RSC_RSTR
NOTE: For V+ version 16.1 and later, the unified RSC_RSTR.V2 utility combines the RSC_RSTR and RSC_A6 utilities. Therefore, RSC_A6.V2 is no longer delivered as a separate utility.
| File Name | Program Name | File Type | Description |
|---|---|---|---|
|
RSC_RSTR.V2 |
a.rsc_rstr |
B |
RSC maintenance utility |
Overview
The RSC_RSTR.V2 utility program allows you to view and manage the data stored on the distributed RSC (Robot Signal Card). The program can be used to:
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display RSC status
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display RSC data
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compare RSC data stored in different sources such as the servo cache, local disk, or SPEC data file.
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retrieve/update RSC data from/to servo cache
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update RSC data to servo
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save/restore data to/from a SPEC file
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commit RSC data to robot (send RSC data from servo cache to the encoders).
The data stored in the RSC includes the following:
Robot ID data:
# of joints
product type
robot model
robot serial number
robot option word
device module ID
mechanism ID
Robot kinematics data:
wrist to flange distance
link lengths
upper/lower joint travel limits.
Robot calibration data:
joint calibration offsets.
Requirements
To use the RSC_RSTR utility program:
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You must be connected to an AdeptSix robot, Adept SCARA robot, Adept Vicron robot, or any other Adept robot that uses an RSC.
Usage Considerations
The RSC_RSTR utility is used to view and manage the RSC data for all Adept robots that contain an RSC card.
NOTE: For V+ versions older than version 16.1: to manage RSC data for any 1394-based Robots such as the AdeptSix, use the RSC_A6 utility; to manage RSC data for VME-based robots, use the RSC_RSTR utility. These utilities are available on the V+ software disk or CD-ROM that shipped with your robot system.
Menu Structure
To access the RSC_RSTR main menu, load and execute the program RSC_RSTR.V2 (for instructions, see Loading and Executing Adept Utility Programs). After the RSC_RSTR utility program is initialized, the main menu is displayed.
RSC_RSTR 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.
Display RSC Status
To check the status of the data in the servo cache and on the encoders, use the Display RSC status option:
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Select the Display RSC status option from the RSC_RSTR utility menu and then press ENTER.
A screen displays indicating the current status:
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Press ENTER to check the RSC data stored in the servo cache.
The following information is displayed:
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Select ENTER to return to the RSC_RSTR main menu.
Display RSC Data
RSC data can be stored in various source locations which allows you to maintain backup data, default settings, and verify the current data stored in the servo cache. To view the data stored in any of these sources, use the Display RSC data option.
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Select the Display RSC data option from the RSC_RSTR utility menu and then press ENTER.
The following screen displays to select the desired RSC data source:
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Type the option number for the source file you want to view, then press ENTER.
After the operation completes, an All done message is displayed.
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Press ENTER to clear the display and return to the RSC_RSTR menu.
Compare RSC Data
The RSC_RSTR utility program maintains a local copy of the RSC data stored on the robot. To compare the data in the local copy to the data stored in another RSC data source, use the Compare RSC data option.
Select the Compare RSC data option from the RSC_RSTR utility menu. Then, press ENTER.
The following screen displays to select the desired RSC data source:
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Type the number of the data source to compare to the local RSC data file.
A screen displays the results. The following figure displays the results of comparing the local RSC data file to the default RSC settings:
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Press ENTER to return the RSC_RSTR menu.
Retrieve RSC Data from Servo
To retrieve the RSC Data stored in the servo cache, use the Retrieve RSC Data from Servo. When you select this option, the data is retrieved immediately after you select the option.
Update RSC Data to Servo
To update the RSC data in the servo cache with the data stored in the local RSC data file, use the Update RSC data to servo option. The update occurs immediately after you select the option.
To save (backup) the current RSC data to a disk file, use the Save RSC info to data file option .
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Select the Save RSC info to data file option from the RSC_RSTR utility menu and then press ENTER.
The following screen displays:
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At the Disk file specification prompt, specify a path and filename to store the RSC data A Creating file... message is displayed.
If a file by that name already exists on the specified drive, you will be prompted for permission to overwrite the existing data file. Press Y to overwrite the file, or press N to cancel the operation.
If an RSC data file does not exist, the data file is immediately written to disk. An All done message is displayed when the operation has completed.
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Press ENTER to return to the RSC_RSTR menu.
Restore RSC Data from a File
If necessary, use the Restore RSC Data from a File option to overwrite the local RSC data file and the RSC data stored in the servo cache with the RSC data stored in a specified RSC data file.
After restoring the data, you can use the commit RSC data into the robot option to send the data to the encoders so that it is available each time the robot and amplifier chassis are started.
Commit RSC Data into the Robot
Any updates made to the servo cache will only be available until the robot and amplifier chassis are restarted. To make the updates permanent, use the Commit RSC data into the Robot to write the new data to the encoder memory-storage device.
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Select the Commit RSC data into the robot option from the RSC_RSTR utility menu. Then, press ENTER.
The following screen is displayed:
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Type Y to write the RSC data to the encoders. Type N to cancel the operation.
The new RSC data does not take effect until you reboot the controller and power cycle the amplifier chassis.
