Adept s600 Cobra - Manual (Page 86)

Chapter 6: Optional Equipment Installation
Camera Plate
Camera Brackets (optional)
Camera Channel
Camera
Mount
Figure 6-14. Mounting a Camera on the Robot
6.8 DeviceNet Communication Link
DeviceNet is a communications link that connects industrial I/O devices to a message-
packeting network. All nodes connect to the same backbone cable, eliminating the need for
individual wiring for each I/O point.
Adept incorporates the following DeviceNet-ready hardware in the Adept Cobra s600 and s800
robots:
l Male micro-style 12 mm thread DIN connector at the robot base. See Figure 6-2.
l
Female micro-style 12 mm thread DIN connector for joint 2 of the robot. See Figure 6-3
and Figure 6-15. .
l
A non-standard DeviceNet cable, consisting of two shielded twisted pairs that connect
the base and joint 2 connectors. Adept considers this cabling to be a drop line with a
maximum total length of 6 meters (20 feet) and therefore uses the following wire sizes:
Cable
Type
Adept
Wire Size
DeviceNet
“thin cable”
Power pairs 24 AWG 22 AWG
Signal pairs 28 AWG 24 AWG
This means that total current on the power pairs must be limited to 2 A instead
of the standard 3 A in a DeviceNet trunk line. Because this is intended to be a
DeviceNet drop line with a maximum of 6 meters (20 feet), the full data rate
should be achievable. However, Adept has tested the internal cable only at 125k
baud.
See the Adept SmartController User's Guide for physical installation.
Adept Cobra s600/s800 Robot, User’s Guide, Rev L1
Page 86 of 128