Last modified on: 9/29/2010
Copyright © 1994 - 2010. Adept Technology, Inc.
Adept SmartMotion Developer's Guide
Robot Initialization Specifications Menu
The Robot Initialization Specifications Menu allows you to configure general robot specifications. These are generic parameters that apply to the entire robot system, not one axis. For many systems, the default values of these parameters will be adequate to operate the mechanism, but for some amplifiers, the power sequence parameters will need to be changed.
This document provides detailed information about the Robot Initialization Specifications menu options available in the SPEC utility program. When you select a menu option, the following information is provided on screen:
Instructions for the specified option
Current value
Value range for the parameter if applicable
For details on a menu option, click the desired link in the following list to view the description:
Time required for clutch to engage (sec)
Time required for brakes to release (sec)
Time required for brakes to engage (sec)
Max time to wait for high power (sec)
Delay from high power on to amp enable (sec)
Max time to wait for amp enable (sec)
Machine signal filter configuration
Manual mode E-STOP shutdown timeout (sec)
Menu Option Descriptions
Edit startup message
The start-up message for each robot is displayed after booting from the system disk. It should be a text string (up to 79 characters long) that describes the mechanism being controlled. The default message is the name of the kinematics module being used (for example, "X/Y/Z/Theta Robot Control Module").
Edit module password
Specifies a password that must be entered before the user is allowed to modify most of the configuration and servo tuning parameters for the currently selected device.
When a password is specified, the SPEC utility program operates in restricted-access mode until the user enters the password. Restricted-access mode allows users to change only certain parameters such as the FINE and COARSE nulling tolerances, hand (gripper) control signal output channel numbers, and user-specified joint limits. The restricted-access mode of SPEC is described separately, in the Instructions for Adept Utility Programs.
Before specifying a password, see Password Protecting Robot Configuration and Tuning Parameters for details.
Calibration File Name
Specifies the V+ calibration program that automatically loads and executes when a CALIBRATE monitor command or program instruction is issued. For most users, the default calibration program, STANDARD.CAL is sufficient for any normal calibration operations as described later in this chapter.
Users with absolute encoders or other custom needs will need a special calibration program, and should contact the Adept Applications department for more help.
See Customizing Calibration for more information on custom calibration.
Robot Model and Serial Number
These parameters assigns a custom robot number and serial number for each robot. These numbers are provided in addition to the controller model and serial number assigned by Adept Technology. All robot model and serial numbers can be read using the ID monitor command and ID real-valued function.
The robot model and serial numbers assigned using this menu option are not used by the Adept software. They are provided to help you track and identify your robots after they have been shipped to your end-user.
Hand OPEN and CLOSE signals
Specifies the digital I/O signals to control grippers/end-effector tooling. Two channel numbers can be defined, one for Open and one for Closed. The default value for both signals is 0 indicating that no gripper/tooling is in use.
The signals are operated in a continuous-duty manner so that spring-return pneumatic valves may be used. The signals may be specified as active high or active low. (For active low, specify a negative channel number.) Any valid digital output signals may be used. The signal can be positive or negative and can reference both hardware output and software signals.
After initialization, the digital output signals can be controlled using:
OPEN and OPENI: turn on the Open signal, and turn off the Close signal
CLOSE and CLOSEI: turn off the Open signal, and turn on the Close signal
the T1 key on the MCP (Manual Control Pendant)
WORLD, TOOL and JOINT modes of the MCP allow the gripper to be opened and closed using T1 and the speed-control potentiometer. In FREE mode, the MCP T1 key relaxes the gripper.NOTE: The Hand signal parameters can also be edited in the restricted-access mode of SPEC, as described in Instructions for Adept Utility Programs.
Power Sequencing Parameters
The power-on/power-off sequence used by the Adept SmartMotion is controlled by the following robot initialization parameters. For details on how these parameters are used, see Power Sequencing.
*Time-out nulling error* limit (sec)
Specifies the time limit (in seconds) for the device to achieve the nulling tolerance defined by the FINE and COARSE nulling parameters specified in the Joint Motion Parameters.
At the completion of a program generated motion, the deviation between the robot's position and the commanded destination is compared against either the FINE or COARSE tolerance limits. If the deviation does not fall within the tolerance range in the time specified by the nulling time-out value, robot power will be disabled and an error will be generated.
Time required for clutch to engage
When the clutch is activated, this parameter specifies the amount of time the clutch has to engage before the high-power sequence continues.
The parameter "Time required for clutch to engage" is only appropriate if you have a clutch that disengages the drive from the motor when a robot joint is in FREE manual control mode. The clutch is operated by the FREE Mode Digital Signal defined in the Joint Motion Parameters Menu.
Time required for brakes to release
After releasing the brakes, this parameter specifies the amount of time that the V+ operating system should wait before performing any motions. Setting a delay prevents the robot from moving when the brakes are still engaged.
Time required for brakes to engage
After turning on the brakes, this parameter specifies the amount of time to wait before disabling the amplifier. Setting this delay provides time for the brakes to engage when the power is disabled.
Max time to wait for high power (sec)
After enabling the servos, this parameter specifies the maximum amount of time V+ should wait before reporting a successful startup.
Delay from high power on to amp enable (sec)
After successfully enabling high power, this parameter specifies the amount of time the V+ operating system will wait before enabling the amplifiers.
Max time to wait for amp enable (sec)
After enabling the amplifiers, this parameter specifies the maximum time the V+ operating system will wait for the servos to report that amp faults are clear and that the amp is enabled.
Machine signal filter configuration
The machine signal filter configuration specifies a time period for which the axis signals must be asserted before the signal is recognized by the servo board. This acts to filter out noise for axis signals. The filter is applied to Overtravel, Home and Drive Fault signals. The following selections are available:
Value Description 0
No time delay
1
0.100 sec
2
0.200 sec
3
0.400 sec
4
0.800 sec
5
1.600 sec 6
3.200 sec
7 6.400 sec
Manual, Auto and Hold-to-run mode E-STOP shutdown timeout (sec)
These parameters specify the time the V+ operating system has to bring the robot to a controlled stop (that is, plan, decelerate, settle and apply the brakes) in MANUAL, AUTO, and HOLD-TO-RUN mode.
Setting this timeout enables V+ to use motor power to decelerate and stop more quickly and with less stress on the drive train than a stop that simply cuts power and applies the brakes.
Timeout value less than or equal to 1:
Allows V+ to manage power after an E-STOP occurs. The maximum timeout you can specify is 1. If you specify a higher value, the hardware overrides the software setting and cuts power to the motors.
Timeout value = 0
Disables the E-STOP timeout parameter which results in motor power being cut instantly when an E-STOP occurs.
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Last modified on: 9/29/2010
Copyright © 1994 - 2010. Adept Technology, Inc.