adept technology MV User Manual

Adept MV Controller

User’s Guide

040

SIO

STP

SF

1

OK

2

SCR

A

ESTOP

3

ACC V

C

B

4

SCSI

ON

VME

D

2
3
41

OK

6
7

D

85

R
I

RESET

V
E

A

F
P
/

ABORT

M
C
P

RESET

R

R

R

S

S

S

2

4

2

3

2

3

2

2

2

#1

R
S
2

I

3

/

2

O

R

2

S

4

2

V

3

E

2

T

1

/

®

DIO

FAIL PASS

I

I

T

T

S

NPU

HPE

DE1

DE2

MI6

ESF1F2F3F4

OK

ESTOP

SIO

123

STP

SCRCVME

040

ABD

SF

NPU

DE3

DE4

DE5

DE6

E

N

CODER

F5

F6

I

V

E

D

R

A

ACC V

SCSI

OK

RESET

6785ON2341

4

F

ABORT

T

T

P

U

U

O

S

A

E

C

HIN

M

232

S

R

232

S

R

/

P

P

C

M

RESET

422

S

R

T

T

S

S

P

U

U

O

S

ERV

O

232

S

R

T

T

E

E

HER

N

WARNING:

FOR CONTINUED PROTECTION AGAINST RISK OF FIRE,

A

m

T

E

R

#2

M

REPLACE ONLY WITH SAME TYPE AND RATING OF FUSE.

USE ONLY WITH

250V FUSES

~100-240V
50/60HZ

5AT

I

/

2

4V100

O

#1

/

232

S

R

H

0

T

E

0

E

R

m

R

N

A

M

E
T

#2

USE ONLY WITH

WARNING:

250V FUSES

FOR CONTINUED PROTECTION
AGAINST RISK OF FIRE,
REPLACE ONLY WITH SAME
TYPE AND RATING OF FUSE.

5AT

~100-240V
50/60HZ

VJI

VGB

VIS

DIO

FAIL PASS

HPE

ES

OK

2

1

4

3

V

V

6

5
I
D
E
O

B
U
S

M
O
N
I
T
O
R

2
3
41

P
O
I
N
T
E
R

KEYBOARD

I

I

N

D

P

E

U

O

T
S

B
U
S

I
N
P
U
T
S

AMPLIFIER

SIGNAL

1
2
3
4

O

ON

U
T
P
U
T

BELT

S

ENCODER

C
A
M

O

E

U

R

T

A

P

S

U

/

T

S

S

T
R
O
B

ARM

E

SIGNAL

S

®

Adept MV Controller

User’s Guide

DIO

FAIL PASS

I

I

T

T

S

NPU

HPE

DE1

DE2

MI6

ESF1F2F3F4

OK

ESTOP

SIO

123

STP

SCRCVME

040

ABD

SF

NPU

DE3

DE4

DE5

DE6

E

N

CODER

F5

F6

I

V

E

D

R

A

ACC V

SCSI

OK

RESET

6785ON2341

4

F

ABORT

T

T

P

U

U

O

S

A

E

C

HIN

M

232

S

R

232

S

R

/

P

P

C

M

RESET

422

S

R

T

T

S

S

P

U

U

O

S

ERV

O

232

S

R

T

T

E

E

HER

N

I

/

2

4V100

A

O

m

#1

#2

/

232

T

S

E

R

R

M

Part Number 00330-01030, Rev C
September 1996

®

WARNING:

FOR CONTINUED PROTECTION AGAINST RISK OF FIRE,
REPLACE ONLY WITH SAME TYPE AND RATING OF FUSE.

USE ONLY WITH

250V FUSES

~100-240V
50/60HZ

5AT

040

SIO

STP

SF

1

OK

2

SCR

A

ESTOP

3

ACC V

C

B

4

SCSI

ON

VME

D

2
3
41

OK

6
7

D

85

R
I

RESET

V
E

A

F
P
/

ABORT

M
C
P

RESET

R

R

R

S

S

S

2

4

2

3

2

3

2

2

2

#1

R
S
2

I

3

/

2

O

R

2

S

4

2

V

3

E

2

T

1

/

H

0

T

E

0

E

R

m

R

N

A

M

E
T

#2

VJI

VGB

VIS

DIO

FAIL PASS

HPE

ES

OK

2

1

4

3
V

V

6

5
I
D
E
O

B
U
S

M
O
N
I
T
O
R

2
3
41

P
O
I
N
T
E
R

KEYBOARD

I

I

N

D

P

E

U

O

T
S

B
U
S

I
N
P
U
T
S

AMPLIFIER

SIGNAL

1
2
3
4

O

ON

U
T
P
U
T

BELT

S

ENCODER

C
A
M

O

E

U

R

T

A

P

S

U

/

T

S

S

T
R
O
B

ARM

E

SIGNAL

S

®

USE ONLY WITH

WARNING:

250V FUSES

FOR CONTINUED PROTECTION
AGAINST RISK OF FIRE,
REPLACE ONLY WITH SAME
TYPE AND RATING OF FUSE.

5AT

~100-240V
50/60HZ

adept

c

te hnology, inc.

®

150 Rose Orchard Way • San Jose, CA 95134 • USA • Phone [phone] • Fax [phone]
Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone [phone] • Fax [phone]
41, rue du Saule Trapu • 91882 • Massy cedex • France • Phone [phone] • Fax [phone]
Via don Luigi Sturzo 39/41 • 52100 Arezzo • Italy • Phone [phone] • Fax [phone]
1-2, Aza Nakahara Mitsuya-Cho • Toyohashi, Aichi-Ken • 441-31 • Japan • (0532) 65-2391 • 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 her e in is subject to ch ange without notice and should not be constru e d as a commitment b y
Adept Technolo gy, Inc. This manual is perio di cally rev ie wed and revis ed.

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 u s in prepar atio n of futu re docu mentati on. A for m is prov ided at t he back of the book for su b­mitting your comments.

Copyright © 1993, 1994, 1995, 1996 by Adept Technology, Inc. All rights reserved.

The Adept logo is a registered trademark of Adept Technology, Inc.

Adept, AdeptOne, AdeptOne-MV, AdeptThree, AdeptThree-MV, PackOne, PackOne-MV,

HyperDrive, Adept 550, Adept 550 CleanRoom, Adept 1850, Adept 1850XP,

A-Series, S-Series, Adept MC, Adept CC, Adept IC, Adept OC, Adept MV,

AdeptVision, AIM, VisionWare, AdeptMotion, MotionWare, P a lletWare,

AdeptNet, AdeptFTP, AdeptNFS, AdeptTCP/IP, AdeptForce, AdeptModules,

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

DECLARATION OF CONFORMITY

We, Adept Technology, with Corporate Headquarters at 150 Rose Orchard Way, San Jose, CA.,
USA, and European Technical Center at Otto-Hahn Str. 23, 44227 Dortmund, Germany,
here with declare that the:

Controllers MV-5 (P /N 30340-10000 and 30340-30000), MV-8 (P/N 30330-15000),

MV-10 (P/N 30340-20000 and 30340-40000) or MV-19 (P/ N 30330-25000),

with/without

Operator’s Manual Control Pendant (MCP III) (P/N 90332-48050)

VME Front Panel Category 1 (P/N90332-00380) or Category 3 (P/N 90335-00380)

in the form delivered by us to which this Declaration relates, comply with the relevant and
fundamental safety and health requirements defi ned in the EC Directiv e 89/336/EEC,
Appendix 1, and the following standards:

EN 55011: 1991, Class A
EN 50082-2: 1995
EN 60204-1: 1992
IEC 1131-2: 1992

following the provision of Directives:

89/336/EEC
89/392/EEC
73/23/EEC

under the following usage and environmental conditions:

1. The Controller must not be put into operation until all of the machinery into wh ich it is
incorporated has been declared in compliance with the provisions of the effect ive versions of
the directives. This includes all supplementary equipment and protective devices.

2. The Controller must be used in accordance with instru ctions specified in the Adept MV
Controller Instruction Handbook.

3. The Controller must incorporate only those MV Plug-in Modules listed in Table 1 or Table 2
attached. If Plug-in Modules listed in Table 2 are installed, the user must verify conformance to
the EMC Directive after installation.

4. This Declaration applies only to those Adept product part-numbers specifically listed in this
declaration. The following changes may result in the system not complying with the applicable
Directives, and would void this declaration unless additional testing and/or evaluation is
performed by the user:

• unauthorized user-modifications;

• substitution or addition of Adept parts n ot listed on this declaration;

• addition of u s e r-s u p p li e d p a rt s a n d accessorie s

This Declaration is based upon extensive tests and evaluati on by TÜV Rheinland, a Notified and
Competent Body, in their Project Numbers E937204 3 and E9572482. The complete Fi l e i s available at
Adept’s California addr ess.

Place: San Jose, California, USA

Date: 18 September 1996

Signed:

Full Name: Richard J. Casler, Jr.

Position: Vice President, Engineering

P/N 0133 2-0 0050
Rev. A-X1

English

Declaration of Conformity

as defined in Machinery Directive 89/392/EEC, Appendix IIB

We herewith declare that the machine as delivered by us complies with the
relevant and fundamental safety and health requirements defined in the EC
Directive, Appendix 1.

Deutsch

Konformitätserklärung

im Sinne der EG-Maschinenrichtlinie 89-392/EWG, Anhang II B

Hiermit erklären wir, daß die nachstehende Maschine in der von uns gelieferten
Ausführung, den einschlägigen , grundleg en de n S ic h erheits- u n d
Gesundheitsanforderungen der EG-Richlinie Anhang I, entspricht.

Française

Déclaration de Conformité,

selon la Directive Communautaire relative aux machines

89/392/CEE, Annexe II B.

Par la présente, mnous déclarons que la machine décrite ci-dessous, livrée en
l'état, est conforme à la directive communautaire, Annexe I, sur les impératifs
fondamentaux en matière de santé et de sécurité.

Italiano

Dichiarazione di Conformità

ai sensi della direttiva CE 89/392/EEC relativa a macchinari Appendice IIB

Si dichia ra c h e la m acchina , com e da n oi fornita, soddisf a i requisiti fondam e n t a li
definiti nella direttiva CE, Appendice I,in fatto di sicurezza e sanità.

P/N 0133 2-0 0050
Rev. A-X1

Table 1

VME Plug-in Modules and accessories that meet all applicable Directives and that may be
installed , with ou t ad d itio n al EM C co nfo r man ce testing, in MV-5, MV-8, MV-1 0, and MV-19
Controllers

Part Nu mber

Minimum Acceptable

Revision

Description

10332-11150 P6 PCA, VME 030 Processor
10332-00710 P1 PCA, VME 040 Processor
30332-12350 P2 SYSIO 2 Module Assy FD/HD (SIO2)
30332-12351 P2 SYSIO 2 Module Assy FD
10332-00800 P2 PCA, VME Digital I/O (DIO)
10332-10250 P3 PCA, VME Graphics Board (VGBIII)
10332-00600 P2 PCA VME Frame Grabber (VIS)
10332-00655 P1 PCA VME Frame Grabber (EVI)
10332-11400 P4 PCA, VME Motion Interface, MI-3
10332-12400 P2 PCA, VME Motion Interface, MI-6
10332-00500 P2 PCA, VME Joint Interface (VJI III)
15600-00090 A Camera, CCD

Table 2

Plug-in Modules and Accessories that may be installed in MV-5, MV-8, MV-10, and MV-19
Controllers but must first be tested in the final system configurati on to assure full
compliance.

Part Number Minimum Acceptable

Revision

90332-02020 P1 AdeptNet 10BaseT Kit
10330-00970 B PCA, VME Analog I/O (AIO)
90211-00000 B Adept Force Kit
90332-12400 A MP6 Kit

Description

P/N 0133 2-0 0050
Rev. A-X1

Table of Contents

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

1

1.1 How to Use This Ma n u al

Follow These Steps to Install and Configure the Adept MV Controller
Related Manuals

Standard Manuals
Other Adept Pro duct M a nuals
Optional V

1.2 Warnings, Cautio ns, and Notes

1.3 Safety

1.4 Standards Compliance

1.5 How Can I Get Help?

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Reading and Tr aini ng for Us e rs and Ope rator s
Syste m Safe guards

Safety Features on External VME Front Panel (VFP)
Computer-C on tro lled Robo ts and Motion Device s
Manually-Co ntr oll ed Robots and Motion D evic es

Other Computer-Controlled Devices
Progr a m S e curity
Overspeed Protection
Voltage Interrup tion s
Inappropriate Uses of the Adept MV Controller

. . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . .

+

Develop e r’s M an ual s

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2

2
2
2

3
3

4
4

4
5
5

5
5
5

6
6
6
6

7
8

Within the Continental United States

Servic e Calls

Application Questions

Training Information
Within Europe
Outside Continental United States or Europe
Adept World Wide Web Site
Adept Bulletin Board Service

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

2

2.1 Introduction

2.2 Controller Models

Adept MV-5 Controller
Adept MV-10 Controller
Adept MV-8 Controller
Adept MV-19 Controller

2.3 A-Series and S-Series Controller Options

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Adept MV Controller User’s Guide, Rev C vii

8
8

8
8
9

9
9
9

12
12

12
12
14
14

14

Table Of Contents

Adept A-Series Option
Adept S-Series Option

2.4 Standard Modules

. . . . . . . . . . . . . . . . . . . . . . . . . . .

System Processor (030 or 040)

030 Module
040 Module

System Input/ Output Module (SIO)

2.5 Optional Modules

. . . . . . . . . . . . . . . . . . . . . . . . . . .

Adept Grap hi c s M odule (VGB)
AdeptVision VM E Inter fac e M od ul e (VIS)
AdeptMoti on In terfa c e Mod ule s (MI3/MI6)
Adept VME Joint Interfac e Mod ul e (VJI)
AdeptForce VME Mo d u le (VFI)
Digital Input/ Output Module (DI O )
Auxiliary Processor

2.6 Optional Equipment

External Front Panel (V FP-1 or VFP-3)
Manual Control Pendant (MCP)
AdeptNet

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A-Series Color Monitor
A-Series Extended Keyboard
Third-Party Terminals for an S-Series Controller

2.7 Product Descriptions

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14
15

15

15
15

15
15

16

16
16
16
18
18
18
18

19

19
19
19
19
19
20

20

AdeptVision VME
AdeptMotion VME
AdeptForce VME

3

Installation for MV-5 and MV-10 Controllers

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3.1 Shipping, Storage, Unpacking and I n s pection

Shipping an d S torage
Before Unpacking
Upon Unpackin g
Repacking For Relocation

3.2 Controller ID Label

. . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Facility Requirements

Voltage Interrup tion s

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3.4 Connecting AC Power (MV-5 an d MV-10)

AC Power Requirements

. . . . . . . . . . . . . . . . . . . . . . .

Facility Overvoltage Protection

Power Ent r y M o d u le

. . . . . . . . . . . . . . . . . . . . . . . . . .

Function of VFP System Power Switch with MV-5 and MV-10 Controllers

Remote System Power Option

Connecting AC Power Cord

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21

20
20
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22

22
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23

23

24

24
24
25
25
25
27

viii Adep t MV Controller User’s Guide, Rev C

Table Of Contents

System Grounding Information

3.5 Fuse Informatio n (MV -5 a n d MV-10)

3.6 Fan and Filter Informa tion

Cooling Fan

. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . .

Filter Inspection and Cleaning

3.7 Removing and Installin g Modules

VMEbus Addres s Setti ng s
Upper Backplane Jum per Plugs (P1 )

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Lower Backplane Jumper Plugs (P2) and Third-Party Modules
Removing Modul es
Installing Modules

3.8 Installing the A-Series Monit or and Keyboar d

Installation Procedure

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Installing Non -Ad ept Peripheral s in an A-S erie s Syst e m

Third-P arty Mon ito r Compat ibility
Third-P a r ty Ke yboard Comp atibility

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. . . . . . . . . . . . . .

Third-P arty Pointing Dev ic e Compa tibility

3.9 Installing a Terminal in an S-Se rie s S yst em

Recommended Terminal for S-Series Systems

Cont acting W Y S E

. . . . . . . . . . . . . . . . . . . . . . .

Customer-S upp lied Serial Interfa c e Ca ble
Installation Procedure

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3.10 Installing a Stand-A lone Controller in a Rack o r Pan e l

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33

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34
35
35

35
35

36

36
36
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36

37

Space Around the Ch assi s
Rack Mounti ng
Panel Mounting

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3.11 Installing a Robot Controller in a Rack or Panel

Space Around the Ch assi s
Rack Mounti ng
Panel Mounting

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3.12 MV-5 and MV-10 Controller Technical Speci fications

4

Installation for MV-8 and MV-19 Controllers

4.1 Shipping, Storage, Unpacking and I n s pection

Shipping an d S torage
Before Unpacking
Upon Unpackin g
Repacking For Relocation

4.2 Controller ID Label

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4.3 Facility Requirements

Voltage Interrup tion s

4.4 Connecting AC Po we r

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Adept MV Controller User’s Guide, Rev C ix

Table Of Contents

AC Power Requirements

Facility Overvoltage Protection

Power Ent r y M o d u le
Connecting AC Power Cord
System Grounding Information
Changin g Voltage Settings (M V-8 and MV-19 )

4.5 Fuse Informatio n (MV -8 a n d MV-19)

4.6 Fan and Filter Informa tion

Cooling Fan

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Filter Inspection and Cleaning

4.7 Removing and Installin g Modules

VMEbus Addres s Setti ng s
Backplane Jumper Plugs
Removing Modul es
Installing Modules

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4.8 Installing the A-Ser ies Monitor and K e ybo ard

4.9 Installing a Terminal in an S-Se rie s S yst em

4.10 Installing in a Rack or Pa nel Mo u nt

Space Around the Ch assi s
Panel Mounting
Rack Mounti ng

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4.11 MV-8 and MV-19 Controller Technical Speci fications

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46
46
47
47
48
48

50
51

51
51

52

52
52
54
54

54
54
55

55
55
55

57

5

030 Processor Module

5.1 Introduction

5.2 Connections and Indicators

5.3 Serial I/O Connections, 030 Mo dule

RS-422/485 Connector (on 030 Module)
RS-232/Term Connector (on 030 Module)

5.4 Memory

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5.5 VMEbus Address

5.6 030 Jumper Settings

5.7 Use as an Auxiliary Pro ce ssor

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Used in an S-Series System
Used in an A-Series System
Typical Cable Co nne cti o n s
Typical Cabl e Co nnec ti o n s, 9- pin to 25-pin (DCE)
Typical Cabl e Co nnec ti o n s, 9- pin to 25-pin (DTE)

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Recommended Connections, 9-pin to 25-pin (Wyse WY-60 Termi­nal)

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Typical Cabl e Co nnec ti o n s, 9- pin to 9-p in (A T -Co m patible)
DTE, DCE, or AT-style?

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60
60
61

61
62
62
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63
63
64

64
65
66

67
67
68
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x Adept MV Controller User’s Guide, Rev C

Table Of Contents

5.8 030 Processo r Mod u l e Specifi cations

6

040 Processor Module

6.1 Introduction

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6.2 Connections and Indicators

6.3 Serial I/O Connections, 040 Mo dule

RS-422 Connector (on 040 Module)
RS-232/Term Connector (on 040 Module)

Used in an S-Series System
Used in an A-Series System
Connections from 040 RS-232 to Wyse Terminal

6.4 Memory

6.5 VMEbus Address

6.6 040 Jumper Settings

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6.7 Use as an Auxiliary Pro ce ssor

6.8 040 Processo r Mod u l e Specifi cations

7

System Input/Output Module (SIO)

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69

71

72
72
73

73
74
74
74
76

76
77
77
79
79

81

7.1 Introduction

7.2 Connections and Indicators

DIP Switch Setting s

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7.3 System Configuration Information

7.4 Mass Storage

Floppy Drive
Hard Drive

7.5 Serial I/O Connectors

7.6 Digital I/O Connecto r

Input Signals

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REACT Input Signals 1001 to 1012

Fast Input Signals 1001 to 1003
Output Signals
Typica l D ig ital Inpu t Wiring

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Typical D ig ital Outp ut W iring
Digital I/O Connec to r Pinouts
Digital I/O Con nec to r Ord e ring De tai ls (T hi rd-P a rty Sourc es)

AMP Part Numbers for 50-Pin Male D-Sub

Thomas and Betts Part Numbers for 50-Pin Male D-Sub
Screw-Terminal Field-Wiring Adaptor Blocks

7.7 Emergency Stop Ci rcuit

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82
82

83

83
83

83
83

84
85

85
85

85
87
88
89
90
91
91
92
92

93

External E-Stop In put
Passive E-Stop Output

Adept MV Controller User’s Guide, Rev C xi

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93
93

Table Of Contents

7.8 External Front Panel (V F P-1 )

Controls and Indicators
Installing the External Front Panel (VFP)

7.9 Manual Control Pendant (MCP)

Connecting the MCP to the VFP

MCP Cradle

7.10 User-Supplied External Front Panel

Construction of Cable from SIO to VFP
MCP Connecto r
Front Panel/MC P Con ne c to r and Ca bl e

7.11 SIO Module Specific at ions

8

Adept Graphics Module (VGB)

8.1 Introduction

8.2 Connections and Indicators

DIP Switch Setting s

8.3 VMEbus Address

8.4 Monitor Video Interface

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96

96
97

99

99
99

100

100
100
101

102

103

104
104

105

105
106

8.5 Keyboard Interface

8.6 Pointer Interface

8.7 VGB Module Specifica tion s

9

AdeptVision VME Module (VIS)

9.1 Introduction

9.2 Connections and Indicators

9.3 VMEbus Address and Conf iguration

9.4 Camera Comp at ibilit y

9.5 Installing Video Bus Cou pling

9.6 Camera Breakout Cables

Two-Camera Brea ko ut Cable
Four-Camera Breakout Cable
10-Meter Adept MV Camera Cables

9.7 Installing Camera C ab l es

9.8 Camera Cable Pin and Signal Information

9.9 VIS Module Specificat ions

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107
107
108

109

110
110
111
112
113
113

113
114
114

115
116
124

10

AdeptMotion Interface Module (MI6/MI3)

10.1 Introduction

10.2 Connections and Indicators

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xii Adept MV Controller User’s Guide, Rev C

125

126
126

Table Of Contents

11

12

10.3 VMEbus Address

10.4 Jumper Settings and Resistor Configuration on MI3/MI6

10.5 Connecting to User Equipment

10.6 MI3/MI6 Module Sp e cifications

Adept Joint Interface Module(VJI)

11.1 Introduction

11.2 Connections and Indicators

11.3 VMEbus Address

Address Setting s for VJI Modules
Addre ss Settings fo r M ultiple Se r v o B o ards

11.4 Belt E n coder In terface

11.5 VJI Module Specificatio ns

AdeptForce VME Module (VFI)

12.1 Introduction

12.2 Connections and Indicators

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127
127
128
129

131

132
132
133

133
133

134
136

137

138
138

13

12.3 VMEbus Address

12.4 VFI Module Specificatio ns

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Digital Input/Output Module (DIO)

13.1 Introduction

13.2 Connections and Indicators

13.3 Inputs

13.4 Outputs

Testing Outputs and Fuses
Output Power Suppl y Volta g e Jum per s
Output Power Sup pl y Cu rre nt Se lec tio n

13.5 Typical DIO Wiring

13.6 Optional DIO Cables

Labeling Ca bl es
Input and Outp ut C ab le Wi ring Inf ormation

13.7 Additional DIO Modules

Setting the Module Address
Labeling Sets of Cables

13.8 DIO Module Specif ica tio n s

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139
140

141

142
142
142
143

144
144
145

146
148

148
148

153

153
153

155

14

Maintenance

14.1 Introduction

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Adept MV Controller User’s Guide, Rev C xiii

157

158

Table Of Contents

14.2 Fan Filter Inspection and Cleaning MV-8/MV-19

14.3 Fan Filter Inspection and Cleaning MV-5/MV-10

14.4 VFP Lamp Test

14.5 Spare Parts Lis t MV-8/MV-19

14.6 Spare Parts Lis t MV-5/MV-10

A

Dimension Drawings

A.1 Dimensions for Adept MV-5 and MV-10 Stand-Alone Controllers
A.2 Dimensions for Adept MV-5 and MV-10 Robot Controllers
A.3 Dimen sions fo r Adept MV-8 Control ler
A.4 Dimen sions fo r Adept MV-19 C ontroll er
A.5 Mounting Bracket Dimensions
A.6 External Front Panel (VFP-1) Dimensions
A.7 MCP Cradle Dimensions

B

Position Latch and Vision Trigger

B.1 External Input For Position Latch and Vision Trigger

Position Latc h
Vision Trigger
Combined Vision Trigger and Position Latch (“Vision in the Loop”)

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158
158
159
159
160

161

162
163
164
165
166
167
168

169

170

170
170
171

C

Additional Standards Compliance Information

C.1 Sources for Standards
C.2 IEC Test Information
C.3 Electromagnetic Com p at ibilit y Te sting Res u lts
C.4 Color-Codin g of In dicator Li gh ts

Color-Code Used by Adept for Operator-Indicators
Color-Code used by Adept for Service-Indicators

D

Using the Manual Control Pendant (MCP)

D.1 Manual Control Pendant Basics

Programmer ’s Pend ant vs. Operator’ s Pen da nt

Connecting the MCP

MCP Layout

Soft Buttons
Function Buttons
Data Entry Buttons
Mode Contr ol and Joint/A xis C ontrol Buttons
Speed Bars and Slow Button

Emergency S top From the M C P
Background Mode

D.2 MCP Predefined Functions

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173

174
175
176
177

177
178

179

180

180
181
182
182

182
183
183
183
183
184

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xiv Adept MV Controller User’s Guide, Rev C

Table Of Contents

Introduction
Predefined Function Buttons

The Edit Function

The Display Function

The Clear Error Function

The CMD Function

Prog Set Function

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D.3 Moving a Robot or Motion Device with the MCP

Introduction
Mode Control Buttons

Emergency Stop Button

COMP/PWR Button

MAN/HALT B utton

DIS PWR Button

RUN/HOLD
Joint/Axis Cont rol Bu ttons

STEP Button
Speed Bars
Slow Button
Robot States

World State

Tool State

Joint State

Free State
Controlling More Than One Robot

Robots With Less Than S ix Join ts

Robots With More T han Six Joints

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201

E

System Messages

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List of Figures

Figure 2-1. Adept MV-5 and MV-10 Controllers
Figure 2-2. Adept MV Controller Configuration
Figure 3-1. MV-5/MV-10 Power Entry Module
Figure 3-2. Insta lla tio n of User-S up pli ed Ex ter na l C onta c tor /P ower Su ppl y usin g V FP-1
Figure 3-3. Installa tio n of User-Supplied Externa l Contactor using VFP-3
Figure 3-4. MV-5/MV-10 Fuse Holder

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Figure 3-5. A dept MV-5 Upper Backplane (P1) Jumper Plugs
Figure 3-6. Adept MV-10 Upper Backplane (P1) Jumper Plugs
Figure 3-7. Connecting the A-Series Monitor and Keyboard
Figure 3-8. R ack Mounting for MV-5/MV-10 Stand-Alone Controller

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Adept MV Controller User’s Guide, Rev C xv

Table Of Contents

Figure 3-9. Panel Mounting for MV-5/MV-10 Stand-Alone C ontroller

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Figure 3-10. Installing Mounting Brackets on MV-5 and MV-10 Robot Controllers
Figure 4-1. Power Entry Module
Figure 4-2. Adept MV Controller with Back Panel Open
Figure 4-3. Interna l Fuse Loc a tion s
Figure 4-4. Ad ept MV-8 Backplane Jumper Plugs
Figure 4-5. Adept MV-19 Backplane Jumper Plugs
Figure 4-6. Installing Mounting Brackets
Figure 5-1. RS-422/485 Female Connector Pin Locations (on 030 modu le)
Figure 5-2. RS-232/Term Male Connector Pin Locations (on 030 module)
Figure 5-3. Switch and Jumper Locations on the 030 Module
Figure 6-1. RS-422 Connector on 040 Module
Figure 6-2. RS-232 Connector on 040 Module
Figure 6-3. Switch and Jumper Locations on the 040 Module
Figure 7-1. RS-232 Serial I/O Connector Pin Locations on SIO Module
Figure 7-2. Typical Dig ital Inp ut Wiring on the SIO
Figure 7-3. Typical Dig ital Output Wiring on the SIO
Figure 7-4. Digital I/O Co nn ec tor Pin Locatio ns on S IO Mod ul e
Figure 7-5. E-Stop Diagram with VFP and MCP
Figure 7-6. Extern al Front Panel (VFP-1)
Figure 7-7. Extern al VME Fron t Pane l and M C P Installation
Figure 8-1. Moni tor Connector Pin Locati ons on VGB M odu le

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Figure 9-1. Sw itch Positions A and B in Relation to Arrows on SW1, SW3, and SW2
Figure 9-2. Switch Locations on VIS Module
Figure 9-3. Two-Camera Breakout Cable
Figure 9-4. Four-Camera Breakout Cable
Figure 9-5. Camera Cable Installation Drawing
Figure 9-6. Pin Locations for Camera Cable Connector (12-Pin Hirose Male)
Figure 11-1. VJI Belt Encoder Connector Pinout
Figure 11-2. VJI Belt Encoder Typical Input Circuity
Figure 13-1. Typ ical Digita l Input Setup
Figure 13-2. Typical Digital Output Setup
Figure 13-3. Switch and Jumper Locations on DIO PC Board
Figure A-1. Adept MV-5/10 Stand-Alone Outline Drawing
Figure A-2. A d ept MV- 5/10 Robot Outline Draw ing
Figure A-3. Adept MV-8 Outline Drawing
Figure A-4. Adept MV-19 Outline Drawing
Figure A-5. Mounting Bracket Hole Pattern Dimensions
Figure A-6. Adept External Front Panel (VFP-1) Dimensions
Figure A-7. MCP Cradle D imens io n s

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40
47
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61
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96

98
106
111
112
113
114
115
118
134
135
146
147
154
162
163
164
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166
167
168

xvi Adept MV Controller User’s Guide, Rev C

Table Of Contents

Figure D-1. Holding the Operator’s MCP
Figure D-2. Cradling the Operator’s MCP
Figure D-3. MC P Lay out
Figure D-4. Data Entry Keys

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Figure D-5. MC P Pr edefi ne d Func ti on Buttons
Figure D-6. E DIT Func ti on Button
Figure D-7. D I SPLA Y Functi on B utton
Figure D-8. CLEAR ERROR Function Button

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Figure D-9. C om mand (CMD) Fun c tion Bu tton
Figure D-10. Pro gra m Set Func tion Button
Figure D-11. Mode Control Buttons
Figu re D -12. Speed Ba rs

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Figure D-13. WOR LD State (SCARA)
Figure D-14. TOOL State

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Figure D-15. TOOL State (Six-Axis Robot)
Figure D-16. JOINT State (SCARA)

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Figure D-17. JOINT State (Six-Axis Robot)
Figure D-18. FREE State (Four-Axis SCARA)

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180
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183
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188
190
191
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194
196
197
198
199
200

Table 3-1. Operating Environment Requirements
Table 3-2. Adept MV Controller Power Requirements
Table 3-3. Power Cord Specifications
Table 3-4. MV-5 and MV-10

Fuse Ratings

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Table 3-5. Monitor Co mpatibility S pe c ifi c ati ons
Table 3-6. Tec h n ic al Spec if ic ations fo r MV C o ntroller
Table 4-1. Operating Environment Requirements
Table 4-2. Adept MV Controller Power Requirements
Table 4-3. Power Cord Specifications

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Table 4-4. Voltage Selection Jumper Settings
Table 4-5. Fuse Rati ngs

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Table 4-6 . Tec hnica l Specific ations fo r M V - 8/19 Controlle r s
Table 5-1. RS-422/485 Connector Pin Assignments
Table 5-2. RS-232/Term Connector Pin Assignments

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Table 5-3. Pin Assignments for 9-Pin to 25-Pin (DCE) Cable

List of Tables

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24
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Adept MV Controller User’s Guide, Rev C xvii

Table Of Contents

Table 5-4. Pin Assignments for 9-Pin to 25-Pin (DTE) Cable
Table 5-5. Pin Assignments for 9-pin to 25-pin (Wyse WY-60 Terminal) Cable
Table 5-6. Pin Assignments for 9-pin to 9-pin (AT-Compatible) Cable
Table 5-7. Typical 25-pin Null-Modem Adaptor Pinout
Table 5-8. Address Settings for the 030 Processor Module
Table 5-9. Jumper Settings for 030 Processor Module
Table 5-10. 030 Technical Specifications

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Table 6-1. RS-422 Connector Pin Assignments (on 040 Module)
Table 6-2. RS-232/Term Connector Pin Assignments (on 040 Module)
Table 6-3. Pin Assignments for 25-pin to 25-pin (Wyse WY-60 Terminal) Cable
Table 6-4. Address Settings for the 040 Processor Module
Table 6-5. Jumper Settings for 040 Processor Module
Table 6-6. 040 Technical Specifications
Table 7-1. SIO Front Panel DIP Switch Functions

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Table 7-2. RS-232 Serial I/O Connector Pin Assignment on SIO Module
Table 7-3. DI O Input Spe c ific ations (S IO m o d u le )
Table 7-4. DIO Output Specifications (SIO module)

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Table 7-5. Di g ital I/O C onnector Pin Assignm e nt s on SIO Module
Table 7-6. Terminal Assignment of the Terminal Block on the Back of the VFP
Table 7-7. MCP Cable Connector Pinout

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Table 7-8. MCP Connector: Manufacturer’s Information
Table 7-9. SIO Fron t Panel Ca bl e/C onn e ctor Pin Assig nme n ts
Table 7-10. Technical Specifications

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Table 8-1. VGB Module Front Panel DIP Switch Functions
Table 8-2. Mo ni tor Con ne ctor Pin Assi gnme n ts
Table 8-3. Keyboard Connector Pin Assignments
Table 8-4. Pointer Connector Pin Assignments
Table 8-5. Technical Specifications

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Table 9-1. Switch Settings for VIS Module 1
Table 9-2. Switch Settings for VIS Module 2

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Table 9-3. Breakout Cable Camera Connector Pin Assignments
Table 9-4. Breakout Cable Strobe and Power Connector Pin Assignments
Table 9-5. Ad ept 10- Mete r Cam era Cable P in Assignments
Table 9-6. Tw o-C am er a Brea ko ut Cabl e Pin Assig nments

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Table 9-7. Four-Camera Breakout Cable Pin Assignments (sorted by destination)
Table 9-8. Four-Camera Breakout Cable Pin Assignments (sorted by origin)
Table 9-9. Technical Specifications
Table 10-1. VMEbus Address Switch Settings for MI3/MI6 Module
Table 10-2. Technical Specifications
Table 11-1. VMEbu s Ad dr ess S witc h Sett ings for VJ I Mod ule

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86

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90

95

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100
101
102
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Table Of Contents

Table 11-2. VMEBus Ad dre ss S ettin gs for Mul tip le Servo B oard S ystem s
Table 11-3. Belt Encod e r Conn e ctor Pin Assi gnme n ts
Table 11-4. Technical Specifications
Table 12-1. Address Settings for VFI Module
Table 12-2. Technical Specifications
Table 13-1. DIO Input Circuit Specifications

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Table 13-2. DIO Output Voltage Range Settings
Table 13-3. Digital Output Circuit Specifications
Table 13-4. DIO P1 Input C ab le Pin Assi gnme n ts
Table 13-5. DIO P2 Input C ab le Pin Assi gnme n ts
Table 13-6. DIO P3 Outp ut Ca bl e Pin Assignm en ts
Table 13-7. DIO P4 Outp ut Ca bl e Pin Assignm en ts
Table 13-8. Switch Settings f or S1 on DIO Module
Table 13-9. DIO Technical Specifications
Table 14-1. Spare Parts From Adept
Table 14-2. Spare Parts From Third Parties
Table 14-3. Spare Parts From Adept
Table 14-4. Spare Parts From Third Parties

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Table C-1. Sources for International Standards and Directives
Table C-2. E M C Test Results
Table C-3. Operator Indicator Color-Code
Table C-4. Service Indicator Color-Code

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144
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149
150
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159
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160
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178

Adept MV Controller User’s Guide, Rev C xix

Introduction 1

1.1 How to Use This Ma n u al

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Follow These Steps to Install and Configure the Adept MV Controller
Related Manuals

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Standard Manuals
Other Adept Pro duct M a nuals
Optional V

+

Develop e r’s M an ual s

1.2 Warnings, Cautio ns, and Notes

1.3 Safety

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Reading and Tr aini ng for Us e rs and Ope rator s
Syste m Safe guards

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Safety Features on External VME Front Panel (VFP)
Computer-C on tro lled Robo ts and Motion Device s
Manually-Co ntr oll ed Robots and Motion D evic es

Other Computer-Controlled Devices
Progr a m S e curity
Overspeed Protection
Voltage Interrup tion s

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Inappropriate Uses of the Adept MV Controller

1.4 Standards Compliance

1.5 How Can I Get Help?

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2

2
2
2
3
3

4
4

4
5
5

5
5
5

6
6
6
6

7
8

Within the Continental United States

Servic e Calls

Application Questions

Training Information
Within Europe

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Outside Continental United States or Europe
Adept World Wide Web Site
Adept Bulletin Board Service

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Adept MV Controller User’s Guide, Rev C 1

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8
8

8
8

9
9
9
9

Chapter 1 - Introduction

1.1 How to Use This Man ual

Follow These Steps to Install and Configure the Adept MV Controller

1. Read Chapter 1 to learn about Safety and Customer Service issues and
Chapter 2 to get a n ov e rview of the Ade p t MV co n t rol l e r and its com p onents.

2. Read Chapter 3 or 4 to learn the steps in installing the controller. It covers AC
power installation, fuse information, installing and removing modules,
connecting monitors and keyboards, and installing in a rack or panel mount.

3. Read Chapters 5, 6, and 7 which cover the requir ed Syst em Proc essor (030 or 040)
and System I/O modules. Pay particular atten ti on to th e Em ergency Stop
circuitry in Chapter 7.

4. Read the appropriate chapters (8 – 13), depending on which optional modules
you have in your controller. They explain the function of the indicator s and
connec tors on th e front of eac h mo d u l e . The y co ver the I np u t / Output (I/O)
capabilities of certain modules and the VMEbus address of all modules. These
chapters al so explai n any s peci al sw itch or jump er set tings that you migh t hav e to
set on parti cular modul e s.

5. Read Chapter 14 and Appendix A, B, and C for maintenance, dimension,
external trigger, and standards compliance informatio n.

6. Read Appe ndix D to learn how to use the Manual Control Pendant and
Appendix E for a list of the most common V

+

System Error messages.

Related Manuals

Adept products come with a set of documentation that is defined by the products you
have ordered. In add ition, there are optional manuals ava il able if you ar e going to be
programming the Adept system. This man u al refers to both the standar d and optional
manuals. The following sections give a brief description of the contents and organization
of the Ad e p t do cument a tion se t.

Standard Manuals

In addition to th is Adept Controller User's Guide, the following manuals are shipped with
the sy st e m :

Manual Material Covered

+

Operating System User’s Guide A description of the V+ operating system.

V

Loading, storing, and executing programs is
covered in th is ma n ual.

Instructions for Ade pt Uti lity Progra ms Adept provides a series of programs for

configuring and calibrating various features
of your Adept system. These utility programs
are described in th is manual.

+

Release Notes Descriptions of the chan ges to V+. This

V

document is updated as each version of V
released.

+

is

2 Adept MV Controller User’s Guide, Rev C

How to Use This Manual

Manual Material Covered

+

Language User’s Guide V+ is a complete high-level language as well

V

as an operating system . This manu al covers

+

programming principles for creating V
programs.

Other Adept Product Manuals

When you order AdeptVision VME, AdeptMotion VME, AdeptForce VME, or any AIM
software product, you will receive manuals that cover those products. Also, optional
hardware such as the Manual Control Pendant will come with a manual. A partial list is
shown b e l o w.

Manual Material Covered

AdeptVision VME User's Guide Concepts and strategies for programming the

AdeptVision VME syst e m. (see also the
optional AdeptVision Reference Guide below)

AdeptMotion VME Developer’s Guide Install ation, configu ration, and tuning of an

AdeptMotion VME system.

AdeptForce VME User’s Guide Install a tion, operation, and programming of

the AdeptForce VME product.

+

Optional V

If you will be programming V

Developer’s Manuals

+

applica tions, you should ord e r the optional V+ devel-

oper’s manuals (first two in the list below). These manuals contain a complete description

+

of the commands, instructions, functions, and other features available in the V

language
and operating system. These manuals are essential for advanc ed appli cations program­ming.

If you will be programming vision applications, you should order the AdeptV i sion Refer ence
Guide (in addi tion to the V

+

developer’s manuals).

Manual Material Covered

+

Operating System Reference Guide Descriptions of the V+ operating system

V

commands (known as mon itor comman ds).

+

Language Reference Guide A complete des cr ipt ion of the k eywords in the

V

basic V

AdeptVision Reference Guide Descriptions of the additional V

+

language system.

+

keywords

available with the AdeptVision VME option.

Adept MV Controller User’s Guide, Rev C 3

Chapter 1 - Introduction

1.2 Warnings, Cautions, and Notes

There are three levels of special notation used in this manual. They are:

WARNING:

indicated in a “WARNIN G” are not complied with. A warning statement
typically describes the hazard, its possible effect, and the measures that
must be ta k en to red uce the h a za rd.

CAUTION:

in the “

Injury or major equipment damage could result if the actions

Damage to you r equi pment c oul d r esul t if the ac tion spec ifi ed

CAUTION

” is not complied with .

!

NOTE:

point or procedure, or gives a tip for easier operation.

A “

1.3 Safety

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 indust ria l eq uipme nt, th ey must b e tr ea ted with resp ect by the use r and the op era tor.

” provides supplementary information, emphasizes a

NOTE

This manua l sh ou ld be rea d by all personnel who operate or maintain Adept systems, or
who work wi thin or near the workcel l.

We r e co mmend yo u r ead 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
installati on . (See section C.1 on page 174 for or dering information for nat io na l and
international standards.)

This manual assumes that the user has attended an Adept trainin g cou rse and has a basic
working knowledge of the system. The user should provide the necessary additional
training for all personnel who will be work ing with the syste m .

There are several warnings in this manual that say only skilled or instructed persons
should attempt certain proced ures. These are defined as:

4 Adept MV Controller User’s Guide, Rev C

• 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 in te g ral part of robot or motion wor kcell design, installation,
operator training, and operating procedures.

Adept systems have vari ou s communication features to aid in constructi ng system
safeguards. These include the emergency stop cir cuitry and digital input and output lines.
These features are described in Chapter 7 of this user’s guide.

Safety Features on External VME Front Panel (VFP)

The optional external VME Front Panel (VFP) has three important safety features, the

HIGH POWER

and

PROGRAM RUNNING

you choose no t to u se the VFP, you should provi de similar safety features by using the
Front Panel/MCP and Digital I/O connectors on the System I/ O modul e . Refer to
Chapter 7 for more information, or call Adept Customer Service at the numbers listed in
section 1.5 on page 8.

indicator s, and the

EMERGENCY STOP

switch. If

Safety

WARNING:

PROGRAM RUNNING

Entering the workcell when either the

HIGH POWER

light is on can result in severe injury. Th is war ning

or the

applies to each of the next three sections.

Computer-Controlled Robots and Motion Devic es

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 or the

PROGRAM RUNNING

light on the opti onal
VFP are illuminated, do not enter the workcell because the robot or motion device might
move unexpectedly. (The

LAMP TEST

button on the VFP allows these lights to be

periodically checke d. )

Manual l y -Contr ol l ed Robots and Motion Devices

Adept robots and other motion devices can also be controlled manually when the

POWER

light on the VFP is illuminated. When this light is lit, motion can be initiated from

HIGH

the system ke yboard or from the optional Manual Contr ol Pendant (MCP). If you have to
enter the workcell when this light is lit, press the

MAN/HALT

button on th e MCP. This wi ll

prevent anyone else from initiat ing unexpected motion fr om the system keyboard .

Other Computer-Controlled Devices

In addition, Adept systems can be programmed to control equi p me nt or devices other
than the robot or main motion device. The program controllin g 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 Technology highly recommends the use of add itional safety features such as light
curtai ns, safety ga te s, or safety f loor mats to prevent entry to the workcell while

POWER

is enabled. These devices can be connected using the emergency stop circuitry.

HIGH

Adept MV Controller User’s Guide, Rev C 5

Chapter 1 - Introduction

Program Security

Programs and data stored in memory can be changed by trained p e rsonnel using the V+
commands and i nstructions documented in the V
alteration of programs, you should restrict access to the keyboard. This can be done by
placing the keyboard in a locked cabinet. Alternativ ely, the V
instruc t ions can be us e d in you r pro g ra m s to res tr i ct ac ce s s to the V

+

manuals. To prevent unauthorized

+

ATTACH and FSET

+

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 hardwar e al one. The V
protection capabiliti es.

+

system software offers some overspeed

Voltage Interruptions

If the AC 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 MV Controller

The Adept MV controller is intended for use as a component sub-assembly of a complete
industrial automation system. The Adept MV controller sub-assembly must be installed
inside a s u itabl e en clo sur e. In st alla tion and usa ge must comp ly with al l s af ety ins tr uct ion s
and warnings in this manual. Installation and usage must also comply with all applicable
local or national statutory requirements and safety standa rds. The Adept MV controll e r
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 life-support systems

• In residential installations

• In si tuations where the Adept MV controller sub-assembly may come into contact
with liquids.

• In si tuations where the Adept MV controller sub-assembly will be subject to
extremes of heat or humidity. See specifications for allowable temperature and
humidity ranges.

6 Adept MV Controller User’s Guide, Rev C

1.4 Standards Compliance

The Adept MV controller is intended for use with other equipment and is considered a
sub-assembly rather than a complete piece of e quipment on its own. The Adept MV
control l e r meet s th e requirements of EN 60204, IEC 1131-2, IEC 73, and IEC 447 safety
standards. See the Decl aration of Conf ormity (just after the Title Page) for additional
compliance information about this product.

To maintain compliance with the above sta nd ards, the controlle r must be insta lled a nd
used prope rly with any addi tional equipment, in accor dance with all regulation s of the
standards. You must also carefully follow all installation instructions in this user guide.

See Appendix C for additional inform ati on on standards compliance.

Standards Compliance

Adept MV Controller User’s Guide, Rev C 7

Chapter 1 - Introduction

1.5 How Can I Get Help?

Within the Continental United States

Adept Technology maintains a Cust ome r Serv ice Cent er a t its headquart ers in San Jos e,
CA. The phone numbers are:

Serv ice Calls

[phone]
5:00am - 5:00pm PST (24 hour emergency coverage, 7 days a week)

[phone] FAX

NOTE:

serial number of the controller (see page 44 for information on the ID
label). If your system includes an Adept robot, also have the serial
numb e r of the robot. Th e se rial num b e rs can be determi ne d by usi n g th e
ID command (see the V

Application Questions

Contact your regional Application s sup port center as show n belo w.

San Jose, CA 408-434-5033

Cincinnati, OH 513-792-0266

Southbury, CT 203-264-0564

When calling with a controller re la ted quest ion, pl ease have the

+

Operating System Use r’s Guide).

Western Region States:

Fax [phone]
8:00am - 5:00pm PST

Fax [phone]
8:00am - 5:00pm EST

Fax [phone]
8:00am - 5:00pm EST

LA, AR, MO, TX, OK, KS, NE,
CO, WY, MT, NM, AZ, UT, NV,
ID, WA, OR, CA

Midwestern Region States:

MI, OH, West PA, West NY, IN,
KY, TN, AL, MS, IL, WI, IA, MN,
ND, SD

Eastern Region States:

ME, NH, VT, MA, CT, RI, East
NY, East PA, NJ, DE, MD, VA,
WV, NC, SC, GA, FL

Training Information

For information regarding Adept Training Courses in the USA, please call [phone].
You can see the Adept Training class schedule on the Adept Web site – see page 9.

8 Adept MV Controller User’s Guide, Rev C