Output Signals - adept technology MV User Manual

Chapter 5
Fast DIO interrupt events (using INT.EVENT) require the optional V
License. When the program task priorities are properly set, there is a 2 ms
maximum latency for fast inputs 1001 to 1004 when used with V
instruction.
+
See the V Language Reference Guide
instruction.
The external position latch feature allows the robot and AdeptMotion interface
boards (EJI and/or MI3/MI6) to latch in hardware the position of a robot and/or
conveyor belt encoders. The input signal typically will come from a proximity
sensor or an external probe. The latched values can later be read using the V
LATCH() function. The position latch must be configured using the CONFIG_C
utility program. It does not require the optional V


for more details on using the position latch.
The vision trigger feature allows the AdeptVision interface board (EVI) to wait for
an external signal to trigger the acquisition of a picture. The vision trigger must be
configured using the CONFIG_C utility program and DIP switches on the EVI
board. It does not require the optional V
more details.

Output Signals

The JSIO connector handles output signals 0001 to 0008. On systems with the
Manual Mode Safety Package (MMSP), output channels 0006 to 0008 are used by
the MMSP and are not available for users. Refer to
specifications. The locations of the signals on the connector are shown in
(0. The JSIO connector provides separate positive and negative connections for
each channel (no internal common connections). This allows the choice of wiring
for current-sourcing or current-sinking modes.
Table 5-6. DIO Output Specifications (JSIO connector)
Operating voltage range
Operational current range, per channel
V across output in "on" condition
drop
Output off leakage current
Turn on response time (hardware)
Software scan rate/response time
Turn off response time (hardware)
Software scan rate/response time
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Connecting User-Supplied Digital I/O Equipment
for a description of the INT.EVENT
Adept MV Controller User's Guide, Rev. B
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Extensions License. See
+
Extensions License. See
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(
for output
0 to 24 VDC
≤ 100 mA, short-circuit Protected
I
out
≤ 2.7 V at 100 mA
V
drop
≤ 2.0 V at 10 mA
V
drop
≤ 600 µA
I
out
3 µsec maximum
16 ms scan cycle/ 32 ms max
response time
200 µsec maximum
16 ms scan cycle/ 32 ms max
response time
+
Extensions
+
INT.EVENT
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for
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