Adept Technology AnyFeeder UG User Manual
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Installing Cables and Power Adept AnyFeeder User’s Guide, Rev. A 21 2.5 Installing Cables and Power This section describes the electrical installation procedure for the Adept AnyFeeder. The Adept AnyFeeder requires the following cable connections: the 24 VDC power cable (supplied) the RS232 serial communications cable (supplied) the DIO (Digital I/O) cable (supplied) System Cable Diagram Figure 2-7. System Cable Diagram NOTE: Refer to your robot user ’s guide for additional system cable information. NOTE: The Adept AnyFeeder is equipped with fuses to protect the internal components. The motor power 24 VDC input is protected with a 10 Amp fuse, and the parallel I/O 24 VDC lines are protected with a 3 Amp fuse. These fuses can be replaced in the field. If you suspect a problem with one or both of these fuses, contact Adept Customer Service (see Section 1.14 on page 14) for part information and instructions. AnyFeeder Interface Panel DIO Cable Pins 13, 25: +24 VDC Pins 12, 24: Ground Red: +24 VDC Blue: Ground Black: ShieldNote: To serial port on Adept SmartController (for V+/AIM applications) or to user-supplied PC (for ACE/iSight applications) User-supplied 24 VDC power supply Black: Shield Ground to Power Supply Case
Chapter 2 - Installation 22 Adept AnyFeeder User’s Guide, Rev. A Serial Cable Installation A serial communications cable is supplied with the Adept AnyFeeder (see Figure 2-8). Connect the male end of the cable to the RS232 (J2) port on the Adept AnyFeeder. Connect the female end of the cable to the serial port on the robot controller or PC. Figure 2-8. Serial Cable Serial Cable Wiring Assignments Table 2-1 shows the wiring assignments for the supplied cable. Table 2-1: Serial Cable Wiring Assignments Pin # DSUB 9 male (to AnyFeeder)FunctionPin # DSUB 9 female (to controller) 2RX2 3TX3 5 GROUND 5 Connects to serial port on AnyFeederConnects to serial port on robot controller or PC
Installing Cables and Power Adept AnyFeeder User’s Guide, Rev. A 23 Digital I/O Cable Installation A digital I/O cable is supplied with the Adept AnyFeeder (see Figure 2-9). Connect the female end of the cable to the parallel I/O +24 VDC in I/O Pwr (J3) port on the Adept AnyFeeder. Figure 2-9. DIO Cable Digital I/O Cable Wiring Assignments The supplied digital I/O cable must be wired as shown in Table 2-2. NOTE: If you want to communicate with your Adept AnyFeeder using digital I/O rather than serial communications, refer to Chapter 4 for the cable pin/wire assignments. NOTE: Regardless of your method of communicating with the Adept AnyFeeder (DIO or RS232 Serial), you must supply power to the logic board through this cable on the pins specified in Table 2-2. Table 2-2: Digital I/O Wiring Assignments FunctionPin # DSUB 25Wire ColorPower Supply Robot Controller +24 VDV 25 WH / BK +24 VDC +24 VDC 13WH / GN +24 VDC 0 VDC 24 BN / RD 0 VDC 0 VDC 12 RD / BU 0 VDC Shield N/A BK Ground to Case
Chapter 2 - Installation 24 Adept AnyFeeder User’s Guide, Rev. A Connecting the Power Cable 1. Locate the DC power cable with connector that was supplied with the Adept AnyFeeder (see Figure 2-10). Figure 2-10. DC Power Cable 2. Connect the wire end of the cable to the user-supplied 24 VDC / 10 A regulated power supply. 3. Attach the connector end of the cable to the Motor Power 24 VDC In (J1) connector on the front of the Adept AnyFeeder (see Figure 2-11). Figure 2-11. 24 VDC In Connector
Installing Cables and Power Adept AnyFeeder User’s Guide, Rev. A 25 Setting the Switches The Adept AnyFeeder will be set for serial communications. The Com Mode Selection switches (see Figure 2-12) must be set as follows: 1. Move the A switch (selects Parallel I/O or RS232) to the down position, to select Serial. Figure 2-12. Com Mode Selection Switches After changing the switch settings, you must cycle power to the Adept AnyFeeder. If the Adept AnyFeeder and connected equipment are powered from a common source, you can turn that source off and then back on. If the Adept AnyFeeder and connected equipment are powered from different sources, then you must disconnect and then reconnect the following cables: 24 VDC power cable. See “Connecting the Power Cable” on page 24 for details Digital I/O interface cable. See “Digital I/O Cable Installation” on page 23 for details
Chapter 2 - Installation 26 Adept AnyFeeder User’s Guide, Rev. A 2.6 Verifying the Installation This section describes the procedure for verifying the Adept AnyFeeder after installation. After wiring the system, turn on the 24 VDC power supply and verify that the two (2) Status LEDs are on (see Figure 2-13). Figure 2-13. I/O Power and Motor Power LEDs Additionally, the LED shown in Figure 2-14 will blink to indicate Serial mode. Figure 2-14. Serial Mode Indicator LED
Adept AnyFeeder User’s Guide, Rev. A 27 Using the AnyFeeder with Serial Communications3 3.1 Introduction This chapter describes the requirements for using the Adept AnyFeeder with a robot/vision system and serial communications. 3.2 System Requirements To use the Adept AnyFeeder with a robot/vision system, your workcell must contain the equipment described in Section 2.1 on page 15. 3.3 Program Flow The steps below briefly describe a simple program flow for using the Adept AnyFeeder in the workcell: 1. Initialize the Adept AnyFeeder. 2. Send “dispense” command to Adept AnyFeeder to feed parts. 3. Acquire vision image and locate “usable” parts; store part count. 4. Command robot to pick-place the usable parts; decrement part count for each pick. 5. When part count reaches 0, send combinations of “feed forward”, “feed backward”, “flip,” “feed/flip forward,” and “feed/flip backward” commands, along with acquiring vision images, to locate more usable parts. a. If usable parts are found, store part count and loop back to step 4. b. If no usable parts are found, and feed area is not empty, repeat step 5. c. If no usable parts are found, and feed area is empty, go to step 2.
Chapter 3 - Using the AnyFeeder with Serial Communications 28 Adept AnyFeeder User’s Guide, Rev. A 3.4 Serial Communications This section describes how to set up serial communications with the Adept AnyFeeder. NOTE: If you want to communicate with your Adept AnyFeeder using digital I/O rather than serial communications, refer to Chapter 4 for the cable pin/wire assignments. Setting the Serial Port Communication Parameters In order for the SmartController CX to communicate properly with the Adept AnyFeeder, you must configure the serial port as follows: NOTE: The Adept AnyFeeder will not receive or send any serial data if the baud rate is not set correctly. 3.5 Serial Command Codes The following sections describe: The serial commands that can be sent to the Adept AnyFeeder The default values for the Adept AnyFeeder command parameters How the Adept AnyFeeder responds to received commands Sample serial communications dialogsTable 3-1: Serial Port Settings Item Setting Baud rate 9600 Data bits 8 Stop bit 1 Parity none Flow control none In addition to the above: - Disable local echo - Append “line feed” to each line sent - Append “line feed” to each line received
Serial Command Codes Adept AnyFeeder User’s Guide, Rev. A 29 Sending Commands to the Adept AnyFeeder Table 3-3 provides a list of all available Adept AnyFeeder serial commands. With each command there is a maximum of two associated parameters which influence that command. Note that some commands do not need any parameters. During startup, the Adept AnyFeeder firmware assigns default values to all parameters. For example, if you send the Adept AnyFeeder a “feed forward” command without first changing any of its parameters, the Adept AnyFeeder control system will apply the default parameters (see Table 3-7 for details). See Table 3-6, “Standard Responses,” on page 34 for a list of standard responses. Table 3-2: Description of Symbols used in Tables Symbol Description > Represents the prompt of a text terminal window Carriage return, ASCII code 13 (decimal) [speed] Integer in the range 1…10 [turns] Integer in the range 1…10, except for purge (range is 1…127) _ Explicit space (not an underscore) Note that all text in the Syntax column is case sensitive Table 3-3: AnyFeeder Serial Commands Command Description Syntax Explanation Response Feed Forward [ffwd] Feed parts forward > x=1 Executes a feed forwardStandard response Feed Backward [fbwd] Feed parts backward > x=2 Executes a feed backwardStandard response Feed + Flip Forward [flipfwd]Flip parts forward > x=3 Executes a flip forwardStandard response Feed + Flip Backward [flipbwd]Flip parts backward > x=4 Executes a flip backwardStandard response Flip [flip] Flip parts without moving forward or backwa rd> x=5 Executes a flipStandard response Dispense [dispense] Move parts from the bulk container onto the feed surface> x=6 Executes a dispenseStandard response Purge [purge] Feed parts out backwards, purge gate must be opened manually> x=7 Executes a purgeStandard response
Chapter 3 - Using the AnyFeeder with Serial Communications 30 Adept AnyFeeder User’s Guide, Rev. A Heavy Dispense [hdisp]Aggressively move parts from bulk container onto feed surface> x=8 Executes a heavy dispenseStandard response Initialize [init] Move the AnyFeeder into its home position; required before any other action can take place> x=16 Initializes the AnyFeederStandard response Stop [stop]Stop current action and move AnyFeeder to home position> x=15 Executes a stopStandard response Startup AnyFeeder firmwareStart AnyFeeder firmware (also stops active motions)> S_RUN Restarts AnyFeeder firmwareAnyFeeder will respond: m10 m20 to indic ate AnyFeeder is online Reset Error Reset error status and moves AnyFeeder to home position> x=30 Resets error statusStandard response Restart Firmware Restart AnyFeeder firmware; resets all parameters to default values> x=31 Restarts AnyFeeder firmware and resets defaultsStandard response Table 3-4: Setting Parameters Command Description Syntax Explanation Response Setting the Number of Repetitions Set Feed Forward repetitionsSet number of repetitions for feed forward> ab[1]=[turns]Sets repetitions No response Set Feed Forward repetitions and execute feed forwardSet number of repetitions for feed forward and execute motion> ab[1]=[turns]_x=1Sets repetitions and executes motionStandard response Set Feed Backward repetitionsSet number of repetitions for feed backward> ab[2]=[turns]Sets repetitions No response Set Feed Backward repetitions and execute feed backwardSet number of repetitions for feed backward and execute motion> ab[2]=[turns]_x=2Sets repetitions and executes motionStandard response Set Feed + Flip Forward repetitionsSet number of repetitions for flip forward> ab[3]=[turns]Sets repetitions No response Table 3-3: AnyFeeder Serial Commands Command Description Syntax Explanation Response