CONFIG

Instructions for Adept Utility Programs

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CONFIG_C

File Name Program Name File Type Description

CONFIG_C.V2

a.config_c

B

Controller configuration utility

The CONFIG_C utility provides access to the following functions:

V+ System Installation

The installation option installs a new V+ system, configuring it to match the system being replaced.

Display and edit system configuration

The V+ system includes configuration data stored in a special system file. The CONFIG_C utility lets you edit this file. Each time the controller is restarted, the system reads the statements in the configuration file and sets the appropriate defaults.

Display and modify device modules for robots

The Robots and Device Modules options allow you to change the kinematic device-control modules included in the V+ system and the robots that are controlled by the system.

Display and initialize the NVRAM contents

The NVRAM section displays and initializes the NVRAM, which is read each time the controller is powered up. The NVRAM need only be initialized if it has become corrupted, or if the device has failed and been replaced. Currently, CONFIG_C cannot be used to initialize the (pseudo) NVRAM for the SmartController.

Display information about the devices connected to the DeviceNet

The Adept Utility program CONFIG_C supports configuring the DeviceNet and mapping the DeviceNet hardware to the appropriate V+ signal numbers.

For a description of these functions and specific information on each CONFIG_C menu option, please refer to Menu Structure for further details.

NOTE: Changes to the system configuration do not take effect until the V+ system is loaded from the modified system file.

Requirements

The following items are needed to run CONFIG_C. All of these (except as indicated) were supplied with your Adept system:

Adept SmartController, using V+ version 16.0 or later

V+ CD-ROM containing the utility files CONFIG_C.V2, DISKCOPY.V2, and SPECSUB.LIB (or copies of the files on the Compact Flash).

Before you can run CONFIG_C:

The V+ system must be loaded.

If you are using a robot system, the robot must be calibrated and COMP mode must be selected on the manual control pendant.

or

The DRY.RUN system switch must be enabled.

or

The program can be executed in a program task other than #0.

Usage Considerations
System configuration changes do not take effect until the V+ system is loaded from the modified system file. Thus, after making all the desired changes to the configuration, turn off power to the controller and reboot the system from the modified system file.

Adept recommends making a backup copy of the modified V+ system. The DISKCOPY utility can be used for that purpose.

If the V+ configuration file contains statements for hardware or options that are not installed in the system, the extra statements are ignored and can be left in the configuration file. For example, the configuration file may contain statements for four analog input boards although the system may have only two boards installed.

Not all items in the configuration file can be changed. Items that cannot be changed by the configuration utility are noted as such when they are displayed.

The configuration program defines many real-valued and string variables with cf., dc., it., iu., ld., and sp. as prefixes. These variables must not be modified by you or by other programs. (All the variables are deleted from memory when the program exits normally. All the variables are deleted when a DELETE command is used to delete the program from memory, as described earlier.)

If the DISKCOPY utility is not already in memory when the V+ installation menu item is first selected, the CONFIG_C program automatically loads DISKCOPY into memory. If you later attempt to load DISKCOPY while CONFIG_C (and DISKCOPY) is still in memory, you will see many *Program already exists* errors, which can be ignored.
The system must be booted from a local disk (A, B, C, or D) in order to access the following CONFIG_C program menu items:
    V+ System Configuration Data Robots and Device Modules 
If you attempt to access the above menu items after booting from the network, the following message is displayed:
    ** Cannot access data ** 
The CONFIG_C.V2 file is a protected binary file. Thus, the programs in the file cannot be displayed, edited, or stored from memory to disk. The file can be copied with the FCOPY monitor command or the DISKCOPY utility program.
Menu Structure

Menu Description

EXIT to system monitor Exits the CONFIG_C utility and returns to the system monitor.

Installation The options under this menu item are used when upgrading a V+ system.

SAVE current ROBOT DATA
Saves configuration data files for the robots and external encoders that the current V+ system is configured to control.

INSTALL a NEW V+ SYSTEM

Copies the new V+ system to the desired output disk drive and then duplicates the system configuration from the old V+ system on the new V+ system disk.

APPLY saved ROBOT DATA

Applies the saved robot and encoder data from the old V+ system to the new V+ system disk.

V+ System Configuration Data
Accesses the configuration data on a V+ system disk

DISPLAY system CONFIGURATION

Displays the configuration data on a specified V+ system disk.

EDIT system CONFIGURATION

Allows editing of the following system configuration settings.

Change HEADER configuration

The statements in this section cannot be changed.

Change VPLUS configuration

Specifies which processors run a copy of the V+ interpreter.

Change ANALOG_INPUT configuration

Changes the input voltage configuration of Analog I/O board. board numbers are determined by the analog board address switches, not by physical order in the backplane.

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

Change DIGITAL_INPUT configuration

Sets up the digital input signal numbers. They should be set to match the input channel (1001, 1002, 1003, 1004 or NONE) that will be used.

Change DIGITAL_OUTPUT configuration

Sets up the digital output signal numbers. They should be set to match the output channel that will be used.

Change DEVICENET configuration

For additional information about the Adept DeviceNet environment and details on hardware configuration, see the Adept SmartController User's Guide.

Change NETWORK configuration

Provides configuration information for the AdeptNet option.

Change ROBOT configuration

Specifies the following:

kinematic module associated with each robot

latch parameters for belts and robots

settings for 1394 digital input signals used as I/O signals for each robot

Change SERIAL configuration

Specifies the communications protocols and parameters for various serial data communications hardware and software.

Change SERVO_BOARDS configuration

Associates servo interface boards (EJI, MI3, MI6, or VFI) with processor boards.

Change SYSTEM configuration

Specifies various characteristics of the V+ system.

Change TASKS configuration

Allows changing of the default TASKS configuration. Operation of the V+ system can be adversely affected by incorrect settings of task priorities.

Change VISION configuration

Associates a vision system with a processor and sets the vision memory allocation and the virtual frame buffer size.

EXPORT configuration DATA

Copies the systems 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.

Robots and Device Modules
See the Device Module documentation for more information on device modules.

LIST current CONFIGURATION of system file

Reads and displays current configuration of your system.

LIST device modules in a device-module FILE

Lists device modules that are present in the device module file for the current system.

REPLACE device modules in system file

Replaces system file device modules by reading device modules from a disk file.

APPEND device modules to system file

Reads device modules from a disk file and append them to a system file device module.

SELECT device modules for robots

Associates a device module with a selected robot.

Controller NVRAM
This option allows setup of the system NVRAM within the controller.

DISPLAY NVRAM contents

Displays model, serial number, network IP address, and a list of installed options.

INITIALIZE the NVRAM

Initializes the NVRAM on the AWC processor. Done only when a replacement NVRAM has been installed on the processor.

SET IP address in the NVRAM

Set the IP address of the Adept controller (the controller's address on the local area network).

SET "SWITCHES" in the NVRAM

Defines the V+ configuration settings in software rather than using hardware DIP switches. This is done without removing the AWC board.

Scan the DeviceNet
Configures DeviceNet and map the DeviceNet hardware to the appropriate V+ signal numbers.

SCAN the DeviceNet for nodes

Determines what is recorded for each DeviceNet component you want to access with the Adept Controller.

File Name	Program Name	File Type	Description
CONFIG_C.V2	a.config_c	B	Controller configuration utility

Menu	Description
EXIT to system monitor	Exits the CONFIG_C utility and returns to the system monitor.
Installation	The options under this menu item are used when upgrading a V+ system.
SAVE current ROBOT DATA	Saves configuration data files for the robots and external encoders that the current V+ system is configured to control.
INSTALL a NEW V+ SYSTEM	Copies the new V+ system to the desired output disk drive and then duplicates the system configuration from the old V+ system on the new V+ system disk.
APPLY saved ROBOT DATA	Applies the saved robot and encoder data from the old V+ system to the new V+ system disk.
V+ System Configuration Data	Accesses the configuration data on a V+ system disk
DISPLAY system CONFIGURATION	Displays the configuration data on a specified V+ system disk.
EDIT system CONFIGURATION	Allows editing of the following system configuration settings.
Change HEADER configuration	The statements in this section cannot be changed.
Change VPLUS configuration	Specifies which processors run a copy of the V+ interpreter.
Change ANALOG_INPUT configuration	Changes the input voltage configuration of Analog I/O board. board numbers are determined by the analog board address switches, not by physical order in the backplane.
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
Change DIGITAL_INPUT configuration	Sets up the digital input signal numbers. They should be set to match the input channel (1001, 1002, 1003, 1004 or NONE) that will be used.
Change DIGITAL_OUTPUT configuration	Sets up the digital output signal numbers. They should be set to match the output channel that will be used.
Change DEVICENET configuration	For additional information about the Adept DeviceNet environment and details on hardware configuration, see the Adept SmartController User's Guide.
Change NETWORK configuration	Provides configuration information for the AdeptNet option.
Change ROBOT configuration	Specifies the following: kinematic module associated with each robot latch parameters for belts and robots settings for 1394 digital input signals used as I/O signals for each robot
Change SERIAL configuration	Specifies the communications protocols and parameters for various serial data communications hardware and software.
Change SERVO_BOARDS configuration	Associates servo interface boards (EJI, MI3, MI6, or VFI) with processor boards.
Change SYSTEM configuration	Specifies various characteristics of the V+ system.
Change TASKS configuration	Allows changing of the default TASKS configuration. Operation of the V+ system can be adversely affected by incorrect settings of task priorities.
Change VISION configuration	Associates a vision system with a processor and sets the vision memory allocation and the virtual frame buffer size.
EXPORT configuration DATA	Copies the systems 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.
Robots and Device Modules	See the Device Module documentation for more information on device modules.
LIST current CONFIGURATION of system file	Reads and displays current configuration of your system.
LIST device modules in a device-module FILE	Lists device modules that are present in the device module file for the current system.
REPLACE device modules in system file	Replaces system file device modules by reading device modules from a disk file.
APPEND device modules to system file	Reads device modules from a disk file and append them to a system file device module.
SELECT device modules for robots	Associates a device module with a selected robot.
Controller NVRAM	This option allows setup of the system NVRAM within the controller.
DISPLAY NVRAM contents	Displays model, serial number, network IP address, and a list of installed options.
INITIALIZE the NVRAM	Initializes the NVRAM on the AWC processor. Done only when a replacement NVRAM has been installed on the processor.
SET IP address in the NVRAM	Set the IP address of the Adept controller (the controller's address on the local area network).
SET "SWITCHES" in the NVRAM	Defines the V+ configuration settings in software rather than using hardware DIP switches. This is done without removing the AWC board.
Scan the DeviceNet	Configures DeviceNet and map the DeviceNet hardware to the appropriate V+ signal numbers.
SCAN the DeviceNet for nodes	Determines what is recorded for each DeviceNet component you want to access with the Adept Controller.

Related Utilities

Config_C, V+ Installation

Config_C, System Configuration Data

Config_C, Robots and Device Modules