ABS_ENC

File Name	Program Name	File Type	Description
ABS_ENC.V2	a.abs_enc	B	Absolute encoder utility.

Overview

The ABS_ENC utility program clears the absolute encoder of the AdeptVicron robot and clears encoder over-speed error bits that could be inadvertently set during transport. Clearing the absolute encoder:

• Clears the five error bits:
• Battery alarm
• Averspeed
• Overflow
• System down and
• Quadrature; found in the absolute encoder serial data stream.
• Resets the absolute encoder multi-turn counter to 0 only for the axis that is being cleared.

NOTE: Resetting the multi-turn counter to 0 can change the calibration of the robot, if the encoder is not reset at the correct limit of joint travel. This utility will not move the robot to the correct position, but rather prompts the user to manually move the joint of the encoder being cleared to the correct joint limit. If the absolute encoder is cleared in the wrong location, the reported robot location will differ by an increment of a number of full motor rotations. If this occurs, this utility can be re-executed to correct the situation.

Requirements

To run the ABS_ENC program:

• You must be connected to an AdeptVicron robot.
• You must have V+ version 14.1A or later installed on your system.

Before the ABS_ENC program can be used:

• The robot must be calibrated with the factory defaults.
• The robot must not have been disassembled, which includes replacing motors, encoders, belts, or drive mechanisms.

Usage Considerations

The ABS_ENC program defines many real-valued and string variables with the prefix "ae." and "ts." that must not be modified by you or other programers.

NOTE: If used correctly (i.e., according to the instructions listed below), this utility does not change the calibration of the robot. This assumes that the robot was correctly calibrated at the factory, that the drive mechanism has not been disassembled or altered and that the motor or encoder have not been removed or disassembled.

Menu Structure

To access the ABS_ENC main menu, follow the Loading and Executing Adept Utility Programs procedure on page 243. Once ABS_ENC is initialized, Figure 1-1.ABS_ENC Main Utility Menu is displayed.

Figure 1-1. ABS_ENC Main Utility Menu

A brief description of each menu item is provided in the table below.

Menu			Description	Page
Exit to System Monitor			Exit to V+ dot prompt.
Clear Theta Axis (Jt 1) absolute encoder			Clears the Theta Axis error bit	31
Clear Z Axis(Jt 2) absolute encoder			Clears the Z Axis error bit	31
Clear R Axis (Jt 3) absolute encoder			Clears the R Axis error bit	31
Change robot number			Change access between multiple Adept robots	34

Clear Axis absolute encoder

This menu item allows you to clear the absolute encoder for the selected axis. (Axis selection is specified by the selected menu item.) Follow the program directions to position the joint(s) for clearing the absolute encoder. Depending on the axis selected the utility program could prompt you to install, and later remove, the R axis shipping fixture on the robot. This aids in both properly positioning the robot and in moving the robot joints to the proper position, before clearing the absolute encoder.

NOTE: The procedure for clearing the Theta Axis absolute encoder for an AdeptVicron 300S robot is explained below. Clearing the absolute encoder of the Z or R axis is similar.

Figure 1-2. Clearing Procedure of JT Absolute Encoder.

To clear the Theta Axis follow the following procedure:

1. From the main menu select option "1".
2. When prompted, Install the R Axis fixture onto the R axis arm and press Enter.
3. Move the Theta Axis to the zero hardstop moving the arm in a clockwise movement and press Enter.
4. When prompted, remove the R Axis fixture from the R axis arm and press Enter.
5. Move the R Axis to the zero hardstop moving it away from the robot controller interface panel and press Enter.
6. The program provides one last chance to change your mind before clearing the absolute encoder by displaying the following prompt:
7. Are you ready to clear the Theta Axis (Jt 1) Absolute Encoder (Y/N)?
8. Enter Y at the prompt to clear the Absolute Encoder.
9. The program performs a check of the multi-turn counter to verify that the joint is at the correct end of travel, before clearing the absolute encoder. If the multi-turn counter is not zero then the following warning message will appear:

WARNING: The multiturn counter for the Theta Axis (Jt 1) is: '8185'.  
The expected value is '0'.  This means that the joint is not at the 
correct hardstop or the absolute encoder has been previously cleared 
at the incorrect position.  Either situation can be corrected by clearing 
the joint at the correct hardstop. 
Enter 'Y' to clear the absolute encoder, or enter 'N' to 
Exit to the Main Menu. 

10. Clearing the encoder takes aproxmitaly 5 seconds. When the encoder is successfully cleared the computer displayes the message "Absolute Encoder Successfully cleared". If the encoder is not cleared a error message will be displayed.

Figure 1-3. Multi-turn counter is not zero warning

Change robot number

The Change robot number menu item allows you to access other "robots" (mechanisms) in the system for a multi-robot system. The currently selected robot is displayed below the program banner.

To use the Change robot number option follow the following steps:

1. select the option from the menu and press Enter. If the system has two robots, then utility will select the other robot.
2. If the system has more than two robots, then the utility will prompt you to select a robot number. Enter the desired robot number and press Enter.

NOTE: The main menu selections may change based on the robot selected.

If you attempt to select a non-AdeptVicron robot, the following message is displayed:

Robot #2 does not have Panasonic absolute encoders.  This utility only works 
with AdeptVicron Robots.  Verify that the selected robot is an adeptVicron Robot.  
The current robot is robot #1.