Adept SmartMotion - Manual (Page 35)

MP6 Servo (MP6-S) Panel Wiring
Adept SmartMotion Installation Guide, Rev. C 35
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
Table 2-2 on page 31 .
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 .
Table 2-6. Digital Output Specifications for Drive Enable Signal
Operating voltage range 5 to 24 VDC
Operational current range, per channel I
out
 100 mA
V
drop
across output in ON condition V
drop
 0.85 V at 100 mA
V
drop
 0.80 V at 10 mA
Output-off leakage current I
out
 600 µA
Turn-on response time (hardware a )
a The software scan rate depends on Servo software, and is currently 1 ms.
3 µsec maximum
Turn-off response time (hardware a ) 200 µsec maximum