Verify Operation of Digital I/O, Encoders, Amplifiers and Motors

Adept SmartMotion Developer's Guide

NOTE: At this stage you will expect to see zero index errors. This is because the default index configuration and spacing may not match your encoders. You will adjust these parameters later; see This Topic.

When you push the axis in the positive direction, the encoder position should increase on the screen. When pushing in the negative direction, the encoder position should decrease. See the documentation for your robot device module for details on link dimensions and definitions. If the +/- direction does not match the axis definitions for the device module you are using, check your wiring. If the wiring is correct, make note to correct the encoder sign; see Introduction to Servo Parameters.

If you see no change in encoder position, you probably have a wiring fault, or a faulty encoder or power supply. See the Adept SmartMotion Installation Guide for details on troubleshooting the hardware setup.

Test Overtravel and Home Sensor

If your mechanism has Home and Overtravel switches, verify that they work as expected as you push each joint past the switch location. The signal state is displayed on the diagnostic screen. If necessary, you can change the logic polarity (active high/low) using the Machine Input polarity parameter. (See This Topic.)

When the axis is not in Overtravel, the Overtravel signal should be Off on the screen.

The Home signal polarity may be set when calibration parameters are set in Motor Calibration Parameters. Verify that the Home sensor switch functions correctly.

Testing Amp Fault Signal

This signal is also known as the Drive Fault signal. Some amplifier or motor drives may call it the Drive Ready signal. V+ requires that the Amp Fault signal be off soon after the amplifier is enabled. You may be able to simulate an Amp Fault by removing power from the amplifiers.

Figure 6-5. Diagnostic Display with POWER Switch Off

Test and Troubleshooting describes in detail how to use th e Motion Hardware diagnostics to test discrete inputs and outputs, encoder channels, analog (DAC) outputs, and the motor and encoder sign, when power is turned on.