Adept IO Blox. User s Guide

Transcription

1 Adept IO Blox User s Guide

2

3 Adept IO Blox User s Guide P/N: , Rev C March Inglewood Drive Pleasanton, CA USA Phone Fax Otto-Hahn-Strasse Dortmund Germany Phone Fax Block 5000 Ang Mo Kio Avenue 5 #05-12 Techplace II Singapore Phone Fax

4 The information contained herein is the property of Adept Technology, Inc., and shall not be reproduced in whole or in part without prior written approval of Adept Technology, Inc. The information herein is subject to change without notice and should not be construed as a commitment by Adept Technology, Inc. This manual is periodically reviewed and revised. Adept Technology, Inc., assumes no responsibility for any errors or omissions in this document. Critical evaluation of this manual by the user is welcomed. Your comments assist us in preparation of future documentation. Please your comments to: techpubs@adept.com. Copyright 2006, 2013 by Adept Technology, Inc. All rights reserved. Adept, the Adept logo, the Adept Technology logo, AdeptVision, AIM, Blox, Bloxview, Fireblox, Fireview, Meta Controls, MetaControls, Metawire, Soft Machines, and Visual Machines are registered trademarks of Adept Technology, Inc. Adept Cobra i600, Adept Cobra i800, Adept Cobra s350, Adept Cobra s600, Adept Cobra s800, Adept Cobra s800 Inverted, Adept IO Blox, Adept Python, Adept Python Linear Modules, Adept sdio, Adept Servo Kit, Adept SmartController CX, Adept Viper, MB-10, MB-40R, MicroV +, sdai, SmartServo, and V + are trademarks of Adept Technology, Inc. Any trademarks from other companies used in this publication are the property of those respective companies. Printed in the United States of America

5 Table of Contents 1 Introduction Product Description Dangers, Warnings, Cautions, and Notes in Manual What to Do in an Emergency Situation Additional Safety Information Adept Robot Safety Guide How Can I Get Help? Related Manuals Adept Document Library Installation Dimensions General Installation on All Adept Robots Cable Options Python Modules Cables Options Address Switch Settings Installing Multiple IO Blox Units Maximum Number of IO Blox Units per System Mounting on a DIN Rail Installation on an Adept Cobra i600/i800 or s600/s800 System Mechanical Mounting Cable Installation Installation on an Adept Cobra s350 System Mechanical Mounting Cable Installation Installation on an Adept Viper System Mechanical Mounting Cable Installation Installation on an Adept Python Modules System Cable Installation Connecting the IO Blox-to-IO Blox Cable Connecting the Auxiliary Power Cable Finishing Cable Installation Mechanical Mounting Mounting onto an MB-10 Amp Mounting onto the End of an L18 Module Mounting onto a Module T-Slot Mounting onto a Two-Axis System Adept IO Blox User s Guide, Rev C 5

6 Table of Contents Mounting onto a Three-Axis System General Operation Introduction Connector and Switch Descriptions Connecting to Terminals Connecting Input Signals Input Specifications Example Input Schematic Connecting Output Signals Total Current Limitation Output Specifications Example Output Schematic IO Blox LEDs Custom Length IO Blox Cables Operation on V+-Based Systems Using the IO Blox with Adept Robots Configuration IO Signal Numbers Configuring Multiple Robot and Amp Systems Digital I/O Block Configuration IO Blox Inputs/Outputs DC_SETUP Configuration Load and Run DC_SETUP.V Using CONFIG_C to Configure I/O Operation on MicroV+-Based Systems Using the IO Blox in a Cobra i600/i800 System Configuration IO Signal Numbers Adept IO Blox User s Guide, Rev C

7 Introduction Product Description The Adept IO Blox I/O expansion option is designed for adding digital input and output capability to Adept products, including the Cobra i-series and s-series robots, Adept Python Linear Modules, and Adept Viper robots. Each IO Blox unit offers 8 inputs and 8 outputs, all optically isolated. You can connect up to four IO Blox units per robot or MB-10 amp. The IO Blox option uses clamp-style terminal strips for installing customer wiring. It can be installed on a robot, or in a panel-mount environment on a DIN Rail. Several cable options are offered for different installation situations. Figure 1-1. Adept IO Blox Photo Figure 1-2. Adept IO Blox Drawing Adept IO Blox User s Guide, Rev C 7

8 Chapter 1 - Introduction 1.2 Dangers, Warnings, Cautions, and Notes in Manual There are six levels of special alert notation used in Adept manuals. In descending order of importance, they are: DANGER: This indicates an imminently hazardous electrical situation which, if not avoided, will result in death or serious injury. DANGER: This indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. WARNING: This indicates a potentially hazardous electrical situation which, if not avoided, could result in injury or major damage to the equipment. WARNING: This indicates a potentially hazardous situation which, if not avoided, could result in injury or major damage to the equipment. CAUTION: This indicates a situation which, if not avoided, could result in damage to the equipment. NOTE: Notes provide supplementary information, emphasize a point or procedure, or give a tip for easier operation. 1.3 What to Do in an Emergency Situation Press any E-Stop button (a red push-button on a yellow background/field) on the robot being used, and then follow the internal procedures of your company or organization for an emergency situation. If a fire occurs, use CO 2 to extinguish the fire. 8 Adept IO Blox User s Guide, Rev C

9 Additional Safety Information 1.4 Additional Safety Information Adept provides other sources for more safety information: Adept Robot Safety Guide The Adept Robot Safety Guide provides detailed information on safety for Adept robots. It also gives resources for more information on relevant standards. It ships with each robot manual, and is also available from the Adept Document Library. See Adept Document Library on page How Can I Get Help? Refer to the How to Get Help Resource Guide (Adept P/N ) for details on getting assistance with your Adept software and hardware. Additionally, you can access information sources on Adept s corporate website: For Contact information: For Product Support information: For user discussions, support, and programming examples: Related Manuals This manual covers the installation and use of an Adept IO Blox I/O expansion option. There are additional manuals that may be useful. See the following table. These manuals are available in the Adept Document Library, on the software CD-ROM shipped with each system. Also refer to the robot user guides for the robots you are using. Table 1-1. Related Manuals Manual Title Adept Robot Safety Guide Adept SmartController User s Guide Adept ACE User s Guide V+ Operating System User s Guide Description Contains safety information for Adept robots. Contains information on the installation and operation of the Adept SmartController and the optional sdio product. Instruction for the use of the Adept ACE software. Describes the V + operating system, including disk file operations, monitor commands, and monitor command programs. V+ Language User s Guide Describes the V + language and programming of an Adept control system. Adept IO Blox User s Guide, Rev C 9

10 Chapter 1 - Introduction Adept Document Library The Adept Document Library (ADL) contains documentation for Adept products. You can access the ADL from: the Adept Software CD shipped with your system. the Adept website. Select Document Library from the Adept home page. To go directly to the Adept Document Library, type the following URL into your browser: To locate information on a specific topic, use the Document Library search engine on the ADL main page. To view a list of available product documentation, select the Active Documents option. 10 Adept IO Blox User s Guide, Rev C

11 Installation Dimensions Tie-Wrap Location (1 of 4) Units are mm [in.] Figure 2-1. Adept IO Blox Dimensions Adept IO Blox User s Guide, Rev C 11

12 Chapter 2 - Installation 2.2 General Installation on All Adept Robots IO Blox installation varies for the different robots that support the option. This section provides the installation instructions common to all types of robots. See the sections listed below for information on connecting an IO Blox option to a specific robot model. See Section 2.3 on page 17 for information on connecting to an Adept Cobra i600/i800 or s600/s800 robot. See Section 2.4 on page 19 for information on connecting an Adept Cobra s350 robot. See Section 2.5 on page 20 for information on connecting to an Adept Viper robot. See Section 2.6 on page 20 for information on connecting to an Adept Python Modules system or Adept MB-10 Servo Kit. Cable Options For most robot systems, the IO Blox unit is connected to the robot by the IO Blox-to-Robot cable. See Table 2-1 for the optional cable part numbers by length. Table 2-1. IO Blox-to-Robot Cable Options Cable Name, Length Part Number IO Blox-to-robot, 0.3 M IO Blox-to-robot, 1.6 M IO Blox-to-robot, 3.0 M When you install more than one IO Blox unit in a system, they must be connected, or daisy-chained, with the cables listed in Table Adept IO Blox User s Guide, Rev C

13 General Installation on All Adept Robots Table 2-2. IO Blox-to-IO Blox Cable Options Cable Name, Length Part Number IO Blox-to-IO Blox, 0.3 M IO Blox-to-IO Blox, 1.1 M IO Blox-to-IO Blox, 1.4 M IO Blox-to-IO Blox, 1.8 M IO Blox-to-IO Blox, 2.2 M IO Blox-to-IO Blox, 2.6 M IO Blox-to-IO Blox, 3.0 M IO Blox-to-IO Blox, 3.5 M IO Blox-to-IO Blox, 4.0 M Python Modules Cables Options For Python module systems, the IO Blox is connected to the MB-10 amp on a Python module by the IO Blox-to IO Blox cable in the MB-10-to-IO Blox cable kit. Table 2-3. MB-10-to-IO Blox Cable Kit Option Cable Name, Length Part Number MB-10 -to-io Blox Cable Kit, 0.3 M MB-10 -to-io Blox Cable Kit, 1.1 M MB-10 -to-io Blox Cable Kit, 1.4 M MB-10 -to-io Blox Cable Kit, 1.8 M MB-10 -to-io Blox Cable Kit, 2.2 M MB-10 -to-io Blox Cable Kit, 2.6 M MB-10 -to-io Blox Cable Kit, 3.0 M MB-10 -to-io Blox Cable Kit, 3.5 M MB-10 -to-io Blox Cable Kit, 4.0 M The IO Blox kit for Adept Python Modules and Adept Servo Kit systems includes a 24 VDC IO Blox Auxiliary Power cable. This cable can be used to provide 24 VDC power to IO Blox. The part number for this cable is This cable can be trimmed from its original 4 M length to the desired length. Adept IO Blox User s Guide, Rev C 13

14 Chapter 2 - Installation Address Switch Settings The address select switch must be set to the correct address for the system to function. The default setting for a single IO Blox unit is for both switches 1 and 2 set to Off. When you add multiple IO Blox units, each additional unit must be set to the correct address. See Table 2-4. Table 2-4. IO Blox Address Switch Settings Address Number Address 0 - default, for 1st IO Blox Switch 1 (A0 on PCB) Off Switch 2 (A1 on PCB) Off Address 1 - for 2nd IO Blox On Off Address 2 - for 3rd IO Blox Off On Address 3 - for 4th IO Blox On On Installing Multiple IO Blox Units When installing more than one IO Blox unit in a system, you must connect the units with the supplied cables, and set the address select switch correctly for each additional unit. 1. Locate the IO Blox-to-IO Blox cable that was supplied with the system. See Table 2-2 on page 13 for the details of the cable options. 2. Plug one end of the cable into the JCBL2 connector on the first unit. 3. Plug the other end of the cable into the JCBL1 connector on the second unit. 4. Continue this cabling process for any additional units. 5. Set the address select switch for additional units. See Table 2-4. NOTE: Each IO Blox unit (up to 4) must have a unique address. IO Blox units with duplicate addresses will conflict. See also the note on page 37 for the maximum cumulative cable length between IO Blox units. 14 Adept IO Blox User s Guide, Rev C

15 General Installation on All Adept Robots Figure 2-2. Four IO Blox Units Connected NOTE: Python IO Blox kits include a 24 VDC power cable (not shown in the above photo) that can be used to provide power to IO Blox units. Maximum Number of IO Blox Units per System There is a limit of 4 IO Blox units connected to any single IO Blox-based connector. These connectors include: IO Blox connector on Cobra s600/s800 IO Blox connector on Cobra i600/i800 EXPIO connector on sdai (Viper robot systems) EXPIO connector on MB-40R (Cobra s350 robot systems) IO Blox connector on an MB-10 amp 1 In custom or hybrid systems with multiple mechanisms, the limit for IO Blox units is set by the total system I/O of the SmartController, which is 480 inputs and 480 outputs, inclusive of all I/O hardware (XDIO, XIO, sdio, and DeviceNet). See the SmartController and specific robot system manuals for more details. 1 In a multi-axis Python Linear Modules system (or MB-10 Servo Kit system), each MB-10 amp can have up to 4 IO Blox units connected. On preconfigured systems, Adept will typically only mount the IO Blox units to the first and last MB-10 amps, due to mechanical mounting limitations. Adept IO Blox User s Guide, Rev C 15

16 Chapter 2 - Installation Mounting on a DIN Rail The IO Blox can be mounted on a DIN rail using an optional foot element from Phoenix Contact, p/n Adept does not supply this foot element - you can order it from Phoenix Contact or another electronic parts supplier. 1. Remove the bolt flanges from each end of the unit. 2. Remove one of the end caps by removing two Phillips head screws. See Figure Turn the unit over and slide in the DIN rail foot element. 4. Replace the endcap. 5. Snap the unit onto the DIN rail by slipping it into the grooves in the slider and pressing down until it clicks and locks in place. 6. To remove the unit, pull on the red strap and lift the unit off. Endcap Removed DIN Rail Foot Element Installed IO Blox Mounted on DIN Rail Figure 2-3. DIN Rail Mounting 16 Adept IO Blox User s Guide, Rev C

17 Installation on an Adept Cobra i600/i800 or s600/s800 System 2.3 Installation on an Adept Cobra i600/i800 or s600/s800 System Mechanical Mounting The IO Blox option can be mounted to the robot in two locations. See Figure 2-4 and Figure 2-5. Up to four IO Blox units can be mounted on a robot. The user needs to make an adapter plate to go between the external mounting holes on the robot and the bolt flanges on the IO Blox. Use your web browser to go to the Adept Download Center on the Adept website. Search for Download ID and download this file. The file contains the drawings showing mounting brackets for Cobra robots. The table below shows the drawing numbers for the base and plate brackets required for mounting onto the robot s outer link (Joint 2) cover and inner link (Joint 1) cover. Table 2-5. IO Blox Bracket Drawing Numbers Mounting on Outer Link (Joint 2) Cover Mounting on Inner Link (Joint 1) Cover IO Blox # Base Drawing Number Plate Drawing Number Base Drawing Number Plate Drawing Number Inner Link External Mounting Location Outer Link External Mounting Location Figure 2-4. External Mounting Locations on Robot The IO Blox unit can also be mounted on a DIN rail - see Mounting on a DIN Rail on page 16. Adept IO Blox User s Guide, Rev C 17

18 Chapter 2 - Installation Figure 2-5. Installation on Inner Link Cable Installation 1. Locate the IO Blox-to-Robot cable supplied with the system. 2. Connect the end of the cable with the matching D-sub connector to the IO Blox connector on the robot. See Figure Connect the other end of the cable to the JCBL1 connector on the IO Blox. See Figure 3-1 on page 29 for the location of the JCBL1 connector. NOTE: To install multiple IO Blox units, see Installing Multiple IO Blox Units on page Adept IO Blox User s Guide, Rev C

19 Installation on an Adept Cobra s350 System 2.4 Installation on an Adept Cobra s350 System Mechanical Mounting For Adept Cobra s350 robots, the IO Blox unit can be mounted on a DIN rail - see Mounting on a DIN Rail on page 16. Cable Installation 1. Locate the IO Blox-to-Robot cable supplied with the system. 2. Connect the end of the cable with the matching D-sub connector to the EXPIO connector on the MB-40R. MB-40R To EXPIO on MB-40R IO Blox Option Adept Cobra s350 System (robot not shown) Figure 2-6. IO Blox Cable Connection to Cobra s350 Robot System 3. Connect the other end of the cable to the JCBL1 connector on the unit. See Figure 3-1 on page 29 for the location of JCBL1. NOTE: To install multiple IO Blox units, see Installing Multiple IO Blox Units on page 14. Adept IO Blox User s Guide, Rev C 19

20 Chapter 2 - Installation 2.5 Installation on an Adept Viper System Mechanical Mounting For Adept Viper robots, the IO Blox unit can be mounted on a DIN rail - see Mounting on a DIN Rail on page 16. Cable Installation 1. Locate the IO Blox-to-Robot cable supplied with the system. 2. Connect the end of the cable with the matching D-sub connector to the EXPIO connector on the sdai module in the PA-4 power chassis. Figure 2-7. IO Blox Cable Connection to sdai Module 3. Connect the other end of the cable to the JCBL1 connector on the IO Blox unit. See Figure 3-1 on page 29 for the location of JCBL1. NOTE: To install multiple IO Blox units, see Installing Multiple IO Blox Units on page Installation on an Adept Python Modules System NOTE: When attaching an IO Blox unit to a Python module, make sure it does not restrict joint motion or cause robot motion errors. T-slots and threaded holes are provided on each module for the purpose of mounting user equipment. 20 Adept IO Blox User s Guide, Rev C

21 Installation on an Adept Python Modules System Cable Installation Up to four IO Blox units can be connected per MB-10 amp on Python systems. An IO Blox unit can be connected to one MB-10 or two MB-10 amps on a multi-axis system. If connecting to a three-axis or four-axis system, IO Blox can be connected to the first and last MB-10 amps in the system. Connecting the IO Blox-to-IO Blox Cable 1. Remove the T-bracket cover from the MB-10 amp. 2. Locate the IO Blox-to-IO Blox cable supplied with the system. 3. Connect one end of the cable to the IO Blox connector on the MB-10 amp. See Figure 2-8. To IO Blox Connector on MB-10 anp and JCBL1 Connector on IO Blox MB-10 Amp 24 VDC Connectors IO Blox Device Note: MB-10 connectors are located on bottom of amp. Adept Python Linear Module Figure 2-8. IO Blox Connector on MB-10 Amp 4. Route the other end of the cable through one of the openings on the sides of the MB-10 T-bracket and connect it to the JCBL1 connector on the IO Blox unit. Connecting the Auxiliary Power Cable An IO Blox Auxiliary Power Cable is included in the IO Blox kit for Adept Python Modules to provide 24 VDC user power to IO Blox. A male and female 2-pin plug are attached to one end. One plug connects to the mating 2-pin plug on the 24 VDC cable from the PDU or the 24 VDC cable connecting two MB-10 amps in a multi-axis system. If connecting to the first MB-10 amp in a multi-axis system, the other 2-pin plug connects to the 24 VDC cable connected to the next MB-10 amp in the system. The other end of the Auxiliary Power Cable is unterminated and connects to the +V and G (Ground) terminators on an IO Blox. See Figure 2-9. If necessary, cut the cable down to the desired length. 1. Locate the IO Blox Auxiliary Power cable supplied with the IO Blox kit for Python Linear Modules. Adept IO Blox User s Guide, Rev C 21

22 1 AC PWR AMP AC PWR IN 24V AMP AUX CH1 ES1 CH2 ES2 AMP DC RESET AUX DC RESET XDCS 2 XSLV1/ XSLV2 C B I R R E C A U K I E T R Chapter 2 - Installation 2. To connect to a single-axis system or the first MB-10 amp in a multi-axis system, connect one of the 2-pin plugs on the IO Blox Auxiliary Power cable to the mating 2-pin plug on the 24 VDC power cable connected to the PDU. To connect to the last MB-10 amp on a multi-axis system, connect one of the 2-pin plugs on the IO Blox Auxiliary Power cable to the mating 2-pin plug on the 24 VDC cable connected to the preceding MB-10 amp in the system. See Figure If connecting to the first MB-10 amp in a multi-axis system, connect the other 2-pin plug on the IO Blox Auxiliary Power cable to the mating plug on the 24 VDC power cable connected to the next MB-10 amp in the system. If connecting to a single-axis system or the last MB-10 amp in the system, tie-wrap the unused 2-pin plug on the IO Blox Auxiliary Power cable. PDU3 PDU3 24VDC cable from PDU3 MB-10 #1 MB-10 #2 MB-10 #3 2-Pin User Plug Unterminated cable for User 24V Power to +V terminal on IO Blox. Cut to length and strip wires. Auxilliary 24V Power Cable Assembly ( ) Figure 2-9. IO Blox Auxiliary Power Cable Connections 4. Route the unterminated end of the IO Blox Auxiliary Power cable through one of the openings on the sides of the MB-10 amp. 5. Strip 7 mm of insulation from the unterminated end of the IO Blox Auxiliary Power cable and connect the white 24 VDC power wire to the +V terminal on the IO Blox; connect the black ground wire to the G terminal on the IO Blox. See Figure 2.1 on page 11 for the location of the +V and G terminals. See Section 3.3 on page 30 for information on connecting to terminals. Finishing Cable Installation When finished installing the IO Blox cables, replace the T-bracket cover on the MB-10 amp. 22 Adept IO Blox User s Guide, Rev C

23 Installation on an Adept Python Modules System NOTE: To install multiple IO Blox units, see Installing Multiple IO Blox Units on page 14. Mechanical Mounting IO Blox modules can be mounted onto Adept Python Modules systems in the following ways: Onto the MB-10 T-bracket cover Onto the end cap of an L18 module Onto a module T-slot Onto a Z-axis harness enclosure Use the M4x8 mounting screws included in the IO Blox mounting kit to mount the IO Blox. IO Blox can also be mounted on a DIN rail - see Mounting on a DIN Rail on page 16. Mounting onto an MB-10 Amp 1. Position the IO Blox unit on the MB-10 T-bracket cover. Align the two mounting holes on the sides of the unit with the corresponding two holes on the T-bracket cover. 2. Secure the unit to the T-bracket cover with two M4x8 screws. See Figure IO Blox Mounted on MB-10 Amp T-Bracket Cover Figure Mounting onto an MB-10 Amp Adept IO Blox User s Guide, Rev C 23

24 Chapter 2 - Installation Mounting onto the End of an L18 Module 1. Position the IO Blox unit on the L18 module end cap; align the two mounting holes on the sides of the unit with the corresponding two holes on the end cap. 2. Secure the unit to the T-bracket cover with two M4x8 screws. See Figure IO Blox Mounted on L-18 Module Figure Mounting onto an L18 Module 24 Adept IO Blox User s Guide, Rev C

25 Installation on an Adept Python Modules System Mounting onto a Module T-Slot An IO Blox unit can be mounted using the T-slots on the modules. Use the M4 square nuts (and M4x8 screws) included in the IO Blox mounting kit to mount onto a T-slot. NOTE: Mount the unit close enough to the MB-10 amp to connect the cables. 1. Insert two M4 square nuts (DIN 562) into one of the T-slots on the side of a module. Insert the nuts near the end cap opposite to the motor. 2. Position the unit over the T-slot nuts; align the T-slot nuts with the two mounting holes on the sides of the IO Blox unit. 3. Secure the unit with two M4x8 screws. See Figure IO Blox Mounted on Module T-Slot Figure Mounting onto a Module T-Slot Adept IO Blox User s Guide, Rev C 25

26 Chapter 2 - Installation Mounting onto a Two-Axis System 1. Mount an IO Blox unit to the T-bracket cover on the MB-10 amp. See Mounting onto an MB-10 Amp on page 23 for information. 2. Optionally, mount another unit onto the T-bracket cover on the other MB-10 amp. See Figure NOTE: Below is a typical two-axis Python system. Your configuration may be different. IO Blox Devices Mounted on two MB-10 Amp T-Bracket Covers Figure Mounting onto a Two-Axis System 26 Adept IO Blox User s Guide, Rev C

27 Installation on an Adept Python Modules System Mounting onto a Three-Axis System 1. To mount an IO Blox unit to the X-axis module, mount the unit to the T-bracket cover on the X-axis MB-10 amp. See Mounting onto an MB-10 Amp on page 23 for information. 2. To mount the IO Blox to the Z-axis module, position the unit onto the enclosure on the Z-axis module; align the two mounting holes on the sides of the IO Blox unit with the corresponding two holes on the enclosure. Secure the unit with two M4x8 screws. See Figure IO Blox Mounted on Last MB-10 Amp IO Blox Mounted on First MB-10 Amp Figure Mounting onto a Three-Axis System NOTE: Adept recommends mounting IO Blox units only on the first and last MB-10 amps in a three-axis Python system. Adept IO Blox User s Guide, Rev C 27

28

29 General Operation Introduction This chapter describes the operation features common to use with all types of Adept robots. The Adept Cobra i-series robots run under the MicroV+ operating system, which uses different signal numbers than the other robots that support the IO Blox option, which all run under the V+ operating system. After installing an IO Blox unit on any type of robot, perform the steps in this chapter. If you have an Adept Cobra i600/i800 robot, refer to Chapter 5 for additional operation information for your robot. For all other types of robots, refer to Chapter Connector and Switch Descriptions JPC_COM Status LED 8 Input Terminals Address Select Switch JCBL1 JCBL2 Over Temp LED 8 Output Terminals Figure 3-1. IO Blox Connectors JPC_COM - 9-pin D-Sub connector for serial connection to a COM Port on a PC. (Only supported on SmartAxis systems running MicroV+.) Status LED - Green LED lights when logic power is present and blinks when communicating. Input Terminals - 8 input terminals for user input signals. Output Terminals - 8 output terminals for user output signals. Adept IO Blox User s Guide, Rev C 29

30 Chapter 3 - General Operation Over Temp LED - Red LED lights when the output driver experiences an over-temperature fault, such as when an output is shorted. See Section 3.6 on page 36 for more information. JCBL1/2-8-pin connectors for connecting to host or to daisy-chain to another IO Blox unit. These two connectors are interchangeable, either one can be used. ADDR_ SEL Switch - DIP-switch used to select one of four addresses. See Table 2-4 on page Connecting to Terminals To connect wires from user-supplied devices to the terminals, see the following procedure. The terminals are designed for wire sizes in the range of AWG. 1. Strip 7 mm of insulation from the end of the wire that you want to connect to the terminal. 2. Insert a small flat-blade screwdriver (2.5 mm) into the top opening on the terminal. Push the blade in until the clamp in the lower opening folds back. See Figure Insert the stripped end of the wire into the lower opening, then remove the screwdriver from the top opening. The clamp will close on the wire. Pull on the wire to confirm it is securely attached in the connector. 4. Visually inspect the connection to make sure that the clamp has closed on the wire, not the insulation. Insert small flat-blade screwdriver to open contact. Insert wire, then remove screwdriver to close contact. Figure 3-2. Inserting Wires into Terminals 30 Adept IO Blox User s Guide, Rev C

31 Connecting Input Signals 3.4 Connecting Input Signals The IO Blox unit has 16 optically isolated digital I/O channels (8 high-side driver outputs with common source and 8 independent inputs). They are wired to terminal blocks located on the unit. See Figure 2-1 on page 11. These terminal blocks also contain internally wired jumpers to route ground and power signals, if desired. NOTE: In V+ systems, the IO Blox inputs cannot be used for REACTI programming, high-speed interrupts, or vision triggers. See the V+ Language User' s Guide for information on digital I/O programming. Input Specifications Table 3-1. IO Blox Input Specifications Parameter Style Operational voltage range OFF state voltage range ON state voltage range Typical threshold voltage Operational current range OFF state current range ON state current range Typical threshold current Impedance (V in /I in ) Current at V in = +24 VDC Turn-on response time (hardware) Software scan rate/response time Turn-off response time (hardware) Software scan rate/response time Value Two wire, individually optically isolated, reversible current flow. 0 to 30 VDC 0 to 3 VDC 10 to 30 VDC V in = 8 VDC 0 to 7.5 ma 0 to 0.5 ma 2.5 to 7.5 ma 2.0 ma 3.9 k minimum I in 6 ma 5 µsec maximum 16 ms scan cycle/ 32 ms max. response time 5 µsec maximum 16 ms scan cycle/ 32 ms max. response time NOTE: The input current specifications are provided for reference. Voltage sources are typically used to drive the inputs. NOTE: If using multiple power supplies, ground all the power supplies to the same grounding point. Adept IO Blox User s Guide, Rev C 31

32 Chapter 3 - General Operation Example Input Schematic User-Supplied Equipment Adept-Supplied Equipment NPN Sensor (Sink) +V Out I1 (UPR) I1 (LWR) 3.9K DIGITAL INPUTS PS K DI_1 5VD G A (UPR) D PNP Sensor (Source) +V B (LWR) I2 (UPR) 3.9K PS Out I2 (LWR) G I3 (UPR) 3.9K PS VDC I3 (LWR) A (UPR) B (LWR) Limit Switch Source I4 (UPR) 3.9K PS I4 (LWR) I5 (UPR) 3.9K PS I5 (LWR) Limit Switch Sink A (UPR) PLC 1 (Source) B (LWR) 12V I6 (UPR) 3.9K PS I6 (LWR) PLC 2 (Sink) I7 (UPR) 3.9K PS V I7 (LWR) A (UPR) +24VDC User Supply + B (LWR) I8 (UPR) 3.9K PS I8 (LWR) Figure 3-3. Typical User Wiring for Input Signals 32 Adept IO Blox User s Guide, Rev C

33 Connecting Output Signals 3.5 Connecting Output Signals The eight digital outputs share a common, high-side (sourcing) driver IC. The driver is an eight channel device designed to supply any kind of load with one side connected to ground. It is designed for a range of user-provided voltages from 11 to 24 VDC, and each channel is capable of up to 0.7 A of current. This driver has over-temperature protection, current limiting, shorted load protection, and under-voltage shutdown. In the event of an output short or other over-current situation, the affected output of the driver IC turns off and back on automatically to reduce the temperature of the IC. The OVRTMP LED on the IO Blox indicates this condition. The driver is powered by the user-provided voltage supply and the driver control inputs are optically isolated from the IO Blox control logic. NOTE: An IO Blox Auxiliary Power cable is provided in the IO Blox kit for Adept Python Linear Modules to provide 24 VDC user power to IO Blox. See Section 2.6 on page 20 for information. The outputs are accessed through a 9 x 2 terminal block on the IO Blox unit. The upper row of this terminal block starts with the +V supply input and continues with the eight output pins. The bottom row of pins are all shorted together for ground connections. This arrangement allows the two wires from the power supply to be connected at one end and the two wire connections to each load to be connected at the appropriate output. When an output is on, current will flow in through the power supply pin, out through the output pins, and then return through the ground bus of the terminal block back through the power supply connection. This type of output is considered sourcing, that is, in the ON condition, current flows out of the output pin. See Figure 3-4 on page 35 for details on typical digital output wiring. Total Current Limitation Although the capacity of a single channel is 0.7 A, the IO Blox cannot sustain 0.7 A on all outputs simultaneously. Due to heat sinking constraints, the maximum current for all outputs is 2.5 A in a 50 C environment and 3.7 A in 25 C. Adept IO Blox User s Guide, Rev C 33

34 Chapter 3 - General Operation Output Specifications Table 3-2. IO Blox Output Circuit Specifications Parameter Power supply voltage range Under voltage shutdown Quiescent current (outputs off) Operational current range, per channel (See Total Current Limitation on page 33.) Total Current Limitation, all channels on On state resistance (I out = 0.5 A) Value 11 VDC +V 30 VDC 7 VDC +V 10.5 VDC I in 35 ma I out 700 ma Output leakage current I out 10 µa Turn on response time Turn off response time Output voltage at inductive load turnoff (I out = 0.5 A, Load = 6 mh) DC short circuit current limit Peak short circuit current I in, all on C ambient I in, all on C ambient R on 25 C (R on max.) 100 µsec. max., 50 µsec typical (hardware only) 150 µsec. max., 75 µsec typical (hardware only) (+V - 60) V demag (+V - 47) 0.7A I LIM 1.9 A I ovpk 4 A NOTE: If using multiple power supplies, ground all the power supplies to the same grounding point. 34 Adept IO Blox User s Guide, Rev C

35 Connecting Output Signals Example Output Schematic Adept-Supplied Equipment User-Supplied Equipment Typical Isolated Output Control (1 of 8) I in +V G Typical User Supply and Loads + User 24VDC Power Supply DO_1 ST VN808 or equivalent UNDERVOLTAGE DETECTION V CC O1 G O2 + Alarm I 1 V CC CLAMP GND G Lamp 10K I 2 I 3 I 4 I 5 I 6 I 7 I 8 Status LOGIC CLAMP POWER CURRENT LIMITER JUNCTION TEMP. DETCTION Same structure for all channels CASE TEMP. DETCTION c STMicroelectronics OUTPUT 1 OUTPUT 2 OUTPUT 3 OUTPUT 4 OUTPUT 5 OUTPUT 6 OUTPUT 7 OUTPUT 8 O3 G O4 G O5 G O6 G + Load + Load + Load Lamp OVRTMP LED O7 G O8 G AC Motors M M L N User AC Power Supply Figure 3-4. Typical User Wiring for Output Signals Adept IO Blox User s Guide, Rev C 35

36 Chapter 3 - General Operation 3.6 IO Blox LEDs There are two surface-mount style LEDs on the IO Blox: a green STATUS LED and a red OVRTMP LED. See Table 3-3 for descriptions. Table 3-3. IO Blox LED Condition Descriptions Green STATUS LED On steady = logic power on, no communication On blinking = communication with host OK Off = no logic power Red OVRTMP LED On = over-temperature condition in the output driver IC. The OVRTMP LED is the only driver error indication, there is no software feedback of this condition. Off = outputs OK An OVRTMP indication is the result of an over-temperature or over-current condition on one or more of the outputs, usually due to a short-circuit condition. As a result, the output driver IC will oscillate on and off as the chip tries to drive the load. The LED will turn on and off along with this temperature cycling characteristic. The red OVRTMP LED is active only when: An output has been turned on by a V+ command and: a. One or more activated outputs has a thermal overload problem, usually due to a short in the user's wiring from the output pin to the user's ground. OR b. Total current drawn by all active outputs has exceeded the case temperature rating over time. See the Total Current Limitation, all channels on entry in Table 3-2 on page Adept IO Blox User s Guide, Rev C

37 Custom Length IO Blox Cables 3.7 Custom Length IO Blox Cables The cables that connect power and communications from the host to the IO Blox and between IO Blox units can be ordered in a standard set of lengths. If there is a need for a custom length cable, the following information describes the parts and method to build it. Item 2-8X Item 1 Item 3 Item 4-2X 0.8" *Back Item 2-8X Item 1 P2 Pin 8 *Back 2x 0.4" P1 1.0" 2X Pin 4 Pin 1 Figure 3-5. IO Blox Cable Drawing Table 3-4. IO Blox Cable Parts List Item Adept Part Number Description Manufacturer Part Number RCPT, 8POSN, MOLEX, MICRO MOLEX INC Terminal, MOLEX, MICRO, AWG CABLE, HIGH FLEX, 0.2mm 2,(24 AWG) 4 PAIR (desired length) MOLEX INC DAIDEN RMFEV-SBX-S-A 0.2/4P, or MONTROSE/CDT CBL Note to item 3.: The Manufacturer P/N s are high-flex cables and may be difficult to obtain. If so, and especially if the application does not involve repeated flexing of the cable, a cable with 4 twisted pairs of 24 AWG to 20 AWG may be substituted TUB, SHRINK, ADH, 1/4IN, BLK (desired length) RAYCHEM CORP. TAT-125 1/4 BLK, or REMTEK CORP. DWP-125 1/4 BLK4 NOTE: Use 20 AWG wire for cable lengths beyond 3 meters. Limit individual cable lengths to 10 meters (using 20 AWG wire), and cumulative total length (between all IO Blox units) to 30 meters. Adept IO Blox User s Guide, Rev C 37

38 Chapter 3 - General Operation Table 3-5. IO Blox Cable Wire List FROM TO: Loc. Wire # Loc. Wire # Color Remarks P1 1 P2 1 WHT (BLU) GND (Twist w/ LINE 5) P1 2 P2 2 BRN SIO1+ (Twist w/line 3) P1 3 P2 3 WHT(BRN) SIO1- (Twist w/line 2) P1 4 P2 4 GRY TX232 (Twist w/line 8) P1 5 P2 5 BLU IO5VPWR (Twist w/line 1) P1 6 P2 6 GRN SIO2+ (Twist w/line 7) P1 7 P2 7 WHT(GRN) SIO2- (Twist w/line 6) P1 8 P2 8 WHT(GRY) RX232 (Twist w/line 4) 38 Adept IO Blox User s Guide, Rev C

39 Operation on V+-Based Systems Using the IO Blox with Adept Robots This chapter describes the operation of IO Blox units connected to robots that use the V+ operating system. These robots are: Adept Cobra s600/s800 Adept Cobra s350 Adept Viper Configuration Adept Python Linear Modules IO Blox units that are connected to the robot will be automatically recognized by the system when the robot is turned on. You can connect (or disconnect) IO Blox units while the system is turned on, but you must re-boot the system to update the system IO configuration. IO Signal Numbers In a typical Adept robot system that runs under V+, IO signal numbers for the IO Blox are pre-configured at the factory and are ready to use. See Table 4-1, IO Blox Signal Designations, on page 42. Adept IO Blox User s Guide, Rev C 39

40 GND +24V DC INPUT (24 VDC) AC INPUT ( VAC 1Φ) XIO XSLV 1 XPANEL 2 SmartServo RS-232 Chapter 4 - Operation on V+-Based Systems Cobra s600/s800 Robot IO Blox Device IO Blox #1 8 Input signals: 1113 to Output signals: 0105 to 0112 Figure 4-1. IO Blox I/O Signals and Cable Connections on Adept Cobra s600/s800 Robot MB-40R To EXPIO on MB-40R IO Blox Device IO Blox #1 8 Input signals: 1113 to Output signals: 0105 to 0112 Adept Cobra s350 System (robot not shown) Figure 4-2. IO Blox I/O Signals and Cable Connections on Adept Cobra s350 Robot System 40 Adept IO Blox User s Guide, Rev C

41 DO NOT REMOVE OR INSTALL THIS MODULE UNLESS HIGH VOLTS LED IS COMPLETELY DISTINGUISHED HIGH VOLTS ON PWM ON LOW VOLTS ON CH1 CH2 OPEN CKT FAULT HV SAG/OVER TEMP FAULT SHORT FAULT A M P L I F I E R C O N T R O L CH1 M O T O R P O W E R O U T P U T CH2 adept technology, inc. DO NOT REMOVE OR INSTALL THIS MODULE UNLESS HIGH VOLTS LED IS COMPLETELY DISTINGUISHED HIGH VOLTS ON PWM ON LOW VOLTS ON CH1 CH2 OPEN CKT FAULT HV SAG/OVER TEMP FAULT SHORT FAULT A M P L I F I E R C O N T R O L CH1 M O T O R P O W E R O U T P U T CH2 B R CAUTION HIGH VOLTAGE INSIDE DO NOT REMOVE OR INSTALL THIS MODULE UNLESS HIGH VOLTS LED IS COMPLETELY DISTINGUISHED STATUS HIGH VOLTS ON PWM ON LOW VOLTS ON 1 OPEN CKT FAULT R S2 HV SAG/OVER TEMP FAULT SmartServo SHORT FAULT CH1 CH2 A M P L I F I E R C O N T R O L CH1 M O T O R P O W E R O U T P U T CH2 C N PG C N 25 C N 29 E X C N PG Using the IO Blox with Adept Robots IO Blox #1 8 Input signals: 1113 to Output signals: 0105 to 0112 To EXPIO on sdai J AMP J AMP J AMP s DAI A K E P IO X S LV IO Blox Device Adept Viper System (robot not shown) Adept PA-4 Power Chassis Figure 4-3. IO Blox I/O Signals and Cable Connections on Adept Viper Robot System IO Blox #1 8 Input signals: 1113 to Output signals: 0105 to 0112 To IO Blox Connector on MB-10 MB-10 Amp Note: MB-10 connectors are located on bottom of amp. IO Blox Device Adept Python Module Figure 4-4. IO Blox I/O Signals and Signal Cable Connections on Python Module System Adept IO Blox User s Guide, Rev C 41

42 Chapter 4 - Operation on V+-Based Systems Table 4-1. IO Blox Signal Designations Terminal Designation V+ Signal Number IO Blox #1 Input Input Input Input Input Input Input Input Output Output Output Output Output Output Output Output IO Blox #2 - Inputs 1121 to 1128 IO Blox #2 - Outputs 0113 to 0120 IO Blox #3 - Inputs 1129 to 1136 IO Blox #3 - Outputs 0121 to 0128 IO Blox #4 - Inputs 1137 to 1144 IO Blox #4 - Outputs 0129 to Configuring Multiple Robot and Amp Systems This section describes how to configure IO Blox units installed on multiple Adept robots and multiple MB-10 amps on a Python Linear Modules system. After installing IO Blox (see Chapter 2), use the DC_SETUP program to assign the correct digital logical IO blocks to each robot. By default, robot #1 or MB-10 amp #1 uses block 1 and block 3; robot #2 or MB-10 amp #2 uses block 2 and block 4. See Figure 4-5 on page 44 and Figure 4-11 on page 49. See Section 4.4 on page 44 for information on using DC_SETUP. The default signal configuration, or mapping, is shown in Table 4-2. This configuration is usually sufficient for most installations. If you need to change the mapping, see Section 4.3 on page 43 and Section 4.5 on page Adept IO Blox User s Guide, Rev C

43 Digital I/O Block Configuration Table 4-2. Default Signal Configuration, Dual Robot/Multiple MB-10 Systems Location Type Signal Range Robot #1 or IO Blox 1 Inputs MB-10 #1 Outputs Robot #2 or MB-10 #2 IO Blox 2 Inputs Outputs IO Blox 3 Inputs Outputs IO Blox 4 Inputs Outputs IO Blox 1 Inputs Outputs IO Blox 2 Inputs Outputs IO Blox 3 Inputs Outputs IO Blox 4 Inputs Outputs Digital I/O Block Configuration In most system installations you can use the default I/O configurations shown in the previous section, and you will not have to modify the I/O configuration files. If you need to modify the I/O configuration, then you must use the CONFIG_C program, as described in Section 4.5 on page 46. The information in this section can help during the configuration, or mapping process. The diagram in Figure 4-5 shows the output and input blocks for IO Blox units on robot #1 or MB-10 #1 and robot #2 or MB-10 #2 in a dual robot or multiple MB-10 amp system. IO Blox Inputs/Outputs Up to four IO Blox units can be daisy-chained together per robot or MB-10 amp to give you 32 inputs and 32 outputs per robot or amp. For IO Blox units installed on a a single robot or MB-10 amp, by default, the IO Blox units occupy the first four bytes of the third block. For IO Blox units installed on a second robot or MB-10 amp, by default, they occupy the first four bytes of the fourth block. See Figure 4-5. See also your robot documentation for additional I/O configuration information. Adept IO Blox User s Guide, Rev C 43

44 Chapter 4 - Operation on V+-Based Systems ROBOT #1 or MB-10 #1 Input Block 3 Byte 1 Byte 2 Byte 3 Byte 4 IO Blox 1 ( ) Output Block 3 IO Blox 2 ( ) IO Blox 3 IO Blox 4 ( ) ( ) Byte 1 Byte 2 Byte 3 Byte 4 IO Blox 1 ( ) IO Blox 2 ( ) IO Blox 3 IO Blox 4 ( ) ( ) ROBOT #2 or MB-10 #2 Input Block 4 Byte 1 Byte 2 Byte 3 Byte 4 IO Blox 1 ( ) Output Block 4 IO Blox 2 ( ) IO Blox 3 IO Blox 4 ( ) ( ) Byte 1 Byte 2 Byte 3 Byte 4 IO Blox 1 ( ) IO Blox 2 ( ) IO Blox 3 IO Blox 4 ( ) ( ) Figure 4-5. Input/Output Block Configuration in Dual Robot /Multiple MB-10 Amp Systems 4.4 DC_SETUP Configuration NOTE: The procedure below describes how to use the DC_SETUP program to initialize IO Blox on MB-10 amps on a multi-axis Python system. Load and Run DC_SETUP.V2 This section goes through the IO Blox initialization. You map the IO Blox units to logical blocks (see Figure 4-5 on page 44 for information on the default IO Blox logical blocks). 1. Type the following at the prompt. load d:\util\dc_setup.v2 execute 1 a.dc_setup The first screen in the Setup program looks similar to Figure Adept IO Blox User s Guide, Rev C

45 DC_SETUP Configuration 2. Select Configure DIO input/output blocks. Figure 4-6. DC_SETUP Program Main Screen 3. Press the SPACE bar to select the SmartServo device to which the IO Blox units are connected. On multi-axis Python systems, when the LED on the MB-10 amp you want to configure flashes green/red, press ENTER to select it. A screen similar to Figure 4-7 is displayed. Figure 4-7. DC_SETUP SmartServo Device Data Screen 4. Follow the on-screen prompts to map the units to the default logical block. 5. If IO Blox units are installed on a second MB-10 amp, repeat the above steps to map the units installed on this amp to the next default logical block. NOTE: On Adept Python Linear Modules systems, when an IO Blox is correctly connected to the MB-10 amp and configured, OK is displayed on the MB-10 amp s status panel. NOTE: Remember to save all specifications to the system disk when prompted at the end of the setup process. Adept IO Blox User s Guide, Rev C 45

46 Chapter 4 - Operation on V+-Based Systems 4.5 Using CONFIG_C to Configure I/O The default IO Blox signal configuration, or mapping, is shown in Table 4-2 on page 43. This configuration is usually sufficient for most installations. If you need to add more I/O or change the mapping, perform the steps below. When changing the signal mapping, keep the following points in mind. By default, V+ allocates signal input/output signal ranges for four IO Blox units per block even if less than four units are installed (see Table 4-2 on page 43). By default, V+ allocates certain input/output signal ranges to various other types of I/O devices, such as optional sdio modules. To avoid conflicts, do not map signals for IO Blox I/O to signals used by other I/O devices. In general, specify signal ranges above the default ranges used by other I/O devices. See Figure 4-11 on page 49 for the default signal input ranges for other I/O devices. See your robot documentation for additional information. Map 8 available input signals and 8 available output signals per each IO Blox unit. Also, map multiple, daisy-chained IO Blox units to consecutive input and output signal numbers, respectively. For example, map input signals for the first unit to , input signals for the second unit to , and so on; map output signals for the first unit to , output signals for the second unit to , and so on (these are the default signals). NOTE: After using CONFIG_C to map I/O signals for IO Blox units, you must run the DC_SETUP program to assign the correct digital I/O blocks. See Section 4.4 on page 44. This procedure provides the basic steps for using the CONFIG_C program to map I/O signals. 1. Type the following at the prompt: LOAD D:\UTIL\CONFIG_C EXE 1 a.config_c The following will be displayed. 46 Adept IO Blox User s Guide, Rev C

47 Using CONFIG_C to Configure I/O Figure 4-8. CONFIG_C Menu 2. Select option 2 V+ System Configuration Data. The following will be displayed. Figure 4-9. Controller Configuration Editor Menu 3. Select option 2 EDIT system CONFIGURATION. The following will be displayed. Adept IO Blox User s Guide, Rev C 47

48 Chapter 4 - Operation on V+-Based Systems Figure System Configuration Editor Menu 4. Configure the I/O as shown in Figure 4-11 on page 49. This figure shows an example from a CONFIG_C file - look closely at the highlighted areas. Do not delete any of the default configurations. This file is configured for: Two sdio modules connected to two robots XIO connected to two robots Up to four IO Blox units (per robot or MB-10 amp) connected to two robots or two amps 48 Adept IO Blox User s Guide, Rev C

49 Using CONFIG_C to Configure I/O Figure Sample Configuration File for Digital I/O Adept IO Blox User s Guide, Rev C 49