Chapter 4 - System Operation 4.3 Connecting Digital I/O to the System You can connect digital I/O to the system in several different ways. See Table 4-1 and Figure 4-2 . Also refer to page 26 for information on the optional Solenoid cable. Table 4-1. Digital I/O Connection Options Adept Viper s1300 Robot CN20 Connector For input signals to control internal robot solenoids and general user I/O. Signals can come from IO Blox device or XDIO on SmartController. IO Blox #1 8 Input signals: 1113 to 1120 8 Output signals: 0105 to 0112 sDIO #1 32 Input signals: 1033 to 1064 32 Output signals:
0033 to 0064 K AMP K AMP J AMP Adept PA-4 DAI s DO NOT REMOVE OR INSTALL THIS MODULE UNLESS HIGH VOLTS LED IS COMPLETELY DISTINGUISHED LOW VOLTS ON PWM ON HIGH VOLTS ON DO NOT REMOVE OR INSTALL THIS MODULE UNLESS HIGH VOLTS LED IS COMPLETELY DISTINGUISHED PWM ON HIGH VOLTS ON LOW VOLTS ON DO NOT REMOVE OR INSTALL THIS MODULE UNLESS HIGH VOLTS LED IS COMPLETELY DISTINGUISHED LOW VOLTS ON PWM ON HIGH VOLTS ON B R A K E STATUS 1 CAUTION HIGH VOLTAGE INSIDE Optional IO Blox Device CH1 CH2 HV SAG/OVER TEMP FAULT SHORT FAULT OPEN CKT FAULT A M P L I F I E R CH1 CH2 HV SAG/OVER TEMP FAULT SHORT FAULT OPEN CKT FAULT A M P L I F I E R CH1 CH2 HV SAG/OVER TEMP FAULT SHORT FAULT OPEN CKT FAULT A M P L I F I E R 2 SmartServo E X P I O R S 2 3 2 To EXPIO on sDAI Optional sDIO #1 R LINK 1.1 1.2 XDC1 XDC2 X3 IEEE-1394 X1 X2 X4 24V 0.5A *S/N 3563-XXXXX* SC-DIO C O N T R O L C O N T R O L C O N T R O L C N P G 1 2 3 C N P G 4 5 6 X S L V OK SF - + - + O U T P U T M O T O R P O W E R CH2 CH1 M O T O R P O W E R O U T P U T CH2 CH1 M O T O R P O W E R O U T P U T CH2 CH1 C N 2 5 C N 2 9 SmartController 1 2 3 4 SF ES HD SW1 1.1 1.2 2.1 2.2 OK LAN HPE R SmartServo IEEE-1394 Device Net Eth 10/100 CAMERA RS-232/TERM RS-422/485 *S/N 3562-XXXXX* SmartController CX adept technology, inc.
1 2 3 XDIO OFF ON XUSR XSYS BELT ENCODER XFP RS-232-1 XMCP RS-232-2 XDC1 XDC2 24V 5A -+ -+ XDIO Connector 12 Input signals: 1001 to 1012 8 Output signals: 0001 to 0008 Figure 4-2. Connecting Digital I/O to the System 44 Adept Viper s1300 Robot User’s Guide, Rev B Product I/O Capacity For more details XDIO Connector on SmartController 12 inputs 8 outputs see Adept SmartController User’s Guide Optional IO Blox Device, connects to sDAI in PA-4 8 inputs, 8 outputs per device; up to four IO Blox devices per robot see Adept IO Blox User’s Guide Optional sDIO Module, connects to controller 32 inputs, 32 outputs per module; up to four sDIO per system see Adept SmartController User’s Guide