Adept SmartMotion User Manual

Adept SmartMotion

Installation Guide

	R		SmartServo							*S/N 3564-XXXXX*
			1.1	1.2	XENCODER	XMACHINE	XSERVO	XANL			MI6
									XDC1 XDC2
	F2 DE2		F6 DE6						24V	0.5A
	F1 DE1		F5 DE5
	ES HPE		F4 DE4
											s
	STATUS		F3 DE3
									-+	-+
										*S/N 3561-XXXXX*
		R
				SmartServo							CS
											SmartController
OK	HPE	LAN	SW1		Device Net	Eth 10/100
				1.1	1.2		RS-232/TERM		RS-422/485
SF	ES	HD	1 2 3 4
			ON
			OFF
1	2	3	XDIO
					XUSR	XSYS	XFP	XMCP	XDC1 XDC2
									24V	5A
									- +	- +

Adept SmartController CS with sMI6 Motion Interface Module

Adept SmartMotion

Installation Guide

	R		SmartServo							*S/N 3564-XXXXX*
			1.1	1.2	XENCODER	XMACHINE	XSERVO	XANL			MI6
									XDC1 XDC2
	F2 DE2		F6 DE6						24V	0.5A
	F1 DE1		F5 DE5
	ES HPE		F4 DE4
											s
	STATUS		F3 DE3
									-+	-+
										*S/N 3561-XXXXX*
		R
				SmartServo							CS
											SmartController
OK	HPE	LAN	SW1		Device Net	Eth 10/100
				1.1	1.2		RS-232/TERM		RS-422/485
SF	ES	HD	1 2 3 4
			ON
			OFF
1	2	3	XDIO
					XUSR	XSYS	XFP	XMCP	XDC1 XDC2
									24V	5A
									- +	- +

Adept SmartController CS with sMI6 Motion Interface Module

P/N: 02170-000, Rev. C

February, 2013

5960 Inglewood Drive • Pleasanton, CA 94588 • USA • Phone [phone] • Fax [phone] Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone [phone] • Fax [phone]

Block 5000 Ang Mo Kio Avenue 5 • #05-12 Techplace II • Singapore 569870 • Phone [phone] • Fax [phone]

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: [e-mail].

Copyright 2003, 2013, 2013 by Adept Technology, Inc. All rights reserved.

Adept, the Adept logo, the Adept Technology logo, AdeptVision, AIM, Blox, Bloxview, FireBlox, Fireview, HexSight, 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 CX, Adept SmartController EX, Adept SmartMotion, Adept SmartVision EX, AdeptSight, eV+, 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

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

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

2.11 MP6 Servo (MP6-S) Panel Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

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

2.12 MP6 Encoder (MP6-E) Panel Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

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

Introduction 1

1.1Product Description

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.

R			SmartServo						*S/N 3564-XXXXX*
			1.1	1.2	XENCODER	XMACHINE	XSERVO	XANL		MI6
								XDC1 XDC2
F2	DE2	F6	DE6					24V	0.5A
F1	DE1	F5	DE5
ES HPE		F4	DE4
										s
STATUS		F3	DE3
								-+	-+

Figure 1-1. Adept sMI6 Module

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.

1.2Safety

WARNING: 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

Safety

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

The optional Front Panel has important safety features, including the HIGH POWER indicator, the AUTO/MANUAL keyswitch, and the EMERGENCY STOP switch. If you 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.

WARNING: 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 HIGH POWER light on the Front Panel 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 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 HIGH POWER is enabled. These devices can be connected using the emergency stop circuitry.

Program Security

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+ ATTACH instruction 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 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

Safety

1.3Warnings, 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.

WARNING: This indicates a potentially hazardous situation which, if not avoided, could result in serious injury or major damage to the equipment.

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

1.4How 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

1.5Related 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	Describes the software configuration process for the Adept
Developer’s Guide	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.
Adept SmartController	Contains complete information on the installation and
User’s Guide	operation of the Adept SmartController and the optional sDIO
	product.
AdeptWindows Installation	Describes complex network installations, installation and use of
Guide and AdeptWindows	NFS server software, and the AdeptWindows DDE software.
Online Help
Instructions for Adept	Describes the utility programs used for advanced system
Utility Programs	configurations, system upgrades, file copying, and other
	system configuration procedures.
V+ Operating System User’s	Describes the V+ operating system, including disk file
Guide	operations, monitor commands, and monitor command
	programs.
V+ Language User’s Guide	Describes the V+ language and programming of an Adept
	control system.

16	Adept SmartMotion Installation Guide, Rev. C

System Installation 2

2.1Overview 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.

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Chapter 2 - System Installation

2.2Adept sMI6 Connectors and Indicators

Adept sMI6 LED Descriptions

	F2	DE2	F6	DE6	Note: early sMI6 Module LED labels
					had DF instead of F for fault conditions,
	F1	DE1	F5	DE5	and NET instead of STATUS. The
					functionality is identical for both
	ES	HPE	F4	DE4	versions.
	STATUS		F3	DE3

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.
		See V+ message for source of error.
	Fast Blinking Red/Green	Triggered by utility for identifying a node on
		the 1394 network
	Short blink red, long blink	If this pattern appears at boot-up, it means the
	red, off, then repeat	SDRAM has failed and the unit must be
		returned to Adept.

18	Adept SmartMotion Installation Guide, Rev. C