ID real-valued function
Syntax
ID (component, device, board)
Function
Return values that identify the configuration of the current system.
Parameters
| component
|
Real value, variable, or expression (interpreted as an integer) whose value determines which component of identification information is returned. |
| device |
Optional real value, variable, or expression (interpreted as an integer) whose value selects the device to be identified. Device #1 (the basic system) is assumed if this parameter is omitted. |
| board |
Optional integer specifying the CPU of interest when
the device parameter value equals 4. Board #1 (the main CPU) is assumed if this parameter is omitted. |
Details
The ID function enables a program to access the information displayed by the ID monitor command. The values of the components are the same as the fields displayed by that command.
The function returns the value 0 for devices that do not exist. Device numbers that do not exist return the value 0. For valid devices, an *Invalid argument* error message is reported if the requested component is not valid.
The following table describes the type of information
returned when the device parameter is set at a specified value. To see
the acceptable values for the component parameter
and the type of information returned for each device value, click on the
device link in the table below.
| To obtain information on...
|
Set the device parameter to...
|
| The basic system |
device = 1 (This is the default value.)
|
| The pendant |
device = 2 returns information about the manual control
pendant. |
| The vision
system |
device = 3 returns information about the vision
system. |
| Servos |
device = 5 returns information about the servos. |
| Robot |
device = 8 or device = 10+r
returns information about the robot. |
| CPU and
board info |
device = 4 returns information about the CPU and
processor board (if the board parameter is specified). |
| Force
Sensing Systems |
device = 50 returns information about force sensing
systems. |
NOTE: Device number 9 is reserved for Adept internal use.
| component |
Result of ID (component, 1) |
| 1
|
Model designation of the system controller |
| 2
|
Serial number of the system controller |
| 3
|
Version number of the V+ software in use |
| 4
|
Revision number of the V+ software in use |
| 5
|
First option word for the V+ system (*) |
| 6
|
Second option word for the V+ system (*) |
| 7
|
Size of the system program memory (in kilobytes, K [1 K = 1024 8-bit bytes]) |
| 8
|
Controller option word (*)
|
| 9
|
Controller product-type value |
| 10
|
Returns the SmartController base
board revision code.
NOTE: This ID component is available only in V+
version 15.0 and later. |
| 11
|
Controller hardware configuration. This field should be interpreted as a
bit field. For details on the information returned, see the section
Controller Hardware Configuration returned by ID(11,1),
below.
|
| 12 |
Returns the first and second parts of the security ID
(shown as "aaaa-bbbb") below. (The value returned needs
to be displayed in hexadecimal format to look the
same as "aaaa-bbbb".)
Security ID:aaaa-bbbb-cccc
NOTE: This ID component is available only in V+
version 15.0 and later.
|
| 13
|
Returns the third part of the security ID (shown
as "cccc") below. (The value returned needs to
be displayed in hexadecimal format to look the same
as "cccc".)
Security ID: aaaa-bbbb-cccc
NOTE: This ID component is available only in V+
version 15.0 and later.
|
Controller Hardware Configuration returned by ID(11,1)
The value for the controller hardware configuration [returned by ID(11,1)] should be interpreted as a bit field, as follows:
Bit 1 - (LSB) Graphics system processor (mask = 1)
This bit is set if the system processor in the controller includes hardware components for graphics output by the V+ system.
Bit 2 - V+ monitor outputs to graphics monitor (mask = 2)
This bit is set if the system processor supports graphics output and the configuration switches on the system processor are set to direct the V+ monitor output to the graphics monitor. This bit is 0 if the V+ monitor output is directed to a terminal connected to the system controller.
Bit 3 - Not used
Bit 4 - SIO board present (mask = 8)
This bit is set if the SIO board is present in the controller.
Bit 5 - AdeptWindows (mask = 16)
This bit is set if the controller is using
the AdeptWindows user interface.
Bit 6 - i960 hardware as an I/O coprocessor (mask = 32)
When this bit is set, it indicates that the system has functional i960 hardware as an I/O coprocessor.
Bit 7 - i960 hardware and software is running (mask = 64)
When this bit is set, it indicates that the system has functional i960 hardware and its software is running.
Bit 8 - Device B floppy board present (mask = 128)
This bit is set if a device B floppy interface board is present in the controller.
NOTE: This bit indicates only that the interface board is present. It does not indicate that the floppy drive is installed.
Bit 9 - 1394 interface active (mask = 256)
When this bit is set, it indicates that the system has a 1394 interface that is active.
Bit 10 - Matrox Vision PMC board (mask = 512)
If this bit is set, it indicates that a Matrox vision (C80) board is present.
This flag does not indicate that AVI vision has been enabled.
Bit 11 - SmartController PCI bus and Adept hardware interface (mask =1024)
If set indicates that the SmartController PCI bus and Adept hardware interface
are present. This bit is always set on a SmartController system.
Pendant
Device number 2 refers to the pendant. The component parameter must have the value 1. The value returned is the version number of the pendant software.
Vision System Configuration
Device number 3 refers to the AdeptVision system. (If the vision system is not installed, all values are returned as zero.) The acceptable values for the component parameter, and the corresponding values returned, are listed below. (If the system has multiple vision systems, the information returned is for the vision system that is currently selected. The number of the vision system that is currently selected can be obtained with the function
SELECT(VISION).)
| component |
Result of ID (component, 3) |
| 1
|
Model designation of the vision system |
| 2
|
Serial number of the vision system |
| 3
|
Version number of the vision software in use |
| 4
|
Revision number of the vision software in use |
| 5
|
Option word for the vision system
(For details, see Vision Option Word.) |
| 6
|
Size of the vision system RAM memory (in K) |
CPU and Board Configuration
Device number 4 refers to the system CPUs. (If the indicated board does not exist, all values are returned as -1.)
| component
|
Result of ID (component, 4, board) |
|
1
|
Number of the CPU
|
|
2
|
Not currently used
|
|
3
|
The CPU board version number
|
|
4
|
The CPU board revision number NOTE:If you are running V+ 15.0 or later, this returns the SmartController CPU board
revision
code. |
|
5
|
CPU type:
0 = Heurikon 68040 (obsolete)
1 = Adept 68030 (obsolete)
2 = Motorola 68040 (obsolete)
3 = Motorola 68060 (obsolete)
4 = AWC 68040
5 = AWC 68060
6 = SmartController CS
7 = SmartController CX
|
|
6
|
Bit field indicating which software modules
are active on the board. Bit definitions are provided in the following
table.
| Bit # |
Mask Value |
Interpretation When Bit Set |
| Decimal |
Hexadecimal |
| 1 |
1 |
1 |
Processor is running the V+ Operating System |
| 2 |
2 |
2 |
Processor is running the Vision processing software
|
| 3 |
4 |
4 |
Processor is running the Servo software |
| 4-16 |
|
|
Reserved for future use (currently zero) |
|
|
7
|
Size of the random access memory (RAM) on the CPU board (in K)
|
Servo Configuration
Device number 5 returns servo information. (If no servo is present, all values are returned as zero.)
| component
|
Result of ID (component, 5) |
| 3
|
Returns the servo version number |
| 4
|
Returns the servo revision number |
Robot and Encoder Configuration
Device number 8 returns information for
the currently selected robot. The acceptable values for the
component parameter are the same as for a specified robot. (See the following table.)
Device number 10 refers to the external encoders connected to the robot controller. The acceptable values for the component parameter are the same as for a robot.
Device numbers 11, 12, ... refer to robot number 1, 2, ..., respectively, for each robot connected to the controller. That is, a device number equal to 10+r refers to robot number r, which can range from 1 to the value returned by the function SELECT(ROBOT, -1). The number of the robot that is currently selected can be obtained with the function SELECT(ROBOT).The acceptable values for the component parameter, and the corresponding values returned, are listed
in the following table.
component
|
Result of ID (component, 10+r) |
| 1
|
Model designation of the robot |
| 2
|
Serial number of the robot |
| 3
|
Number of motors configured for the robot
This normally is equal to the number of configured joints (see component 7). |
| 4
|
Value interpreted as bit flags for the robot joints that are enabled: bit 1 for joint 1, and so on. (The value is zero if the robot does not have joints that can be disabled selectively. For example, this value is defined for the X/Y/Z/Theta robot but is zero for the 4/5-axis SCARA module.) |
| 5
|
Robot control-module identification number |
| 6
|
Number for the robot control-module qualifier |
| 7
|
Number of robot joints configured for use |
| 8
|
Robot option word (*) |
| 9
|
Robot product-type value |
| 10 |
Number of Cartesian axes used during motion planning
This value specifies how many values must be defined in the robot load-module arrays that specify the maximum Cartesian velocities and accelerations |
| 11
|
Second robot option word (*) |
| 12
|
Information on the robot module
Currently, only bit 1 (mask 1) is defined. If set, this bit indicates that the specified robot is an Adept robot. |
| 13 |
Returns the safety level for the robot. Possible values
are: 0 = No special safety level 1 = Configured as Category 1 Robot System per ISO
10218 and EN954 3 = Configured as Category 3 Robot System per ISO
10218 and EN954
NOTE: This ID component is available only in V+ version
16.0 and later.
|
*The robot option words are described in the
Robot
Option Words topic
Force Sensing Configuration
Device number 50 refers to the currently selected force sensor. Device numbers 51 through 66 refer to force sensors numbered 1 to 16, respectively.
See the documentation for the SELECT program instruction for an explanation of selecting among multiple force sensors. The acceptable values for the component parameter, and the corresponding values returned, are listed below.
| component |
Result of ID (component, 50) |
| 1
|
Model number of force sensor (0 if no force sensor is connected) |
| 2
|
Serial number of force sensor (0 if no force sensor is connected) |
| 3
|
Version number of VME Force Interface (VFI) firmware
|
| 4
|
Version number of force-sensing software |
| 5
|
Option word for force system |
| 6
|
Size of the data collection buffer (in K) |
Related Keywords
ID monitor command
$ID string function
SELECT monitor command
SELECT program instruction
SELECT real-valued function
