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Appendix D
Moving a Robot or Mot
ion Device Wi
t
h the MCP
Adept MV Controll
er
User
’
s Guide, Rev
. B
255
Figur
e D-
14. T
OOL State (Four-Axis
SCARA)
T
1
RZ
6
RY
5
RX
4
Z
3
Y
2
X
1
X direction
Y direction
Z direction
Rotation abou
t
Tool Z axis
Gripper
+X
+Y
+RZ
Keyway
+Z
+X
+Y
+
STEP
X direction
Y direction
Z direct
ion
Rotati
on about T
ool
Z axi
s
Gripper activ
ity
Key
w
a
y
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
255
257
Table of Contents
Default Chapter
10
Table of Contents
10
Introduction
26
How to Use this Manual
27
How to Install and Configure the Adept Controller
27
Related Manuals
27
Other Adept Product Manuals
28
Standard Manuals
28
Developer's Manuals
29
Optional
29
What's New in this Version
29
Warnings, Cautions, and Notes
30
Safety
31
Reading and Training for Users and Operators
31
Computer Controlled Robots and Motion Devices
32
Manually Controlled Robots and Motion Devices
32
Other Computer-Controlled Devices
32
Safety Features on the Compact Interface Panel (CIP)
32
System Safeguards
32
Inappropriate Uses of the Adept Controller
33
Program Security
33
Voltage Interruptions
33
Standards Compliance
34
How Can I Get Help
35
Overview
36
Introduction
37
Adept MV-10 Controller
37
Adept MV-5 Controller
37
The Adept Compact Controller
38
Graphical User Interface and Text-Based User Interface
40
Graphical User Interface Options
40
Text-Based Options
40
AWC System Processor (68040 or 68060)
41
Optional Boards
41
Adept Graphics Board (VGB)
41
System Input/Output Board (SIO)
41
Adept VME Enhanced Joint Interface Board (EJI)
42
Adeptforce VME Board (VFI)
42
Adeptmotion Interface Boards (MI3/MI6)
42
Adeptvision Interface Board (EVI)
42
Auxiliary Processor (AWC with 68060 CPU)
43
Digital Input/Output Board (DIO)
43
Optional Equipment
44
Adeptwindows
44
Compact Interface Panel (CIP)
44
Manual Control pendant (MCP)
44
Color Monitor
45
Extended Keyboard
45
Third-Party Terminals for Text-Based User Interface Controllers
45
Product Descriptions
46
Adeptforce VME
46
Adeptmotion VME
46
Adeptvision
46
Installation of Adept Controllers
48
Shipping, Storage, Unpacking, and Inspection
50
Before Unpacking
50
Repacking for Relocation
50
Shipping and Storage
50
Upon Unpacking
50
Controller ID Label
51
Facility Requirements
51
Voltage Interruptions
52
Enclosure and Disconnect Requirements
52
Installing the MV-5 and MV-10 Controllers
54
AC Power Requirements
54
Facility Overvoltage Protection
54
Power Entry Module
55
The CIP System Power Switch
55
Connecting AC Power Cord
56
Fuse Information (MV-5 and MV-10)
56
System Grounding Information
56
Cooling Fan
57
Fan and Filter Information (MV-5 and MV-10)
57
Procedure to Remove Fuse Holder
57
Filter Inspection and Cleaning
58
Compact Controller Installation
58
Adept MV-4 Insert Overview
58
Removing and Installing Boards
60
Requirements for Installing Boards on the Backplane
60
VME Bus Slot Ordering
60
Upper Backplane Jumper Plugs (P1)
61
VME Bus Address Settings
61
Installing Boards
63
Lower Backplane Jumper Plugs (P2) and Third-Party Boards
63
Removing Boards
63
Installing a Monitor and Keyboard
65
Installation Procedure
65
Connecting Non-Adept Peripherals to the VGB Board
66
Using Adeptwindowspc
67
Chapter 3 Installing an ASCII Terminal (User Supplied)
67
Recommended Terminal for Systems Without a VGB or Adeptwindowspc
67
Contacting WYSE
67
Customer-Supplied Serial Interface Cable
68
Installation Procedure
68
Installing a Stand-Alone Controller in a Rack or Panel
68
Space Around the Chassis
69
Rack Mounting
69
Panel Mounting
69
Installing a Robot Controller in a Rack or Panel
70
Space Around the Chassis
70
Rack Mounting
71
Panel Mounting
71
MV-5 and MV-10 Controller Technical Specifications
73
MV-4 Insert Technical Specifications
73
The Adeptwindows Controller Board
74
AWC Board Connectors and Indicators
75
AWC Board
76
Processors
76
Compact Flash
77
Eeprom
77
AWC Board Specifications
78
Configuring an AWC Module
79
Factory Default Settings
79
DIP-Switch Settings
80
Adeptwindows PC Graphical User Interface
81
VGB Graphical User Interface
81
ASCII Terminal
82
AUTO Boot
82
CPU Board Number Assignment
82
System Controller Jumper Settings
82
Ethernet Connections
83
AWC Module Serial I/O Ports
83
Serial Port 1 (RS-232/TERM)
83
RS-422/485 Connector
84
Serial Port 2 (RS-232)
84
Terminal Mode (ASCII Terminal) Interface
84
Used with a VGB Interface
84
LED Status Indicators on the AWC
86
The Controller Interface Panel
88
Introduction
90
Emergency Stop Switch
90
Panel Switches and Indicators
90
High Power On/Off Switch/Lamp
91
Manual/Automatic Mode Switch
91
MCP Connector
91
System Power Switch
91
AWC Interface (JAWC)
92
NET Switch
92
Side Connectors
92
User Connector (JUSER)
92
Aux (Jext)
93
Back Panel Connectors
93
Cib (Jslv)
93
Devicenet (JDVC)
93
Digital I/O Connections
93
Jcom)
93
Manual Mode Safety Package (MMSP)
93
Rs232 (Jcom)
93
Installation of the Controller Interface Panel (CIP)
94
Location of the CIP
95
Connecting the CIP to the AWC
95
Connecting the MCP to the CIP
97
MCP Cradle
97
MCP Requirements
98
The MCP Bypass Plug
98
Connecting Customer-Supplied Safety and Power Control Equipment
99
Equipment to the CIP
99
To the CIP
99
Emergency Stop Circuit
104
JSIO E-Stop Circuitry
105
Muted Safety Gate E-Stop Circuitry
105
Remote Sensing of CIP, MCP, and User Emergency Stop Push But- Ton Switches
105
Remote Sensing of CIP, MCP, and User Emergency Stop Push Button Switches
105
Remote Manual Mode Control
106
Chapter 5 Remote High Power Control
107
Remote High Power On/Off Lamp
108
Connecting the System Power Switch to the CIP
108
Manual Mode Safety Package (MMSP) Connector
109
Remote User Panel Connections
109
Remote MCP Connections
109
Remote E-Stop Circuit
109
Remote Enable Switch Connections
110
Connecting User-Supplied Serial Communications Equipment
111
RS-232 (JCOM) Connector
111
Connecting User-Supplied Digital I/O Equipment
112
JSIO Connector
112
REACT Input Signals 1001 to 1012
114
Fast Input Signals 1001 to 1004
114
Output Signals
115
Digital I/O Connector Ordering Details (Third-Party Sources)
117
AMP Part Numbers for 50-Pin Male D-Sub
118
Thomas and Betts Part Numbers for 50-Pin Male D-Sub
118
Screw-Terminal Field-Wiring Adapter Blocks
118
Phoenix Contact Inc
118
Weidmüller
119
Extended Digital I/O Signals
120
Extended I/O Inputs
120
Extended I/O Outputs
123
Extended I/O Outputs Diagnostic Signal for Thermal Overload
123
Testing Extended I/O Outputs
123
Extended I/O Output Power Supply Current Selection
124
Optional DIO Cables
126
Labeling Cables
126
Input and Output Cable Wiring Information
126
Adept Graphics Board (VGB)
132
Introduction
133
Connections and Indicators
134
DIP Switch Settings
135
VME Bus Address
135
Monitor Video Interface
136
Keyboard Interface
137
Pointer Interface (Mouse, Trackball, or Touchscreen)
138
VGB Board Specifications
138
Adeptvision Enhanced Vision Interface (EVI) Board
140
Introduction
141
Connections and Indicators
142
VME Bus Address and Configuration
143
EVI Motherboard DIP Switch Setting
143
Acquisition Switch Setting Mode
144
Settings for Normal RS-170 Cameras
145
Settings for Pulnix TM-1001 Cameras
145
Camera Compatibility
146
High-Resolution Cameras
146
Standard RS-170 Cameras
146
Installing Video Bus Coupler
147
Camera Cables
148
Four-Camera Breakout Cable for RS-170 Cameras
148
10-Meter Camera Extension Cables
149
Custom Pulnix TM-1001 Four-Camera Breakout Cable
149
Custom Pulnix TM-1001 D-Sub to BNC Adapter Cable
151
Installing Camera Cables
152
Connecting the Cables to the RS-170 Standard Camera
152
Connecting the Cables to the Pulnix TM-1001 Camera
153
Camera Cable Pin and Signal Information
156
EVI Board Specifications
166
System Input/Output Board (SIO)
168
Introduction
169
Connections and Indicators
170
Mass Storage
171
Floppy Drive
171
Hard Drive
171
Serial I/O Connectors
171
SIO Board Specifications
173
Adeptmotion Interface Board (MI3/MI6)
174
Introduction
175
Connections and Indicators
176
VME Bus Address
177
Jumper Settings and Resistor Configuration on MI3/MI6
178
Connecting to User Equipment
178
MI3/MI6 Board Specifications
178
Enhanced Joint Interface(EJI)
180
Introduction
181
Connections and Indicators
182
VME Bus Address
183
Address Settings for EJI Boards
183
Address Settings for Multiple Servo Boards
183
Belt Encoder Interface
185
EJI Board Specifications
187
Adeptforce VME Board (VFI)
188
Introduction
189
Connections and Indicators
189
VME Bus Address
190
VFI Board Specifications
191
Digital Input/Output Board (DIO)
192
Introduction
193
Connections and Indicators
194
Inputs
195
Outputs
196
Testing Outputs and Fuses
196
Output Power Supply Current Selection
197
Output Power Supply Voltage Jumpers
197
Typical DIO Wiring
199
Optional DIO Cables
201
Input and Output Cable Wiring Information
201
Labeling Cables
201
Additional DIO Boards
206
Setting the Board Address
206
Labeling Sets of Cables
207
DIO Board Specifications
208
Maintenance
210
Introduction
211
Fan Filter Inspection and Cleaning MV-5/MV-10
212
Spare Parts List MV-5/MV-10
213
Changing the Lamp on the High Power Indicator
214
Dimension Drawings
218
Adept MV-5 and MV-10 Stand-Alone Controller Dimensions
219
Adept MV-5 and MV-10 Robot Controller Dimensions
220
The Adept Compact Controller Dimensions
221
MCP Cradle Dimensions
222
Compact Interface Panel Dimensions
223
Position Latch and Vision Trigger
224
External Input for Position Latch and Vision Trigger
225
Position Latch
225
Hardware Interconnection of Boards on an Adept Controller
226
Combined Vision Trigger and Position Latch ("Vision in the Loop")
227
Vision Trigger
227
Additional Standards Compliance Information
228
Sources for Standards
229
IEC Test Information
230
Electromagnetic Compatibility Testing Results
231
Color Coding of Indicator Lights
232
Color Code Used by Adept for Operator Indicators
232
Color Code Used by Adept for Service Indicators
233
Using the Manual Control pendant (MCP)
234
Manual Control pendant Basics
236
Connecting the MCP
237
MCP Layout
238
Soft Buttons
239
Data Entry Buttons
240
Function Buttons
240
Background Mode
241
Emergency Stop from the MCP
241
Mode Control and Joint/Axis Control Buttons
241
Speed Bars and Slow Button
241
MCP Predefined Functions
242
Introduction
242
Predefined Function Buttons
242
The Edit Function
242
The Display Function
245
The Clear Error Function
246
The CMD Function
247
Prog Set Function
248
Moving a Robot or Motion Device with the MCP
250
Introduction
250
Mode Control Buttons
250
COMP/PWR Button
251
Emergency Stop Button
251
MAN/HALT Button
251
DIS PWR Button
252
Joint/Axis Control Buttons
252
Run/Hold
252
STEP Button
252
In Comp Mode
253
In World, Tool, and Joint Mode
253
Slow Button
253
Speed Bars
253
Robot States
254
System Messages
262
Introduction
263
Alphabetical Listing
263
Numerical List
360
Appendix D
254
World State
254
Tool State
255
Joint State
257
Free State
259
Controlling more than One Robot
260
Robots with Fewer than Six Joints
261
Robots with more than Six Joints
261
F Diagnostics Testing
376
Introduction
377
Tests During System Power-Up
377
Completion of Power-Up Tests
377
Processor Self-Test
377
RSC Self-Test
377
System Initialization Tests
377
Tests While Enabling Power
378
Manual Mode Safety Package (MMSP)
378
Standard (Non-MMSP System)
378
Tests During Installation and Servicing
378
Continuous Tests
379
Cycle Tests
379
Drive Faults
379
Encoder Signals
379
FREE Command
379
RSC Watchdog Timer
379
Watchdog Timer
379
G Adept Devicenet
380
Introduction
381
Limitations of the Adept Devicenet Scanner
382
Adept Supplied Devicenet Hardware
383
Connecting Devicenet Hardware to the Adept Device Net Scanner
383
Devicenet Physical Layer and Media
384
Devicenet Connectors
387
Termination of the Devicenet Network
387
Power Capabilities of a Devicenet Cable System
388
Power Supply and the Devicenet Bus
388
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adept technology MV Specifications
General
Brand
adept technology
Model
MV
Category
Controller
Language
English
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