adept technology MV Instruction Handbook

Introduction
AdeptModules Instruction Handbook, Volume 1: Adept MV Controller Interface, Rev. A 121
A.1 Introduction
AdeptMotion VME provides the flexibility to control a variety of mechanisms. In order for
V
+
to control these mechanisms, it must know the number and type of the mechanisms
and the values of parameters that describe each mechanism and its interface. This
information is stored on the system disk, so that the system will start up ready to calibrate.
This chapter describes the procedure for installing the software device modules required
for your system.
It is assumed throughout the software sections of this User's Guide that the user has a
working knowledge of the V
+
operating system. Specific information about V
+
can be
found in the V
+
Language User’s Guide and the V
+
Language Reference Guide.
Terminology
The following terms are referenced throughout this and the following appendixes.
Understanding of these terms is crucial to successfully configuring a system.
• Device module – the software and data that are installed on the system disk to
allow V
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to understand the geometry and specifications of a particular class of
mechanism. For example, the X/Y/Z/Theta device module contains the software
and specifications used to control an XY table with a vertical and roll axis.
• Device-module file – a file that contains one or more device modules. For
example, a device-module file might contain two X/Y/Z/Theta device modules
and one external encoder device module.
• Drive or Amplifier – user-supplied hardware that converts a command signal into
motor current. “Drive” and “amplifier” are used interchangeably in this manual.
• Drive channel – one of the hardware ports on the motion interface board that is
responsible for interfacing with motors. A drive channel has digital I/O, a
Digital-to-Analog Converter (DAC) to command an amplifier, and support for a
position encoder to read motor position.
• Motor – the actuator associated with a drive channel. There must be at least one
motor for each joint of a robot, and joint and motor numbering are normally
identical. However, some mechanisms contain “motor-to-joint coupling” such that
the motion of a given joint may involve the motion of more than one motor.
• Joint – a moving element of a robot. Joints can be either rotational or linear. An XY
table has two linear joints.
• Axis – an element of the device module model of a mechanism. For example, the
X/Y/Z/Theta module has four axes – the X-axis, Y-axis, Z-axis, and Roll axis – but
a two-axis XY table uses only two of those axes as robot joints.
• Robot – refers to the mechanism you are controlling: Robot and mechanism are used
interchangeably in this chapter.
• System File – disk file that contains the software and data that comprise the V
+
system. This file is read into memory when the V
+
system is booted from a system
disk.
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adept technology MV Specifications

General

Brand	adept technology
Model	MV
Category	Controller
Language	English