Omron-Adept-SmartController-EX UG EN 201602 R96IE01
Omron-Adept-SmartController-EX UG EN 201602 R96IE01
Omron-Adept-SmartController-EX UG EN 201602 R96IE01
User's Guide
Covers the SmartController EX Motion Controller and sDIO Module
Table of Contents
Chapter 1: Introduction 9
1.1 Product Description 9
sDIO Module Expansion Module 9
Optional Adept T20 Pendant 9
1.2 Dangers, Warnings, Cautions, and Notes in Manual 10
1.3 Safety Precautions 11
1.4 What to Do in an Emergency Situation 12
1.5 Additional Safety Information 12
Manufacturer’s Declaration of Compliance (MDOC) 12
Adept Robot Safety Guide 12
1.6 Manufacturer’s Declaration 12
1.7 How Can I Get Help? 13
Related Manuals 13
Adept Document Library 13
Chapter 2: Installation 15
2.1 Controller Installation 15
Before Unpacking 15
Upon Unpacking 15
Repacking for Relocation 16
Space Around the Chassis 16
Mounting the Adept SmartController EX Motion Controller 16
Memory Card 19
Connecting Power 21
IEEE 1394 Cable Specifications 24
2.2 System Cable Installation 25
Chapter 3: Operation 27
3.1 Connectors and Indicators 27
3.2 Front Panel 31
Programming the E-Stop Delay 32
3.3 Installing the Adept ACE Software 32
3.4 Configuring the SmartController 33
Configuring Serial Ports 33
RS-232 Connectors 34
RS-422/485 Connector 35
3.5 Connecting User-Supplied Safety and Power-Control Equipment 36
Chapter 4: Maintenance 55
4.1 Changing the Lamp in the Front Panel High-Power Indicator 55
See the Adept T20 pendant User’s Guide, shipped with each pendant, for complete information
on the product.
l All personnel who install, operate, teach, program, or maintain the system must read
this guide, read the Adept Robot Safety Guide, and complete a training course for their
responsibilities in regard to the system.
l All personnel who design the robot system must read this guide, read the Adept Robot
Safety Guide, and must comply with all local and national safety regulations for the loca-
tion in which the system is installed.
l The robot system must not be used for purposes other than described in the robot user’s
guide. Contact Adept if you are not sure of the suitability for your application.
l The user is responsible for providing safety barriers around the robot to prevent anyone
from accidentally coming into contact with the robot when it is in motion.
l Power to the robot and its power supply must be locked out and tagged out before any
maintenance is performed.
http://www.adept.com/support/downloads/file-search
NOTE: The Download Center requires that you are logged in for access. If you are not logged in,
you will be redirected to the Adept website Login page, and then automatically returned to the
Download Center when you have completed the login process.
Related Manuals
This manual covers the installation and maintenance of an Adept SmartController EX motion
controller system, including the sDIO module. There are additional manuals that cover pro-
gramming the system, reconfiguring installed components, and adding other optional com-
ponents. The following manuals provide information on advanced configurations and system
specifications.
Adept Robot Safety Guide Contains safety information for Adept robots.
Adept T20 User’s Guide Contains information on the installation and operation of
the Adept T20 pendant.
Adept ACE User's Guide Describes installation and use of the Adept ACE software.
eV+ OS User Guide Describes the eV+ operating system, including disk file oper-
ations, monitor commands, and monitor command pro-
grams.
eV+ Language User's Guide Describes the eV+ language and programming of an Adept
control system.
1 The eV+ manuals are accessible through the Adept Document Library:
To locate information on a specific topic, use the Document Library search engine on the ADL
main page.
Before Unpacking
Carefully inspect all shipping containers for evidence of damage during transit. If any damage
is indicated, request that the carrier’s agent be present at the time the container is unpacked.
Upon Unpacking
Compare the actual items received (not just the packing slip) with your equipment purchase
order, and verify that all items are present and that the shipment is correct. Inspect each item
for external damage as it is removed from its container. Contact Adept immediately if any
damage is evident. For contact information, see How Can I Get Help? on page 13
Retain all containers and packaging materials. These items may be needed in the future to set-
tle a damage claim.
Perform the following steps to unpack the Adept SmartController EX motion controller and
Front Panel, optional Adept sDIO module Expansion Module, and optional pendant. Refer to
the following sections for information on mounting the equipment.
1. Remove the Adept SmartController EX motion controller and any optional sDIO module
from their boxes. Place them near the robot, or mount them in a rack. For details, see
Mounting the Adept SmartController EX Motion Controller on page 16.
2. Remove the optional Front Panel from its box and set it on a flat surface near the Adept
SmartController EX motion controller.
3. Remove the optional fromT20 pendant its box and place it on a flat surface near the
Front Panel.
l Panel
l Table
l Stack
The controller and compatible Adept units can be mounted with one unit placed on top
of another.
See Mounting the sDIO Module on page 61 for information on mounting the sDIO module.
NOTE: To maintain compliance with many standards, the mounting of the controller and all ter-
minations at the controller must be performed in accordance with local and national regulations.
To rack-mount the controller in a standard 19-inch equipment rack, install the optional mount-
ing brackets on the side of the controller, as shown in the following figure. These brackets must
be ordered separately. They do not come with the controller.
190.0
2X 40356-00004 3X M3 x 6MM
BOTH SIDES
88.1
2X 25.0
44.4
21.8
To panel-mount the controller, install two brackets on each side at the rear of the unit, as
shown in the following figure. Use the screws from the accessories kit.
200.5
14.0
4X 40356-00000
27.4 273.9 R3.6 TYP.
8.1 8X M3 x 6MM
16.1
44.9
16.0 44.9
6.6 346.6
359.8
To table-mount the controller, install two brackets on each side near the bottom of the unit, as
shown in the following figure. These brackets must be ordered separately. They do not come
with the controller.
4X 40356-00001
R3.6
12.1
29.5
24.1
120.9
24.9
378.6
391.8
4X M3 x 6MM
BOTH SIDES
16.2
16.0 21.6
120.9
Stack-Mounting Components
To stack-mount the Adept SmartController EX Motion Controller and a compatible unit, such
as an Adept SmartVision EX vision controller, install two brackets on each side of the units, as
shown in the following figure. These brackets are supplied with compatible Adept units.
120.9
2X 40356-00002 328.9
28.1 16.0 BOTH SIDES
30.7 8X M3 x 6MM
BOTH SIDES
155.8
76.5
186.5
Memory Card
The Adept SmartController EX motion controller is equipped with a Secure Digital™ (SD)
memory card. The SD card is removable, and can be moved to another Adept SmartController
EX motion controller for testing.
The SD card shipped with all systems is factory-configured and installed by Adept. The SD
card stores the eV+ operating system, application programs, data files, and Adept licenses.
Only the SD card supplied by Adept will work with the Adept SmartController EX motion con-
troller.
Removing an SD Card
SD Card Slot
NOTE: If you are replacing an existing SD, the original must be sent to Adept for replacement.
3. Press the SD card in, and release. The card will pop out.
Remove the card and return it to Adept. Contact Adept Customer Service.
Installing an SD Card
3. Carefully remove the SD card from the READ ME FIRST box or shipping container.
Position the card so its contacts are facing towards the controller and to the left. The
label will be facing to the right.
4. Insert the SD card into the controller.
Once installed, Adept recommends that you do not repeatedly remove and insert the SD card.
Connecting Power
The Adept SmartController EX motion controller and sDIO module require filtered 24 VDC
power.
NOTE: Users must provide their own power supply. Make sure the power cables and power supply
conform to the specifications that follow.
NOTE: The power requirements for the user-supplied power supply will vary depending on the
configuration of the Adept SmartController EX motion controller and connected devices. A mini-
mum configuration of the controller, front panel, and pendant will require 2 A at 24 VDC. How-
ever, a 24 V, 5 A power supply is recommended to allow for additional current draw from
connected devices, such as external IEEE 1394 devices and digital I/O loads.
In order to maintain compliance with many standards, DC power must be delivered over a
shielded cable, with the shield connected to the frame ground at both ends of the cable, as
shown in the following figure. Conductors should be 1.5 mm2 - 1.85 mm2 (16 to 14 AWG) in
size. The maximum length for the 24 VDC cable is 10 meters.
User-Provided
Adept SmartController EX Power Supply
Shield from cable
Motion Controller Star washer 24 VDC, 5 A
M3 x 6 screw
Optional
-+ Fuse
Frame Ground
+
Circuit protection < 8A
-
User-Supplied Shielded
Power Cable
Note: Use connector Shield from cable to frame
ground on power supply
supplied by Adept at
this end of cable.
Daisy-Chaining Power
The Adept SmartController EX motion controller is equipped with two DC power connectors.
These connectors allow the daisy-chaining of power from one controller to another or to an
sDIO module. When daisy-chaining power, the power supply circuit must be limited to the
lesser of 8 Amps or the ampacity of the cabling. This can be done with a circuit breaker or a
fuse. The DC power can be applied to either the XDC1 or XDC2 connector.
CAUTION: Use only one 24 VDC power supply per circuit. Failure to do
this could result in damage to the equipment.
NOTE: The power switch on the Adept SmartController EX motion controller will shut down both
the controller and the second 24 V port. If you want a secondary device to maintain power after
the controller is shut down, you will have to provide a separate power line to it.
Chassis Grounding
NOTE: The maximum length for the ground wire for the controller is 3 meters.
Grounding Point
The mounting of the controller and all terminations must be performed in accordance with
local and national regulations.
Use the Adept-supplied connector to connect the user-supplied 24 VDC power supply to the
Adept SmartController EX motion controller.
1. Locate the 24 VDC connector that is shipped with the controller. See the following fig-
ure.
2. Use 14 or 16 gauge wire to connect the 24 VDC power supply to the controller.
3. Strip 7 mm of insulation from the end of the wire that connects to the positive output of
the 24 VDC supply.
4. Insert the stripped end of the wire into the opening on the right side of the connector.
5. Using a small, flat-blade screwdriver (2.5 mm), tighten the screw clamp on the con-
nector.
6. Visually inspect the connection to ensure that the clamp has closed on the wire, not on
the insulation.
7. Gently pull on the wire to confirm that it is securely attached to the connector.
8. Repeat this process to connect the wire from the negative side of the power supply to
the left side of the connector.
9. Connect the braided shield to the ground screw on the front of the controller.
A ring lug can be used, as shown in the following figure. The ground screw is an M3.
NOTE: Although no damage will occur, the Adept SmartController EX motion controller will not
turn on if the DC polarities on the XDC connectors are reversed.
These purchased cables must meet all specifications of the IEEE 1394 standard. Note that
Adept uses 6-pin to 6-pin cables. The maximum length for a 1394 cable is 10 meters. The 1394
Trade Association provides detailed specifications for 1394 cables and other related infor-
mation. See www.1394ta.org.
10
2 4 8 9 11 18
12 5 13 6 14 7 15 16 17
All of the connectors on the Adept SmartController EX motion controller use standard-density
spacing, D-subminiature connectors. For customization purposes, the user needs to provide
connectors of the appropriate gender and pin count, or use optional Adept cables.
1. SD Card Slot
See Installing an SD Card on page 20.
2. Top Three Status LEDs
The top three two-color LEDs indicate diagnostic test, power control, and com-
munication status.
During system bootup, the red OK/SF and HPE/ES LEDs are lit and the red
FW/HD LED blinks. After system bootup, the OK/SF LED should show green. If
the HPE/ES LED shows red, the E-Stop circuit is open. During SD card reads and
writes, the FW/HD LED pulses red. When a robot is connected on one of the
SmartServo ports, the FW/HD LED shows green
O-O-O 0 No error.
R-O-O 1 System clock is dead or too fast. Clock inter-
rupts are not being received.
O-R-O 2 Hardware configuration error.
O-O-R 4 Memory test failure. Free storage error.
O-R-R 6 Software serial I/O configuration error.
R-R-R 7 Initial display set by hardware before software
has started.
G-O-O 9 Transient display set when PCI is configured.
O-O-G C Uninitialized trap.
G-O-G D Bus error detected.
l ON: use default factory IP address (printed on the bottom of the controller)
Switch 2:
l OFF: normal connection through Ethernet
Switch 3 and 4: reserved for future use; always leave in the OFF position.
In normal operation, all switches should be OFF.
NOTE: The default IP address for the controller is located on a label on the bottom side of the con-
troller chassis.
7. Fieldbus Module
This module is reserved for future use.
8. USB port
This port is reserved for future use.
9. RS-232-1 and RS-232-2 connectors
These are RS-232 serial ports for general use. See Installing the Adept ACE Software on
page 32 for more information.
10. RS-232 and RS-422/485 connectors
These ports support RS-232 and RS-422/485 devices, respectively. See Installing the
Adept ACE Software on page 32 for pin descriptions and locations.
11. DeviceNet connector
DeviceNet is a field bus for industrial devices. This standard supports a variety of prod-
ucts, including sensors, digital I/O, analog I/O, RS-232, and PLCs. Other DeviceNet prod-
uct types, such as keypads and displays, can be controlled using the eV+ FCMD
program instruction (see the eV+ Language Reference Guide for details). See Adept Device-
Net on page 85.
12. XDIO connector
This connector includes 20 signal pairs: 8 digital outputs (100 mA max) and 12 digital
inputs, all of which are fast inputs. The digital outputs are short-circuit protected. This
connector also supplies 24 VDC power for customer equipment. See Connecting User-
Supplied Digital I/O Equipment on page 45 for more information.
13. XUSR connector
Provides switch functions for emergency stop (E-Stop) and Manual/Automatic interfaces
to external push-buttons and other equipment. For example, an external E-Stop can be
connected to the XUSR connector. A line E-Stop from other equipment can be connected.
A muted safety gate that causes an E-Stop only in Automatic mode is included. Also
included are contacts to report the status of E-Stop push-buttons and the Man-
ual/Automatic switch.
NOTE: The Adept SmartController EX motion controller ships with a terminator plug attached to
the XUSR connector. The terminator plug must be installed in the absence of any user-supplied
safety equipment used to close the E-Stop circuit. For more information about the XUSR con-
nector, see Connecting User-Supplied Safety and Power-Control Equipment on page 36.
2 4
1
STOP
Before running programs, either the optional Adept Front Panel or user-supplied switches for
High Power On/Off, MAN/AUTO, and E-Stop must be connected to the XFP connector on the
Adept SmartController EX motion controller.
NOTE: Safety regulations dictate the sequence of events required for the user to enable high
power. For instance, a user may be required to press the High Power On button on the Front
Panel after pressing the COMP/PWR button on the pendant or issuing the eV+ “enable power”
command. Users cannot jumper this button input and still enable power (see your robot manual
for further details).
1. XFP connector
Connects to the XFP connector on the controller.
2. System 5 V Power-On LED
Indicates whether or not power is connected to the controller.
3. Manual/Automatic Mode Switch
Switches between Manual and Automatic mode. In Automatic mode, executing pro-
grams control the mechanism, and the mechanism can run at full speed.
In Manual mode, the system limits mechanism speed and torque, to reduce the risk to
an operator working in the cell. It is the user's responsibility to determine if this is
allowed under local regulations. Manual mode initiates software restrictions on robot
speed, commanding no more than 250 mm/sec as required by RIA and ISO standards.
Please refer to your robot manual for further details.
Once enabled, you will be able to see and modify the following three parameters (among
others):
l Auto Mode E-Stop Shutdown Timeout
Each of these is the time, in seconds, after that mode E-Stop is asserted, in which eV+ is
allowed to decelerate the robot, engage the brakes, and shut down power before the servo
nodes automatically shut down power. The value can be set from 0 (immediate power-off) to
0.512 seconds. If the deceleration is too slow, or the brake-on delay too long, the servo will auto-
matically cut power.
WARNING: Make sure that all cables are installed correctly and fully
inserted and screwed down before applying power to the system. Failure
to do this could cause unexpected robot motion. Also, a connector could
be pulled out or dislodged unexpectedly.
You install Adept ACE software from the Adept Software CD-ROM. Adept ACE needs Micro-
soft .NET Framework. The Adept ACE Setup Wizard scans your PC for .NET, and installs it
automatically, if needed.
1. Insert the CD-ROM into the CD-ROM drive of your PC. If Autoplay is enabled, the
Adept Software CD-ROM menu is displayed - see Operation on page 27. If Autoplay is
disabled, you will need to manually start the CD-ROM.
NOTE: The online document that describes the installation process opens in the background when
you select one of software installation steps below.
2. From the Adept Software CD-ROM menu, click Install the Adept ACE Software.
5. After closing the Adept ACE Setup wizard, click Exit on the CD-ROM menu and pro-
ceed to the Start-up Procedure.
NOTE: You will have to restart the PC after installing the Adept ACE software.
l RS-422/485
l RS-232-1
l RS-232-2
See Connectors and Indicators on page 27 for the connector locations.
From the Adept ACE software:
1. Double-click on the controller in the tree structure pane.
This opens the object editor for the controller.
2. Select Configure > Configure eV+.
3. Click Configuration.
4. Select SERIAL
7. Click Accept.
8. Click Done.
10. Click Yes to reboot the controller, so the values you just set will take effect.
RS-232 Connectors
All three types of RS-232 connectors are 9-pin DB9 male (standard PC) connectors. The user-
supplied cable to connect to the RS-232 connectors should be a DB9, F/F, null-modem data-
transfer cable. The pin assignments are the same for all three connectors and are shown in the
following table.
1 Reserved - NC -
2 RXD Input RXD Input
3 TXD Output TXD Output
4 Reserved - NC -
5 GND Ground GND Ground
6 Reserved - NC -
7 RTS Output RTS Output
8 CTS Input CTS Input
9 Reserved - NC -
These ports support the RTS, and CTS signals used for hardware handshaking (also known as
modem control). By default, these signals are not enabled. To configure hardware handshaking
and other communication parameters, use the Adept ACE software. The eV+ designations for
these ports, when referenced in the eV+ ATTACH or FSET instructions, are shown in the fol-
lowing table.
NOTE: To configure the port speed and other communications parameters, use Adept ACE soft-
ware.
RS-422/485 LOCAL.SERIAL:1
RS-232/Term LOCAL.SERIAL:2
RS-232-1 SERIAL:1
RS-232-2 SERIAL:2
RS-422/485 Connector
The RS-422/485 connector is a 9-pin DB9 male connector. The pin assignments are shown in
the following table. RS-422 is a point-to-point protocol for connecting to a single destination.
This port can also be configured as a multidrop port (RS-485).
1 NC
2 RXD+ Input
3 TXD+ Output
4 TXD- Output
5 GND Ground
6 RXD– Input
7 NC
8 EXPIO_5V Output
9 GND Ground
To change the configuration of the RS-422/485 port, see Configuring Serial Ports on page 33.
See the previous table for the eV+ designation when referenced in the eV+ ATTACH or FSET
instructions.
Pin 8 Pin 1
XFP
Pin 15 Pin 9
See the figure Front Panel Schematic on page 41 for a schematic diagram of the Adept Front Panel.
a Users must exercise caution to avoid inadvertently connecting 24 V signals to these pins, because
this will damage the electronics.
NOTE: The system was evaluated by Underwriters Laboratory with an Adept Front Panel. If you
provide a substitute Front Panel, this could void UL compliance.
15 No connection
Shield Shield GND
6 24 V
5 No connection
NOTE: The XSYS connector is used to link the E-Stop system to Adept robots. It is not intended
for customer connections.
The following figure shows an E-Stop diagram for the Adept SmartController EX motion con-
troller. See Introduction on page 9 for a description of the functionality of this circuit.
XUSER-22
XUSER-6
eV+ High
Power request XSYS-1
XSYS-9
Auto 2
XSYS-7
Auto 1
XSYS-6
Manual 2
XSYS-3
Manual 1
XSYS-2
High Power Request
XSYS-5
16
1
9 ESTOPFP1
24 VS 2
10 ESTOPFP2
MANUALSRC1 3
5 VD 11 MANUALRLY1
MANUALSRC2 4
12 MANUALRLY2
HPLT5V 5
13 HIPWRLT
6
14 HIPWRREQ
SYSPWRLT 7
15
NC 8
17
D
2-PIN_MINI
D SWL1 D
SW1 SW2
HIPWRLT
MANUALRLY2 HIPWRREQ
ESTOPFP2
MANUALRLY1
ESTOPFP1
NOTE: These pins must be shorted if not used. Both channels must open independently if used.
Although an Emergency Stop will occur, the controller will flag an error state if one channel is jum-
pered closed and the other channel is opened. It will also flag an error state if the channels are
shorted together.
A method has been provided to indicate the status of the ESTOP chain, inclusive of the Front
Panel Emergency Stop push-button, the pendant Emergency Stop push-button, and the User
Emergency Stop Contacts.
NOTE: These contacts do not indicate the status of any connections below the User E-Stop con-
tacts. Thus, they will NOT indicate the status of the Line E-Stop, MCP ENABLE, or the Muted
Safety gate. If you have a specific need in this area, contact Adept Customer Service for infor-
mation on alternate indicating modes.
Two pairs of pins on the XUSR connector (pins 7, 20 and 8, 21) provide voltage-free contacts,
one for each channel, to indicate whether the E-Stop chain, as described above, on that channel
is closed. Both switches are closed on each of the redundant circuits in normal operation (no
E-Stop). The user may use these contacts to generate an E-Stop for other equipment in the work-
cell. The load on the contacts must not exceed 40 VDC or 30 VAC at a maximum of 1 A.
These voltage-free contacts are provided by a redundant, cyclically-checked, positive-drive,
safety relay circuit for Category 3 operation (see the figure CAT-3 E-Stop Circuit on XUSR and
XFP Connectors on page 40 and the table Contacts Provided by the XFP Connector on page 37
for the customer E-Stop circuitry).
The XUSR connector on the controller contains a two-channel Line E-Stop input for workcell or
other equipment emergency-stop inputs. Generally, the customer E-Stop Indication contact out-
puts are used to generate an emergency stop in such external equipment. Thus, if one were to
wire the same equipment’s outputs into the customer E-Stop input (that is, in series with the
local robot’s E-Stop push-buttons), a lock-up situation could occur.
The Line E-Stop input comes into the circuit at a point where it cannot affect the customer E-
Stop indication relays and will not cause such a lock-up situation. For any situation where two
systems should be “cross-coupled”, for example, the customer E-Stop indication of one con-
troller is to be connected to the input of another controller, the Line E-Stop input is the point to
bring in the other controller’s output contacts. See the figure CAT-3 E-Stop Circuit on XUSR
and XFP Connectors on page 40 for more information.
Do not use the Line E-Stop for such devices as local E-Stop push-buttons, since their status
should be reported to the outside on the local customer E-Stop indication output contact while
the Line E-Stop inputs will not.
Two pairs of pins on the XUSR connector (pins 5, 18 and 6, 19) provide connections for a
safety gate designed to yield an E-Stop allowing access to the workspace of the robot in Man-
ual mode only, not in Automatic mode. It is up to the customer to determine if teaching the
robot in Manual Mode, by a skilled programmer (See "Qualification of Personnel" in the Adept
Robot Safety Guide), wearing safety equipment and carrying an Adept pendant, is allowable
under local regulations. The E-Stop is said to be “muted” in Manual mode (for the customer E-
Stop circuitry, see the figures and tables at the beginning of the section Connecting User-Sup-
plied Safety and Power-Control Equipment on page 36).
The muted capability is useful for a situation where a shutdown must occur if the cell gate is
opened in Automatic mode, but you need to open the gate in Manual mode. If the mute gate is
opened in Automatic mode, the robot defaults to Manual mode operation when power is re-
enabled. In muted mode, the gate can be left open for personnel to work in the robot cell. How-
ever, safety is maintained because of the speed restriction.
CAUTION: If you want the cell gate to always cause a robot shutdown,
wire the gate switch contacts in series with the user E-Stop inputs. Do not
wire the gate switch into the muted safety gate inputs.
wiring. In this situation, a second momentary contact for high power on/off would be placed in
parallel with the Adept Front Panel push-button contact. This second contact should be sup-
pressed when in Manual mode (see the note on “Single Point of Control” below).
This method allows relocating the push-button switch to a more convenient location. Imple-
mentation of this method must conform to EN standard recommendations.
NOTE: European standards require that the remote High Power push-button be located outside
of the workspace of the robot.
Pins 6, 14 and 5, 13 of the XFP connector provide this remote capability. Pins 5, 13 provide
power for the lamp, +5 VDC and ground, respectively. Pins 6, 14 are inputs for voltage-free nor-
mally-open contacts from a user-supplied momentary push-button switch.
WARNING: To fulfill the “Single Point of Control” requirement, do not place the
Manual/Automatic and High Power On controls in multiple locations. After putting
the robot into Manual mode, the operator should remove the key for safety pur-
poses. The system should not be wired so that a PLC or another operator can put
the system back into Automatic mode.
NOTE: The system was evaluated by Underwriters Laboratory with an Adept Front Panel. If you
provide a substitute Front Panel, the system may no longer be UL compliant.
Customers can build an extension cable to place the Front Panel in a remote location. The
extension cable must conform to the following specifications:
l Wire Size: must be larger than 26 AWG.
NOTE: The XMCP and XFP connectors on the controller can be interchanged without electrical
damage. However, neither the Front Panel nor the pendant will work properly unless they are
plugged into the correct connector.
CAUTION: Do not modify the cable that is attached to the pendant. This
could cause unpredictable behavior from the robot system.
DeviceNet Connector
The DeviceNet connector on the controller is used to interface to a CAN using the DeviceNet
protocol. See Adept DeviceNet on page 85 for details.
XDIO Connector
The XDIO connector on the Adept SmartController EX motion controller is a 50-pin, standard
density D-Sub female connector (see SmartController EX Connectors and Indicators on page 27
for location). There are 12 inputs and 8 outputs, each optically isolated from the circuitry of the
controller. The signals are numbered 1001 through 1012 for the inputs and 1 through 8 for the
outputs. All the signals have independent source and ground connections. These inputs con-
tain the four high-speed inputs that are used by the system for interrupts and latching. The out-
puts, although independent, have a lower current rating of 100 mA compared to 700 mA for
the extended outputs on the sDIO module (described in sDIO Module on page 61). See the eV+
Language User's Guide for information on digital I/O programming.
The connector also provides 24 V pins for powering customer equipment. There are four 24 V
pins and four ground pins, which are limited to a total of 1 A of current. The source of the 24
V is the XDC connector on the front of the controller.
Input Signals
The XDIO connector handles input signals 1001 to 1012. Each channel has an input and a cor-
responding return line. See the following table for input specifications. The connector pin-outs
are shown in the table XDIO Digital I/O Connector Pin Assignments on page 49.
NOTE: The input current specifications are provided for reference; voltage sources are typically
used to drive the inputs.
NOTE: When the program task priorities are properly set, there is a 1 ms maximum latency for
the fast inputs when used with the eV+ INT.EVENT instruction.
In the following figure, example 1 shows inputs (1001 to 1004) with a negative common, exam-
ple 2 shows inputs (1005 to 1008) with a positive common, and example 3 shows inputs (1009
to 1012) with an independent power supply (no common).
NOTE: These are examples. Either method can be used on any channel.
+ 3
Signal 1002 – 4
+ Customer power
– supply
+ 5
XDIO Connector on Controller - Inputs Signal 1003 – 6
+ 7
Signal 1004 – 8
+ 9
Signal 1005 – 10 Example 2
+ 11
Signal 1006 – 12
+ Customer power
+ 13
– supply
Signal 1007 – 14
+ 15
Signal 1008 – 16
+ 17
+ –
Signal 1009 – 18 Example 3
Sourcing
+ 19
+ –
Signal 1010 – 20
+ 21
+ –
Signal 1011 – 22
Sinking
+ 23
+ –
Signal 1012 – 24
NOTE: Power from pins 41-44 and 47-50 can be substituted for the customer power supply. See
the figure Digital Output Wiring for XDIO Connector on page 49 and the table DIO Input Circuit
Specifications (XDIO connector) on page 46 for additional information.
Inputs 1001 to 1012 (only) may be used by the eV+ REACT and REACTI instructions. See the
eV+ Language Reference Guide for information on these instructions. If you are going to use these
instructions, you should plan your digital I/O channel usage accordingly.
In addition to functioning as normal input signals, all input signals can have the following
special uses:
l Fast DIO eV+ Interrupt Events (INT.EVENT)
Fast DIO interrupt events (using INT.EVENT) require the optional eV+ Extensions License.
When the program task priorities are properly set, there is a 1 ms maximum latency for the
fast inputs when used with the eV+ INT.EVENT instruction.
See the eV+ Language Reference Guide for a description of the INT.EVENT instruction.
Output Signals
The XDIO connector handles output signals 0001 to 0008. Refer to the following table for out-
put specifications. The locations of the signals on the connector are shown in the table XDIO
Digital I/O Connector Pin Assignments on page 49. The XDIO connector provides separate pos-
itive and negative connections for each channel (no internal common connections). This
allows the choice of wiring for current-sourcing or current-sinking modes.
The figure Digital Output Wiring for XDIO Connector on page 49 shows two examples of dif-
ferent connections to the digital outputs on the XDIO connector. The examples are negative
common and positive common using the internal 24 V and ground connections.
Example 1: outputs 0001 to 0004 are shown with positive common.
Example 2: outputs 0005 to 0008 are shown with negative common.
NOTE: These are examples. Either method can be used, in any combination, on any channel. Also,
an external customer-provided power supply could have been provided instead of the power pro-
vided on the XDIO connector.
+ 29
Signal 0003 – 30
Load
+ 31
Signal 0004 – 32
Load
+ 33
Signal 0005 – 34 Example 2
Sinking
+ 35
Signal 0006 – 36
+ 37
Load
Signal 0007 – 38
+ 39
Load
Signal 0008 – 40
+24 V (1 A) 41
42
43
44
45
X
46
X
Ground 47
48
49
50
Pin 17 Pin 1
XDIO
Pin 33 Pin 18
Pin 50 Pin 34
For use with conveyor tracking, the Adept SmartController EX motion controller supports four
independent external belt encoders through a 26-pin, female, D-sub connector. The pin assign-
ments for the Belt Encoder connector are shown in the following table. See the figure Belt
Encoder Typical Input Circuit on page 53 for a typical input circuit drawing.
NOTE: An adapter cable (Adept P/N: 09550-000) is available to split the 26-pin Adept Smart-
Controller EX motion controller connector into two 15-pin connections, compatible with the Smart-
Controller CX. The 15-pin adapter is Adept P/N: 09443-000. Each 15-pin adapter provides two M12
connections.
All encoder inputs for the Adept SmartController EX motion controller use a scheme similar to
an RS-422 differential receiver based on industry standard 75175 integrated circuits. The dif-
ference is that a custom resistor network and two differential receivers are used on each of the
A and B inputs. See the figure Belt Encoder Typical Input Circuit on page 53 for a schematic.
Adept strongly recommends using differential encoder outputs for maximum noise immunity.
See the Adept ACE User's Guide for more information on setting up and programming a con-
veyor-tracking application.
NOTE: Conveyor tracking requires the eV+ Extensions License, which can be obtained from
Adept.
ENC1_A+ 2 ENC3_B- 16
ENC1_A- 3 ENC4_B+ 17
ENC2_A+ 4 ENC4_B- 18
ENC2_A- 5 ENC1_Z+ 19
ENC3_A+ 6 ENC1_Z- 20
ENC3_A- 7 ENC2_Z+ 21
ENC4_A+ 8 ENC2_Z- 22
ENC4_A- 9 ENC3_Z+ 23
ENC1_B+ 11 ENC3_Z- 24
ENC1_B- 12 ENC4_Z+ 25
ENC2_B+ 13 ENC4_Z- 26
BELT ENCODER
Pin 9 Pin 1
Pin 18 Pin 10
Pin 26 Pin 19
SmartController EX
Belt Encoder Connector
5V
B+
B–
+
–
I+
I–
A+
+ Encoder
–
A–
B+
B–
I+
I–
2. Disconnect the cable between the Front Panel and the controller.
5. Carefully pull the front cover away from the body of the Front Panel.
You will encounter some resistance, as there are three plug-type connectors that you
need to disconnect as you pull the front cover away from the body.
NOTE: Separate the cover from the body slowly to avoid damaging the two wires that go
between the LED and the PC board inside the body. Pull the front cover as straight away as pos-
sible. You do not have to disconnect the wires from the PC board, although you can if needed.
6. Locate the lamp body in the center of the back side of the front cover. Turn the lamp
body approximately 20° in either direction and then pull straight back.
7. The lamp body is now free. You can remove the old lamp and insert a new one.
8. Replace the lamp body by pushing it straight into the lamp housing receptacle. Make
sure the contacts on the lamp body are properly oriented, as shown in the following fig-
ure.
9. Make sure to reconnect the wires from the LED if you disconnected them earlier.
10. Push the front cover into the body, taking care to align all of the plug-type connectors.
Verify that the wires do not get crimped as you reinstall the cover.
11. Replace the two screws on the back of the body.
13. Reconnect the cable between the Front Panel and the controller.
This chapter shows the dimensions of the Adept SmartController EX motion controller, sDIO
module, Adept Front Panel, and T20 pendant.
NOTE: The dimensions for the CS and CX SmartController motion controllers were the same as
these.
4.4 328.9
86.0
186.5 12.1
189.1
4.4 328.9
R 1.1 1.2 X1 X2 X3 X4
SC-DIO
XDC1 XDC2
LINK 24V 0.5A 41.6
OK SF -+ -+
152.4
38.7
STOP
55.9 88.9
16.5
30
13.1 129.5
4X M4 x 18 MM
76.2
6.4
6.4 139.7
l Panel mounting
l Table mounting
l Stack mounting
NOTE: To maintain compliance with local and national standards, the mounting of the sDIO and
all terminations at the sDIO must be performed in accordance with those standards.
NOTE: These brackets must be ordered separately. They do not come with the sDIO 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 4.2 14.2
3.6 462.0
TYP. 482.8
186.5
14.0
2X 40356-00000
27.6 273.9
4X M3 x 6 MM 18.0
10.0
R 3.6
16.0
6.6 346.4
359.6
NOTE: These brackets must be ordered separately. They do not come with the sDIO module.
4X 40356-00001 R 3.6
12.1
29.5
24.1
120.9
24.9
378.7
391.9
4X M3 x 6 MM
BOTH SIDES
3. Connect a 24 VDC cable from the unused XDC port on the controller to the XDC1 port
on the sDIO module. Continue to daisy-chain the input power from each sDIO module
to the next. See Connecting Power on page 21 for cabling requirements.
4. Connect an IEEE 1394 cable from one of the SmartServo ports on the controller to one of
the IEEE 1394 ports on the sDIO module. Continue to daisy-chain IEEE 1394 cables
from each sDIO module to the next.
R 1.1 1.2 X1 X2 X3 X4
SC-DIO
XDC1 XDC2
LINK 24V 0.5A
OK SF -+ -+
2 3 4 5 6 7
1. Status LEDs.
Two LEDs indicate link status of the IEEE 1394 connection and system status.
LINK: Green LED = communication with another device over IEEE 1394 connection
OK.
OK/SF: Red LED = output driver fault detected due to excessive temperature or current
(output is automatically shut down), solid green LED = communication with controller
OK, blinking green = not configured in software.
2. IEEE 1394 ports: Connects to one of the SmartServo ports on controller or IEEE 1394
ports on additional sDIO modules.
3. X1 Output: 44-pin female D-sub connector, for digital output signals 0033-0048.
4. X2 Output: 44-pin female D-sub connector, for digital output signals 0049-0064.
5. X3 Input: 26-pin female D-sub connector, for digital input signals 1033-1048.
6. X4 Input: 26-pin female D-sub connector, for digital input signals 1049-1064.
NOTE: For installations that use two or more sDIO modules, the above signal numbers apply to
the signals for the first sDIO module. See Modifying the Default sDIO Configuration on page 66
for information on configuring two or more sDIO modules.
7. Two 24 VDC connectors: Connect power from the unused XDC connector on the Smart-
Controller to the XDC1 connector on the sDIO module (see Connecting Power on page
21 for power specifications).
l when you choose not to use the default I/O configuration (blocks 16 and 17)
l when you replace an sDIO module in either of the two preceding situations
NOTE: The first two sDIO modules can use the default signal configuration, with blocks 16 and 17;
each additional sDIO module must be assigned unique block numbers.
In these cases you will use Adept ACE Configuration Tools to select the block number and to
assign the Input and Output signals. Refer to the Adept ACE User's Guide, Digital I/O Con-
figuration, for details on configuring nodes and gadgets.
From the Adept ACE software:
1. Double-click on the controller in the tree structure pane.
This will open the object editor for the controller.
2. Click the Configure tab, check Configure Controller, and click Next.
The following table describes the items on the Add/Edit Statement editor window.
Field Description
Input Output
Item Values
Input Block 16
Byte 1 Byte 2 Byte 3 Byte 4
sDIO #1
Group 1 Group 2 Group 3 Group 4
(1033-1040) (1041-1048) (1049-1056) (1057-1064)
Output Block 16
Byte 1 Byte 2 Byte 3 Byte 4
Input Block 17
Byte 1 Byte 2 Byte 3 Byte 4
sDIO #2
Group 1 Group 2 Group 3 Group 4
Output Block 17
Byte 1 Byte 2 Byte 3 Byte 4
Input Block 18
Byte 1 Byte 2 Byte 3 Byte 4
sDIO #3
Group 1 Group 2 Group 3 Group 4
(1201-1208) (1209-1216) (1217-1224) (1225-1232)
Output Block 18
Byte 1 Byte 2 Byte 3 Byte 4
Input Block 19
Byte 1 Byte 2 Byte 3 Byte 4
sDIO #4
Group 1 Group 2 Group 3 Group 4
Output Block 19
Byte 1 Byte 2 Byte 3 Byte 4
Note: for sDIO #3 and #4 (and beyond), the values shown are recommended, but must be configured,
so that the system will support those modules.
Recommended
Configurations
R
IEEE-1394
1.1 1.2 X1 X2 X3 X4
*S/N 3563-XXXXX*
SC-DIO
XDC1 XDC2
LINK 24V 0.5A
OK SF -+ -+
Module #4 Input Signals 1233 to 1264
Output Signals 0233 to 0264
R
IEEE-1394
1.1 1.2 X1 X2 X3 X4
*S/N 3563-XXXXX*
SC-DIO
XDC1 XDC2
LINK 24V 0.5A
OK SF -+ -+
Module #3 Input Signals 1201 to 1232
Output Signals 0201 to 0232
1394 cable 24 VDC cable
R
IEEE-1394
1.1 1.2 X1 X2 X3 X4
*S/N 3563-XXXXX*
SC-DIO
XDC1 XDC2
LINK 24V 0.5A
OK SF -+ -+
Module #2 Input Signals 1065 to 1096
Output Signals 0065 to 0096
1394 cable 24 VDC cable
LINK
IEEE-1394
1.1 1.2 X1 X2 X3 X4
*S/N 3563-XXXXX*
XDC1 XDC2
24V 0.5A
SC-DIO
Adept sDIO Block 16 (default)
OK SF -+ -+
Adept SmartController EX
Motion Controller
1394 cable
24 VDC from
Customer-supplied
power supply
NOTE: When adding additional sDIO modules, each additional sDIO module must be grounded
per all applicable regulations.
NOTE: The signals on the sDIO connectors can be superseded by another sDIO module that is
installed and addressed as sDIO #1. To use two sDIO modules, address the first as sDIO #1 and the
second as sDIO #2.
sDIO Inputs
The 32 input channels are arranged in four groups of eight. Each group is electrically isolated
from the other groups and is optically isolated from the sDIO module’s circuitry. The eight
inputs within each group share a common ground.
The inputs are accessed through the two female 26-pin D-sub input connectors on the front of
the sDIO module. Each connector provides access to two input groups. Each group requires
ten pins: eight input signals, and two ground references. An input is activated by providing a
positive potential on its input pin relative to the ground pin of its group. This type of input is
considered sinking. That is, current must flow into the input pin to turn it on.
NOTE: The input current specifications are provided for reference. Voltage sources are typically
used to drive the inputs.
(equivalent circuit)
15 Part Present Sensor
Signal 1033
6 Feeder Empty Sensor
Signal 1034
16 Part Jammed Sensor
Signal 1035
7 Sealant Ready Sensor
Input Group 1
Signal 1036
17
Signal 1037
8
X3 Connector – 26-Pin Female D-Sub
Signal 1038
18
Signal 1039
9
Signal 1040
Customer
Group 1 Return
25 + Power
– Supply
26
Group 1 Return
10
Signal 1041
1
Signal 1042
11
Signal 1043
2
Signal 1044
Input Group 2
12
Signal 1045
3
Signal 1046
13
Signal 1047
4
Signal 1048
Customer
Group 2 Return
19 + Power
– Supply
20
Group 2 Retur n
26-Pin Female D-Sub
Input Group 3
X4 Connector –
NOTE: The off-state current range exceeds the leakage current of sDIO outputs. This guarantees
that the inputs will not be turned on by the leakage current from the outputs. This is useful in sit-
uations where the outputs are looped-back to the inputs for monitoring purposes.
sDIO Outputs
The 32 output channels are arranged in four groups of eight. Each group is isolated from the
other groups and is optically isolated from the sDIO circuitry. The eight outputs within each
group share a common power supply and a common ground.
The outputs are accessed through the two female 44-pin D-sub output connectors on the front
of the sDIO module. Each connector provides access to two output groups. Each group
requires 19 pins: 8 output signals, 1 test signal, 9 power supply (all tied together), and 1 power
supply ground reference. When an output is on, current will flow in through the power supply
pins and out through the output pins. This type of output is considered sourcing, that is, in the
On condition, current flows out of the output pin. See the figure Typical sDIO Output Wiring
on page 77 for details on typical digital output wiring.
Like many solid-state I/O systems, when an output is off, a small leakage current will flow out
of the output. This will raise the potential of the output to the power supply voltage level if
there is no load. With a load connected, the output will function normally. However, if you
need to test the output with a voltmeter with a load disconnected, you will get a false reading.
The test signal provides a bias that can be used as a pull-down resistor for system-level trou-
bleshooting. When this is connected to an output, the output will assume the ground potential
when it is off.
sDIO LEDs
A pair of two-color LEDs on the sDIO module indicate link status over the IEEE 1394 con-
nection and system status. The upper LED lights green when an IEEE 1394 connection is estab-
lished. The lower LED blinks green when the software is active and switches to solid green
after the controller software has found and configured the DIO block. The lower LED lights
solid red whenever an output fault (excessive current or temperature) is detected on any of the
32 outputs. Refer to the following table for information about the LEDs and the figure sDIO
Connectors and Indicators on page 65 for information on their location.
A diagnostic software indicator is not available for the XDIO outputs. In a short-circuit con-
dition, the XDIO outputs will simply fold back, supplying the maximum short-circuit current
to the output pin.
The nine power pins for each group are connected together on the sDIO module’s board, and
the current supplied from the output pins is drawn from these power pins. The number of
power pins used in a particular application depends on the total current supplied through that
group’s outputs. A total of nine power pins are provided to allow for more wire connections to
decrease the voltage drop across the power supply wires.
The supply current should be limited to a maximum of one amp per power pin. Use this lim-
itation to select the number of power pins you need.
For example, each output can source up to 700 mA, giving a maximum total current (for a
group of eight outputs) of 5.6 A that will be required from the power supply. In this case, a
minimum of six power pins should be used. If you experience an excessive voltage drop, make
connections to additional power pins.
The ground connection should connect to the power supply directly, not the ground con-
nection of the load. This will isolate the board from any voltage drop across the ground return
for the load.
Parameter Value
Output Group 1
28
Group 1 Return
29
Group 1 Test
30 Typical User Loads
Signal 0033
(equivalent
21 Supply
Group 2 Return
22
Group 2 Test
7
Signal 0041 Load
(equivalent Signal 0042
6
Load
circuit) 5
Signal 0043 Load
4
Signal 0044 Load
3
Signal 0045 Load
2
Signal 0046 Load
1
Signal 0047 Load
16
Signal 0048 Load
44-Pin Female D-Sub
Output Group 3
X2 Connector –
Labeling Cables
The X3 and X4 input connectors on the front of the sDIO module are similar except that X3
handles the group 1 and group 2 input signals and X4 handles the group 3 and group 4 input
signals. The optional digital input cables can be connected to either X3 or X4. Make sure to
clearly label the cables once you have completed your installation so that the cables do not get
swapped by mistake. See the warning that follows.
The X1 and X2 output connectors are also similar except that X1 handles the group 1 and
group 2 output signals and X2 handles the group 3 and group 4 output signals. The optional
digital output cables can be connected to either X1 or X2. Make sure to clearly label the cables
once you have completed your installation so that the cables do not get swapped by mistake.
See the warning that follows.
The pinouts, signal names, and wire color information for the input and output cables are
shown in the next four tables.
Volume 1
l Controller Area Network (CAN) and its use in DeviceNet (Layer 2 - Data Link Layer)
Volume 2
DeviceNet incorporates CAN, which defines the syntax or form of the data transmitted. The
DeviceNet application layer defines the semantics or meaning of the data transmitted. For
more information on the basics of a DeviceNet cable system, contact ODVA at:
1These layers are based on the Open Systems Interconnect (OSI) model.
l The Adept DeviceNet Scanner currently does not support Cyclic or Change-of-State con-
nections.
l Only I/O Messaging is supported. I/O messages contain only data.
l Currently, only the Message Group 2 of the Predefined Master/Slave Connection Set is sup-
ported.
l Adept Message Group 2 I/O connections support only the I/O Poll Command/Response
Message of the possible message types.
Pin Signal
Number Name
1 Drain
2 V+
3 V-
4 CAN_H
5 CAN_L
See the figure DeviceNet Connector Pinouts on page 93 for a drawing of the connectors.
NOTE: Adept does not supply 24 V on the controller to power the DeviceNet bus. A separate
power supply is required to power the components on the DeviceNet bus.
NOTE: It is important that devices connected to the network have a terminating resistor con-
nected between CAN-H (white) and CAN-L (blue). See Termination of the DeviceNet Network on
page 91
Configuring DeviceNet
The Adept SmartController EX motion controller has a default configuration such that, if you
plug in a DeviceNet module configured with MAC_ID 1 and a baud rate of 125 kbps, the first
64 inputs and 64 outputs will automatically be mapped as signals 1289 to 1352 and 257 to
320, respectively. This makes the DeviceNet plug and play.
For other configurations, use the Adept ACE software for software setup. This assigns the con-
troller signals to the physical ports of the DeviceNet nodes. Refer to the Adept ACE User's
Guide for details on configuring DeviceNet.
NOTE: The local setting baud rate must match the DeviceNet node’s setting.
Figure 7-1. Trunk Lines and Drop Lines Made of Thick and Thin Cable
DeviceNet allows devices to be powered directly from the bus, and devices can use the same
cable to communicate with other devices on the bus. DeviceNet nodes are hot-pluggable —
you can remove or add components on the bus without powering down the network.
NOTE: This hot-pluggable feature is not fully supported. If you add a new component to the net-
work, you must make changes in the Adept ACE Configuration Tools. Those changes are not
active until you reboot the Adept SmartController EX motion controller.
The power distribution on the network/bus does not need to be in one place. The distribution
of power supplies needs to be well planned because there are certain constraints on the power
supply. In general, power supplies can be placed at any point in the network. The maximum
current rating of a trunk line is 8 amps. DeviceNet allows opto-isolated, externally powered
devices (e.g., AC drive starters and solenoid valves) to operate on the same bus cable. For
detailed information, see the DeviceNet Technical Specifications.
Bus Topology Linear (trunk line/drop line); power and signal on the same net-
work cable
Bus Addressing Multi-Master and Master/Slave special case; polled
System Features Removal and replacement of devices from the network under
power not supported by Adept
The baud rate of the system depends on the length of the network (end-to-end) and the type of
cable. The following table shows how cable selection and trunk line length affect the max-
imum data rate on the network. The figure DeviceNet Thick Cable on page 89 shows a thick
cable, and the figure DeviceNet Thin Cable on page 90 shows a thin cable.
Table 7-3. DeviceNet Data Rates Relative to Cable Type and Length
DeviceNet Connectors
DeviceNet allows different connectors, which may be grouped into open and sealed con-
nectors. The open connectors are available with screw or with crimp connectors. The sealed
connectors are available in mini-style and micro-style sizes. See the following figure and table
for more details.
Connector Description
Unsealed screw con- Uses screws to attach cable wires to a removable con-
nector nector
Unsealed hard-wired Uses wires attached directly to screw terminals
Sealed mini-style Attaches to taps and thick or thin cable
Sealed micro-style Attaches to thin cable only – has a reduced current rat-
ing
When using the open-style terminating resistor, connect a 121 ohm, ¼ W resistor to CAN_H
and CAN_L (between blue and white data-pair wires).
NOTE: A terminating resistor must also be used whenever a short drop line exceeds 6 m (20 ft).
l Minimize installation problems by using a single power supply with sufficient current
to operate all the attached nodes. This must comply with national and international
safety standards.
l Make sure that each power supply incorporates current-limit protection.
l Provide over-current protection for each segment of your DeviceNet cable installation.
NOTE: Adept does not supply the 24 V operating voltage for the DeviceNet bus on the Smart-
Controller or any other Adept component.
A DeviceNet cable system has several power rating constraints. The cable type and the length
of the cable specify the maximum current on a cable. Thick and thin cable have:
l 24 VDC power rating
If the power supplies are equipped with Schottky diodes, the optional power supply tabs must
be protected from bus back-feeding of current among the power supplies on the bus. We also
recommended the use of fuse protection for every trunk line in the cable system.
The maximum current rating of a thick cable trunk line is 8 A. Verify that this complies with
your national and international standards. It might be necessary to limit the maximum current
to a lower value if standards in the U.S. or Canada apply. The maximum current value is a
theoretical value. The cable size supports a higher current than 8 A. Depending on the topol-
ogy of nodes relative to the power supply, higher currents might be possible. See the DeviceNet
technical specifications for further information.
The maximum current rating of a thin cable trunk line is 3 A. If you use the thin cable on a
long line, the resistance of the cable decreases the maximum current value. See the following
table and the DeviceNet technical specifications for further information.
1.5 m (5 ft) 3A
2.0 m (6.6 ft) 2A
3.3 m (10 ft) 1 1.5 A
4.5 m (15 ft) 1A
6 m (20 ft) 0.75 A
For the calculation of the maximum current at a specific length, use the following formula:
Where:
This calculation applies to the sum of the currents of all the nodes on the selected drop line.
The length (l) is not the cumulative length of the drop line; it is the maximum distance from
any node on the drop line to the trunk line.
It is important to note that voltage differences between the V– and V+ conductors need to be
between 11 V and 25 V. The common-mode voltage between any two places on the V– wire
must not exceed 5 V.
P/N:11069-000 Rev. B