2.11 Mp6 Servo (Mp6-S) Panel Wiring; Drive Compatibility; Optical Isolation; Mp6-S Input Current Requirements (Drive Fault) - adept technology SmartMotion Installation Manual

2.11 MP6 Servo (MP6-S) Panel Wiring

The MP6-S is used to interface to the Servo Drive amplifiers. It provides one digital input
(drive fault, DF) and one digital output (drive enable, DE) for each of six channels
(channels 1 to 6). It also provides one analog output (command drive, CD) for each of six
channels. The function of the MP6-S is to interconnect the signals from user circuits to the
sMI6 module.

Drive Compatibility

The Adept SmartMotion control system is compatible with most industry-standard motor
drives that accept a ±10 Volt analog input signal for current (torque) or velocity
commands. In addition, Adept SmartMotion provides two discrete I/O signals that are
dedicated to specific functions supported by most commercially available motor drives. In
summary, each motion channel supports the following drive signals:
• analog output (±10V) for Command Drive (CD)
• digital output (to the drive) for Drive Enable (DE)
• digital input (from the drive) to monitor for a Drive Fault (DF)

Optical Isolation

The digital signals, Drive Enable and Drive Fault, are optically isolated. No additional
isolation is required on the MP6-S. The MP6-S does not use Opto-22 modules. Note that
the Analog Output is not optically isolated in the sMI6 module, unlike in previous
versions of the Adept Motion Interface products.

MP6-S Input Current Requirements (Drive Fault)

The digital inputs on the MP6-S are connected directly to the sMI6. Therefore, the input
specifications for the MP6-S are the same as for the MP6-M. See

MP6-S Output Current Requirements (Drive Enable)

The digital outputs on the MP6-S are connected directly to the sMI6. Therefore, the output
specifications for the MP6-S are different than the MP6-M. See
Table 2-6. Digital Output Specifications for Drive Enable Signal
Operating voltage range
Operational current range, per channel
V across output in ON condition
drop
Output-off leakage current
Turn-on response time (hardware
Turn-off response time (hardware
a
The software scan rate depends on Servo software, and is currently 1 ms.
a
)
a
)
Adept SmartMotion Installation Guide, Rev. B
MP6 Servo (MP6-S) Panel Wiring
Table 2-2 on page
Table 2-6.
5 to 24 VDC
≤ 100 mA
I
out
≤ 0.85 V at 100 mA
V
drop
≤0.80 V at 10 mA
V
drop
≤ 600 µA
I
out
3 µsec maximum
200 µsec maximum
31.
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