Adept SmartMotion

Installation Guide

R
SmartServo *S/N 3564-XXXXX*

1.1 1.2 XENCODER XMACHINE XSERVO XANL

s MI6
XDC1 XDC2
F2 DE2 F6 DE6 24V 0.5A
F1 DE1 F5 DE5

ES HPE F4 DE4

STATUS F3 DE3

-+ -+

*S/N 3561-XXXXX*

SmartController CS
SmartServo
Device Net Eth 10/100
OK HPE LAN SW1 1.1 1.2 RS-232/TERM RS-422/485
SF ES HD 1 2 3 4
ON

OFF
1 2 3
XDIO XUSR XSYS XFP XMCP XDC1 XDC2
24V 5A

-+ -+

Adept SmartController CS with sMI6 Motion Interface Module

 Adept SmartMotion
Installation Guide

R
SmartServo *S/N 3564-XXXXX*

1.1 1.2 XENCODER XMACHINE XSERVO XANL

s MI6
XDC1 XDC2
F2 DE2 F6 DE6 24V 0.5A
F1 DE1 F5 DE5

ES HPE F4 DE4

STATUS F3 DE3

-+ -+

*S/N 3561-XXXXX*

SmartController CS
SmartServo
Device Net Eth 10/100
OK HPE LAN SW1 1.1 1.2 RS-232/TERM RS-422/485
SF ES HD 1 2 3 4
ON

OFF
1 2 3
XDIO XUSR XSYS XFP XMCP XDC1 XDC2
24V 5A

-+ -+

Adept SmartController CS with sMI6 Motion Interface Module

02170-000, Rev B
April, 2003

3011 Triad Drive • Livermore, CA 94550 • USA • Phone 925.245.3400 • Fax 925.960.0452
Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone 49.231.75.89.40 • Fax 49.231.75.89.450
41, rue du Saule Trapu • 91300 • Massy • France • Phone 33.1.69.19.16.16 • Fax 33.1.69.32.04.62
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  2003 by Adept Technology, Inc. All rights reserved.

The Adept logo, CHAD, the CHAD logo, and Soft Machines
are registered trademarks of Adept Technology, Inc.

ActiveV, Adept, Adept 1060, Adept 1060+, Adept 1850, Adept 1850 XP, Adept 540, Adept 560,
Adept C40, Adept C60, Adept CC, Adept CHADIQ, Adept CHADIQh, Adept CHADIQt, Adept
Cobra 550, Adept Cobra 550 CleanRoom, Adept Cobra 600, Adept Cobra 800, Adept DeskTop,
Adept Digital Workcell, Adept FFE, Adept FlexFeeder 250, Adept IC, Adept Impulse Feeder, Adept
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MV-8, Adept NanoBonder EBS, Adept NanoBonder LWS, Adept NanoCell, Adept NanoStage
L1P2, Adept NanoStage L3, Adept NanoStage L3P2, Adept OC, Adept SmartAmp, Adept
SmartAxis, Adept SmartController CS, Adept SmartController CX, Adept SmartModule, Adept
SmartMotion, Adept SMIF-EZ, AdeptAlign 650, AdeptAtlas, AdeptCartesian, AdeptForce,
AdeptFTP, AdeptGEM, AdeptModules, AdeptMotion, AdeptMotion Servo, AdeptMotion VME,
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AdeptVision XGS, AdeptVision XGS II, AdeptWindows , AdeptWindows Controller,
AdeptWindows DDE, AdeptWindows Offline Editor, AdeptWindows PC, AIM, AIM Command
Server, AIM Dispense, AIM PCB, AIM VisionWare, A-Series, AutoCal, AutoTune, AutoWidth,
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ECA, CHAD GuideMaster, CHAD HT, CHAD LGM, CHAD LLG, CHAD MGE, CHAD MixTech,
CHAD MTM, CHAD OFM, CHAD PIE, CHAD QCB, CHAD RC, CHAD SGE, CHAD TM, CHAD
VT, CimStation, CimStation Robotics, FlexFeedWare, HexSight, HyperDrive, Microenvironment,
MicroV+, MotionWare, ObjectFinder, ObjectFinder 2000, PackOne, PalletWare, Production PILOT,
SILMA CellFLEX, SILMA CellPRO, SILMA PaintPRO, SILMA PressPRO, SILMA SpotPRO,
SMIF-C, SMIF-EZX, SMIF-Z, SMIF-ZX, SoftAssembly, S-Series, UltraOne, V, V+, and VisionTeach
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.1 Product Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
System Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Adept SmartMotion Hardware Overview . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Adept sMI6 Motion Interface Module . . . . . . . . . . . . . . . . . . . . . . . 12
Motion Interface Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.2 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Reading and Training for Users and Operators . . . . . . . . . . . . . . . . . . . . . . 12
System Safeguards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Safety Features on Front Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Computer Controlled Robots and Motion Devices . . . . . . . . . . . . 13
Manually Controlled Robots and Motion Devices . . . . . . . . . . . . . 13
Other Computer Controlled Devices . . . . . . . . . . . . . . . . . . . . . . . . 13
Program Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Overspeed Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Voltage Interruptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Inappropriate Uses of the Adept SmartController . . . . . . . . . . . . . . . . . . . . 14
1.3 Warnings, Cautions, and Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.4 How Can I Get Help? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.5 Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

2 System Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.1 Overview of Installation Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.2 Adept sMI6 Connectors and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Adept sMI6 LED Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Adept sMI6 Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.3 System Cable Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.4 Adept sMI6 Hardware Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
sMI6 Digital Input Logic Voltage Configuration . . . . . . . . . . . . . . . . . . . . . . 21
2.5 Proper Wiring and Electrical Design Practices . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.6 Enclosure for SmartController and sMI6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.7 Installing the Adept SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.8 Installing the Adept sMI6 Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.9 Installing MP6 Panels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Rail Mounting the MP6 Panels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Panel Mounting the MP6 Panels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Plug-In Opto Modules on the MP6-M . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Adept SmartMotion Installation Guide, Rev. B 5

Table of Contents

2.10 MP6 Machine (MP6-M) Panel Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Optical Isolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Input Current Requirements (OT, HM) . . . . . . . . . . . . . . . . . . . . . . . . 31
Input Voltage Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Output Current Requirements (MP6-M, HPE and BR, External). . . . 32
User-Supplied Logic Power (Internal). . . . . . . . . . . . . . . . . . . . . . . . . 32
Overtravel Limit Switches (Input) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Home Switch (Input) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Brake Release (Output) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
High Power Enable (Output) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
2.11 MP6 Servo (MP6-S) Panel Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Drive Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Optical Isolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
MP6-S Input Current Requirements (Drive Fault) . . . . . . . . . . . . . . . 35
MP6-S Output Current Requirements (Drive Enable) . . . . . . . . . . . . 35
Connecting the Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Drive Enable (Output) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Delay Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Drive Fault (Input) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Command Drive (Output) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
2.12 MP6 Encoder (MP6-E) Panel Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Encoder Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Connecting Power to the Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Encoder Power Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Encoder Cable Length (User Supplied) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Connecting the Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Encoder Input Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Single-Ended Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

3 Software Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
3.2 Phase 1 - Preparation for Software Configuration. . . . . . . . . . . . . . . . . . . . . . . . 44
3.3 Phase 2 - Load Device Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.4 Phase 3 - Configure SmartServo Network Map. . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.5 Phase 4 - Create Software Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.6 Phase 5 - Testing the System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
3.7 Motion Control Application Development . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

4 Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
4.1 Dimensions for sMI6 Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
4.2 Dimensions for Mounting sMI6 Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.3 MP6 to sMI6 Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

6 Adept SmartMotion Installation Guide, Rev. B

 Table of Contents

4.4 Typical Input and Output Circuits in sMI6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Input Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Output Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
4.5 Emergency Stop Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Adept SmartMotion Installation Guide, Rev. B 7

 List of Figures
Figure 1-1. Adept sMI6 Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Figure 2-1. Close-up of sMI6 LED Labels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Figure 2-2. Adept sMI6 Module Front Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Figure 2-3. Adept SmartMotion System Cable Diagram . . . . . . . . . . . . . . . . . . . . . . . . . 20
Figure 2-4. Opening the sMI6 Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Figure 2-5. Location of Jumpers on Main PCA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Figure 2-6. MP6-S Panel – Layout and Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Figure 2-7. MP6-E Panel – Layout and Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Figure 2-8. MP6-M Panel – Layout and Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Figure 2-9. Typical System Wiring for One Axis of Motion . . . . . . . . . . . . . . . . . . . . . . . . 30
Figure 2-10. Encoder Input Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Figure 2-11. Encoder Input Schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Figure 2-12. Single-Ended Encoder Wiring Using Inverted Outputs . . . . . . . . . . . . . . . . . 42
Figure 2-13. Single-Ended Encoder Wiring Using Non-Inverted Outputs . . . . . . . . . . . . . 42
Figure 3-1. SmartMotion System Installed to Control a User Mechanism . . . . . . . . . . . . 43
Figure 4-1. Dimensions for sMI6 Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Figure 4-2. Rack Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Figure 4-3. Panel Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Figure 4-4. Table Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Figure 4-5. Typical Input Circuit in sMI6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Figure 4-6. Typical Output Circuit in sMI6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Figure 4-7. Category 3 E-Stop Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Figure 4-8. Category 1 E-Stop Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Adept SmartMotion Installation Guide, Rev B 9

 Introduction 1
1.1 Product Description
The Adept SmartMotion product consists of a hardware and software package that
provides high-performance coordinated motion control for industrial automation devices.
Adept SmartMotion includes the sMI6 motion interface module and the Adept
SmartController, communicating via the SmartServo network, Adept’s distributed
controls network built on IEEE 1394. Completely integrated V+ software provides the
same high-level motion instructions that are used for Adept robots. The sMI6 supports up
to six axes of motion control per module.

R
SmartServo *S/N 3564-XXXXX*

1.1 1.2 XENCODER XMACHINE XSERVO XANL

s MI6
XDC1 XDC2
F2 DE2 F6 DE6 24V 0.5A
F1 DE1 F5 DE5

ES HPE F4 DE4

STATUS F3 DE3

-+ -+

Figure 1-1. Adept sMI6 Module

System Overview
Adept SmartMotion has been designed to function as an integral part of Adept’s control
system. Typical components include an Adept SmartController (CS or CX model), one or
more sMI6 modules, MP6 panels, a manual control pendant, a desktop or laptop PC, and
a user-supplied mechanism with servomotors, encoders, and amplifiers. Additional
options such as Adept-supplied robots and vision systems are available.

Adept SmartMotion is intended to provide complete motion control of user-supplied

mechanisms. Users retain the flexibility of selecting the drive components that are best
suited for their applications. Adept SmartMotion can interface to industry standard drive
components including most servo amplifiers and optical encoders. Motion-related I/O
signals can utilize voltage levels chosen by the user.

Adept SmartMotion Hardware Overview

There are two major hardware components of the system, in addition to the
SmartController:

• Adept sMI6 Motion Interface Module

• Motion Interface Kit, includes MP6 panels and interface cables (this kit is optional)

Adept SmartMotion Installation Guide, Rev. B 11

Chapter 1 - Introduction

Adept sMI6 Motion Interface Module

The Adept sMI6 Motion Interface module is a six-channel unit that runs the Adept
SmartMotion product. The sMI6 module is a stand-alone unit designed to control a total
of six motion axes or external encoders. Each sMI6 module has six servo drive outputs, six
incremental encoder inputs, and digital I/O for machine and amplifier control.

Motion Interface Kit

The Motion Interface Kit includes the three Motion-interface Panels (MP6-E, MP6-M, and
MP6-S) that serve as the interface between the sMI6 module and the user’s hardware. The
MP6 panels provide mounting sockets for I/O modules used in conjunction with the
dedicated discrete input/output signals. The MP6 panels also provide detachable
barrier-type screw terminal strips and 9-Pin D connectors for all field wiring terminations.
Interface cables (3 meter) for connecting the sMI6 to the MP6 panels are included in the
kit.

NOTE: The Motion Interface Kit is optional, but it is recommended for

typical installations. Customers who do not order this option must
provide similar functionality.

1.2 Safety

WARNING: See the Adept SmartController User’s Guide

for additional safety information.

Reading and Training for Users and Operators

Adept systems can include computer-controlled mechanisms that are capable of moving
at high speeds and exerting considerable force. Like all robot and motion systems, and
most industrial equipment, they must be treated with respect by the user and the operator.

This manual should be read by all personnel who operate or maintain Adept systems, or
who work within or near the workcell.

We recommend you read the American National Standard for Industrial Robot Systems - Safety
Requirements, published by the Robotic Industries Association (RIA), in conjunction with
the American National Standards Institute. The publication, ANSI/RIA R15.06 - 1992,
contains guidelines for robot system installation, safeguarding, maintenance, testing,
start-up, and operator training.

We also recommend you read the European Standard EN 60204, Safety of Machinery –
Electrical Equipment of Machines, particularly if the country of use requires a CE-certified
installation. (See the Adept SmartController User’s Guide for ordering information for
national and international standards.)

This manual assumes that the user has attended an Adept training course, or at least has a
basic working knowledge of the system. The user should provide the necessary additional
training for all personnel who will be working with the system.

12 Adept SmartMotion Installation Guide, Rev. B

 Safety

There are several warnings in this manual that say only skilled or instructed persons
should attempt certain procedures. These are defined as:

• Skilled persons have technical knowledge or sufficient experience to enable them

to avoid the dangers which electricity may create (engineers and technicians).
• Instructed persons are adequately advised or supervised by skilled persons to
enable them to avoid the dangers which electricity may create (operating and
maintenance staff).

System Safeguards
Safeguards should be an integral part of robot or motion workcell design, installation,
operator training, and operating procedures.

Adept systems have various communication features to aid in constructing system

safeguards. These include the emergency stop circuitry and digital input and output lines.
Some of these features are described in the Adept SmartController User’s Guide.

Safety Features on Front Panel

The optional Front Panel has important safety features, including the HIGH POWER
indicator, the AUTO/MANUAL keyswitch, and the EMERGENCY STOP switch. If you
choose not to use the Front Panel, you should provide similar safety features by using the
connectors on the SmartController. Refer to the Adept SmartController User’s Guide for
more information.

WARNING: Entering the workcell when the HIGH POWER

light is on can result in severe injury. This warning applies
to each of the next three sections.

Computer Controlled Robots and Motion Devices

Adept systems are computer controlled, and the program that is currently running the
robot or motion device may cause it to move at times or along paths you may not
anticipate. When the HIGH POWER light is illuminated, do not enter the workcell because
the robot or motion device might move unexpectedly.

Manually Controlled Robots and Motion Devices

Adept robots and other motion devices can also be controlled manually when the HIGH
POWER light on the Front Panel is illuminated. When this light is lit, motion can be
initiated from the system keyboard or from the optional Manual Control Pendant (MCP).
If you have to enter the workcell when this light is lit, press the MAN/HALT button on the
MCP. This will prevent anyone else from initiating unexpected motion from the system
keyboard.

Other Computer Controlled Devices

In addition, Adept systems can be programmed to control equipment or devices other
than the robot or main motion device. The program controlling these other devices may
cause them to operate unexpectedly. Make sure that safeguards are in place to prevent
personnel from entering the workcell when a program is running.

Adept SmartMotion Installation Guide, Rev. B 13

Chapter 1 - Introduction

Adept Technology highly recommends the use of additional safety features such as light
curtains, safety gates, or safety floor mats to prevent entry to the workcell while HIGH
POWER is enabled. These devices can be connected using the emergency stop circuitry.

Program Security
Programs and data stored in memory can be changed by trained personnel using the V+
commands and instructions documented in the V+ manuals. To prevent unauthorized
alteration of programs, you should restrict access to the keyboard. This can be done by
placing the keyboard in a locked cabinet. Alternatively, the V+ ATTACH instruction can be
used in your programs to restrict access to the V+ command prompt.

Overspeed Protection
Overspeed protection for a robot or motion system has to be taken into account during
system integration by the integrator or end-user. Overspeed protection is not guaranteed
by the controller hardware alone. The V+ system software offers some overspeed
protection capabilities.

Voltage Interruptions
If the power supply to the controller is interrupted, the passive E-stop output will be
automatically turned on (opened). In addition, the High Power, Brake Release, and Drive
Enable signals will be turned off. You must ensure that these signals are used to prevent a
hazardous condition.

Inappropriate Uses of the Adept SmartController

The Adept SmartController is intended for use as a component sub-assembly of a
complete industrial automation system. The SmartController sub-assembly must be
installed inside a suitable enclosure. Installation and usage must comply with all safety
instructions and warnings in this manual. Installation and usage must also comply with
all applicable local or national statutory requirements and safety standards.The
SmartController sub-assembly is not intended for use in any of the following situations:

• In hazardous (explosive) atmospheres

• In mobile, portable, marine, or aircraft systems
• In residential installations
• In situations where the SmartController sub-assembly may come into contact with
liquids.
• In situations where the SmartController sub-assembly will be subject to extremes
of heat or humidity. See the specifications for allowable temperature and humidity
ranges.
See the Adept SmartController User’s Guide for any additional restrictions.

14 Adept SmartMotion Installation Guide, Rev. B

 Warnings, Cautions, and Notes

1.3 Warnings, Cautions, and Notes

There are four levels of special alert notation used in this manual. In descending order of
importance, they are:

DANGER: This indicates an imminently hazardous

situation which, if not avoided, will result in death or
serious injury.

WARNING: This indicates a potentially hazardous

situation which, if not avoided, could result in serious
injury or major damage to the equipment.

CAUTION: This indicates a situation which, if not avoided,

could result in minor injury or damage to the equipment.

NOTE: This provides supplementary information, emphasizes a point or

procedure, or gives a tip for easier operation.

Adept SmartMotion Installation Guide, Rev. B 15

Chapter 1 - Introduction

1.4 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. This document is available on
the Adept Documentation Library CD-ROM that is shipped with all systems.
Additionally, you can access information sources on Adept’s corporate Web site:

http://www.adept.com

1.5 Related Manuals

This manual covers the installation of an Adept SmartMotion system. There are additional
manuals that cover software configuration, programming the system, reconfiguring
installed components, and adding other optional components. Refer to the following
manuals for additional information your Adept system.

NOTE: Al l of the manuals in Table 1-1 are available on the Adept

Documentation Library CD-ROM provided with each system.
(Previously this was known as the Knowledge Express CD-ROM.)

Table 1-1. Related Manuals

Manual Title Description

Adept SmartMotion Describes the software configuration process for the Adept
Developer’s Guide SmartMotion product. See Chapter 3 for more information.
The Adept SmartMotion Developer’s Guide is provided as an
online HTML document with a Table of Contents, Search, and
Index features to navigate the document. If you do not see these
features when you are viewing a topic, click the SHOW TOC
icon that displays in the upper left corner of each page.

Adept SmartController Contains complete information on the installation and

User’s Guide operation of the Adept SmartController and the optional sDIO
product.

AdeptWindows Installation Describes complex network installations, installation and use of

Guide and AdeptWindows NFS server software, and the AdeptWindows DDE software.
Online Help

Instructions for Adept Describes the utility programs used for advanced system
Utility Programs configurations, system upgrades, file copying, and other
system configuration procedures.

V+ Operating System User’s Describes the V+ operating system, including disk file
Guide operations, monitor commands, and monitor command
programs.

V+ Language User’s Guide Describes the V+ language and programming of an Adept

control system.

16 Adept SmartMotion Installation Guide, Rev. B

 System Installation 2
2.1 Overview of Installation Process
This section provides a summary of the major steps involved with installing a Adept
SmartMotion system.

1. Verify that the default hardware configuration for the sMI6 module is correct for
your application. The area to look at is:
• Digital Input Logic Voltage - see page 21.
If you need to change these settings, you will have to open the chassis and install
or move jumpers.
2. Review the proper field wiring practices. See Section 2.5 on page 23.
3. Select an enclosure for the SmartController and sMI6 chassis. See Section 2.6 on
page 24.

NOTE: Refer to the system cable diagram in Figure 2-3 on page 20 for the
remaining steps in this process.

4. Install the SmartController and peripherals. See Section 2.7 on page 25.
5. Install the sMI6 module. See Section 2.8 on page 25.
6. Install mounting rails for the three MP6 panels, then mount the three MP6 panels
on the rails. See Section 2.9 on page 26.
7. Connect cables from the sMI6 to the MP6-M, MP6-S, and MP6-E panels.
8. Install wiring to user equipment from the MP6-M and MP6-S panels. Also select
and install opto-modules. See Section 2.10 on page 31 and Section 2.11 on page
35.
9. Install wiring to user encoders from the MP6-E. See Section 2.12 on page 38.
When the above process is complete, the next step is to use the CONFIG_C and SPEC
utility programs to configure the software for your system. An overview for this process is
located in Chapter 3.

Adept SmartMotion Installation Guide, Rev. B 17

Chapter 2 - System Installation

2.2 Adept sMI6 Connectors and Indicators

Adept sMI6 LED Descriptions

Note: early sMI6 Module LED labels

F2 DE2 F6 DE6 had DF instead of F for fault conditions,
and NET instead of STATUS. The
F1 DE1 F5 DE5 functionality is identical for both
versions.
ES HPE F4 DE4

STATUS F3 DE3

Figure 2-1. Close-up of sMI6 LED Labels

The LEDs on the sMI6 are two-color devices - they can display either green or red.

Table 2-1. sMI6 LED Functions

LED Name Color Function Description

Fx (1-6) Solid Red Indicates a Fault condition exists on channel x

(1-6). Possible causes are Drive Fault,
Overtravel, quadrature error, or broken wire.

DEx (1-6) Solid Green Indicates a Drive Enable signal has been
asserted for channel x (1-6).

ES Solid Red Indicates an E-Stop signal has been asserted

from the sMI6.

HPE Solid Green Indicates the High Power Enable signal has
been asserted.

STATUS Solid Red Boot up or microprocessor problem (set by the

sMI6 hardware, other patterns are software
generated)

Slow Blinking Green Normal operation, high power OFF

Fast Blinking Green Normal operation, high power ON

Fast Blinking Red An error caused High Power to be disabled.

See V+ message for source of error.

Fast Blinking Red/Green Triggered by utility for identifying a node on

the 1394 network

Short blink red, long blink If this pattern appears at boot-up, it means the
red, off, then repeat SDRAM has failed and the unit must be
returned to Adept.

18 Adept SmartMotion Installation Guide, Rev. B

 Adept sMI6 Connectors and Indicators

R
SmartServo *S/N 3564-XXXXX*

1.1 1.2 XENCODER XMACHINE XSERVO XANL

s MI6
XDC1 XDC2
F2 DE2 F6 DE6 24V 0.5A
F1 DE1 F5 DE5

ES HPE F4 DE4

STATUS F3 DE3

-+ -+

Figure 2-2. Adept sMI6 Module Front Panel

Adept sMI6 Connectors

1. SmartServo 1.1 and 1.2
These are SmartServo ports. Port 1.1 or 1.2 connects to the SmartController. The other port can
connect to an additional sMI6 module or an optional sDIO.

2. XENCODER connector
Connects to the MP6-E Panel to communicate signals to and from encoders.

3. XMACHINE connector
Connects to the MP6-M Panel to communicate machine signals, such as overtravel, home,
brake release, etc.

4. XSERVO connector
Connects to the MP6-S Panel to communicate servo signals, such as drive enable, drive fault,
etc.

5. XANL connector
Reserved for future use.

6. 24VDC connectors
Connects user-supplied 24VDC power from the SmartController to the sMI6 connector. The
XDC1 and XDC2 connectors are interchangeable - you can use either one.

Adept SmartMotion Installation Guide, Rev. B 19

Chapter 2 - System Installation

2.3 System Cable Diagram

5VDC Power from User-Supplied

Power Supply to MP6-E
MP6-E MP6-M MP6-S

SPARE

CHAN4

CHAN5

CHAN6
Motion-interface Panel - SERVO (MP6-S)
Motion-interface Panel - ENCODER (MP6-E)
HPE P1
P1

OVERTRAVEL

OVERTRAVEL

OVERTRAVEL
HOME

HOME

HOME
P1

BRAKE-BR4

BRAKE-BR5

BRAKE-BR6

HIGH POWER ENABLE-HPE

M S
E E
N A
C R SPARE
C V CHAN2 CHAN4 CHAN6
O CHAN2 CHAN4 CHAN6 RESVD H

BRAKE-BR1

BRAKE-BR2

BRAKE-BR3
I O
D
E N
R E

OVERTRAVEL

OVERTRAVEL

OVERTRAVEL
HOME

HOME

HOME
ANALOG
ENC PWR CHAN1 CHAN3 CHAN5

CHAN1

CHAN2

CHAN3
PWR

LOGIC
CHAN1 CHAN3 CHAN5

PWR

R
SmartServo *S/N 3564-XXXXX*

1.1 1.2 XENCODER XMACHINE XSERVO XANL

XDC1 XDC2

sMI6 Module

s MI6
DF2 DE2 DF6 DE6 24V 0.5A
DF1 DE1 DF5 DE5

ES HPE DF4 DE4

STATUS DF3 DE3

-+ -+

IEEE 1394
Cable SmartController 24VDC Power from
R
*S/N 3561-XXXXX*
Controller (XDC2)
to sMI6 (XDC1)

SmartController CS
SmartServo
Device Net Eth 10/100
OK HPE LAN SW1 1.1 1.2 RS-232/TERM RS-422/485
SF ES HD 1 2 3 4
ON

OFF
1 2 3
XDIO XUSR XSYS XFP XMCP XDC1 XDC2
24V 5A

-+ -+

User-Supplied
Ground Wires Terminator MCP Adapter Cable
Installed

Controller (XMCP) to MCP

Controller (XFP) to
Front Panel (XFP)
Ethernet (Eth 10/100) to PC

STOP

Front Panel

- +

MCP

24VDC Power from

User-Supplied
Power Supply to
Desktop or Laptop PC Controller (XDC1)
24V 5V

User-Supplied
Power Supply

Figure 2-3. Adept SmartMotion System Cable Diagram

20 Adept SmartMotion Installation Guide, Rev. B

 Adept sMI6 Hardware Configuration

2.4 Adept sMI6 Hardware Configuration

sMI6 Digital Input Logic Voltage Configuration

The sMI6 can be configured to operate with either a 5V (min 3.0V, max 5.7V) or a 12/24V
(min 8.75V, max 27.5V) logic interface. This affects the Home, Overtravel, and Drive Fault
signals. The sMI6 is normally shipped configured for 12V input, and must be reconfigured
if you decide to operate at 5V. After you configure the sMI6 voltage option, then you must
install the MP6 Machine and Servo panels accordingly.

NOTE: Refer to Figure 4-5 on page 53 for a typical input circuit in the
sMI6.

The input voltage is determined by jumpers on the main printed circuit assembly (PCA)
inside the chassis. To reconfigure the sMI6 for 5V logic operation, follow this procedure.

1. Verify that the sMI6 is disconnected from the 24VDC power source.
2. Remove the cover of the chassis by removing three screws at the back of the
chassis. See Figure 2-4.
3. Install jumpers for each channel that you are using. See Figure 2-5 on page 22.
4. Reinstall the cover on the chassis.

Figure 2-4. Opening the sMI6 Chassis

Adept SmartMotion Installation Guide, Rev. B 21

Chapter 2 - System Installation

Jumpers for Overtravel signals,

channels 1 to 6

Jumpers for Home signals,

channels 1 to 6

Jumpers for Drive Fault signals,

channels 1 to 6

Digital Input Logic Voltage Configuration

No jumper = 12/24 V logic (factory default)
Jumper installed = 5 V logic

Figure 2-5. Location of Jumpers on Main PCA

22 Adept SmartMotion Installation Guide, Rev. B

 Proper Wiring and Electrical Design Practices

2.5 Proper Wiring and Electrical Design Practices

Designing a high-performance servo system requires attention to electrical design. Adept
SmartMotion is designed to respond to high-resolution encoder inputs, up to 32 MHz
count rate. Most drive amplifiers, DC power supplies, and brush-type motors are
potential sources of high-frequency electrical noise. Other equipment in the workcell can
also generate noise. Proper system wiring, and especially grounding, is very important to
a successful installation. The function of proper grounding is two-fold: first, to reduce the
risk of electrical shock from faults in your high-voltage equipment; and second, to help
shield from electro-magnetic and radio frequency interference (EMI and RFI).

All connections of Adept SmartMotion signals to user-supplied hardware are made via
connectors on the three MP6 panels. For proper operation, you must use good wiring
practices. Follow the general guidelines presented below. In addition, observe all
applicable local and national safety codes.

Be sure to:

• Verify that all equipment, including motor drives (amplifiers), the robot
mechanism, and the SmartController and sMI6 chassis, are properly grounded.
• Ensure that all three MP6 Ground terminals are connected to the user-supplied
ground point.
• Ensure that the MP6 DIN-mounting rail is connected to the user-supplied ground
point.
• Use only one ground point (star ground system) and keep all ground wires as
short as possible. For best results, use braided ground straps for ground
connections. (Braid has lower high-frequency impedance, for a given
cross-sectional area.)
• Use shielded twisted-pair cable for all encoder connections and analog drive
signals, and preferably for all signals.
• Use separate cables for every encoder and motor drive. Route digital signals,
motor power, and encoder signal cables separately from one another.
• Locate noise inducing devices away from the controller and other Adept
SmartMotion hardware.
• Provide noise-free regulated power for all Adept SmartMotion hardware.
• Maintain the integrity of optical isolation by using power sources other than the
Adept controller to power all signals from user-supplied equipment.
• Size all wire according to recognized electrical standards and applicable codes.
• Use proper arc suppression devices on all relay and solenoid coils.
• Adept recommends using power line filters to help prevent electrical noise from
the drive amplifiers “contaminating” the AC power lines, and vice-versa.

Adept SmartMotion Installation Guide, Rev. B 23

Chapter 2 - System Installation

2.6 Enclosure for SmartController and sMI6

The Adept SmartController and the Adept sMI6 module should be installed in a suitable
enclosures. All of the equipment can be installed in one enclosure, or the sMI6 and
associated components can be placed in a separate enclosure near the user’s equipment;
see Note below. Enclosures can be very beneficial in helping protect the controller, sMI6
chassis, and associated peripherals and wiring from noise problems and other hazards
that are typical in many industrial settings.

NOTE: While the sMI6 and MP6 panels should be installed in an

enclosure for protection, they can be installed, along with the third-party
servo amplifiers, in a remote location closer to the user’s mechanism. The
interface between the SmartController system and the sMI6 module is via
the SmartServo network using an IEEE 1394 cable.

The enclosure must provide the internal environmental conditions (temperature,

humidity, etc.) required by the equipment. The enclosure must also meet all local and
national safety codes after the equipment is installed. The Emergency Stop circuitry must
be incorporated into the setup of the enclosure.

It is a good idea to select an enclosure that is large enough so the three MP6 panels can be
installed in the same enclosure as the other equipment. The enclosure is also a good place
to install additional user equipment such as power supplies, DIN mounting rails, wiring
terminal strips, etc.

Make sure to keep low-voltage control signal wiring away from high-voltage wiring to
avoid interference and noise problems.

24 Adept SmartMotion Installation Guide, Rev. B

 Installing the Adept SmartController

2.7 Installing the Adept SmartController

Refer to the System Cable Diagram in Figure 2-3 on page 20 and to the Adept
SmartController User’s Guide to install the SmartController and related peripherals. A
brief summary is presented here.

1. Mount the SmartController in the workcell according to the instructions in the

Adept SmartController User’s Guide.
2. Install the Compact Flash.
3. Install the user-supplied ground wire from the ground screw on the side of the
controller chassis to ground.
4. Install the user-supplied 24VDC power to the controller. Power must be turned
off.
5. Connect the optional Adept Front Panel.
6. Connect the MCP.
7. Connect the user-supplied PC and install the AdeptWindows user interface on the
PC.

2.8 Installing the Adept sMI6 Module

Refer to the System Cable Diagram in Figure 2-3 on page 20.

1. Mount the sMI6 module in the workcell. The mounting options include rack
mounting, panel mounting, and table mounting. See Section 4.2 on page 48 for
dimension drawings of the different mounting brackets.
You can also stack-mount the sMI6 directly above the SmartController with
combining brackets. See the Stacking Components section in the Adept
SmartController User’s Guide. The sMI6 has the same dimensions as the sDIO
module that is shown there.
2. Connect an IEEE 1394 cable from the SmartController to the sMI6.
3. Connect a user-supplied ground wire from the ground screw on the side of the
sMI6 chassis to ground. The ground wire must be less than 3 meters long.
4. Connect a 24VDC cable from the SmartController to the sMI6. The DC power
cable must be less than 10 meters long.

Adept SmartMotion Installation Guide, Rev. B 25

Chapter 2 - System Installation

2.9 Installing MP6 Panels

The three 6-channel Motion-interface Panels (MP6-M, MP6-S, and MP6-E) serve as the
interface between the sMI6 module and the user’s hardware. The MP6-M panel also
provides mounting sockets for up to seven Opto-22 output modules. Figure 2-6, Figure
2-7, and Figure 2-8 show the layout and dimensions of the MP6 panels. Figure 2-9 on page
30 shows a typical system wiring for one axis of motion. One set of MP6 panels is required
for every sMI6.

WARNING: The six removable connectors on the MP6-M

are purposely not keyed so they can be interchanged for
diagnostic purposes. It is important that these connectors
are not interchanged during normal operation. Doing so
can cause unstable operation which could result in serious
equipment damage and injury to personnel.

Rail Mounting the MP6 Panels

The MP6 panels are designed to be installed on DIN-style industrial mounting rails. The
MP6 panels will fit on these types of rails:

TS 35 Symmetrical 35mm x 7.5mm

TS 35 Symmetrical 35mm x 15mm

TS 32 Asymmetrical 32mm x 15mm

DIN rail hardware is available from many vendors, including:

• Weidmüller
• Allen-Bradley
• Phoenix
Install the mounting rails in the workcell in a location that is easily accessible and close
enough to the Adept SmartController so the motion interface cables can reach between the
controller and the MP6 panels. One of the best places to install the mounting rails is in the
same enclosure as the controller.

A variety of other DIN-rail mountable hardware is available from the vendors listed
above, including terminal blocks, end brackets, opto-isolation systems (for voltage-level
shifting and additional current drive) and power supplies.

26 Adept SmartMotion Installation Guide, Rev. B

 Installing MP6 Panels

Panel Mounting the MP6 Panels

If you do not want to use DIN-rail mounting, you can use panel (screw) mounting instead.

1. Remove and discard the MP6 mounting enclosures. This is done by removing two
screws on either end of each unit, then sliding out the printed circuit assembly
(PCA).
2. Use the four mounting holes provided on each MP6 panel to mount the PCA with
appropriate screws.

WARNING: Be sure to use suitable stand-offs or spacers

and comply with national and local electrical regulations
regarding spacing and insulation.

Plug-In Opto Modules on the MP6-M

The plug-in opto-isolator output modules are standard Opto-22 Generation-4 single-point
type, or equivalent. These modules have built-in indicator LEDs and are individually
fused. The mounting panels are supplied from Adept without I/O modules so you can
choose the type of modules (AC, DC, voltage range) which best suit your particular
application.

See Section 2.10 for more detailed information on the opto modules.

Adept SmartMotion Installation Guide, Rev. B 27

Chapter 2 - System Installation

P1
33 17
50
Motion-interface Panel - SERVO (MP6-S)
P1

S S
E 108mm
E
R SPARE
V CHAN2 CHAN4 CHAN6
R (4.25") O

V
O
ANALOG
CHAN1 CHAN3 CHAN5 PWR

34 136.5mm
18 1 (5.375")
1 +12V
1 2 RTN
6
DE1 3 –12V
4 SHD/GND
CD1 ANALOG PWR
9
DF1
5
CHAN1 to 6

Figure 2-6. MP6-S Panel – Layout and Dimensions

P1
33 17
50

Motion-interface Panel - ENCODER (MP6-E)

P1

E
N E
N
C 108mm C
CHAN2 CHAN4 CHAN6 RESVD
O
O (4.25") D
E
R
D
E
R CHAN1 CHAN3 CHAN5
ENC PWR

34 112mm
18 1
(4.4")
1 PWR
1 6 2 RTN
3 SHD
4 GND
9 ENC PWR
5

CHAN1 to 6

Figure 2-7. MP6-E Panel – Layout and Dimensions

28 Adept SmartMotion Installation Guide, Rev. B

 Installing MP6 Panels

E
N
I
H
C
A
M
34 50
18 33

1 17

108mm
(4.25")
LOGIC PWR

P1
E
N
I
H
C
A
M
4 GND LOGIC
PWR SPARE
3 SHD
2 5VRTN
1 5V 206.4mm
CHAN1 BRAKE-BR1 CHAN4
(8.125")
OVERTRAVEL

HOME HOME

BRAKE-BR4
CHAN1 to 3 OVERTRAVEL
CHAN4 to 6
9 SHD
8 BR– CHAN2 BRAKE-BR2
OVERTRAVEL
CHAN5 1 OT+
7 BR+ 2
6 HM– 3
HOME HOME
5 HM+ 4 OT–
4 OT– BRAKE-BR5 5 HM+
3 OVERTRAVEL
6 HM–
2 7 BR+
1 OT+ CHAN3 BRAKE-BR3 CHAN6 8 BR–
OVERTRAVEL
9 SHD
HOME HOME

BRAKE-BR6
OVERTRAVEL
HPE

HPE
1 HPE+
2 HPE–
3 GND
4 SHD

Figure 2-8. MP6-M Panel – Layout and Dimensions

Adept SmartMotion Installation Guide, Rev. B 29

Chapter 2 - System Installation

Adept SmartMotion Hardware Customer's Hardware

MP6-S Drive Amplifier +
(Typical)
Drive
DE+ 1 Enable
Output Drive
Enable
DE– 2
Typical +
DF+ 4
wiring for Drive
Input Drive
one of six Fault Fault
axes DF– 5
SHD 3
7 Motor
Analog Command CD+ Output M
CD– Command
8
Signal

To SmartController
Note: Opto-modules shown XUSR Connector
as simplified equivalent
circuit only. Emergency-Stop Power Cutoff
MP6-M See pages 54 and 55 for examples of
HPE+ 1
Output High Power this circuitry for various categories of
Enable application safety requirements.
HPE– 2

Line Filter
(recommended)

L1 L2
Positive
OT+ 1 Overtravel

2
Input Negative
3 Overtravel

Typical User I/O

wiring for OT– 4
Home Power Supply
one of six HM+ 5
axes +
Input
–
HM– 6
7 User Power Supply
BR+ + –
Output Brake
Release * Brake Solenoid
BR– 8
SHD 9 * Commutating diode must be
used on all inductive loads.
(typical 1N4005)
PWR 1
RTN 2
+
SHD 3 User Logic
GND 4 – Power Supply

Encoder
1
MP6-E A+
2
A– 4
B+ 5
B–
I+ 6
Pin numbers 7
I–
typical for encoder PWR 8 +
channels 1 to 6 RTN 9 –
SHD 3

PWR 1
RTN 2
+ User
SHD 3
GND 4 – Power
Supply
for Encoders
User-Supplied
Jumper

Figure 2-9. Typical System Wiring for One Axis of Motion

30 Adept SmartMotion Installation Guide, Rev. B

 MP6 Machine (MP6-M) Panel Wiring

2.10 MP6 Machine (MP6-M) Panel Wiring

The MP6-M is used to interface to the machine (robot or motion mechanism). It provides
two digital inputs and one digital output for each of six channels (Channels 1 to 6). See
Figure 2-8 on page 29 for the location of the various connectors.

• digital input for Overtravel (OT)

• digital input for Home Switch (HM)
• digital output for Brake Release (BR)
The MP6-M also has one independent output for high power enable (HPE).

The function of the MP6-M is to provide convenient interconnect points and to perform
voltage level-shifting of some signals, for example, to interface 120VAC or 230VAC user
circuits to the HPE output.

Optical Isolation
All signals (input and output) are isolated inside the sMI6 module. Additional isolation
for the output channels (6 for Brake Release (BR), one for High Power Enable) is provided
on the MP6-M using Opto-22 modules. The main functions of the Opto-22 modules on the
output channels of the MP6-M are to give enhanced current drive capability, and allow
flexibility in connecting to a variety of voltage levels.

Input Current Requirements (OT, HM)

The inputs on the MP6-M are connected directly to the sMI6. Therefore, the input
specifications for the MP6-M are the same as for the MP6-S. See Table 2-2.

Table 2-2. Digital Input Specifications (sMI6 module)

Operational voltage range 0 to 24 VDC

“Off” state voltage range 0 to 3 VDC

“On” state voltage range 10 to 24 VDC

Operational current rangea 0 to 20 mA

“Off” state current rangea 0 to 1.2 mA

“On” state current rangea 7 to 20 mA

Typical threshold current, per channela 10 mA

Impedance (Vin/Iin) 1.3 K Ω minimum

Current at Vin = +24 VDC Iin ≤ 20 mA

Turn on response time (hardwareb) 5 µsec maximum

Turn off response time (hardwareb) 5 µsec maximum

a The input current specifications are provided for reference; voltage sources are typically used
to drive the inputs.
b The software scan rate depends on Servo software, and is currently 1 ms.

Adept SmartMotion Installation Guide, Rev. B 31

Chapter 2 - System Installation

Input Voltage Configuration

See “sMI6 Digital Input Logic Voltage Configuration” on page 21.

Output Current Requirements (MP6-M, HPE and BR, External)

The digital outputs (HPE and BR) on the MP6-M are optically-isolated via Opto-22
modules. (Therefore, the output specifications for the MP6-M are different than the
MP6-S.) Select an appropriate plug-in single-channel module from the “Generation 4”
(G4) range manufactured by Opto-22. (Compatible modules are also made by other
manufacturers.)

Modules are available for various external voltages to suit the user’s equipment,
including 12V DC and 24V DC, and 110VAC and 230VAC. See Table 2-3 for specifications
of some commonly-used modules. (See the manufacturer’s documentation for any
parameters or module types not listed.) You must provide logic-power to connect to and
from the Opto-22 modules. The logic input current required depends on the number,
voltage, and type of Opto-22 modules.

The Opto-22 DC output modules can each supply from 0.5 to 3 Amps to the user’s
external equipment. The total current actually required for outputs will depend on the
user-supplied external equipment (relays, solenoids, limit switches, etc.).

Table 2-3. Digital Output Specifications for HPE and BR (Opto-22 module, typical)

Opto-22 module type G4ODC5 G4ODC5A G4OAC5 G4OAC5A

Operating voltage range 5 - 60 VDC 5 - 200 12 - 140 24 - 280

VDC VAC VAC

Current rating @45°C ambient 3A 1A — —

@70°C ambient 2A 0.55 A 1.5 A 1.5 A

Output voltage drop maximum 1.6 V 1.6 V 1.6 V peak 1.6 V peak

Off-state leakage @max voltage 1 mA 1 mA 5 mA rmsa 5 mA rmsb

Turn-on time (hardware), maxc 50 µs 100 µs 1/2 cycle 1/2 cycle

Turn-off time (hardware), maxc 50 µs 750 µs 1/2 cycle 1/2 cycle

Logic voltage range (Vcc) 2.4-8 VDC 2.4-8 VDC 4-8 VDC 4-8 VDC

Logic input current 12mA@5V 12mA@5V 12mA@5V 12mA@5V

a At 60 Hz, 140VAC
b At 60 Hz, 280VAC (2.5 mA rms at 60 Hz, 120VAC)
c The software scan rate depends on Servo software, and is currently 1 ms.

User-Supplied Logic Power (Internal)

The Opto-22 opto-isolator modules also require logic voltage to interface with the Adept
sMI6 module. This voltage must be provided by the user at the PWR terminals. The power
supply voltage should be the same as the logic voltage rating of the Opto 22 output
module. For example: 5V logic voltage Opto 22 requires a 5V logic user-supplied power
supply. Use of shielded, twisted-pair cable is recommended. Allow 12mA per output
channel (a total 0.1A for 7 modules) for each MP6-M.

32 Adept SmartMotion Installation Guide, Rev. B

 MP6 Machine (MP6-M) Panel Wiring

Overtravel Limit Switches (Input)

One Overtravel Limit switch input is provided for each axis. (Two normally-closed
switches must be wired in series or normally-open switches in parallel for one input.)
These inputs can be used to help protect the mechanical hardware when the end of axis
travel is reached. Each switch should be normally closed, and open only when an
overtravel condition is reached. If any of the overtravel switches is opened on an active
channel, the controller will disable High Power.

The input polarity for the overtravel inputs is configurable using the SPEC program.

The presence of an Overtravel signal will prevent the successful completion of the Drive
Enable sequence. Any unused Overtravel inputs on active channels must be configured to
provide a “no fault” condition. In most industrial situations there will be considerable
electrical noise in the operating environment. An unterminated input may not function as
anticipated. Adept recommends that you install a shorting wire between the MP6-M
terminals of any unused overtravel inputs.

NOTE: Refer to Figure 4-5 on page 53 for a typical input circuit in the
sMI6.

Home Switch (Input)

The Home Switch inputs are used during the calibration sequence of each axis. These
inputs can be activated anywhere within the travel of the axis, however, it is
advantageous to locate the home switch just inside one of the overtravel limit switches.
The input polarity of the Home input is configurable using the SPEC program. You should
design the home switch so that it remains active all the way through one of the overtravel
limits, then Adept SmartMotion will always be able to calibrate the axis.

Brake Release (Output)

The Brake Release (BR) signals are provided to control external safety brakes. These
signals are asserted to release the brakes after the drive has been successfully enabled. The
output modules are on (conduct) when in the “Brake Released” condition.

NOTE: Refer to Figure 4-6 on page 53 for a typical output circuit in the
sMI6.

High Power Enable (Output)

One High Power Enable (HPE) signal is provided for the entire system. (If you have more
than one sMI6 module, the signal is internally connected in parallel to every sMI6.) The
HPE signal drives the user-supplied power contactor for the motor drive-amplifiers. The
output is controlled via the Emergency Stop circuitry in the controller. The High Power
Enable signal is accessible on the HPE terminal block of the MP6-M.

Adept SmartMotion Installation Guide, Rev. B 33

Chapter 2 - System Installation

Table 2-4. MP6-M Connector Terminal Assignments (Typical, 1 of 6)

Signal Signal Default Mode of

Pin Abbrev. Description Type Operation

1 OT+ Overtravel(+) input Open on overtravel

(configurable using
2 — (Connected to terminal 3)a — SPEC program)
3 — (Connected to terminal 2)a —

4 OT– Overtravel (return) return

5 HM+ Home Switch(+) input Closed at home

(configurable using
6 HM– Home Switch (return) return SPEC program)

7 BR+ Brake Release (+) output Closed in brake

released condition (not
8 BR– Brake Release (return) return configurable)

9 SHD Shield shield ——

a Pins 2 and 3 are connected to each other to help you connect a normally-closed switch in
series, if you have separate OT signals from the limit switches at each end of the axis. Use
them if you need, otherwise make no connection.

Table 2-5. MP6-M Opto Power (Logic) Connectors (one per MP6-M)

Signal
Pin Abbrev. Description

1 +PWR If using Opto-22 G4ODC5 or G4OAC5 series modules: 5V.

2 RTN Common (return) for the above voltage

3 SHD Shield for power cable

4 GND Ground for all MP6-M shield connections. Connect this to

your ground point.

34 Adept SmartMotion Installation Guide, Rev. B

 MP6 Servo (MP6-S) Panel Wiring

2.11 MP6 Servo (MP6-S) Panel Wiring

The MP6-S is used to interface to the Servo Drive amplifiers. It provides one digital input
(drive fault, DF) and one digital output (drive enable, DE) for each of six channels
(channels 1 to 6). It also provides one analog output (command drive, CD) for each of six
channels. The function of the MP6-S is to interconnect the signals from user circuits to the
sMI6 module.

Drive Compatibility
The Adept SmartMotion control system is compatible with most industry-standard motor
drives that accept a ±10 Volt analog input signal for current (torque) or velocity
commands. In addition, Adept SmartMotion provides two discrete I/O signals that are
dedicated to specific functions supported by most commercially available motor drives. In
summary, each motion channel supports the following drive signals:

• analog output (±10V) for Command Drive (CD)

• digital output (to the drive) for Drive Enable (DE)
• digital input (from the drive) to monitor for a Drive Fault (DF)

Optical Isolation
The digital signals, Drive Enable and Drive Fault, are optically isolated. No additional
isolation is required on the MP6-S. The MP6-S does not use Opto-22 modules. Note that
the Analog Output is not optically isolated in the sMI6 module, unlike in previous
versions of the Adept Motion Interface products.

MP6-S Input Current Requirements (Drive Fault)

The digital inputs on the MP6-S are connected directly to the sMI6. Therefore, the input
specifications for the MP6-S are the same as for the MP6-M. See Table 2-2 on page 31.

MP6-S Output Current Requirements (Drive Enable)

The digital outputs on the MP6-S are connected directly to the sMI6. Therefore, the output
specifications for the MP6-S are different than the MP6-M. See Table 2-6.

Table 2-6. Digital Output Specifications for Drive Enable Signal

Operating voltage range 5 to 24 VDC

Operational current range, per channel Iout ≤100 mA

Vdrop across output in ON condition Vdrop ≤ 0.85 V at 100 mA

Vdrop ≤0.80 V at 10 mA

Output-off leakage current Iout ≤ 600 µA

Turn-on response time (hardwarea) 3 µsec maximum

Turn-off response time (hardwarea) 200 µsec maximum

a The software scan rate depends on Servo software, and is currently 1 ms.

Adept SmartMotion Installation Guide, Rev. B 35

Chapter 2 - System Installation

Connecting the Drives

Each channel (1 to 6) has a 9-pin female D-connector that connects to the user’s
equipment. All six connectors have the same pin assignments (see Table 2-4 on page 34).
Refer to Figure 2-6 for the physical location of each connector. All signal nomenclature is
defined as viewed from the controller. Thus, an output is controlled by the Adept
controller and an input is monitored by the Adept controller.

Table 2-7. MP6-S Connector Pin Assignments (Typical, 1 of 6)

Signal Signal
Pin Abbrev. Description Type Mode of Operation

1 DE+ Drive Enable (+) output Not configurable –

On to enable drive
2 DE– Drive Enable (return) return

4 DF+ Drive Fault (+) input Configurable using

SPEC program
5 DF– Drive Fault (return) return

7 CD+ DAC Command (+) output ±10V, configurable

using SPEC program
8 CD– DAC Command (return) return

3 SHD Shielda shield ——

6 Not connected

9 Not connected
a If two separate cables are used for Command signals and Drive signals, then their shields
should be tied together at Pin 3 SHD.

36 Adept SmartMotion Installation Guide, Rev. B

 MP6 Servo (MP6-S) Panel Wiring

Drive Enable (Output)

The Drive Enable signals (DE+, DE–) are outputs to the drives which command the drives
to enable motor power. These signals are activated as part of the power enable sequence,
after the High Power Enable signal has been activated. Refer to the SPEC program for
complete details on the power enable sequence and software-timing parameters.

The Drive Enable output logic is set to normally open (closed/on to enable drive). The
signal polarity is not user configurable. However, the user can provide an external circuit,
such as a relay, to change the polarity if required.

Delay Time
Refer to the SPEC program for information on setting the delay time for ignoring an
amplifier fault immediately after the amplifier has been enabled with a Drive Enable
signal.

Drive Fault (Input)

The Drive Fault input (DF+, DF–) is used to indicate a drive fault, such as
over-temperature, over-current, etc., and causes all drives to power down via the Drive
Enable signals. This input is configurable via software (SPEC program) so that a fault is
declared in either a voltage-present or voltage-absent condition. Thus, this input can also
be used to monitor a “drive ready” signal. Drive Fault inputs are only monitored while
Drive Enable is on, therefore, drive faults on unused channels are not monitored.

The presence of a drive fault will prevent the successful completion of the Drive Enable
sequence. Any unused Drive Fault inputs on active channels must be configured to
provide a “no fault” condition. In many industrial situations there will be considerable
electrical noise in the operating environment. An unterminated input may not function as
anticipated. Adept recommends that you install a shorting wire between the MP6-S pins
of any unused Drive Fault inputs.

Command Drive (Output)

The Command Drive outputs (CD+, CD–) provide a command signal to each of the
drives. Maximum output is ± 10 Volts into a 10K ohm input resistance. These analog
outputs are rated at 100 mA (max) per channel. Short-circuit protection is provided by a
100 ohm internal current limiting resistor. Refer to the SPEC program for complete details
on configuring this signal.

A separate tie point for the cable shield is provided to help minimize electrical noise. The
shield should normally be left floating at the amplifier end. For the shield to be effective,
you must connect the GND terminal of the MP6-M Opto Pwr connector to a suitable
ground point.

Separate + and – outputs are provided for each of the six CD (Command Drive) outputs.
You should use a separate twisted-pair wire for each CD pair. Do not use a “common”
wire to connect the negative outputs as this will seriously reduce the noise-immunity of
the system.

Adept SmartMotion Installation Guide, Rev. B 37

Chapter 2 - System Installation

2.12 MP6 Encoder (MP6-E) Panel Wiring

Encoder Compatibility
The MP6-E is used to interface to the encoders. It supports up to six encoder channels,
with differential input (A, B and Index) for each encoder. Each channel is designed to
interface directly to encoders which use industry standard AB quadrature outputs and an
optional zero-index channel. The encoder input circuitry is compatible with encoders
using differential line driver outputs (RS-422 signal, +5VDC). (Alternatively, 5V
single-ended outputs may be used, but they will be much more sensitive to external
electrical noise. For information on compatibility with other types of encoders, please
consult Adept Customer Service.) Adept strongly recommends using differential
encoders, with index pulse.

Each of the six encoder channels has its own 9-pin female D-connector located on the
MP6-E. Refer to Figure 2-7 on page 28 for the physical location of each connector.

Connecting Power to the Encoders

All encoder inputs for the sMI6 use a scheme similar to an RS-422 differential receiver
based on industry standard 75175 integrated circuits. The difference is that a custom
resistor network and two differential receivers are used on each of the A and B inputs.
This scheme allows for the detection of broken or shorted encoder wiring. See Figure 2-11
on page 41 for a schematic.

The encoder inputs for the previous Adept MI6 product are optically isolated at the MI6
module. This provided the ability to use different power supplies for different channels
with no common ground. Although this provided some noise immunity, it was at the
expense of a slower input pulse rate due to the slow switching speed of the optical inputs.
To provide higher encoder pulse rates, the sMI6 was designed with standard RS-422
receivers to replace these optical isolation components.

In order to maintain compatibility with the Adept MI6, all encoder power must be
supplied by an external source. Power for each encoder can be supplied from independent
power supplies or from one common power supply. However, all encoder power supply
commons must be connected together and must be connected to the sMI6's 24V power
input common. Encoder power should be supplied from a source that remains on when
High Power and/or Drive Enable is off. This eliminates the need to re-calibrate the
mechanism after High Power has been cycled off.

Adept strongly recommends using shielded, twisted-pair cable for all encoder and power
connections. The MP6-E can be used to distribute power to the encoders. The power,
voltage, and current required depend upon the encoders chosen by the user. If one
common power supply is being used for all encoder channels, the power source is
connected to the “Encoder Pwr” terminal on the lower section of the MP6-E. The encoder
power supply should not be used to power other equipment, because this may cause
electrical interference to the encoder signals.

If separate power is desired for any of the encoder channels (for example, if any of your
encoders require different supply voltages), power connections must be made directly to
that encoder. The encoder input circuitry on the MP6-E does not require power from an
external supply.

38 Adept SmartMotion Installation Guide, Rev. B

 MP6 Encoder (MP6-E) Panel Wiring

Adept recommends using a linear power supply instead of a switching power supply. If a
switching power supply is used, make sure to meet the minimum current requirements.

Encoder Power Grounding

Because the 75175 input circuits on the sMI6 have a common-mode input range of +/-12V,
the nominal differential signal swing of 0 to 5V must remain within common-mode input
range. Since a separate power supply is used to power the encoder RS-422 (or
single-ended) drivers, the common of the separate supplies must share a common ground
reference with the voltage supply into the sMI6. Thus, it is very important that the
common signals for these separate supplies be connected to the common of the 24V
plug-in terminal on the front of the sMI6.

If an older MI6-based system is being retrofitted with the sMI6, a modification to the
encoder power supply circuit may need to be made to provide this common power
supply connection. In some cases, new wiring must be provided. For example, the
Yaskawa Sigma amplifiers provide an “SG” or signal ground wire in the “CN” connector
that may not have been needed on the MI6. Since this SG ground must now be connected
to the sMI6 common for differential-signal common-mode reference, a new connection
might have to be made.

The DC power supply common for the internal voltages, including the 5V for the
differential receivers, is connected to the frame ground of the sMI6 internally. The shield
for the sMI6/MP6E cable is also connected to frame ground at the sMI6 XENCODER
connector. Thus, one can sometimes provide the common ground reference at the MP6E
Encoder Power terminal block by connecting pin 2, User's Encoder Power Supply Return
“RTN”, to pin 3 Cable Shield “SHD”. See Table 2-8 and Figure 2-10 on page 41. This
Terminal can thus serve as the common ground wiring point on an encoder power system
of separate encoder voltage sources.

Table 2-8. MP6-E Power Connectors (one per MP6-E)

Signal
Pin Abbrev. Description

1 PWR Encoder voltage supply

2 RTN Common (return) for the above voltage

3 SHD Shield for power cable

4 GND Ground for all MP6-E shield connections. Connect this to your
ground point.

Encoder Cable Length (User Supplied)

Because encoders are not supplied with the system and output circuitry varies between
different encoders, it is not possible for Adept to specify a maximum cable length.
However, it is good practice to keep the encoder cable length to a minimum. This practice
helps to improve noise immunity and reduces the risk of encoder signal problems.

Adept SmartMotion Installation Guide, Rev. B 39

Chapter 2 - System Installation

Connecting the Encoders

Each encoder channel has its own 9-pin D-connector. The connectors are intentionally not
keyed and can be interchanged for diagnostic purposes, provided that no attempt is made
to enable the associated axis. The pin assignment for each connector is detailed in Table
2-9. For best protection against noise, use shielded twisted-pair cable. The shield should
encase only those signals associated with that particular encoder channel. A separate
terminal is provided for connection of the shield. To avoid creating a “ground loop,” the
shield should normally be left floating (not connected) at the encoder end, unless the
encoder body is electrically isolated from the equipment it is mounted to.

Table 2-9. Encoder Channel Pin Assignments (Channel 1 to 6)

Pin Number Encoder Signal Pin Number Encoder Signal

1 A+ 6 Index +

2 A– 7 Index –

3 Cable Shield 8 +Power

4 B+ 9 Power Com

5 B–

Encoder Input Circuitry

All incremental-encoder input circuits are identical. Standard hardware configurations of
the sMI6 support RS-422 +5VDC signal levels in a differential mode. Adept strongly
recommends using differential encoders for maximum noise immunity. Using differential
encoders also enables the Encoder failure detection system to function. However, Adept
SmartMotion hardware is compatible with single-ended and open-collector outputs.
Schematics to connect these types of encoders are located in Figure 2-12 and Figure 2-13.

NOTE: If you use single-ended inputs, say by connecting the encoder's A

signal to the sMI6's “A-” input as in earlier MI6 systems, then you must
now connect the opposite polarity signal, “A+” in this example, to the
encoder and sMI6 power supply common.

If an older MI6-based system is being retrofitted with the sMI6, the connections of any
single-ended encoder signals must be modified in the customer wiring. The unused
differential signal input on A, B or Index, must be connected to the encoder power
common. For example, the standard wiring scheme was to connect the encoder
single-ended A to Adept's A-, the encoder B to B- and encoder Index to Index-. For this
example, the Adept A+, B+, and Index+ signals must be connected to Power Com in the
user wiring, say at the 9-pin connector, for the single-ended encoder to work on the sMI6.
See Table 2-9.

The encoder signals pass directly through the MP6-E to the sMI6 module. All encoder
inputs use RS-422 receivers on the differential inputs. Figure 2-10 and Figure 2-11
illustrate the input circuit for each encoder channel. The A, B, and Index signals are then
digitally filtered to improve noise immunity.

40 Adept SmartMotion Installation Guide, Rev. B

 MP6 Encoder (MP6-E) Panel Wiring

sMI6
5V

A
A+ MP6-E Encoder
A
A– 1
A+
5V 2
A– 4
B+ 5
B
B+ B–
I+ 6
B
I– 7
B– PWR 8
5V +
RTN 9 –
I
SHD 3
I+
PWR 1
I
I– Adept sMI6/ RTN 2
MP6-E Cable SHD 3 User's
+PWR +
GND Encoder
4 –
SHLD
Power
SHLD
Supply
User-Supplied
Pin numbers Jumper
typical for encoder
channels 1 to 6

Figure 2-10. Encoder Input Circuitry

ENCODER QUADRATURE INPUTS DIFFERENTIAL DETECTION WITH INVERSION/PULLUP/PULLDOWN FOR BROKEN-WIRE DETECT

5VD
R0603

R0603

R0603

R0603

R0603
5% 5% 5% 5% 5%
10K 10K 10K 10K 10K
R410 R377 R376 R381 R380 R325
1/D8 ENC_A1+

R0603 1K 5% U58
R408 75175
R439 VCC 16
R-1210

220 4 EN1
5% R0603 1K 5%
2
R409 1A
1Y
3 ENC_A1 10/C5
1 1B
R0603 1K 5%
1/D8 ENC_A1- 6
R411 2A
2Y 5 ENC_A1 10/C3
7 2B
R0603 1K 5%
10
R414 3A
3Y 11 ENC_B1 10/C5
1/D8 ENC_B1+ 9 3B
R0603 1K 5%
14
R412 4A 13 ENC_B1 10/C3
R440 15 4B
4Y
R-1210

220
5% R0603 1K 5% 12 EN2
R413 R375 R378 R379 R382 8 GND
10K 10K 10K 10K
R0603

R0603

R0603

R0603

R0603 1K 5% 5% 5% 5% 5%
1/D8 ENC_B1-
R415

R0603 1K 5%

ENCODER INDEX DIFFERENTIAL INPUT W/BIDIRECTIONAL COMM CAPABILITY FOR SERIAL ABSOLUTE ENCODERS

5VD
R93
10K
R0603

1/D7 ENC_Z1+ 5% U31

8 VCC 4 ENC_Z1 10/C5
R92 D
R-1210

220 6 A DE 3
5% 7 B R 1
RE 2
5 GND ENC_DIR_Z1 10/C3
R94 SN75176B
1/D7 ENC_Z1- 10K
R0603

5% R91
D R0603 1K 5%

Figure 2-11. Encoder Input Schematic

Adept SmartMotion Installation Guide, Rev. B 41

Chapter 2 - System Installation

Single-Ended Encoders

sMI6
Note: this configuration will be highly sensitive to noise. Encoder,
5V single-ended
A
A+
MP6-E A
A
A– 1
A+
5V 2
A– 4 B
B+ 5
B
B+ B–
I+ 6
B 7 I
B– I–
PWR 8 +
5V RTN 9 –
I
SHD 3
I+
PWR 1
I
I– Adept sMI6/ RTN 2
MP6-E Cable SHD 3 User's
+PWR +
GND Encoder
4 – Power
SHLD SHLD
Supply
User-Supplied
Pin numbers Jumper
typical for encoder
channels 1 to 6

Figure 2-12. Single-Ended Encoder Wiring Using Inverted Outputs

sMI6 Note: this configuration will be highly sensitive to noise.

Encoder,
5V single-ended*
A A
A+
MP6-E
A
A– 1 B
A+
5V 2
A– 4
B+ 5
B I
B+ B–
I+ 6
B
I– 7
B– PWR 8
5V +
RTN 9 –
I
SHD 3
I+
PWR 1
I
I– Adept sMI6/ RTN 2
MP6-E Cable SHD 3 User's
+PWR +
GND Encoder
4 –
SHLD
Power
SHLD
Supply
User-Supplied
Pin numbers Jumper
typical for encoder
channels 1 to 6

*Note: this configuration leads to inversion of the encoder channel

signals. Remember this when using the SPEC program to specify
the Zero-Index configuration.

Figure 2-13. Single-Ended Encoder Wiring Using Non-Inverted Outputs

42 Adept SmartMotion Installation Guide, Rev. B

 Software Configuration 3
3.1 Introduction
After the Adept SmartMotion system hardware has been installed (see Figure 3-1), and
the wiring completed, you will be ready to start the software configuration process. This
chapter provides an overview of this process.

For complete information on the process, refer to the Adept SmartMotion Developer’s
Guide which can be obtained by searching the Adept Documentation Library (formerly
Knowledge Express) available from the following sources:

• Adept Documentation Library CD-ROM that was shipped with your system
• V+ Software CD MANUALS directory
• Adept website (www.adept.com/main/services/index.asp)

User Amplifier
MOTOR 3
SENSOR 3 CN7

3-CN5 3-CN6
CN3 CN2

CN4

MOTOR 3
GENERAL IO PULSE OUT CONTROL IO
SENSOR 3

2-CN5 2-CN6

MOTOR 3
SENSOR 3

1-CN5 1-CN6 P.G. F1 F2

- - F.G.

MP6-E MP6-M MP6-S

SPARE

CHAN4

CHAN5

CHAN6

Motion-interface Panel - SERVO (MP6-S)

Motion-interface Panel - ENCODER (MP6-E)
HPE P1
P1
OVERTRAVEL

OVERTRAVEL

OVERTRAVEL
HOME

HOME

HOME

P1
BRAKE-BR4

BRAKE-BR5

BRAKE-BR6

HIGH POWER ENABLE-HPE

S
E M E
N A R
C C CHAN2 CHAN4 CHAN6 SPARE
CHAN2 CHAN4 CHAN6 RESVD V
O H
BRAKE-BR1

BRAKE-BR2

BRAKE-BR3

O
D I
E N
R E
OVERTRAVEL

OVERTRAVEL

OVERTRAVEL
HOME

HOME

HOME

ANALOG
ENC PWR CHAN1 CHAN3 CHAN5
CHAN1

CHAN2

CHAN3

PWR
LOGIC

CHAN1 CHAN3 CHAN5

PWR

R
SmartServo *S/N 3564-XXXXX*

sMI6 Module
1.1 1.2 XENCODER XMACHINE XSERVO XANL
s MI6

XDC1 XDC2
F2 DE2 F6 DE6 24V 0.5A
F1 DE1 F5 DE5

ES HPE F4 DE4

STATUS F3 DE3

-+ -+

*S/N 3561-XXXXX*

R
SmartController CS

SmartServo
Device Net Eth 10/100
OK HPE LAN SW1 1.1 1.2 RS-232/TERM RS-422/485
SF ES HD 1 2 3 4

1 2 3
ON

OFF

XDIO XUSR XSYS XFP XMCP XDC1 XDC2

24V 5A
SmartController
-+ -+

User Mechanism

Desktop or Laptop PC

Figure 3-1. SmartMotion System Installed to Control a User Mechanism

Adept SmartMotion Installation Guide, Rev. B 43

Chapter 3 - Software Configuration

3.2 Phase 1 - Preparation for Software Configuration

To prepare for the software configuration process, you should read the SmartMotion
Developer’s Guide for the following topics:

• Adept SmartMotion: Key Concepts

• Introduction to Servo Parameters
• SPEC Program: Overview and Main Menu
• Managing SPEC Data

NOTE: The SmartMotion Developer's Guide is provided as an online HTML

document with a Table of Contents, Search, and Index features to
navigate the document. If you do not see these features when you are
viewing a topic, click the SHOW TOC icon that displays in the upper left
corner of each page in the Developer's Guide.

3.3 Phase 2 - Load Device Modules

Select and load the proper device modules using the CONFIG_C utility. For instructions,
see the topic Loading Device Modules in the Adept SmartMotion Developer's Guide.

3.4 Phase 3 - Configure SmartServo Network Map

Use the SPEC program to configure robots and motors on the Adept SmartServo network
(a distributed controls network based on IEEE 1394). This enables the user’s mechanism to
communicate with devices in the Adept SmartMotion system.

Configuration includes specifying the number of motors in the robot, mapping the motors
to hardware drive channels, and establishing the relationship of the joints to the axes of
the device module.

For instructions, see the documentation for the Robot Options and Configuration menu
option available in the Adept SmartMotion Developer's Guide.

3.5 Phase 4 - Create Software Specification

Create the software specification for each mechanism in your system. This includes
specifying parameters for initialization, tuning, calibration, motion, trajectory generation,
and other information required to operate your system.

For detailed instructions, see the Creating the Software Specification topic available in
the SmartMotion Developer's Guide.

44 Adept SmartMotion Installation Guide, Rev. B

 Phase 5 - Testing the System

Then you can optimize your mechanism by fine tuning the performance using the servo
tuning features in SPEC. For details, see the Step-by-Step Tuning Process topic in the
SmartMotion Developer's Guide.

3.6 Phase 5 - Testing the System

Adept SmartMotion software provides diagnostic tools and tests that you can use to
adjust the tuning and optimize the performance of your SmartMotion system. For details
on the Test and Troubleshooting process, see the topic Adept SmartMotion: Test and
Troubleshooting in the Adept SmartMotion Developer's Guide.

This phase can help you quickly test and troubleshoot a mechanism during development
and after installation. Many of these tests can help identify tuning adjustments that can
provide substantial performance improvements even if there are no obvious system
problems. Use the diagnostic tests to evaluate all I/O signals, DAC outputs, encoder and
motor signs, etc.

3.7 Motion Control Application Development

After you have configured and tested the SmartMotion system, you can create your
motion control application using the Adept V+ development environment.

The following applications and tools are available:

V+ library of motion commands see the V+ Language Reference Guide

AdeptWindows see the AdeptWindows User’s Guide

Adept DeskTop see the Adept DeskTop documentation

AIM MotionWare application see the AIM MotionWare Users’s Guide

Advanced Servo Library see the ASL Reference Guide

Unique Kinematic Device Modules see the Device Modules documentation

AdeptVision sAVI and AIM VisionWare see the AdeptVision Reference Guide and
for integrated vision applications the VisionWare User’s Guide

Extensive Documentation for all products see the Adept Documentation FAQs
on the Adept Documentation Library CD

Adept SmartMotion Installation Guide, Rev. B 45

Chapter 3 - Software Configuration

46 Adept SmartMotion Installation Guide, Rev. B

 Technical Specifications 4
4.1 Dimensions for sMI6 Module

4.4 328.9

R
SmartServo *S/N 3564-XXXXX*

1.1 1.2 XENCODER XMACHINE XSERVO XANL

XDC1 XDC2

s MI6
F2 DE2 F6 DE6 24V 0.5A
F1 DE1 F5 DE5

ES HPE

STATUS
F4 DE4

F3 DE3
41.6
-+ -+

3.29 186.5 5.5

.118

.094

Figure 4-1. Dimensions for sMI6 Module

Adept SmartMotion Installation Guide, Rev. B 47

 Chapter 4 - Technical Specifications

4.2 Dimensions for Mounting sMI6 Module

190.0

2X 40356-00003 2X M3 x 6MM
BOTH SIDES
R 3.6
16.0
43.9 31.8
14.0
6.1 2.2 14.2
462.0
3.6
482.8
TYP.

Figure 4-2. Rack Mounting

186.5

14.0

27.6 2X 40356-00000
273.9
10.0 4X M3 x 6MM 18.0

R 3.6
16.0

6.6 346.4
359.6

Figure 4-3. Panel Mounting

48 Adept SmartMotion Installation Guide, Rev. B

 Dimensions for Mounting sMI6 Module

4X 40356-00001
R 3.6
12.1
29.5
24.1

121.0

24.9
378.6
391.8

4X M3 x 6MM
BOTH SIDES

14.3

1.9 16.0 21.6

121.0

Figure 4-4. Table Mounting

Adept SmartMotion Installation Guide, Rev. B 49

Chapter 4 - Technical Specifications

4.3 MP6 to sMI6 Cables

Table 4-1 shows the pinout for the cable that connects between the XSERVO connector on
the sMI6 module and the MP6-S panel.

Table 4-1. Pinout for MP6-S

MP6-S MP6-S
sMI6 Pin Pin Signal sMI6 Pin Pin Signal

1 26

5 2 DE1+ 36 27 DE4+

20 3 DE1– 37 28 DE4–

10 4 DF1+ 12 29 DF4+

11 5 DF1– 13 30 DF4–

1 6 CD1+ 3 31 CD4+

2 7 CD1– 4 32 CD4–

6 8 DE2+ 33

7 9 DE2– 8 34 DE5+

25 10 DF2+ 23 35 DE5–

26 11 DF2– 27 36 DF5+

16 12 CD2+ 28 37 DF5–

17 13 CD2– 18 38 CD5+

21 14 DE3+ 19 39 CD5–

22 15 DE3– 38 40 DE6+

40 16 DF3+ 39 41 DE6–

41 17 DF3– 42 42 DF6+

31 18 CD3+ 43 43 DF6–

33 19 CD3– 34 44 CD6+

20 35 45 CD6–

21 46

22 47

14 23 not used 48

29 24 not used 9 49 SP1+

44 25 not used 24 50 SP1–

Shell Shell Shield

50 Adept SmartMotion Installation Guide, Rev. B

 MP6 to sMI6 Cables

Table 4-2 shows the pinout for the cable that connects between the XMACHINE connector
on the sMI6 module and the MP6-M panel.

Table 4-2. Pinout for MP6-M

MP6-M MP6-M
sMI6 Pin Pin Signal sMI6 Pin Pin Signal

1 8 26 OT4+

1 2 OT1+ 9 27 OT4–

3 3 OT1– 23 28 HM4+

17 4 HM1+ 24 29 HM4–

18 5 HM1– 38 30 BR4+

32 6 BR1+ 39 31 BR4–

33 7 BR1– 32

4 8 OT2+ 33

5 9 OT2– 34

19 10 HM2+ 10 35 OT5+

20 11 HM2– 11 36 OT5–

34 12 BR2+ 25 37 HM5+

35 13 BR2– 26 38 HM5–

6 14 OT3+ 40 39 BR5+

7 15 OT3– 41 40 BR5–

21 16 HM3+ 12 41 OT6+

22 17 HM3– 14 42 OT6–

36 18 BR3+ 27 43 HM6+

37 19 BR3– 29 44 HM6–

20 42 45 BR6+

21 44 46 BR6–

22 47

23 48

15 24 HPE+ 16 49 SP2+

30 25 HPE– 31 50 SP2–

Shell Shell Shield

Adept SmartMotion Installation Guide, Rev. B 51

Chapter 4 - Technical Specifications

Table 4-3 shows the pinout for the cable that connects between the XENCODER connector
on the sMI6 module and the MP6-E panel.

Table 4-3. Pinout for MP6-E

MP6-E MP6-E
sMI6 Pin Pin Signal sMI6 Pin Pin Signal

1 2 A1+ 7 26 A4+

2 3 A1– 8 27 A4–

16 4 B1+ 23 28 B4+

18 5 B1– 24 29 B4–

31 6 Z1+ 37 30 Z4+

32 7 Z1– 38 31 Z4–

3 8 A2+ 32

4 9 A2– 33

19 10 B2+ 34

20 11 B2– 9 35 A5+

33 12 Z2+ 10 36 A5–

34 13 Z2– 25 37 B5+

14 26 38 B5–

15 39 39 Z5+

16 40 40 Z5–

17 11 41 A6+

5 18 A3+ 12 42 A6–

6 19 A3– 27 43 B6+

21 20 B3+ 28 44 B6–

22 21 B3– 41 45 Z6+

35 22 Z3+ 42 46 Z6–

36 23 Z3– 14 47 Serial I/O_3 a

13 24 EPWR 15 48 Serial I/O_4 a

43 25 EPWR 29 49 Serial I/O_1 a

44 50 Serial I/O_2 a

Shell Shell Shield

a Serial I/O functionality to be added in future release.

52 Adept SmartMotion Installation Guide, Rev. B

 Typical Input and Output Circuits in sMI6

4.4 Typical Input and Output Circuits in sMI6

Input Circuits
The circuit in Figure 4-5 is typical of all digital inputs on the sMI6 (3 per axis, 18 total):

• Home Switch
• Overtravel
• Drive Fault

R124 JP_5V_ENA
25 26

560 5% 3.3VD
R-0805

R353
DR_FLT1+ R122 U54
1/C5 TLP281-4 3.3K 5%
1 16 R0603
2.7K 2%
R-2010
D10 15 DR_FLT1
C74 BAS16L 2 10/D3
0.1UF
C-0805
1/C5 DR_FLT1-
D

Figure 4-5. Typical Input Circuit in sMI6

Output Circuits
The circuit in Figure 4-6 is typical of all digital outputs on the sMI6 (2 per axis + 3, 15
total):

• Drive Enable
• Brake Release
• High Power Enable (HPE)
• Spares

U16
3.3VD
R42 TLP281-4
1 16 BRE1+
1/D5
200 5% 3 2
R-0805 2 15 2 LP395FLT
Q7 TVS10

1 27V
10/C1 BRE1
R162 1
BRE1-
1/D5
4.7K 5%
R0603

Figure 4-6. Typical Output Circuit in sMI6

4.5 Emergency Stop Circuits

• Figure 4-7 on page 54 shows a Category 3 E-Stop circuit that can be created using a
PILZ PNOZ1 relay.
• Figure 4-8 on page 55 shows a Category 1 E-Stop circuit that can be created to cut
off power to the user amplifier.

Adept SmartMotion Installation Guide, Rev. B 53

54
Example CE EN954-1 Category 3 Emergency Stop L1
circuit for Auto Mode showing PILZ© PNOZ1 safety relay L2
used to "cyclically check" the normally closed feedback L3
contacts of redundant, positive drive, power contactors
on a user amplifier.
E-Stop, High Power On/Off, and MANUAL/AUTO Controls for Q1
Main
CIM-2 Version of SmartController Isolator

Internal Connections F M User Supplied Connections 24 VDC

5V 24 V
Channel 1 Channel 2
E-Stop ESTOPSRC
XFP-7 Enable 0 VDC
Front
Panel
XFP-1 XFP-2 Fuses F1
System
Power Grn Front Panel
XFP-9 XFP-10
LED
XFP-15 K1A
MCP Contactor
XUSER-2
User E-Stop and
XUSER-1
Gate Interlock
(Jumper closed when MP6-M
XUSER-14 not used, MUST open
both channels HPE K2A
XUSER-15 + HPE provides
independently if used.) reset based on Contactor
XUSER-7
Logic cyclic V+ High Power
ES1
Chapter 4 - Technical Specifications

check state XUSER-8 – Enable

ES1 ES2 machines ES2
User E-Stop Indication
Channel 1 ES1 ES2 XUSER-21 L3 L2 L1
ESTOPSRC XUSER-20
Channel 2 User Amplifier
XUSER-4
XUSER-3
24 V
Manual/Auto Line E-Stop
Front Panel Enable (External User
E-Stop system)
XFP-3 XFP-4 XUSER-16
XUSER-17 Jumper
XFP-11 XFP-12
MM1 See Note
MM1 MM2
MM2
Manual/Auto Keyswitch XUSER-9 K1A
- Manual = Open (|) MCP4 XUSER-10
- Manual => (<250 mm/s) Enable
MM2 User Manual / Auto Indication
- Auto => 100% Switch K2A
MM1 XUSER-23 (Manual = Open)
See Note
5V XUSER-22 A1 A2
24 V T11 T12 T12 T22 X1 X2 13 23 33 41
(L+) (L-)

Figure 4-7. Category 3 E-Stop Circuit

XFP-5 XFP-6 XUSER-6 PILZ©
6V, 1.2 W XUSER-5 PNOZ1
bulb
Muted Safety Gate
Front Panel High Safety
- Active in auto mode F1
Power only K1.2 K1
On / Off
Relay
XUSER-18 (Jumper closed when

Adept SmartMotion Installation Guide, Rev. B

XFP-14 not used)
XFP-13 XUSER-19
Jumper ~
G1 +
- ESTOPSRC See Note
+ =
0.24V
+
V burned out 4.7
bulb notify K1.1 K3.1 K2.1 K3.2 K2.2 K2
(prevents High
V+ High
Note: These three functions:
Power enable)
Power request Line E-Stop, Muted Safety Gate,
HP Light and MCP Enable, will only be

XSYS-2
XSYS-3
XSYS-6
XSYS-7
XSYS-9
XSYS-1
K3

XSYS-5
K1 K2
Enable) sensed by software. They will not
E-Stop E-Stop E-Stop
Reset Manual 2 Auto 2 turn off High Power directly.
E-Stop E-Stop
Manual 1 Auto 1

XSYS signals go to PDU or MAI-2 when required (No User Connection) T33 T34 14 24 34 42

Auto K1A K2A

Reset
 E-Stop, High Power On/Off, and MANUAL/AUTO Controls for Example CE EN495-1 Category B or 1
CIM-2 Version of SmartController Emergency Stop circuit for Auto Mode,
showing simple power cutoff to
User Supplied Connections User Amplifier's High Power section.
Internal Connections F M 24 VDC
5V 24 V This will enable High Power when
Channel 1 Channel 2
E-Stop ESTOPSRC V+ calls for it.
XFP-7 Enable 0 VDC
Front
Panel
System XFP-1 XFP-2
Power Grn Front Panel
LED XFP-9 XFP-10 L1
XFP-15 L2
MCP MP6-M
XUSER-2
User E-Stop and
XUSER-1 HPE
Gate Interlock
(Jumper closed when +
not used, MUST open KA
XUSER-14
both channels –
XUSER-15
independently if used.)
XUSER-7
Logic cyclic
ES1 XUSER-8 L2 L1
check state
ES1 ES2 machines ES2
User E-Stop Indication
Channel 1 ES1 ES2 XUSER-21 User Amplifier
ESTOPSRC XUSER-20
Channel 2
XUSER-4
XUSER-3 KA
24 V
Manual/Auto Line E-Stop
Front Panel Enable (External User
E-Stop system)
XFP-3 XFP-4 XUSER-16
XUSER-17 Jumper
XFP-11 XFP-12
MM1 See Note
MM1 MM2
MM2
Manual/Auto Keyswitch XUSER-9
- Manual = Open (|) MCP4 XUSER-10
- Manual => (<250 mm/s) Enable
MM2 User Manual / Auto Indication
- Auto => 100% Switch
MM1 XUSER-23 (Manual = Open)
See Note
5V XUSER-22
24 V

Figure 4-8. Category 1 E-Stop Circuit

XFP-5 XFP-6 XUSER-6
6V, 1.2 W XUSER-5 Muted Safety Gate
bulb High
Front Panel - Active in auto mode
Power only

Adept SmartMotion Installation Guide, Rev. B

On / Off (Jumper closed when
XUSER-18
XFP-14 not used)
XFP-13 XUSER-19
Jumper
- ESTOPSRC See Note
+
0.24V
+
V burned out 4.7
bulb notify
(prevents High V+ High Note: These three functions:
Power enable)
Power request Line E-Stop, Muted Safety Gate,
HP Light

XSYS-2
XSYS-3
XSYS-6
XSYS-7
XSYS-9
XSYS-1

XSYS-5
and MCP Enable, will only be
Enable)
E-Stop E-Stop E-Stop sensed by software. They will not
Reset Manual 2 Auto 2 turn off High Power directly.
E-Stop E-Stop
Manual 1 Auto 1

XSYS signals go to PDU or MAI-2 when required (No User Connection)

Emergency Stop Circuits

55
Chapter 4 - Technical Specifications

56 Adept SmartMotion Installation Guide, Rev. B

 Index

A Home Switch, inputs with sMI6 33

application development, motion control 45 How Can I Get Help? 16

B I
Brake Release signals, for sMI6 33 installation
MP6 panels 26
C SmartController 25
sMI6 module 25
Cat-1 E-Stop circuit, for sMI6 55
Cat-3 E-Stop circuit, for sMI6 54 L
Command Drive logic power, user-supplied 32
signals on MP6-S 37
Customer Service assistance 16 M
motion control application development 45
D
Motion Interface Kit, description 12
device modules, loading 44
MP6 panels
digital input mounting information 26–27
specifications 31
MP6-E
digital input logic, voltage configuration 21
cable pinouts 52
digital output specifications 32 configuration 38–42
dimensions layout and dimensions 28
sMI6 module 47 power connectors 39
sMI6 module mounting 48 MP6-M
drive compatibility for sMI6 35 configuration 31–34
Drive Enable connector terminal assignments 34
input/output current requirements 31
output signals on MP6-S 37
layout and dimensions 29
Drive Fault plug-in opto modules 27
signals on MP6-S 37
MP6-S
configuration 35–37
E connector pin assignments 36
EN 60204 12 input/output current requirements 35
enclosure for sMI6 chassis 24 layout and dimensions 28
encoder
cable length, MP6-E 39 O
channel pin assignments on MP6-E 40 optical isolation
compatibility with sMI6 38 MP6-M 31
connecting power 38 MP6-S 35
connecting to MP6-E 40 Overtravel Limit switches, installation with
input circuitry 40 sMI6 33
input schematic 41
power grounding 39
single-ended 42 P
E-Stop circuits, for sMI6 53 panel mounting
MP6 panels 27
sMI6 48
H
plug-in opto modules on MP6-M 27
High Power Enable, output with sMI6 33

Adept SmartMotion Installation Guide Rev B 57

Index

R sMI6 to MP6 cables

rack mounting, sMI6 48 pinouts 50
rail mounting, MP6 Panels 26 software configuration
creating specification 44
related manuals 16 preparation for 44
Robotic Industries Association 12 specifications
robotic safety 12 digital input 31
digital output 32
S system overview 11
safety 12 system safeguards 13
SmartController
installation 25 T
SmartMotion table mounting, sMI6 49
hardware overview 11
system cable diagram 20 U
SmartServo network map 44
user-supplied logic power 32
sMI6
typical input circuit 53 W
typical output circuit 53
sMI6 module wiring
connector descriptions 19 proper practices for sMI6 23
digital input logic voltage
configuration 21
dimensions 47
enclosure for chassis 24
encoder configuration 38–42
installation 25
LED functions 18
logic voltage jumpers on PCA 22
mounting dimensions 48
opening the chassis 21
proper wiring practices 23
system wiring diagram 30

58 Adept SmartMotion Installation Guide Rev B

 3011 Triad Drive
Livermore, CA 94551
925•245•3400
P/N: 02170-000, Rev. B