User`s guide

Chapter 4 - System Installation
40 AdeptViper s650/s850 Robot User’s Guide, Rev A
4.2 Installing the SmartController
Refer to the Adept SmartController User’s Guide for complete information on installing
the Adept SmartController. This list summarizes the main steps.
1. Mount the SmartController and Front Panel.
2. Connect the Front Panel to the SmartController.
3. Connect the optional pendant to the SmartController, if included.
4. Connect user-supplied 24 VDC power to the controller.
5. Install a user-supplied ground wire between the SmartController and ground.
6. Install the AdeptWindows PC software on the user-supplied PC. Refer to the
AdeptWindows Installation Guide. This includes connecting the supplied
Ethernet crossover cable between the user-supplied PC and the Ethernet port on
the SmartContoller.
4.3 Installing the PA-4 Power Chassis
Refer to the Adept PA-4 Power Chassis User’s Guide for complete information on the
PA-4 chassis. This list summarizes the main steps.
1. Mount the PA-4 chassis.
NOTE: For the PA-4 in an AdeptViper system, only the panel-mounting
option is available.
2. Locate these cables, typically shipped in the cable/accessories box.
• IEEE 1394 cable (length 4.5M)
• XSYS cable (length 4.5M)
• Arm Power/Signal cable (length 4 M)
3. Install one end of the IEEE 1394 cable into the SmartServo port 1.1 connector on
the SmartController, and install the other end into the SmartServo port 1
connector on the sDAI module in the PA-4. See Figure 4-1 on page 39 and Figure
4-2 on page 41.
4. Install the XSYS cable between the XSYS connector on the SmartController, and
the XSLV connector on the sDAI module, and tighten the latching screws.
5. Install the Arm Power/Signal cable between the CN22 connector on the robot and
the Arm Power/Signal connector on the PA-4.
6. Install a ground wire between the PA-4 and the SmartController.