Adept Cobra s600/s800 Robot User's Guide - pulsar.com.tr

GND
+24V
DC INPUT
(24 VDC)
AC INPUT
(200-240 VAC 1Φ) XIO
XSLV
XPANEL
1
2
SmartServo
RS-232
OK
SF
HPE
ES
1 2 3
R
LINK
R
LAN
HD
OK SF
SW1
1 2 3 4
IEEE-1394
1.1 1.2
ON
OFF
XDIO
1.1
IEEE-1394
1.2
X1
XUSR
Device Net
Eth 10/100
X2
XSYS
X3
XFP
RS-232/TERM
X4
XMCP
RS-422/485
*S/N 3563-XXXXX*
XDC1 XDC2
24V 0.5A
*S/N 3561-XXXXX*
XDC1 XDC2
24V 5A
- + - +
Chapter 5 - System Operation
5.4 Connecting Digital I/O to the System
You can connect digital I/O to the system in several different ways. See Table 5-3 and
Figure 5-3.
Table 5-3. Digital I/O Connection Options
Product I/O Capacity For more details
XIO Connector on <strong>Robot</strong>
XDIO Connector on
SmartController
Optional IO Blox Device,
connects to robot
Optional sDIO Module,
connects to controller
12 inputs
8 outputs
12 inputs
8 outputs
8 inputs, 8 outputs per device; up
to four IO Blox devices per robot
32 inputs, 32 outputs per module;
up to four sDIO per system
see Section 5.5 on page 56
see <strong>Adept</strong> SmartController
User’s <strong>Guide</strong>
see <strong>Adept</strong> IO Blox User’s
<strong>Guide</strong>
see <strong>Adept</strong> SmartController
User’s <strong>Guide</strong>
NOTE: With the release of V+ 16.1 F6 in January 2005, the default signal
configuration for digital I/O was changed to the values shown in Figure
5-3 and Table 5-4 on page 55.
<strong>Cobra</strong> <strong>s600</strong>/<strong>s800</strong> <strong>Robot</strong>
IO Blox #1
8 Input signals: 1113 to 1120
8 Output signals: 0105 to 0112
Optional
IO Blox Device
sDIO #1
32 Input signals: 1033 to 1064
32 Output signals: 0033 to 0064
Optional
sDIO #1
- + - +
SC-DIO
SmartController
SmartController CS
XIO Connector
12 Input signals: 1097 to 1108
8 Output signals: 0097 to 0104
XDIO Connector
12 Input signals: 1001 to 1012
8 Output signals: 0001 to 0008
Figure 5-3. Connecting Digital I/O to the System
54 <strong>Adept</strong> <strong>Cobra</strong> <strong>s600</strong>/<strong>s800</strong> <strong>Robot</strong> User’s <strong>Guide</strong>, Rev C