Configuring external encoders with an sMI6

Configuring external encoders with an sMI6

Postby MarkL » Thu Oct 16, 2008 10:29 am

The following procedure can be used to configure multiple belt encoders with an sMI6 for use with Adept PackXPert. So far only two encoders have been tested at one time, we would like to continue this testing with up to 8 belt encoders on a single controller and sMI6.

  • SmartController CX w/ V+ 17.0D
  • sMI6
  • MP6-E Panel w/ MI6 to MP6 encoder cable
  • (2x) BEI model H25/H20 belt encoders
  • 24V power supply
  • 5V power supply

Procedure - Hardware
1. Wire the encoder(s) output to the MP6-E panel input. See the SmartMotion Installation Guide page 38 for correct wiring.
2. Connect the MP6-E panel to the sMI6's encoder input using the MI6 to MP6 cable.
3. Wire 5v to the MP6-E panel.
4. Wire 24v to the sMI6 and CX.
5. Connect a common ground between the sMI6 and MP6-E.
6. Connect the sMI6 to the CX via SmartServo 1394.

Procedure - Software
1. Launch Adept Ace and connect to the controller's IP address.
2. Double-Click the controller object in the workspace explorer, and then click on Configure Nodes.
You should see the sMI6 node along with any robots attached to the controller.
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3. Right-Click on the first gadget in the sMI6's node and configure it as Encoder 1.
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4. Repeat step 3 if there are additional encoders on the system.
5. Make sure any unused gadgets are unconfigured. (Right-Click, select Unconfigure).
6. Click on Encoder Diagnostics and verify that the attached encoders are providing feedback to the controller.
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7. You will now need to configure the latches in V+. Click on Configure V+ and then on the Configuration tab. Scroll down until you see the .ROBOT heading.
8. Add lines for each encoder that will be used to latch, keeping in mind the following:
sMI6 MP6 Encoder channel 1 = Ace PackXPert Encoder channel 0 = V+ Config BELT 1
A correctly set up configuration file for two belt encoders is below.
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9. You can test the latched belt encoders by creating a Belt object in Adept Ace. Right-Click in the workspace explorer and select new-->process-->belt.
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10. In the belt object, click Add to add a belt encoder, and then associate that encoder with the controller it is connected to.
11. Select the correct parameters for the encoder. The following shows a properly set up encoder that is wired into channel 1 on the MP6.
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Note that it is set up as Encoder Channel 0, and the input number matches what is defined in the controller config file as the BELT 1 latch signal.

This procedure should work for up to 8 belt encoders, although currently there are only 4 fast latches available.
Posts: 7
Joined: Fri Apr 18, 2008 3:06 pm

Re: Configuring external encoders with an sMI6

Postby ToddR » Thu Nov 19, 2009 5:42 pm

I have added to Mark's posting to include a few more details and one additional step.
Configuring a SmartController CX with external belt encoders through an sMI6 - rev2.docx
(798.3 KiB) Downloaded 3283 times

Re: Configuring external encoders with an sMI6

Postby BeckyBlanchard » Wed May 19, 2010 3:37 am

Thanks Mark & Todd this is very helpful.

Posts: 1
Joined: Wed May 19, 2010 3:33 am

Re: Configuring external encoders with an sMI6

Postby DaveS » Fri Jul 01, 2011 2:30 pm

How is this done using AdeptWindows? I have a customer that needs to do this and they do not have ACE.

Re: Configuring external encoders with an sMI6

Postby ToddR » Mon Jul 11, 2011 2:20 pm

In AdeptWindows you need to use the DC_SETUP utility to configure the channels of the sMI6 which you want to use as belt encoders, and make sure that the other channels are left undefined/unconfigured. It should be the "Configure Robot/Axis gadgets" option.

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