Omron Adept IO Blox User's Guide

Omron Adept IO BloxUser's Guide

e
Omron Adept IO Blox
User’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


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


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.


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.



http://www.adept.com/contact/americas

http://www.adept.com/support/service-and-support/main


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.


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

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.]


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




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


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









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


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











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


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.



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


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



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.


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


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.


MB-40R

IO Blox Option

To EXPIO on MB-40R

Adept Cobra s350 System(robot not shown)



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


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.


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.


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



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




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



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



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



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



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


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


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.


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



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


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.



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


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



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


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



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)


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.


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


To EXPIO on MB-40R

Adept Cobra s350 System(robot not shown)


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



SHORT FAULT

OPEN CKT FAULT


PWM ON

CH1

HIGH VOLTS ON

CH2

AMPLIFIER

CONTROL

CH2CH1

MOTOR

POWER

OUTPUT

LOW VOLTS ON



SHORT FAULT

OPEN CKT FAULT


PWM ON

CH1

HIGH VOLTS ON

CH2

AMPLIFIER

CONTROL

CH2CH1

MOTOR

POWER

OUTPUT

Adept PA-4Power Chassis

IO Blox Device

To EXPIO on sDAI


Adept Viper System(robot not shown)

Adept Python Module

IO Blox Device

To IO Blox Connectoron MB-10


MB-10 Amp

Note: MB-10 connectorsare located on bottom ofamp.



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






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


Outputs 0113 - 0120


Outputs 0121 - 0128


Outputs 0129 - 0136

Robot #2 or MB-10 #2


Outputs 0145 - 0152


Outputs 0153 - 0160


Outputs 0161 - 0168


Outputs 0169 - 0176



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


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.



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.


Using CONFIG_C to Configure I/O

Figure 4-8. CONFIG_C Menu

2. Select option 2 “V+ System Configuration Data.”


Figure 4-9. Controller Configuration Editor Menu

3. Select option 2 “EDIT system CONFIGURATION.”




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


Using CONFIG_C to Configure I/O

Figure 4-11. Sample Configuration File for Digital I/O


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



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








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