Instructions for Adept Utility Programs 

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CONFIG_C, V+ System Configuration Data

File Name Program Name File Type Description

CONFIG_C.V2

a.config_c

B

Controller configuration utility

This topic accesses the configuration data on a V+ system disk, not the configuration data currently in system memory.

NOTE: The target V+ system should be compatible with the edition of CONFIG_C being used.

DISPLAY system CONFIGURATION

This option displays the configuration data on a specified V+ system disk.

EDIT system CONFIGURATION

NOTE: The configuration editor does not check to see whether your changes are consistent with system requirements. If the V+ system fails to boot after the configuration has been changed, you must boot from a different V+ system disk and then use CONFIG_C to correct the configuration data problem(s) on the inoperable system disk.

After you select this option, the system asks for the drive that holds the operating system you want to change. After a drive is specified and the configuration data is read from the disk, the following submenu is displayed:

 

Configuration Editor

Choosing a specific section allows you to edit the statements for that part of the system. The statements are displayed as equations. The left-hand side of the equation specifies the item that you are configuring. The right-hand side specifies the attributes that the item can have and the value each attribute is given at system startup. The general form of each statement is:

                
    ITEM # = "/ATTRIBUTE value /ATTRIBUTE value.../ATTRIBUTE value"

However, not all items have a number (#). Also, some items have only a value associated with them and not a list of attributes.

When you select a section, you are shown all the current statements in the section. You are then presented with each statement and given the opportunity to change that statement. You can delete statements or add new statements to the configuration file. In general, the sequence of steps for editing configuration statements is:

  1. Select a section from the edit system configuration submenu.

  2. The program displays all the statements in the selected section.

  3. The program displays statements one at a time, and asks if you want to edit each one. You have three options:

    • If you enter N, the next statement is displayed. If this is the last statement in a section, the program asks if you want to add a new statement.

    • If you enter Y, the program asks if you want to delete the statement.

      • If you respond Y to the delete prompt, the statement is removed from the configuration data.

      • If you respond N to the delete prompt, the first attribute in the statement is displayed along with its current value and its possible values (or range of values).

        • To leave the value unchanged, press ENTER. To change a value, enter the desired value and press ENTER.
        After you press ENTER, the next attribute and its values are displayed. After all attributes have been presented for editing, the revised statement is displayed and you can reedit if necessary.

    • If you select Q (or complete editing the last statement in a section), the program asks if you want to add a new statement to the configuration data. If you respond Y, a new statement is started and you can specify the appropriate attribute values. If you respond N, the editing submenu is redisplayed.

CAUTION: You must save the modified configuration data on the system disk if you want the changes to be retained.

The options for the edit system configuration submenu are described below.

NOTE: There are often configuration statements for options that are not present in the controller. Such statements are ignored by V+ and do not need to be deleted.

Change HEADER configuration

The statement in this section cannot be changed.

Change VPLUS configuration

This section specifies which processors run a copy of the V+ interpreter. If an auxiliary processor is running only a servo or vision task, removing the V+ interpreter from that processor saves RAM.

NOTE: The V+ Extensions license is required to run V+ on more than one CPU.

The left-hand side of each statement specifies PROCESSOR and a number. Processor numbers are determined by the processor board address switches, not by their physical order in the backplane. See the Adept SmartController User's Guide for details.

The right-hand side of the statement specifies the V+ system number to assign to the processor. The V+ system number and the processor number must be the same. To remove the V+ interpreter from a processor, delete the statement for that processor.

Change ANALOG_INPUT configuration

The left-hand side of each statement specifies BOARD and a number. Analog I/O board numbers are determined by the analog board address switches, not by physical order in the backplane. See the Adept SmartController User's Guide for details.

The analog input channels have two attributes, /TYPE and /MODE. The possible values for /TYPE are BIPOLAR and UNIPOLAR. If any of the ± voltage ranges (±5 V, ±10 V, etc.) are selected in the hardware setup, the software setup must specify BIPOLAR I/O. If a positive-only voltage range is hardware selected, the software setup must specify UNIPOLAR I/O. For input channels, all the channels on a board must have the same type selection.

The possible values for /MODE are single-ended and differential. Single-ended input uses the returned value of each input channel. Differential input uses the difference between returned values on pairs of input channels. The software setup must match the hardware setup.

Change ANALOG_OUTPUT configuration

The left-hand side of each statement specifies BOARD and a number, and PORT and a number. Analog I/O board numbers are determined by the analog board address switches, not by physical order in the backplane. Contact Adept Applications for details. On each board, there are four analog channels, numbered 1 to 4. See AIO.OUT for details on addressing the individual channels.

The analog output channels have one attribute, /TYPE. The possible values for /TYPE are BIPOLAR and UNIPOLAR. If any of the ± voltage ranges (±5 V, ±10 V, etc.) are selected in the hardware setup, the software setup must specify BIPOLAR I/O. If a positive-only voltage range is hardware selected, the software setup must specify UNIPOLAR I/O. For output channels, BIPOLAR or UNIPOLAR can be selected for each channel independent of the selections for the other channels.

Change DIGITAL_INPUT configuration

The digital input configuration can contain 3 types of statements, POS_LATCH, VIS_TRIGGER, and SIGNAL.

POS_LATCH and VIS_TRIGGER statements

The POS_LATCH and VIS_TRIGGER statements define the V+ input signals that will be associated with latch/trigger number 1 or 2. These statements can have the following attribute:

/SIGNAL n

where 'n' is a standard V+ input signal number for the first signal in a byte. It must be set to match the input channel (1001, 1002, 1003, 1004, or NONE) that will be used.

For POS_LATCH statements, the position latch number specified must match the latch number specified with the ROBOT menu option (see Change ROBOT configuration). For additional details, see Position Latch and Vision Trigger. See LATCH for details on reading latched encoder positions.

For VIS_TRIGGER statements, the hardware setup of the EVI module must match the vision trigger number specified. See the V.IO.WAIT keyword for details on using the vision trigger.

SIGNAL statement

SIGNAL statements associate eight external 1394-based hardware signals with eight V+ input signals. The number on the left-hand side of the statement identifies the first V+ signal in the group. It must be 1001, 1009, ..., 1505 -- that is, 1001 plus Nx8, where N is 0, 1, 2, ..., 63. The /INPUT BLOCK, /INPUT BYTE, and IO_OPTIONAL attributes are specified on the right-hand side of the /SIGNAL statement:

Change DIGITAL_OUTPUT configuration

SIGNAL statements in this section associate external 1394-based hardware signals with V+ output signals. Each statement associates eight hardware signals with eight V+ output signals. The number on the left-hand side of the statement identifies the first V+ output signal in the group. It must be 1, 9, ..., 505 -- that is, 1 plus Nx8, where N is 0, 1, 2, ..., 63. The /INPUT BLOCK, /INPUT BYTE, and IO_OPTIONAL attributes are specified on the right-hand side of the /SIGNAL statement to identify the hardware signals to be accessed.

Change DEVICENET configuration

The statements in this section provide configuration for digital I/O signals that are connected via the DeviceNet bus. Refer to DeviceNet Statements in V+ Configuration Data for information about these statements. Before changing the configuration, use the Scan the DeviceNet for nodes function to gather information required for the configuration.

NOTE:
    - For an overview of the Adept DeviceNet implementation, see Adept DeviceNet. 
    - For details on DeviceNet network status, use the DEVICENET monitor command.

Change NETWORK configuration

The statements in this section provide configuration information for the AdeptNet option. Refer to the AdeptNet User's Guide for information about these statements.

Change ROBOT configuration

This section specifies which kinematic module is associated with each robot and the parameters for position latches for each robot and/or belt encoder. The position latch functionality available is determined by the V+ version installed on your system (see Latching Functionality). To prevent V+ from wasting time processing latch events, do not add /POS_LATCH clauses unless you need to process latch information.  Also, do not connect fast digital inputs to noisy or unstable sensors that continually generate latch events.

NOTE: The main-menu item "Robots and Device Modules" provides a more convenient method for configuring the robot kinematic-module selection. However, that menu item does not provide access to the statement clauses related to output signals or position latching.

The left-hand side of each statement specifies ROBOT and a robot number. The ROBOT statement has the following attributes:

Change SERIAL configuration

This section specifies the communications protocols and parameters for various serial data communications hardware and software.

The left-hand side of each statement specifies either GLOBAL_PORT (for the global serial lines available on the SIO board or SmartController CX) or LOCAL_PORT (for the local serial lines available on the processor or SmartController). The global serial lines can be accessed by all processors. The local serial lines can be accessed only by the processor they are attached to. Each GLOBAL_PORT has a number that refers to the serial port number (port #4 is the FP/MCP connection). Each LOCAL_PORT has a number that corresponds to the processor number, and a number that refers to the serial port number on the processor. The processor number is determined by an address switch on the processor board (see the Adept SmartController User's Guide).

GLOBAL_PORTs and LOCAL_PORTs have the following attributes: /DRIVER, /SPEED, /BYTE_LENGTH, /PARITY, /STOP_BITS, /FLOW, /FLUSH, /DTR, /MULTIDROP, and /BUFFER_SIZE. See Serial and Disk I/O Basics for general details on serial I/O. See the documentation on any serial devices you may be using for details on the correct settings. Most serial I/O settings can also be changed at runtime with the FSET monitor command or program instruction.

CAUTION:For each of the following pairs of serial ports on the SIO module or SmartController CX, the baud rate 19200 cannot be used for one of the ports if baud rate 7200 or 38400 is used for the other port in the pair:

                 GLOBAL_PORT 1 and GLOBAL_PORT 4
                 GLOBAL_PORT 2 and GLOBAL_PORT 3

Change SERVO_BOARDS configuration

NOTE: The SERVO BOARDS configuration section only applies to Adept MV Controller-based systems.

This selection associates servo interface boards (EJI, MI3, MI6, or VFI) with processor boards. In multiprocessor systems, you may elect to run the servo task for a given servo board on any of the processor boards in the system.

The left-hand side specifies BOARD and a number. The servo interface board numbers are determined by the board address switches, not by physical order in the backplane. See the Adept MV Controller User's Guide for more details.

The BOARD statement can have two attributes: /PROCESSOR and /POS_LATCH. The /PROCESSOR attribute specifies the processor that runs the servo task for this servo board. The value of /PROCESSOR is a list of processor numbers. The system looks through the list and associates the servo board with the first installed processor that is in the list. For example, if the attribute "/PROCESSOR 3|2|1" is specified, the servo board is associated with processor 3 if it is installed, processor 2 if processor 3 is not installed, or processor 1 if processors 3 and 2 are not installed.

The /POS_LATCH attribute specifies which (if any) high-speed backplane signals each servo board uses for latching robot and encoder positions. The backplane Position Latch signals can be triggered from either the CIP (configured with the DIGITAL_INPUT menu option; see Change DIGITAL_INPUT configuration) or from a vision (EVI) board (configured using the V.STROBE system switch or the ADV_CAL.V2 utility program).

NOTE: For AWC-II and SmartControllers, the /POS_LATCH attributes are specified in the ROBOT configuration section. Therefore, the system will ignore any /POS_LATCH clauses in the SERVO_BOARDS section.

Change SYSTEM configuration

This section specifies various characteristics of the V+ system.

CONTROLLER_ID

ID string to allow a host to connect to the V+ controller. The ID string can be up to 16 characters in length and must be enclosed in quotes (example: "id_string")

The default value is null. If the CONTROLLER_ID is null, any host can connect to the V+ controller. If a value is specified, the host must supply a matching ID or its connection requests are ignored.

NOTE: CONFIG_C version 16.0 edit A (or later) is needed to access this statement in the configuration data.

DEFAULT_DISK

Sets the default disk for the V+ operating system. Specify any valid device, unit, and directory path specification. The default disk can be changed at runtime with the DEFAULT monitor command.

DEFAULT_SPEED

Sets the default monitor speed for motion. Specify any integer value from 1 to 100. The default speed can be changed with the SPEED monitor command or program instruction.

WARNING: Before setting the default, be sure that your mechanism can safely and reliably move at the specified speed.

GRAPHICS

Statement that specifies the following attributes for graphics management:

/MAX_WINDOWS

the maximum number of windows that can be open at one time

 /MAX_ICONS

specifies the maximum number of icons with different names that can be loaded.

/DOUBLE_CLICK

specifies the time interval (in milliseconds) for detecting double clicks (as opposed to two single clicks). Two clicks separated by less than this interval are processed as a double click.

NOTE: The GRAPHICS attributes /MAX_ICONS and /DOUBLE_CLICK apply only to graphics displayed by a VGB. Those attributes do not apply when the AdeptWindows option is being used to display graphics.

PASSIVE_ESTOP

Controls the operation of the CIP Passive ESTOP Output signal. The Passive ESTOP Output contacts in the CIP normally are closed (i.e., the output signal is on) when motor High Power is on. This statement can have one of the following arguments:

IGNORE_ENABLE

If this parameter is specified, the Passive ESTOP Output signal does not follow the state of the MCP enable switch during manual mode. That is, although motor High Power is off when the MCP enable switch is released, the Passive ESTOP Output signal stays on as if High Power were on. This is the default behavior.

TRACK_ENABLE

If this parameter is specified, the CIP Passive ESTOP Output signal is turned off whenever the MCP enable switch is released, even during manual mode.

POWER_TIMEOUT

Determines how long V+ waits, when enabling robot power, for you to press the Robot Power button on the CIP after the Robot Power light starts blinking. The default setting is 10 seconds.

If the value is 0, the V+ system does not wait for the Robot Power button to be pressed. This feature does not apply to Python modules, SmartModules, or MB-10 systems.

WARNING: This feature requires that proper safety systems are provided to ensure the safety of the operators and equipment.

SERVO_RATE

Specifies the servo rate for VME-based servo boards. The value can be either 1 KHz or 500 Hz. This value must match the servo software, kinematic module, and hardware configuration. Do not change this value unless directed to do so by Adept or the system integrator.

NOTE: This parameter has no effect on servo boards that are not VME-based. The SERVO RATE for SmartServo-based products cannot be changed by the user. The rates for the products are listed below:

SmartAmp = 1 kHz
sMI6          = 8 kHz
FireBlox     = 1 kHz

STARTUP_MESSAGE

Specifies a custom message that displays at system startup and whenever the ID command is issued. It is displayed as the first line of the ID information. The default is no message and the maximum length is 80 characters.

TRAJ_RATE

 

Specifies the V+ trajectory rate that determines the rate at which V+ sends position set points to the servos. The rate specified applies to all the robots/axes controlled by the system. Therefore, it is not possible to increase the rate for one robot and use a slower rate for another robot connected to the same controller.

The parameter can have the values 62.5 Hz, 125 Hz, 250 Hz, or 500 Hz. If there are any 1394-based axes controlled by the system, do not use the 500 Hz setting.

CAUTION: Do not change this value unless directed to do so by Adept or the system integrator.

Change TASKS configuration

V+ is a multitasking system in which user tasks compete with system tasks for use of the processor. User and system tasks run on a prioritized basis in one or more of 16 one-millisecond time slices within each 16-millisecond major cycle. Refer to Scheduling of Program Execution Tasks for details on task scheduling.

CAUTION: Operation of the V+ system can be adversely affected by incorrect settings of task priorities. Change the default configuration only if you have a good understanding of V+ task scheduling.

The left-hand side of each statement specifies USER and a user task number, and PROCESSOR and a processor number. Processor numbers are determined by the processor board address switches, not by physical order in the backplane. See the Adept MV Controller User's Guide  for more information.

NOTE: Standard V+ allows 7 user tasks. Systems with the V+ Extensions license are allowed 28 tasks.

The attribute for USER x PROCESSOR y is a sequence of 16 integers that specifies the user task priority in each of the 1-ms time slices. The possible values are:

-1

Do not run in this slice even if no other task is ready to run.

0

Do not run in this slice unless no other task from this slice is ready to run.

1 - 64

Run in this slice according to the specified priority. Higher priority tasks may lock out lower ones. Priorities are broken into the following ranges:

1 - 31 

Normal user task priorities.

32 - 62 

Used by V+ device drivers and system tasks.

63 

Used by the trajectory generator. Do not use 63 unless you have very short task execution times. Use of this priority may cause jerks in robot trajectories.

64 

Used by the servo. Do not use 64 unless you have very short task execution times. Use of this priority may cause jerks in robot trajectories.

The program asks you for a priority for each time slice.

The priorities of the system tasks cannot be changed.

After the task priorities have been modified (and the V+ system has been rebooted), the PROFILER utility can be used to examine the effects of the changes.

Change VISION configuration

This section associates a vision system with a processor and sets the vision memory allocation and the virtual frame buffer size.

The left-hand side specifies PROCESSOR and a list of one or more processor numbers. The system looks through the list and associates the vision system with the first installed processor that is in the list. For example, if "PROCESSOR 3|2|1" is specified, the vision system executes on processor 3 if it is installed, processor 2 if processor 3 is not installed, or processor 1 if processors 3 and 2 are not installed.

The attributes for the vision PROCESSOR statement are:

See Using DEVICE With Vision for additional details on setting vision memory allocation.

EXPORT configuration DATA

This menu item allows you to copy the system configuration data to a regular disk file or network file.

IMPORT configuration DATA

This operation reads V+ system configuration data from a disk file and writes the data to a V+ system disk.

Related Utilities

CFG_COBR

DC_SETUP

SPEC

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Last modified on: 4/1/2010
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