Type Description
CONFIG_C.V2 a.config_c B Controller configuration utility
This topic accesses the configuration data on a V+ system disk, not the configuration data currently in system memory.
NOTE: The target V+ system should be compatible with the edition of CONFIG_C being used.
DISPLAY system CONFIGURATION
This option displays the configuration data on a specified V+ system disk.
EDIT system CONFIGURATION
NOTE: The configuration editor does not check to see whether your changes are con-sistent with system requirements. If the V+ system fails to boot after the configuration has been changed, you must boot from a different V+ system disk and then use CONFIG_
C to correct the configuration data problem(s) on the inoperable system disk.
After you select this option, the system asks for the drive that holds the operating system you want to change. After a drive is specified and the configuration data is read from the disk, the following submenu is displayed:
Configuration Editor
Choosing a specific section allows you to edit the statements for that part of the system. The statements are displayed as equations. The left-hand side of the equation specifies the item that you are configuring. The right-hand side specifies the attributes that the item can have and the value each attribute is given at system startup. The general form of each statement is:
ITEM # = "/ATTRIBUTE value /ATTRIBUTE value.../ATTRIBUTE value"
However, not all items have a number (#). Also, some items have only a value associated with them and not a list of attributes.
When you select a section, you are shown all the current statements in the section. You are then presented with each statement and given the opportunity to change that statement.
You can delete statements or add new statements to the configuration file. In general, the sequence of steps for editing configuration statements is:
1. Select a section from the edit system configuration submenu.
2. The program displays all the statements in the selected section.
3. The program displays statements one at a time, and asks if you want to edit each one.
You have three options:
l If you enter N, the next statement is displayed. If this is the last statement in a section, the program asks if you want to add a new statement.
l If you enter Y, the program asks if you want to delete the statement.
l If you respond Y to the delete prompt, the statement is removed from the configuration data.
l If you respond N to the delete prompt, the first attribute in the state-ment is displayed along with its current value and its possible values (or range of values).
To leave the value unchanged, press ENTER. To change a value, enter the desired value and press ENTER.
After you press ENTER, the next attribute and its values are displayed.
After all attributes have been presented for editing, the revised state-ment is displayed and you can reedit if necessary.
l If you select Q (or complete editing the last statement in a section), the pro-gram asks if you want to add a new statement to the configuration data. If you respond Y, a new statement is started and you can specify the appropriate attrib-ute values. If you respond N, the editing submenu is redisplayed.
CAUTION: You must save the modified configuration data on the system disk if you want the changes to be retained.
The options for the edit system configuration submenu are described below.
NOTE: There are often configuration statements for options that are not present in the controller. Such statements are ignored by V+ and do not need to be deleted.
Change HEADER configuration
The statement in this section cannot be changed.
Change VPLUS configuration
This section specifies which processors run a copy of the V+ interpreter. If an auxiliary processor is running only a servo or vision task, removing the V+ inter-preter from that processor saves RAM.
NOTE: The V+ Extensions license is required to run V+ on more than one CPU.
The left-hand side of each statement specifies PROCESSOR and a number. Proc-essor numbers are determined by the procProc-essor board address switches, not by their physical order in the backplane. See theAdept SmartController User's Guidefor details.
The right-hand side of the statement specifies the V+ system number to assign to the processor. The V+ system number and the processor number must be the same. To remove the V+ interpreter from a processor, delete the statement for that processor.
Change ANALOG_INPUT configuration
The left-hand side of each statement specifies BOARD and a number. Analog I/O board numbers are determined by the analog board address switches, not by physical order in the backplane. See theAdept SmartController User's Guide for details.
The analog input channels have two attributes, /TYPE and /MODE. The possible values for /TYPE are BIPOLAR and UNIPOLAR. If any of the ± voltage ranges (±5 V, ±10 V, etc.) are selected in the hardware setup, the software setup must specify BIPOLAR I/O. If a positive-only voltage range is hardware selected, the software setup must specify UNIPOLAR I/O. For input channels, all the channels on a board must have the same type selection.
The possible values for /MODE are single-ended and differential. Single-ended input uses the returned value of each input channel. Differential input uses the difference between returned values on pairs of input channels. The software setup must match the hardware setup.
Change ANALOG_OUTPUT configuration
The left-hand side of each statement specifies BOARD and a number, and PORT and a number. Analog I/O board numbers are determined by the analog board address switches, not by physical order in the backplane. Contact Adept Appli-cations for details. On each board, there are four analog channels, numbered 1 to 4. SeeAIO.OUTfor details on addressing the individual channels.
The analog output channels have one attribute, /TYPE. The possible values for /TYPE are BIPOLAR and UNIPOLAR. If any of the ± voltage ranges (±5 V, ±10 V, etc.) are selected in the hardware setup, the software setup must specify BIPO-LAR I/O. If a positive-only voltage range is hardware selected, the software setup must specify UNIPOLAR I/O. For output channels, BIPOLAR or UNIPOLAR can be selected for each channel independent of the selections for the other channels.
Change DIGITAL_INPUT configuration
The digital input configuration can contain 3 types of statements, POS_LATCH, VIS_TRIGGER, and SIGNAL.
POS_LATCH and VIS_TRIGGER statements
The POS_LATCH and VIS_TRIGGER statements define the V+ input signals that will be associated with latch/trigger number 1 or 2. These statements can have the following attribute:
/SIGNAL n
where 'n' is a standard V+ input signal number for the first signal in a byte. It must be set to match the input channel (1001, 1002, 1003, 1004, or NONE) that will be used.
For POS_LATCH statements, the position latch number specified must match the latch number specified with the ROBOT menu option (seeChange ROBOT configuration). For additional details, seePosition Latch and Vision Trigger. See LATCHfor details on reading latched encoder positions.
For VIS_TRIGGER statements, the hardware setup of the EVI module must match the vision trigger number specified. See theV.IO.WAITkeyword for details on using the vision trigger.
SIGNAL statement
SIGNAL statements associate eight external 1394-based hardware signals with eight V+ input signals. The number on the left-hand side of the statement iden-tifies the first V+ signal in the group. It must be 1001, 1009, ..., 1505 -- that is, 1001 plus Nx8, where N is 0, 1, 2, ..., 63. The /INPUT BLOCK, /INPUT BYTE, and
IO_OPTIONAL attributes are specified on the right-hand side of the /SIGNAL statement:
l /INPUT BLOCK n: n is the 1394 input block ID to be used for the input signals specified by /SIGNAL. n may range from 1 to 31.
l /INPUT BYTE m: m is the byte offset within the input block. It can have the following values (the default is zero):
Byte Bits
0 0 - 7
1 8 - 15
2 16 - 23
3 24 - 31
l /IO_OPTIONAL YES/NO: If this is set to YES, no error is generated if the input block is not found on the 1394 network. If this is set to NO, an error is generated and robot power cannot be enabled if the input block is not found. The default is NO.
Change DIGITAL_OUTPUT configuration
SIGNAL statements in this section associate external 1394-based hardware sig-nals with V+ output sigsig-nals. Each statement associates eight hardware sigsig-nals with eight V+ output signals. The number on the left-hand side of the state-ment identifies the first V+ output signal in the group. It must be 1, 9, ..., 505 -- that is, 1 plus Nx8, where N is 0, 1, 2, ..., 63. The /INPUT BLOCK, /INPUT BYTE, and IO_OPTIONAL attributes are specified on the right-hand side of the /SIGNAL statement to identify the hardware signals to be accessed.
l /OUTPUT BLOCK n: n is the 1394 output block ID to be used for the out-put signals specified by /SIGNAL. n may range from 0 to 31.
l /OUTPUT BYTE m: m is the byte offset within the output block. It can have the following values (the default is zero):
Byte Bits
0 0 - 7
Byte Bits
1 8 - 15
2 16 - 23
3 24 - 31
l /IO_OPTIONAL YES/NO: If this is set to YES, no error is generated if the output block is not found on the 1394 network. If this is set to NO, an error is generated and robot power cannot be enabled if the output block is not found. The default is NO.
Change DEVICENET configuration
The statements in this section provide configuration for digital I/O signals that are connected via the DeviceNet bus. Refer toDeviceNet Statements in V+ Con-figuration Datafor information about these statements. Before changing the configuration, use theScan the DeviceNet for nodesfunction to gather infor-mation required for the configuration.
NOTE:
- For an overview of the Adept DeviceNet implementation, seeAdept DeviceNet.
- For details on DeviceNet network status, use theDEVICENETmonitor command.
Change NETWORK configuration
The statements in this section provide configuration information for the Adept-Net option. Refer to theAdeptNet User's Guidefor information about these statements.
Change ROBOT configuration
This section specifies which kinematic module is associated with each robot and the parameters for position latches for each robot and/or belt encoder. The posi-tion latch funcposi-tionality available is determined by the V+ version installed on your system (seeLatching Functionality). To prevent V+ from wasting time processing latch events, do not add /POS_LATCH clauses unless you need to process latch information. Also, do not connect fast digital inputs to noisy or unstable sensors that continually generate latch events.
NOTE: The main-menu item "Robots and Device Modules" provides a more convenient method for configuring the robot kinematic-module selection.
However, that menu item does not provide access to the statement clauses related to output signals or position latching.
The left-hand side of each statement specifies ROBOT and a robot number. The ROBOT statement has the following attributes:
l /MODULE: The value of /MODULE depends on the kinematic modules installed in your system and robot types connected to the controller.
See theAdept SmartMotion Developer's Guide for details on selecting and specifying motion devices.
l /OUTPUT_BLOCK n: n is the 1394 output block ID to be used for the 3001 - 3008 output signals for this robot. n may range from 1 to 31.
l /OUTPUT_BYTE m: m is the byte offset within the output block and can have the following values:
Byte Bits
0 0 - 7
1 8 - 15
2 16 - 23
3 24 - 31
l /IO_OPTIONAL YES/NO: If this is set to YES, no error is generated if the input block is not found on the 1394 network. If this is set to NO, an error is generated and robot power cannot be enabled if the input block is not found. The default is NO.
l /POS_LATCHn:
In V+ 15.1 or later, the /POS_LATCH clause accepts multiple arguments which allows the system to recognize latch events from more than one source. For all systems (AWC-II and SmartController), latching can occur on the rising edge (positive) of the fast digital input transition from high to low (positive edge). On SmartController CX systems, latching can also occur on the falling (negative) edge of the fast digital input.
Multiple latch events from the same or different inputs may be buffered internally by V+ by adding the /LATCH_BUFFER clause to the ROBOT or BELT statement. For details, see/LATCH_BUFFERbelow. The source of a latch event can be determined by the return value from theLATCHED function.
For additional details, seePosition Latch and Vision Trigger.
NOTE: If you have an AWC-I controller, the /POS_LATCH clause is specified in the SERVO_BOARDS section instead of the ROBOT sec-tion. With AWC-II and SmartController systems, the /POS_LATCH clause is ignored if it is specified on the BOARD statements.
Latching Robot and Belt Channels
If you are using V+ 14.0 or later, you can latch either an entire robot or any belt channels independently. The robot axes and belt channels can be distributed among any combination of VME boards or 1394 axes as shown in the following example:
.ROBOT
ROBOT 1="/MODULE -1 /POS_LATCH 1"
BELT 1 = "/POS_LATCH 1"
BELT 2 = "/POS_LATCH 1"
BELT 3 = "/POS_LATCH 1"
/POS_LATCH Parameter Definition
V+ version Arg Description
15.0 n = 0 Latch is disabled
= 1 VME encoder latch sig-nal 1 latches all axes for the robot
= 2 VME encoder latch sig-nal 2 latches all axes for the robot
15.1 or later n = 0 Latch is disabled
= 1 VME encoder latch sig-nal 1 latches all axes for the robot
= 2 VME encoder latch sig-nal 2 latches all axes for the robot
V+ version Arg Description
V+ version Arg Description
NOTE: If no signal is specified for the /POS_LATCH clause, this clause is not included in the ROBOT or BELT statement.
Configuration Restrictions for POS_LATCH Clauses
Because of hardware restrictions, some POS_LATCH configurations must not be specified. The combinations shown in the following table are not allowed and will generate the error *Invalid software con-figuration* at system startup. This error disables all latching for all inputs, but other than that the V+ system is totally functional.
Invalid POS_LATCH Configurations If the .ROBOT or
.DI-GITAL_INPUT section of CONFIG_C contains...
then, the .ROBOT or .DI-GITAL_INPUT sections MUST
VIS_TRIGGER 1 POS_LATCH 1003 or
or
NOTE: This clause is available only with V+ version 15.1 or later.
The /LATCH_BUFFER clause provides improved response time for latch triggering. With unbuffered latching, a single latch source can be retrig-gered about every 8 milliseconds. If the /LATCH_BUFFER clause is spec-ified with n > 1, a single latch can be triggered every 1 millisecond on an AWC-based controller and possibly every 200 microseconds on a Smart-Controller.
The value n specified for /LATCH_BUFFER indicates the number of latch events that are buffered for this robot or belt. For example, to configure belt 1 to be latched by a positive transition on signal 1002, and both pos-itive and negative transitions on signal 1003, and buffer up to 16 latch events, use the statement:
BELT 1 = "/POS_LATCH 1002 1003 N1003 /LATCH_BUFFER 16"
The value range for n is 1 to 200. The value specified determines the number of events that will be saved before the user program calls the LATCHED () function. If more than n events occur before LATCHED() is called, the latest events are not recorded. Calling LATCHED() removes an event from the buffer and allows an additional event to be recognized.
If n=1, then the /LATCH_BUFFER clause is not included in the ROBOT or BELT statement.
For additional information on latch buffering, seePosition Latch and Vision Trigger.
Change SERIAL configuration
This section specifies the communications protocols and parameters for various serial data communications hardware and software.
The left-hand side of each statement specifies either GLOBAL_PORT (for the global serial lines available on the SIO board or SmartController CX) or LOCAL_
PORT (for the local serial lines available on the processor or SmartController).
The global serial lines can be accessed by all processors. The local serial lines can be accessed only by the processor they are attached to. Each GLOBAL_PORT has a number that refers to the serial port number (port #4 is the FP/MCP con-nection). Each LOCAL_PORT has a number that corresponds to the processor number, and a number that refers to the serial port number on the processor.
The processor number is determined by an address switch on the processor board (see theAdept SmartController User's Guide).
GLOBAL_PORTs and LOCAL_PORTs have the following attributes: /DRIVER, /SPEED, /BYTE_LENGTH, /PARITY, /STOP_BITS, /FLOW, /FLUSH, /DTR, /MU-LTIDROP, and /BUFFER_SIZE. SeeSerial and Disk I/O Basicsfor general details
on serial I/O. See the documentation on any serial devices you may be using for details on the correct settings. Most serial I/O settings can also be changed at runtime with the FSET monitor command or program instruction.
CAUTION:For each of the following pairs of serial ports on the SIO module or SmartController CX, the baud rate 19200 cannot be used for one of the ports if baud rate 7200 or 38400 is used for the other port in the pair:
GLOBAL_PORT 1 and GLOBAL_PORT 4 GLOBAL_PORT 2 and GLOBAL_PORT 3
Change SERVO_BOARDS configuration
NOTE: The SERVO BOARDS configuration section only applies to Adept MV Controller-based systems.
This selection associates servo interface boards (EJI, MI3, MI6, or VFI) with processor boards. In multiprocessor systems, you may elect to run the servo task for a given servo board on any of the processor boards in the system.
The left-hand side specifies BOARD and a number. The servo interface board numbers are determined by the board address switches, not by physical order in the backplane. See theAdept MV Controller User's Guide for more details.
The BOARD statement can have two attributes: /PROCESSOR and /POS_
LATCH. The /PROCESSOR attribute specifies the processor that runs the servo task for this servo board. The value of /PROCESSOR is a list of processor numbers. The system looks through the list and associates the servo board with the first installed processor that is in the list. For example, if the attribute
"/PROCESSOR 3|2|1" is specified, the servo board is associated with processor 3 if it is installed, processor 2 if processor 3 is not installed, or processor 1 if proc-essors 3 and 2 are not installed.
The /POS_LATCH attribute specifies which (if any) high-speed backplane sig-nals each servo board uses for latching robot and encoder positions. The back-plane Position Latch signals can be triggered from either the CIP (configured with the DIGITAL_INPUT menu option; seeChange DIGITAL_INPUT con-figuration) or from a vision (EVI) board (configured using the V.STROBE system switch or the ADV_CAL.V2 utility program).
NOTE: For AWC-II and SmartControllers, the /POS_LATCH attributes are specified in the ROBOT configuration section. Therefore, the system will ignore any /POS_LATCH clauses in the SERVO_BOARDS section.
Change SYSTEM configuration
This section specifies various characteristics of the V+ system.
CONTROLLER_ID ID string to allow a host to connect to the V+ con-troller. The ID string can be up to 16 characters in length and must be enclosed in quotes (example: "id_
string")
The default value is null. If the CONTROLLER_ID is null, any host can connect to the V+ controller. If a value is specified, the host must supply a matching ID or its connection requests are ignored.
The default value is null. If the CONTROLLER_ID is null, any host can connect to the V+ controller. If a value is specified, the host must supply a matching ID or its connection requests are ignored.