Adept SmartMotion User Manual
Adept SmartMotion
12 3
RS-422/485
XUSR
XSYS
SF
XMCP
1.1
SmartController CS
LANHPE
OFF
24V 5A
ON
RS-232/TERM
XFP
HDES
XDIO
Eth 10/100
*S/N 3561-XXXXX*
SW1
Device Net
SmartServo
XDC1 XDC2
-+ -+
1234
OK
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1.2
Adept SmartController CS with sMI6 Motion Interface Module
24V
R
F2 DE2 F6 DE6
F1 DE1
ES HPE
STATUS
F5 DE5
F4 DE4
F3 DE3
-+ -+
s
XMACHINEXENCODER
MI6
*S/N 3564-XXXXX*
SmartServo
XSERVO
1.1 1.2
XANL
XDC1 XDC2
0.5A
Installation Guide
Adept SmartMotion
12 3
RS-422/485
XUSR
XSYS
SF
XMCP
1.1
SmartController CS
LANHPE
OFF
24V 5A
ON
RS-232/TERM
XFP
HDES
XDIO
Eth 10/100
*S/N 3561-XXXXX*
SW1
Device Net
SmartServo
XDC1 XDC2
-+ -+
1234
OK
R
1.2
Adept SmartController CS with sMI6 Motion Interface Module
24V
R
F2 DE2 F6 DE6
F1 DE1
ES HPE
STATUS
F5 DE5
F4 DE4
F3 DE3
-+ -+
s
XMACHINEXENCODER
MI6
*S/N 3564-XXXXX*
SmartServo
XSERVO
1.1 1.2
XANL
XDC1 XDC2
0.5A
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
Installation Guide
P/N: 02170-000, Rev. C
February, 2013
The information contained herein is the property of Adept Technology, Inc., and shall not be reproduced in whole or in part without prior written approval of Adept Technology, Inc. The information herein is subject to change without notice and should not be construed as a commitment by
Adept Technology, Inc. This manual is periodically reviewed and revised.
Adept Technology, Inc., assumes no responsibility for any errors or omissions in this document.
Critical evaluation of this manual by the user is welcomed. Your comments assist us in preparation
of future documentation. Please email your comments to: techpubs@adept.com.
Copyright
Adept, the Adept logo, the Adept Technology logo, AdeptVision, AIM, Blox, Bloxview,
FireBlox, Fireview, HexSight, Meta Controls, MetaControls, Metawire, Soft Machines, and Visual
Brain on Board is a registered trademark of Adept Technology, Inc. in Germany.
Adept ACE, Adept sDIO, Adept SmartController CX, Adept SmartController EX,
Adept SmartMotion, Adept SmartVision EX, AdeptSight, eV+, and V+
2003, 2013, 2013 by Adept Technology, Inc. All rights reserved.
Machines are registered trademarks of Adept Technology, Inc.
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
Table of Contents
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.1 Product Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
System Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Adept SmartMotion Hardware Overview . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Adept sMI6 Motion Interface Module . . . . . . . . . . . . . . . . . . . . . . . 12
Motion Interface Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.2 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Reading and Training for Users and Operators . . . . . . . . . . . . . . . . . . . . . . 12
System Safeguards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Safety Features on Front Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Computer Controlled Robots and Motion Devices . . . . . . . . . . . . 13
Manually Controlled Robots and Motion Devices . . . . . . . . . . . . . 13
Other Computer Controlled Devices . . . . . . . . . . . . . . . . . . . . . . . . 13
Program Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Overspeed Protection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Voltage Interruptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Inappropriate Uses of the Adept SmartController . . . . . . . . . . . . . . . . . . . . 14
1.3 Warnings, Cautions, and Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.4 How Can I Get Help? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.5 Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2 System Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.1 Overview of Installation Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.2 Adept sMI6 Connectors and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Adept sMI6 LED Descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Adept sMI6 Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.3 System Cable Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.4 Adept sMI6 Hardware Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
sMI6 Digital Input Logic Voltage Configuration . . . . . . . . . . . . . . . . . . . . . . 21
2.5 Proper Wiring and Electrical Design Practices . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.6 Enclosure for SmartController and sMI6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.7 Installing the Adept SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.8 Installing the Adept sMI6 Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.9 Installing MP6 Panels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Rail Mounting the MP6 Panels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Panel Mounting the MP6 Panels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Plug-In Opto Modules on the MP6-M . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Adept SmartMotion Installation Guide, Rev. C 5
Table of Contents
2.10 MP6 Machine (MP6-M) Panel Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
2.11 MP6 Servo (MP6-S) Panel Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
2.12 MP6 Encoder (MP6-E) Panel Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Optical Isolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Input Current Requirements (OT, HM) . . . . . . . . . . . . . . . . . . . . . . . . 31
Input Voltage Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Output Current Requirements (MP6-M, HPE and BR, External). . . . 32
User-Supplied Logic Power (Internal). . . . . . . . . . . . . . . . . . . . . . . . . 32
Overtravel Limit Switches (Input). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Home Switch (Input) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Brake Release (Output) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
High Power Enable (Output) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Drive Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Optical Isolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
MP6-S Input Current Requirements (Drive Fault) . . . . . . . . . . . . . . . 35
MP6-S Output Current Requirements (Drive Enable) . . . . . . . . . . . . 35
Connecting the Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Drive Enable (Output) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Delay Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Drive Fault (Input) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Command Drive (Output) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Encoder Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Connecting Power to the Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Encoder Power Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Encoder Cable Length (User Supplied) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Connecting the Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Encoder Input Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Single-Ended Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
3 Software Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
3.2 Phase 1 - Preparation for Software Configuration. . . . . . . . . . . . . . . . . . . . . . . . 44
3.3 Phase 2 - Load Device Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.4 Phase 3 - Configure SmartServo Network Map. . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.5 Phase 4 - Create Software Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.6 Phase 5 - Testing the System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
3.7 Motion Control Application Development . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4 Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
4.1 Dimensions for sMI6 Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
4.2 Dimensions for Mounting sMI6 Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.3 MP6 to sMI6 Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
6 Adept SmartMotion Installation Guide, Rev. C
Table of Contents
4.4 Typical Input and Output Circuits in sMI6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Input Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Output Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
4.5 Emergency Stop Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Adept SmartMotion Installation Guide, Rev. C 7
List of Figures
Figure 1-1. Adept sMI6 Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Figure 2-1. Close-up of sMI6 LED Labels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Figure 2-2. Adept sMI6 Module Front Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Figure 2-3. Adept SmartMotion System Cable Diagram . . . . . . . . . . . . . . . . . . . . . . . . . 20
Figure 2-4. Opening the sMI6 Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Figure 2-5. Location of Jumpers on Main PCA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Figure 2-6. MP6-S Panel – Layout and Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Figure 2-7. MP6-E Panel – Layout and Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Figure 2-8. MP6-M Panel – Layout and Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Figure 2-9. Typical System Wiring for One Axis of Motion . . . . . . . . . . . . . . . . . . . . . . . . 30
Figure 2-10. Encoder Input Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Figure 2-11. Encoder Input Schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Figure 2-12. Single-Ended Encoder Wiring Using Inverted Outputs . . . . . . . . . . . . . . . . . 42
Figure 2-13. Single-Ended Encoder Wiring Using Non-Inverted Outputs . . . . . . . . . . . . . 42
Figure 3-1. SmartMotion System Installed to Control a User Mechanism . . . . . . . . . . . . 43
Figure 4-1. Dimensions for sMI6 Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Figure 4-2. Rack Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Figure 4-3. Panel Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Figure 4-4. Table Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Figure 4-5. Typical Input Circuit in sMI6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Figure 4-6. Typical Output Circuit in sMI6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Figure 4-7. Category 3 E-Stop Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Figure 4-8. Category 1 E-Stop Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Adept SmartMotion Installation Guide, Rev. C 9
1.1 Product Description
24V
R
F2 DE2 F6 DE6
F1 DE1
ES HPE
STATUS
F5 DE5
F4 DE4
F3 DE3
-+ -+
s
XMACHINEXENCODER
MI6
*S/N 3564-XXXXX*
SmartServo
XSERVO
1.1 1.2
XANL
XDC1 XDC2
0.5A
The Adept SmartMotion product consists of a hardware and software package that
provides high-performance coordinated motion control for industrial automation devices.
Adept SmartMotion includes the sMI6 motion interface module and the Adept
SmartController, communicating via the SmartServo network, Adept’s distributed
controls network built on IEEE 1394. Completely integrated V+ software provides the
same high-level motion instructions that are used for Adept robots. The sMI6 supports up
to six axes of motion control per module.
Figure 1-1. Adept sMI6 Module
Introduction 1
System Overview
Adept SmartMotion has been designed to function as an integral part of Adept’s control
system. Typical components include an Adept SmartController (CS or CX model), one or
more sMI6 modules, MP6 panels, a manual control pendant, a desktop or laptop PC, and
a user-supplied mechanism with servomotors, encoders, and amplifiers. Additional
options such as Adept-supplied robots and vision systems are available.
Adept SmartMotion is intended to provide complete motion control of user-supplied
mechanisms. Users retain the flexibility of selecting the drive components that are best
suited for their applications. Adept SmartMotion can interface to industry standard drive
components including most servo amplifiers and optical encoders. Motion-related I/O
signals can utilize voltage levels chosen by the user.
Adept SmartMotion Hardware Overview
There are two major hardware components of the system, in addition to the
SmartController:
• Adept sMI6 Motion Interface Module
• Motion Interface Kit, includes MP6 panels and interface cables (this kit is optional)
Adept SmartMotion Installation Guide, Rev. C 11
Chapter 1 - Introduction
Adept sMI6 Motion Interface Module
The Adept sMI6 Motion Interface module is a six-channel unit that runs the Adept
SmartMotion product. The sMI6 module is a stand-alone unit designed to control a total
of six motion axes or external encoders. Each sMI6 module has six servo drive outputs, six
incremental encoder inputs, and digital I/O for machine and amplifier control.
Motion Interface Kit
The Motion Interface Kit includes the three Motion-interface Panels (MP6-E, MP6-M, and
MP6-S) that serve as the interface between the sMI6 module and the user’s hardware. The
MP6 panels provide mounting sockets for I/O modules used in conjunction with the
dedicated discrete input/output signals. The MP6 panels also provide detachable
barrier-type screw terminal strips and 9-Pin D connectors for all field wiring terminations.
Interface cables (3 meter) for connecting the sMI6 to the MP6 panels are included in the
kit.
NOTE: The Motion Interface Kit is optional, but it is recommended for
typical installations. Customers who do not order this option must
provide similar functionality.
1.2 Safety
WARNI NG : See the Adept SmartController User’s Guide
for additional safety information.
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, 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 the Adept SmartController User’s Guide for ordering information for
national and international standards.)
This manual assumes that the user has attended an Adept training course, or at least 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.
12 Adept SmartMotion Installation Guide, Rev. C
There are several warnings in this manual that say only skilled or instructed persons
should attempt certain procedures. These are defined as:
• 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, and 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.
Some of these features are described in the Adept SmartController User’s Guide.
Safety Features on Front Panel
Safety
The optional Front Panel has important safety features, including the
indicator, the
AUTO/MANUAL keyswitch, and the EMERGENCY STOP switch. If you
HIGH POWER
choose not to use the Front Panel, you should provide similar safety features by using the
connectors on the SmartController. Refer to the Adept SmartController User’s Guide for
more information.
WARNI NG : Entering the workcell when the
HIGH POWER
light is on can result in severe injury. This warning applies
to each of the next three sections.
Computer Controlled 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 is illuminated, do not enter the workcell because
the robot or motion device might move unexpectedly.
Manually Controlled Robots and Motion Devices
Adept robots and other motion devices can also be controlled manually when the
POWER
light on the Front Panel is illuminated. When this light is lit, motion can be
HIGH
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 SmartMotion Installation Guide, Rev . C 13
Chapter 1 - Introduction
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
POWER
is enabled. These devices can be connected using the emergency stop circuitry.
Program Security
HIGH
Programs and data stored in memory can be changed by trained personnel using the V+
+
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
+
be used in your programs to restrict access to the V
command prompt.
ATTACH instruction can
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 power 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 SmartController
The Adept SmartController is intended for use as a component sub-assembly of a
complete industrial automation system. The SmartController 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
SmartController sub-assembly is not intended for use in any of the following situations:
• In hazardous (explosive) atmospheres
• In mobile, portable, marine, or aircraft systems
• In residential installations
• In situations where the SmartController sub-assembly may come into contact with
liquids.
• In situations where the SmartController sub-assembly will be subject to extremes
of heat or humidity. See the specifications for allowable temperature and humidity
ranges.
See the Adept SmartController User’s Guide for any additional restrictions.
14 Adept SmartMotion Installation Guide, Rev. C
1.3 Warnings, Cautions, and Notes
There are four levels of special alert notation used in this manual. In descending order of
importance, they are:
DANGER: This indicates an imminently hazardous
situation which, if not avoided, will result in death or
serious injury.
WARNI NG : This indicates a potentially hazardous
situation which, if not avoided, could result in serious
injury or major damage to the equipment.
Safety
CAUTION: This indicates a situation which, if not avoided,
could result in minor injury or damage to the equipment.
NOTE: This provides supplementary information, emphasizes a point or
procedure, or gives a tip for easier operation.
Adept SmartMotion Installation Guide, Rev . C 15
Chapter 1 - Introduction
1.4 How Can I Get Help?
Refer to the How to Get Help Resource Guide (Adept P/N 00961-00700) for details on
getting assistance with your Adept software and hardware. This document is available on
the Adept Documentation Library CD-ROM that is shipped with all systems.
Additionally, you can access information sources on Adept’s corporate Web site:
http://www.adept.com
1.5 Related Manuals
This manual covers the installation of an Adept SmartMotion system. There are additional
manuals that cover software configuration, programming the system, reconfiguring
installed components, and adding other optional components. Refer to the following
manuals for additional information your Adept system.
NOTE: Al l of the manuals in Table 1-1 are available on the Adept
Documentation Library CD-ROM provided with each system.
(Previously this was known as the Knowledge Express CD-ROM.)
Table 1-1. Related Manuals
Manual Title Description
Adept SmartMotion
Developer’s Guide
Adept SmartController
User’s Guide
AdeptWindows Installation
Guide and AdeptWindows
Online Help
Instructions for Adept
Utility Programs
V+ Operating System User’s
Guide
V+ Language User’s Guide Describes the V
Describes the software configuration process for the Adept
SmartMotion product. See Chapter 3 for more information.
The Adept SmartMotion Developer’s Guide is provided as an
online HTML document with a Table of Contents, Search, and
Index features to navigate the document. If you do not see these
features when you are viewing a topic, click the SHOW TOC
icon that displays in the upper left corner of each page.
Contains complete information on the installation and
operation of the Adept SmartController and the optional sDIO
product.
Describes complex network installations, installation and use of
NFS server software, and the AdeptWindows DDE software.
Describes the utility programs used for advanced system
configurations, system upgrades, file copying, and other
system configuration procedures.
Describes the V
operations, monitor commands, and monitor command
programs.
control system.
+
operating system, including disk file
+
language and programming of an Adept
16 Adept SmartMotion Installation Guide, Rev. C
System Installation 2
2.1 Overview of Installation Process
This section provides a summary of the major steps involved with installing a Adept
SmartMotion system.
1. Verify that the default hardware configuration for the sMI6 module is correct for
your application. The area to look at is:
• Digital Input Logic Voltage - see page 21.
If you need to change these settings, you will have to open the chassis and install
or move jumpers.
2. Review the proper field wiring practices. See Section 2.5 on page 23.
3. Select an enclosure for the SmartController and sMI6 chassis. See Section 2.6 on
page 24.
NOTE: Refer to the system cable diagram in Figure 2-3 on page 20 for the
remaining steps in this process.
4. Install the SmartController and peripherals. See Section 2.7 on page 25.
5. Install the sMI6 module. See Section 2.8 on page 25.
6. Install mounting rails for the three MP6 panels, then mount the three MP6 panels
on the rails. See Section 2.9 on page 26.
7. Connect cables from the sMI6 to the MP6-M, MP6-S, and MP6-E panels.
8. Install wiring to user equipment from the MP6-M and MP6-S panels. Also select
and install opto-modules. See Section 2.10 on page 31 and Section 2.11 on page
35.
9. Install wiring to user encoders from the MP6-E. See Section 2.12 on page 38.
When the above process is complete, the next step is to use the CONFIG_C and SPEC
utility programs to configure the software for your system. An overview for this process is
located in Chapter 3.
Adept SmartMotion Installation Guide, Rev. C 17
Chapter 2 - System Installation
6
5
3
S
US
Note: early sMI6 Module LED labels
had DF instead of F for fault conditions,
and NET instead of STATUS. The
functionality is identical for both
versions.
2.2 Adept sMI6 Connectors and Indicators
Adept sMI6 LED Descriptions
F6DE
F5DE
E
STAT
F3DE
Figure 2-1. Close-up of sMI6 LED Labels
The LEDs on the sMI6 are two-color devices - they can display either green or red.
Table 2-1. sMI6 LED Functions
LED Name Color Function Description
Fx (1-6) Solid Red Indicates a Fault condition exists on channel x
(1-6). Possible causes are Drive Fault,
Overtravel, quadrature error, or broken wire.
DEx (1-6) Solid Green Indicates a Drive Enable signal has been
asserted for channel x (1-6).
ES Solid Red Indicates an E-Stop signal has been asserted
from the sMI6.
HPE Solid Green Indicates the High Power Enable signal has
been asserted.
STATUS Solid Red Boot up or microprocessor problem (set by the
sMI6 hardware, other patterns are software
generated)
Slow Blinking Green Normal operation, high power OFF
Fast Blinking Green Normal operation, high power ON
Fast Blinking Red An error caused High Power to be disabled.
+
message for source of error.
See V
Fast Blinking Red/Green Triggered by utility for identifying a node on
the 1394 network
Short blink red, long blink
red, off, then repeat
If this pattern appears at boot-up, it means the
SDRAM has failed and the unit must be
returned to Adept.
18 Adept SmartMotion Installation Guide, Rev. C
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