Device Modules Overview
A device module contains the software and data that are installed on the system disk to enable the V+ system to understand the geometry and specifications of a particular type of mechanism. For example, the X/Y/Z/Theta device module contains the software and data used to control an XY table with vertical and roll axes.
For each type of device module, Adept has developed a document describing the information that is required by the device module. This document provides information required when configuring and tuning the robots and motors for use with Adept SmartMotion. For details, see Robot Device Module documentation. The documentation also includes the Adept license requirements for each module.
The device module required for your system must be loaded using the configuration utility program (CONFIG_C.V2) which copies device modules into a system disk to make them available for use. You will need one device module for each mechanism controlled by your system. Groups of one or more device modules are stored in disk files, and must be copied as a group.
NOTE: The CONFIG_C program modifies a system disk. Before making changes to your current V+ system, you should make a backup copy of the system (by using NFS to copy the system files to another computer, for example). For details, see DISKCOPY in the Instructions for Adept Utility Programs documentation.
The Process for Loading Device Modules to a System File figure below illustrates the process of loading device modules using the CONFIG_C utility program. In this example, we assume the user wants three robots, two using device module A (for example, an X/Y/Z/Theta module) and one using device module B (for example, a SCARA robot module). Using the replace operation for the first copy of module A, and the append operation for the second copy of module A and for module B, module A is copied twice to the boot disk, and module B is copied once. The robot selection procedure allows the desired modules to be assigned to the robots and any undesired modules to be ignored. (The only disadvantage of having unused device modules in a V+ system is the amount of system memory occupied by the unused modules.)
Process for Loading Device Modules to a System File
Using Device Modules
The steps below describe the process to use device modules with your Adept SmartMotion system.
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Identify the device module for each mechanism to be controlled by the AdeptMotion system.
Refer to the documentation for descriptions of the types of mechanisms each module is designed to control. You can also contact your regional support office if you need help identifying the device module for your mechanism.
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Load each device module and assign the modules to robots using the CONFIG_C utility program.
The CONFIG_C program automatically prompts you to assign the modules after they are loaded. However, you can also view and edit the assignments at any time using the SELECT device modules for robots option available on the Robot and Device Modules menu in the CONFIG_C program.
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After loading all device modules, reboot the V+ system, and then use the SPEC program to configure the robots and motors for the Adept SmartServo network, customize robot specifications, tune the robots and motors, and test the system performance.
