Appendix B External Input for Position Latch and Vision Trigger
224 Adept MV Controller User’s Guide, Rev. B
External Input for Position Latch and Vision Trigger
The Adept controller provides four special-purpose, high-speed digital inputs, or
“external triggers”. These inputs may be used in three ways:
1. High-speed Position Latch — signal the AdeptMotion system to latch the
current robot position.
2. External Vision Trigger — signal a picture to be taken by the optional
AdeptVision system.
3. Combined Vision Trigger and Position Latch (“Vision in the loop”) — signal a
picture to be taken by the optional AdeptVision system, and latch the robot
position synchronized to the exact moment the vision picture is received.
The external trigger inputs are located on the CIP. Only the first four inputs
(channel numbers 1001 to 1004) on the CIP may be configured to perform any of
the above functions. These functions are described in more detail in the following
sections. Inputs 1001 to 1004 can also be read independently using the normal V
+
SIG( ) and BITS( ) functions and the IO monitor command. See “Connecting
User-Supplied Digital I/O Equipment“ on page 111 for general information
about these signals.
The communication between the AWC, EVI, MI6, and MI3 boards is through four
dedicated lines on the controller backplane. Two lines are dedicated to position
latching,
1
and each monitor board can be configured (using
CONFIG_C)
to either
latch signal. Two lines are provided for vision triggering,
2
and the EVI board can
be configured using a DIP switch to respond to either trigger signal. It is normally
configured to respond to Vision Trigger #1.
Position Latch
The MI6 and MI3 provide hardware-based, high-speed position latching for each
encoder channel. This feature is useful for touch probes or for photo-sensors on
conveyor belts, or for other applications that require latching the position of the
mechanism with quick response time. The position latch feature uses the external
trigger inputs described above. The AWC and the monitored servo board each
take approximately 5 µs to respond. Thus the total response time is 10 µs.
The EJI provide software-based position latches, with a response time of
approximately 1 to 2 ms.
1
POS_LATCH 1 and POS_LATCH 2
2
VIS_TRIGGER 1 and VIS_TRIGGER 2
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