Adept XIO Termination Block

Transcription

1 Adept XIO Termination Block Installation Guide P/N: , Rev A April Triad Drive Livermore, CA USA Phone Fax Otto-Hahn-Strasse Dortmund Germany Phone Fax , rue du Saule Trapu Massy France Phone Fax

2 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 2004 by Adept Technology, Inc. All rights reserved. The Adept logo, AdeptVision, AIM, HexSight, and HexaVision are registered trademarks of Adept Technology, Inc. ActiveV, Adept, Adept 1060, Adept 1060+, Adept 1850, Adept 1850 XP, Adept 540, Adept 560, Adept C40, Adept C60, Adept CC, Adept Cobra 550, Adept Cobra 550 CleanRoom, Adept Cobra 600, Adept Cobra 800, Adept Cobra i600, Adept Cobra i800, Adept Cobra s600, Adept Cobra s800, Adept DeskTop, Adept Digital Workcell, Adept FFE, Adept FlexFeeder 250, Adept IC, Adept Impulse Feeder, Adept LineVision, Adept MC, Adept MV, Adept MV-10, Adept MV-19, Adept MV4, Adept MV-5, Adept MV-8, Adept NanoBonder EBS, Adept NanoBonder LWS, Adept NanoCell, Adept NanoStage L1P2, Adept NanoStage L3, Adept NanoStage L3P2, Adept OC, Adept SmartAmp, Adept SmartAxis, Adept SmartController CS, Adept SmartController CX, Adept SmartModule, Adept SmartMotion, Adept SmartServo, Adept sdio, Adept Servo Kit, Adept smi6, Adept SMIF-EZ, AdeptAlign 650, AdeptAtlas, AdeptCartesian, AdeptForce, AdeptFTP, AdeptGEM, AdeptModules, AdeptMotion, AdeptMotion Servo, AdeptMotion VME, AdeptNet, AdeptNFS, AdeptOne, AdeptOne-MV, AdeptOne-XL, AdeptRAPID, AdeptSix 300, AdeptSix 300CL, AdeptSix 600, AdeptTCP/IP, AdeptThree, AdeptThree-MV, AdeptThree-XL, AdeptTwo, AdeptVicron, AdeptVicron 300S, AdeptVicron 310D, AdeptVision AVI, AdeptVision AGS, AdeptVision GV, AdeptVision I, AdeptVision II, AdeptVision VME, AdeptVision VXL, AdeptVision XGS, AdeptVision XGS II, AdeptWindows, AdeptWindows Controller, AdeptWindows DDE, AdeptWindows Offline Editor, AdeptWindows PC, AIM Command Server, AIM Dispense, AIM PCB, AIM VisionWare, A-Series, AutoCal, AutoTune, AutoWidth, CCM, CCMII, CGM, FlexFeedWare, HyperDrive, Microenvironment, MicroV +, MotionWare, ObjectFinder, ObjectFinder 2000, PackOne, PalletWare, SMIF-C, SMIF-EZX, SMIF-Z, SMIF-ZX, S-Series, UltraOne, V, V +, and VisionTeach 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

3 XIO Termination Block Product Description The Adept XIO Termination Block is a device that installs via cable to the XIO port on Adept s-series and i-series robots to enable you to connect and test digital I/O signals. The device provides terminal block connection points for 12 inputs and 8 outputs, plus LEDs for all signal lines to indicate On/Off status. Each input line has a slide-switch to simulate an input signal for development and testing use. Figure 1-1. Adept XIO Termination Block Drawing Adept XIO Termination Block Installation Guide, Rev A 3

4 XIO Termination Block 1.2 XIO Termination Block Identification J1 Connector for Cable Output LEDs (8) Input Switches (12) Input LEDs (12) Bank 1/2 HI/LO Switches Bank 1 Inputs (I1-I6) Bank 2 Inputs (I1-I6) Outputs (O1-O8) 24V and Ground for Sensors Bank 1 Input Returns (1-6) Bank 2 Input Returns (1-6) Output Grounds (1-8) Figure 1-2. XIO Termination Block Identification Photos J1 connector Output LEDs Input switches Input LEDs Bank 1/2 HI/LO switches Table 1-1. XIO Termination Block Terminal Descriptions 26-pin, high density, female D-Sub connector for cable connection to the XIO connector on the robot interface panel. One Green LED for each output line. LED turns on when output signal is on. One switch for each input line. Moving switch to ON position simulates an input signal and turns on LED. Bi-color LEDs, Green for HI, Yellow for LO, based on Bank 1/2 switch. LEDs turn on when input signal is sensed, or input switch is turned on. Position of switches determines state of input circuits for Bank 1 and Bank 2. HI = PNP (sourcing). LO = NPN (sinking). Bank 1/2 Inputs Input terminals for Input 1 to Input 6 signals on Bank 1 and Bank 2. Bank 1/2 Input Returns 24V/GND for Sensors Outputs O1 - O8 Output Grounds Bank 1/2 returns provide individual return points for each input. Bank 1/2 = GND when switch set to LO. Bank 1/2 = 24V when switch set to HI. 24 and GND pins on far-left are 24V power and GND connections for powering user-supplied sensors, etc. Voltage is supplied via XIO connector on robot. See the robot specifications for current limitations. Output terminals for Output 1 to Output 8 signals. GND connections provide individual return points for each output. 4 Adept XIO Termination Block Installation Guide, Rev A

5 Mounting 1.3 Mounting Mounting with Bolt Flanges The XIO Termination Block can be mounted to a secure surface by using the bolt flanges at each end of the unit. See the dimensions for the bolt flanges in Figure 1-7 on page 11. Mounting on a DIN Rail The XIO Termination Block 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. The mounting procedure on a DIN Rail is as follows: 1. Remove the bolt flanges from each end of the unit. 2. Remove one of the end caps by removing Phillips head two screws. 3. Turn the unit over and slide in the Phoenix 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. Adept XIO Termination Block Installation Guide, Rev A 5

6 GND +24V DC INPUT (24 VDC) AC INPUT ( VAC 1Φ) XIO XSLV XPANEL 1 2 SmartServo RS-232 XIO Termination Block 1.4 Installing the Cable 1. Locate the XIO Termination Cable. See Figure Install one end in the XIO connector on the robot. 3. Install the other end in the J1 connector on the XIO Termination Block. 4. Secure the cable by tightening connector latching screws at both ends. Adept Cobra i600/i800 or s600/s800 Robot Adept XIO Termination Block XIO Termination Cable , 6 ft. Figure 1-3. Installing XIO Termination Cable NOTE: The supplied XIO Termination cable is 6 ft long and made using shielded 26 AWG wire, wired 1:1. Users can construct their own extended length cables using similar cable stock. Give careful attention to voltage drops on IO outputs when using extended length cables and high current loads. 6 Adept XIO Termination Block Installation Guide, Rev A

7 Using Digital I/O 1.5 Using Digital I/O The 12 input and 8 output terminals on the XIO Termination Block provide the same I/O signal capacity as the XIO connector on the robot interface panel. These signals can be used by the system to perform various functions in the workcell. In Cobra i600/i800 Robot Systems See the XIO section in the Adept Cobra i600/i800 Robot User s Guide for specifications. See the MicroV+ Signal Number column in Table 1-2 for the terminal designations. In Cobra s600/s800 Robot Systems See the XIO section in the Adept Cobra s600/s800 Robot User s Guide for specifications. See the V+ Signal Number column in Table 1-2 for the terminal designations. Table 1-2. XIO Termination Block Signal Designations MicroV+ Terminal Designation Signal Bank Signal Number V+ Signal Number 24V GND Input Input Input Input Input Input Input Input Input Input Input Input Output Output Output Output Output Output Output Output Adept XIO Termination Block Installation Guide, Rev A 7

8 XIO Termination Block 1.6 Typical User Connection Diagrams XIO Connector 26-Pin Female D-Sub XIO Connector on Cobra i600/i800 Robot (equivalent circuit) Signal Input Bank 2 Input Bank 1 Signal Signal Signal Signal Signal Bank 1 3 Common +24V GND 2,11 1,10 Bank 2 12 Common Signal Signal Signal Signal Signal Signal Adept XIO Termination Block Upper Row on Term. Block 24V I1 I2 I3 I4 I5 I6 I1 I2 I3 I4 I5 I6 HI Input Slide Switches LO HI LO GND Bank 1 Switch in HI position Bank 2 Switch in HI position Lower Row on Term. Block 24V and GND terminals available for optimal user connections Note: Input signals can be used in either HI (sourcing) or LO (sinking) configurations. Note: on a Cobra s600/s800 Robot, the Signal numbers are different. See Table 1-2. User-supplied input device (typical, 1 of 12) Input Slide Switches must remain open for visibility of user input. Note: A bi-color green/yellow LED (not shown in drawing) is provided to verify each input state. The LED adds a nominal 5 ma to the "On" state input current, but does not alter the input voltage thresholds from Table 5-4 in the Cobra i600/i800 Robot User's Guide. Figure 1-4. User Input Connections 8 Adept XIO Termination Block Installation Guide, Rev A

9 Typical User Connection Diagrams XIO Connector 26-Pin Female D-Sub XIO Connector on Cobra i600/i800 Robot Outputs VDC (equivalent circuit) Signal O1 Signal O2 Signal O3 Signal O4 Signal O5 Signal O6 Signal O7 Signal 0008 GND GND O8 Adept XIO Termination Block Upper Row on Term. Block Load Typical User Loads Load Load M M L N Lower Row on Term. Block (GND) Note: on a Cobra s600/s800 Robot, the Signal numbers are different. See Table 1-2. User AC Power Supply Note: A green LED (not shown in drawing) is provided to verify each output state. The LED adds a nominal 5 ma to the output current from Table 5-5 in the Cobra i600/i800 Robot User's Guide. Figure 1-5. User Output Connections Adept XIO Termination Block Installation Guide, Rev A 9

10 XIO Termination Block 1.7 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 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 1-6. Inserting Wires into Terminals 10 Adept XIO Termination Block Installation Guide, Rev A

11 Dimensions 1.8 Dimensions Tie-Wrap Location (1 of 4) Bolt Flange at each end is removable. [6.46] 164 [6.93] 176 [.18] Ø 5 [5 97] [1.72] 44 [1.77] 45 Figure 1-7. XIO Termination Block Dimensions Adept XIO Termination Block Installation Guide, Rev A 11

12 P/N: , Rev A 3011 Triad Drive Livermore, CA