ID (component, device, board)

Function

Return values that identify the configuration of the current system.

Parameter s

component Real value, variable, or expression (interpreted as an integer) whose value determines which component of identification information is returned.

device Optional real value, variable, or expression (interpreted as an integer) whose value selects the device to be identified. Device #1 (the basic system) is assumed if this parameter is omitted.

board Optional integer specifying the CPU of interest when device = 4. Board #1 (the main CPU) is assumed if this parameter is omitted.

Details

The ID function enables a program to access the information displayed by the ID monitor command. The values of the components are the same as the fields displayed by that command.

The function returns the value 0 for devices that do not exist.

Device number 1 refers to the basic system. The acceptable values for the component parameter, and the corresponding values returned, are:

component	Result of ID (component, 1)
1	Model designation of the system controller
2	Serial number of the system controller
3	Version number of the V+ software in use
4	Revision number of the V+ software in use
5	First option word for the V+ system (*)
6	Second option word for the V+ system (*)
7	Size of the system program memory (in kilobytes, K [1 K = 1024 8-bit bytes])
8	Controller option word (*)
9	Controller product-type value
10	(Value for internal use by Adept)
11	Controller hardware configuration (see below)
*The system and controller option words are described in Appendix C in the V+ Language Reference Guide.

The value for the controller hardware configuration [returned by ID(11,1)] should be interpreted as a bit field, as follows:

Bit 1 (LSB): Graphics system processor (mask = 1)

This bit is 1 if the system processor in the controller includes hardware components for graphics output by the V+ system.

Bit 2: V+ monitor outputs to graphics monitor (mask = 2)

This bit is 1 if the system processor supports graphics output and the configuration switches on the system processor are set to direct the V+ monitor output to the graphics monitor. This bit is 0 if the V+ monitor output is directed to a terminal connected to the system controller.

Bit 3: Not used

Bit 4: SIO board present (mask = 8)

This bit is set if the SIO board is present in the controller.

Device number 2 refers to the manual control pendant. The component parameter must have the value 1. The value returned is the version number of the pendant software.

Device number 3 refers to the AdeptVision system if one is included in the system. The acceptable values for the component parameter, and the corresponding values returned, are listed below. (If the system has multiple vision systems, the information returned is for the vision system that is currently selected.)

component	Result of ID (component, 3)
1	Model designation of the vision system
2	Serial number of the vision system
3	Version number of the vision software in use
4	Revision number of the vision software in use
5	Option word for the vision system
6	Size of the vision system RAM memory (in K)

Device number 4 refers to the system CPUs.

component	Result of ID (component, 4, board)
1	Number of the CPU
2	Not currently used
3	The CPU board version number
4	The CPU board revision number
5	CPU type: 1 = 68030; 0, 2 = 68040, 3 = 68060, 4 = AWC68040, and 5 = AWC68060
6	Software modules active on the board: Bit field where bit 1 represents the V+ operating system, bit 2 represents the vision software, and bit 3 represents the servo/motion software
7	Size of the random access memory (RAM) on the CPU board (in K)

Device number 5 returns servo information.

component	Result of ID (component, 5)
3	Returns the servo version number
4	Returns the servo revision number

Device numbers 6 through 7 are invalid and return the value 0, as do any other specified devices that do not exist. For valid devices, an *Invalid argument* error message is reported if the requested component is not valid.

Device number 8 returns information for the currently selected robot. The acceptable values for the component parameter are the same as for a robot.

The values returned for device number 9 are for Adept's internal use.

Device number 10 refers to the external encoders connected to the robot controller. The acceptable values for the component parameter are the same as for a robot.

Device numbers 11, 12, ... refer to robot number 1, 2, ..., respectively, for each robot connected to the controller. That is, a device number equal to 10+r refers to robot number r, which can range from 1 to the value returned by the function SELECT(ROBOT, -1). The acceptable values for the component parameter, and the corresponding values returned, are listed below.

component	Result of ID (component, 10+r)
1	Model designation of the robot
2	Serial number of the robot
3	Number of motors configured for the robot. This normally is equal to the number of configured joints.
4	Value interpreted as bit flags for the robot joints that are enabled: bit 1 for joint 1, and so on. (The value is zero if the robot does not have joints that can be disabled selectively. For example, this value is defined for the X/Y/Z/Theta robot but is zero for the 4/5-axis SCARA module.)
5	Robot control-module identification number
6	Number for the robot control-module qualifier.
7	Number of robot joints configured for use
8	Robot option word (*)
9	Robot product-type value
10	Number of Cartesian axes used during motion planning. This value specifies how many values must be defined in the robot load-module arrays that specify the maximum Cartesian velocities and accelerations.
11	Second robot option word (*)
12	Information on the robot module. Currently only bit 1 (mask 1) is defined. If set, this bit indicates that the specified robot is an Adept robot.
*The system and controller option words are described in Appendix C in the V+ Language Reference Guide.

Device number 50 refers to the currently selected force sensor. Device numbers 51 to 66 refer to force sensors numbered 1 to 16, respectively.

See the documentation for the SELECT program instruction for an explanation of selecting among multiple force sensors. The acceptable values for the component parameter, and the corresponding values returned, are listed below.

component	Result of ID (component, 50)
1	Model number of force sensor (0 if no force sensor is connected)
2	Serial number of force sensor (0 if no force sensor is connected)
3	Version number of VME Force Interface (VFI) firmware
4	Version number of force-sensing software
5	Option word for force system
6	Size of the data collection buffer (in K)

Related Keyword s

ID device (monitor command)

$ID (select) (string function)

SELECT (device_type, mode) (monitor command, program instruction, and real-valued function)

Syntax

$ID-$