User`s guide

Chapter 6: sDIO Module
6.4 Configuring an sDIO Module
The Adept SmartController EX motion controller is preconfigured to support two sDIO mod-
ules. Its configuration is based upon an I/O block assignment method that uses 4 bytes per
block and 8 signals per byte, so each byte within a block represents a range of eight Input or
Output signals.
Block numbers for general digital I/O can range from 16 to 31. The default block is 16 for sDIO
#1, and 17 for sDIO #2. Input blocks and output blocks are numbered independently, so you
can use the same number for both an input and an output block. You must be sure that the
block number you specify is not used for the same type of block (Input or Output) in any other
sDIO module or IO Blox devices in your system.
Default sDIO I/O Configuration
Two sDIO modules can be used with the default I/O signal configuration and no additional sig-
nal configuration is required. The default configuration consists of the settings shown in the fol-
lowing table. The first sDIO module can use the default configuration; additional modules
must be assigned unique block numbers, between 16 and 31. To use the default signal con-
figuration for the second sDIO module, you need to assign it to block 17 for input and output.
Table 6-1. Default I/O Configuration for sDIO Modules #1 and #2
Input Signal
Numbers
Block Byte Output Signal
Numbers
Block Byte
sDIO #1
1033 to 1040 16 1 0033 to 0040 16 1
1041 to 1048 16 2 0041 to 0048 16 2
1049 to 1056 16 3 0049 to 0056 16 3
1057 to 1064 16 4 0057 to 0064 16 4
sDIO #2
1065 to 1072 17 1 0065 to 0072 17 1
1073 to 1080 17 2 0073 to 0080 17 2
1081 to 1088 17 3 0081 to 0088 17 3
1089 to 1096 17 4 0089 to 0096 17 4
Modifying the Default sDIO Configuration
Blocks 1-15 are typically reserved for robot signals. Blocks 1-6 are preconfigured for Robots 1-6
for the 3000 series hand control signals, including the signals used by the eV+ OPEN, OPENI,
CLOSE, CLOSEI, RELAX, RELAXI statements. See the eV+ documentation for more details
about these statements.
Adept SmartController EX User’s Guide, Rev. D
Page 64 of 94