SPEC Program Overview

SPEC Program Overview

The SPEC utility program is used to configure the robots and devices for the Adept SmartServo network and to create the control specification for each device. The SPEC program provides a guided process for the Adept SmartServo network configuration and other menu options that allow the user to interactively edit the parameter values (see System Parameter Categories) that comprise the full control specification. In addition, this utility program provides facilities for saving the specification information on the system boot disk, teaching servo control and calibration parameters, and saving/restoring the specification information into/from a disk file.

System Parameter Categories

The SPEC program allows you to input data for the following types of system parameters:

Parameter Type Description

Robot Options and
Motor Configuration
These parameters, including the number of motors a robot has and the SmartServo network channel numbers assigned to each motor, must be set correctly before any other parameters can be defined. The SPEC program provides a guided process for SmartServo network configuration. For details, see Robot Options and Motor Configuration.

Robot Initialization Robot parameters apply to the mechanism as a whole, and refer to such items as the robot model and serial numbers. There is only one robot parameter of each type for the entire robot. For details on these parameters, see Robot Initialization Parameters.

Robot Specifications
These parameters must be specified for each motor of the robot. There are at least as many motor parameters of each type as there are joints in the robot. For an overview describing these parameters, see Adept SmartMotion Introduction to Servo Parameters. For an overview of the menus and parameters available, see the Robot Specifications Menu.

WARNING: To configure the system software properly, it is important that the functions of all configurable parameters are understood. These parameters have a major impact on the performance and operation of the system. This information is provided in the Adept SmartMotion Control System Overview documentation. Additional information on parameters is provided in the menu documentation.

Before using the SPEC program

Review the glossary for a definition of terms used in the Adept SmartMotion documentation.

Users should have a working knowledge of the V+ language and operating system. (See the V+ Documentation menu to review the available V+ documentation).

Load the device modules for the Adept SmartMotion system.

Review the SPEC Program Quick Reference and Main Menu documentation and learn how to manage the SPEC data

What do you want to do?

Review the SPEC Program Quick Reference

Review the SPEC Program Main Menu

Learn to manage SPEC data

Load the SPEC program

Parameter Type	Description
Robot Options and Motor Configuration	These parameters, including the number of motors a robot has and the SmartServo network channel numbers assigned to each motor, must be set correctly before any other parameters can be defined. The SPEC program provides a guided process for SmartServo network configuration. For details, see Robot Options and Motor Configuration.
Robot Initialization	Robot parameters apply to the mechanism as a whole, and refer to such items as the robot model and serial numbers. There is only one robot parameter of each type for the entire robot. For details on these parameters, see Robot Initialization Parameters.
Robot Specifications	These parameters must be specified for each motor of the robot. There are at least as many motor parameters of each type as there are joints in the robot. For an overview describing these parameters, see Adept SmartMotion Introduction to Servo Parameters. For an overview of the menus and parameters available, see the Robot Specifications Menu.