Rx170 Staubli with a CS 7 controller

This will be an archive of the Yahoo Adept Software Group messages

Rx170 Staubli with a CS 7 controller

Postby bhasin_gd@yahoo.com » Fri Feb 25, 2005 5:00 pm

We have a RX 170 robot with CS 7 contrller.We currently use V+
version 13.Can we upgrade to Adept Windows
Thanks
Gagan
Texas Tech University
bhasin_gd@yahoo.com
 
Posts: 8
Joined: Fri Feb 25, 2005 5:00 pm

Re: [adept_software] Rx170 Staubli with a CS 7 controller

Postby juergen.bosse@robo-technology.de » Sun Feb 27, 2005 5:00 pm

Hi there!

What kind of CPU do you have? A CS7 controller (light grey cabinet)
usually contains a "legacy" 030 or 040 CPU. However, if you already have
V+ 13.x, then you are using an AWC or AWC-II CPU and that makes your
controller a CS7B (dark grey cabinet).

AdeptWindows works with both CPUs, but with an AWC type CPU you get
acceptable performance. All you need to do is configure a "software
switch" on your CPU using the CONFIG_C utlility program. It's probably
best if you read the "Instructions for Utlilty Programs" and look for
"AdeptWindows PC interface with an Ethernet connection". Alternatively,
you can use the AWC's hardware switches to temporarily configure it use
AdeptWindows. These settings are described in the "Adept MV Controller
User’s Guide for V+ Version 13.0 or Later". Settings ON OFF ON ON or ON
OFF ON OFF for switches 4..1, respectively, are what you want.

But before you go there, please make absolutely sure you have a working
TCP/IP connection. And there's a few things to consider here:

The default IP address for Adept Controllers is 172.16.1ab.1cd, where
abcd are the last 4 digits of the serial number of the CPU card (bottom
left VME connector if you remove the card and put it on your desk with
component side facing down and VME connectors facing you). You can
continue to use this address, or you can use one that fits into your
company network. We here at Robo have made our company network contain
the default IP address range of AWC CPUs and that really makes life simpler.

The default TCP/IP subnet mask for the default TCP/IP address for AWC
CPUs is 255.255.0.0, which is the correct RFC netmask for a class-B
network. If you have a small company network, you most likely have a
class C network, for example, 192.168.x.y, with a netmask of
255.255.255.0. Whatever you decide to do, the netmask must be the same
the PC and the Adept controller and those digits of the IP address for
which the netmask is a 255 need to be the same. Ok, the other digits
need to differ, but that's obvious. :-)

After configuring your IP addresses, you should make sure the connection
works while you are still using your VGB or ASCII terminal. That is, you
change your IP address settings (also using CONFIG_C), reboot, and enter
a ping command, for example

ping 172.16.200.1 (or whatever the ip address of your PC is then).

Only if it is successful, then you have a working connection. Before the
ping comes through, you should NOT attempt to use AdeptWindows, as there
is no way for you to change anything if you can't connect. If you "lock
yourself out" that way, use the AWC hardware dip switches to configure
VGB or serial port!!

And there's more fun heading your way: Unless you have a very old PC,
then you have the latest Microsoft operating system. For example Windoze
2000 with Service Pack 3 or later, or Windoze XP with any Service Pack.
Those will give you a lot of grieve if you have an old V+ version. Below
is a list of the minimum versions you will need. Note that you have to
follow the upgrade procedure very closely (using CONFIG_C) and also make
sure you have a complete backup of the existing V+ operating system,
most importantly the UTIL and SYSTEM directories, and Staubli puts some
files there in addition to the Adept files! I have successfully upgraded
Staubli controllers to 13.2E5, so that would be my recommendation.

If you run into any other trouble, feel free to post if here :-)

Good luck (you'll need it)

Juergen Bosse

--- In adept_software@y..., Manish Shelat wrote:

>> A V+ compatibility issue has been discovered while running the
>> AdeptWindows PC interface on Windows 2000 with the SR3 update installed.
>>
>> If you use an older version of V+, you get the error 'Send Error
>> 10054' during the connection attempt.
>>
>> Anyone who applies SR3 to Windows 2000 will need to update their V+
>> to one of the following edits (or later):
>>
>> 12.4D3, 13.1K1, 13.2E5, 14.1B8, 15.0E1, 15.1D
>>
>> There is a similar issue with users of Windows XP, so they also need
>> to update their V+.
>>
>>
>> Manish P. Shelat
>> Adept Technology, 3011 Triad Drive, Livermore, CA 94551
>> Tel: 925.245.8103, Fax: 925.960.0431
>> www.adept.com
>
>



bhasin_gd schrieb:

>
>We have a RX 170 robot with CS 7 contrller.We currently use V+
>version 13.Can we upgrade to Adept Windows
>Thanks
>Gagan
>Texas Tech University
>
>
>
>
>
>
>
>
>
>
>Yahoo! Groups Links
>
>
>
>
>
>
>
>
>
>
>
juergen.bosse@robo-technology.de
 
Posts: 132
Joined: Tue Jul 09, 2002 5:00 pm

Re: [adept_software] Rx170 Staubli with a CS 7 controller

Postby bhasin_gd@yahoo.com » Mon Feb 28, 2005 5:00 pm

Hi ,
Thank you very much for the information.I sure will need you guidance in the future as i go ahead with making the robot completely functional.Would it be a good idea to just carry on with V+ 13.x instead of going to the windows platform.(I am completely new to this system so please excuse me in case my questions sound silly)
Thank you
Gagan

Juergen Bosse wrote:


Hi there!

What kind of CPU do you have? A CS7 controller (light grey cabinet)
usually contains a "legacy" 030 or 040 CPU. However, if you already have
V+ 13.x, then you are using an AWC or AWC-II CPU and that makes your
controller a CS7B (dark grey cabinet).

AdeptWindows works with both CPUs, but with an AWC type CPU you get
acceptable performance. All you need to do is configure a "software
switch" on your CPU using the CONFIG_C utlility program. It's probably
best if you read the "Instructions for Utlilty Programs" and look for
"AdeptWindows PC interface with an Ethernet connection". Alternatively,
you can use the AWC's hardware switches to temporarily configure it use
AdeptWindows. These settings are described in the "Adept MV Controller
User’s Guide for V+ Version 13.0 or Later". Settings ON OFF ON ON or ON
OFF ON OFF for switches 4..1, respectively, are what you want.

But before you go there, please make absolutely sure you have a working
TCP/IP connection. And there's a few things to consider here:

The default IP address for Adept Controllers is 172.16.1ab.1cd, where
abcd are the last 4 digits of the serial number of the CPU card (bottom
left VME connector if you remove the card and put it on your desk with
component side facing down and VME connectors facing you). You can
continue to use this address, or you can use one that fits into your
company network. We here at Robo have made our company network contain
the default IP address range of AWC CPUs and that really makes life simpler.

The default TCP/IP subnet mask for the default TCP/IP address for AWC
CPUs is 255.255.0.0, which is the correct RFC netmask for a class-B
network. If you have a small company network, you most likely have a
class C network, for example, 192.168.x.y, with a netmask of
255.255.255.0. Whatever you decide to do, the netmask must be the same
the PC and the Adept controller and those digits of the IP address for
which the netmask is a 255 need to be the same. Ok, the other digits
need to differ, but that's obvious. :-)

After configuring your IP addresses, you should make sure the connection
works while you are still using your VGB or ASCII terminal. That is, you
change your IP address settings (also using CONFIG_C), reboot, and enter
a ping command, for example

ping 172.16.200.1 (or whatever the ip address of your PC is then).

Only if it is successful, then you have a working connection. Before the
ping comes through, you should NOT attempt to use AdeptWindows, as there
is no way for you to change anything if you can't connect. If you "lock
yourself out" that way, use the AWC hardware dip switches to configure
VGB or serial port!!

And there's more fun heading your way: Unless you have a very old PC,
then you have the latest Microsoft operating system. For example Windoze
2000 with Service Pack 3 or later, or Windoze XP with any Service Pack.
Those will give you a lot of grieve if you have an old V+ version. Below
is a list of the minimum versions you will need. Note that you have to
follow the upgrade procedure very closely (using CONFIG_C) and also make
sure you have a complete backup of the existing V+ operating system,
most importantly the UTIL and SYSTEM directories, and Staubli puts some
files there in addition to the Adept files! I have successfully upgraded
Staubli controllers to 13.2E5, so that would be my recommendation.

If you run into any other trouble, feel free to post if here :-)

Good luck (you'll need it)

Juergen Bosse

--- In adept_software@y..., Manish Shelat wrote:

>> A V+ compatibility issue has been discovered while running the
>> AdeptWindows PC interface on Windows 2000 with the SR3 update installed.
>>
>> If you use an older version of V+, you get the error 'Send Error
>> 10054' during the connection attempt.
>>
>> Anyone who applies SR3 to Windows 2000 will need to update their V+
>> to one of the following edits (or later):
>>
>> 12.4D3, 13.1K1, 13.2E5, 14.1B8, 15.0E1, 15.1D
>>
>> There is a similar issue with users of Windows XP, so they also need
>> to update their V+.
>>
>>
>> Manish P. Shelat
>> Adept Technology, 3011 Triad Drive, Livermore, CA 94551
>> Tel: 925.245.8103, Fax: 925.960.0431
>> www.adept.com
>
>



bhasin_gd schrieb:

>
>We have a RX 170 robot with CS 7 contrller.We currently use V+
>version 13.Can we upgrade to Adept Windows
>Thanks
>Gagan
>Texas Tech University
>
>
>
>
>
>
>
>
>
>
>Yahoo! Groups Links
>
>
>
>
>
>
>
>
>
>
>







Yahoo! Groups Links









---------------------------------
Do you Yahoo!?
Yahoo! Sports - Sign up for Fantasy Baseball.
bhasin_gd@yahoo.com
 
Posts: 8
Joined: Fri Feb 25, 2005 5:00 pm

Re: [adept_software] Rx170 Staubli with a CS 7 controller

Postby juergen.bosse@robo-technology.de » Mon Feb 28, 2005 5:00 pm

Hi Gagan,

well, AdeptWindows has its advantages, one of them being the ability to
work far away from the machine (if the fan is too loud). Also, the
window is as large as your PC screen is, instead of the fixed 1024x768
of the VGB.

Do you use a VGB right now? Ok, since you're a newbie, let me rephrase
that: Is there a light blue window called Monitor on a gray background,
or do you have a purely text-based terminal? In the latter case, every
move is an improvement from where you are now :-)

The VGB has one advantage though, if you use AdeptVision (VIS or EVI) in
that it displays the video picture in real-time and I mean real
realtime. The AdeptWindows so-called "life" video picture takes real
time to display. :-/

In order to find out what's best for you... first, let's understand your
system. It would be very helpful if you could post what cards you have
(top label and bottom label) and which operating system you have on the
PC. Also, if you could detail the x in 13.x a bit for us... preferably,
you type ID into the monitor and post the 4 or 5 lines it reports.

Also, we need to know if you intend to wire your PC and Controller into
the University's network, and, if so, what the IP addresses and subnet
masks are there. You will need to talk to your local netork guru to
obtain an IP address for the controller. Note that it needs to be a
fixed address, which is something that is not so popular in University
networks (sometimes). Also, if you intend to move files between the
Controller and the PC, we would like to have a fixed IP address for the
PC as well. If you type NET then you get a summary of the network setup
of that Controller.

Ok, that should keep you busy for a few.

To the group: if there are people who think we should take this 1:1
conversation to email, we can do that no problem. I always think there
may well be more people who have questions like these, so the group
benefits from posting my replies here.

Best regards,
Juergen

PS: There are no silly questions, there are only silly answers, and you
will definately recognize them when you get them from me! :-)


gagandeep bhasin schrieb:

> Hi ,
> Thank you very much for the information.I sure will need you guidance
> in the future as i go ahead with making the robot completely
> functional.Would it be a good idea to just carry on with V+ 13.x
> instead of going to the windows platform.(I am completely new to this
> system so please excuse me in case my questions sound silly)
> Thank you
> Gagan
>
> */Juergen Bosse /* wrote:
>
>
>
> Hi there!
>
> What kind of CPU do you have? A CS7 controller (light grey cabinet)
> usually contains a "legacy" 030 or 040 CPU. However, if you
> already have
> V+ 13.x, then you are using an AWC or AWC-II CPU and that makes your
> controller a CS7B (dark grey cabinet).
>
> AdeptWindows works with both CPUs, but with an AWC type CPU you get
> acceptable performance. All you need to do is configure a "software
> switch" on your CPU using the CONFIG_C utlility program. It's
> probably
> best if you read the "Instructions for Utlilty Programs" and look for
> "AdeptWindows PC interface with an Ethernet connection".
> Alternatively,
> you can use the AWC's hardware switches to temporarily configure
> it use
> AdeptWindows. These settings are described in the "Adept MV
> Controller
> User’s Guide for V+ Version 13.0 or Later". Settings ON OFF ON ON
> or ON
> OFF ON OFF for switches 4..1, respectively, are what you want.
>
> But before you go there, please make absolutely sure you have a
> working
> TCP/IP connection. And there's a few things to consider here:
>
> The default IP address for Adept Controllers is 172.16.1ab.1cd, where
> abcd are the last 4 digits of the serial number of the CPU card
> (bottom
> left VME connector if you remove the card and put it on your desk
> with
> component side facing down and VME connectors facing you). You can
> continue to use this address, or you can use one that fits into your
> company network. We here at Robo have made our company network
> contain
> the default IP address range of AWC CPUs and that really makes
> life simpler.
>
> The default TCP/IP subnet mask for the default TCP/IP address for AWC
> CPUs is 255.255.0.0, which is the correct RFC netmask for a class-B
> network. If you have a small company network, you most likely have a
> class C network, for example, 192.168.x.y, with a netmask of
> 255.255.255.0. Whatever you decide to do, the netmask must be the
> same
> the PC and the Adept controller and those digits of the IP address
> for
> which the netmask is a 255 need to be the same. Ok, the other digits
> need to differ, but that's obvious. :-)
>
> After configuring your IP addresses, you should make sure the
> connection
> works while you are still using your VGB or ASCII terminal. That
> is, you
> change your IP address settings (also using CONFIG_C), reboot, and
> enter
> a ping command, for example
>
> ping 172.16.200.1 (or whatever the ip address of your PC is then).
>
> Only if it is successful, then you have a working connection.
> Before the
> ping comes through, you should NOT attempt to use AdeptWindows, as
> there
> is no way for you to change anything if you can't connect. If you
> "lock
> yourself out" that way, use the AWC hardware dip switches to
> configure
> VGB or serial port!!
>
> And there's more fun heading your way: Unless you have a very old PC,
> then you have the latest Microsoft operating system. For example
> Windoze
> 2000 with Service Pack 3 or later, or Windoze XP with any Service
> Pack.
> Those will give you a lot of grieve if you have an old V+ version.
> Below
> is a list of the minimum versions you will need. Note that you
> have to
> follow the upgrade procedure very closely (using CONFIG_C) and
> also make
> sure you have a complete backup of the existing V+ operating system,
> most importantly the UTIL and SYSTEM directories, and Staubli puts
> some
> files there in addition to the Adept files! I have successfully
> upgraded
> Staubli controllers to 13.2E5, so that would be my recommendation.
>
> If you run into any other trouble, feel free to post if here :-)
>
> Good luck (you'll need it)
>
> Juergen Bosse
>
> --- In adept_software@y..., Manish Shelat wrote:
>
> >> A V+ compatibility issue has been discovered while running the
> >> AdeptWindows PC interface on Windows 2000 with the SR3 update
> installed.
> >>
> >> If you use an older version of V+, you get the error 'Send Error
> >> 10054' during the connection attempt.
> >>
> >> Anyone who applies SR3 to Windows 2000 will need to update their V+
> >> to one of the following edits (or later):
> >>
> >> 12.4D3, 13.1K1, 13.2E5, 14.1B8, 15.0E1, 15.1D
> >>
> >> There is a similar issue with users of Windows XP, so they also
> need
> >> to update their V+.
> >>
> >>
> >> Manish P. Shelat
> >> Adept Technology, 3011 Triad Drive, Livermore, CA 94551
> >> Tel: 925.245.8103, Fax: 925.960.0431
> >> www.adept.com
> >
> >
>
>
>
> bhasin_gd schrieb:
>
> >
> >We have a RX 170 robot with CS 7 contrller.We currently use V+
> >version 13.Can we upgrade to Adept Windows
> >Thanks
> >Gagan
> >Texas Tech University
> >
> >
> >
> >
> >
> >
> >
> >
> >
> >
> >Yahoo! Groups Links
> >
> >
> >
> >
> >
> >
> >
> >
> >
> >
> >
>
>
>
>
>
> ------------------------ Yahoo! Groups Sponsor
>
>
>
> Yahoo! Groups Links
>
>
>
>
>
>
>
> ------------------------------------------------------------------------
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> Yahoo! Sports - Sign up
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> for Fantasy Baseball.
> *Yahoo! Groups Sponsor*
> ADVERTISEMENT
> click here
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> * To unsubscribe from this group, send an email to:
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> * Your use of Yahoo! Groups is subject to the Yahoo! Terms of
> Service .
>
>
juergen.bosse@robo-technology.de
 
Posts: 132
Joined: Tue Jul 09, 2002 5:00 pm

Re: [adept_software] Rx170 Staubli with a CS 7 controller

Postby bhasin_gd@yahoo.com » Mon Feb 28, 2005 5:00 pm

Hi Juergen,
Firstly let me Thank you for the fast reply .For now i have the following information available

The controller is a CS7 and not CS7 B
The monitor is a VGB
The robot was recently mounted on to a very rigid base in our lab and is not powered yet.As soon as we have it hooked up I will be able to provide you with more information.

I will get back to you as soon as i have all the information available

After the robot is installed and powered my first task will be to restrict its work envelope as the lab is small ,due to which will have to restrict its movement beyond certain limits.It will be of great help if you could guide me through the process of doing this.Also it would be of great help if you could provide me links or documents which can help me learn how to use V+ operating system and programming language(sample codes , tutorials etc) .I think i have the Adept documentation but i find it bit confusing for a beginner.

The PS note at the end will definitely put me to ease asking any question that i have (which will of course be related to the robot and its controller).

Thanks

Gagan
Juergen Bosse wrote:

Hi Gagan,

well, AdeptWindows has its advantages, one of them being the ability to
work far away from the machine (if the fan is too loud). Also, the
window is as large as your PC screen is, instead of the fixed 1024x768
of the VGB.

Do you use a VGB right now? Ok, since you're a newbie, let me rephrase
that: Is there a light blue window called Monitor on a gray background,
or do you have a purely text-based terminal? In the latter case, every
move is an improvement from where you are now :-)

The VGB has one advantage though, if you use AdeptVision (VIS or EVI) in
that it displays the video picture in real-time and I mean real
realtime. The AdeptWindows so-called "life" video picture takes real
time to display. :-/

In order to find out what's best for you... first, let's understand your
system. It would be very helpful if you could post what cards you have
(top label and bottom label) and which operating system you have on the
PC. Also, if you could detail the x in 13.x a bit for us... preferably,
you type ID into the monitor and post the 4 or 5 lines it reports.

Also, we need to know if you intend to wire your PC and Controller into
the University's network, and, if so, what the IP addresses and subnet
masks are there. You will need to talk to your local netork guru to
obtain an IP address for the controller. Note that it needs to be a
fixed address, which is something that is not so popular in University
networks (sometimes). Also, if you intend to move files between the
Controller and the PC, we would like to have a fixed IP address for the
PC as well. If you type NET then you get a summary of the network setup
of that Controller.

Ok, that should keep you busy for a few.

To the group: if there are people who think we should take this 1:1
conversation to email, we can do that no problem. I always think there
may well be more people who have questions like these, so the group
benefits from posting my replies here.

Best regards,
Juergen

PS: There are no silly questions, there are only silly answers, and you
will definately recognize them when you get them from me! :-)


gagandeep bhasin schrieb:

> Hi ,
> Thank you very much for the information.I sure will need you guidance
> in the future as i go ahead with making the robot completely
> functional.Would it be a good idea to just carry on with V+ 13.x
> instead of going to the windows platform.(I am completely new to this
> system so please excuse me in case my questions sound silly)
> Thank you
> Gagan
>
> */Juergen Bosse /* wrote:
>
>
>
> Hi there!
>
> What kind of CPU do you have? A CS7 controller (light grey cabinet)
> usually contains a "legacy" 030 or 040 CPU. However, if you
> already have
> V+ 13.x, then you are using an AWC or AWC-II CPU and that makes your
> controller a CS7B (dark grey cabinet).
>
> AdeptWindows works with both CPUs, but with an AWC type CPU you get
> acceptable performance. All you need to do is configure a "software
> switch" on your CPU using the CONFIG_C utlility program. It's
> probably
> best if you read the "Instructions for Utlilty Programs" and look for
> "AdeptWindows PC interface with an Ethernet connection".
> Alternatively,
> you can use the AWC's hardware switches to temporarily configure
> it use
> AdeptWindows. These settings are described in the "Adept MV
> Controller
> User’s Guide for V+ Version 13.0 or Later". Settings ON OFF ON ON
> or ON
> OFF ON OFF for switches 4..1, respectively, are what you want.
>
> But before you go there, please make absolutely sure you have a
> working
> TCP/IP connection. And there's a few things to consider here:
>
> The default IP address for Adept Controllers is 172.16.1ab.1cd, where
> abcd are the last 4 digits of the serial number of the CPU card
> (bottom
> left VME connector if you remove the card and put it on your desk
> with
> component side facing down and VME connectors facing you). You can
> continue to use this address, or you can use one that fits into your
> company network. We here at Robo have made our company network
> contain
> the default IP address range of AWC CPUs and that really makes
> life simpler.
>
> The default TCP/IP subnet mask for the default TCP/IP address for AWC
> CPUs is 255.255.0.0, which is the correct RFC netmask for a class-B
> network. If you have a small company network, you most likely have a
> class C network, for example, 192.168.x.y, with a netmask of
> 255.255.255.0. Whatever you decide to do, the netmask must be the
> same
> the PC and the Adept controller and those digits of the IP address
> for
> which the netmask is a 255 need to be the same. Ok, the other digits
> need to differ, but that's obvious. :-)
>
> After configuring your IP addresses, you should make sure the
> connection
> works while you are still using your VGB or ASCII terminal. That
> is, you
> change your IP address settings (also using CONFIG_C), reboot, and
> enter
> a ping command, for example
>
> ping 172.16.200.1 (or whatever the ip address of your PC is then).
>
> Only if it is successful, then you have a working connection.
> Before the
> ping comes through, you should NOT attempt to use AdeptWindows, as
> there
> is no way for you to change anything if you can't connect. If you
> "lock
> yourself out" that way, use the AWC hardware dip switches to
> configure
> VGB or serial port!!
>
> And there's more fun heading your way: Unless you have a very old PC,
> then you have the latest Microsoft operating system. For example
> Windoze
> 2000 with Service Pack 3 or later, or Windoze XP with any Service
> Pack.
> Those will give you a lot of grieve if you have an old V+ version.
> Below
> is a list of the minimum versions you will need. Note that you
> have to
> follow the upgrade procedure very closely (using CONFIG_C) and
> also make
> sure you have a complete backup of the existing V+ operating system,
> most importantly the UTIL and SYSTEM directories, and Staubli puts
> some
> files there in addition to the Adept files! I have successfully
> upgraded
> Staubli controllers to 13.2E5, so that would be my recommendation.
>
> If you run into any other trouble, feel free to post if here :-)
>
> Good luck (you'll need it)
>
> Juergen Bosse
>
> --- In adept_software@y..., Manish Shelat wrote:
>
> >> A V+ compatibility issue has been discovered while running the
> >> AdeptWindows PC interface on Windows 2000 with the SR3 update
> installed.
> >>
> >> If you use an older version of V+, you get the error 'Send Error
> >> 10054' during the connection attempt.
> >>
> >> Anyone who applies SR3 to Windows 2000 will need to update their V+
> >> to one of the following edits (or later):
> >>
> >> 12.4D3, 13.1K1, 13.2E5, 14.1B8, 15.0E1, 15.1D
> >>
> >> There is a similar issue with users of Windows XP, so they also
> need
> >> to update their V+.
> >>
> >>
> >> Manish P. Shelat
> >> Adept Technology, 3011 Triad Drive, Livermore, CA 94551
> >> Tel: 925.245.8103, Fax: 925.960.0431
> >> www.adept.com
> >
> >
>
>
>
> bhasin_gd schrieb:
>
> >
> >We have a RX 170 robot with CS 7 contrller.We currently use V+
> >version 13.Can we upgrade to Adept Windows
> >Thanks
> >Gagan
> >Texas Tech University
> >
> >
> >
> >
> >
> >
> >
> >
> >
> >
> >Yahoo! Groups Links
> >
> >
> >
> >
> >
> >
> >
> >
> >
> >
> >
>
>
>
>
>
> ------------------------ Yahoo! Groups Sponsor
>
>
>
> Yahoo! Groups Links
>
>
>
>
>
>
>
> ------------------------------------------------------------------------
> Do you Yahoo!?
> Yahoo! Sports - Sign up
>
> for Fantasy Baseball.
> *Yahoo! Groups Sponsor*
> ADVERTISEMENT
> click here
>
>
>
>
> ------------------------------------------------------------------------
> *Yahoo! Groups Links*
>
> * To visit your group on the web, go to:
> http://groups.yahoo.com/group/adept_software/
> * To unsubscribe from this group, send an email to:
> adept_software-unsubscribe@yahoogroups.com
>
> * Your use of Yahoo! Groups is subject to the Yahoo! Terms of
> Service .
>
>




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Posts: 8
Joined: Fri Feb 25, 2005 5:00 pm

Re: [adept_software] Rx170 Staubli with a CS 7 controller

Postby juergen.bosse@robo-technology.de » Tue Mar 01, 2005 5:00 pm

Hi Gagan,

ah ok, with a CS7 it will be interesting to find which CPU you are using.

As for the documentation, I think it's quite ok and one can quickly find
what one is looking for (at least I can, after 20 years of experience
with Adept). But seriously, the V+ Operating System User’s Guide is a
very good place to start. Also, Staubli has some fairly condensed
manuals on their robots used together with the Adept controller.

Restricting the workspace for a RX170 is a good idea. This robot can be
pretty "convincing", in case there is any unwilling hardware blocking
its way. You better stay out of its work envelope unless you really
really know what you are doing, and, more importantly, what the robot is
doing.

There's two ways to restrict the workspace:
1. Joint limits
2. Obstacles

Joint limits restrict the angular movement of the individual joints. J1,
J2 and J3 are primary candidates for this. You have to understand,
though, that every combination joints angles within the restriction is
still possible. Usually the room ceiling is too low to allow the robot
to point straight upwards (the READY position). However, if you restrict
J3 too much, then you won't be able to reach very far.

This quickly leads us to obstacles. You can define 4 independant shapes
(box, cylinder, sphere) in cartesian coordinates, which will act as
"invisible" walls. The V+ operating system will prevent the robot from
entering these obstacles (or from leaving a containment obstacle). This
adds a bit of CPU load, but it's definately worth it.

See the documentation for the SPEC utility for a discussion of both
joint limits and obstacles.

Ok, CU soon, preferably with V+ version and VME baord info.

CU
Juergen


gagandeep bhasin schrieb:

> Hi Juergen,
> Firstly let me Thank you for the fast reply .For now i have the
> following information available
>
> * The controller is a CS7 and not CS7 B
> * The monitor is a VGB
> * The robot was recently mounted on to a very rigid base in our
> lab and is not powered yet.As soon as we have it hooked up I
> will be able to provide you with more information.
>
> I will get back to you as soon as i have all the information available
>
> After the robot is installed and powered my first task will be to
> restrict its work envelope as the lab is small ,due to which will have
> to restrict its movement beyond certain limits.It will be of great
> help if you could guide me through the process of doing this.Also it
> would be of great help if you could provide me links or documents
> which can help me learn how to use V+ operating system and programming
> language(sample codes , tutorials etc) .I think i have the Adept
> documentation but i find it bit confusing for a beginner.
>
> The PS note at the end will definitely put me to ease asking any
> question that i have (which will of course be related to the robot and
> its controller).
>
> Thanks
>
> Gagan
> */Juergen Bosse /* wrote:
>
>
> Hi Gagan,
>
> well, AdeptWindows has its advantages, one of them being the
> ability to
> work far away from the machine (if the fan is too loud). Also, the
> window is as large as your PC screen is, instead of the fixed
> 1024x768
> of the VGB.
>
> Do you use a VGB right now? Ok, since you're a newbie, let me
> rephrase
> that: Is there a light blue window called Monitor on a gray
> background,
> or do you have a purely text-based terminal? In the latter case,
> every
> move is an improvement from where you are now :-)
>
> The VGB has one advantage though, if you use AdeptVision (VIS or
> EVI) in
> that it displays the video picture in real-time and I mean real
> realtime. The AdeptWindows so-called "life" video picture takes real
> time to display. :-/
>
> In order to find out what's best for you... first, let's
> understand your
> system. It would be very helpful if you could post what cards you
> have
> (top label and bottom label) and which operating system you have
> on the
> PC. Also, if you could detail the x in 13.x a bit for us...
> preferably,
> you type ID into the monitor and post the 4 or 5 lines it reports.
>
> Also, we need to know if you intend to wire your PC and Controller
> into
> the University's network, and, if so, what the IP addresses and
> subnet
> masks are there. You will need to talk to your local netork guru to
> obtain an IP address for the controller. Note that it needs to be a
> fixed address, which is something that is not so popular in
> University
> networks (sometimes). Also, if you intend to move files between the
> Controller and the PC, we would like to have a fixed IP address
> for the
> PC as well. If you type NET then you get a summary of the network
> setup
> of that Controller.
>
> Ok, that should keep you busy for a few.
>
> To the group: if there are people who think we should take this 1:1
> conversation to email, we can do that no problem. I always think
> there
> may well be more people who have questions like these, so the group
> benefits from posting my replies here.
>
> Best regards,
> Juergen
>
> PS: There are no silly questions, there are only silly answers,
> and you
> will definately recognize them when you get them from me! :-)
>
>
> gagandeep bhasin schrieb:
>
> > Hi ,
> > Thank you very much for the information.I sure will need you
> guidance
> > in the future as i go ahead with making the robot completely
> > functional.Would it be a good idea to just carry on with V+ 13.x
> > instead of going to the windows platform.(I am completely new to
> this
> > system so please excuse me in case my questions sound silly)
> > Thank you
> > Gagan
> >
> > */Juergen Bosse /* wrote:
> >
> >
> >
> > Hi there!
> >
> > What kind of CPU do you have? A CS7 controller (light grey cabinet)
> > usually contains a "legacy" 030 or 040 CPU. However, if you
> > already have
> > V+ 13.x, then you are using an AWC or AWC-II CPU and that makes your
> > controller a CS7B (dark grey cabinet).
> >
> > AdeptWindows works with both CPUs, but with an AWC type CPU you get
> > acceptable performance. All you need to do is configure a "software
> > switch" on your CPU using the CONFIG_C utlility program. It's
> > probably
> > best if you read the "Instructions for Utlilty Programs" and
> look for
> > "AdeptWindows PC interface with an Ethernet connection".
> > Alternatively,
> > you can use the AWC's hardware switches to temporarily configure
> > it use
> > AdeptWindows. These settings are described in the "Adept MV
> > Controller
> > User’s Guide for V+ Version 13.0 or Later". Settings ON OFF ON ON
> > or ON
> > OFF ON OFF for switches 4..1, respectively, are what you want.
> >
> > But before you go there, please make absolutely sure you have a
> > working
> > TCP/IP connection. And there's a few things to consider here:
> >
> > The default IP address for Adept Controllers is 172.16.1ab.1cd,
> where
> > abcd are the last 4 digits of the serial number of the CPU card
> > (bottom
> > left VME connector if you remove the card and put it on your desk
> > with
> > component side facing down and VME connectors facing you). You can
> > continue to use this address, or you can use one that fits into your
> > company network. We here at Robo have made our company network
> > contain
> > the default IP address range of AWC CPUs and that really makes
> > life simpler.
> >
> > The default TCP/IP subnet mask for the default TCP/IP address
> for AWC
> > CPUs is 255.255.0.0, which is the correct RFC netmask for a class-B
> > network. If you have a small company network, you most likely have a
> > class C network, for example, 192.168.x.y, with a netmask of
> > 255.255.255.0. Whatever you decide to do, the netmask must be the
> > same
> > the PC and the Adept controller and those digits of the IP address
> > for
> > which the netmask is a 255 need to be the same. Ok, the other digits
> > need to differ, but that's obvious. :-)
> >
> > After configuring your IP addresses, you should make sure the
> > connection
> > works while you are still using your VGB or ASCII terminal. That
> > is, you
> > change your IP address settings (also using CONFIG_C), reboot, and
> > enter
> > a ping command, for example
> >
> > ping 172.16.200.1 (or whatever the ip address of your PC is then).
> >
> > Only if it is successful, then you have a working connection.
> > Before the
> > ping comes through, you should NOT attempt to use AdeptWindows, as
> > there
> > is no way for you to change anything if you can't connect. If you
> > "lock
> > yourself out" that way, use the AWC hardware dip switches to
> > configure
> > VGB or serial port!!
> >
> > And there's more fun heading your way: Unless you have a very
> old PC,
> > then you have the latest Microsoft operating system. For example
> > Windoze
> > 2000 with Service Pack 3 or later, or Windoze XP with any Service
> > Pack.
> > Those will give you a lot of grieve if you have an old V+ version.
> > Below
> > is a list of the minimum versions you will need. Note that you
> > have to
> > follow the upgrade procedure very closely (using CONFIG_C) and
> > also make
> > sure you have a complete backup of the existing V+ operating system,
> > most importantly the UTIL and SYSTEM directories, and Staubli puts
> > some
> > files there in addition to the Adept files! I have successfully
> > upgraded
> > Staubli controllers to 13.2E5, so that would be my recommendation.
> >
> > If you run into any other trouble, feel free to post if here :-)
> >
> > Good luck (you'll need it)
> >
> > Juergen Bosse
> >
> > --- In adept_software@y..., Manish Shelat wrote:
> >
> > >> A V+ compatibility issue has been discovered while running the
> > >> AdeptWindows PC interface on Windows 2000 with the SR3 update
> > installed.
> > >>
> > >> If you use an older version of V+, you get the error 'Send Error
> > >> 10054' during the connection attempt.
> > >>
> > >> Anyone who applies SR3 to Windows 2000 will need to update
> their V+
> > >> to one of the following edits (or later):
> > >>
> > >> 12.4D3, 13.1K1, 13.2E5, 14.1B8, 15.0E1, 15.1D
> > >>
> > >> There is a similar issue with users of Windows XP, so they also
> > need
> > >> to update their V+.
> > >>
> > >>
> > >> Manish P. Shelat
> > >> Adept Technology, 3011 Triad Drive, Livermore, CA 94551
> > >> Tel: 925.245.8103, Fax: 925.960.0431
> > >> www.adept.com
> > >
> > >
> >
> >
> >
> > bhasin_gd schrieb:
> >
> > >
> > >We have a RX 170 robot with CS 7 contrller.We currently use V+
> > >version 13.Can we upgrade to Adept Windows
> > >Thanks
> > >Gagan
> > >Texas Tech University
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >Yahoo! Groups Links
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> >
> >
> >
> >
> >
> > ------------------------ Yahoo! Groups Sponsor
> >
> >
> >
> > Yahoo! Groups Links
> >
> >
> >
> >
> >
> >
> >
> >
> ------------------------------------------------------------------------
> > Do you Yahoo!?
> > Yahoo! Sports - Sign up
> >
> > for Fantasy Baseball.
> > *Yahoo! Groups Sponsor*
> > ADVERTISEMENT
> > click here
> >
> >
> >
> >
> >
> ------------------------------------------------------------------------
> > *Yahoo! Groups Links*
> >
> > * To visit your group on the web, go to:
> > http://groups.yahoo.com/group/adept_software/
> > * To unsubscribe from this group, send an email to:
> > adept_software-unsubscribe@yahoogroups.com
> >
> > * Your use of Yahoo! Groups is subject to the Yahoo! Terms of
> > Service .
> >
> >
>
>
> ------------------------ Yahoo! Groups Sponsor
>
>
>
> Yahoo! Groups Links
>
>
>
>
>
>
>
> ------------------------------------------------------------------------
> Do you Yahoo!?
> Read only the mail you want - Yahoo! Mail SpamGuard
> .
>
> *Yahoo! Groups Sponsor*
> ADVERTISEMENT
> click here
>
>
>
>
> ------------------------------------------------------------------------
> *Yahoo! Groups Links*
>
> * To visit your group on the web, go to:
> http://groups.yahoo.com/group/adept_software/
> * To unsubscribe from this group, send an email to:
> adept_software-unsubscribe@yahoogroups.com
>
> * Your use of Yahoo! Groups is subject to the Yahoo! Terms of
> Service .
>
>
juergen.bosse@robo-technology.de
 
Posts: 132
Joined: Tue Jul 09, 2002 5:00 pm

Re: Rx170 Staubli with a CS 7 controller

Postby slagerd1@yahoo.com » Fri Mar 04, 2005 5:00 pm

Gagan,

I would be interested in knowing a little more about your
controller. Since it is not a CS B series, you either have an
030/040 CPU and a network card in the rack, or you have an AWC board
that is operating in a limited fashion. In this case, you likely
have an SIO board also in the chassis.

If you do not have an AWC or a NET card, you will not be able to use
an Ethernet connection. You can elect however to add AdeptNet to
your older 030/040 system, provided you have rack space open.

If you do have an AWC processor, you are likely running V+ 12.4. To
work with Ethernet, you need to make sure you have the latest 12.4
release. You will need 12.4 Edit D3 if you plan to use the network
and have a Win 2K or XP PC. If not, you will receive an error when
you try to connect the PC and the Staubli robot.

It will look like this: send() 10054

Staubli does not currently support the 12.4 D3 release. You can try
to see if they have an interest in working with you. Since this is
an old system, it might not be an easy task. You can also try to
work with the apps folks at Adept if you need to bump up the V+
version.

The entire upgrade is not something to take lightly. You have to
carefully walk through a number of steps to get the V+ version and
the robot device modules that control your RX-170 to work. If you
feel uncomfortable, you may wish to solicit somebody to come in and
help you out. I am sure there are a number of consultants willing to
travel to the Texas area.

I have A-Series 170's using a hybrid AWC-II control on the old VME
platform. Updating V+ and getting AdeptWindows to work with XP Pro
was not a real enjoyable experience. Looking back, there is no
magic. However, many things had to fall into place and most
importantly, you need the 12.4 D3 V+ version, plus the necessary Puma
robot style device modules. Again, these will need to come form
Adept if you want D3 version files. Older ones will not work since
they match up with the V+ revision level.

If you do intend to move forward, I can lay out the steps as a
reference. You will need to make sure you have a backup of the
system on floppy in case you need to revert back to the old version.
The A series CS controller has a floppy drive so that should not be a
problem. Before you decide to move forward, make sure you weigh the
risks and the benefits.

One other note. Updating this older system to V+ 13.x and up would
likely be prohibitive. You would need to perform a number of
hardware updates with regard to the safety requirements. The SIO
module and front panel need to be changed. Some system rewiring is
also necessary. To accomplish this, you likely need to have Staubli
in the loop.



Bob Slager
Camoplast Rockland, Ltd.




--- In adept_software@yahoogroups.com, gagandeep bhasin
wrote:
> Hi Juergen,
> Firstly let me Thank you for the fast reply .For
now i have the following information available
>
> The controller is a CS7 and not CS7 B
> The monitor is a VGB
> The robot was recently mounted on to a very rigid base in our
lab and is not powered yet.As soon as we have it hooked up I will be
able to provide you with more information.
>
> I will get back to you as soon as i have all the information
available
>
> After the robot is installed and powered my first task will be to
restrict its work envelope as the lab is small ,due to which will
have to restrict its movement beyond certain limits.It will be of
great help if you could guide me through the process of doing
this.Also it would be of great help if you could provide me links or
documents which can help me learn how to use V+ operating system and
programming language(sample codes , tutorials etc) .I think i have
the Adept documentation but i find it bit confusing for a beginner.
>
> The PS note at the end will definitely put me to ease asking any
question that i have (which will of course be related to the robot
and its controller).
>
> Thanks
>
> Gagan
> Juergen Bosse wrote:
>
> Hi Gagan,
>
> well, AdeptWindows has its advantages, one of them being the
ability to
> work far away from the machine (if the fan is too loud). Also, the
> window is as large as your PC screen is, instead of the fixed
1024x768
> of the VGB.
>
> Do you use a VGB right now? Ok, since you're a newbie, let me
rephrase
> that: Is there a light blue window called Monitor on a gray
background,
> or do you have a purely text-based terminal? In the latter case,
every
> move is an improvement from where you are now :-)
>
> The VGB has one advantage though, if you use AdeptVision (VIS or
EVI) in
> that it displays the video picture in real-time and I mean real
> realtime. The AdeptWindows so-called "life" video picture takes
real
> time to display. :-/
>
> In order to find out what's best for you... first, let's understand
your
> system. It would be very helpful if you could post what cards you
have
> (top label and bottom label) and which operating system you have on
the
> PC. Also, if you could detail the x in 13.x a bit for us...
preferably,
> you type ID into the monitor and post the 4 or 5 lines it reports.
>
> Also, we need to know if you intend to wire your PC and Controller
into
> the University's network, and, if so, what the IP addresses and
subnet
> masks are there. You will need to talk to your local netork guru to
> obtain an IP address for the controller. Note that it needs to be a
> fixed address, which is something that is not so popular in
University
> networks (sometimes). Also, if you intend to move files between the
> Controller and the PC, we would like to have a fixed IP address for
the
> PC as well. If you type NET then you get a summary of the network
setup
> of that Controller.
>
> Ok, that should keep you busy for a few.
>
> To the group: if there are people who think we should take this 1:1
> conversation to email, we can do that no problem. I always think
there
> may well be more people who have questions like these, so the group
> benefits from posting my replies here.
>
> Best regards,
> Juergen
>
> PS: There are no silly questions, there are only silly answers, and
you
> will definately recognize them when you get them from me! :-)
>
>
> gagandeep bhasin schrieb:
>
> > Hi ,
> > Thank you very much for the information.I sure will need you
guidance
> > in the future as i go ahead with making the robot completely
> > functional.Would it be a good idea to just carry on with V+ 13.x
> > instead of going to the windows platform.(I am completely new to
this
> > system so please excuse me in case my questions sound silly)
> > Thank you
> > Gagan
> >
> > */Juergen Bosse /* wrote:
> >
> >
> >
> > Hi there!
> >
> > What kind of CPU do you have? A CS7 controller (light grey
cabinet)
> > usually contains a "legacy" 030 or 040 CPU. However, if you
> > already have
> > V+ 13.x, then you are using an AWC or AWC-II CPU and that makes
your
> > controller a CS7B (dark grey cabinet).
> >
> > AdeptWindows works with both CPUs, but with an AWC type CPU you
get
> > acceptable performance. All you need to do is configure
a "software
> > switch" on your CPU using the CONFIG_C utlility program. It's
> > probably
> > best if you read the "Instructions for Utlilty Programs" and look
for
> > "AdeptWindows PC interface with an Ethernet connection".
> > Alternatively,
> > you can use the AWC's hardware switches to temporarily configure
> > it use
> > AdeptWindows. These settings are described in the "Adept MV
> > Controller
> > User's Guide for V+ Version 13.0 or Later". Settings ON OFF
ON ON
> > or ON
> > OFF ON OFF for switches 4..1, respectively, are what you want.
> >
> > But before you go there, please make absolutely sure you have a
> > working
> > TCP/IP connection. And there's a few things to consider here:
> >
> > The default IP address for Adept Controllers is 172.16.1ab.1cd,
where
> > abcd are the last 4 digits of the serial number of the CPU card
> > (bottom
> > left VME connector if you remove the card and put it on your desk
> > with
> > component side facing down and VME connectors facing you). You can
> > continue to use this address, or you can use one that fits into
your
> > company network. We here at Robo have made our company network
> > contain
> > the default IP address range of AWC CPUs and that really makes
> > life simpler.
> >
> > The default TCP/IP subnet mask for the default TCP/IP address for
AWC
> > CPUs is 255.255.0.0, which is the correct RFC netmask for a class-
B
> > network. If you have a small company network, you most likely
have a
> > class C network, for example, 192.168.x.y, with a netmask of
> > 255.255.255.0. Whatever you decide to do, the netmask must be the
> > same
> > the PC and the Adept controller and those digits of the IP address
> > for
> > which the netmask is a 255 need to be the same. Ok, the other
digits
> > need to differ, but that's obvious. :-)
> >
> > After configuring your IP addresses, you should make sure the
> > connection
> > works while you are still using your VGB or ASCII terminal. That
> > is, you
> > change your IP address settings (also using CONFIG_C), reboot, and
> > enter
> > a ping command, for example
> >
> > ping 172.16.200.1 (or whatever the ip address of your PC is then).
> >
> > Only if it is successful, then you have a working connection.
> > Before the
> > ping comes through, you should NOT attempt to use AdeptWindows, as
> > there
> > is no way for you to change anything if you can't connect. If you
> > "lock
> > yourself out" that way, use the AWC hardware dip switches to
> > configure
> > VGB or serial port!!
> >
> > And there's more fun heading your way: Unless you have a very old
PC,
> > then you have the latest Microsoft operating system. For example
> > Windoze
> > 2000 with Service Pack 3 or later, or Windoze XP with any Service
> > Pack.
> > Those will give you a lot of grieve if you have an old V+ version.
> > Below
> > is a list of the minimum versions you will need. Note that you
> > have to
> > follow the upgrade procedure very closely (using CONFIG_C) and
> > also make
> > sure you have a complete backup of the existing V+ operating
system,
> > most importantly the UTIL and SYSTEM directories, and Staubli puts
> > some
> > files there in addition to the Adept files! I have successfully
> > upgraded
> > Staubli controllers to 13.2E5, so that would be my recommendation.
> >
> > If you run into any other trouble, feel free to post if here :-)
> >
> > Good luck (you'll need it)
> >
> > Juergen Bosse
> >
> > --- In adept_software@y..., Manish Shelat wrote:
> >
> > >> A V+ compatibility issue has been discovered while running the
> > >> AdeptWindows PC interface on Windows 2000 with the SR3 update
> > installed.
> > >>
> > >> If you use an older version of V+, you get the error 'Send
Error
> > >> 10054' during the connection attempt.
> > >>
> > >> Anyone who applies SR3 to Windows 2000 will need to update
their V+
> > >> to one of the following edits (or later):
> > >>
> > >> 12.4D3, 13.1K1, 13.2E5, 14.1B8, 15.0E1, 15.1D
> > >>
> > >> There is a similar issue with users of Windows XP, so they also
> > need
> > >> to update their V+.
> > >>
> > >>
> > >> Manish P. Shelat
> > >> Adept Technology, 3011 Triad Drive, Livermore, CA 94551
> > >> Tel: 925.245.8103, Fax: 925.960.0431
> > >> www.adept.com
> > >
> > >
> >
> >
> >
> > bhasin_gd schrieb:
> >
> > >
> > >We have a RX 170 robot with CS 7 contrller.We currently use V+
> > >version 13.Can we upgrade to Adept Windows
> > >Thanks
> > >Gagan
> > >Texas Tech University
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >Yahoo! Groups Links
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
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> > ------------------------ Yahoo! Groups Sponsor
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Posts: 3
Joined: Fri Mar 18, 2005 5:00 pm

Re: Rx170 Staubli with a CS 7 controller

Postby slagerd1@yahoo.com » Fri Mar 04, 2005 5:00 pm

Please continue this discussion within the group. I do not feel it
is necessary to move it to a 1:1 correspondence. The subject of
AdeptWindows and the various V+ versions remains very relevant,
especially with all of the issues relating to MS Windows versions.

-Bob Slager


--- In adept_software@yahoogroups.com, Juergen Bosse
wrote:
> Hi Gagan,
>
> well, AdeptWindows has its advantages, one of them being the
ability to
> work far away from the machine (if the fan is too loud). Also, the
> window is as large as your PC screen is, instead of the fixed
1024x768
> of the VGB.
>
> Do you use a VGB right now? Ok, since you're a newbie, let me
rephrase
> that: Is there a light blue window called Monitor on a gray
background,
> or do you have a purely text-based terminal? In the latter case,
every
> move is an improvement from where you are now :-)
>
> The VGB has one advantage though, if you use AdeptVision (VIS or
EVI) in
> that it displays the video picture in real-time and I mean real
> realtime. The AdeptWindows so-called "life" video picture takes
real
> time to display. :-/
>
> In order to find out what's best for you... first, let's understand
your
> system. It would be very helpful if you could post what cards you
have
> (top label and bottom label) and which operating system you have on
the
> PC. Also, if you could detail the x in 13.x a bit for us...
preferably,
> you type ID into the monitor and post the 4 or 5 lines it reports.
>
> Also, we need to know if you intend to wire your PC and Controller
into
> the University's network, and, if so, what the IP addresses and
subnet
> masks are there. You will need to talk to your local netork guru to
> obtain an IP address for the controller. Note that it needs to be a
> fixed address, which is something that is not so popular in
University
> networks (sometimes). Also, if you intend to move files between the
> Controller and the PC, we would like to have a fixed IP address for
the
> PC as well. If you type NET then you get a summary of the network
setup
> of that Controller.
>
> Ok, that should keep you busy for a few.
>
> To the group: if there are people who think we should take this 1:1
> conversation to email, we can do that no problem. I always think
there
> may well be more people who have questions like these, so the group
> benefits from posting my replies here.
>
> Best regards,
> Juergen
>
> PS: There are no silly questions, there are only silly answers, and
you
> will definately recognize them when you get them from me! :-)
>
>
> gagandeep bhasin schrieb:
>
> > Hi ,
> > Thank you very much for the information.I sure will need you
guidance
> > in the future as i go ahead with making the robot completely
> > functional.Would it be a good idea to just carry on with V+ 13.x
> > instead of going to the windows platform.(I am completely new to
this
> > system so please excuse me in case my questions sound silly)
> > Thank you
> > Gagan
> >
> > */Juergen Bosse /* wrote:
> >
> >
> >
> > Hi there!
> >
> > What kind of CPU do you have? A CS7 controller (light grey
cabinet)
> > usually contains a "legacy" 030 or 040 CPU. However, if you
> > already have
> > V+ 13.x, then you are using an AWC or AWC-II CPU and that
makes your
> > controller a CS7B (dark grey cabinet).
> >
> > AdeptWindows works with both CPUs, but with an AWC type CPU
you get
> > acceptable performance. All you need to do is configure
a "software
> > switch" on your CPU using the CONFIG_C utlility program. It's
> > probably
> > best if you read the "Instructions for Utlilty Programs" and
look for
> > "AdeptWindows PC interface with an Ethernet connection".
> > Alternatively,
> > you can use the AWC's hardware switches to temporarily
configure
> > it use
> > AdeptWindows. These settings are described in the "Adept MV
> > Controller
> > User's Guide for V+ Version 13.0 or Later". Settings ON
OFF
ON ON
> > or ON
> > OFF ON OFF for switches 4..1, respectively, are what you want.
> >
> > But before you go there, please make absolutely sure you have
a
> > working
> > TCP/IP connection. And there's a few things to consider here:
> >
> > The default IP address for Adept Controllers is
172.16.1ab.1cd, where
> > abcd are the last 4 digits of the serial number of the CPU
card
> > (bottom
> > left VME connector if you remove the card and put it on your
desk
> > with
> > component side facing down and VME connectors facing you).
You can
> > continue to use this address, or you can use one that fits
into your
> > company network. We here at Robo have made our company network
> > contain
> > the default IP address range of AWC CPUs and that really makes
> > life simpler.
> >
> > The default TCP/IP subnet mask for the default TCP/IP address
for AWC
> > CPUs is 255.255.0.0, which is the correct RFC netmask for a
class-B
> > network. If you have a small company network, you most likely
have a
> > class C network, for example, 192.168.x.y, with a netmask of
> > 255.255.255.0. Whatever you decide to do, the netmask must be
the
> > same
> > the PC and the Adept controller and those digits of the IP
address
> > for
> > which the netmask is a 255 need to be the same. Ok, the other
digits
> > need to differ, but that's obvious. :-)
> >
> > After configuring your IP addresses, you should make sure the
> > connection
> > works while you are still using your VGB or ASCII terminal.
That
> > is, you
> > change your IP address settings (also using CONFIG_C),
reboot, and
> > enter
> > a ping command, for example
> >
> > ping 172.16.200.1 (or whatever the ip address of your PC is
then).
> >
> > Only if it is successful, then you have a working connection.
> > Before the
> > ping comes through, you should NOT attempt to use
AdeptWindows, as
> > there
> > is no way for you to change anything if you can't connect. If
you
> > "lock
> > yourself out" that way, use the AWC hardware dip switches to
> > configure
> > VGB or serial port!!
> >
> > And there's more fun heading your way: Unless you have a very
old PC,
> > then you have the latest Microsoft operating system. For
example
> > Windoze
> > 2000 with Service Pack 3 or later, or Windoze XP with any
Service
> > Pack.
> > Those will give you a lot of grieve if you have an old V+
version.
> > Below
> > is a list of the minimum versions you will need. Note that you
> > have to
> > follow the upgrade procedure very closely (using CONFIG_C) and
> > also make
> > sure you have a complete backup of the existing V+ operating
system,
> > most importantly the UTIL and SYSTEM directories, and Staubli
puts
> > some
> > files there in addition to the Adept files! I have
successfully
> > upgraded
> > Staubli controllers to 13.2E5, so that would be my
recommendation.
> >
> > If you run into any other trouble, feel free to post if
here :-)
> >
> > Good luck (you'll need it)
> >
> > Juergen Bosse
> >
> > --- In adept_software@y..., Manish Shelat wrote:
> >
> > >> A V+ compatibility issue has been discovered while running
the
> > >> AdeptWindows PC interface on Windows 2000 with the SR3
update
> > installed.
> > >>
> > >> If you use an older version of V+, you get the error 'Send
Error
> > >> 10054' during the connection attempt.
> > >>
> > >> Anyone who applies SR3 to Windows 2000 will need to update
their V+
> > >> to one of the following edits (or later):
> > >>
> > >> 12.4D3, 13.1K1, 13.2E5, 14.1B8, 15.0E1, 15.1D
> > >>
> > >> There is a similar issue with users of Windows XP, so they
also
> > need
> > >> to update their V+.
> > >>
> > >>
> > >> Manish P. Shelat
> > >> Adept Technology, 3011 Triad Drive, Livermore, CA 94551
> > >> Tel: 925.245.8103, Fax: 925.960.0431
> > >> www.adept.com
> > >
> > >
> >
> >
> >
> > bhasin_gd schrieb:
> >
> > >
> > >We have a RX 170 robot with CS 7 contrller.We currently use
V+
> > >version 13.Can we upgrade to Adept Windows
> > >Thanks
> > >Gagan
> > >Texas Tech University
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >Yahoo! Groups Links
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> >
> >
> >
> >
> >
> > ------------------------ Yahoo! Groups Sponsor
> >
> >
> >
> > Yahoo! Groups Links
> >
> >
> >
> >
> >
> >
> >
> > ------------------------------------------------------------------
------
> > Do you Yahoo!?
> > Yahoo! Sports - Sign up
> >
l.fantasysports.yahoo.com>
> > for Fantasy Baseball.
> > *Yahoo! Groups Sponsor*
> > ADVERTISEMENT
> > click here
> >
6/D=groups/S=1707216976:HM/EXP=1109701717/A=2593423/R=0/SIG=11el9gslf/
*http://www.netflix.com/Default?mqso=60190075>
> >
> >
> >
> > ------------------------------------------------------------------
------
> > *Yahoo! Groups Links*
> >
> > * To visit your group on the web, go to:
> > http://groups.yahoo.com/group/adept_software/
> > * To unsubscribe from this group, send an email to:
> > adept_software-unsubscribe@yahoogroups.com
> > subject=Unsubscribe>
> > * Your use of Yahoo! Groups is subject to the Yahoo! Terms of
> > Service .
> >
> >
slagerd1@yahoo.com
 
Posts: 3
Joined: Fri Mar 18, 2005 5:00 pm

Re: [adept_software] Rx170 Staubli with a CS 7 controller

Postby bhasin_gd@yahoo.com » Fri Mar 18, 2005 5:00 pm

Hi Juergen,
Due to some strange reason i received your reply 12 days after it was posted on the group.We hooked up the robot and the controller and I seems to work satisfactorily with the MCP.
Now i have the following information available:
Software: 11.2 1-1100 (Edit S5,17-apr-1996)
Contrller: 3302-407 0
Processor 1: 0.0 2-4 Mb
Processor 2: 0.2 1-2 Mb
Robot 1: 170-594139 0-014

Boards Inside the Controller:
NET, 040, SIO, VMI, VMI, ACB, VGB, VIS, 030, VFI

Where can i get information about the Functions associated with each of the above mentioned boards.

I think that the operating system version is 11.1.Would you recommend upgradign the OS(what are the major advantages in case we go for an upgrade and how much does it cost).The manual CD rom that came along has the users guide for version 13.0.can i use this manual for reference with my current version of OS.
Thankyou for your Time and patience.
Gagan

Juergen Bosse wrote:


Hi Gagan,

ah ok, with a CS7 it will be interesting to find which CPU you are using.

As for the documentation, I think it's quite ok and one can quickly find
what one is looking for (at least I can, after 20 years of experience
with Adept). But seriously, the V+ Operating System User’s Guide is a
very good place to start. Also, Staubli has some fairly condensed
manuals on their robots used together with the Adept controller.

Restricting the workspace for a RX170 is a good idea. This robot can be
pretty "convincing", in case there is any unwilling hardware blocking
its way. You better stay out of its work envelope unless you really
really know what you are doing, and, more importantly, what the robot is
doing.

There's two ways to restrict the workspace:
1. Joint limits
2. Obstacles

Joint limits restrict the angular movement of the individual joints. J1,
J2 and J3 are primary candidates for this. You have to understand,
though, that every combination joints angles within the restriction is
still possible. Usually the room ceiling is too low to allow the robot
to point straight upwards (the READY position). However, if you restrict
J3 too much, then you won't be able to reach very far.

This quickly leads us to obstacles. You can define 4 independant shapes
(box, cylinder, sphere) in cartesian coordinates, which will act as
"invisible" walls. The V+ operating system will prevent the robot from
entering these obstacles (or from leaving a containment obstacle). This
adds a bit of CPU load, but it's definately worth it.

See the documentation for the SPEC utility for a discussion of both
joint limits and obstacles.

Ok, CU soon, preferably with V+ version and VME baord info.

CU
Juergen


gagandeep bhasin schrieb:

> Hi Juergen,
> Firstly let me Thank you for the fast reply .For now i have the
> following information available
>
> * The controller is a CS7 and not CS7 B
> * The monitor is a VGB
> * The robot was recently mounted on to a very rigid base in our
> lab and is not powered yet.As soon as we have it hooked up I
> will be able to provide you with more information.
>
> I will get back to you as soon as i have all the information available
>
> After the robot is installed and powered my first task will be to
> restrict its work envelope as the lab is small ,due to which will have
> to restrict its movement beyond certain limits.It will be of great
> help if you could guide me through the process of doing this.Also it
> would be of great help if you could provide me links or documents
> which can help me learn how to use V+ operating system and programming
> language(sample codes , tutorials etc) .I think i have the Adept
> documentation but i find it bit confusing for a beginner.
>
> The PS note at the end will definitely put me to ease asking any
> question that i have (which will of course be related to the robot and
> its controller).
>
> Thanks
>
> Gagan
> */Juergen Bosse /* wrote:
>
>
> Hi Gagan,
>
> well, AdeptWindows has its advantages, one of them being the
> ability to
> work far away from the machine (if the fan is too loud). Also, the
> window is as large as your PC screen is, instead of the fixed
> 1024x768
> of the VGB.
>
> Do you use a VGB right now? Ok, since you're a newbie, let me
> rephrase
> that: Is there a light blue window called Monitor on a gray
> background,
> or do you have a purely text-based terminal? In the latter case,
> every
> move is an improvement from where you are now :-)
>
> The VGB has one advantage though, if you use AdeptVision (VIS or
> EVI) in
> that it displays the video picture in real-time and I mean real
> realtime. The AdeptWindows so-called "life" video picture takes real
> time to display. :-/
>
> In order to find out what's best for you... first, let's
> understand your
> system. It would be very helpful if you could post what cards you
> have
> (top label and bottom label) and which operating system you have
> on the
> PC. Also, if you could detail the x in 13.x a bit for us...
> preferably,
> you type ID into the monitor and post the 4 or 5 lines it reports.
>
> Also, we need to know if you intend to wire your PC and Controller
> into
> the University's network, and, if so, what the IP addresses and
> subnet
> masks are there. You will need to talk to your local netork guru to
> obtain an IP address for the controller. Note that it needs to be a
> fixed address, which is something that is not so popular in
> University
> networks (sometimes). Also, if you intend to move files between the
> Controller and the PC, we would like to have a fixed IP address
> for the
> PC as well. If you type NET then you get a summary of the network
> setup
> of that Controller.
>
> Ok, that should keep you busy for a few.
>
> To the group: if there are people who think we should take this 1:1
> conversation to email, we can do that no problem. I always think
> there
> may well be more people who have questions like these, so the group
> benefits from posting my replies here.
>
> Best regards,
> Juergen
>
> PS: There are no silly questions, there are only silly answers,
> and you
> will definately recognize them when you get them from me! :-)
>
>
> gagandeep bhasin schrieb:
>
> > Hi ,
> > Thank you very much for the information.I sure will need you
> guidance
> > in the future as i go ahead with making the robot completely
> > functional.Would it be a good idea to just carry on with V+ 13.x
> > instead of going to the windows platform.(I am completely new to
> this
> > system so please excuse me in case my questions sound silly)
> > Thank you
> > Gagan
> >
> > */Juergen Bosse /* wrote:
> >
> >
> >
> > Hi there!
> >
> > What kind of CPU do you have? A CS7 controller (light grey cabinet)
> > usually contains a "legacy" 030 or 040 CPU. However, if you
> > already have
> > V+ 13.x, then you are using an AWC or AWC-II CPU and that makes your
> > controller a CS7B (dark grey cabinet).
> >
> > AdeptWindows works with both CPUs, but with an AWC type CPU you get
> > acceptable performance. All you need to do is configure a "software
> > switch" on your CPU using the CONFIG_C utlility program. It's
> > probably
> > best if you read the "Instructions for Utlilty Programs" and
> look for
> > "AdeptWindows PC interface with an Ethernet connection".
> > Alternatively,
> > you can use the AWC's hardware switches to temporarily configure
> > it use
> > AdeptWindows. These settings are described in the "Adept MV
> > Controller
> > User’s Guide for V+ Version 13.0 or Later". Settings ON OFF ON ON
> > or ON
> > OFF ON OFF for switches 4..1, respectively, are what you want.
> >
> > But before you go there, please make absolutely sure you have a
> > working
> > TCP/IP connection. And there's a few things to consider here:
> >
> > The default IP address for Adept Controllers is 172.16.1ab.1cd,
> where
> > abcd are the last 4 digits of the serial number of the CPU card
> > (bottom
> > left VME connector if you remove the card and put it on your desk
> > with
> > component side facing down and VME connectors facing you). You can
> > continue to use this address, or you can use one that fits into your
> > company network. We here at Robo have made our company network
> > contain
> > the default IP address range of AWC CPUs and that really makes
> > life simpler.
> >
> > The default TCP/IP subnet mask for the default TCP/IP address
> for AWC
> > CPUs is 255.255.0.0, which is the correct RFC netmask for a class-B
> > network. If you have a small company network, you most likely have a
> > class C network, for example, 192.168.x.y, with a netmask of
> > 255.255.255.0. Whatever you decide to do, the netmask must be the
> > same
> > the PC and the Adept controller and those digits of the IP address
> > for
> > which the netmask is a 255 need to be the same. Ok, the other digits
> > need to differ, but that's obvious. :-)
> >
> > After configuring your IP addresses, you should make sure the
> > connection
> > works while you are still using your VGB or ASCII terminal. That
> > is, you
> > change your IP address settings (also using CONFIG_C), reboot, and
> > enter
> > a ping command, for example
> >
> > ping 172.16.200.1 (or whatever the ip address of your PC is then).
> >
> > Only if it is successful, then you have a working connection.
> > Before the
> > ping comes through, you should NOT attempt to use AdeptWindows, as
> > there
> > is no way for you to change anything if you can't connect. If you
> > "lock
> > yourself out" that way, use the AWC hardware dip switches to
> > configure
> > VGB or serial port!!
> >
> > And there's more fun heading your way: Unless you have a very
> old PC,
> > then you have the latest Microsoft operating system. For example
> > Windoze
> > 2000 with Service Pack 3 or later, or Windoze XP with any Service
> > Pack.
> > Those will give you a lot of grieve if you have an old V+ version.
> > Below
> > is a list of the minimum versions you will need. Note that you
> > have to
> > follow the upgrade procedure very closely (using CONFIG_C) and
> > also make
> > sure you have a complete backup of the existing V+ operating system,
> > most importantly the UTIL and SYSTEM directories, and Staubli puts
> > some
> > files there in addition to the Adept files! I have successfully
> > upgraded
> > Staubli controllers to 13.2E5, so that would be my recommendation.
> >
> > If you run into any other trouble, feel free to post if here :-)
> >
> > Good luck (you'll need it)
> >
> > Juergen Bosse
> >
> > --- In adept_software@y..., Manish Shelat wrote:
> >
> > >> A V+ compatibility issue has been discovered while running the
> > >> AdeptWindows PC interface on Windows 2000 with the SR3 update
> > installed.
> > >>
> > >> If you use an older version of V+, you get the error 'Send Error
> > >> 10054' during the connection attempt.
> > >>
> > >> Anyone who applies SR3 to Windows 2000 will need to update
> their V+
> > >> to one of the following edits (or later):
> > >>
> > >> 12.4D3, 13.1K1, 13.2E5, 14.1B8, 15.0E1, 15.1D
> > >>
> > >> There is a similar issue with users of Windows XP, so they also
> > need
> > >> to update their V+.
> > >>
> > >>
> > >> Manish P. Shelat
> > >> Adept Technology, 3011 Triad Drive, Livermore, CA 94551
> > >> Tel: 925.245.8103, Fax: 925.960.0431
> > >> www.adept.com
> > >
> > >
> >
> >
> >
> > bhasin_gd schrieb:
> >
> > >
> > >We have a RX 170 robot with CS 7 contrller.We currently use V+
> > >version 13.Can we upgrade to Adept Windows
> > >Thanks
> > >Gagan
> > >Texas Tech University
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >Yahoo! Groups Links
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> > >
> >
> >
> >
> >
> >
> > ------------------------ Yahoo! Groups Sponsor
> >
> >
> >
> > Yahoo! Groups Links
> >
> >
> >
> >
> >
> >
> >
> >
> ------------------------------------------------------------------------
> > Do you Yahoo!?
> > Yahoo! Sports - Sign up
> >
> > for Fantasy Baseball.
> > *Yahoo! Groups Sponsor*
> > ADVERTISEMENT
> > click here
> >
> >
> >
> >
> >
> ------------------------------------------------------------------------
> > *Yahoo! Groups Links*
> >
> > * To visit your group on the web, go to:
> > http://groups.yahoo.com/group/adept_software/
> > * To unsubscribe from this group, send an email to:
> > adept_software-unsubscribe@yahoogroups.com
> >
> > * Your use of Yahoo! Groups is subject to the Yahoo! Terms of
> > Service .
> >
> >
>
>
> ------------------------ Yahoo! Groups Sponsor
>
>
>
> Yahoo! Groups Links
>
>
>
>
>
>
>
> ------------------------------------------------------------------------
> Do you Yahoo!?
> Read only the mail you want - Yahoo! Mail SpamGuard
> .
>
> *Yahoo! Groups Sponsor*
> ADVERTISEMENT
> click here
>
>
>
>
> ------------------------------------------------------------------------
> *Yahoo! Groups Links*
>
> * To visit your group on the web, go to:
> http://groups.yahoo.com/group/adept_software/
> * To unsubscribe from this group, send an email to:
> adept_software-unsubscribe@yahoogroups.com
>
> * Your use of Yahoo! Groups is subject to the Yahoo! Terms of
> Service .
>
>







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Posts: 8
Joined: Fri Feb 25, 2005 5:00 pm

Re: Rx170 Staubli with a CS 7 controller

Postby c.currivand@free.fr » Fri Mar 18, 2005 5:00 pm

Hello there

This is exactly the informations needed to help you.
NET is a network board to allow TCP/IP connection
040 is the CPU (motorola 68040)
SIO is the System IO board. You have the HD,Floppy,RS232, 12 digital
inputs, 8 digital outputs, safety chain
VMIs are the servio boards. each of them manages 4 axis. This means
you have 2 axis left to connect external axis
ACB is the Stäubli calibration board. This board is used only at
calibration sequence to compute the actual robot position.Thus the
robot does not need to move to calibrate.
VGB is the graphical board.
VIS is the vision board
030 is an extra CPU.
VFI is a Force sensor board. You can use a force sensor on the robot
flange.

If you need complete description about theses board (except the ACB
since it's a stäubli one) I would recommend you to download the
Adept
Controler user's guide from the document library of wwww.adept.com.

Concerning the upgrade, you must know that the stäubli robots are
not
necessarely compatible with any V+ version. This is especially true
for the RX170.I would recommend you to contact the nearest stäubli
organisation to check if an upgrade is possible.

regards.

Chris

--- In adept_software@yahoogroups.com, Gagan Deep Bhasin
wrote:
> Hi Juergen,
> Due to some strange reason i received your reply
12 days after it was posted on the group.We hooked up the robot and
the controller and I seems to work satisfactorily with the MCP.
> Now i have the following information available:
> Software: 11.2 1-1100 (Edit S5,17-apr-1996)
> Contrller: 3302-407 0
> Processor 1: 0.0 2-4 Mb
> Processor 2: 0.2 1-2 Mb
> Robot 1: 170-594139 0-014
>
> Boards Inside the Controller:
> NET, 040, SIO, VMI, VMI, ACB, VGB, VIS, 030, VFI
>
> Where can i get information about the Functions associated with each
of the above mentioned boards.
>
> I think that the operating system version is 11.1.Would you
recommend upgradign the OS(what are the major advantages in case we go
for an upgrade and how much does it cost).The manual CD rom that came
along has the users guide for version 13.0.can i use this manual for
reference with my current version of OS.
> Thankyou for your Time and patience.
> Gagan
>
> Juergen Bosse wrote:
>
>
> Hi Gagan,
>
> ah ok, with a CS7 it will be interesting to find which CPU you are
using.
>
> As for the documentation, I think it's quite ok and one can quickly
find
> what one is looking for (at least I can, after 20 years of
experience
> with Adept). But seriously, the V+ Operating System User's
Guide is a
> very good place to start. Also, Staubli has some fairly condensed
> manuals on their robots used together with the Adept controller.
>
> Restricting the workspace for a RX170 is a good idea. This robot
can be
> pretty "convincing", in case there is any unwilling hardware
blocking
> its way. You better stay out of its work envelope unless you really
> really know what you are doing, and, more importantly, what the
robot is
> doing.
>
> There's two ways to restrict the workspace:
> 1. Joint limits
> 2. Obstacles
>
> Joint limits restrict the angular movement of the individual joints.
J1,
> J2 and J3 are primary candidates for this. You have to understand,
> though, that every combination joints angles within the restriction
is
> still possible. Usually the room ceiling is too low to allow the
robot
> to point straight upwards (the READY position). However, if you
restrict
> J3 too much, then you won't be able to reach very far.
>
> This quickly leads us to obstacles. You can define 4 independant
shapes
> (box, cylinder, sphere) in cartesian coordinates, which will act as
> "invisible" walls. The V+ operating system will prevent the robot
from
> entering these obstacles (or from leaving a containment obstacle).
This
> adds a bit of CPU load, but it's definately worth it.
>
> See the documentation for the SPEC utility for a discussion of both
> joint limits and obstacles.
>
> Ok, CU soon, preferably with V+ version and VME baord info.
>
> CU
> Juergen
>
>
> gagandeep bhasin schrieb:
>
> > Hi Juergen,
> > Firstly let me Thank you for the fast reply .For now i have the
> > following information available
> >
> > * The controller is a CS7 and not CS7 B
> > * The monitor is a VGB
> > * The robot was recently mounted on to a very rigid base in our
> > lab and is not powered yet.As soon as we have it hooked up I
> > will be able to provide you with more information.
> >
> > I will get back to you as soon as i have all the information
available
> >
> > After the robot is installed and powered my first task will be to
> > restrict its work envelope as the lab is small ,due to which will
have
> > to restrict its movement beyond certain limits.It will be of
great
> > help if you could guide me through the process of doing this.Also
it
> > would be of great help if you could provide me links or documents
> > which can help me learn how to use V+ operating system and
programming
> > language(sample codes , tutorials etc) .I think i have the Adept
> > documentation but i find it bit confusing for a beginner.
> >
> > The PS note at the end will definitely put me to ease asking any
> > question that i have (which will of course be related to the robot
and
> > its controller).
> >
> > Thanks
> >
> > Gagan
> > */Juergen Bosse /* wrote:
> >
> >
> > Hi Gagan,
> >
> > well, AdeptWindows has its advantages, one of them being the
> > ability to
> > work far away from the machine (if the fan is too loud). Also, the
> > window is as large as your PC screen is, instead of the fixed
> > 1024x768
> > of the VGB.
> >
> > Do you use a VGB right now? Ok, since you're a newbie, let me
> > rephrase
> > that: Is there a light blue window called Monitor on a gray
> > background,
> > or do you have a purely text-based terminal? In the latter case,
> > every
> > move is an improvement from where you are now :-)
> >
> > The VGB has one advantage though, if you use AdeptVision (VIS or
> > EVI) in
> > that it displays the video picture in real-time and I mean real
> > realtime. The AdeptWindows so-called "life" video picture takes
real
> > time to display. :-/
> >
> > In order to find out what's best for you... first, let's
> > understand your
> > system. It would be very helpful if you could post what cards you
> > have
> > (top label and bottom label) and which operating system you have
> > on the
> > PC. Also, if you could detail the x in 13.x a bit for us...
> > preferably,
> > you type ID into the monitor and post the 4 or 5 lines it reports.
> >
> > Also, we need to know if you intend to wire your PC and Controller
> > into
> > the University's network, and, if so, what the IP addresses and
> > subnet
> > masks are there. You will need to talk to your local netork guru
to
> > obtain an IP address for the controller. Note that it needs to be
a
> > fixed address, which is something that is not so popular in
> > University
> > networks (sometimes). Also, if you intend to move files between
the
> > Controller and the PC, we would like to have a fixed IP address
> > for the
> > PC as well. If you type NET then you get a summary of the network
> > setup
> > of that Controller.
> >
> > Ok, that should keep you busy for a few.
> >
> > To the group: if there are people who think we should take this
1:1
> > conversation to email, we can do that no problem. I always think
> > there
> > may well be more people who have questions like these, so the
group
> > benefits from posting my replies here.
> >
> > Best regards,
> > Juergen
> >
> > PS: There are no silly questions, there are only silly answers,
> > and you
> > will definately recognize them when you get them from me! :-)
> >
> >
> > gagandeep bhasin schrieb:
> >
> > > Hi ,
> > > Thank you very much for the information.I sure will need you
> > guidance
> > > in the future as i go ahead with making the robot completely
> > > functional.Would it be a good idea to just carry on with V+ 13.x
> > > instead of going to the windows platform.(I am completely new to
> > this
> > > system so please excuse me in case my questions sound silly)
> > > Thank you
> > > Gagan
> > >
> > > */Juergen Bosse /* wrote:
> > >
> > >
> > >
> > > Hi there!
> > >
> > > What kind of CPU do you have? A CS7 controller (light grey
cabinet)
> > > usually contains a "legacy" 030 or 040 CPU. However, if you
> > > already have
> > > V+ 13.x, then you are using an AWC or AWC-II CPU and that makes
your
> > > controller a CS7B (dark grey cabinet).
> > >
> > > AdeptWindows works with both CPUs, but with an AWC type CPU you
get
> > > acceptable performance. All you need to do is configure a
"software
> > > switch" on your CPU using the CONFIG_C utlility program. It's
> > > probably
> > > best if you read the "Instructions for Utlilty Programs" and
> > look for
> > > "AdeptWindows PC interface with an Ethernet connection".
> > > Alternatively,
> > > you can use the AWC's hardware switches to temporarily configure
> > > it use
> > > AdeptWindows. These settings are described in the "Adept MV
> > > Controller
> > > User's Guide for V+ Version 13.0 or Later". Settings ON OFF
ON ON
> > > or ON
> > > OFF ON OFF for switches 4..1, respectively, are what you want.
> > >
> > > But before you go there, please make absolutely sure you have a
> > > working
> > > TCP/IP connection. And there's a few things to consider here:
> > >
> > > The default IP address for Adept Controllers is 172.16.1ab.1cd,
> > where
> > > abcd are the last 4 digits of the serial number of the CPU card
> > > (bottom
> > > left VME connector if you remove the card and put it on your
desk
> > > with
> > > component side facing down and VME connectors facing you). You
can
> > > continue to use this address, or you can use one that fits into
your
> > > company network. We here at Robo have made our company network
> > > contain
> > > the default IP address range of AWC CPUs and that really makes
> > > life simpler.
> > >
> > > The default TCP/IP subnet mask for the default TCP/IP address
> > for AWC
> > > CPUs is 255.255.0.0, which is the correct RFC netmask for a
class-B
> > > network. If you have a small company network, you most likely
have a
> > > class C network, for example, 192.168.x.y, with a netmask of
> > > 255.255.255.0. Whatever you decide to do, the netmask must be
the
> > > same
> > > the PC and the Adept controller and those digits of the IP
address
> > > for
> > > which the netmask is a 255 need to be the same. Ok, the other
digits
> > > need to differ, but that's obvious. :-)
> > >
> > > After configuring your IP addresses, you should make sure the
> > > connection
> > > works while you are still using your VGB or ASCII terminal. That
> > > is, you
> > > change your IP address settings (also using CONFIG_C), reboot,
and
> > > enter
> > > a ping command, for example
> > >
> > > ping 172.16.200.1 (or whatever the ip address of your PC is
then).
> > >
> > > Only if it is successful, then you have a working connection.
> > > Before the
> > > ping comes through, you should NOT attempt to use AdeptWindows,
as
> > > there
> > > is no way for you to change anything if you can't connect. If
you
> > > "lock
> > > yourself out" that way, use the AWC hardware dip switches to
> > > configure
> > > VGB or serial port!!
> > >
> > > And there's more fun heading your way: Unless you have a very
> > old PC,
> > > then you have the latest Microsoft operating system. For example
> > > Windoze
> > > 2000 with Service Pack 3 or later, or Windoze XP with any
Service
> > > Pack.
> > > Those will give you a lot of grieve if you have an old V+
version.
> > > Below
> > > is a list of the minimum versions you will need. Note that you
> > > have to
> > > follow the upgrade procedure very closely (using CONFIG_C) and
> > > also make
> > > sure you have a complete backup of the existing V+ operating
system,
> > > most importantly the UTIL and SYSTEM directories, and Staubli
puts
> > > some
> > > files there in addition to the Adept files! I have successfully
> > > upgraded
> > > Staubli controllers to 13.2E5, so that would be my
recommendation.
> > >
> > > If you run into any other trouble, feel free to post if here :-)
> > >
> > > Good luck (you'll need it)
> > >
> > > Juergen Bosse
> > >
> > > --- In adept_software@y..., Manish Shelat wrote:
> > >
> > > >> A V+ compatibility issue has been discovered while running
the
> > > >> AdeptWindows PC interface on Windows 2000 with the SR3 update
> > > installed.
> > > >>
> > > >> If you use an older version of V+, you get the error 'Send
Error
> > > >> 10054' during the connection attempt.
> > > >>
> > > >> Anyone who applies SR3 to Windows 2000 will need to update
> > their V+
> > > >> to one of the following edits (or later):
> > > >>
> > > >> 12.4D3, 13.1K1, 13.2E5, 14.1B8, 15.0E1, 15.1D
> > > >>
> > > >> There is a similar issue with users of Windows XP, so they
also
> > > need
> > > >> to update their V+.
> > > >>
> > > >>
> > > >> Manish P. Shelat
> > > >> Adept Technology, 3011 Triad Drive, Livermore, CA 94551
> > > >> Tel: 925.245.8103, Fax: 925.960.0431
> > > >> www.adept.com
> > > >
> > > >
> > >
> > >
> > >
> > > bhasin_gd schrieb:
> > >
> > > >
> > > >We have a RX 170 robot with CS 7 contrller.We currently use V+
> > > >version 13.Can we upgrade to Adept Windows
> > > >Thanks
> > > >Gagan
> > > >Texas Tech University
> > > >
> > > >
> > > >
> > > >
> > > >
> > > >
> > > >
> > > >
> > > >
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