Adept SmartMotion - Manual (Page 31)

MP6 Machine (MP6-M) Panel Wiring
Adept SmartMotion Installation Guide, Rev. C 31
2.10 MP6 Machine (MP6-M) Panel Wiring
The MP6-M is used to interface to the machine (robot or motion mechanism). It provides
two digital inputs and one digital output for each of six channels (Channels 1 to 6). See
Figure 2-8 on page 29 for the location of the various connectors.
• digital input for Overtravel (OT)
• digital input for Home Switch (HM)
• digital output for Brake Release (BR)
The MP6-M also has one independent output for high power enable (HPE).
The function of the MP6-M is to provide convenient interconnect points and to perform
voltage level-shifting of some signals, for example, to interface 120VAC or 230VAC user
circuits to the HPE output.
Optical Isolation
All signals (input and output) are isolated inside the sMI6 module. Additional isolation
for the output channels (6 for Brake Release (BR), one for High Power Enable) is provided
on the MP6-M using Opto-22 modules. The main functions of the Opto-22 modules on the
output channels of the MP6-M are to give enhanced current drive capability, and allow
flexibility in connecting to a variety of voltage levels.
Input Current Requirements (OT, HM)
The inputs on the MP6-M are connected directly to the sMI6. Therefore, the input
specifications for the MP6-M are the same as for the MP6-S. See
Table 2-2 .
Table 2-2. Digital Input Specifications (sMI6 module)
Operational voltage range 0 to 24 VDC
“Off” state voltage range 0 to 3 VDC
“On” state voltage range 10 to 24 VDC
Operational current range a
a The input current specifications are provided for reference; voltage sources are typically used
to drive the inputs.
0 to 20 mA
“Off” state current range a 0 to 1.2 mA
“On” state current range a 7 to 20 mA
Typical threshold current, per channel a 10 mA
Impedance (V
in
/I
in
) 1.3 K  minimum
Current at V
in
= +24 VDC I
in
 20 mA
Turn on response time (hardware b )
b The software scan rate depends on Servo software, and is currently 1 ms.
5 µsec maximum
Turn off response time (hardware b ) 5 µsec maximum