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V+ 12.4 Release Notes |
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SPEC
Description
Disk File Name
Program Name
Functions
The SPEC program allows customizing robot parameters for a particular application. This description documents the restricted access mode of SPEC seen with Adept robots and password-protected robots. The unrestricted access mode of SPEC is required only for developers of custom robot systems and is documented in the AdeptMotion VME Developer's Guide.
For systems with AdeptModules devices, the SPEC program must be used to specify the configuration of the devices when the system is initially set up. See the AdeptModules Instruction Handbook, Vol. 1, Adept MV Controller Interface, for detailed information about this procedure.
The SPEC utility contains new/enhanced options that have not yet been documented in the AdeptMotion VME Developer's Guide or the AdeptModules Instruction Handbook, Vol. 1, Adept MV Controller Interface. For details on these options, please refer to the sections listed below:
- The ability to create user-defined obstacles in the workcell. See Defining Obstacles.
- The ability to load and save data using NFS. See Loading and Saving SPEC Data Through NFS.
- The ability to use a dedicated home sensor when calibrating an AdeptModules device. See Dedicated Home Sensor for AdeptModules.
- The ability to specify a manual mode envelope error limit, which allows the user to configure a smaller envelope error (that is, how far the motor is allowed to lag behind the commanded position) for motions made with the pendant. See Manual Mode Envelope Error Limit.
- The ability to create a custom point-to-point motion routine that will execute in place of the standard routine in SPEC. See Custom Point-to-Point Motion Routine.
- The ability to specify a unique acceleration and deceleration percentage for the point-to-point move test during motor tuning. See Move Acceleration and Deceleration Percentages.
- Ability to configure the frequency response tests. See Options for the Frequency Response Tests.
- Ability to add a description to SPEC-generated data files. See Adding a Description to a SPEC-generated Data File.
- Support for static friction feedforward compensation. See Static Friction Feed-forward Compensation.
The following robot parameters can be changed with the restricted access mode of SPEC, which applies to all the Adept robots:
- The digital signals that are used to control the robot hand or end-effector
- The positional tolerances to be used at the ends of motions
- The robot (software) joint limits
- The program-controlled motion speed above which accelerations are not to be scaled
Abstract
The V+ system contains internal data structures that describe robot parameters such as those mentioned above. This internal data can be modified whenever the configuration of any of the robot parameters needs to be changed to suit a particular application. This program can be used to make the desired changes to the data.
Requirements
You need the following items to run spec. All of these, except as indicated, were supplied with your robot system.
- Adept robot system (or a non-Adept robot controlled with the AdeptMotion VME option)
- Diskette for storing configuration data file (optional)
- The system must have been booted from the actual system disk that will be modified during the configuration procedure.
Procedure
1. Load the program:1
3. Choose an option from the menu displayed (see below).
4. Follow the prompts provided by the program (see below).
5. You can delete the SPEC program from the system memory with the following commands:
Menu Structure
Exit to system monitor Enter password to increase access2 AdeptModules quick setup3 Change robot options and motor configuration2,4 Perform hardware diagnostics Edit robot specifications Exit to main menu Edit robot initialization specs Exit to robot menu Hand OPEN signal Hand CLOSE signal Edit motor amp/encoder specs3 Exit Change motor number Encoder scale factor (ct/mm or ct/deg) Encoder counts per zero index (ct) Encoder configuration Encoder sign Motor sign Maximum DAC output Maximum DAC output in Manual mode *Duty-cycle exceeded* DAC limit *Duty-cycle exceeded* filter parameter *Motor stalled* timeout (sec) *Manual mode envelope error* limit (cts) *Soft envelope error* limit (cts) *Hard envelope error* limit (cts) Velocity envelope error limit (ct/ms) Machine input polarity Perform hardware diagnostics Edit motor tuning parameters5 Exit Change motor num Proportional gain Proportional zero Proportional pole Integral gain Max integrator value Max integrator step Velocity feedforward Accel feedforward Static friction ffwd DAC output filter S-A: Skew error gain S-A: Max velocity FF Select test Exit Square wave Move between taught points Plant+controller frequency response Plant-only frequency response (Closed-loop excitation) Auto-tune to find feedback gains Auto-tune to refine existing feedback gains Auto-tune to find feedforward gains Test and plot Test and display6 Export results2 STOP Test2 Edit motor calibration parameters1 Exit Change motor number Change homing configuration Speed and direction (ct/msec) `Motor stalled' timeout during cal (msec) Maximum search distance (ct) Maximum home switch width (ct) Distance from home switch to zero index (ct) Motor position at zero index (ct) Calibration groups Park position after calibration (ct) Teach calibration specs Calibrate motor Calibrate rotor Edit joint motion specs Exit Change joint number FINE nulling tolerance (cts) COARSE nulling tolerance (cts) Time required to be in tolerance (sec) Tolerance checking filter pole READY position (mm or deg) Joint speed at SPEED 100 (mm/sec or deg/sec) Joint accel at ACCEL 100 (mm.sec2 or deg/sec2) Min JOINT pendant increment (deg or mm) Max JOINT pendant speed (deg/s or mm/s) FREE mode FREE mode digital signal Velocity servo Minimum lower joint limit (mm or deg) Lower joint limit (mm or deg) Upper joint limit (mm or deg) Maximum upper joint limit (mm or deg) Encoder roll-over value (mm or deg)1 Modular link type1 Joint mechanism ID1 Edit link dimensions7 Edit Cartesian motion specs1 Exit to robot menu Cartesian translation speed at SPEED 100 (mm/sec) 1st Cartesian rotation speed at SPEED 100 (deg/sec) Translation acceleration at ACCEL 100 (mm/sec^2) Accel for 1st rotation at ACCEL 100 (deg/sec^2) Max WORLD/TOOL pendant translation speed (mm/sec) Max WORLD/TOOL pendant rotation speed (deg/sec) Time to reach max WORLD/TOOL pendant speed (sec) Min WORLD/TOOL pendant translation increment (mm) Min WORLD/TOOL pendant rotation increment (deg) Edit general motion specs Exit to robot menu Upper speed limit for SCALE.ACCEL (%) Edit S-Curve trajectory profiles Exit to robot menu Enable and edit a profile Disable a profile Edit motor stop-on-force specs Exit Change motor number Stop-on-force integrator gain Edit collision detection specs Exit to robot menu User specified Cartesian obstacle #1 User specified Cartesian obstacle #2 User specified Cartesian obstacle #3 User specified Cartesian obstacle #4 Load robot specifications from a disk file Save robot specifications to a disk file Save ALL specifications to system disk Change robot number Switch to external encoder specifications8Program Prompts
The SPEC robot configuration utility program displays the following screen (you may notice some differences due to your system configuration):
*** ADEPT ROBOT SPECIFICATION PROGRAM *** (Version 12.4x) Copyright (c) 1988-1998 by Adept Technology, Inc. Servo code version: 12.4B1 Servo rate: 1000 Hz ROBOT 1: Adept SCARA Robot Module. Restricted access mode (formerly CONFIG_R) 0 => Exit to system monitor 1 => Perform hardware diagnostics 2 => Edit robot specifications 3 => Load robot specifications from a disk file 4 => Save robot specifications to a disk file 5 => Save ALL specifications to system disk 6 => Change robot number 7 => Switch to external encoder specifications Enter selection:0 => Exit to System Monitor
Exit the configuration program and return to the V+ system monitor.
1 => Perform hardware diagnostics
This menu item displays the following read-only information for troubleshooting of a robot system. Type Q or 0 (zero) to exit the display. For more information refer to the AdeptMotion VME Developer's Guide.
*** Diagnostics: Robot 1 *** Robot POWER is OFF. Read-only mode access mode. Press P to toggle power, Q or 0 to quit. Motor/Board/Channel 1/B1/C1 2/B1/C2 3/B1/C3 4/B1/C4 Encoder position 65 17 30914 10 Last zero-index -1045 3188 36438 -88 Zero-index delta 2000 8000 7680 0 Home ON OFF OFF OFF Overtravel OFF OFF OFF OFF Amp Fault OFF OFF OFF OFF Amp enable OFF OFF OFF OFF Brake release OFF OFF OFF OFF DAC voltage 0.00 0.00 0.00 0.00 DAC count 0 0 0 02 => Edit robot specifications
The following menu items are displayed at this level:
0 => Exit to main menu 1 => Edit robot initialization specifications 2 => Edit motor tuning parameters (motor 4 only) 3 => Edit joint motion specs 4 => Edit general motion specs 5 => Edit collision detection specsThese menu item selections allow you to perform the following:
- Change the default gripper OPEN and CLOSE signals
- Change tuning parameters on motor 4 of certain Adept robots. See the AdeptMotion VME Developer's Guide for details on motor tuning.
- Change the joint limits and COARSE and FINE nulling tolerance for each joint
- Change the percentage speed above which the SCALE.ACCEL switch has no effect
- Edit the servo mechanism ID (available only when the selected robot is an AdeptModules device)
- Edit the V+ deceleration parameter (this parameter is displayed only if robot option word bit 12 is declared to enable this feature)
- Edit collision detection, including Cartesian obstacles and clearance distances. See Defining Obstacles for details.
3 => Load robot specifications from a disk file
Use this menu item to load robot configuration data from a disk file created with the next menu item.
4 => Save robot specifications to a disk file
After you have changed the robot configuration data, you can store the new data in a disk data file. The data in the file can be used later to apply your specific robot configuration data to another V+ system disk.
You can save specifications as a readable ASCII text file or as an encrypted binary file. Only the editable data are included in the ASCII file; binary files contain both editable and hidden data that completely specify the device. ASCII files are adequate in many cases, since you ordinarily want to save only those specifications that you have edited. ASCII files are also adequate for any non-Adept device that is not password-protected, since there are no hidden specifications in such devices. Binary file format is typically used on password-protected robots to save the complete description of the mechanism.
If your Adept system controls more than one robot, these menu choices access the data for the specific robot you chose in the main menu.
5 => Save ALL specifications to system disk
After you have changed the configuration data for any of the items, you should store the new data on the V+ system disk. This menu item causes all the current configuration data to be written to the V+ system disk. If the changed data is not stored on the system disk, the previous configuration data will be used the next time the robot system is turned on and booted from disk.
6 => Change robot number
If your system has multiple robots, selecting this item allows you to access data for another robot.
7 => Switch to external encoder specifications
If your system supports external encoders for conveyor tracking, you can select this item to edit the encoder parameters. See the AdeptMotion VME Developer's Guide for more information.
Descriptions of Some Program Operations
The items described below can be edited after selecting "Edit robot specifications" in the main program menu. After changing any of these items, the data should be written to the V+ system disk so it will be used the next time the controller is turned on.
Edit robot initialization specs Hand OPEN signal Hand CLOSE signalThe numbers of the digital signals accessed by V+ for controlling the end-effector are stored on the V+ system disk. These menu items permit you to change these specifications if your application requires special signals to control the robot gripper.
The default settings for the gripper signals are listed in the user's guide for the robot. These can be changed to any of the robot I/O signals (3001 to 3008), digital output signals (numbered 1 to 8 and 33 to 512), and internal software signals (2001 to 2512). Setting a negative signal number indicates that the gripper will be activated when the signal is deasserted.
Edit joint motion specs FINE nulling tolerance (cts) COARSE nulling tolerance (cts)Choose these items to change the positioning tolerances used at the end of any motion that requires nulling.
Edit joint motion specs Lower joint limit (mm or deg) Upper joint limit (mm or deg)The motion limits for the individual robot joints can be changed from their standard settings to prevent the robot from moving into undesired regions.
Edit general motion specs Upper speed limit for SCALE.ACCEL (%)This defines the maximum program speed setting for which the SCALE.ACCEL switch has an effect. The SCALE.ACCEL or speed-scaling feature provides automatic reduction of accelerations at speed settings below this value, thus eliminating the problem of short, rapid accelerations at low program speeds. For more information on speed scaling and the SCALE.ACCEL switch, see the description of SCALE.ACCEL [robot_num] on page 82.
Edit collision detection specs User defined Cartesian obstacle #NThese menu items can be used to define parameters used to avoid collisions with static obstacles in the workspace. (See Collision Detection and Defining Obstacles for details.) During operation of the workcell, the paths of the robot tool tip and tool-mounting flange are automatically tested to ensure they will not collide with these objects under the following circumstances: when the robot is being moved in JOINT, WORLD, or TOOL manual control mode; when the destination of each motion is being planned; and while straight-line motions are being performed.
Each obstacle is defined by its shape, location, and size. The shape of an obstacle can be a box, a cylinder, or a sphere. The location of each obstacle is defined with respect to the base reference frame of the robot when its BASE transformation is null.
Special Considerations
The configuration program defines many real-valued and string variables with the prefix sp. that must not be modified by the user or by other programs.
The disk file SPEC.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.
Defining Obstacles
User-defined obstacles are specified using the SPEC utility. To specify a user-defined obstacle:
1. Load and execute the SPEC utility. See the Instructions for Adept Utility Programs for details.
2. From the main menu, choose the following menu options to access the Collision Detection Specifications menu.
Edit robot specifications ` Edit collision detection specsThe screen shown in Collision Detection Specifications Menu is displayed.
Figure 4-1. Collision Detection Specifications Menu3. Choose one of the user-defined options. The screen shown in User-Defined Obstacle Instruction Screen is displayed.
Figure 4-2. User-Defined Obstacle Instruction Screen4. Enter the desired value for the object shape, position, and size. If option 0 (none) is selected, the system displays the menu shown in Collision Detection Specifications Menu. The list of shape parameters may vary depending on the type of object selected (box, cylinder, or sphere).
Sample Collision Detection Options for Box Shape shows an example of a completed screen.
Figure 4-3. Sample Collision Detection Options for Box ShapeThe location of each obstacle is defined with respect to the base reference frame of the robot when its BASE transformation is null.
5. You can repeat the previous steps for up to four objects in the robot workcell.
6. Save the modified SPEC data. See the Instructions for Adept Utility Programs for details.
Loading and Saving SPEC Data Through NFS
The SPEC program contains features that allow you to load and save SPEC data using NFS to access a remote storage device (floppy drive, hard disk, removable disk, etc.).
Loading a SPEC Data File Through NFS
1. Load and execute the SPEC utility. See the Instructions for Adept Utility Programs for details.
2. Select Load robot specifications from a disk file from the main menu. An instruction screen is displayed and you are prompted for the unit name, path, and name of the file:
Figure 4-4. Loading SPEC Data Through NFS3. Type the unit name, path, and name of the file and then press the ENTER key to accept, or simply press the ENTER key to cancel the option and return to the main menu.
For example, in Loading SPEC Data Through NFS the NFS-mounted unit name is "TEMPFILES". So, if we assume that there is a directory on that unit called "SPEC_DAT" and a data file in that directory called "SPEC.SPC", the correct file specification would be:
NFS>TEMPFILES:\SPEC_DAT\SPECSaving SPEC Data Through NFS
1. Load and execute the SPEC utility. See the Instructions for Adept Utility Programs for details.
2. Select Save robot specifications to a disk file from the main menu. You are prompted for the file type and data format:
Figure 4-5. Saving SPEC File-File Type and Data Format Prompts3. After selecting the file type and data format, an instruction screen is displayed and you are prompted for the unit name, path, and name of the file:
Figure 4-6. Saving SPEC Data Through NFS4. Type the unit name, path, and name of the file and then press the ENTER key to accept, or simply press the ENTER key to cancel the option and return to the main menu.
For example, in Saving SPEC Data Through NFS the NFS-mounted unit name is "TEMPFILES". So, if we assume that there is a directory on that unit called "SPEC_DAT" and we wish to save our SPEC data file in that directory using the name "SPEC.SPC", the correct file specification would be:
NFS>TEMPFILES:\SPEC_DAT\SPECDedicated Home Sensor for AdeptModules
The SPEC program contains an option that allows users with AdeptModules running on an Adept MV Controller to change the homing configuration so that SPEC searches for a dedicated home sensor during the calibration procedure. Previously, the AdeptModules calibrated only to an overtravel sensor.
1. Load and execute the SPEC utility. See the Instructions for Adept Utility Programs for details.
2. From the main menu, choose the following menu options to access the
Edit robot specifications ` Edit motor calibration parameters
The Robot/Motor Calibration menu is displayed.
Figure 4-7. The Robot/Motor Calibration Menu3. Select Change homing configuration from the menu. A submenu is displayed followed by a series of questions:
Figure 4-8. Change Homing Configuration Submenu4. To use a home sensor mounted on your AdeptModules axis for calibration, select Search for home sensor from the submenu and press ENTER. To cancel the option, simply press ENTER. After selecting the option, you are asked to disable (or enable) the "calibrate to zero index":
Figure 4-9. Disable/Enable the Calibrate to Zero Index5. To toggle the setting for how the motor calibrates to a zero index, press Y and then press ENTER. To use the current setting, press N and then press ENTER, or simply press ENTER to accept the default value (N). After answering this question, you are asked to enable (or disable) the "fine search toward home" switch:
Figure 4-10. Enable/Disable the Fine Search Toward Home Switch6. To toggle the setting for fine search toward home, press Y and then press ENTER. To use the current setting, press N and then press ENTER, or simply press ENTER to accept the default value (N). After you answer this question, the screen is first cleared and then the Robot/Motor Calibration menu is displayed.
Manual Mode Envelope Error Limit
The SPEC program contains an option that allows you to specify a manual mode envelope error limit. This option allows the user to configure a smaller envelope error (that is, how far the motor is allowed to lag behind the commanded position) for motions made with the pendant. If a small value is specified for this parameter and the user then drives the robot into an unmovable object using the pendant, the system would halt robot motion faster. This parameter is related to Soft Envelope Error and Hard Envelope Error. The term below describes this relationship:
Man Env Err <= Soft Env Err <= Hard Env Err
1. Load and execute the SPEC utility. See the Instructions for Adept Utility Programs for details.
2. From the main menu, choose the following menu options to access the
Edit robot specifications ` Edit motor amp/encoder specs
The Robot/Motor Amplifier and Encoder Specifications menu is displayed.
Figure 4-11. The Robot/Motor Amplifier and
Encoder Specifications Menu3. Select *Manual mode envelope error* limit from the menu and press ENTER. You are prompted for the allowable manual mode position error count:
Figure 4-12. Setting the Manual Mode Position Error Count4. Type the new value and press ENTER to accept, or simply press ENTER to cancel the option.
Point-to-Point Motion Routine and Move Accel/Decel
The SPEC program contains options that allow you to specify a custom point-to-point motion routine and to configure both the move acceleration and deceleration percentages for motor tuning tests. To access these options:
1. Load and execute the SPEC utility. See the Instructions for Adept Utility Programs for details.
2. From the main menu, choose the following menu options to access the Motor Tuning Test Configuration menu:
Edit robot specifications ` Edit motor tuning parameters `
Select test ` Move between taught pointsNOTE: The options shown on this menu change depending on what test type is selected.
Figure 4-13. The Motor Tuning Test Configuration Menu
(Move Between Taught Points Selected)Custom Point-to-Point Motion Routine
This feature allows a user to write a custom point-to-point motion routine that will execute in place of the standard routine in SPEC. (The standard routine is protected and cannot be edited.) Previously, if the user wanted to do something special with the robot and analyze data collected during the move, he would have to create a program with the same name as the standard routine in SPEC (sp.tu.mov.test) and then make sure that routine was loaded before loading and executing SPEC. Now, the user can write a program, give it any name, and then specify the name in the SPEC menu. At that point, SPEC will verify that the custom routine exists (in RAM) and is executable. At execution time, SPEC will call the custom program instead of the standard routine.
1. From the Motor Tuning Test Configuration menu, select Pt-to-Pt motion routine. You are prompted for the name of the new routine:
Figure 4-14. Specifying the Custom Point-to-Point Routine2. Type the name of the custom routine and press ENTER, or simply press ENTER to cancel the option and return to the Motor Tuning Test Configuration menu.
3. When using a custom motion routine, please note:
routine (plot, ctl[ ], $err)See the section "Program Listing for sp.tu.mov.test( )" for a description and listing of the standard motion routine supplied with SPEC.
Move Acceleration and Deceleration Percentages
This feature allows the user to specify a unique acceleration AND deceleration percentage for the point-to-point move test during motor tuning. This can be useful for high-inertia robots that require different acceleration and deceleration values.
1. From the Motor Tuning Test Configuration menu, select either Move acceleration (for setting the acceleration percentage) or Move deceleration (for setting the deceleration percentage). You are prompted for the new value:
Figure 4-15. Setting the Move Deceleration/Acceleration Percentage2. Type the desired value and press ENTER to accept it, or simply press ENTER to cancel the option and return to the Motor Tuning Test Configuration menu.
Program Listing for sp.tu.mov.test( )
The program listing for the routine sp.tu.mov.test( ) is being provided to show developers how the standard routine works. This will allow developers to create their own custom motion routines that use SPEC to collect the motion data.
.PROGRAM sp.tu.mov.test(plot, ctl[], $err) ; ABSTRACT: Performs programmed motion for taught-point tuning test. ; Assumes points #sp.tu.pt[0] and #sp.tu.pt[1] have been defined. ; These variables contain the two points taught for the point- ; to-point test. ; ; This is the standard point-to-point motion program. Custom ; motion programs can be used to perform special moves for ; servo tuning analysis. Any custom program MUST have the ; same calling sequence as this program. ; ; In order to take advantage of the data collection and plotting ; features of the SPEC program, note the CALLs to the following ; programs in the code below: ; ; CALL sp.tu.config(time) ;Specfies the amount of data ; ;collection time in seconds. ; CALL bf.enable(mode, sync) ;Enables data collection buffer. ; The values for "mode" and "sync" are detailed below: ; mode 0 (default): Stop data collection ; 1: Trigger re-enabled after collection ; 2: Single sweep ; sync Trigger synchronization ; 0 (default): Trigger now ; 1: Trigger to internal trajectory generator ; ; CALL sp.tu.plot(time, $err) ;Plots the results. Note the ; ;"time" argument is internally ; ;calculated. ; ; CALL sp.tu.dump(lun) ;Dumps data to the specified ; ;Logical Unit Number (lun). ; ;LUN = 4 is the terminal or ; ;MONITOR window. ; ; The data collected will be that configured in the data-collection ; menu. ; ; INPUT PARM: plot Flag indicating whether to plot results ; ctl[] Array of test control values. Relevant values ; for point-to-point motion test are: ; ctl[sp.tu.move.spd] = Move speed (% motor max) ; ctl[sp.tu.move.acc] = Acceleration (1-100) ; ctl[sp.tu.move.dec] = Deceleration (1-100) ; ctl[sp.tu.move.prf] = Accel profile ; ; OUTPUT PARM: $err Error string. If non-empty, then an error ; occurred that will be reported to the user. ; ; SIDE EFFECTS: None ; ; Copyright (c) 1994-1998 by Adept Technology, Inc. AUTO DOUBLE time CALL sp.tu.config(10) ;Configure 10 sec of data collection ; Set up default speed and acceleration SPEED ctl[sp.tu.move.spd] ALWAYS ACCEL (ctl[sp.tu.move.prf]) ctl[sp.tu.move.acc], ctl[sp.tu.move.dec] ; Move to 1st point a little slower than the test motions if the test ; motion speed is greater than or equal to 50%. IF ctl[sp.tu.move.spd] >= 50 THEN SPEED ctl[sp.tu.move.spd]/2 ;Move at 1/2 speed END COARSE ;Don't bother to settle accurately MOVE #sp.tu.pt[0] ;Move to Start point DELAY 0.2 ;Allow some time for settling BREAK ;Complete settling time FINE ;Perform motion accurately MOVE #sp.tu.pt[1] ;Initiate motion WAIT ;Allow motion to start time = TIMER(-3) ;Reset cycle timer CALL bf.enable(1) ;Enable buffer: wrap-around, start now BREAK ;Complete motion MOVE #sp.tu.pt[0] ;Return to start position BREAK ;Complete motion time = TIMER(-3)-time ;Record cycle time WAIT.EVENT , 0.25 ;Collect for a while longer CALL bf.enable() ;Turn off buffer IF plot THEN CALL sp.tu.plot(time, $err) ;Plot results ELSE CALL sp.tu.dump(4) ;Dump data buffer to monitor END RETURN .ENDOptions for the Frequency Response Tests
The SPEC program contains options for the frequency response tests that allow you to specify the number of frequency bands to test, the start amplitude, and the stop amplitude. To access these options:
1. Load and execute the SPEC utility. See the Instructions for Adept Utility Programs for details.
2. From the main menu, choose the following menu options to access the Motor Tuning Test Configuration menu:
Edit robot specifications ` Edit motor tuning parameters `
Select test...The Motor Tuning Test Configuration menu is displayed.
NOTE: The options shown on this menu change depending on what test type is selected.
Figure 4-16. Motor Tuning Test Configuration Menu
(Frequency Response Test Selected)3. To access the frequency response tests, select one of the following menu options:
You can make adjustments to the settings for the frequency response items shown in Frequency Response Test Menu Items
Adding a Description to a SPEC-generated Data File
Whenever a SPEC-generated data file is saved, you have the option of entering a description of the file contents. When saving a data file, you will receive a prompt similar to the following:
Figure 4-17. Adding a Description to a SPEC Data FileTo add a description to a file type Y, then ENTER, and then type the message at the ">" prompts. You can add additional lines (or blank lines) by pressing ENTER at the end of each line. To end the message, type a period character (.) by itself on the last line and then press the ENTER key. The message is automatically included in the data file.
Static Friction Feed-forward Compensation
SPEC includes parameters for setting up a motion-control feature called Static Friction Feed-forward Compensation. This feature is designed to minimize tracking errors by providing a corrective torque proportional to the amount of friction in the system. This allows a motion to start more quickly, particularly in the case of a sticky drive train.
1. Load and execute the SPEC utility. See the Instructions for Adept Utility Programs for details.
2. From the main menu, choose the following menu options to access the Motor Tuning Test Configuration menu:
Edit robot specifications ` Edit motor tuning parameters `
Static friction ffwd...The Static Friction Feed-forward menu is displayed.
Figure 4-18. Static Friction Feedforward MenuYou can make adjustments to the settings for the static friction feed-forward items shown in Static Friction Feedforward Menu Items
Use the correct drive and path specification if the file is stored on another drive or subdirectory.
Password-protected robots only
Only for systems with AdeptModules devices
Display of this menu item and options depends on the type of device connected to system and/or user access level
Display of this menu item and options depends on the type of device connected to system and/or user access level
Display of this menu item depends on the test selected using the "Select test" menu item.
Display of this menu item and options depends on the type of device connected to system and/or user access level
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CAUTION: Before you modify a V+ system disk, you should make a copy of the system (with the DISKCOPY utility program). 