CONFIG_C

File Name	Program Name	File Type	Description
CONFIG_C.V2	a.config_c	B	Controller configuration utility

Overview

The CONFIG_C utility provides access to the following functions:

• V+ System Installation

The installation option installs a new V+ system, configuring it to match the system being replaced.

• Display and edit system configuration

The V+ system includes configuration data stored in a special system file. The CONFIG_C utility lets you edit this file. Each time the controller is restarted, the system reads the statements in the configuration file and sets the appropriate defaults.

• Display and modify device modules for robots

The Robots and Device Modules options allow you to change the kinematic device-control modules included in the V+ system and the robots that are controlled by the system.

• Display and initialize the NVRAM contents

The NVRAM section displays and initializes the NVRAM, which is read each time the controller is powered up. The NVRAM need only be initialized if it has become corrupted, or if the device has failed and been replaced. Currently, CONFIG_C cannot be used to initialize the (pseudo) NVRAM for the SmartController.

• Display information about the devices connected to the DeviceNet

The Adept Utility program CONFIG_C supports configuring the DeviceNet and mapping the DeviceNet hardware to the appropriate V+ signal numbers.

For a description of these functions and specific information on each CONFIG_C menu option, please refer to Menu Structure for further details.

NOTE: Changes to the system configuration do not take effect until the V+ system is loaded from the modified system file.

Requirements

The following items are needed to run CONFIG_C. All of these (except as indicated) were supplied with your Adept system:

• Adept SmartController, using V+ version 16.0 or later
• V+ 16.x CD-ROM containing the utility files CONFIG_C.V2, DISKCOPY.V2, and SPECsub.lib (or copies of the files on the Compact Flash).

Before you can run CONFIG_C:

• The V+ system must be loaded.
• If you are using a robot system, the robot must be calibrated and COMP mode must be selected on the manual control pendant.
  or
  The DRY.RUN system switch must be enabled.
  or
  The program can be executed in a program task other than #0.

Usage Considerations

• System configuration changes do not take effect until the V+ system is loaded from the modified system file. Thus, after making all the desired changes to the configuration, turn off power to the controller and reboot the system from the modified system file.

• Adept recommends making a backup copy of the modified V+ system. The DISKCOPY utility can be used for that purpose.

• If the V+ configuration file contains statements for hardware or options that are not installed in the system, the extra statements are ignored and can be left in the configuration file.  For example, the configuration file may contain statements for four analog input boards although the system may have only two boards installed.

• Not all items in the configuration file can be changed. Items that cannot be changed by the configuration utility are noted as such when they are displayed.

• The configuration program defines many real-valued and string variables with cf., dc., it., iu., ld., and sp. as prefixes. These variables must not be modified by you or by other programs. (All the variables are deleted from memory when the program exits normally. All the variables are deleted when a DELETE command is used to delete the program from memory, as described earlier.)

• If the DISKCOPY utility is not already in memory when the V+ installation menu item is first selected, the CONFIG_C program automatically loads DISKCOPY into memory. If you later attempt to load DISKCOPY while CONFIG_C (and DISKCOPY) is still in memory, you will see many *Program already exists* errors, which can be ignored.

• The system must be booted from a local disk (A, B, C, or D) in order to access the following CONFIG_C program menu items:

V+ System Configuration Data Robots and Device Modules

If you attempt to access the above menu items after booting from the network, the following message is displayed:

** Cannot access data **

• The CONFIG_C.V2 file is a protected binary file. Thus, the programs in the file cannot be displayed, edited, or stored from memory to disk. The file can be copied with the FCOPY monitor command or the DISKCOPY utility program.

 

Menu Structure

Menu	Description
EXIT to system monitor	Exits the CONFIG_C utility and return to the system monitor.
Installation	The options under this menu item are used when upgrading a V+ system.
SAVE current ROBOT DATA	Saves configuration data files for the robots and external encoders that the current V+ system is configured to control.
INSTALL a NEW V+ SYSTEM	Copies the new V+ system to the desired output disk drive and then duplicates the system configuration from the old V+ system on the new V+ system disk.
APPLY saved ROBOT DATA	Applies the saved robot and encoder data from the old V+ system to the new V+ system disk.
V+ System Configuration Data	Accesses the configuration data on a V+ system disk
DISPLAY system CONFIGURATION	Displays the configuration data on a specified V+ system disk.
EDIT system CONFIGURATION	Allows editing of the following system configuration settings.
Change HEADER configuration	The statements in this section cannot be changed.
Change VPLUS configuration	Specifies which processors run a copy of the V+ interpreter.
Change ANALOG_INPUT configuration	Changes the input voltage configuration of Analog I/O board. board numbers are determined by the analog board address switches, not by physical order in the backplane.
Change ANALOG_OUTPUT configuration	The left-hand side of each statement specifies BOARD and a number, and PORT and a number. Analog I/O board numbers are determined by the analog board address switches, not by physical order in the backplane
Change DIGITAL_INPUT configuration	Sets up the digital input signal numbers. They should be set to match the input channel (1001, 1002, 1003, 1004 or none) that will be used.
Change DIGITAL_OUTPUT configuration	Sets up the digital output signal numbers. They should be set to match the output channel that will be used.
Change DEVICENET configuration	For additional information about the Adept DeviceNet environment and details on hardware configuration, see the Adept SmartController User's Guide.
Change NETWORK configuration	Provides configuration information for the AdeptNet option.
Change ROBOT configuration	Specifies the following: kinematic module associated with each robot latch parameters for belts and robots settings for 1394 digital input signals used as I/O signals for each robot
Change SERIAL configuration	Specifies the communications protocols and parameters for various serial data communications hardware and software.
Change SERVO_BOARDS configuration	Associates servo interface boards (EJI, MI3, MI6, or VFI) with processor boards.
Change SYSTEM configuration	Specifies various characteristics of the V+ system.
Change TASKS configuration	Allows changing of the default TASKS configuration. Operation of the V+ system can be adversely affected by incorrect settings of task priorities.
Change VISION configuration	Associates a vision system with a processor and sets the vision memory allocation and the virtual frame buffer size.
EXPORT configuration DATA	Copies the systems configuration data to a regular disk file or network file.
IMPORT configuration DATA	This operation reads V+ system configuration data from a disk file and writes the data to a V+ system disk.
Robots and Device Modules	See the Adept SmartMotion Developer's Guide  for more information on set up of robot and device modules.
LIST current CONFIGURATION of system file	Reads and displays current configuration of your system.
LIST device modules in a device-module FILE	Lists device modules that are present in the device module file for the current system.
REPLACE device modules in system file	Replaces system file device modules by reading device modules from a disk file.
APPEND device modules to system file	Reads device modules from a disk file and append them to a system file device module.
SELECT device modules for robots	Associates a device module with a selected robot.
Controller NVRAM	This option allows setup of the system NVRAM within the controller.
DISPLAY NVRAM contents	Displays model, serial number, network IP address, and a list of installed options.
INITIALIZE the NVRAM	Initializes the NVRAM on the AWC processor. Done only when a replacement NVRAM has been installed on the processor.
SET IP address in the NVRAM	Set the IP address of the Adept controller (the controller's address on the local area network).
SET "SWITCHES" in the NVRAM	Defines the V+ configuration settings in software rather than using hardware DIP switches. This is done without removing the AWC board.
Scan the DeviceNet	Configures DeviceNet and map the DeviceNet hardware to the appropriate V+ signal numbers.
SCAN the DeviceNet for nodes	Determines what is recorded for each DeviceNet component you want to access with the Adept Controller.

 

V+ Installation

The options under this menu item are used when upgrading a V+ system. The purpose of these operations is to carry forward all the custom configuration information from the old system to the new system. See Upgrading Your V+ System for details on installing a new V+ system.

 

SAVE current ROBOT DATA

NOTE: This menu item followed by an asterisk(*) indicates that the operation cannot be performed because of an incompatibility between the edition of CONFIG_C being used and the current V+ system. Use the edition of CONFIG_C that was supplied with your old V+ system.

This option creates configuration data files for the robots and external encoders that the current V+ system is configured to control. These data files can be stored on any disk, and can be used later to restore robot and encoder configuration data to the V+ system.

You are asked which disk drive should receive the data files. If an optional floppy drive is indicated, you are asked to insert a diskette. All the data files are created automatically. Each file name is displayed for reference. For example, if an error occurs, the file name should help you to understand the problem. If the files were written to a diskette, you are advised to write-protect and label the diskette.

CAUTION: Any existing files with the same names are overwritten without warning!
 

 

INSTALL a NEW V+ SYSTEM

This option copies the new V+ system to the desired output disk drive and then duplicates the system configuration from the old V+ system on the new V+ system disk.

CONFIG_C automates most of the installation process. As noted above, however, the robot and encoder configuration data must have been saved in disk files before the installation process is initiated. After completing this installation step, you must complete the installation process by selecting step #3 (APPLY saved ROBOT DATA).

The entire installation process can take up to 45 minutes. Most of that time is spent making backup copies of your old and new V+ systems; you can stop the process at any time while making these copies. However, after the process of configuring your new V+ system has begun, do not interrupt the installation process. The system informs you when the uninterruptible portion of the process has been reached, and you can stop at that point.

NOTE: Use the edition of CONFIG_C that you received with the new V+ system.

Make sure you clearly identify the diskettes used during the installation process. There is no way for the program to tell if you have inserted the wrong diskette in response to a request. Carefully read the program messages before you respond to each prompt.

During installation, answer the program questions about the system disks.

In various situations, the program recommends that you make a backup copy of the old and/or new V+ systems. If you agree, DISKCOPY is invoked to make the copy. You should be familiar with the use of the DISKCOPY program to copy a V+ system and to copy a diskette image.

NOTE: In most situations Adept strongly recommends that you make a backup, and you are asked a second time if you want to make the backup.

After the appropriate backup disks are made, the program asks you to put one or the other of the system disks in the floppy drive so that configuration information can be read and confirmation can be made that needed files are present on the new system disk.

Next, the actual installation process begins, and it should not be interrupted. The following steps are performed:

1. The new system is copied to the specified output drive.

2. The appropriate device modules are installed in the V+ system file on the output disk.

NOTE: If the installer cannot find the necessary device-module file(s), you are asked for the disk to be accessed.

3. The configuration information from the old system is written to the output disk.

NOTE: No check is made to ensure that the robot selections defined in the configuration data match the device modules that are present on the disk. That is, if the old system is incorrectly configured, the new system is also.

Finally, you are told what steps must be performed to load the robot data from the disk files created in step #1 of the three-step installation process.

 

APPLY saved ROBOT DATA

CAUTION: For Cobra s600 or s800 systems (purchased before 2005), when using a customized SPEC file, you must manually re-enter any customized SPEC data when upgrading the V+ operating system software. Details...

This option applies the saved robot and encoder data from the old V+ system to the new V+ system disk.

The system must have been booted from the disk created with step #2 above.

After the purpose of the menu item is displayed, you are given an opportunity to cancel the menu selection.

Next, the robot and external encoder configuration of the current system is displayed, and you are given another chance to cancel the process.

You are asked which disk drive contains the configuration data files. If an optional floppy drive is indicated, you are asked to insert the diskette.The program looks for the configuration data files on the specified disk in the subdirectory \CONFIG_C\ with the names that were displayed during step #1.

After confirming that the required files are present, you are given one more chance to cancel the process. (If any required file is not found, its file specification is displayed, and the process cannot be continued.)

If you agree to continue, all the data files are read automatically. Each file name is displayed for reference. For example, if an error occurs, the file name should help you to understand the problem.

NOTE: As the files are read, several lines of output may be displayed. You are advised by the program to use CRTL+S/CRTL+Q to control the output. Some of those lines may appear to be error messages. (Refer to the documentation for the SPEC utility in the Adept SmartMotion Developer's Guide  for an explanation of the messages displayed while a configuration data file is being read.) In general, such messages result from changes that have been made to the V+ system or the CONFIG_C program and do not indicate a real problem.

After all the data files are read, you are asked if that data should be written to a V+ system disk. If so, you are told that the system disk must be the one from which the current V+ system was booted. If you indicate that the data should not be written to a V+ system disk, the ramifications are explained and you are asked to confirm your choice.

 

V+ System Configuration Data

This selection accesses the configuration data on a V+ system disk, not the configuration data currently in system memory.

NOTE: The target V+ system should be compatible with the edition of CONFIG_C being used.

 

DISPLAY system CONFIGURATION

This option displays the configuration data on a specified V+ system disk.

 

EDIT system CONFIGURATION

NOTE: The configuration editor does not check to see whether your changes are consistent with system requirements. If the V+ system fails to boot after the configuration has been changed, you must boot from a different V+ system disk and then use CONFIG_C to correct the configuration data problem(s) on the inoperable system disk.

After you select this option, the system asks for the drive that holds the operating system you want to change. After a drive is specified and the configuration data is read from the disk, the following submenu is displayed:

Choosing a specific section allows you to edit the statements for that part of the system. The statements are displayed as equations. The left-hand side of the equation specifies the item that you are configuring. The right-hand side specifies the attributes that the item can have and the value each attribute is given at system startup. The general form of each statement is:

ITEM # = "/ATTRIBUTE value /ATTRIBUTE value.../ATTRIBUTE value"

However, not all items have a number (#). Also, some items have only a value associated with them and not a list of attributes.

When you select a section, you are shown all the current statements in the section. You are then presented with each statement and given the opportunity to change that statement. You can delete statements or add new statements to the configuration file. In general, the sequence of steps for editing configuration statements is:

1. Select a section from the edit system configuration submenu.

2. The program displays all the statements in the selected section.

3. The program displays statements one at a time, and asks if you want to edit each one. You have three options:

   1. If you enter n, the next statement is displayed. If this is the last statement in a section, the program asks if you want to add a new statement.

2. If you enter y, the program asks if you want to delete the statement. If you respond y to the delete prompt, the statement is removed from the configuration data.

If you respond n to the delete prompt, the first attribute in the statement is displayed along with its current value and its possible values (or range of values). To leave the value unchanged, press enter. To change a value, enter the desired value and press enter.

After you press enter, the next attribute and its values are displayed. After all attributes have been presented for editing, the revised statement is displayed and you can reedit if necessary.

3. If you select q (or complete editing the last statement in a section), the program asks if you want to add a new statement to the configuration data. If you respond y, a new statement is started and you can specify the appropriate attribute values. If you respond n, the editing submenu is redisplayed.

CAUTION: You must save the modified configuration data on the system disk if you want the changes to be retained.

The options for the edit system configuration submenu are described below.

NOTE: There are often configuration statements for options that are not present in the controller. Such statements are ignored by V+ and do not need to be deleted.

Change HEADER configuration

The statement in this section cannot be changed.

Change VPLUS configuration

This section specifies which processors run a copy of the V+ interpreter. If an auxiliary processor is running only a servo or vision task, removing the V+ interpreter from that processor saves RAM.

NOTE: The V+ Extensions license is required to run V+ on more than one CPU.

The left-hand side of each statement specifies PROCESSOR and a number. Processor numbers are determined by the processor board address switches, not by their physical order in the backplane. See the Adept SmartController User's Guide for details.

The right-hand side of the statement specifies the V+ system number to assign to the processor. The V+ system number and the processor number must be the same. To remove the V+ interpreter from a processor, delete the statement for that processor.

Change ANALOG_INPUT configuration

The left-hand side of each statement specifies BOARD and a number. Analog I/O board numbers are determined by the analog board address switches, not by physical order in the backplane. See the Adept SmartController User's Guide for details.

The analog input channels have two attributes, /TYPE and /MODE. The possible values for /TYPE are bipolar and unipolar. If any of the bipolar I/O. If a positive-only voltage range is hardware selected, the software setup must specify unipolar I/O. For input channels, all the channels on a board must have the same type selection.

The possible values for /MODE are single-ended and differential. Single-ended input uses the returned value of each input channel. Differential input uses the difference between returned values on pairs of input channels. The software setup must match the hardware setup.

Change ANALOG_OUTPUT configuration

The left-hand side of each statement specifies BOARD and a number, and PORT and a number. Analog I/O board numbers are determined by the analog board address switches, not by physical order in the backplane. Contact Adept Applications for details. On each board, there are four analog channels, numbered 1 to 4. See AIO.OUT for details on addressing the individual channels.

The analog output channels have one attribute, /TYPE. The possible values for /TYPE are bipolar and unipolar. If any of the selected in the hardware setup, the software setup must specify bipolar I/O. If a positive-only voltage range is hardware selected, the software setup must specify unipolar I/O. For output channels, bipolar or unipolar can be selected for each channel independent of the selections for the other channels.

Change DIGITAL_INPUT configuration

The digital input configuration can contain 3 types of statements, POS_LATCH, VIS_TRIGGER and SIGNAL.

POS_LATCH and VIS_TRIGGER statements

The POS_LATCH and VIS_TRIGGER statements define the V+ input signals that will be associated with latch/trigger number 1 or 2. These statements can have the following attribute:

• /SIGNAL n: "N" is a standard V+ input signal number for the first signal in a byte. It must be set to match the input channel (1001, 1002, 1003, 1004, or NONE) that will be used.

For POS_LATCH statements, the position latch number specified must match the latch number specified with the ROBOT menu option (see This Topic). For additional details, see Position Latch and Vision Trigger. See LATCH for details on reading latched encoder positions.

For VIS_TRIGGER statements, the hardware setup of the EVI module must match the vision trigger number specified. See the V.IO.WAIT keyword for details on using the vision trigger.

SIGNAL statement

SIGNAL statements associate eight external 1394-based hardware signals with eight V+ input signals. The number on the left-hand side of the statement identifies the first V+ signal in the group. It must be 1001, 1009, ..., 1505 -- that is, 1001 plus Nx8, where N is 0, 1, 2, ..., 63. The /INPUT BLOCK, /INPUT BYTE, and IO_OPTIONAL attributes are specified on the right-hand side of the the /SIGNAL statement:

• /INPUT BLOCK n: "N" is the 1394 input block ID to be used for the input signals specified by /SIGNAL. "N" may range from 1 to 31.

• /INPUT BYTE m: "M" is the byte offset within the input block. It can have the following values (the default is zero):

Byte	Bits
0	0 - 7
1	8 - 15
2	16 - 23
3	24 - 31

• /IO_OPTIONAL YES/NO: If this is set to "yes", no error is generated if the input block is not found on the 1394 network. If this is set to "no", an error is generated and robot power cannot be enabled if the input block is not found. The default is "no".

Change DIGITAL_OUTPUT configuration

SIGNAL statements in this section associate external 1394-based hardware signals with V+ output signals. Each statement associates eight hardware signals with eight V+ output signals. The number on the left-hand side of the statement identifies the first V+ output signal in the group. It must be 1, 9, ..., 505 -- that is, 1 plus Nx8, where N is 0, 1, 2, ..., 63. The /INPUT BLOCK, /INPUT BYTE, and IO_OPTIONAL attributes are specified on the right-hand side of the /SIGNAL statement to identify the hardware signals to be accessed.

• /OUTPUT BLOCK n: "N" is the 1394 output block ID to be used for the output signals specified by /SIGNAL. "N" may range from 0 to 31.
• /OUTPUT BYTE m: "M" is the byte offset within the output block. It can have the following values (the default is zero):

Byte	Bits
1	0 - 7
2	8 - 15
3	16 - 23
4	24 - 31

• /IO_OPTIONAL YES/NO: If this is set to "yes", no error is generated if the output block is not found on the 1394 network. If this is set to "no", an error is generated and robot power cannot be enabled if the output block is not found. The default is "no".

Change DEVICENET configuration

The statements in this section provide configuration for digital I/O signals that are connected via the DeviceNet bus. Refer to DeviceNet Statements in V+ Configuration Data for information about these statements. Before changing the configuration, use the Scan the DeviceNet for nodes function to gather information required for the configuration.

NOTE:
    - For an overview of the Adept DeviceNet implementation, see Adept DeviceNet. 
    - For details on DeviceNet network status, use the DEVICENET monitor command.

Change NETWORK configuration

The statements in this section provide configuration information for the AdeptNet option. Refer to the AdeptNet User's Guide for information about these statements.

Change ROBOT configuration

This section specifies which kinematic module is associated with each robot and the parameters for position latches for each robot and/or belt encoder. The position latch functionality available is determined by the V+ version installed on your system (see Latching Functionality). To prevent V+ from wasting time processing latch events, do not add /POS_LATCH clauses unless you need to process latch information.  Also, do not connect fast digital inputs to noisy or unstable sensors that continually generate latch events.

NOTE: The main-menu item "Robots and Device Modules" provides a more convenient method for configuring the robot kinematic-module selection. However, that menu item does not provide access to the statement clauses related to output signals or position latching.

The left-hand side of each statement specifies ROBOT and a robot number. The ROBOT statement has the following attributes:

• /MODULE: The value of /MODULE depends on the kinematic modules installed in your system and robot types connected to the controller. See the Adept SmartMotion Developer's Guide  for details on selecting and specifying motion devices.
• /OUTPUT_BLOCK n: "N" is the 1394 output block ID to be used for the 3001 - 3008 output signals for this robot. "N" may range from 1 to 31.
• /OUTPUT_BYTE m: "M" is the byte offset within the output block and can have the following values:

Byte	Bits
0	0 - 7
1	8 - 15
2	16 - 23
3	24 - 31

• /IO_OPTIONAL YES/NO: If this is set to "yes", no error is generated if the input block is not found on the 1394 network. If this is set to "no", an error is generated and robot power cannot be enabled if the input block is not found. The default is "no".
• /POS_LATCH n:

In V+ 15.1 or later, the /POS_LATCH clause accepts multiple arguments which allows the system to recognize latch events from more than one source. For all systems (AWC-II and SmartController), latching can occur on the rising edge (positive) of the fast digital input transition from high to low (positive edge). On SmartController CX systems, latching can also occur on the falling (negative) edge of the fast digital input. 

Multiple latch events from the same or different inputs may be buffered internally by V+ by adding the /LATCH_BUFFER clause to the ROBOT or BELT statement. For details, see /LATCH_BUFFER below. The source of a latch event can be determined by the return value from the LATCHED function.

For additional details, see Position Latch and Vision Trigger.

NOTE: If you have an AWC-I controller, the /POS_LATCH clause is specified in the SERVO_BOARDS section instead of the ROBOT section. With AWC-II and SmartController systems, the /POS_LATCH clause is ignored if it is specified on the BOARD statements.

Latching Robot and Belt Channels

If you are using V+ 14.0 or later, you can latch either an entire robot or any belt channels independently. The robot axes and belt channels can be distributed among any combination of VME boards or 1394 axes as shown in the following example:
 

.ROBOT

        ROBOT 1="/MODULE -1 /POS_LATCH 1"

        BELT 1 = "/POS_LATCH 1"

        BELT 2 = "/POS_LATCH 1"

        BELT 3 = "/POS_LATCH 1"

/POS_LATCH Parameter Definition

V+ version	Arg	Description
15.0	n	= 0 Latch is disabled = 1 VME encoder latch signal 1 latches all axes for the robot = 2 VME encoder latch signal 2 latches all axes for the robot =None CONFIG_C automatically suppresses the /POS_LATCH clause and /LATCH_BUFFER clauses
15.1 or later	n	= 0 Latch is disabled = 1 VME encoder latch signal 1 latches all axes for the robot =  2 VME encoder latch signal 2 latches all axes for the robot = 1001 Latch positive edge on fast digital input 1001 = 1002 Latch positive edge on fast digital input 1002 = 1003 Latch positive edge on fast digital input 1003 (available on SmartController CS systems only with V+ version 16.0 and later) = 1004 Latch positive edge on fast digital input 1004 (available on SmartController CS systems only with V+ version 16.0 and later) = N1001 Latch negative transition of fast input 1001 (available on SmartController CS systems only with V+ version 16.0 and later) = N1002 Latch negative transition of fast input 1002 (available on SmartController CS systems only with V+ version 16.0 and later) = N1003 Latch negative transition of fast input 1003 (available on SmartController CS systems only with V+ version 16.0 and later) = N1004 Latch negative transition of fast input 1004 (available on SmartController CS systems only with V+ version 16.0 and later)
NOTE: If no signal is specified for the /POS_LATCH clause, this clause is not included in the  ROBOT or BELT statement.

Configuration Restrictions for POS_LATCH Clauses

Because of hardware restrictions, some POS_LATCH configurations must not be specified. The combinations shown in the following table are not allowed and will generate the error  *Invalid software configuration* at system startup. This error disables all latching for all inputs, but other than that the V+ system is totally functional.

Invalid POS_LATCH Configurations

If the .ROBOT or .DIGITAL_INPUT section of CONFIG_C contains...	then, the .ROBOT or .DIGITAL_INPUT sections MUST NOT contain the clause...
/POS_LATCH 1 (clause) or POS_LATCH 1 (statement)	/POS_LATCH 1001              or   /POS_LATCH N1001
/POS_LATCH 2(clause) or POS_LATCH 2 (statement)	POS_LATCH 1002 or /POS_LATCH N1002
VIS_TRIGGER 1	POS_LATCH 1003 or or /POS_LATCH N1003
VIS_TRIGGER 2	POS_LATCH 1004 or /POS_LATCH N1004

 

• /LATCH_BUFFER n:

NOTE: This clause is available only with V+ version 15.1 or later.

The /LATCH_BUFFER clause provides improved response time for latch triggering. With unbuffered latching, a single latch source can be retriggered about every 8 milliseconds. If the /LATCH_BUFFER clause is specified with n > 1, a single latch can be triggered every 1 millisecond on an AWC-based controller and possibly every 200 microseconds on a SmartController.

The value n specified for /LATCH_BUFFER indicates the number of latch events that are buffered for this robot or belt.  For example, to configure belt 1 to be latched by a positive transition on signal 1002, and both positive and negative transitions on signal 1003, and buffer up to 16 latch events, use the statement:

BELT 1 = "/POS_LATCH 1002 1003 N1003 /LATCH_BUFFER 16"

The value range for n is 1 to 200. The value specified determines the number of events that will be saved before the user program calls the LATCHED () function. If more than n events occur before LATCHED() is called, the latest events are not recorded. Calling LATCHED() removes an event from the buffer and allows an additional event to be recognized.

If n=1, then the /LATCH_BUFFER clause is not included in the  ROBOT or BELT statement.

For additional information on latch buffering, see Position Latch and Vision Trigger.

Change SERIAL configuration

This section specifies the communications protocols and parameters for various serial data communications hardware and software.

The left-hand side of each statement specifies either GLOBAL_PORT (for the global serial lines available on the SIO board or SmartController CX) or LOCAL_PORT (for the local serial lines available on the processor or SmartController). The global serial lines can be accessed by all processors. The local serial lines can be accessed only by the processor they are attached to. Each GLOBAL_PORT has a number that refers to the serial port number (port #4 is the FP/MCP connection). Each LOCAL_PORT has a number that corresponds to the processor number, and a number that refers to the serial port number on the processor. The processor number is determined by an address switch on the processor board (see the Adept SmartController User's Guide).

GLOBAL_PORTs and LOCAL_PORTs have the following attributes: /DRIVER, /SPEED, /BYTE_LENGTH, /PARITY, /STOP_BITS, /FLOW, /FLUSH, /DTR, /MULTIDROP, and /BUFFER_SIZE. See Serial and Disk I/O Basics for general details on serial I/O. See the documentation on any serial devices you may be using for details on the correct settings. Most serial I/O settings can also be changed at runtime with the FSET monitor command or program instruction.

CAUTION: For each of the following pairs of serial ports on the SIO module or SmartController CX, the baud rate 19200 cannot be used for one of the ports if baud rate 7200 or 38400 is used for the other port in the pair:

                 GLOBAL_PORT 1 and GLOBAL_PORT 4
                 GLOBAL_PORT 2 and GLOBAL_PORT 3

Change SERVO_BOARDS configuration

NOTE: The SERVO BOARDS configuration section only applies to Adept MV Controller-based systems.

This selection associates servo interface boards (EJI, MI3, MI6, or VFI) with processor boards. In multiprocessor systems, you may elect to run the servo task for a given servo board on any of the processor boards in the system.

The left-hand side specifies BOARD and a number. The servo interface board numbers are determined by the board address switches, not by physical order in the backplane. See the Adept MV Controller User's Guide for more details.

The BOARD statement can have two attributes: /PROCESSOR and /POS_LATCH. The /PROCESSOR attribute specifies the processor that runs the servo task for this servo board. The value of /PROCESSOR is a list of processor numbers. The system looks through the list and associates the servo board with the first installed processor that is in the list. For example, if the attribute "/PROCESSOR 3|2|1" is specified, the servo board is associated with processor 3 if it is installed, processor 2 if processor 3 is not installed, or processor 1 if processors 3 and 2 are not installed.

The /POS_LATCH attribute specifies which (if any) high-speed backplane signals each servo board uses for latching robot and encoder positions. The backplane Position Latch signals can be triggered from either the CIP (configured with the DIGITAL_INPUT menu option; see Change DIGITAL_INPUT configuration) or from a vision (EVI) board (configured using the V.STROBE system switch or the ADV_CAL.V2 utility program).

NOTE: For AWC-II and SmartControllers, the /POS_LATCH attributes are specified in the ROBOT configuration section. Therefore, the system will ignore any /POS_LATCH clauses in the SERVO_BOARDS section.

Change SYSTEM configuration

This section specifies various characteristics of the V+ system.

CONTROLLER_ID	ID string to allow a host to connect to the V+ controller. The ID string can be up to 16 characters in length and must be enclosed in quotes (example: "id_string") The default value is null. If the CONTROLLER_ID is null, any host can connect to the V+ controller. If a value is specified, the host must supply a matching ID or its connection requests are ignored. NOTE: CONFIG_C version 16.0 edit A (or later) is needed to access this statement in the configuration data.
DEFAULT_DISK	Sets the default disk for the V+ operating system. Specify any valid device, unit, and directory path specification. The default disk can be changed at runtime with the DEFAULT monitor command.
DEFAULT_SPEED	Sets the default monitor speed for motion. Specify any integer value from 1 to 100. The default speed can be changed with the SPEED monitor command or program instruction. WARNING Before setting the default, be sure that your mechanism can safely and reliably move at the specified speed.
GRAPHICS	Statement that specifies the following attributes for graphics management: /MAX_WINDOWS the maximum number of windows that can be open at one time  /MAX_ICONS specifies the maximum number of icons with different names that can be loaded. /DOUBLE_CLICK specifies the time interval (in milliseconds) for detecting double clicks (as opposed to two single clicks). Two clicks separated by less than this interval are processed as a double click. NOTE:The GRAPHICS attributes /MAX_ICONS and /DOUBLE_CLICK apply only to graphics displayed by a VGB. Those attributes do not apply when the AdeptWindows option is being used to display graphics.
PASSIVE_ESTOP	Controls the operation of the CIP Passive ESTOP Output signal. The Passive ESTOP Output contacts in the CIP normally are closed (i.e., the output signal is on) when motor High Power is on. This statement can have one of the following arguments: IGNORE_ENABLE If this parameter is specified, the Passive ESTOP Output signal does not follow the state of the MCP enable switch during manual mode. That is, although motor High Power is off when the MCP enable switch is released, the Passive ESTOP Output signal stays on as if High Power were on. This is the default behavior. TRACK_ENABLE If this parameter is specified, the CIP Passive ESTOP Output signal is turned off whenever the MCP enable switch is released, even during manual mode.
POWER_TIMEOUT	Determines how long V+ waits, when enabling robot power, for you to press the Robot Power button on the CIP after the Robot Power light starts blinking. The default setting is 10 seconds. If the value is 0, the V+ system does not wait for the Robot Power button to be pressed. This feature does not apply to Python modules, SmartModules, or MB-10 systems. WARNING: This feature requires that proper safety systems are provided to ensure the safety of the operators and equipment.
SERVO_RATE	Specifies the servo rate for VME-based servo boards. The value can be either 1KHz or 500Hz. This value must match the servo software, kinematic module, and hardware configuration. Do not change this value unless directed to do so by Adept or the system integrator. NOTE: This parameter has no effect on servo boards that are not VME-based. The SERVO RATE for SmartServo-based products cannot be changed by the user. The rates for the products are listed below: SmartAmp = 1 kHz sMI6          = 8 kHz FireBlox     = 1 kHz
STARTUP_MESSAGE	Specifies a custom message that displays at system startup and whenever the ID command is issued. It is displayed as the first line of the ID information. The default is no message and the maximum length is 80 characters.
TRAJ_RATE	Specifies the V+ trajectory rate that determines the rate at which V+ sends position set points to the servos. The rate specified applies to all the robots/axes controlled by the system. Therefore, it is not possible to increase the rate for one robot and use a slower rate for another robot connected to the same controller. The parameter can have the values 62.5 Hz, 125 Hz, 250 Hz, or 500 Hz. If there are any 1394-based axes controlled by the system, do not use the 500 Hz setting. CAUTION: Do not change this value unless directed to do so by Adept or the system integrator.

 

Change TASKS configuration

V+ is a multitasking system in which user tasks compete with system tasks for use of the processor. User and system tasks run on a prioritized basis in one or more of 16 one-millisecond time slices within each 16-millisecond major cycle. Refer to Scheduling of Program Execution Tasks for details on task scheduling.

CAUTION: Operation of the V+ system can be adversely affected by incorrect settings of task priorities. Change the default configuration only if you have a good understanding of V+ task scheduling.

The left-hand side of each statement specifies USER and a user task number1, and PROCESSOR and a processor number. Processor numbers are determined by the processor board address switches, not by physical order in the backplane. See the Adept MV Controller User's Guide  for more information.

The attribute for USER x PROCESSOR y is a sequence of 16 integers that specifies the user task priority in each of the 1-ms time slices. The possible values are:

-1	Do not run in this slice even if no other task is ready to run.
0	Do not run in this slice unless no other task from this slice is ready to run.
1 - 64	Run in this slice according to the specified priority. Higher priority tasks may lock out lower ones. Priorities are broken into the following ranges:
1 - 31	Normal user task priorities.
32 - 62	Used by V+ device drivers and system tasks.
63	Used by the trajectory generator. Do not use 63 unless you have very short task execution times. Use of these priorities may cause jerks in robot trajectories.
64	Used by the servo. Do not use 64 unless you have very short task execution times. Use of these priorities may cause jerks in robot trajectories.   The program asks you for a priority for each time slice. The priorities of the system tasks cannot be changed.

After the task priorities have been modified (and the V+ system has been rebooted), the PROFILER utility can be used to examine the effects of the changes.

 

Change VISION configuration

This section associates a vision system with a processor and sets the vision memory allocation and the virtual frame buffer size.

The left-hand side specifies PROCESSOR and a list of one or more processor numbers. The system looks through the list and associates the vision system with the first installed processor that is in the list. For example, if "PROCESSOR 3|2|1" is specified, the vision system executes on processor 3 if it is installed, processor 2 if processor 3 is not installed, or processor 1 if processors 3 and 2 are not installed.

The attributes for the vision PROCESSOR statement are:

• /ID specifies which vision system should be associated with the indicated processor (can have the value 1 or 2).

NOTE: If there is a statement with /ID 2, it must appear before the statement with /ID 1.

• /FRAME_SIZE specifies the size of the virtual frame buffers that the physical frame store is divided into (see Vision Tools: Defining a Tool Area-of-Interest (AOI).

• /TOTAL_KB specifies the total kilobytes of system memory that should be reserved for vision processes. It needs to include all the allocations listed below, 512KB for the vision system, and memory for fonts, prototypes, and miscellaneous requirements (start with at least 200KB for these items).

• /AOI_KB specifies the memory allocation for area-of-interest definitions (see the description of VDEF.AOI.).

• /BLOB_KB specifies the memory allocation for blobs (bounded regions).

• /BOUND_KB specifies the memory allocation for performing boundary analysis (see boundary analysis ).

• /LUT_KB specifies the memory allocation for vision look-up tables (see the description of VDEF.LUT).

• /OBJECT_KB specifies the memory allocation for object data structures.

• /RUN_LENGTH_KB specifies the memory allocation for run-length encoding (see Prototype Recognition Algorithms for AdeptVision EVI).

• /UNMATCHED_KB specifies the memory allocation for unmatched objects.

• /VTRANS_KB specifies the memory allocation for vision transformations (see the description of VDEF.TRANS for details).

• /NUM_FRAMES specifies the number of physical frame buffers (PCBs) for the AdeptVision AVI system. If NUM_FRAMES is not specified, the number of PFBs would default to 2. If the specified number of PFBs is below 2, it will be ignored and the vision system will still have 2 PFBs. Also, if the specified number is more than 5, only 5 PFBs will be allocated by the vision system. This ensures that there is enough space in memory for ObjectFinder models, plans, and runtime use.

See Using DEVICE With Vision for additional details on setting vision memory allocation.

 

EXPORT configuration DATA

This menu item allows you to copy the system configuration data to a regular disk file or network file.

 

IMPORT configuration DATA

This operation reads V+ system configuration data from a disk file and writes the data to a V+ system disk.

 

Robots and Device Modules

For more information on the setup of robot and device modules, see the Device Module documentation.

 

Controller NVRAM

This menu item displays the following submenu:

The description of these menu items follows:

 

DISPLAY NVRAM contents

The controller model, serial number, network IP address, and list of installed options are stored in a special section of nonvolatile RAM (NVRAM). This option displays the contents of the NVRAM.

 

INITIALIZE the NVRAM

This option initializes the NVRAM on the AWC processor. This must be done only when a replacement NVRAM has been installed on the processor. (The program does not permit an initialized NVRAM to be modified.)

CAUTION: When initializing the NVRAM, you are asked to enter the serial number of the controller. The serial number cannot be changed after it is written to the NVRAM. If the wrong serial number is stored, none of the license passwords for the controller are accepted.

 

SET IP address in the NVRAM

The IP address of the Adept controller (the controller's address on the local area network) is stored in the NVRAM on the AWC board. The CONFIG_C utility is used to change the IP address.

To change the IP address:

1. Select "Set IP ADDRESS in the NVRAM" from the controller NVRAM menu.

The current IP address is displayed. If there is no address stored in the NVRAM, the default address for this AWC module is shown.

The default IP address is based on the serial number of the AWC board. Thus it is possible to use the default address for a network that consists of multiple Adept controllers and a PC (or other server). See the AdeptNet User's Guide for more information on the default IP address.

2. Enter the desired IP address (in the format displayed), or just press the ENTER key to retain the setting displayed.

3. After you have set the IP address, you must set the IP subnet mask. If you use the AWC controller on a LAN and you do not know the proper IP subnet mask, ask your network system administrator. For further information see the AdeptWindows User's Guide and the AdeptNet User's Guide.

4. After you have entered new values, the program asks whether you want them stored in NVRAM. Type y to have the new values stored in the NVRAM. You must reboot the controller for the changes to take effect.

 

SET "SWITCHES" in the NVRAM

In contrast to other Adept VME processor boards and the SIO board, the AWC allows you to define V+ configuration settings in software rather than using hardware DIP switches. Since the hardware DIP switches on the AWC are on the board and not the card edge/front panel, this facility allows you to change these settings without removing the AWC board. See the Adept MV Controller User's Guide  for information about the hardware DIP switches.

NOTE: The Software switch settings are active only when all the hardware DIP switches on the AWC board are in the ON position, or all are in the OFF position. If this is not the case, V+ uses the user interface and autoboot settings selected by the hardware DIP switch settings on the AWC module.

To make changes to the Software switches, start the CONFIG_C utility, select the menu option "Controller NVRAM", and then select the Set "SWITCHES" in the NVRAM item from the submenu. Switch Setting Display Example displays the switch setting for the system.

Figure 2-5. Switch Setting Display Example

User Interface

AWC Board User Interfaces describes the various AWC board user interfaces and corresponding NVRAM switch settings.

NOTE: The hardware DIP switches on the AWC board can be used to override these settings of the software switches.

Table 2-1. AWC Board User Interfaces

Interface Type	NVRAM Switch	Notes
ASCII-based (Wyse terminal or emulation software)	1	If you do not have a VGB board in the system, you can select option 1 or option 2 to direct the V+ monitor to an ASCII terminal.
	2	If you have a VGB board in the system, you must select option 2 to direct the V+ monitor to an ASCII terminal.
VGB board	1	If you have a VGB module in your controller, select option 1. A monitor and keyboard must be connected to the VGB board. See the VGB board chapter in the Adept MV Controller User's Guide  for further information.
AdeptWindows PC Serial Interface	3	If you want to use the AdeptWindows PC interface via a serial line, you must select it with either the hardware DIP switch or the software switches. To select a serial AdeptWindows PC interface with the software switches, select option 3.
AdeptWindows PC Ethernet Interface	4	If you want to use the AdeptWindows PC interface with an Ethernet connection and a user-defined IP address, select option 4. See This Topic for details.1, 2, 3
	5	If you want to use the AdeptWindows PC interface with an Ethernet connection and the Adept default IP address, select option 5. See This Topic for details.1, 3
Notes: The IP address of the Adept controller must be correctly set, and you must access that same address from the PC. See the  AdeptWindows User's Guide for a full description of the required setup on the PC. The default IP address is always used if no user-defined address has been set, or if the controller NVRAM is found to have invalid contents. To ensure safe and reliable operation of the Ethernet connection, Adept strongly recommends that shielded Ethernet cables and hubs be used to connect the AWC board to an Ethernet network.

 

V+ Auto-Start

Use this setting to select whether the V+ system automatically loads a file named AUTO.V2 and execute a command program named AUTO during the process of loading and initializing V+. Select option 1 to disable this feature, or option 2 to enable the feature. See the V+ Operating System User's Guide for details on auto-start programs.

 

Boot Sequence

Use this option to select the sequence of drive letters that is accessed when locating an operating system to load into memory. If option 1 is selected, the boot procedure first looks to drive A for an operating system, then drive B, then drive C, and, finally, drive D. If option 2 is selected, the search sequence is changed to drive B, then A, then D, then C.

NOTE: The two search sequences are effectively the same if there is no SIO board installed in the Adept controller.

Auto-Boot

Normally, the controller is configured to automatically boot V+ when power to the controller is turned ON (that is, auto-boot is normally enabled). Occasionally, you may want to manually specify the disk device from which to load V+. You can disable auto-boot for such purposes.

NOTE: Autoboot is automatically disabled if all of the hardware DIP switches on the (main) AWC board are set to a combination other than OFF. Thus, for example, setting all of the hardware switches to ON causes autoboot to be disabled, while all the other software switches are still used.

DDT Serial I/O on Auxiliary CPU

This option is used only for special diagnostic purposes and is normally disabled. When DDT serial I/O is enabled, DDT start-up messages are output to the TERM serial ports of any auxiliary processors in the controller, and DDT commands can be input via those ports.

WARNING: The controller can appear to function normally if this setting is enabled. However, the start-up messages that are output to the TERM ports can have an unexpected effect on any equipment that is connected to those ports.

For further information about the functionality of the various switch settings see the Adept MV Controller User's Guide .

 

Scan the DeviceNet

The AWC board and the SmartController incorporate DeviceNet scanner functionality. The Scan the DeviceNet menu item allows you to configure the macid for DeviceNet communications and select the baud rate that will be used to communicate with all devices on the network.

NOTE: The DeviceNet scan will fail if the .DEVICENET section of the system configuration file does not already contain a LOCAL statement (e.g. LOCAL = "/MACID 0 /BAUD 125K"). You should verify that this statement exists before attempting to run the scanner utility. For details, see DeviceNet Statements in V+ Configuration Data.

After this configuration is completed,  the program scans the DeviceNet to find the information recorded for each DeviceNet component. This information is used to map the digital inputs and outputs on the DeviceNet bus to V+ input signals.

NOTE: To complete the mapping, see Change DEVICENET Configuration.

Please follow the instructions below to use the Scan the DeviceNet function. 

SCAN the DeviceNet for nodes

1. Load and execute the CONFIG_C program.

2. Select Scan the DeviceNet from the main menu, and then select Scan the DeviceNet for nodes from the submenu.

WARNING: No other execution task should be started while this program is running.
 

3. The program asks you for the Local MAC ID (Media Access Control Identifier) to use for the Adept controller. It can be a value from 0 to 63. The default value is 0. You can enter -1 to cancel the scanning process.

NOTE: For details, see DeviceNet Statements in V+ Configuration Data.

To avoid a network conflict, select a MAC ID that is different from those for all the connected modes. If you have more than one Adept AWC controller connected to the DeviceNet, you must specify a unique MAC ID in the system configuration data for each Adept controller.

4. Next, you are asked to select the baud rate to be used for DeviceNet communications. The baud rate to use depends on the capabilities and configuration of the hardware installed on the DeviceNet and on the length of the trunk lines. All the devices on the network must be configured for the same baud rate. (See the DeviceNet standard and the documentation for your DeviceNet nodes for further information.)
   
   After you enter a selection for the baud rate, the program stops the V+ DeviceNet scanner, resets and restarts it, and begins scanning the DeviceNet for nodes. You see information similar to that shown in Example DeviceNet Scanning Results, although the details depend on the hardware connected to your DeviceNet.

NOTE: You may need to use CTRL+S to stop the output temporarily, so the information does not scroll off the screen before you can read it. Use CTRL+Q to resume the output.

Figure 2-6. Example DeviceNet Scanning Results

The example shown in Example DeviceNet Scanning Results displays the information acquired by the scanner from two WAGO I/O SYSTEM 750-306 blocks, connected as slaves to the DeviceNet. These I/O blocks can be populated with a variety of digital I/O bus modules.

DeviceNet Scanner Results shows the information you must record for each DeviceNet component that you want to access with the Adept Controller. Interpretation of DeviceNet Scanning Results describes the items listed in DeviceNet Scanner Results, as well as the other information that is reported for each component.

Table 2-2. DeviceNet Scanner Results

MAC ID	Input Size	Output Size	Vendor ID	Device Type	Product Code	Status
1	2	1	40	12	306	0
2	1	2	40	12	306	0

Table 2-3. Interpretation of DeviceNet Scanning Results

Keyword	Result	Interpretation
Mac ID	1	User has configured the first node with MAC ID 1 (for example with DIP switch settings).
Input Size	2	During operation of the DeviceNet, the WAGO I/O block supplies this number of data bytes to the V+ system.
Output Size	1	During operation of the DeviceNet, the WAGO I/O block expects this number of data bytes from the V+ system.
Vendor ID	40	WAGO DeviceNet vendor identification number.
Device Type	12	Device type number of the WAGO I/O System 750-306 block.
Product Code	306	Identification that WAGO chose for the I/O System 750-306 block.
Product Name		The product name supplied by the WAGO I/O System. (This information is not used by the V+ system.)
Major Revision		A product version ID supplied by the WAGO I/O System. (This information is not used by the V+ system.)
Minor Revision		A product version ID supplied by the WAGO I/O System. (This information is not used by the V+ system.)
Serial Numbers		Product ID information supplied by the WAGO I/O System. (This information is not used by the V+ system.)
Status	0	Status information of the coupler.

5. Make a copy of the worksheet found at the end of this section ( DeviceNet Scanner Results Worksheet) and record your scanning results. You will need them to Change DEVICENET Configuration that maps DeviceNet inputs and outputs to V+ signals. 

Revision History

V+ Release	Modification
version 16.2	Added /NUM_FRAMES to the Vision system configuration, which allows you to specify the number of physical frame buffers (PFBs) for the AdeptVision AVI system. Click here for details.

 

1Standard V+ allows 7 user tasks. Systems with the V+ Extensions license are allowed 28 tasks.