omron adept io blox user's guide
TRANSCRIPT
Omron Adept IO BloxUser's Guide
e
Omron Adept IO BloxUser’s Guid
P/N: 04638-000, Rev CMarch 2013
The information contained herein is the property of Adept Technology, Inc., and shall not be repro-duced in whole or in part without prior written approval of Adept Technology, Inc. The informa-tion 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 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.1 Product Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2 Dangers, Warnings, Cautions, and Notes in Manual . . . . . . . . . . . . . . . . . . . . . . 8
1.3 What to Do in an Emergency Situation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.4 Additional Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Adept Robot Safety Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.5 How Can I Get Help? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9Adept Document Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.1 Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.2 General Installation on All Adept Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Cable Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12Python Modules Cables Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13Address Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14Installing Multiple IO Blox Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Maximum Number of IO Blox Units per System . . . . . . . . . . . . . . . . 15Mounting on a DIN Rail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.3 Installation on an Adept Cobra i600/i800 or s600/s800 System . . . . . . . . . . . . 17
Mechanical Mounting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17Cable Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.4 Installation on an Adept Cobra s350 System . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Mechanical Mounting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19Cable Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.5 Installation on an Adept Viper System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Mechanical Mounting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20Cable Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.6 Installation on an Adept Python Modules System . . . . . . . . . . . . . . . . . . . . . . . 20
Cable Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21Connecting the IO Blox-to-IO Blox Cable . . . . . . . . . . . . . . . . . . . . 21Connecting the Auxiliary Power Cable . . . . . . . . . . . . . . . . . . . . . . 21Finishing Cable Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Mechanical Mounting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23Mounting onto an MB-10 Amp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23Mounting onto the End of an L18 Module . . . . . . . . . . . . . . . . . . . . 24Mounting onto a Module T-Slot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25Mounting 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
3 General Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3.2 Connector and Switch Descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3.3 Connecting to Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.4 Connecting Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Input Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31Example Input Schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.5 Connecting Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Total Current Limitation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33Output Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34Example Output Schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3.6 IO Blox LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
3.7 Custom Length IO Blox Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4 Operation on V+-Based Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.1 Using the IO Blox with Adept Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39IO Signal Numbers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.2 Configuring Multiple Robot and Amp Systems . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.3 Digital I/O Block Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
IO Blox Inputs/Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
4.4 DC_SETUP Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Load and Run DC_SETUP.V2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.5 Using CONFIG_C to Configure I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
5 Operation on MicroV+-Based Systems . . . . . . . . . . . . . . . . . . . . . . . . . 51
5.1 Using the IO Blox in a Cobra i600/i800 System . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51IO Signal Numbers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
6 Adept IO Blox User’s Guide, Rev C
Introduction 11.1 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:
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 CO2 to extinguish the fire.
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.
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 Contains safety information for Adept robots.
Adept SmartController User’s Guide
Contains information on the installation and operation of the Adept SmartController and the optional sDIO product.
Adept ACE User’s Guide Instruction for the use of the Adept ACE software.
V+ Operating System User’s Guide
Describes the V+ operating system, including disk file operations, monitor commands, and monitor command programs.
V+ Language User’s Guide Describes the V+ language and programming of an Adept control system.
Adept IO Blox User’s Guide, Rev C 9
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 22.1 Dimensions
Figure 2-1. Adept IO Blox Dimensions
4.5.18
1264.96
1385.43
451.77
43.81.72
113.64.47
Tie-Wrap Location (1 of 4)
Units are mm [in.]
Adept IO Blox User’s Guide, Rev C 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 Section 2.3 on page 17 for information on connecting to an Adept Cobra i600/i800 or s600/s800 robot.
• See Section 2.4 on page 19 for information on connecting an Adept Cobra s350 robot.
• See Section 2.5 on page 20 for information on connecting to an Adept Viper robot.
• See Section 2.6 on page 20 for information on connecting to an Adept Python Modules system or Adept MB-10 Servo Kit.
Cable Options
For most robot systems, the IO Blox unit is connected to the robot by the IO Blox-to-Robot cable. See Table 2-1 for the optional cable part numbers by length.
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.
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
12 Adept IO Blox User’s Guide, Rev C
General Installation on All Adept Robots
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
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.
Installing Multiple IO Blox Units
When installing more than one IO Blox unit in a system, you must connect the units with the supplied cables, and set the address select switch correctly for each additional unit.
1. Locate the IO Blox-to-IO Blox cable that was supplied with the system. See Table 2-2 on page 13 for the details of the cable options.
2. Plug one end of the cable into the JCBL2 connector on the first unit.
3. Plug the other end of the cable into the JCBL1 connector on the second unit.
4. Continue this cabling process for any additional units.
5. Set the address select switch for additional units. See Table 2-4.
NOTE: Each IO Blox unit (up to 4) must have a unique address. IO Blox units with duplicate addresses will conflict.
See also the note on page 37 for the maximum cumulative cable length between IO Blox units.
Table 2-4. IO Blox Address Switch Settings
Address NumberSwitch 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
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 amp1
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.
Figure 2-3. DIN Rail Mounting
Endcap Removed
DIN Rail Foot Element Installed
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
er
2.3 Installation on an Adept Cobra i600/i800 or s600/s800 System
Mechanical Mounting
The IO Blox option can be mounted to the robot in two locations. See Figure 2-4 and Figure 2-5. Up to four IO Blox units can be mounted on a robot. The user needs to make an adapter plate to go between the external mounting holes on the robot and the bolt flanges on the IO Blox.
Use your web browser to go to the Adept Download Center on the Adept website. Search for Download ID 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.
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.
Table 2-5. IO Blox Bracket Drawing Numbers
Mounting on Outer Link (Joint 2) Cover Mounting on Inner Link (Joint 1) Cov
IO Blox # Base Drawing Number
Plate Drawing Number
Base Drawing Number
Plate Drawing Number
1 04852-000 04853-000 04852-010 04853-010
2 04852-000 04853-020 -- --
3 04852-030 04853-030 -- --
4 04852-030 04853-040 -- --
Inner Link External Mounting Location
Outer Link External Mounting Location
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 Figure 2-5.
3. Connect the other end of the cable to the JCBL1 connector on the IO Blox. See Figure 3-1 on page 29 for the location of the JCBL1 connector.
NOTE: To install multiple IO Blox units, see “Installing Multiple IO Blox Units” on page 14.
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.
Figure 2-6. IO Blox Cable Connection to Cobra s350 Robot System
3. Connect the other end of the cable to the JCBL1 connector on the unit. See Figure 3-1 on page 29 for the location of JCBL1.
NOTE: To install multiple IO Blox units, see “Installing Multiple IO Blox Units” on page 14.
MB-40R
IO Blox Option
To EXPIO on MB-40R
Adept Cobra s350 System(robot not shown)
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 Figure 3-1 on page 29 for the location of JCBL1.
NOTE: To install multiple IO Blox units, see “Installing Multiple IO Blox Units” on page 14.
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.
Figure 2-8. IO Blox Connector on MB-10 Amp
4. Route the other end of the cable through one of the openings on the sides of the MB-10 T-bracket and connect it to the JCBL1 connector on the IO Blox unit.
Connecting the Auxiliary Power Cable
An IO Blox Auxiliary Power Cable is included in the IO Blox kit for Adept Python Modules to provide 24 VDC user power to IO Blox. A male and female 2-pin plug are attached to one end. One plug connects to the mating 2-pin plug on the 24 VDC cable from the PDU or the 24 VDC cable connecting two MB-10 amps in a multi-axis system. If connecting to the first MB-10 amp in a multi-axis system, the other 2-pin plug connects to the 24 VDC cable connected to the next MB-10 amp in the system. The other end of the Auxiliary Power Cable is unterminated and connects to the +V and G (Ground) terminators on an IO Blox. See Figure 2-9. If necessary, cut the cable down to the desired length.
1. Locate the IO Blox Auxiliary Power cable supplied with the IO Blox kit for Python Linear Modules.
Adept Python Linear Module
IO Blox Device
To IO Blox Connectoron MB-10 anp and JCBL1 Connector on IO Blox
MB-10 Amp
Note: MB-10 connectorsare located on bottom ofamp.
24 VDCConnectors
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 Figure 2-9.
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.
Figure 2-9. IO Blox Auxiliary Power Cable Connections
4. Route the unterminated end of the IO Blox Auxiliary Power cable through one of the openings on the sides of the MB-10 amp.
5. Strip 7 mm of insulation from the unterminated end of the IO Blox Auxiliary Power cable and connect the white 24 VDC power wire to the +V terminal on the IO Blox; connect the black ground wire to the G terminal on the IO Blox. See Figure 2.1 on page 11 for the location of the +V and G terminals. See Section 3.3 on page 30 for information on connecting to terminals.
Finishing Cable Installation
When finished installing the IO Blox cables, replace the T-bracket cover on the MB-10 amp.
AMP
PWR
XDCS
PWR
AC
AMP
ES2
IN
1
AUX
ES1
XSLV1/
AC
CH1 CH2
24V
AUX DC RESET
XSLV2
PDU3
2
AMP DC RESET
CIRCUIT
BREAKER
PDU3
24VDC cable from PDU3
MB-10 #1
2-Pin User Plug
Auxilliary 24V Power Cable Assembly(05668-000)
Unterminated cablefor User 24V Power to +V terminal on IO Blox. Cut to length and strip wires.
MB-10 #2 MB-10 #3
22 Adept IO Blox User’s Guide, Rev C
Installation on an Adept Python Modules System
NOTE: To install multiple IO Blox units, see “Installing Multiple IO Blox Units” on page 14.
Mechanical Mounting
IO Blox modules can be mounted onto Adept Python Modules systems in the following ways:
• Onto the MB-10 T-bracket cover
• Onto the end cap of an L18 module
• Onto a module T-slot
• Onto a Z-axis harness enclosure
Use the M4x8 mounting screws included in the IO Blox mounting kit to mount the IO Blox.
IO Blox can also be mounted on a DIN rail - see “Mounting on a DIN Rail” on page 16.
Mounting onto an MB-10 Amp
1. Position the IO Blox unit on the MB-10 T-bracket cover. Align the two mounting holes on the sides of the unit with the corresponding two holes on the T-bracket cover.
2. Secure the unit to the T-bracket cover with two M4x8 screws. See Figure 2-10.
Figure 2-10. Mounting onto an MB-10 Amp
IO BloxMountedon MB-10Amp T-BracketCover
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 Figure 2-11.
Figure 2-11. Mounting onto an L18 Module
IO BloxMountedon L-18Module
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 Figure 2-12.
Figure 2-12. Mounting onto a Module T-Slot
IO BloxMountedon ModuleT-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 for information.
2. Optionally, mount another unit onto the T-bracket cover on the other MB-10 amp. See Figure 2-13.
NOTE: Below is a typical two-axis Python system. Your configuration may be different.
Figure 2-13. Mounting onto a Two-Axis System
IO BloxDevicesMountedon two MB-10Amp T-BracketCovers
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 Figure 2-14.
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.
IO BloxMountedon FirstMB-10 Amp
IO BloxMountedon LastMB-10 Amp
Adept IO Blox User’s Guide, Rev C 27
General Operation 33.1 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 Chapter 5 for additional operation information for your robot. For all other types of robots, refer to Chapter 4.
3.2 Connector and Switch Descriptions
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.
Status LEDJPC_COM
Address Select Switch
JCBL1 JCBL2 Over Temp LED
8 Output Terminals
8 Input Terminals
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 Section 3.6 on page 36 for more information.
JCBL1/2 - 8-pin connectors for connecting to host or to daisy-chain to another IO Blox unit. These two connectors are interchangeable, either one can be used.
ADDR_ SEL Switch - DIP-switch used to select one of four addresses. See Table 2-4 on page 14.
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.
Figure 3-2. Inserting Wires into Terminals
Insert small flat-blade screwdriver to open contact.
Insert wire, then remove screwdriver to close contact.
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 located on the unit. See Figure 2-1 on page 11. These terminal blocks also contain internally wired jumpers to route ground and power signals, if desired.
NOTE: In V+ systems, the IO Blox inputs cannot be used for REACTI programming, high-speed interrupts, or vision triggers. See the V+ Language User' s Guide for information on digital I/O programming.
Input Specifications
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.
Table 3-1. IO Blox Input Specifications
Parameter Value
Style Two wire, individually optically isolated, reversible current flow.
Operational voltage range 0 to 30 VDC
OFF state voltage range 0 to 3 VDC
ON state voltage range 10 to 30 VDC
Typical threshold voltage Vin = 8 VDC
Operational current range 0 to 7.5 mA
OFF state current range 0 to 0.5 mA
ON state current range 2.5 to 7.5 mA
Typical threshold current 2.0 mA
Impedance (Vin/Iin) 3.9 k minimum
Current at Vin = +24 VDC Iin 6 mA
Turn-on response time (hardware)
Software scan rate/response time
5 µsec maximum
16 ms scan cycle/ 32 ms max. response time
Turn-off response time (hardware)
Software scan rate/response time
5 µsec maximum
16 ms scan cycle/ 32 ms max. response time
Adept IO Blox User’s Guide, Rev C 31
Chapter 3 - General Operation
Example Input Schematic
Figure 3-3. Typical User Wiring for Input Signals
DI_1
3.3K
3.9KI1 (UPR)+V
Out
Out
G A (UPR)
B (LWR)
A (UPR)
B (LWR)
I1 (LWR)
5VD
D
PS2805-4
DIGITAL INPUTS
3.9KI2 (UPR)
I2 (LWR)
3.9KI3 (UPR)
I3 (LWR)
PS2805-4
PS2805-4
A (UPR)
B (LWR)
3.9KI4 (UPR)
I4 (LWR)
3.9KI5 (UPR)
I5 (LWR)
PS2805-4
PS2805-4
A (UPR)
B (LWR)
3.9KI6 (UPR)
I6 (LWR)
3.9KI7 (UPR)
I7 (LWR)
PS2805-4
PS2805-4
3.9KI8 (UPR)
I8 (LWR)
PS2805-4
NPN Sensor (Sink)
+V
G
PNP Sensor (Source)
+ +12VDC
Limit Switch Source
Limit Switch Sink
PLC 1 (Source)12V
PLC 2 (Sink)
24V
–
++24VDC User Supply
–
Adept-Supplied EquipmentUser-Supplied Equipment
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 Section 2.6 on page 20 for information.
The outputs are accessed through a 9 x 2 terminal block on the IO Blox unit. The upper row of this terminal block starts with the “+V” supply input and continues with the eight output pins. The bottom row of pins are all shorted together for ground connections. This arrangement allows the two wires from the power supply to be connected at one end and the two wire connections to each load to be connected at the appropriate output. When an output is on, current will flow in through the power supply pin, out through the output pins, and then return through the ground bus of the terminal block back through the power supply connection. This type of output is considered sourcing, that is, in the ON condition, current flows out of the output pin. See Figure 3-4 on page 35 for details on typical digital output wiring.
Total Current Limitation
Although the capacity of a single channel is 0.7 A, the IO Blox cannot sustain 0.7 A on all outputs simultaneously. Due to heat sinking constraints, the maximum current for all outputs is 2.5 A in a 50° C environment and 3.7 A in 25° C.
Adept IO Blox User’s Guide, Rev C 33
Chapter 3 - General Operation
Output Specifications
NOTE: If using multiple power supplies, ground all the power supplies to the same grounding point.
Table 3-2. IO Blox Output Circuit Specifications
Parameter Value
Power supply voltage range 11 VDC +V 30 VDC
Under voltage shutdown 7 VDC +V 10.5 VDC
Quiescent current (outputs off) Iin 35 mA
Operational current range, per channel (See “Total Current Limitation” on page 33.)
Iout 700 mA
Total Current Limitation, all channels on
Iin, all on 2.5 A @ 50° C ambient Iin, all on 3.7 A @ 25° C ambient
On state resistance (Iout = 0.5 A) Ron 0.200 @25C (Ron 0.320 max.)
Output leakage current Iout 10 µA
Turn on response time 100 µsec. max., 50 µsec typical (hardware only)
Turn off response time 150 µsec. max., 75 µsec typical (hardware only)
Output voltage at inductive load turnoff (Iout = 0.5 A, Load = 6 mH)
(+V - 60) Vdemag (+V - 47)
DC short circuit current limit 0.7A ILIM 1.9 A
Peak short circuit current Iovpk 4 A
34 Adept IO Blox User’s Guide, Rev C
Connecting Output Signals
D
Example Output Schematic
Figure 3-4. Typical User Wiring for Output Signals
UNDERVOLTAGE DETECTION
ST VN808 or equivalentV
CC
GND
OUTPUT 1
OUTPUT 2
OUTPUT 3
OUTPUT 4
OUTPUT 5
OUTPUT 6
OUTPUT 7
OUTPUT 8
VCCCLAMP
CLAMP POWER
CURRENT LIMITER
JUNCTION TEMP. DETCTION
CASE TEMP. DETCTION
Same structure for all channels
LOGIC
I 1
O_1
10K
Typical Isolated Output Control (1 of 8)
Typical User Supply and Loads
I 2
I 3
I 4
I 5
I 6
I 7
I 8
Status
OVRTMP LED
STMicroelectronics
+VIin
+
+
+
User 24VDC Power Supply
Alarm
Lamp
Lamp
G
O1
O2
O3
O4
O5
O6
O7
O8
G
G
G
G
G
G
G
G
Load
+Load
Load
M
User AC Power Supply
AC Motors
ML N
–
–
–
–
+
–
Adept-Supplied Equipment User-Supplied Equipment
c
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 for descriptions.
An OVRTMP indication is the result of an over-temperature or over-current condition on one or more of the outputs, usually due to a short-circuit condition. As a result, the output driver IC will oscillate on and off as the chip tries to drive the load. The LED will turn on and off along with this temperature cycling characteristic.
The red OVRTMP LED is active only when:
• An output has been turned on by a V+ command and:
a. One or more activated outputs has a thermal overload problem, usually due to a short in the user's wiring from the output pin to the user's ground.
OR
b. Total current drawn by all active outputs has exceeded the case temperature rating over time. See the Total Current Limitation, all channels on entry in Table 3-2 on page 34.
Table 3-3. IO Blox LED Condition Descriptions
Green STATUS LED On steady = logic power on, no communication
On blinking = communication with host OK
Off = no logic power
Red OVRTMP LED On = over-temperature condition in the output driver IC. The OVRTMP LED is the only driver error indication, there is no software feedback of this condition.
Off = outputs OK
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.
Figure 3-5. IO Blox Cable Drawing
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.
Table 3-4. IO Blox Cable Parts List
Item Adept Part Number
Description Manufacturer Part Number
1 25146-50085 RCPT, 8POSN, MOLEX, MICRO MOLEX INC. 43025-0800
2 25119-02010 Terminal, MOLEX, MICRO, 20-24 AWG
MOLEX INC. 43030-00009
3 26724-08130 CABLE, HIGH FLEX, 0.2mm2,(24 AWG) 4 PAIR (desired length)
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.
4 27300-00033 TUB, SHRINK, ADH, 1/4IN, BLK (desired length)
RAYCHEM CORP. TAT-125 1/4 BLK, orREMTEK CORP. DWP-125 1/4 BLK4
Item 1Item 3
Item 4 - 2X 0.8"
Pin 8
Pin 4 Pin 1
*Back
*Back
P1
2x 0.4"
1.0" 2X
P2
Item 2 - 8X
Item 1Item 2 - 8X
Adept IO Blox User’s Guide, Rev C 37
Chapter 3 - General Operation
Table 3-5. IO Blox Cable Wire List
FROM TO:
Loc. Wire # Loc. Wire # Color Remarks
P1 1 P2 1 WHT (BLU) GND (Twist w/ LINE 5)
P1 2 P2 2 BRN SIO1+ (Twist w/LINE 3)
P1 3 P2 3 WHT(BRN) SIO1- (Twist w/LINE 2)
P1 4 P2 4 GRY TX232 (Twist w/LINE 8)
P1 5 P2 5 BLU IO5VPWR (Twist w/LINE 1)
P1 6 P2 6 GRN SIO2+ (Twist w/LINE 7)
P1 7 P2 7 WHT(GRN) SIO2- (Twist w/LINE 6)
P1 8 P2 8 WHT(GRY) RX232 (Twist w/LINE 4)
38 Adept IO Blox User’s Guide, Rev C
Operation on V+-BasedSystems 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
Figure 4-1. IO Blox I/O Signals and Cable Connections on Adept Cobra s600/s800 Robot
Figure 4-2. IO Blox I/O Signals and Cable Connections on Adept Cobra s350 Robot System
GND XSLV
1
2
SmartServo
RS-232XPANELAC INPUT
(200-240 VAC 1Φ)
+24VDC INPUT(24 VDC)
XIO
Cobra s600/s800 Robot
IO Blox Device
IO Blox #18 Input signals: 1113 to 11208 Output signals: 0105 to 0112
MB-40R
IO Blox Device
IO Blox #18 Input signals: 1113 to 11208 Output signals: 0105 to 0112
To EXPIO on MB-40R
Adept Cobra s350 System(robot not shown)
40 Adept IO Blox User’s Guide, Rev C
Using the IO Blox with Adept Robots
Figure 4-3. IO Blox I/O Signals and Cable Connections on Adept Viper Robot System
Figure 4-4. IO Blox I/O Signals and Signal Cable Connections on Python Module System
CAUTIONHIGH
VOLTAGEINSIDE
BRAKE STATUS
SmartServo
1
2
RS232
EXPIO
XSLV
CNPG123
CNPG456
CN25
CN29
DAIs
adept technology, inc.
LOW VOLTS ON
HV SAG/OVER TEMP FAULT
DO NOT REMOVE OR INSTALL THIS
SHORT FAULT
OPEN CKT FAULT
MODULE UNLESS HIGH VOLTS LEDIS COMPLETELY DISTINGUISHED
PWM ON
CH1
HIGH VOLTS ON
CH2
AMPLIFIER
CONTROL
CH2CH1
MOTOR
POWER
OUTPUT
J AMP J AMP J AMP
LOW VOLTS ON
HV SAG/OVER TEMP FAULT
DO NOT REMOVE OR INSTALL THIS
SHORT FAULT
OPEN CKT FAULT
MODULE UNLESS HIGH VOLTS LEDIS COMPLETELY DISTINGUISHED
PWM ON
CH1
HIGH VOLTS ON
CH2
AMPLIFIER
CONTROL
CH2CH1
MOTOR
POWER
OUTPUT
LOW VOLTS ON
HV SAG/OVER TEMP FAULT
DO NOT REMOVE OR INSTALL THIS
SHORT FAULT
OPEN CKT FAULT
MODULE UNLESS HIGH VOLTS LEDIS COMPLETELY DISTINGUISHED
PWM ON
CH1
HIGH VOLTS ON
CH2
AMPLIFIER
CONTROL
CH2CH1
MOTOR
POWER
OUTPUT
Adept PA-4Power Chassis
IO Blox Device
To EXPIO on sDAI
IO Blox #18 Input signals: 1113 to 11208 Output signals: 0105 to 0112
Adept Viper System(robot not shown)
Adept Python Module
IO Blox Device
To IO Blox Connectoron MB-10
IO Blox #18 Input signals: 1113 to 11208 Output signals: 0105 to 0112
MB-10 Amp
Note: MB-10 connectorsare located on bottom ofamp.
Adept IO Blox User’s Guide, Rev C 41
Chapter 4 - Operation on V+-Based Systems
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.
After installing IO Blox (see Chapter 2), use the DC_SETUP program to assign the correct digital “logical” IO blocks to each robot. By default, robot #1 or MB-10 amp #1 uses block 1 and block 3; robot #2 or MB-10 amp #2 uses block 2 and block 4. See Figure 4-5 on page 44 and Figure 4-11 on page 49. See Section 4.4 on page 44 for information on using DC_SETUP.
The default signal configuration, or mapping, is shown in Table 4-2. This configuration is usually sufficient for most installations. If you need to change the mapping, see Section 4.3 on page 43 and Section 4.5 on page 46.
Table 4-1. IO Blox Signal Designations
Terminal Designation V+ Signal Number
IO Blox #1
Input 1 1113
Input 2 1114
Input 3 1115
Input 4 1116
Input 5 1117
Input 6 1118
Input 7 1119
Input 8 1120
Output 1 0105
Output 2 0106
Output 3 0107
Output 4 0108
Output 5 0109
Output 6 1110
Output 7 0111
Output 8 0112
IO Blox #2 - Inputs 1121 to 1128
IO Blox #2 - Outputs 0113 to 0120
IO Blox #3 - Inputs 1129 to 1136
IO Blox #3 - Outputs 0121 to 0128
IO Blox #4 - Inputs 1137 to 1144
IO Blox #4 - Outputs 0129 to 0136
42 Adept IO Blox User’s Guide, Rev C
Digital I/O Block Configuration
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 Section 4.5 on page 46.
The information in this section can help during the configuration, or mapping process. The diagram in Figure 4-5 shows the output and input blocks for IO Blox units on robot #1 or MB-10 #1 and robot #2 or MB-10 #2 in a dual robot or multiple MB-10 amp system.
IO Blox Inputs/Outputs
Up to four IO Blox units can be daisy-chained together per robot or MB-10 amp to give you 32 inputs and 32 outputs per robot or amp. For IO Blox units installed on a a single robot or MB-10 amp, by default, the IO Blox units occupy the first four bytes of the third block. For IO Blox units installed on a second robot or MB-10 amp, by default, they occupy the first four bytes of the fourth block. See Figure 4-5. See also your robot documentation for additional I/O configuration information.
Table 4-2. Default Signal Configuration, Dual Robot/Multiple MB-10 Systems
Location Type Signal Range
Robot #1 or MB-10 #1
IO Blox 1 Inputs 1113 - 1120
Outputs 0105 - 0112
IO Blox 2 Inputs 1121 - 1128
Outputs 0113 - 0120
IO Blox 3 Inputs 1129 - 1136
Outputs 0121 - 0128
IO Blox 4 Inputs 1137 - 1144
Outputs 0129 - 0136
Robot #2 or MB-10 #2
IO Blox 1 Inputs 1161 - 1168
Outputs 0145 - 0152
IO Blox 2 Inputs 1169 - 1176
Outputs 0153 - 0160
IO Blox 3 Inputs 1177 - 1184
Outputs 0161 - 0168
IO Blox 4 Inputs 1185 - 1192
Outputs 0169 - 0176
Adept IO Blox User’s Guide, Rev C 43
Chapter 4 - Operation on V+-Based Systems
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.
ROBOT #1or MB-10 #1
IO Blox 1
Output Block 3
Byte 1 Byte 2
(0105-112)
IO Blox 2
(0113-120)
IO Blox 3 IO Blox 4
(0121-128) (0129-136)
Byte 3 Byte 4
IO Blox 1
Byte 1 Byte 2
(1113-1120)
IO Blox 2
(1121-1128)
IO Blox 3 IO Blox 4
(1129-1136) (1137-1144)
Byte 3 Byte 4
Input Block 3
IO Blox 1
Input Block 4
Byte 1 Byte 2
(0145-0152)
IO Blox 2
(0153-0160)
IO Blox 3 IO Blox 4
(0161-0168) (0169-0176)
Byte 3 Byte 4
IO Blox 1
Byte 1 Byte 2
(1161-1168)
IO Blox 2
(1169-1176)
IO Blox 3 IO Blox 4
(1177-1184) (1185-1192)
Byte 3 Byte 4
Output Block 4
ROBOT #2or MB-10 #2
44 Adept IO Blox User’s Guide, Rev C
DC_SETUP Configuration
2. Select “Configure DIO input/output blocks.”
Figure 4-6. DC_SETUP Program Main Screen
3. Press the SPACE bar to select the SmartServo device to which the IO Blox units are connected. On multi-axis Python systems, when the LED on the MB-10 amp you want to configure flashes green/red, press ENTER to select it. A screen similar to Figure 4-7 is displayed.
Figure 4-7. DC_SETUP SmartServo Device Data Screen
4. Follow the on-screen prompts to map the units to the default logical block.
5. If IO Blox units are installed on a second MB-10 amp, repeat the above steps to map the units installed on this amp to the next default logical block.
NOTE: On Adept Python Linear Modules systems, when an IO Blox is correctly connected to the MB-10 amp and configured, “OK” is displayed on the MB-10 amp’s status panel.
NOTE: Remember to save all specifications to the system disk when prompted at the end of the setup process.
Adept IO Blox User’s Guide, Rev C 45
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. See Section 4.4 on page 44.
This procedure provides the basic steps for using the CONFIG_C program to map I/O signals.
1. Type the following at the prompt:
LOAD D:\UTIL\CONFIG_C
EXE 1 a.config_c
The following will be displayed.
46 Adept IO Blox User’s Guide, Rev C
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+-BasedSystems 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.
Figure 5-1. IO Blox I/O Signals and Cable Connections on Cobra i-Series Robots
GND XSLV
1
2
SmartServo
RS-232XPANELAC INPUT
(200-240 VAC 1Φ)
+24VDC INPUT(24 VDC)
XIO
Cobra i600/i800 Robot
IO Blox Device
IO Blox #18 Input signals: 1033 to 10408 Output signals: 0033 to 0040
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 MicroV+ Signal Number
IO Blox #1
Input 1 1033
Input 2 1034
Input 3 1035
Input 4 1036
Input 5 1037
Input 6 1038
Input 7 1039
Input 8 1040
Output 1 0033
Output 2 0034
Output 3 0035
Output 4 0036
Output 5 0037
Output 6 0038
Output 7 0039
Output 8 0040
IO Blox #2 - Inputs 1041 to 1048
IO Blox #2 - Outputs 0041 to 0048
IO Blox #3 - Inputs 1049 to 1056
IO Blox #3 - Outputs 0049 to 0056
IO Blox #4 - Inputs 1057 to 1064
IO Blox #4 - Outputs 0057 to 0064
52 Adept IO Blox User’s Guide, Rev C
P/N: 04638-000, Rev C
Omron Adept Technologies, Inc.
Tel: 925-245-3400 Email: [email protected]
omron247.com
Specifications subject to change without notice2016 Omron. ALL RIGHTS RESERVED. Pub Number R252I-E-01