Adept SmartMotion - Manual (Page 37)

MP6 Servo (MP6-S) Panel Wiring
Adept SmartMotion Installation Guide, Rev. C 37
Drive Enable (Output)
The Drive Enable signals (DE+, DE–) are outputs to the drives which command the drives
to enable motor power. These signals are activated as part of the power enable sequence,
after the High Power Enable signal has been activated. Refer to the SPEC program for
complete details on the power enable sequence and software-timing parameters.
The Drive Enable output logic is set to normally open (closed/on to enable drive). The
signal polarity is not user configurable. However, the user can provide an external circuit,
such as a relay, to change the polarity if required.
Delay Time
Refer to the SPEC program for information on setting the delay time for ignoring an
amplifier fault immediately after the amplifier has been enabled with a Drive Enable
signal.
Drive Fault (Input)
The Drive Fault input (DF+, DF–) is used to indicate a drive fault, such as
over-temperature, over-current, etc., and causes all drives to power down via the Drive
Enable signals. This input is configurable via software (SPEC program) so that a fault is
declared in either a voltage-present or voltage-absent condition. Thus, this input can also
be used to monitor a “drive ready” signal. Drive Fault inputs are only monitored while
Drive Enable is on, therefore, drive faults on unused channels are not monitored.
The presence of a drive fault will prevent the successful completion of the Drive Enable
sequence. Any unused Drive Fault inputs on active channels must be configured to
provide a “no fault” condition. In many 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-S pins
of any unused Drive Fault inputs.
Command Drive (Output)
The Command Drive outputs (CD+, CD–) provide a command signal to each of the
drives. Maximum output is ± 10 Volts into a 10K ohm input resistance. These analog
outputs are rated at 100 mA (max) per channel. Short-circuit protection is provided by a
100 ohm internal current limiting resistor. Refer to the SPEC program for complete details
on configuring this signal.
A separate tie point for the cable shield is provided to help minimize electrical noise. The
shield should normally be left floating at the amplifier end. For the shield to be effective,
you must connect the GND terminal of the MP6-M Opto Pwr connector to a suitable
ground point.
Separate + and – outputs are provided for each of the six CD (Command Drive) outputs.
You should use a separate twisted-pair wire for each CD pair. Do not use a “common”
wire to connect the negative outputs as this will seriously reduce the noise-immunity of
the system.