Type Description
CONFIG_C.V2 a.config_c B Controller configuration utility
After you have scanned the nodes on the DeviceNet bus, you can use the information from the scanning process to configure the components in V+. If you are still in the CONFIG_C gram, you can simply go back to the main menu. If not, load and execute the CONFIG_C pro-gram.
NOTE: The examples presented here are based on the WAGO I/O System 750-306 as a slave on the DeviceNet bus. If you use other DeviceNet equipment, you must ask your DeviceNet vendor for the correct process image of your components.
The following figure shows a typical configuration for the mapping of three digital inputs and one output on the DeviceNet bus to V+ input signals 1033, 1034, and 1035 and V+ output signal 33. The configuration is specific to the WAGO I/O System 750-306 block. The con-figuration statements are described in detail below.
Typical DeviceNet Configuration for Digital Input and Output
To modify the DeviceNet configuration data, do the following from the main menu in the CONFIG_C program:
1. Select:
V+ System Configuration Data (#2) 2. From the displayed menu, select:
EDIT system CONFIGURATION (#2)
3. Enter the letter for the drive that contains your system data. For example, enter D for the Compact Flash in the AWC module.
4. Select:
Change DEVICENET configuration (#6)
The program displays the current configuration statements if there are any. (The V+
system is supplied by Adept with no DeviceNet configuration statements.) If there are no statements, you must add the appropriate statements. Otherwise, you can modify the existing statements as required for changes to your DeviceNet setup.
LOCAL Statement
The LOCAL statement in the DeviceNet configuration specifies the MAC ID of the Adept con-troller on the DeviceNet bus. The default setting is 0. Set the MAC ID so that all the nodes on the bus have different MAC IDs.
This statement also defines the baud rate of the DeviceNet scanner. The baud rate depends on multiple factors, such as the length of the DeviceNet cable, the DeviceNet components on the bus, etc.
Syntax of the LOCAL statement:
LOCAL = "/MACID local_id /BAUD baud_rate"
Parameters:
Parameter Description Range
local_id MACID for the Adept controller on the bus 0 - 63
baud_rate The baud rate to be used on the DeviceNet 125K, 250K, or 500K
MACID Statement
The MACID statement defines the parameters for a node on the bus. The DeviceNet scanner uses this information to communicate with each node. There must be a MACID statement for every node (for example, each I/O coupler) that the V+ system is to access.
Except for the /DISABLE_POWER parameter, which you can set as you wish, the values for all the parameters should be taken directly from the results of scanning the DeviceNet. Refer to:
Config_C > scan the DeviceNet Syntax of the MACID statement:
MACID node_macid = "/INPUT in_bytes /OUTPUT out_bytes /VENDOR_ID vend_num /DEVICE_TYPE dev_num /PRODUCT_CODE prod_num
/DISABLE_POWER pow_switch"
Parameters:
Parameter Description
node_macid MACID number of the node on the bus (0 to 63). 0 is the default; -1 will cancel.
NOTE: Adept recommends that you not use 63 as a MACID, because some manufacturers use this as a general broadcast node.
in_bytes Number of data bytes of input from the node (0 to 256) out_bytes Number of data bytes of output to the node (0 to 256)
vend_num Vendor identification number, assigned by ODVA. Use the number that the scanning process found.
dev_num Device number of the node. Specifies the type of the node, for instance an I/O block.
prod_num Specified by the DeviceNet vendor.
pow_switch Either YES or NO. The default value is NO. If set to YES, robot power can-not be enabled if the specified node is offline, and robot power is turned off if the node ever goes offline.
NOTE: The values of the /VENDOR_ID, /DEVICE_TYPE, and /PRODUCT_CODE param-eters are not currently used by the V+ system.
MAPPING Statement
The MAPPING statement is used to map the digital inputs and outputs of a node to the appro-priate V+ signals. This part of the DeviceNet setup requires that you define the way the con-nected nodes organize their I/O data in messages to and from V+. Refer to the
documentation of your DeviceNet vendor for this information.
Syntax of the MAPPING statement:
MAPPING map_index = "/MACID node_macid /BYTE byte_num /BIT bit_num
/BIT_LENGTH bit_len /SIGNAL sig_num"
Parameters:
Parameter Description
map_index This is an integer that is used as an index for mapping DeviceNet infor-mation to V+ (1 to 100).
node_macid MACID number of a selected node on the bus (0 to 63).
byte_num Start reading/writing data at the specified byte number (1 to 32; for V+
version 16.0 and later running on SmartController systems, using CON-FIG_C version 16.4 edit B4 or later, the allowed values are 1 to 64).
bit_num Start reading/writing information at the specified bit number in the spec-ified byte (1 to 256; for V+ version 16.0 and later running on Smart-Controller systems, using CONFIG_C version 16.4 edit B4 or later, the allowed values are 1 to 512).
bit_len Number of bits to read/write (1 to 256; for V+ version 16.0 and later run-ning on SmartController systems, using CONFIG_C version 16.4 edit B4 or later, the allowed values are 1 to 512).
sig_num Starting number of a range of V+ signals that receive/transmit status information from/to the selected node. The range is specified by the value of bit_len.
This number establishes whether the bits being mapped are for input or output. If the number is for a V+ input signal (1001 through 1512), the bits are used for inputs. If the number is for a V+ output signal (1 through 512), the bits are used for outputs.
1. First, select the DeviceNet component to which to write information with the param-eter /MACID in the MAPPING statement.
The following example shows that V+ writes information to /MACID 1, which is the WAGO I/O block that was previously configured with the MACID 1 statement.
2. The /BYTE parameter defines the start byte of the DeviceNet Output stream to the I/O block.
3. After defining the start byte of the data stream, the /BIT parameter specifies the first bit that is mapped to a V+ signal.
The /BIT_LENGTH parameter defines how many bits to map to V+ signal numbers. In the MAPPING 1 statement the parameter /BIT_LENGTH has the value 1. This means
that exactly one bit is mapped to one signal, starting with the signal number given in the /SIGNAL parameter.
4. The /SIGNAL parameter specifies the starting number of a sequence of V+ signals.
The following example shows the mapping of V+ signals 33, 1033, 1034, and 1035 to digital I/Os on the DeviceNet.
l The MAPPING 1 statement maps one digital output on the WAGO I/O block to one dig-ital I/O signal in V+.
l In the MAPPING 2 statement the parameter /BIT_LENGTH has the value 3, which means that three signals, starting with signal 1033, are mapped.
Current statements in the DEVICENET section:
MAPPING 1 = "/MACID 1 /BYTE 2 /BIT 2 /BIT_LENGTH 1 /SI-GNAL 33"
MAPPING 2 = "/MACID 1 /BYTE 2 /BIT 2 /BIT_LENGTH 3 /SI-GNAL 1033"
Example of DeviceNet Bit Mapping in V+
The information about how many bytes V+ reads from the DeviceNet bus and how many it writes is specified in the MACID statement. These values are typically found while scanning the DeviceNet bus with the CONFIG_C program.
Related Utilities
MAC ID
Input Size
Output Size
Vendor ID
Device Type
Product
Code Status
DC_SETUP
DC_SETUP
The DC_SETUP utility has different menu options depending on the V+ version installed.
File Name Program Name File
Type Description
DC_SETUP.V2 a.dc_setup B Distributed-control
con-figuration utility for Adept 1394-based robot systems
Overview
The DC_SETUP utility provides an interface for setup and configuration of a 1394-based robot system. This utility allows you to:
l Perform a quick setup of the SmartModules, Python Modules, or MotionBlox system
l Set up calibration data for 1394-based robot systems
l Perform hardware diagnostics
l Enable the adaptive feedforward control option on individual linear modules
l Store all system specifications to the system disk
l Access the SPEC utility
l Configure robot gadgets and options
l Configure digital input/output (DIO)
Requirements
To configure modules using DC_SETUP:
l You must be connected to a 1394-based robot system.
l To run quick setup (for linear modules), your system must be configured with the device modules "LM - [32] Linear-Module Robot Module" or "ELM - [33] Enhanced Lin-ear-Module Robot Module" using the "Robots and Device Modules" option of the CON-FIG_Cutility. See theSmartMotion Developer's Guidefor more information on the setup of robot and device modules.
Usage Considerations
The DC_SETUP utility can be used in place of the SPEC utility to configure a 1394-based robot system. The DC_SETUP utility limits the choices that the user has, unlike SPEC, which offers the user a much more extensive menu of configuration choices.
DC_SETUP
Note that, for a system that contains both VME axes and SmartModules, the menus for both the "AdeptModules quick setup" and the "SmartModules/hybrid quick setup" will display. Cur-rently, the Adept (VME-based) Z-Theta module setup is NOT supported due to a dual-encoder mapping requirement for the Theta axis. Therefore, to configure a pure AdeptModules (VME-based) robot, select "AdeptModules quick setup".
NOTE: DC_SETUP does not support SmartAmp/MotionBlox mixed systems in a single robot configuration.
For the quick setup option, a configuration page is created right after the calibration setup that allows the user to enable/disable adaptive feedforward control. If the calibration setup succeeds, the configuration page is displayed. Otherwise, it is skipped. Note that, by default, the servo's internal setting for adaptive control is OFF. Therefore, the user must explicitly turn it ON, if desired. When the new setting is saved to the boot disk, the new setting will take effect when the system is restarted.
For quick setup, the SmartAmp system configuration will prompt the user to enable/disable the Adaptive Feed Forward (AFF) control. This option is omitted for MotionBlox-10 systems, which automatically enables the AFF control. Use the tuning parameters menu in SPEC to modify this option.
Menu Structure
To access the DC_SETUP main menu, follow theLoading and Executing Adept Utility Pro-gramsprocedure. Once DC_SETUP is initialized, the main menu is displayed.
DC_SETUP
DC_SETUP Utility Menu
A brief description of each menu item is provided in the table below. Detailed descriptions of each menu item are provided in the sections following the table.
Some menu items will vary depending on how DC_SETUP was invoked, and what robots are connected to the Adept controller.
Menu Description
Exit to system monitor
Exits to the V+ dot prompt.
Back to Spec Returns to theSPEC utility.
Configure Mod-ules/Servo Kits/Hybrid
Opens the Configure Modules / MotionBlox menu, which is used to configure a SmartModule, Python Module, or MotionBlox system.
DC_SETUP
Menu Description
Configure DIO input/output blocks
Opens the I/O block configuration page, which is used to configure the digital I/O for your system.