Adept SmartMotion Developer's Guide

Creating the Control Specification: Roadmap

After completing the Adept SmartServo network configuration process, the next step in setting up the Adept SmartMotion software is to create the control specification for each mechanism in your system. This includes specifying parameters for initialization, tuning, calibration, motion, trajectory generation and other information required to operate your system.

Before you begin:

Review Adept SmartMotion Key Concepts

Review the SPEC Utility Program Quick Reference

Load the Device Modules

Complete Adept SmartServo Network Configuration

Use the following procedure to create the control specification for your Adept SmartMotion system. The menus mentioned in steps 2-9 can be accessed from the Robot Specifications menu.

  1. From the Robot Initialization Specifications menu,  specify general robot specifications that apply to the entire robot system such as password protection, startup message, and digital I/O signals.

  2. From the Amplifier and Encoder Specifications menus, configure the amplifier and encoder parameters for all motors. Use the interactive test procedure in Test and Troubleshooting to ensure proper operation of inputs, outputs, and encoders.

  3. From the Motor Servo Tuning Specifications menu, tune each motor, using the interactive tuning procedure aids provided in the SPEC program. See also Step-by-Step Tuning Procedure for general information and instructions on servo tuning.

  4. From the Motor Calibration Parameters menu, define the calibration (homing) parameters for each motor.

  5. From the Joint Motion Parameters Menu, define the software joint limits, the motion speed and acceleration parameters.

  6. Specify Link Dimensions.

  7. Specify Cartesian Motion Parameters to customize acceleration and speed for translational and rotational motions commanded from the manual control pendant and from within a program using the motion instructions MOVES (pronounced "move s"), APPROS, and DEPARTS.

  8. Specify General Motion Specifications to establish the motion speed and acceleration limits as well as the start-up values for these parameters. The maximum allowable values help prevent users from placing excessive demands on the system.

  9. Specify the S-Curve Trajectory Generation the ramp up to maximum acceleration, the ramp down from maximum acceleration, the ramp up to maximum deceleration, and the ramp down to zero acceleration.

  10. Stop-on-Force Parameters (for AdeptForce) - This option is not currently available for the Adept SmartMotion product.

  11. Test the control specification using the tests described in Test and Troubleshooting.

  12. Save the control specification to the system and create backup copies. For details, see Saving and Loading Specifications.

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Last modified on: 9/29/2010
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