Adept SmartMotion Installation Guide F2 DE2 F6 DE6 F1 DE1 F5 DE5 ES HPE F4 DE4 STATUS F3 DE3 XENCODER XMACHINE XSERVO XANL XDC1 XDC2 24V 0.5A -+ s MI6 *S/N 3564-XXXXX* SmartServo 1.1 1.2 R -+ *S/N 3561-XXXXX* SmartServo OK SF HPE ES LAN HD SW1 1.1 Device Net 1.
Adept SmartMotion Installation Guide F2 DE2 F6 DE6 F1 DE1 F5 DE5 ES HPE F4 DE4 STATUS F3 DE3 XENCODER XMACHINE XSERVO XANL XDC1 XDC2 24V 0.5A -+ s MI6 *S/N 3564-XXXXX* SmartServo 1.1 1.2 R -+ *S/N 3561-XXXXX* SmartServo OK SF HPE ES LAN HD SW1 1.1 Device Net 1.
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.
Table of Contents 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 1.1 Product Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 System Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Adept SmartMotion Hardware Overview . . . . . . . . . . . . . . . . . . . . . . . . . . Adept sMI6 Motion Interface Module . . . . . . . . . . . . .
Table of Contents 2.10 MP6 Machine (MP6-M) Panel Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Optical Isolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Input Current Requirements (OT, HM) . . . . . . . . . . . . . . . . . . . . . . . . 31 Input Voltage Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Output Current Requirements (MP6-M, HPE and BR, External). . . .
Table of Contents 4.4 Typical Input and Output Circuits in sMI6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 Input Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 Output Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 4.5 Emergency Stop Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 Index . . . . . . . . . . . . . .
List of Figures Figure 1-1. Adept sMI6 Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Figure 2-1. Close-up of sMI6 LED Labels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Figure 2-2. Adept sMI6 Module Front Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Figure 2-3. Adept SmartMotion System Cable Diagram . . . . . . . . . . . . . . . . . . . . . . . . . 20 Figure 2-4.
Introduction 1.1 1 Product Description The Adept SmartMotion product consists of a hardware and software package that provides high-performance coordinated motion control for industrial automation devices. Adept SmartMotion includes the sMI6 motion interface module and the Adept SmartController, communicating via the SmartServo network, Adept’s distributed controls network built on IEEE 1394. Completely integrated V+ software provides the same high-level motion instructions that are used for Adept robots.
Chapter 1 - Introduction Adept sMI6 Motion Interface Module The Adept sMI6 Motion Interface module is a six-channel unit that runs the Adept SmartMotion product. The sMI6 module is a stand-alone unit designed to control a total of six motion axes or external encoders. Each sMI6 module has six servo drive outputs, six incremental encoder inputs, and digital I/O for machine and amplifier control.
Safety There are several warnings in this manual that say only skilled or instructed persons should attempt certain procedures. These are defined as: • Skilled persons have technical knowledge or sufficient experience to enable them to avoid the dangers which electricity may create (engineers and technicians). • Instructed persons are adequately advised or supervised by skilled persons to enable them to avoid the dangers which electricity may create (operating and maintenance staff).
Chapter 1 - Introduction Adept Technology highly recommends the use of additional safety features such as light curtains, safety gates, or safety floor mats to prevent entry to the workcell while HIGH POWER is enabled. These devices can be connected using the emergency stop circuitry. Program Security Programs and data stored in memory can be changed by trained personnel using the V+ commands and instructions documented in the V+ manuals.
Warnings, Cautions, and Notes 1.3 Warnings, Cautions, and Notes There are four levels of special alert notation used in this manual. In descending order of importance, they are: DANGER: This indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. WARNING: This indicates a potentially hazardous situation which, if not avoided, could result in serious injury or major damage to the equipment.
Chapter 1 - Introduction 1.4 How Can I Get Help? Refer to the How to Get Help Resource Guide (Adept P/N 00961-00700) for details on getting assistance with your Adept software and hardware. This document is available on the Adept Documentation Library CD-ROM that is shipped with all systems. Additionally, you can access information sources on Adept’s corporate Web site: http://www.adept.com 1.5 Related Manuals This manual covers the installation of an Adept SmartMotion system.
System Installation 2.1 2 Overview of Installation Process This section provides a summary of the major steps involved with installing a Adept SmartMotion system. 1. Verify that the default hardware configuration for the sMI6 module is correct for your application. The area to look at is: • Digital Input Logic Voltage - see page 21. If you need to change these settings, you will have to open the chassis and install or move jumpers. 2. Review the proper field wiring practices. See Section 2.5 on page 23.
Chapter 2 - System Installation 2.2 Adept sMI6 Connectors and Indicators Adept sMI6 LED Descriptions F2 DE2 F6 DE6 F1 DE1 F5 DE5 ES HPE F4 DE4 STATUS F3 DE3 Note: early sMI6 Module LED labels had DF instead of F for fault conditions, and NET instead of STATUS. The functionality is identical for both versions. Figure 2-1. Close-up of sMI6 LED Labels The LEDs on the sMI6 are two-color devices - they can display either green or red. Table 2-1.
Adept sMI6 Connectors and Indicators F2 DE2 F6 DE6 F1 DE1 F5 DE5 ES HPE F4 DE4 STATUS F3 DE3 XENCODER XMACHINE XSERVO XANL s MI6 *S/N 3564-XXXXX* SmartServo 1.1 1.2 R XDC1 XDC2 24V -+ 0.5A -+ Figure 2-2. Adept sMI6 Module Front Panel Adept sMI6 Connectors 1. SmartServo 1.1 and 1.2 These are SmartServo ports. Port 1.1 or 1.2 connects to the SmartController. The other port can connect to an additional sMI6 module or an optional sDIO. 2.
Chapter 2 - System Installation 2.3 System Cable Diagram 5VDC Power from User-Supplied Power Supply to MP6-E SmartServo 1.1 1.
Adept sMI6 Hardware Configuration 2.4 Adept sMI6 Hardware Configuration sMI6 Digital Input Logic Voltage Configuration The sMI6 can be configured to operate with either a 5V (min 3.0V, max 5.7V) or a 12/24V (min 8.75V, max 27.5V) logic interface. This affects the Home, Overtravel, and Drive Fault signals. The sMI6 is normally shipped configured for 12V input, and must be reconfigured if you decide to operate at 5V.
Chapter 2 - System Installation Jumpers for Overtravel signals, channels 1 to 6 Jumpers for Home signals, channels 1 to 6 Jumpers for Drive Fault signals, channels 1 to 6 Digital Input Logic Voltage Configuration No jumper = 12/24 V logic (factory default) Jumper installed = 5 V logic Figure 2-5. Location of Jumpers on Main PCA 22 Adept SmartMotion Installation Guide, Rev.
Proper Wiring and Electrical Design Practices 2.5 Proper Wiring and Electrical Design Practices Designing a high-performance servo system requires attention to electrical design. Adept SmartMotion is designed to respond to high-resolution encoder inputs, up to 32 MHz count rate. Most drive amplifiers, DC power supplies, and brush-type motors are potential sources of high-frequency electrical noise. Other equipment in the workcell can also generate noise.
Chapter 2 - System Installation 2.6 Enclosure for SmartController and sMI6 The Adept SmartController and the Adept sMI6 module should be installed in a suitable enclosures. All of the equipment can be installed in one enclosure, or the sMI6 and associated components can be placed in a separate enclosure near the user’s equipment; see Note below.
Installing the Adept SmartController 2.7 Installing the Adept SmartController Refer to the System Cable Diagram in Figure 2-3 on page 20 and to the Adept SmartController User’s Guide to install the SmartController and related peripherals. A brief summary is presented here. 1. Mount the SmartController in the workcell according to the instructions in the Adept SmartController User’s Guide. 2. Install the Compact Flash. 3.
Chapter 2 - System Installation 2.9 Installing MP6 Panels The three 6-channel Motion-interface Panels (MP6-M, MP6-S, and MP6-E) serve as the interface between the sMI6 module and the user’s hardware. The MP6-M panel also provides mounting sockets for up to seven Opto-22 output modules. Figure 2-6, Figure 2-7, and Figure 2-8 show the layout and dimensions of the MP6 panels. Figure 2-9 on page 30 shows a typical system wiring for one axis of motion. One set of MP6 panels is required for every sMI6.
Installing MP6 Panels Panel Mounting the MP6 Panels If you do not want to use DIN-rail mounting, you can use panel (screw) mounting instead. 1. Remove and discard the MP6 mounting enclosures. This is done by removing two screws on either end of each unit, then sliding out the printed circuit assembly (PCA). 2. Use the four mounting holes provided on each MP6 panel to mount the PCA with appropriate screws.
Chapter 2 - System Installation P1 50 33 17 Motion-interface Panel - SERVO (MP6-S) P1 S E R V O S E R V O 108mm (4.25") CHAN2 CHAN4 CHAN6 SPARE CHAN1 CHAN3 CHAN5 ANALOG PWR 136.5mm (5.375") 34 18 1 1 +12V 1 2 RTN 3 –12V 4 SHD/GND 6 DE1 CD1 ANALOG PWR 9 DF1 5 CHAN1 to 6 Figure 2-6. MP6-S Panel – Layout and Dimensions P1 50 33 17 Motion-interface Panel - ENCODER (MP6-E) P1 E N C O D E R E N C O D E R 108mm (4.
Installing MP6 Panels M A C H I N E 34 50 18 33 1 17 108mm (4.25") GND SHD 5VRTN 5V P1 4 3 2 1 M A C H I N E LOGIC PWR LOGIC PWR CHAN1 SPARE BRAKE-BR1 OVERTRAVEL HOME CHAN4 206.4mm (8.
Chapter 2 - System Installation Adept SmartMotion Hardware Customer's Hardware + Drive Amplifier (Typical) MP6-S Drive Enable DE+ 1 Drive Enable Output DE– 2 Typical wiring for one of six axes + DF+ 4 Drive Fault Drive Fault Input DF– 5 SHD 3 7 Analog Command CD+ CD– Motor Output Command Signal 8 M To SmartController XUSR Connector Note: Opto-modules shown as simplified equivalent circuit only.
MP6 Machine (MP6-M) Panel Wiring 2.10 MP6 Machine (MP6-M) Panel Wiring The MP6-M is used to interface to the machine (robot or motion mechanism). It provides two digital inputs and one digital output for each of six channels (Channels 1 to 6). See Figure 2-8 on page 29 for the location of the various connectors. • digital input for Overtravel (OT) • digital input for Home Switch (HM) • digital output for Brake Release (BR) The MP6-M also has one independent output for high power enable (HPE).
Chapter 2 - System Installation Input Voltage Configuration See “sMI6 Digital Input Logic Voltage Configuration” on page 21. Output Current Requirements (MP6-M, HPE and BR, External) The digital outputs (HPE and BR) on the MP6-M are optically-isolated via Opto-22 modules. (Therefore, the output specifications for the MP6-M are different than the MP6-S.) Select an appropriate plug-in single-channel module from the “Generation 4” (G4) range manufactured by Opto-22.
MP6 Machine (MP6-M) Panel Wiring Overtravel Limit Switches (Input) One Overtravel Limit switch input is provided for each axis. (Two normally-closed switches must be wired in series or normally-open switches in parallel for one input.) These inputs can be used to help protect the mechanical hardware when the end of axis travel is reached. Each switch should be normally closed, and open only when an overtravel condition is reached.
Chapter 2 - System Installation Table 2-4. MP6-M Connector Terminal Assignments (Typical, 1 of 6) Signal Abbrev.
MP6 Servo (MP6-S) Panel Wiring 2.11 MP6 Servo (MP6-S) Panel Wiring The MP6-S is used to interface to the Servo Drive amplifiers. It provides one digital input (drive fault, DF) and one digital output (drive enable, DE) for each of six channels (channels 1 to 6). It also provides one analog output (command drive, CD) for each of six channels. The function of the MP6-S is to interconnect the signals from user circuits to the sMI6 module.
Chapter 2 - System Installation Connecting the Drives Each channel (1 to 6) has a 9-pin female D-connector that connects to the user’s equipment. All six connectors have the same pin assignments (see Table 2-4 on page 34). Refer to Figure 2-6 for the physical location of each connector. All signal nomenclature is defined as viewed from the controller. Thus, an output is controlled by the Adept controller and an input is monitored by the Adept controller. Table 2-7.
MP6 Servo (MP6-S) Panel Wiring Drive Enable (Output) The Drive Enable signals (DE+, DE–) are outputs to the drives which command the drives to enable motor power. These signals are activated as part of the power enable sequence, after the High Power Enable signal has been activated. Refer to the SPEC program for complete details on the power enable sequence and software-timing parameters. The Drive Enable output logic is set to normally open (closed/on to enable drive).
Chapter 2 - System Installation 2.12 MP6 Encoder (MP6-E) Panel Wiring Encoder Compatibility The MP6-E is used to interface to the encoders. It supports up to six encoder channels, with differential input (A, B and Index) for each encoder. Each channel is designed to interface directly to encoders which use industry standard AB quadrature outputs and an optional zero-index channel. The encoder input circuitry is compatible with encoders using differential line driver outputs (RS-422 signal, +5VDC).
MP6 Encoder (MP6-E) Panel Wiring Adept recommends using a linear power supply instead of a switching power supply. If a switching power supply is used, make sure to meet the minimum current requirements. Encoder Power Grounding Because the 75175 input circuits on the sMI6 have a common-mode input range of +/-12V, the nominal differential signal swing of 0 to 5V must remain within common-mode input range.
Chapter 2 - System Installation Connecting the Encoders Each encoder channel has its own 9-pin D-connector. The connectors are intentionally not keyed and can be interchanged for diagnostic purposes, provided that no attempt is made to enable the associated axis. The pin assignment for each connector is detailed in Table 2-9. For best protection against noise, use shielded twisted-pair cable. The shield should encase only those signals associated with that particular encoder channel.
MP6 Encoder (MP6-E) Panel Wiring sMI6 5V A MP6-E A+ Encoder A RTN SHD 1 2 4 5 6 7 8 9 3 PWR RTN SHD GND 1 2 3 4 A– A+ A– B+ B– I+ I– 5V B B+ B B– PWR 5V I + – I+ I Adept sMI6/ MP6-E Cable I– +PWR + – SHLD SHLD User's Encoder Power Supply User-Supplied Jumper Pin numbers typical for encoder channels 1 to 6 Figure 2-10.
Chapter 2 - System Installation Single-Ended Encoders sMI6 Encoder, single-ended Note: this configuration will be highly sensitive to noise. 5V A A+ A– 5V B B+ B B– PWR 5V I A MP6-E A RTN SHD 1 2 4 5 6 7 8 9 3 PWR RTN SHD GND 1 2 3 4 A+ A– B+ B– I+ I– B I + – I+ I I– +PWR Adept sMI6/ MP6-E Cable + – SHLD SHLD User's Encoder Power Supply User-Supplied Jumper Pin numbers typical for encoder channels 1 to 6 Figure 2-12.
Software Configuration 3.1 3 Introduction After the Adept SmartMotion system hardware has been installed (see Figure 3-1), and the wiring completed, you will be ready to start the software configuration process. This chapter provides an overview of this process.
Chapter 3 - Software Configuration 3.2 Phase 1 - Preparation for Software Configuration To prepare for the software configuration process, you should read the SmartMotion Developer’s Guide for the following topics: • Adept SmartMotion: Key Concepts • Introduction to Servo Parameters • SPEC Program: Overview and Main Menu • Managing SPEC Data NOTE: The SmartMotion Developer's Guide is provided as an online HTML document with a Table of Contents, Search, and Index features to navigate the document.
Phase 5 - Testing the System Then you can optimize your mechanism by fine tuning the performance using the servo tuning features in SPEC. For details, see the Step-by-Step Tuning Process topic in the SmartMotion Developer's Guide. 3.6 Phase 5 - Testing the System Adept SmartMotion software provides diagnostic tools and tests that you can use to adjust the tuning and optimize the performance of your SmartMotion system.
Chapter 3 - Software Configuration 46 Adept SmartMotion Installation Guide, Rev.
Technical Specifications Dimensions for sMI6 Module 328.9 4.4 *S/N 3564-XXXXX* SmartServo 1.1 1.2 R F2 DE2 XENCODER XMACHINE XSERVO F1 DE1 F5 DE5 ES HPE F4 DE4 STATUS F3 DE3 XANL XDC1 XDC2 24V F6 DE6 -+ 3.29 186.5 0.5A s MI6 4.1 4 41.6 -+ 5.5 .118 .094 Figure 4-1. Dimensions for sMI6 Module Adept SmartMotion Installation Guide, Rev.
Chapter 4 - Technical Specifications 4.2 Dimensions for Mounting sMI6 Module 190.0 2X 40356-00003 2X M3 x 6MM BOTH SIDES R 3.6 16.0 43.9 31.8 14.0 6.1 3.6 TYP. 2.2 462.0 482.8 Figure 4-2. Rack Mounting 186.5 14.0 27.6 10.0 2X 40356-00000 273.9 18.0 4X M3 x 6MM R 3.6 16.0 6.6 346.4 359.6 Figure 4-3. Panel Mounting 48 Adept SmartMotion Installation Guide, Rev. B 14.
Dimensions for Mounting sMI6 Module 4X 40356-00001 R 3.6 12.1 29.5 24.1 121.0 24.9 378.6 391.8 4X M3 x 6MM BOTH SIDES 14.3 1.9 16.0 121.0 21.6 Figure 4-4. Table Mounting Adept SmartMotion Installation Guide, Rev.
Chapter 4 - Technical Specifications 4.3 MP6 to sMI6 Cables Table 4-1 shows the pinout for the cable that connects between the XSERVO connector on the sMI6 module and the MP6-S panel. Table 4-1.
MP6 to sMI6 Cables Table 4-2 shows the pinout for the cable that connects between the XMACHINE connector on the sMI6 module and the MP6-M panel. Table 4-2.
Chapter 4 - Technical Specifications Table 4-3 shows the pinout for the cable that connects between the XENCODER connector on the sMI6 module and the MP6-E panel. Table 4-3.
Typical Input and Output Circuits in sMI6 4.4 Typical Input and Output Circuits in sMI6 Input Circuits The circuit in Figure 4-5 is typical of all digital inputs on the sMI6 (3 per axis, 18 total): • Home Switch • Overtravel • Drive Fault R124 JP_5V_ENA 25 26 560 5% R-0805 R122 DR_FLT1+ C74 0.1UF C-0805 1/C5 U54 TLP281-4 1 2.7K 2% R-2010 D10 BAS16L 1/C5 3.3VD R353 3.3K 5% R0603 16 DR_FLT1 15 2 DR_FLT1- 10/D3 D Figure 4-5.
MM1 Adept SmartMotion Installation Guide, Rev. B XFP-14 6V, 1.2 W bulb XFP-6 24 V V+ High Power request 4.7 XFP-13 0.
ES2 XFP-14 6V, 1.
Chapter 4 - Technical Specifications 56 Adept SmartMotion Installation Guide, Rev.
Index A application development, motion control 45 Home Switch, inputs with sMI6 How Can I Get Help? 16 33 I B Brake Release signals, for sMI6 installation MP6 panels 26 SmartController 25 sMI6 module 25 33 C Cat-1 E-Stop circuit, for sMI6 55 Cat-3 E-Stop circuit, for sMI6 54 Command Drive signals on MP6-S 37 Customer Service assistance 16 L logic power, user-supplied M D device modules, loading 44 digital input specifications 31 digital input logic, voltage configuration digital output specifica
Index R rack mounting, sMI6 48 rail mounting, MP6 Panels 26 related manuals 16 Robotic Industries Association 12 robotic safety 12 S safety 12 SmartController installation 25 SmartMotion hardware overview 11 system cable diagram 20 SmartServo network map 44 sMI6 typical input circuit 53 typical output circuit 53 sMI6 module connector descriptions 19 digital input logic voltage configuration 21 dimensions 47 enclosure for chassis 24 encoder configuration 38–42 installation 25 LED functions 18 logic voltage
P/N: 02170-000, Rev.
