User`s guide
Connecting Digital I/O to the System
AdeptViper s650/s850 Robot User’s Guide, Rev A 51
5.3 Connecting Digital I/O to the System
You can connect digital I/O to the system in several different ways. See Table 5-1 and
Figure 5-2.
Figure 5-2. Connecting Digital I/O to the System
Table 5-1. Digital I/O Connection Options
Product I/O Capacity For more details
XDIO Connector on
SmartController
12 inputs
8 outputs
see Adept SmartController
User’s Guide
Optional IO Blox Device,
connects to sDAI in PA-4
8 inputs, 8 outputs per device; up
to four IO Blox devices per robot
see Adept IO Blox User’s
Guide
Optional sDIO Module,
connects to controller
32 inputs, 32 outputs per module;
up to four sDIO per system
see Adept SmartController
User’s Guide
CAUTION
HIGH
VOLTAGE
INSIDE
B
R
A
K
E
STATUS
SmartServo
1
2
R
S
2
3
2
E
X
P
I
O
X
S
L
V
C
N
P
G
1
2
3
C
N
P
G
4
5
6
C
N
2
5
C
N
2
9
DAI
s
adept
technology, inc.
LOWVOLTSON
HVSAG/OVER TEMP FAULT
DONOTREMOVEORINSTALLTHIS
SHORTFAULT
OPENCKT FAULT
MODULEUNLESS HIGH VOLTSLED
ISCOMPLETELY DISTINGUISHED
PWMON
CH1
HIGHVOLTSON
CH2
A
M
P
L
I
F
I
E
R
C
O
N
T
R
O
L
CH2CH1
M
O
T
O
R
P
O
W
E
R
O
U
T
P
U
T
JAMP JAMP JAMP
LOWVOLTSON
HVSAG/OVER TEMP FAULT
DONOT REMOVE OR INSTALLTHIS
SHORTFAULT
OPENCKT FAULT
MODULEUNLESS HIGH VOLTSLED
ISCOMPLETELY DISTINGUISHED
PWMON
CH1
HIGHVOLTSON
CH2
A
M
P
L
I
F
I
E
R
C
O
N
T
R
O
L
CH2CH1
M
O
T
O
R
P
O
W
E
R
O
U
T
P
U
T
LOWVOLTSON
HVSAG/OVER TEMP FAULT
DONOT REMOVE OR INSTALLTHIS
SHORTFAULT
OPENCKT FAULT
MODULEUNLESS HIGH VOLTSLED
ISCOMPLETELY DISTINGUISHED
PWMON
CH1
HIGHVOLTSON
CH2
A
M
P
L
I
F
I
E
R
C
O
N
T
R
O
L
CH2CH1
M
O
T
O
R
P
O
W
E
R
O
U
T
P
U
T
SF
IEEE-1394
X2
SC-DIO
LINK
*S/N3563-XXXXX*
X1
24V 0.5A
R
OK
X4
-+ -+
1.1 1.2
XDC1 XDC2
X3
R
ON
SmartServo IEEE-1394
1234
SF ES HD
SW1
1.1 1.2 2.1 2.2
OK
123
XDIO
LANHPE
OFF
XSYS
CAMERA
Eth 10/100
XUSR
Device Net
XFP
RS-232/TERM
RS-232-1
XMCP
BELT ENCODER
SmartController CX
-+ -+
RS-422/485
XDC1 XDC2
24V 5A
*S/N 3562-XXXXX*
RS-232-2
CN22
CN20
AIR1
AIR2
Optional
sDIO #1
SmartController
Adept PA-4
Optional
IO Blox Device
To EXPIO
on sDAI
XDIO Connector
12 Input signals: 1001 to 1012
8 Output signals: 0001 to 0008
IO Blox #1
8 Input signals: 1113 to 1120
8 Output signals: 0105 to 0112
sDIO #1
32 Input signals: 1033 to 1064
32 Output signals: 0033 to 0064
CN20 Connector
For input signals to control
internal robot solenoids
and general user I/O.
Signals can come from
IO Blox device or XDIO
on SmartController.
AdeptViper s650/s850
Robot