Loading Device Modules
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CAUTION: Before loading a device module to your Adept SmartMotion system, make sure that you have created a backup copy of the V+ system. For details, see DISKCOPY in the Instructions for Adept Utility Programs documentation. |
Follow this procedure to load device modules for your Adept SmartMotion system. After you have loaded the device modules, the next step is to complete the SmartServo network configuration for all mechanisms in the system.
To learn more about device modules, see Device Module Overview. Refer to the Robot Device Modules documentation for descriptions of the types of mechanisms each module is designed to control. For help identifying the device module, contact your regional support office.
a. At the V+ monitor prompt, type LO d:\util\config_c.v2. Press Enter to load the CONFIG_C program.
b. To run CONFIG_C in task 1, type EX 1 a.config_c . Press Enter to start the program.
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From the CONFIG_C main menu, select the Robots and Device Modules option to display the following menu:
NOTE: For a description of the Robot and Device Module menu options, see CONFIG_C in the Instructions for Adept Utility Programs documentation.
To add a new device module to the system, select APPEND device modules to a system file.
To replace all the current device modules with new modules, select REPLACE device modules in system file.
The following screen is displayed for the append operation (the screen for the replace operation is similar):
To choose the default directory, press Enter.
To see a list of all the disk devices available, type ?. Then, press Enter.
To see a list of device modules stored in all the available device-module files, type ??. Then, press Enter.
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Specify the device-module file (for example: JTS, LM, XYZ) for the desired device module. Then, press Enter.
Type ? to list the files available in the specified file location.
Type ?? to see a list of all device modules stored in the all the available device-module files. The following figure shows an example of the resulting list.
NOTE: All the device-module files in the specified directory are listed on the screen, and any of those device-module files can be loaded into the V+ system. However, before they can be used, some device modules require that the Kinematic Modules software license be installed, and others require the Enhanced Kinematic Modules software license. For more information on a device module, refer to the Robot Device Modulesdocumentation.
After a device module is loaded and assigned to a robot, and the V+ system is rebooted, you can change the name and description (for example, X/Y/Z/Theta Robot Module) using the Edit start-up message menu option in the SPEC utility program.
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Load the device module:
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Type Y to load the module.
The module information is saved to the V+ system file on the V+ system disk.
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To load modules for additional mechanisms, enter Y at the prompt. Enter N to return to the CONFIG_C main menu.
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Assign each device module to the appropriate mechanism.
After you have loaded device modules, a list of the modules in the V+ system is displayed. Then, you are prompted to associate each mechanism with a device module. If a mechanism already has an associated device module, you will be prompted to retain the selection (Y) or change it (N) as illustrated in the following figure.
NOTE: You can edit the device module assignments later by choosing the SELECT device modules for robots option available on the Robot and Device Modules menu.
After you have completed device module selection, the CONFIG_C Robots and Device Modules menu is displayed.
