Instructions for Adept Utility Programs 

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DC_SETUP

The DC_SETUP utility has different menu options depending on the V+ version installed.

File Name Program Name File Type Description

DC_SETUP.V2

a.dc_setup

B

Distributed-control configuration utility for Adept 1394-based robot systems

Overview

The DC_SETUP utility provides an interface for setup and configuration of a 1394-based robot system. This utility allows you to:

Requirements

To configure modules using DC_SETUP:

Usage Considerations

The DC_SETUP utility can be used in place of the SPEC utility to configure a 1394-based robot system. The DC_SETUP utility limits the choices that the user has, unlike SPEC, which offers the user a much more extensive menu of configuration choices.

Note that, for a system that contains both VME axes and SmartModules, the menus for both the "AdeptModules quick setup" and the "SmartModules/hybrid quick setup" will display. Currently, the Adept (VME-based) Z-Theta module setup is NOT supported due to a dual-encoder mapping requirement for the Theta axis. Therefore, to configure a pure AdeptModules (VME-based) robot, select "AdeptModules quick setup".

NOTE: DC_SETUP does not support SmartAmp/MotionBlox mixed systems in a single robot configuration.

For the quick setup option, a configuration page is created right after the calibration setup that allows the user to enable/disable adaptive feedforward control. If the calibration setup succeeds, the configuration page is displayed. Otherwise, it is skipped. Note that, by default, the servo's internal setting for adaptive control is OFF. Therefore, the user must explicitly turn it ON, if desired. When the new setting is saved to the boot disk, the new setting will take effect when the system is restarted.

For quick setup, the SmartAmp system configuration will prompt the user to enable/disable the Adaptive Feed Forward (AFF) control. This option is omitted for MotionBlox-10 systems, which automatically enables the AFF control. Use the tuning parameters menu in SPEC to modify this option.

Menu Structure

To access the DC_SETUP main menu, follow the Loading and Executing Adept Utility Programs procedure. Once DC_SETUP is initialized, the main menu is displayed.

DC_SETUP Utility Menu

A brief description of each menu item is provided in the table below. Detailed descriptions of each menu item are provided in the sections following the table.

Some menu items will vary depending on how DC_SETUP was invoked, and what robots are connected to the Adept controller.

Menu Description

Exit to system monitor

Exits to the V+ dot prompt.
Back to Spec Returns to the SPEC utility.
Configure Modules/Servo Kits/Hybrid Opens the Configure Modules / MotionBlox menu, which is used to configure a SmartModule, Python Module, or MotionBlox system.
Configure DIO input/output blocks Opens the I/O block configuration page, which is used to configure the digital I/O for your system.
Configure Adept robot/axis gadgets Opens the Configure Adept Robot/Axis Gadgets page, which is used to configure the Adept SmartServo network and its associated devices (e.g., Adept Robots, SmartAmps, MotionBlox, sMI6, or FireBlox).
Display SmartServo network information Displays the current SmartServo network information (e.g., nodes, device type, serial numbers, etc.).
Save ALL specifications to system disk Opens the Save Specification Information page, which is used to save the robot specification information for all robots in the system.

Change robot number

Changes to another robot in the system. This option will not be displayed for single-robot systems.

Execute SPEC

Executes the SPEC utility.

Configure Modules/Servo Kits/Hybrid

The Configure Modules/Servo Kits/Hybrid menu selection opens a menu, shown below, which is used to configure a SmartModule, Python Module, or MotionBlox system.

Configure Modules/Servo Kits/Hybrid Menu

Modules quick setup

The "Modules quick setup" is used to initialize the amplifiers on the linear modules system. The "Modules quick setup" configures the amplifiers by saving data to the I2C chip, either onboard or on the T-bracket. This data is then read by V+ during controller startup to determine which IEEE-1394 network nodes belong to each robot.

The "Modules quick setup" needs to be performed when:

The configuration process consists of the following steps:

  1. Select and load the "General Configuration Data".

    This data contains parameters related to overall robot configuration, such as power sequencing, Cartesian motion generation, and the number of joints.

  2. Perform axis mapping by selecting the number of joints and the axis that corresponds to each joint.

    This will establish the relationship between the IEEE-1394 network node/gadget number and the robot/joint number.

  3. Select and load the "Axis Configuration Data" (one set for each axis).

    This data contains information that is specific to each axis of the robot, such as tuning parameters, joint motion generation, encoder configuration, and calibration constants. The data is indexed by the last five digits of the SmartModule part number.

    Python modules have the part number stored in the Robot Signature Card (RSC) in each motor. DC_SETUP automatically reads it and configures each specific joint based on this information.

  4. After the robot and axes are configured, save the entire configuration to the system boot disk. When the controller is restarted, the configuration will be installed.

    NOTE: After adding or removing hardware from the 1394 network, you must reboot the controller before proceeding.

To use the Modules quick setup utility:

  1. Select the "Modules quick setup" option from the Configure Modules/MotionBlox menu and press ENTER.

    NOTE: If you do not see this option on the menu, there is a problem with the system that is preventing DC_SETUP from sensing the amplifiers. You should check all wiring, including power connections and IEEE-1394 cable connections. In addition, you should try rebooting the entire system to make sure that all the parameters are properly initialized.

  2. Follow the on-screen instructions.

Modules calibration setup

The Modules calibration setup performs the one-time configuration for all the linear modules (SmartModules, Python Modules, and MotionBlox-based mechanisms) that use absolute encoders. The Gen-II Z-Theta unit can also be configured using this option. The calibration procedure used depends on the type of axis being calibrated:

During the setup procedure, you will be prompted to select a joint to calibrate. For the linear modules, the joint will move toward a hardstop and set the joint 0 location accordingly. For the Z-Theta module, you will be instructed to install a calibration fixture that locks the joint in a known location.

To use the Modules calibration setup utility:

  1. Select the "Modules calibration setup" option from the Configure Modules/MotionBlox menu and press ENTER.

  2. Follow the on-screen instructions.

Enable/disable adaptive feedforward control

The "Enable/disable adaptive feedforward control" option, allows you to enable or disable adaptive feedforward control for your mechanism. This option is only available for SmartModules. Python modules with MB-10 automatically enable the adaptive feedforward option by default.

The adaptive feedforward option normally reduces (optimizes) cycle time for repetitive motions or variable payload applications. There are situations that limit adaptive feedforward performance. For example, when commanded trajectories are very short or random in nature, adaptive feed forward might take longer to find the correct gain values.

To use the "Enable/disable adaptive feedforward control" option:

  1. Select "Enable/disable adaptive feedforward control" from the main menu. A screen similar to the following is displayed. 

    Enable/disable Adaptive Feedforward Control

  2. Read and follow the on-screen instructions.

    NOTE: After changing the settings, the system must be restarted to effect the change.

Perform hardware diagnostics

The "Perform hardware diagnostics" option provides information on each node in the linear modules system. See the SPEC utility for more details on this option.

Save ALL specifications to system disk

The "Save ALL specifications to system disk" option saves the robot specification information to the system boot disk for all robots in the system. The information that is currently contained in memory is written to the system disk. See the SPEC utility for more details on this option.

Configure DIO Input/Output Blocks

The "Configure DIO input/output blocks" option opens the I/O block configuration page, which is used to configure the digital I/O for your system.

NOTE: This menu option does not support the Remote I/O (RIO) device. Therefore, verify that you are connected to compatible hardware. The MB-10 only supports IOBlox.

To use this option:

  1. Select "Configure DIO input/output blocks" from the main menu.

  2. Use the space bar to select the device with digital I/O (DIO) you wish to configure. On multi-axis Python systems, when the LED on the MB-10 amp you want to configure flashes green/red, press ENTER to select it.

    NOTE: Adept Cobras with the UL option have an amber light, rather than the green/red LED.

    A screen similar to the following is displayed.

    Digital I/O Configuration

  3. Follow the on-screen prompts to map the selected DIO.

For more details on configuring DIO input/output blocks, see Section 4.3 of the Adept IO Blox User's Guide.

Configure Adept Robot/Axis Gadgets

The "Configure Adept robot/axis gadgets" option is used to configure the Adept SmartServo network and its associated devices (e.g., Adept Robots, SmartAmps, MotionBlox, sMI6, or FireBlox). When the option is selected, the following screen is displayed.

Configure Adept Robot/Axis Gadgets

To use this option:

  1. Read the overview of the configuration process

  2. Press ENTER to continue and follow the on-screen instructions.

Display SmartServo Network Information

The "Display SmartServo network information" option allows you to view the current information (e.g., nodes, device type, serial numbers, etc.) for the SmartServo network. When this option is selected, a page similar to the following is displayed:

Display SmartServo Network

After you have finished viewing the information, press ENTER to return to the DC_SETUP utility menu.

Change Robot Number

The "Change robot number" option allows you to access other "robots" (mechanisms) in the system in a multi-robot system. See the SPEC utility for more details on this option.

Execute SPEC and Back to SPEC

The "Execute SPEC" option and "Back to SPEC" option allow you to access the SPEC utility directly from the DC_SETUP utility menu. This is useful if there is further "customization" that you would like to do after you have finished with the DC_SETUP utility.

Select this option from the DC_SETUP utility menu and then press ENTER. The SPEC utility menu is displayed (see the SPEC utility for more details).

Related Utilities

CONFIG_C

SPEC

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Last modified on: 4/1/2010
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