Changes to the Utility Programs

Changes to the Utility Programs

Changed Utility Disk Files summarizes the changes that have been incorporated on the Utility Disks since the release of version 12.1.

Table 4-1. Changed Utility Disk Files

Utility Disk

Program Version

Description of the Changes

Version

P/N Rev Letter

File Name

12.0

A

CONFIG_C

12.0D

Changes for use with V+ 12.2:
· Support software options introduced for V+ 12.2

· Support new vision frame-buffer size 992x1014

· Store the local IP address in the controller NVRAM (and eliminate it from the system configuration data)

B

SAFE_UTL

11.4A

Fix bugs in the brake-holding test.

C

ADV_CAL

11.4A

Fix minor bug associated with saving/
restoring switches and parameters.

CONFIG_C

12.0D1

Fix bug in installing palletizer system. Include the latest edition of DISKCOPY.

DISKCOPY

11.2G

Change order of copying V+ system files.
Empty \CALIB\ when copying V+ system.

FORMAT

11.1D

Reduce sizes of some system files to reduce the space required on a backup diskette created by copying the V+ system from the hard drive.

FTP_CLNT

11.1D

Fix bug that could cause the number of available TCP connections to decrease over time.

FTP_SRVR

11.1C

SAFE_UTL

11.4B

Fix bug in the voltage-restrict test.

D

SAFE_UTL

11.4C

Add support of Adept 558/559 robots.

12.1

A

DUTY_CYC

12.1A1

Release new program for use with Adept XL robots.

SAFE_UTL

12.1B

Add support of AdeptThree-XL robot.

SFUTIL

12.1C

Add support of Adept XL robots.

SPEC

12.1B3

Add support of AdeptModules devices.

\SPECDATA\

Include SPEC data files for AdeptModules devices (see the AdeptModules Instruction Handbook, Volume 1, Adept MV Controller Interface).

B

\SPECDATA\

Fix bug in SPEC data files for extended H and M AdeptModules units.

12.2

A

ADVSERVO

12.2C2

Now distributed on this disk instead of a separate distribution diskette.
Enhanced to support reading external encoders (see the Advanced Servo Library Reference Guide).

BELT_CAL

11.2A

Add option to "flip" the nominal belt transformation after the calibration procedure.
Improve support of the AdeptOne-XL, AdeptThree-XL, and Adept Cobra 600.
Add check for no robot and for robot not calibrated, to prevent the program from "hanging" in those situations.

CONFIG_C

12.2C

Permit elements of the local IP address to be set to zero.

EXAMPLES

12.2A

Part of the ADVSERVO package-now distributed on this disk instead of a separate distribution diskette (see the Advanced Servo Library Reference Guide).

SAFE_UTL

12.2B

Add support of AdeptOne-XL and Adept Cobra 600 robots.

SPEC

12.2C

Add support of the Z/Theta mechanism.
Add support of data for detection of collisions with Cartesian obstacles.

\SPECDATA\

Add support of the Z/Theta mechanism.
Change SPEC data files to use MODULES.CAL instead of STANDARD.CAL.

12.3

A

ADVSERVO

12.3A1

Added support for:
· V+ version 12.3.

· New features of SPEC (see below).

· Accessing opcodes 2xxx.

Fixed bug preventing sl.exttrip from triggering data collection.

CONFIG_C

12.3B

Included the latest edition of DISKCOPY

DISKCOPY

11.3C

Reduced the amount of diskette space needed when copying a V+ system to diskette from the hard drive.

SPEC

12.3A1

Added support for:
· Defining both accel and decel for point-to-point move tests

· NFS reading/writing SPEC data files

· Opcode 1064 "Manual Mode Envelope Error Limit".

· AdeptModules "cal to home" capability.

· User defined point-to-point test routine. Modified sp.tu.move.test( ) to facilitate an understanding of custom point-to-point motion routines. Also, changed calling sequence so that the motion control data array is passed to the point-to-point motion routine.

Other changes:
· Fixed J4 access bug

· Now prevent *Robot Interlocked* error during cal teaching.

\SPECDATA\

Minor change to the file for the Z/Theta mechanism, to correct the maximum acceleration.

12.3

B

ADV_CAL

11.4B

Fix bug in loading belt calibration file and graphics.

CONFIG_C

12.3B2

Include the latest edition of DISKCOPY.

Added support of accessing the NVRAM with V+ version 12.4.

DISKCOPY

11.3D

Further reduce the amount of diskette space needed when copying a V+ sysetm to diskette from the hard drive.

SQUEEZE

3.6

Correct the processing of input files not created by V+.

\SPECDATA\

Minor change to the file for the Z/Theta mechanism, to correct a problem with J3 calibration.

12.4

A

ADVSERVO

12.4A4

Added support for:
· V+ version 12.4.

· New features of SPEC (see below).

Added new routine sl.rw.ready.

Fixed undefined value bug in sl.c.where and sl.where.

Fixed "loc" data returned by sl.c.where.

Included the latest editions of the routines for accessing SPEC data and files.

CONFIG_C

12.4A4

Added support for three LOCAL.SERIAL ports.

Included the latest editions of the routines for accessing SPEC data and files.

SAFE_UTL

12.4A

Included the latest editions of the routines for accessing the controller NVRAM.

SFUTIL

12.4A2

Included the latest editions of the routines for accessing SPEC data and files

SPEC

12.4B4

Added support to frequency response tests for:
· Testing multiple frequency bands

· Specifying start and stop amplitude

· Linear spacing of input amplitudes

· Display of amplitudes used

· ASCII file export of test data (with option for including a document description)

Other changes:
· Added STOP test option to the Robot/Motor Servo Tuning menu

· Added support for Static Friction Feedforward Compensation

· Added prompt for including a document description for all SPEC-generated files

· Miscellaneous bug fixes

/SYSTEM/

This subdirectory was previously included on the V+ system disk. Because of the addition of support for the AWC processors, there is no longer space on the system disk for these files.

The changes described in Changed Utility Disk Files for the version 12.0 and 12.1 Utility Disks are documented in the Instructions for Adept Utility Programs, Version 12.1. For the version 12.2 through 12.4 Utility Disks, each of the following utility programs has been changed in some way that affects its description in the Instructions for Adept Utility Programs.

BELT_CAL
CONFIG_C
SAFE_UTL
SPEC

The ADVSERVO library is documented in the Advanced Servo Libarary Reference Guide Version 12.4.

Therefore, updated descriptions of those utility programs are included on the following pages. The utilities are presented in alphabetical order, with the description for each starting on a new page. The sections described in the table below are included for each utility, as appropriate.

Item

Description

Description

A short description of the utility

Disk File Name

The name of the disk file that contains the program

Program Name

Name of the program that is EXECUTEd to begin the utility

Functions

Major functions of the utility

Abstract

Overview of the utility

Requirements

The equipment and conditions required to use the utility

Procedure

How to load and execute the utility

Program Prompts

Descriptions of the utility menu items and the prompts displayed during use of the program

Programming Considerations

How to include a utility subroutine in a V+ program

Special Considerations

Additional information

Utility Disk			Program Version	Description of the Changes
Version	P/N Rev Letter	File Name	Program Version	Description of the Changes
12.0	A	CONFIG_C	12.0D	Changes for use with V+ 12.2: · Support software options introduced for V+ 12.2 · Support new vision frame-buffer size 992x1014 · Store the local IP address in the controller NVRAM (and eliminate it from the system configuration data)
	B	SAFE_UTL	11.4A	Fix bugs in the brake-holding test.
	C	ADV_CAL	11.4A	Fix minor bug associated with saving/ restoring switches and parameters.
		CONFIG_C	12.0D1	Fix bug in installing palletizer system. Include the latest edition of DISKCOPY.
		DISKCOPY	11.2G	Change order of copying V+ system files. Empty \CALIB\ when copying V+ system.
		FORMAT	11.1D	Reduce sizes of some system files to reduce the space required on a backup diskette created by copying the V+ system from the hard drive.
		FTP_CLNT	11.1D	Fix bug that could cause the number of available TCP connections to decrease over time.
		FTP_SRVR	11.1C
		SAFE_UTL	11.4B	Fix bug in the voltage-restrict test.
	D	SAFE_UTL	11.4C	Add support of Adept 558/559 robots.
12.1	A	DUTY_CYC	12.1A1	Release new program for use with Adept XL robots.
		SAFE_UTL	12.1B	Add support of AdeptThree-XL robot.
		SFUTIL	12.1C	Add support of Adept XL robots.
		SPEC	12.1B3	Add support of AdeptModules devices.
		\SPECDATA\		Include SPEC data files for AdeptModules devices (see the AdeptModules Instruction Handbook, Volume 1, Adept MV Controller Interface).
	B	\SPECDATA\		Fix bug in SPEC data files for extended H and M AdeptModules units.
12.2	A	ADVSERVO	12.2C2	Now distributed on this disk instead of a separate distribution diskette. Enhanced to support reading external encoders (see the Advanced Servo Library Reference Guide).
		BELT_CAL	11.2A	Add option to "flip" the nominal belt transformation after the calibration procedure. Improve support of the AdeptOne-XL, AdeptThree-XL, and Adept Cobra 600. Add check for no robot and for robot not calibrated, to prevent the program from "hanging" in those situations.
		CONFIG_C	12.2C	Permit elements of the local IP address to be set to zero.
		EXAMPLES	12.2A	Part of the ADVSERVO package-now distributed on this disk instead of a separate distribution diskette (see the Advanced Servo Library Reference Guide).
		SAFE_UTL	12.2B	Add support of AdeptOne-XL and Adept Cobra 600 robots.
		SPEC	12.2C	Add support of the Z/Theta mechanism. Add support of data for detection of collisions with Cartesian obstacles.
		\SPECDATA\		Add support of the Z/Theta mechanism. Change SPEC data files to use MODULES.CAL instead of STANDARD.CAL.
12.3	A	ADVSERVO	12.3A1	Added support for: · V+ version 12.3. · New features of SPEC (see below). · Accessing opcodes 2xxx. Fixed bug preventing sl.exttrip from triggering data collection.
		CONFIG_C	12.3B	Included the latest edition of DISKCOPY
		DISKCOPY	11.3C	Reduced the amount of diskette space needed when copying a V+ system to diskette from the hard drive.
		SPEC	12.3A1	Added support for: · Defining both accel and decel for point-to-point move tests · NFS reading/writing SPEC data files · Opcode 1064 "Manual Mode Envelope Error Limit". · AdeptModules "cal to home" capability. · User defined point-to-point test routine. Modified sp.tu.move.test( ) to facilitate an understanding of custom point-to-point motion routines. Also, changed calling sequence so that the motion control data array is passed to the point-to-point motion routine. Other changes: · Fixed J4 access bug · Now prevent Robot Interlocked error during cal teaching.
		\SPECDATA\		Minor change to the file for the Z/Theta mechanism, to correct the maximum acceleration.
12.3	B	ADV_CAL	11.4B	Fix bug in loading belt calibration file and graphics.
		CONFIG_C	12.3B2	Include the latest edition of DISKCOPY. Added support of accessing the NVRAM with V+ version 12.4.
		DISKCOPY	11.3D	Further reduce the amount of diskette space needed when copying a V+ sysetm to diskette from the hard drive.
		SQUEEZE	3.6	Correct the processing of input files not created by V+.
		\SPECDATA\		Minor change to the file for the Z/Theta mechanism, to correct a problem with J3 calibration.
12.4	A	ADVSERVO	12.4A4	Added support for: · V+ version 12.4. · New features of SPEC (see below). Added new routine sl.rw.ready. Fixed undefined value bug in sl.c.where and sl.where. Fixed "loc" data returned by sl.c.where. Included the latest editions of the routines for accessing SPEC data and files.
		CONFIG_C	12.4A4	Added support for three LOCAL.SERIAL ports. Included the latest editions of the routines for accessing SPEC data and files.
		SAFE_UTL	12.4A	Included the latest editions of the routines for accessing the controller NVRAM.
		SFUTIL	12.4A2	Included the latest editions of the routines for accessing SPEC data and files
		SPEC	12.4B4	Added support to frequency response tests for: · Testing multiple frequency bands · Specifying start and stop amplitude · Linear spacing of input amplitudes · Display of amplitudes used · ASCII file export of test data (with option for including a document description) Other changes: · Added STOP test option to the Robot/Motor Servo Tuning menu · Added support for Static Friction Feedforward Compensation · Added prompt for including a document description for all SPEC-generated files · Miscellaneous bug fixes
		/SYSTEM/		This subdirectory was previously included on the V+ system disk. Because of the addition of support for the AWC processors, there is no longer space on the system disk for these files.

Item	Description
Description	A short description of the utility
Disk File Name	The name of the disk file that contains the program
Program Name	Name of the program that is EXECUTEd to begin the utility
Functions	Major functions of the utility
Abstract	Overview of the utility
Requirements	The equipment and conditions required to use the utility
Procedure	How to load and execute the utility
Program Prompts	Descriptions of the utility menu items and the prompts displayed during use of the program
Programming Considerations	How to include a utility subroutine in a V+ program
Special Considerations	Additional information