Adept IO Blox User’s Guide
Below you will find brief information for IO Blox. The Adept IO Blox I/O expansion option is designed for adding digital input and output capability to Adept products, including the Cobra i-Series and s-Series robots, Adept Python Linear Modules, and Adept Viper robots.
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Adept IO Blox
User’s Guide
Adept IO Blox
User’s Guide
P/N: 04638-000, Rev C
March 2013
5960 Inglewood Drive • Pleasanton, CA 94588 • USA • Phone 925.245.3400 • Fax 925.960.0452
Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone 49.231.75.89.40 • Fax 49.231.75.89.450
Block 5000 Ang Mo Kio Avenue 5 • #05-12 Techplace II • Singapore 569870 • Phone +65.6755 2258 • Fax +65.6755 0598
The information contained herein is the property of Adept Technology, Inc., and shall not be reproduced in whole or in part without prior written approval of Adept Technology, Inc. The information herein is subject to change without notice and should not be construed as a commitment by
Adept Technology, Inc. This manual is periodically reviewed and revised.
Adept Technology, Inc., assumes no responsibility for any errors or omissions in this document.
Critical evaluation of this manual by the user is welcomed. Your comments assist us in preparation of future documentation. Please email your comments to: [email protected].
Copyright
2006, 2013 by Adept Technology, Inc. All rights reserved.
Adept, the Adept logo, the Adept Technology logo, AdeptVision, AIM, Blox, Bloxview, Fireblox,
Fireview, Meta Controls, MetaControls, Metawire, Soft Machines, and Visual Machines are registered trademarks of Adept Technology, Inc.
Adept Cobra i600, Adept Cobra i800, Adept Cobra s350, Adept Cobra s600, Adept Cobra s800,
Adept Cobra s800 Inverted, Adept IO Blox, Adept Python, Adept Python Linear Modules, Adept sDIO, Adept Servo Kit, Adept SmartController CX, Adept Viper, MB-10, MB-40R, MicroV
+
, sDAI,
SmartServo, and V
+
are trademarks of Adept Technology, Inc.
Any trademarks from other companies used in this publication are the property of those respective companies.
Printed in the United States of America
Table of Contents
1.2 Dangers, Warnings, Cautions, and Notes in Manual . . . . . . . . . . . . . . . . . . . . . . 8
Adept Robot Safety Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Python Modules Cables Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Maximum Number of IO Blox Units per System . . . . . . . . . . . . . . . . 15
2.3 Installation on an Adept Cobra i600/i800 or s600/s800 System . . . . . . . . . . . . 17
2.6 Installation on an Adept Python Modules System . . . . . . . . . . . . . . . . . . . . . . . 20
Connecting the IO Blox-to-IO Blox Cable . . . . . . . . . . . . . . . . . . . . 21
Connecting the Auxiliary Power Cable . . . . . . . . . . . . . . . . . . . . . . 21
Finishing Cable Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Mounting onto an MB-10 Amp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Mounting onto the End of an L18 Module . . . . . . . . . . . . . . . . . . . . 24
Mounting onto a Module T-Slot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Mounting onto a Two-Axis System . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Adept IO Blox User’s Guide, Rev C 5
Table of Contents
Mounting onto a Three-Axis System . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Operation on V+-Based Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Operation on MicroV+-Based Systems . . . . . . . . . . . . . . . . . . . . . . . . . 51
6 Adept IO Blox User’s Guide, Rev C
Introduction
1
1.1
Product Description
The Adept IO Blox I/O expansion option is designed for adding digital input and output capability to Adept products, including the Cobra i-Series and s-Series robots, Adept
Python Linear Modules, and Adept Viper robots. Each IO Blox unit offers 8 inputs and 8 outputs, all optically isolated. You can connect up to four IO Blox units per robot or MB-10 amp.
The IO Blox option uses clamp-style terminal strips for installing customer wiring. It can be installed on a robot, or in a panel-mount environment on a DIN Rail. Several cable options are offered for different installation situations.
Figure 1-1. Adept IO Blox Photo
Figure 1-2. Adept IO Blox Drawing
Adept IO Blox User’s Guide, Rev C 7
Chapter 1 - Introduction
1.2
Dangers, Warnings, Cautions, and Notes in Manual
There are six levels of special alert notation used in Adept manuals. In descending order of importance, they are:
DANGER:
This indicates an imminently hazardous electrical situation which, if not avoided, will result in death or serious injury.
DANGER:
This indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury.
WARNING:
This indicates a potentially hazardous electrical situation which, if not avoided, could result in injury or major damage to the equipment.
WARNING:
This indicates a potentially hazardous situation which, if not avoided, could result in injury or major damage to the equipment.
CAUTION:
This indicates a situation which, if not avoided, could result in damage to the equipment.
NOTE: Notes provide supplementary information, emphasize a point or procedure, or give a tip for easier operation.
1.3
What to Do in an Emergency Situation
Press any E-Stop button (a red push-button on a yellow background/field) on the robot being used, and then follow the internal procedures of your company or organization for an emergency situation. If a fire occurs, use CO
2
to extinguish the fire.
8 Adept IO Blox User’s Guide, Rev C
Additional Safety Information
1.4
Additional Safety Information
Adept provides other sources for more safety information:
Adept Robot Safety Guide
The
Adept Robot Safety Guide
provides detailed information on safety for Adept robots.
It also gives resources for more information on relevant standards.
It ships with each robot manual, and is also available from the Adept Document Library.
See “Adept Document Library” on page 10.
1.5
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 website:
http://www.adept.com
• For Contact information:
http://www.adept.com/contact/americas
• For Product Support information:
http://www.adept.com/support/service-and-support/main
• For user discussions, support, and programming examples:
http://www.adept.com/forum/
Related Manuals
This manual covers the installation and use of an Adept IO Blox I/O expansion option.
There are additional manuals that may be useful. See the following table. These manuals are available in the Adept Document Library, on the software CD-ROM shipped with each system. Also refer to the robot user guides for the robots you are using.
Table 1-1. Related Manuals
Manual Title Description
Adept Robot Safety Guide
Adept SmartController
User’s Guide
Adept ACE User’s Guide
V+ Operating System User’s
Guide
V+ Language User’s Guide
Contains safety information for Adept robots.
Contains information on the installation and operation of the
Adept SmartController and the optional sDIO product.
Instruction for the use of the Adept ACE software.
Describes the V
+
operating system, including disk file operations, monitor commands, and monitor command programs.
Describes the V
+
language and programming of an Adept control system.
Adept IO Blox User’s Guide, Rev C 9
Chapter 1 - Introduction
Adept Document Library
The Adept Document Library (ADL) contains documentation for Adept products. You can access the ADL from:
• the Adept Software CD shipped with your system.
• the Adept website. Select Document Library from the Adept home page. To go directly to the Adept Document Library, type the following URL into your browser: http://www.adept.com/Main/KE/DATA/adept_search.htm
To locate information on a specific topic, use the Document Library search engine on the
ADL main page. To view a list of available product documentation, select the Active
Documents option.
10 Adept IO Blox User’s Guide, Rev C
Installation
2
2.1
Dimensions
Tie-Wrap
Location
(1 of 4)
4.96
126
5.43
138
1.72
43.8
.18
4.5
4.47
113.6
1.77
45
Figure 2-1. Adept IO Blox Dimensions
Adept IO Blox User’s Guide, Rev C
Units are mm [in.]
11
Chapter 2 - Installation
2.2
General Installation on All Adept Robots
IO Blox installation varies for the different robots that support the option. This section provides the installation instructions common to all types of robots.
See the sections listed below for information on connecting an IO Blox option to a specific robot model.
• See
for information on connecting to an Adept Cobra i600/i800 or s600/s800 robot.
• See
for information on connecting an Adept Cobra s350 robot.
for information on connecting to an Adept Viper robot.
• See
for information on connecting to an Adept Python
Modules system or Adept MB-10 Servo Kit.
Cable Options
For most robot systems, the IO Blox unit is connected to the robot by the IO Blox-to-Robot cable. See
Table 2-1
for the optional cable part numbers by length.
Table 2-1. IO Blox-to-Robot Cable Options
Cable Name, Length
IO Blox-to-robot, 0.3 M
IO Blox-to-robot, 1.6 M
IO Blox-to-robot, 3.0 M
Part Number
04677-003
04677-016
04677-030
When you install more than one IO Blox unit in a system, they must be connected, or daisy-chained, with the cables listed in
Table 2-2
.
12 Adept IO Blox User’s Guide, Rev C
General Installation on All Adept Robots
Table 2-2. IO Blox-to-IO Blox Cable Options
Cable Name, Length
IO Blox-to-IO Blox, 0.3 M
IO Blox-to-IO Blox, 1.1 M
IO Blox-to-IO Blox, 1.4 M
IO Blox-to-IO Blox, 1.8 M
IO Blox-to-IO Blox, 2.2 M
IO Blox-to-IO Blox, 2.6 M
IO Blox-to-IO Blox, 3.0 M
IO Blox-to-IO Blox, 3.5 M
IO Blox-to-IO Blox, 4.0 M
Part Number
04679-003
04679-011
04679-014
04679-018
04679-022
04679-026
04679-030
04679-035
04679-040
Python Modules Cables Options
For Python module systems, the IO Blox is connected to the MB-10 amp on a Python module by the IO Blox-to IO Blox cable in the MB-10-to-IO Blox cable kit.
Table 2-3. MB-10-to-IO Blox Cable Kit Option
Cable Name, Length Part Number
MB-10 -to-IO Blox Cable Kit, 0.3 M 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
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.
Adept IO Blox User’s Guide, Rev C 13
Chapter 2 - Installation
Address Switch Settings
The address select switch must be set to the correct address for the system to function. The default setting for a single IO Blox unit is for both switches 1 and 2 set to Off. When you add multiple IO Blox units, each additional unit must be set to the correct address. See
Table 2-4
.
Table 2-4. IO Blox Address Switch Settings
Address Number
Switch 1
(A0 on PCB)
Off Address 0 - default, for 1st IO
Blox
Address 1 - for 2nd IO Blox
Address 2 - for 3rd IO Blox
Address 3 - for 4th IO Blox
On
Off
On
Switch 2
(A1 on PCB)
Off
Off
On
On
Installing Multiple IO Blox Units
When installing more than one IO Blox unit in a system, you must connect the units with the supplied cables, and set the address select switch correctly for each additional unit.
1. Locate the IO Blox-to-IO Blox cable that was supplied with the system. See
Table 2-2 on page 13
for the details of the cable options.
2. Plug one end of the cable into the JCBL2 connector on the first unit.
3. Plug the other end of the cable into the JCBL1 connector on the second unit.
4. Continue this cabling process for any additional units.
5. Set the address select switch for additional units. See
Table 2-4
.
NOTE: Each IO Blox unit (up to 4) must have a unique address. IO Blox units with duplicate addresses will conflict.
for the maximum cumulative cable length between IO Blox units.
14 Adept IO Blox User’s Guide, Rev C
General Installation on All Adept Robots
Figure 2-2. Four IO Blox Units Connected
NOTE: Python IO Blox kits include a 24 VDC power cable (not shown in the above photo) that can be used to provide power to IO Blox units.
Maximum Number of IO Blox Units per System
There is a limit of 4 IO Blox units connected to any single IO Blox-based connector. These connectors include:
• IO Blox connector on Cobra s600/s800
• IO Blox connector on Cobra i600/i800
• EXPIO connector on sDAI (Viper robot systems)
• EXPIO connector on MB-40R (Cobra s350 robot systems)
• IO Blox connector on an MB-10 amp
1
In custom or “hybrid” systems with multiple mechanisms, the limit for IO Blox units is set by the total system I/O of the SmartController, which is 480 inputs and 480 outputs, inclusive of all I/O hardware (XDIO, XIO, sDIO, and DeviceNet). See the SmartController and specific robot system manuals for more details.
1
In a multi-axis Python Linear Modules system (or MB-10 Servo Kit system), each MB-10 amp can have up to 4 IO Blox units connected. On preconfigured systems, Adept will typically only mount the IO Blox units to the first and last MB-10 amps, due to mechanical mounting limitations.
Adept IO Blox User’s Guide, Rev C 15
Chapter 2 - Installation
Mounting on a DIN Rail
The IO Blox can be mounted on a DIN rail using an optional foot element from Phoenix
Contact, p/n 2959434. Adept does not supply this foot element - you can order it from
Phoenix Contact or another electronic parts supplier.
1. Remove the bolt flanges from each end of the unit.
2. Remove one of the end caps by removing two Phillips head screws. See
Figure
2-3
.
3. Turn the unit over and slide in the DIN rail foot element.
4. Replace the endcap.
5. Snap the unit onto the DIN rail by slipping it into the grooves in the slider and pressing down until it clicks and locks in place.
6. To remove the unit, pull on the red strap and lift the unit off.
Endcap Removed
DIN Rail Foot
Element Installed
Figure 2-3. DIN Rail Mounting
IO Blox Mounted on
DIN Rail
16 Adept IO Blox User’s Guide, Rev C
Installation on an Adept Cobra i600/i800 or s600/s800 System
2.3
Installation on an Adept Cobra i600/i800 or s600/s800
System
Mechanical Mounting
The IO Blox option can be mounted to the robot in two locations. See
Figure 2-4
and
. Up to four IO Blox units can be mounted on a robot. The user needs to make an adapter plate to go between the external mounting holes on the robot and the bolt flanges on the IO Blox.
Use your web browser to go to the Adept Download Center on the Adept website. Search for Download ID 500009 and download this file. The file contains the drawings showing mounting brackets for Cobra robots. The table below shows the drawing numbers for the base and plate brackets required for mounting onto the robot’s outer link (Joint 2) cover and inner link (Joint 1) cover.
Table 2-5. IO Blox Bracket Drawing Numbers
Mounting on Outer Link (Joint 2) Cover
3
4
1
2
IO Blox # Base Drawing
Number
04852-000
04852-000
04852-030
04852-030
Plate Drawing
Number
04853-000
04853-020
04853-030
04853-040
Mounting on Inner Link (Joint 1) Cover
--
--
Base Drawing
Number
04852-010
--
Plate Drawing
Number
04853-010
--
--
--
Inner Link
External Mounting
Location
Outer Link
External Mounting
Location
Figure 2-4. External Mounting Locations on Robot
The IO Blox unit can also be mounted on a DIN rail - see
“Mounting on a DIN Rail” on page 16
.
Adept IO Blox User’s Guide, Rev C 17
Chapter 2 - Installation
Figure 2-5. Installation on Inner Link
Cable Installation
1. Locate the IO Blox-to-Robot cable supplied with the system.
2. Connect the end of the cable with the matching D-sub connector to the IO Blox connector on the robot. See
3. Connect the other end of the cable to the JCBL1 connector on the IO Blox. See
for the location of the JCBL1 connector.
NOTE: To install multiple IO Blox units, see
.
18 Adept IO Blox User’s Guide, Rev C
Installation on an Adept Cobra s350 System
2.4
Installation on an Adept Cobra s350 System
Mechanical Mounting
For Adept Cobra s350 robots, the IO Blox unit can be mounted on a DIN rail - see
“Mounting on a DIN Rail” on page 16
.
Cable Installation
1. Locate the IO Blox-to-Robot cable supplied with the system.
2. Connect the end of the cable with the matching D-sub connector to the EXPIO connector on the MB-40R.
MB-40R
To EXPIO on MB-40R
IO Blox Option
Adept Cobra s350 System
(robot not shown)
Figure 2-6. IO Blox Cable Connection to Cobra s350 Robot System
3. Connect the other end of the cable to the JCBL1 connector on the unit. See
for the location of JCBL1.
NOTE: To install multiple IO Blox units, see
.
Adept IO Blox User’s Guide, Rev C 19
Chapter 2 - Installation
2.5
Installation on an Adept Viper System
Mechanical Mounting
For Adept Viper robots, the IO Blox unit can be mounted on a DIN rail - see
“Mounting on a DIN Rail” on page 16
.
Cable Installation
1. Locate the IO Blox-to-Robot cable supplied with the system.
2. Connect the end of the cable with the matching D-sub connector to the EXPIO connector on the sDAI module in the PA-4 power chassis.
Figure 2-7. IO Blox Cable Connection to sDAI Module
3. Connect the other end of the cable to the JCBL1 connector on the IO Blox unit. See
for the location of JCBL1.
NOTE: To install multiple IO Blox units, see
.
2.6
Installation on an Adept Python Modules System
NOTE: When attaching an IO Blox unit to a Python module, make sure it does not restrict joint motion or cause robot motion errors. T-slots and threaded holes are provided on each module for the purpose of mounting user equipment.
20 Adept IO Blox User’s Guide, Rev C
Installation on an Adept Python Modules System
Cable Installation
Up to four IO Blox units can be connected per MB-10 amp on Python systems. An IO Blox unit can be connected to one MB-10 or two MB-10 amps on a multi-axis system. If connecting to a three-axis or four-axis system, IO Blox can be connected to the first and last MB-10 amps in the system.
Connecting the IO Blox-to-IO Blox Cable
1. Remove the T-bracket cover from the MB-10 amp.
2. Locate the IO Blox-to-IO Blox cable supplied with the system.
3. Connect one end of the cable to the IO Blox connector on the MB-10 amp. See
Figure 2-8
.
To IO Blox Connector on MB-10 anp and JCBL1
Connector on IO Blox
MB-10 Amp
IO Blox Device
24 VDC
Connectors
Note: MB-10 connectors are located on bottom of amp.
Adept Python
Linear Module
Figure 2-8. IO Blox Connector on MB-10 Amp
4. Route the other end of the cable through one of the openings on the sides of the
MB-10 T-bracket and connect it to the JCBL1 connector on the IO Blox unit.
Connecting the Auxiliary Power Cable
An IO Blox Auxiliary Power Cable is included in the IO Blox kit for Adept Python
Modules to provide 24 VDC user power to IO Blox. A male and female 2-pin plug are attached to one end. One plug connects to the mating 2-pin plug on the 24 VDC cable from the PDU or the 24 VDC cable connecting two MB-10 amps in a multi-axis system. If connecting to the first MB-10 amp in a multi-axis system, the other 2-pin plug connects to the 24 VDC cable connected to the next MB-10 amp in the system. The other end of the
Auxiliary Power Cable is unterminated and connects to the +V and G (Ground)
terminators on an IO Blox. See
. If necessary, cut the cable down to the desired
length.
1. Locate the IO Blox Auxiliary Power cable supplied with the IO Blox kit for Python
Linear Modules.
Adept IO Blox User’s Guide, Rev C 21
Chapter 2 - Installation
2. To connect to a single-axis system or the first MB-10 amp in a multi-axis system, connect one of the 2-pin plugs on the IO Blox Auxiliary Power cable to the mating
2-pin plug on the 24 VDC power cable connected to the PDU.
To connect to the last MB-10 amp on a multi-axis system, connect one of the 2-pin plugs on the IO Blox Auxiliary Power cable to the mating 2-pin plug on the 24
VDC cable connected to the preceding MB-10 amp in the system. See
3. If connecting to the first MB-10 amp in a multi-axis system, connect the other
2-pin plug on the IO Blox Auxiliary Power cable to the mating plug on the 24
VDC power cable connected to the next MB-10 amp in the system.
If connecting to a single-axis system or the last MB-10 amp in the system, tie-wrap the unused 2-pin plug on the IO Blox Auxiliary Power cable.
AC
PWR
AMP
AC
PWR
IN
PDU3
1
PDU3
24V
AMP
CH1
ES1
AUX
CH2
ES2
AMP DC RESET
AUX DC RESET
XDCS
2
XSLV1/
XSLV2
C
R
C
U
T
K
E
R
E
A
B
R
24VDC cable from PDU3
MB-10 #1 MB-10 #2 MB-10 #3
22
2-Pin User
Plug
Unterminated cable for User 24V Power to +V terminal on
IO Blox. Cut to length and strip wires.
Auxilliary
24V Power
Cable Assembly
(05668-000)
Figure 2-9. IO Blox Auxiliary Power Cable Connections
4. Route the unterminated end of the IO Blox Auxiliary Power cable through one of the openings on the sides of the MB-10 amp.
5. Strip 7 mm of insulation from the unterminated end of the IO Blox Auxiliary
Power cable and connect the white 24 VDC power wire to the +V terminal on the
IO Blox; connect the black ground wire to the G terminal on the IO Blox. See
for the location of the +V and G terminals. See
for information on connecting to terminals.
Finishing Cable Installation
When finished installing the IO Blox cables, replace the T-bracket cover on the MB-10 amp.
Adept IO Blox User’s Guide, Rev C
Installation on an Adept Python Modules System
NOTE: To install multiple IO Blox units, see
.
Mechanical Mounting
IO Blox modules can be mounted onto Adept Python Modules systems in the following ways:
• Onto the MB-10 T-bracket cover
• Onto the end cap of an L18 module
• Onto a module T-slot
• Onto a Z-axis harness enclosure
Use the M4x8 mounting screws included in the IO Blox mounting kit to mount the IO
Blox.
IO Blox can also be mounted on a DIN rail - see
“Mounting on a DIN Rail” on page 16
.
Mounting onto an MB-10 Amp
1. Position the IO Blox unit on the MB-10 T-bracket cover. Align the two mounting holes on the sides of the unit with the corresponding two holes on the T-bracket cover.
2. Secure the unit to the T-bracket cover with two M4x8 screws. See
IO Blox
Mounted on MB-10
Amp T-Bracket
Cover
Figure 2-10. Mounting onto an MB-10 Amp
Adept IO Blox User’s Guide, Rev C 23
Chapter 2 - Installation
Mounting onto the End of an L18 Module
1. Position the IO Blox unit on the L18 module end cap; align the two mounting holes on the sides of the unit with the corresponding two holes on the end cap.
2. Secure the unit to the T-bracket cover with two M4x8 screws. See
.
IO Blox
Mounted on L-18
Module
Figure 2-11. Mounting onto an L18 Module
24 Adept IO Blox User’s Guide, Rev C
Installation on an Adept Python Modules System
Mounting onto a Module T-Slot
An IO Blox unit can be mounted using the T-slots on the modules. Use the M4 square nuts
(and M4x8 screws) included in the IO Blox mounting kit to mount onto a T-slot.
NOTE: Mount the unit close enough to the MB-10 amp to connect the cables.
1. Insert two M4 square nuts (DIN 562) into one of the T-slots on the side of a module. Insert the nuts near the end cap opposite to the motor.
2. Position the unit over the T-slot nuts; align the T-slot nuts with the two mounting holes on the sides of the IO Blox unit.
3. Secure the unit with two M4x8 screws. See
.
IO Blox
Mounted on Module
T-Slot
Figure 2-12. Mounting onto a Module T-Slot
Adept IO Blox User’s Guide, Rev C 25
Chapter 2 - Installation
Mounting onto a Two-Axis System
1. Mount an IO Blox unit to the T-bracket cover on the MB-10 amp. See
“Mounting onto an MB-10 Amp” on page 23
2. Optionally, mount another unit onto the T-bracket cover on the other MB-10 amp.
See
.
NOTE: Below is a typical two-axis Python system. Your configuration may be different.
IO Blox
Devices
Mounted on two MB-10
Amp T-Bracket
Covers
Figure 2-13. Mounting onto a Two-Axis System
26 Adept IO Blox User’s Guide, Rev C
Installation on an Adept Python Modules System
Mounting onto a Three-Axis System
1. To mount an IO Blox unit to the X-axis module, mount the unit to the T-bracket
cover on the X-axis MB-10 amp. See
“Mounting onto an MB-10 Amp” on page 23
for information.
2. To mount the IO Blox to the Z-axis module, position the unit onto the enclosure on the Z-axis module; align the two mounting holes on the sides of the IO Blox unit with the corresponding two holes on the enclosure. Secure the unit with two
M4x8 screws. See
.
IO Blox
Mounted on Last
MB-10 Amp
IO Blox
Mounted on First
MB-10 Amp
Figure 2-14. Mounting onto a Three-Axis System
NOTE: Adept recommends mounting IO Blox units only on the first and last MB-10 amps in a three-axis Python system.
Adept IO Blox User’s Guide, Rev C 27
General Operation
3
3.1
Introduction
This chapter describes the operation features common to use with all types of Adept robots. The Adept Cobra i-Series robots run under the MicroV+ operating system, which uses different signal numbers than the other robots that support the IO Blox option, which all run under the V+ operating system.
After installing an IO Blox unit on any type of robot, perform the steps in this chapter. If you have an Adept Cobra i600/i800 robot, refer to
information for your robot. For all other types of robots, refer to
3.2
Connector and Switch Descriptions
JPC_COM
Status LED
8 Input
Terminals
Address
Select
Switch
JCBL1 JCBL2
Over Temp
LED
8 Output
Terminals
Figure 3-1. IO Blox Connectors
JPC_COM - 9-pin D-Sub connector for serial connection to a COM Port on a PC. (Only supported on SmartAxis systems running MicroV+.)
Status LED - Green LED lights when logic power is present and blinks when communicating.
Input Terminals - 8 input terminals for user input signals.
Output Terminals - 8 output terminals for user output signals.
Adept IO Blox User’s Guide, Rev C 29
Chapter 3 - General Operation
Over Temp LED - Red LED lights when the output driver experiences an over-temperature fault, such as when an output is shorted. See
for more information.
JCBL1/2 - 8-pin connectors for connecting to host or to daisy-chain to another IO Blox unit. These two connectors are interchangeable, either one can be used.
ADDR_ SEL Switch - DIP-switch used to select one of four addresses. See
.
3.3
Connecting to Terminals
To connect wires from user-supplied devices to the terminals, see the following procedure. The terminals are designed for wire sizes in the range of 14-24 AWG.
1. Strip 7 mm of insulation from the end of the wire that you want to connect to the terminal.
2. Insert a small flat-blade screwdriver (2.5 mm) into the top opening on the terminal. Push the blade in until the clamp in the lower opening folds back. See
Figure 3-2
.
3. Insert the stripped end of the wire into the lower opening, then remove the screwdriver from the top opening. The clamp will close on the wire. Pull on the wire to confirm it is securely attached in the connector.
4. Visually inspect the connection to make sure that the clamp has closed on the wire, not the insulation.
Insert small flat-blade screwdriver to open contact.
Insert wire, then remove screwdriver to close contact.
Figure 3-2. Inserting Wires into Terminals
30 Adept IO Blox User’s Guide, Rev C
Connecting Input Signals
3.4
Connecting Input Signals
The IO Blox unit has 16 optically isolated digital I/O channels (8 high-side driver outputs with common source and 8 independent inputs). They are wired to terminal blocks
. These terminal blocks also contain
internally wired jumpers to route ground and power signals, if desired.
NOTE: In V+ systems, the IO Blox inputs cannot be used for REACTI programming, high-speed interrupts, or vision triggers. See the
V+
Language User' s Guide
for information on digital I/O programming.
Input Specifications
Style
Table 3-1. IO Blox Input Specifications
Parameter
Operational voltage range
OFF state voltage range
ON state voltage range
Typical threshold voltage
Operational current range
OFF state current range
ON state current range
Typical threshold current
Impedance (V in
/I in
)
Current at V in
= +24 VDC
Turn-on response time (hardware)
Software scan rate/response time
Turn-off response time (hardware)
Software scan rate/response time
Value
Two wire, individually optically isolated, reversible current flow.
0 to 30 VDC
0 to 3 VDC
10 to 30 VDC
V in
= 8 VDC
0 to 7.5 mA
0 to 0.5 mA
2.5 to 7.5 mA
2.0 mA
3.9 k minimum
I in
6 mA
5 µsec maximum
16 ms scan cycle/
32 ms max. response time
5 µsec maximum
16 ms scan cycle/
32 ms max. response time
NOTE: The input current specifications are provided for reference.
Voltage sources are typically used to drive the inputs.
NOTE: If using multiple power supplies, ground all the power supplies to the same grounding point.
Adept IO Blox User’s Guide, Rev C 31
Chapter 3 - General Operation
Example Input Schematic
–
+
NPN
Sensor (Sink)
+V
Out
G
PNP
Sensor (Source)
+V
User-Supplied Equipment
Adept-Supplied Equipment
DIGITAL INPUTS
I1 (UPR)
3.9K
PS2805-4
3.3K
DI_1
I1 (LWR)
A (UPR)
B (LWR)
D
5VD
I2 (UPR)
3.9K
PS2805-4
Out
G
I2 (LWR)
I3 (UPR)
3.9K
PS2805-4
+12VDC
I3 (LWR)
A (UPR)
B (LWR)
Limit Switch Source
I4 (UPR)
3.9K
PS2805-4
I4 (LWR)
PLC 1 (Source)
12V
PLC 2 (Sink)
24V
Limit Switch Sink
+24VDC
User
Supply
+
–
I5 (UPR)
3.9K
I5 (LWR)
A (UPR)
B (LWR)
I6 (UPR)
3.9K
I6 (LWR)
I7 (UPR)
3.9K
I7 (LWR)
A (UPR)
B (LWR)
I8 (UPR)
3.9K
I8 (LWR)
PS2805-4
PS2805-4
PS2805-4
PS2805-4
Figure 3-3. Typical User Wiring for Input Signals
32 Adept IO Blox User’s Guide, Rev C
Connecting Output Signals
3.5
Connecting Output Signals
The eight digital outputs share a common, high-side (sourcing) driver IC. The driver is an eight channel device designed to supply any kind of load with one side connected to ground. It is designed for a range of user-provided voltages from 11 to 24 VDC, and each channel is capable of up to 0.7 A of current. This driver has over-temperature protection, current limiting, shorted load protection, and under-voltage shutdown. In the event of an output short or other over-current situation, the affected output of the driver IC turns off and back on automatically to reduce the temperature of the IC. The “OVRTMP” LED on the IO Blox indicates this condition. The driver is powered by the user-provided voltage supply and the driver control inputs are optically isolated from the IO Blox control logic.
NOTE: An IO Blox Auxiliary Power cable is provided in the IO Blox kit for
Adept Python Linear Modules to provide 24 VDC user power to IO Blox.
See
The outputs are accessed through a 9 x 2 terminal block on the IO Blox unit. The upper row of this terminal block starts with the “+V” supply input and continues with the eight output pins. The bottom row of pins are all shorted together for ground connections. This arrangement allows the two wires from the power supply to be connected at one end and the two wire connections to each load to be connected at the appropriate output. When an output is on, current will flow in through the power supply pin, out through the output pins, and then return through the ground bus of the terminal block back through the power supply connection. This type of output is considered sourcing, that is, in the ON
condition, current flows out of the output pin. See
typical digital output wiring.
Total Current Limitation
Although the capacity of a single channel is 0.7 A, the IO Blox cannot sustain 0.7 A on all outputs simultaneously. Due to heat sinking constraints, the maximum current for all outputs is 2.5 A in a 50° C environment and 3.7 A in 25° C.
Adept IO Blox User’s Guide, Rev C 33
Chapter 3 - General Operation
Output Specifications
Table 3-2. IO Blox Output Circuit Specifications
Parameter Value
Power supply voltage range
Under voltage shutdown
Quiescent current (outputs off)
Operational current range, per
11 VDC +V 30 VDC
7 VDC +V 10.5 VDC
I in
35 mA
I out
700 mA
Total Current Limitation, all channels on
On state resistance (I out
= 0.5 A)
I in, all on
2.5 A @ 50° C ambient
I in, all on
3.7 A @ 25° C ambient
Ron 0.200 max.)
@25C (R on
0.320
Output leakage current
Turn on response time
Turn off response time
I out
10 µA
100 µsec. max., 50 µsec typical
(hardware only)
150 µsec. max., 75 µsec typical
(hardware only)
(+V - 60) V demag
(+V - 47) Output voltage at inductive load turnoff (I out
= 0.5 A, Load = 6 mH)
DC short circuit current limit
Peak short circuit current
0.7A I
LIM
1.9 A
I ovpk
4 A
NOTE: If using multiple power supplies, ground all the power supplies to the same grounding point.
34 Adept IO Blox User’s Guide, Rev C
Connecting Output Signals
Example Output Schematic
DO_1
10K
Typical Isolated
Output Control
(1 of 8)
I 5
I 6
I 7
I 1
I 2
I 3
I 4
I 8
Status
OVRTMP LED
LOGIC
ST VN808 or equivalent
UNDERVOLTAGE
DETECTION
CLAMP POWER
CASE TEMP.
DETCTION c
STMicroelectronics
Adept-Supplied Equipment
CURRENT LIMITER
JUNCTION TEMP.
DETCTION
Same structure for all channels
V
CC
CLAMP
V
CC
GND
OUTPUT 1
OUTPUT 2
OUTPUT 3
OUTPUT 4
OUTPUT 5
OUTPUT 6
OUTPUT 7
OUTPUT 8
I in
O3
G
O4
G
O5
G
O6
G
O7
G
O8
G
+V
G
O1
G
O2
G
User-Supplied Equipment
Typical User
Supply and Loads
+
–
User 24VDC
Power Supply
+
Load
–
+
Load
–
+
Load
–
+
–
Alarm
Lamp
Lamp
AC Motors
M
L N
M
User AC
Power
Supply
Figure 3-4. Typical User Wiring for Output Signals
Adept IO Blox User’s Guide, Rev C 35
Chapter 3 - General Operation
3.6
IO Blox LEDs
There are two surface-mount style LEDs on the IO Blox: a green STATUS LED and a red
OVRTMP LED. See
Table 3-3. IO Blox LED Condition Descriptions
Green STATUS LED
Red OVRTMP LED
On steady = logic power on, no communication
On blinking = communication with host OK
Off = no logic power
On = over-temperature condition in the output driver
IC. The OVRTMP LED is the only driver error indication, there is no software feedback of this condition.
Off = outputs OK
An OVRTMP indication is the result of an over-temperature or over-current condition on one or more of the outputs, usually due to a short-circuit condition. As a result, the output driver IC will oscillate on and off as the chip tries to drive the load. The LED will turn on and off along with this temperature cycling characteristic.
The red OVRTMP LED is active only when:
• An output has been turned on by a V+ command and: a. One or more activated outputs has a thermal overload problem, usually due to a short in the user's wiring from the output pin to the user's ground.
OR b. Total current drawn by all active outputs has exceeded the case temperature rating over time. See the Total Current Limitation, all channels on entry in
36 Adept IO Blox User’s Guide, Rev C
Custom Length IO Blox Cables
3.7
Custom Length IO Blox Cables
The cables that connect power and communications from the host to the IO Blox and between IO Blox units can be ordered in a standard set of lengths. If there is a need for a custom length cable, the following information describes the parts and method to build it.
Item 2 - 8X
Item 1
Item 3
Item 4 - 2X 0.8"
*Back
Item 2 - 8X
Item 1
P2
Pin 8
*Back
2x 0.4"
1.0"
2X
P1
Pin 4
Pin 1
Figure 3-5. IO Blox Cable Drawing
Table 3-4. IO Blox Cable Parts List
Item Adept Part
Number
Description Manufacturer Part Number
1
2
3
4
25146-50085
25119-02010
26724-08130
RCPT, 8POSN, MOLEX, MICRO
Terminal, MOLEX, MICRO, 20-24
AWG
CABLE, HIGH FLEX, 0.2mm
2
AWG) 4 PAIR (desired length)
,(24
MOLEX INC. 43025-0800
MOLEX INC. 43030-00009
DAIDEN RMFEV-SBX-S-A
0.2/4P, or
MONTROSE/CDT CBL
2794-4
Note to item 3.: The Manufacturer P/N’s are “high-flex” cables and may be difficult to obtain. If so, and especially if the application does not involve repeated flexing of the cable, a cable with 4 twisted pairs of 24 AWG to 20 AWG may be substituted.
27300-00033 TUB, SHRINK, ADH, 1/4IN, BLK
(desired length)
RAYCHEM CORP. TAT-125
1/4 BLK, or
REMTEK CORP. DWP-125
1/4 BLK4
NOTE: Use 20 AWG wire for cable lengths beyond 3 meters. Limit individual cable lengths to 10 meters (using 20 AWG wire), and cumulative total length (between all IO Blox units) to 30 meters.
Adept IO Blox User’s Guide, Rev C 37
Chapter 3 - General Operation
Table 3-5. IO Blox Cable Wire List
FROM
P1
P1
P1
P1
P1
P1
P1
P1
Loc.
Wire #
7
8
5
6
3
4
1
2
P2
P2
P2
P2
P2
P2
P2
P2
Loc.
TO:
Wire #
7
8
5
6
3
4
1
2
Color
WHT (BLU)
BRN
WHT(BRN)
GRY
BLU
GRN
WHT(GRN)
WHT(GRY)
Remarks
GND (Twist w/ LINE 5)
SIO1+ (Twist w/LINE 3)
SIO1- (Twist w/LINE 2)
TX232 (Twist w/LINE 8)
IO5VPWR (Twist w/LINE 1)
SIO2+ (Twist w/LINE 7)
SIO2- (Twist w/LINE 6)
RX232 (Twist w/LINE 4)
38 Adept IO Blox User’s Guide, Rev C
Operation on V+-Based
Systems
4
4.1
Using the IO Blox with Adept Robots
This chapter describes the operation of IO Blox units connected to robots that use the V+ operating system. These robots are:
• Adept Cobra s600/s800
• Adept Cobra s350
• Adept Viper
• Adept Python Linear Modules
Configuration
IO Blox units that are connected to the robot will be automatically recognized by the system when the robot is turned on. You can connect (or disconnect) IO Blox units while the system is turned on, but you must re-boot the system to update the system IO configuration.
IO Signal Numbers
In a typical Adept robot system that runs under V+, IO signal numbers for the IO Blox are pre-configured at the factory and are ready to use. See
Table 4-1, “IO Blox Signal
Designations,” on page 42
.
Adept IO Blox User’s Guide, Rev C 39
Chapter 4 - Operation on V+-Based Systems
Cobra s600/s800 Robot
IO Blox Device
IO Blox #1
8 Input signals: 1113 to 1120
8 Output signals: 0105 to 0112
GND
XSLV
1
2
SmartServo
+24V
DC INPUT
(24 VDC)
AC INPUT
Φ
) XIO XPANEL RS-232
Figure 4-1. IO Blox I/O Signals and Cable Connections on Adept Cobra s600/s800 Robot
MB-40R
To EXPIO on MB-40R
IO Blox Device
IO Blox #1
8 Input signals: 1113 to 1120
8 Output signals: 0105 to 0112
Adept Cobra s350 System
(robot not shown)
Figure 4-2. IO Blox I/O Signals and Cable Connections on Adept Cobra s350 Robot System
40 Adept IO Blox User’s Guide, Rev C
Using the IO Blox with Adept Robots
IO Blox #1
8 Input signals: 1113 to 1120
8 Output signals: 0105 to 0112
J AMP J AMP
DO NOT REMOVE OR INSTALL THIS
MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED
HIGH VOLTS ON
PWM ON
LOW VOLTS ON
OPEN CKT FAULT
HV SAG/OVER TEMP FAULT
CH1 CH2
SHORT FAULT
DO NOT REMOVE OR INSTALL THIS
MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED
HIGH VOLTS ON
PWM ON
LOW VOLTS ON
OPEN CKT FAULT
HV SAG/OVER TEMP FAULT
CH1 CH2
SHORT FAULT
J AMP
s
DAI
CAUTION
HIGH
VOLTAGE
INSIDE
DO NOT REMOVE OR INSTALL THIS
MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED
HIGH VOLTS ON
B
R
A
K
E
PWM ON
LOW VOLTS ON
OPEN CKT FAULT
HV SAG/OVER TEMP FAULT
1
SmartServo
CH1 CH2
SHORT FAULT
2
STATUS
R
S
2
3
2
E
X
P
O
A
M
P
L
F
E
R
C
O
N
T
R
O
L
A
M
P
L
F
R
E
C
O
N
T
R
O
L
A
M
P
L
F
E
R
C
O
N
T
R
O
L
X
S
L
V
P
O
W
E
R
O
U
T
P
U
T
M
O
T
O
R
CH1 CH2
P
O
W
E
R
O
U
T
P
U
T
M
O
T
O
R
CH1 CH2
P
O
W
E
R
O
U
T
P
U
T
M
O
T
O
R
CH1 CH2
C
N
P
G
1
2
3
C
N
2
9
C
N
2
5
G
4
5
6
C
N
P
To EXPIO on sDAI
IO Blox Device adept technology, inc.
Adept Viper System
(robot not shown)
Adept PA-4
Power Chassis
Figure 4-3. IO Blox I/O Signals and Cable Connections on Adept Viper Robot System
MB-10 Amp
IO Blox #1
8 Input signals: 1113 to 1120
8 Output signals: 0105 to 0112
To IO Blox Connector on MB-10
IO Blox Device
Note: MB-10 connectors are located on bottom of amp.
Adept Python
Module
Figure 4-4. IO Blox I/O Signals and Signal Cable Connections on Python Module System
Adept IO Blox User’s Guide, Rev C 41
Chapter 4 - Operation on V+-Based Systems
Table 4-1. IO Blox Signal Designations
Terminal Designation
IO Blox #1
Input 1
Input 2
Input 3
Input 4
Input 5
Input 6
Input 7
Input 8
V+ Signal Number
1113
1114
1115
1116
1117
1118
1119
1120
Output 1
Output 2
Output 3
Output 4
Output 5
Output 6
Output 7
Output 8
0105
0106
0107
0108
0109
1110
0111
0112
IO Blox #2 - Inputs
IO Blox #2 - Outputs
IO Blox #3 - Inputs
IO Blox #3 - Outputs
IO Blox #4 - Inputs
IO Blox #4 - Outputs
1121 to 1128
0113 to 0120
1129 to 1136
0121 to 0128
1137 to 1144
0129 to 0136
4.2
Configuring Multiple Robot and Amp Systems
This section describes how to configure IO Blox units installed on multiple Adept robots and multiple MB-10 amps on a Python Linear Modules system.
), use the DC_SETUP program to assign the correct digital “logical” IO blocks to each robot. By default, robot #1 or MB-10 amp #1 uses block
1 and block 3; robot #2 or MB-10 amp #2 uses block 2 and block 4. See
Figure 4-5 on page
44
and
Figure 4-11 on page 49
DC_SETUP.
The default signal configuration, or mapping, is shown in
Table 4-2
. This configuration is usually sufficient for most installations. If you need to change the mapping, see
42 Adept IO Blox User’s Guide, Rev C
Digital I/O Block Configuration
Table 4-2. Default Signal Configuration, Dual Robot/Multiple MB-10 Systems
Location
Robot #1 or
MB-10 #1
Robot #2 or
MB-10 #2
IO Blox 1
IO Blox 2
IO Blox 3
IO Blox 4
IO Blox 1
IO Blox 2
IO Blox 3
IO Blox 4
Type
Inputs
Outputs
Inputs
Outputs
Inputs
Outputs
Inputs
Outputs
Inputs
Outputs
Inputs
Outputs
Inputs
Outputs
Inputs
Outputs
Signal Range
1113 - 1120
0105 - 0112
1121 - 1128
0113 - 0120
1129 - 1136
0121 - 0128
1137 - 1144
0129 - 0136
1161 - 1168
0145 - 0152
1169 - 1176
0153 - 0160
1177 - 1184
0161 - 0168
1185 - 1192
0169 - 0176
4.3
Digital I/O Block Configuration
In most system installations you can use the default I/O configurations shown in the previous section, and you will not have to modify the I/O configuration files. If you need to modify the I/O configuration, then you must use the CONFIG_C program, as described in
.
The information in this section can help during the configuration, or mapping process.
The diagram in
Figure 4-5
shows the output and input blocks for IO Blox units on robot #1 or MB-10 #1 and robot #2 or MB-10 #2 in a dual robot or multiple MB-10 amp system.
IO Blox Inputs/Outputs
Up to four IO Blox units can be daisy-chained together per robot or MB-10 amp to give you 32 inputs and 32 outputs per robot or amp. For IO Blox units installed on a a single robot or MB-10 amp, by default, the IO Blox units occupy the first four bytes of the third block. For IO Blox units installed on a second robot or MB-10 amp, by default, they occupy the first four bytes of the fourth block. See
Figure 4-5
. See also your robot documentation for additional I/O configuration information.
Adept IO Blox User’s Guide, Rev C 43
Chapter 4 - Operation on V+-Based Systems
ROBOT #1 or MB-10 #1
Input Block 3
Byte 1
IO Blox 1
(1113-1120)
Output Block 3
Byte 1
IO Blox 1
(0105-112)
Byte 2
IO Blox 2
(1121-1128)
Byte 2
IO Blox 2
(0113-120)
Byte 3
IO Blox 3
(1129-1136)
Byte 3
IO Blox 3
(0121-128)
Byte 4
IO Blox 4
(1137-1144)
Byte 4
IO Blox 4
(0129-136)
ROBOT #2 or MB-10 #2
Input Block 4
Byte 1
IO Blox 1
(1161-1168)
Output Block 4
Byte 1
IO Blox 1
(0145-0152)
Byte 2
IO Blox 2
(1169-1176)
Byte 2
IO Blox 2
(0153-0160)
Byte 3
IO Blox 3
(1177-1184)
Byte 3
IO Blox 3
(0161-0168)
Byte 4
IO Blox 4
(1185-1192)
Byte 4
IO Blox 4
(0169-0176)
Figure 4-5. Input/Output Block Configuration in Dual Robot /Multiple MB-10 Amp Systems
4.4
DC_SETUP Configuration
NOTE: The procedure below describes how to use the DC_SETUP program to initialize IO Blox on MB-10 amps on a multi-axis Python system.
Load and Run DC_SETUP.V2
This section goes through the IO Blox initialization. You map the IO Blox units to logical blocks (see
Figure 4-5 on page 44
for information on the default IO Blox logical blocks).
1. Type the following at the prompt.
load d:\util\dc_setup.v2
execute 1 a.dc_setup
The first screen in the Setup program looks similar to
Figure 4-6
.
44 Adept IO Blox User’s Guide, Rev C
2. Select “Configure DIO input/output blocks.”
DC_SETUP Configuration
Figure 4-6. DC_SETUP Program Main Screen
3. Press the SPACE bar to select the SmartServo device to which the IO Blox units are connected. On multi-axis Python systems, when the LED on the MB-10 amp you want to configure flashes green/red, press ENTER to select it. A screen similar to
Figure 4-7. DC_SETUP SmartServo Device Data Screen
4. Follow the on-screen prompts to map the units to the default logical block.
5. If IO Blox units are installed on a second MB-10 amp, repeat the above steps to map the units installed on this amp to the next default logical block.
NOTE: On Adept Python Linear Modules systems, when an IO Blox is correctly connected to the MB-10 amp and configured, “OK” is displayed on the MB-10 amp’s status panel.
NOTE: Remember to save all specifications to the system disk when prompted at the end of the setup process.
Adept IO Blox User’s Guide, Rev C 45
Chapter 4 - Operation on V+-Based Systems
4.5
Using CONFIG_C to Configure I/O
The default IO Blox signal configuration, or mapping, is shown in
Table 4-2 on page 43
.
This configuration is usually sufficient for most installations. If you need to add more I/O or change the mapping, perform the steps below.
When changing the signal mapping, keep the following points in mind.
• By default, V+ allocates signal input/output signal ranges for four IO Blox units per block even if less than four units are installed (see
Table 4-2 on page 43
).
• By default, V+ allocates certain input/output signal ranges to various other types of I/O devices, such as optional sDIO modules. To avoid conflicts, do not map signals for IO Blox I/O to signals used by other I/O devices. In general, specify signal ranges above the default ranges used by other I/O devices. See
Figure 4-11 on page 49
for the default signal input ranges for other I/O devices. See your robot documentation for additional information.
• Map 8 available input signals and 8 available output signals per each IO Blox unit.
Also, map multiple, daisy-chained IO Blox units to consecutive input and output signal numbers, respectively. For example, map input signals for the first unit to
1113-1120, input signals for the second unit to 1121-1128, and so on; map output signals for the first unit to 0105-0112, output signals for the second unit to
0113-0120, and so on (these are the default signals).
NOTE: After using CONFIG_C to map I/O signals for IO Blox units, you must run the DC_SETUP program to assign the correct digital I/O blocks.
This procedure provides the basic steps for using the CONFIG_C program to map I/O signals.
1. Type the following at the prompt:
LOAD D:\UTIL\CONFIG_C
EXE 1 a.config_c
The following will be displayed.
46 Adept IO Blox User’s Guide, Rev C
Using CONFIG_C to Configure I/O
Figure 4-8. CONFIG_C Menu
2. Select option 2 “V+ System Configuration Data.”
The following will be displayed.
Figure 4-9. Controller Configuration Editor Menu
3. Select option 2 “EDIT system CONFIGURATION.”
The following will be displayed.
Adept IO Blox User’s Guide, Rev C 47
Chapter 4 - Operation on V+-Based Systems
Figure 4-10. System Configuration Editor Menu
4. Configure the I/O as shown in
Figure 4-11 on page 49
. This figure shows an example from a CONFIG_C file - look closely at the highlighted areas. Do not delete any of the default configurations. This file is configured for:
• Two sDIO modules connected to two robots
• XIO connected to two robots
• Up to four IO Blox units (per robot or MB-10 amp) connected to two robots or two amps
48 Adept IO Blox User’s Guide, Rev C
Using CONFIG_C to Configure I/O
Figure 4-11. Sample Configuration File for Digital I/O
Adept IO Blox User’s Guide, Rev C 49
Operation on MicroV+-Based
Systems
5
5.1
Using the IO Blox in a Cobra i600/i800 System
Configuration
IO Blox units that are connected to the robot will be automatically recognized by the system when the robot is turned on. You can connect (or disconnect) IO Blox units while the system is turned on, but you must issue a SRV.RESET command to update the system
IO configuration.
Cobra i600/i800 Robot
IO Blox #1
8 Input signals: 1033 to 1040
8 Output signals: 0033 to 0040
IO Blox Device
GND
XSLV
1
2
SmartServo
+24V
DC INPUT
(24 VDC)
AC INPUT
(200-240 VAC 1
Φ
) XIO XPANEL RS-232
Figure 5-1. IO Blox I/O Signals and Cable Connections on Cobra i-Series Robots
Adept IO Blox User’s Guide, Rev C 51
Chapter 5 - Operation on MicroV+-Based Systems
IO Signal Numbers
In a typical Cobra i600/i800 system, the MicroV+ IO signal numbers for the IO Blox units are pre-configured at the factory and are ready to use. See
Table 5-1
.
Table 5-1. IO Blox Signal Designations
Terminal Designation
IO Blox #1
Input 1
Input 2
Input 3
Input 4
Input 5
Input 6
Input 7
Input 8
MicroV+ Signal Number
1033
1034
1035
1036
1037
1038
1039
1040
Output 1
Output 2
Output 3
Output 4
Output 5
Output 6
Output 7
Output 8
IO Blox #2 - Inputs
IO Blox #2 - Outputs
IO Blox #3 - Inputs
IO Blox #3 - Outputs
IO Blox #4 - Inputs
IO Blox #4 - Outputs
0033
0034
0035
0036
0037
0038
0039
0040
1041 to 1048
0041 to 0048
1049 to 1056
0049 to 0056
1057 to 1064
0057 to 0064
52 Adept IO Blox User’s Guide, Rev C
P/N: 04638-000, Rev C
5960 Inglewood Drive
Pleasanton, CA 94588
925•245•3400
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Key Features
- 8 optically isolated inputs
- 8 optically isolated outputs
- Supports up to 4 IO Blox units per robot
- Can be daisy-chained for multiple units
- DIN rail mounting option
- Multiple cable options for various robot systems
