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Artisan Technology Group is your source for quality new and certified-used/pre-owned equipment • FAST SHIPPING AND DELIVERY • TENS OF THOUSANDS OF IN-STOCK ITEMS • EQUIPMENT DEMOS • HUNDREDS OF MANUFACTURERS SUPPORTED • LEASING/MONTHLY RENTALS • ITAR CERTIFIED SECURE ASSET SOLUTIONS SERVICE CENTER REPAIRS Experienced engineers and technicians on staff at our full-service, in-house repair center WE BUY USED EQUIPMENT Sell your excess, underutilized, and idle used equipment We also offer credit for buy-back
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Adept M V Controller User’s Guide 040 SF STP A SCR B C ESTOP 3 ACC V 4 SCSI HPE DIO FAIL PASS OK OK 1 2 3 4 5 6 7 8 VME VJI VIS ES OK 2 ON D VGB SIO 1 D R I RESET V E A F P / ABORT M C RESET P V I D E O V I D E O B U S B U S 1 2 3 4 5 6 I N P U T S I N P U T S M O N I T O R AMPLIFIER SIGNAL 1 2 3 R S 2 3 2 4 1 2 3 4 R S 2 3 2 ON R S 4 2 2 BELT ENCODER #1 I / O ® R S 2 3 2 / T E R M R S 2 3 2 2 4 V 1 0 0 m A E T H E R N E T KEYBOARD O U T P U T S O U T
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Adept M V Controller User’s Guide 040 SF STP A SCR B C ESTOP HPE DIO FAIL PASS OK 3 ACC V 4 SCSI OK 1 2 3 4 5 6 7 8 VME VJI VIS ES OK 2 ON D VGB SIO 1 D R I RESET V E A F P / ABORT M C RESET P V I D E O V I D E O B U S B U S 1 2 3 4 5 6 I N P U T S I N P U T S M O N I T O R AMPLIFIER SIGNAL 1 2 3 4 1 2 3 4 R S 2 3 2 R S 2 3 2 ON R S 4 2 2 BELT ENCODER #1 I / O ® R S 2 3 2 / T E R M R S 2 3 2 1 0 0 m A E T H E R N E T KEYBOARD O U T P U T S O U T P U T S
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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.
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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.
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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.
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Table 1 VME Plug-in Modules and accessories that meet all applicable Directives and that may be installed, without additional EMC conformance testing, in MV-5, MV-8, MV-10, and MV-19 Controllers Part Number 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 (
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Table of Contents 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.1 How to Use This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . 2 Follow These Steps to Install and Configure the Adept MV Controller Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . Standard Manuals . . . . . . . . . . . . . . . . . . . . . Other Adept Product Manuals . . . . . . . . . . . . . . . Optional V+ Developer’s Manuals . . . . . . . . . . . . . . . . . . .
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Table Of Contents Adept A-Series Option . . . . . . . . . . . . . . . . . . . . . . . . 14 Adept S-Series Option . . . . . . . . . . . . . . . . . . . . . . . . . 15 2.4 Standard Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . System Processor (030 or 040) . . . . . . 030 Module . . . . . . . . . . . 040 Module . . . . . . . . . . . System Input/Output Module (SIO) . . . 2.5 Optional Modules . . . . . . . . . . . . . . . 15 . . . . . . . . . . . . . . . 15 . . . . . . . . . . . . . . .
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Table Of Contents System Grounding Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 3.6 Fan and Filter Information . . . . . . . . . . . . . . . . . . . . . . . . 29 Cooling Fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Filter Inspection and Cleaning . . . . . . . . . . . . . . . . . . . . 29 29 3.7 Removing and Installing Modules . . . . . . . . . . . . . . . . . . . . 30 VMEbus Address Settings . . . . . . . . . . . . . . . . . .
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Table Of Contents AC Power Requirements . . . . . . . . . . Facility Overvoltage Protection . . . Power Entry Module . . . . . . . . . . . . . Connecting AC Power Cord . . . . . . . . System Grounding Information . . . . . . . Changing Voltage Settings (MV-8 and MV-19) . . . . . . . . . . . . . 46 . . . . . . . . . . . . . 47 . . . . . . . . . . . . . 47 . . . . . . . . . . . . . 48 . . . . . . . . . . . . 48 . . . . . . . . . . . . . . . . . . 50 . . . . . . . . . . . . . . . . . . . . . . . 51 4.
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Table Of Contents 5.8 030 Processor Module Specifications 6 . . . . . . . . . . . . . . . . . . 69 . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 040 Processor Module 6.1 Introduction 6.2 Connections and Indicators . . . . . . . . . . . . . . . . . . . . . . 72 6.3 Serial I/O Connections, 040 Module . . . . . . . . . . . . . . . . . . . 73 RS-422 Connector (on 040 Module) . . . . . . . . .
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Table Of Contents 7.8 External Front Panel (VFP-1) . . . . . . . . . . . . . . . . . . . . . . 96 Controls and Indicators . . . . . . . . . . . . . . . . . . . . . . . . 96 Installing the External Front Panel (VFP) . . . . . . . . . . . . . . . . 97 7.9 Manual Control Pendant (MCP) . . . . . . . . . . . . . . . . . . . . . 99 Connecting the MCP to the VFP . . . . . . . . . . . . . . . . . . . 99 MCP Cradle . . . . . . . . . . . . . . . . . . . . . . . . . . 99 . . . . . . . . . . . . . . . . . .
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Table Of Contents 10.3 VMEbus Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 10.4 Jumper Settings and Resistor Configuration on MI3/MI6 11 . . . . . . . . 127 10.5 Connecting to User Equipment . . . . . . . . . . . . . . . . . . . . 128 10.6 MI3/MI6 Module Specifications . . . . . . . . . . . . . . . . . . . . 129 Adept Joint Interface Module(VJI) 11.1 Introduction . . . . . . . . . . . . . . . . . 131 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 11.
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Table Of Contents A 14.2 Fan Filter Inspection and Cleaning MV-8/MV-19 . . . . . . . . . . . . 158 14.3 Fan Filter Inspection and Cleaning MV-5/MV-10 . . . . . . . . . . . . 158 14.4 VFP Lamp Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159 14.5 Spare Parts List MV-8/MV-19 . . . . . . . . . . . . . . . . . . . . . . 159 14.6 Spare Parts List MV-5/MV-10 . . . . . . . . . . . . . . . . . . . . . . 160 Dimension Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . A.
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Table Of Contents Introduction . . . . . . . . . . . . . . . . Predefined Function Buttons . . . . . . . . The Edit Function . . . . . . . . . . The Display Function . . . . . . . . The Clear Error Function . . . . . . The CMD Function . . . . . . . . . Prog Set Function . . . . . . . . . . D.3 Moving a Robot or Motion Device with the MCP Introduction . . . . . . . . . . . . . . Mode Control Buttons . . . . . . . . . Emergency Stop Button . . . . COMP/PWR Button . . . . . . . MAN/HALT Button . . . . . . .
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Table Of Contents Figure 3-9. Panel Mounting for MV-5/MV-10 Stand-Alone Controller . . . . . . . . . 38 Figure 3-10. Installing Mounting Brackets on MV-5 and MV-10 Robot Controllers . . . 40 Figure 4-1. Power Entry Module . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 Figure 4-2. Adept MV Controller with Back Panel Open . . . . . . . . . . . . . . . 49 Figure 4-3. Internal Fuse Locations Figure 4-4. Adept MV-8 Backplane Jumper Plugs . . . . . . . . . . . . . . . . . . 53 Figure 4-5.
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Table Of Contents Figure D-1. Holding the Operator’s MCP . . . . . . . . . . . . . . . . . . . . . . 180 Figure D-2. Cradling the Operator’s MCP Figure D-3. MCP Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182 Figure D-4. Data Entry Keys Figure D-5. MCP Predefined Function Buttons . . . . . . . . . . . . . . . . . . . 184 Figure D-6. EDIT Function Button . . . . . . . . . . . . . . . . . . . . . . . . . . 185 Figure D-7. DISPLAY Function Button . . . . . . . . . . . . . .
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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 . . . . . . . . 65 Table 5-7. Typical 25-pin Null-Modem Adaptor Pinout Table 5-8. Address Settings for the 030 Processor Module . . . . . . . . . . . . . . 67 Table 5-9. Jumper Settings for 030 Processor Module . . . . . . . . . . . . . . . . 68 Table 5-10.
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Table Of Contents Table 11-2. VMEBus Address Settings for Multiple Servo Board Systems . . . . . . . 134 Table 11-3. Belt Encoder Connector Pin Assignments Table 11-4. Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . 136 Table 12-1. Address Settings for VFI Module Table 12-2. Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . 140 Table 13-1. DIO Input Circuit Specifications Table 13-2. DIO Output Voltage Range Settings . . . . . . . . . . . . . . .
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1 Introduction 1.1 How to Use This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . Follow These Steps to Install and Configure the Adept MV Controller Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . Standard Manuals . . . . . . . . . . . . . . . . . . . . . Other Adept Product Manuals . . . . . . . . . . . . . . . Optional V+ Developer’s Manuals . . . . . . . . . . . . . . . . . . . 2 2 2 3 3 . . . . . . . . . . . . . . . . . . . . . . 4 . . . . . . . . . . . . . . . . .
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Chapter 1 - Introduction 1.1 How to Use This Manual 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 an overview of the Adept MV controller and its components. 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.
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How to Use This Manual Manual Material Covered V+ Language User’s Guide V+ is a complete high-level language as well as an operating system. This manual 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 below.
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Chapter 1 - Introduction 1.2 Warnings, Cautions, and Notes There are three levels of special notation used in this manual. They are: WARNING: Injury or major equipment damage could result if the actions indicated in a “WARNING” are not complied with. A warning statement typically describes the hazard, its possible effect, and the measures that must be taken to reduce the hazard. ! CAUTION: Damage to your equipment could result if the action specified in the “CAUTION” is not complied with.
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Safety • 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.
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Chapter 1 - Introduction 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 and FSET instructions can be used in your programs to restrict access to the V+ command prompt.
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Standards Compliance 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 equipment on its own. The Adept MV controller meets the requirements of EN 60204, IEC 1131-2, IEC 73, and IEC 447 safety standards. See the Declaration of Conformity (just after the Title Page) for additional compliance information about this product.
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Chapter 1 - Introduction 1.5 How Can I Get Help? Within the Continental United States Adept Technology maintains a Customer Service Center at its headquarters in San Jose, CA. The phone numbers are: Service Calls (800) 232-3378 5:00am - 5:00pm PST (24 hour emergency coverage, 7 days a week) (408) 433-9462 FAX NOTE: When calling with a controller related question, please have the serial number of the controller (see page 44 for information on the ID label).
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How Can I Get Help? Within Europe For service calls, application questions, and training information in Europe, Adept Technology maintains a Customer Service Center in Dortmund, Germany.
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Overview 2.1 Introduction 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 2.2 Controller Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Adept MV-5 Controller . Adept MV-10 Controller Adept MV-8 Controller . Adept MV-19 Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 12 14 14 . . . . . . . . . . . . . . . .
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Chapter 2 - Overview 2.1 Introduction The Adept MV series controllers are based on the VMEbus specification, and the slide-in modules are designed to the 6U VME size. There are four models of controllers, the Adept MV-5, MV-8, MV-10, and the Adept MV-19. 2.2 Controller Models Adept MV-5 Controller The Adept MV-5 controller is a 5-slot chassis that is available in either a stand-alone or robot configuration; see Figure 2-1.
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Controller Models 040 SF STP A SCR B C ESTOP 3 ACC V 4 SCSI HPE DIO FAIL PASS OK OK 1 2 3 4 5 6 7 8 VME VJI VIS ES OK 2 ON D VGB SIO 1 D R I RESET V E A F P / ABORT M C RESET P V I D E O V I D E O B U S B U S 1 2 3 4 5 6 I N P U T S I N P U T S M O N I T O R AMPLIFIER SIGNAL 1 2 3 4 BELT ENCODER O U T P U T S ® E T H E R N E T R S 2 3 2 1 0 0 m A 2 4 V R S 2 3 2 ~100-240V 50/60HZ #2 R S 2 3 2 / T E R M #1 R S 4 2 2 VME D 5AT RESET C B F P / M C P SCR
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Chapter 2 - Overview Adept MV-8 Controller The Adept MV-8 controller is an 8-slot chassis. It requires two modules: the System Processor module (030 or 040) and the System Input/Output (SIO) module. The System Processor module takes one slot and the System Input/Output module takes two slots. The remaining five slots can be populated with various combinations of optional Adept modules; see Figure 2-2. The Adept MV-8 chassis has a user-configurable 115/230 VAC single-phase, 250-watt power supply.
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Standard Modules Adept S-Series Option The standard configuration for the Adept MV controller is the Adept S-Series option consisting of a character-based user interface for the V+ language and a customer-supplied terminal. The system programmer uses the terminal to write, edit, test, and store application programs. The terminal can also be used as an operator interface.
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Chapter 2 - Overview • Connector for an optional External Front Panel (VFP) The SIO module controls the system Emergency Stop (E-Stop) circuitry. The system real-time clock/calendar functions and non-volatile memory for Adept software license bits are also handled by the SIO module. 2.5 Optional Modules This section gives a brief description of the optional modules. Each module is covered in more detail in a separate chapter in this User’s Guide.
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Optional Modules SIO 030 1 2 3 4 OK 1 2 3 4 5 6 7 8 ON Adept MV-5 has 2 slots for optional modules D R I V E A F P / M C P VGB 030 VIS MI6 DIO Adept MV-10 has 7 slots for optional modules Adept MV-8 has 5 slots for optional modules Adept MV-19 has 16 slots for optional modules ® adept technology, inc. Slots Required Standard Modules - installed in all Adept MV controllers 1 2 System Processor System Input/Output 030 - 40 MHz 68030. 2, 4, or 8 MB RAM. 32 MHz 68882. or...
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Chapter 2 - Overview Adept VME Joint Interface Module (VJI) The Adept VME Joint Interface module (VJI) is required when an Adept robot, such as the Adept 550, AdeptOne, or AdeptThree robot, is installed in an Adept MV controller system. The VJI module interfaces to the encoders and amplifiers for the robot. Also, the VJI is the interface to belt encoders in conveyor tracking applications for Adept robots. AdeptForce VME Module (VFI)1 The AdeptForce VME module (VFI) is part of the AdeptForce VME product.
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Optional Equipment 2.6 Optional Equipment External Front Panel (VFP-1 or VFP-3) The external Front Panel (VFP) is a separate control panel that can be added to any Adept MV controller system. There are two types of VFPs: the VFP-1 and the VFP-3. The VFP-1 is used with all Adept systems that do not include the Manual Mode Safety Package (MMSP) option. The VFP-3 is used with systems that do have the MMSP option installed. The VFP connects by cable to the front of the SIO module.
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Chapter 2 - Overview Third-Party Terminals for an S-Series Controller For S-Series Adept MV controllers, the user must supply a terminal to interface to the controller. The terminal must be a Wyse model 60 or 75 with an ANSI keyboard, or a compatible terminal and keyboard. 2.7 Product Descriptions AdeptVision VME AdeptVision VME is a combination hardware and software package for integrated machine vision inspection and guidance applications.
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Installation for MV-5 and MV-10 Controllers 3 3.1 Shipping, Storage, Unpacking and Inspection . . . . . . . . . . . . . . 22 3.2 Controller ID Label . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 3.3 Facility Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . 23 3.4 Connecting AC Power (MV-5 and MV-10) . . . . . . . . . . . . . . . . 24 3.5 Fuse Information (MV-5 and MV-10) . . . . . . . . . . . . . . . . . . 28 3.6 Fan and Filter Information . . . . . . . . . . . . . .
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Chapter 3 - Installation for MV-5 and MV-10 Controllers 3.1 Shipping, Storage, Unpacking and Inspection Shipping and Storage This equipment must be shipped and stored in a temperature controlled environment, within the range -25°C to +55°C. The recommended humidity range is 5 to 90%, non-condensing. It should be shipped and stored in the Adept-supplied packaging, which is designed to prevent damage from normal shock and vibration. You should protect the package from excessive shock and vibration.
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Facility Requirements 3.3 Facility Requirements The Adept MV controller is intended for use with other equipment and is considered a sub-assembly rather than a complete piece of equipment on its own. The Adept MV controller meets the requirements of EN 60204-1, IEC 1131-2, IEC 73, and IEC 447 safety standards. To maintain compliance with these standards, the controller must be installed and used properly with any additional equipment in strict accordance with all requirements of these standards.
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Chapter 3 - Installation for MV-5 and MV-10 Controllers 3.4 Connecting AC Power (MV-5 and MV-10) The Adept MV-5 and MV-10 controllers have auto-ranging power supplies that operate at either 100-120 VAC or 200-240 VAC single phase. AC Power Requirements Table 3-2.
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Connecting AC Power (MV-5 and MV-10) Power Entry Module The power entry module is located on the front of the controller. It contains: • the On/Off power switch ( I = On, o = Off) • the fuse holder containing the two incoming AC line fuses (spare fuses are stored in the fuse holder, see Figure 3-4.) • the AC power cord socket On/Off Switch ® USE ONLY WITH 250V FUSES Fuse Holder WARNING: FOR CONTINUED PROTECTION AGAINST RISK OF FIRE, REPLACE ONLY WITH SAME TYPE AND RATING OF FUSE.
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Chapter 3 - Installation for MV-5 and MV-10 Controllers 040 SF STP A SCR B C ESTOP HPE DIO FAIL PASS OK 3 ACC V 4 SCSI OK 1 2 3 4 5 6 7 8 VME VJI VIS ES OK 2 ON D VGB SIO 1 D R I RESET V E A F P / ABORT M C RESET P V I D E O V I D E O B U S B U S 1 2 3 4 5 6 I N P U T S I N P U T S M O N I T O R Pins 1 and 2 of terminal block on VFP-1 AMPLIFIER SIGNAL 1 2 3 R S 2 3 2 4 1 2 3 4 R S 2 3 2 ON R S 4 2 2 BELT ENCODER #1 I / O R S 2 3 2 / T E R M R S 2 3 2 P O I
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Connecting AC Power (MV-5 and MV-10) 24VDC power (1 amp max) available at TB1, pins 1 and 2 –+ TB5 040 SF STP A SCR B C OK 2 ESTOP 3 ACC V 4 SCSI HPE DIO FAIL PASS OK OK 1 2 3 4 5 6 7 8 VME VJI VIS ES 1 ON D VGB SIO D R I RESET V E A F P / ABORT M C RESET P V I D E O V I D E O B U S B U S 1 2 3 4 5 6 I N P U T S To pins 5 and 6 of terminal block TB5 on E-Stop Board I N P U T S M O N I T O R AMPLIFIER SIGNAL 1 2 3 R S 2 3 2 4 1 2 3 4 R S 2 3 2 ON R S 4 2 2 B
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Chapter 3 - Installation for MV-5 and MV-10 Controllers Table 3-3. Power Cord Specifications Cord length 3 meters ±0.1 m (9 ft. 10 in. ±4 in.) Cord rating 10 amps Number and size of conductors 3 x 1.00 mm2 Color code line neutral ground brown blue green/yellow System Grounding Information The detachable three-wire power cord is used for connection to both the power source and protective ground.
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Fan and Filter Information Table 3-4. MV-5 and MV-10 Fuse Ratings Fuse Rating Type F1 – AC Line fuse at Power Entry module 5 AT/250 V IEC 127-style 5 x 20 mm F2 – AC Line fuse at Power Entry module 5 AT/250 V IEC 127-style 5 x 20 mm NOTE: The “T” suffix indicates the fuse response time - a 5 AT fuse rating specifies a 5 amp “slow blow” type. USE ONLY WITH 250V FUSES Fuse Holder Fuses F1 and F2 Spare fuses in sliding compartment Side view of Fuse Holder Figure 3-4. MV-5/MV-10 Fuse Holder 3.
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Chapter 3 - Installation for MV-5 and MV-10 Controllers 3.7 Removing and Installing Modules The Adept MV controller is shipped from the factory with all the modules specified on the sales order installed in the chassis. Any unused slots are filled with blank covers. You may want to add modules in the future or remove and re-install a module for some reason. Additional modules should generally be added to the chassis from left to right, starting with the slot to the right of the last existing module.
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Removing and Installing Modules Five user-supplied backplane jumper plugs must be installed on any unused slots in the card cage that are to the left of the last installed module. Unused slots to the right of the last installed module do not need jumper plugs. When you install a module into a previously unused slot, you must first remove the five jumper plugs (if any are installed); see Figure 3-5.
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Chapter 3 - Installation for MV-5 and MV-10 Controllers Jumper location for slot 2 Jumper Jumper location location for slot 3 for slot 4 No jumpers required for slot 5 P1 Backplane Edge Connectors for Adept MV-5 Slot 1 Slot 2 Slot 3 Slot 4 Slot 5 In a typical MV-5 system, jumper plugs are factory-installed at slot 3. Figure 3-5.
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Removing and Installing Modules Removing Modules 1. Turn off the controller. 2. Loosen the captive screws at the top and bottom of the module. 3. Lift up on the top handle and push down on the bottom handle as you start to pull the module out of the chassis. Remove the module from the chassis and store it in a safe place. (See page 30 for anti-static precautions.) 4.
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Chapter 3 - Installation for MV-5 and MV-10 Controllers 3.8 Installing the A-Series Monitor and Keyboard NOTE: The peripheral equipment such as the keyboard and monitor supplied by Adept are intended for use in light industrial conditions. In more severe conditions, they should be protected with a suitable enclosure. Installation Procedure An A-Series Adept MV controller can be configured with a color monitor and an extended keyboard with built-in trackball.
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Installing the A-Series Monitor and Keyboard 3. Connect the monitor signal cable to the MONITOR connector on the VGB module. 4. Connect the double-ended keyboard cable to the KEYBOARD connector and the POINTER connector on the VGB module. Installing Non-Adept Peripherals in an A-Series System You can use third-party monitors, keyboards, and pointing devices with an Adept MV controller system.
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Chapter 3 - Installation for MV-5 and MV-10 Controllers 3.9 Installing a Terminal in an S-Series System With an S-Series Adept MV controller system, the customer must supply the terminal and cable to interface to the controller. The terminal must be a Wyse Model 60 or 75 with an ANSI keyboard, or a compatible terminal. You may also be able to use a computer with suitable terminal emulation software.
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Installing a Stand-Alone Controller in a Rack or Panel 5. Set the baud rate to 9600, that is the default rate for the Adept system. To change the baud rate, refer to the information on CONFIG_C in the Instructions for Adept Utility Programs. 3.10 Installing a Stand-Alone Controller in a Rack or Panel An MV-5 or MV-10 Stand-Alone controller can be mounted in a standard 19-inch equipment rack using the attached mounting brackets.
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Chapter 3 - Installation for MV-5 and MV-10 Controllers Panel Mounting To panel mount the Adept MV-5 or MV-10 Stand-Alone controller, you must use the mounting brackets and screws from the accessories kit. See Figure 3-9 for instructions. Side View of MV-5 or MV-10 Front To install mounting brackets in panel mount position: • Place bracket in position. • Secure bracket with 3 screws and washers from accessories kit at locations shown in drawing. • Repeat process for other side of controller. Figure 3-9.
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Installing a Robot Controller in a Rack or Panel 3.11 Installing a Robot Controller in a Rack or Panel An MV-5 or MV-10 Robot controller can be mounted in a rack or panel by using the mounting brackets that are shipped in the accessories kit. The brackets can be attached at the rear of the controller for panel mounting or they can be attached to the front of the controller for rack mounting.
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Chapter 3 - Installation for MV-5 and MV-10 Controllers M4 x 25mm screw (2 places) To Install Mounting Brackets on MV-5 or MV-10 Robot controllers: • Remove (and discard) 3 existing countersunk screws from side of chassis at locations shown in drawing. • Place bracket in desired position and secure with indicated M4 screws and washers from accessories kit. • Repeat process for other side of controller. Note: See Appendix A for dimensions of the controller and mounting brackets.
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MV-5 and MV-10 Controller Technical Specifications 3.12 MV-5 and MV-10 Controller Technical Specifications Table 3-6. Technical Specifications for MV Controller MV-5 MV-10 Input Voltagea 100-120 and 200-240 VAC, auto ranging 100-120 and 200-240 VAC, auto ranging DC Power Supply (total) 250 W 350 W Dimensions See Appendix A Operating Environment a See Table 3-1 See Table 3-2 for complete information on input power and Table 3-4 for fuse ratings.
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Installation for MV-8 and MV-19 Controllers 4 4.1 Shipping, Storage, Unpacking and Inspection . . . . . . . . . . . . . . Shipping and Storage . . Before Unpacking . . . . Upon Unpacking . . . . Repacking For Relocation 44 . . . . . . . . . . . . . . . . . . . . . . 44 44 44 44 . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 4.3 Facility Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . 45 4.2 Controller ID Label Voltage Interruptions 4.4 Connecting AC Power . . . . . . .
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Chapter 4 - Installation for MV-8 and MV-19 Controllers 4.1 Shipping, Storage, Unpacking and Inspection Shipping and Storage This equipment must be shipped and stored in a temperature controlled environment, within the range -25°C to +55°C. The recommended humidity range is 5 to 90%, non-condensing. It should be shipped and stored in the Adept-supplied packaging, which is designed to prevent damage from normal shock and vibration. You should protect the package from excessive shock and vibration.
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Facility Requirements 4.3 Facility Requirements The Adept MV controller is intended for use with other equipment and is considered a sub-assembly rather than a complete piece of equipment on its own. The Adept MV controller meets the requirements of EN 60204, IEC 1131-2, IEC 73, and IEC 447 safety standards. To maintain compliance with these standards, the controller must be installed and used properly with any additional equipment in strict accordance with all regulations of the standards.
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Chapter 4 - Installation for MV-8 and MV-19 Controllers 4.4 Connecting AC Power The Adept MV-8 and MV-19 controllers operate at either 100-120 VAC or 200-240 VAC single phase. All controllers are shipped from the factory set to 200-240 VAC single phase. See Table 4-4 for details on changing to 100-120 VAC configuration. AC Power Requirements Table 4-2.
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Connecting AC Power Power Entry Module The power entry module is located at the lower left side of the controller front panel. It contains: • the On/Off power switch ( I = On, o = Off) • the AC power cord socket • the two incoming AC line fuses adept technology, inc. WARNING: FOR CONTINUED PROTECTION AGAINST RISK OF FIRE, REPLACE ONLY WITH SAME TYPE AND RATING OF FUSE. Figure 4-1. Power Entry Module Connecting AC Power Cord The AC power cord is included in the accessory kit.
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Chapter 4 - Installation for MV-8 and MV-19 Controllers System Grounding Information The detachable three-wire power cord is used for connection to both the power source and protective ground. The protective ground conductor (colored green/yellow) in the power cord is internally connected to the exposed metal parts of the MV Controller. To ensure electrical-shock protection, the protective ground conductor must be connected to a properly grounded power source.
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Connecting AC Power 7. Change the two external fuses (F3 and F4) on the power entry module from the 200-240V to the 100-120V value; see fuse information in Table 4-5 and the label below the power entry module. 8. Mark or alter the ID label to indicate the controller is now configured for 100-120 VAC. 9. Connect the AC power cord and the controller is ready to operate.
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Chapter 4 - Installation for MV-8 and MV-19 Controllers 4.5 Fuse Information (MV-8 and MV-19) The two fuses (F3 and F4) at the power entry module on the front panel are for the incoming AC power lines. There are three fuses (F1, F2, and F5) inside the back section of the chassis, at the left side (looking from the front) near the top (see Figure 4-3). See the table below for ratings. WARNING: Only skilled or instructed personnel should attempt to change any fuses.
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Fan and Filter Information Top view with cover removed F1 F2 F1 F5 F2 Configuration Jumper Block F5 Power Supply Figure 4-3. Internal Fuse Locations 4.6 Fan and Filter Information Cooling Fan The chassis is cooled by a fan in the lower front section of the chassis. The MV-8 has one fan, the MV-19 has two fans. Air intake is through the lower front of the chassis and the exhaust is out through the top.
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Chapter 4 - Installation for MV-8 and MV-19 Controllers 4.7 Removing and Installing Modules The Adept MV controller is shipped from the factory with all the modules specified on the sales order installed in the chassis. Any unused slots are filled with blank covers. You may want to add modules in the future or remove and re-install a module for some reason. Additional modules should generally be added to the chassis from left to right, starting with the slot to the right of the last existing module.
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Removing and Installing Modules Jumpers for slot 4 Jumpers for slot 5 Jumpers for slot 6 Jumpers for slot 7 No jumpers required for slot 8 P1 Backplane Edge Connectors for Adept MV-8 Slot 4 Slot 5 Slot 6 Slot 7 Slot 8 Figure 4-4.
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Chapter 4 - Installation for MV-8 and MV-19 Controllers Removing Modules 1. Turn off the controller. 2. Loosen the captive screws at the top and bottom of the module. 3. Lift up on the top handle and push down on the bottom handle as you start to pull the module out of the chassis. Remove the module from the chassis and store it in a safe place. 4.
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Installing in a Rack or Panel Mount 4.10 Installing in a Rack or Panel Mount The controller can be mounted in a rack or panel by using the mounting brackets that are shipped in the accessories kit. The brackets can be attached at the rear of the controller for panel mounting or they can be attached to the front of the controller for rack mounting.
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Chapter 4 - Installation for MV-8 and MV-19 Controllers M4 x 25mm screw (2 places) To Install Mounting Brackets: • Remove (and discard) 3 existing countersunk screws from side of chassis at locations shown in drawing. • Place bracket in desired position and secure with indicated M4 screws and washers from accessories kit. • Repeat process for other side of controller. Note: See Appendix A for dimensions of the controller and mounting brackets.
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MV-8 and MV-19 Controller Technical Specifications 4.11 MV-8 and MV-19 Controller Technical Specifications Table 4-6. Technical Specifications for MV-8/19 Controllers MV-8 MV-19 Input Voltagea 100-120/200-240 VAC 100-120/200-240 VAC DC Power Supply (total) 250 W 500 W Power Available on Backplane 5V 35 A max 80 A max +12 V 8.0 A max 10.0 A max –12 V 2.0 A max 10.
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030 Processor Module 5.1 Introduction 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2 Connections and Indicators 60 . . . . . . . . . . . . . . . . . . . . . . 60 5.3 Serial I/O Connections, 030 Module . . . . . . . . . . . . . . . . . . . 61 RS-422/485 Connector (on 030 Module) . . . . . . . . . . . . . . . 61 RS-232/Term Connector (on 030 Module) . . . . . . . . . . . . . . 62 Used in an S-Series System . . . . . . . . . . . . . . . . . . 62 Used in an A-Series System . . . . .
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Chapter 5 - 030 Processor Module 5.1 Introduction All Adept MV controllers require at least one system processor module; the module can be an 030 or an 040. You can have both 030 and 040 modules installed, up to a maximum of 4 modules. The 030 is a single-slot 6U VME module that can serve as the main system processor for an Adept MV controller. The CPU for this module is a Motorola 68EC030 microprocessor running at 40 MHz. The module can be configured with 2, 4, or 8 MB of DRAM.
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Serial I/O Connections, 030 Module 5.3 Serial I/O Connections, 030 Module RS-422/485 Connector (on 030 Module) The RS-422/485 connector is a DE-9F 9-pin female connector. The pin assignments and locations are shown below. RS-422 is a point-to-point protocol for connection to a single destination. This port can also be configured as a “multi-drop” port (RS-485). To change the configuration use the CONFIG_C utility program or the V+ FSET program instruction. This port is designated LOCAL.SERIAL:1.
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Chapter 5 - 030 Processor Module RS-232/Term Connector (on 030 Module) The RS-232/Term connector is a DE-9P 9-pin male connector that is pin-compatible with the serial connector for AT compatible computers. The pin assignments and locations are shown below. The port supports DTR, DSR, RTS, and CTS signals, used for “hardware handshake”, also known as “modem control”. By default, these signals are not enabled.
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Serial I/O Connections, 030 Module Typical Cable Connections For many applications, including connecting to a serial printer or terminal, 25-pin or 9-pin adapter cables may be required. The next few tables give some examples. Because the Adept MV controller uses the same connector and compatible pinouts as the IBM PC-AT computer, suitable cables may be available from your local computer dealer.
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Chapter 5 - 030 Processor Module Typical Cable Connections, 9-pin to 25-pin (DTE) Most terminals and some computers use DTE (Data Terminal Equipment) pinouts. Remember to enable “modem control” (using CONFIG_C) if you are using the DTR, DSR, RTS, or CTS signals. Table 5-4.
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Serial I/O Connections, 030 Module Typical Cable Connections, 9-pin to 9-pin (AT-Compatible) The 030 module uses AT-compatible pinouts. Therefore, to connect it to another AT-compatible 9-pin device, the following connections are required to swap over signals as required. Remember to enable “modem control” (using CONFIG_C) if you are using the DTR, DSR, RTS, or CTS signals. Table 5-6.
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Chapter 5 - 030 Processor Module DTE, DCE, or AT-style? There are two ways to make an RS-232 connection: detailed research and full understanding; or a try-it-and-see method. In general, you will do no harm if you make an incorrect connection between two genuine RS-232 ports. Try either of the connection types described above (DTE or DCE) and see which works.
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Memory 5.4 Memory The 030 system processor can be ordered with 2, 4, or 8 MB of DRAM. Contact Adept Customer Service for information regarding memory upgrade options for 2 MB and 4 MB processors. 5.5 VMEbus Address Each processor module in an Adept MV controller must have a unique module address. The address is set on switch SW2 on the 030 PC board. Table 5-8 shows the switch settings for multiple processor modules. See Figure 5-3 for the location of SW2.
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Chapter 5 - 030 Processor Module 5.6 030 Jumper Settings There are two jumpers on the 030 module that must be set correctly, depending on if it is used as the main processor or an auxiliary processor. See the table below and Figure 5-3. Table 5-9.
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Use as an Auxiliary Processor 5.7 Use as an Auxiliary Processor Additional 030 System processor modules can be installed in an Adept MV controller and used as auxiliary processors to handle specific functions in an Adept automation system. For example, you can have an auxiliary 030 dedicated to handling processing for the motion or vision portion of a system, while the main 030 handles the V+ system processing.
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040 Processor Module 6.1 Introduction 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.2 Connections and Indicators 72 . . . . . . . . . . . . . . . . . . . . . . 72 6.3 Serial I/O Connections, 040 Module . . . . . . . . . . . . . . . . . . . 73 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.
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Chapter 6 - 040 Processor Module 6.1 Introduction All Adept MV controllers require at least one system processor module; the module can be an 030 or an 040. You can have both 030 and 040 modules installed, up to a maximum of 4 modules. The 040 is a single-slot 6U VME module that can serve as a main or an auxiliary system processor for an Adept MV controller. The CPU for this module is a Motorola 68040 microprocessor running at 25MHz.
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Serial I/O Connections, 040 Module 6.3 Serial I/O Connections, 040 Module RS-422 Connector (on 040 Module) The RS-422 connector (upper connector on front of module) is a DB-25F, 25-pin female connector. The pin assignments and locations are shown below. RS-422 is a point-to-point protocol for connection to a single destination. This port cannot be used for multi-drop connections. (Whereas, the 030 module has a dual-mode RS-422/RS-485 port.
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Chapter 6 - 040 Processor Module RS-232/Term Connector (on 040 Module) The RS-232/Term connector (lower connector on front of module) is a DB-25F, 25-pin female connector. The pin assignments and locations are shown in Figure 6-2 and Table 6-2. The connector is configured as a DCE device (Data Circuit-terminating Equipment). If you are connecting to a device, such as a terminal, configured as DTE (Data Terminal Equipment), you should connect directly (pin 2 to pin 2, pin 3 to pin 3, etc.
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Serial I/O Connections, 040 Module Table 6-2.
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Chapter 6 - 040 Processor Module Connections from 040 RS-232 to Wyse Terminal Adept recommends the use of a Wyse WY-60 terminal on S-Series Adept MV controllers. The following connections will work with most terminals using DTE pinouts, such as the Wyse WY-60 terminal. The WY-60 has a female 25-pin connector. This “3-wire” interface uses software flow control (XON and XOFF control characters). Table 6-3.
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VMEbus Address 6.5 VMEbus Address Each 040 module in an Adept MV controller must have a unique module address. The address is set on Jumper block J22 on the 040 PC board (see Figure 6-3 for location of jumpers). Table 6-4 shows the jumper settings for multiple processor modules. If you are using both 040 and 030 processor modules, each module must have a unique address. You cannot set an 040 and an 030 to the same address.
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Chapter 6 - 040 Processor Module SCON J1 1 5 6 1 16 J22 2 J20 2 Adept 040 Board – Component Side Figure 6-3. Switch and Jumper Locations on the 040 Module 78 Adept MV Controller User’s Guide, Rev C Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.
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Use as an Auxiliary Processor 6.7 Use as an Auxiliary Processor Additional 040 System processor modules can be installed in an Adept MV controller and used as auxiliary processors to handle specific functions in an Adept automation system. For example, you can have an auxiliary 040 dedicated to handling processing for the motion or vision portion of a system, while the main 040 handles the V+ system processing.
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System Input/Output Module (SIO) 7.1 Introduction 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.2 Connections and Indicators 82 . . . . . . . . . . . . . . . . . . . . . . 82 DIP Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . . 83 7.3 System Configuration Information . . . . . . . . . . . . . . . . . . . . 83 7.4 Mass Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 Floppy Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Chapter 7 - System Input/Output Module (SIO) 7.1 Introduction The System Input/Output (SIO) module is a required module in all Adept MV controllers. The 2-slot-wide SIO is a 6U VME slave module that provides the system I/O functions for the controller. It serves as the system interface to mass storage (hard drive and floppy drive), E–Stop circuitry, three user RS-232 serial ports, 20 digital I/O channels, external front-panel control, and a real-time clock/calendar.
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System Configuration Information DIP Switch Settings Table 7-1. SIO Front Panel DIP Switch Functions Switch Function 1 ON enables Autostart after bootup. OFF disables Autostart (See the V+ Operating System User’s Guide for details) 2 Not used (set to OFF) 3 S-Series systems: No effect (set to OFF) A-Series systems: OFF: V+ system “Monitor” window displayed on graphics monitor. (Normal setting) ON: V+ system “Monitor” redirected to RS-232/TERM port on system processor.
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Chapter 7 - System Input/Output Module (SIO) 7.5 Serial I/O Connectors There are three RS-232 serial ports for general-purpose serial I/O functions. These global serial ports are referred to as devices SERIAL:1, SERIAL:2, and SERIAL:3. These serial ports can be accessed, via the VMEbus, by any Adept system processor configured to run V+. (There are also two additional local serial ports on the 030 and 040 modules.
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Digital I/O Connector 7.6 Digital I/O Connector The Digital I/O connector on the SIO is a 50-pin, high-density, D-Sub female connector for digital I/O communication. There are 12 input channels and 8 output channels. All channels are opto-isolated. The same connector also provides access to the Emergency Stop circuit (E-Stop input and Passive E-Stop output). To access this connector, you will need a cable with a male 50-pin, D-Sub connector at one end (not supplied with the system).
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Chapter 7 - System Input/Output Module (SIO) The External Position Latch feature allows the Robot and AdeptMotion Interface modules (VJI and/or MI3/MI6) to latch the position of robot and conveyor belt encoders. This is a hardware function, and is very fast. The input signal typically will come from a proximity sensor or an external probe. The latched values can later be read using the V+ LATCH() function. The Position Latch must be configured using the CONFIG_C utility program.
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Digital I/O Connector Output Signals The digital I/O connector handles output signals 0001 to 0008. (On systems with the Manual Mode Safety Package (MMSP) option, output channels 1006 to 0008 are used by the MMSP and are not available for users.) Refer to Table 7-4 for output specifications. The locations of the signals on the connector are shown in Table 7-5. The SIO provides separate + and – connections for each channel (no internal common connections.
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Chapter 7 - System Input/Output Module (SIO) Typical Digital Input Wiring The following drawing shows three examples of different types of connections to the digital inputs on the SIO. The methods are: negative common, positive common, and independent (no common). Example 1 inputs 1001 to 1004 shown with negative common. Example 2 inputs 1005 to 1008 shown with positive common. Example 3 inputs 1009 to 1012 shown with fully independent power supply (no common).
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Digital I/O Connector Typical Digital Output Wiring The following drawing shows two examples of different types of connections to the digital outputs on the SIO. The methods are negative common and positive common. Example 1 outputs 0001 to 0004 shown with positive common. Example 2 inputs 0005 to 0008 shown with negative common. Note: these are examples – in fact, either method can be used, in any combination, on any channel.
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Chapter 7 - System Input/Output Module (SIO) Digital I/O Connector Pinouts Table 7-5.
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Digital I/O Connector Pin 50 Pin 33 Pin 34 Pin 18 Pin 17 Pin 1 Figure 7-4. Digital I/O Connector Pin Locations on SIO Module Digital I/O Connector Ordering Details (Third-Party Sources) The Digital I/O Connector on the SIO Module is a 50-pin, D sub-miniature Female socket. The user-supplied cable must terminate in a suitable 50-pin Male D-sub plug. (The plug is not supplied by Adept.) Compatible connectors are manufactured by AMP and by Thomas and Betts.
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Chapter 7 - System Input/Output Module (SIO) Thomas and Betts Part Numbers for 50-Pin Male D-Sub HOLMBERG-series D-Sub Connectors. Crimp snap-in-contacts. Contact pins not included, order separately (item 2, quantity 50). 1. HM50A Connector body only (alternative: HM50B) 2. 1008424C-02-25 Contact Pin, Male, wire size 28-24AWG (0.08-0.
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Emergency Stop Circuit 7.7 Emergency Stop Circuit NOTE: This section applies to systems that do not include the Manual Mode Safety Package (MMSP) option. For systems that do include the MMSP, refer to the AdeptOne-MV/AdeptThree-MV Robot Instruction Handbook for complete information on E-stop circuits. The Emergency Stop (E-Stop) circuit should be used by the customer to include safety devices in the design of a workcell.
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Chapter 7 - System Input/Output Module (SIO) = E-Stop Control Voltage SIO Module Adept External Front Panel (VFP-1) High Power On/Off Push Button 11 = Digital Return 22,12 Manual/Auto Keyswitch 9 = Analog Return To SystemPower Relay (MV-8 and MV-19 only) FP/MCP Connector System Power MCP E-Stop 19 7 7 6 6 6 7 E-Stop 1 2 3 4 5 6 7 8 9 10 11 12 Hold-to-Run Terminal Block 14 14 14 16 16 16 5 5 6 7 Enable Power Digital I/O Connector 14 16 43 41 & System Faults MCP Bypass Plu
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Emergency Stop Circuit Table 7-6.
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Chapter 7 - System Input/Output Module (SIO) 7.8 External Front Panel (VFP-1) The optional external VME front panel (VFP) is connected to the FP/MCP connector on the SIO module. There are two types of VFP: the VFP-1 and the VFP-3. The VFP-1 is used with all Adept systems that do not include the Manual Mode Safety Package (MMSP) option. The VFP-1 is described in this section. The label on the back of the VFP identifies the type – VFP-1 or VFP-3.
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External Front Panel (VFP-1) • SYSTEM POWER switch and lamp (green): This rotary on/off switch supports optional remote control of AC power to the controller. On the MV-5/MV-10 the user must provide a suitable external AC contactor. See page 25 for connection details. On the MV-8/19 an AC power relay is built into the controller. When controller power is on, the green lamp is lit. • PROGRAM START switch and lamp (green): A V+ program can read the status of the button to trigger special events.
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Chapter 7 - System Input/Output Module (SIO) SIO SIO Module 1 OK 2 ESTOP 3 ACC V 4 SCSI OK 1 2 3 4 5 6 7 8 ON D R I RESET V E A 2-Meter Front Panel Cable F P / M C P R S 2 3 2 R S 2 3 2 R S 2 3 2 I / O 2 4 V E T H E R N E T 1 0 0 m A External Front Panel (VFP) LAMP TEST MANUAL AUTO SYSTEM O POWER I HIGH POWER ON/OFF EMERGENCY STOP ® PENDANT LOCAL NETWORK PROGRAM START PROGRAM RUNNING Manual Control Pendant - + 1 2 3 Figure 7-7.
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Manual Control Pendant (MCP) 7.9 Manual Control Pendant (MCP) Connecting the MCP to the VFP The optional MCP is connected to the system at the Pendant connector on the VFP (see Figure 7-7). See the Appendix D for instructions on using the MCP. See Table 7-7 for information on the MCP connector. Install the MCP to the connector that is marked PENDANT on the VFP. ! WARNING: The VFP has two keyswitches. One to select the device that controls program execution and one to select the operating mode.
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Chapter 7 - System Input/Output Module (SIO) 7.10 User-Supplied External Front Panel We recommend using an Adept-supplied external front panel (VFP). However, the following details are supplied in case you decide to make your own front panel. If a user-supplied external front panel is connected to the Adept MV controller, it must be designed to meet, and all equipment used must be compliant with, EN 60204 and all other applicable international and local regulations.
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User-Supplied External Front Panel Front Panel/MCP Connector and Cable This cable is supplied with the optional Adept VFP. The pinout is included for reference in case you are building your own front panel. This cable connects from the FP/MCP connector on the SIO module to the J1 connector of the VFP. Table 7-9.
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Chapter 7 - System Input/Output Module (SIO) 7.11 SIO Module Specifications Table 7-10. Technical Specificationsa Electrical Power Consumption (Supplied from VME backplane) 5 V at 4.6 A typical System I/O (SIO) +12 V at 1.4 A –12 V at 50 mA 5 V at 0.23 A average (0.74 A max) Floppy Drive 12 V not used 5 V at 0.6 A average (1.1 A max) Hard Drive 12 V not used Optional External Front Panel (VFP), excluding MCP 5 V not used +12 V 0.
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Adept Graphics Module (VGB) 8.1 Introduction 8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 8.2 Connections and Indicators . . . . . . . . . . . . . . . . . . . . . . 104 DIP Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . . 105 8.3 VMEbus Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 8.4 Monitor Video Interface . . . . . . . . . . . . . . . . . . . . . . . . . 106 8.5 Keyboard Interface . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Chapter 8 - Adept Graphics Module (VGB) 8.1 Introduction The Adept Graphics module (VGB) is required for A-Series Adept MV controllers. The VGB is a single-slot 6U VME module that serves as the graphics processor and controls the video output to the color monitor. The VGB has connectors for the monitor, keyboard, and pointing device (mouse, trackball, etc.). The VGB also has a direct Video Bus connection to the VIS module in AdeptVision VME systems. 8.
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VMEbus Address DIP Switch Settings Table 8-1. VGB Module Front Panel DIP Switch Functions Switch Function 1 OFF – enables Adept logo display at bootup ON – disables logo display 2 OFF – the pointer is a mouse (Microsoft serial mouse protocol, 1200 bps) ON – the pointer is a touchscreen (ELO TouchSystems protocol, 1200 bps) 3 OFF – U.S.
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Chapter 8 - Adept Graphics Module (VGB) 8.4 Monitor Video Interface The VGB module supports a color monitor with a resolution of 1024 by 768. See Table 3-5 for the monitor compatibility specifications. The pin assignments for the Monitor connector are shown in Table 8-2. Table 8-2.
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Keyboard Interface 8.5 Keyboard Interface The VGB module supports an AT-style extended keyboard with an integrated trackball. The keyboard interface is a bidirectional, synchronous, serial interface. The keyboard communicates with the UART on the VGB via the clock and data lines. The keyboard input uses a standard 5-pin DIN connector. The Keyboard connector pin assignments are shown in Table 8-3. Table 8-3. Keyboard Connector Pin Assignments 8.
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Chapter 8 - Adept Graphics Module (VGB) 8.7 VGB Module Specifications Table 8-5. Technical Specificationsa Electrical Power Consumption 5 V at 2.3 A +12 V at 2 mA –12 V at 2mA Pointer Input For mouse or trackball, Microsoft serial mouse protocol, 1200 bps For touchscreen, ELO TouchSystems protocol, 1200 bps Keyboard input AT compatible, DIN-5 connector Width Occupies one backplane slot a Specifications subject to change.
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AdeptVision VME Module (VIS) 9.1 Introduction 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 9.2 Connections and Indicators . . . . . . . . . . . . . . . . . . . . . . 110 9.3 VMEbus Address and Configuration . . . . . . . . . . . . . . . . . . . 111 9.4 Camera Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . 112 9.5 Installing Video Bus Coupling . . . . . . . . . . . . . . . . . . . . . . 113 9.6 Camera Breakout Cables . . . . . . . . . . . . . . . . . . . . . . .
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Chapter 9 - AdeptVision VME Module (VIS) 9.1 Introduction The AdeptVision VME Vision Interface (VIS) module is a single-slot VME module that is a vision framegrabber for use with the AdeptVision VME product. Refer to the AdeptVision VME User’s Guide and the AdeptVision Reference Guide for complete information on installation, configuration, operation and programming your vision system. 9.
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VMEbus Address and Configuration 9.3 VMEbus Address and Configuration The VIS module will be configured as module 1, unless the system is running the Dual AdeptVision option, in which case, the second VIS module will be module 2. If you have only one VIS module installed, it will be set correctly when the controller is shipped to you. If you install a new VIS module (as a replacement part or upgrade) or have the Dual Vision option, see the tables below for the address switch settings.
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1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 1 2 3 4 Chapter 9 - AdeptVision VME Module (VIS) SW1 SW3 SW2 Adept VIS Board – Component Side Figure 9-2. Switch Locations on VIS Module 9.4 Camera Compatibility Compatible cameras can be purchased from Adept. See the AdeptVision VME User’s Guide for a list of other cameras that can be used with the AdeptVision VME product.
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Installing Video Bus Coupling 9.5 Installing Video Bus Coupling The Video Bus coupling (VTV) (see Figure 9-5) transfers data between the VIS module and the VGB module. These two modules must be installed next to each other in the controller chassis. (Earlier versions of the coupling were constructed with a cable, instead of a molded unit. Both versions perform the same function.) 1. Make sure the controller On/Off switch is turned off. 2.
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Chapter 9 - AdeptVision VME Module (VIS) Four-Camera Breakout Cable This cable has a 44-pin D-sub connector on one end and it breaks out to four 12-pin Hirose-style camera connectors and one 9-pin D-sub connector on the other end. The length of the cable is 1.8 meters (70"). Due to the current limitation of the VMEbus specification, the VIS module cannot supply enough current to operate all four cameras from the four-camera cable.
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Installing Camera Cables 9.7 Installing Camera Cables Refer to the AdeptVision VME User’s Guide for information on mounting cameras and strobes in your system. Figure 9-5 shows the installation of a typical four-camera breakout cable and the associated hardware. CAUTION: Turn off the controller before installing or removing a camera or cable. Failure to do this may damage the VIS module.
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Chapter 9 - AdeptVision VME Module (VIS) 9.8 Camera Cable Pin and Signal Information This section provides the pin and signal information for the connectors and cables associated with the AdeptVision VME product. • Table 9-3 describes the Hirose connector that is used for all cameras on both the two- and four-camera breakout cables. • Table 9-4 describes the Strobe and Power connector on the four-camera breakout cable. • Table 9-5 describes the 10-meter camera cable.
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Camera Cable Pin and Signal Information Table 9-4. Breakout Cable Strobe and Power Connector Pin Assignments Pin Function Notes 1 User +12 V dc to cameras 2 User power return 3 Strobe 1 4 Strobe return 5 Strobe 2 6 Reserved (do not use) 7 Reserved (do not use) 8 Reserved (do not use) 9 Shield (chassis ground) 9-Pin D-Sub female Receptacle Note: this connector will mate with a 9-pin D-Sub male plug (user-supplied). The two-camera breakout cable does not include this connector.
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Chapter 9 - AdeptVision VME Module (VIS) Table 9-5. Adept 10-Meter Camera Cable Pin Assignments Pin # at controller end (male) Function Wire Color (typical) Notes 1 Power return 2 +12V power 3 Shield (video) 4 Video 5 Shield(Hd) 6 Hd (horizontal drive) 7 Pin # at camera end, (female) gray 1 yellow 2 red-shield 3 red-signal 4 orange-shield 5 to camera orange-signal 6 Vd (vertical drive) to camera black -signal 7 8 Shield (Clock) to camera (cam.
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Camera Cable Pin and Signal Information Table 9-6.
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Chapter 9 - AdeptVision VME Module (VIS) Table 9-7.
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Camera Cable Pin and Signal Information Table 9-7.
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Chapter 9 - AdeptVision VME Module (VIS) Table 9-8.
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Camera Cable Pin and Signal Information Table 9-8.
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Chapter 9 - AdeptVision VME Module (VIS) 9.9 VIS Module Specifications Table 9-9. Technical Specificationsa Electrical Power Consumption 5 VDC at 5.0 A +12 V at 1.25 A (including 1 amp for cameras) –12 V at 0.1 A Width a Occupies 1 backplane slot Specifications subject to change. 124 Adept MV Controller User’s Guide, Rev C Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.
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AdeptMotion Interface Module (MI6/MI3) 10.1 Introduction 10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126 10.2 Connections and Indicators . . . . . . . . . . . . . . . . . . . . . . 126 10.3 VMEbus Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 10.4 Jumper Settings and Resistor Configuration on MI3/MI6 . . . . . . . . 127 10.5 Connecting to User Equipment . . . . . . . . . . . . . . . . . . . . 128 10.6 MI3/MI6 Module Specifications . . . . . . . . . . . . .
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Chapter 10 - AdeptMotion Interface Module (MI6/MI3) 10.1 Introduction The AdeptMotion Interface (MI6/MI3) module is a 6U single-slot VME module designed to control motion axes for use with the AdeptMotion VME product. The MI6 module controls 6 axes of motion, the MI3 controls 3 axes of motion. Each module has servo drive outputs, incremental encoder inputs, and digital I/O for machine and amplifier control.
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VMEbus Address 10.3 VMEbus Address Each MI3/MI6 module must have a unique VMEbus address. The information in Table 10-1 shows how to set the address when you have multiple modules in an Adept MV controller. If you purchased the Adept MV controller from Adept with all the motion modules installed, the correct DIP switch settings will have already been set for you by Adept. The address is set at DIP Switch SW1 on the MI3/MI6 PC board.
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Chapter 10 - AdeptMotion Interface Module (MI6/MI3) 10.5 Connecting to User Equipment The MI3/MI6 module connections to user equipment are divided into three groups: the encoder, the machine, and the servo. Adept offers a set of cables and Motion Interface mounting panels (MP6) that should be used to make connections between the MI3/MI6 module and your equipment. Each connector on the MI3/MI6 has a corresponding cable and MP6 mounting panel. The MP6 panels can be installed on standard DIN mounting rails.
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MI3/MI6 Module Specifications 10.6 MI3/MI6 Module Specifications Table 10-2. Technical Specificationsa Electrical Power Consumption 5 VDC at 4.0 A max +12 V at 84 mA –12 V at 21 mA Maximum MI6 per controller (Each two MI6 require at least one 030 System Processor module) MV-8: 3 MI6 MV-19: 4 MI6 MV-5: 2 MI6 MV-10: 4 MI6 Number of axes of control 3 axes of control per MI3 module 6 axes of control per MI6 module Width a Occupies one backplane slot Specifications subject to change.
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Adept Joint Interface Module(VJI) 11.1 Introduction 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 11.2 Connections and Indicators . . . . . . . . . . . . . . . . . . . . . . 132 11.3 VMEbus Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133 Address Settings for VJI Modules . . . . . . . . . . . . . . . . . . . 133 Address Settings for Multiple Servo Boards . . . . . . . . . . . . . . 133 11.4 Belt Encoder Interface . . . . . . . . . . . . . . . . . . . . . . . . .
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Chapter 11 - Adept Joint Interface Module(VJI) 11.1 Introduction The Adept VME Joint Interface (VJI) module is a 6U single-slot VME module designed to control the motion axes on an Adept robot. The VJI module has connectors for the power chassis cable and the arm (robot) signal cable. There is another connector for external encoders, typically used for belt tracking.
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VMEbus Address 11.3 VMEbus Address Address Settings for VJI Modules The VMEbus address for a single VJI module is set at the factory and will not need to be changed. If you have multiple VJI modules, each VJI module must have a unique VMEbus address. The information in Table 11-1 shows how to set the address when you have multiple modules in an Adept MV controller. The address is set at DIP Switch package U18 on the VJI PC board.
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Chapter 11 - Adept Joint Interface Module(VJI) Table 11-2. VMEBus Address Settings for Multiple Servo Board Systems First Board Address Second Board Address Third Board Address 2 MI6 1 – MI6 2 – MI6 1 VJI plus 1 MI6 1 – VJI 3 – MI6 2 VJI 1 – VJI 2 – VJI 2 VJI plus 1 MI6 1 – VJI 3 – VJI 5 – MI6 2 VJI plus 2 MI6 1 – VJI 3 – VJI 5 – MI6 Fourth Board Address 6 – MI6 11.
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Belt Encoder Interface For normal differential operation on channel 1, RP8 is not installed. VJI RP8 HCPL 2231 Encoder Channel 1 RP7 RP6 A+ Encoder A– RP8 HCPL 2231 RP7 RP6 B+ B– + – RP8 HCPL 2231 RP7 RP6 I+ I– Pull up Encoder power output: 5V at 800 mA max. (1 A fuse) Enc. Pwr Enc.
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Chapter 11 - Adept Joint Interface Module(VJI) 11.5 VJI Module Specifications Table 11-4. Technical Specificationsa Maximum VJI’s per controllerb 2 Number of axes of control (maximum) 5 axes of robot joint control per VJI module Number of belt encoders (maximum) 2 conveyor belts per VJI module Width Occupies one backplane slot a Specifications subject to change. b Note that there may be limitations preventing the operation of dual Adept robots from a single controller.
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AdeptForce VME Module (VFI) 12.1 Introduction 12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138 12.2 Connections and Indicators . . . . . . . . . . . . . . . . . . . . . . 138 12.3 VMEbus Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139 12.4 VFI Module Specifications . . . . . . . . . . . . . . . . . . . . . . . 140 Adept MV Controller User’s Guide, Rev C Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.
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Chapter 12 - AdeptForce VME Module (VFI) 12.1 Introduction The AdeptForce VME Force Interface (VFI) module is a 6U single-slot VME module designed to control force-sensing for use with the AdeptForce VME product. The VFI module is the interface to the force sensor that is installed on a robot or motion device. The VFI module processes data from the force sensor and then makes those force readings available to user programs.
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VMEbus Address 12.3 VMEbus Address Each VFI module must have a unique VMEbus address. If you use only one force sensor or if your VFI modules are factory-installed, your V+ system should already be configured properly. If you add VFI modules to a controller, you will have to set the correct address. The address is set at DIP switch S1 and jumper J1 on the VFI module. The switch and jumper settings on the VFI module should be set as listed in Table 12-1.
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Chapter 12 - AdeptForce VME Module (VFI) 12.4 VFI Module Specifications Table 12-2. Technical Specificationsa Electrical Power Consumption (including force sensor) 870 mA at 5 VDC 425 mA at +12 V 105 mA at –12 V Maximum VFI’s per controller 3 Number of force sensors per VFI 1 Width Occupies one backplane slot a Specifications subject to change. 140 Adept MV Controller User’s Guide, Rev C Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.
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Digital Input/Output Module (DIO) 13.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 13.2 Connections and Indicators 13.3 Inputs 13.4 Outputs 13 . . . . . . . . . . . . . . . . . . . . . . 142 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143 Testing Outputs and Fuses . . . . . . . . . . . . . . . . . . . . . . 144 Output Power Supply Voltage Jumpers . . . . . . . . . . . . . . .
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Chapter 13 - Digital Input/Output Module (DIO) 13.1 Introduction The Adept Digital I/O module is an opto-isolated 64-channel digital I/O module with 32 input channels and 32 output channels. It is a 6U VME slave module designed in full conformance with the ANSI/IEEE specification. See the optional V+ Language User’s Guide for information on digital I/O. There is also digital I/O capability on the SIO module: 12 input and 8 output channels. See section 7.6 on page 85 for details. 13.
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Outputs Table 13-1. DIO Input Circuit Specifications Operational voltage range –35 VDC≤ Vin ≤ +35 VDC “Off” state voltage range –35 VDC ≤ Vin ≤ +3 VDC “On” state voltage range +10 VDC ≤ Vin ≤ +35 VDC Typical threshold voltage Vin = +6 VDC Operational current range 0 ≤ Iin ≤ 14 mA “Off” state current range 0 ≤ Iin ≤ 400 µA “On” state current range 2.3 mA ≤ Iin ≤ 14 mA Typical threshold current Iin = 1.1 mA Impedance (Vin/Iin) 2.
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Chapter 13 - Digital Input/Output Module (DIO) Testing Outputs and Fuses Like many solid-state I/O systems, when an output is off, a small leakage current will try to flow out of the output. This will raise the potential of the output to the power supply voltage level if there is no load. With a load connected, the output will function normally. However, if you need to test the output with a voltmeter with a load disconnected, you will get a false reading.
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Outputs Output Power Supply Current Selection The 9 power pins for each group are connected together on the board, and the current supplied from the output pins is drawn from these power pins. The number of power pins used in a particular application depends on the total current supplied through that group’s outputs. The supply current should be limited to a maximum of one amp per power pin. Use this limitation to select the number of power pins you need.
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Chapter 13 - Digital Input/Output Module (DIO) 13.
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Typical DIO Wiring Adept-Supplied Equipment Wiring Terminal Block DIO Module 25 26 38 39 40 41 42 43 44 Output Group 1 Voltage range jumper J4 Group 1 Return Group 1 Test Signal 0033 Signal 0034 Signal 0035 Signal 0036 Signal 0037 Signal 0038 Signal 0039 Signal 0040 Group 2 Power Pins (see text) Group 2 Return Group 2 Test Signal 0041 Signal 0042 Signal 0043 Signal 0044 Signal 0046 Signal 0047 Signal 0048 Output Group 3 Signals 0049 – 0056 Volt.
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Chapter 13 - Digital Input/Output Module (DIO) 13.6 Optional DIO Cables The cables to connect to the Input and Output connectors on the DIO module can be ordered as a set of four cables: two input cables and two output cables. These cables have a mating plug on one end and unterminated flying leads on the other end. The wire size of the Adept cables is 0.18 mm2 (24AWG). You can use these cables to connect to the digital inputs/outputs in your system or to a wiring block.
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Optional DIO Cables Table 13-4.
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Chapter 13 - Digital Input/Output Module (DIO) Table 13-5.
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Optional DIO Cables Table 13-6.
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Chapter 13 - Digital Input/Output Module (DIO) Table 13-7.
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Additional DIO Modules 13.7 Additional DIO Modules Setting the Module Address Additional DIO modules can be installed in an Adept MV controller, up to a maximum of 8 modules per controller, depending on slot availability. The total digital I/O channels available, including the channels on the SIO modules are: • maximum digital input channels = 268 • maximum digital output channels = 264 Each module that is added must have a unique VMEbus address so the controller can recognize it properly.
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Chapter 13 - Digital Input/Output Module (DIO) SW1 1 2 3 4 5 6 7 8 OPEN J3 J4 A B Typical J3 to J6 J5 J6 Adept DIO Board – Component Side Figure 13-3. Switch and Jumper Locations on DIO PC Board 154 Adept MV Controller User’s Guide, Rev C Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.
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DIO Module Specifications 13.8 DIO Module Specifications Table 13-9. DIO Technical Specificationsa Electrical Power Consumption 5 VDC 1.0 A typical 5 VDC 1.
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Maintenance 14.1 Introduction 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158 14.2 Fan Filter Inspection and Cleaning MV-8/MV-19 . . . . . . . . . . . . 158 14.3 Fan Filter Inspection and Cleaning MV-5/MV-10 . . . . . . . . . . . . 158 14.4 VFP Lamp Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159 14.5 Spare Parts List MV-8/MV-19 . . . . . . . . . . . . . . . . . . . . . . 159 14.6 Spare Parts List MV-5/MV-10 . . . . . . . . . . . . . . . . . . . . . .
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Chapter 14 - Maintenance 14.1 Introduction NOTE: The Adept MV Controller has no user-serviceable parts other than the items mentioned in this chapter. WARNING: The procedures and replacement of parts mentioned in this section should only be performed by skilled or instructed persons, as defined in section 1.3 on page 4. 14.2 Fan Filter Inspection and Cleaning MV-8/MV-19 The air filter located on the front of the chassis should be inspected regularly and cleaned at the first sign of dust or dirt buildup.
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VFP Lamp Test 14.4 VFP Lamp Test You should perform this test at least every six months to verify all lamps are working. With the controller turned on, press the Lamp Test button on the VFP. If any of the lamps do not light, especially the High Power and Program Running lamps, contact Adept Customer Service. 14.5 Spare Parts List MV-8/MV-19 Part numbers and specifications are subject to change. Contact Adept Customer Service for ordering information for items in Table 14-1, or for items not listed.
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Chapter 14 - Maintenance 14.6 Spare Parts List MV-5/MV-10 Part numbers and specifications are subject to change. Contact Adept Customer Service for ordering information for items in Table 14-3, or for items not listed. Table 14-3. Spare Parts From Adept Description Adept Part Number Fan Filter 40340-00030 1 Front Panel Bypass plug 10330-01040 1 E-stop test plug, for I/O port on SIO module 10330-01075 Quantity General Comments User can build own, see Figure 7-5. 1 Table 14-4.
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Dimension Drawings A.1 Dimensions for Adept MV-5 and MV-10 Stand-Alone Controllers A . . . . 162 A.2 Dimensions for Adept MV-5 and MV-10 Robot Controllers . . . . . . . . 163 A.3 Dimensions for Adept MV-8 Controller . . . . . . . . . . . . . . . . . 164 A.4 Dimensions for Adept MV-19 Controller . . . . . . . . . . . . . . . . . 165 A.5 Mounting Bracket Dimensions . . . . . . . . . . . . . . . . . . . . . 166 A.6 External Front Panel (VFP-1) Dimensions A.7 MCP Cradle Dimensions . . . . . . . . . . . .
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Appendix A - Dimension Drawings A.1 Dimensions for Adept MV-5 and MV-10 Stand-Alone Controllers 420.3 mm 286.7 mm 16.0 mm Note 1: Allow 75 mm minimum at front for power cord and signal cable clearance. 480.1 mm 420.3 mm ® 158.8 mm 215.9 mm 15.0 mm 462.9 mm 8.7 mm Note 2: Allow 25 mm minimum at right and left sides for air intake and exhaust. Figure A-1. Adept MV-5/10 Stand-Alone Outline Drawing 162 Adept MV Controller User’s Guide, Rev C Artisan Technology Group - Quality Instrumentation ...
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Dimensions for Adept MV-5 and MV-10 Robot Controllers A.2 Dimensions for Adept MV-5 and MV-10 Robot Controllers 286.7 mm 215.9 mm 16.0 mm 57.4 mm 477.7 mm ® 15.0 mm Note 1: Allow 75 mm minimum at front for power cord and signal cable clearance. Note 2: Allow 25 mm minimum at top and bottom for air intake and exhaust. Figure A-2. Adept MV-5/10 Robot Outline Drawing Adept MV Controller User’s Guide, Rev C Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.
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Appendix A - Dimension Drawings A.3 Dimensions for Adept MV-8 Controller (290 mm) (216 mm) Top View 216 mm 290 mm 52 mm 479 mm ® 136 mm Front View 18 mm Side View Figure A-3. Adept MV-8 Outline Drawing 164 Adept MV Controller User’s Guide, Rev C Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.
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Dimensions for Adept MV-19 Controller A.4 Dimensions for Adept MV-19 Controller (290 mm) (431 mm) Top View 431 mm 290 mm 52 mm 479 mm ® 136 mm Front View 18 mm Side View Figure A-4. Adept MV-19 Outline Drawing Adept MV Controller User’s Guide, Rev C Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.
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Appendix A - Dimension Drawings A.5 Mounting Bracket Dimensions 260.4 mm 22.2 mm 133.35 mm ® 479 mm MV-8 with mounting brackets installed 146.05 mm 475.4 mm 133.35 mm 6.8 mm (4x) ® 8.56 mm 33.1 mm MV-19 with mounting brackets installed 10.3 mm (4x) Figure A-5. Mounting Bracket Hole Pattern Dimensions 166 Adept MV Controller User’s Guide, Rev C Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.
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External Front Panel (VFP-1) Dimensions A.6 External Front Panel (VFP-1) Dimensions 482.6 mm (19 in.) 6.35 mm (0.25 in.) LAMP TEST MANUAL AUTO SYSTEM O POWER I HIGH POWER ON/OFF EMERGENCY STOP ® 57.41 mm (2.26 in.) 132.6 mm (5.22 in.) PENDANT LOCAL NETWORK PROGRAM START PROGRAM RUNNING 14.3 mm (0.56 in.) 90 mm (3.5 in.) 81.3 mm (3.2 in.) 48.3 mm (1.9 in.) Figure A-6.
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Appendix A - Dimension Drawings A.7 MCP Cradle Dimensions 4 X 10.2 mm (0.4") 2X 28.7 mm (1.13") 2X 203.2 mm (8") 271.5 mm (10.69") 4 X 4.8 mm (0.188") 4 X 9.7 mm (0.38") 4 X ø9.7 mm (ø0.38") 201 mm (7.9") 221 mm (8.70") Figure A-7. MCP Cradle Dimensions 168 Adept MV Controller User’s Guide, Rev C Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.
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Position Latch and Vision Trigger B.1 External Input For Position Latch and Vision Trigger B . . . . . . . . . . . 170 Position Latch . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170 Vision Trigger . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170 Combined Vision Trigger and Position Latch (“Vision in the Loop”) . . 171 Adept MV Controller User’s Guide, Rev C Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.
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Appendix B - Position Latch and Vision Trigger B.1 External Input For Position Latch and Vision Trigger The Adept MV-8 and MV-19 controllers provide three special purpose high-speed digital inputs, or “external triggers”. These inputs may be used in three ways: 1. High-speed Position Latch – signal the AdeptMotion system to latch the current robot position. 2. External Vision Trigger – signal a picture to be taken by the optional AdeptVision system. 3.
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External Input For Position Latch and Vision Trigger Combined Vision Trigger and Position Latch (“Vision in the Loop”) An RS-170 video camera operates at 30 frames per second. When the Vision system receives an External Trigger, it will normally have to wait until the start of the next frame before it can capture another picture. This can therefore involve a delay of up to 33 ms (milliseconds).
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Additional Standards Compliance Information C.1 Sources for Standards C.2 IEC Test Information C . . . . . . . . . . . . . . . . . . . . . . . . . 174 . . . . . . . . . . . . . . . . . . . . . . . . . . 175 C.3 Electromagnetic Compatibility Testing Results C.4 Color-Coding of Indicator Lights . . . . . . . . . . . . . 176 . . . . . . . . . . . . . . . . . . . . 177 Color-Code Used by Adept for Operator-Indicators . . . . . . . . . 177 Color-Code used by Adept for Service-Indicators . . . . . . . . . .
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Appendix C - Additional Standards Compliance Information C.1 Sources for Standards The table below lists sources for the various standards that are referenced in this manual. Table C-1.
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IEC Test Information C.2 IEC Test Information The Adept MV controller has passed the following IEC 1131 test conditions: Voltage drops, normal service: Severity level PS2 Relative Humidity: Severity level RH2 ESD (Electro-Static Discharge): Severity level 4* *The Adept MV controller was tested at severity level 4 for ESD. In order to maintain compliance, Adept advises the use of proper EMC suppression techniques.
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Appendix C - Additional Standards Compliance Information C.3 Electromagnetic Compatibility Testing Results The Adept MV controller family meets all applicable requirements as mandated by the European Union (EU) EMC Directive. Table C-2 summarizes the test results of some of the most critical tests. Table C-2.
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Color-Coding of Indicator Lights C.4 Color-Coding of Indicator Lights Adept uses colored lamps and indicators to indicate equipment status. There are two categories of indicator: • Operator indicators. These are located on the exterior of the equipment, and form part of the operator interface. Specifically, the Manual Control Pendant (MCP), Front Panel (VFP), and the graphics monitor. The colors Yellow, Green, White and Orange are used. • Service indicators.
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Appendix C - Additional Standards Compliance Information Color-Code used by Adept for Service-Indicators These additional indicators are intended to assist skilled service personnel only. They consist of small LED’s, typically located on the front of the VME modules. They are used to indicate equipment status to facilitate maintenance and testing. They do not require action by the operator, and when the controller is installed as recommended, the service indicators are not normally visible to the operator.
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D Using the Manual Control Pendant (MCP) D.1 Manual Control Pendant Basics . . . . . . . . . . . . . . . . . . . . . 180 Programmer’s Pendant vs. Operator’s Pendant . . MCP Layout . . . . . . . . . . . . . . . . . . . . Soft Buttons . . . . . . . . . . . . . . . . . Function Buttons . . . . . . . . . . . . . . Data Entry Buttons . . . . . . . . . . . . . Mode Control and Joint/Axis Control Buttons Speed Bars and Slow Button . . . . . . . . Emergency Stop From the MCP . . . . . . . . . . Background Mode .
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Appendix D - Using the Manual Control Pendant (MCP) D.1 Manual Control Pendant Basics Programmer’s Pendant vs. Operator’s Pendant Adept motion systems are designed to allow control of the robot or motion device from the Manual Control Pendant (MCP). There are two styles of MCPs, the operator’s pendant and the programmer’s pendant. The programmer ’s pendant is designed for use while an application is being written and debugged (a programmer’s pendant cannot be used inside the robot work envelope).
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Manual Control Pendant Basics EDIT CLR ERR DISP USER PROG SET CMD WORLD TOOL JOINT FREE -+ MAIN DEV X 1 HALT Y 2 RUN DIS COMP HOLD PWR PWR Z 3 NO YES RX 4 7 8 9 RY 5 F1 4 5 6 RZ 6 J7 – J 12 F 2 1 2 3 T1 DEV F3 0 • DEL STEP REC SLOW DONE MCP cradle retaining clip Figure D-2. Cradling the Operator’s MCP WARNING: The cradle for the operator’s pendant MUST be mounted outside of the robot or motion device work envelope.
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Appendix D - Using the Manual Control Pendant (MCP) MCP Layout The major areas of the MCP are shown in Figure D-3.
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Manual Control Pendant Basics Data Entry Buttons The data entry buttons are used to input data, normally in response to prompts that appear on the pendant display. The data entry buttons include, +/YES, –/NO, DEL, the numeric buttons (0-9), the decimal point, and the REC/DONE button. These buttons are similar to the numeric keypad on a standard keyboard. REC/DONE Button – behaves like the Return or Enter key on a standard keyboard.
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Appendix D - Using the Manual Control Pendant (MCP) To re-enable High Power after pressing the MCP emergency stop button, turn the emergency stop button to the right (clockwise). The switch is spring loaded and will return to its normal position. If you are using the operator’s MCP, depress the Hold-to-Run switch. High Power can now be re-enabled by pressing the COMP/PWR button (mode control group), or by entering the ENABLE POWER command from the keyboard.
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MCP Predefined Functions The Edit Function The Edit function button allows editing of location variables and real variables that are used by V+ programs. REAL EDIT SELECT DATA TO MODIFY LOC CLR ERR DISP USER PROG SET CMD WORLD TOOL JOINT FREE DEV Figure D-6. EDIT Function Button Real Press the “real” soft button and the LCD displays: var1 SELECT REAL VARIABLE TO EDIT var2 var3 var4 var1, var2, etc., are global variable names.
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Appendix D - Using the Manual Control Pendant (MCP) Press the soft button under the variable name to edit that variable. The soft button is shown only when there are more than five global location variables in system memory. When a variable has been selected, the LCD will show:1 loc.name: X = 500 CHANGE NEXT HERE If a precision point is selected, the LCD will show: #loc.name: Jt1 = -210 CHANGE NEXT HERE Press the CHANGE soft button to change the displayed component of the location variable.
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MCP Predefined Functions Joint Values When this button is pressed, the display shows: J1 = x.xx J4 = x.xx J2 = x.xx J5 = x.xx J3 = x.xx J6 = x.xx These values represent the current joint positions of the robot or motion device. Values will be shown only for joints the robot or motion device actually has. Rotational joint values are expressed in degrees, and translational joint values are expressed in millimeters. World Location When this button is pressed, the display shows: X = xxx.xxmm y = xxx.
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Appendix D - Using the Manual Control Pendant (MCP) To display a different range of signals, press the soft buttons under the “+” or “–” labels. The next or previous range of signals will be displayed. Press the OUT, IN, and SOFT soft buttons to display input, output, or soft signal ranges. See section 7.6 on page 85 for details on digital I/O signal ranges for the SIO module. Also see section 13.7 on page 153 for details on digital I/O signal ranges for the optional DIO module.
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MCP Predefined Functions Auto Start When AUTO START is pressed, the pendant display shows: 1 Enter last two digits of file name: auto_ Enter one or two digits and press REC/DONE. The pendant LCD will prompt you to press the PROGRAM START button on the VFP. The system will then attempt to load the file AUTOxx.V2 from the default disk, and COMMAND the program “autoxx” (xx refers to the digits you entered). The program file AUTOxx.
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Appendix D - Using the Manual Control Pendant (MCP) Prog Set Function Using the Prog Set button, you may select a new program to execute, set the starting step number, set how many cycles of the program to perform, set the monitor speed, and start a memory resident application program. NEW 1 STEP 1 CYCLE 50 SPEED START EDIT DISP CLR ERR CMD PROG SET USER WORLD TOOL JOINT FREE DEV 2 Figure D-10.
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Moving a Robot or Motion Device with the MCP D.3 Moving a Robot or Motion Device with the MCP Introduction The MCP is used with a robot or motion device primarily to teach robot locations for use in application programs. The MCP is also used with custom applications that employ “teach routines” that pause execution at specified points and allow an operator to teach or re-teach the robot locations used by the program.
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Appendix D - Using the Manual Control Pendant (MCP) MAN/HALT Button When there is no program executing, or a program has paused for a pendant teach routine, pressing the MAN/HALT button selects manual mode. In manual mode, the MCP has control of the robot. If a program is executing, the MAN/HALT button will stop program execution (without shutting off High Power). Manual mode cannot be entered if High Power is off (E-Stop button LED not illuminated). To enable High Power, press the COMP/PWR button.
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Moving a Robot or Motion Device with the MCP STEP Button When the VFP keyswitch is set to MANUAL, V+ programs cannot initiate motions unless you press the STEP button and speed bar on the MCP. To continue the motion once it has started, you can release the STEP button but must continue to press the speed bar.
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Appendix D - Using the Manual Control Pendant (MCP) Robot States World State When world state is selected, movement in the X, Y, or Z direction is parallel to an axis of the world coordinate system. Before the speed bars will move the robot, an axis of motion must be selected from the manual control buttons. The world coordinate system for a SCARA robot is shown in Figure D-13. If X1 is selected, pressing the “+” speed bar will move the robot tool flange in the positive X direction.
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Moving a Robot or Motion Device with the MCP Tool State When tool state is selected, movement in the X, Y, or Z direction is along an axis of the tool coordinate system. The tool coordinate system is centered at the robot tool flange with the Z axis pointing away from the flange. On most robots, the positive X axis is aligned with the center of the tool flange keyway. Before the speed bars will move the robot, an axis of motion must be selected from the manual control buttons.
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Appendix D - Using the Manual Control Pendant (MCP) X 1 X direction Y 2 Y direction Z 3 Z direction RX 4 +Y +X RY 5 +RZ Keyway +Z +Y RZ 6 Rotation about Tool Z axis T1 Gripper STEP + +X Figure D-14. TOOL State 196 Adept MV Controller User’s Guide, Rev C Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.
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Moving a Robot or Motion Device with the MCP X 1 Y 2 Z 3 RX RY RX 4 Rotation about TOOL X axis RY 5 Rotation about TOOL Y axis RZ 6 Rotation about TOOL Z axis T1 Gripper STEP T1 RZ Figure D-15. TOOL State (Six-Axis Robot) Adept MV Controller User’s Guide, Rev C Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.
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Appendix D - Using the Manual Control Pendant (MCP) Joint State When joint state is selected, movement is about the axis of the specified joint. Figure D-16 shows an Adept SCARA robot with three rotational joints (Joints 1, 2, and 4) and one translational joint (Joint 3). Positive rotation of joints 1 and 2 is counter-clockwise as viewed from above. Positive rotation of Joint 4 is clockwise as viewed from above. Positive movement of Joint 3 is downward.
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Moving a Robot or Motion Device with the MCP X 1 Y 2 Z 3 Joint 4 Joint 5 RX 4 Joint 4 RY 5 Joint 5 RZ 6 Joint 6 T1 Gripper STEP T1 Joint 6 Figure D-17. JOINT State (Six-Axis Robot) Adept MV Controller User’s Guide, Rev C Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.
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Appendix D - Using the Manual Control Pendant (MCP) Free State When free state is selected, individual joints are freed from servo control, and the robot brakes (if any) are released. Unlike the other states, you can make multiple selections from the manual control buttons to free as many joints as required. In some cases, such as Joints 1 and 2 on an AdeptOne/AdeptThree robot, multiple joints are freed by selecting a single button.
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Moving a Robot or Motion Device with the MCP Controlling More Than One Robot Like the monitor and each program task, the Manual Control Pendant (MCP) can also have a robot attached. When moving a robot from the MCP or displaying joint values or world locations by pressing the DISP key, only the currently selected robot is affected. The robot currently selected by the MCP is shown by the state of the DEV LED (in the manual state LED group, see Figure D-3).
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System Messages E While the V+ system is being used, it is possible for hardware and software errors to occur. For example, if commands or instructions are not entered in the correct way, V+ rejects the input. The usual response is to write an error message to the system terminal indicating what is wrong so that the user can correct the error. The following section lists the most common errors and suggests remedies to correct the problem.
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Appendix E - System Messages (–523) *Bad block in disk header* Explanation: While formatting a disk, a bad disk block has been found in the disk header area. The format operation has failed and the disk is not usable. User action: Enter the FORMAT command again—use a different diskette if the error persists. *Calibration program not loaded* Explanation: A program required for calibration has not been loaded from disk.
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Appendix E - System Messages (or the pendant RUN/HOLD button is pressed) after a program has completed all its cycles. User action: Use the EXECUTE or PRIME command, or the pendant PRIME function, to restart the program from the desired instruction. (–450) *Can’t interpret line* Explanation: V+ could not interpret the last command or instruction entered. User action: Check the spelling and usage, and re-enter the line.
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Appendix E - System Messages Code n Explanation User action 0 ESTOP board hardware not responding, or Parity error. Check that the AC supply to the Security Panel is on and that the DC power supply is configured correctly. 1 Hardware state 1 error. An error has occurred in the communication or test sequence. Try again. If the problem persists, it may be caused by a faulty ESTOP board. Make a note of the error message and code number, and contact Adept Customer Service. 2 Hardware state 2 error.
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Appendix E - System Messages Code n Explanation User action 2 Customer E-stop, channel 1 error Consult your Robot Instruction Handbook. 3 Customer E-stop, channel 2 error Consult your Robot Instruction Handbook. (–1109) *Cat3 external sensor fault* Code n Because these message codes are related to hardware, refer to your Robot Instruction Handbook as your primary source of information. If it does not answer your questions, contact Adept Customer Service.
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Appendix E - System Messages Code n Explanation User action 3 Amplifier 3 voltage restrict sensor, channel 2 error. The robot (joint 3) is moving or accelerating too fast, there is a fault with the voltage restrict sensor, or the voltage restrict sensor ’s built-in test function failed. If the error occurred while a program was moving the robot, try changing the program to move the robot less quickly or with a lower rate of acceleration or deceleration.
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Appendix E - System Messages (–603) *COMP mode disabled* Explanation: The command attempted requires computer control of the robot, but COMPUTER mode was not selected on the pendant. User action: Select COMP mode on the pendant or enable DRY.RUN mode from the terminal, then reissue the command. (–631) *Controller overheating* Explanation: The temperature sensor in the controller power supply has detected an overheating condition. High Power is switched off. (Not all controllers support this feature.
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Appendix E - System Messages (3) You have tried to write into a pull-down window while it is displayed. User action: (1) If the intended device is a system microfloppy disk drive, make sure the diskette is correctly inserted and formatted. (2) If a limited-access device is specified, ABORT and KILL the program task that has it attached, or wait for the program task to release the device.
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Appendix E - System Messages *Encoder quadrature error* Mtr n (–1008) Explanation: The position encoder signal from the specified motor is sending information that is not phased correctly. The encoder or its cabling may be defective. User action: Turn on high power, calibrate the robot, and try to perform the motion at a slower speed. If the error persists, contact Adept Customer Service.
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Appendix E - System Messages (–642) *E-STOP from SYSFAIL* Explanation: The motion interface board has detected an E-STOP due to the SYSFAIL signal being asserted on the VMEbus. User action: Check for a subsequent message. To determine if there was an unreported RSC error, type listr error(task,4), where task is the number of the task that received the error. If no additional information is available, call Adept Customer Service. (50) Executing in DRY.RUN mode Explanation: The DRY.
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Appendix E - System Messages (–512) *File format error* Explanation: The requested disk file is not in a format acceptable to V + because either it was not created by V+ or the file has been corrupted. User action: Use another diskette or reference another file. (–514) *File or subdirectory name error* Explanation: The specified file name or subdirectory was not a valid disk file name, the directory path contained invalid syntax, or the directory path was too long.
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Appendix E - System Messages something impeding the path of the robot. Because the amount of inaccuracy was considered enough to be a serious error, high power was turned off. User Action: Turn on high power and try to perform the motion at a slower speed. Make sure that nothing is obstructing the robot’s motion. If the error recurs, contact Adept Customer Service.
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Appendix E - System Messages *Image processing board failure* (–728) Explanation: The controller circuit board that processes vision images has failed to respond while processing a request to grab a frame. User action: After saving the programs, variables, and vision prototypes in memory, power down the controller. Make sure the image processor is firmly seated in the controller backplane. Contact Adept Customer Service if the problem persists.
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Appendix E - System Messages User action: If a FORMAT command has been entered, check the command syntax and retry the command. Otherwise, try a different diskette or reformat the current one. Remember that formatting erases all information on the diskette. If the diskette was created on an IBM PC, be sure it was formatted with one of the formats accepted by the V+ system.
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Appendix E - System Messages User action: Try your command again. If the problem persists, contact Adept Customer Service. (–517) *I/O queue full* Explanation: Too many I/O requests have been issued to a device too quickly, and there is no more room to queue them. User action: Retry the operation. If the problem persists, it would be appreciated if you would report the error to Adept Application Engineering.
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Appendix E - System Messages *Location too close* (–618) Explanation: An attempt has been made to move the robot to a location that is too close to the robot column. This probably indicates an error in the value of a location function argument or an incorrect compound transformation. User action: Check to make sure you are using location functions and operations correctly and edit the program as required. (–639) *Manual brake release* Explanation: The robot's manual brake-release button is active.
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Appendix E - System Messages the AdeptMotion Servo system. The interpretation of this fault depends on the particular device being controlled. User action: Turn high power back on and restart the program. If the error persists, implement procedures appropriate for your AdeptMotion system. If the robot is a standard Adept product, contact Adept Customer Service. (–1016) *Motor overheating* Mtr n Explanation: The indicated motor is overheating.
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Appendix E - System Messages (–301) *No program specified* Explanation: No program was specified for an EXECUTE or SEE command or instruction, or DEBUG command, and no previous program is available as a default. User action: Type the line again, providing a program name. *No robot connected to system* (–622) Explanation: An attempt has been made to attach a robot with a system that does not support control of a robot.
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Appendix E - System Messages User action: Reorganize the program logic to eliminate one or more nested subroutine calls or reactions; eliminate some of the automatic variables that are allocated by the programs; use the STACK monitor command to increase the size of the stack for the program task. The program may be restarted with the RETRY command. (–411) *Not enough storage area* Explanation: There is no more space in RAM for programs or variables. User action: Delete unused programs and variables.
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Appendix E - System Messages (–1034) *Overtravel* Mtr n Explanation: The indicated motor has moved beyond the hardware-limited range of motion. User action: Move the robot back into the working envelope. Correct whatever caused the robot to get into the restricted area. Then enable power. *PANIC command* (–633) Explanation: The operator has entered a V+ PANIC monitor command which has stopped the current robot motion. High power is still enabled.
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Appendix E - System Messages *Power disabled: Manual/Auto changed* (–645) Explanation: V+ disables power when the VFP switch moves from MANUAL to AUTO or vice versa. User action: Use any valid method to enable high power. *Power failure detected by robot* (–632) Explanation: Indicates that a controller power failure condition has been detected by the robot control software while a robot is attached to a program.
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Appendix E - System Messages (3) Program completed Explanation: The program has been executed the number of times specified in the last EXECUTE command or instruction. User action: Any monitor command can be entered, except that PROCEED cannot be used to resume program execution. (15) Program HOLD Explanation: The RUN/HOLD button on the pendant has been pressed while a robot program was executing, and it is now suspended. User action: Any monitor command can be entered.
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Appendix E - System Messages *Robot module not enabled* (–900) Explanation: The indicated robot module is present in memory, but it was not enabled for use due to an error (which is reported by a separate message). User action: Use the CONFIG_C and/or SPEC utilities to correct the module configuration. (–605) *Robot not calibrated* Explanation: An attempt has been made to execute a robot-control program (task 0) when the robot is not calibrated. No motion is allowed until the robot is calibrated.
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Appendix E - System Messages User Action: Make sure that the correct type of robot is being used. Use the CONFIG_C utility to change the module ID to –1 in the V+ configuration data. Correct the module ID in the RSC. *RSC power failure* (–670) Explanation: The RSC has reported that its power is failing.
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Appendix E - System Messages something impeding the path of the robot. Because the amount of inaccuracy was not considered large enough to be a serious error, a controlled motion stop occurred, and High Power remains on. User Action: Try to perform the motion at a slower speed. Make sure that nothing is obstructing the robot’s motion. If the error recurs, contact Adept Customer Service.
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Appendix E - System Messages more than 16 nested subdirectories, you cannot read the files in subdirectories nested deeper than 16 levels. In that case you will need to use the system that created the disk to copy the files to a directory that is nested less deeply. (–314) *Switch can’t be enabled* Explanation: An ENABLE command for a certain switch has been rejected because of some error condition. For example, ENABLE POWER will fail if the system is in FATAL ERROR state.
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Appendix E - System Messages amplifier chassis is properly connected to a power source and is turned on. Try again. If the problem persists, contact Adept Customer Service. *Timeout: Hold-to-run not toggled* (–649) Explanation: V+ did not enable high power because you failed to toggle properly the HOLD-TO-RUN switch on the manual control pendant. This message applies only to systems with the MMSP option, in MANUAL mode.
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Appendix E - System Messages *Unexpected zero index* Mtr n (–1005) Explanation: A zero index signal was received from the encoder for this motor at an unexpected time. The encoder may be gaining or losing counts, there may be a hardware problem with the zero index signal, or the “Counts per zero index” configuration parameter may be set incorrectly. User action: Turn on high power, calibrate the robot, and continue to use the system. If this error occurs repeatedly, contact Adept Customer Service.
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Appendix E - System Messages (54) *Warning* SET.SPEED switch disabled Explanation: A PRIME operation has been performed from the manual control pendant while the SET.SPEED system switch is disabled. Therefore, the monitor speed specified in the PRIME command has no effect. User action: If you want the PRIME command to change the monitor speed, type the command enable set.speed at the keyboard.
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Index Numerics 030 module 15, 60–69 jumper settings, main or auxiliary serial I/O 61–66 technical specifications 69 use as Auxiliary processor 69 VMEbus address 67 040 module 15, 72–79 serial I/O 73–76 technical specifications 79 use as Auxiliary processor 79 VMEbus address 77 68 A AC power connecting power cord, MV-5/MV-10 27 connecting power cord, MV-8/MV-19 47 connecting, MV-5/MV-10 24 connecting, MV-8/MV-19 46 requirements, MV-5/MV-10 24 requirements, MV-8/MV-19 46 voltage/current ratings, MV-5/MV-10
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Index Cooling fan MV-5/MV-10 29 MV-8/MV-19 51 Current/voltage ratings MV-5/MV-10 24 MV-8/MV-19 46 Customer service 8 Cycle setting, on MCP 190 D Digital I/O displaying on MCP 187 Digital I/O on SIO 85–92 connector pinouts 90 input specifications 86 output specifications 87 third-party connector sources 91 typical input wiring 88 typical output wiring 89 Digital Input/Output module, see DIO module Dimensions External Front Panel 167 mounting brackets 166 MV-19 165 MV-5/MV-10 robot controller 163 MV-5/MV-10
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Index pin assignments 101 Fuse holders MV-5/MV-10 28 MV-8/MV-19 50 Fuse information MV-5/MV-10 28 Fuse locations internal, MV-8/MV-19 Fuse ratings MV-5/MV-10 29 MV-8/MV-19 50 J Joint Interface module, see VJI module Joint state 198 with SCARA robot 198 Joint values displaying 187 51 G Graphics module, see VGB module Grounding, protective system information, MV-5/MV-10 28 system information, MV-8/MV-19 48 H Hard drive on SIO module 83 High Power On/Off switch, on External Front Panel 96 I I/O 24V 100 mA
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Index viewing angle, on MCP 184 MCP, see Manual Control Pendant MI3/MI6 module 16, 126–129 connecting to user equipment 128 connections/indicators 126 jumper settings 127 technical specifications 129 VMEbus address 127 Modules installing, MV-5/MV-10 30, 33 installing, MV-8/MV-19 52, 54 optional, description of 16 removing, MV-5/MV-10 30, 33 removing, MV-8/MV-19 52, 54 standard, description of 15 Monitor compatibility specifications 35 installation 35 video interface 106 Monitor connector pin assignments 10
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Index installation 36, 54 S-Series terminal user-supplied interface cable 36 Standards compliance 7 sources 174 Starting program execution on MCP 190 Status displaying system on MCP 187 Step selecting starting, on MCP 190 Storage information 22, 44 Store All function on MCP 189 Storing programs with the MCP 189 System Input/Output module, see SIO module System Power switch on External Front Panel 25 System Power switch, on External Front Panel 97 System processor module, see 030 or 040 module editing with
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Index V+ V messages 203 VFI module 18, 138–140 connections/indicators 138 technical specifications 140 VMEbus address 139 VFP, see External Front Panel VGB module 16, 104–108 connections/indicators 104 DIP switch settings 105 technical specifications 108 VMEbus address 105 Video bus coupling installation 113 Viewing angle LCD panel, on MCP 184 VIS module 16, 110–124 camera cables 113–123 camera compatibility 112 connections/indicators 110 switch settings 111 technical specifications 124 VMEbus address 11
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