Chapter 7 - System Operation - SmartController
70 AdeptSix 300CR Robot Instruction Handbook, Rev. A
Power to the Adept Components Checks
Verify that the Adept control system is correctly connected to the DC and AC power
sources.
1. Make sure that power is shut off to the Adept SmartController and the PA-4
power chassis).
2. Verify that 24 DC power is connected to the Adept SmartController.
3. Verify that the three-phase AC power (200-240 VAC or 380-415 VAC) is connected
to the Adept PA-4 power chassis. For information on single-phase AC power to
the PA-4, see the AdeptSix Controller Installation Guide.
Board and Cable Installation Checks
Make sure that all the boards in the Adept SmartController and PA-4 power chassis are
secured and the connection cables are correctly installed.
1. Secure all amplifier modules and the MAI-2 (multi-axis interface) module in the
amp chassis. Tighten both the top and bottom mounting screws on each front
panel. This ensures proper grounding of the amplifier controller subsystems from
an EMC standpoint and ensures good connection to the drawer connectors at the
rear of the chassis. The drawer connectors carry power and interlock signals
from/into the power chassis from the amplifiers.
NOTE: There is a safety interlock built into the amp chassis that prevents
high power from being applied if the amplifier modules, or the MAI-2
module are not correctly screwed into place.
2. Secure the motor output connector clamp of the arm power cable onto the six
motor power output (Motor Power Outlet) connections on the three Dual E amps.
Verify that the clamp is securely latched.
3. Verify the following cable connections. Check to see that the plugs are latched on
both ends of the cables. See Figure 4-2.
• Robot to amps in PA-4 power chassis (Arm Power Cable)
• Robot CN29 connector to MAI-2 CN29 connector (Arm Power Cable)
• Robot to PA-4 power chassis MAI-2 CNPG123 and CNPG456 (Arm Signal
Cable)
• Install one ground wire each from Arm Signal Cable and Arm Power Cable
to front right screw on the top of the Adept PA-4 power chassis.
• SmartController SmartServo port 1.1 connector to MAI-2 1394 connector
• SmartController XSYS connector to MAI-2 XSLV1 connector
• SmartController XFP to Front Panel XFP
• SmartController XMCP to optional MCP, requires MCP adapter cable and
MCP3 dongle (install bypass plug if not used)
• SmartController XUSR to user-supplied equipment (install jumper plug if
not used)
