RSC_RSTR SAFE_UTL SFUTIL SPEC
CONFIG_C
CONFIG_C
File Name Program Name File
Type Description
CONFIG_C.V2 a.config_c B Controller configuration utility
The CONFIG_C utility provides access to the following functions:
l V+ System Installation
The installation option installs a new V+ system, configuring it to match the sys-tem being replaced.
l Display and edit system configuration
The V+ system includes configuration data stored in a special system file. The CON-FIG_C utility lets you edit this file. Each time the controller is restarted, the sys-tem reads the stasys-tements in the configuration file and sets the appropriate defaults.
l Display and modify device modules for robots
The Robots and Device Modules options allow you to change the kinematic device-control modules included in the V+ system and the robots that are device-controlled by the system.
l Display and initialize the NVRAM contents
The NVRAM section displays and initializes the NVRAM, which is read each time the controller is powered up. The NVRAM need only be initialized if it has become cor-rupted, or if the device has failed and been replaced. Currently, CONFIG_C cannot be used to initialize the (pseudo) NVRAM for the SmartController.
l Display information about the devices connected to the DeviceNet
The Adept Utility program CONFIG_C supports configuring the DeviceNet and map-ping the DeviceNet hardware to the appropriate V+ signal numbers.
For a description of these functions and specific information on each CONFIG_C menu option, please refer toMenu Structurefor further details.
NOTE: Changes to the system configuration do not take effect until the V+ system is loaded from the modified system file.
Requirements
The following items are needed to run CONFIG_C. All of these (except as indicated) were sup-plied with your Adept system:
CONFIG_C
l Adept SmartController, using V+ version 16.0 or later
l V+ CD-ROM containing the utility files CONFIG_C.V2, DISKCOPY.V2, and SPEC-SUB.LIB (or copies of the files on the Compact Flash).
Before you can run CONFIG_C:
l The V+ system must be loaded.
l If you are using a robot system, the robot must be calibrated and COMP mode must be selected on the manual control pendant.
or
The DRY.RUN system switch must be enabled.
or
The program can be executed in a program task other than #0.
Usage Considerations
l System configuration changes do not take effect until the V+ system is loaded from the modified system file. Thus, after making all the desired changes to the con-figuration, turn off power to the controller and reboot the system from the modified system file.
l Adept recommends making a backup copy of the modified V+ system. TheDISKCOPY utility can be used for that purpose.
l If the V+ configuration file contains statements for hardware or options that are not installed in the system, the extra statements are ignored and can be left in the con-figuration file. For example, the concon-figuration file may contain statements for four analog input boards although the system may have only two boards installed.
l Not all items in the configuration file can be changed. Items that cannot be changed by the configuration utility are noted as such when they are displayed.
l The configuration program defines many real-valued and string variables with cf., dc., it., iu., ld., and sp. as prefixes. These variables must not be modified by you or by other programs. (All the variables are deleted from memory when the program exits normally. All the variables are deleted when a DELETE command is used to delete the program from memory, as described earlier.)
l If the DISKCOPY utility is not already in memory when the V+ installation menu item is first selected, the CONFIG_C program automatically loads DISKCOPY into memory.
If you later attempt to load DISKCOPY while CONFIG_C (and DISKCOPY) is still in mem-ory, you will see many *Program already exists* errors, which can be ignored.
l The system must be booted from a local disk (A, B, C, or D) in order to access the fol-lowing CONFIG_C program menu items:
V+ System Configuration Data Robots and Device Modules
CONFIG_C
If you attempt to access the above menu items after booting from the network, the following message is displayed:
** Cannot access data **
l The CONFIG_C.V2 file is a protected binary file. Thus, the programs in the file cannot be displayed, edited, or stored from memory to disk. The file can be copied with the FCOPY monitor command or the DISKCOPY utility program.
CONFIG_C
Menu Structure
Menu Description
EXIT to system monitor Exits the CONFIG_C utility and returns to the sys-tem monitor.
Installation The options under this menu item are used when upgrading a V+ system.
SAVE current ROBOT DATA Saves configuration data files for the robots and external encoders that the current V+ system is configured to control.
INSTALL a NEW V+ SYSTEM Copies the new V+ system to the desired output disk drive and then duplicates the system con-figuration from the old V+ system on the new V+
system disk.
APPLY saved ROBOT DATA Applies the saved robot and encoder data from the old V+ system to the new V+ system disk.
V+ System Configuration Data Accesses the configuration data on a V+ system disk
DISPLAY system CON-FIGURATION
Displays the configuration data on a specified V+
system disk.
EDIT system CON-FIGURATION
Allows editing of the following system configuration settings.
Change HEADER con-figuration
The statements in this section cannot be changed.
Change VPLUS con-figuration
Specifies which processors run a copy of the V+
interpreter.
Change ANALOG_INPUT configuration
Changes the input voltage configuration of Analog I/O board. board numbers are determined by the analog board address switches, not by physical order in the backplane.
Change ANALOG_OUT-PUT configuration
The left-hand side of each statement specifies
CONFIG_C
Menu Description
BOARD and a number, and PORT and a number.
Analog I/O board numbers are determined by the analog board address switches, not by physical order in the backplane
Change DIGITAL_INPUT configuration
Sets up the digital input signal numbers. They should be set to match the input channel (1001, 1002, 1003, 1004 or NONE) that will be used.
Change DIGITAL_OUT-PUT configuration
Sets up the digital output signal numbers. They should be set to match the output channel that will be used.
Change DEVICENET con-figuration
For additional information about the Adept Device-Net environment and details on hardware con-figuration, see theAdept SmartController User's Guide.
Change NETWORK con-figuration
Provides configuration information for the Adept-Net option.
Change ROBOT con-figuration
Specifies the following:
l kinematic module associated with each robot
l latch parameters for belts and robots
l settings for 1394 digital input signals used as I/O signals for each robot
Change SERIAL con-figuration
Specifies the communications protocols and param-eters for various serial data communications hard-ware and softhard-ware.
Change SERVO_
BOARDS configuration
Associates servo interface boards (EJI, MI3, MI6, or VFI) with processor boards.
Change SYSTEM con-figuration
Specifies various characteristics of the V+ system.
Change TASKS con-figuration
Allows changing of the default TASKS con-figuration. Operation of the V+ system can be
CONFIG_C
Menu Description
adversely affected by incorrect settings of task priorities.
Change VISION con-figuration
Associates a vision system with a processor and sets the vision memory allocation and the virtual frame buffer size.
EXPORT configuration DATA Copies the systems configuration data to a regular disk file or network file.
IMPORT configuration DATA This operation reads V+ system configuration data from a disk file and writes the data to a V+ system disk.
Robots and Device Modules See theDevice Module documentationfor more information on device modules.
LIST current
CON-FIGURATION of system file
Reads and displays current configuration of your system.
LIST device modules in a device-module FILE
Lists device modules that are present in the device module file for the current system.
REPLACE device modules in system file
Replaces system file device modules by reading device modules from a disk file.
APPEND device modules to system file
Reads device modules from a disk file and append them to a system file device module.
SELECT device modules for robots
Associates a device module with a selected robot.
Controller NVRAM This option allows setup of the system NVRAM within the controller.
DISPLAY NVRAM contents Displays model, serial number, network IP address, and a list of installed options.
INITIALIZE the NVRAM Initializes the NVRAM on the AWC processor. Done only when a replacement NVRAM has been installed on the processor.