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Chapter 4 - System Cable Installation
44 AdeptSix 300CR Robot Instruction Handbook, Rev. A
Adept SmartController System
Figure 4-2. System Cable Diagram with Adept SmartController
adept
technology, inc.
ENC
PORTS
1
2
IEEE
1394
ENC
MAI STATUS
MAI
-
2
DSP STATUS
B
R
A
K
E
R
S
2
3
2
X
S
L
V
1
X
S
L
V
2
C
N
2
9
C
N
2
5
C
N
P
G
4
5
6
C
N
P
G
1
2
3
LOW VOLTS ON
HV SAG/OVER TEMP FAULT
DO NOT REMOVE OR INSTALL THIS
SHORT FAULT
OPEN CKT FAULT
MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED
PWM ON
CH1
HIGH VOLTS ON
CH2
A
M
P
L
I
F
I
E
R
C
O
N
T
R
O
L
CH2CH1
M
O
T
O
R
P
O
W
E
R
O
U
T
P
U
T
DUAL E AMP
LOW VOLTS ON
HV SAG/OVER TEMP FAULT
DO NOT REMOVE OR INSTALL THIS
SHORT FAULT
OPEN CKT FAULT
MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED
PWM ON
CH1
HIGH VOLTS ON
CH2
A
M
P
L
I
F
I
E
R
C
O
N
T
R
O
L
CH2CH1
M
O
T
O
R
P
O
W
E
R
O
U
T
P
U
T
DUAL E AMP
L
O
W V
O
LT
S
ON
HV
S
A
G/O
VER TEMP FA
U
L
T
D
O
N
O
T REM
O
VE
O
R IN
S
TALL THI
S
S
H
O
RT FA
U
L
T
O
PEN
C
KT FA
U
L
T
M
O
D
U
LE
U
NLE
SS
HI
G
H V
O
LT
S
LE
D
I
S
CO
MPLETELY DI
S
TIN
GU
I
S
HE
D
PWM ON
CH1
HI
G
H V
O
LT
S
ON
CH2
A
M
P
L
I
F
I
E
R
C
O
N
T
R
O
L
C
H
2
CH1
M
O
T
O
R
P
O
W
E
R
O
U
T
P
U
T
D
U
AL E AM
P
Þ
Ethernet to PC
Arm
Power
Cable
Arm
Signal
Cable
1B
C
2
Controller SmartServo (Port 1.1) to
MAI-2 IEEE 1394 (Port 1)
CN29
Cable
Adept PA-4
Power Chassis
Adept
rt
C
ontrolle
r
AdeptSix 300CR
Robot
User-Supplied
Power Supply
Controller
(
XFP
)
to
Front Panel
(
XFP
)
Fr
o
nt P
a
n
el
Controller (XSYS) to MAI-2 (XSLV1)
24VDC Power from
User-Supplied
Power Supply to
Controller (XDC1)
MCP
Controller (XMCP) to MCP
Desktop or Laptop PC
M
C
P Ada
p
ter
C
abl
e
User-Supplied Ground Wire
User-Supplied
Ground Wire
User-Supplied Ground Wire
Between PA-4 and SmartController
Dual E Amp #1
Dual E Amp #2
Dual E Amp #3
MAI-2 Module
STOP
R
ntroller
CS
*
S/
N
356
1-XXXXX
*
-+