Power On/Off Lamp 44
Remote Front Panel or User-Supplied Control Panel Usage 44
Remote Pendant Usage 45
3.6 Connecting User-Supplied Digital I/O Equipment
DeviceNet Connector 45
XDIO Connector 45
3.7 Belt Encoder Interface
45
50
Chapter 4: Maintenance 55
4.1 Changing the Lamp in the Front Panel High-Power Indicator
55
Chapter 5: Technical Specifications 57
5.1 Adept SmartController EX Motion Controller Dimensions
5.2 sDIO Module Dimensions
5.3 Adept Front Panel Dimensions
5.4 Adept T20 Pendant Dimensions
57
58
59
60
Chapter 6: sDIO Module 61
6.1 Mounting the sDIO Module
Rack-Mounting the sDIO Module 61
Panel-Mounting the sDIO Module 63
Table-Mounting the sDIO Module 63
Stack-Mounting the sDIO Module 64
6.2 Installing the sDIO Module
6.3 sDIO Module Connectors and Indicators
6.4 Configuring an sDIO Module
Default sDIO I/O Configuration 66
Modifying the Default sDIO Configuration 66
6.5 Installing Multiple sDIO Modules
Configuring Multiple sDIO Modules 71
6.6 sDIO Digital I/O Signals
sDIO Inputs 72
sDIO Outputs 74
Optional DIO Cables 77
61
64
65
66
71
72
Chapter 7: Adept DeviceNet 85
7.1 DeviceNet Specifications
Adept SmartController EX User’s Guide, Rev. B
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85
Table of Contents
7.2 Limitations of the Adept DeviceNet Scanner
7.3 DeviceNet Port on the Controller
Connecting DeviceNet Hardware to the Controller 86
Configuring DeviceNet 87
7.4 DeviceNet Physical Layer and Media
DeviceNet Connectors 90
Termination of the DeviceNet Network 91
Power Supply and the DeviceNet Bus 91
86
86
87
Adept SmartController EX User’s Guide, Rev. B
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1.1 Product Description
The Adept SmartController EX motion controller is a member of Adept’s family of high-performance distributed motion controllers. The Adept SmartController EX motion controller is
designed for use with Adept Python Linear Modules, Adept Cobra s-series robots, the Adept
Viper line of six-axis robots, the Adept sMI6 Module for the SmartMotion product, Adept
SmartServo kits, and Adept Quattro robots.
Chapter 1: Introduction
Figure 1-1. Adept SmartController EX Motion Controller
sDIO Module Expansion Module
The sDIO module expansion module provides 32 optical-isolated digital inputs, 32 optical-isolated outputs, and an IEEE 1394 interface.
Customers can access I/O signals from the following points using these products:
l
the XDIO connector on an Adept SmartController EX motion controller
l
the DeviceNet connector on an Adept SmartController EX motion controller
l
the DIO X1 - X4 connectors on an sDIO module
Optional Adept T20 Pendant
The optional Adept T20 pendant provides a user interface and teach pendant in an ergonomic
and rugged package. The pendant is designed for right- or left-handed use. All gripping and
holding positions enable comfortable and fatigue-free operation.
Adept SmartController EX User’s Guide, Rev. B
Page 9 of 96
Chapter 1: Introduction
The safety features include:
l
Emergency-stop switch (dual channel circuit)
l
3-position enable switch (dual channel circuits)
See the Adept T20 pendant User’s Guide, shipped with each pendant, for complete information
on the product.
Figure 1-2. Adept T20 Pendant
1.2 Dangers, Warnings, Cautions, and Notes in Manual
There are six levels of special alert notation that may be used in Adept manuals. In descending order of importance, they are:
Adept SmartController EX User’s Guide, Rev. B
Page 10 of 96
Chapter 1: Introduction
DANGER:This indicates an imminently hazardous electrical situation
which, if not avoided, will result in death or serious injury.
DANGER:This indicates an imminently hazardous situation which, if not
avoided, will result in death or serious injury.
WARNING:This indicates a potentially hazardous electrical situation
which, if not avoided, could result in serious injury or major damage to
the equipment.
WARNING:This indicates a potentially hazardous situation which, if not
avoided, could result in serious injury or major damage to the equipment.
NOTE:Notes provide supplementary information, emphasize a point or procedure, or give a tip
for easier operation.
1.3 Safety Precautions
l
All personnel who install, operate, teach, program, or maintain the system must read
this guide, read the Adept Robot Safety Guide, and complete a training course for their
responsibilities in regard to the system.
l
All personnel who design the robot system must read this guide, read the Adept Robot
Safety Guide, and must comply with all local and national safety regulations for the loca-
tion in which the system is installed.
l
The robot system must not be used for purposes other than described in the robot user’s
guide. Contact Adept if you are not sure of the suitability for your application.
CAUTION:This indicates a situation which, if not avoided, could result in
damage to the equipment.
DANGER:Adept robots can cause serious injury or death, or damage to
themselves and other equipment, if the following safety precautions are
not observed:
l
The user is responsible for providing safety barriers around the robot to prevent anyone
from accidentally coming into contact with the robot when it is in motion.
Adept SmartController EX User’s Guide, Rev. B
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Chapter 1: Introduction
l
Power to the robot and its power supply must be locked out and tagged out before any
maintenance is performed.
1.4 What to Do in an Emergency Situation
Press any E-Stop button (a red push-button on a yellow background/field) and then follow the
internal procedures of your company or organization for an emergency situation. If a fire
occurs, use CO2 to extinguish the fire.
1.5 Additional Safety Information
Adept provides other sources for more safety information:
Manufacturer’s Declaration of Compliance (MDOC)
This lists all standards with which each robot complies. See “Manufacturer’s Declaration” on
page 18.
Adept Robot Safety Guide
The Adept Robot Safety Guide provides detailed information on safety for Adept robots. It also
gives resources for more information on relevant standards.
It ships with each robot manual, and is also available from the Adept Document Library. See
"Adept Document Library ".
1.6 Manufacturer’s Declaration
The Manufacturer’s Declaration of Incorporation and Conformity for Adept robot systems can
be found on the Adept website, in the Download Center of the Support section.
http://www.adept.com/support/downloads/file-search
NOTE:The Download Center requires that you are logged in for access. If you are not logged in,
you will be redirected to the Adept website Login page, and then automatically returned to the
Download Center when you have completed the login process.
1.
From the Download Types drop-down list, select Manufacturer Declarations.
2.
From the Product drop-down list, select SmartControls.
3.
Click Begin Search.
The list of available documents is shown in the Search Results area, which opens at the
bottom of the page. You may need to scroll down to see it.
4.
Use the Description column to locate the document for your SmartController, and then
click the corresponding Download ID number to access the Download Details page.
5.
On the Download Details page, click Download to open or save the file.
Adept SmartController EX User’s Guide, Rev. B
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1.7 How Can I Get Help?
For details on getting assistance with your Adept software or hardware, you can access the following information sources on the Adept corporate website:
l
For contact information: http://www.adept.com/contact/americas
l
For product support information:
http://www.adept.com/support/service-and-support/main
l
For user discussions, support, and programming examples:
http://www.adept.com/forum/
l
For further information about Adept Technology, Inc.: http://www.adept.com
Related Manuals
This manual covers the installation and maintenance of an Adept SmartController EX motion
controller system, including the sDIO module. There are additional manuals that cover programming the system, reconfiguring installed components, and adding other optional components. The following manuals provide information on advanced configurations and system
specifications.
Chapter 1: Introduction
Table 1-1. Related Manuals
Manual Title Description
Adept Robot Safety Guide Contains safety information for Adept robots.
Adept T20 User’s Guide Contains information on the installation and operation of
the Adept T20 pendant.
Adept ACE User's Guide Describes installation and use of the Adept ACE software.
eV+ OS User Guide Describes the eV+ operating system, including disk file oper-
ations, monitor commands, and monitor command programs.
eV+ Language User's Guide Describes the eV+ language and programming of an Adept
control system.
1 The eV+ manuals are accessible through the Adept Document Library:
Document Library > V+>eV+ Document (preliminary) >[select a manual]
Adept Document Library
The Adept Document Library (ADL) contains documentation for Adept products. You can
access the ADL through either of the following methods:
l
Select Support > Document Library from the menu bar on the Adept website.
l
Type the following URL into your web browser:
http://www.adept.com/Main/KE/DATA/adept_search.htm
Adept SmartController EX User’s Guide, Rev. B
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Chapter 1: Introduction
To locate information on a specific topic, use the Document Library search engine on the ADL
main page.
Adept SmartController EX User’s Guide, Rev. B
Page 14 of 96
2.1 Controller Installation
This equipment must be shipped and stored in a temperature-controlled environment. See the
following table. 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 excess shock and vibration.
Ambient temperature 5° to 40° C (41° to 104° F)
Storage and shipment temperature –25° to +55° C (-13° to 131° F)
Humidity range 5 to 90%, non-condensing
Altitude up to 2000 m (6500 ft)
Chapter 2: Installation
Table 2-1. Environmental Specifications
Free space around controller (for proper cooling)
Chassis protection class IP-20 (NEMA Type 1)
10 mm at back, 13 mm on sides (0.4 in., 0.5
in.)
Before Unpacking
Carefully inspect all shipping containers for evidence of damage during transit. If any damage
is indicated, request that the carrier’s agent be present at the time the container is unpacked.
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. Contact Adept immediately if any
damage is evident. For contact information, see How Can I Get Help? on page 13
Retain all containers and packaging materials. These items may be needed in the future to settle a damage claim.
Perform the following steps to unpack the Adept SmartController EX motion controller and
Front Panel, optional Adept sDIO module Expansion Module, and optional pendant. Refer to
the following sections for information on mounting the equipment.
1.
Remove the Adept SmartController EX motion controller and any optional sDIO module
from their boxes. Place them near the robot, or mount them in a rack. For details, see
Mounting the Adept SmartController EX Motion Controller on page 16.
2.
Remove the optional Front Panel from its box and set it on a flat surface near the Adept
SmartController EX motion controller.
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Chapter 2: Installation
3.
Remove the optional fromT20 pendant its box and place it on a flat surface near the
Front Panel.
Repacking for Relocation
If the controller needs to be relocated, reverse the steps in the installation procedure. Reuse all
original packing containers and materials and follow all safety notes used for installation.
Improper packaging for shipment will void your warranty.
Space Around the Chassis
When the Adept SmartController EX motion controller and/or sDIO module is installed, you
must allow 10 mm at the back of the unit and 13 mm on the sides of the unit for proper air
cooling.
Mounting the Adept SmartController EX Motion Controller
The following mounting options are available for the controller:
l
Rack
l
Panel
l
Table
l
Stack
The controller and compatible Adept units can be mounted with one unit placed on top
of another.
See Mounting the sDIO Module on page 61 for information on mounting the sDIO module.
NOTE:To maintain compliance with many standards, the mounting of the controller and all terminations at the controller must be performed in accordance with local and national regulations.
Rack-Mounting the Adept SmartController EX Motion Controller
To rack-mount the controller in a standard 19-inch equipment rack, install the optional mounting brackets on the side of the controller, as shown in the following figure. These brackets must
be ordered separately. They do not come with the controller.
Adept SmartController EX User’s Guide, Rev. B
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Chapter 2: Installation
3X M3 x 6MM
BOTH SIDES
3.8
19.1
2X 25.0
14.2
2X 40356-00004
88.1
44.4
21.8
3.6
TYP.
462.0
482.8
190.0
27.4
14.0
200.5
4X 40356-00000
8X M3 x 6MM
273.9
8.1
16.0
44.9
6.6 346.6
359.8
R3.6 TYP.
16.1
44.9
Figure 2-1. Rack-Mounting the Adept SmartController EX Motion Controller
Panel-Mounting the Adept SmartController EX Motion Controller
To panel-mount the controller, install two brackets on each side at the rear of the unit, as
shown in the following figure. Use the screws from the accessories kit.
Figure 2-2. Panel-Mounting the Adept SmartController EX Motion Controller
Adept SmartController EX User’s Guide, Rev. B
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Chapter 2: Installation
4X M3 x 6MM
BOTH SIDES
21.616.0
120.9
16.2
4X 40356-00001
120.9
29.5
391.8
378.6
24.9
R3.6
12.1
24.1
Table-Mounting the Adept SmartController EX Motion Controller
To table-mount the controller, install two brackets on each side near the bottom of the unit, as
shown in the following figure. These brackets must be ordered separately. They do not come
with the controller.
Figure 2-3. Table-Mounting the Adept SmartController EX Motion Controller
Stack-Mounting Components
To stack-mount the Adept SmartController EX Motion Controller and a compatible unit, such
as an Adept SmartVision EX vision controller, install two brackets on each side of the units, as
shown in the following figure. These brackets are supplied with compatible Adept units.
Adept SmartController EX User’s Guide, Rev. B
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Chapter 2: Installation
2X 40356-00002
BOTH SIDES
8X M3 x 6MM
BOTH SIDES
186.5
30.7
76.5
28.1 16.0
120.9
155.8
328.9
Figure 2-4. Stack-Mounting the Adept SmartController EX Motion Controller
Memory Card
The Adept SmartController EX motion controller is equipped with a Secure Digital™ (SD)
memory card. The SD card is removable, and can be moved to another Adept SmartController
EX motion controller for testing.
The SD card shipped with all systems is factory-configured and installed by Adept. The SD
card stores the eV+ operating system, application programs, data files, and Adept licenses.
Only the SD card supplied by Adept will work with the Adept SmartController EX motion controller.
NOTE:This SD card is not compatible with the SmartController CX or CS motion controllers.
CAUTION: Use suitable measures for eliminating electrostatic discharge
during removal and installation of the SD card. This includes, but is not
limited to, the use of a grounded wrist strap.
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Chapter 2: Installation
SD Card Slot
CAUTION: Do not remove the SD card when power is connected to the
controller.
Removing an SD Card
To remove an SD card from a Adept SmartController EX motion controller:
1.
Make sure that the controller is disconnected from its power source.
2.
Locate the SD compartment (see the following figure).
Figure 2-5. SD Memory Card Compartment
NOTE:If you are replacing an existing SD, the original must be sent to Adept for replacement.
3.
Press the SD card in, and release. The card will pop out.
Remove the card and return it to Adept. Contact Adept Customer Service.
Installing an SD Card
To install an SD card into a Adept SmartController EX motion controller:
1.
Make sure that the controller is powered off.
2.
Locate the SD card compartment (see the preceding figure).
3.
Carefully remove the SD card from the READ ME FIRST box or shipping container.
Position the card so its contacts are facing towards the controller and to the left. The
label will be facing to the right.
4.
Insert the SD card into the controller.
Once installed, Adept recommends that you do not repeatedly remove and insert the SD card.
Adept SmartController EX User’s Guide, Rev. B
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Chapter 2: Installation
Connecting Power
The Adept SmartController EX motion controller and sDIO module require filtered 24 VDC
power.
NOTE:Users must provide their own power supply. Make sure the power cables and power supply
conform to the specifications that follow.
24 VDC Power Specifications
Table 2-2. Specifications for 24 VDC User-Supplied Power Supply
User-Supplied Power
24 VDC (-10%, +5%), 120 W (5 A)
Supply
Circuit Protection Not more than 8 A (below the amper-
age rating of the cable used)
Power Cabling 1.5 - 1.85 mm2(16-14 AWG), full-
cover, braided shield cable, maximum
length 10 meters
Shield Termination Braided shield connected to the
marked frame ground screw on the
right side of the controller (near the
XDC connector). On the other end of
the cable, the shield should be connected to the power supply chassis.
Figure 2-6. User-Supplied 24 VDC Cable
Adept SmartController EX User’s Guide, Rev. B
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Chapter 2: Installation
-
+
-
+
User-Provided
Power Supply
24 VDC, 5 A
Optional
Fuse
Adept SmartController EX
Motion Controller
User-Supplied Shielded
Power Cable
Note: Use connector
supplied by Adept at
this end of cable.
Shield from cable
Star washer
M3 x 6 screw
Shield from cable to frame
ground on power supply
Circuit protection < 8A
Frame Ground
NOTE:The power requirements for the user-supplied power supply will vary depending on the
configuration of the Adept SmartController EX motion controller and connected devices. A minimum configuration of the controller, front panel, and pendant will require 2 A at 24 VDC. However, a 24 V, 5 A power supply is recommended to allow for additional current draw from
connected devices, such as external IEEE 1394 devices and digital I/O loads.
24 VDC Power Cabling
In order to maintain compliance with many standards, DC power must be delivered over a
shielded cable, with the shield connected to the frame ground at both ends of the cable, as
shown in the following figure. Conductors should be 1.5 mm2- 1.85 mm2(16 to 14 AWG) in
size. The maximum length for the 24 VDC cable is 10 meters.
Daisy-Chaining Power
Figure 2-7. User-Supplied Power Cable
The Adept SmartController EX motion controller is equipped with two DC power connectors.
These connectors allow the daisy-chaining of power from one controller to another or to an
sDIO module. When daisy-chaining power, the power supply circuit must be limited to the
lesser of 8 Amps or the ampacity of the cabling. This can be done with a circuit breaker or a
fuse. The DC power can be applied to either the XDC1 or XDC2 connector.
CAUTION: Use only one 24 VDC power supply per circuit. Failure to do
this could result in damage to the equipment.
CAUTION: The SmartVision EX vision controller has a higher current
demand and should be wired independently. Do not daisy-chain its
power from a Adept SmartController EX motion controller.
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Chapter 2: Installation
Grounding Point
NOTE:The power switch on the Adept SmartController EX motion controller will shut down both
the controller and the second 24 V port. If you want a secondary device to maintain power after
the controller is shut down, you will have to provide a separate power line to it.
Chassis Grounding
The Adept SmartController EX motion controller is equipped with a grounding point, as
shown in the following figure. Adept recommends connecting a ground wire from the ground
point on the controller to earth ground and that all other interconnected Adept components
share the same electrical ground potential. The ground wire must meet all local regulations.
Additional grounding information for other Adept products is provided in the documentation
for those products.
NOTE:The maximum length for the ground wire for the controller is 3 meters.
Figure 2-8. Chassis Grounding Point
The mounting of the controller and all terminations must be performed in accordance with
local and national regulations.
Installing 24 VDC Connectors
Use the Adept-supplied connector to connect the user-supplied 24 VDC power supply to the
Adept SmartController EX motion controller.
1.
Locate the 24 VDC connector that is shipped with the controller. See the following figure.
2.
Use 14 or 16 gauge wire to connect the 24 VDC power supply to the controller.
3.
Strip 7 mm of insulation from the end of the wire that connects to the positive output of
the 24 VDC supply.
4.
Insert the stripped end of the wire into the opening on the right side of the connector.
5.
Using a small, flat-blade screwdriver (2.5 mm), tighten the screw clamp on the connector.
6.
Visually inspect the connection to ensure that the clamp has closed on the wire, not on
the insulation.
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Chapter 2: Installation
7.
Gently pull on the wire to confirm that it is securely attached to the connector.
8.
Repeat this process to connect the wire from the negative side of the power supply to
the left side of the connector.
9.
Connect the braided shield to the ground screw on the front of the controller.
A ring lug can be used, as shown in the following figure. The ground screw is an M3.
Figure 2-9. 24 V Connector
NOTE:Although no damage will occur, the Adept SmartController EX motion controller will not
turn on if the DC polarities on the XDC connectors are reversed.
IEEE 1394 Cable Specifications
Adept supplies the IEEE 1394 cables to connect the Adept SmartController EX motion controller to other Adept devices in the system. If you need a cable of a different length than those
supplied by Adept, then you must purchase a cable from one of the Adept-approved vendors
listed below:
l
CEI: www.componentsexpress.com
l
Molex, Inc.: www.molex.com
These purchased cables must meet all specifications of the IEEE 1394 standard. Note that
Adept uses 6-pin to 6-pin cables. The maximum length for a 1394 cable is 10 meters. The 1394
Trade Association provides detailed specifications for 1394 cables and other related information. See www.1394ta.org.
Adept SmartController EX User’s Guide, Rev. B
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Chapter 2: Installation
WARNING:You must use cables from vendors approved by Adept that
meet all specifications of the IEEE 1394 standard. Using a non-approved
or inferior quality IEEE 1394 cable can cause unpredictable system performance.
2.2 System Cable Installation
The Adept SmartController EX motion controller is used in many Adept systems, including
Adept Python Linear Modules, Adept Cobra s-series robots, the Adept Viper line of six-axis
robots, Adept Quattro robots, and the Adept sMI6 Module for the SmartMotion product.
See your specific product manual for complete details on system cabling for your Adept SmartController system.
Adept SmartController EX User’s Guide, Rev. B
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3.1 Connectors and Indicators
1
2 4
7
9
10
11 188
3
5
6
12 13 14 15 16 17
Figure 3-1. SmartController EXConnectors and Indicators
All of the connectors on the Adept SmartController EX motion controller use standard-density
spacing, D-subminiature connectors. For customization purposes, the user needs to provide
connectors of the appropriate gender and pin count, or use optional Adept cables.
Chapter 3: Operation
1.
SD Card Slot
See Installing an SD Card on page 20.
2.
Top Three Status LEDs
The top three two-color LEDs indicate diagnostic test, power control, and communication status.
Table 3-1. Controller LEDs
LED Green Indicates Red Indicates
OK/SF
HPE/ES High Power Enabled E-Stop Open
FW/HD SmartServo Con-
During system bootup, the red OK/SF and HPE/ES LEDs are lit and the red
FW/HD LED blinks. After system bootup, the OK/SF LED should show green. If
the HPE/ES LED shows red, the E-Stop circuit is open. During SD card reads and
System OK System Fault
nection
Read/Write from SD
card
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Chapter 3: Operation
writes, the FW/HD LED pulses red. When a robot is connected on one of the
SmartServo ports, the FW/HD LED shows green
3. Bottom Three Status LEDs
The bottom three LEDs on the front of the Adept SmartController EX motion controller
give the following information about the status of the main controller.
O = Off G = Green R = Red
Table 3-2. LEDStatus Indicators
LED Display
1 2 3
Error
Number
Description
O-O-O 0 No error.
R-O-O 1 System clock is dead or too fast. Clock inter-
rupts are not being received.
O-R-O 2 Hardware configuration error.
O-O-R 4 Memory test failure. Free storage error.
O-R-R 6 Software serial I/O configuration error.
R-R-R 7 Initial display set by hardware before software
has started.
G-O-O 9 Transient display set when PCI is configured.
O-O-G C Uninitialized trap.
G-O-G D Bus error detected.
If the Adept SmartController EX motion controller displays an error, cycle the
power off, then on again. If the problem persists, contact Adept Customer Service.
4.
SW1 DIP switches
The definition for DIP switches on the Adept SmartController EX motion controller is as
follow:
Switch 1:
l
OFF: use IP address from configuration on SD card
l
ON: use default factory IP address (printed on the bottom of the controller)
Switch 2:
l
OFF: normal connection through Ethernet
l
ON: communication through RS-232 on the TERM port
Switch 3 and 4: reserved for future use; always leave in the OFF position.
In normal operation, all switches should be OFF.
Adept SmartController EX User’s Guide, Rev. B
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Chapter 3: Operation
5.
SmartServo 1.1, 1.2, and 1.3
These ports connect any Adept SmartServo-compatible product to the controller via the
IEEE-1394 cable. These ports are interchangeable - any one can be used.
WARNING:Remove power from the controller before plugging in or unplugging any IEEE-1394 cables to or from these
connectors. Failure to remove power could result in unpredictable behavior by the system.
6.
Ethernet (Eth 10/100/1000) connectors
The shielded RJ-45 receptacles support 10/100/1000 BaseT Ethernet communications.
The two ports are interchangeable.
NOTE:The default IP address for the controller is located on a label on the bottom side of the controller chassis.
7.
Fieldbus Module
This module is reserved for future use.
8.
USB port
This port is reserved for future use.
9.
RS-232-1 and RS-232-2 connectors
These are RS-232 serial ports for general use. See Installing the Adept ACE Software on
page 32 for more information.
10.
RS-232 and RS-422/485 connectors
These ports support RS-232 and RS-422/485 devices, respectively. See Installing the
Adept ACE Software on page 32 for pin descriptions and locations.
11.
DeviceNet connector
DeviceNet is a field bus for industrial devices. This standard supports a variety of products, including sensors, digital I/O, analog I/O, RS-232, and PLCs. Other DeviceNet product types, such as keypads and displays, can be controlled using the eV+ FCMD
program instruction (see the eV+ Language Reference Guide for details). See Adept DeviceNet on page 85.
12.
XDIO connector
This connector includes 20 signal pairs: 8 digital outputs (100 mA max) and 12 digital
inputs, all of which are fast inputs. The digital outputs are short-circuit protected. This
connector also supplies 24 VDC power for customer equipment. See Connecting UserSupplied Digital I/O Equipment on page 45 for more information.
13.
XUSR connector
Provides switch functions for emergency stop (E-Stop) and Manual/Automatic interfaces
to external push-buttons and other equipment. For example, an external E-Stop can be
Adept SmartController EX User’s Guide, Rev. B
Page 29 of 96
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