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V+ Version 11.4 Release Notes

1. Keyword V 11 0 V 11 1 V 11 2 V 11 3 V 11 4 GTRANS program New instruction HOUR METER real valued Enhanced function ID real valued function Enhanced Enhanced Enhanced ID string function New Enhanced INSTALL program New instruction INT EVENT program New instruction IOGET real valued New functions IOGETS string function New IOPUT program New instructions IOSTAT real valued Enhanced function IOTAS real valued function New KEYMODE program Enhanced instruction LATCHED real valued Altered Altered function LOCAL program Enhanced instruction MCS program instruction Enhanced MONITORS system switch New MOVESF program Enhanced instruction NETWORK real valued New function NEXT program instruction New NOOVERLAP program New instruction NOT CALIBRATED Altered Enhanced Altered 18 V Version 11 4 Release Notes Rev A Summary of Changes Table 1 2 Changed V Programming Keywords Continued Keyword V 11 0 V 11 1 V 11 2 V 11 3 V 11 4 OUTSIDE real valued function New OVERLAP program instruction New PAYLOAD program instruction Altered PLATCH precision point function Altered READ program instruction Enhanced Enhanced RELEASE program instruction Altered Enhanced ROBOT OPR program instruction Enhanced Enh
2. 31 New Robot Module 33 Networking Changes 33 Clarification of Event Triggers 33 Correction to the GAIN SET Instruction 34 Miscellaneous Changes 34 Notes for V Version 11 3 35 Changes to the V Operating System and Language Version 11 3 37 4 1 4 2 4 3 4 4 General Changes 37 Enhanced COPY and EDIT Monitor Commands 37 Clarification of the PROFILE Switch 37 Increased Number of MenuBarltems 37 Changes for European Certification CE 38 New Terminology Relating to the VFP and MCP 38 New Startup Messages 38 Enabling Power iu races mers e SEC RO Do e ec aca a 39 Disabling High Power s 42 Enhanced ID Monitor Command 43 New AUTO POWER OFF System Switch 43 and Soft Envelope Errors 6 ww es 43 Changes in Manual Mode 43 The STEP Button and Limits Program Controlled Motion 44 Elimination of Program Interlocks Enhanced DO EXECUTE PROCEED RETRY and WAIT START Monitor CONOS tnr 44 New SAFE UTL Utility for Category 3 Systems 45 Enhanced SIATE FUMETION aiu
3. 81 Changes for the T12 Robot Module 81 Modified ROBOT OPR Instruction n 81 6 5 Enhancements for the AdeptVision Product 82 D New and Modified Keywords 83 Part 4 87 Notes for V Version 11 1 87 Manual Updates 89 Table of Contents V 71 V LanguageUsersGuide 89 Inter Processor Communication on the VMEbus 89 S Curve Trajectory Generation 89 Changes in Floating Point Implementation 89 7 2 V Language Reference Guide 90 7 3 Instructions for Adept Utility Programs 90 Changes to V 10 x to 11 0 101 8 1 Summary of Changes 101 General System Level Additions s 101 General Programming Language Additions 102 Commend LING zig sexe yy dare gp s 103 DIGG Ox MDC 103 Analg TO xw new RIS be nd 103 8 2 Changes to Monitor Commands 103 New Commands suaa aaa 103 Altered Commands 103 8 3 Changes to V Programming Keywords 104 8 4 Compatibility Issues 105 Changes to AdeptVision 10 x to 11 0 107 9 1 Image Region Changes 107 9 2 New Vision Tool Features 108 9 3 General Performance Enh
4. File Name V 11 0 V 111 v 112 V 11 3 ADV CAL Altered Enhanced Enhanced ADV USER Altered AREACAL Deleted AUTO22 Deleted BELT CAL Altered Enhanced COLORS Deleted CONFIG C Altered Altered Altered Enhanced CONFIG_R Altered Deleted DISKCOPY Altered Enhanced Enhanced DM_UTIL Altered Deleted EDITICON Deleted Added format file Altered Enhanced FORMAT FIP CLNT New Enhanced FIP SRVR New Enhanced LOADAREA Altered LOADBELT Altered V Version 11 4 Release Notes Rev A 51 Chapter 5 Changes to the Utility Disk Table 5 1 Utility Program Changes Continued File Name V 11 0 V 11 1 V 11 2 V 11 3 LOADFILE Deleted LOADICON Deleted Added LOADTCH Enhanced PROFILER New Altered Enhanced SAFE UTL New SECURE New Enhanced SET GAIN Deleted SFUTIL Deleted Added Altered SPEC Altered Altered Altered TOUCHCAL Enhanced Enhanced VSAMPLE Deleted VTOOLDEF Deleted XMODEM New This program cannot be used with all editions of vt b SPEC version 11 2 and later provides the functionality of CONFIG_R CONFIG C version 11 2 and later provides the functionality of DM_UTIL 4 The AdeptOne MV AdeptThree MV Robot Instruction Handbook documents this program 5 2 Changes to the ADV CAL Utility New Robot Module Supported The latest edition of ADV CAL can be used with a robot that is controlled by the new CAR
5. Table C 1 Licenses for V Version 11 3 Ficense part License Name Functionality Notes Compatibility number 09961 00001 Operating 7 user tasks Included with all Adept System SEE screen editor DEBUG MV controllers Alternate velocity profiles Profiler utility is included in Single mechanism support base V package V Version up to 12 axes 11 Extensions license was CPU Profiler Utility required in V 11 0 and 11 1 09961 00002 V Version 11 28 user tasks per processor No longer enables the use of Extensions Multiple V OS instances one IOGET and IOPUT per processor Customers upgrading from Multiple mechanism support V 11 0 or 11 1 need up to 15 mechanisms with up Third Party Board Support to 24 axes license Fast interrupt handling using No longer enables the use of INT EVENT ALTER Customers Belt Tracking upgrading from V 11 0 or 11 1 need Enhanced Trajectory Control license 09961 00003 OEM Option For OEM customers only V Version 11 4 Release Notes Rev A 67 Appendix C Licenses Table C 1 Licenses for V Version 11 3 Continued License part i number License Name Functionality Notes Compatibility 09961 00004 Kinematic Required for access to the New modules are in italic Modules following kinematic modules GNT 5 or 6 axis Gantry PUM 6 axis PUMA SCA 4 or 5 axis SCARA CYL 4 axis cylindrical robot e SC2 secondary
6. dorse Rp RR aos RO e 45 Reserved Digital Signals o aa ser ceo s 45 General Motion Changes 45 Clarification of the GAIN SET Program instruction 45 Altered PAYLOAD Program Instruction 46 New Range for the Encoder Roll Over Value sss 46 Changes for the AdeptMotion VME Product 46 Change to the Robot Option Word All Modules 46 Enhanced 5 6 Axis PUMA Robot Module EPU 46 New Coupled Axes X Y Z Theta Robot Module CAR 47 Enhanced T12 Robot Module T12 47 Enhanced X Y 3 Z Theta Robot Module XY3 48 Z Theta Heads Increased from 3104 48 Optional Split Axis Capability for the y axis 48 Collision Detection and Avoidance 48 4 5 4 6 4 7 Table of Contents Changes for the FlexFeeder Product Changes for the AdeptVision Product Changes for the AdeptNet Product Increased Number of NFS Mounts es Enhanced NET Cornrmeld c 25 ed Le utu Sut aepheiv ipu Eu Changes to the Utility Disk 51 5 1 5 2 5 3 5 4 5 5 5 6 5 7 5 8 5 9 5 10 5 11 Table of Changes Changes to the ADV_CAL Utility New Robot Module Supported Changes to the CONFI
7. Saving Current Configuration Data Versions 11 1 11 2 and 11 3 Use this section to upgrade to V version 11 4 if you are currently running V version 11 1 11 2 or 11 3 If your Adept system does not control a robot and does not use external encoders you can skip this section and refer to Installing the New V Version 11 4 System on page 29 In order to have your robot and encoder configuration data carried over to your new V system you need to save that data for all the devices controlled by your Adept system To do this follow the steps below 1 2 3 8 9 Start your current V system Put the Adept Utility Disk into the floppy drive Load the file CONFIG_C V2 from your current version of the Adept Utility Disk with the command load a config c Run the program CONFIG C by typing the command execute 1 a config c Choose the menu item V Installation NOTE If your edition of the CONFIG_C program does not provide that menu item use the steps listed in the section Saving Current Configuration Data Version 11 0 on page 26 Puta data diskette in the floppy drive Select SAVE current ROBOT DATA NOTE If the program reports an incompatibility with the current V system you need to use a different version of the program CONFIG C If you do not have a compatible version of the program you need to use the steps listed in the section Saving Current Configuration Data Version 11 0 on page 26 E
8. 122 Changes to Enhanced XYZ Module EXY ID 18 123 10 3 Changes to V Functions and Parameters 123 10 4 Changes to the SPEC V2 program 123 10 5 Changes to AdeptMotion Device Module Documents 123 Documentation Correction Rotational Axes 123 Enhanced Gantry Robot Device Module Document and Enhanced XYZ Theta Device Module Document 123 10 6 Miscellaneous Motion Changes 124 10 7 New and Changed Error Messages 124 Changes in V 11 1 131 11 1 Summary of New Features 131 Major Additions Ry hec x RR ERREUR 131 General System Level Additions 131 General Programming Language Additions 132 11 2 Changes to Monitor Commands 132 New Commands sa xac 132 ESTOP Monitor Command and Program Instruction 132 Altered Commands 132 DIISECTOLIYS tates ad set POPE B MBA obe e 132 DISABEE POWER ERU ER EU E 133 FCOPY ama at dis Pans qos WU Dat ers 133 FORMAT uud ke eae AU RU eso d 133 EISTIRZLEISTSZLISTE oy 134 LOAD SSH eee te denti duced eR gb xvt d 134 MBIRECTORY act atd jc ok vas tt D
9. 6 5 The offset values specified by ROBOT OPR 1 stay in effect until another ROBOT OPR 1 instruction is executed Enhancements for the AdepiVision Product 82 The following enhancements for the AdeptVision product were made in version 11 2 Changed the initial position of the vision window from the center of the screen to the upper right corner of the screen The DEVICE instruction with the command parameter set to 1 now re enables menu events Expanded the V MAX TIME limit for correlation to include levels 0 and 1 It was also changed it so that a value of 0 means that there is no time limit V Version 11 4 Release Notes Rev A New and Modified Keywords This appendix details the new and modified keywords for V version 11 2 Pages that have partial information about keywords altered or enhanced in this version have the sentence THIS IS A SUPPLEMENTAL PAGE printed at the top Place copies of such pages with the primary pages for their keywords in the binders for your V Operating System Reference Guide Do not discard the primary pages for such keywords A later V release will contain new primary pages that combine the primary and supplemental information V Version 11 4 Release Notes Rev A 83 Appendix D New and Modified Keywords Syntax CALIBRATE mode Usage Considerations Normally the command is issued with no mode specified Parameter mode An optional real value variable
10. enhanced or added in V version 11 4 Refer to Part 2 through Part 4 drawn from previous version 11 release notes for corresponding information about changes in their respective versions You can find information about the programs on the Adept Utility Disk in the Instructions for Adept Utility Programs manual V Version 11 4 Release Notes Rev A 25 Chapter 2 How to Upgrade 2 2 Upgrading to V Version 11 4 The process of installing a new V system involves three parts saving current robot and encoder configuration data installing the new V version e applying saved robot and encoder configuration data If your Adept system does not control a robot and does not use external encoders all you have to do is install the new V version In order to complete the installation process you need the following items 1 Your current V system disk 2 Your current Adept Utility Disk 9 Your V version 11 4 system disk 4 Your new Adept Utility Disk 5 Up to five blank high density diskettes at least one of which is already formatted For additional information about the programs used during the installation process refer to the Instructions for Adept Utility Programs manual Saving Current Configuration Data Version 11 0 26 Use this section to upgrade to V version 11 4 if you are currently running V version 11 0 If your Adept system does not control a robot and does not use external encoders you can
11. 15 15 05 05 05 05 0 0 5 2010 6 15 0 7 27 05 0 0 144 V Version 11 4 Release Notes Rev A 12 1 Multiple Processor Systems 1 2 Up to four processor modules be installed in Adept MV controller They can be mix of 030 and 040 modules In order to correctly use multiple processors you need to consider the following Configuration of the processor boards Assignment of processor workloads The information in this chapter is intended to be a fairly comprehensive reference for users configuring multiple processor systems In most cases your controller will have been pre configured at the factory with sufficient processors for your application Also the default software configuration is designed so that most users will not need to change the configuration You do not need to read this chapter if your controller has one only processor one 030 or one 040 If you are using AdeptMotion VME and have more than one processor you may find the detailed background information in section Chapter 12 1 useful If you are using AdeptVision VME but not AdeptMotion read only section Chapter 12 2 If you are installing additional processors read Section Chapter 12 3 If after using your system you find the default assignment of processor workloads does not suit your application read section Chapter 12 4 If you have bought the optional V Extensions license and intend to use the Multiple V Systems
12. Enhanced function DBLB real valued function New DBLB string function New DECODE string function Enhanced 16 V Version 11 4 Release Notes Rev A Summary of Changes Table 1 2 Changed V Programming Keywords Continued Keyword V 11 0 V 11 1 V 11 2 V 11 3 V 11 4 DEFBELT program instruction Enhanced DEF DIO program instruction New DEVICE program instruction Enhanced Altered DISABLE POWER program instruction Altered DOUBLE variable type New DRIVE program instruction Altered DURATION program instruction Altered ENABLE POWER program instruction Altered ERROR real valued function Enhanced Altered ESTOP program instruction EXECUTE program instruction Altered Enhanced EXIT program instruction New FCLOSE program instruction Enhanced FCMND program instruction Enhanced Enhanced Enhanced FOPEN program instruction Enhanced FORCE system switch Deleted FSET program instruction Enhanced Enhanced GAIN SET program instruction New GGET LINE program instruction Enhanced GGETLINE program instruction New GLOBAL program instruction V Version 11 4 Release Notes Rev A 17 Chapter 1 Introduction Table 1 2 Changed V Programming Keywords Continued
13. Fax 0532 65 2390 The information contained herein is the property of Adept Technology Inc and shall not be reproduced in whole or in part without prior written approval of Adept Technology Inc The information herein is subject to change without notice and should not be construed as a commitment by Adept Technology Inc This manual is periodically reviewed and revised Adept Technology Inc assumes no responsibility for any errors or omissions in this document Critical evaluation of this manual by the user is welcomed Your comments assist us in preparation of future documentation A form is provided at the back of the book for submitting your comments Copyright 1996 by Adept Technology Inc rights reserved The Adept logo is a registered trademark of Adept Technology Inc Adept AdeptOne AdeptOne MV AdeptThree AdeptThree MV PackOne PackOne MV HyperDrive Adept 550 Adept 550 CleanRoom Adept 1850 Adept 1850XP A Series S Series Adept MC Adept CC Adept IC Adept OC Adept MV AdeptVision AIM VisionWare AdeptMotion MotionWare PalletWare AdeptNet AdeptFTP AdeptNFS AdeptTCP IP AdeptForce AdeptModules and V are trademarks of Adept Technology Inc Any trademarks from other companies used in this publication are the property of those respective companies Printed in the United States of America Table of Contents Introduction 9 1 1 1 2 1 3 1 4 1 5 Part 1 23 S NI
14. For example on a single robot system this parameter now has values of 0 calibrated and 1 not calibrated Default Task Priorities Default task priorities have been changed so the trajectory generator task has high priority for all time slices Also the priorities of all other system tasks have been reduced so that the trajectory generator has the highest priority among these tasks See the System User Task Priority Tables on page 143 New Kinematic Device Module X Z Stacker Robot XZ ID 23 This robot module controls a mechanism with two degrees of freedom a linear joint X followed by a joint that provides vertical motion Z The XZ robot module can operate with either a rotary Z axis or a linear Z axis In the linear mode joint 2 moves directly up and down In the rotary mode joint 2 rotates about a horizontal axis and the robot s tool is assumed to be always maintained in a downward direction by a simple pivot and gravity arrangement Consequently this robot produces motions that are equivalent to an X Z Cartesian robot as shown in Figure 11 1 V Version 11 4 Release Notes Hev A Changes Affecting AdeptMotion Users Z A Joint 2 51 Y X Arrows indicate direction of positive joint travel Joint 2 is shown in its 0 position Figure 11 1 Link Definitions and Dimensions for X Z Robot with rotary joint 2 This module is available only with V 11 1 or later The module is supplied in the
15. Rev A 13 Chapter 1 Introduction Abbreviations The following abbreviations may appear in this manual Abbreviation Meaning CE European Certification DAC Digital to Analog Converter K Kilobyte 1024 8 bit bytes MB Megabyte 1 048 576 8 bit bytes MCP Manual Control Pendant MMSP Manual Mode Safety Package VFP VME external Front Panel 1 5 Summary of Changes This section summarizes in table form the changes to e V monitor commands V programming keywords V keywords for the AdeptVision product In the tables the term enhanced implies compatibility with previous releases so that you can ignore the change if you wish By contrast the term altered implies incompatibility with previous releases so that you need to investigate the change further Changes to V Monitor Commands Table 1 1 shows changes to V monitor commands Table 1 1 Changed Monitor Commands Command V 11 0 vii 11 2 V 11 3 V 11 4 CALIBRATE Enhanced CD New COPY Enhanced DEBUG Enhanced DIRECTORY Enhanced Enhanced DISABLE POWER Altered 14 V Version 11 4 Release Notes Rev A Summary of Changes Table 1 1 Changed Monitor Commands Continued Command V 11 0 vi 114 11 2 V 11 3 V 11 4 DO Enhanced ENABLE POWER Altered ESTOP New EXECUTE Altered Enhanced Enhanced FCO
16. SYSTEM directory of the V System Disk and can be installed using the CONFIG C utility The optional Kinematics software license is required Joint 1 is a linear axis that moves in the world X direction Joint 2 is either a a linear axis that moves in the world Z direction or b a revolute axis that rotates about an axis that is parallel to the world Y axis This module supports a split axis mode user option for both joint 1 and joint 2 total of 4 motors Independent of the positions of joints 1 and 2 the orientation of the tool mounting flange always points down assuming a NULL BASE and TOOL That is the positive Z axis of the tool mounting flange always points in the world Z direction The selection of the type of Z axis is controlled by robot option bit 4 counting from 1 mask H8 If this bit is set using the SPEC utility the Z axis is implemented with a linear joint otherwise the Z axis is implemented with a rotary axis If a linear Z axis is configured the two link dimensions accessible via SPEC are ignored V Version 11 4 Release Notes Rev A 139 Chapter 11 Changes in V 11 1 140 Changes to Enhanced XYZ Theta Module EXY ID 18 The Enhanced XYZ module now checks only for the Kinematic Modules license Previously it checked for both the Kinematic Modules license and the Enhanced Kinematic Modules license Also see page 123 for changes in V 11 0 Changes to Trajectory Generation Algorithm See
17. depending on the processing power of your controller The previous limit of 24 axes total per controller still applies Added the ability to control continous turn axes See the SPIN instruction in the V Language Reference Guide Increased the maximum value of the parameter NOT CALIBRATED from 7 to 32 767 H7FFF This parameter is a bit mask with a bit for each mechanism The STATE real valued function has been enhanced Added a new error message that more explicitly indicates the source of the error when a program attempts to move a joints robot along a straight line path See Error 635 Currently only the JTS robot will generate this error message 15 1 Manual Control Pendant Changes The following changes to the Manual Control Pendant MCP ID display are to support manual control of up to 15 mechanisms The Status display has been changed Formerly the fourth soft button selected the ID display for robots one and two and the fifth soft button selected the ID display for robot three Now the fourth button selects the robot ID display Once inside the robot ID menu the ID of the first robot is displayed Pressing or MORE displays the ID for the next robot Pressing displays the ID for the previous robot DONE terminates the display mode When F3 is used to select the next robot and the robot number is greater than 3 the robot device LED blinks That is for robot 1 this LED i
18. or expression that indicates what part of the calibration process is to be performed Value of mode Interpretation 0 or omitted Optionally load the calibration program execute the calibration program with load execute delete and monitor flags set and delete the calibration program if it was loaded 1 Optionally load the calibration program and execute the calibration program with load and monitor flags set 2 Execute the calibration program with execute and monitor flags set 3 Execute the calibration program with delete and monitor flags set and then delete the calibration program Details The CALIBRATE command loads the disk file CAL UTIL V2 For convenience the loading operation searches for the file in the following directories in the following order 1 the default directory 2 CALIB on the disk drive from which the V system was booted and 3 C CALIB CALIBRATE always tries to load the user calibration program and determine the proper load path even if your program is already in memory in case your program needs to load other files from the disk The calibration program is executed in task 0 If task 0 is already active the CALIBRATE command fails 84 V Version 11 4 Release Notes Rev A Appendix D New and Modified Keywords Syntax CD path Function Display or change the default path for the disk directory Parameter path Optional string specifying the disk director
19. switches AIO 105 AUTO POWER OFF 16 43 FORCE 17 105 MONITORS 18 PROFILE 37 SCALE ACCEL 19 173 VFP 34 SYMBOL PTR real valued function 19 system controller functions 149 disk changes 137 139 task priorities 143 T T12 device module 122 TASK statements 53 task priorities 144 Theta Parallelogram device module 122 TIMER real valued function 20 tolerance checking 78 TOUCHCAL 52 trajectory controllicense 137 cyclerates 137 generation 146 generation algorithm 136 tuning Adept robots 55 U UNIDIRECT program instruction 20 upgrading from version 11 0 26 utility program 51 utility disk 51 V V AdeptMotion changes 123 AdeptVision keywords 20 programming keywords 16 V MAX TIME parameter 20 V SYNC STROBE parameter 110 VCONVOLVE program instruction 20 108 VCORRELATE program instruction 20 108 135 VDISPLAY program instruction 20 108 VFEATURE real valued function 20 108 VFI board 147 new terminology 38 VGETCAL program instruction 20 108 Vision changes See AdeptVision VME memory map 143 VMEbus communication on 89 VPUTCAL program instruction 20 108 VRULERI program instruction 20 108 Index VSAMPLE 52 VSELECT program instruction 108 VTOOLDEF 52 VTRAIN command 20 108 program instruction 20 VTRAIN MODEL program instruction 20 136 VW AIT program instruction 20 108 VWINDOWB program instruction 21 108 WAIT EVENT 142 command
20. systems to version 11 0 systems For complete details see the AdeptVision VME User s Guide and the Adept Vision Reference Guide Image Region Changes The default image size has increased from 512x484 to 640x480 pixels The physical frame stores can now be divided into virtual frame buffers that are 256x240 320x240 512x480 or 640x480 pixels This effectively increases the number of images you can acquire and hold at one time CONFIG_C can be used to set the default New arguments to the DEVICE instruction allow you to specify the size of your virtual frame buffers An area of interest AOI concept has been introduced that will allow you to define image processing regions independent of a vision tool instruction Multiple tools can use the same area of interest definition The area of interest definition is independent of the virtual frame buffer so it can be combined with different virtual frame buffers to place vision tools relative to different frame buffers This feature will make it easier to define vision tools move groups of vision tools and place part relative tools The new instruction VDEF AOI defines an area of interest Additionally all image processing functions can now have separate source and destination AOIs within different frames New instructions have been added that allow you to define a transformation that will transform all tools placed within the vision window For example if you want all tools to be
21. the characters must be explicitly specified although wildcards can be used to match array indices LOAD Also see page 104 for the changes in V 11 0 Two new optional switches have been added to the LOAD command 5 and R The new syntax is LOAD Q S R filename 8 squeezes programs as they are loaded into memory in much the same way that the SQUEEZE program operates on program files All in line comments and full line comments are deleted with the exception of full line comments that begin with the character sequence R forces all of the loaded programs to be in read only mode except when other considerations dictate that a more secure mode should be utilized CAUTION When a file is loaded with the S switch R should also be asserted to prevent people from mistakenly editing the squeezed version of a file and then saving back their changes and possibly overwriting the unsqueezed version NOTE When a file is loaded in read only mode only the first program in the file is listed on the monitor if Q was not specified MDIRECTORY The syntax for the MDIRECTORY monitor command has been changed The new syntax is MDIRECTORY M module_name where M is an optional switch and module_name is an optional module name If M is specified only modified modules or modified programs within a module will be listed For any module or program name that is displayed if the copy in memory has been modified since la
22. 33 wild cards 133 workload assignment CONFIG C 149 processor 149 WRITE program instruction 20 X X Z stacker robot device module 138 XMODEM file 52 XSTEP command 15 104 105 XY3 robot module 124 XYZ Theta device 123 Z ZERO command 15 104 199 200 V Language User s Guide Adept User s Manual Comment Form We have provided this form to allow you to make comments about this manual to point out any mistakes you may find or to offer suggestions about information you want to see added to the manual We review and revise user s manuals on a regular basis and we will give serious consideration to any comments or feedback you send us Thank you for your input NAME DATE COMPANY ADDRESS PHONE MANUAL TITLE PART NUMBER and REV level COMMENTS MAIL TO Adept Technology Inc Technical Publications Dept 150 Rose Orchard Way San Jose CA 95134 FAX 408 432 8707 adept technology inc 150 Rose Orchard Way San Jose CA 95134 00961 04120 Rev A
23. AdeptMotion VME Product The title of the default robot module has been changed to 5 6 Axis PUMA Robot Module The number of joints can now be either 5 or 6 For 6 axis robots there is a 2x2 coupling matrix for the encoder to motor scaling factors for joints 2 and 3 and a 3x3 matrix for joints 4 5 and 6 For 5 axis robots there is a 222 coupling matrix for the encoder to motor scaling factors for joints 2 and 3 and a 2x2 matrix for joints 4 and 5 For 5 axis robots the FLIP and NOFLIP configuration instructions are ignored because the robot s tool orientation implicitly specifies the FLIP or NOFLIP state The 5 axis PUMA module supports all other features of the 6 axis version such as extended joint 1 travel applicability of the OVERLAP NOOVERLAP test and link shoulder offsets Changes to the SPEC Utility Changes for the T12 Robot Module The link parameters necessary for the T12 robot module have been modified Formerly in addition to the four parameters that the operator could edit four parameters were automatically computed and stored by SPEC Now the V system computes these additional four values For backwards compatibility the same number of link dimension values are read from the SPEC data file but the values of the computed elements are ignored NOTE You can use old data files on a new module however a SPEC data file created by a new system cannot be used on an old robot module Modified ROBOT
24. Compatibility From 11 010 11 1 Servo Changes Affecting Compatibility From 10 x to 11 1 Integrator Value Now Backed Up Increased Number of Servo Joints per CPU Boards Changes to Adept Utility Programs Programming Clarification of WAIT EVENT Operation Change VME Memory Map System User Task Priority Tables Multiple Processor Systems 145 12 1 12 2 12 3 12 4 Processor Memory Requirements for Motion Systems Servo Processing Requirement Number of Servos Allocated per Processor Board Trajectory Generation and MOVE Instructions Peripheral Drivers 2 Conveyor Belt Encoders 5 x RR EUG b OP BRE ER E Ae en Processor Memory Requirements for Vision Systems Standard AdeptVision ee Duel AdeptVislon 3 52 Gas oak ea FAS ees CB qe aod Configuration of the Processor Boards Processor Board Locations Slot Ordering of Processor Boards Processor Board Addressing System Controller Functions ee Assignment of Processor Workloads Assigning Workloads with CONFIG_C Multi
25. Fast Floating Point representation On the Adept MV controllers floating point calculations are generated by either the 68882 coprocessor or the 68040 which use the IEEE floating point format In some cases programs written for V V 10 x and earlier will not work identically on an MV system In the code below for example the loop executes seven times on an older system but only six times on an MV system lo 100 hi 300 FOR 1 lo TO hi STEP hi 10 6 END This difference is caused by the floating point representation for 200 6 which happens on 10 x and older systems to be slightly smaller than the exact value but slightly larger on the MV systems V Version 11 4 Release Notes Rev A 89 Chapter 7 Manual Updates 7 2 Writing code that depends on the floating point representation is always a dangerous practice A much more robust loop is lo 100 hi 300 step hi 10 6 FOR j 0 to 6 lotj step END V Language Reference Guide 7 3 For details refer to the V Language Reference Guide Instructions for Adept Utility Programs 90 For details refer to Instructions for Adept Utility Programs V Version 11 4 Release Notes Hev A Instructions for Adept Utility Programs V Version 11 4 Release Notes Rev A 91 Chapter 7 Manual Updates 92 V Version 11 4 Release Notes Rev A Instructions for Adept Utility Programs V Version 11 4 Release Notes Re
26. For an ENABLE POWER program instruction the Press HIGH POWER button to enable power message does not appear on the monitor screen If desired however an application program can use a TYPE or WRITE instruction to display a message there If a timeout occurs a program error is generated with the appropriate error code which can be trapped by a REACTE subroutine Disabling High Power There are three ways to disable high power The HIGH POWER ON OFF Button on the Pressing the new HIGH POWER ON OFF button on the disables high power The DIS PWR Button on the MCP Pressing the new DIS PWR button on the MCP disables high power The VFP AUTO MANUAL switch V disables power when the VFP switch moves from MANUAL to AUTO or vice versa This change applies to all safety categories Category 1 Category 3 or no safety category and is not backwards compatible with V 11 2 When switching into AUTO the following message appears on the monitor screen Power disabled Manual Auto changed If a program has attached a robot the program is stopped and the new error message appears on the screen and can be trapped by a REACTE subroutine When switching into MANUAL the message appears on both the monitor screen and the MCP display V disables power by performing an orderly powerdown in a manner consistent with the DISABLE POWER monitor command and unlike pushing the EMERGENCY STOP button That is it
27. HEADER Robot Specification Data Version 1 3 V Version 11 4 Release Notes Rev A Appendix B Linear Compensation for the Enhanced PUMA Robot Module There must be exactly 29 spaces between Data and Version Next the robot model number robot serial number not the controller serial number robot option words and device module number must be specified If you get an error or warning message when you load your file save an ASCII copy of all your robot parameters to a disk file look at it using the FLIST command and use that as your model for the correct format In the following example the robot model is 100 the robot serial number is 123 the robot option words are 2 and 0 and the device module number is 28 Robot 1 100 123 2 0 28 The title of the module is Title Enhanced 5 6 Axis PUMA Robot Module The linear compensation values are listed in the data section of the file Each motor has its own data number DATA SECTION DATA 301 Motor 1 linear compensation DATA 302 Motor 2 linear compensation DATA 303 Motor 3 linear compensation Within the data section for each motor the compensation table values must be entered in the order they are listed in Table B 1 In the following example data file compensation values are entered for motors 1 and 2 only Compensation for the EPU module is specified using encoder values For both motors the range of travel is 50000 encoder counts to 50000 encoder co
28. OFF system switch 16 AUTO22 51 axis control 181 B BELT real valued function 137 belt position 137 BELT_CAL file 51 BMASK real valued function 16 C CALIBRATE command 14 77 program instruction 16 syntax 84 usage 84 calibration 77 customizing 80 parameters 120 CALLP program instruction 16 cartesian motion time 124 CD command syntax 85 usage 85 CE See European Certification 14 Clarification of Event Triggers 33 CLEAR EVENT program instruction 16 collision detection 48 new menu item 56 14 76 194 V Language User s Guide colors file 51 command line history buffer 103 CONFIG real valued function 16 CONFIG C 39 assigning workloads 149 file 51 utility 52 CONFIG_R file 51 configuration data applying 30 saving 26 conveyor belt encoders 147 coordinated joint control module 122 COPY 37 command copying files 53 Correction to the GAIN SET Instruction 34 CPU restrictions 161 14 37 D DAC program instruction 105 data integrity 160 DBLB real valued function 16 DEBUG command DEF DIO program instruction 17 DEFBELT program instruction 17 deleting files 53 DETACH 0 instruction 124 DEVICE program instruction 17 43 real valued function 137 device module 120 documents 123 digital I O 103 triggering events 33 digital signals reserved 45 DIRECTORY command 14 wild cards 133 DISABLE POWER command 14 133 program instruction 17 14 76 103 132 disabling high powe
29. Q to suppress monitor output of loading file names Reports errors if lines are too long See page 134 for the changes in V 11 1 Now accepts device names Now accepts a priority argument based on the task matrix Now accepts VISION and FORCE as optional arguments Now limited to 100 Does not alter path of robot unlike SPEED program instruction Takes effect immediately MAX SIZE now shows the stack space requested by a CALL that failed due to insufficient stack space Now accepts a priority argument based on the task matrix Now accepts a priority argument based on the task matrix Is more selective in what memory is zeroed 8 3 Changes to V Programming Keywords See the V Language Reference Guide for details 104 V Version 11 4 Release Notes Rev A Compatibility Issues 8 4 Compatibility Issues The following changed instructions and functions may cause compatibility problems when upgrading pre 11 0 code other changed instructions are backward compatible See Chapter 9 for changes in AdeptVision instructions and functions ACCEL ADC AIO DAC EXECUTE PRIME SSTEP XSTEP FORCE FOR END IF GOTO GOTO FCMND INT PCABORT PCEND PCEXECUTE PCKILL SPEED No longer automatically scales with SPEED If your pre 11 0 code used speeds in excess of 100 you may need to increase ACCEL to match ACCEL may now exceed 100 percent See ACCEL P
30. The problem which occurs if the user responds to the program that it is okay to secure the hard disk causes the hard disk to be totally unreadable Contact Adept Customer Service for more detailed information about this potential problem You can use version 10 4B of SECURE which corrects the error with all editions of V versions 8 through 11 5 10 Changes to the SFUTIL Utility Compatibility Change Version 11 3 of the SFUTIL utility is required for use with V 11 3 Furthermore the program cannot be used with previous V systems 5 11 Changes to the SPEC Utility Compatibility Change Version 11 3 of the SPEC utility is required for use with V 11 3 Furthermore the program cannot be used with previous V systems New Menu Item for Acceleration Feedforward The Robot Motor Servo Tuning menu now has two new items for entering the maximum and minimum acceleration feedforward These items support the PAYLOAD instruction Joint 4 Tuning for Adept Robots The Robot Motor Servo Tuning menu now applies to joint 4 for AdeptOne AdeptThree and PackOne robots This allows you to customize tuning of joint 4 with different payloads in order to optimize arm performance Removal of Data Items Two of the Stop on Force parameters the nulling tolerance and the envelope error limit have been removed because they are no longer needed Using different values for the FINE and COARSE parameters in the Joint motion specs menu achie
31. User s Guide A New and Modified System Messages 57 B Linear Compensation for the Enhanced PUMA Robot Module 63 C Licenses 67 Part 3 73 Notes for V Version 11 2 73 Enhancements to the V Operating System and Language Version 11 2 75 61 General Enhancements 75 SINGIG BOGE DISK eR RR AER TERRE FAMAE RR TS 75 Information for General Users 75 Information for Advanced Users 75 New CD Monitor Command s 76 Enhanced DEBUG command 76 EnheancedqiaoEE COMMANA a eee Roe x Dua Hu 76 6 2 General Motion Enhancements 77 New Calibration System ow aaa a 77 Change to the CALIBRATE Monitor Command 77 EXECUTE C Monitor Command and Program Instruction 78 Parameters for S Curve Trajectories 78 New Algorithm for Tolerance Checking 78 6 3 Changes Specific to Adept Robot Systems 78 New Digital I O Signals e 78 Enhancements to the ID Monitor Command and Real Valued Function 79 Changes to the SCA Robot Module 80 6 4 Changes Specific to the AdeptMotion VME Product 80 Customizing the Calibration Routine 80 Enhancement to the JTS Robot Module 80 Enhancements the PUMA Robot Module 80 Changes to the SPEC Utility
32. V Version 11 4 Release Notes Rev A 129 Changes in V 11 1 1 1 This chapter provides detailed descriptions of the changes between V Version 11 0 and V Version 11 1 Changes to the V Operating System and Language Changes to Monitor commands Changes to Programming Keywords Changes to Error messages Changes to AdeptVision Changes Affecting Adept Robot Users Changes to AdeptMotion Changes to the Adept Utility Programs Programming Notes These describe the programming implications of the changes introduced in V 11 1 11 1 Summary of New Features Major Additions 1 Support for the Adept 550 1850 and 1850XP robots 1 Dual vision support supported in V 11 0 but V 11 1 provides improved configurability 2 Individual axis control software option described in Chapter 15 This option provides Support for up to 15 mechanisms Continuous turn spin axes with the JTS robot module General System Level Additions 1 Enhanced the trajectory generator to improve cycle times and the predictability of continuous path motions including new OVERLAP NOOVERLAP instructions for V Version 11 4 Release Notes Rev A 131 Chapter 11 Changes in V 11 1 SCARA and PUMA robots See Configurable V Trajectory Cycle Rates on page 137 3 Increased the number of servo channels that a single 68040 can service from 8 to 18 Increased the number of servo channels that a single 68030 can service fr
33. V Version 11 4 Release Notes Rev A 137 Chapter 11 Changes in V 11 1 138 if ALTER is executed in the accumulate mode a faster trajectory cycle rate will increase the rate of accumulation and cause the robot to move more quickly To synchronize execution of the ALTER instruction with the trajectory generator the new STATE 12 function should be used see below STATE Real valued Function The STATE real valued function has been enhanced as follows STATE 12 returns a flag that is set nonzero when an ALTER program instruction is executed for the currently selected robot and cleared after the trajectory generator processes the posted ALTER data This flag can be used to coordinate the execution of ALTER instructions with the processing of the data by the trajectory generator STATE 13 returns the trajectory generator execution rate in Hertz That is if the trajectory generator is executed once each major V cycle a value of 62 5 would be returned by this function STATE 14 returns the servo code execution rate in Hertz That is if the servos are executed each 1 msec this function would return a value of 1000 1KHz Continuous Turn Axes For a description of the changes to the Joints JTS module see the SPIN instruction in the V Language Reference Guide NOT CALIBRATED Parameter Range Changed The range of the NOT CALIBRATED parameter is now from 1 to 32767 NOTE Bits for undefined robots now default to off
34. board and 4 outputs per board For details see the Adept MV Controller User s Guide 8 2 Changes to Monitor Commands See the V Operating System Reference Guide for details New Commands FSET Monitor Command Set or modify attributes of the monitor window or a serial line INSTALL Monitor Command Install or remove a system option using software license password Altered Commands These commands are generally backward compatible with the 10 X syntax DIRECTORY Monitor Command DIRECTORY 1 lists only non executable programs See page 132 for the changes in V 11 1 EXECUTE Monitor Command Now accepts a priority argument based on the task matrix FCOPY Monitor Command Can now redirect output to a serial line See page 133 for the changes in V 11 1 V Version 11 4 Release Notes Rev A 103 Chapter 8 Changes to V 10 x to 11 0 FORMAT ID IO LOAD PASSTHRU PRIME SELECT SPEED STATUS SSTEP XSTEP ZERO Monitor Command Monitor Command Monitor Command Monitor Command Monitor Command Monitor Command Monitor Command Monitor Command Monitor Command Monitor Command Monitor Command Monitor Command Accepts new qualifier J for high density formatting The 5 1 4 disk options are removed See page 133 for the changes in V 11 1 Returns additional information Displays soft signals only when specifically requested Allows qualifier switch
35. compatible and may cause improper operation of continuous turn joints that have formerly been configured with very large roll over counts 44 Changes for the AdeptMotion VME Product 46 Change to the Robot Option Word All Modules Robot option bit 12 counting from 1 modifies the deceleration of the robot when an error occurs and high power has been disabled Normally in this situation the commanded robot motion is instantly stopped If this bit is set however the standard deceleration profile is used instead This bit is off by default This feature has been added for robot systems that delay the disable signal to the amplifiers to allow time for the brakes to engage Enhanced 5 6 Axis PUMA Robot Module EPU There is a new enhanced PUMA robot module This new module is identical in functionality to the standard PUMA module except that it also supports linear compensation on motors 1 2 and 3 The following notes describe this new enhanced module The module ID is 28 e The robot module s abbreviated name is EPU In order to operate this module the Enhanced Kinematic license must be installed The default robot startup message is Enhanced 5 6 Axis PUMA Robot Module V Version 11 4 Release Notes Rev A Changes for the AdeptMotion VME Product In order to enable linear compensation bit 2 counting from 1 in the robot option word must be enabled Enabling this bit in the non enhanced PUMA module gen
36. copying 53 PUMA device module 121 robot module 46 80 PUMA robot module 63 66 R READ command 33 program instruction 19 RELEASE program instruction 19 reserved digital signals 45 RETRY command 15 robot module car new 47 omi 33 t12 enhanced 47 robot option word 46 Index 197 ROBOT OPR instruction 81 program instruction 19 rotational axes 123 RSC 34 S SAFE UTL file 52 utility 45 54 SC6 robot module 124 SCA robot module 80 SCALE ACCEL system switch 19 173 SCARA device module 122 s curve parameters 170 SECURE file 52 SEE 19 command 15 135 editor 135 enhanced 76 program instruction 19 SELECT 19 command 15 104 program instruction 19 real valued function 19 select Parameter Error Code Description 32 servo changes 119 processing 145 servo rate 120 SET EVENT event triggers 33 program instruction 19 SET_GAIN file 52 SFUTIL file 52 utility 55 shared data 159 shared memory access 34 SIG command 34 soft envelope errors 43 source Parameter Error Code Description 32 SPEC 198 V Language User s Guide file 52 SPEC utility 55 81 SPEED command 15 104 105 program instruction 19 172 real valued function 19 SPIN program instruction 19 split axis capability 48 SSTEP command 15 104 105 startup messages new 38 STATE instruction 32 real valued function 19 138 state function enhanced 45 STATUS command 15 104 step button limits to 44 STRDIF string function 19 SUCURE utility 55
37. feature read Chapter 13 This is an advanced feature that is not required for most applications You can use the other features of V Extensions without using the Multiple V Systems feature Processor Memory Requirements for Motion Systems The following are general guidelines for determining the required number of processors and their memory sizes for a given application Servo Processing Requirement For standard servo code executing at a 1kHz update rate a 68030 processor has sufficient execution power to support a maximum of 8 channels That is when 8 axes are being servoed by a 68030 no other processing tasks e g V user tasks trajectory generation vision should be assigned to that processor V Version 11 4 Release Notes Rev A 145 Chapter 12 Multiple Processor Systems 146 In general servo processing requirements scale relatively linearly with the number of axes and the servo update rate That is 8 axes take approximately twice as long to service as 4 axes Also if the servos execute every 1ms they use twice the processor power as servos executing at a 2 ms update rate CAUTION The servo update rate affects all mechanisms controlled by the system If you are using an Adept supplied robot you should not change the servo rate A 68040 processor can be assigned 8 axes at 1 KHz and still have approximately 50 percent of its time available for other tasks In general a 68040 can execute software more th
38. first column indicates the possibilities for the first step and the second or third column indicates the following steps depending on the switch setting on the VFP V Version 11 4 Release Notes Rev A 39 Chapter 4 Changes to the V Operating System and Language Version 11 3 40 Table 4 1 Enabling High Power on Category 1 Systems First Steps VFP in AUTO Mode VFP in MANUAL Mode Type enable power to use the monitor command The HIGH POWER ON OFF button flashes The message Press HIGH POWER button to enable power appears on both the monitor screen and the MCP display Press the HIGH POWER ON OFF button on the If a timeout occurs the message HIGH POWER button on VFP not pressed appears on the monitor screen The HIGH POWER ON OFF button flashes The message Press HIGH POWER button to enable power appears on both the monitor screen and the MCP display Press the HIGH POWER ON OFF button on the If a timeout occurs the message HIGH POWER button on VFP not pressed appears on both the MCP display and the monitor screen Run a program that uses the ENABLE POWER program instruction The HIGH POWER ON OFF button flashes The message Press HIGH POWER button to enable power appears on the MCP display Press the HIGH POWER ON OFF button on the VFP If a timeout occurs no error message appears The HIGH POWER ON OFF button flashes The mess
39. must be running your current V system to do so After all the robot and encoder data have been loaded into system memory you must have the program write the data to your new V system disk Otherwise the data will not be used the next time the V system is started Adept strongly recommends that you make a backup copy of the fully configured V system disk as suggested by the installation program After the program returns to the Installation menu your new V system is fully configured and ready for use You do not need to power down the Adept controller and restart the V system V Version 11 4 Release Notes Rev A Changes to the V Operating 3 1 System and Language Version 11 4 This chapter discusses the updates made to version 11 4 of the V operating system language and documentation You will find New functionality New robot module Networking enhancements Clarification of event triggers Correction to the GAIN SET instruction New Functionality Version 11 4 of the V operating system and language allows a V task to access any errors that cause the robot to shutdown These errors include asynchronous messages that in earlier versions of V were only displayed on the monitor To do this a new internal FIFO buffer was added that receives all asynchronous errors that occur from the time the robot is turned on with the ENABLE POWER command or through the MCP to the time the robot is disable
40. on the PROGRAM START button V Version 11 4 Release Notes Rev A General Motion Changes New SAFE Utility for Category 3 Systems The new SAFE UTL utility program tests safety hardware in Category 3 systems only You cannot enable high power in such systems until you have used this utility For details refer to the AdeptOne MV AdeptThree MV Robot Instruction Handbook Enhanced STATE Function The STATE real valued function has been enhanced to return information on the new states for VFP switches and buttons When select equals 4 the function reports the state of the VFP HIGH POWER ON OFF button with bit 4 mask value 8 of the returned value When select equals 5 the function returns the following values Value Interpretation select 5 1 Both AUTO and LOCAL are set 2 Both MANUAL and LOCAL are set 3 Both AUTO and REMOTE are set 4 Both MANUAL and REMOTE are set Reserved Digital Signals On systems with the options for safety Category 3 hardware and software user programs cannot use the following digital signals Input 1011 1012 Output 6 7 8 4 3 General Motion Changes Clarification of the GAIN SET Program instruction Previous documentation of the GAIN SET program instruction refers to a robot joint parameter All such references actually should be to a robot motor Thus the correct syntax is GAIN SET set motor This instruction affects the robot currently selected with a SELEC
41. the motion speed and acceleration Does not affect the path of the robot Can only slow down the program specified speed not speed it up Does not affect DELAY instructions so that critical time delays are not altered Does affect any specified motion DURATIONS so as to not affect the path of the robot SCALE ACCEL System Switch In general it is undesirable to have changes in the maximum program speed affect the maximum acceleration values However there is one situation where coupling between speed and acceleration can be quite convenient V Version 11 4 Release Notes Rev A 173 Chapter 14 S Curve Trajectory Generation 174 When programming an application it is not unusual for a single value for the maximum acceleration to be used throughout the application In this case the tuning for individual motions largely consists of selecting an appropriate speed for each operation If the maximum acceleration is selected so as to optimize high speed motions and if an acceleration profile is used that has very fast acceleration ramps a problem with slow speed motions arises With these trajectory parameters during a slow motion the robot will be quickly accelerated up to speed will move slowly and then will be quickly decelerated to a stop In the extreme case where a square wave acceleration profile is used with a very slow motion at the start and end of the motion the robot will be subjected to a very short acceleration i
42. to the GAIN SET Instruction 3 6 There is a correction to the V Language Reference Guide Version 11 3 Revision B on page 216 For the GAIN SET instruction it says This instruction changes some servo tuning values specifically those for feedforward gain for certain axis It should read This instruction changes the feedback gains Miscellaneous Changes 34 When the VFP keyswitch is set to MANUAL or the MCP is in comp mode be sure to set the speed at 10 or less to avoid tripping the accelerometer Whenever the controller NVRAM is set to No Cat V will not check for the CE certified robot bit in the robot option word V Version 11 4 Release Notes Rev A Part 2 Notes for V Version 11 3 This section incorporates the original V Version 11 3 Release Notes but drops much of the material that has already been transferred to subsequent manuals In particular for changes to the V language refer to the V Language Reference Guide Rev B V Version 11 4 Release Notes Rev A 35 Changes to the V Operating System and Language Version 11 3 This chapter discusses version 11 3 changes to the V Operating System and Language first by general changes and then by changes specific to systems or products 4 1 General Changes Enhanced COPY and EDIT Monitor Commands Programs created with the COPY and EDIT monitor commands now are put into the global program module Clarification of the PR
43. used for any other purpose This memory can be accessed by the six IOPUT instructions IOPUTB IOPUTD IOPUTE IOPUTL IOPUTS and IOPUTW the five IOGET_ real valued functions IOGETB IOGETD IOGETL IOGETW and the string function IOGETS See the Language Reference Guide for more details V Version 11 4 Release Notes Rev A Inter System Communications The real valued function IOTAS can be used to interlock access to this memory Each of the above keywords has a type parameter Type 0 zero the default is used to access memory on other Adept V processors Shared Data The IOGET_ IOGETS and IOPUT keywords allow the following to be written and read Single bytes 16 bit words 32 bit longwords 32 bit single precision floating point values 64 bit double precision floating point values Strings up to 128 bytes An address parameter indicates the position within the application shared area to which the value is to be written or from which the value is to be read Acceptable address values are 0 to hexadecimal 1FFF decimal 8191 Any Adept system processor can access the shared memory areas of all the Adept system processors including its own area The IOGET IOGETS IOPUT and IOTAS keywords have an optional parameter to specify the processor number The default value for the processor parameter is 0 which is the local processor that is the processor on which the instruct
44. with the accelerometer system or the accelerometer s built in test function failed Accelerometer channel 2 error The robot joint 1 or 2 is moving or accelerating too fast there is a fault with the accelerometer system or the accelerometer s built in test function failed Amplifier 3 voltage restrict sensor channel 1 error The robot joint 3 is moving or accelerating too fast there is a fault with the voltage restrict sensor or the voltage restrict sensor s built in test function failed Amplifier 3 voltage restrict sensor channel 2 error The robot joint 3 is moving or accelerating too fast there is a fault with the voltage restrict sensor or the voltage restrict sensor s built in test function failed If the error occurred while a program was moving the robot try changing the program to move the robot less quickly or with a lower rate of acceleration or deceleration For faults with cables or sensors consult your Robot Instruction Handbook or contact Adept Customer Service If the error occurred while a program was moving the robot try changing the program to move the robot less quickly or with a lower rate of acceleration or deceleration For faults with cables or sensors consult your Robot Instruction Handbook or contact Adept Customer Service If the error occurred while a program was moving the robot try changing the program to move the robot less quickly or with a lower rate of accele
45. 0 While there are many different motion profiles that can be characterized as S curves in V an S curve is a trajectory that has a trapezoidal acceleration profile as shown in Figure 14 1 In earlier versions of V the acceleration profile was a square wave The benefit of a trapezoidal acceleration profile is that the rate of change of acceleration the jerk can be controlled By comparison the magnitude of the jerk for a square wave acceleration profile is always infinite For many mechanisms controlling the jerk is significant because high jerk values can cause the mechanical structure of the robot to vibrate Minimizing structural vibrations is especially important at the end of a motion since such oscillations can adversely affect the settling time of the robot For a general trapezoidal profile there are four acceleration values that can be specified 1 The ramp up to maximum acceleration 1 The ramp down from maximum acceleration 2 The ramp up to maximum deceleration 3 The ramp down to zero acceleration In V each of these four acceleration values can be individually specified and a set of the four values defines a specific acceleration profile For each robot there can be as many as nine different profiles Profile 0 is always defined to be a square wave acceleration curve with all four ramp times set to zero Profiles 1 through 8 are defined by the robot manufacturer and are a function of the mec
46. 3 63 63 63 63 63 63 63 63 63 63 63 63 Terminal ang olo olololo lo olololo olololols58 graphics driver Monitor task O O O OF O OF OF 0156 Network server DDCMP O OF O OF O 54 Kermit driver 0 OF O OF OF OF OF 52 Teach pendant driver 0 0 O O 0 OF OF O 50 Disk driver O OF OF O OF O O 39 48 FLO driver O O O OF O OF 46 V Version 11 4 Release Notes Rev A 143 Chapter 11 Changes in V 11 1 Table 11 4 System Task Priorities Continued Slice Number System Task 0 1 243 41516 718 9 10 11 12 13 14 15 Serial line driver 0 0 0 0 0 0 0 44 44 PIPES driver 0 0 0 0 0 0 0 431 0 14 14 14 14 14 14 14 14 14 14 14 14 14 0 o 0 com munications task Vision analysis task 13 13 13 13 13 13 13 13 13 13 13 13 13 0 0 0 peo backround ololololololo olololo lolololalo task Table 11 5 User Task Priorities Slice Number 5 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0 20 20 20 20 20 20 20 20 20 10 10 10 10 0 0 0 1 19 19 21 21 19 19 21 21 19 09 11 11 00 0 0 2 20 0 0 3 15 0 0 4 15 15 15 15 15 15 15
47. A 153 Chapter 12 Multiple Processor Systems 154 V Version 11 4 Release Notes Rev A Assignment of Processor Workloads V Version 11 4 Release Notes Rev A 155 Multiple V Systems 1 3 13 1 Overview This chapter applies only to the special case of running multiple V systems multiple processors might or might not run multiple V systems This is an advanced feature that most users will not require NOTE You can skip this entire chapter if you do not plan to use this feature You can use multiple processors without using multiple V systems For example if you need more power than a single processor can provide you might configure three processors as follows Processor 1 the system processor would run V operating system and language Processor 2 would run the servo code and Processor 3 would run the vision code see Chapter 12 When multiple processors are installed there is a default allocation of the system software which the user can customize using the configuration utility program CONFIG C For applications demanding extremely intensive V processing it is possible to run a copy of V on every processor This option requires the V Extensions license and is described in this chapter Requirements You must purchase and install the V Extensions software license and use the CONFIG C utility program to configure your system appropriately You do not need V Extensions for multiple process
48. Adept system controls a robot or uses external encoders see Applying Saved Robot and Encoder Configuration Data on page 30 to continue the installation process V Version 11 4 Release Notes Rev A 29 Chapter 2 How to Upgrade 30 Applying Saved Robot and Encoder Configuration Data This part of the installation process loads your saved robot and encoder configuration data into your new V version 11 4 system 1 Start your new V version 11 4 system from the disk you configured in Installing the New Version 11 4 System on page 29 of the installation process Load the file CONFIG C V2 from the V version 11 4 Adept Utility Disk by typing the command load a config c Insert the diskette containing the robot and or encoder configuration data for your system see Saving Current Configuration Data Version 11 0 on page 26 and Saving Current Configuration Data Versions 11 1 11 2 and 11 3 on page 28 Run the program CONFIG C by typing the command execute 1 a config c Choose the menu item V Installation Select APPLY saved ROBOT DATA Entera to indicate that your robot data files are on a diskette If the program cannot find the data file for one of your devices you may have to repeat the steps in Saving Current Configuration Data Version 11 0 on page 26 and Saving Current Configuration Data Versions 11 1 11 2 and 11 3 on page 28 to create the missing file Note however that you
49. Certification CE Table 4 2 Enabling High Power on MMSP Category 3 Systems First Steps VFP in AUTO Mode VFP in MANUAL Mode Type enable power to use the monitor The HIGH POWER ON OFF button flashes The Press HIGH POWER button to enable power The messages Release then press Hold to run button and Press HIGH POWER button command message appears on both the monitor when blinking appear on the screen and the MCP display monitor screen Press the HIGH POWER ON OFF button Release then press the HOLD TO RUN on the switch on the MCP If you do not If a timeout occurs the message respond within 10 seconds the HIGH POWER button on VFP message Timeout not pressed appears on the Hold to Run not toggled monitor screen appears on both the monitor screen and the MCP display After a delay the message Press HIGH POWER button to enable power appears on the MCP display Press the HIGH POWER ON OFF button on the VFP If a timeout occurs the message HIGH POWER button on VFP not pressed appears on both the monitor screen and the MCP display Runa The HIGH POWER ON OFF button Release then press the HOLD TO RUN program flashes The Press HIGH POWER switch on the MCP If you do not thatusesthe button to enable power respond within 10 seconds the ENABLE message appears on the MCP Timeout Hold to run not POWER display toggled message appears on both program Press the HIG
50. ESHOLD type thr1 thr2 frame NewVTHRESHOLD cam type dmode dest ibr src ibr Spelling Correction V SYNC STROBE The V SYNC STROBE system parameter was misspelled the Version 10 3 Rev A and Version 11 0 Rev P1 AdeptVision Reference Guides It had an H after the C that was incorrect You should use the spelling that is shown here V SYNC STROBE not V SYNCH STROBE V programs with the incorrect spelling will not load The spelling has been corrected in the AdeptVision Reference Guide Version 11 0 Rev A 110 V Version 11 4 Release Notes Rev A Compatibility Issues V Version 11 4 Release Notes Rev A 111 Chapter 9 Changes to AdeptVision 10 x to 11 0 112 V Version 11 4 Release Notes Rev A Compatibility Issues V Version 11 4 Release Notes Rev A 113 Chapter 9 Changes to AdeptVision 10 x to 11 0 114 V Version 11 4 Release Notes Rev A Compatibility Issues V Version 11 4 Release Notes Rev A 115 Chapter 9 Changes to AdeptVision 10 x to 11 0 116 V Version 11 4 Release Notes Rev A Compatibility Issues V Version 11 4 Release Notes Rev A 117 Changes to AdeptMotion 10 x to 11 0 This chapter is applicable only to users of AdeptMotion VME 10 1 Changes to AdeptMotion Servo Parameters Changes to Loop Gain The Integral Gain loop has been changed so that the Max Integrated Value is now specified in torque units instead of motor counts The Proporti
51. G C Utility Compatibility Change New POWER_TIMEOUT Statement New Checking for TASKS Statements Updated Built In Copy of DIBKCOPY Recognition of New System Options Changes to the DISKCOPY Utility Correction to Copying Protected Files Correction to Copying Deleting Files with No Date Information Changes to the FORMAT Utility Change to Format for Very Large Hard Drives Changes to the FTP Utilities Improvements the FTP CLNT Utility Improvements the FIP_SRVR Utility Changes to the PROFILER Utility New SAFE_UTL Utility Changes to the SUCURE Utility Changes to the SFUTILUfility Cornpoatibility Chorige a suerte Wed ut os e Res dene antes Changes to the SPEC Utility Compatibility Change n New Menu Item for Acceleration Feedforward Joint 4 Tuning for Adept Robots Removal of Dataltems es New Menu Item for Maximum Torque in Manual Mode New Menu Item for Collision Detection sess iij iv V Language
52. H POWER ON OFF button the monitor screen and the MCP instruction on the VFP display If a timeout occurs no message appears After a delay the Press HIGH POWER button to enable power message appears on the MCP display Press the HIGH POWER ON OFF button on the VFP If a timeout occurs no message appears V Version 11 4 Release Notes Rev A 41 Chapter 4 Changes to the V Operating System and Language Version 11 3 Table 4 2 Enabling High Power on MMSP Category 3 Systems First Steps VFP in AUTO Mode VFP in MANUAL Mode Press and hold the HOLD TO RUN switch on the MCP Then press the COMP PWR button on the The HIGH POWER ON OFF button flashes The Press HIGH POWER button to enable power message appears on the MCP display Press the HIGH POWER ON OFF button on the If a timeout occurs no error message appears The red E STOP LED on the MCP starts to blink Release then press the HOLD TO RUN switch on the MCP If you do not respond within 10 seconds the Timeout Hold to Run not toggled message appears on both the monitor screen and the MCP display The Press HIGH POWER button to enable power message appears on the MCP display Press the HIGH POWER ON OFF button on the VFP If a timeout occurs the following message appears on both the monitor screen and the MCP display HIGH POWER button on VFP not pressed
53. Hz is recommended for most applications Using 500Hz reduces the processor workload The rate is configured using the CONFIG C program Changes to Calibration Parameters Calibration speeds now need to be specified in units of counts millisecond instead of counts second Several new parameters have been added to the calibration sequence See the AdeptMotion User s Guide for details 10 2 Changes to Device Modules 120 Device Module Distribution and Licenses The Device Module files are now distributed on the V system disk in the SYSTEM subdirectory You no longer need to obtain a separate disk for each module that you want to use As in 10 x you use DM UTIL and SPEC to install and configure the modules that you need However you can only use modules for which you have purchased a Software License The XYZ and JIS modules continue to be available to all AdeptMotion users without the purchase of additional licenses Other modules are enabled by either the Kinematics License or the Enhanced Kinematics License If you install a module for which you do not have a license an Option not installed message is displayed when the system is booted Device Module Documentation Documentation for the XYZ JTS and Encoder Device Modules is in the AdeptMotion VME User s Guide Documentation for all other device modules is available on request V Version 11 4 Release Notes Rev A Changes to Device Modules Change
54. Keyboard conventions Selecting choosing and pressing items e Abbreviations Notes Cautions and Warnings Three levels of special notation are used in this manual In descending order of importance they are WARNING If the actions indicated in a warning are not complied with injury or major equipment damage could result A warning typically describes the potential hazard its possible effect and the measures that must be taken to reduce the hazard V Version 11 4 Release Notes Rev A 11 Chapter 1 Introduction CAUTION If the action specified in a caution is not complied with damage to your equipment or loss of data could result NOTE A note provides supplementary information emphasizes or supplements a point or procedure or gives a tip for easier operation Typographic Conventions The following typographic conventions are used throughout this manual This Represents ALL CAPITALS V file names directory names commands keywords and attributes also acronyms monospace Screen displays code examples non placeholder terms in formal syntax definitions and case sensitive words required for a UNIX like setting associated with the AdeptNet product italic monospace Placeholders for information that you provide in formal syntax definitions You must replace such a placeholder written in bo1d weight but need not replace an optional one which is written in regular weight bold In a typing or en
55. OFILE Switch One of the switches that the SWITCH monitor command displays is PROFILE This switch is for Adept use only and end users should not enable it Improper enabling of this switch can adversely affect system performance Increased Number of Menu Bar Items The maximum number of menu bar items has increased from 10 to 20 V Version 11 4 Release Notes Rev A 37 Chapter 4 Changes to the V Operating System and Language Version 11 3 4 2 Changes for European Certification CE New Terminology Relating to the VFP and MCP Buttons and switches on the VME external Front Panel VFP have changed and have been renamed Buttons and overlay names on the Manual Control Pendant MCP also have changed For details refer to your Robot Instruction Handbook In error messages terms have changed as follows New Term Old Term Auto Terminal Manual Pendant New Startup Messages On startup V may display a new message that depends on the system s configuration as follows 38 If CE compatible Adept robots or non Adept robots are configured and the EN954 Safety Category 3 license for the MMSP is installed Configured as Category 3 Robot System per ISO 10218 and EN954 If CE compatible Adept robots or non Adept robots are configured and the EN954 Safety Category 1 license without the MMSP is installed Configured as Category 1 Robot System per ISO 10218 and EN954 If CE compatible Adept robots
56. OPR Instruction The ROBOT OPR instruction has been enhanced with a new mode for the XY3Z3T robot module Formerly this instruction was only used to select the primary and slaved axes The new mode is used to define position offset values that are added to the commanded Z and RZ positions for each slave axis The syntax for the new mode is as follows ROBOT OPR 1 Z slavel RZ slavel Z slave2 RZ slave2 Any unspecified offset values at the end of the list are assumed to be 0 As with the old form of this instruction the following requirements apply to this new mode Executing ROBOT OPR 1 breaks CP motion The application code must guarantee that the slave axes are correctly positioned relative to the master taking into consideration the specified offsets at the time the ROBOT OPR instruction is executed to select any slaved axis This is required to ensure that the slave joints do not suddenly jump if the ROBOT OPR instruction is followed by a straight line motion If the ROBOT OPR instruction is followed by a joint interpolated motion the motion automatically corrects any errors in relative position and no jump occurs As a safety precaution ROBOT OPR 1 cancels the selection of any slaved axes Consequently after ROBOT OPR 1 is executed ROBOT OPR must be executed to select the desired slave axes V Version 11 4 Release Notes Rev A 81 Chapter 6 Enhancements to the V Operating System and Language Version 11 2
57. PY Enhanced Enhanced FORMAT Altered Altered FSET Enhanced Enhanced ID Enhanced Enhanced Enhanced INSTALL New IO Altered Enhanced LISTR LISTS LISTL Enhanced LOAD Enhanced Enhanced Enhanced MDIRECTORY Enhanced NET Altered Enhanced Enhanced PASSTHRU Altered PING New PRIME Altered PROCEED Enhanced RETRY Enhanced SEE Enhanced Enhanced SELECT Enhanced SPEED Altered SSTEP Altered Enhanced STATUS Enhanced XSTEP Altered Enhanced ZERO Enhanced The AdeptNet User s Guide describes this command V Version 11 4 Release Notes Rev A 15 Chapter 1 Introduction Changes to V Programming Keywords Table 1 2 shows changes to V programming keywords Table 1 2 Changed V Programming Keywords Keyword V 11 0 V 11 1 V 11 2 V 11 3 V 11 4 ACCEL program Enhanced instruction ACCEL real valued Enhanced Enhanced Enhanced function AIO IN real valued New function AIO INS real valued New function AIO OUT program New instruction ALTER program New instruction AMOVE program Deleted instruction ATTACH program Enhanced Enhanced Enhanced instruction AUTO program instruction Enhanced AUTO POWER OFF New system switch BMASK real valued New function CALIBRATE program Enhanced instruction CALLP program New instruction CLEAR EVENT program Altered instruction CONFIG real valued Enhanced
58. RY x wildcard spec where x is an optional switch that is followed by an optional wild card specification The possible switch values are Sto suppress protected programs to display only non executable programs Mto display only modified programs For any program name that is displayed if the copy in memory has been modified since last being loaded or stored a M is displayed before the program name DE The DIRECTORY command now supports wildcards using either the or character Both wildcards operate identically and can match 0 1 or multiple characters DISABLE POWER DISABLE POWER now requests that the robot perform a controlled deceleration and power down sequence This sequence consists of 1 Decelerating all robots according to the user specified parameters 10 Turning on the brakes 11 Waiting for the user specified brake delay interval 12 Turning off the amplifiers and power 13 Asserting the backplane Emergency Stop signal and de asserting the High Power Enable HPE signal Note that DISABLE POWER may take an arbitrarily long time due to long deceleration times and long brake turn on delays A new ESTOP command and program instruction has been introduced for situations when an immediate shutdown is desired See Chapter page 132 FCOPY The file creation date and time are now preserved along with the standard file attributes when a file is copied The only attribute that is affected is the a
59. Release Notes Rev A 185 Chapter 15 Individual Axis Control 186 V Version 11 4 Release Notes Rev A Manual Control Pendant Changes V Version 11 4 Release Notes Rev A 187 Chapter 15 Individual Axis Control 188 V Version 11 4 Release Notes Rev A Manual Control Pendant Changes V Version 11 4 Release Notes Rev A 189 Chapter 15 Individual Axis Control 190 V Version 11 4 Release Notes Rev A Manual Control Pendant Changes V Version 11 4 Release Notes Rev A 191 Index Symbols PLATCH precision point function 19 SET POINT location valued function 19 DBLB string function 16 DECODE string function 16 ID string function 18 SIOGETS string function 18 SYMBOL string function 19 A ACCEL program instruction 16 real valued function 16 acceleration 124 feedforward 55 accelerometer 34 ADC function 105 AdeptForce selectcommand 104 VFL assigning 147 AdeptMotion 119 VME 80 AdeptNet 49 AdeptVision 107 135 incompatible syntaxes 110 memory requirements 147 ADV_CAL file 51 utility 52 ADV_USER file 51 AIM applications requirements 101 AIO system switch 105 AIO IN AIO INS real valued function 16 real valued function 16 105 171 AIO OUT program instruction 16 ALTER program instruction 16 44 137 138 AMOVE program instruction 16 analog I O 103 AREACAL file 51 AS device module file 137 ATTACH program instruction 16 AUTO program instruction 16 AUTO POWER
60. SCARA SC6 3 link SCARA e T12 2 axis parallelogram arm VAR 4 axis rotary palletizer with 2 linear drives e 2ZT 6 axis Cartesian with dual Z axes EXY 4 axis XYZ theta XZ XZ stacker CAR 4 axis Cartesian with 3A coupling 09961 00005 Integrated Allows co existence of Included with AdeptVision Motion amp AdeptVision VME with Adept VME Guidance Vision Robot or AdeptMotion VME Previously called Guidance Vision license Enables use of vision inspection or guidance with integrated motion Customers with Inspection Vision applications that require integrated AdeptMotion or Robot should separately purchase the Guidance Vision Package AIM VisionWare and licenses 09961 00006 Vision Allows use of single or dual Included with Inspection AdeptVision VME system Vision or Guidance Vision package Previously called Inspection Vision license Required with any system using AdeptVision 68 V Version 11 4 Release Notes Rev A Appendix C Licenses Table C 1 Licenses for V Version 11 3 Continued License part License Name Functionality Notes Compatibility 09961 00007 Enhanced Required for access to the New modules are in italic Kinematic following kinematic modules Modules EGN 5 or 6 axis Gantry e XY4 7 axis 4 headed Cartesian e 8 axis 2 headed Cartesian e EPU 5 or 6 axis PUMA with linear comp
61. Signal number in number in Meaning Vt 10 x 11 2 2030 3001 Activate hand solenoid 2 2031 3002 Activate hand solenoid 1 2025 3003 Activate spare solenoid driver 1 2026 3004 Activate spare solenoid driver 2 SIG INS always returns TRUE for these bits You can use the SPEC V2 utility to change the output signals for the grippers For details refer to the manual titled Instructions for Adept Utility Programs The special treatment of soft signals 2025 through 2032 has been removed They are now implemented as ordinary soft signals Formerly signal 2032 controlled the brake release solenoid A DEVICE instruction now performs that function Enhancements to the ID Monitor Command and Real Valued Function A second 16 bit robot option word has been added to the Adept system The ID monitor command and the Manual Control Pendant display has been enhanced to display the new robot option word opt2 below Robot n model serial opti opt2 module id The ID real valued function has been enhanced so that ID 11 8 and ID 11 10 robot return the second option word for the selected and specified robot respectively The following bits are currently defined in the new second robot option word Bit Mask Interpretation if set 1 1 Adept robot with an RSC 2 2 Robot has an extended length quill 3 4 Robot has the cleanroom option 4 8 Robot has the HyperDrive option V Version 11 4 Release Notes Rev A 79 Chapter 6 E
62. T program instruction The GAIN SET instruction takes effect immediately and is not synchronized with robot motion segments task does not have to be attached to the robot to issue this instruction V Version 11 4 Release Notes Rev A 45 Chapter 4 Changes to the V Operating System and Language Version 11 3 You can use the PAYLOAD instruction to adjust feedforward gains in a predetermined way just as you can use the GAIN SET instruction to adjust feedback gains in a predetermined way Because GAIN SET does not affect the feedforward there is no conflict between these two instructions that is the order of their execution is unimportant Altered PAYLOAD Program Instruction The previous functionality of the PAYLOAD program instruction had been superseded It now adjusts the feedforward compensation for a specified motor by setting a percentage of the maximum payload assumed for that motor For details refer to the V Language Reference Guide Rev B or later New Range for the Encoder Roll Over Value In order to avoid a new overflow condition for continuous turn joints the encoder roll over value set in the SPEC utility should correspond to an encoder count between 256 and 8388608 8 to 23 bits Formerly the allowable range was 256 to 16777216 counts 8 to 24 bits The roll over range was reduced in order to accommodate a change that was made to improve the performance of the servos NOTE This modification is not backwards
63. V Version 11 4 Release Notes Incorporating the Release Notes for V Versions 11 0 Through 11 4 d 5d 8 V Version 11 4 Release Notes Incorporating the Release Notes for V Versions 11 0 Through 11 4 euleu eure VIS VMI 10 992 557 m o iiooooo 8 gt olilissss ef CX C eC TU Hes C JU zl 00961 04120 Rev A February 1997 ader 150 Rose Orchard Way San Jose CA 95134 USA Phone 408 432 0888 Fax 408 432 8707 Ce Otto Hahn Strasse 23 44227 Dortmund Germany Phone 0231 75 89 40 Fax 0231 75 89 450 inc 11 Voie Cardon 91126 Palaiseau France Phone 1 69 19 16 16 Fax 1 69 32 04 62 1 2 Aza Nakahara Mitsuya Cho Toyohashi Aichi Ken 441 31 Japan 0532 65 2391
64. a hardware level read modify write RMW cycle on the VMEbus to make a Test And Set operation indivisible in a multiprocessing environment If multiple processors all access the same byte by using IOTAS the byte can serve as an interlock between the processors WARNING Depending on the application there is a possibility that a V program running on one processor may update a shared memory area while a program on another processor is reading it In this case data that is read across a 32 bit boundary may be invalid If the data is being used for safety critical operations including robot motions the programmer must use the IOTAS function to prevent such conflicts Efficiency Considerations You can put your shared data on any processor However it is most efficient to put the data on the processor that will use it most often or that is performing the most time critical operations It takes slightly longer to access data on another processor than to access data on the local processor If you wish you can put some of your data on one processor and other data on a different processor You must be careful to keep track of which data items are stored in which location 32 bit and 64 bit operations operate slightly faster if the address is an exact multiple of four 16 bit operations operate slightly faster if the address is an exact multiple of two Digital I O The digital I O image including input 1001 1512 output 1 512 and s
65. acceleration limited In this situation the robot is continuously accelerating and then continuously decelerating at the maximum rates allowed but the specified speed cannot be achieved before the required change in position is completed When this occurs further increasing the maximum speed specification will not have an affect upon the time for that motion Hint If you increase the maximum speed and the motion time does not change try increasing the motion acceleration parameters as described in the previous section Note This type of acceleration limiting can occur with any type of acceleration profile including the square wave profile V Version 11 4 Release Notes Hev A Keyword Changes SPEED Monitor Command The SPEED monitor command instantaneously alters the robot speed when a robot is moving under user program control As with the SPEED program instruction the SPEED monitor command takes an argument that is interpreted as a percentage However the effect of the monitor SPEED is quite different from the effect of program SPEED As previously described when the program SPEED is altered acceleration is unaffected and vice versa During a continuous path motion when either the program speed or acceleration is changed independently the path of the robot may be altered when the robot is transitioning from one motion to the next For example let s examine the case where the robot starts at point A moves to point B and the
66. age Press HIGH POWER button to enable power appears on the MCP display Press the HIGH POWER ON OFF button on the If a timeout occurs no error message appears Press and hold the HOLD TO RUN switch on the Then press the COMP PWR button on the MCP The HIGH POWER ON OFF button flashes The message Press HIGH POWER button to enable power appears on the MCP display Press the HIGH POWER ON OFF button on the If a timeout occurs no error message appears The HIGH POWER ON OFF button flashes The message Press HIGH POWER button to enable power appears on the MCP display Press the HIGH POWER ON OFF button on the VFP If a timeout occurs no error message appears For an ENABLE POWER program instruction the message Press HIGH POWER button to enable power does not appear on the monitor screen If desired however an application program can use a TYPE or WRITE instruction to display a message there If a timeout occurs a program error is generated with the appropriate error code which a REACTE subroutine can trap Refer to Table 4 2 for the steps and messages that occur when you enable high power on Category 3 systems The first column indicates the possibilities for the first step and the second or third column indicates the following steps depending on the switch setting on the VFP V Version 11 4 Release Notes Rev A Changes for European
67. ain performance comparable to older Multibus controlled robots and mechanisms you may wish to consider raising the FINE nulling tolerance by 50 coding the instruction FINE 150 ALWAYS at the beginning of your robot program Alternatively you can change the default values for the FINE tolerance using the SPEC utility Changes Specific to Adept Robot Systems This section applies the AdeptOne MV and AdeptThree MV robots New Digital I O Signals New digital I O signals 3001 to 3008 are output bits for the currently selected Adept robot A new argument 3 for the IO monitor command displays the 3000 series of I O signals Amotion break occurs when the V BREAK instruction is used explicitly after a motion 78 instruction when Continuous Path mode is disabled with the CP switch or CPOFF instruction or when some other instruction that breaks continuous path is executed V Version 11 4 Release Notes Hev A Changes Specific to Adept Robot Systems NOTE The control pendant does not display the 3000 series of I O signals It is necessary to use the SELECT ROBOT command _ instruction to select the proper robot before accessing the signals or using the IO 3 monitor command If there is no such robot or no Robot Signature Card RSC for that robot attempts to set these bits are ignored and the bits always read as set to 0 The old default signals and their corresponding new ones are as follows Signal
68. an twice as fast as a 68030 Number of Servos Allocated per Processor Board In Version 11 0 only 8 servo channels can be configured per board for both 68030 and 68040 processors In Version 11 1 9 servo channels can be configured per 68030 processor and 18 channels per 68040 processor When associating servo processes with a VMI VME Motion Interface board all channels of the VMI must be serviced by the same processor board In addition when a VMI is assigned to a processor board it allocates 4 of the available servo processes per board even if less than 4 axes are being servoed For example if you are controlling a 6 axis robot with two VMI boards all four channels of the first VMI board must be assigned to a single processor as a group Likewise all four channels of the second VMI must be assigned to a single processor although it need not be the same processor as the first 4 axes If the two VMIs are assigned to the same processor 8 servo processes on that board would be occupied even though only 6 channels are being used In this situation the processor computational load would only correspond to that for 6 axes but no additional VMIs could be controlled by this processor When associating servo processes with a VJI VME Joint Interface board all channels of the VJI must be serviced by the same processor board In addition when a VJI is assigned to a processor board it allocates 8 of the available servo processes per board even
69. anced SCALE ACCEL system switch Enhanced SEE program instruction Enhanced Enhanced SELECT program instruction and real valued function Enhanced Enhanced SET EVENT program instruction Altered SET POINT location valued function SPEED program instruction Enhanced SPEED real valued function Changed Enhanced SPIN program instruction New STATE real valued function Enhanced Enhanced Enhanced Enhanced STRDIF string function SYMBOL string function SYMBOL PTR real valued function V Version 11 4 Release Notes Rev A Chapter 1 Introduction Table 1 2 Changed V Programming Keywords Continued Keyword V 11 0 V 11 1 V 11 2 V 11 3 V 11 4 TIMER real valued Enhanced function UNIDIRECT program New instruction WRITE program Enhanced instruction The AdeptNet User s Guide describes some or all features of this keyword Changes to V Keywords for the AdepiVision Product Table 1 3 shows changes to V keywords for the AdeptVision product The 11 3 release has no changes for this product Table 1 3 Changes for the AdepiVision Product Keyword V 11 0 V 11 1 V 11 2 V 11 3 V 114 VCONVOLVE program Altered instruction VCORRELATE program Enhanced Enhanced instruction VDISPLAY program Enhanced instruction VFEATURE rea
70. ancements 108 Other New Features 109 9 4 Compatibility Issues 109 Summary of Incompatible Syntaxes 110 Spelling Correction VSYNC STROBE 110 Changes to AdeptMotion 10 x to 11 0 119 10 1 Changes to AdeptMotion Servo Parameters 119 Changes To Loop Galb 23 pam eet ce E 119 Changes to Drive Enable Sequence 119 Changes to Processing of Error Duty Cycle Exceeded 119 Duty cycle Exceeded DAC Limit 120 Duty cycle exceeded Filter Parameter 120 User Selectable Servo Rate ees 120 Changes to Calibration Parameters 120 10 2 Changes to Device Modules 120 Device Module Distribution and Licenses 120 Device Module Documentation 120 Changes to PUMA Device Module ID 14 121 Note for customers upgrading existing PUMA robots 121 Change to SCARA Device Module ID26 122 vi V Language User s Guide Note for customers upgrading existing robots 122 Change to Theta Parallelogram Device Module 112 ID 10 122 Note for customers upgrading existing robots 122 Changes to Enhanced Gantry Module EGN ID 19 122 Changes to Coordinated Joint Control Module JTS ID 15
71. and program instruction as in EXECUTE C The C qualifier is relevant only when starting the execution of Task 0 When specified with Task 0 EXECUTE C conditionally attaches the selected robot As in previous versions of V when C is not specified EXECUTE fails if the robot cannot be attached In order to attach the robot the robot must be calibrated and power must be enabled or the DRY RUN switch must be enabled When C is specified EXECUTE attaches the robot if the robot can be attached Otherwise the robot is not attached and no error is signaled Parameters for S Curve Trajectories The default S curve profile number is 0 not 1 as printed in the V Version 11 1 Release Notes AdeptMotion VME users can use the SPEC V2 utility to define S curve parameters S curve parameters are predefined for Adept robots Refer to the user s guide for your robot for a complete table of S curve definitions New Algorithm for Tolerance Checking 6 3 The servo code for the AdeptOne MV AdeptThree MV and the AdeptMotion VME products incorporates a new end of motion tolerance checking algorithm The new algorithm is more robust and accurate giving improved indication of the end of a robot motion after a motion break with FINE nulling You may experience longer delays at the ends of motions due to this new algorithm This will be especially apparent with motions using the default nulling tolerance selection FINE In order to g
72. ansferred to subsequent manuals V Version 11 4 Release Notes Rev A 73 6 1 Enhancements to the V Operating System and Language Version 11 2 This chapter discusses version 11 2 enhancements to the V Operating System and Language first by general enhancements and then by enhancements specific to systems or products General Enhancements Single Boot Disk Information for General Users With V version 11 2 all the system configurations listed below can be booted from the same system disk That ability can simplify your operations if you have different types of Adept systems Non robot system System with an AdeptOne MV robot System with an AdeptThree MV robot System with an Adept 550 robot System with two Adept 550 robots Note however that the V system configuration data is stored on the system disk Thus the same configuration data is used by all the different systems that boot from the same system disk Information for Advanced Users Boot time self configuration of Adept robot systems is achieved by having the V system access robot specific information in the Robot Signature Card RSC located in the base of your Adept robot The V system knows to do that when the V configuration data contains a statement in the ROBOT section with the following form ROBOT 1 MODULE 1 V Version 11 4 Release Notes Rev A 75 Chapter 6 Enhancements to the V Operating System and Language Versi
73. ar 9 5 2 53 ake sed A ur debug Rote tad 9 Related Manuals a 9 standard Mantuals 25a ka pre MAR p a xe e Rd M d 10 Other Adept Product Manuals 10 Optional V Developers Manuals 11 Conventions edes rcp ga duse E nea 11 Notes Cautions and Warnings 11 Typographic Conventions es 12 Keyboard Conventions 13 Selecting Choosing Pressing and Performing 13 Abbreviglions uum xxm SG wo Rc Rel Ao Wed TUE 14 Summary of Changes 14 Changes to V Monitor Commands 14 Changes to V Programming Keywords 16 Changes to V Keywords for the AdeptVision Product 20 Notes for V Version 11 4 23 How to Upgrade 25 21 Compatibility Issues 25 2 2 Upgrading to V Version 11 4 26 Saving Current Configuration Data Version 11 0 26 Saving Current Configuration Data Versions 11 1 11 2 and 11 3 28 Installing the New V Version 11 4 System 29 Applying Saved Robot and Encoder Configuration Data 30 Changes to the V Operating System and Language Version 11 4 31 3 1 3 2 3 3 3 4 3 5 3 6 Part 2 35 V Language User s Guide New Functionality
74. are configured and neither EN954 Safety Category license is installed Incompatible robot and safety ID High power is inhibited from being enabled If non CE compatible Adept robots are configured and neither EN954 Safety Category license is installed no message is displayed This is a valid combination If non CE compatible Adept robots are configured and either EN954 Safety Category license is installed Incompatible robot and safety ID High power is inhibited from being enabled V Version 11 4 Release Notes Rev A Changes for European Certification CE Enabling High Power Enabling high power is now a two step process After you have issued the ENABLE POWER command from the keyboard or pressed the COMP PWR button on the MCP V blinks the HIGH POWER ON OFF light on the VFP and waits for at most x seconds for you to press the HIGH POWER ON OFF button on the The default is 10 seconds which is set by the new POWER TIMEOUT statement in the CONFIG C data If a timeout occurs the following message appears HIGH POWER button on VFP not pressed For information on setting the timeout period with the POWER TIMEOUT statement refer to Changes to the CONFIG C Utility on page 52 As in V 11 2 ENABLE POWER can be executed at any time independent of whether the VFP switch is set to AUTO or MANUAL Refer to Table 4 1 for the steps and messages that occur when you enable high power on Category 1 systems The
75. as follows 1 Clear the event flag 5 Check if the desired operation is complete If so exit the loop 6 Wait for the event flag to be set 7 Loop to Step 1 Whenever a different task wants to signal that it is complete it must do the following 1 Set some global variable to indicate that it is complete 8 Set the event flag for the target task The order is critical for both these sequences to make sure that the system does not miss a completion or detect extraneous completions NOTE WAIT EVENT is the most efficient wait mechanism for a task and is much preferred to polling at some fixed time interval Change to VME Memory Map A 512 byte section of short address space has been changed from Reserved for Adept to Reserved for Users This change has been made to permit the use of 3rd party boards that require an address in the upper part of short address space The user address space is FC00 FDFF 512 bytes System User Task Priority Tables The following tables show the default task priorities for Vt 11 1 For an explanation of these changes see Default Task Priorities on page 138 These tables replace Tables 1 2 and 1 3 in Version 11 0 Rev A of the V Language User s Guide Table 11 4 System Task Priorities Slice Number System Task 01112131 45 6171 8910 1 12 13 14 15 Trajectory generator 63 63 63 6
76. ault skip pattern and a default depth of hierarchy The determination criteria places higher priority on robustness than speed resulting in a more conservative default depth and skip pattern Being conservative means a slower tool but with less variation in execution time and less chance of not finding the object The default values can be overridden by specifying the desired depth and skip pattern using input parameters max depth and mode respectively However not using the recommended depth and skip pattern may result in mismatches or increased variability of execution times The previous unused input parameter mode is now used to specify skip pattern for VCORRELATE Its definition is as follows V Version 11 4 Release Notes Rev A 135 Chapter 11 Changes in V 11 1 11 6 0 default use the mode determined by the vision system 1 non skipping mode 2 skip rows only 3 skip columns only 4 skip both rows and columns The input parameter max depth specifies the depth of hierarchical search as defined as below 1 default use the maximum depth determined by the vision system 0 non hierarchical search 1 4 depth of hierarchical search VTRAIN MODEL Program Instruction VTRAIN MODEL cam plan model name text ibr The plan definition has been modified but is backwards compatible VTRAIN MODEL now analyzes a template and determines the default depth for hierarchical search and skip patterns for each
77. ble if you are going to be programming the Adept system These release notes refer to both the standard and optional manuals The following sections give brief descriptions of the contents and organization of the Adept documentation set V Version 11 4 Release Notes Rev A 9 Chapter 1 Introduction Standard Manuals In addition to these release notes the following manuals are shipped with each Adept MV controller Manual Material Covered Adept MV Controller User s Guide V Operating System User s Guide Instructions for Adept Utility Programs Details of the installation configuration and maintenance of your Adept controller Loading storing and executing programs with the V operating system The collection of Adept utility programs for configuring and calibrating various features of your Adept system Other Adept Product Manuals When you order AdeptVision VME AdeptMotion VME AdeptForce VME any AIM software product or an Adept robot you receive manuals that cover those products Also optional hardware such as the Manual Control Pendant come with a manual A partial list follows Manual Material Covered AdeptVision VME User s Guide AdeptMotion VME Developer s Guide AdeptForce VME User s Guide Manual Control Pendant User s Guide AdeptNet User s Guide Concepts and strategies for programming the AdeptVision VME system See also the optional AdeptVision Reference G
78. botic Industries Association RIA safety standards Now in version 11 3 V interlocks the enabling of arm power and the movement of a robot to comply with both CE and RIA safety standards Therefore it is no longer necessary to interlock program execution This change has the following consequences Monitor commands can start or resume program execution regardless of the keyswitch setting These commands include EXECUTE DO PROCEED and RETRY In V 11 2 and earlier these commands are allowed only when the keyswitch is set to the TERMINAL position Pendant function buttons can initiate program execution regardless of the keyswitch setting These function buttons include AUTO START CALIB CMD1 CMD2 and START In V 11 2 and earlier the commands from these keys allowed only when the VFP keyswitch is set to the PENDANT position The keyswitch setting is no longer checked when the RETRY system switch is enabled and the PROGRAM START button is pressed to issue a retry of task 0 In V 11 2 and earlier the VFP keyswitch must be set to the TERMINAL position for the button press to be recognized Because the VFP keyswitch no longer interlocks program execution the WAIT START command no longer checks the keyswitch setting In V 11 2 and earlier WAIT START requires the keyswitch to be set to the TERMINAL position and the PROGRAM START button to be pressed before it continues With V 11 3 WAIT START waits only for a positive transition
79. corrected range of travel If these values are not zero there will be a jerk when entering or exiting the corrected range or when nearing the end of the corrected range In general Adept advises that you always ensure that the first and last values of the correction table are zero The exact contents of the linear compensation table are defined in Table B 1 Each value is stored as a floating point number and the motor positions are in units of encoder counts specifiable to 7 5 decimal digits of significance V Version 11 4 Release Notes Rev A 63 Appendix B Linear Compensation for the Enhanced PUMA Robot Module 64 Table B 1 Linear Compensation Table Index Description 1 Lowest motor position in encoder counts for which correction data is provided When the motor is positioned below this value no correction is added 2 Highest motor position in encoder counts for which correction data is provided When the motor is positioned above this value no correction is added If this value is lower than the value stored at index 1 the compensation for this axis is disabled 3 Change in motor position in encoder counts between subsequent correction values stored in the table 4 Reserved for future use Should be set to 0 5 Reserved for future use Should be set to 0 6 Reserved for future use Should be set to 0 7 Reserved for future use Should be set to 0 8 Reserved for
80. d You can access this new FIFO buffer through the ERROR real valued function as shown below ERROR source select The source parameter represents a real value variable or expression interpreted as an integer whose value determines the source of the error code Definitions of the source parameter are shown in Table 3 1 V Version 11 4 Release Notes Rev A 31 Chapter 3 Changes to the V Operating System and Language Version 11 4 Table 3 1 Source Parameter Error Code Description Source Parameter Code Description 1 Returns the number of the most recent error from the program in which the ERROR function is executed 0 Returns the number of the most recent error from the program executing as task 0 0 lt source max task Returns the number of the most recent error from the program executing as the corresponding task number 21000 Returns the number of the most recent asynchronous FIFO element A zero is returned if no more FIFO elements exist The select parameter represents an optional real value variable or expression interpreted as an integer that determines the error information to be returned If you omit this parameter a value of zero is assumed Select parameter code definitions are shown in Table 3 2 Table 3 2 select Parameter Error Code Description Select Parameter Code Description 0 Returns the error number of the most recent program exec
81. d drives format change 54 Index 195 hard envelope errors 43 high power disabling 42 enabling 39 history buffer 103 HOUR METER real valued function 18 How 25 I O digital signals 78 103 using the IOSTAT command 33 ID 18 command 15 79 104 enhanced 43 real valued function 18 GOTO progam structure 105 image region changes 107 Individual 181 individual axis control 181 INSTALL 18 command 15 103 program instruction 18 installation 29 INT string function 105 INT EVENT command 33 fast digital inputs 34 program instruction 18 VME bus interrupts 34 inter system communications 158 Introduction 9 IO command 15 104 IOGET_ command 34 Instructions 158 real valued functions 18 IOGETS string function 158 IOPUT_ command 34 instructions 158 program instructions 18 IOSTAT command 33 real valued function 18 IOTAS 18 real valued function 159 196 V Language User s Guide J JIS robot kinematic module 122 K KEYMODE program instruction 18 keyswitch manual mode 34 L LATCHED real valued function 18 licenses 67 70 linear compensation 63 66 124 LIST command 15 commands 134 wild cards 134 LOAD command 15 104 134 LOADAREA file 51 LOADBELT file 51 LOADFILE file 52 LOADICON file 52 LOADTCH file 52 LOCAL program instruction 18 loop gain 119 M Manual 89 manual mode 43 56 181 new terminology 38 MCS program instruction 18 MDIRECTORY c
82. decelerates all robots sets the brakes and then disables the power to the amplifiers 42 V Version 11 4 Release Notes Rev A Changes for European Certification CE Enhanced ID Monitor Command The ID monitor command has been enhanced to display the new configuration startup messages that are described in a preceding section New AUTO POWER OFF System Switch Because the HIGH POWER ON OFF button can no longer be used by itself to enable power Adept has sought to reduce the number of instances that high power is disabled during normal program execution Making this improvement allows programs to continue to recover automatically from errors without manual intervention that is without requiring the operator to press the HIGH POWER ON OFF button A new V system switch AUTO POWER OFF cancels the effect of this change By default this switch is disabled Enabling it restores the original functionality as it was in V version 11 2 Adept has reviewed all automatic mode errors that disabled high power in V version 11 2 and determined which could be changed simply to decelerate the robot and generate an error without compromising the safe operation of the system Examples of particular importance are errors such as nulling timeout and envelope errors that often occur during the normal operation of the system In some cases Adept has modified internal software to ensure the continued safe operation of your system The disabling o
83. dule from the standard XYZ module ID 3 See page 140 for the changes in V 11 1 10 3 Changes to V Functions and Parameters For details refer to the V Language Reference Guide 10 4 Changes to the SPEC V2 program For details refer to the AdeptMotion VME Developer s Guide 10 5 Changes to AdeptMotion Device Module Documents Documentation Correction Rotational Axes The following additional information applies to all AdeptMotion Device Modules that include rotary axes It does not affect Adept robots which have the axis ranges set correctly non wrist rotary joints must have a total travel of less than 360 degrees If a wrist joint is not noted in the Device Module Documentation as being affected by the V SINGLE MULTIPLE switch it should also have a total travel of less than 360 degrees The joint limits should be set accordingly using the SPEC V2 utility program In most cases the limits must be symmetrical that is 7179 9 to 179 9 degrees or the mechanical limit of the robot whichever is less Joints 4 and 6 of the PUMA and Gantry device modules and Joint 4 of the CYL SCARA XYZ EXY 2ZT XY4 and V4R device modules are implemented as two turn axes and supported by the V SINGLE MULTIPLE switch Their range is limited to 359 degrees and the joint limits should be set accordingly 359 9 to 359 9 degrees or the mechanical limit of the joint whichever is less The only excep
84. e implementation of a new internal FIFO buffer This buffer receives all asynchronous errors resulting from a robot shutdown See New Functionality on page 31 for more information V 11 4 is designed for use with either the External Front Panel VFP model without the Manual Mode Safety Package MMSP or the model with the MMSP If you are using an older VFP keyswitch settings do not match current software messages and you are unable to use the two step process to enable high power The old VFP does not have the HIGH POWER ON OFF button V 11 4 is designed also for use with the new Manual Control Pendant MCP model It has the new DIS PWR and STEP buttons described in Chapter 4 On older model MCPs these buttons have different labels and functions If you are familiar with V version 11 0 11 1 11 2 or 11 3 review Table 1 1 Table 1 2 and Table 1 3 which summarize the keyword changes Pay attention to items marked altered This term indicates a possibile incompatibility with previous versions of the V software NOTE Adept strives to maintain backward compatibility of the V system but sometimes the benefits of a change outweigh the disadvantage of a resulting incompatibility The V Language Reference Guide and the V Operating System Reference Guide are the primary sources of information about keywords However you can find detailed information in Chapter 3 of these release notes for the keywords that have been altered
85. ed is independent of the complexity of the scene General Performance Enhancements 108 The speed of edge based prototype recognition has been improved significantly V Version 11 4 Release Notes Hev A Compatibility Issues Two standard vision systems can be installed in a single controller Other New Features 9 4 Asynchronous shuttered cameras and non interlaced cameras at speeds up to 60 frames per second are now supported for certain cameras The memory allocation for many of the vision data structures can now be configured with either the CONFIG C V2 utility program or the DEVICE instruction Compatibility Issues This section summarizes the changes that may create incompatibilities between version 10 x and version 11 0 vision systems The maximum value for V LAST LINE is now 480 instead of 484 The system parameters V FIRST COL V LAST COL V FIRST LINE and V LAST LINE no longer used as a clipping window for VOCR V FIRST COL etc no longer define the AOI for the following instructions VADD VAUTOTHR VCOPY VCONVOLVE VEDGE VHISTOGRAM VMORPH VSUBTRACT and VTHRESHOLD V FIRST COL etc are now used only with VPICTURE and VWINDOW On controllers with only one processor vision tool graphics require more processor time than before This heavily impacts AIM VisionWare execution when you select the Runtime Graphics pulldown at runtime The type argument to VGETPIC and VPUTPIC has valu
86. ed under certain conditions and restored the next time power is enabled Specifically 1 After a power down due to an error or emergency ESTOP latched servo error envelope error drive fault motor stalled duty cycle exceeded zero index error quadrature error etc the integrator state is cleared zeroed 1 After a normal controlled power down the integrator state is maintained Note that ESTOP external or V keyword does not directly clear the integrator However if the robot is moving when ESTOP is triggered ESTOP will normally trigger an internal hidden latched envelope error The integrator value is also zeroed when the controller power is shut down V Version 11 4 Release Notes Rev A 141 Currently gravity loaded axes tend to sag momentarily each time power is enabled while the integrator ramps up to overcome gravity With this new feature such axes will continue to sag slightly the first time power is enabled but not on any subsequent non emergency power up power down cycles This feature should be transparent to most users Increased Number of Servo Joints per CPU Boards The number of servo channels possible per CPU board has been increased to 9 for the 030 nominally for 2 VMIs or 1 VJI and 1 VFI force board and 18 for the 040 nominally for 4 or 1 VJI 2 VMIs and 2 VFI force boards See Chapter 12 for additional information 11 8 Changes to Adept Utility Programs F
87. egular font and follow the interface s capitalization which usually has initial capital letters in all principal words Examples are the Go To key in the SEE editor and the CMD1 button on the manual control pendant Keyboard Conventions Key combinations appear in the following format Notation Meaning KEY1 KEY2 A plus sign between keys means that you must press the keys at the same time For example Press CTRL Z means that you press CTRL and hold it down while you press Z Selecting Choosing Pressing and Performing In a context using windows the terms select choose and press have different and specific meanings Selecting an item usually means marking or highlighting it as in selecting a radio button Selecting alone does not initiate an action Choosing an item carries out an action For example choosing a menu item might open a window or carry out a command You can also initiate an action by choosing a command button a push button or a standard button You often need to select an item before you can choose it Often you can use a combination of keyboard and mouse techniques for selecting and choosing Pressing refers to physical keys and buttons For example you press the SAVE key and the PROGRAM START button By contrast you select or choose a window button Performing refers to carrying out a sequence of steps that are defined in an AIM menu instruction line V Version 11 4 Release Notes
88. ensation 09961 00008 AIM Enables use of basic AIM packages e AIM MotionWare no vision e AIM VisionWare e AIM PCB no vision 09961 00009 AIM Allows use of AIM loadable Customers with Inspection Extensions modules Vision applications using Vision module for VisionWare need this license MotionWare if using an Adept Robot or Vision module for PCB e The same licenses are required for AIM versions 2 3 and 3 0 09961 00010 Adept Robot Allows use of Adept Robot Required for all Adept robots 09961 00011 GEM amp Allows use of AdeptGEM and Previously SECS I SECS I II access to SECS I II protocols Applications license Applications 09961 00013 Enhanced Advanced trajectory control Customers upgrading from Trajectory features V 11 0 or 11 1 and using Control ALTER instruction ALTER require this license Configurable trajectory rate Access to the Advanced Servo Library utility with their upgrade Customers upgrading from version 11 2 of the Advanced Servo Library need this license and the Advanced Servo Library media and documentation part number 90961 03800 V Version 11 4 Release Notes Rev A 69 Appendix C Licenses Table C 1 Licenses for V Version 11 3 Continued License part TE numbep License Name Functionality Notes Compatibility 09961 00014 AdeptICP IP Allows V access to TCP IP Included with the Protocol protocol Adep
89. eptMotion VME then you are the manufacturer and have full access to define the S curve parameters without a password For a given motion the duration of the motion and the characteristics of the acceleration profile are functions of several parameters These parameters are controlled by a number of V instructions and commands In the following sections the effects of each of these instructions and commands are described In these descriptions no distinction is made between interpolating in joint coordinates versus interpolating in a Cartesian coordinate system since from the standpoint of trajectory profiles these different coordinate systems can be treated in exactly the same manner 14 3 Keyword Changes ACCEL Program Instruction The ACCEL program instruction defines the profile maximum acceleration and maximum deceleration to be used in subsequent motions The profile is specified as one of the nine built in V profiles The maximum acceleration and deceleration are specified as percentages of the 10076 values defined for the robot Normally the robot manufacturer sets the 100 acceleration and deceleration values to rates that can be achieved with typical payloads and robot link inertias However because the actual attainable accelerations vary greatly as a function of the end effector payload and the initial and final locations of a motion accelerations greater than 10076 may be permitted for your robot The limits f
90. erates an error at startup time When the compensation option is enabled linear compensation is provided on motors 1 2 and 3 In the SPEC utility you must specify the linear compensation in units of encoder counts not joint angles Then compensation can be applied to correct non linearities in the drive train even for robots with coupling between joints 2 and 3 When the compensation option is enabled the HERE command instruction and function no longer return the position specified by the encoder counters Instead they return the robot s joint position specified by the set point buffer The number of elements in the linear compensation tables and their definitions are the same as those for the linear compensation provided with the enhanced gantry EGN robot module and the enhanced X Y Z T EXY robot module For details on setting linear compensation refer to Appendix B This module does not support backlash compensation New Coupled Axes X Y Z Theta Robot Module CAR A Coupled Axes X Y Z Theta robot module has been added that implements an X Y Z Theta configuration It is similar to the existing XYZ and EXY robot modules except for the following points The module ID is 22 The robot module s abbreviated name is CAR Skew compensation is provided between the X and Y axes The Z and theta axes can be coupled All four axes must always be configured The default robot startup message is Coupled Axe
91. ers may customize the calibration routine however most users do not need to customize the routine The following error messages have been added to support the new CALIBRATE command and instruction e Calibration program not loaded Can t find calibration program file The operation of the NOT CALIBRATED system parameter has been modified Formerly this parameter value could be modified only when robot power was disabled Now this parameter value can be changed at any time However the following rules describe how the new asserted value is treated 1 If the new value asserts that a robot is not calibrated the V system acts as if the robot is not calibrated whether or not the servo software believes that the robot is not calibrated 2 Ifthe new value asserts that a robot is calibrated the servo software is checked and V tracks the calibrated not calibrated state indicated by the servo software Change to the CALIBRATE Monitor Command A new optional parameter has been added to the CALIBRATE monitor command to control the calibration process Normally this parameter does not need to be specified See the dictionary page for the CALIBRATE monitor command in Appendix D for details V Version 11 4 Release Notes Rev A 77 Chapter 6 Enhancements to the V Operating System and Language Version 11 2 EXECUTE C Monitor Command and Program Instruction An optional qualifier C has been added to the EXECUTE monitor command
92. es of 1 and 2 only Types 3 and 4 are now disabled Also VPUTPIC now strips the binary out of averaged images Type 0 stores both grayscale and binary Maximum width which may be VGETPIC d is 512 in grayscale mode Default value of V OFFSET is 255 instead of 127 The standard vision system now accepts 4 cameras instead of 8 the maximum physical camera number is now 4 instead of 8 VCONVOLVE on the standard system is now limited to 3x3 convolutions Custom convolutions must now be centered in a 7x7 array with zeros in the unused elements The calibration array for VPUTCAL and VGETCAL is now different Backwards compatibility has been maintained for VGETCAL but not for VPUTCAL Six new elements have been added of which three are currently used Most importantly some key old elements are now ignored and their values computed from the new values for the sake of VGETCAL compatibility VPUTCAL reads cal 15 and cal 16 as mm pixel in the X and Y directions respectively and computes cal 4 cal 12 and cal 14 the former y scale and xy ratio values Also cal 17 must now be set to 1 if using a Panasonic CD 40 camera to avoid a black band on the left of image VPUTCAL is no longer allowed when the vision system is busy You must first do a VWAIT V Version 11 4 Release Notes Rev A 109 Chapter 9 Changes to AdeptVision 10 x to 11 0 VLOAD will not load pre 11 0 files Summary of Incompatible Syntaxes The syntax of most ve
93. f high power remains unchanged during manual mode that is all errors that disabled high power in V version 11 2 continue to do so during manual control mode in V version 11 3 Hard and Soft Envelope Errors Hard and soft envelope errors have been added If the hard envelope is exceeded high power is shut down immediately and V displays the message Hard envelope error This response differs from that for a soft envelope error for which a controlled motion stop occurs immediately when the position tracking error exceeds a soft envelope limit In this latter case high power stays on and V displays the message Soft envelope error For related information refer to Section 5 11 Changes to the SPEC Utility Changes in Manual Mode When the VFP keyswitch is set to MANUAL or the MCP is in manual mode The maximum speed of the robot tool has been reduced to 250mm sec For the AdeptThree robot the maximum joint pendant speed has been reduced and the maximum world tool translation speed has been reduced from 76 2 mm sec to 40mm sec For non Adept robots the maximum torque is limited to values of a new parameter that you specify with the SPEC utility For details about setting these values refer to Section 5 11 Adept robots have factory set values V terminates the execution of any robot motions caused by a DEVICE program instruction and generates an error message for any subsequent DEVICE instructions that require the r
94. fied System Messages Code n Explanation User action 2 Hardware state 2 error An Try again If the problem persists it may error has occurred in the be caused by a faulty ESTOP board Make communication or test a note of the error message and code sequence number and contact Adept Customer Service 3 Hardware arm power Consult your Robot Instruction Handbook contactor AP1 error or contact Adept Customer Service 4 Hardware arm power Consult your Robot Instruction Handbook contactor AP2 error or contact Adept Customer Service 5 Hardware cyclic check relay Try again If the problem persists it may channel 1 SR8 error An be caused by a faulty ESTOP board error has occurred in the Consult your Robot Instruction Handbook communication or test or contact Adept Customer Service Make sequence a note of the error message and code number before contacting Adept Customer Service 6 Hardware cyclic check relay Try again If the problem persists it may channel 2 SR9 error An error has occurred in the communication or test sequence Cat 3 external E STOP Code n be caused by a faulty ESTOP board Consult your Robot Instruction Handbook or contact Adept Customer Service Make a note of the error message and code number before contacting Adept Customer Service 1111 Because these message codes are related to hardware refer to your Robot Instruction Handbook as your primary source of information If it does no
95. future use Should be set to 0 9 Reserved for future use Should be set to 0 10 First motor correction value This is the motor offset that is added when the motor is commanded to be positioned at the location specified by the value contained at index 1 10 1 Second motor correction value in encoder counts This is the motor offset that is added when the motor is commanded to be positioned at the location specified by the sum of the values contained at indexes 1 and 3 10 1000 Last possible value that can contain correction data If fewer than 1001 values are needed to represent the corrected range of travel this value and all previous unnecessary values are ignored In order to initialize the linear compensation tables the correction values must be experimentally determined Use a laser interferometer or other accurate position measurement device to determine correction values in even increments along a range of joint and motor travel The correction values can then be manually entered into the SPEC program or can be read from a disk file To enter the data manually choose the Linear compensation menu item in the Motor Amplifier Specifications menu You are prompted to enter all the data from the preceding Table B 1 The values can also be read in from a disk file using the SPEC program menu item Load robot specifications from a disk file The file must have the following format The first line in the file must be
96. g factor for both encoder 3 and encoder 4 If there is no coupling between joints 3 and 4 a zero 0 value should be entered as appropriate Note for customers upgrading existing robots Due to the above changes old SPEC data files for a SCARA robot will now be partially incompatible with the new robot module After an older SPEC data file is loaded with the new module all joint motor scaling factors should be manually edited and verified using the SPEC program to correct for the incompatibilities Adept recommends that a copy of the old SPEC data file be retained for reference Change to Theta Parallelogram Device Module T12 ID 10 A 2 by 2 matrix must now be defined to specify the joint to motor scaling factors for joints motors 1 and 2 For example when entering the encoder scaling factors for joint 1 SPEC will prompt for a scaling factor for both encoder 1 and encoder 2 If there is no coupling between joints 1 and 2 a zero 0 value should be entered as appropriate Note for customers upgrading existing robots Due to the above changes old SPEC data files for a T12 robot will now be partially incompatible with the new robot module After an older SPEC data file is loaded with the new module all joint motor scaling factors should be manually edited and verified using the SPEC program to correct for the incompatibilities Adept recommends that a copy of the old SPEC data file be retained for reference Changes to Enhanced Ga
97. hanical design of the manipulator and the applications for which the robot was designed For instance the manufacturer might define a general purpose profile that has all of the ramp times set equal to a nominal value V Version 11 4 Release Notes Rev A Keyword Changes for the mechanism This profile could be used whenever smooth performance throughout the motion was more important than minimum cycle time In instances where cycle time is more important a profile with high jerk values during the acceleration and low jerk values during the deceleration might be more appropriate Robot programmers may use the ACCEL instruction to select from any available S curve profiles that may have been predefined for your robot Consult your Robot User Guide to see which parameters are available for your robot The default profile is Profile 1 The default may be changed permanently using the SPEC utility program or overridden using the ACCEL instruction If any profile is selected that is not defined including Profile 1 then Profile 0 is used instead Profile 0 is linear acceleration the same profile as used on V version 10 and earlier Thus if no S curve profiles have been defined for your robot linear acceleration will automatically be used instead NOTE The S curve parameters can be changed only by the robot manufacturer using the SPEC program and a unique password for that robot If you are building your own robot controlled by Ad
98. hat has not been previously written to you will get an invalid value you will not get an error message The system will provide a value based upon the default memory contents and the manner in which the memory is being read Every byte of the application shared area is initialized to zero when V is initialized The memory addresses are based on single byte 8 bit memory locations For example if you write a 32 bit 4 byte value to an address the value will occupy four address spaces the address that you specify and the next three addresses If you read a value from a location using a format different than the format that was used to write to that location you will also get an invalid value you will not get an error message The system will provide a value based upon the default memory contents For example if you write using IOPUTF and read using IOPUTL the value read will be invalid IOTAS and Data Integrity Some IOPUT and IOGET_ operations involve multiple hardware read or write cycles For example all 64 bit operations will involve at least two 32 bit data transfers three transfers if the operation crosses more than one 32 bit boundary If a 16 bit or 32 bit operation crosses a 32 bit boundary it will involve two transfers Operations that must cross a 32 bit boundary can be interlocked using the IOTAS function The syntax and an example are given in the V Language Reference Guide for 11 0 The IOTAS function performs
99. he first six robots Currently the first feeder must be connected to VJI 2 and the second feeder must be connected to VJI 4 6 Changes for the AdeptVision Product 4 7 This release has no changes to the AdeptVision Product Changes for the AdeptNet Product Increased Number of NFS Mounts The total possible number of NFS mounts has been increased from 4 to 10 The total number configurable with the CONFIG utility is still 2 Enhanced NET Command The NET command now displays the local IP address This address appears only if the hardware and options are properly installed V Version 11 4 Release Notes Rev A 49 5 1 Changes fo the Utility Disk This chapter discusses changes to the Adept utility programs first by a table of changes and then by sections for each utility Table of Changes Table 5 1 shows the update status of the Adept utility programs through the V releases For details about the utilities refer to the manual titled Instructions for Adept Utility Programs In the table the term enhanced implies compatibility with previous releases so that you can ignore the change if you wish By contrast the term altered implies incompatibility with previous releases so that you need to investigate the change further NOTE Always use the latest editions of the utility programs for your version of the V system Table 5 1 Utility Program Changes
100. if less than 8 axes are being servoed For example if you are controlling a 4 axis robot with two VJI boards all eight channels of the first VJI board must be assigned to a single processor as a group Likewise all eight channels of the second VJI must be assigned to a single processor although it need not be the same processor as the first 8 axes If the two VJIs are assigned to the same processor 16 servo processes on that board would be occupied even though only 4 channels are being used In this situation the processor computational load would only correspond to that for 4 axes but no additional VJIs could be controlled by this processor Trajectory Generation and MOVE Instructions Servoing vision and in some cases V user tasks can be configured to operate on any processor board However high level motion control i e trajectory generation kinematic solution program execution and V motion instructions can be executed only on processor 1 Therefore as more axes are added to the system the high level motion control computational load on processor 1 increases even if the servo processing is moved off to other processors V Version 11 4 Release Notes Rev A Processor Memory Requirements for Vision Systems For any given application the processing power required to execute the high level motion control is a function of which kinematic modules are used and must be evaluated on a case by case basis Peripheral Driver
101. ing SPEC data file Maximum acceleration and deceleration percentages are now specified by the SPEC utility Maximum program speed can now be specified by SPEC The system parameter NOT CALIBRATED may no longer be modified unless robot power is off An attempt to modify it with power on will fail with the error 2627 Robot power on Delay added to DETACH 0 instruction A 1 cycle 16 ms delay has been added when detaching the robot to allow the robot state machine to cycle This change should be transparent to most users A new 3 link 6 axis SCARA robot module is available SC6 A new XY ZT ZT ZT 8 axis robot module is available XY3 The ID numbers for the EXY and EGN device modules have been changed to distinguish them from the XYZ and GNT modules The new ID numbers are 18 and 19 respectively 10 7 New and Changed Error Messages For complete explanations see Appendix B System Messages in the V Language Reference Guide See page 135 for information on changes in V 11 1 124 V Version 11 4 Release Notes Rev A New and Changed Error Messages V Version 11 4 Release Notes Rev A 125 Chapter 10 Changes to AdeptMotion 10 x to 11 0 126 V Version 11 4 Release Notes Rev A New and Changed Error Messages V Version 11 4 Release Notes Rev A 127 Chapter 10 Changes to AdeptMotion 10 x to 11 0 128 V Version 11 4 Release Notes Rev A New and Changed Error Messages
102. ion is executing A nonzero value for the processor parameter causes that processor to be accessed Note that a processor can access itself as either processor 0 or by its real processor number For example the instruction IOPUTS HFF 0 3 Hello will write five ASCII bytes to the shared memory area on processor 3 at the address HFF Adept MV controllers support up to four processors numbered 1 to 4 The processor number is established by the board address switches on the processor module The V monitor window indicates the number of the processor with which it is associated the monitor window for processor 1 is simply entitled Monitor the window for processor 2 is entitled Monitor 2 and so on WARNING V does not enforce any memory protection schemes for use of the application shared memory area It is the programmer s responsibility to keep track of memory usage If you are using application or utility programs for example Adept AIM VisionWare or AIM MotionWare you should read the documentation provided with that software to check that there is no conflict with your usage of the shared area AIM users should note that Adept plans to assign application shared memory starting from the top address hexadecimal 1FFF and working down Therefore users should start at the bottom address 0 and work up V Version 11 4 Release Notes Rev A 159 Chapter 13 Multiple V Systems If you read a value from a location t
103. is backward compatible in the sense that the inputs have the same units as before The limit is now a limit of RMS torque not average torque The RMS DAC value must be greater than the limit not greater or equal to cause a trip V Version 11 4 Release Notes Rev A 119 Chapter 10 Changes to AdeptMotion 10 x to 11 0 The new calculation method makes the system more sensitive to certain types of overload In some cases the user may need to adjust the value of the Duty Cycle Exceeded DAC Limit parameter to prevent unwanted error messages Duty cycle Exceeded DAC Limit The description in the User Guide will be updated to say during operation the DAC output is squared and averaged over time If the square root of this average ever exceeds the value of this parameter a Duty cycle exceeded error is generated and high power disabled For systems in which the DAC output is proportional to current in the motor this parameter allows the user to control the amount of power due to R losses dissipated in the motor Typically this value is set to 66 of the maximum DAC output and it can be disabled by setting it to zero Duty cycle exceeded Filter Parameter The description in the User Guide will be updated to say through which the square of the DAC output is fed and By filtering the square of the DAC output User Selectable Servo Rate The servo loop rate may be set to either 500Hz or 1000Hz The default 1000
104. l valued Enhanced function VGETCAL program Enhanced instruction V MAX TIME parameter Enhanced VPUTCAL program Altered instruction VRULERI program Enhanced instruction VTRAIN command and Enhanced program instruction VTRAIN MODEL program Enhanced Enhanced instruction VWAIT program instruction Enhanced 20 V Version 11 4 Release Notes Rev A Summary of Changes Table 1 3 Changes for the AdepiVision Product Continued Keyword V 11 0 V 11 1 V 11 2 V 11 3 V 11 4 VWINDOWB program New instruction V Version 11 4 Release Notes Rev A 21 Chapter 1 Introduction 22 V Version 11 4 Release Notes Rev A Part Notes for V Version 11 4 This part describes the changes to the V operating system and language from version 11 4 This part also provides guidelines for upgrading your systems from versions 11 0 11 1 11 2 and 11 3 and summarizes changes to Adept utility programs V Version 11 4 Release Notes Rev A 23 2 1 How to Upgrade This chapter discusses the compatibility of V version 11 4 with previous versions and provides instructions for upgrading from them If you bought V version 11 4 as part of a new system then Adept has already installed the software for you and you need to read only Section 2 1 Compatibility Issues The main difference between V version 11 4 and previous version 11 systems is th
105. level of hierarchy The new information is stored in the template template format has been changed to accommodate the additional information see Incompatibility Summary Since template analysis is now done for hierarchical training the input parameter plan is used to specify the mode of training as follows 0 default create a hierarchical grayscale template 1 was for binary correlation no longer used 2 create a non hierarchical grayscale template Changes Affecting Adept Robot Users The Adept 550 1850 and 1850XP robots are supported in V 11 1 Changes to Trajectory Generation Algorithm 136 The V trajectory generation algorithm that determines how one motion transitions to another motion during Continuous Path mode has been changed This modification affects all aspects of the motion transition the speed of the transition the acceleration of the transition and the path that is followed during the transition These changes improve the uniformity of corner rounding and allow cycle times to be better optimized Compared with V 11 0 the new algorithm provides The path going from A to B to C is now similar to going from C to B to A Whenever possible the corner rounding radius will be increased when motion speed is increased The radius of the corner rounding is more consistent especially at high speeds The effect of these improvements is that the joint accelerations generated during the transitio
106. m contained in that file The main calibration program then examines the SPEC data for the robot to determine the name of the disk file that contains the specific calibration program for the current robot and the name of that program The standard routine used for AdeptMotion devices is stored on the system disk in CALIB STANDARD CAL and the routine is named a standard cal That file is protected and thus cannot be viewed However a read only copy of the file is provided in NCALIBNSTANDARD V2 as a basis for developing a custom calibration routine that can then be substituted for the standard file The name of the robot specific calibration file and program can be changed using the SPEC utility program Enhancement to the JTS Robot Module For systems that use the JTS joints robot module to control continuous turn joints the new UNIDIRECT program instruction can be used to control the behavior of the joint when it reaches its roll over value See the new dictionary page for the UNIDIRECT instruction in Appendix D for details Enhancements to the PUMA Robot Module 80 The PUMA robot module has been enhanced to support both 5 and 6 axis robots The 5 axis robot can be thought of as a 6 axis robot with joint 4 always positioned at 0 degrees and joints 5 amp 6 renumbered to 4 and 5 The following changes have been made in connection with supporting 5 axis PUMA robots V Version 11 4 Release Notes Rev A Changes Specific to the
107. m persists contact Adept Customer Service Timeout Hold to run not toggled 7649 Explanation User action V did not enable high power because you failed to toggle properly the HOLD TO RUN switch on the manual control pendant Do one or more of the following 1 when toggling the HOLD TO RUN switch release it for a minimum of about two seconds and a maximum of ten seconds and then press it back in and 2 make sure that you are pressing the HOLD TO RUN switch and not the RUN HOLD button by mistake User has not tested Cat3 system 7648 62 Explanation User action A system with the EN954 Safety Category 3 option the Manual Mode Safety Package MMSP has not been successfully commissioned with the SAFE UTL utility program Test the MMSP with the SAFE UTL utility before enabling power for the first time Adept recommends that you rerun the utility program every three months If you have connected the robot to a different controller or replaced the controller or the SIO module repeat the test For information on the use of SAFE UTL refer to the AdeptOne MV AdeptThree MV Robot Instruction Handbook V Version 11 4 Release Notes Hev A Linear Compensation for the Enhanced PUMA Robot Module For the Enhanced PUMA EPU robot module with linear compensation it is possible to map motors 1 2 and 3 of the robot to correct for linearity errors Each axis is mapped separately using for example a la
108. mpulse equal in magnitude to the maximum acceleration value This impulse can cause an unacceptable vibration of the robot To address this behavior V conditionally scales down the specified maximum acceleration and deceleration values when the specified program speed is below 100 When the program speed is at or above 100 the accelerations and the program speed are not coupled If this coupling is not desired the coupling can be disabled with the SCALE ACCEL system switch V Version 11 4 Release Notes Rev A Keyword Changes V Version 11 4 Release Notes Rev A 175 Chapter 14 S Curve Trajectory Generation 176 V Version 11 4 Release Notes Rev A Keyword Changes V Version 11 4 Release Notes Rev A 177 Chapter 14 S Curve Trajectory Generation 178 V Version 11 4 Release Notes Rev A Keyword Changes V Version 11 4 Release Notes Rev A 179 Individual Axis Control 1 5 The following changes have been made in V Version 11 1 to support independent axis control Changed the maximum number of mechanisms from 3 to 15 A mechanism can range from a complex multi axis robot device to a single axis operating independently A typical system may have one or more multi axis robots and several independent axes The actual maximum number of multi axis robot devices will be limited by the kinematic complexity of the devices Typically up to 2 complex multi axis mechanisms can be configured
109. n death wp op d 134 SEE Editor Inserts Global Module Automatically 135 11 3 Changes to V Programming Keywords 135 11 4 Changes to Error Messages 135 11 5 Changes to AdeptVision 135 Altered Keywords 135 VCORRELATE Program Instruction 2 135 VTRAIN MODEL Program Instruction 136 11 6 Changes Affecting Adept Robot Users 136 Changes to Trajectory Generation Algorithm 136 AS Device Module now on V System Disk ID 1 6 7 137 Manual Control Pendant Changes 137 11 7 Changes Affecting AdeptMotion Users 137 Configurable V Trajectory Cycle Rates 137 11 8 11 9 Table of Contents Predicted Belt Position Returned by DEVICE and BELT Functions Limits on Minimum Motion Times ALTER Program Instruction STATE Real valued Function Continuous Turn AXES NOT CALIBRATED Parameter Range Changed Default Task Priorities New Kinematic Device Module X Z Stacker Robot XZ ID 23 Changes to Enhanced XYZ Theta Module ID 18 Changes to Trajectory Generation Algorithm Servo Changes Affecting
110. n of motor 2 is used to determine the Y position of the robot To enable the split axis capability for the y axis set the first bit in the robot option word Collision Detection and Avoidance The X Y 3 Z Theta robot module has been enhanced to provide a simple form of collision detection and avoidance for the special case of two X Y 3 Z Theta robots mounted above the same work surface For this configuration it is assumed that the two robots share a common y axis and that the Y axes have the same origin the same physical Zero position and direction In order to enable collision detection use the SPEC utility to set the fifth robot option bit in both X Y 3 Z Theta robot modules Once you have set this robot option bit you can use the SPEC utility to edit the parameters that define the clearance zones for collision detection new menu item Collision detection clearance distances appears in the General motion specs menu This item allows you to view and modify six values for clearance distance Of these six parameters the X Y 3 Z Theta robot module utilizes only the second value The absolute value of the second parameter specifies a desired clearance zone to be maintained between the two robots along the y axis This clearance distance must be set in both robot modules Changes for the FlexFeeder Product 48 New FlexFeeder robot modules have been added to the AS AS2 and 53 standard kinematic modules Each FlexFeeder req
111. n region can be greater than before and can at times exceed the limits for percent acceleration and percent deceleration specified for the two motions V Version 11 4 Release Notes Hev A Changes Affecting AdeptMotion Users AS Device Module now on V System Disk ID 1 6 7 A copy of the AS Adept SCARA device module file for Adept robots is now included in the SYSTEM directory of the V 11 1 system disk The 11 1 version of DM UTIL is required to be able to select an Adept robot Note that the functionality of DM UTIL is now provided by CONFIG C Manual Control Pendant Changes See page 181 11 7 Changes Affecting AdeptMotion Users Configurable V Trajectory Cycle Rates The rate of V trajectory evaluation is now configurable The trajectory frequencies supported are 62 5 Hz 125 Hz 250 Hz and 500 Hz The frequency is specified in the IRAJ RATE statement in the SYSTEM section of the configuration data on the V boot disk CONFIG 11 1 edit C or later is required to add the _ RATE statement to the configuration data or to modify an existing statement This option requires the Enhanced Trajectory Control license The following changes have been implemented in connection with this change Predicted Belt Position Returned by DEVICE and BELT Functions As before the predicted belt position returned by the DEVICE and the BELT functions reflects the anticipated position of the belt two traject
112. n turns right to move to a point C the line B C is perpendicular to A B In continuous path mode since the robot only has finite acceleration the robot will not travel directly through the point B Instead it will follow a curved path that is tangent to the lines A B and B C The curvature of the path through the transition region is a function of the desired robot speed along A B and B C and its maximum acceleration through the transition region In general if any of these speeds or the acceleration are independently altered the curvature of the transition path will be modified Since the SPEED monitor command is primarily provided as a debugging aid to allow motions to be previewed at low speed it is undesirable for this command to alter the path of the robot Consequently unlike the SPEED program instruction the SPEED monitor command modifies both the robot speed and acceleration in such a way that the path of the robot is unaffected Also because the monitor SPEED command is not intended as a speed tuning mechanism and also due to safety considerations this command can only be used to slow down the motions specified by the user program Consequently monitor SPEED values over 10076 are not permitted The effects of this command can be summarized as follows Takes effect immediately even during a program controlled motion subject to certain limitations that restrict the rate at which the path speed can be altered Alters both
113. nhancements to the V Operating System and Language Version 11 2 The ID function has been enhanced so that ID 12 8 and ID 12 10 robot return a flag bits word containing information for the specified robot module Currently only bit 1 mask 1 is defined If set this bit indicates that the specified robot is an Adept robot Changes to the SCA Robot Module 6 4 The module ID for the general SCARA module has been changed from 6 to 24 and all of the SPEC data in the module has been set to standard default values rather than reflecting the values required for the Adept 550 robot When SPEC data for an old general SCARA module is loaded into a new module the change in the module ID causes a warning message to be displayed but the SPEC data can be successfully loaded by continuing the operation Previously the same robot module was used for the Adept 550 Adept 1850 and Adept 1850XP robots Those robots are now controlled by their own specific modules The current module IDs for those Adept robots are 6 25 and 25 respectively Changes Specific to the AdeptMotion VME Product Customizing the Calibration Routine The following information is required only if you need to customize the calibration sequence Most AdeptMotion users do not need to do this When a CALIBRATE command or instruction is processed the V system loads the file CAL UTIL V2 see the dictionary page for the CALIBRATE command for details and executes a progra
114. nsor or the voltage restrict For hardware faults consult your Robot sensor s built in test function Instruction Handbook or contact Adept failed Customer Service 6 Total E stop channel 1 SR5 Consult your Robot Instruction Handbook error or contact Adept Customer Service 7 Total E stop channel 2 SR4 Consult your Robot Instruction Handbook error or contact Adept Customer Service Explanation User action Explanation User Action Explanation User action 647 Two robots with collision detection enabled are simultaneously blocking each other s path That is neither robot can perform its next motion until the other robot moves out of the way Change the application program to prevent the dead lock situation 21027 The indicated motor was not tracking the commanded position with sufficient accuracy indicating a failure in the hardware servo system or something impeding the path of the robot Because this is considered a serious error high power was turned off Turn on high power and try to perform the motion at a slower speed Make sure that nothing is obstructing the robot s motion If the error recurs contact Adept Customer Service 646 You failed to press the HIGH POWER ON OFF button on the VFP before the timeout period expired If working from the keyboard reissue the ENABLE POWER monitor command and promptly press the HIGH POWER ON OFF button when instructed to do so If working fr
115. nt version of the V system then you need a different version of the SPEC program 7Complete the following steps for each robot controlled by your Adept system a Select the next robot to be processed b Select the menu item Save robot specifications to a disk file c Enter b to request a Binary data file d Enter a file name in the form cfgrr mm where rr is the robot number displayed at the top of the screen for example 01 02 is the corresponding device module ID number that you noted in step 2 above For example if robot number 1 has device module ID 6 you must enter cfg01 06 with spacing and zeros as shown e After the file has been written press ENTER to return to the main menu f Repeat steps a through e for the next robot if any 9 Complete the following steps if your Adept system accesses external encoders a Select Edit external encoder specification from the main menu b Select the menu item Save encoder specifications to a disk file c Enter b to request a Binary data file d Enter the file name cfg00 07 e After the file has been written press ENTER to return to the main menu 10 Remove the diskette and label it as containing robot and or encoder configuration data for your system 11 Turn off your Adept controller Go to Installing the New Version 11 4 System on page 29 to continue the installation process V Version 11 4 Release Notes Rev A 27 Chapter 2 How to Upgrade
116. nter a to indicate that your robot data files are to be stored on a diskette When all the data files have been created turn off your Adept controller 10 Remove the diskette and label it as containing robot and or encoder configuration data for your system Go to Installing the New Version 11 4 System on page 29 to continue the installation process 28 V Version 11 4 Release Notes Rev A Upgrading to V Version 11 4 Installing the New V Version 11 4 System This part of the installation process copies your new V version 11 4 system to the disk drive you normally start from and transfers your controller configuration information to the new system disk 1 2 Start your new V version 11 4 system from the distribution diskette Load the file CONFIG_C V2 from the V version 11 4 Adept Utility Disk by typing the command load a config c Run the program CONFIG C by typing execute 1 a config c Choose the menu item V Installation Choose INSTALL a NEW V SYSTEM Follow the program prompts to perform this part of the installation process Adept recommends that you make backup disks as suggested by the installation program Turn off your Adept controller when you have completed all the installation steps If your Adept system does not control a robot and does not use external encoders the installation process is done and you can now start your Adept system from the newly configured system disk If your
117. ntry Module EGN ID 19 The ID number has been changed to distinguish it from the standard gantry module ID 3 Linear compensation has been added for the three wrist axes of the enhanced gantry module EGN The data structure for this compensation is identical to the existing compensation for linear axes The wrist linear compensation will be applied in either joint or motor space depending upon the setting of a bit in the robot option word The compensation on X Y and Z is always in joint space This enhancement will also be available in V 10 5 If bit 4 counting from 1 is clear the wrist compensation will be applied in joint space and is interpreted as a joint angle correction in degrees If this bit is set the wrist compensation will be applied in motor space and is interpreted as an encoder value Like all linear compensation to enable this feature 1 you must have the enhanced gantry module 2 you must turn on compensation and 3 you have to initialize the table of linear compensation values Changes to Coordinated Joint Control Module JTS ID 15 This module now supports up to 12 joints The default title of the kinematic module has been changed 122 V Version 11 4 Release Notes Hev A Changes to V Functions and Parameters Old 6 Axis Coordinated Joint Control Robot New Coordinated Joint Control Robot Changes to Enhanced XYZ Module EXY ID 18 The ID number has been changed to distinguish this mo
118. o verify this because the resulting event could also be another system event such as a triggered REACT condition For this reason be sure to test for a desired condition after executing a WAIT EVENT instruction as described below e ForI O Repeat a no wait I O operation or use the IOSTAT function refer to the Language Reference Guide for more information e ForaSET EVENT command Define and verify a global variable See the V Language User s Guide for more information on global variables V Version 11 4 Release Notes Rev A 33 Chapter 3 Changes to the V Operating System and Language Version 11 4 3 5 For an INT EVENT command Fast digital inputs 1001 1002 1003 Within the V routine where the INT EVENT and WAIT EVENT instructions are issued read the digital I O signal directly using a SIG function Refer to the V Language Reference Guide for details on the SIG function NOTE Be sure to specify enough time to run your routine and trigger the INT EVENT VME bus interrupts Use the IOPUT_ and the IOGET_ keywords to communicate with the third party boards you expect to issue an interrupt For example program the board to place a flag in the shared memory area of your system processor before it issues a vectored interrupt You can then use the IOGET_ function to read the flag after the event occurs Refer to Chapter 13 Multiple V Systems for a description of shared memory access Correction
119. obot to move V Version 11 4 Release Notes Rev A 43 Chapter 4 Changes to the V Operating System and Language Version 11 3 44 The STEP Button and Limits to Program Controlled Motion When the VFP keyswitch is set to MANUAL V programs cannot initiate motions unless you press the STEP button and speed bar on the MCP To continue the motion once it has started you can release the STEP button but must continue to press the speed bar Failure to operate the STEP button and the speed bar properly results in the following error message with error code 620 Speed pot or STEP not pressed Once a motion has started in this mode releasing the speed bar also terminates any belt tracking or motion defined by an ALTER program instruction Motions started in this mode have their maximum speeds limited to those defined for manual control mode As an additional safeguard when high power is enabled and the VFP switch is set to MANUAL the MCP is set to OFF mode not COMP or MANUAL mode Elimination of Program Interlocks Enhanced DO EXECUTE PROCEED RETRY and WAIT START Monitor Commands V no longer contains interlocks that prohibited user programs from being started or continued from the terminal or the MCP based upon the setting of the VFP keyswitch Prior to version 11 3 V attempted to interlock the starting and proceeding of user programs with the VFP keyswitch and the PROGRAM START button in order to comply with Ro
120. oft signals 2000 2512 is managed by processor 1 These signals are shared by all processors The soft signals may be used to pass control information between processors 160 V Version 11 4 Release Notes Rev A Restrictions With Multiple Processors 13 3 Restrictions With Multiple Processors There are several V operations that may be performed only from Processor 1 In general robot control and system configuration changes must be performed from Processor 1 Processors other than 1 always start up with the stand alone control module with no belts or kinematic modules loaded In addition the following commands instructions may be executed only on Processor 1 ENABLE DISABLE of POWER ENABLE DISABLE of ROBOT INSTALL If attempted on another processor they will return the error 666 Must use Monitor 1 V Version 11 4 Release Notes Rev A 161 Chapter 13 Multiple V Systems 162 V Version 11 4 Release Notes Rev A Restrictions With Multiple Processors V Version 11 4 Release Notes Rev A 163 Chapter 13 Multiple V Systems 164 V Version 11 4 Release Notes Rev A Restrictions With Multiple Processors V Version 11 4 Release Notes Rev A 165 Chapter 13 Multiple V Systems 166 V Version 11 4 Release Notes Rev A Restrictions With Multiple Processors V Version 11 4 Release Notes Rev A 167 S Curve Trajectory Generation 1 4 This chapter describes
121. om 8 to 9 4 Enhanced the AdeptVision NGC tool to improve its robustness and execution speed 5 Introduced the XZ robot module 6 Manual Control Pendant MCP servicing is now enabled even if no robot is configured 7 Changed EXY robot module to require only the Kinematics option license General Programming Language Additions Detailed information on these changes is presented later in this chapter 1 Added wildcards to DIRECTORY LISTL LISTR and LISTS commands 8 Changed the FCOPY command to assign the original creation date to copied files not the current date 9 Added switches to the LOAD command to dynamically squeeze programs and to set them to read only 11 2 Changes to Monitor Commands New Commands ESTOP Monitor Command and Program Instruction Syntax ESTOP Arguments None Details Immediately asserts the backplane emergency stop signal provided that a later model SIO module is installed Immediately de asserts High Power Enable HPE Then proceeds with normal power down sequence Altered Commands DIRECTORY Also see page 103 for the changes in V 11 0 The syntax for the DIRECTORY monitor command has been enhanced The old syntax was DIRECTORY select 132 V Version 11 4 Release Notes Rev A Changes to Monitor Commands where select indicated if protected programs were to be suppressed or if only non executable programs were to be displayed The new syntax is DIRECTO
122. om the MCP follow the procedure appropriate for enabling high power for the safety category of your system Promptly press the HIGH POWER ON OFF button when instructed V Version 11 4 Release Notes Rev A Appendix A New and Modified System Messages to do so If the timeout period is too short adjust it by using the CONFIG C utility to change the POWER TIMEOUT statement in the V configuration data This message also can result from a faulty cable VFP or SIO Incompatible robot and safety ID 644 Explanation The robot and controller do not have the same safety options User action sure that the correct robot and controller are being used together Install or remove the appropriate EN954 Safety Category license in the controller Power disabled Manual Auto changed 645 Explanation V disables power when the VFP switch moves from MANUAL to AUTO or vice versa User action Use valid method to enable high power Press HIGH POWER button to enable power 57 Explanation The HIGH POWER ON OFF button on the front panel must be pressed to complete the process of enabling high power User action When the HIGH POWER ON OFF button on the VFP blinks promptly press the button to complete the two step process of enabling high power You must press the button within the time period specified in the V configuration data Robot module not enabled 900 Explanation The indicated robot module i
123. ommand 15 134 memory requirements 145 messages startup 38 Miscellaneous Changes 34 monitorcommands 14 37 enhanced 37 MONITORS system switch 18 motion 45 enhancements 77 times 137 motion changes See AdeptMotion MOVE instruction 146 MOVESF program instruction 18 multiple processor systems 145 multiple V systems 157 N NET command 15 33 49 NETWORK real valued function 18 Networking Changes 33 New Functionality 31 New Robot Module 33 NEXT program instruction 18 NFS mounts increased number of 49 NOOVERLAP program instruction 18 NOT CALIBRATED 18 system parameter 124 138 NVRAM 34 omi robot module 33 OUTSIDE real valued function 19 OVERLAP program instruction 19 P parameters V MAX TIME 20 V SYNC STROBE 110 PASSTHRU command 15 104 PAYLOAD program instruction 19 46 PCABORT program instruction 105 PCEND program instruction 105 PCEXECUTE program instruction 105 PCKILL program instruction 105 peripheral drivers 147 PING command 15 power timeout 53 PRIME command 15 104 105 PROCEED command 15 processor boards addressing 148 configuration 148 locations 148 slot ordering 148 processor workloads 149 processor memory requirements 145 PROFILE switch clarification 37 PROFILER file 52 utility 54 program interlocks elimination 44 program speed 124 program controlled motion limits to 44 programming keywords changes to 104 programming language additions 102 protected files
124. on 11 2 The special module ID number 1 tells the V system to access the robot RSC to determine the type of robot connected to the system The Adept system functions correctly if the configuration data contains an actual robot module ID instead of this special value That could happen for example when you modify the configuration of your V system to control additional robot devices with AdeptMotion VME The actual robot module ID numbers for the Adept robots are as follows AdeptOne MV robot 1 AdeptThree MV robot 1 Adept 550 robot 6 New CD Monitor Command The new CD monitor command has been added as a convenience for changing the default disk and or directory path to be accessed by the V system Now instead of typing default disk path to set a new default disk directory path you can simply type cd path See the new dictionary page for CD in Appendix D for more information Enhanced DEBUG command The DEBUG monitor command has been enhanced to accept an optional program step number The new syntax for the command is as follows DEBUG task program step If the step number is specified that program step is displayed when the program is opened Enhanced SEE Command The SEE monitor command has been enhanced to accept an optional program step number The new syntax for the command is as follows SEE program step If the step number is specified when the program is opened that program step is displayed with the cursor
125. on locks the left button on off The lower right button does not return an event The V major cycle is now divided into 16 equal 1ms time slices General Programming Language Additions 1 The V version of the language has been discontinued All systems have V as standard The V Extensions license is required for a system to support the following features 8 9 Multiple mechanisms more than one robot Belt tracking CPU Profiler Fast Digital I O interrupts 28 V tasks Third party board support Multiple V systems ALTER instruction Standard instructions for reading writing to qualified third party VMEbus boards have been added S Curve acceleration and deceleration profiles may now be defined Previously only the duration of the acceleration and deceleration phases of a motion could be changed Now the maximum rate of change during acceleration as well as the maximum acceleration reached can be specified Motion acceleration is now decoupled from motion speed if the SCALE ACCEL switch is off The SPEED monitor command no longer affects the path See the SPEED Monitor Command on page 173 for more details Some system timers are now updated every 1ms rather than every 2ms Therefore they are more precise but they begin to lose accuracy more quickly The new ALTER program instruction allows you to specify the magnitude of the real time path modification that is to be applied to the robo
126. onal Gain parameter has been redefined It is now specified in terms of DC gain and is therefore unaffected by changes in pole and zero The 10 4 version of SPEC had an option to automatically recalculate the proportional gain after changing Pole and Zero This program option is no longer required and has been eliminated Split axis modules EXY EGN etc The Velocity Feedforward Gain loop has been simplified The 1 256 factor has been eliminated The user specified scale factor has also been eliminated from the Skew Error Gain loop Changes to Drive Enable Sequence The servo software now posts the Drive Enable to V as soon as the Drive Fault signal is clear even if the fault delay user configurable on the VMI is still active Subsequent drive faults will still be immediately reported to V even if the fault delay is active This means the time between enabling the drive and servoing the axis is controlled by the amplifier removing its drive fault and not by the length of the fault delay The reason for this change is to minimize the time that the amplifier is enabled before V is able to send servo commands to the amplifier Changes to Processing of Error Duty Cycle Exceeded The averaging torque calculation previously used has been replaced with an average torque squared calculation The servo code now posts everything internally as squares and maintains backward compatibility by squaring the maximum value upon input The change
127. or 4 you do not have to have the MONITORS system switch enabled on processor 1 unless you want access to un the V command line prompt for these systems The autostart function is enabled for all processors using DIP switch 1 ON enables autostart on the front of the SIO module See the V Operating System User s Guide for more details Multiple V Systems Accessing the Command Prompt If you are not using autostart you must enable MONITORS and use the Adept pulldown menu to select the Monitor window for the system you want to command You can then enter V commands such as LOAD and EXECUTE at the V command prompt See the V Language User s Guide for a description of the MONITORS system switch Inter System Communications 158 V application programs running on the same processor communicate in the normal way using global V variables V 11 0 and 11 1 can execute up to 7 tasks simultaneously on each processor or up to 28 tasks if the optional V Extensions software license is installed When multiple V systems are running each operates on its own processor and functions independently Programs and global variables for one V system are not accessible to the other V systems Application programs running on different V systems can communicate via an 8 KB reserved section of shared memory on each board This memory area is used only for communication between V application programs and is not
128. or an AdeptVision system with one vision board is one processor with 4 MB of memory Adding memory in a single CPU configuration will not affect vision performance Adding an auxiliary processor and assigning the vision processing to that CPU could significantly increase vision performance V Version 11 4 Release Notes Rev A 147 Chapter 12 Multiple Processor Systems Dual AdepiVision 12 3 When a system contains two VIS boards two processors must be present to execute two copies of the vision system software However there are no restrictions on which processor can execute V vision instructions For example in a two processor two VIS system either or both processors can issue V vision instructions for either vision system However in a dual processor dual vision system with AIM VisionWare a separate copy of AIM VisionWare must be executed on each processor thus requiring a copy of V on each processor Configuration of the Processor Boards When installing multiple processors the following physical configuration options must be considered Processor board locations Processor board addressing System controller functions Processor Board Locations In each controller the first slot available for processor boards must be occupied by an 030 or 040 processor This processor must be addressed as board 1 and it must have the system controller functions enabled see below This processor is considered the sy
129. or details about utility programs refer to Instructions for Adept Utility Programs 11 9 Programming Notes Clarification of WAIT EVENT Operation Interrupts must only be sent on levels 1 or 2 by 3rd party boards Sending an interrupt on other levels will cause unpredictable system behavior If an unexpected interrupt vector is received on interrupt level 1 or 2 the system drops to the debug window with the message Fatal UnitTrap at aaaaa V vector M 0 The same vector cannot be used for different interrupt levels For example if INT EVENT 200 1 is issued in task 1 and INT EVENT 200 2 is then issued in task 2 a Device not ready 508 error is returned to task 2 In order to free up a vector that has been assigned by a task that did not complete normally a KILL command is required Internally a V task will go into a wait state for one of four reasons 1 Someone stops it e g ABORT 2 Another higher priority task preempts it 3 The task goes to sleep for some time interval 4 The task is waiting for an event to occur A task can get out of Case 4 only by having its event flag set A task might wait for many things I O robot motion etc If an error occurs while a task is waiting the task will hang until the event flag is set Programming Notes Many different situations can cause the event flag to be set Because of this the algorithm for checking for something to be complete should be
130. or the maximum values are defined by the robot manufacturer and vary from one type of robot to the next If you specify a higher acceleration than is permitted the limit established by the robot manufacturer is utilized You can use the functions ACCEL 3 and ACCEL 4 to determine the maximum allowable acceleration and deceleration settings V Version 11 4 Release Notes Rev A 171 Chapter 14 S Curve Trajectory Generation 172 For a given motion the maximum attainable acceleration may actually be less than what you have requested This occurs when a profile with a nonzero acceleration ramp time is used and there is insufficient time to ramp up to the maximum acceleration That is for a given jerk a specific time must elapse before the acceleration can be changed from a zero value to the specified maximum value If the maximum acceleration cannot be achieved the trapezoidal profile will be reduced to a triangular shape There are two circumstances when this will occur 4 The motion is too short In this case the change in position is achieved before the maximum acceleration can be achieved 5 The maximum motion speed is too low In this case the maximum speed is achieved before the maximum acceleration In both of these situations raising the maximum acceleration and deceleration values does not affect the time for the motion Hint If you increase the maximum acceleration and deceleration values but the motion time does n
131. ors if the additional processors are being used only for vision and or servo processing Each V system must run on its own processor therefore you must have at least one processor for every V system that you intend to run The A Series graphics option is required Monitor Commands and Multiple V Systems If more than one processor is running a copy of V and the system switch MONITORS is enabled multiple monitor windows can be displayed The first monitor window is the normal monitor window for the system processor labeled Monitor The monitor windows for the other V systems are labeled Monitor 2 Monitor 3 etc Each of these processors runs its own independent V system and can perform all of the V functions with the exceptions described below V Version 11 4 Release Notes Rev A 157 Chapter 13 Multiple V Systems 13 2 The default each time the controller is turned on is that the auxiliary monitor windows monitor 2 etc are hidden and disabled To enable them type the command ENABLE MONITORS see next subsection Using Autostart With Multiple V systems For V processor 1 autostart is the same as on single V systems and performs these commands LOAD Q auto COMM auto For V processors 2 3 and 4 autostart performs the following commands LOAD Q autoOn COMM auto0n where n is the system number from 2 to 4 Note that when using autostart to execute programs on systems 2 3
132. ory cycles in the future Formerly this was fixed at 32 msec into the future Now the number of milliseconds into the future is two times the configured trajectory cycle time The belt speeds returned by the DEVICE and BELT functions continue to be in the units mm sec and counts 16 msec respectively Limits on Minimum Motion Times Changed the limits on the minimum motion times for joint interpolated and straight line motions These variables are set via the SPEC program and formerly had a minimum limit of 16 msec These settings can now be reduced to be greater than or equal to the configured trajectory cycle time As a convenience if the values are set to be less than the configurated trajectory cycle time the trajectory cycle time will be used as the minimum motion time Specifically if these values are set to 0 the corresponding type of motion when very short or very fast will be executed at the fastest possible rate The default values for the minimum motion times for joint and straight line motions have been set to 0 in all robot modules ALTER Program Instruction As before the ALTER program instruction can send position and orientation change information to the trajectory generator once per trajectory cycle Formerly this was fixed at once per 16 msec Now if a faster trajectory cycle is configured higher rates of updating can be achieved but still only one transaction per trajectory cycle is permitted Note that
133. ot change try the following increase the program speed switch to an acceleration profile that allows faster acceleration ramp times or switch to acceleration profile 0 which specifies a square wave acceleration profile Note This type of acceleration limiting cannot occur with acceleration profile 0 since a square wave acceleration instantaneously changes acceleration values without ramping SPEED Program Instruction The SPEED program instruction defines the maximum speed for the next or subsequent motions The maximum speed is either specified as a percentage of the 100 values defined for the robot or in units of distance per second For the purposes of this discussion we can ignore the latter type of specification since this is internally equivalent to a percentage specification As with the accelerations the robot manufacturer normally sets the 10076 speed values to rates that can be achieved with typical payloads and robot link inertias Also speeds greater than 10076 are typically allowed to permit shorter cycle times in situations where the payload or robot link inertias are reduced If you specify a higher speed than is allowed the limit established by the robot manufacturer will be utilized You can use the SPEED 8 function to determine the maximum allowable percentage program speed setting For a given motion the maximum attainable speed may actually be less than what you have requested This occurs when a trajectory is
134. page 136 Servo Changes Affecting Compatibility From 11 0 to 11 1 Several servo tuning parameters have been redefined between V 11 0 and 11 1 in order to decouple them from the servo rate This will make it easier for users to compare the effects and benefits of the alternate servo rates 1 KHz vs 500 Hz In almost all cases SPEC will automatically detect the old values and convert them when loading an old SPEC data file A conversion formula is used by SPEC when loading old SPEC data files as shown in Tables 11 1 through 11 3 You can use these formulas to verify that the data has been successfully converted Table 11 1 AdeptMotion Users Upgrading From V 11 0 to 11 1 all systems Parameter Conversion Formula Pole new pole 1 T In old pole 1000 Hz T 0 001 500 Hz T 0 002 In is Natural Logarithm Zero new zero 1 T In old pole 1000 Hz 0 001 500 Hz T 0 002 In is Natural Logarithm The following table applies only if you are using the optional 500 Hz servo rate Table 11 2 AdeptMotion Users Upgrading From V 11 0 to 11 1 500 Hz systems only Parameter Conversion Formula Velocity 1000 Hz unchanged Feed Forward 500 Hz new old 2 Acceleration 1000 Hz unchanged Feed Forward 500 Hz new old 4 Integral Gain 1000 Hz unchanged 500 Hz new old 2 Max Integ step size 1000 Hz unchanged 500 Hz new old 2 V Version 11 4 Release No
135. ple V Systems 157 13 1 Overview REGQUIFEIMENTS Rae aa har ale QC C We Monitor Commands and Multiple V Systems Using Autostart With Multiple V systems Multiple Vt Systems Accessing the Command Prompt vii 137 137 137 138 138 138 138 138 140 140 140 141 141 142 142 142 142 143 143 145 145 146 146 147 147 147 147 147 148 148 148 148 148 149 149 149 157 157 157 158 158 viii V Language User s Guide 13 2 Inter System Communications 158 shared DOIG xx exon weg e 159 IOTAS and Data Integrity 160 Efficiency Considerations 160 cL 160 13 3 Restrictions With Multiple Processors 161 S Curve Trajectory Generation 169 14 3 Changes in V TE uus nc eer ae ORE TERES A 169 SPEED Program Instruction E se 169 SPEED Monitor Command en 169 14 2 S Curve Parameters 170 14 3 Keyword Changes 171 ACCEL Program Instruction sss ti 171 SPEED Program INSHTUCTION ae S Rex 172 SPEED Monitor Command es 173 SCALE ACCEL System Switch 173 Individual Axis Control 181 15 1 Man
136. positioned on it 76 V Version 11 4 Release Notes Rev A General Motion Enhancements 6 2 General Motion Enhancements New Calibration System The internal implementation of the CALIBRATE program instruction and monitor command has been changed Calibration is now implemented using a V program instead of being hard coded in the V system For most users the change is not noticeable The new method allows system customizers to change the calibration sequence for a custom mechanism As described below the syntax and usage of the CALIBRATE monitor command and program instruction have been changed However the changes do not affect most system users except that you may notice the following difference When you issue the CALIBRATE program instruction and monitor command the disk drive LED comes on briefly as the calibration routines and utility are automatically loaded from disk Also on the VFP front panel the blue program running light comes on An error results if the calibration files cannot be found The following directories are accessed to locate the files the current default directory CALIB on the disk drive from which the system was booted and C CALIB The CALIBRATE command cannot be used when task 0 is in use The CALIBRATE program instruction can no longer be executed by the DO monitor command The calibration sequence for Adept robots is protected and cannot be changed by users AdeptMotion us
137. programs have not been loaded into memory and the CALIBRATE command or instruction is issued with a input mode that does not allow them to be loaded automatically User Action Reissue the CALIBRATE command or instruction with the proper mode The default mode of zero causes CALIBRATE to automatically load the required programs from disk perform the calibration and then delete the programs Cat3 diagnostic error Code 1108 Because these message codes are related primarily to hardware refer to your Robot Instruction Handbook as your primary source of information If it does not answer your questions contact Adept Customer Service The following table summarizes information about the codes WARNING The test procedures for these messages are for skilled or instructed personnel only Dangerous voltages are present including those on the Security Panel Failure to exercise care can result in death or injury Code n Explanation User action 0 ESTOP board hardware not Check that the AC supply to the Security responding or Parity error Panelis on and that the DC power supply is configured correctly 1 Hardware state 1 error An Try again If the problem persists it may error has occurred in the be caused by a faulty ESTOP board Make communication or test a note of the error message and code sequence number and contact Adept Customer Service V Version 11 4 Release Notes Rev A 57 Appendix A New and Modi
138. r 42 DISKCOPY file 51 updated 53 utility 53 DM UTIL 137 file 51 DO command 15 DOUBLE variable type 17 DRIVE program instruction 17 DRIVE ENABLE SEQUEnce_ 119 drivers peripheral 147 DUAL VISION 148 DURATION program instruction 17 duty cycle 119 E EDIT command 37 EDITICON file 51 EGN devicemodule 122 124 ENABLE POWER 17 command 15 program instruction 17 enabling high power 39 encoder roll over value 46 ERROR real valued function 17 31 error messages 135 hard envelope 43 motion 124 soft envelope 43 ESTOP 17 command 15 132 program instruction 17 European Certifiacation CE 38 EXECUTE 17 command 15 78 103 105 program instruction 17 EXIT program instruction 17 EXY device module 123 124 140 F FCLOSE program instruction 17 FCMND command 33 program instruction 17 105 FCOPY command 15 103 133 FIFO instruction 31 FlexFeeder 48 floating point 89 FOPEN program instruction 17 FOR END program structure 105 FORCE system switch 17 105 force sensors 147 FORMAT command 15 104 133 utility 54 FSET 17 command 15 103 program instruction 17 FTP_CLNT file 51 utility 54 FTP_SRVR file 51 utility 54 G GAIN SET command correction 34 program instruction 17 45 gantry robot device 123 GGET LINE program instruction 17 GGETLINE program instruction 17 GLOBAL program instruction 17 GOTO instruction 105 GTRANS program instruction 18 H har
139. ration or deceleration For hardware faults consult your Robot Instruction Handbook or contact Adept Customer Service If the error occurred while a program was moving the robot try changing the program to move the robot less quickly or with a lower rate of acceleration or deceleration For hardware faults consult your Robot Instruction Handbook or contact Adept Customer Service V Version 11 4 Release Notes Rev A 59 Appendix A New and Modified System Messages Collision avoidance dead lock Hard envelope error Mtr n HIGH POWER button on not pressed 60 Code n Explanation User action 4 Amplifier 4 voltage restrict If the error occurred while a program was sensor channel 1 error The moving the robot try changing the robot joint 4 is moving or program to move the robot less quickly or accelerating too fast thereisa with a lower rate of acceleration or fault with the voltage restrict deceleration sensor or the voltage restrict For hardware faults consult your Robot sensor s built in test function Instruction Handbook or contact Adept failed Customer Service 5 Amplifier 4 voltage restrict If the error occurred while a program was sensor channel 2 error The moving the robot try changing the robot joint 4 is moving or program to move the robot less quickly or accelerating too fast thereisa with a lower rate of acceleration or fault with the voltage restrict deceleration se
140. rchived bit which is set to not archived See page 103 for the changes in V 11 0 FORMAT Also see page 104 for the changes in V 11 0 Floppy disk density is no longer checked at format time This change is required to support the use of floppy drives that do not provide a disk density signal The error Invalid disk format format is no longer generated if a user attempts to format a disk in an invalid manner If a user attempts to format a low density disk with the high density format switch i e J which is the default the error Bad block in disk header 523 is generated during the format process V Version 11 4 Release Notes Rev A 133 Chapter 11 Changes in V 11 1 134 CAUTION If a user attempts to format a high density disk using one of the lower density format switches not J the format will proceed but may report a number of bad blocks detected at the end of the format pro cess Regardless of whether or not bad blocks are reported such a disk is not reliable and should not be used for data storage LISTR LISTS LISTL Wildcards are now accepted by the LISTR LISTS LISTL monitor commands Note that for these commands only wildcards must be specified by a character That is unlike the DIRECTORY command cannot be used as wildcard character Multiple wildcards can be specified within each argument and each wildcard can match 0 1 or multiple characters For array variables
141. relative to a part frame a transformation can easily be defined that will move all tools this way The new instruction VDEETRANS defines or disables the transformation The new instruction VGET TRANS returns the value of the vision transformation currently defined The vision hardware now has a display frame store in addition to the two physical frame stores Live video is no longer destructive to the frame stores because of this separate display frame store V Version 11 4 Release Notes Rev A 107 Chapter 9 Changes to AdeptVision 10 x to 11 0 9 2 New Vision Tool Features 9 3 The processing speed of VEDGE VTHRESHOLD VCONVOLVE VCOPY VADD VCORRELATE VSUBTRACT VMORPH and VWINDOWI orthogonal AOIs only operations has been increased significantly VMORPH VEDGE VTHRESHOLD VCONVOLVE VCOPY VADD and VSUBTRACT can be submitted for execution without vision being idle like a ruler VCONVOLVE The performance of CONVOLVE has been improved The default convolutions have been improved VCORRELATE A hierarchical search option has been added to the VCORRELATE instruction This option makes correlation operations much faster and effective by identifying the areas most likely to produce a match and concentrating the search in those areas VDISPLAY Zoom pan and scroll features have been added to the VDISPLAY instruction VFEATURE Additional items have been added to the VFEATURE array VGETCAL and VPUTCAL The
142. robot module 5 3 Changes to the CONFIG C Utility Compatibility Change Version 11 3 of CONFIG C is required for the installation of and use with V 11 3 Also some of the features of the program cannot be used with previous V systems 52 V Version 11 4 Release Notes Rev A Changes to the DISKCOPY Utility New POWER TIMEOUT Statement The POWER TIMEOUT statement applies only to systems with the option for EN954 Safety Category 1 or3 It specifies how many seconds the V system waits for the operator to press the HIGH POWER ON OFF button on the VFP before canceling the first step for manually enabling robot power You can set the time by modifying the POWER TIMEOUT statement in the SYSTEM section of the CONFIG C configuration data POWER TIMEOUT 10 The default is 10 seconds and the value can range from 1 to 32767 If a timeout occurs the following message appears HIGH POWER button on VFP not pressed New Checking for TASKS Statements When the latest edition of CONFIG C is used to edit a statement in the TASKS section of the configuration data a check is done to make sure there is at least one priority value greater than zero Updated Built In Copy of DISKCOPY Version 11 3E and later of CONFIG C includes the latest edition of the DISKCOPY utility which corrects a potentially serious problem described later Recognition of New System Options The latest edition of CONFIG C recognizes
143. rogram Instruction on page 171 for details Replaced by AIO IN AIO INS and AIO OUT See Analog I O on page 103 These instructions now accept a priority argument based on the task matrix They are incompatible only if the priority argument is used Replaced by FORCE FRAME FORCE MODE FORCE OFFSET and FORCE READ see the AdeptForce VME User s Guide Loop counter comparison is now made with double precision Rounding errors with single precision variables or expressions may change loop execution See Changes in Floating Point Implementation on page 89 V now checks for undefined IF GOTO and GOTO labels when pro grams are loaded or edited If a label is undefined the program is not executable Thus programs that previously executed despite undefined labels will no longer work No longer is used to configure serial lines see FSET Removed identical to INTB The instructions have been removed The difference between robot and process control tasks was eliminated in version 10 0 These instructions were retained in 10 x for compatibility only No longer affects acceleration See the SPEED Monitor Command on page 173 for more details V Version 11 4 Release Notes Rev A 105 Chapter 8 Changes to V 10 x to 11 0 106 V Version 11 4 Release Notes Rev A 9 1 Changes to AdeptVision 10 x to 11 0 This chapter summarizes the major changes that took place from version 10 x vision
144. roll rotary axis Z offset exists between the four coupled axis that implement the pitch and yaw The omi robot module ID is 31 and has the following startup message Gantry with Omni Wrist Robot Module The omi robot module is an enhanced kinematic module since it supports a split x axis thus it requires the enhanced Kinematics software license Networking Changes 3 4 You will find the following networking changes in V Version 11 4 e The NET command now displays the number of available TCP connections e When the instruction READ lun record num mode is executed and the function IOSTAT lun returns a negative value indicating an error occurred the value of record num is not valid e When you want to terminate a server connection you must execute an FCMND lun 600 instruction good time to do this is when the client has closed its connection to the server and the server returns an I O status of 101 using READ lun and IOSTAT lun indicating the client has closed its connection Clarification of Event Triggers There are many possible sources of an event in V you can usually determine the source by looking at the context For example if you know that your task does not have a disk window or serial logical unit attached to it to cause an I O event and you have used the INT EVENT command to enable a digital I O event the event triggered was probably a digital I O event However it is good practice t
145. rsion 10 x instructions is backward compatible The most notable exceptions are the finders These have a new shape argument immediately following the for consistency with the other instructions The syntax forms that are incompatible are Old VADD type dest frame 1 frame src2 frame New VADD cam type dmode dest ibr 1 ibr srd2_ibr Old VCONVOLVE type dest frame src frame New VCONVOLVE cam type dmode dest ibr src ibr Old VEDGE type thresh frame New VEDGE cam type dmode dest ibr src ibr Old VFIND ARC cam mode dmode effort type data xc r rr ang0 angn New VFIND ARC cam mode dmode effort type data 1 xc r rr ang0 angn New VFIND ARC cam mode dmode effort type data ibr Old VFIND LINE cam pos dmode effort type data xc yc len wid ang New VFIND LINE cam pos dmode effort type data i 1 xc yc len wid ang New VFIND LINE cam pos dmode effort type data ibr Old VFIND POINT cam pos dmode effort type data xc yc len wid ang New VFIND POINT cam pos dmode effort type data i 1 xc yc len wid ang New VFIND POINT cam pos dmode effort type data ibr Old VMORPH type frame New VMORPH cam type dmode thresh dest ibr count src ibr Old VSUBTRACT type dest frame srcl frame src2 frame New VSUBTRACT cam type dmode dest ibr src1 ibr src2 ibr Old VTHR
146. s On the 040 board jumper J1 controls both controller and system clock functions It should be in for processor 1 and out for all other processors In systems shipped from Adept the processors will be correctly configured and you will not have to make any changes unless you exchange processors for example replacing an 030 system processor with an 040 processor and making the 030 an auxiliary processor 12 4 Assignment of Processor Workloads There are several system tasks such as trajectory generation and peripheral drivers that must run on processor 1 and cannot be reassigned The following system tasks can be assigned to different processors Vision Processing Each vision system in the controller can be assigned to a specific processor Servo processing The servo task for each VMI board can be assigned to a specific processor A copy of the V command processor Each processor can run an individual copy of the V command processor See Chapter 13 for more details on multiple copies of V This is an advanced feature that requires the V Extensions license Assigning Workloads with CONFIG C The assignment of workloads to the different processors is designed to be automatic in most cases The user may examine or override the defaults using the CONFIG C configuration utility The default configuration implements the following processor workload configurations If only one processor is installed all tasks r
147. s As with trajectory generation the drivers for disk I O manual control pendant I O graphics I O and global serial line I O execute only on processor 1 Thus there is an impact on processor 1 whenever an auxiliary processor accesses one of these devices However communications between a processor board and its local serial lines digital I O and analog I O are processed on the processor on which the V instruction is executed Conveyor Belt Encoders A maximum of one encoder device module can be installed requires a V Extensions License The Encoder Device module supports up to 6 encoders default is 2 Thus a maximum of 6 conveyor belt encoders can be interfaced to a controller Each belt encoder requires one servo channel although it adds a negligible amount of computational load These encoders are physically connected via a Motion Interface board VMI or VJI Force Sensors The AdeptForce VME option allows up to three force sensors per controller Each sensor requires one Force Interface Board VFI One or two VFIs can be assigned to each processor board Each of these force sensors requires one element of the servo axis allocation The force sensor loads the processor computationally only when a force sensing operation is taking place and the load is somewhat less than a single servoed axis 12 2 Processor Memory Requirements for Vision Systems Standard AdepiVision The minimum processor memory requirement f
148. s X Y Z Theta Robot Module Enhanced T12 Robot Module T12 The T12 robot module has been enhanced to support a third linear axis mounted at the end of the first two joints V Version 11 4 Release Notes Rev A 47 Chapter 4 Changes to the V Operating System and Language Version 11 3 Enhanced X Y 3 Z Theta Robot Module XY3 4 5 Z Theta Heads Increased from 3 to 4 The X Y 3 Z Theta robot module has been enhanced by increasing the maximum number of Z Theta heads from 3 to 4 This enhancement has the following consequences The number of values in the link dimension array has been increased from 6 to 8 That is one more pair of X Y offsets has been added for the new fourth head The default number of configured joints has been increased from 8 to 10 The number of arguments for the ROBOT OPR instruction has been increased to include the new fourth head Optional Split Axis Capability for the y axis This robot now supports an optional split axis capability for the y axis When enabled the slaved motor for the split axis must be the last motor for the robot Although the SPEC parameters include placeholders for the motor to joint and joint to motor scaling factors for the slaved split axis motor these can be set to 0 This is because the same joint to motor scaling factors are used for both motor 2 and the slaved motor to properly account for X Y skew Also when the robot position is read only the encoder positio
149. s off For robot 2 this LED is solid on For robot 3 and beyond this LED blinks V Version 11 4 Release Notes Rev A 181 Chapter 15 Individual Axis Control 182 When one of the manual control modes TOOL WORLD etc is selected the normal background display of the program execution status is superceded by a display that indicates which robot is being manually controlled The following information is displayed the first 40 characters of the robot s startup message the number of the robot and the range of joints being controlled When manual control mode is terminated the MCP reverts to displaying the standard program execution information When the MCP is plugged into the controller the background display is refreshed Formerly the background display would only be redrawn when the execution status of user task 0 was altered This typically left the MCP LCD display blank after the MCP was plugged into a running system This new refresh mode only affects the background display and does not change the situation when any other display mode is in effect When arm power is being enabled the arm power LED on the MCP blinks and the STATUS command now reports Enabling power V Version 11 4 Release Notes Rev A Manual Control Pendant Changes V Version 11 4 Release Notes Rev A 183 Chapter 15 Individual Axis Control 184 V Version 11 4 Release Notes Rev A Manual Control Pendant Changes V Version 11 4
150. s present in memory but it was not enabled for use due to an error which is reported by a separate message User action Use the CONFIG C and or SPEC utilities to correct the module configuration Soft envelope error 1006 Explanation The indicated motor was not tracking the commanded position with sufficient accuracy indicating a failure in the hardware servo system or something impeding the path of the robot Because this was not considered a serious error a controlled motion stop occurred and high power remains on User Action Try to perform the motion at a slower speed Make sure that nothing is obstructing the robot s motion If the error recurs contact Adept Customer Service Timeout enabling power 675 Explanation High power did not enable within the allowed amount of time and the servos reported no other error during the timeout period V Version 11 4 Release Notes Rev A 61 Appendix A New and Modified System Messages User action For non Adept robots use the SPEC utility to increase the value of the high power timeout For Adept robots double check your installation cabling AC power line voltages circuit breakers amplifier retaining screws cables and contactors For information about the correct configuration for installation refer to your Robot Instruction Handbook Make sure that the amplifier chassis is properly connected to a power source and is turned on Try again If the proble
151. s to PUMA Device Module IDz14 As a result of customer requests several enhancements have been made to the V version 11 0 PUMA module The ID and module names are unchanged ID 14 Name PUM The changes are as follows 1 The kinematic model has been enhanced to allow an offset a1 between the axis of joint 1 and the axis of joint 2 When the shoulder is moved forward a1 is a positive number That is when joint 1 is at its zero position if the shoulder is shifted along the positive world X axis a1 will be a positive number For standard PUMA style robots for example the 560 760 and RX 90 the value of a1 should be zero 0 2 Anew general facility has been added to V that eliminates the need for the user to input dependent computed link dimensions via SPEC For example formerly 52 53 and S243 had to be defined via SPEC Now only 52 53 needs to be defined For the PUMA module the new list of link dimensions is as follows Table 10 1 Puma Link Dimensions New index Old index Symbolic name 1 none al 2 1 a2 3 2 a3 4 3 54 5 4 52 53 not used 5to11 see original documentation 3 A2 by 2 matrix must now be defined to specify the joint to motor scaling factors for joints motors 2 and 3 For example when entering the encoder scaling factors for joint 2 SPEC will prompt for a scaling factor for both encoder 2 and encoder 3 If there is no coupling a zero 0 value should be en
152. se commands can now associate a field of view to robot to cam transformation with a calibration VRULERI Two new features have been added This instruction now allows you to indicate the desired edge color light to dark or dark to light or both There is a new type value type 3 which is similar to type 2 fine edge This type of ruler which we call fine pitch detects grayscale edges with sub pixel resolution just like type 2 However the edge detection algorithm has been altered to allow it to perform better in situations where the edges are tightly spaced such as detecting leads of fine pitch electronic components These new rulers are not as robust however when the ruler is cast at a skewed angle with respect to the edges it is meant to detect VSELECT VSELECT has a new argument that can select a frame store to be invalidated making it available as scratch frame storage for use by templates VTRAIN VTRAIN has new modes Certain prototype attributes such as effort level and camera associations can be changed directly from a V program Picture taking can be suppressed VWAIT VWAIT can now Wait for the vision system to become idle the default wait for the acquire into frame aoi to complete or wait for the acquire into frame aoi to start VWINDOWB The new VWINDOWB instruction computes the following blob statistics centroid area bounding box and perimeter This hardware operation is fast and its spe
153. ser interferometer to determine precise positions equidistant along the axis An array of error corrections is then stored in a linear compensation table There is one linear compensation table for each axis During a robot motion regardless whether commanded by program control or the Manual Control Pendant MCP V uses the error correction information to correct each point on the motion path These corrections are applied by the V trajectory generator The default trajectory generation interval is 16ms Each linear compensation table contains a series of correction values that are specified at even intervals within a range of motor travel For example the first correction factor in the table contains the value that must be added to the commanded motor position in order to accurately position the motor at the lowest position in the corrected range of travel Simply put correction value actual measured motor position commanded motor position Likewise the last entry in the table contains the value that must be added to the motor commanded position when the motor is commanded to the highest position in the corrected range of the intermediate table values correspond to the corrections that must be added at evenly spaced intervals between the low and the high ends of the corrected range of travel Up to 1001 points may be entered for each axis The first and last correction values must be zero if the joint can move up to or beyond the
154. skip this section and refer to Installing the New Version 11 4 System on page 29 In order to have your robot and encoder configuration data carried over to your new V system you need to save that data for all the devices controlled by your Adept system To do this follow the steps below 1 Start your current V system 2 Make a note of the robot number and the device module ID number for each of the robots controlled by your Adept system System identification information is displayed after the V system has started The device module ID number is the last value displayed on the line for each robot For example in the following line for robot number 1 the device module ID number is 6 Robot 1 100 123 0 6 3 Load the file SPEC V2 from your current version of the Adept Utility Disk by typing the command load a spec 4 Puta formatted data diskette in the floppy drive 5 Type the following command to create a subdirectory on the diskette fdirectory c a Nconfig c V Version 11 4 Release Notes Rev A Upgrading to V Version 11 4 6 Change the default disk and directory to access the new directory by typing the command default d a config_c 7 Verify that the empty directory exists and is being accessed as the default disk location by typing the command fdirectory 8 Run the SPEC utility program by typing the command execute 1 a spec NOTE If the program reports an incompatibility with the curre
155. st being loaded or stored a M is displayed before the program or module name V Version 11 4 Release Notes Rev A Changes to V Programming Keywords SEE Editor Inserts Global Module Automatically When the SEE editor creates a new program it automatically inserts the program into the module named global This is a useful feature for grouping programs created on line The MODULE command can be used to move a program from one module to another 11 3 Changes to V Programming Keywords For details about V programming keywords refer to the V Language Reference Guide 11 4 Changes to Error Messages For details about V error messages refer to the V Language Reference Guide 11 5 Changes to AdeptVision Altered Keywords VCORRELATE Program Instruction VCORRELATE cam mode dmode max depth accept give up data i act depth tplnum ibr Several important enhancements have been implemented that improve the speed of the Normalized Grayscale Correlation NGC tool One of the most important enhancements is the skipping of rows and or columns when correlating at the most reduced level of hierarchy Not performing correlation matches at every pixel location results in a much faster correlation tool However certain templates such as the ones with low contrast or with skinny features do not permit skipping VTRAIN MODEL has been modified to now analyze each template during training and to determine a def
156. stem processor other processors may occupy any other available slot slot 2 must be occupied by the SIO module all the other slots are board independent Slot Ordering of Processor Boards In general the fastest processor with the greatest amount of memory should be configured as processor 1 The auxiliary processors should be ordered i e numbered first by speed and then by memory size Processor Board Addressing 148 The system processor must reside in slot 1 and be addressed as board 1 Each of the auxiliary processors must be addressed uniquely from 2 to 4 It does not matter which slot an auxiliary processor is in auxiliary processor 2 can be in slot 6 auxiliary processor 3 in slot 5 etc See the chapters on 030 and 040 system processors in the Adept MV Controller User s Guide for details on setting the board address V Version 11 4 Release Notes Rev A Assignment of Processor Workloads System Controller Functions On the 030 board jumper JP1 SCON designates a processor as the VME system processor The system processor controls functions such as interrupt processing and bus arbitration This function must be enabled in system processor 1 and disabled in all auxiliary processors Similarly jumper JP3 SCLK must be enabled on the system processor and disabled on all other processors See the chapter on system processors in the Adept MV Controller User s Guide for details on setting the SCON and SCLK jumper
157. t answer your questions contact Adept Customer Service The following table summarizes information about the codes Code n Explanation User action 0 Adept E stop channel 1 error Consult your Robot Instruction Handbook 1 Adept E stop channel 2 error Consult your Robot Instruction Handbook 2 Customer E stop channel 1 Consult your Robot Instruction Handbook error 3 Customer E stop channel 2 Consult your Robot Instruction Handbook error Cat3 external sensor fault Code 5 58 1109 Because these message codes are related to hardware refer to your Robot Instruction Handbook as your primary source of information If it does not answer your questions contact Adept Customer Service V Version 11 4 Release Notes Hev A Appendix A New and Modified System Messages If one of these message codes occurs stand away from the robot and attempt to enable power again If the same error code occurs again for no apparent reason there may be a fault with the sensor The following table summarizes information about the message codes WARNING The test procedures for these messages are for skilled or instructed personnel only Dangerous voltages are present including those on the Security Panel Failure to exercise care can result in death or injury Code n Explanation User action Accelerometer channel 1 error The robot joint 1 or 2 is moving or accelerating too fast there is a fault
158. t path during the next trajectory computation Double precision real valued variables are now supported An explicit GLOBAL declaration is now available 10 You can now print by FCOPYing from a disk to a serial port 11 Tasks are not allocated stack memory until they are actually used V Version 11 4 Release Notes Rev A Changes to Monitor Commands 12 Six belt encoders are now supported requires V Extensions license Command Line 1 Up to 20 monitor commands are now stored in a history buffer To prevent line wrapping each command in the history buffer is limited to the first 78 characters entered These commands can be recalled with the cursor keys edited and re executed 13 On A Series systems menu selections can be made without using the trackball or mouse Alt 5 displays the first pull down menu Subsequent Alt 5s display the next available pull down menu The cursor keys cycle through the menus and menu items The Enter key makes a selection Digital I O The digital 64 channel I O boards in the Adept MV controllers are self sensing and do not need to be configured with the CONFIG_C utility Input and output signal numbers are no longer exclusive for example you can use both signal 25 and signal 1025 Each board has two selectable output voltage ranges For details see the V Language User s Guide Analog I O The Adept MV controller supports 16 differential or 32 single ended inputs per analog I O
159. tNet product Access 09961 00015 AdeptNFS Allows access to Adept Client Network File System client protocol 09961 00016 AdeptFTP Cli Allows access to Adept File FIP utilities are on the ent Server Transfer Protocol server and V 11 3 utility disk client utilities SRVR V2 amp FIP CLNT V2 09961 00017 Multiple Enables the use of multiple Currently for Dual Adept Adept Robots Adept Robots 550 robot product ONLY Dual Adept 550 system also requires the V Version 11 Extension license to enable multiple mechanism support 09961 00018 Third Party Activates the use of V Customers upgrading from Board Support features for support of V 11 0 or 11 1 and using third party boards including third party boards require OGET IOPUT this license with their upgrade PERDIO One Third Party Board Support license activates use of all third party boards in the chassis 09961 00019 EN954 Safety Enables EN954 Safety New with V 11 3 Category 1 Category 1 features Requires new Category 1 VFP Front Panel 09961 00020 EN954 Safety Enables EN954 Safety New with V 11 3 Category 3 Category 3 features Requires new Category 3 VFP Security Panel 70 V Version 11 4 Release Notes Rev A Appendix C Licenses V Version 11 4 Release Notes Rev A 71 Part 3 Notes for V Version 11 2 This section incorporates text from the original V Version 11 2 Release Notes but drops much of the material that has already been tr
160. tered as appropriate For standard PUMA style robots for example the 560 760 and RX 90 motors 2 and 3 are not kinematically coupled 4 Anew robot option bit has been added to the PUMA module When bit 4 counting from 1 is asserted in the robot option word joint 6 is assumed to have several turns During all normal motions including moving to the READY position joint 6 is moved to the desired position on the closest turn rather than attempting to keep joint 6 close to the 0 position If the option bit is set the final Z axis rotation is allowed to turn many 2100 turns This affects limit checking READY and calibration Note for customers upgrading existing PUMA robots Due to the above changes old SPEC data files for the PUMA robot will now be partially incompatible with the new robot module After an older SPEC data file is loaded with the new module all link dimensions and all joint motor scaling factors should be manually edited and verified using the SPEC program to correct for the incompatibilities Adept recommends that a copy of the old SPEC data file be retained for reference V Version 11 4 Release Notes Rev A 121 Chapter 10 Changes to AdeptMotion 10 x to 11 0 Change to SCARA Device Module IDz6 A 2 by 2 matrix must now be defined to specify the joint to motor scaling factors for joints motors and 4 For example when entering the encoder scaling factors for joint 3 SPEC will prompt for a scalin
161. tering instruction anything that you type exactly as it appears For example if you are asked to type execute 1 a diskcopy you type all the bold characters exactly as they are printed What you type is shown in lowercase letters unless it must be typed in uppercase letters to work properly You may always substitute a currently valid shortcut form when typing a V command In order for the V system to process your typing you must conclude your entry by pressing the ENTER or RETURN key Bold type is used for lowercase names such as subroutine names variable names and program names for example a diskcopy Bold type also is used for window items that you choose and window items that do not have initial capital letters in all principal words italic Placeholders that you must provide in typed input This font also indicates new terms and other emphasized words 12 V Version 11 4 Release Notes Rev A Conventions This Represents SMALL CAPITALS The name of a physical key or button that you must press such as the ENTER key and the PROGRAM START button Similarly this font style is also used for the setting of a physical switch such as the TERMINAL setting of the VFP keyswitch Initial Capitals The name of an object such as a window screen menu button dialog box or dialog box component Examples are the Display menu and the Task Profiler window The logical names of physical function keys or buttons use r
162. tes Hev A Changes Affecting AdeptMotion Users Table 11 2 AdeptMotion Users Upgrading From V 11 0 to 11 1 500 Hz systems only Parameter Conversion Formula Duty cycle filter 1000 Hz unchanged 500 Hz new old 1 DAC output filter 1000 Hz unchanged 500 Hz new old 1 Servo Changes Affecting Compatibility From 10 x to 11 1 DC Gain and Max Integrator Imax values were redefined in V 11 0 to reduce the interaction between some of the tuning parameters This change only affects users who load SPEC data files created using V 10 x Table 11 3 AdeptMotion Users Upgrading From V 10 x to 11 0 or 11 1 Parameter Conversion Formula DC Gain DC old Proportional Gain 1 z 1 p Affects 1000 Hz and 500 Hz Max Integ New old Int Gain or Max DAC Val whichever is less Affects 1000 Hz and 500 Hz NOTE The Calibration Speed parameter was redefined in V 11 0 from units of counts second to counts millisecond At the same time the DATA item number for this parameter was changed When loading SPEC data files created with V 10 x SPEC recognizes the old DATA item and automatically converts the old value to the new definition and initializes the new DATA item correctly Integrator Value Now Backed Up Formerly the integrator value was cleared zeroed whenever the robot power was disabled With the servo in V 11 1 the integrator state is memoriz
163. the FTP_CLNT Utility The FIP CLNT utility has been made more tolerant of unusual situations that could have caused the previous edition not to be able to process commands or to freeze Improvements to the FTP_SRVR Utility 5 7 If a previous edition of the FIP SRVR utility is already running on an Adept controller and an attempt is made to execute the program in another task the global data structures used by the utility are corrupted The new edition of the utility prevents this from happening Changes to the PROFILER Utility 5 8 Version 11 3 of the PROFILER utility cannot be used with vt systems prior to version 11 3 Older versions of the utility can be used with V 11 3 The following minor enhancements have been made to the utility Support for a new system task EC Cat 3 has been added The labels for inactive user tasks appear dimmed Display of the Help windows is no longer dependent on the size of the PROFILER main window New SAFE UTL Utility 54 The SAFE UTL utility tests the proper operation of the safety features of a robot system with the option for EN954 Safety Category 1 or 3 For details refer to the AdeptOne MV AdeptThree MV Robot Instruction Handbook V Version 11 4 Release Notes Rev A Changes to the SUCURE Utility 5 9 Changes to the SUCURE Utility Editions of SECURE prior to 10 4B contain a potentially serious error with respect to securing a large capacity hard disk
164. the characteristics of the trajectory profiles in V 11 0 and later and how these trajectories are affected by motion instructions and commands For brevity in the following sections the word acceleration refers to both the acceleration and the deceleration phases of a motion 14 1 Changes in V 11 0 SPEED Program Instruction Unlike previous V versions modifying the maximum speed in V 11 0 no longer has an affect on the maximum desired acceleration for a motion Formerly when the desired speed was increased the desired acceleration was also automatically increased At times this was convenient since it allowed a single parameter to be used to increase the overall performance of the robot However at other times this coupling made optimizing the performance of the robot very difficult As described later in the SCALE ACCEL section the acceleration and speed settings can now be independent however in V 11 0 and later they are coupled by default SPEED Monitor Command In earlier versions of V the SPEED monitor command and the SPEED program instruction had the same effect on the robot s trajectory In V 11 0 and later however the effect of the monitor SPEED is quite different from the effect of the SPEED program instruction V Version 11 4 Release Notes Rev A 169 Chapter 14 S Curve Trajectory Generation Acceleration Time Figure 14 1 S Curve Generation 14 2 S Curve Parameters 17
165. the new options for EN954 Safety Category 1 and 3 when displaying the contents of the controller NVRAM 5 4 Changes to the DISKCOPY Utility Correction to Copying Protected Files Editions of DISKCOPY prior to 112E contain a potentially serious error when copying a protected file from a secured floppy disk to a large capacity hard disk The problem which occurs if the user responds to the program that it is okay to secure the hard disk causes the hard disk to be totally unreadable Contact Adept Customer Service for more detailed information about this potential problem You can use version 11 2E of DISKCOPY which corrects the error with all editions of V version 11 Correction to Copying Deleting Files with No Date Information When attempting to copy or delete files the previous edition of the DISKCOPY utility ignores files that do not have date or time information That has been corrected in the new edition V Version 11 4 Release Notes Rev A 53 Chapter 5 Changes to the Utility Disk 5 5 Changes to the FORMAT Utility Change to Format for Very Large Hard Drives The latest edition of the FORMAT utility uses different format parameters for hard drives with more than 400 megabytes of capacity A drive that is formatted with the new parameters has improved performance for some V operations For example the FDIRECTORY command completes more quickly 6 Changes to the FTP Utilities 5 6 Improvements to
166. tion is the PUMA module which has a special multi turn option controlled by a bit in the robot option word that allows joint 6 to exceed 359 If a robot joint has its software limits set beyond the correct range and if such an axis is moved to beyond the correct range via a joint interpolated motion or the MCP and then a straight line motion is executed or the robot is moved in WORLD or TOOL mode the axis will rotate at high speed back to be within the correct range Enhanced Gantry Robot Device Module Document and Enhanced XYZ V Version 11 4 Release Notes Rev A 123 Chapter 10 Changes to AdeptMotion 10 x to 11 0 Theta Device Module Document The existing description of the Linear Compensation option should clarified as follows new text is bolded The first and last correction values must be zero if the joint can move up to or beyond the corrected range of travel If these values are not zero there will be a jerk when entering or exiting the corrected range or when nearing the end of the corrected range In general we advise that you always ensure that the first and last values of the correction table are zero 10 6 Miscellaneous Motion Changes 1 Change to Default Minimum Cartesian Motion Time The default minimum Cartesian motion time has been reduced from 2 ticks to 1 tick in all robot modules This default value may be changed in SPEC using the appropriate menu option or by loading an exist
167. ual Control Pendant Changes 181 1 1 Introduction Overview 1 2 This manual describes the changes to the V Operating System and Language from version 11 0 that have not yet been described in related manuals It incorporates material from the Release Notes for versions 11 0 11 1 11 2 and 11 3 The manual also provides guidelines for upgrading your systems from these earlier versions and summarizes changes to Adept utility programs You receive the Instructions for Adept Utility Programs with your V 11 4 system and most of this information is still valid These V 11 4 release notes and the Robot Instruction Handbook that came with your system update this information This introduction discusses the following topics Book parts Related manuals Conventions Summary of changes to the V language and operating system Book Parts 1 3 This manual is divided into four parts Part 1 covers material for the release of V version 11 4 Part 2 extracts material from the V Version 11 3 Release Notes that does not yet appear in related manuals Similarly Part 3 and Part 4 extract material from the V Version 11 2 Release Notes and the V Version 11 1 Release Notes respectively that does not yet appear in related manuals Related Manuals Adept products come with a set of documentation that is appropriate for the products you have ordered In addition there are optional manuals availa
168. uide below Installation configuration and tuning of an AdeptMotion VME system Installation operation and programming of the AdeptForce VME product Basic use and programming of the manual control pendant Use and programming of the AdeptNet products 10 V Version 11 4 Release Notes Rev A Conventions Optional V Developer s Manuals If you will be programming V applications you should order the optional V developer s manuals first three in the list below These manuals contain a complete description of the commands instructions functions and other features available in the V language and operating system These manuals are essential for advanced applications programming If you will be programming vision applications you should order the AdeptVision Reference Guide in addition to the V developer s manuals Manual Material Covered V Operating System Reference Guide Descriptions of the V operating system commands known as monitor commands V Language User s Guide Programming principles for creatin Suas 8 8 programs in the vt high level language V Language Reference Guide Complete descriptions of the keywords in the basic V language system AdeptVision Reference Guide Descriptions of the additional V keywords available with the AdeptVision VME option 1 4 Conventions This section discusses Notes cautions and warnings Typographic conventions
169. uires two robots and their corresponding robot modules The module types are a belt module ID 29 and a lifter module ID 30 The belt robot controls the vision conveyor belt and uses a modified joints 5 module with a single axis configured for continuous rotation operation The lifter robot controls the motion of the recirculation bucket and uses a modified X Y Z Theta module configured with a single x axis V Version 11 4 Release Notes Rev A Changes for the AdeptVision Product 4 6 The AS kinematic modules can control two FlexFeeder units that is four independent robots These robot modules are backwards compatible with the custom FlexFeeder modules that have been previously shipped The startup messages for these robot modules are as follows FlexFeeder Generation III Belt Robot Module FlexFeeder Generation III Lift Robot Module FlexFeeder Generation III Belt Robot Module 2 FlexFeeder Generation III Lift Robot Module 2 Although the current generation of the FlexFeeder product uses an RSC the FlexFeeder robot modules do not require one This will enable a single VJI to control two feeders in the future Consequently the FlexFeeder does not automatically configure based upon stored RSC information but can either be explicitly configured or auto configured by turning on NVRAM option bits and specifying 1 for the specified robot The standard system configuration file has been modified to specify 1 for t
170. un on that processor Ifa second processor is present the vision task and the servo tasks for the first two VMI boards are automatically assigned to it otherwise to processor 1 e f a third processor is present the servo tasks for the third and fourth VMI boards are assigned to it otherwise to processor 1 Note that after two VMI boards are assigned to an 68030 processor subsequent VMI or VJI assignments fail This is due to the 9 channel limit Similarly after one VJI is assigned to an 68030 subsequent VMI or VJI assignments fail V Version 11 4 Release Notes Rev A 149 Chapter 12 Multiple Processor Systems f a fourth processor is present the servo tasks for the fifth and sixth VMI boards are assigned to it otherwise to processor 1 f the V Extensions license is installed a copy of the V command processor is also available on each installed processor In most cases the copies of V on the auxiliary processors will be idle that is they will not be executing any user tasks When idle V uses less the one percent of the processor time If you want to execute tasks or commands on the secondary V Systems see Chapter 13 150 V Version 11 4 Release Notes Rev A Assignment of Processor Workloads V Version 11 4 Release Notes Rev A 151 Chapter 12 Multiple Processor Systems 152 V Version 11 4 Release Notes Rev A Assignment of Processor Workloads V Version 11 4 Release Notes Rev
171. unts A compensation value is measured every 1000 encoder counts 101 values for each motor Remember that index values 4 5 6 7 8 and 9 are always zero The points at which new lines are started are not significant HEADER Robot Specification Data Version 1 3 Robot 1 100 42 2 0 28 Title Enhanced 5 6 Axis PUMA Robot Module DATA SECTION DATA 301 Motor 1 linear compensation 50000 50000 1000 20 49 29 33 22 37 19 43 12 18 30 8 11 16 5 17 2 15 33 15 34 5 10 29 45 33 11 44 37 16 30 6 22 21 26 27 27 50 37 7 V Version 11 4 Release Notes Rev A 65 Appendix B Linear Compensation for the Enhanced PUMA Robot Module 66 11 49 6 18 46 19 12 48 11 42 24 14 46 25 10 27 20 48 15 32 14 33 43 49 10 17 9 34 48 46 50 1 47 25 50 2 30 31 25 26 23 47 24 9 4 43 41 2 26 36 35 3 47 49 24 10 18 44 27 22 46 DATA 302 Motor 2 linear compensation 50000 50000 1000 6 30 16 7 0 9 26 26 34 17 43 24 34 34 19 20 39 26 43 50 0 20 23 46 45 46 30 34 5 28 8 33 9 0 45 27 30 32 9 45 5 13 40 1 8 1 10 5 43 38 45 25 46 19 11 23 49 33 2 43 5 10 8 19 34 35 30 43 19 18 17 46 24 34 10 39 23 24 49 19 35 1 50 40 29 29 32 39 22 8 18 30 49 23 40 14 11 7 14 40 22 END V Version 11 4 Release Notes Rev A Licenses
172. ution error for the specified program task excluding I O errors Refer to the IOSTAT function in the V Language Reference Guide Returns the variable portion of the corresponding error message Zero is returned if the error did not have a variable portion in its message If the most recent error for the specified program task had an error code less than or equal to 1000 that is 1000 1001 etc The value returned should be interpreted as a 6 bit numeric value See the V Language Reference Guide for more information Returns the error number of the most recent error from an MCS instruction executed by the specified program task Returns the number of the robot associated with the most recent error for the specified program task Zero is returned if the error was not associated with a specific robot Returns the error code corresponding to any pending RSC errors for the robot selected by the specified user task See the V Language Reference Guide for more details The asynchronous FIFO buffer is not valid when the robot is in an initialization state Be sure to wait until STATE 1 lt gt 0 before calling ERROR with source 21000 32 V Version 11 4 Release Notes Rev A New Robot Module 3 2 New Robot Module 3 3 A new omi robot module has been added for a gantry robot with an Omni Wrist An Omni Wrist has five coupled mechanical joints that logically implement a yaw pitch and
173. v A 93 Chapter 7 Manual Updates 94 V Version 11 4 Release Notes Rev A Instructions for Adept Utility Programs V Version 11 4 Release Notes Rev A 95 Chapter 7 Manual Updates 96 V Version 11 4 Release Notes Rev A Instructions for Adept Utility Programs V Version 11 4 Release Notes Rev A 97 Chapter 7 Manual Updates 98 V Version 11 4 Release Notes Rev A Instructions for Adept Utility Programs V Version 11 4 Release Notes Rev A 99 8 1 Changes to V 10 x to 11 0 This chapter summarizes the new features in V version 11 0 Detailed descriptions of each change can be found in the cross references provided Note that all AIM applications running on V version 11 0 or 11 1 require AIM version 2 3 Summary of Changes General System Level Additions 1 The system processor now has a battery backed clock and calendar TIME monitor command and program instruction 1 High density 1 44Mb floppy disks are now supported IBM compatible 5 1 4 floppy disks are no longer supported FORMAT monitor command Seven tasks 0 6 are standard Twenty eight tasks are available with the V Extensions license A CPU activity profiler for 28 task systems is available with the V Extensions license PROFILER V2 utility A Software License feature has been added whereby software options are stored in each controller Software options are enabled at the factor
174. ves the same effect previously achieved by the nulling tolerance The introduction of hard and soft envelope errors eliminates the need for the envelope error limit V Version 11 4 Release Notes Rev A 55 New Menu Item for Maximum Torque in Manual Mode For non Adept robots the maximum torque in manual mode is limited to values of new parameters that you specify with Maximum DAC output in Manual mode which appears on the Motor amp encoder specs menu The suggested initial value is less than or equal to the value specified for Maximum DAC value New Menu Item for Collision Detection If collision detection have been enabled in the robot option word for the X Y 3 Z Theta robot a new menu item Collision detection clearance distances appears in the General Motion Specs menu This item allows you to view and modify the six values in the clearance distance data array New and Modified System Messages This appendix includes the new system messages for V version 11 3 It does not include the old messages that are modified due to changes in names of switch positions in the hardware released with this version In such messages the term terminal is now auto and the term pendant is now manual The V Language Reference Guide Rev B contains the modified messages Calibration program not loaded 425 Explanation program required for calibration has not been loaded from disk This error usually occurs if some of the calibration
175. y if the license is ordered with the system Software option upgrades can be user installed using the INSTALL command and an Adept supplied password printed on the software license document Multiple processors is an option Auxiliary processors can be configured to off load vision or servo processing or to add additional V runtime environments requires V Extensions license Task priority is now determined by a task time slice matrix CONFIG C V2 utility EXECUTE program instruction PRIME monitor command See User Task Configuration in the V Language User s Guide for details The AdeptMotion tuning program SPEC V2 can now save plot files in the TIFF format The vision system functionality has been enhanced The standard pointer interface is now a two button mouse although the three button mouse is still supported For a two button mouse The left button returns the same event as the middle button on a three button mouse V Version 11 4 Release Notes Rev A 101 Chapter 8 Changes to V 10 x to 11 0 102 The right button returns the same event as the right button on a three button mouse A left button event cannot be returned by a two button mouse When using the trackball on the Adept keyboard 1 The upper left button returns the same event as the left button on a two button mouse The upper right button returns the same event as the right button on a two button mouse The lower left butt
176. y path of interest Normally this parameter contains file names and backslash characters For disk devices the V system adds a backslash if one is not included at the end of a path specification Details This command is a synonym for typing default disk Refer to the DEFAULT command for information about specifying the path for a disk directory Examples To display the default path Type cd To change the default path to C TEST JOBS Type cd c test jobs Related Keyword DEFAULT monitor command V Version 11 4 Release Notes Rev A 85 Part 4 Notes for V Version 11 1 This section incorporates text from the original V Version 11 1 Release Notes but drops much of the material that has already been transferred to subsequent manuals V Version 11 2 Release Notes Rev A 87 Manual Updates This chapter summarizes new information that is not in the V version 11 0 Rev A manuals V Language User s Guide Inter Processor Communication on the VMEbus Multiple Processor Systems on page 145 discusses inter processor and inter system communication on the VMEbus S Curve Trajectory Generation Robot moves can now follow an S Curve speed profile as well as the traditional trapezoidal speed profile See S Curve Trajectory Generation on page 169 Changes in Floating Point Implementation On older Adept systems floating point calculations were implemented in software using the Motorola

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