Adept technology IO Blox Manual de usuario

Adept IO Blox

User’s Guide

P/N: 04638-000, Rev B

July 2006

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This manual is periodically reviewed and revised.

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Adept IO Blox User’s Guide, Rev B 3

Table of Contents

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Table of Contents

4 Adept IO Blox User’s Guide, Rev B

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Adept IO Blox User’s Guide, Rev B 5

Introduction 1

1.1 Product Description

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

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

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

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

or MB-10 amp.

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

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

is offered with several cable options for different installation locations.

Figure 1-1. Adept IO Blox Photo

Figure 1-2. Adept IO Blox Drawing

Chapter 1 - Introduction

6 Adept IO Blox User’s Guide, Rev B

1.2 Adept Document Library

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

CD-ROM provided with each system.

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

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

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

documentation.

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

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

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

1.3 How Can I Get Help?

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

getting assistance with your Adept software and hardware.

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

site:

http://www.adept.com

Adept IO Blox User’s Guide, Rev B 7

Installation 2

2.1 Dimensions

Figure 2-1. Adept IO Blox Dimensions

4.5

.18

126

4.96

138

5.43

1.77

43.8

1.72

113.6

4.47

Tie-Wrap

Location

(1 of 4)

Chapter 2 - Installation

8 Adept IO Blox User’s Guide, Rev B

2.2 General Installation on All Adept Robots

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

provides the installation instructions common to all types of robots.

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

model.

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

i600/i800 or s600/s800 robot

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

robot.

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

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

sEJI robot.

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

Modules system or Adept MB-10 Servo Kit.

Cable Options

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

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

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

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

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

Cable Name, Length Part Number

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

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

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

General Installation on All Adept Robots

Adept IO Blox User’s Guide, Rev B 9

Python Modules Cables Options

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

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

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

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

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

original 4 M length to the desired length.

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

Cable Name, Length Part Number

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

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

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

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

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

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

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

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

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

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

Cable Name, Length Part Number

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

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

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

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

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

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

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

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

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

Chapter 2 - Installation

10 Adept IO Blox User’s Guide, Rev B

Address Switch Settings

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

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

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

Table 2-4.

Installing Multiple IO Blox Devices

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

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

device.

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

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

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

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

4. Continue this cabling process for any additional devices.

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

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

devices with duplicate addresses will conflict.

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

devices.

Table 2-4. IO Blox Address Switch Settings

Address Number Switch 1

(A0 on PCB)

Switch 2

(A1 on PCB)

Address 0 - default, for 1st IO

Blox

Off Off

Address 1 - for 2nd IO Blox On Off

Address 2 - for 3rd IO Blox Off On

Address 3 - for 4th IO Blox On On

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