Adept technology Adept RS-232/TERM Specifications

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Adept MV Controller User’s Guide, Rev C viiTable of Contents1Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.1 H

VMEbus AddressAdept MV Controller User’s Guide, Rev C 776.5 VMEbus Address Each 040 module in an Adept MV controller must have a unique module address

Chapter 6 - 040 Processor Module78 Adept MV Controller User’s Guide, Rev CFigure 6-3. Switch and Jumper Locations on the 040 ModuleSCONJ1Adept 040 Boa

Use as an Auxiliary ProcessorAdept MV Controller User’s Guide, Rev C 796.7 Use as an Auxiliary Processor Additional 040 System processor modules can b

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Adept MV Controller User’s Guide, Rev C 81System Input/OutputModule (SIO) 77.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 7 - System Input/Output Module (SIO)82 Adept MV Controller User’s Guide, Rev C7.1 Introduction The System Input/Output (SIO) module is a requi

System Configuration InformationAdept MV Controller User’s Guide, Rev C 83DIP Switch Settings 7.3 System Configuration InformationThe Adept system ide

Chapter 7 - System Input/Output Module (SIO)84 Adept MV Controller User’s Guide, Rev C7.5 Serial I/O Connectors There are three RS-232 serial ports fo

Digital I/O ConnectorAdept MV Controller User’s Guide, Rev C 857.6 Digital I/O Connector The Digital I/O connector on the SIO is a 50-pin, high-densit

Chapter 7 - System Input/Output Module (SIO)86 Adept MV Controller User’s Guide, Rev CThe External Position Latch feature allows the Robot and AdeptMo

Table Of Contentsviii Adept MV Controller User’s Guide, Rev CAdept A-Series Option . . . . . . . . . . . . . . . . . . . . . . . . 14Adept S-Series O

Digital I/O ConnectorAdept MV Controller User’s Guide, Rev C 87Output SignalsThe digital I/O connector handles output signals 0001 to 0008. (On system

Chapter 7 - System Input/Output Module (SIO)88 Adept MV Controller User’s Guide, Rev CTypical Digital Input WiringThe following drawing shows three ex

Digital I/O ConnectorAdept MV Controller User’s Guide, Rev C 89Typical Digital Output WiringThe following drawing shows two examples of different type

Chapter 7 - System Input/Output Module (SIO)90 Adept MV Controller User’s Guide, Rev CDigital I/O Connector PinoutsaPins 41, 42, 43, and 44, see Figur

Digital I/O ConnectorAdept MV Controller User’s Guide, Rev C 91Figure 7-4. Digital I/O Connector Pin Locations on SIO ModuleDigital I/O Connector Orde

Chapter 7 - System Input/Output Module (SIO)92 Adept MV Controller User’s Guide, Rev CThomas and Betts Part Numbers for 50-Pin Male D-SubHOLMBERG-seri

Emergency Stop CircuitAdept MV Controller User’s Guide, Rev C 937.7 Emergency Stop Circuit NOTE:This section applies to systems that do not include th

Chapter 7 - System Input/Output Module (SIO)94 Adept MV Controller User’s Guide, Rev CFigure 7-5. E-Stop Diagram with VFP and MCPSIO ModuleAdept Exter

Emergency Stop CircuitAdept MV Controller User’s Guide, Rev C 95Table 7-6. Terminal Assignment of the Terminal Block on the Back of the VFPNumber Desc

Chapter 7 - System Input/Output Module (SIO)96 Adept MV Controller User’s Guide, Rev C7.8 External Front Panel (VFP-1)The optional external VME front

Table Of ContentsAdept MV Controller User’s Guide, Rev C ixSystem Grounding Information . . . . . . . . . . . . . . . . . . . . 283.5 Fuse Informati

External Front Panel (VFP-1)Adept MV Controller User’s Guide, Rev C 97• SYSTEM POWER switch and lamp (green): This rotary on/off switch supports optio

Chapter 7 - System Input/Output Module (SIO)98 Adept MV Controller User’s Guide, Rev CFigure 7-7. External VME Front Panel and MCP Installation1234FP/

Manual Control Pendant (MCP)Adept MV Controller User’s Guide, Rev C 997.9 Manual Control Pendant (MCP) Connecting the MCP to the VFPThe optional MCP i

Chapter 7 - System Input/Output Module (SIO)100 Adept MV Controller User’s Guide, Rev C7.10 User-Supplied External Front PanelWe recommend using an Ad

User-Supplied External Front PanelAdept MV Controller User’s Guide, Rev C 101Front Panel/MCP Connector and CableThis cable is supplied with the option

Chapter 7 - System Input/Output Module (SIO)102 Adept MV Controller User’s Guide, Rev C7.11 SIO Module Specifications aSpecifications subject to chang

Adept MV Controller User’s Guide, Rev C 103Adept Graphics Module(VGB) 88.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 8 - Adept Graphics Module (VGB)104 Adept MV Controller User’s Guide, Rev C8.1 Introduction The Adept Graphics module (VGB) is required for A-S

VMEbus AddressAdept MV Controller User’s Guide, Rev C 105DIP Switch Settings 8.3 VMEbus Address The VGB module has a fixed address and should not be m

Chapter 8 - Adept Graphics Module (VGB)106 Adept MV Controller User’s Guide, Rev C8.4 Monitor Video Interface The VGB module supports a color monitor

Table Of Contentsx Adept MV Controller User’s Guide, Rev CAC Power Requirements . . . . . . . . . . . . . . . . . . . . . . . 46Facility Overvoltage

Keyboard InterfaceAdept MV Controller User’s Guide, Rev C 1078.5 Keyboard Interface The VGB module supports an AT-style extended keyboard with an inte

Chapter 8 - Adept Graphics Module (VGB)108 Adept MV Controller User’s Guide, Rev C8.7 VGB Module Specifications aSpecifications subject to change.Tabl

Adept MV Controller User’s Guide, Rev C 109AdeptVision VME Module(VIS) 99.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 9 - AdeptVision VME Module (VIS)110 Adept MV Controller User’s Guide, Rev C9.1 Introduction The AdeptVision VME Vision Interface (VIS) module

VMEbus Address and ConfigurationAdept MV Controller User’s Guide, Rev C 1119.3 VMEbus Address and ConfigurationThe VIS module will be configured as mo

Chapter 9 - AdeptVision VME Module (VIS)112 Adept MV Controller User’s Guide, Rev CFigure 9-2. Switch Locations on VIS Module9.4 Camera CompatibilityC

Installing Video Bus CouplingAdept MV Controller User’s Guide, Rev C 1139.5 Installing Video Bus Coupling The Video Bus coupling (VTV) (see Figure 9-5

Chapter 9 - AdeptVision VME Module (VIS)114 Adept MV Controller User’s Guide, Rev CFour-Camera Breakout Cable This cable has a 44-pin D-sub connector

Installing Camera CablesAdept MV Controller User’s Guide, Rev C 1159.7 Installing Camera Cables Refer to the AdeptVision VME User’s Guide for informat

Chapter 9 - AdeptVision VME Module (VIS)116 Adept MV Controller User’s Guide, Rev C9.8 Camera Cable Pin and Signal Information This section provides t

Table Of ContentsAdept MV Controller User’s Guide, Rev C xi5.8 030 Processor Module Specifications . . . . . . . . . . . . . . . . . . 696040 Proc

Camera Cable Pin and Signal InformationAdept MV Controller User’s Guide, Rev C 117Table 9-4. Breakout Cable Strobe and Power Connector Pin Assignments

Chapter 9 - AdeptVision VME Module (VIS)118 Adept MV Controller User’s Guide, Rev CFigure 9-6. Pin Locations for Camera Cable Connector (12-Pin Hirose

Camera Cable Pin and Signal InformationAdept MV Controller User’s Guide, Rev C 119Table 9-6. Two-Camera Breakout Cable Pin AssignmentsFrom: Pin To: Pi

Chapter 9 - AdeptVision VME Module (VIS)120 Adept MV Controller User’s Guide, Rev CTable 9-7. Four-Camera Breakout Cable Pin Assignments (sorted by de

Camera Cable Pin and Signal InformationAdept MV Controller User’s Guide, Rev C 121Str/Pwr 2 CAM4 1 Power returnStr/Pwr 1 CAM4 2 +12V powerVIS 30 CAM4

Chapter 9 - AdeptVision VME Module (VIS)122 Adept MV Controller User’s Guide, Rev CTable 9-8. Four-Camera Breakout Cable Pin Assignments (sorted by or

Camera Cable Pin and Signal InformationAdept MV Controller User’s Guide, Rev C 123VIS 36 CAM1 6 Hd (horizontal drive)VIS 37 CAM1 7 Vd (vertical drive)

Chapter 9 - AdeptVision VME Module (VIS)124 Adept MV Controller User’s Guide, Rev C9.9 VIS Module Specifications aSpecifications subject to change.Tab

Adept MV Controller User’s Guide, Rev C 125AdeptMotion InterfaceModule (MI6/MI3) 1010.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 10 - AdeptMotion Interface Module (MI6/MI3)126 Adept MV Controller User’s Guide, Rev C10.1 Introduction The AdeptMotion Interface (MI6/MI3) mo

Table Of Contentsxii Adept MV Controller User’s Guide, Rev C7.8 External Front Panel (VFP-1) . . . . . . . . . . . . . . . . . . . . . . 96Control

VMEbus AddressAdept MV Controller User’s Guide, Rev C 12710.3 VMEbus Address Each MI3/MI6 module must have a unique VMEbus address. The information in

Chapter 10 - AdeptMotion Interface Module (MI6/MI3)128 Adept MV Controller User’s Guide, Rev C10.5 Connecting to User Equipment The MI3/MI6 module con

MI3/MI6 Module SpecificationsAdept MV Controller User’s Guide, Rev C 12910.6 MI3/MI6 Module Specifications aSpecifications subject to change.Table 10-

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Adept MV Controller User’s Guide, Rev C 131Adept Joint InterfaceModule(VJI) 1111.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 11 - Adept Joint Interface Module(VJI)132 Adept MV Controller User’s Guide, Rev C11.1 Introduction The Adept VME Joint Interface (VJI) module

VMEbus AddressAdept MV Controller User’s Guide, Rev C 13311.3 VMEbus Address Address Settings for VJI ModulesThe VMEbus address for a single VJI modul

Chapter 11 - Adept Joint Interface Module(VJI)134 Adept MV Controller User’s Guide, Rev C11.4 Belt Encoder InterfaceFor use with conveyor tracking, th

Belt Encoder InterfaceAdept MV Controller User’s Guide, Rev C 135Figure 11-2. VJI Belt Encoder Typical Input CircuityEncoder+–RP8RP7RP6HCPL2231VJIEnco

Chapter 11 - Adept Joint Interface Module(VJI)136 Adept MV Controller User’s Guide, Rev C11.5 VJI Module Specifications aSpecifications subject to cha

Table Of ContentsAdept MV Controller User’s Guide, Rev C xiii10.3 VMEbus Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12710.4 Jum

Adept MV Controller User’s Guide, Rev C 137AdeptForce VMEModule (VFI) 1212.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 12 - AdeptForce VME Module (VFI)138 Adept MV Controller User’s Guide, Rev C12.1 Introduction The AdeptForce VME Force Interface (VFI) module i

VMEbus AddressAdept MV Controller User’s Guide, Rev C 13912.3 VMEbus Address Each VFI module must have a unique VMEbus address. If you use only one fo

Chapter 12 - AdeptForce VME Module (VFI)140 Adept MV Controller User’s Guide, Rev C12.4 VFI Module Specifications aSpecifications subject to change.Ta

Adept MV Controller User’s Guide, Rev C 141Digital Input/OutputModule (DIO) 1313.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 13 - Digital Input/Output Module (DIO)142 Adept MV Controller User’s Guide, Rev C13.1 Introduction The Adept Digital I/O module is an opto-iso

OutputsAdept MV Controller User’s Guide, Rev C 143The input current specifications are provided for reference, voltage sources are typically used to d

Chapter 13 - Digital Input/Output Module (DIO)144 Adept MV Controller User’s Guide, Rev CTesting Outputs and Fuses Like many solid-state I/O systems,

OutputsAdept MV Controller User’s Guide, Rev C 145Output Power Supply Current Selection The 9 power pins for each group are connected together on the

Chapter 13 - Digital Input/Output Module (DIO)146 Adept MV Controller User’s Guide, Rev C13.5 Typical DIO Wiring Figure 13-1. Typical Digital Input Se

Table Of Contentsxiv Adept MV Controller User’s Guide, Rev C14.2 Fan Filter Inspection and Cleaning MV-8/MV-19 . . . . . . . . . . . . 15814.3 Fan F

Typical DIO WiringAdept MV Controller User’s Guide, Rev C 147Figure 13-2. Typical Digital Output Setup MAdept-Supplied EquipmentUser-Supplied Equipmen

Chapter 13 - Digital Input/Output Module (DIO)148 Adept MV Controller User’s Guide, Rev C13.6 Optional DIO Cables The cables to connect to the Input a

Optional DIO CablesAdept MV Controller User’s Guide, Rev C 149aThe signal numbers for modules 2 –7 increase by 32 for each additional module; see Tabl

Chapter 13 - Digital Input/Output Module (DIO)150 Adept MV Controller User’s Guide, Rev CaThe signal numbers for modules 2 –7 increase by 32 for each

Optional DIO CablesAdept MV Controller User’s Guide, Rev C 151aThe signal numbers for 2 –7 increase by 32 for each additional module; see Table 13-8.T

Chapter 13 - Digital Input/Output Module (DIO)152 Adept MV Controller User’s Guide, Rev CaThe signal numbers for 2 –7 increase by 32 for each addition

Additional DIO ModulesAdept MV Controller User’s Guide, Rev C 15313.7 Additional DIO Modules Setting the Module AddressAdditional DIO modules can be i

Chapter 13 - Digital Input/Output Module (DIO)154 Adept MV Controller User’s Guide, Rev CFigure 13-3. Switch and Jumper Locations on DIO PC BoardTypic

DIO Module SpecificationsAdept MV Controller User’s Guide, Rev C 15513.8 DIO Module SpecificationsaSpecifications subject to change.Table 13-9. DIO Te

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Table Of ContentsAdept MV Controller User’s Guide, Rev C xvIntroduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184Predefined Funct

Adept MV Controller User’s Guide, Rev C 157Maintenance 1414.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15814.2 Fan F

Chapter 14 - Maintenance158 Adept MV Controller User’s Guide, Rev C14.1 IntroductionNOTE:The Adept MV Controller has no user-serviceable parts other t

VFP Lamp TestAdept MV Controller User’s Guide, Rev C 15914.4 VFP Lamp TestYou should perform this test at least every six months to verify all lamps a

Chapter 14 - Maintenance160 Adept MV Controller User’s Guide, Rev C14.6 Spare Parts List MV-5/MV-10Part numbers and specifications are subject to chan

Adept MV Controller User’s Guide, Rev C 161 Dimension Drawings AA.1 Dimensions for Adept MV-5 and MV-10 Stand-Alone Controllers . . . . 162A.2 Dime

Appendix A - Dimension Drawings162 Adept MV Controller User’s Guide, Rev CA.1 Dimensions for Adept MV-5 and MV-10 Stand-Alone Controllers Figure A-1.

Dimensions for Adept MV-5 and MV-10 Robot ControllersAdept MV Controller User’s Guide, Rev C 163A.2 Dimensions for Adept MV-5 and MV-10 Robot Controll

Appendix A - Dimension Drawings164 Adept MV Controller User’s Guide, Rev CA.3 Dimensions for Adept MV-8 Controller Figure A-3. Adept MV-8 Outline Draw

Dimensions for Adept MV-19 ControllerAdept MV Controller User’s Guide, Rev C 165A.4 Dimensions for Adept MV-19 Controller Figure A-4. Adept MV-19 Outl

Appendix A - Dimension Drawings166 Adept MV Controller User’s Guide, Rev CA.5 Mounting Bracket Dimensions Figure A-5. Mounting Bracket Hole Pattern Di

Table Of Contentsxvi Adept MV Controller User’s Guide, Rev CFigure 3-9. Panel Mounting for MV-5/MV-10 Stand-Alone Controller . . . . . . . . . 38Figur

External Front Panel (VFP-1) DimensionsAdept MV Controller User’s Guide, Rev C 167A.6 External Front Panel (VFP-1) DimensionsFigure A-6. Adept Externa

Appendix A - Dimension Drawings168 Adept MV Controller User’s Guide, Rev CA.7 MCP Cradle DimensionsFigure A-7. MCP Cradle Dimensions4 X 10.2 mm(0.4&qu

Adept MV Controller User’s Guide, Rev C 169Position Latch andVision Trigger BB.1 External Input For Position Latch and Vision Trigger . . . . . . .

Appendix B - Position Latch and Vision Trigger170 Adept MV Controller User’s Guide, Rev CB.1 External Input For Position Latch and Vision TriggerThe A

External Input For Position Latch and Vision TriggerAdept MV Controller User’s Guide, Rev C 171Combined Vision Trigger and Position Latch (“Vision in

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Adept MV Controller User’s Guide, Rev C 173Additional StandardsCompliance Information CC.1 Sources for Standards . . . . . . . . . . . . . . . . . .

Appendix C - Additional Standards Compliance Information174 Adept MV Controller User’s Guide, Rev CC.1 Sources for StandardsThe table below lists sour

IEC Test InformationAdept MV Controller User’s Guide, Rev C 175C.2 IEC Test InformationThe Adept MV controller has passed the following IEC 1131 test

Appendix C - Additional Standards Compliance Information176 Adept MV Controller User’s Guide, Rev CC.3 Electromagnetic Compatibility Testing ResultsTh

Adept MV ControllerUser’s Guide®VIDEOBUSCAMERAS/STROBESVISPOINTE R 1234ON2341VIDEOBUSMONITORKEYBOARD OKVGBINPUTSOUTPUTSINPUTSOUTPUTSDIOFAIL PASS1234FP

Table Of ContentsAdept MV Controller User’s Guide, Rev C xviiFigure D-1. Holding the Operator’s MCP . . . . . . . . . . . . . . . . . . . . . . 180Fi

Color-Coding of Indicator LightsAdept MV Controller User’s Guide, Rev C 177C.4 Color-Coding of Indicator LightsAdept uses colored lamps and indicators

Appendix C - Additional Standards Compliance Information178 Adept MV Controller User’s Guide, Rev CColor-Code used by Adept for Service-IndicatorsThes

Adept MV Controller User’s Guide, Rev C 179Using the Manual ControlPendant (MCP) DD.1 Manual Control Pendant Basics . . . . . . . . . . . . . . . . .

Appendix D - Using the Manual Control Pendant (MCP)180 Adept MV Controller User’s Guide, Rev CD.1 Manual Control Pendant BasicsProgrammer’s Pendant vs

Manual Control Pendant BasicsAdept MV Controller User’s Guide, Rev C 181Figure D-2. Cradling the Operator’s MCPWARNING: The cradle for the operator’s

Appendix D - Using the Manual Control Pendant (MCP)182 Adept MV Controller User’s Guide, Rev CMCP LayoutThe major areas of the MCP are shown in Figure

Manual Control Pendant BasicsAdept MV Controller User’s Guide, Rev C 183Data Entry ButtonsThe data entry buttons are used to input data, normally in r

Appendix D - Using the Manual Control Pendant (MCP)184 Adept MV Controller User’s Guide, Rev CTo re-enable High Power after pressing the MCP emergency

MCP Predefined FunctionsAdept MV Controller User’s Guide, Rev C 185The Edit FunctionThe Edit function button allows editing of location variables and

Appendix D - Using the Manual Control Pendant (MCP)186 Adept MV Controller User’s Guide, Rev CPress the soft button under the variable name to edit th

Table Of Contentsxviii Adept MV Controller User’s Guide, Rev CTable 5-4. Pin Assignments for 9-Pin to 25-Pin (DTE) Cable . . . . . . . . . . . . . 64

MCP Predefined FunctionsAdept MV Controller User’s Guide, Rev C 187Joint Values When this button is pressed, the display shows: J1 = x.xx J2 = x.xx J3

Appendix D - Using the Manual Control Pendant (MCP)188 Adept MV Controller User’s Guide, Rev CTo display a different range of signals, press the soft

MCP Predefined FunctionsAdept MV Controller User’s Guide, Rev C 189Auto Start When AUTO START is pressed, the pendant display shows: 1Enter last two d

Appendix D - Using the Manual Control Pendant (MCP)190 Adept MV Controller User’s Guide, Rev CProg Set FunctionUsing the Prog Set button, you may sele

Moving a Robot or Motion Device with the MCPAdept MV Controller User’s Guide, Rev C 191D.3 Moving a Robot or Motion Device with the MCPIntroductionThe

Appendix D - Using the Manual Control Pendant (MCP)192 Adept MV Controller User’s Guide, Rev CMAN/HALT ButtonWhen there is no program executing, or a

Moving a Robot or Motion Device with the MCPAdept MV Controller User’s Guide, Rev C 193STEP ButtonWhen the VFP keyswitch is set to MANUAL, V+ program

Appendix D - Using the Manual Control Pendant (MCP)194 Adept MV Controller User’s Guide, Rev CRobot StatesWorld StateWhen world state is selected, mov

Moving a Robot or Motion Device with the MCPAdept MV Controller User’s Guide, Rev C 195Tool StateWhen tool state is selected, movement in the X, Y, or

Appendix D - Using the Manual Control Pendant (MCP)196 Adept MV Controller User’s Guide, Rev CFigure D-14. TOOL StateT1RZ6RY5RX4Z3Y2X1X directionY dir

Table Of ContentsAdept MV Controller User’s Guide, Rev C xixTable 11-2. VMEBus Address Settings for Multiple Servo Board Systems . . . . . . . 134Ta

Moving a Robot or Motion Device with the MCPAdept MV Controller User’s Guide, Rev C 197Figure D-15. TOOL State (Six-Axis Robot)T1RZ6RY5RX4Z3Y2X1Rotati

Appendix D - Using the Manual Control Pendant (MCP)198 Adept MV Controller User’s Guide, Rev CJoint StateWhen joint state is selected, movement is abo

Moving a Robot or Motion Device with the MCPAdept MV Controller User’s Guide, Rev C 199Figure D-17. JOINT State (Six-Axis Robot)T1RZ6RY5RX4Z3Y2X1 T1ST

Appendix D - Using the Manual Control Pendant (MCP)200 Adept MV Controller User’s Guide, Rev CFree StateWhen free state is selected, individual joints

Moving a Robot or Motion Device with the MCPAdept MV Controller User’s Guide, Rev C 201Controlling More Than One RobotLike the monitor and each progra

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Adept MV Controller User’s Guide, Rev C 203System Messages EWhile the V+ system is being used, it is possible for hardware and software errors to occu

204 Adept MV Controller User’s Guide, Rev CAppendix E - System Messages*Bad block in disk header* (–523)Explanation: While formatting a disk, a bad d

Appendix E - System MessagesAdept MV Controller User’s Guide, Rev C 205(or the pendant RUN/HOLD button is pressed) after a program has completed all i

206 Adept MV Controller User’s Guide, Rev CAppendix E - System Messages* Cat-3 external E-STOP* Code n (–1111)Because these message codes are related

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Appendix E - System MessagesAdept MV Controller User’s Guide, Rev C 207*Cat3 external sensor fault* Code n (–1109)Because these message codes are rel

208 Adept MV Controller User’s Guide, Rev CAppendix E - System Messages*Communication time-out* (–531)Explanation: An I/O operation has not completed

Appendix E - System MessagesAdept MV Controller User’s Guide, Rev C 209*COMP mode disabled* (–603)Explanation: The command attempted requires compute

210 Adept MV Controller User’s Guide, Rev CAppendix E - System Messages(3) You have tried to write into a pull-down window while it is displayed.User

Appendix E - System MessagesAdept MV Controller User’s Guide, Rev C 211*Encoder quadrature error* Mtr n (–1008)Explanation: The position encoder sign

212 Adept MV Controller User’s Guide, Rev CAppendix E - System Messages*E-STOP from SYSFAIL* (–642)Explanation: The motion interface board has detecte

Appendix E - System MessagesAdept MV Controller User’s Guide, Rev C 213*File format error* (–512)Explanation: The requested disk file is not in a fo

214 Adept MV Controller User’s Guide, Rev CAppendix E - System Messagessomething impeding the path of the robot. Because the amount of inaccuracy was

Appendix E - System MessagesAdept MV Controller User’s Guide, Rev C 215*Image processing board failure* (–728)Explanation: The controller circuit boa

216 Adept MV Controller User’s Guide, Rev CAppendix E - System MessagesUser action: If a FORMAT command has been entered, check the command syntax an

Adept MV Controller User’s Guide, Rev C 1Introduction 11.1 How to Use This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . 2Follow These

Appendix E - System MessagesAdept MV Controller User’s Guide, Rev C 217User action: Try your command again. If the problem persists, contact Adept Cu

218 Adept MV Controller User’s Guide, Rev CAppendix E - System Messages*Location too close* (–618)Explanation: An attempt has been made to move the r

Appendix E - System MessagesAdept MV Controller User’s Guide, Rev C 219the AdeptMotion Servo system. The interpretation of this fault depends on the p

220 Adept MV Controller User’s Guide, Rev CAppendix E - System Messages*No program specified* (–301)Explanation: No program was specified for an EXEC

Appendix E - System MessagesAdept MV Controller User’s Guide, Rev C 221User action: Reorganize the program logic to eliminate one or more nested subr

222 Adept MV Controller User’s Guide, Rev CAppendix E - System Messages*Overtravel* Mtr n (–1034)Explanation: The indicated motor has moved beyond th

Appendix E - System MessagesAdept MV Controller User’s Guide, Rev C 223*Power disabled: Manual/Auto changed* (–645)Explanation: V+ disables power whe

224 Adept MV Controller User’s Guide, Rev CAppendix E - System MessagesProgram completed (3)Explanation: The program has been executed the number of

Appendix E - System MessagesAdept MV Controller User’s Guide, Rev C 225*Robot module not enabled* (–900)Explanation: The indicated robot module is pre

226 Adept MV Controller User’s Guide, Rev CAppendix E - System MessagesUser Action: Make sure that the correct type of robot is being used. Use the C

Chapter 1 - Introduction2 Adept MV Controller User’s Guide, Rev C1.1 How to Use This ManualFollow These Steps to Install and Configure the Adept MV Co

Appendix E - System MessagesAdept MV Controller User’s Guide, Rev C 227something impeding the path of the robot. Because the amount of inaccuracy was

228 Adept MV Controller User’s Guide, Rev CAppendix E - System Messagesmore than 16 nested subdirectories, you cannot read the files in subdirectories

Appendix E - System MessagesAdept MV Controller User’s Guide, Rev C 229amplifier chassis is properly connected to a power source and is turned on. Try

230 Adept MV Controller User’s Guide, Rev CAppendix E - System Messages*Unexpected zero index* Mtr n (–1005)Explanation: A zero index signal was rece

Appendix E - System MessagesAdept MV Controller User’s Guide, Rev C 231*Warning* SET.SPEED switch disabled (54)Explanation: A PRIME operation has bee

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Adept MV Controller User’s Guide, Rev C 233Numerics030 module15, 60–69jumper settings, main or auxiliary68serial I/O61–66technical specifications69use

Index234 Adept MV Controller User’s Guide, Rev CCooling fanMV-5/MV-1029MV-8/MV-1951Current/voltage ratingsMV-5/MV-1024MV-8/MV-1946Customer service8Cyc

IndexAdept MV Controller User’s Guide, Rev C 235pin assignments101Fuse holdersMV-5/MV-1028MV-8/MV-1950Fuse informationMV-5/MV-1028Fuse locationsintern

Index236 Adept MV Controller User’s Guide, Rev Cviewing angle, on MCP184MCP, see Manual Control PendantMI3/MI6 module16, 126–129connecting to user equ

How to Use This ManualAdept MV Controller User’s Guide, Rev C 3Other Adept Product ManualsWhen you order AdeptVision VME, AdeptMotion VME, AdeptForce

IndexAdept MV Controller User’s Guide, Rev C 237editing with MCP185Related manuals2Repackingfor relocation22, 44Requirementsfacility, MV-5/MV-1023faci

Index238 Adept MV Controller User’s Guide, Rev CVV+messages203VFI module18, 138–140connections/indicators138technical specifications140VMEbus address1

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00330-01030, Rev CArtisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

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Chapter 1 - Introduction4 Adept MV Controller User’s Guide, Rev C1.2 Warnings, Cautions, and NotesThere are three levels of special notation used in t

SafetyAdept MV Controller User’s Guide, Rev C 5• Skilled persons have technical knowledge or sufficient experience to enable them to avoid the dangers

Chapter 1 - Introduction6 Adept MV Controller User’s Guide, Rev CProgram SecurityPrograms and data stored in memory can be changed by trained personne

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Standards ComplianceAdept MV Controller User’s Guide, Rev C 71.4 Standards ComplianceThe Adept MV controller is intended for use with other equipment

Chapter 1 - Introduction8 Adept MV Controller User’s Guide, Rev C1.5 How Can I Get Help?Within the Continental United StatesAdept Technology maintains

How Can I Get Help?Adept MV Controller User’s Guide, Rev C 9Within EuropeFor service calls, application questions, and training information in Europe,

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Adept MV Controller User’s Guide, Rev C 11Overview 22.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122.2 Controller

Chapter 2 - Overview12 Adept MV Controller User’s Guide, Rev C2.1 IntroductionThe Adept MV series controllers are based on the VMEbus specification, a

Controller ModelsAdept MV Controller User’s Guide, Rev C 13Figure 2-1. Adept MV-5 and MV-10 Controllers®VIDEOBUSCAMERAS/STROBESVISPOINTE R 1234ON2341V

Chapter 2 - Overview14 Adept MV Controller User’s Guide, Rev CAdept MV-8 ControllerThe Adept MV-8 controller is an 8-slot chassis. It requires two mod

Standard ModulesAdept MV Controller User’s Guide, Rev C 15Adept S-Series OptionThe standard configuration for the Adept MV controller is the Adept S-S

Chapter 2 - Overview16 Adept MV Controller User’s Guide, Rev C• Connector for an optional External Front Panel (VFP)The SIO module controls the system

Adept MV ControllerUser’s GuidePart Number 00330-01030, Rev CSeptember 1996®VIDEOBUSCAMERAS/STROBESVISPOINTE R 1234ON2341VIDEOBUSMONITORKEYBOARD OKVGB

Optional ModulesAdept MV Controller User’s Guide, Rev C 17Figure 2-2. Adept MV Controller Configuration®030 adept technology, inc.Standard Modules - i

Chapter 2 - Overview18 Adept MV Controller User’s Guide, Rev CAdept VME Joint Interface Module (VJI)The Adept VME Joint Interface module (VJI) is requ

Optional EquipmentAdept MV Controller User’s Guide, Rev C 192.6 Optional EquipmentExternal Front Panel (VFP-1 or VFP-3) The external Front Panel (VFP)

Chapter 2 - Overview20 Adept MV Controller User’s Guide, Rev CThird-Party Terminals for an S-Series ControllerFor S-Series Adept MV controllers, the u

Adept MV Controller User’s Guide, Rev C 21Installation for MV-5 andMV-10 Controllers 33.1 Shipping, Storage, Unpacking and Inspection . . . . . . . .

Chapter 3 - Installation for MV-5 and MV-10 Controllers22 Adept MV Controller User’s Guide, Rev C3.1 Shipping, Storage, Unpacking and InspectionShippi

Facility RequirementsAdept MV Controller User’s Guide, Rev C 233.3 Facility Requirements The Adept MV controller is intended for use with other equipm

Chapter 3 - Installation for MV-5 and MV-10 Controllers24 Adept MV Controller User’s Guide, Rev C3.4 Connecting AC Power (MV-5 and MV-10)The Adept MV-

Connecting AC Power (MV-5 and MV-10)Adept MV Controller User’s Guide, Rev C 25Power Entry Module The power entry module is located on the front of the

Chapter 3 - Installation for MV-5 and MV-10 Controllers26 Adept MV Controller User’s Guide, Rev CFigure 3-2. Installation of User-Supplied External Co

The information contained herein is the property of Adept Technology, Inc. and shall not be repro-duced in whole or in part without prior written appr

Connecting AC Power (MV-5 and MV-10)Adept MV Controller User’s Guide, Rev C 27Figure 3-3. Installation of User-Supplied External Contactor using VFP-3

Chapter 3 - Installation for MV-5 and MV-10 Controllers28 Adept MV Controller User’s Guide, Rev CSystem Grounding InformationThe detachable three-wire

Fan and Filter InformationAdept MV Controller User’s Guide, Rev C 29NOTE: The “T” suffix indicates the fuse response time - a 5 AT fuse rating specifi

Chapter 3 - Installation for MV-5 and MV-10 Controllers30 Adept MV Controller User’s Guide, Rev C3.7 Removing and Installing Modules The Adept MV cont

Removing and Installing ModulesAdept MV Controller User’s Guide, Rev C 31Five user-supplied backplane jumper plugs must be installed on any unused slo

Chapter 3 - Installation for MV-5 and MV-10 Controllers32 Adept MV Controller User’s Guide, Rev CFigure 3-5. Adept MV-5 Upper Backplane (P1) Jumper Pl

Removing and Installing ModulesAdept MV Controller User’s Guide, Rev C 33Removing Modules 1. Turn off the controller.2. Loosen the captive screws at t

Chapter 3 - Installation for MV-5 and MV-10 Controllers34 Adept MV Controller User’s Guide, Rev C3.8 Installing the A-Series Monitor and Keyboard NOTE

Installing the A-Series Monitor and KeyboardAdept MV Controller User’s Guide, Rev C 353. Connect the monitor signal cable to the MONITOR connector on

Chapter 3 - Installation for MV-5 and MV-10 Controllers36 Adept MV Controller User’s Guide, Rev C3.9 Installing a Terminal in an S-Series System With

P/N 01332-00050Rev. A-X1DECLARATION OF CONFORMITYWe, Adept Technology, with Corporate Headquarters at 150 Rose Orchard Way, San Jose, CA., USA, and Eu

Installing a Stand-Alone Controller in a Rack or PanelAdept MV Controller User’s Guide, Rev C 375. Set the baud rate to 9600, that is the default rate

Chapter 3 - Installation for MV-5 and MV-10 Controllers38 Adept MV Controller User’s Guide, Rev CPanel Mounting To panel mount the Adept MV-5 or MV-10

Installing a Robot Controller in a Rack or PanelAdept MV Controller User’s Guide, Rev C 393.11 Installing a Robot Controller in a Rack or Panel An MV-

Chapter 3 - Installation for MV-5 and MV-10 Controllers40 Adept MV Controller User’s Guide, Rev CFigure 3-10. Installing Mounting Brackets on MV-5 and

MV-5 and MV-10 Controller Technical SpecificationsAdept MV Controller User’s Guide, Rev C 413.12 MV-5 and MV-10 Controller Technical SpecificationsaSe

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Adept MV Controller User’s Guide, Rev C 43Installation for MV-8 andMV-19 Controllers 44.1 Shipping, Storage, Unpacking and Inspection . . . . . . . .

Chapter 4 - Installation for MV-8 and MV-19 Controllers44 Adept MV Controller User’s Guide, Rev C4.1 Shipping, Storage, Unpacking and InspectionShippi

Facility RequirementsAdept MV Controller User’s Guide, Rev C 454.3 Facility Requirements The Adept MV controller is intended for use with other equipm

Chapter 4 - Installation for MV-8 and MV-19 Controllers46 Adept MV Controller User’s Guide, Rev C4.4 Connecting AC Power The Adept MV-8 and MV-19 cont

P/N 01332-00050Rev. A-X1EnglishDeclaration of Conformityas defined in Machinery Directive 89/392/EEC, Appendix IIBWe herewith declare that the machine

Connecting AC PowerAdept MV Controller User’s Guide, Rev C 47Power Entry Module The power entry module is located at the lower left side of the contro

Chapter 4 - Installation for MV-8 and MV-19 Controllers48 Adept MV Controller User’s Guide, Rev CSystem Grounding InformationThe detachable three-wire

Connecting AC PowerAdept MV Controller User’s Guide, Rev C 497. Change the two external fuses (F3 and F4) on the power entry module from the 200-240V

Chapter 4 - Installation for MV-8 and MV-19 Controllers50 Adept MV Controller User’s Guide, Rev C4.5 Fuse Information (MV-8 and MV-19)The two fuses (F

Fan and Filter InformationAdept MV Controller User’s Guide, Rev C 51Figure 4-3. Internal Fuse Locations 4.6 Fan and Filter Information Cooling FanThe

Chapter 4 - Installation for MV-8 and MV-19 Controllers52 Adept MV Controller User’s Guide, Rev C4.7 Removing and Installing Modules The Adept MV cont

Removing and Installing ModulesAdept MV Controller User’s Guide, Rev C 53Figure 4-4. Adept MV-8 Backplane Jumper PlugsFigure 4-5. Adept MV-19 Backplan

Chapter 4 - Installation for MV-8 and MV-19 Controllers54 Adept MV Controller User’s Guide, Rev CRemoving Modules 1. Turn off the controller.2. Loosen

Installing in a Rack or Panel MountAdept MV Controller User’s Guide, Rev C 554.10 Installing in a Rack or Panel Mount The controller can be mounted in

Chapter 4 - Installation for MV-8 and MV-19 Controllers56 Adept MV Controller User’s Guide, Rev CFigure 4-6. Installing Mounting Brackets M4 x 25mm sc

P/N 01332-00050Rev. A-X1Table 1VME Plug-in Modules and accessories that meet all applicable Directives and that may be installed, without additional E

MV-8 and MV-19 Controller Technical SpecificationsAdept MV Controller User’s Guide, Rev C 574.11 MV-8 and MV-19 Controller Technical SpecificationsaSe

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Adept MV Controller User’s Guide, Rev C 59030 Processor Module 55.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 605.2

Chapter 5 - 030 Processor Module60 Adept MV Controller User’s Guide, Rev C5.1 Introduction All Adept MV controllers require at least one system proces

Serial I/O Connections, 030 ModuleAdept MV Controller User’s Guide, Rev C 615.3 Serial I/O Connections, 030 ModuleRS-422/485 Connector (on 030 Module)

Chapter 5 - 030 Processor Module62 Adept MV Controller User’s Guide, Rev CRS-232/Term Connector (on 030 Module)The RS-232/Term connector is a DE-9P 9-

Serial I/O Connections, 030 ModuleAdept MV Controller User’s Guide, Rev C 63Typical Cable ConnectionsFor many applications, including connecting to a

Chapter 5 - 030 Processor Module64 Adept MV Controller User’s Guide, Rev CTypical Cable Connections, 9-pin to 25-pin (DTE)Most terminals and some comp

Serial I/O Connections, 030 ModuleAdept MV Controller User’s Guide, Rev C 65Typical Cable Connections, 9-pin to 9-pin (AT-Compatible)The 030 module us

Chapter 5 - 030 Processor Module66 Adept MV Controller User’s Guide, Rev CDTE, DCE, or AT-style?There are two ways to make an RS-232 connection: detai

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MemoryAdept MV Controller User’s Guide, Rev C 675.4 MemoryThe 030 system processor can be ordered with 2, 4, or 8 MB of DRAM. Contact Adept Customer S

Chapter 5 - 030 Processor Module68 Adept MV Controller User’s Guide, Rev C5.6 030 Jumper SettingsThere are two jumpers on the 030 module that must be

Use as an Auxiliary ProcessorAdept MV Controller User’s Guide, Rev C 695.7 Use as an Auxiliary Processor Additional 030 System processor modules can b

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Adept MV Controller User’s Guide, Rev C 71040 Processor Module 66.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 726.2

Chapter 6 - 040 Processor Module72 Adept MV Controller User’s Guide, Rev C6.1 Introduction All Adept MV controllers require at least one system proces

Serial I/O Connections, 040 ModuleAdept MV Controller User’s Guide, Rev C 736.3 Serial I/O Connections, 040 ModuleRS-422 Connector (on 040 Module)The

Chapter 6 - 040 Processor Module74 Adept MV Controller User’s Guide, Rev CRS-232/Term Connector (on 040 Module)The RS-232/Term connector (lower connec

Serial I/O Connections, 040 ModuleAdept MV Controller User’s Guide, Rev C 75CAUTION: The RS-422 and RS-232 ports on the 040 both use 25-pin female con

Chapter 6 - 040 Processor Module76 Adept MV Controller User’s Guide, Rev CConnections from 040 RS-232 to Wyse TerminalAdept recommends the use of a Wy