External Encoder Device Module
The External Encoder device module file contains software allowing the programmer to write V+ programs that include instructions specifying motion endpoints that are automatically modified to compensate for the instantaneous position of up to two conveyor belts. This feature is provided as an option with AdeptMotion VME and Adept SmartMotion systems. The V+ Extensions Software License is required.
Copying the External Encoder Device Module to a Boot Disk
In order to use the External Encoder device module, the device module file must be installed in your system file. For details on installing the device modules, see Loading Device Modules.
If you have a hard drive, the device files will normally be already stored in the 'c:\system\' subdirectory. Answer 'ENC' to the prompt asking you to enter the name of the device module you want to transfer to your system file.
External Encoder Device Module
The External Encoder device module allows up to two external encoders to be connected to an Adept system. If these encoders are used to track the motion of a conveyor belt, robots connected to the system can also track the belt. Based on information from sensors, the robot can then be used to perform pick and place operations, assembly operations, dispensing, etc., while the conveyor is moving.
When connected to an Adept Motion system, the hardware requirements on the encoder are the same as those on the motor encoders (For MV Controller-based systems, see the AdeptMotion VME Developer's Guide for details. For SmartController systems, see the Adept SmartMotion Installation Guide.) Also, Adept's conveyor tracking option, which is composed of a conveyor encoder, mounting hardware, and cabling, can be purchased separately.
Module specifications
Minimum V+ Compatibility:
V+ 15 (AdeptMotion systems)
V+ 16.0 (Adept SmartMotion systems)
Device Module File Name:
ENC
Device Module Identification Number:
17
Start-up Message
'External Encoder Module'
The start-up message is displayed just after the system boots up.
Default Encoder Configuration
Adept Motion Systems
Encoder
Board/Channel
1
1/1
2
1/2
Adept SmartMotion Systems
(1394 network, requires V+ 16.0 or later)
Encoder
Node/Gadget
1
1/1
2
1/2
These configurations can be changed using the SPEC program.
Hardware Connections
The external encoders should be connected to the VMPE channels corresponding to the board/channel configuration as described above.
Additional Restrictions
None.
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Last modified on:
01/25/2006
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