Descriptions of Selected Program Operations
| File Name | Program Name | File Type | Description |
|---|---|---|---|
|
SPEC.V2 |
a.spec |
B |
Robot specification utility |
Motion Acceleration and Deceleration Percentages
This feature allows you to specify unique acceleration and deceleration percentages for the point-to-point motion test during motor tuning. This can be useful for high-inertia robots that may require different acceleration and deceleration values.
From the Motor Tuning Test Configuration menu, select either "Move acceleration" (for setting the acceleration percentage) or "Move deceleration" (for setting the deceleration percentage). Type the desired value and press ENTER to accept it, or simply press ENTER to cancel the option and return to the Motor Tuning Test Configuration menu.
Adding a Description to a SPEC-Generated Data File
Whenever a SPEC-generated data file is saved, you have the option of entering a description of the file contents. When saving a data file, you receive a prompt similar to the following:
Adding a Description to a SPEC Data File
To add a description to a file, type Y, then ENTER, and then type the message at the '>' prompt. You can add additional lines (including blank lines) by pressing ENTER at the end of each line. To end the message, type a period character (.) by itself on the last line and then press ENTER. The message is automatically included in the header portion of the data file.
Navigation Hotkeys
Many of the SPEC menus now include hotkeys that provide quick navigation to specific functions. SPEC program menus are dynamic and are different depending on system configurations. Hotkeys are static, providing quick navigation in SPEC for all systems regardless of configuration. An example of a menu that contains hotkeys is shown in the following figure.
Sample Menu with Hotkeys
Pressing a function key advances the SPEC program directly to the menu associated with that function key.
Custom Point-to-Point Motion Routine
This feature allows you to execute a custom point-to-point motion routine in place of the standard routine in SPEC. (The standard routine is protected and cannot be edited.) If you want to do something special with the robot and analyze data collected during the motion, write a program, and then specify the name in the SPEC program. SPEC verifies that the custom routine exists (in RAM) and is executable. At execution time, SPEC calls the custom program instead of the standard routine.
NOTE: You can also specify a custom point-to-point motion routine as one of the SPEC program preferences.
NOTE: The custom routine must be in RAM when the name is specified to the SPEC utility. SPEC verifies that the custom routine exists and is executable (at least as far as V+ is concerned).
Select the "Pt-to-Pt motion routine" from the Motor Tuning Test Configuration menu. You are prompted for the name of the new routine. Type the name of the custom routine and press ENTER. (Enter a space and press ENTER to revert to the standard routine, or press ENTER to cancel the option and return to the Motor Tuning Test Configuration menu.)
When using a custom motion routine, please note:
- The routine must have this calling sequence (see below for details):
routine(plot, ctl[ ], $err)
- The routine must be loaded into RAM.
