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adept technology MV User Manual

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Table of Contents

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  • Page 1 (217) 352-9330 | Click HERE Find the OMRON / Adept Technology AWC 040 at our website:...
  • Page 2 Adept MV Controller User’s Guide For V Version 13.0 or Later A AMP A AMP DO NOT REMOVE OR INSTALL THIS DO NOT REMOVE OR INSTALL THIS MODULE UNLESS HIGH VOLTS LED MODULE UNLESS HIGH VOLTS LED IS COMPLETELY EXTINGUISHED.
  • Page 3 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 4 Adept MV Controller User’s Guide For V Version 13.0 or Later A AMP A AMP DO NOT REMOVE OR INSTALL THIS DO NOT REMOVE OR INSTALL THIS MODULE UNLESS HIGH VOLTS LED MODULE UNLESS HIGH VOLTS LED IS COMPLETELY EXTINGUISHED.
  • Page 5                                                                                                                                             ...
  • Page 6 73/23, 93/68 (Electrical Equipment) Usage and installation conditions The product must be installed and used strictly in accordance with the Adept MV Controller User’s Guide (document p/n 00330-01031). The system must incorporate only those plug-in modules and accessories listed in Table 1 or Table 2. If modules or accessories listed in Table 2 are installed, the user must verify conformance to the EMC Directive after installation.
  • Page 7 Conditions d'utilisation et d'installations L'équipement doit être installé et utilisé en respectant scrupuleusement les instructions du manuel «Manuel d'utilisation du robot Adept MV Controller». L'ensemble ne doit comporter que les cartes enfichables ou accessoires listés dans les tableaux 1 ou 2. Si des accessoires listés dans le tableau 2 sont installés, l'utilisateur devra, après installation, vérifier la conformité...
  • Page 8 Plug-in Modules and Accessories / Einschubmodule und Zubehör / Modules enfichables et accessoires Table 1. Table/Tabelle/Tableau 1 Name / Part Number / Namen / Teilenummer / Revision / Description / Beschreibung Référence Révision VME Digital I/O Module / 10332-00800 >= P2 Digitales Ein-/Ausgabemodul Carte d'entrées/sorties VME VME Graphics Module /...
  • Page 9 P/N 00330-01040 Rev. A Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 10: Table Of Contents

    Introduction ......Adept MV-5 Controller ....
  • Page 11 Enclosure and Disconnect Requirements ... . . Installing the MV-5 and MV-10 Controllers ... . . AC Power Requirements ....
  • Page 12 Compact Controller Installation ....Adept MV-4 Insert Overview ....57 Removing and Installing Boards .
  • Page 13 Location of the CIP ....Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 14 Optional DIO Cables..... . 125 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 15 Introduction ......168 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 16 Output Power Supply Voltage Jumpers ... 196 Output Power Supply Current Selection ... 196 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 17 Fan Filter Inspection and Cleaning MV-5/MV-10 ..211 Spare Parts List MV-5/MV-10 ....212 Changing the Lamp on the High Power Indicator .
  • Page 18 Controlling More Than One Robot ... . . 259 Robots With Fewer Than Six Joints ... . 260 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 19 Power Supply and the DeviceNet Bus ... . 387 Power Capabilities of a DeviceNet Cable System ..387 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 20 Index ..... . . 391 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 21 '26 9:        $  4  820+  %,      13 3'7 83'7)          "-')"                 $     "-')" :#'#              Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 22 ;   6>=:.*0                      ;   6>=:.0                      ; $  6>=                     & ;   "92:1'6>=)   ; &  6>=                   4 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 23 +) ;6!$%   + + %$%   ++ ,    &,#0.! )    &,#0.! )    ( &,- )) Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 24 '-,",+ :  +  ""%:%"$!  1   ""%/"$!  )   ""%:* "$!  + ) =*"$!    0"  + + -"  + Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 25 Table of Contents   "  + 3 /=%5 1 3  * /==&<  1) 3  /=/''$6!5, 1 3) /=$6  1+ 3 ": $ /'5, 11 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 26: Introduction

    How Can I Get Help? ..... Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 27: How To Use This Manual

    The following sections give a brief description of the contents and organization of the Adept documentation set. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 28: Standard Manuals

    AdeptForce VME product.  All of the above manuals are available on the CD-ROM that is shipped with the system. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 29: Optional

    • The new Compact Controller. The Compact Controller combines a PA4 amp chassis with two dual amplifiers, an MV 4 chassis insert that installs in the two remaining amplifier slots, and a new system processor. The MV-19 controller chassis is obsolete.

  • Page 30: Warnings, Cautions, And Notes

     A “NOTE” provides supplementary information, emphasizes a point or procedure, or gives a tip for easier operation. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 31: Safety

    Instructed persons are adequately advised or supervised by skilled persons to enable them to avoid the dangers which electricity may create (operating and maintenance staff). Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 32: System Safeguards

    Make sure that safeguards are in place to prevent personnel from entering the workcell when a program is running. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 33: Program Security

    Chapter 1 Safety Adept Technology highly recommends the use of additional safety features such as light curtains, safety gates, or safety floor mats to prevent entry to the workcell while is enabled. These devices can be connected using the ()( %*+,- emergency stop circuitry.

  • Page 34: Standards Compliance

    You must also carefully follow all installation instructions in this user guide.  for additional information on standards compliance. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 35: How Can I Get Help

    You can obtain this document through Adept On Demand. The phone numbers are: (800) 474-8889 (toll free) (503) 207-4023 (toll call) Please request document number 1020. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 36: Overview

    Introduction ......Adept MV-5 Controller ....

  • Page 37: Introduction

    Adept MV-5, MV-10, and the Adept Compact Controller. Adept MV-5 Controller The Adept MV-5 controller is a 5-slot chassis that is available in either a stand-alone or robot configuration; see '  (. The stand-alone version stands horizontally and can be mounted in a standard 19-inch equipment rack. The robot version stands vertically.

  • Page 38: The Adept Compact Controller

    Adept MV Stand-Alone Controller (example shown is an MV-10 (example shown is an MV-5) Figure 2-1. Adept MV-5 and MV-10 Controllers The Adept Compact Controller The Adept Compact Controller is designed for the Adept Cobra series of robots and the AdeptModules product line (up to four axes). It includes a PA4 amplifier with two dual amplifiers and a four-slot chassis that fits into the remaining two slots of the PA4 amplifier chassis.
  • Page 39 C PHASE SHORT FAULT C PHASE SHORT FAULT AMPLIFIER SIGNAL BELT ENCODER SIGNAL adept technology, inc. Figure 2-2. Adept Compact Controller Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 40: Graphical User Interface And Text-Based User Interface

    (optional) and an AT-style keyboard with an integrated trackball (optional). Text-Based Options The nongraphical configuration for the Adept MV controller consists of a character-based user interface for the V language and a customer-supplied terminal or computer.

  • Page 41: Awc System Processor (68040 Or 68060)

    (mouse, trackball, etc.). The VGB also has a direct video bus   connection to the EVI board in AdeptVision systems. See for more details. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 42: Adeptvision Interface Board (Evi)

    EMI/RFI shielded enclosure. For installations in Europe, see the Manufacturer’s Declaration of Conformity (inside the front cover of this manual) for important EMC information. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 43: Digital Input/Output Board (Dio)

    Adept AWC board as an auxiliary processor. See the manual        for details on the CONFIG_C utility program. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 44: Optional Equipment

    AdeptWindows is an application suite for the personal computer (PC) that provides additional capabilities for the Adept controller and an interface to the      PC. See the for details. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 45: Color Monitor

    In all cases the text-based interface to the Adept controller requires the use of the RS232/Term port on the main system processor. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 46: Product Descriptions

    The hardware consists of an AdeptForce VME board (VFI) installed in the Adept   MV controller and the force-sensing unit installed on the robot. See the     for details.
  • Page 47 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 48: Installation Of Adept Controllers

    Compact Controller Installation ....Adept MV-4 Insert Overview ....57 Removing and Installing Boards .
  • Page 49 MV-5 and MV-10 Controller Technical Specifications ..MV-4 Insert Technical Specifications ....72 Adept MV Controller User’s Guide, Rev. B...

  • Page 50: Shipping, Storage, Unpacking, And Inspection

    Reuse all original packing containers and materials and follow all safety notes used for installation. Improper packaging for shipment will void your warranty. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 51: Controller Id Label

    Controller ID Label Controller ID Label On the MV-5 and MV-10 controllers, the identification (ID) label is located on the left or back side of the controller chassis. On it you will find the model and serial numbers and the voltage and current ratings. A smaller serial number label is also...

  • Page 52: Voltage Interruptions

     Refer to Appendix A for dimension drawings on the Adept MV-5 and MV-10 controllers and the Compact Controller. Voltage Interruptions During a power failure, the contents of memory are not saved, and you will later have to reload V and your programs from disk.
  • Page 53 • EN 60204-1    Failure to provide and use a suitable disconnect device could cause death or injury to personnel. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 54: Installing The Mv-5 And Mv-10 Controllers

    1-phase 200V to 240V 180V 264V Power to the Adept MV controller and all amplifiers and motion devices must come from a single source. The maximum interruption time (operating voltage below specification) tolerated by the controller is 16 milliseconds. If the Adept MV Controller is used with an Adept robot, see the robot instruction handbook for additional power requirements.

  • Page 55: Power Entry Module

    See “System Power Switch” on page 90 for details. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 56: Connecting Ac Power Cord

    The protective ground conductor (colored green/yellow) in the power cord is internally connected to the exposed metal parts of the MV Controller. To ensure electrical-shock protection, the protective ground conductor must be connected to a properly grounded power source.

  • Page 57: Procedure To Remove Fuse Holder

    3-2. Spare fuses are stored in the sliding compartments. 4. To reinstall the fuse holder, insert it in place, then press down firmly until the entire holder snaps into position. Table 3-4. MV-5 and MV-10 Fuse Ratings Fuse Rating Type F1 –...

  • Page 58: Filter Inspection And Cleaning

    The basic MV-4 insert configuration has the AWC board in slot one (the far right slot rather than the far left slot as in other MV chassis) and a EJI board in slot 4, the leftmost slot. The two middle slots are available for other boards such as DIO, VGB, or EVI.
  • Page 59 Chapter 3 Compact Controller Installation Figure 3-3. Adept MV-4 Insert Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 60: Removing And Installing Boards

    1 in all Adept controllers must be filled with an AWC board. On MV-10 controllers, slot 1 is the first slot on the left side of the controller. On MV-5 controllers, there are two blank covers on the left side followed by slot 1. On the MV-5 and MV-10 controllers the slot numbering goes to the right from slot 1.

  • Page 61: Vme Bus Address Settings

    For example, on the MV-5 and MV-10 controllers, the SIO board is two slots wide but has only one set of connectors. This leaves an empty slot that has the jumpers installed. If you move the SIO board, you must move the five P1 jumpers.
  • Page 62 Edge Connectors for Adept MV-5 for Adept MV-5 Slot Slot Slot Slot Slot Slot Slot Slot Slot Slot Figure 3-4. Adept MV-5 Upper Backplane (P1) Jumper Plugs Jumper Jumper No jumpers Jumper Jumper Jumper Jumper Jumper Jumper No jumpers Jumper Jumper...

  • Page 63: Lower Backplane Jumper Plugs (P2) And Third-Party Boards

    P2 user signals for communication between Adept boards. These include some safety-critical signals, including 24V signals. On the MV-5 and MV-10, jumpers are provided next to each P2 connector. If a non-Adept (third-party) board is installed in a slot, and that board uses the P2 (lower) connector, the P2 user-signal jumpers for that slot must be removed.
  • Page 64 If the board does not properly connect with the backplane, remove the board and inspect all connectors and guide slots for possible damage or obstructions. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 65: Installing A Monitor And Keyboard

    VGB board. 4,5*-6 4. Connect the double-ended keyboard cable to the connector and %*/,- connector on the VGB board. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 66: Connecting Non-Adept Peripherals To The Vgb Board

    Adept-supplied monitor and keyboard are certified to meet the requirements of EN 60204-1 and other international standards. Installation of a non-Adept peripheral may not meet these standards. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 67: Using Adeptwindowspc

    Recommended Terminal for Systems Without a VGB or AdeptWindowsPC The recommended terminal for use with the Adept MV controller is the Wyse WY-60. You must also specify that you require the Wyse ANSI/VT100 style keyboard (Wyse p/n 900127-02 or 900128-02).

  • Page 68: Customer-Supplied Serial Interface Cable

          . Installing a Stand-Alone Controller in a Rack or Panel An MV-5 or MV-10 stand-alone controller can be mounted in a standard 19-inch equipment rack using the attached mounting brackets. The brackets also can be moved to the rear of the controller for panel mounting.

  • Page 69: Space Around The Chassis

    Chapter 13 for details on cleaning the filter. Rack Mounting To rack mount the Adept MV-5 or MV-10 stand-alone controller in a standard 19-inch equipment rack, you must use the mounting brackets from the accessories kit. See Figure 3-7 for instructions. See Appendix A for dimensions.

  • Page 70: Installing A Robot Controller In A Rack Or Panel

    Figure 3-8. Panel Mounting for MV-5/MV-10 Stand-Alone Controller Installing a Robot Controller in a Rack or Panel An MV-5 or MV-10 robot controller can be mounted in a rack or panel by using the mounting brackets that are shipped in the accessories kit. The brackets can be attached at the rear of the controller for panel mounting or they can be attached to the front of the controller for rack mounting.

  • Page 71: Rack Mounting

    Chapter 3 Installing a Robot Controller in a Rack or Panel Rack Mounting To rack mount the Adept MV-5 or MV-10 robot controller in a standard 19-inch equipment rack, you must first install the mounting brackets (see Figure 3-9), then build an extender panel and attach it to the bracket on one side of the controller.
  • Page 72 Rack Mount - Set Back Rack Mount – Flush Rack Mount – Set-Back Figure 3-9. Installing Mounting Brackets on MV-5 and MV-10 Robot Controllers Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 73: Mv-5 And Mv-10 Controller Technical Specifications

    MV-4 Insert Technical Specifications The electrical and environmental requirements for the MV-4 are the same as for the PA4 amplifier chassis. See the robot instruction handbook for your robot for these specifications. Adept MV Controller User’s Guide, Rev. B...

  • Page 74: The Adeptwindows Controller Board

    LED Status Indicators on the AWC ....Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 75: Awc Board Connectors And Indicators

    . Note that the   does not communicate in format. See '' for details. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 76: Awc Board

    Chapter 4 AWC Board AWC Board The AWC board is a single slot 6U VME module that plugs into the backplane of any Adept MV chassis, including MV-4, MV-5, and MV-10. Jumper JP2 Memory Expansion PCA Processor ON OFF DIP Switch SW1...

  • Page 77: Compact Flash

    (see for the /9-. location).    Use suitable measures for eliminating Electro-static ,,%-*. discharge during removal and installation of the Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 78: Awc Board Specifications

    12 digital inputs and 8 outputs 32 digital inputs and outputs (JSIO connectors on CIP) Width Occupies one VME backplane slot Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 79: Configuring An Awc Module

    NVRAM chip. This allows you to set all the configuration options in software without changing the physical DIP switches. See the description of the CONFIG_C program in the       . Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 80: Dip-Switch Settings

    CPU #1, auto boot, use SIO switches to select I/O Reserved for future use Reserved for future use CPU #2 /9-. CPU #1, normal operation (per settings) Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 81: Adeptwindows Pc Graphical User Interface

    (use serial port if VGB is absent, or if a VGB is present but its use is disabled with its DIP switch #4) Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 82: Ascii Terminal

    An AWC 060 main processor and an AWC 060 auxiliary processor may be installed in the same Adept MV controller chassis. Each AWC board must have a unique board address. The address is set on DIP Switch SW1 on the AWC board.

  • Page 83: Ethernet Connections

    CONFIG_C utility program, the V FSET program instruction, or the FSET monitor command. This port is designated LOCAL.SERIAL:2. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 84: Terminal Mode (Ascii Terminal) Interface

    The pin assignment are shown in 94% (1. RS-422/485 is a point-to-point protocol for connecting to a single destination. This port can also be configured as a multidrop port (RS-485). Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 85 FSET program instruction. This port is designated LOCAL.SERIAL:1. Table 4-9. RS-422/485 Connector Pin Assignments Signal Type Ground Ground TXD- Output RXD+ Input TXD+ Output RXD– Input Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 86: Led Status Indicators On The Awc

    G-O-O Uninitialized trap. G-O-G Bus error detected. If the AWC displays any of the above errors, contact Adept Customer Service. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 87 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 88: The Controller Interface Panel

    Remote Manual Mode Control ....105 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 89 Labeling Cables ..... 125 Input and Output Cable Wiring Information ..125 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 90: Introduction

    The programmable ESTOP is described in a !"#$!%& paper available through Adept On Demand (see ). Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 91: Manual/Automatic Mode Switch

    User connector and out of a terminal block on the MMSP. They are for customer use only. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 92: Net Switch

    CIP ESTOP is pressed. See - for details. CIP SCSI Cable Connector JUSER Connector Figure 5-2. Controller Interface Panel (CIP) Side View Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 93: Back Panel Connectors

    The single channel E-Stop input and passive E-Stop output are also been included on this connector. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 94: Installation Of The Controller Interface Panel (Cip)

    I/O, fast inputs, one RS-232 serial port, DeviceNet, and the  user interface to the emergency-stop circuitry. See 3 (%)*"  %>3#* 1 for further details. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 95: Location Of The Cip

    4. In order to enable High Power, plugs with appropriate jumpers or contacts must be attached at the JSIO and JUSER connectors. Jumper plugs are supplied if these connectors are not used. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 96 AGAINST RISK OF FIRE, REPLACE ONLY WITH SAME TYPE AND RATING OF FUSE. ~100-240V 50/60HZ Figure 5-4. Connecting the CIP to the AWC Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 97: Connecting The Mcp To The Cip

    MCP enable switch closed. The MCP cradle must be installed outside of the robot workcell. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 98: Mcp Requirements

    The MCP Bypass plug is optional and must be installed when not using the MCP. The Adept part number for this plug is P/N 10335-01060. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 99: Connecting Customer-Supplied Safety And Power Control Equipment

    11,30 Remote CIP’s MANUAL/AUTOMATIC MANUAL/AUTOMATIC switch CH 2. MANUAL = Open switch must be in AUTOMATIC = Closed AUTOMATIC mode Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 100 3,22 User Supplied 24 VDC for Active only in AUTO and Central Control High Power REMOTE (NET=1) modes on/off Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 101 MCP Enable CH 2 (Hold-to-run) Note 1: Must be used in User E-stop circuit. Note 2: Must be used in User Enable circuit. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 102 - Auto => 100% '  (0 * See for details on the V IN coils Figure 5-5. JUSER 37 Pin D-sub Connector Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 103 ENABLE for MCP E-Stop and -12 V Estop and hold-to-run hold-to-run connections) connections) Figure 5-6. J-User 37 Pin D-sub Connector Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 104: Emergency Stop Circuit

    CIP will malfunction if one channel is jumpered closed and the other channel is opened. It will also malfunction if the channels are shorted together. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 105: Remote Sensing Of Cip, Mcp, And User Emergency Stop Push Button Switches

    This contact closes only when High Power is on, not when the emergency stop circuit is closed. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 106: Remote Manual Mode Control

    2&',- Two separate inputs on the connector (10,29 and 11,30) provide connections ./&03&*. for remote functionality. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 107: Remote High Power Control

    High Power request signal, which is used internally. The electrical characteristics are as follow: Coil: 24 VDC at 1440 Ω, including a parallel “flyback” diode. • Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 108: Remote High Power On/Off Lamp

    The CIP also provides a connection for a user-supplied system power circuit (see '  ( , '  (, 94% ( , and 94% ( for the customer system power switch circuitry). Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 109: Manual Mode Safety Package (Mmsp) Connector

    (red mushroom switch) must be wired in series with any other E-stop contacts on the “USERESTOP CH1”(pins 4 and 23) and “USERESTOP CH1” (pins 5 and 24). Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 110: Remote Enable Switch Connections

    Please contact Adept for custom modifications of the MCP III or MCP bypass plug if you need a two-channel MCP enable function. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 111: Connecting User-Supplied Serial Communications Equipment

    SG (Signal Ground) Figure 5-8. JCOM Pin Locations  The serial port on the CIP does not provide hardware handshaking signals Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 112: Connecting User-Supplied Digital I/O Equipment

    1012 is used by the MMSP and is not available for users.) Each channel has an 94% ( input and a corresponding return line. See for input specifications. The connector pin-outs are shown in 94% (0. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 113 3 shows inputs (1009 to 1012) with an independent power supply (no common).  These are examples. Either method can be used on any channel. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 114: React Input Signals 1001 To 1012

    • Fast DIO V Interrupt Events (INT.EVENT) • Robot and Encoder Position Latch • Vision Trigger Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 115: Output Signals

    Turn off response time (hardware) 200 µsec maximum Software scan rate/response time 16 ms scan cycle/ 32 ms max response time Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 116 See chapter 3 for a description - STOP Connections of Emergency for details CONNECTIONS Stop Circuit Figure 5-10. Digital Output Wiring for JSIO Connector Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 117: Digital I/O Connector Ordering Details (Third-Party Sources)

    Compatible connectors are manufactured by AMP and by Thomas and Betts. Contact your nearest AMP or T&B Sales Office to locate your local distributor. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 118: Amp Part Numbers For 50-Pin Male D-Sub

    Phoenix Contact Sales: USA (717) 944-1300, Canada (416) 890-2820, Germany (05235) 550, Japan (045) 931-5602, France (1) 60-17-98-98, UK (0734) 442844 (Source: Phoenix Contact USA, Aug. 1994) Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 119: Weidmüller

    Canada (416) 475-1507, Germany (05231) 4510, France (1) 34.50.34.50, Japan (035) 820-5747, Singapore 296-6133, UK (01795) 58099 (Source: Weidmüller USA, Sept. 1994). Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 120: Extended Digital I/O Signals

    Typical threshold current 2.5 mA 3.9 K Ω minimum Impedance (V ≤ 6 mA Current at V = +24 VDC Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 121 With properly set program task priorities, there is a 2 ms maximum latency for fast inputs 1001 to 1004 when used with V INT.EVENT instruction. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 122 Cable (optional) Signals 1057 - 1064 Input Group 4 Signals 1057 – 1064 Figure 5-11. Typical Extended Digital Input Wiring Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 123: Extended I/O Outputs

    Note that the indicator is active only when the output that has been “shutdown” has been asserted. For example, when a V+ SIGNAL 33 instruction is issued. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 124: Extended I/O Output Power Supply Current Selection

    = 0.5A, Load = 1 mH) 0.7A ≤ Ι ≤ 2.5Α DC short circuit current limit ≤ 4Α Peak short circuit current  Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 125 Signals 0057 - 0064 Cable (optional) Cable (optional) Output Group 4 Signals 0057 – 0064 Figure 5-12. Typical Extended Digital Output Wiring Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 126: Optional Dio Cables

    The pinouts, signal names, and wire color information for the input and output cables are shown in the next four tables. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 127 CIP JDIO1–13 1047 black/white rear panel JDIO1–4 1048 green JDIO1–19 group 2 return white/red JDIO1–20 group 2 return orange/red Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 128 CIP rear JDIO2–3 1062 panel JDIO2–13 1063 black/white JDIO2–4 1064 green JDIO2–19 group 4 return white/red JDIO2–20 group 4 return orange/red Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 129 JDIO3–34 power white/red green JDIO3–35 power red/black/green JDIO3–36 power green/black/orange JDIO3–21 group 2 return blue/red JDIO3–22 group 2 test red/green Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 130 JDIO4–34 power white/red green JDIO4–35 power red/black/green JDIO4–36 power green/black/orange JDIO4–21 group 4 return blue/red JDIO4–22 group 4 test red/green Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 131 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 132: Adept Graphics Board (Vgb)

    ....137 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 133: Introduction

    (mouse, trackball, etc.). The VGB also has a direct video bus connection to the EVI board in AdeptVision systems. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 134: Connections And Indicators

    VGB board. However, you can redirect the system monitor input/output to the RS-232/Term port on the processor board. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 135: Dip Switch Settings

    If you change the settings, you must reboot (turn controller off, then on) before the changes take effect. VME Bus Address The VGB board has a fixed address that should not be modified by the customer. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 136: Monitor Video Interface

    65.000 MHz Video signal Analog RGB Signal level 0 - 0.7 Vp-p Input Impedance 75 ohm ±5% at 100 kHz Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 137: Keyboard Interface

    Table 6-4. Table 6-4. Keyboard Connector Pin Assignments Signal Clock Data not connected Ground +5 VDC Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 138: Pointer Interface (Mouse, Trackball, Or Touchscreen)

    For touchscreen, ELO TouchSystems protocol, 1200 bps Keyboard input AT-compatible, DIN-5 connector Width Occupies one backplane slot Specifications subject to change. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 139 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 140: Adeptvision Enhanced Vision Interface (Evi) Board

    EVI Board Specifications ....165 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 141: Introduction

    AdeptVision User’s Guide and the AdeptVision Reference Guide complete information on installation, configuration, operations, and programming of your vision system. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 142: Connections And Indicators

    AdeptWindowsPC system that does not have a VGB. Camera/Strobe connector — a 44-pin D-sub connector for the four-camera breakout cables. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 143: Vme Bus Address And Configuration

    EVI Daughter Board EVI Daughter Board DIP and Rotary DIP & Rotary Switches Switches Figure 7-1. Switch Locations on EVI Board Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 144: Acquisition Switch Setting Mode

    DIP switch bank (SW1) and seven three-position rotary switches (SW2 - SW8) that must be set. See Figure 7-1 for the location of the acquisition mode switches on the EVI board. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 145: Settings For Normal Rs-170 Cameras

    A B C A B C A B C A B C A B C A B C A B C Position Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 146: Camera Compatibility

    AdeptVision User’s Guide “How For interfacing cameras without external sync, contact Adept Application Support; see Can I Get Help?” on page 34 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 147: Installing Video Bus Coupler

    Video Bus Coupling Installed Installed VIDEO KEYBOARD Four-Camera Four-Camera Stro Breakout Cable Breakout Cable Figure 7-3. Video Coupling for a Two-Camera Connection Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 148: Camera Cables

    Connect the power and ground on the breakout cable to a 12V power supply producing 2.0A at 12VDC. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 149: 10-Meter Camera Extension Cables

    The length of the cable is 1.8 meters (70 inches). This cable is used with the custom Pulnix TM-1001 D-sub to BNC adapter breakout cable, described in the next section. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 150 Frame Reset return Shield (chassis ground) Frame Reset 2 Shield (chassis ground) Figure 7-5. Custom Breakout Cable for Pulnix TM-1001 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 151: Custom Pulnix Tm-1001 D-Sub To Bnc Adapter Cable

    Frame reset return (Gnd) Shield (chassis ground) Frame reset 2 Shield (chassis ground) Figure 7-6. D-sub Adapter Cable for Pulnix TM-1001 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 152: Installing Camera Cables

    This section describes the steps for connecting the cables between the EVI board and the RS-170 Cameras. 1. Turn off the Adept MV controller. 2. Connect the camera to a 10m camera cable. 3. Connect the 10m camera cable to the appropriate connection on the camera breakout cable.

  • Page 153: Connecting The Cables To The Pulnix Tm-1001 Camera

    7-8). For Pulnix TM-1001 camera switch settings, refer to Appendix I of the AdeptVision User’s Guide. Turn off the Adept MV controller. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 154 Do not mix Pulnix TM-1001 and RS-170 cameras on the same NOTE: EVI Vision board. They require different board switch settings. See page 144. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 155 User 12VDC Power Supply to Power Supply to Drive Drive Cameras Cameras Figure 7-8. Camera Installation for Dual Pulnix TM-1001 Cameras Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 156: Camera Cable Pin And Signal Information

    44-pin connector. • Table 7-14 contains information similar to Table 7-12, but it is organized numerically by the 44-pin connector. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 157 Shield (Clock) Clock from camera to VSCLOCK (pixel clock) not connected not connected Shield (Vd) 12-Pin Hirose Female Jack, HR10A-10J-12S Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 158 Vd (vertical drive) to camera black-signal Shield (Clock) to camera (cam. 1 white-shield & 2 only) Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 159 Table 7-11. Four-Camera Breakout Cable Pin Assignments From: Function Str/Pwr Power return CAM1 Str/Pwr +12V power CAM1 Shield (video) CAM1 CAM1 Video Shield (Hd) CAM1 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 160 CAM3 not connected CAM3 Shield (Vd) Str/Pwr CAM4 Power return Str/Pwr CAM4 +12V power CAM4 Shield (video) CAM4 Video Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 161 CAM1 +12V power CAM4 CAM1 +12V power +12V power STROBE CAM1 Analog GND CAM1 Video CAM1 Digital GND CAM1 CAM1 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 162 STROBE Digital GND STROBE Strobe 2 STROBE Frame Reset 1 STROBE GND (FR Return) STROBE Frame Reset 2 STROBE SHIELD Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 163 CAM3 Shield (Hd) CAM3 Shield (Vd) CAM3 CAM2 Hd (horizontal drive) CAM2 Shield (Hd) CAM2 Shield (Clock) CAM2 Shield (Vd) Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 164 SHIELD SHIELD STROBE SHIELD STROBE Digital GND STROBE GND (FR Return) CAM1 Analog GND CAM3 Analog GND CAM4 Video CAM4 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 165 CAM1 Digital GND CAM1 Digital GND CAM1 Digital GND CAM1 STROBE Strobe 2 CAM1 Video CAM2 Analog GND CAM3 Video Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 166: Evi Board Specifications

    +12 V at 1.25 A (including 1 amp for cameras) –12 V at 0.1 A Width Occupies 1 backplane slot Specifications subject to change. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 167 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 168: System Input/Output Board (Sio)

    SIO Board Specifications ....172 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 169: Introduction

    I/O functions for the controller. It has a hard drive, floppy drive and three user RS-232 serial ports. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 170: Connections And Indicators

    ESTOP ACC V :       !     RESET ( !  "#$ %&'(  <$ (  ) '*76*( * +,  - $. $  @( /0! .1 234 <( ( ,!,"5- #78 :--3( * +,   Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 171: Mass Storage

    38,400 bps. Note: for very intensive high-speed serial operation, it may be more efficient to use the serial port(s) located on the system processor. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 172 SG (Signal Ground) Pin 1 Pin 6 Pin 9 Pin 5 Figure 8-1. RS-232 Serial I/O Connector Pin Locations on SIO Board Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 173: Sio Board Specifications

    12 V not used Width Occupies 2 backplane slots Serial Ports Three RS-232, at 300 – 38.4K bps Specifications subject to change. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 174: Adeptmotion Interface Board (Mi3/Mi6)

    MI3/MI6 Board Specifications ....177 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 175: Introduction

    I/O for machine and amplifier control. See the AdeptMotion VME Developer’s Guide for complete information on installation, configuration, and operation of the AdeptMotion VME product. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 176: Connections And Indicators

    Servo connector — a 44-pin D-Sub female connector for the servo cable to interface to the servo signals in the installation. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 177: Vme Bus Address

    MI3/MI6(s), the first MI3/MI6 board should be set to servo board number 3. This allows optimal processor allocation for the servo code with the default V software configuration. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 178: Jumper Settings And Resistor Configuration On Mi3/Mi6

    3 axes of control per MI-3 board 6 axes of control per MI-6 board Width Occupies one backplane slot Specifications subject to change. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 179 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 180: Enhanced Joint Interface(Eji)

    EJI Board Specifications ....186 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 181: Introduction

    See the robot instruction handbook for your Adept robot for complete information on installation, configuration, and operation of the EJI board and your robot. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 182: Connections And Indicators

    BELT ENCODER Arm Signal connector — the EJI to Robot cable from the Adept robot is installed here. SIGNAL Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 183: Vme Bus Address

    If you purchased the Adept controller from Adept with all the motion boards installed, the correct DIP switch settings already will have been set for you by Adept. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 184 1 should be addressed as servo board number 2 and the VJI board for FlexFeeder number two should be addressed as servo board number 4. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 185: Belt Encoder Interface

    Encoder power out Encoder ground Encoder ground Figure 10-1. EJI Belt Encoder Connector Pinout User-supplied pull up (used for single-ended encoders only) Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 186 RP8 and RP11. and install RP8 and RP11. HCPL2231: Hewlett-Packard Opto-coupler HPCL2331: Hewlett-Packard Opto-coupler Figure 10-2. EJI Belt Encoder Typical Input Circuity Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 187: Eji Board Specifications

    Specifications subject to change. Note that there may be limitations preventing the operation of dual Adept robots from a single controller. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 188: Adeptforce Vme Board (Vfi)

    VFI Board Specifications ....190 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 189: Introduction

    OK Status LED. When lit, it indicates the force sensor is connected and communicating normally. FORCE SENSOR connector. The cable from the force sensor is installed here. FORCE SENSOR Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 190: Vme Bus Address

    CONFIG_C which is number 2, and so on. See the AdeptForce VME User’s Guide for more information on this process. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 191: Vfi Board Specifications

    105 mA at –12 V Maximum VFIs per controller Number of force sensors per Width Occupies one backplane slot Specifications subject to change. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 192: Digital Input/Output Board (Dio)

    DIO Board Specifications ....207 Adept MV Controller, User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 193: Introduction

    DIO board. If you are using additional DIO boards with the CIP, see “Additional DIO Boards” on page 205 for details on configuring the DIO boards. Adept MV Controller, User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 194: Connections And Indicators

    Chapter 12 Connections and Indicators Connections and Indicators #56  * ,     ) * !  !  FAIL PASS *#.!178189, , * #.!17882, , * 8.!178189, , * 8.!17882, , Adept MV Controller, User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 195: Inputs

    ? - 1  -)- # The input current specifications are provided for reference; voltage sources are typically used to drive the inputs. Adept MV Controller, User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 196: Outputs

    KΩ, then the fuse is good. If the reading is greater than 10K then the fuse is blown and needs to be replaced. Call Adept Customer Service for information on replacement. Adept MV Controller, User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 197: Output Power Supply Voltage Jumpers

    400 mA, giving a maximum total current (for a group of 8 outputs) of 3.2 A that will be required from the power supply. In this Adept MV Controller, User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 198 SIO board. See Chapter 5 for specs on the digital output channels on the CIP. Adept MV Controller, User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 199: Typical Dio Wiring

    (optional) Cable (optional) Signals 1057 - 1064 Input Group 4 Signals 1057 – 1064 Figure 12-1. Typical Digital Input Setup Adept MV Controller, User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 200 Signals 0057 - 0064 (optional) Cable (optional) Output Group 4 Signals 0057 – 0064 Figure 12-2. Typical Digital Output Setup Adept MV Controller, User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 201: Optional Dio Cables

    The pinouts, signal names, and wire color information for the input and output cables are shown in Table 12-4 through Table 12-7. Adept MV Controller, User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 202 7) ?   )7 2  The signal numbers for boards 2–7 increase by 32 for each additional board; see Table 12-8 Adept MV Controller, User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 203 7)    )7 2  Table 12-8 The signal numbers for boards 2–7 increase by 32 for each additional board; see Adept MV Controller, User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 204  9??  27  7) ?  - Table 12-8 The signal numbers for 2–7 increase by 32 for each additional board; see Adept MV Controller, User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 205 9?? 7)   -  27  Table 12-8 The signal numbers for 2–7 increase by 32 for each additional board; see Adept MV Controller, User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 206: Additional Dio Boards

    ?%C 9 ?++ ')-  ')-  ')-  %&' ( ) D  E#  - #7 #- ')-  %&' ( * D  E#  - #7 #- )  Adept MV Controller, User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 207: Labeling Sets Of Cables

    Adept DIO Board - Component Side Adept DIO Board – Component Side Figure 12-3. Switch and Jumper Locations on the DIO Board Adept MV Controller, User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 208: Dio Board Specifications

    10 to 15 or 15 to 30 VDC, jumper selectable Output transient protection Reverse voltage protection and transient suppression provided. Specifications subject to change. Adept MV Controller, User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 209 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 210: Maintenance

    Fan Filter Inspection and Cleaning MV-5/MV-10 ..211 Spare Parts List MV-5/MV-10 ....212 Changing the Lamp on the High Power Indicator .

  • Page 211: Introduction

    The procedures and replacement of parts mentioned in this section should be performed only by skilled or instructed persons, as defined in ) -. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 212: Fan Filter Inspection And Cleaning Mv-5/Mv-10

    (Follow appropriate safety procedures regarding use of compressed air.) 4. Replace the cleaned air filter and secure the filter holder. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 213: Spare Parts List Mv-5/Mv-10

    % 2?%  %1?  & '# 5-  )3  .4& ?C -'  )' 8 These items are not available from Adept. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 214: Changing The Lamp On The High Power Indicator

    4. Remove the six screws from the front of the CIP as shown in '  (. Also remove the MCP bypass plug retaining screw. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 215 8. Replace the lamp body by pushing it straight into the lamp housing receptacle. '  Make sure the contacts on the lamp body are properly oriented. See  ( . Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 216 11. Reinstall the CIP in its mounting. 12. Reconnect the CIP cables. (Make sure the JDIO1 to JDIO4 cables are correctly reinstalled.) Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 217 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 218: Dimension Drawings

    Adept MV-5 and MV-10 Stand-Alone Controller Dimensions ..218 Adept MV-5 and MV-10 Robot Controller Dimensions ..219 The Adept Compact Controller Dimensions ... . 220 MCP Cradle Dimensions .

  • Page 219: Adept Mv-5 And Mv-10 Stand-Alone Controller Dimensions

    Appendix A Adept MV-5 and MV-10 Stand-Alone Controller Dimensions Adept MV-5 and MV-10 Stand-Alone Controller Dimensions 420.3 mm 286.7 mm Note 1: Allow 75 mm minimum at 16.0 mm Note 1: Allow 75 mm minimum at front front for power cord and signal cord for power cord and signal cable clearance.

  • Page 220: Adept Mv-5 And Mv-10 Robot Controller Dimensions

    Appendix A Adept MV-5 and MV-10 Robot Controller Dimensions Adept MV-5 and MV-10 Robot Controller Dimensions 286.7 mm 215.9 mm 16.0 mm 57.4 477.7 mm ® 15.0 mm Note 1: Allow 75 mm minimum at front for Note 1: Allow 75 mm minimum at front...

  • Page 221: The Adept Compact Controller Dimensions

    (5.4 in.) 18 mm Side View Front View (0.7 in.) Front View Side View Figure A-3. Adept Compact Controller Dimensions Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 222: Mcp Cradle Dimensions

    4 X 9.7 mm (0.38") 4 X ø9.7 mm (ø0.38") 201 mm (7.9") 221 mm (8.70") Figure A-4. MCP Cradle Dimensions Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 223: Compact Interface Panel Dimensions

    (10.99 in) (.50 in) 67.56 mm (2.66 in) 71.58 mm (2.82 in) 78.23 mm (3.08 in) Figure A-5. CIP Dimensions Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 224: Position Latch And Vision Trigger

    (“Vision in the Loop”) ....226 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 225: External Input For Position Latch And Vision Trigger

    The EJI provide software-based position latches, with a response time of approximately 1 to 2 ms. POS_LATCH 1 and POS_LATCH 2 VIS_TRIGGER 1 and VIS_TRIGGER 2 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 226: Hardware Interconnection Of Boards On An Adept Controller

    High speed input, will also digital input. generate interrupt Will also generate interrupt #4. Figure B-1. Interrupt Block Diagram Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 227: Vision Trigger

    See the for details of the vision AdeptVision User’s Guide trigger. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 228: Additional Standards Compliance Information

    Color Code Used by Adept for Operator Indicators ..231 Color Code Used by Adept for Service Indicators ..232 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 229: Sources For Standards

    55# )5 4G  ( 7#)' 55#- !   &8 !))$  F'78 ()) * /-#7) "& ? ?  G, @,) )5 4G "# #$ - 'A Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 230: Iec Test Information

    Appendix C IEC Test Information IEC Test Information The Adept MV controller has passed the following IEC 1131 test conditions: • Voltage drops, normal service: Severity level PS2 • Relative Humidity: Severity level RH2 • ESD (Electrostatic Discharge): Severity level 4* *The Adept controller was tested at severity level 4 for ESD.

  • Page 231: Electromagnetic Compatibility Testing Results

    4%%  5) 7)  ., ) &'--  &)  4#--#)- --  3#) E'#5##) 4%%  5) 7)  ., ) &'--  Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 232: Color Coding Of Indicator Lights

    .##) ) &)5##)J #- )') #- -  )   ) )N-  #) 2) 5) )5##)8 #) .# - --8  '-)  E# ) ) #)8 , - #5# ) #) 5) )8 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 233: Color Code Used By Adept For Service Indicators

     #7 )##)  E##7 #)8 6   #7 )' ) #)8 .''#  )-    ) #''#  )- #   - #5#'' 5) - $# - 8 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 234: Using The Manual Control Pendant (Mcp)

    ..... . 253 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 235 Robots With More Than Six Joints ... . . 260 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 236: Manual Control Pendant Basics

    SLOW DONE – • STEP Depress the palm-activated Depress the palm-activated enabling switch enabling switch Figure D-1. Holding the MCP Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 237: Connecting The Mcp

    Do not modify or extend the MCP cable. Doing this will CAUTION: void the warranty on the MCP and the CIP. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 238: Mcp Layout

    MCP Layout The major areas of the MCP are shown in Figure D-3. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 239: Soft Buttons

    (Prog- ramming the MCP is covered in the Language User’s Guide.) Figure D-3 shows the soft buttons. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 240: Function Buttons

    Application programs may also assign special functions to button. SLOW DONE – • STEP Figure D-4. Data Entry Keys Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 241: Mode Control And Joint/Axis Control Buttons

    When the MCP is in background mode, the viewing angle of the LCD can be changed. There are three different angles. Press the “2”, “5”, or “8” button to select a different viewing angle. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 242: Mcp Predefined Functions

    The Edit Function The Edit function button allows editing of location variables and real variables that are used by V programs. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 243 If the variable being edited is from an array, an additional soft button is displayed that allows you to specify the index of the variable to edit. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 244 If the variable being edited is from an array, an additional soft button is displayed that allows you to specify the index of the variable to edit. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 245: The Display Function

    When this button is pressed, the display shows: Status & ID Status SOFTWARE CNTRLR ROBOT ’S Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 246: The Clear Error Function

    , the will beep, display a blinking error message, and light the on the CLR ERR button, shown in Figure D-8. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 247: The Cmd Function

    MCP will display '- buttons over the two right soft buttons. Pressing allows the program to /,0 continue. Pressing halts program execution. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 248: Prog Set Function

    See Figure D-10. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 249 (this option cannot Start '- be used with DRY.RUN enabled). Press and the program displayed above soft button will begin execution. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 250: Moving A Robot Or Motion Device With The Mcp

    ( % enable (when necessary). WORLD TOOL JOINT FREE USER HALT COMP HOLD Figure D-11. Mode Control Buttons Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 251: Emergency Stop Button

    *.%3%+- ./3(0 0,6 switch will be lit, and both the s will be off. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 252: Dis Pwr Button

    Programs designed to move the robot in manual mode should read the status of the step and speed bar before starting the move. The program should prompt the user as required. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 253: Speed Bars

    When the slow button is lit, the slower speed range is selected. This slower speed is 25% of the normal MCP speed. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 254: Robot States

    Press anywhere on the “+” side of the speed bar to open the gripper, on the “–” side to close the gripper. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 255: Tool State

    Instructions for Adept The SPEC utility is used to configure gripper activity. See the Utility Programs. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 256 Rotation about Tool Z axis Tool Z axis Keyway Keyway Gripper Gripper activity STEP Figure D-14. TOOL State (Four-Axis SCARA) Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 257: Joint State

    Positive movement of Joint 3 is downward. Before the speed bars will move a joint, the correct joint must be selected from the manual control buttons. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 258 (as always, the first time you move a robot, carefully verify the joint assignments). Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 259: Free State

    The joint assignments in the free state are the same as the joint assignments in joint state. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 260: Controlling More Than One Robot

    DEV LED (in the manual state LED group, see Figure D-3). The table below describes the conditions: Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 261: Robots With Fewer Than Six Joints

    0,!.6 C ) ? The MCP cycles from one range to the other each time the F2/J7-J12 key is pressed. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 262: System Messages

    System Messages Introduction ......262 Alphabetical Listing ..... . 262 Numerical List .

  • Page 263: Introduction

         Introduction While the V system is being used, it is possible for hardware and software errors to occur. For example, if commands or instructions are not entered in the correct way, V rejects the input. The usual response is to write an error message to the system terminal indicating what is wrong so that the user can correct the error.
  • Page 264     !" Aborted (–400) Explanation: The last command requested, or the program that was executing, has been aborted at the operator’s request. User action: None. *Already attached to logical unit* (–515) Explanation: A program has executed more than one ATTACH instruction for a specific logical unit, without executing a DETACH in between.
  • Page 265     !" User action: To have V continue, type y followed by a carriage return. An n fol- lowed by a carriage return or just a carriage return causes the com- mand to be aborted. *Arithmetic overflow* (–409) Explanation: The result of a calculation was outside the allowable range for real variables or V has encountered a number that is outside the allowed range for integers while converting a real-valued number...
  • Page 266     !" the program. The most likely problem is confusing a location vari- able with a real variable. If you just exited from the editor, the named variable conflicts with a global variable that already exists. User action: If the new use of the variable is correct, you must delete all refer- ences to the incorrect variable and then reenter the statement that caused the error.
  • Page 267     !" *Bad camera calibration* (–726) Explanation: A VPUTCAL instruction has been used to pass vision calibration data to the AdeptVision system, and one or more of the data ele- ments is not valid. User action: Make sure the program reads the calibration data from a valid data file, or make sure valid values are asserted by the program.
  • Page 268     !" *Branch to undefined label* Step nnn (–412) Explanation: A program instruction references a program label that is not defined in the program. Either the label is missing or was mistyped when defined or in the reference. User action: Check the label definition and reference. Breakpoint at (task) program_name, step n (17) Explanation: A breakpoint was encountered before the indicated step.
  • Page 269     !" *Calibration sensor failure* Mtr n (–1106) Explanation: During calibration, the calibration sensor for the indicated motor could not be read correctly. Either the robot is blocked from moving, or a hardware error has occurred. User action: Retry the CALIBRATE command or instruction after making sure that the robot is not blocked.
  • Page 270     !" *Camera not running* (–705) Explanation: An attempt has been made to process a vision system operation when the camera is not running (line vision only). User action: Enter a VPICTURE ON command and retry the vision operation that failed.
  • Page 271     !" *Can’t create new slide bar* (–557) Explanation: An attempt has been made to create a graphic slide bar in the hori- zontal or vertical scroll bar. Slide bars should be created only in the main window, although they can appear in the title or menu bars. User action: Modify the arguments for the GSLIDE instruction to have the slide bar created within the window.
  • Page 272     !" *Can’t find calibration program file* (–426) Explanation: While processing a CALIBRATE command or instruction, the V system could not find the calibration utility program on the file CAL_UTIL.V2. User action: Restore the missing file from the V distribution disk to the direc- tory \CALIB\ on the local drive or working system disk.
  • Page 273     !" *Can’t start while program running* (–312) Explanation: An attempt has been made to start execution of a program from the manual control pendant while a program is already executing as task #0. User action: Stop the program currently executing and then retry the operation. *Cartesian control of robot not possible* (–635) Explanation: A program has attempted to perform a straight-line motion with a...
  • Page 274     !" Command? (None) Explanation: A SEE editor extended command has been initiated with the X com- mand. User action: Enter the desired extended command, or press RETURN to cancel the request. *Communication time-out* (–531) Explanation: An I/O operation has not completed within the allotted time inter- val.
  • Page 275     !" *Controller not in manual mode* (–304) Explanation: An attempt has been made to perform an operation that requires the controller to be in manual mode when it is not in manual mode. If you do not have a front panel connected, the controller is assumed to be in automatic mode.
  • Page 276     !" grams that are not executable and thus might contain the con- trol-structure error. *Correlation template too big* (–754) Explanation: A vision correlation template has been defined that is too large. User action: Redefine a smaller template Cursor at column n (None) Explanation: The SEE editor WHERE extended command is reporting the current column position of the cursor.
  • Page 277     !" User Action: Search a smaller area or redefine your binary template so that it con- tains more distinguishing features. *Device error* (–660) Explanation: An error was detected for an external device such as one specified in the last DEVICE or SETDEVICE program instruction. The actual error depends upon the type of device referenced.
  • Page 278     !" User action: Use the DEVICENET command to check that DeviceNet is active and that all critical devices are on-line. Check your DeviceNet cabling and the individual devices. If you have intentionally removed this device, use the CONFIG_C utility to remove this device or mark it as not critical.
  • Page 279     !" *Device sensor error* (–662) Explanation: A hardware error occurred in the sensing system accessed with the last DEVICE instruction. User action: Refer to the documentation for the sensing system for information on how to determine the cause of the error. *Device time-out* (–659) Explanation: The device has not responded within the expected time.
  • Page 280     !" *Duplicate character in font* (–740) Explanation: A character appears more than once in the string that defines a font for optical character recognition (OCR). User action: Delete all but one occurrence of each character in the string of char- acters being defined.
  • Page 281     !" User action: Turn on Arm Power; reduce the speed and/or acceleration for the motion that was in progress or for motions that preceded that motion; and repeat the motion that failed. *Encoder fault* (–1025) Explanation: The servo board has detected a broken encoder wire on the indi- cated axis.
  • Page 282     !" cabling may be defective. (Encoder error checking is initiated by the DEFBELT instruction and by enabling the BELT switch while a belt is defined.) User action: Make sure the encoder cable is properly connected. Try to run the conveyor at a slower speed.
  • Page 283     !" and the plug affixed to the CIP connector on the AWC. If this error persists, contact Adept Customer Service. *E-STOP asserted by CPU* (–919) Explanation: An E-STOP condition has been generated by V in response to an internal error condition.
  • Page 284     !" *E-STOP from amplifier* (–641) Explanation: The motion interface board has detected an E-STOP condition gen- erated by the motor amplifiers. It indicates that the amplifiers have detected some fault condition. User action: Check for a subsequent message. To determine if there was an unre- ported RSC error, type listr error(task,4), where task is the number of the task that received the error.
  • Page 285     !" User action: Unlatch the locking E-STOP button. Reenable HIGH POWER as desired. *E-STOP from front panel external input* (–911) Explanation: An E-STOP condition has occurred because it was requested through the front panel external input signal. User action: Restore the front panel external input signal state. Reenable HIGH POWER as desired.
  • Page 286     !" During MANUAL mode, releasing this switch performs a con- trolled power-off rather than an E-STOP. User action: Hold the user enable switch and reenable HIGH POWER as desired. If the switch was already pressed, check the switch and the associ- ated connectors and wiring.
  • Page 287     !" User action: To save programs that are in memory, you can restart V tempo- rarily by pressing CTRL+G. The robot servos will not function, but you can STORE the programs. Then power down the controller and restart the system. If the problem persists, contact Adept Customer Service.
  • Page 288     !" To save programs that are in memory, you can restart V tempo- rarily by pressing CTRL+G. The robot servos will not function, but you can STORE the programs. Then power down the controller and restart the system. *[Fatal] E-STOP signals are stuck off* (–904) Explanation: During system startup, a test is performed to ensure that no E-STOP...
  • Page 289     !" This error indicates a safety hazard and prevents HIGH POWER from being enabled. User action: Check any user manual mode switch which may be in use. Verify that the CIP is connected securely. Restart your V controller to clear the error and repeat the test.
  • Page 290     !" To save programs that are in memory, you can restart V tempo- rarily by pressing CTRL+G. The robot servos will not function, but you can STORE the programs. Then power down the controller and restart the system. *[Fatal] Uninit Trap* at aaaaaa m:n (None) Explanation: An internal problem has occurred with the V...
  • Page 291     !" *[Fatal Force Err] ...* ... (None) Explanation: The force processor has detected an error condition. You can con- tinue to use the V system, but the force-sensing system cannot be used until you act upon the error. User action: None required if you do not intend to use the force-sensing system.
  • Page 292     !" User action: Power down the controller and restart. Use the CONFIG_C.V2 util- ity to verify that a servo process is enabled for this CPU. If the prob- lem persists, contact Adept Customer Service. *[Fatal] Servo code incompatible* CPU n (–1102) Explanation: During initialization, V detected an improper version of servo soft-...
  • Page 293     !" Engineering. Please include the details of the error message and what you were doing at the time the error occurred. To save programs that are in memory, you can restart V tempo- rarily by pressing CTRL+G. The robot servos will not function, but you can STORE the programs.
  • Page 294     !" *File format error* (–512) Explanation: The requested disk file is not in a format acceptable to V because either it was not created by V or the file has been corrupted. User action: Use another diskette or reference another file. *File name too long* (–570) Explanation: The file name in an NFS operation was too long.
  • Page 295     !" *First statement must be .PROGRAM* (–351) Explanation: An attempt was made to insert or deposit a program statement above the .PROGRAM statement, which must be the first statement in the program. User action: Move the cursor to below the .PROGRAM line of the program before attempting to insert or deposit statements.
  • Page 296     !" User action: Check the cabling from the AWC to the CIP. Power down and restart the controller. If this problem persists, contact Adept Customer Ser- vice for assistance. *Force protect limit exceeded* (–624) Explanation: At least one force-sensor strain gauge reading has exceeded the pre- set limit, causing a robot panic stop.
  • Page 297     !" User action: Save new or modified programs, restart the controller, and reload the programs. If the problem persists, contact Adept customer ser- vice. *Graphics storage area format error* (–555) Explanation: During execution of a FREE command, V has detected that the information in graphics memory may have been corrupted.
  • Page 298     !" User action: If working from the keyboard, reissue the ENABLE POWER moni- tor command and promptly press the HIGH POWER ON/OFF but- ton when instructed to do so. If working from the MCP, follow the procedure appropriate for enabling high power for the safety cate- gory of your system.
  • Page 299     !" *Illegal expression syntax* (–458) Explanation: While decoding a numeric or logical expression, a compound trans- formation, or a string expression, V has encountered syntax that it does not understand. Possible errors include unmatched parenthe- ses, missing variables, or missing operators. User action: Retype the line containing the expression, being careful to follow the V syntax rules.
  • Page 300     !" User action: Correct the I/O command as required to suit the device. If you con- tinue to have difficulty, contact Adept Application Engineering for assistance. *Illegal I/O redirection specified* (–525) Explanation: An unacceptable I/O redirection has been specified in a DEFAULT monitor command, a disk I/O monitor command (LOAD or STORE_), or in an ATTACH instruction.
  • Page 301     !" User action: Perform the appropriate operation sequence before retrying the desired motion. *Illegal operation* (–423) Explanation: A program instruction has attempted to perform an operation that is not possible. User action: Check the instruction executing when the error occurred. Make sure all conditions necessary for its successful completion are met.
  • Page 302     !" User action: Edit the program to use a logical unit number appropriate for the instruction. *Illegal value* (–402) Explanation: A numeric or expression value that is not in the allowed range was specified within a command or instruction. User action: Edit the program to use a legal value.
  • Page 303     !" *Image processing board failure* (–728) Explanation: The controller circuit board that processes vision images has failed to respond while processing a request to grab a frame. User action: After saving the programs, variables, and vision prototypes in memory, power down the controller.
  • Page 304     !" User action: Be sure that the hardware for the I/O device is properly installed. Repeat the failed I/O operation. If the problem persists, contact Adept Customer Service. *Initialization failure* Belt n (–1015) Explanation: The indicated belt encoder monitoring system failed to respond to during the initialization caused by the DEFBELT instruction.
  • Page 305     !" *Invalid character in font* (–741) Explanation: An invalid character appears in the string that defines a font for optical character recognition (OCR). The characters in the string must be in the range ASCII 33 (!) to 126 (). User action: Delete the invalid character from the string.
  • Page 306     !" not present in the system, or it is configured for some other use. For example, if a serial communication line is configured as a network port, it cannot be accessed as a user serial line. User action: Make sure the correct device is being accessed. Power down the controller and try starting it again.
  • Page 307     !" *Invalid network protocol* (–541) Explanation: A message has been received and rejected by a remote node because it does not follow the expected protocol. If the KERMIT device was being accessed, this error indicates the remote server reported an error or sent a message not understood by the V Kermit driver.
  • Page 308     !" *Invalid qualifier* (–476) Explanation: An invalid qualifier was specified on the last command. User action: Enter the command again, with a valid qualifier. *Invalid request while camera running* (–706) Explanation: An operation was attempted that requires the vision system to be idle, but it was still processing an image.
  • Page 309     !" *Invalid statement label* (–463) Explanation: The program statement label was not an integer from 0 to 65535. User action: Reenter the line with a valid label. Invalid steps will be changed to ? lines (None) Explanation: The AUTO.BAD extended command has been used to change the action to be taken when an invalid line is detected while editing.
  • Page 310     !" *Invalid when program on stack* (–366) Explanation: An attempt has been made to edit a .PROGRAM or AUTO state- ment while the program appears on some task execution stack. While a task is on a stack, its subroutine arguments and automatic variable values are kept on the stack.
  • Page 311     !" *Joint 1 in brake track or robot overheated* (–606) Explanation: (1) Robot joint 1 has been moved into the hardware brake track area, which causes high power to be turned off and prevents the robot from moving. (2) The robot base has become overheated.
  • Page 312     !" User action: Enter the keystrokes to define the macro and then enter Z to termi- nate the definition. *Manual brake release* (–639) Explanation: The robot's manual brake-release button is active. It is not possible to enable power when this button is pressed. User Action: Make sure that the manual brake-release button (usually located on the robot) is not active.
  • Page 313     !" *Maximum number of prototypes exceeded* (–712) Explanation: A maximum of 25 prototypes may be in the AdeptVision system memory at one time. User action: If not all of the current prototypes are needed, then store them on disk using the VSTORE monitor command and VDELETE the pro- totypes that are not needed.
  • Page 314     !" User action: Power down the controller and start it again. If the error persists, contact Adept Customer Service. *Misplaced declaration statement* (–471) Explanation: Upon loading a program or exiting from the program editor, V encountered an AUTO or LOCAL statement that follows an execut- able program instruction.
  • Page 315     !" *Mixing half and full resolutions* (–750) Explanation: A model (recognition prototype, OCR font, or correlation template) was defined using a full-frame image, but was applied to a half-frame image (field only), or vice versa. User action: Make sure the correct virtual camera is being used for both defining the model and applying the model.
  • Page 316     !" Table E-2. MMSP Diagnostic Error Message Codes (Continued) Code n Explanation User action Hardware state 2 error. Try again. If the problem persists, An error has occurred in it may be caused by a faulty the communication or E-STOP board.
  • Page 317     !" . # 1 The test procedures for these messages are for skilled or instructed personnel only. Dangerous voltages are present, including those on the Security Panel. Failure to exercise care can result in death or injury. Table E-3. MMSP External Sensor Fault Error Message Codes Code n Explanation User action...
  • Page 318     !" Table E-3. MMSP External Sensor Fault Error Message Codes (Continued) Code n Explanation User action Amplifier 3 voltage If the error occurred while a restrict sensor, channel 2 program was moving the robot, try error. The robot (joint 3) changing the program to move the is moving or robot less quickly or with a lower...
  • Page 319     !" *Motor amplifier fault* Mtr n (–1018) Explanation: The power amplifier for the indicated motor has signaled a fault condition on fault line 1. This fault occurs only for devices con- trolled by the AdeptMotion Servo system. The interpretation of this fault depends on the particular device being controlled.
  • Page 320     !" User action: Use a different editor command or activate the program debugger with the SEE editor DEBUG extended command or the DEBUG monitor command. *Must use CPU #1* (–666) Explanation: A command or instruction that requires execution on CPU #1 has been attempted on a different CPU.
  • Page 321     !" User action: None. This is an informational message. *Network connection opened* (100) Explanation: A new client connection has been established on the given logical unit. User action: None. This is an informational message. *Network connection terminated* (–565) Explanation: This error occurs when input or output operations are attempted on a network connection that has already been terminated.
  • Page 322     !" User action: Choose a different name. *Network restarted remotely* (–534) Explanation: V has received a DDCMP start-up message from the remote system when the protocol was already started. The remote system has prob- ably stopped and restarted its protocol. The local protocol is stopped and all pending I/O requests are completed with this error.
  • Page 323     !" *No air pressure* (–607) Explanation: V detected that the air supply to the robot brakes and hand has failed. High power is turned off and cannot be turned on until the air pressure is restored. User action: Restore the air pressure, turn high power back on, and resume pro- gram execution.
  • Page 324     !" *No objects seen* (–704) Explanation: The vision system reports that no objects were seen, in response to a VTRAIN or VLOCATE command. In the VLOCATE case, it is an error only if you expect to see objects. User action: In the training case, make sure the training object is visible under the camera.
  • Page 325     !" *No robot connected to system* (–622) Explanation: An attempt has been made to attach a robot with a system that does not support control of a robot. (Note that some commands, instruc- tions, and functions implicitly attach the robot.) User action: Make sure the system has been booted from the correct system disk (for example, use the ID command to display the system identifica- tion).
  • Page 326     !" *Nonexistent subdirectory* (–545) Explanation: The subdirectory referenced in a file specification does not exist on the disk that is referenced. Note that the subdirectory may be part of a default directory path set by the DEFAULT monitor command. User action: Check that the subdirectory name was entered correctly.
  • Page 327     !" that are allocated by the programs; or use the STACK monitor com- mand to increase the size of the stack for the program task. The pro- gram may be restarted with the RETRY command. *Not enough prototype storage area* (–717) Explanation: The vision system does not have enough memory to store all of the prototypes requested.
  • Page 328     !" *NVRAM data invalid* (–661) Explanation: The nonvolatile RAM has not been initialized or the data has been corrupted. User action: Power down your controller and restart your system. If the error persists, contact Adept Customer Service. *Obstacle collision detected* (–901) Explanation: A possible or actual collision has been detected between the robot and a statically defined obstacle.
  • Page 329     !" *Out of graphics memory* (–549) Explanation: There is no more space in the graphics memory on the system pro- cessor for windows, icons, fonts, or other graphics items. User action: Delete unused graphics items, or reduce the size of windows, to free up graphics memory.
  • Page 330     !" *Output record too long* (–529) Explanation: A TYPE, PROMPT, or WRITE instruction has attempted to output a line that is too long. The maximum line length is 512 characters. User action: Change the program to output less information from each instruc- tion.
  • Page 331     !" *Position out of range* Mtr n (–1023) Explanation: (1) The requested motion was beyond the software-limited range of motion for the indicated motor; (2) while enabling high power, V detected that the indicated robot motor was outside the software limit.
  • Page 332     !" This error is issued in addition to −667 if a program has a robot attached and has a REACTE routine defined. Unlike error −667, if no REACTE routine is defined and a robot is attached, the V program stops with this error.
  • Page 333     !" *Program argument mismatch* (–408) Explanation: The arguments in a CALL, CALLS, or EXECUTE instruction do not match the arguments in the program being referenced because they are of different types. User action: Modify the CALL, CALLS, or EXECUTE instruction, or the .PROGRAM statement of the referenced program, so that the argu- ment types match.
  • Page 334     !" User action: Abort the program or exit the editor as appropriate and retry the operation. You can use the SEE editor in read-only mode to look at programs that are interlocked from read-write access. Program name? (None) Explanation: A SEE editor command to change to a different program has been entered.
  • Page 335     !" User action: None required if the correct task number was specified. Otherwise, use the STATUS command to determine which task number should have been used. *Program task not in use* (–319) Explanation: A program task cannot be accessed because it has never been used. (Such program tasks do not use any system memory and do not appear in the STATUS display.) User action: None.
  • Page 336     !" User action: Make sure there are no extraneous regions in the training window. If the characters in the font are too large, use a camera lens with a shorter focal length, or increase the distance between the camera and the text.
  • Page 337     !" User action: Check the program logic—remove redundant ATTACH instruc- tions, or DETACH the current robot before attempting to SELECT another robot. *Robot interlocked* (–621) Explanation: (1) An attempt has been made to access a robot or external device that is already being used by a different program task or by the sys- tem monitor;...
  • Page 338     !" (2) Connect the robot or enable the DRY.RUN system switch. (3) Modify the program logic as required to ensure that only one program task is controlling the robot at any given time. *Robot not calibrated* (–605) Explanation: An attempt has been made to execute a robot-control program when the robot is not calibrated.
  • Page 339     !" User action: Power down the controller and make sure the robot cables are cor- rectly and securely connected. If the problem persists, contact Adept Customer Service. *RSC communications failure* (–651) Explanation: V has lost communications with the robot signature card (RSC). Either a hardware problem has occurred or the robot is being oper- ated in an environment with excessive electrical noise.
  • Page 340     !" *RSC reset* (–652) Explanation: V has detected that the robot signature card (RSC) has lost power temporarily, but is now functioning. User action: Turn high power back on and resume program execution. If the problem persists, check the cabling to the robot. Contact Adept Cus- tomer Service if no solution can be found.
  • Page 341     !" *Servo board E-Stop fuse open* (–673) Explanation: Your servo board has a fused E-STOP circuit, and the system has detected an open circuit at that location. User Action: Refer to your hardware documentation, consult with Adept Cus- tomer Service as needed for details about types and locations of fuses, and replace the fuse.
  • Page 342     !" Set for CASE INDEPENDENT searches (None) Explanation: The EXACT extended command has been used to change the method by which character case is considered during string searches. The message indicates how case will be considered in sub- sequent searches (for the current or future search-for strings).
  • Page 343     !" *Software incompatible* Code n (–1026) Explanation: The servo code has detected an incompatibility between the servo code and calibration software. User action: Make sure that you are using the calibration software (in the \CALIB\ directory) that you received with the V system you are using.
  • Page 344     !" User action: High power must be reenabled before robot motion may continue. If the trip was not desired, make sure that Guarded Mode is disabled before the program relinquishes control of the robot to the manual control pendant. *Stopped due to servoing error* (–600) Explanation: Program execution has stopped because of one or more servo errors.
  • Page 345     !" *Subdirectory in use* (–547) Explanation: An attempt has been made to delete a subdirectory that still con- tains files or that is being referenced by another operation (for exam- ple, an FDIRECTORY command). User action: Check that all the files within the subdirectory have been deleted. Check that no other program tasks are referencing the subdirectory.
  • Page 346     !" sible, adding boards back in until the problem board is identified. If the problem persists, contact Adept Customer Service. *SYSFAIL detected by robot* (–642) Explanation: The motion interface board has detected a SYSFAIL signal on the VME bus and has asserted the backplane E-STOP signal. This error is normally superseded by other errors and not seen.
  • Page 347     !" *Template not defined* (–747) Explanation: The correlation template referenced in a VCORRELATE, VDELETE, VSHOW.MODEL, or VSTORE operation does not exist. User action: Check the correlation number supplied to the operation to make sure it is correct. Use the Models pull-down menu in the vision win- dow (or the VSHOW.MODEL program instruction) to get a list of the templates currently defined in the vision system.
  • Page 348     !" *Timeout: MCP enable switch not toggled* (–649) Explanation: V did not enable high power because you failed to toggle properly the MCP enable switch on the manual control pendant. User action: Do one or more of the following: (1) when toggling the MCP enable switch, release it for a minimum of about two seconds and a maxi- mum of ten seconds, and then press it back in;...
  • Page 349     !" *Too many network errors* (–536) Explanation: (1) The number of errors detected by the DDCMP protocol has exceeded the maximum allowed. The local protocol is stopped, and all pending I/O requests are completed with this error. (2) The V Kermit driver experienced more errors than permitted by the KERMIT.RETRY parameter.
  • Page 350     !" too long to compute and write out the data; or (3) the trajectory interval is equal to or less than the servo interval. User action: Perform one or more of the following: (1) if the trajectory cycle time is less than 16msec, change it to the next longer time;...
  • Page 351     !" *Unexpected end of file* (–504) Explanation: (1) If a file was being loaded from the disk, the end of the file was encountered unexpectedly. (2) If a program is reading a file, this error code merely indicates that the end of the file has been reached and should not be interpreted as a real error.
  • Page 352     !" User action: Continue to use the system. Contact Adept Customer Service if this error occurs repeatedly. *Unexpected zero index* Mtr n (–1005) Explanation: A zero index signal was received from the encoder for this motor at an unexpected time. The encoder may be gaining or losing counts, there may be a hardware problem with the zero index signal, or the Counts per zero index configuration parameter may be set incor- rectly.
  • Page 353     !" or vice versa. Note that statements with errors are turned into bad lines beginning with a question mark. If the message occurred while loading a file from the disk, the file was probably created off-line, or with a different V system (differ- ent version or options), and the indicated line is not compatible with the V...
  • Page 354 If you have connected the robot to a different control- ler or replaced the controller or the SIO module, repeat the test. (For information on the use of SAFE_UTL, refer to the Adept One-MV/AdeptThree-MV Robot Instruction Handbook.) *Variable type mismatch* (–465)
  • Page 355     !" the standard Aborted message is normally returned.); (3) a VABORT instruction was issued. User action: If you selected the Abort menu item by mistake, you can make the program continue by typing retry n on the keyboard, where n is the number of the task that stopped.
  • Page 356     !" *[Vision error] Camera, multiplexor, or frame grabber failure #n* (None) Explanation: Generally, this error indicates that a failure of the vision hardware has occurred. User action: See the general comments above. If the problem persists, contact Adept Customer Service and provide the exact details of the error message.
  • Page 357     !" User action: See the general comments above. If the problem persists, contact Adept Customer Service and provide the exact details of the error message. *Vision not calibrated* (–713) Explanation: A vision command was entered that required the vision system to be calibrated, and the vision system is not calibrated.
  • Page 358     !" User action: Reduce the complexity of the image or reduce the number of models in memory. If the problem persists, contact Adept Customer Service. *Warning* Monitoring watchpoint (55) Explanation: Program execution has begun while a watchpoint is set. User action: None.
  • Page 359     !" User action: Do not use this system. The watchdog timer must be enabled for safe operation of your system. The watchdog timer setting on the AWC cannot be changed by the user. Report this problem to Adept Customer Service.

  • Page 360: Numerical List

      # ! Numerical List This section lists all the V messages that have a numeric code. Most message codes associated with errors can be made available to a program by the ERROR function, which returns the code of the latest error that occurred. In addition, the $ERROR function returns the error message associated with any V error code.
  • Page 361   # ! Table E-5. Informational Messages Code Message Text Comments Not complete Success (General success response) <no message> (Signals start of program execution) Program completed Program task # stopped at <no message> (Signals start of DO processing) <no message> (Signals completion of DO processing) <program instruction step>...
  • Page 362   # ! Table E-6. Warning Messages (Continued) Code Message Text *Warning* SET.SPEED switch disabled *Warning* Monitoring watchpoint *Warning* Watchdog timer disabled Press HIGH POWER button to enable power Push, release, hold MCP enable switch Press HIGH POWER button when blinking Network connection opened Network connection closed Table E-7.
  • Page 363   # ! Table E-7. Error Messages (Continued) Code Message Text –318 *Program task not active* –319 *Program task not in use* –350 *Can’t delete .PROGRAM statement* –351 *First statement must be .PROGRAM* –352 *Invalid in read-only mode* –353 *No other program referenced* –354 *Line too long* –355...
  • Page 364   # ! Table E-7. Error Messages (Continued) Code Message Text –408 *Program argument mismatch* –409 *Arithmetic overflow* –410 *Negative square root* –411 *Not enough storage area* –412 *Branch to undefined label* Step nnn –413 *Not enough program stack space* –414 *Can’t mix MC &...
  • Page 365   # ! Table E-7. Error Messages (Continued) Code Message Text –460 *Missing quote mark* –461 *Invalid format specifier* –462 *Unknown function* –463 *Invalid statement label* –464 *Duplicate statement label* –465 *Variable type mismatch* –466 *Illegal use of belt variable* –467 *Illegal .PROGRAM statement* –468 *Duplicate .PROGRAM arguments*...
  • Page 366   # ! Table E-7. Error Messages (Continued) Code Message Text –511 *Input block error* –512 *File format error* –513 *File not opened* –514 *File or subdirectory name error* –515 *Already attached to logical unit* –516 *Not attached to logical unit* –517 *I/O queue full* –518...
  • Page 367   # ! Table E-7. Error Messages (Continued) Code Message Text –539 *No matching connection* –540 *Invalid connection specified* –541 *Invalid network protocol* –542 *Network not enabled* –543 *Illegal when network enabled* –544 *Not configured as accessed* –545 *Nonexistent subdirectory* –546 *Subdirectory list too long* –547 *Subdirectory in use*...
  • Page 368   # ! Table E-7. Error Messages (Continued) Code Message Text –567 *Not a directory* –568 *Is a directory* –569 *File too large* –570 *File name too long* –571 *Directory not empty* –600 *Stopped due to servoing error* –601 *Robot not attached to this program* –602 *Robot already attached to program* –603...
  • Page 369   # ! Table E-7. Error Messages (Continued) Code Message Text –623 *Stop-on-force triggered* –624 *Force protect limit exceeded* –625 *Invalid servo initialization data* –626 *Can’t ALTER and track belt* –627 *Robot power on* –628 *Robot module not loaded* ID:n –629 *SYSFAIL detected by CPU* –630 *Backplane E-STOP detected by CPU*...
  • Page 370   # ! Table E-7. Error Messages (Continued) Code Message Text –652 *RSC reset* –653 *RSC time-out* –654 *RSC transmission garbled* –655 *RSC bad packet format* –656 *RSC calibration load failure* –658 *Device hardware not present* –659 *Device time-out* –660 *Device error* –661 *NVRAM data invalid* –662...
  • Page 371   # ! Table E-7. Error Messages (Continued) Code Message Text –706 *Invalid request while camera running* –707 *Unknown prototype* –708 *Display interface absent* –710 *Camera disconnected* –712 *Maximum number of prototypes exceeded* –713 *Vision not calibrated* –714 *Camera already running* –717 *Not enough prototype storage area* –718...
  • Page 372   # ! Table E-7. Error Messages (Continued) Code Message Text –739 *Maximum number of samples trained* –740 *Duplicate character in font* –741 *Invalid character in font* –742 *Character not in font* –743 *Region too big* –744 *Region too complicated* –745 *Expected character(s) not found* –746 *Template of uniform intensity*...
  • Page 373   # ! Table E-7. Error Messages (Continued) Code Message Text –804 *Option not installed* –805 *Hardware not in system* –859 *Database manager internal error* –900 *Robot module not enabled* –901 *Obstacle collision detected* –903 *DeviceNet: Critical device off-line* –904 *[Fatal] E-STOP signals are stuck off* –905 *[Fatal] I/O processor failure* –906...
  • Page 374   # ! Table E-7. Error Messages (Continued) Code Message Text –999 Aborted –1001 *Invalid servo error* Mtr n –1002 *Position out of range* Jt –1003 *Time-out nulling errors* Mtr n –1004 *No zero index* Mtr n –1005 *Unexpected zero index* Mtr n –1006 *Soft envelope error* Mtr n –1007...
  • Page 375   # ! Table E-7. Error Messages (Continued) Code Message Text –1102 *[Fatal] Servo code incompatible* CPU n –1104 *[Fatal] Servo dead* Mtr n –1105 *Motor startup failure* Mtr n –1106 *Calibration sensor failure* Mtr n –1107 *[Fatal] Servo init failure* CPU n –1108 *MMSP diagnostic error* Code n –1109...

  • Page 376: F Diagnostics Testing

    Cycle Tests..... . 378 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 377: Introduction

    If any of the initialization tests fail, one or more messages are displayed. Otherwise, the system ID message is displayed (controller serial number, V version, etc.). Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 378: Tests While Enabling Power

    (every six months). On Non-MMSP systems, SAFE_UTL.V2 can be used to test the CIP and MCP. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 379: Continuous Tests

    V code. If communication is lost, arm power is turned off and a fatal error message is displayed. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 380: G Adept Devicenet

    Power Supply and the DeviceNet Bus ... . 387 Power Capabilities of a DeviceNet Cable System ..387 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 381: Introduction

    I/O interfaces. Adept Technology is a member of the Open DeviceNet Vendor Association (ODVA), which is independently run and operated and not directly associated with any one company. The ODVA controls DeviceNet technical specifications with help from Special Interest Groups (SIGs).

  • Page 382: Limitations Of The Adept Devicenet Scanner

    Adept Message Group 2 I/O connections support only the I/O Poll Command/Response Message of the possible message types. • The Adept DeviceNet Scanner does not support Cyclic or Change-of-State connections. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 383: Adept Supplied Devicenet Hardware

    CAN_L signal lines tolerate voltages up to 18V. Since the supply voltage exceeds 18V, improperly wiring the supply voltage to these signal lines may cause permanent damage. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 384: Devicenet Physical Layer And Media

    DeviceNet nodes are hot-pluggable — you can remove or add components on the bus without powering down the network. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 385 ' $( affect the maximum data rate on the network. shows a thick cable, and ' $( , a thin cable. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 386 19 x 28 Tinned & Stranded Copper Conductors) 18 AWG 19 x 30 Tinned Copper-Stranded Drain Wire Figure G-3. DeviceNet Thin Cable Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 387: Devicenet Connectors

    Must be sealed if the end node uses a sealed tee. • Must be open if the end node uses an open-style tap. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 388: Power Supply And The Devicenet Bus

    A DeviceNet cable system has several power rating constraints. The cable type and the length of the cable specify the maximum current on a cable. Thick and thin cable have: Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 389 The length (l) is not the cumulative length of the drop line; it is the maximum distance from any node on the dropline to the trunk line. Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 390 1 Drain (bare) 2 V+ (red) 3 V- (black) 4 CAN_H (white) 5 CAN_L (blue) Figure G-6. DeviceNet Connector Pinouts Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 391 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 392 AWC Module Serial I/O Ports Graphical User’s Interface AWC Module Serial I/O PortsAWC Alphabetical list of messages Module Serial I/O Ports Arm Power Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 393 Edit function Controller Interface Panel (CIP) Back on MCP Panel View Editing global variables with the Controller Interface Panel (CIP) Side Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 394 Factory Defaults of DIP Switch SW1 cooling, MV-5/MV-10 JCOM Connector Pin Assignments Fan filter JCOM Pin Locations cleaning JDIO 1-4 inspection Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 395 Manual Control Pendant connecting to user equipment CMD function connections/indicators CMD1 jumper settings CMD2 technical specifications how to use 235–260 Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 396 Remote E-stop CircuitRemote E-stop Output Signals Circuit Output SignalsOutput Signals Remote MCP Connections Overvoltage protection, MV-5/MV-10 Remote MCP connections on the JUSER Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 397 System Input/Output module, see SIO module System Power Switch Safety System Power SwitchSystem Power Selecting a new program Switch on MCP Serial I/O Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 398 User Connector (JUSER) overvoltage protection, User Connector (JUSER)User Connector MV-5/MV-10 (JUSER) messages VFI module 41, 188–190 connections/indicators technical specifications VMEbus address Adept MV Controller User’s Guide, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 399 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 400 Thank you for your input. NAME DATE_____________________ COMPANY __________________________________________________________________________ ADDRESS ___________________________________________________________________________ PHONE _____________________________________________________________________________ MANUAL TITLE: Adept MV Controller User’s Guide, Rev. B PART NUMBER: 00330-01040 PUBLICATION DATE: January 1999 COMMENTS ________________________________________________________________________ ____________________________________________________________________________________ ____________________________________________________________________________________...
  • Page 401 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 402 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 403 00330-01040, Rev. B Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

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Mv-5Mv-10Mv-4

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