SPEC, Edit Robot Initialization Specs
| File Name | Program Name | File Type | Description |
|---|---|---|---|
|
SPEC.V2 |
a.spec |
B |
Robot specification utility |
This menu item allows you to edit selected robot specifications.
The following menu items are displayed at this level:
Robot Specifications Screen
The "Edit robot initialization specs" option 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 the screen:
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Instructions for the specified option
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Current value
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Value range for the parameter if applicable
Menu Options
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, which is described in this document, 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 unrestricted-access mode of SPEC is described separately, in the Adept SmartMotion Developer's Guide.
Before specifying a password, see Password Protecting SPEC Data.
Calibration File Name
Specifies the V+ calibration program that automatically loads and executes when a CALIBRATE monitor command or program instruction is processed. For most robot systems, the default calibration program, STANDARD.CAL is sufficient for any normal calibration operations as described later in this chapter.
Robots with absolute encoders or other custom needs will need a special calibration program. If you have such a robot, 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 assign 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
These menu items allow you to change the default hand OPEN and CLOSE signals
The numbers of the digital signals accessed by V+ for controlling the end-effector are stored on the V+ system disk. These menu items permit you to change these specifications.
The default settings for the gripper signals are listed in the user's guide for the robot. These can be changed to any of the robot I/O signals (3001 to 3008), digital output signals (numbered 1 to 8 and 33 to 512), and internal software signals (2001 to 2512). Setting a negative signal number indicates that the gripper valve will be activated when the signal is deasserted.
Two channel numbers can be defined, one for Open and one for Close. For non-Adept robots, 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.)
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
RELAX and RELAXI: turn off both signals
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.
Power Sequencing Parameters
The power-on/power-off sequence used by the Adept SmartMotion system is controlled by the following robot initialization parameters. For details on how these parameters are used, see Adept SmartMotion Systems: 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
After activating the clutch, this parameter specifies the amount of time to wait (for the clutch to engage) before the V+ system high-power sequence continues.
This parameter is appropriate only 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 will 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+ will wait before reporting an unsuccessful 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 on the 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 mode E-STOP shutdown timeout (sec)
Auto mode E-STOP shutdown timeout (sec)
Hold-to-run E-STOP shutdown timeout (sec)
These three programmable ESTOP delay-time parameters allow you to specify a time delay after an ESTOP is detected before power is removed from the motors of the robot. This time delay gives V+ time to decelerate and stop the robot using motor power, reducing the mechanical jerk on the mechanism.
NOTE: The programmable ESTOP feature is available on systems that have a SmartController or an AWC Gen-II processor, except for those systems that use the Adept Manual Mode Safety Package (MMSP) (CE Category 3).
When DISABLE POWER is executed, V+ has full control of the power shutdown process. V+ slows the robot to a stop, applies the brakes, and then removes power.
Actual stop times depend on the speed of the robot, the payload, and the deceleration of the stop for the robot.
SmartController
NOTE: There is no MMSP for the SmartController.
After an ESTOP signal is detected, power is removed from the motors of the robot in approximately one-half second. Setting the programmable ESTOP delay-time parameters to stop the motors within that half second gives the robot time to stop, settle, and apply the brakes before power is removed.
During an ESTOP power-down, the power-shutdown process starts its time delay (depending on the robot mode and the corresponding shutdown timeout setting). V+ then performs a controlled power-down within that time limit.
Timeout value less than or equal to 0.5:
Allows V+ to manage power after an E-STOP occurs. The maximum timeout you can specify is 0.5. 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. The robot will stop based on mechanical resistance and any available brakes. This can result in some robot motion until the brakes engage.
AWC Gen-II
After an ESTOP signal is detected, power is removed from the motors of the robot in approximately one second. Setting the programmable ESTOP delay-time parameters to stop the motors within that one second gives the robot time to stop, settle, and apply the brakes before power is removed.
During an ESTOP power-down, the power-shutdown process starts its time delay (depending on the robot mode and the corresponding shutdown timeout setting). V+ then performs a controlled power-down within that time limit.
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. The robot will stop based on mechanical resistance and any available brakes. This can result in some robot motion until the brakes engage.
To set a shutdown timeout parameter, select one of the three programmable ESTOP delay-time parameters from the "Edit robot initialization specs" menu.
