SPEC, SmartServo, Change Robot, Diagnostics
| File Name | Program Name | File Type | Description |
|---|---|---|---|
|
SPEC.V2 |
a.spec |
B |
Robot specification utility |
SmartServo device quick setup
This menu item allows you to access the SmartServo quick setup utility. See DC_SETUP for V+ for details.
Change robot options and motor configuration
This menu item displays the motor/joint configuration and allows you to change the configuration of the motor or joint.
NOTE: For information on robot option bits, see the appropriate kinematic module documentation for your robot. To determine what kinematic module is in use, type "ID" at the monitor prompt. In the output for the ID command, the last number on the Robot information line indicates the ID number for the kinematic module. For example, if the robot info line is: "Robot: 0-0 0-0 38", then the device module ID is 38.
Robot Options and Motor Configuration Screen
Perform hardware diagnostics
The "Perform hardware diagnostics" option provides information on each node in the system for the selected robot. The items analyzed and reported are:
-
Motor (Board/Channel or Node/Gadget)
-
Encoder position
-
Last zero-index
-
Home
-
Overtravel
-
Amp fault
-
Amp enable
-
Brake release
-
DAC voltage
-
DAC count
This utility also allows you to select various diagnostic options, which are described in step 2.
To use the "Perform hardware diagnostics" option:
-
Select the "Perform hardware diagnostics" option from the main menu and then press ENTER. The following screen is displayed:
-
Press P to toggle power ON/OFF.
When power is on, the display is updated continuously and appears similar to the following:
Each of the diagnostic options is listed and described in the table below.
Shortcut
Option
Description
A
Toggle amp enable
Turns the AMP Enable signal to the amplifier on and off. Can be used to verify that the wiring is correct from the MI-X board. This must be enabled before any DAC can be given to the amplifier. U
Increase DAC quickly
Pressing U once will increase the DAC Voltage 'UP' by the amount specified in the DAC Increment. Pressing D once will decrease the DAC Voltage 'DOWN' by the amount specified in the DAC Increment.
These can be used to apply DAC directly to the motor from the amplifiers. Increasing and Decreasing the DAC is a particularly useful tool for verifying that DAC wiring is correct.
Max and Min DAC values are determined by parameters set in the Edit Motor/Encoder Specs section of SPEC.
D
Decrease DAC quickly
C
Change DAC Increment
This determines the incremental amount of DAC applied to the amplifier when the U or D key is pressed once.
R
Toggle brake release
Turns the brake release on or off for an axis. Use of this depends on whether or not the axis has a brake.
Note that if it is a vertical axis, the brake release may cause the axis to drop.+
Increase DAC slowly
Increases DAC in increments of 4 counts each time the key is pressed.
-
Decrease DAC slowly
Decreases DAC in increments of 4 counts each time the key is pressed.
P
Toggle power
Turns robot High Power on and off. Note that this is different from the SWITCH POWER (e.g. when you ENABLE POWER). Using P to toggle power does so without V+ involvement, and no software error checking. ENABLE POWER is a V+ function, with V+ control and error checking.
ENTER
Zero DAC, redraw
Resets the DAC to zero (i.e., there is no current going to the motors).
1 - 4
Change selected motor
Select the motor/amplifier that will receive subsequent commands. -
After you have finished using the diagnostics options, press Q or 0 to quit and return to the main menu.
