Chapter 1 - Introduction Adept SmartController CX™ The SmartController CX is the foundation of Adept’s family of high-performance distributed motion controllers. The SmartController CX is designed for use with Adept Cobra s600 and s800 robots, Adept Python Modules, Adept Viper robots, Adept Quattro robots, and the Adept sMI6 Module for the SmartMotion product. The SmartController CX supports a conveyor tracking option. It offers scalability and support for IEEE 1394-based digital I/O and general motion expansion modules. The IEEE 1394 interface is the backbone of Adept SmartServo, Adept's distributed controls architecture supporting Adept products.
The controller also includes Fast Ethernet and DeviceNet. R CAMERA RS-232/TERM RS-422/485 *S/N 3562-XXXXX* 1 2 3 4 SF ES HD SW1 1.1 1.2 2.1 2.2 OK LAN HPE SmartServo IEEE-1394 Device Net Eth 10/100 BELT ENCODER RS-232-1 RS-232-2 SmartController CX 1 2 3 XDIO OFF ON XUSR XSYS XFP XMCP XDC1 XDC2 24V 5A -+ -+ Figure 1-2. Adept SmartController CX Adept PA-4™ CAT-3 Power Chassis The PA-4 CAT-3 includes AC-DC power conversion electronics that support a range of Adept power amplifiers and robot control modules. In addition, the PA-4 CAT-3 includes dual (redundant) high-power AC contactors. The PA-4 is configured with J Amplifier modules to support the Adept Viper s1300 robot systems.
The J and K amplifiers in the Adept Viper s1300 robot system are controlled by the sDAI (100 W) distributed control module. The sDAI module resides in the PA-4 chassis and contains a RISC microprocessor and interface circuitry that close the servo loops for high- performance robot motion. The sDAI is connected to a host Adept SmartController via the SmartServo interface (based on IEEE 1394). 10 Adept Viper s1300 Robot User’s Guide, Rev B