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AdeptModules Instruction Handbook, V
olume 1:
Adept MV Controller Interface, Re
v
.
A
135
Sample Speciļ¬cation File
C
C.1 Introduction
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .137
C.2 Sample SPEC File
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
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133
135
Table of Contents
Default Chapter
4
Table of Contents
4
Safety
14
Introduction
16
Figure 1-1 Adeptmodules
16
Figure 1-2 Adept MV Controller Interface
16
Definition of Manipulating Industrial Robot
17
How to Use this Manual
17
Notes, Cautions, and Warnings
17
Figure 1-3 Adeptmodules Joint Motions
17
Precautions and Required Safeguards
18
Adeptmodules Static Forces
18
Safety Barriers
18
Additional Safety Information
19
Table 1-4 Sources for International Standards and Directives
19
Intended Use of the Adeptmodules
20
Adeptmodules Modifications
21
Acceptable Modifications
21
Unacceptable Modifications
21
Endangerment through Additional Equipment
21
Working Areas
22
Qualification of Personnel
22
Transport
23
1.10 Safety Equipment for Operators
23
1.11 Protection against Unauthorized Operation
23
1.12 Operating Modes of Adeptmodules
23
Automatic Mode
23
Manual Mode
24
1.13 Safety Aspects While Performing Maintenance
24
1.14 What to Do in an Emergency Situation
24
1.15 How to Get Help
24
In Europe
24
Europe/Germany
24
France
25
Italy
25
In the United States
25
Application Questions
25
Applications Internet E-Mail Address
25
Service Calls
25
Training Information
25
Outside Continental United States or Europe
26
Installation
28
Environmental and Facility Requirements for Adeptmodules
30
Compressed Air for the Adeptmodules
30
Facility Ambient Air Quality for Adeptmodules
30
Mounting Surface
30
Mounting Surface Specifications
30
Environmental and Facility Requirements for Controller
30
Table 2-1 Operating Environment Requirements
30
Environmental and Facility Requirements for Power Chassis
31
Before Unpacking the Adept Equipment
31
Transport and Storage
31
Unpacking and Inspecting the Adept Equipment
31
Repackaging for Relocation
32
Adeptmodules Installation
32
2.9 Installation of the Adept MV Controller and the Adept PA-4 Power Chassis
33
Installation of the Adept MV Controller and the Adept PA-4 Power Chassis
33
Joining an Adept PA-4 Power Chassis to an Adept MV Controller
33
Figure 2-1 Joining the Power Chassis and Controller at the Top
33
Figure 2-2 Joining the Power Chassis and Controller at the Bottom
34
Joining at the Bottom
34
Joining at the Top
34
Installation in a Rack or Panel Mount
35
Panel Mounting
35
Rack Mounting
35
Space Around the Chassis
35
Figure 2-3 Installing Mounting Brackets on an Adept MV Controller
36
Figure 2-4 Installing Mounting Brackets on an Adept PA-4 Power Chassis
37
2.10 Installing the A-Series Monitor and Keyboard
38
Installation Procedure
38
Figure 2-5 Connecting the A-Series Monitor and Keyboard
38
2.11 Installing a Terminal in an S-Series System
39
Recommended Terminal for S-Series Systems
39
Installation Procedure
39
Installing Adeptwindows PC
39
2.13 Installing the External Front Panel
40
Controls and Indicators
40
Figure 2-6 External Front Panel (VFP)
40
Installing the External Front Panel (VFP)
41
Figure 2-7 External Front Panel (VFP) Installation
41
2.14 Installing Non-Adept Peripherals in an A-Series System
42
Third-Party Monitor Compatibility
42
Third-Party Keyboard Compatibility
42
Third-Party Pointing Device Compatibility
42
Table 2-2 Monitor Compatibility Specifications
42
Installing the Signal Interface Box (SIB)
43
Connections and Indicators
43
Figure 2-8 Signal Interface Box
43
Figure 2-9 Signal Interface Box LED Indicators
44
Table 2-3 LED Status and Indications
44
Installation of the Signal Interface Box (SIB)
45
Space Around the Signal Interface Box
45
Typical Digital Output Wiring
45
Table 2-4 User Output/Brake Release Connector Pin Assignments
45
Figure 2-10 User Output Wiring Diagram
46
Changing User Output Voltage Setting
47
Table 2-5 User Outputs Specifications
47
Installing a Brake Release Button
48
Adeptmodules Instruction Handbook, Volume 1: Adept MV Controller Interface, Rev. a
48
Figure 2-11 Configuring 12 or 24 Volts
48
Figure 2-12 Brake Release Button
48
2.16 Signal Interconnection Installation
49
Figure 2-13 Adept System Cable Installation
49
System Cable Connections
49
Connecting the Adeptmodules to the Power Chassis
50
System Cable Lengths
50
Table 2-6 System Cable Lengths
50
Installing Signal Cables: Adeptmodules to Signal Interface Box
51
Installing Signal Cables: MV Controller to Power Chassis
51
Table 2-7 EJI Specifications
51
Figure 2-14 Adeptmodules-To-EJI Cable Installation
52
Figure 2-15 Connecting the PA-4 Power Chassis to the MV Controller
53
Installing Signal Cables: MV Controller to Signal Interface Box
53
Connecting the MCP to the VFP
54
Figure 2-16 MCP Connection
54
MCP Cradle
54
2.17 Grounding Information
55
Adept MV Controller Grounding
55
Adept PA-4 Power Chassis Grounding
55
2.18 Connecting to AC Power
56
Figure 2-17 Adeptmodules System Grounding Diagram
56
AC Power Requirements
57
Connecting AC Power to the MV-5/10 Controller
57
Power Entry Module
57
Table 2-8 Adept MV Controller Power Requirements
57
Connecting AC Power Cord
58
Figure 2-18 Adept MV Controller Power Entry Module
58
Table 2-9 Adept MV Controller Power Cord Specifications
58
Connecting AC Power to the Adept PA-4 Power Chassis
59
Table 2-10 Adept PA-4 Power Chassis Power Requirements
59
Connecting the Power Chassis AC Power Cord
60
Table 2-11 AC Power Cord Specifications for Power Chassis
60
Figure 2-19 Typical 380-415 VAC Connection
61
Figure 2-20 Typical 3-Phase 200-240 VAC Connection
61
Typical AC Power Installation Diagrams
61
Changing Voltage Setting for Power Chassis
62
Figure 2-21 Insulating Blue Wire in Power Cord
62
Connecting AC Power to the Signal Interface Box
63
Figure 2-22 Changing Voltage in Power Chassis
63
Power Entry Module
64
Table 2-12 Signal Interface Box AC Power Requirements
64
2.19 Additional Power Chassis Information
65
B+ Amplifier Module Overview
65
Connectors and Indicators
65
Power Chassis Circuit Breaker and Fuse Information
66
Chassis and Amplifier Module Fuses
66
Chassis Circuit Breaker
66
Removing and Installing Amplifier Modules
66
Removing Amplifier Modules
66
Installing Amplifier Modules
67
2.20 Installing End-Effectors on Adeptmodules
67
Connecting Compressed Air Supply to the Adeptmodules (Optional)
67
Preparation for Safe and Effective Use of the Robot
68
Overview of Safety System
70
Introduction
70
Operating in Manual Mode
70
User-Supplied E-Stop Switches
70
Terminal Block on External Front Panel
71
Table 3-1 Terminal Assignment of the Terminal Block on the Back of the VFP
71
External E-Stop Input
72
Passive E-Stop Output
72
Digital Inputs and Outputs of the System Input/Output (SIO) Module
73
Input Signals
73
Table 3-2 DIO Input Specifications (SIO Module)
73
Output Signals
74
Table 3-3 DIO Output Specifications (SIO Module)
74
Digital I/O Connector Pinouts
75
Table 3-4 Digital I/O Connector Pin Assignments on SIO Module
75
Figure 3-1 Digital I/O Connector Pin Locations on SIO Module
76
Figure 3-2 E-Stop Diagram with VFP and MCP
77
Typical Emergency Stop Circuitry
77
Figure 3-3 E-Stop Circuitry with Additional Safety Equipment
78
Commissioning the System
80
Introduction
82
Physical Connections
82
Operating Modes
82
Manual Operating Mode
82
Automatic Operating Mode
83
Using the Brake Release Button
83
Brake Release Button
83
Brakes
84
Description of the Manual Control pendant (MCP)
84
How to Hold the MCP
84
Figure 4-1 Holding the MCP
85
Description of Buttons on the MCP
86
Figure 4-2 MCP Layout
86
Mode Control and Joint/Axis Control Buttons
86
Speed Bars
86
How to Stop Adeptmodules in Manual Mode
87
Prior to Starting the Adeptmodules
87
Adept Utility Disk
87
Software Configuration
87
Overview of Adeptmodules Quick Setup
88
SPEC Data
88
Bringing up an Adeptmodules System
89
Overview of System Bring up
89
Overview of System Bring-Up
89
Single Robot with One Motion Board (EJI)
89
How to Start Adeptmodules
91
Enable High Power with the MCP
91
In Automatic Mode
91
Calibration of the Adeptmodules with the MCP
92
Calibration Parameters
92
In Manual Mode
92
Changing Calibration Direction
93
Figure 4-3 Command (CMD) Function Button
93
Moving the Adeptmodules with the MCP
95
Figure 4-4 Mode Control Buttons
95
Joint/Axis Control Buttons
95
MAN/HALT Button for Selecting Joint State
95
Figure 4-5 Speed Bars
96
Selecting Joint State and Moving the Adeptmodules
96
Speed Bars
96
Figure 4-6 Joint State
97
Selecting and Moving Joint 1 (X)
97
Selecting and Moving Joint 2 (Y)
97
Selecting and Moving Joint 2 (Y)
98
Selecting and Moving Joint 3 (Z)
98
Adeptmodules Instruction Handbook, Volume 1: Adept MV Controller Interface, Rev. a
98
Selecting and Moving Joint 4 (Theta)
98
Limiting Joint Travel
98
Maintenance
100
Introduction
102
Modules Lubrication
102
Lubrication Schedule
102
Lubrication Grease
103
Grease Adapter Nozzle
103
Lubrication Procedures
103
Table 5-1 Lubrication Schedule
103
Connectors and Pins
104
Connector Pins and Inserter/Extractor Tools
104
Maintenance and Inspection of Air Filters
106
Adept MV-19 Controller Fan Filter Inspection and Cleaning
106
Adept MV-5/MV-10 Controller Fan Filter Inspection and Cleaning
106
Adept PA-4 Amplifier Chassis Fan Filter Inspection and Cleaning
106
Check Lamps on VFP
107
Technical Specification
108
Dimensions
110
Adept Linear Modules Dimensions
110
Adept MV-5 and MV-10 Controllers Dimensions
110
Figure 6-1 Adept MV-5 and MV-10 Dimensions
110
Adept MV-19 Controller Dimensions
111
Figure 6-2 Adept MV-19 Dimensions
111
Adept PA-4 Power Chassis Dimensions
112
Figure 6-3 Adept PA-4 Power Chassis Dimensions
112
Dimensions of the Signal Interface Box
113
Figure 6-4 Adeptmodules Signal Interface Box
113
Dimensions of the External Front Panel
114
Figure 6-5 Adept External Front Panel Dimensions
114
Dimensions of the Mounting Brackets
115
Figure 6-6 Adept MV-5/10 and PA-4 with Mounting Brackets Installed
115
MCP Cradle Dimensions
116
Figure 6-7 MCP Cradle Dimensions
116
Adept MV Controller Power Consumption
117
Adept PA-4 Power Chassis Power Consumption
117
Table 6-1 Adep T MV Controller Power Requirments
117
Table 6-2 Power Consumption for PA-4 Power Chassis (Four-Axis Configuration)
117
Software Configuration Using CONFIG_C
118
A.1 Introduction
120
Terminology
120
Adept Utility Disk
121
Device Module Documentation
121
Software Installation Procedure for a New System
122
Upgrade Procedure for an Existing System
122
A.2 Robots and Device Modules
122
Procedure to Load CONFIG_C
123
Figure A-1 Procedure for Copying Device Modules to a System File
123
Program Prompts
124
Figure A-2 Robots and Device Modules Menu
124
Figure A-3 Example System Disk Configuration in CONFIG_C
125
Figure A-4 Typical Multirobot System Initialization Messages
125
A.3 Servo Loop Rate
127
Figure A-5 Example Device Module REPLACE Procedure
127
Multiple Robot Configurations
128
Introduction
130
Adeptmodules Configured as Multiple Robots on One EJI
130
Table B-1 Motor-To-Channel Mapping Robot #1
131
Table B-2 Motor-To-Mapping Robot #2
131
Configuring Adeptmodules with an Adept Robot
132
Address Settings for Multiple Servo Boards
132
Table B-3 Multiple Robot Address Setting
132
Sample Specification File
134
C.1 Introduction
136
C.2 Sample SPEC File
136
Table C-1 Adeptmodules Specifications for Sample Spec. File
136
Test and Troubleshooting
142
Introduction
144
Discrete Inputs
144
Status LED Hints
144
Error Messages and Causes
144
Motion Interface E-Stop
144
Protection Error
144
RSC Communication Failure* (Robot #)
145
Time out Enabling Power
145
Motor Startup Failure* Mtr in (Robot #)
145
Calibration Related Problems
145
Setup Related Problems
145
Diagnostic Tests
145
Testing Encoder Channels
146
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adept technology MV Specifications
General
Brand
adept technology
Model
MV
Category
Controller
Language
English
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