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adept technology SmartMotion User Manual
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Chapter 4 - T
echnical Specifications
56
Adep
t Smar
tMotion Installat
ion Guide
, Rev
. B
56
58
Table of Contents
Default Chapter
6
Table of Contents
6
1 Introduction
12
Product Description
12
System Overview
12
Adept Smartmotion Hardware Overview
12
Figure 1-1. Adept Smi6 Module
12
Adept Smi6 Motion Interface Module
13
Motion Interface Kit
13
Safety
13
Reading and Training for Users and Operators
13
System Safeguards
14
Safety Features on Front Panel
14
Computer Controlled Robots and Motion Devices
14
Manually Controlled Robots and Motion Devices
14
Other Computer Controlled Devices
14
Program Security
15
Overspeed Protection
15
Voltage Interruptions
15
Inappropriate Uses of the Adept Smartcontroller
15
Warnings, Cautions, and Notes
16
How Can I Get Help
17
Related Manuals
17
2 System Installation
18
Overview of Installation Process
18
Adept Smi6 Connectors and Indicators
19
Adept Smi6 LED Descriptions
19
Figure 2-1. Close-Up of Smi6 LED Labels
19
Adept Smi6 Connectors
20
Figure 2-2. Adept Smi6 Module Front Panel
20
System Cable Diagram
21
Figure 2-3. Adept Smartmotion System Cable Diagram
21
Adept Smi6 Hardware Configuration
22
Smi6 Digital Input Logic Voltage Configuration
22
Figure 2-4. Opening the Smi6 Chassis
22
Figure 2-5. Location of Jumpers on Main PCA
23
Proper Wiring and Electrical Design Practices
24
Enclosure for Smartcontroller and Smi6
25
Installing the Adept Smartcontroller
26
Installing the Adept Smi6 Module
26
Installing MP6 Panels
27
Rail Mounting the MP6 Panels
27
Panel Mounting the MP6 Panels
28
Plug-In Opto Modules on the MP6-M
28
Figure 2-6. MP6-S Panel - Layout and Dimensions
29
Figure 2-7. MP6-E Panel - Layout and Dimensions
29
Figure 2-8. MP6-M Panel - Layout and Dimensions
30
Figure 2-9. Typical System Wiring for One Axis of Motion
31
2.10 MP6 Machine (MP6-M) Panel Wiring
32
Optical Isolation
32
Input Current Requirements (OT, HM)
32
Input Voltage Configuration
33
Output Current Requirements (MP6-M, HPE and BR, External)
33
User-Supplied Logic Power (Internal)
33
Overtravel Limit Switches (Input)
34
Home Switch (Input)
34
Brake Release (Output)
34
High Power Enable (Output)
34
2.11 MP6 Servo (MP6-S) Panel Wiring
36
Drive Compatibility
36
Optical Isolation
36
MP6-S Input Current Requirements (Drive Fault)
36
MP6-S Output Current Requirements (Drive Enable)
36
Connecting the Drives
37
Drive Enable (Output)
38
Delay Time
38
Drive Fault (Input)
38
Command Drive (Output)
38
2.12 MP6 Encoder (MP6-E) Panel Wiring
39
Encoder Compatibility
39
Connecting Power to the Encoders
39
Encoder Power Grounding
40
Encoder Cable Length (User Supplied)
40
Connecting the Encoders
41
Encoder Input Circuitry
41
Figure 2-10. Encoder Input Circuitry
42
Figure 2-11. Encoder Input Schematic
42
Single-Ended Encoders
43
Figure 2-12. Single-Ended Encoder Wiring Using Inverted Outputs
43
Figure 2-13. Single-Ended Encoder Wiring Using Non-Inverted Outputs
43
3 Software Configuration
44
Introduction
44
Figure 3-1. Smartmotion System Installed to Control a User Mechanism
44
Phase 1 - Preparation for Software Configuration
45
Phase 2 - Load Device Modules
45
Phase 3 - Configure Smartservo Network Map
45
Phase 4 - Create Software Specification
45
Phase 5 - Testing the System
46
Motion Control Application Development
46
4 Technical Specifications
48
Dimensions for Smi6 Module
48
Figure 4-1. Dimensions for Smi6 Module
48
Dimensions for Mounting Smi6 Module
49
Figure 4-2. Rack Mounting
49
Figure 4-3. Panel Mounting
49
Figure 4-4. Table Mounting
50
MP6 to Smi6 Cables
51
Figure 4-5. Typical Input Circuit in Smi6
54
Figure 4-6. Typical Output Circuit in Smi6
54
Figure 4-7. Category 3 E-Stop Circuit
55
Figure 4-8. Category 1 E-Stop Circuit
56
4
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adept technology SmartMotion Specifications
General
Brand
adept technology
Model
SmartMotion
Category
Control Systems
Language
English
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