Overtravel Limit Switches (Input); Home Switch (Input); Brake Release (Output); High Power Enable (Output) - adept technology SmartMotion Installation Manual

Overtravel Limit Switches (Input)

One Overtravel Limit switch input is provided for each axis. (Two normally-closed
switches must be wired in series or normally-open switches in parallel for one input.)
These inputs can be used to help protect the mechanical hardware when the end of axis
travel is reached. Each switch should be normally closed, and open only when an
overtravel condition is reached. If any of the overtravel switches is opened on an active
channel, the controller will disable High Power.
The input polarity for the overtravel inputs is configurable using the SPEC program.
The presence of an Overtravel signal will prevent the successful completion of the Drive
Enable sequence. Any unused Overtravel inputs on active channels must be configured to
provide a "no fault" condition. In most industrial situations there will be considerable
electrical noise in the operating environment. An unterminated input may not function as
anticipated. Adept recommends that you install a shorting wire between the MP6-M
terminals of any unused overtravel inputs.
NOTE: Refer to
sMI6.

Home Switch (Input)

The Home Switch inputs are used during the calibration sequence of each axis. These
inputs can be activated anywhere within the travel of the axis, however, it is
advantageous to locate the home switch just inside one of the overtravel limit switches.
The input polarity of the Home input is configurable using the SPEC program. You should
design the home switch so that it remains active all the way through one of the overtravel
limits, then Adept SmartMotion will always be able to calibrate the axis.

Brake Release (Output)

The Brake Release (BR) signals are provided to control external safety brakes. These
signals are asserted to release the brakes after the drive has been successfully enabled. The
output modules are on (conduct) when in the "Brake Released" condition.
NOTE: Refer to
sMI6.

High Power Enable (Output)

One High Power Enable (HPE) signal is provided for the entire system. (If you have more
than one sMI6 module, the signal is internally connected in parallel to every sMI6.) The
HPE signal drives the user-supplied power contactor for the motor drive-amplifiers. The
output is controlled via the Emergency Stop circuitry in the controller. The High Power
Enable signal is accessible on the HPE terminal block of the MP6-M.
Adept SmartMotion Installation Guide, Rev. B
Figure 4-5 on page 53 for a typical input circuit in the
Figure 4-6 on page 53 for a typical output circuit in the
MP6 Machine (MP6-M) Panel Wiring
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