adept technology MV - Hardware Interconnection of Boards on an Adept Controller

Appendix B External Input for Position Latch and Vision Trigger
Adept MV Controller User’s Guide, Rev. B 225
Hardware Interconnection of Boards on an Adept Controller
Figure B-1. Interrupt Block Diagram
AWC
EVI CIP
(2-lines)
for latching encoder
based on ext. input
(2-lines) generates
ext_trigger signal
based on ext. input.
V.IO.WAIT
(waits for
interrupt 3 or 5)
V+ then knows
that picture has
been taken, and
encoder positions
have ben latched.
(2-lines, one
EVI board)
int. #3 and/or 5,
in response
to indicate that
valid picture is
on CCD. (OK
to move cam.)
Interrupt 4.
Generated by
high-speed
digital inputs.
(2-lines)
for latching
encoders.
VME_interrupt
(7-lines)
(2-lines)
(2-lines)
enc_latch
ext_trigger
(2-lines) for
latching
encoders
(2-lines) for
latching
encoders
(2-lines) for
latching
encoders
based on
switch V.STROBE
(latches encoder,
2-lines)
(2-lines) VPICTURE
waits for this trigger if
V.STROBE is enabled.
from Camera
to Flash
Strobe Unit
(3-lines)
High speed
digital input.
Will also generate
interrupt #4.
MI6/
MI3
hardware
encoder
latches
EJI
software
encoder latches
+/– 1 servocycle
error
based on switch
V>STROBE (latches
encoder, 2 lines)
VPICTURE waits for this
trigger if V>STROBE is
enabled (2-l lines)
2 lines for latching
encoders
2 lines for latching
encoder based on
ext.input
2 lines for
latching
encoders
2 lines for
latching
encoders
V.IO.WAIT
(waits for
interrupts 3 or
5) V
+
then
knows that
picture has
been taken
and encoder
positions have
been latched.
(2 lines, one
EVI board)
int. #3 and/ or
5 in reponse
to indicate
that valid
pictureis on
CCD (OK to
move cam).
generates
ext_trigger signal
based on ext.
input
Interrupt 4,
generated
by
high-speed
digital inputs
2 lines
enc_latch
2 lines
ext_trigger
7 lines
VME_interrupt
2 lines for
latching
encoders
hardware
encoder
latches
software
encoder latches
± 1 servocycle
error
high speed digital
input, will also
generate interrupt
#4
3 lines
to flash
strobe unit
from
camera
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