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V+ 12.4 Release Notes |
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CONFIG_C
Description
Controller configuration utility
Disk File Name
Program Name
Functions
- Install a new V+ system
- Display and edit system configuration
- Display and modify device modules for robots
- Display and initialize the NVRAM contents
Abstract
The Installation option installs a new V+ system, configuring it to match the system being replaced.
The V+ system includes configuration data stored in a special file on the system disk. The CONFIG_C utility lets you edit this file. Each time the controller is restarted, the system reads the statements in the configuration file and sets the appropriate defaults.
The Robots and Device Modules options allow you to change the kinematic device-control modules included in the V+ system and the robots that are controlled by the system.
The NVRAM section displays and initializes the NVRAM in the SIO module, which is read each time the controller is powered up.
Requirements
The following items are needed to run CONFIG_C. All of these (except as indicated) were supplied with your Adept system:
- Adept controller, using V+ version 12.4
- V+ system disk
- Adept Utility Disk containing the file CONFIG_C.V2 (or a copy of the file on the hard drive)
- The V+ system must be loaded from the system disk.
- If you are using a robot system, the robot must be calibrated and COMP mode must be selected on the manual control pendant.
or
The DRY.RUN system switch must be enabled.
or
The program can be executed in a program task other than #0.Procedure
1. Save to disk any program changes you have made.
2. Clear system memory by typing:
3. Load the utility program:1
(Or use execute 1 a.config_c to execute the program as task #1.)
5. Select the option you want from the menu.
6. Follow the prompts provided by the program (see below).
7. Delete the configuration program from the system memory by typing:
NOTE: Use kill 1 in place of kill if the program was executed as task #1.
Special Considerations
Changes to the system configuration do not take effect until the V+ system is loaded from the modified system disk. Thus, after making all the desired changes to the configuration, turn off power to the controller and reboot the system from the modified system disk.
The V+ configuration file may contain statements for hardware or options that are not installed in the system. For example, there may be statements for four analog input boards, but you may have only two boards installed. The extra statements are ignored and can be left in the configuration file.
Not all items in the configuration file can be changed. Items that cannot be changed by the configuration utility are noted as such when they are displayed.
You should clearly mark the system disk to indicate that it contains your modified configuration. It is advisable to make a backup copy of the modified system disk. The DISKCOPY utility can be used for this purpose.
The configuration program defines many real-valued and string variables with cf., dc., it., iu., ld. and sp. as prefixes. These variables must not be modified by the user or by other programs. (All the variables are deleted from memory when the program exits normally. All the variables are deleted when a DELETE command is used to delete the program from memory, as described earlier.)
The entire DISKCOPY utility is included in the file CONFIG_C.V2. Thus, after that file is loaded, DISKCOPY is in memory and available for use. If you attempt to load DISKCOPY from disk when CONFIG_C is in memory, you will see many *Program already exists* errors, which can be ignored.
The disk file CONFIG_C.V2 is a protected binary file. Thus, the programs in the file cannot be displayed, edited, or stored from memory to a disk. The file can be copied from one disk (or subdirectory) to another with the FCOPY monitor command or the disk-copy utility program (DISKCOPY). The disk-copy program can be used to make a backup copy of the entire distribution diskette.
Menu Structure
EXIT to system monitor V+ Installation Return to MAIN MENU SAVE current ROBOT DATA INSTALL a NEW V+ SYSTEM APPLY saved ROBOT DATA V+ System Configuration Data Return to MAIN MENU DISPLAY system CONFIGURATION EDIT system CONFIGURATION Done editing Change HEADER configuration Change VPLUS configuration Change ANALOG_INPUT configuration Change ANALOG_OUTPUT configuration Change DIGITAL_INPUT configuration Change NETWORK configuration Change ROBOT configuration Change SERIAL configuration Change SERVO_BOARDS configuration Change SYSTEM configuration Change TASKS configuration Change VISION configuration EXPORT configuration DATA Robots and Device Modules Return to MAIN MENU LIST current CONFIGURATION of system file LIST device modules in a device-module FILE REPLACE device modules in system file APPEND device modules to system file SELECT device modules for robots Controller NVRAM Return to MAIN MENU DISPLAY NVRAM contents INITIALIZE the NVRAM SET IP ADDRESS in the NVRAMProgram Prompts
The configuration utility program displays the following menu:
0 => EXIT to system monitor 1 => V+ Installation 2 => V+ System Configuration Data 3 => Robots and Device Modules 4 => Controller NVRAMNOTE: You can exit the program at any prompt by entering ctrl+z.
These menu items lead to the following submenus:
0 => EXIT to system monitor
Exit the configuration program and return to the V+ system monitor.
1 => V+ Installation
The following menu is displayed at this level:
0 => Return to MAIN MENU 1 => SAVE current ROBOT DATA 2 => INSTALL a NEW V+ SYSTEM 3 => APPLY saved ROBOT DATAItems #1 and #3 are flagged with an asterisk (*) if the program cannot be used to save/apply data files from/to the current V+ system. In this case a different version of the program (or the SPEC program) must be used to perform these operations (however, item #2 can still be used).
These menu items perform the following operations, respectively:
1. Save the robot and encoder configuration data for the current V+ system to disk files, for use by menu item #3 after installing a new V+ system.
2. Copy a new V+ system to the system disk, install the appropriate device modules, and copy the system configuration data to the new system.
3. Apply the saved robot and encoder configuration data to the current V+ system disk.
Refer to This Topic for a detailed description of these processes.
2 => V+ System Configuration Data
This menu item displays the following menu:
*** CONTROLLER CONFIGURATION EDITOR *** 0 => Return to MAIN MENU 1 => DISPLAY system CONFIGURATION 2 => EDIT system CONFIGURATION 3 => EXPORT configuration DATA Enter selection and press ENTER:The description of these menu items follows:
1 => DISPLAY system CONFIGURATIONThis menu item displays all the statements in the configuration file.
2 => EDIT system CONFIGURATIONThis menu item allows you to edit the individual statements in the configuration file. See This Topic for a detailed description of this process.
3 => EXPORT configuration DATAThis menu item allows you to copy the system configuration data to a regular disk file.
3 => Robots and Device Modules
For details on the features of the following submenu, refer to the AdeptMotion VME Developer's Guide.
*** ROBOTS AND DEVICE MODULES *** 0 => Return to MAIN MENU 1 => LIST current CONFIGURATION of system file 2 => LIST device modules in a device-module FILE 3 => REPLACE device modules in system file 4 => APPEND device modules to system file 5 => SELECT device modules for robots Enter selection and press ENTER:4 => SysIO NVRAM
This menu item displays the following menu:
*** CONTROLLER NVRAM *** 0 => Return to MAIN MENU 1 => DISPLAY NVRAM contents 2 => INITIALIZE the NVRAM 3 => SET IP ADDRESS in the NVRAM Enter selection and press ENTER:The description of these menu items follows:
1 => DISPLAY NVRAM contentsThe controller model, serial number, network IP address, and list of installed options is stored in a special section of nonvolatile RAM (NVRAM). This option displays the contents of the NVRAM.
2 => INITIALIZE the NVRAMThis option initializes the NVRAM in a new SIO module. This needs to be done only when a replacement SIO module has been installed in the controller.
3 => Set IP address in the NVRAMThis option adds or changes the network IP address and IP subnet mask for the controller. See the AdeptNet User's Guide for information about IP addresses and subnet masks.
At each prompt, you can either press ENTER to accept the current setting, or enter the desired new address or subnet mask with periods between the components. Changes to the settings will have no effect if they are not written to the NVRAM.
The first value of an IP address cannot be zero. The second through fourth elements of an IP address can be set to zero. Also, all four elements of the subnet mask can be set to zero.
Detailed Descriptions of Program Operations
1 => V+ Installation
This description of the installation process is divided into two parts: an overview section followed by a detailed description.
Overview
The options under this menu item are used when upgrading a V+ system. These operations carry forward all the custom configuration information from the old system to the new system.
There are three main steps for upgrading to a new V+ system:
1. Save the current robot and encoder configuration data in disk files.
This step is not needed if the old V+ system is not configured to control any robot and does not access external (belt) encoders.
If the old V+ system does control one or more robots, or if it accesses external (belt) encoders, perform steps a and b below.
b. Create a binary configuration data file for each robot and for the external encoders. (These files can be stored on any disk, including a V+ system disk.)
The CONFIG_C version used for this step must be compatible with the old V+ system. You will need the CONFIG_C version for the old V+ system as well as for the new V+ system.
If the old V+ system is version 11.1 edit J, or later, the CONFIG_C utility can be used to create all the robot and encoder configuration data files. The files are stored in the appropriate subdirectory, with the appropriate file names, for access later with CONFIG_C (see step #3).
If the old V+ system is prior to version 11.1 edit J, use the CONFIG_R utility (if the system does not access an external encoder) or the SPEC utility to create these files. A binary (as opposed to ASCII) data file must be created for each device. See the AdeptMotion VME Developer's Guide for a description of the SPEC utility. To take advantage of the automated features available for step #3 of the installation process (see below), the files should be stored on any disk in the subdirectory \CONFIG_C\. Furthermore, the file names should be CFGrr_mm.SPC, where rr is the robot number (00 for the external encoders, 01 for robot #1, etc.), and mm is the corresponding device-module ID (with a leading zero if necessary to make it two characters). (The device-module ID numbers are displayed by the V+ ID monitor command at the ends of the Robot lines.)
2. Copy the new V+ system to the desired output disk drive, install the required device modules, and copy the system configuration data from the old V+ system to the new V+ system.
Perform this step with the Adept MV controller booted from the new V+ system disk and use the edition of CONFIG_C received with the new system. This step is described in detail below.
3. Apply the saved robot and encoder configuration data (see Step #1 above) to the new V+ system disk.
This step is not needed if the old V+ system is not configured to control a robot and it does not access external (belt) encoders.
If the old V+ system does control one or more robots, or if it accesses external encoders, perform steps a and b below.
a. Boot the new V+ system (after Step #2 is done).
b. Load the contents of the robot and encoder configuration data files into memory, and write the data to the new V+ system disk using the new edition of the CONFIG_C utility.
The CONFIG_C program looks for the configuration data files in the subdirectory \CONFIG_C\ with names in the form described above.
The following paragraphs describe these steps in greater detail.
*** INSTALLATION OF V+ SYSTEM *** 1 => SAVE current ROBOT DATAThis menu item can be used only if the old V+ system is version 11.1 edit J, or later.
After the purpose of the menu item is displayed, you can cancel the menu selection.
You are asked which disk drive should receive the data files. If the floppy drive is indicated, you are asked to insert a diskette. All the data files are created automatically. (Each file name is displayed for reference. For example, if an error occurs, the file name should help you to understand the problem.) If the files were written to a diskette, you are advised to write-protect and label the diskette.
CAUTION: Any existing files with the same names are overwritten without warning!
2 => INSTALL a NEW V+ SYSTEMThis option copies the new V+ system to the desired output disk drive and then duplicates the system configuration from the old V+ system on the new V+ system disk.
CONFIG_C automates most of the installation process. As noted above, however, the robot and encoder configuration data must be saved to disk files before the installation process is initiated. After completing this installation step, you must complete the installation process by selecting step #3.
You need the following items to install a new V+ system:
1. An old V+ system (on a diskette or the hard drive).
This is the V+ system that you have been using. The configuration of this system is duplicated in the new V+ system (see below).
2. Configuration data files for all the devices controlled by the old V+ system.
If the old V+ system includes customized data for the robots or external encoders, you must have an up-to-date (binary) configuration data file for each robot and the encoders. (In general, those data files can be created only with the edition of CONFIG_C, CONFIG_R, or SPEC that you received with the old V+ system.)
3. A new V+ system (on a diskette or the hard drive).
This is the V+ system that you want to install. This installation process copies this system to a different disk (if necessary) and configures the system to match the existing (old) V+ system.
4. Blank high-density diskettes (formatted or unformatted).
You need four (4) blank high-density diskettes for:
a. A copy of the old V+ system (if you do not already have one)
b. A copy of the new V+ system before it is configured
c. A working copy of the new V+ system for use during the configuration process (if you choose to build the new system on a diskette instead of on the hard drive)
d. A backup copy of the new V+ system after it is configured
The entire installation process could take up to 45 minutes. Most of that time will be spent making backup copies of your old and new V+ systems; you can stop the process at any time while making these copies.
However, after the process of configuring your new V+ system has begun, do not interrupt the installation process. The system informs you when the uninterruptible portion of the process has been reached, and you can stop at that point.
During installation, answer the following questions about the system disks:
Are you going to install the new V+ system on the hard drive (Y/N)? Is your OLD V+ system currently on the hard drive (Y/N)? Is your NEW V+ system currently on the hard drive (Y/N)?In various situations, the program recommends that you make a backup copy of the old and/or new V+ systems. If you agree, DISKCOPY is invoked to make the copy. (In most situations Adept strongly recommends that you make a backup and you are asked a second time if you want to make the backup.) You should be familiar with the use of the DISKCOPY program to copy a V+ system and to copy a diskette image.
After the appropriate backup disks are made, the program asks you to put one or the other of the system disks in the floppy drive, so configuration information can be read and confirmation can be made that needed files are present on the new system disk.
Next, the actual installation process begins, and it should not be interrupted. The following steps are performed:
1. The new system is copied to the specified output drive.
2. The appropriate device modules are installed in the V+ system file on the output disk.
3. The configuration information from the old system is written to the output disk.
Finally, you are told what steps must be performed to load the robot data from the disk files created in step #1 of the three-step installation process.
3 => APPLY saved ROBOT DATAThis step applies the saved robot and encoder data from the old V+ system to the new V+ system disk.
The system must have been booted from the disk created with step #2 above.
After the purpose of the menu item is displayed, you are given an opportunity to cancel the menu selection.
Next, the robot and external encoder configuration of the current system is displayed, and you are given another chance to cancel the process.
You are asked which disk drive contains the configuration data files. If the floppy drive is indicated, you are asked to insert the diskette.
After confirming that the required files are present you are given one more chance to cancel the process. (If any required file is not found, its file specification is displayed, and the process cannot be continued.)
If you agree to continue, all the data files are read automatically. (Each file name is displayed for reference. For example, if an error occurs, the file name should help you to understand the problem.)
After all the data files are read, you are asked if that data should be written to a V+ system disk. If so, you are told that the system disk must be the one from which the current V+ system was booted. If you indicate that the data should not be written to a V+ system disk, the ramifications are explained and you are asked to confirm your choice.
2 => V+ System Configuration Data
This selection accesses the configuration data on a V+ system disk, not the configuration data currently in system RAM. Note, however, that the target V+ system should be compatible with the edition of CONFIG_C being used.
*** CONTROLLER CONFIGURATION EDITOR MENU *** 1 => DISPLAY system CONFIGURATIONThis option displays the configuration data on a specified V+ system disk.
2 => EDIT system CONFIGURATIONAfter you select this option, the system asks for the drive that holds the operating system you want to change. After a drive is specified and the configuration data is read from the disk, the following submenu is displayed:
0 => DONE editing 1 => Change HEADER configuration 2 => Change VPLUS configuration 3 => Change ANALOG_INPUT configuration 4 => Change ANALOG_OUTPUT configuration 5 => Change DIGITAL_INPUT configuration 6 => Change NETWORK configuration 7 => Change ROBOT configuration 8 => Change SERIAL configuration 9 => Change SERVO_BOARDS configuration 10 => Change SYSTEM configuration 11 => Change TASKS configuration 12 => Change VISION configuration Enter Selection:Choosing a specific section allows you to edit the statements for that part of the system. The statements display as equations. The left-hand side of the equation specifies the item that you are configuring. The right-hand side specifies the attributes that the item can have and the value each attribute is given at system start-up. The general form of each statement is:
ITEM # = "/ATTRIBUTE value /ATTRIBUTE value.../ATTRIBUTE value"Not all items have a number (#). Some items have only a value associated with them and not a list of attributes.
When you select a section, you are shown all the current statements in the section. You are then presented with each statement and given the opportunity to change that statement. You can delete statements or add new statements to the configuration file. In general, the sequence of steps for editing configuration statements is:
1. Select a section from the edit system configuration submenu.
2. The program displays all the statements in the selected section.
3. The program displays statements, one at a time, and asks if you want to edit them. You have three options:
a. If you select n, the next statement is displayed. If this is the last statement in a section, the program asks if you want to add a new statement.
b. If you select y, the program asks if you want to delete the statement. If you respond y to the delete prompt, the statement is removed from the configuration data.
If you respond n to the delete prompt, the first attribute in the statement is displayed along with its current value and its possible values (or range of values). To leave the value unchanged, press ENTER. To change a value, enter the desired value and press ENTER.
After you press enter, the next attribute and its values are displayed. After all attributes have been presented for editing, the revised statement is displayed and you can re-edit if necessary.
c. If you select q (or complete editing the last statement in a section), the program asks if you want to add a new statement to the configuration data. If you respond y, a new statement will be started and you can specify the appropriate attribute values. If you respond n, the editing submenu is redisplayed.
The options for the edit system configuration submenu are described below.
1 => Change HEADER configurationThe statement in this section cannot be changed.
2 => Change VPLUS configurationThis section specifies which processors run a copy of the V+ interpreter. If an auxiliary processor is running only a servo or vision task, removing the V+ interpreter from that processor saves RAM.
NOTE: The V+ Extensions license is required to run V+ on more than one CPU.
The left-hand side of the statement specifies PROCESSOR and a number. Processor numbers are determined by the processor board address switches, not their physical order. See the Adept MV Controller User's Guide for details.
The right-hand side of the statement specifies the V+ system number to assign to the processor. The V+ system number and the processor number must be the same. To remove the V+ interpreter from a processor, delete the statement for that processor.
3 => Change ANALOG_INPUT configurationThe left-hand side of the statement specifies BOARD and a number. Analog I/O board numbers are determined by the analog board address switches, not by physical order. See the Adept MV Controller User's Guide for details.
The analog input channels have two attributes, /TYPE and /MODE. The possible values for /TYPE are bipolar and unipolar. If any of the bipolar I/O. If a positive-only voltage range is hardware selected, the software setup must specify unipolar I/O. For input channels, all the channels on a board must have the same type selection.
The possible values for /MODE are single-ended and differential. Single-ended input uses the returned value of each input channel. Differential input uses the difference between returned values on pairs of input channels. The software setup must match the hardware setup.
4 => Change ANALOG_OUTPUT configurationThe left-hand side of the statement specifies BOARD and a number, and PORT and a number. Analog I/O board numbers are determined by the analog board address switches, not by physical order. Contact Adept Applications for details. On each board, there are four analog channels, numbered 1 to 4. See the description of AIO.OUT in the V+ Language Reference Guide for details on addressing the individual channels.
The analog output channels have one attribute, /TYPE. The possible values for /TYPE are bipolar and unipolar. If any of the selected in the hardware setup, the software setup must specify bipolar I/O. If a positive-only voltage range is hardware selected, the software setup must specify unipolar I/O. For output channels, bipolar or unipolar can be selected for each channel independent of the selections for the other channels.
5 => Change DIGITAL_INPUT configurationThe left-hand side of the statement specifies either POS_LATCH or VIS_TRIGGER and a number. These items can have one attribute, /SIGNAL. The signal number should be set to match the input channel (1001, 1002, 1003, or none) that will be used.
For position latches, the position latch number specified must match the latch number specified with the SERVO_BOARD menu option (see This Topic). See the Adept MV Controller User's Guide for an overview of the Position Latch and Digital Input features. See the LATCH and LATCHED keywords in the V+ Language Reference Guide for details on reading latched encoder positions.
For the vision trigger, the hardware setup of the EVI module must match the vision trigger number specified (see the Adept MV Controller User's Guide). See the V.IO.WAIT keyword in the AdeptVision Reference Guide for details on using the vision trigger.
6 => Change NETWORK configurationThe statements in this section provide configuration information for the AdeptNet option. Refer to the AdeptNet User's Guide for information about these statements.
7 => Change ROBOT configurationThis section specifies which kinematic module is associated with each robot.
The left-hand side of the statement specifies ROBOT and a number. The ROBOT statement has one attribute, /MODULE. The value of /MODULE depends on the kinematic modules installed in your system and robot types connected to the controller. See the AdeptMotion VME Developer's Guide for details on selecting and specifying motion devices.
8 => Change SERIAL configurationThis section specifies the communications protocols and parameters for various serial data communications hardware and software.
The left-hand side of the statements specifies either GLOBAL_PORT (for the global serial lines on the SIO module) or LOCAL_PORT (for the local serial lines available on each processor). The global serial lines can be accessed by all processors. The local serial lines can be accessed only by the processor they are attached to. GLOBAL_PORTs have a number that refers to the serial port number on the SIO front panel (port #4 is the FP/MCP connection). LOCAL_PORTs have a number that corresponds to the processor number, and a number that refers to the serial port number on the processor. The processor number is determined by an address switch on the processor board (see the Adept MV Controller User's Guide).
GLOBAL_PORTs and LOCAL_PORTs have the following attributes: /DRIVER, /SPEED, /BYTE_LENGTH, /PARITY, /STOP_BITS, /FLOW, /FLUSH, /DTR, /MULTIDROP, and /BUFFER_SIZE. See the V+ Language User's Guide for general details on serial I/O. See the documentation on any serial devices you may be using for details on the correct settings. Most serial I/O settings can also be changed at runtime with the FSET monitor command or program instruction.
9 => Change SERVO_BOARDS configurationThis section associates servo interface boards (EJI, MI3, MI6, or VFI) with processor boards. In multiprocessor systems, you may elect to run the servo task for a given servo board on any of the processor boards in the system.
The left-hand side specifies BOARD and a number. The servo interface board numbers are determined by the board address switches, not by physical order. See the Adept MV Controller User's Guide for more details.
The BOARD statement can have two attributes, /PROCESSOR and /POS_LATCH. The /PROCESSOR attribute specifies the processor that runs the servo task for this servo board. The value of /PROCESSOR is a list of processor numbers. The system looks through the list and associates the servo board with the first installed processor that is in the list. For example if the attribute PROCESSOR 3|2|1 is specified, the servo board is associated with processor 3 if it is installed, processor 2 if processor 3 is not installed, or processor 1 if processors 3 and 2 are not installed.
The /POS_LATCH attribute specifies which (if any) high-speed backplane signals each servo board will use for latching robot and encoder positions. The backplane Position Latch signals can be triggered from either the SIO (configured with the DIGITAL_INPUT menu option; see This Topic) or from a vision (EVI) board (configured using the V.STROBE system switch or the ADV_CAL.V2 utility program).
10 => Change SYSTEM configurationThis section specifies the initial default disk and monitor speed, the graphics system defaults (including the pointer device double-click interval), the network buffers, the servo interrupt rate, and the rate at which motion trajectories are planned.
DEFAULT_DISK can be given any valid device, unit, and directory path specification. The default disk can be changed with the DEFAULT monitor command.
DEFAULT_SPEED can be given an integer value from 1 to 100. The monitor speed for motion can be changed with the SPEED monitor command or program instruction.
GRAPHICS can have the attributes /MAX_WINDOWS, /MAX_ICONS, and /DOUBLE_CLICK. /MAX_WINDOWS specifies the maximum number of windows that can be open at one time. /MAX_ICONS specifies the maximum number of icons with different names that can be loaded. /DOUBLE_CLICK specifies the time interval (in milliseconds) for detecting double clicks (as opposed to two single clicks). Two clicks separated by less than this interval are processed as a double click.
The NETWORK statement specifies the number of buffers to be allocated for receiving messages with the DDCMP protocol. If no serial lines are configured to use this protocol, leave the setting at zero. (This statement is not related to the NETWORK section of the configuration data.)
SERVO_RATE can have the values 1KHz or 500Hz. This value must match the servo software, kinematic module, and hardware configuration. Do not change this value unless directed to do so by Adept or the system integrator.
TRAJ_RATE can have the values 62.5 Hz, 125 Hz, 250 Hz, or 500 Hz. Do not change this value unless directed to do so by Adept or the system integrator.
11 => Change TASKS configurationV+ is a multitasking system in which user tasks compete with system tasks for use of the processor. User and system tasks run on a prioritized basis in one or more of 16 one-millisecond time slices. Refer to the V+ Language User's Guide for details on task scheduling.
The left-hand side of the statement specifies USER and a user task number2, and PROCESSOR and a processor number. Processor numbers are determined by the processor board address switches, not by physical order. See the Adept MV Controller User's Guide.
The attribute for USER x PROCESSOR y is a sequence of 16 integers that specifies the user task priority in each of the 1ms time slices. The possible values are:
-1 Do not run in this slice even if no other task is ready to run.
0 Do not run in this slice unless no other task from this slice is ready to run.
1 - 64 Run in this slice according to the specified priority. Higher priority tasks may lock out lower ones. Priorities are broken into the following ranges:
1 - 31 Normal user task priorities.
32-62 Used by V+ device drivers and system tasks.
63-64 Used by the trajectory generator. Do not use 63 or 64 unless you have very short task execution times. Use of these priorities may cause jerks in robot trajectories.
The program asks you for a priority for each time slice.
The priorities of the system tasks cannot be changed.
After the task priorities have been modified (and the V+ system has been rebooted), the PROFILER utility can be used to examine the effects of the changes.
12 => Change VISION configurationThis section associates a vision system with a processor and sets the vision memory allocation and the virtual frame buffer size.
The left-hand side specifies PROCESSOR and a list of one or more processor numbers. The system looks through the list and associates the vision system with the first installed processor that is in the list. For example, if PROCESSOR 3|2|1 is specified, the vision system executes on processor 3 if it is installed, processor 2 if processor 3 is not installed, or processor 1 if processors 3 and 2 are not installed.
The attributes to the vision PROCESSOR statement are:
/ID specifies which vision system should be associated with the indicated processor (can have the value 1 or 2).
NOTE: If there is a statement with /ID 2, it must appear before the statement with /ID 1.
/FRAME_SIZE specifies the size of the virtual frame buffers that the physical frame store is divided into (see the AdeptVision User's Guide).
/TOTAL_KB specifies the total kilobytes of system memory that should be reserved for vision processes. It needs to include all the allocations listed below, 512KB for the vision system, and memory for fonts, prototypes, and miscellaneous requirements (start with at least 200KB for these items).
/AOI_KB specifies the memory allocation for area-of-interest definitions (see the description of VDEF.AOI in the AdeptVision Reference Guide).
/BLOB_KB specifies the memory allocation for blobs (bounded regions).
/BOUND_KB specifies the memory allocation for performing boundary analysis (see the section on boundary analysis in the AdeptVision User's Guide).
/LUT_KB specifies the memory allocation for vision look-up tables (see the description of VDEF.LUT in the AdeptVision Reference Guide).
/OBJECT_KB specifies the memory allocation for object data structures.
/RUN_LENGTH_KB specifies the memory allocation for run-length encoding (see the appendix on vision algorithms in the AdeptVision Reference Guide).
/UNMATCHED_KB specifies the memory allocation for unmatched objects.
/VTRANS_KB specifies the memory allocation for vision transformations (see the description of VDEF.TRANS in the AdeptVision Reference Guide).
See the Appendix titled "Using DEVICE with Vision" in the AdeptVision User's Guide for additional details on setting vision memory allocation.
Use the correct drive and path specification if the file is stored on another drive or subdirectory.
Standard V+ allows 7 user tasks. Systems with the V+ Extensions license are allowed 28 tasks.
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Please submit comments to: techpubs@adept.com |
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WARNING: Before setting the default, be sure that your mechanism can safely and reliably move at the specified speed.
