SmartController EX User's Guide

Copyright Notice The information contained herein is the property of Omron Adept Technologies, Inc., and shall not be reproduced in whole or in part without prior written approval of Omron Adept Technologies, Inc. The information herein is subject to change without notice and should not be construed as a commitment by Omron Adept Technologies, Inc. The documentation is periodically reviewed and revised. Omron Adept Technologies, Inc., assumes no responsibility for any errors or omissions in the doc- umentation. Critical evaluation of the documentation by the user is welcomed. Your comments assist us in preparation of future documentation. Please submit your comments to: techpubs@adept.com .

Copyright 2013, 2014, 2016 by Omron Adept Technologies, Inc. All rights reserved. Any trademarks from other companies used in this publication are the property of those respective companies. Created in the United States of America

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Table of Contents Chapter 1: Introduction 7 1.1 Product Description 7 Optional sDIO Expansion Module 7 Optional T20 Pendant 7 1.2 How Can I Get Help? 8 Related Manuals 9 Chapter 2: Safety 11 2.1 Dangers, Warnings, Cautions, and Precautions 11 2.2 Safety Precautions 12 2.3 What to Do in an Emergency or Abnormal Situation 12 2.4 Additional Safety Information 12 Manufacturer’s Declarations 12 Robot Safety Guide 12 Chapter 3:

Installation 13 3.1 Controller Installation 13 Before Unpacking 13 Upon Unpacking 13 Repacking for Relocation 14 Space Around the Chassis 14 Mounting the SmartController EX Motion Controller 14 Memory Card 17 3.2 Connecting Power 19 24 VDC Power Specifications 19 24 VDC Power Cabling 20 Daisy-Chaining Power 20 Chassis Grounding 21 Installing 24 VDC Connectors 22 3.3 System Cable Installation 23 IEEE 1394 Cable Specifications 23 Chapter 4: Operation 25 4.1 Connectors and Indicators 25 4.2 Front Panel 29 4.3 Installing the ACE Software 30 4.4 Configuring the SmartController 31 SmartController EX User’s Guide, 11069-000 Rev. F Page 3 of 92

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Table of Contents Configuring Serial Ports 31 RS-232 Connectors 31 RS-422/485 Connector 32 4.5 Connecting User-Supplied Safety and Power-Control Equipment 32 Emergency Stop Circuits 37 Remote Manual Mode 39 User Manual/Auto Indication 39 User High Power On Indication 39 Remote High Power On/Off Control 39 High Power On/Off Lamp 40 Remote Front Panel or User-Supplied Control Panel Usage 40 Remote Pendant Usage 41 4.6 Connecting User-Supplied Digital I/O Equipment 41 DeviceNet Connector 41 XDIO Connector 41 4.7 Belt Encoder Interface 47 Chapter 5: Maintenance 51 5.1 Changing the Lamp in the Front Panel High-Power Indicator 51 Chapter 6:

Technical Specifications 53 6.1 SmartController EX Motion Controller Dimensions 53 6.2 sDIO Module Dimensions 54 6.3 Front Panel Dimensions 55 6.4 T20 Pendant Dimensions 56 Chapter 7:

sDIO Module 57 7.1 Mounting the sDIO Module 57 Rack-Mounting the sDIO Module 58 Panel-Mounting the sDIO Module 59 Table-Mounting the sDIO Module 59 Stack-Mounting the sDIO Module 60 7.2 Installing the sDIO Module 60 7.3 sDIO Module Connectors and Indicators 61 7.4 Configuring an sDIO Module 62 Default sDIO I/O Configuration 62 Modifying the Default sDIO Configuration 62 7.5 Installing Multiple sDIO Modules 67 Configuring Multiple sDIO Modules 67 7.6 sDIO Digital I/O Signals 68 sDIO Inputs 68 sDIO Outputs 70 SmartController EX User’s Guide, 11069-000 Rev. F Page 4 of 92

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Table of Contents Optional DIO Cables 73 Chapter 8: DeviceNet 81 8.1 DeviceNet Specifications 81 8.2 Limitations of the DeviceNet Scanner 82 8.3 DeviceNet Port on the Controller 82 Connecting DeviceNet Hardware to the Controller 82 Configuring DeviceNet 83 8.4 DeviceNet Physical Layer and Media 83 DeviceNet Connectors 86 Termination of the DeviceNet Network 87 Power Supply and the DeviceNet Bus 88 SmartController EX User’s Guide, 11069-000 Rev. F Page 5 of 92

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