Type Description
SAFE_UTL.V2 a.safe_utl B Commission robots that
sup-port Category-3 safety require-ments.
Overview
In V+ version 15.2 or later, the SAFE_UTL program automatically loads the Cat-3 Safety Commissioning Utility when it detects a robot that supports Category-3 safety requirements (ISO 10218 and EN954).
NOTE: For additional details on safety commissioning and safety pro-cedures, refer to the hardware documentation for your robot. Currently, SAFE_UTL only supports Cat-3 commissioning for AdeptSix 600 robots.
The commissioning process is performed in two phases:
Phase 1 Detects the robot type and initializes the safety parameters for the V+ system. After this step, the system must be rebooted to load the new parameters.
Phase 2 After the system reboots, the SAFE_UTL program steps through the safety commissioning process providing on-screen instructions for each step. The process performs various safety function checks such as testing the servo E-STOP channel and the hardware and software over-speed check in both MANUAL and AUTO modes. If the system meets all safety requirements, the safety commissioning flag is set and saved to the V+ system. When the system is rebooted, a message is displayed confirming that the robot is configured for Category-3 safety requirements as illustrated in the following figure:
Requirements
The following items are required to run the Cat-3 safety commissioning process:
l Adept SmartController CS or CX controller
l V+ system software, version 15.2 or later
l One uncommissioned robot (in multi-robot systems, only one robot can be uncom-missioned)
l The V+ operating system must recognize the robot (valid RSC installed on robot)
l An MCP-4 must be connected
l The robot/hardware must support Category-3 safety requirements. For an AdeptSix robot, the DAP/MAI hardware must be used.
Usage Considerations
If the system detects more than one uncommissioned robot, the SAFE_UTL program will abort.
Related Topics
SAFE_UTLutility program
SFUTIL
SFUTIL
File Name Program Name File
Type Description
SFUTIL.V2 a.sfutil B Utility for working with data
for the MOVEF/MOVESF instructions
Overview
Experimentally determine the parameters for the dynamic model of an AdeptOne-MV, Adept-Three-MV, AdeptOne-XL or AdeptThree-XL robot, which are used by the MOVEF and MOVESF instructions to predict the speed and acceleration of the robot.
Display the sets of parameters for the dynamic model that are initialized.
Save and load all the configuration data for the robot (including the parameters for the dynamic model) to and from a disk file.
Save the dynamic model data for the robot to a V+ system disk.
For robot systems with the HyperDrive option, the MOVEF and MOVESF instructions drive the robot through a three-segment pick-and-place motion at the optimum speed and accel-eration. These instructions rely on a built-in dynamic model of the robot in order to estimate the maximum speed and acceleration that drive the robot in the shortest amount of time without violating the maximum motor torque specifications. For robot applications that require high-speed motions, these instructions allow programs to be written that operate the robot at near-optimum cycle times without the need for manual speed tuning.
Although the form of the dynamic model of the robot is fixed by the design of the robot, the parameters for the model depend on the specific robot and its tooling and payload. The SFU-TIL program provides an automatic method for experimentally deducing the parameters of the dynamic model, based upon the results of moving the robot at various speeds in a small region of the workspace.
Because of manufacturing variations between robots, this procedure must be performed on each robot. Also, the procedure must be done for each combination of tooling and payload that the robot will carry. This procedure is simple to execute, must be done only one time for each payload, and requires only about 10 minutes to determine one set of dynamic model parameters.
Once a set of dynamic model parameters is determined, this utility allows you to per-manently store the computed values, along with a short description, on the system disk.
This utility also displays the descriptions of the data sets that have been stored and provides for writing/reading the full set of configuration data for the robot to/from a disk file.
SFUTIL
Requirements
You need the following items to run SFUTIL:
l AdeptOne-MV, AdeptThree-MV, AdeptOne-XL, or AdeptThree-XL robot system with the HyperDrive option
l Robot end-effectors and payloads that are to be modeled
l Copy of the system diskette if the system is booted from a floppy diskette. (If required, use the DISKCOPY utility program to make a copy of the distribution system diskette.) Before you can run SFUTIL:
l The robot must be calibrated and COMP mode must be selected on the manual control pendant.
l No program must be running in the main execution task (#0) or in execution task #1.
Usage Considerations
If you make any change to your V+ system disk, you should clearly mark the system disk to indicate that it has been modified for your specific robot configuration. It is advisable to make a backup copy of the modified system disk. The DISKCOPY utility can be used for that pur-pose.
The SFUTIL.V2 utility defines many real-valued variables with the prefixes sf. and sp. that must not be modified by you or by other programs. (All these variables are deleted from mem-ory when the program completes execution normally or when a DELETE command is used to delete the program from memory.)
Menu Structure
The SFUTIL utility program displays a menu of selections. The following sections describe the menu items.
Menu Description
Determine robot's dynamic model parameters
Initiates the procedure for automatically determining the param-eters of the dynamic model of the robot.
Show description of defined dynamic models
Displays the sets of dynamic parameters that have been defined by executing the automatic procedure.
Save robot spec-ifications to a disk
Writes all the configuration data associated with the (primary) robot to a disk file.
SFUTIL
Reads a data file that was created by the previous menu selection, and overwrites the data in memory with the data contained in the disk file.
Save system spec-ifications to system disk
Stores the robot specification information that is contained in the system memory to the system disk.
NOTE: To exit the program at any prompt, press CTRL+Z.