Adept technology IO Blox Manuel utilisateur

Adept IO Blox

User’s Guide

P/N: 04638-000, Rev B

July 2006

3011TriadDrive•Livermore,CA94551 • USA • Phone925.245.3400 • Fax 925.960.0452

Otto-Hahn-Strasse23 • 44227 Dortmund • Germany • Phone 49.231.75.89.40 • Fax 49.231.75.89.450

41,ruedu Saule Trapu•91882 • Massy •France • Phone 33.1.69.19.16.16 • Fax 33.1.69.32.04.62

The information contained herein is the property of Adept Technology, Inc., and shall not be reproduced

in whole or in part without prior written approval of Adept Technology, Inc. The information herein is

subject to change without notice and should not be construed as a commitment by Adept Technology, Inc.

This manual is periodically reviewed and revised.

Adept Technology, Inc., assumes no responsibility for any errors or omissions in this document. Critical

evaluation of this manual by the user is welcomed. Your comments assist us in preparation of future doc-

umentation. Please email your comments to: [email protected].

The Adept logo, AdeptVision, AIM, HexSight, and HexaVision

are registered trademarks of Adept Technology, Inc.

ActiveV, Adept, Adept 1060, Adept 1060+, Adept 1850, Adept 1850 XP, Adept 540, Adept 560, Adept C40,

Adept C60, Adept CC, Adept Cobra 550, Adept Cobra 550 CleanRoom, Adept Cobra 600, Adept Cobra

800, Adept Cobra i600, Adept Cobra i800, Adept Cobra s600, Adept Cobra s800, Adept DeskTop, Adept

Digital Workcell, Adept FFE, Adept FlexFeeder 250, Adept IC, Adept Impulse Feeder, Adept LineVision,

Adept MC, Adept MV, Adept MV-10, Adept MV-19, Adept MV4, Adept MV-5, Adept MV-8, Adept

NanoBonder EBS, Adept NanoBonder LWS, Adept NanoCell, Adept NanoStage L1P2, Adept NanoStage

L3, Adept NanoStage L3P2, Adept OC, Adept SmartAmp, Adept SmartAxis, Adept SmartController CS,

Adept SmartController CX, Adept SmartModule, Adept SmartMotion, Adept SmartServo, Adept sDIO,

Adept Servo Kit, Adept sMI6, Adept SMIF-EZ, AdeptAlign 650, AdeptAtlas, AdeptCartesian, AdeptForce,

AdeptFTP, AdeptGEM, AdeptModules, AdeptMotion, AdeptMotion Servo, AdeptMotion VME,

AdeptNet, AdeptNFS, AdeptOne, AdeptOne-MV, AdeptOne-XL, AdeptRAPID, AdeptSix 300, AdeptSix

300CL, AdeptSix 600, AdeptTCP/IP, AdeptThree, AdeptThree-MV, AdeptThree-XL, AdeptTwo,

AdeptVicron, AdeptVicron 300S, AdeptVicron 310D, AdeptVision AVI, AdeptVision AGS, AdeptVision

GV, AdeptVision I, AdeptVision II, AdeptVision VME, AdeptVision VXL, AdeptVision XGS, AdeptVision

XGS II, AdeptWindows, AdeptWindows Controller, AdeptWindows DDE, AdeptWindows Offline

Editor, AdeptWindows PC, AIM Command Server, AIM Dispense, AIM PCB, AIM VisionWare, A-Series,

AutoCal, AutoTune, AutoWidth, CCM, CCMII, CGM, FlexFeedWare, HyperDrive, Microenvironment,

MicroV+, MotionWare, ObjectFinder, ObjectFinder 2000, PackOne, PalletWare, SMIF-C, SMIF-EZX,

SMIF-Z, SMIF-ZX, S-Series, UltraOne, V, V+, and VisionTeach are trademarks of Adept Technology, Inc.

Any trademarks from other companies used in this publication

are the property of those respective companies.

Printed in the United States of America

Adept IO Blox User’s Guide, Rev B 3

Table of Contents

1Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1.1 Product Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1.2 Adept Document Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1.3 How Can I Get Help? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

2Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.1 Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.2 General Installation on All Adept Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Cable Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Python Modules Cables Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Address Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Installing Multiple IO Blox Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Maximum Number of IO Blox Devices per System . . . . . . . . . . . . . 11

Mounting on a DIN Rail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

2.3 Installation on an Adept Cobra i600/i800 or s600/s800 System . . . . . . . . . . . . 13

Mechanical Mounting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Cable Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

2.4 Installation on an Adept Cobra s350 System . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Mechanical Mounting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Cable Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2.5 Installation on an Adept Viper System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Mechanical Mounting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Cable Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

2.6 Installation on an AdeptOne with sEJI System . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Mechanical Mounting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Cable Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

2.7 Installation on an Adept Python Modules System . . . . . . . . . . . . . . . . . . . . . . . 18

Cable Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Connecting the IO Blox-to-IO Blox Cable . . . . . . . . . . . . . . . . . . . . 18

Connecting the Auxiliary Power Cable . . . . . . . . . . . . . . . . . . . . . . 19

Finishing Cable Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Mechanical Mounting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Mounting onto an MB-10 Amp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Mounting onto the End of an L18 Module . . . . . . . . . . . . . . . . . . . . 22

Mounting onto a Module T-Slot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Mounting onto a Two-Axis System . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Mounting onto a Three-Axis System . . . . . . . . . . . . . . . . . . . . . . . . . 25

Table of Contents

4 Adept IO Blox User’s Guide, Rev B

3General Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

3.2 Connector and Switch Descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

3.3 Connecting to Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

3.4 Connecting Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Input Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Example Input Schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

3.5 Connecting Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Total Current Limitation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Output Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Example Output Schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

3.6 IO Blox LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

3.7 Custom Length IO Blox Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

4Operation on V+-Based Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

4.1 Using the IO Blox with Adept Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

IO Signal Numbers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

4.2 Configuring Multiple Robot and Amp Systems . . . . . . . . . . . . . . . . . . . . . . . . . . 41

4.3 Digital I/O Block Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

IO Blox Inputs/Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

4.4 DC_SETUP Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Load and Run DC_SETUP.V2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

4.5 Using CONFIG_C to Configure I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

5Operation on MicroV+-Based Systems . . . . . . . . . . . . . . . . . . . . . . . . . 49

5.1 Using the IO Blox in a Cobra i600/i800 System . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

IO Signal Numbers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Adept IO Blox User’s Guide, Rev B 5

Introduction 1

1.1 Product Description

The Adept IO Blox device is designed for adding digital input and output capability to

Adept products, including the Cobra i-series and s-series robots, Adept Python Linear

Modules, Adept Viper robots, and AdeptOne with sEJI robots. The IO Blox offers 8 inputs

and 8 outputs, all optically isolated. You can connect up to four IO Blox devices per robot

or MB-10 amp.

The IO Blox uses clamp-style terminal strips for installing customer wiring. The device

can be installed on a robot, or in a panel-mount environment on a DIN Rail. The product

is offered with several cable options for different installation locations.

Figure 1-1. Adept IO Blox Photo

Figure 1-2. Adept IO Blox Drawing

Chapter 1 - Introduction

6 Adept IO Blox User’s Guide, Rev B

1.2 Adept Document Library

Documentation on Adept products can be found on the Adept Document Library on

CD-ROM provided with each system.

You can also find Adept product documentation on the Adept web site in the Document

Library area. The Document Library search engine allows you to locate information on a

specific topic. Additionally, the Document Menu provides a list of available product

documentation.

To access the Adept Document Library, type the following URL into your browser:

http://www.adept.com/Main/KE/DATA/adept_search.htm

or, select the Document Library link on the Home page of the Adept web site.

1.3 How Can I Get Help?

Refer to the How to Get Help Resource Guide (Adept P/N 00961-00700) for details on

getting assistance with your Adept software and hardware.

Additionally, you can access information sources on Adept’s corporate web

site:

http://www.adept.com

Adept IO Blox User’s Guide, Rev B 7

Installation 2

2.1 Dimensions

Figure 2-1. Adept IO Blox Dimensions

4.5

.18

126

4.96

138

5.43

1.77

43.8

1.72

113.6

4.47

Tie-Wrap

Location

(1 of 4)

Chapter 2 - Installation

8 Adept IO Blox User’s Guide, Rev B

2.2 General Installation on All Adept Robots

IO Blox installation varies for the different robots that support the IO Blox. This section

provides the installation instructions common to all types of robots.

See the sections listed below for information on connecting an IO Blox to a specific robot

model.

• See Section 2.3 on page 13 for information on connecting to an Adept Cobra

i600/i800 or s600/s800 robot

• See Section 2.4 on page 15 for information on connecting an Adept Cobra s350

robot.

• See Section 2.5 on page 16 for information on connecting to an Adept Viper robot.

• See Section 2.6 on page 17 for information on connecting to an AdeptOne with

sEJI robot.

• See Section 2.7 on page 18 for information on connecting to an Adept Python

Modules system or Adept MB-10 Servo Kit.

Cable Options

For most robot systems, the IO Blox is connected to the robot by the IO Blox-to-Robot

cable. See Table 2-1 for the optional cable part numbers by length.

When you install more than one IO Blox device in a system, they must be connected, or

daisy-chained, with the cables listed in Table 2-2.

Table 2-1. IO Blox-to-Robot Cable Options

Cable Name, Length Part Number

IO Blox-to-robot, 0.3 M 04677-003

IO Blox-to-robot, 1.6 M 04677-016

IO Blox-to-robot, 3.0 M 04677-030

General Installation on All Adept Robots

Adept IO Blox User’s Guide, Rev B 9

Python Modules Cables Options

For Python module systems, the IO Blox is connected to the MB-10 amp on a Python

module by the IO Blox-to IO Blox cable in the MB-10-to-IO Blox cable kit.

The IO Blox kit for Adept Python Modules and Adept Servo Kit systems includes a 24

VDC IO Blox Auxiliary Power cable. This cable can be used to provide 24 VDC power to

IO Blox. The part number for this cable is 05668-000. This cable can be trimmed from its

original 4 M length to the desired length.

Table 2-2. IO Blox-to-IO Blox Cable Options

Cable Name, Length Part Number

IO Blox-to-IO Blox, 0.3 M 04679-003

IO Blox-to-IO Blox, 1.1 M 04679-011

IO Blox-to-IO Blox, 1.4 M 04679-014

IO Blox-to-IO Blox, 1.8 M 04679-018

IO Blox-to-IO Blox, 2.2 M 04679-022

IO Blox-to-IO Blox, 2.6 M 04679-026

IO Blox-to-IO Blox, 3.0 M 04679-030

IO Blox-to-IO Blox, 3.5 M 04679-035

IO Blox-to-IO Blox, 4.0 M 04679-040

Table 2-3. MB-10-to-IO Blox Cable Kit Option

Cable Name, Length Part Number

MB-10 -to-IO Blox Cable Kit, 0.3 M 05661-003

MB-10 -to-IO Blox Cable Kit, 1.1 M 05661-011

MB-10 -to-IO Blox Cable Kit, 1.4 M 05661-014

MB-10 -to-IO Blox Cable Kit, 1.8 M 05661-018

MB-10 -to-IO Blox Cable Kit, 2.2 M 05661-022

MB-10 -to-IO Blox Cable Kit, 2.6 M 05661-026

MB-10 -to-IO Blox Cable Kit, 3.0 M 05661-030

MB-10 -to-IO Blox Cable Kit, 3.5 M 05661-035

MB-10 -to-IO Blox Cable Kit, 4.0 M 05661-040

Chapter 2 - Installation

10 Adept IO Blox User’s Guide, Rev B

Address Switch Settings

The address select switch must be set to the correct address for the system to function. The

default setting for a single IO Blox is for both switches 1 and 2 set to Off. When you add

multiple IO Blox devices, each additional device must be set to the correct address. See

Table 2-4.

Installing Multiple IO Blox Devices

When installing more than one IO Blox device in a system, you must connect the devices

with the supplied cables, and set the address select switch correctly for each additional

device.

1. Locate the IO Blox-to-IO Blox cable that was supplied with the system. See

Table 2-2 on page 9 for the details of the cable options.

2. Plug one end of the cable into the JCBL2 connector on the first IO Blox.

3. Plug the other end of the cable into the JCBL1 connector on the second IO Blox.

4. Continue this cabling process for any additional devices.

5. Set the address select switch for additional devices. See Table 2-4.

NOTE: Each IO Blox device (up to 4) must have a unique address. IO Blox

devices with duplicate addresses will conflict.

See also the note on page 35 for the maximum cumulative cable length between IO Blox

devices.

Table 2-4. IO Blox Address Switch Settings

Address Number Switch 1

(A0 on PCB)

Switch 2

(A1 on PCB)

Address 0 - default, for 1st IO

Blox

Off Off

Address 1 - for 2nd IO Blox On Off

Address 2 - for 3rd IO Blox Off On

Address 3 - for 4th IO Blox On On

Table des matières

Autres manuels adept technology Robotique

adept technology

adept technology Cobra s350 Manuel utilisateur

adept technology

adept technology AdeptThree Manuel utilisateur

adept technology

adept technology Cobra 03352-000 Guide de référence

adept technology

adept technology Hornet 565 Manuel utilisateur

adept technology

adept technology AdeptViper s650 Manuel utilisateur

adept technology

adept technology Quattro s650H Manuel utilisateur

adept technology

adept technology Cobra Dual Manuel

adept technology

adept technology Cobra s600 Manuel utilisateur

adept technology

adept technology 550 Manuel

adept technology

adept technology 550 Manuel utilisateur

adept technology

adept technology Viper s650 Manuel utilisateur

adept technology

adept technology Cobra s800 Manuel utilisateur

adept technology

adept technology Cobra s800 Manuel utilisateur

adept technology

adept technology Adept Cobra i600 Manuel utilisateur

adept technology

adept technology Viper s650 Manuel utilisateur

adept technology

adept technology Adept Cobra i600 Manuel utilisateur

adept technology

adept technology Cobra s600 Manuel utilisateur

Manuels Robotique populaires d'autres marques

STEMCenter USA

STEMCenter USA Pi-Bot v2.00 Manuel utilisateur

SunFounder

SunFounder PiDog Manuel utilisateur

Universal Robots

Universal Robots UR5 Manuel utilisateur

Universal Robots

Universal Robots E Series Manuel utilisateur

YASKAWA

YASKAWA MOTOMAN-MPL80 II Manuel utilisateur

EFORT

EFORT ECR5 Manuel d'instructions

Epson

Epson C8 Series Manuel utilisateur

WowWee

WowWee ROBOQUAD Manuel utilisateur

Milvus Robotics

Milvus Robotics SEIT 100 Manuel utilisateur

RoboMaster

RoboMaster AI Robot 2020 Standard Version Manuel utilisateur

fischertechnik

fischertechnik Mini Bots Manuel utilisateur

YASKAWA

YASKAWA MA2010 Manuel

Abicor Binzel

Abicor Binzel iCAT mini Manuel utilisateur

ABB

ABB OmniCore E10 Manuel utilisateur

YASKAWA

YASKAWA Motoman DX200 Manuel utilisateur

pitsco

pitsco Tetrix Max Manuel utilisateur

ECOVACS

ECOVACS DEEBOT R95 Manuel utilisateur

Feng Yuan

Feng Yuan Interstellar Warrior Manuel utilisateur

adept technology IO Blox Manuel utilisateur

Manuels Robotique populaires d'autres marques