Adept Technology AnyFeeder UG User Manual
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Adept AnyFeeder User’s Guide P/N: 05284-002, Rev. A August 2007 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 sub- ject 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 doc- umentation. Please e-mail your comments to: [email protected]. Copyright ©2007 by Adept Technology, Inc. All rights reserved. The Adept logo, AdeptVision, AIM, HexSight, and HexaVision are registered trademarks of Adept Technology, Inc. ActiveV, Adept, Adept 1060, Adept 1060+, Adept 1850, Adept 1850 XP, Adept 540, Adept 560, Adept C40, Adept C60, Adept CC, Adept Cobra 550, Adept Cobra 550 CleanRoom, Adept Cobra 600, Adept Cobra 800, Adept Cobra i600, Adept Cobra i800, Adept Cobra s600, Adept Cobra s800, Adept Cobra s350, Adept Viper s650, Adept Viper s850, Adept Viper s1300, Adept DeskTop, Adept Digital Workcell, Adept FFE, Adept FlexFeeder 250, Adept IC, Adept Impulse Feeder, Adept LineVision, Adept MC, Adept MV, Adept MV-10, Adept MV-19, Adept MV4, Adept MV-5, Adept MV-8, Adept NanoBonder EBS, Adept NanoBonder LWS, Adept NanoCell, Adept NanoStage L1P2, Adept NanoStage L3, Adept NanoStage L3P2, Adept OC, Adept SmartAmp, Adept SmartAxis, Adept SmartController CS, Adept SmartController CX, Adept SmartModule, Adept SmartMotion, Adept SmartServo, Adept sDIO, Adept Servo Kit, Adept sMI6, Adept SMIF-EZ, AdeptAlign 650, AdeptAtlas, AdeptCartesian, AdeptForce, AdeptFTP, AdeptGEM, AdeptModules, AdeptMotion, AdeptMotion Servo, AdeptMotion VME, AdeptNet, AdeptNFS, AdeptOne, AdeptOne-MV, AdeptOne-XL, AdeptRAPID, AdeptSix 300, AdeptSix 300CL, AdeptSix 600, AdeptTCP/IP, AdeptThree, AdeptThree-MV, AdeptThree-XL, AdeptTwo, AdeptVicron, AdeptVicron 300S, AdeptVicron 310D, AdeptSight, AdeptVision AVI, AdeptVision AGS, AdeptVision GV, AdeptVision I, AdeptVision II, AdeptVision VME, AdeptVision VXL, AdeptVision XGS, AdeptVision XGS II, AdeptWindows, AdeptWindows Controller, AdeptWindows DDE, AdeptWindows Offline Editor, AdeptWindows PC, AIM Command Server, AIM Dispense, AIM PCB, AIM VisionWare, A-Series, AutoCal, AutoTune, AutoWidth, CCM, CCMII, CGM, FlexFeedWare, HyperDrive, Microenvironment, MicroV +, MotionWare, ObjectFinder, ObjectFinder 2000, PackOne, PalletWare, SMIF-C, SMIF-EZX, SMIF-Z, SMIF-ZX, S-Series, UltraOne, V, V +, and VisionTeach are trademarks of Adept Technology, Inc. Any trademarks from other companies used in this publication are the property of those respective companies. Printed in the United States of America
Adept AnyFeeder User’s Guide, Rev. A 5 Table of Contents 1Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 1.2 About Your Adept AnyFeeder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 1.3 Other Items You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 1.4 Dangers, Warnings, Cautions, and Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 1.5 Sound Emissions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 1.6 Workcell . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 1.7 Qualification of Personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 1.8 Safety Equipment for Operators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 1.9 Protection Against Unauthorized Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 1.10 Safety Aspects While Performing Maintenance . . . . . . . . . . . . . . . . . . . . . . . 13 1.11 Risks That Cannot Be Avoided . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 1.12 Risks Due to Incorrect Installation or Operation . . . . . . . . . . . . . . . . . . . . . . . . 13 1.13 What to Do in an Emergency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 1.14 How Can I Get Help? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 Adept Document Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 2Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 2.2 Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 2.3 Mechanical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Preparing a Mounting Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Moving the Adept AnyFeeder to the Mounting Location . . . . . . . . . . . . . 19 2.4 Installing the Pneumatic Line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 2.5 Installing Cables and Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 System Cable Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Serial Cable Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 Serial Cable Wiring Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 Digital I/O Cable Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 Digital I/O Cable Wiring Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 Connecting the Power Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Setting the Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 2.6 Verifying the Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Table of Contents 6 Adept AnyFeeder User’s Guide, Rev. A 3Using the AnyFeeder with Serial Communications . . . . . . . . . . . . . . . . 27 3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 3.2 System Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 3.3 Program Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 3.4 Serial Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 Setting the Serial Port Communication Parameters . . . . . . . . . . . . . . . . . . . 28 3.5 Serial Command Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 Sending Commands to the Adept AnyFeeder . . . . . . . . . . . . . . . . . . . . . . . 29 Adept AnyFeeder Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Standard Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 AnyFeeder Command Parameters Default Values . . . . . . . . . . . . . . . . . . . 34 Serial Dialog Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 Initializing the AnyFeeder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 Feeding Parts Forward. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 Changing the Feed Forward Repetitions and Execute. . . . . . . . . . 35 Set Feed/Flip Forward Turns and Execute . . . . . . . . . . . . . . . . . . . . . 36 AnyFeeder not Initialized. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 Flip Drive has a Servo Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 Unknown Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 4Using the AnyFeeder with Digital I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 4.1 Digital I/O Wiring Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 4.2 Digital I/O Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 Signal Handshake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 5Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 5.2 Periodic Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 5.3 Removing and Installing the Feed Surface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 6Optional Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 6.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 6.2 Backlight . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 7Dimension Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 7.1 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Adept AnyFeeder User’s Guide, Rev. A 7 List of Figures Figure 1-1. Adept AnyFeeder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Figure 2-1. AnyFeeder Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Figure 2-2. Shipping Screws on Mounting Rail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Figure 2-3. Preparing the Mounting Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Figure 2-4. Handles for Lifting/Moving the Adept AnyFeeder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Figure 2-5. Pneumatic Connector Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 Figure 2-6. Air Line Attached to Pneumatic Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 Figure 2-7. System Cable Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Figure 2-8. Serial Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 Figure 2-9. DIO Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 Figure 2-10. DC Power Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Figure 2-11. 24 VDC In Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Figure 2-12. Com Mode Selection Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 Figure 2-13. I/O Power and Motor Power LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 Figure 2-14. Serial Mode Indicator LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 Figure 4-1. Digital Inputs and Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Figure 5-1. Feed Deck and Drive Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Figure 6-1. Removing the Feed Platform Front Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Figure 6-2. Backlight Power Plug Installed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 Figure 6-3. Connection to Backlight . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 Figure 6-4. Securing Backlight to AnyFeeder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 Figure 7-1. Adept AnyFeeder Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Adept AnyFeeder User’s Guide, Rev. A 9 Overview1 1.1 Introduction This manual describes the key points for getting your Adept AnyFeeder operational. Before getting started, make sure you have all the components necessary to set up your Adept AnyFeeder. In addition to the Adept AnyFeeder (shown in Figure 1-1 below), it is assumed that you have the appropriately configured Adept-controlled robot with vision guidance. (See Section 1.3 and Section 2.1 for details.) Figure 1-1. Adept AnyFeeder 1.2 About Your Adept AnyFeeder Your Adept AnyFeeder provides flexible parts feeding without the limitations of a hard-tooled feed system (such as a bowl-feeder or tray-feeding system). The Adept AnyFeeder is designed for feeding a wide variety of parts with rapid change-over times. Your Adept AnyFeeder package includes: • Adept AnyFeeder SX240 (P/N 05284-001) White Flat Feed Surface (P/N 05284-101) 24 VDC Power Cable, 5 m (P/N 05284-301) Parallel DIO (Digital I/O) cable, 5 m (P/N 05284-302) RS232 Cable, 4.5 m (P/N 05284-303) RS232 Loopback Connector (not used for Serial installations) (P/N 05284-304)
Chapter 1 - Overview 10 Adept AnyFeeder User’s Guide, Rev. A To increase the flexibility of your Adept AnyFeeder, you may have ordered one or more of the following options: Black Flat Feed Surface (P/N 05284-102) Red LED (590 nm wavelength) backlighting package (P/N 05284-201) Infrared LED (875 nm wavelength) backlighting package (P/N 05284-202) 1.3 Other Items You Need Adept robot (Adept Cobra s600/s800, Adept Cobra i600/i800, Adept Viper s650/s850, etc.) Adept SmartController CX with Adept vision option installed Adept vision-guidance system Sturdy mounting table(s) for the Adept robot and Adept AnyFeeder Camera-mounting structure High-resolution camera with lens Camera interface cables Personal computer (for interfacing with and programming the robot and vision system) 1.4 Dangers, Warnings, Cautions, and Notes There are four levels of special alert notation used in this manual. In descending order of importance, they are: DANGER: This indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. WA R N I N G : This indicates a potentially hazardous situation which, if not avoided, could result in serious injury or major damage to the equipment. CAUTION: This indicates a situation which, if not avoided, could result in minor injury or damage to the equipment.