Adept SmartAxis User's Guide - Adept Technology, Inc.

Adept SmartAxis 

User’s Guide

Adept SmartAxis 

User’s Guide 

00332-000, Rev. C 

July 2005 

3011 Triad Drive • Livermore, CA 94551 • 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 reproduced 

in whole or in part without prior written approval of Adept Technology, Inc. The information 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 submit your comments by e-mail to: techpubs@adept.com 

Copyright ©2002, 2005 by Adept Technology, Inc. All rights reserved. 

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Table of Contents 

1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 

1.1 Product Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 

Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 

Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 

Mechanism Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 

Multiple Axis Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 

Axis Coordination. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 

1.2 How Can I Get Help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 

1.3 Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 

Adept Document Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 

2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 

2.1 SmartAxis Installation Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 

2.2 System Cable Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 

Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 

2.3 Mounting Screw Torques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 

2.4 R-Series Module Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 

R-H Module Component Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16 

R-M Module Component Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17 

R-Sz Module Component Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18 

2.5 Installing the PDU2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 

E-Stop Supply Select Switch S1 On PDU2 . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 

2.6 Installing the Adept Front Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 

2.7 Attaching Digital I/O to the RIO. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 

2.8 Installing the Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 

Connecting the Serial Cable from RIO to PC. . . . . . . . . . . . . . . . . . . . . . . . 22 

PC System Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 

Overview of Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23 

Installing Adept DeskTop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 

3 System Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 

3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 

3.2 Programming and Operating the System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 

Starting Adept DeskTop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 

Verifying System Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 

Programming the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 

Using the MicroV+ Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 

Adept SmartAxis User’s Guide, Rev. C 5


3.3 Autostarting the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 

3.4 SmartAmp Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 

Indicator LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 

Brake Release Button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 

4 Remote I/O Device (RIO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 

4.1 Product Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 

Remote IO Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 

Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 

Default Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 

4.2 DC Power for RIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 

4.3 RIO Input Signal Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 

Removing the Outer Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 

Jumper Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 

Sensor Type Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 

4.4 RIO Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 

SW1 - Local or External Power Source for Output Signals . . . . . . . . . . . . . . . 34 

Providing External Power For RIO Output Drivers . . . . . . . . . . . . . . . . . . . . . . 34 

4.5 RS-232 Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 

4.6 RIO LED Functions and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 

5 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 

5.1 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 

Parts Not Requiring Any Maintenance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 

Daily Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 

5.2 Other Periodic Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 

6 Technical Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 

6.1 Module Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 

6.2 Adept SmartAmp Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 

SmartAmp Connector Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 

6.3 RIO Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 

RIO Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 

RIO Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 

RIO Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 

6.4 PDU2 Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 

PDU2 Connectors and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 

PDU2 Fuses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 

PDU2 E-Stop Circuit Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 

PDU2 Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 

6 Adept SmartAxis User’s Guide, Rev. C


PDU2 Mounting Bracket Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 

PDU2 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54 

PDU2 Connector Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 

6.5 Transportable Moment Calculations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 

Transportable Moment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 

Transportable Load of a Moving Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59 

A Reconfiguring a System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 

A.1 Reconfiguring Hardware and Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 

Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 

Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 

A.2 Installing a RIO in the Field . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 

Install the SPI Board on the SmartAmp Bracket . . . . . . . . . . . . . . . . . . . . . . 62 

RIO Installation Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 

A.3 Upgrading the MicroV+ Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 

Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 

Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 


Introduction 1 

1.1 Product Description 

Hardware 

The Adept SmartAxis system is a self-contained, single-axis linear actuator system. It is a 

complete motion system made up of three hardware components: 

1. A linear module comprising an integrated AC servo motor-driven ball screw 

mechanism with linear bearings. 

2. An Adept SmartAmp which integrates a servo controller, servo amplifier, and 

power controller in one compact unit. The SmartAmp mounts to the linear 

module. 

3. A Remote I/O device (RIO) that provides a programming and control interface to 

the SmartAmp. 

NOTE: A SmartModule becomes a SmartAxis when the MicroV + 

operating system is running on the SmartAmp. 

R-Series Modules 

The R-Series modules are equipped with sealed belt covers to protect against harsh 

environments. 

• R-H Module (90405 - 10XXX) (See Figure 2-2 on page 16.) 

The R-H module is designed for heavy payloads, up to 80 kg horizontal and 40 kg 

vertical. R-H modules are equipped with 400W motors. 

NOTE: The part number listed above represents the module without an 

Adept SmartAmp attached. The assembly part number (module with 

SmartAmp) will be different. If the part number prefix is 90406, it is a 

cleanroom version of the module. This applies to all R- Series module 

types. 

• R-M Module (90405 - 20XXX) (See Figure 2-3 on page 17.) 

The R-M module is designed for horizontal and vertical medium payloads up to 

40 kg. R-M modules are equipped with 400W motors. 

• R-Sz Module (90405 - 40XXX) (See Figure 2-4 on page 18.) 

The R-Sz module is designed for horizontal and vertical light payloads up to 20 

kg. R-Sz modules are equipped with 200W motors for heavy-duty vertical 

cycling. 


Chapter 1 - Introduction 

Remote I/O Device 

The Remote I/O Device (RIO) provides 12 digital input signals and 8 digital output 

signals. This device also contains an RS-232 serial port which is used to communicate with 

the SmartAxis. 

PDU2 

The Power Distribution Unit-2 (PDU2) provides electrical power to the SmartAxis. The 

functions include: 

• switched AC power for the SmartAmp 

• 24 VDC power for the SmartAmp and the RIO 

• connections for E-Stop circuits 

NOTE: A SmartAxis system could include a PDU3, which has all the same 

functionality as the PDU2, but the PDU3 has a DC output current of 

3 amps total, instead of 2 amps for the PDU2. 

The optional SmartAxis Front Panel provides an emergency stop switch and High Power 

switch. 

Software 

The SmartAxis system is shipped with the following software: 

1. Adept DeskTop 1.0: provides programming and control interface. 

2. MicroV + : O.S. and programming language used to program and control the 

system. MicroV + resides and runs in the SmartAmp. 

3. SA_SPEC: used to configure the SmartAmp for specific modules, and to set up 

the calibration and tuning parameters for the module. 

NOTE: Additional software and programming information can be found 

in Chapter 3. 

Mechanism Control 

The Adept SmartAxis can be implemented using several control strategies. Typically, the 

desired control strategy is determined by the control hardware and software available in 

the work cell. This could range from stand-alone (SmartAxis only) installations to PC- or 

PLC based-installations. Listed below are several strategies. Additional strategies not 

described here might be practical. 

1. Standard MicroV + Application: This is a stand-alone strategy in which the Adept 

SmartAxis module is controlled from MicroV + programs running onboard the 

Adept SmartAmp. The SmartAxis modules ships with example MicroV + 

programs installed. Additional example programs are available online. 


How Can I Get Help 

2. Discrete I/O Control from PLC or PC: This is a remote control strategy in which 

the Adept SmartAxis module is controlled from a PLC or a PC via discrete I/O 

signals. A MicroV + application resides on the Adept SmartAmp and interprets the 

discrete signals into MicroV + functions. The MicroV + application programs can be 

modified and expanded for use in a wide variety of applications. The PLC or PC 

may also handle the cell control functions. 

3. Serial Communications from PLC or PC: This is a remote control strategy, in 

which the Adept SmartAxis module is controlled from a PLC or a PC via serial 

communication. MicroV + commands are sent to the Adept SmartAmp via the 

RS232 port on the Remote I/O device (RIO). All application code may reside on 

the PLC or the PC. The PLC or PC may also handle the cell control functions. For 

more information on this control strategy contact your local Applications Support 

office. 

Multiple Axis Configurations 

While the SmartAxis system was initially designed for single-axis applications, it may be 

desirable to combine multiple SmartAxis modules into an X/Y and X/Y/Z mechanism. 

For information about installation of multiple axis mechanisms, see the Adept 

SmartModules Instruction Handbook Volume 2 (available on the Knowledge Express 

CD-ROM). 

Axis Coordination 

NOTE: The SmartAxis modules do not require the 1394 cables as 

described in the SmartModules documentation. 

End-point coordination of multiple SmartAxis modules can be performed using the 

strategies outlined above, but linear or circular interpolation is not currently supported. If 

an application requires interpolation, use of a SmartController should be considered. 

1.2 How Can I Get Help 

Refer to the How to Get Help Resource Guide (Adept P/N 00961-00700) for details on 

getting assistance with your Adept software and hardware. Additionally, you can access 

information sources on Adept’s corporate web site: 

http://www.adept.com 


Related Manuals 

1.3 Related Manuals 

This manual covers the installation and setup of an Adept SmartAxis system. There are 

additional manuals that cover programming the system, reconfiguring installed 

components, and adding other optional components; see Table 1-1. These manuals are 

available on the Adept Document Library CD-ROM shipped with each system. 

Table 1-1. Related Manuals 

Manual Title 

Adept DeskTop Online Help 

SA_SPEC Utility Online 

Help 

MicroV+ Online Help 

Adept SmartModules 

Instruction Handbook 

Volume 1 

Adept SmartModules 

Instruction Handbook 

Volume 2 

Adept SmartController 

User’s Guide 

Adept SmartModules Quick 

Setup Guide 

Description 

Describes how to use the Adept DeskTop software. 

Describes how to use the SA_SPEC Utility program. 

Describes how to use the MicroV + programming language. 

Describes how to install the Adept MV Controller in an Adept 

SmartModules system. 

Describes how to assemble and install an Adept SmartModules 

system. 

Describes the installation and configuration of the Adept 

SmartController. It contains information on the Adept Front 

Panel. 

Describes how to quickly set up the Adept SmartModules robot 

and connect it to the controller. There is a separate guide for 

each SmartModule configuration. 

Adept Document Library 

The Adept Document Library (ADL) contains documentation for Adept products. You 

can access a local copy of the ADL from the Adept Software CD shipped with your 

system, or from the separate ADL CD. Additionally, an Internet version of the ADL can be 

accessed by going to the Adept Web site and selecting Document Library from the home 

page. To go directly to the Adept Document Library, type the following URL into your 

browser: 

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

To locate information on a specific topic, use the Document Library search engine on the 

ADL main page. To view a list of available product documentation, select the Document 

Titles option. 


Installation 2 

This chapter covers the components needed for a complete system installation, including 

details for the Adept R-Series SmartAxis modules and system cabling. 

2.1 SmartAxis Installation Procedure 

The installation and setup of any SmartAxis system involves the completion of the 

following steps. During completion of the steps, other sections of this manual will be 

referenced. See Figure 2-1 on page 14 for a diagram of the system components and 

cabling. 

Table 2-1. SmartAxis Installation Procedure 

Action to Perform 

1. Mount the linear module to the 

work surface. 

2. Install the PDU2 and wire the 

user-supplied external E-Stop 

circuit. 

3. Install the optional Adept Front 

Panel. 

4. Connect the RIO to your PC, using 

an RS-232 serial cable. 

5. Install Adept DeskTop (ADT) or 

Adept Desktop Lite (ADTL) on the 

PC. 

For Details 

See Section 2.4 for R-Series modules. 

See Section 2.5 on page 19. 

See Section 2.6 on page 21. If the Front Panel is 

not used, the user must supply this 

functionality to the system (see Figure 6-3 on 

page 51). 

See “Connecting the Serial Cable from RIO to 

PC” on page 22. 

See “Installing Adept DeskTop” on page 23. 

Note: The SA_SPEC utility is automatically 

installed during this process. 

6. Turn on the AC power switch on 

the PDU2. 

7. Verify that the system is 

functioning properly. 

See Section 3.2 on page 25. Also look at the 

section on Example MicroV + Programs. 

8. Learn about the Autostart feature. See Section 3.3 on page 27. 


C B 

I R 

R E 

C A 

U K 

I E 

T R 

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Chapter 2 - Installation 

2.2 System Cable Diagram 

SmartAmp 

24VDC Cable 

Switched 

AC Cable 

Adept PDU2 

PDU2 to Front Panel 

Adapter 

PDU2 

24V 

STOP 

SA 

AUX 

CH1 CH2 

ES1 ES2 

SA DC RESET 

AUX DC RESET 

RIO Interface 

Cable 

Terminator 

Installed 

1 

AC 

PWR 

SA 

XDCS 

2 

XSLV1/ 

XSLV2 

PDU2 to 

Front Panel 

Cable 

Adept Front Panel - 

Optional 

Adept RIO 

AC 

PWR 

IN 

RS-232 Cable 

AC In 

100-240 VAC 

Desktop or Laptop PC 

Typical Adept SmartModule 

Figure 2-1. SmartAxis System Cable Diagram with PDU2 and Front Panel 

Precautions 

Observe the following precautions when configuring any module: 

1. When assembling cables, avoid applying unreasonable force to cables. 

2. Before applying power, ensure that all cables have been connected correctly. 

WARNING: Improper connection may result in damage to 

the SmartAxis or the Power Distribution Unit. 


Mounting Screw Torques 

2.3 Mounting Screw Torques 

When securing screws used to install modules, mounting brackets, and other 

components, apply the amount of torque specified in Table 2-2 and Table 2-3. 

Table 2-2 applies to the following: 

• Mounting brackets attached to modules 

• Mounting brackets attached to the work surface 

• Customer equipment attached to the end caps of R-Series modules 

Table 2-2. Modules and Mounting Brackets Screw and Bolt Torque Specifications 

Module Screw Diameter Tightening Torque 

R-H M8 33.3 N•m 

R-M M6 14.7 N•m 

R-Sz M5 5.7 N•m 

Table 2-3 applies to any equipment attached to the module carriage. 

Table 2-3. Module Carriage Torque Specifications 

Module Screw Diameter Tightening Torque 

R-H M8 33.3 N•m 

R-M M6 14.7 N•m 

R-Sz M5 11.7 N•m 

NOTE: Refer to the Technical Specifications chapter in the Adept 

SmartModules Instruction Handbook Volume 2 for dimension drawings 

of the modules and mounting brackets. This manual is located on the 

Adept Knowledge Express CD-ROM, and on the Adept web site. 

2.4 R-Series Module Installation 

This section describes the process of installing R-Series modules. The R-H, R-M, and R-Sz 

modules have a factory installed SmartAmp, a SmartAmp mounting bracket, and RIO 

device. See Figure 2-2, Figure 2-3, and Figure 2-4 for an overview of the system 

components for each module type. To properly mount a module: 

1. Prepare the work surface by drilling and tapping four appropriately sized holes 

for each module mounting bracket used. The number of brackets used will vary 

based on the size of the module. See Table 2-2 for the appropriate hole size for the 

bracket being used. 

2. Mount the module to the work surface using four screws per bracket. 



R-H Module Component Overview 

R-H Module 

R-H Module Mounting Bracket 

(optional) 

SmartAmp 

RIO Device 

SmartAmp Mounting 

Bracket 

Figure 2-2. R-H: System Component Overview 

Table 2-4. R-H Parts List 

Description Part Number Qty 

R-H module assembly (including factory installed 4051x-xxx 

1 

SmartAmp) 

Mounting bracket, RH (optional, factory installed) 90400-01100 2 a 

PDU to Amp Cables 

AC power cable 

24V DC cable (factory installed) 

OR 

Amp to Amp Cables (for combining multiple axes) 


24V DC cable 

10410-009xx 

10410-010xx 

10410-006xx 

10410-007xx 

Remote I/O kit (factory installed) 90410-20050 1 

a Quantity may vary according to module lengths. R-H modules with 300 to 600 mm stroke use two 

mounting brackets; 800 mm and longer stroke modules require three mounting brackets. 

1 

1 


R-Series Module Installation 

R-M Module Component Overview 

R-M Module 

SmartAmp 

R-M Module Mounting 

Bracket (optional) 

RIO Device 

SmartAmp Mounting 

Bracket 

Figure 2-3. R-M: System Component Overview 

Table 2-5. R-M Parts List 


R-M module assembly (including factory installed 4052x-xxx 

1 

SmartAmp) 

Mounting bracket, RM (optional, factory installed) 90400-01200 2 a 




OR 



24V DC cable 

10410-009xx 

10410-010xx 

10410-006xx 

10410-007xx 


a Quantity may vary according to module lengths. R-M modules with strokes less than 750 mm require 

two mounting brackets; R-M modules with strokes greater than 750 mm require three mounting 

brackets. 

1 

1 



R-Sz Module Component Overview 

SmartAmp 

R-Sz Module 

Mounting Bracket 

(optional) 

R-Sz Module 

RIO Device 

Figure 2-4. R-Sz: System Component Overview 

Table 2-6. R-Sz Parts List 


R-Sz module assembly (including factory installed 4054x-xxx 

1 

SmartAmp) 

Mounting bracket, RSz (optional, factory installed) 90400-01300 2 a 




OR 



24V DC cable 

10410-009xx 

10410-010xx 

10410-006xx 

10410-007xx 


a Quantity may vary according to module lengths. R-Sz modules with strokes less than 300 mm require 

two mounting brackets; R-Sz modules with strokes greater than 400 mm require three mounting 

brackets. 

1 

1 


Installing the PDU2 

2.5 Installing the PDU2 

NOTE: A SmartAxis system could include a PDU3, which has all the same 

functionality as the PDU2, but the PDU3 has a DC output current of 3 

amps total, instead of 2 amps for the PDU2. 

The PDU2 performs the following functions in an Adept SmartAxis system: 

• supplies switched AC power to the SmartAmp 

• provides AC power filtering and surge protection 

• supplies 24 VDC power to the SmartAmp and RIO 

• provides CAT-3 E-Stop function 

See page 49 for the details of the connectors and indicators on the PDU2. 

1. Mount the PDU2 in an appropriate location. Interface cables from the SmartAmp 

to the PDU2 are 4.5 meters, so the PDU2 must be within that distance. Mounting 

brackets are supplied with the PDU2 (see Figure 2-5). For dimensions of the 

mounting brackets, see Figure 6-5 on page 53. 

CAUTION: To allow for proper cooling, mount the PDU2 

with 50 mm clearance at the top and bottom of the unit. 

Figure 2-5. PDU2 with Mounting Brackets Installed 



2. Connect the 24 VDC cable coming from the SmartAmp to the XDCS connector on 

the PDU2. 

3. Connect the AC power cable coming from the SmartAmp to the AC PWR SA 

connector on the PDU2. 

4. Connect user-supplied external E-Stop and safety circuits to the XSLV1 connector 

on the PDU2. See Figure 6-3 on page 51 for a schematic on user-supplied safety 

circuits. If an external E-Stop circuit is not supplied by the user, the Adept Front 

Panel must be connected to the XSLV1 or XSLV2 connector. See Section 2.6 on 

page 21 for details. 

The unused XSLV connector must be terminated using the Adept-supplied 

terminating jumper. 

5. Make sure the S1 switch inside the PDU2 is set to the Internal position if you are 

using an Adept Front Panel. See the next section for information. 

6. Connect the user-supplied AC power source (100-240 VAC) to the AC PWR IN 

connector on the PDU2. 

E-Stop Supply Select Switch S1 On PDU2 

The PDU2 E-Stop system can be powered by its own internal 24VDC power supply, or it 

can be configured to be powered by an external source. The E-Stop Supply Select Switch 

S1, located inside the PDU2, controls this function. To access the switch, remove the 

snap-in cover, see Figure 2-6. 

WARNING: Only skilled or instructed personnel should 

attempt to change PDU2 power source. Always disconnect 

AC power to the PDU2 prior to changing the S1 switch 

position. 

• The factory default position is EXTERNAL. 

• If you use an Adept Front Panel, S1 must be set to INTERNAL. 

• If you have a user-supplied front panel, S1 can be set to either INTERNAL or 

EXTERNAL, depending on how the E-Stop circuit is designed. 

See Figure 6-3 on page 51. 

Remove cover to 

access switch S1 

S1 selects Internal 

or External E-Stop 

power 

Figure 2-6. Location of Switch S1 


Installing the Adept Front Panel 

2.6 Installing the Adept Front Panel 

The optional Adept Front Panel provides an Emergency Stop switch and a High Power 

enable switch. See Figure 2-1 on page 14 for the system cable diagram. 

NOTE: The Auto/Manual switch on the Front Panel is not functional in an 

Adept SmartAxis system. 

1. Locate the Front Panel adaptor plug and install it in the XFP connector on the side 

of the Front Panel. 

2. Locate the PDU-to-Front Panel cable. Connect one end to the XSLV2 connector on 

the PDU2. Connect the other end to the adapter plug on the side of the Front 

Panel. 

3. Verify that switch S1 in the PDU2 is set to Internal. See page 20 for details. 

NOTE: If you do not use the Adept Front Panel, you must supply the 

E-Stop and High Power enable functionality to the system. See Figure 6-3 

on page 51. 

2.7 Attaching Digital I/O to the RIO 

If you are planning to connect discrete digital I/O signals to the RIO, you should do that 

now. Refer to Chapter 4 for complete information on the RIO device. 



2.8 Installing the Software 

Connecting the Serial Cable from RIO to PC 

1. Locate the serial cable that is shipped with the system. 

2. Connect one end of the serial cable to the RS-232 connector on the RIO. 

3. Connect the other end of the serial cable to a serial port on the PC. See the next 

section for PC requirements. 

PC System Requirements 

Running the SmartAxis system using Adept DeskTop and MicroV + requires following PC 

setup: 

• IBM-compatible PC with a processor capable of running Windows 98 SE, Windows 

2000, or WindowsNT 

• Windows 98 SE, Windows 2000, or WindowsNT running service pack 4 or later 

• Hard Disk Space: 750 MB; 15MB to install the software, 500 MB to install the online 

documentation (optional - can be accessed from CD-ROM drive), and the rest for 

swap space and temporary files 

• 16 MB RAM minimum 

• one RS-232 serial port (settings are configured automatically by ADT) 

•CD-ROM drive 

•SVGA monitor 

If you use an optional terminal emulator (for example, Windows HyperTerminal) to 

communicate with the system, configure the RS-232 serial port with the following 

settings: 

• baud rate = 9600, data bits = 8, parity = none, stop bits = 1 

• flow control = DTS/CTS (hardware flow control) 

• Local echo = enabled 

• [ENTER] key sends CRLF (or LF) 

• Emulation = ANSI or VT100 


Installing the Software 

Overview of Software 

The SmartAxis is supplied with the following software programs used for configuring, 

calibrating, programming, and operating the system. 

Table 2-7. System Supplied Software 

Adept DeskTop 1.0 

MicroV + 

SA_SPEC 

Provides programming and control interface for the SmartAxis 

system. 

Operating system and programming language used to control 

and program the system. MicroV + resides and runs in the 

firmware of the SmartAmp. 

Used to configure the amplifier for the module, and set up the 

calibration (set zero position) and motion tuning parameters of 

the module. 

Installing Adept DeskTop 

The SA_SPEC and Adept Desktop 1.0 (ADT) software is supplied on a CD-ROM that is 

shipped with your SmartAxis system. 

1. To install the software, place the CD-ROM in the CD drive on your PC. If 

AutoPlay is enabled on your CD drive, the CD-ROM autostarts and displays the 

screen shown in Figure 2-7. If AutoPlay is not enabled, you will need to start the 

CD manually. You can double-click on the autorun.exe file, or go to: 

Start => Run => [CDROM}:\autorun.exe 

Figure 2-7. ADT Main Menu 

2. Select Read Important Information to open the text file with recent details that 

could affect the installation. 

3. Select Install Adept DeskTop to start the installation process. This will install the 

Adept DeskTop and the SA_SPEC programs. You will need the serial number 

from the label on your ADT CD-ROM package to complete the installation. 



4. Follow the instructions on-screen during the installation process. For more details 

on installing the software, refer to the Adept DeskTop Online Help and the 

SA_SPEC Utility Online Help. 

5. After the software is installed, go to Chapter 3 to learn more about operating the 

SmartAxis system. 

NOTE: If you need to reconfigure anything in your system, refer to 

Appendix A. 


System Operation 3 

3.1 Introduction 

This chapter provides an overview of system operation. Before proceeding with 

developing the application it is important to verify that the system is operating correctly. 

3.2 Programming and Operating the System 

Adept DeskTop is used as an interface to operate the system and to develop MicroV+ 

programs. Adept DeskTop provides a suite of tools to communicate with, program, and 

control the SmartAxis system. 

Starting Adept DeskTop 

1. To start Adept DeskTop from the Windows task bar, select: 

Start => Programs => Adept => Adept DeskTop 

The Adept DeskTop program initializes and displays the Startup Sequence 

window. 

2. Select Default MicroV + desktop and connect and click OK. 

The default MicroV + desktop opens and establishes communication with the 

SmartAmp. 

3. See the Adept DeskTop Online Help for complete information on using ADT. 

Verifying System Operation 

After establishing communication with the SmartAxis system, verify system operation by 

entering the following commands. 

1. From the Adept DeskTop menu bar, select: 

Tools => Monitor Terminal Emulator 

This opens the green Monitor window. 

2. Set the speed to a slow motion, at the dot prompt enter: 

SPEED 10 


Chapter 3 - System Operation 

CAUTION: Make sure the motion is unobstructed and be 

ready to press the ESTOP if necessary. 

3. Press the High Power button on the Adept Front Panel. If you are using a 

user-supplied enabling device, instead of the Front Panel, enable high power at 

this time. 

4. Turn on High Power to the SmartAmp by entering: 

enable power 

The green LED on the SmartAmp will start blinking quickly. 

5. Perform the initial runtime calibration, enter: 

calibrate 

On modules equipped with brakes, a click during calibration indicates the brakes 

releasing. After calibration is complete, the system returns to dot prompt. You are 

now ready to operate and program the system. 

NOTE: You can also enable power and calibrate the module from the 

Robot Control Panel in Adept DeskTop by clicking the POWER and 

CALIB buttons. 

6. Move the SmartAxis system to an absolute position. For example, to move to a 

position 25 mm from the zero position, enter: 

DO @0 JMOVE 25 

7. The SmartAxis system will move to the position requested. This confirms that the 

system is communicating and working properly. 

Programming the System 

NOTE: MicroV + is a subset of the V + programming language. Not all V + 

commands are available in MicroV + , and several new commands have 

been added. Refer to the MicroV+ Online Help for details. 

Adept DeskTop provides a program editor to create and edit MicroV + programs for the 

Adept SmartAxis system. To access the program editor, select: 

Tools => Editor/Debugger 

The Program Editor window displays. The Program Editor contains an array of tools 

(represented by icons) for creating new programs, opening saved programs, copying and 

pasting lines of code, inserting common program commands, etc. See the Adept DeskTop 

Online Help for details. 

The MicroV + operating system can also be accessed using a terminal emulator such as 

Windows HyperTerminal. The line editor can also be used to create MicroV + programs. 

See Editing Programs Using a Terminal Emulator in the MicroV + online help for details. 


Autostarting the System 

Using the MicroV + Examples 

Included in the online help are Example MicroV+ Programs available for use with the 

SmartAxis system. These example programs illustrate the following: 

•autostart 

• basic motion and signal usage 

• autostart with error recovery 

• command request and execution 

• supervisor and worker programs 

In addition, a comprehensive sample application is included on the software CD in a 

directory named MicroV + Example. Before loading the sample application, be sure to read 

the README-APP.TXT file also located in that directory. 

3.3 Autostarting the System 

In addition to manually loading and running programs on the SmartAxis system, the 

system can also be set to automatically load and execute programs upon power up. This 

feature enables the system to be operated without having a PC connected. 

To autostart the system, the following must take place: 

1. The autostart system switch must be enabled by the monitor command ENABLE 

AUTOSTART or by the program instruction SWITCH AUTOSTART = -1. 

2. A program named AUTO must reside on NVRAM. (Other MicroV + programs can 

be stored on NVRAM.) 

When the SmartAxis system is powered up, the operating system loads and the following 

commands are issued automatically: 

LOAD (loads all programs in NVRAM to RAM) 

EXECUTE 3 AUTO (executes the program named auto in task 3. 

Note that this is not a monitor command program). 

The auto program can execute other programs on tasks 0, 1, and 2. 

The MicroV+ Online Help includes an example of how to create an autostart program. 

NOTE: You can interrupt the autostart process by typing Control-C during 

the first ten seconds after powering up the system. This feature is 

available in MicroV + version 1.2a1 and later only. 


Chapter 3 - System Operation 

3.4 SmartAmp Operation 

Indicator LED 

The Indicator LED on the SmartAmp is a green/red bicolor LED that indicates specific 

conditions depending on its status. 

Table 3-1. SmartAmp Indicator LED Conditions 

LED Status 

LED Off 

LED green, blinking slow 

LED green, blinking fast 

LED blinking alternately green and red 

LED red, blinking fast 

LED green or red, not blinking 

Condition 

24VDC not present 

24VDC present, High Power disabled 

24VDC present, High Power enabled 

To identify an axis during configuration 

SmartAmp Fault, 24VDC present 

SmartAmp logic failure 

Brake Release Button 

The brake release button is the recessed push-button located below the Indicator LED. 

• the brake release circuit requires 24 VDC at the SmartAmp to function. 

• pressing the brake release button releases the brakes on any module equipped 

with brakes, typically a module mounted in a vertical orientation. 

• pressing the brake release button while the system is running causes a software 

E-Stop, disables high power, and brings the mechanisms to an uncontrolled stop. 

• pressing brake release disables high power, but does not disable PDU2 AC to 

SmartAmps. Both ES1 and ES2 LEDs on the PDU2 remain on, if they were already 

on. 


Remote I/O Device (RIO) 4 

4.1 Product Description 

The Remote Input/Output Device (RIO) provides 12 input and 8 output signals near the 

SmartAmp. The RIO also provides RS-232 communications for the SmartAxis. A RIO can 

be connected to each SmartAmp in the system. See Section 6.3 on page 45 for RIO 

specifications and additional technical details. 

Remote IO Components 

The RIO is made up of the following components: 

Connectors 

• Remote IO device 

• SPI Interface printed circuit board (provides interface to SmartAmp) 

• Cable to connect RIO to SPI 

The RIO has four connectors: 

• RS-232: communications port for SmartAxis product (not used with 

SmartModules) 

• I/O Group A: connection for 6 input signals, 4 output signals and external 24VDC 

• I/O Group B: connection for 6 input signals, 4 output signals and external 24VDC 

• SmartAmp Int: connection for interface to Adept SmartAmp 

Default Configuration 

The RIO is installed on the SmartAxis at the factory. The factory default configuration is: 

• Local 24VDC for RIO and Outputs (Switch 1 on RIO) from the PDU2 

• Local 24VDC for Inputs 

• NPN polarity for input signals 

If this is the desired configuration for your application, you do not have to change the 

internal jumper settings inside the RIO. If the above settings need to be changed, the RIO 

cover must be removed. See “Removing the Outer Cover” on page 30. 


Chapter 4 - Remote I/O Device (RIO) 

4.2 DC Power for RIO 

The RIO requires a 24 VDC power source. The power source is selected by switch SW1 

inside the RIO. SW1 also selects the power source for the output signals. See Figure 4-2 on 

page 32. When SW1 is set to Local, the 24 VDC is supplied by the PDU (default setting). 

When SW1 is set to External, then the user must supply 24 VDC to operate the RIO. The 

external 24VDC is supplied via the I/O Group A and I/O Group B connectors (see Figure 

4-5 on page 34). 

4.3 RIO Input Signal Configuration 

The RIO has internal jumpers that configure input signals to work with NPN or PNP 

devices. Internal jumpers also allow for local or external 24VDC and ground for the 

inputs. 

While each signal can be configured as NPN (default) or PNP independently, the 12 input 

signals are grouped in three blocks of 4 signals as shown below 

• Block 1: inputs 1001, 1002, 1003 and 1004 

• Block 2: input 1005, 1006, 1007 and 1008 

• Block 3: input 1009, 1010, 1011 and 1012 

The 24VDC source and ground can be configured independently for each of the three 

blocks. Jumpers J3, J4, and J5 are used to select the 24VDC source. Jumpers J18, J19, and 

J20 are used to select the ground. See Figure 4-2 on page 32. 

Removing the Outer Cover 

To gain access to the jumpers, the outer cover must be removed. 

1. Remove the RIO from the module by loosening the four screws that attach it to 

the module and disconnect the cable from the RIO to the SmartAmp. 

2. Remove four corner screws from the I/O Group A endcap. See Figure 4-1 on page 

31. 

3. Remove two hex screws from the opposite endcap. 

4. Pull the internal assembly out as shown. 

5. Turn the assembly over to see the jumper switches. See Figure 4-2 on page 32. 

CAUTION: You must observe precautions for ESD when 

handling the RIO internal assembly. Use a grounding 

wrist strap or other measures to protect against exposure 

to ESD. 


RIO Input Signal Configuration 

Hex screws from 

D-Sub connector 

Figure 4-1. Removing the Cover 

Jumper Locations 

To set jumpers, refer to the following places for information: 

•see Figure 4-2 on page 32 for the layout of the jumpers 

•see Table 4-1 on page 32 for the listing of input signal and jumper numbers 

•see Table 6-11 on page 46 and Table 6-12 on page 47 for the complete pinout of the 

signals on the Group A and Group B connectors. 



LOCAL 

SW1 

EXTERNAL 

NPN 

+24V 

PNP 

SOURCE 

SELECT 

J18 

J15 

J12 

J9 

J6 

J3 

LOCAL 

EXT 

GND SELECT 

J19 

J20 

J16 

J17 

J13 

J10 

J11 

J7 

J8 

J4 

J5 

PWR SELECT LOCAL 

EXT 

POLARITY SELECT 

LOCAL 

SW1 

EXTERNAL 

Ground Select 

Jumpers 

Input Polarity Select Jumpers 

PNP 

NPN 

Power Select 

Jumpers 

J18 

J15 

J12 

J9 

J6 

J3 

LOCAL 

EXT 

GND SELECT 

J19 

J20 

J16 

J17 

J13 

J10 

J11 

J7 

J8 

J4 

J5 

PWR SELECT LOCAL 

EXT 

POLARITY SELECT 

Figure 4-2. Input Signal Jumpers 

Table 4-1. Input Signal and Jumper Number 

Input Signal Name Jumper Number Input Signal Name Jumper Number 

1001 J6 1007 J13 

1002 J9 1008 J16 

1003 J12 1009 J8 

1004 J15 1010 J11 

1005 J7 1011 J14 

1006 J10 1012 J17 


RIO Input Signal Configuration 

Sensor Type Selection 

Each input signal can be configured as either NPN or PNP by setting a jumper to the 

appropriate position. Figure 4-3 illustrates connecting an NPN device to input signal 1001 

with local 24V. This is the default setting. 

Local 24V 

(Via PDU) 

Remote I/O 

Device 

User Circuits 

To Processor 

I 

NPN 

PNP 

To Processor 

J1- pin 21 

Input 1001 

I 

J1- pin 35 

NPN 

Collector 

NPN 

Emitter 

Local Ground 

NPN Connection 

Figure 4-3. Connecting NPN device to Signal 1001 with Local 24V 

Figure 4-4 illustrates connecting a PNP device to input signal 1005 with external 24V. 

Remote I/O 

Device 

User Circuits 

Local 24V 

(Via PDU) 

External 

24V 

J1-pin 12 

NPN 

PNP 

I 

To 

Processor 

To Processor 

I 

I 

J1-pin 9 

PNP 

Emitter 

J1-pin 25 

Input 1005 

PNP 

Collector 

Local Ground 

PNP Connection 

J1-pin 41 

External Ground 

Figure 4-4. Connecting NPN device to Signal 1005 with External 24V 

For the complete pinout locations see Table 6-11 and Table 6-12 on page 47. 



4.4 RIO Output Signals 

SW1 - Local or External Power Source for Output Signals 

The RIO can be configured to operate on the local 24 VDC supplied by the PDU2, or on an 

external 24VDC source supplied by the user. Switch SW1 inside the RIO selects the local 

or external 24 VDC, the default setting is for local 24 VDC. The local 24VDC power source 

is capable of delivering a maximum 2.0 amps total for all outputs. 

Providing External Power For RIO Output Drivers 

While the local 24V power source is capable of driving up to 2A total on the 8 output 

signals, each single output driver is capable of 500 mA. To achieve 500 mA on each output 

signal, external 24VDC must be provided as illustrated in Figure 4-5. Each pin shown in 

Figure 4-5 is capable of delivering 1.0A. SW1 is set to the External 24V/Gnd position. See 

Figure 4-6 on page 35 for an example out signal circuit. 

See Figure 4-1 on page 31 and Figure 4-2 on page 32 for details on removing the cover and 

accessing SW1. See Table 6-11 on page 46 and Table 6-12 on page 47 for complete 

connector pinout details. 

RIO 

J1-12 

J1-13 

J1-14 

J1-15 

J1-41 

J1-42 

J1-43 

J1-44 

User-Supplied 

External +24VDC 

User-Supplied 


+24VDC 

Ground 

J21-12 

J21-13 

J21-14 

J21-15 

J21-41 

J21-42 

J21-43 

J21-44 

User-Supplied 

External +24VDC 

User-Supplied 


J21 = Group A I/O connector 

J1 = Group B I/O connector 

Figure 4-5. External Power and Ground Pins 


RS-232 Connector 

Remote I/O 

Device 

User Circuits 

+24VDV 

Output 1 

Control 

J1-pin 1 

Ground 

J1-pin 16 

Figure 4-6. Example Output Signal Circuit (1 of 8 Outputs) 

For the complete pinout locations see Table 6-11 and Table 6-12 on page 47. 

4.5 RS-232 Connector 

NOTE: The RS-232 communication is functional only with Adept 

SmartAxis Modules. It is not functional with Adept SmartModules. 

Table 4-2. RIO RS-232 Pin Assignments 

Pin 

Signal Name 

1 NC 

2 TX 

3 RX 

4 NC 

5 Ground 

6 NC 

7 RTS 

8 CTS 

9 NC 



4.6 RIO LED Functions and Troubleshooting 

COMM 

(green) 

FAULT 

(red) 

FAULT 

When power is applied to the Adept SmartAxis system, the FAULT LED (red) blinks for a 

few seconds. After communication is established with the SmartAmp, the FAULT LED 

turns off and the COMM LED (green) starts blinking. See Table 4-3 for other conditions. 

Table 4-3. RIO LED Functions 

LED State Description 

COMM and 

FAULT 

Blinking after power up and communication 

with SmartAmp established 

Blinking for a few seconds before 

communication with SmartAmp established 

(occurs upon power up) 

Blinking after attempting to establish 

communication with SmartAmp 

Both LEDs off 

Normal 

Normal 

Problem with communication 

to SmartAmp. Check the cable 

and connections between RIO 

and SmartAmp. 

RIO not receiving 24VDC from 

SmartAmp. Verify SW1 is set to 

Local, unless user is supplying 

External 24VDC. 


Maintenance 5 

5.1 Maintenance 

To prevent accidents, observe the following precautions when inspecting or maintaining 

the unit. 

WARNING: Turn off the power to the PDU2/SmartAmp 

when personnel or tools are in the vicinity of the robot 

work area. 

WARNING: Do not disassemble or modify the unit except 

as instructed in this manual. 

WARNING: The V-Series modules are not sealed. Prevent 

foreign objects and liquids from entering the module body 

because these materials may damage the module. 

NOTE: SmartAxis modules are self-lubricating and do not require 

lubrication. 

Parts Not Requiring Any Maintenance 

The linear bearings and ball screw have lifetime lubrication and do not require periodic 

maintenance. 

Daily Maintenance 

Perform daily checks as shown in Table 5-1. 


Chapter 5 - Maintenance 

Table 5-1. Daily Maintenance Checks 

Check Points 

SmartAmp heatsink 

Base fixing bolts (bolts used to attach 

mounting plates to work surface) 

Work fixing bolts (bolts used to attach 

equipment to module sliders) 

Procedures and Specifications 

Check to see that it is free of dust and debris 

Check for looseness; tighten as necessary. 

See Table 2-2 on page 15 and Table 2-3 on page 15 for 

tightening torque. 

NOTE: No brush replacement is required because AC servo motors are 

used in this product. 

5.2 Other Periodic Maintenance 

Table 5-2 gives a summary of other preventive maintenance procedures and guidelines on 

frequency. 

Table 5-2. Inspection and Maintenance 

Item Period Reference 

Ball screw and linear guide 3 months Visually inspect and look for unusual 

wear. 

Cable connections 1 month Visually inspect to ensure that all 

connections are secure. 

SmartAmp 1 month Visually inspect to ensure that this 

component is securely mounted. 

Seal belts on R-series modules 1 month Visually inspect for unusual wear 

and/or debris near these components. 

NOTE: The frequency of these procedures depends on the particular 

system, its operating environment, and amount of usage. Use the times in 

Table 5-1 and Table 5-2 as guidelines and modify the schedule as needed. 

In general, look for any unusual wear on components. 


Technical Reference 6 

6.1 Module Performance Specifications 

Table 6-1. Specifications for Standard R-Series Modules 

R-H 

(Horizontal) 

R-Hz 

(Vertical) 

R-M 

(Horizontal) 

R-Mz 

(Vertical) 

R-Sz 

(Vertical) 

Stroke (mm) 300, 400, 500, 

600, 800, 

1000 a 

250, 350, 450, 

300, 600 250, 350, 450, 

950 a 

550, 750, 550 

100, 200, 300, 

400, 500 

Maximum speed (mm/s) 1200 600 1200 600 600 

Transportable load (kg) 80 40 40 40 20 

Rated thrust force (N) 400 800 400 800 400 

Repeatability (mm) ±0.010 ±0.010 ±0.010 ±0.010 ±0.010 

Transportable moment Rolling (N ² m) 

Pitching (N ² m) 

Yawing (N ² m) 

(See Section 6.5 on page 56) 

600 600 70 70 32 

450 450 120 120 24 

400 400 120 120 24 

Motor output (W) 400 400 (w/brake) 400 400 (w/brake) 200 (w/brake) 

Ball screw lead (mm) 20 10 20 10 10 

Motor mount position 

Direct 

mount 

Direct 

mount 

Direct 

mount 

Direct 

mount 

Left side 

Operating temperature 

0-40ºC 

Operating humidity 

20-85% (Non condensing) 

a R-H and R-M modules are available in extended strokes up to 2000mm and 1550mm respectively. 


Chapter 6 - Technical Reference 

Table 6-2. Specifications for Extended R-Series Modules 

R-H 

(Horizontal) 

R-M 

(Horizontal) 

Stroke (mm) 1200, 1400, 2000 1150, 1350, 1550 

Maximum speed 

R-H 1200 = 1200 mm/sec 

R-H 1400 = 1080 mm/sec 

R-H 2000 = 560 mm/sec 

R-M 1150 = 1200 mm/sec 

R-M 1350 = 1080 mm/sec 

R-M 1550 = 840 mm/sec 

Transportable load (kg) 80 40 

Rated thrust force (N) 400 400 

Repeatability (mm) ±0.010 ±0.010 

Transportable moment Rolling (N ² m) 

Pitching (N ² m) 

Yawing (N ² m) 

(See Section 6.5 on page 56) 

600 70 

450 120 

400 120 

Motor output (W) 400 400 

Ball screw lead (mm) 20 20 

Motor mount position Left side mount Left side mount 

Operating temperature 

Operating humidity 

0-40ºC 

20-85% (Non condensing) 


Adept SmartAmp Specifications 

6.2 Adept SmartAmp Specifications 

Input Power Requirements 

Table 6-3. Adept SmartAmp Specifications 

AC input voltage 

AC input frequency 

Max AC input current 

nominal 100-240 VAC, single phase 

maximum range 85-264 VAC 

nominal 50-60 Hz, 47-63 Hz maximum 

6 Amps 

DC input voltage 24 V, +20%, -15% 

Inverter Output 

Bus Voltage 

Switching Frequency 

Sinewave Commutation (max frequency) 

Max Output Current (per phase) 

Max Output Power (continuous) a 

Max Output Power (momentary peak) a 

435 VDC 

8 kHz 

400 Hz 

10 A (rms), 15 A (peak) 

400 W 

1200 W 

Communication 

Servo network communication standard 

Maximum data communication rate 

IEEE 1394a 

400Mb/s 

Environmental 

Ambient temperature 

Humidity 

Altitude 

Maximum case temperature 

Dimensions 

Weight 

5°C to 40°C (41 to 104°F) 

5 to 90%, noncondensing 

less then 2000 m (6500 ft.) 

85° C 

50mm X 120mm X 150mm 

1.5 kg 

a Peak and continuous power figures are rated at 208 VAC input voltage. These figures vary 

with input voltage and must be de-rated accordingly. 



SmartAmp Connector Specifications 

Table 6-4. Motor Connector 

Pin # Description Pin Location 

1 PHASE U 

2 PHASE V 

2 

1 

3 PHASE W 

4 FGND 

4 3 

Motor Connector 

as viewed on SmartAmp 

Mating Connector: 

AMP/Tyco #172167-1, 4-pin Mini-Universal Mate-N-Lock 

AMP/Tyco #170362-2, Socket Contact, Mini-Univ. Mate-N-Lock 

Table 6-5. Encoder Connector 

Pin # Description Pin # Description Pin Location 

1 PHASE A+ 9 N/C 

2 PHASE A- 10 PHASE Z2+ 

3 PHASE B+ 11 PHASE Z2- 

4 PHASE B- 12 PHASE B1+ 

5 PHASE Z+ 13 RESET 

6 PHASE Z- 14 PHASE B1- 

7 GND 15 +3.6 V BAT 

8 +5V 

11 15 

6 

10 

1 

5 

Encoder Connector 



AMP/Tyco #748468-1, 15-pin HDP-22 Plug Kit 

AMP/Tyco #748333-2, Pin Contact, Size 22DF, 22-28 AWG 

AMP/Tyco #747579-8, Ferrule, Sizes 1-3 

Table 6-6. Brake Connector 


1 Brake_24V 

2 Brake_GND 

1 

2 

Brake Connector 



AMP/Tyco #172165-1, 2-pin Mini-Universal Mate-N-Lock 

AMP/Tyco #170362-2, Socket Contact, Mini-Univ. Mate-N-Lock 



Table 6-7. +24V Connector (2 per SmartAmp) 


1 AUTO2 

2 AUTO1 

3 GND 

4 +24 VDC 

Note: the two +24V connectors on the 

SmartAmp are interchangeable. 

1 

2 

3 

4 


AMP/Tyco #104257-3, 4-pin AMPMODU Receptacle Housing 

AMP/Tyco #104480-9, Contact Pin, AMPMODU, 22-26 AWG 

+24V Connector 


Table 6-8. AC Connector (2 per SmartAmp) 


1 Hot (L1) 

2 Neutral (L2) 

1 2 

Note: the two AC connectors on the 

SmartAmp are interchangeable. 

AC Connector 



MOLEX #39-01-2025, 2-pin Mini-Fit Junior Receptacle Assembly 

MOLEX #39-00-0039, Contact Terminal, Mini-Fit Family 

Table 6-9. IEEE 1394 Connector (2 per SmartAmp) 

Pin # 

Description 

1 VP 

2 VG 

3 TPB- 

4 TPB+ 

5 TPA- 

6 TPA+ 

7 Shield (FGND) 

8 Shield (FGND) 

Note: the two IEEE 1394 connectors on the SmartAmp are 

interchangeable. 


Use approved IEEE 1394 Cable 



SmartAmp Connectors 

Brake 

Connector 

AC Power 

Connectors 

Motor 

Connector 

24 VDC 

Connectors 

Encoder 

Connector 

1394 

Connectors 

(Not Used in 

SmartAxis 

Solo) 

Ground Connection for AC Power Cables 

Ground 

Screw 

M4 x 8 

M4 Lock-tooth 

Washers (2) 

Figure 6-1. SmartAmp Connector Locations 


RIO Device 

6.3 RIO Device 

RIO Specifications 

Table 6-10. Adept RIO Specifications 

12 Digital Inputs NPN or PNP selectable, optically isolated 

Reverse polarity protected 

10-30 VDC input voltage range 

2-20 mA input current range 

< 5.0 ms input response time 

8 Digital Outputs High side, short circuit protected 

Thermally protected, 55 degree C shutdown 

Output voltage equal to input voltage (24V) 

500 mA maximum output current 

0.75 amp short circuit output current 

Power Input Voltage 

Power Input Current, Maximum 

Max Ambient Operating Temperature 

Weight 

Dimensions 

18-27 VDC 

2.2 Amp 

40 degree C 

0.3 kg 

128mm x 45mm x 61mm 

Environmental Packaging IP 20 

Serial Interface 

Serial Data Rate 

Power off 

DIO Group A and B connectors 

RS-232 connector 

SmartAmp SPI interface cable length 

RS-232 

9600 bps 

Outputs return to zero (off) 

DB-44, high density, female 

DB-9, female 

0.5 meters, included in kit. 



RIO Connector Pinouts 

Table 6-11. RIO I/O Group A Connector (J21) Pinout 

Pin # Signal Description Pin # Signal Description 

J21-1 Output 5 Signal J21-23 Input 11 Collector - block 3 




J21-5 Input 9 PNP Emitter - block 3 J21-27 not connected 






J21-11 not connected J21-33 not connected 

J21-12 External 24VDC User-supplied 24VDC J21-34 not connected 

J21-13 External 24VDC User-supplied 24VDC J21-35 Input 9 NPN Emitter - block 3 



J21-16 Output 5 Return J21-38 Input 12 NPN Emitter - block 3 



J21-19 Output 8 Return J21-41 External ground Return for Ext 24VDC 

J21-20 not connected J21-42 External ground Return for Ext 24VDC 

J21-21 Input 9 Collector - block 3 J21-43 External ground Return for Ext 24VDC 


I/O Group A Connector (J21) 

15 

30 

44 

1 

16 

31 


RIO Device 

Table 6-12. RIO I/O Group B Connector (J1) Pinout 

Pin # Signal Description Pin # Signal Description 











J1-11 not connected J1-33 not connected 

J1-12 External 24VDC User-supplied 24VDC J1-34 not connected 







J1-19 Output 4 Return J1-41 External ground Return for Ext 24VDC 

J1-20 not connected J1-42 External ground Return for Ext 24VDC 



I/O Group B Connector (J1) 

15 

30 

44 

1 

16 

31 



RIO Dimensions 

R 2.2 

61.6 

41.6 

10.0 

6.0 

145.5 

157.5 

15.4 

126.7 

45.0 

36.5 

RS-232 

18.7 

I/O GROUP A 

Figure 6-2. RIO Dimensions 


PDU2 Technical Specifications 

6.4 PDU2 Technical Specifications 

PDU2 Connectors and Indicators 

1 

2 

3 

1 

PDU2 

24V 

SA AUX 

CH1 CH2 

ES1 ES2 

SA DC RESET 

AUX DC RESET 

XDCS 

2 

1. Status indicator LEDs: 

24V - On indicates 24VDC power supply in PDU2 

is working. 

SA - On indicates 24VDC to SmartAmps is 

operating 

AUX - On indicates 24VDC to AUX/RIO is 

operating 

CH1/2 - E-Stop channel 1 or 2 voltage within range. 

ES1 - On indicates E-Stop Relay 1 is on 

ES2 - On indicates E-Stop Relay 2 is on 

Note: both relays must be on to enable AC power 

to SmartAmps 

2. SA DC RESET button - for resetting internal circuit 

breaker on 24VDC supply to SmartAmps 

4 

XSLV1/ 

XSLV2 

AUX DC RESET button - for resetting internal 

circuit breaker on 24VDC supply to AUX/RIO 

5 

7 

AC 

PWR 

SA 

AC 

PWR 

C B 

I R 

R E 

C A 

U K 

I E 

T R 

6 

CAUTION: Do not push reset buttons while system is 

operating because it will cause 24V power to cycle and 

require restarting the system. 

3. XDCS - connector for 24VDC cable to SmartAmps. 

This cable provides: 

- 24VDC to SmartAmps 

- 24VDC to Aux/RIO 

- Auto/Manual signals for Manual Mode 

operation 

IN 

4. XSLV1/2 - (1) Connection to host controller 

E-STOP. 

(2) Connection for terminator plug. 

Note: XSLV1 and 2 are interchangeable. The 

terminator plug must be installed for system to 

operate. 

5. AC PWR SA - connector for Switched AC Power 

Cable to SmartAmps 

6. Circuit Breaker - 6 Amp circuit breaker for 

switched AC power going to SmartAmps. Press 

button in to reset if it has tripped. 

7. AC PWR IN - connector and On/Off switch for 

incoming AC power to PDU2. Fuses contained in 

center section. 



PDU2 Fuses 

Two fuses for the incoming AC power lines are located in the AC Power Inlet area, 

between the power cable connector and the On/Off switch. 

WARNING: Only skilled or instructed personnel should 

attempt to change any fuses. Always replace blown fuses 

with new fuses of the same type and rating. 

Procedure to Remove Fuse Holder 

1. Turn off AC power to the PDU2 and disconnect the power cord from the AC 

power source. 

2. Remove the AC power cord from the socket on the AC Power In area. 

3. To remove the fuse holder, insert a small flat-blade screwdriver into the slots on 

opposite sides of fuse holder, then press down and pull out the fuse holder. 

4. To reinstall the fuse holder, insert it in place, then press down firmly until the 

entire holder snaps into position. 

Table 6-13. PDU2 Fuse Ratings 

Fuse Quantity Rating Type 

AC Line fuses at AC Power In 

2 

8 Amp 

Time Lag 

IEC 127-style 

5 x 20 mm 



PDU2 E-Stop Circuit Diagram 

E-Stop Supply 

Select Switch S1 

PDU2 Internal 

Connections 

User Supplied 

Connections 

Internal 24V 

Supply 

PDU_24V 

PDU_GND 

EXT 

ESTOPSRC 

ESTOPRTN 

XSLV-9 

XSLV-1 

User Supplied 24V 

for external E-Stop Power 

USER_24V 24V ±10% 

USER_GND 

≅300 mA 

INT 

* Optional: 

Use only with ESTOP Supply 

Select (S1) in EXT position. 

Damage to 24V supply may 

occur if switch setting is incorrect. 

AUTO1 

XSLV1-6 

User E-Stop and 

Gate Interlock 

MAN1 

XSLV1-2 

ESTOPSRC 

AUTO2 

XSLV1-7 

MAN2 

XSLV1-3 

ES1 

SR3 

ES2 

SR3 

ESTOPCHK 

XSLV1-5 

High Power On 

ES1 

ES2 

ES1 

HIPWRDIS 

XSLV1-4 

ES2 

High Power Off 

(optional*) 

SR3 

ESTOPRES 

XSLV2-5 

XSLV2-8 

E-Stop 

Terminator 

* 

This optional momentary 

input will open ES1/2. It is 

not a redundant E-Stop. 

The switch must be open 

for "High Power On" to 

function. 

AC 

PWR 

IN 

L 

N 

SR3 

ES1 

ES2 

L 

N 

AC 

PWR 

SA 

Figure 6-3. PDU2 E-Stop Diagram 

NOTE: Refer to Figure 6-6 on page 55 for XSLV connector pinouts. 


ADEPT 

10430-10200 


PDU2 Dimensions 

80.9 

47.8 

PDU2 

24V 

SA 

CH1 

ES1 

AUX 

CH2 

ES2 

SA DC RESET 

AUX DC RESET 

XDCS 

1 

2 

XSLV1/ 

261.9 

XSLV2 

227.1 

AC 

PWR 

SA 

C B 

I R 

R E 

C A 

U K 

I E 

T R 

AC 

PWR 

IN 

16.7 

159.5 

17.4 

162.3 

70.8 

4.9 

Figure 6-4. PDU2 Dimensions 



PDU2 Mounting Bracket Dimensions 

PDU2 

24V 

2X 5.6 DIA 

SA 

CH1 

ES1 

AUX 

CH2 

ES2 

SA DC RESET 

AUX DC RESET 

XDCS 

121.9 

1 

2 

XSLV1/ 

6X M3 x 

6MM 

XSLV2 

101.6 

AC 

PWR 

SA 

C B 

I R 

R E 

C A 

U K 

I E 

T R 

2X 50.8 

10.2 

10.16 

AC 

PWR 

IN 

68.71 

68.7 

6.35 

108.9 

132.4 

137.4 

121.6 

165.4 

Figure 6-5. Mounting Bracket Dimensions 



PDU2 Specifications 

Input Power Requirements 

Table 6-14. PDU2 Specifications 

Universal power input voltage 

Power input frequency 

100-240VAC (85-264 VAC Max) 

50-60 Hz (47 - 63 Hz max) 

Power input current 8 Amps 

Power Input connector (mating) 

Power Installation 

IEC 320 C13 

Category II Overvoltage 

SmartAmp Critical DC Output Section 

Output Voltage 24VDC +10% -15% 

Output Current 

Hold up time 

2 Amps minimum 

20 ms 

AUX/RIO DC Output 

Output Voltage 24VDC +10% -15% 

Output Current 2 Amps minimum 

Hold up time 20 ms 

Switched AC Output Section 

Maximum Continuous Output Current 6 Amps 

Output Voltage equal to input 

Power Output Connector (mating) EC 320 C14 

Environmental 

Ambient temperature 

Humidity 

Altitude 

5°C to 40°C (41 to 104°F) 

5 to 90%, noncondensing 

less then 2000 m (6500 ft.) 

Pollution degree 2 (per IEC 1131-2/EN 61131-2) 

Chassis protection class, unmounted IP20 (NEMA Type 1) 

Weight 

2.2 kg 



PDU2 Connector Specifications 

XDCS Connector 

Figure 6-6. XDCS Connector Pinout 

Pin # Description Comment Pin Location 

1 GND 24V supply ground 

2 AUTO1 ESTOP Auto 1 Pass-through 

3 GND 24V supply ground 

4 SA_24V SmartAmp +24V 

5 AUTO2 ESTOP Auto 2 Pass-through 

6 AUX_24V Auxiliary (RIO) +24V 

3 6 

2 5 

1 4 

XDCS Connector 

as viewed on PDU2 


MOLEX #39-01-2065, 6-pin Mini-Fit Junior Receptacle Assembly 

MOLEX #39-00-0047, Contact Terminal, Mini-Fit Jr. Family 

MOLEX #15-04-0296, Strain Relief, Mini-Fit Family Jr. 

XSLV1/2 Connector 

Figure 6-7. XSLV1/2 Connector Pinout 

Pin # Description Comment Pin Location 

1 ESTOPRTN ESTOP System Ground 

2 MAN1 ESTOP Manual Input Ch 1 

3 MAN2 ESTOP Manual Input Ch 2 

4 HIPWRDIS High Power Disable 

5 ESTOPCHK Normally Closed Check Contacts 

Pin 9 

Pin 5 

6 AUTO1 ESTOP Auto Input Ch 1 

7 AUTO2 ESTOP Auto Input Ch 2 

8 ESTOPRES ESTOP System Reset 

9 ESTOPSRC ESTOP System +24V 

Pin 6 

Pin 1 

XSLV1/2 Connector 

as viewed on PDU2 


AMP/Tyco #747904-2, 9-pin D-Sub 

AMP/Tyco #748676-1, D-Sub Cable Clamp 



6.5 Transportable Moment Calculations 

Transportable Moment 

The transportable moment denotes the maximum moment that the module can bear in 

operation. The estimated life distance is 10000 to 15000 km, provided the module runs at 

or below the transportable moment. 

The moment applied to the module depends on the weight of the end effector installed on 

the slider, position of the center of the gravity, and operation acceleration (set in software). 

The center of gravity of the module is approximately the center of its overall length. This 

moment should be less than the transportable moment. 

CAUTION: If a moment exceeding the transportable 

moment is applied to the module, the module may be 

damaged. 


Transportable Moment Calculations 

Example 1 

L 1 

Rolling moment 

MROLL [N • m] = W [kg] X L 1 [m] X 9.8 [m/s 2 ] 

ACCELERATION a 1 

Yawing moment 

MYAW [N • m] = W [kg] X L 1 

[m] X a 1 [m/s 2 ] 

Example 2 

L2 

H 

Rolling moment 

MROLL [N • m] = W [kg] X L 2 [m] X 9.8 [m/s 2 ] 

Pitching moment 

MPITCH [N • m] = W [kg] X L 2 [m] X a 2 [m/s 2 ] 


L 3 

H 

Example 3 


MPITCH [N • m] = W [kg] X L 3 [m] X (9.8+ a 3 ) [m/s 2 ] 


Figure 6-8. Calculation of Moment (1) 



Center of main unit 

H 

R-H module: H = 0.04 [m] 

R-M module: H = 0.065 [m] 

R-S module: H = 0.045 [m] 

Figure 6-9. Position of Module Center H 

L 1 

L2 

m1 

WORK 


MPITCH [N • m] = W [kg] X L 1 [m] + m 1 [kg] X L 2 [m] 

Wkg 

L2 

L1 

m1 

WORK 

Yawing moment 

MYAW [N • m] = W [kg] X L 1 [m] + m 1 [kg] X L 2 [m] 

Wkg 

Figure 6-10. Calculation of Moment (2) 


Transportable Moment Calculations 

Transportable Load of a Moving Axis 

The following table refers to the transportable load of a moving axis. Modules can be 

mounted so that the module moves while the carriage is stationary. In such applications, 

the module must carry its own weight in addition to attached tooling and payload. Since 

the module weight varies with the stroke, the transportable load depends upon the 

module stroke. 

Table 6-15. Transportable Load of Moving Axis: R-Series Modules 

Horizontal Axis 

Vertical Axis 

R-H Module R-M Module R-Mz Module R-Sz Module Vertical Axis 

Stroke 

(mm) 

Transportable 

Load W (kg) 

Stroke 

(mm) 

Transportable 

Load W (kg) 

Stroke 

(mm) 

Transportable 

Load W (kg) 

Stroke 

(mm) 

Transportable 

Load W (kg) 

300 37 250 23 250 27 100 12 

400 35 350 17 350 26 200 11.5 

500 33 450 13 450 25 300 11 

600 31 550 10 550 24 400 10.5 

500 10 




Reconfiguring a SystemA 

A.1 Reconfiguring Hardware and Software 

If your application requires a configuration that differs from the default, this section 

provides information on how to modify or reconfigure a system. 

Hardware 

The Adept SmartAxis hardware can be reconfigured in the following ways. 

Software 

• Mount the SmartAmp on the opposite side of the module. See the Adept 

SmartModules Instruction Handbook Volume 2. 

• Install a RIO in the field. See A.2 on page 62. 

• Move the location of the RIO. Slightly loosen four screws that attach it to the 

module, but do not remove the screws from the T-slot nuts. Slide the RIO along the 

channel to the new position, and tighten the screws. 

• Configure the RIO for PNP inputs. See Section 4.3 on page 30. 

• Configure the RIO for external 24VDC. See Section 4.2 on page 30. 

• Configure the PDU2 for external 24VDC for the E-Stop circuit. See page 20. 

The Adept SmartAxis software can be reconfigured in the following ways. 

• move the zero position for the absolute encoder. See next two sections. 

•Upgrade MicroV + . See A.3 on page 64. 

Using SA_SPEC Utility Program 

Using the SA_SPEC utility it is possible to set the module's absolute encoder zero position 

to the opposite end. By default the zero position is set to the motor end. 

To start the SA_SPEC program, from the Windows task bar, select: 

Start => Programs => Adept => SA_SPEC 

The SA_SPEC program initializes and the Connect to SmartAmp dialog displays. Select 

the COM port on your PC where the SmartAxis system is connected. 

After the connection is established, we recommend that you use the QuickSetup Wizard in 

SA_SPEC to configure your SmartAxis system and set up the calibration. See QuickSetup 

in the SA_SPEC Utility Online Help for details. 


Appendix A - Reconfiguring a System 

The initial configuration consists of the following steps: 

1. Choose a module type or a spec file. 

2. Choose a specific module. 

QuickSetup loads all the corresponding parameters to the SmartAmp. 

3. Set up the calibration. 

4. Save all data to the SmartAmp Non Volatile Memory. 

Starting QuickSetup 

There are three ways to start QuickSetup: 

•Press F3. 

• Click the QuickSetup Wizard icon. 

•Select: File => QuickSetup. 

Follow the on-screen instructions to complete the configuration and calibration setup 

procedure. See the online documentation supplied with the SA_SPEC program for details. 

The calibration setup must be performed the first time you use your SmartAxis system. 

You only need to run it again, if any of the following situations occur: 

• You want to change the position corresponding to the zero location of the module. 

• The encoder loses its absolute position (a calibration sensor failure error displays). 

This indicates there is a dead battery in the SmartAmp, the SmartAmp was 

disconnected from the linear module, or the encoder is broken. 

• The motor/encoder assembly is changed or repaired. 

See Calibration Setup in the SA_SPEC Utility Online Help for details. 

A.2 Installing a RIO in the Field 

Install the SPI Board on the SmartAmp Bracket 

The SPI board is an interface board between the SmartAmp and the Remote I/O device. 

CAUTION: You must observe precautions for ESD when 

handling the SPI board. Use a grounding wrist strap or 

other measures to protect against exposure to ESD. 

1. Remove the SPI board from the protective bag and place onto the SmartAmp 

mounting bracket as shown in Figure A-1 on page 63. 

2. Attach the board using two supplied screws. The screws are M2.5 x 6 flathead, 

Adept part number 51112-64006. 


Installing a RIO in the Field 

RIO Installation Procedure 

Figure A-1. SPI Board Installed 

1. Locate the RIO mounting hardware for your module. The R and V series modules 

use different screws and T-Slot nuts. See Table A-1. 

Table A-1. RIO Mounting Hardware 

Adept Part Number 

Screw 

T-Slot Nut 

R Module 51001-67006 50405-00020 

V Module 51041-67008 50404-00010 

2. Insert the T-slot nuts in the side channel of the module in the location where the 

RIO is to be mounted. Position the RIO so the end with the SMARTAMP INTFC 

connector is facing the SmartAmp. The RIO should at least 2 inches from the 

SmartAmp to allow room to install cables. The maximum distance between the 

RIO and the SmartAmp is limited by the cables at about 14 inches. 

3. Use the supplied screws to attach the RIO to the module. 


Upgrading the MicroV+ Software 

A.3 Upgrading the MicroV + Software 

When a new version of MicroV + is released, use the following procedure to upgrade the 

MicroV + software on your system. The tasks of downloading the new MicroV + file and 

installing MicroV + are executed when the proper monitor commands are entered. 

Upgrading your MicroV + system requires completion of the following steps: 

1. Ensure that your SmartAxis system is powered up with 24VDC power being 

supplied to the SmartAmp. 

2. Save the MicroV + upgrade file to a temporary location on your PC. Extract the 

files from the .ZIP file. The extracted files will have the following extensions: .410, 

.TXT, and .DCU. 

• The 410 file is the upgrade file that will be transferred to the SmartAmp in 

this procedure. The file name will look like this: mvpxxxxx.410, where xxxxx 

is the version of software. 

• The TXT file is a “read me” file that contains important information about 

the upgrade file. It also contains the upgrade code (typically, a four digit 

number) for your version of MicroV + . This code will vary with the MicroV + 

version. The file name will look like this: readme-xxxxx.txt. 

• The DCU file is not used in this upgrade procedure. 

3. Connect using HyperTerminal or other terminal emulation package which 

supports Xmodem. See “Programming the System” on page 26. 

4. Once you have established communications using your terminal emulation 

software and the dot prompt “.~” is displayed, you are ready to begin the 

download process 

5. Enter the command SYS.DOWNLOAD 0, , where is the upgrade code 

for your version of MicroV + . (for example: SYS.DOWNLOAD 0, 1234) 

Press Enter. 

This prepares the Smart Axis to receive the download. (In this example, the code 

1234 was contained in the readme.txt file.) 

6. Using Xmodem Transfer, send the .410 file to the SmartAxis. This initiates the 

actual download process. (process takes approximately 10 minutes) 

CAUTION: Do not turn off the power (24VDC) to the 

SmartAmp. If the power is turned off at this time, the 

Install is corrupted and the SmartAmp must be replaced. 

7. After the transfer is complete, MicroV + will return to the regular dot prompt “.~”. 

Now enter the command 

SYS.INSTALL 0, , where is the same upgrade code used earlier. 

Press Enter. (the process takes about two minutes to complete.) 

8. After successful installation, the following message displays: INSTALLATION 

COMPLETE. REBOOT. 

9. Close the HyperTerminal (or other emulator). 


Upgrading the MicroV+ Software 

10. Shut down the SmartAmp. 

11. Power up the SmartAmp. 

12. Start Adept DeskTop. To verify the version upgrade, you can check the new 

version number by looking in “About Adept DeskTop” in the Help menu bar. 

You can now proceed with loading or creating programs for your SmartAxis system. 


Index 

Symbols 

+24V connector, on SmartAmp 43 

A 

AC connector, on SmartAmp 43 

AC power switch, on PDU2 49 

AC PWR SA connector, on PDU2 49 

Adept DeskTop 

installation 23 

program editor 26 

starting 25 

Adept Document Library 12 

Adept Front Panel 


autostarting a system 27 

AUX DC Reset button, on PDU2 49 

B 

ball screw lead 

R-Series 39, 40 

brake connector, on SmartAmp 42 

brake release button, on SmartAmp 28 

C 

calibration 61 

circuit breaker, on PDU2 49 

connector specifications 

PDU2 55 

RIO 46, 47 

SmartAmp 42 

connectors and indicators, on PDU2 49 

control strategies 10 

discrete I/O control from PLC or PC 11 

serial communications from PLC or 

PC 11 

standard MicroV+ application 10 

Customer Service assistance 

phone numbers 11 

D 

daily maintenance 37 

dimensions 

modules 15 

PDU2 52 

PDU2 mounting bracket 53 

RIO 48 

Document Library CD-ROM 12 

E 

encoder connector, on SmartAmp 42 

E-Stop circuit diagram 51 

E-Stop select switch S1 on PDU2 20 

F 

Front Panel 


fuse ratings, PDU2 50 

G 

Group A (J21) connector on RIO 

pinout 46 

Group B (J1) connector on RIO 

pinout 47 

H 

How Can I Get Help 11 

humidity (operating) 


I 

IEEE 1394 connector, on SmartAmp 43 

input signal configuration for RIO 30 

installation 

Adept DeskTop 23 

Adept Front Panel 21 

PDU2 19 

R-Series modules 15 

software 22 

system overview 13 

L 

load 59 


M 

maintenance 37 

mechanism control 10 

MicroV+ 

autostarting 27 

example programs 27 


Index 

programming 26 

modules 

screw-torque specifications 15 

moment (transportable) 56 

motor connector, on SmartAmp 42 

motor mount position 


motor output 


mounting brackets 


multiple axis configurations 11 

O 

output signals for RIO 34 

P 

PC system requirements 22 

PDU2 

connector specifications 55 

connectors and indicators 49 

description 10 

dimensions 52 

E-Stop circuit diagram 51 

E-Stop select switch S1 20 

fuse ratings 50 


mounting bracket dimensions 53 

specifications 54 

periodic maintenance 38 

programming in MicroV+ 26 

R 

reconfiguring a system 61 

reconfiguring the SmartAxis 61 

related manuals 12 

Remote IO device. See RIO device 

repeatability 


requirements 

PC system 22 

R-H module 

component overview 16 

description 9 

parts list 16 

RIO device 29–36 

connector pinouts 46, 47 

default configuration 29 

description 29 

dimensions 48 

input signal configuration 30 

jumper locations for inputs 31 

LED functions 36 

NPN or PNP inputs 33 

output signals 34 

RS-232 connector 35 

sensor type selection 33 


SW1 to select DC power 30 

R-M module 


description 9 

parts list 17 

RS-232 connector on RIO 35 

R-Series modules 

description 9 


R-Sz module 


description 9 

parts list 18 

S 

SA DC Reset button, on PDU2 49 

SA_SPEC utility 61 


SmartAmp 

brake release button 28 

connector specifications 42 

LED status 28 

operation 28 


SmartAxis 

description 9 

installation overview 13 

multiple axis configurations 11 

software overview 10, 23 

system cable diagram 14 

system operation 25 

software 

overview 23 

reconfiguration 61 

specifications 

ball screw lead (R-Series) 39, 40 

humidity (operating, R-Series) 39, 40 

load (horizontally transportable) 


module performance 39 

motor mount position (R-Series) 39, 40 

motor output (R-Series) 39, 40 

PDU2 54 

PDU2 connectors 55 

repeatability (R-Series) 39, 40 

RIO 45 

R-Series modules 39, 40 

SmartAmp 41 

SmartAmp connectors 42 


Index 

speed (maximum, R-Series)) 39, 40 

stroke (R-Series) 39, 40 

temperature (operating, R-Series) 39, 40 

thrust force (R-Series) 39, 40 

transportable moment (R-Series) 39, 40 

speed (maximum) 


stroke 


support 

phone numbers 11 

system 

calibration 61 

operation 25 

reconfiguration 61 

verifying operation 25 

system cable diagram 14 

T 

temperature (operating) 


thrust force 


transportable load 59 

transportable moment 

calculations 56 


U 

Utility 

SA_SPEC 61 

V 

V-Series modules 

warning on open body 37 

X 

XDCS connector, on PDU2 49, 55 

XSLV1/2 connectors, on PDU2 49, 55 


Revision History 

Adept SmartAxis User’s Guide, part number 00332-000 

First major release, Rev B, May 2002 

Next release, Rev C, June 2005 

Changes from Rev B: 

• Throughout the manual, removed all references to V-Series modules that are no 

longer available. 

• Added note about PDU3 on page 10. Also deleted text about user-supplied 

equivalent to PDU2. 

•On page 12, added updated information on the Adept Document Library. 

•In Table 2-1 on page 13, deleted text about user-supplied PDU2 and reference to 

drawing. 

•On page 14, deleted Note about user-supplied PDU2 and reference to drawing. 

•On page 19, added note about PDU3. Also deleted Note about user-supplied 

PDU2 and reference to drawing. 

•On page 23, changed references about ADT Lite to ADT 1.0. 

•In Figure 4-6 on page 35, added updated circuit drawing. 

•In Table 6-8 on page 43, revised connector pin numbers and drawing. 

• Former Figure 6-8 on page 59 showing user-supplied PDU2 circuit was deleted. 

Adept SmartAxis User’s Guide, Rev C 71

Revision History 

72 Adept SmartAxis User’s Guide, Rev C

00332-000, Rev C 

3011 Triad Drive 

Livermore, CA 94551 

925•245•3400

Adept SmartAxis User's Guide - Adept Technology, Inc.

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