SAFE_UTL

Description

Test program for the Adept robot Manual Mode Safety Package (MMSP) option.

Disk File Name

SAFE_UTL.V2

Program Name

a.safe_utl

Function

Tests components of the Manual Mode Safety Package (MMSP) and sets a software flag to mark the robot as "commissioned" if all the tests pass.

Requirements

The items listed below are needed to run the SAFE_UTL program.

• Adept system controller
• Adept robot with the MMSP (Cat 1 or Cat 3) option
• V+ system version 11.3 or later

Procedure

Detailed procedures for running SAFE_UTL for a particular robot are given in the instruction handbook for that robot (e.g., the AdeptThree-XL Robot Instruction Handbook details commissioning an AdeptThree-XL Robot).

1. Load the program:1

load \util\safe_utl

2. Execute the program in task #1 (or higher):

execute 1 a.safe_utl

The following menu is displayed:

*** Adept MMSP Test Program (Version 12.4X) ***

Robot 1: xxx-xxxx

Language Selection

0 => Exit
1 => English
2 => Deutsch
3 => Italiano
4 => Francais

Enter Selection:

After a language selection is made, the following is displayed (in the selected language):

WARNING: The current robot will be marked as "not commissioned", and will be marked as "commissioned" only after passing "all tests". 
Do you want to continue (Y/N)?
 

If the system has previously been "commissioned", responding Y marks the system as "not commissioned". The robot cannot be operated in manual mode until all tests are completed and passed.

If the response is N, the system is left unchanged and the program halts.

3. The program displays the following menu and prompts the user to select an option:

*** Adept MMSP Test Program (Version 12.4X) ***	 
Copyright (c) 1997-1998 by Adept Technology, Inc.
Robot 1: xxx-xxxx   *Not Commissioned* 
0 => EXIT
1 => All Tests
2 => Accelerometer 
3 => B+ Amp Voltage Restrict
4 => VFP Switches and Buttons
5 => MCP E-STOP Functions
6 => Brake Holding Force 
Enter Selection: 

4. See the robot instruction handbook for your system for details on running the specific tests.

5. To exit the program, choose EXIT in the program menu.

6. The program can be deleted from system memory with the following commands:

kill 1
delete a.safe_utl

Special Considerations

The SAFE_UTL program defines many real-valued and string global variables with the prefix ca., opt., ts., and tt. that must not be modified by the user or by other programs. (All these variables are deleted from memory when the program exits normally or when a DELETE command is used to delete the program from memory, as described earlier.)

The disk file SAFE_UTL.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 DISKCOPY utility program. The DISKCOPY program can be used to make a backup copy of the entire distribution diskette.

The following table indicates when support for various robot models was added to the program. The indicated program version, or later, must be used with each robot model listed.

Robot Model	Support Added in Program Version:
AdeptThree-XL	12.1A
Adept 550 models 558 and 559	12.1B
Adept Cobra 600	12.2A
AdeptOne-XL	12.2A

1

Use the correct drive and path specification if the file is stored on another drive or subdirectory.