User`s guide

Requirements for Motion Systems
This section details the motion boards setup when more than one motion board is present in
the system.
Allocating Servos with an MI-3 or MI-6 Board
When associating servo processes with a motion interface board, all channels of a motion
interface board must be serviced by the same processor. In addition, when a motion interface
board is assigned to a processor board, it allocates all of the available servo processes per
board even if less than the maximum number of axes are being serviced.
For example, if you are controlling a four-axis robot with two MI-3 boards, you must assign all
three channels of the first MI-3 board to a single processor as a group. Likewise, you must
assign all three channels of the second MI-6 to a single processor (although it need not be the
same processor as the first three axes). If you assign the two MI-6s to the same processor,
six servo processes on that board are occupied even though only four channels are being
used. In this situation, the processor computational load corresponds to that for fouraxes, but
no additional MI-6s can be controlled by this processor.
Allocating Servos with a EJI Board
When associating servo processes with an EJI (Enhanced Joint Interface) board, all channels
of the EJI must be serviced by the same processor board. In addition, when an EJI is assigned
to a processor board, it allocates eight of the available servo processes per board even if less
than eight axes are being serviced.
For example, if you are controlling a four-axis robot with two EJI boards, you must assign all
eight channels of the first EJI board to a single processor as a group. Likewise, you must
assign all eight channels of the second EJI to a single processor (although it need not be the
same processor as the first 8 axes). If you assign the two EJIs to the same processor, 16
servo processes on that board are occupied even though only four channels are being used.
In this situation, the processor computational load corresponds to that for four axes.
Conveyor Belt Encoders
With a V+ Extensions License, you can install a maximum of one encoder device module. The
Encoder Device module supports up to six encoders (the default is two). Thus, you can
interface a maximum of six conveyor belt encoders to a controller. Each belt encoder requires
one servo channel although it adds a negligible amount of computational load. These
encoders are physically connected through an EJI, MI-6, MI-3.
Force Sensors
The AdeptForce VME option allows up to three force sensors per controller. Each sensor
requires one Force Interface Board (VFI). You can assign one or two VFIs to each processor
board. Each of these force sensors requires one element of the servo axis allocation.
Requirements for Motion Systems
V+Language User's Guide, v17.0
Page 324