For optimal viewing and navigation, please use the HTML version of this document, which can be accessed from the Adept Document Library.

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Instructions for Adept Utility Programs

This is a PDF/print version of the Instructions for Adept Utility Programs online doc-umentation. A Table of Contents is provided so that you can locate the desired topics. Because the Instructions for Adept Utility Programs was designed for online viewing, there may be slight formatting anomalies in the PDF/print version. Additionally, links to external documents will not work in the PDF file.

For optimal viewing and navigation, please use the HTML version of this document, which can be accessed from the Adept Document Library.

NOTE: Please see the V+ Release Notes, which are included with your V+ software, for a description of any recent changes.

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Copyright Notice

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. The documentation is periodically reviewed and revised.

Adept Technology, Inc., assumes no responsibility for any errors or omissions in the documentation. Crit-ical evaluation of the documentation by the user is welcomed. Your comments assist us in preparation of future documentation. Please submit your comments to:[email protected].

Adept, the Adept logo, the Adept Technology logo, AdeptVision, AIM, Blox, Bloxview, FireBlox, Fireview, Meta Controls, MetaControls, Metawire, Soft Machines, and Visual Machines are registered trademarks of

Adept Technology, Inc.

Brain on Board is a registered trademark of Adept Technology, Inc. in Germany.

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Introduction to the Adept Utility Programs

Overview

Notes, Cautions, and Warnings

Conventions

Typographic Conventions

Keyboard Conventions

Selecting, Choosing, and Pressing Items

Listing of Utility Programs

Types of Program Files on the V+ CD-ROM

ASCII Files

Binary Files

Read-Only Files

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Overview

This manual describes the utility programs available in the UTIL (utility) directory on the CD-ROM for V+ version 17.0 and later, and on the controller CompactFlash drive (D:). For each utility, the following information is provided:

l A list of the equipment and conditions required to use the program l A detailed description of the procedure for using the program l Explanations of program requests for input from the user l Any special considerations that apply to the program

NOTE: The programs described in this manual have been tested by Adept Technology to verify that they perform their intended functions. However, Adept Technology assumes no responsibility for any errors or omissions in the programs or in this support doc-umentation, nor for the results of any modification of the programs by you.

Danger, Warning, Caution, and Note

There are six levels of special notation, which may be used in this manual. In descending order of importance, they are:

DANGER: This indicates an imminently hazardous electrical sit-uation which, if not avoided, will result in death or serious injury.

DANGER: This indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury.

WARNING: This indicates a potentially hazardous electrical sit-uation which, if not avoided, could result in injury or major damage to the equipment.

WARNING: This indicates a potentially hazardous situation which, if not avoided, could result in injury or major damage to the equip-ment.

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Conventions

CAUTION: This indicates a situation which, if not avoided, could result in damage to the equipment.

NOTE: This provides supplementary information, emphasizes a point or procedure, or gives a tip for easier operation.

Conventions

Typographic Conventions

The following typographic conventions are used throughout this manual:

This Represents

ALL CAP-ITALS

V+ file names, directory names, commands, keywords, and attributes; also acronyms.

A physical key or button that you must press, such as the Y, N, ENTER, and CTRL keys.

monospace Monitor displays and code examples.

bold

bold/re-gular

Bold type is used for subroutine names, variable names, and program names, such as 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.

In typing or entering instructions, anything that you must 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 typ-ing, you must conclude your entry by pressing the ENTER or RETURN key. Place holders, in formal syntax definitions, for information that you provide. You must replace such a place holder, written in bold weight, but need not replace an optional one, which is written in regular weight.

italics Indicates new terms and other emphasized words. Initial

Cap-itals

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Listing of Utility Programs

This Represents

box component. Examples are the Display menu and the Task Profiler win-dow.

"Quotation marks"

Menu items, prompts, or any literal text that is being referenced.

Keyboard Conventions

Key combinations appear in the following format:

Notation Meaning

KEY1+KEY2 A plus sign (+) between keys means that you must press and hold down KEY1, then press KEY2. For example, "Press CTRL+Z" means that you press CTRL and hold it down while you press Z.

Selecting, Choosing, and Pressing Items

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 picking a radio button. Selecting alone does not initiate an action.

Choosing an item carries out an action. For example, choosing a menu item may open a win-dow 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 must select an item before you can choose it.

Often you can use a combination of keyboard and mouse techniques for selecting and choos-ing.

Pressing refers to physical buttons or keys. For example, you press the save key or press the ENTER key. By contrast, you select or choose a window button.

Listing of Utility Programs

The following table provides the file name, description, application, utility type, and file type for the Utility Programs. In the File Type column, B = Binary, A = ASCII, and R = Read-Only. SeeTypes of Program Files on the V+ software CD-ROMfor a description of file types.

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File Name Description of

Con-tents Option/Application Utility Type

File Type

ABS_ENC.V2 Absolute encoder utility for the AdeptVicron robot

AdeptVicron robot Robot Con-figuration

B

ADV_CAL.V2 Calibrates stand-alone and robot-mounted cam-eras

AdeptVision Vision B

ADVSERVO.LIB Library of subroutines that allow robot control outside the normal V+ command set. See the

Advanced Servo Library Reference Guidefor details.

all Adept Controllers Robot/Motion Library

B

ADV_USER.V2 Callable routines for using calibration data from ADV_CAL

AdeptVision Vision A

BELT_CAL.V2 Calibrates moving belts all Adept Controllers Robot/Motion R CFG_COBR.V2 Modifies calibration data

for Adept Cobra 600/800 robots Adept Cobra 600/800 robots Robot Con-figuration B

CONFIG_C.V2 Configures controller-based system features

Adept Controllers Controller Configuration

B

DC_SETUP.V2 Setup and calibration util-ity for Adept Smart-Modules, Python Smart-Modules, and MotionBlox systems; configuration and cal-ibration utility for Smart-Servo systems

Adept SmartServo Robot Con-figuration

B

DISKCOPY.V2 Copies diskettes, V+ sys-tems, and manipulates

all Adept Controllers General B Utility Programs

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File Type

disk files

DUTY_CYC.V2 Monitors the robot duty-cycle values

AdeptThree-XL robot Robot/Motion B

EDITICON.V2 Icon editing utility All Adept controllers with a graphical user interface

General B

FAULTLOG.V2 Reads, stores, and clears the fault log file on a SmartServo system (1394-based servo prod-ucts)

Adept SmartServo Robot Diagnostic

B

FORMAT.V2 Formats the hard disk or CompactFlash card (which erases the entire contents)

all Adept Controllers General B

FTP_CLNT.V2 Utility for AdeptFTP client functions

AdeptFTP Client/Server

Network B

FTP_SRVR.V2 Utility for AdeptFTP server functions

AdeptFTP Client/Server

Network B

LOADAREA.V2 Callable routine for load-ing stored area vision cal-ibration

AdeptVision Vision A

LOADBELT.V2 Callable routine for load-ing stored belt calibration data

all Adept Controllers Robot/Motion A

LOADICON.V2 Callable routine for load-ing graphics icons into memory

All Adept controllers with a graphical user interface

General A

LOADTCH.V2 Callable routine for load-ing stored touchscreen

System controller with touchscreen

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File Type

calibration

PROFILER.V2 Monitors CPU usage All Adept controllers with a graphical user interface

General B

RSC_RSTR.V2 Maintenance utility for robot RSC

all Adept robots that have an RSC

Robot Con-figuration

B

SAFE_UTL.V2 Tests and commissions CAT3 hardware

all Adept robots that have CAT3 hardware

Robot Con-figuration

B

SFUTIL.V2 Works with data for MOVEF/MOVESF instruc-tions

all Adept Controllers, AdeptOne or Adept-Three robot

Robot/Motion B

SLMOTION.V2 Emulates MOVES while avoiding robot sin-gularities

Adept Viper robot Robot/Motion B

SM_CAL.V2 Performs the one-time factory calibration for SmartModules and Python Modules that use absolute encoders

Adept SmartServo Robot Calibration

B

SMARTLINK.LIB Subroutine library of low-level routines used to access the 1394 network

Adept SmartServo Servo Con-figuration Library

B

SPEC.V2 Configures and tunes AdeptMotion VME and SmartMotion systems

all Adept Controllers Robot Con-figuration

B

SPECSUB.LIB Subroutine library of low-level routines used in sev-eral utility programs

all Adept Controllers Robot/Motion Library

B

SQUEEZE.V2 Removes comments and whitespace from program

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Types of Program Files on the V+ Software CD-ROMs

File Type

files to reduce memory requirement

SRVUTIL.LIB Subroutine library of low-level routines that are used by various servo util-ity programs

Adept SmartServo Servo Con-figuration Library

B

TOUCHCAL.V2 Calibrates a touchscreen System controller with touchscreen

General B

VPROTECT.V2 Adds access protection to disk files and the pro-grams contained in the files

all Adept Controllers General B

XMODEM.V2 Transfers files using the XMODEM protocol

all Adept Controllers General R

SPECDATA Subdirectory

This is a separate subdirectory that contains configuration files for AdeptModules and Adept SmartModules devices. These files are used when performing the initial configuration of a Modules system with the SPEC utility "AdeptModules quick setup" feature.

Types of Program Files on the V+ Software CD-ROMs

All the utilities in the UTIL (utility) folder on the V+ software CD-ROMs may be loaded with the V+ LOAD command, and executed with the EXECUTE command (except ADV_USER, LOADAREA, LOADBELT, and LOADICON). This section describes some limitations on copying and editing the utilities.

ASCII Files

You may FCOPY, LOAD, and STORE these unprotected ASCII files. They typically contain V+ programs that are intended to be called from your own application program.

When you STORE your program, a copy of any of these routines present in memory and CALLed by your program is automatically stored with your program. Do not edit these pro-grams, as you may inadvertently change their functionality. If you use the STOREM com-mand to store your program, the Adept programs must first be added to your program module (by using the MODULE command).

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How Can I Get Help?

Binary Files

In addition to ASCII program files, binary program files can be loaded and executed by V+. You can freely FCOPY and LOAD these secured files, and you can EXECUTE the programs they contain. You cannot, however, edit the programs they contain, list them with the FLIST or LISTP commands, or store them to a new file.

Read-Only Files

You can FCOPY, FLIST, and LOAD these read-only text files, and you can EXECUTE the pro-grams they contain. You can also view these propro-grams with the LISTP command and the SEE editor. You cannot, however, edit or store these programs. When the FDIRECTORY command is used to list the file directory, these files are marked with an R in the on-screen file list.

How Can I Get Help?

For details on getting assistance with your Adept software or hardware, you can access the following infor-mation sources on the Adept corporate website:

l For Contact information:http://www.adept.com/contact/americas

l For Product Support information:http://www.adept.com/support/service-and-support/main l For user discussions, support, and programming examples:http://www.adept.com/forum/ l For further information about Adept Technology, Inc.:http://www.adept.com

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Adept Utility Program Descriptions

Overview of the Utility Descriptions

ABS_ENC

ADV_CAL

ADV_USER

BELT_CAL

CFG_COBR

CONFIG_C

DC_SETUP

DISKCOPY

DUTY_CYC

EDITICON

FAULTLOG

FORMAT

FTP_CLNT

FTP_SRVR

LOADAREA

LOADBELT

LOADICON

LOADTCH

PROFILER

RSC_RSTR

SAFE_UTL

SFUTIL

SLMOTION

SM_CAL

SPEC

SQUEEZE

TOUCHCAL

VPROTECT

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Overview of the Utility Descriptions

The utilities are presented in alphabetical order, with the description for each utility starting on a new page.

To load and execute an Adept Utility program refer to theLoading and Executing Adept Utility Programs.

The description of each utility contains the following sections, as applicable:

File Name Program Name File

Type Description

Name of the disk file that contains the program.

Name of the program that is

EXECUTEd to begin the utility.1 B A short descrip-_{tion of the}

util-ity.

1or CALLed if the program is incorporated into your application code.

Overview

Major functions and overview of the utility.

Requirements

The equipment and conditions required to use the utility.

Usage Considerations

Additional information and how to include the utility in a V+ program.

Menu Structure

Descriptions of the utility menu items and the prompts displayed during use of the pro-gram.

Program Operation

Description of the use and operation of the Utility.

Related Utilities

Additional utilities that are frequently used in conjunction with this utility or that have related functions are listed here.

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ABS_ENC

ABS_ENC.V2 a.abs_enc B Absolute encoder utility.

Overview

The ABS_ENC utility program clears the absolute encoder of the AdeptVicron robot and clears encoder over-speed error bits that could be inadvertently set during transport. Clearing the absolute encoder:

l Clears the five error bits: l Battery alarm l Averspeed l Overflow l System down

l Quadrature; found in the absolute encoder serial data stream

l Resets the absolute encoder multi-turn counter to 0 only for the axis that is being cleared.

NOTE: Resetting the multi-turn counter to 0 can change the calibration of the robot, if the encoder is not reset at the correct limit of joint travel. This utility will not move the robot to the correct position, but rather prompts the user to manually move the joint of the encoder being cleared to the correct joint limit. If the absolute encoder is cleared in the wrong location, the reported robot location will differ by an increment of a number of full motor rotations. If this occurs, this utility can be re-executed to correct the situation.

Requirements

To run the ABS_ENC program:

l You must be connected to an AdeptVicron robot.

l You must have V+ version 14.1A or later installed on your system. Before the ABS_ENC program can be used:

l The robot must be calibrated with the factory defaults.

l The robot must not have been disassembled, which includes replacing motors, encoders, belts, or drive mechanisms.

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ABS_ENC

Usage Considerations

The ABS_ENC program defines many real-valued and string variables with the prefix ae. and ts. that must not be modified by you or other programmers.

NOTE: If used correctly (i.e., according to the instructions listed below), this utility does not change the calibration of the robot. This assumes that the robot was correctly cal-ibrated at the factory, that the drive mechanism has not been disassembled or altered, and that the motor or encoder have not been removed or disassembled.

Menu Structure

To access the ABS_ENC main menu, follow theLoading and Executing Adept Utility Programs procedure. Once ABS_ENC is initialized, theABS_ENC Main Utility Menuis displayed.

ABS_ENC Main Utility Menu

A brief description of each menu item is provided in the table below.

Menu Description

Exit to System Monitor Exit to V+ dot prompt. Clear Theta Axis (Jt 1) absolute encoder Clears the Theta Axis error bit Clear Z Axis(Jt 2) absolute encoder Clears the Z Axis error bit Clear R Axis (Jt 3) absolute encoder Clears the R Axis error bit

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ABS_ENC

Change robot number Change access between multiple Adept robots

Clear Axis absolute encoder

This menu item allows you to clear the absolute encoder for the selected axis. (Axis selection is specified by the selected menu item.) Follow the program directions to position the joint(s) for clearing the absolute encoder. Depending on the axis selected the utility program could prompt you to install, and later remove, the R axis shipping fixture on the robot. This aids in both properly positioning the robot and in moving the robot joints to the proper position, before clearing the absolute encoder.

NOTE: The procedure for clearing the Theta Axis absolute encoder for an AdeptVicron 300S robot is explained below. Clearing the absolute encoder of the Z or R axis is similar.

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ABS_ENC

Clearing Procedure of Jt Absolute Encoder

To clear the Theta Axis follow the following procedure: 1. From the main menu select option 1.

2. When prompted, Install the R Axis fixture onto the R axis arm and press ENTER. 3. Move the Theta Axis to the zero hardstop moving the arm in a clockwise movement

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ABS_ENC

and press ENTER.

4. When prompted, remove the R Axis fixture from the R axis arm and press ENTER. 5. Move the R Axis to the zero hardstop, moving it away from the robot controller

inter-face panel and press ENTER.

The program provides one last chance to change your mind before clearing the abso-lute encoder by displaying the following prompt:

Are you ready to clear the Theta Axis (Jt 1) Absolute Encoder (Y/N)?

6. Enter Y at the prompt to clear the absolute encoder.

The program performs a check of the multi-turn counter to verify that the joint is at the correct end of travel, before clearing the absolute encoder. If the multi-turn counter is not zero then the following warning message will appear:

WARNING: The multi-turn counter for the Theta Axis (Jt 1) is: '8185'. The expected value is 0. This means that the joint is not at the correct hardstop or the absolute encoder has been previously cleared at the incorrect position. Either situation can be corrected by clearing the joint at the correct hardstop.

Enter Y to clear the absolute encoder, or enter N to Exit to the Main Menu.

Clearing the encoder takes approximately 5 seconds. When the encoder is suc-cessfully cleared the computer displays the message "Absolute Encoder Sucsuc-cessfully cleared". If the encoder is not cleared an error message will be displayed.

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ABS_ENC

"Multi-turn counter is not zero" Warning

Change robot number

The Change robot number menu item allows you to access other robots or mechanisms in the system for a multi-robot system. The currently selected robot is displayed below the pro-gram banner.

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ABS_ENC

1. Select the option from the menu and press ENTER.

If the system has two robots, the utility will select the other robot.

2. If the system has more than two robots, then the utility will prompt you to select a robot number.

Enter the desired robot number and press ENTER.

NOTE: The main menu selections may change based on the robot selected.

If you attempt to select a non-AdeptVicron robot, the following message is displayed:

Robot #2 does not have Panasonic absolute encoders. This utility only works with AdeptVicron Robots. Verify that the selected robot is an AdeptVicron Robot. The current robot is robot #1.

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ADV_CAL

ADV_CAL.V2 a.adv_cal B Camera calibration utility

Overview

Perform camera calibration.

In most vision applications, the cameras must first be calibrated. The principal results of cam-era calibrations are:

l A millimeter-to-pixel ratio that allows the vision system to use distances in real-world millimeters

l Camera-to-robot calibrations that allow robots to acquire parts

l A transformation that accounts for perspective distortion caused by a camera imaging element that is not parallel to the image surface

Usage Considerations

The disk file ADV_CAL.V2 is a protected file. Programs in that file cannot be displayed, edited, or stored from memory to a disk. Also, the file cannot be copied from one disk to another with the FCOPY command. The disk-copy utility program, DISKCOPY.V2 available in the UTIL (util-ity) folder on the V+ CD-ROM, can be used to make a backup copy of the entire distribution disk. That program can also be used to copy the file ADV_CAL.V2 from the distribution disk to the optional hard disk.

The steps below describe the overall procedure for executing the Advanced Camera Cal-ibration program (ADV_CAL.V2).

1. If data from the optional High-Accuracy Positioning System (HPS) is to be used, use the program hps.load to load the data for at least one HPS mapping for the robot into memory. Mappings must be numbered consecutively starting with 1.

2. Load the calibration program into system memory and execute the program (refer to Loading and Executing Adept Utility Programs).

NOTE: If a calibrated robot is not connected to the system or DRY.RUN is not ena-bled, the program aborts immediately. If ARM POWER is not enabled or DRY.RUN is enabled, the system warns you that camera-to-robot calibration cannot be per-formed and asks you if you want to proceed.

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ADV_CAL

You are now asked to select a virtual and physical camera. All calibration options are performed on this virtual/physical camera pair. One of the program menu selections lets you change the selected physical or virtual camera.

When a physical and a virtual camera have been selected, a menu of program options is displayed. Select the desired option and follow the prompts displayed on the monitor. Make sure to use the "LOAD/STORE calibration data from/to disk" option to store the calibration data that you want to use later.

3. SeeLoading and Executing Adept Utility Programsto delete the ADV_CAL utility from system memory after the calibration is complete.

NOTE: This deletes the camera-to-robot calibration data from memory unless the variables are referenced by some other program in memory that is not being deleted.

To restore the calibration data from the disk, you can do one of the following:

l Use the "LOAD/STORE calibration data from/to disk" menu option in the ADV_CAL.V2 program.

l Create an application program that calls the subroutine load.area( ).

This subroutine is contained in the file LOADAREA.V2 in the UTIL (utilities) folder. See theLOADAREAutility description for details.

Related Utilities

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ADV_USER

ADV_USER.V2 a.adv_user A Routines for use with ADV_

CAL and for using calibration data

Overview

Routine to use camera calibration data.

This file contains utility programs that can be used by application programs to obtain object location information from the AdeptVision system, and to modify that information.

See theAdeptVision User's Guidefor details on the programs in this disk file.

Usage Considerations

The file ADV_USER.V2 is a public file located in the UTIL (utility) folder on the V+ CD-ROM. ADV_USER.V2 contains utility programs that can be used by application programs that access the AdeptVision system. Load and execute the ADV_USER.V2 program into system memory (refer toLoading and Executing Adept Utility Programs).

The following subroutines are included in the ADV_USER.V2 file.

l ac.refine.vloc( ) is a subroutine that, if present while the calibration program is run-ning, automatically refines the location of the vision objects using a VFIND.ARC instruction. This routine should be used only when the calibration object is supposed to be a perfect circle. The name ac.refine.vloc( ) must be retained, since it is the key for automatic use by the calibration program.

l adv.cam.user( ) is a subroutine that can be called from an application program to take a picture with a camera and return the location (in robot coordinates) of an object located in the vision window. It works for Adept-supported SCARA, XY, XYZ, and XYZ-Theta configurations.

l adv.tr.point( ) is a subroutine that is called by adv.cam.user( ). It is used to trans-form a point using a 3 x 3 camera calibration matrix. See the program header for details.

Related Utilities

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BELT_CAL

BELT_CAL.V2 a.belt_cal R Conveyor tracking calibration utility

Overview

Determine the calibration data required to have the robot track a moving conveyor belt. Test the calibration data by having the robot track a point on the conveyor.

Various data items are required to have the robot track a moving conveyor belt. These include the following:

l The relationship between belt position and encoder output

l A description of where the belt is located in the robot reference frame and the direc-tion in which the belt moves

l A definition of the limits of the robot working range along the belt

The belt calibration program can be used to define all these parameters and to store the data in a disk file for subsequent use by application programs.

Once all of the data items are defined, the performance of the robot/conveyor/encoder sys-tem can be tested.

Requirements

The following items are needed for use of this program: l Adept robot system with the conveyor tracking feature l V+ system with the conveyor tracking feature

l Manual control pendant l Conveyor-tracking encoder

l Cable from encoder to the robot controller l Calibration disk

l Calibration pointer

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BELT_CAL

NOTE: The portion of the belt to be used by the robot must be straight and flat, but not necessarily level or parallel to any robot axis.

The following conditions must exist before the program can be used:

l The encoder must be mounted on the conveyor so that its drive disk rolls on the belt or so that the shaft of the encoder is connected to the belt drive train without backlash. l The calibration pointer must be mounted on the robot tool flange.

l The V+ system must be loaded.

l The robot must be calibrated, and COMP mode must be selected on the manual control pendant.

l The conveyor belt must be securely installed so that it cannot move relative to the robot.

Load the conveyor tracking calibration program into system memory and execute the pro-gram (refer toLoading and Executing Adept Utility Programs).

NOTE: If your system is configured for more than one belt encoder, enter the number of the encoder channel you want to work with. The channels are numbered 1 though 6. If your system controls more than one robot, enter the number of the robot you want to work with.

Follow the prompts provided by the program during the various procedures. At the end of the calibration procedure you are able to store the calibration information in a disk file for later use.

To restore the calibration data from the disk, your application program should CALL the sub-routine load.belt contained in the utility file LOADBELT.V2.

Usage Considerations

The calibration program defines several real-valued and location variables that use bc. and belt. as prefixes. These variables must not be modified by you or by other programs.

NOTE: All these variables are deleted from memory when a DELETE command is used to delete the program from memory.

The DISKCOPY utility program (in DISKCOPY.V2) can be used to make a backup copy of the V+ system files. That program can also be used to copy the file BELT_CAL.V2 from the V+ CD-ROM to the Compact Flash or an optional hard disk.

See theV+ Language User's Guidefor additional details on programming conveyor belt appli-cations.

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BELT_CAL

If you are using AIM MotionWare for belt tracking operations, the belt calibration utility built into MotionWare can be used to create, store, and load calibration data. That utility is equiv-alent to the BELT_CAL program.

Menu Structure

Perform complete cal-ibration sequence

Initiates processing of all the steps for defining the con-veyor calibration data.

Load calibration data from the disk

Loads belt calibration data from a previously created data file.

Store calibration data onto the disk

Stores the current belt calibration data in a disk file.

Display belt encoder output Display the position and speed of the conveyor.

Set encoder scale factor Defines how far the belt moves between each count out-put by the belt encoder.

Define belt reference frame Describes the direction in which the belt moves and the orientation of the surface of the belt.

Define belt working window Defines how far upstream and downstream the robot can reach on the conveyor.

Initialize the belt variable(s) with current data

Incorporates the calibration data determined by the above steps into system memory.

Test belt calibration Tests the robot in tracking a point on the conveyor belt. Select belt to work with Changes the number of the belt encoder channel.

Select robot to work with Changes the number of the robot you want to work with.

The conveyor tracking calibration program displays a menu of selections. The following par-agraphs describe the menu items and provide additional information to help you decide how to respond to prompts from the program. After you respond to a prompt, the program dis-plays instructions on the monitor or terminal.

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BELT_CAL

Perform complete calibration sequence

This menu selection initiates processing of all the steps for defining the conveyor calibration data.

If you want to define only a portion of the calibration data (for example, because something in the setup has changed), do not make this selection. Select only the appropriate menu

choice(s).

During the calibration procedure the program asks you to move the robot pointer to several locations on the conveyor. To see a description of the locations and a diagram indicating proper positions, respond to the following prompt:

Do you want to see an explanatory diagram (Y/N)?

See the descriptions that follow for more information on individual steps of the calibration pro-cedure.

Load calibration data from the disk

This selection loads belt calibration data from a previously created data file.

You are asked for the disk unit on which the calibration data file is stored. Then you are asked to specify the subdirectory in which the file is located. If the correct subdirectory path is shown as the default, press the ENTER key.

The program displays the names of all the files currently in the selected subdirectory that appear to be belt calibration data files. This data is normally stored in a disk file named BELTnnn.DAT, where nnn is a user-specified data set number.

After you enter the desired data set number, the data is read from the disk and is used to rein-itialize the conveyor tracking system.

NOTE: See "Select belt to work with" for information on the variables defined by the pro-gram for use during conveyor tracking.

Store calibration data onto the disk

This selection allows you to store the current belt calibration data in a disk file for later use. After the file is created, the data can be read from disk by this program or by an application program that contains the subroutine load.belt (provided in the file LOADBELT.V2 in the Util-ity directory on the V+ CD-ROM).

NOTE:See theLOADBELTdescription for information on how your application programs can read calibration data from disk files.

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BELT_CAL

You are asked for the name of the disk device on which you want the data stored. You are then asked to specify the subdirectory in which the file is to be located. If the correct sub-directory is shown as the default, you can simply press the ENTER key.

The program displays the names of any files currently in the selected subdirectory that appear to be belt calibration data files. The data is normally stored in a disk file named BELTnnn.DAT, where nnn is a user-specified data set number.

After you enter the data set number that you want to use, the data file is created. The name of the new data file is BELTnnn.DAT, where nnn is the data set number you entered.

Display belt encoder output

Choose this selection to have the program display the position and speed of the conveyor as indicated by the output from the belt encoder. This is useful to verify that the encoder is func-tioning correctly.

Set encoder scale factor

The encoder scale factor defines how far the belt moves between each count output by the belt encoder. This menu selection initiates the steps required to determine that scale factor. If you know the value of the scale factor, you can enter it directly to the program. Otherwise, you can use the robot to measure the belt motion between two positions.

NOTE: When positioning the calibration pointer over the calibration disk, keep the robot end-effector flange from rotating relative to the workspace. Otherwise, any eccentricity of the calibration pointer results in errors in the measurements between recorded positions. The procedure for using the robot to determine the encoder scale factor involves recording a robot location on the stationary belt and its corresponding encoder reading. Then the belt is moved so that the point on the belt moves to the opposite extreme of the robot's reach. A new robot location and encoder reading are recorded. The difference between the two robot locations determines how far the belt moved, and the difference between the two encoder readings is the number of encoder counts output during that belt motion.

The Adept calibration pointer and disk are designed to simplify this procedure. The calibration program asks you to perform the following steps:

1. Place the disk on the belt as far upstream as the robot can reach, on the side of the belt nearest the robot. (It's a good idea to tape the disk to the belt so it can't slip when the belt is started and stopped.)

2. Center the robot pointer on the disk.

3. Press ENTER to indicate that the pointer is in place.

4. Back the pointer away and run the belt until the disk moves near the other extreme of the working range of the robot.

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BELT_CAL

NOTE: Be careful that the disk does not slip on the belt when the belt is started and stopped.

5. Without moving the disk, center the pointer on the disk a second time. 6. Press the ENTER key again to indicate that the pointer is in place.

Define belt reference frame

The belt reference frame describes the direction in which the belt moves and the orientation of the surface of the belt.

Four robot locations on the conveyor must be recorded to define the belt reference frame. The two locations used to determine the encoder scale factor are used when the complete cal-ibration procedure is performed. Otherwise, all four locations must be recorded.

For each location requested by the program, position the calibration disk on the belt and center the robot pointer on the disk. Note these considerations when following the instruc-tions from the calibration program:

1. The calibration disk must not move across the belt while the upstream and down-stream locations are being recorded.

2. The upstream, downstream, and across-the-belt locations must all be recorded at the same height above the surface of the belt.

3. The center-of-the-belt location can be anywhere in the vicinity of the center of the robot working range on the belt.

4. Care should be taken to keep the robot end-effector flange from rotating relative to the belt. Otherwise, any eccentricity of the calibration pointer results in errors in the meas-urements between recorded positions.

When the nominal belt transformation is computed, it can have a pitch component that is upside down with an absolute value greater than 90 degrees. As a result, you have the option of rotating the transformation 180 degrees about the X axis. The following prompt is dis-played:

The nominal location has a non-standard pitch (i.e., greater than 90 degrees). Rotate the transformation 180 degrees about the X (belt) axis (Y/N)?

NOTE: In most cases, you should have this rotation done. However, you should not do it if your application program expects the orientation that was determined with a previous ver-sion of the belt calibration program.

See the V+ Language User's Guide for additional details on programming conveyor belt appli-cations.

If you are using AIM MotionWare for belt tracking operations, the belt calibration utility built into MotionWare can be used to create, store, and load calibration data.

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BELT_CAL

Define belt working window

The system must be told how far upstream and downstream the robot can reach. That is done by defining a robot location at each end of the desired working window. These locations are used to define imaginary planes perpendicular to the belt, and thus only their positions along the belt are used by the program.

NOTE: The upstream and downstream locations should be defined such that the robot is able to reach all belt locations within the working window.

Initialize the belt variable(s) with current data

This menu item causes the system to incorporate the calibration data determined by the steps above. As a result, the belt variable %b[i] is defined, where i is the number of the belt encoder being used.

NOTE: See "Select belt to work with" for information on the variables defined by the pro-gram for use during conveyor tracking. In particular, the robot must be able to reach all the locations on the far side of the belt with no joint moving to a "stretched-out" position.

Test belt calibration

To test the belt calibration you can have the robot track a point on the belt. Place a cal-ibration disk on the belt and position the calcal-ibration pointer slightly above the disk. As the robot is tracking the belt, you can stop and start the belt, change its speed, and reverse its direction of motion. You can stop the belt tracking by pressing ENTER on the key-board, or DONE on the manual control pendant. The robot automatically stops tracking the belt if it moves close to an end of the defined working window along the belt.

You should verify that the robot accurately tracks the disk. That is, it should remain centered over the disk as the disk moves down the belt. Inaccurate tracking indicates the belt cal-ibration procedure should be repeated.

If the robot correctly follows the path of the disk, but gains on it or lags behind, only the encoder scale factor must be recalibrated. If the robot moves across the belt as it tracks the disk, you should repeat the procedure that defines the belt reference frame.

Do you want to save the calibration data on the disk (Y/N)?

After completing the calibration procedure the calibration data can be stored in a disk file for use later by entering Y to the prompt shown above. The steps that follow are identical to those for the main-menu selection "Store calibration data onto the disk", which is described above.

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BELT_CAL

Select belt to work with

Use this menu item to change the number of the belt encoder channel you want to work with. The number of the channel currently selected is displayed above the main menu.

Select robot to work with

If your V+ system controls more than one robot, use this menu item to change the number of the robot you want to work with. The number of the robot currently selected is displayed above the main menu.

If there is no robot connected to your system or the robot has not been calibrated, there is a 3-second time-out and an error message is displayed.

Programming Considerations

When tracking the conveyor belt(s), the program defines the global variables listed below. Your application program can access these variables, or it can define other, equivalent var-iables by calling the routine contained in the file LOADBELT.V2 in the Utility directory on the V+ CD-ROM (or in the UTIL directory).

Variable

Name Variable Type Description

%b[i] Belt Belt variables, which define the motion of the conveyor belts (i = 1 to 6)

belt.cal[i] Real-value TRUE/FALSE indications of whether or not belts have been calibrated (i = 1 to 6)

belt.nom[i] Transformation Nominal belt transformations, which define the position, orientation, and direction of conveyor belts (i = 1 to 6) belt.sf[i] Real-value Scale factors for belt travel per belt encoder count (i = 1

to 6)

belt.win1[i] Transformation Locations defining one end of windows on the respective conveyor belts (i = 1 to 6)

belt.win2[i] Transformation Locations defining other end of belt windows on the con-veyor belts (i = 1 to 6)

Related Utilities

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BELT_CAL

LOADBELT SPEC

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CFG_COBR

CFG_COBR.V2 a.cfg_cobr B Utility used to modify the cal-ibration configuration and park position of Adept Cobra robots.

Overview

Utility for modifying the calibration configuration and park position of Adept Cobra robots (other than factory-set defaults).

The calibration configuration includes the calibration sensor target locations and the order of calibration of joint 1 and joint 2 of the robot. The utility stores the updated parameters to the Robot Signature Card (RSC).

This utility does not store or retrieve the original or factory default RSC parameters. Adept recommends using the RSC_RSTR utility to save the original RSC data to disk, prior to execut-ing the CFG_COBR utility.

WARNING: During the target adjustment operation robot high power is cycled off and on. Do not turn off power to the Adept controller.

Turning off controller power results in loss of robot calibration and requires restoring the robot to its original calibration configuration.

Requirements

The following items are needed for use of this program: l Adept robot system with an Adept Cobra robot l Manual control pendant

The following conditions must exist before the program can be used: l The robot must be securely installed so it cannot move. l The V+ system must be loaded.

l The robot must be calibrated with the factory defaults, and COMP mode must be selected on the manual control pendant.

Follow the prompts provided by the program during the various procedures. At the end of the calibration procedure you are able to store the calibration information in a disk file for later use.

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CFG_COBR

Usage Considerations

The system on which CFG_COBR.V2 is being run must have calibration code for the appro-priate boot version available, preferably on the system's CompactFlash (D drive). If the sys-tem was booted from floppy disk, issue "calibrate 1" Monitor command before removing the floppy (boot) disk. Then load and execute CFG_COBR.V2 program. Otherwise, CFG_COBR.V2 may HALT with *Software incompatible* Code 0.

Menu Structure

Change J1 sensor target location Calibrates the robot to a new J1 target sensor location.

Change J2 sensor target location Calibrates the robot to a new J2 target sensor location.

Change part position after calibration Changes the park position of the robot after performing robot calibration.

Teach park position Teaches the park position under robot power.

Change J1, J2 calibration order (cur-rently J2, J1)

Changes the order that J1 and J2 cal-ibrate.

NOTE: If you want to exit the program at any prompt, press CTRL+Z.

Change J1 sensor target location

This selection initiates calibration of the Joint 1 calibration target sensor after moving the tar-get senor on the inner link.

During the calibration procedure the program moves joint 1 to the + (CCW) or - (CW) hard stops as a reference.

After the hard stop sensor is found, the robot returns to the start position. Follow the direc-tions on the screen to modify the target sensor as desired.

Once the new target location of the sensor is found you are asked to update the RSC card, recalibrate the robot, and then move the arm to a straight out position.

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CFG_COBR

Change J2 sensor target location

This selection initiates calibration of the Joint 2 calibration target sensor after moving the tar-get sensor on the inner link.

During the calibration procedure the program moves joint 2 to the + (CCW) or - (CW) hard stops as a reference.

After the hard stop sensor is found, the robot returns to the start position. Follow the direc-tions on the screen to modify the target sensor as desired.

Once the new target location of the sensor is found you are asked to update the RSC card, recalibrate the robot, and then move the arm to a straight out position.

Change park position after calibration

This selection allows you to create and store in system memory a new robot location for a park position.

Teach park location

Move the arm position for the robot to the desired park location. Recalibrate the robot to ver-ify the new park location.

Change J1, J2 calibration order (currently J2, J1)

This selection allows you to have the system change joint 1, joint 2 calibration order. The joint that calibrates first is listed at the main menu selection. This selection reverses that order. You are asked to recalibrate to verify the change.

Related Utilities

CONFIG_C RSC_RSTR SAFE_UTL SFUTIL SPEC

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CONFIG_C

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:

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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:

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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.

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CONFIG_C

Menu Structure

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

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CONFIG_C

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

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CONFIG_C

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.

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CONFIG_C

SET IP address in the NVRAM

Set the IP address of the Adept controller (the con-troller's address on the local area network). SET "SWITCHES" in the

NVRAM

Defines the V+ configuration settings in software rather than using hardware DIP switches. This is done without removing the AWC board.

Scan the DeviceNet Configures DeviceNet and map the DeviceNet hard-ware to the appropriate V+ signal numbers.

SCAN the DeviceNet for nodes

Determines what is recorded for each DeviceNet component you want to access with the Adept Con-troller.

Related Utilities

Config_C, V+ Installation

Config_C, System Configuration Data Config_C, Robots and Device Modules

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CONFIG_C, Installation

CONFIG_C.V2 a.config_c B Controller configuration utility

The options under this menu item are used when upgrading a V+ system. The purpose of these operations is to carry forward all the custom configuration information from the old sys-tem to the new syssys-tem. SeeUpgrading Your V+ Systemfor details on installing a new V+ sys-tem.

SAVE current ROBOT DATA

NOTE: This menu item followed by an asterisk(*) indicates that the operation cannot be performed because of an incompatibility between the edition of CONFIG_C being used and the current V+ system. Use the edition of CONFIG_C that was supplied with your old V+ system.

This option creates configuration data files for the robots and external encoders that the cur-rent V+ system is configured to control. These data files can be stored on any disk, and can be used later to restore robot and encoder configuration data to the V+ system.

You are asked which disk drive should receive the data files. If an optional floppy drive is indi-cated, you are asked to insert a diskette. All the data files are created automatically. Each file name is displayed for reference. For example, if an error occurs, the file name should help you to understand the problem. If the files were written to a diskette, you are advised to write-protect and label the diskette.

CAUTION: Any existing files with the same names are overwritten with-out warning!

INSTALL a NEW V+ SYSTEM

This option copies the new V+ system to the desired output disk drive and then duplicates the system configuration from the old V+ system on the new V+ system disk.

CONFIG_C automates most of the installation process. As noted above, however, the robot and encoder configuration data must have been saved in disk files before the installation proc-ess is initiated. After completing this installation step, you must complete the installation process by selecting step #3 (APPLY saved ROBOT DATA).

The entire installation process can take up to 45 minutes. Most of that time is spent making backup copies of your old and new V+ systems; you can stop the process at any time while

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making these copies. However, after the process of configuring your new V+ system has begun, do not interrupt the installation process. The system informs you when the unin-terruptible portion of the process has been reached, and you can stop at that point.

NOTE: Use the edition of CONFIG_C that you received with the new V+ system.

Make sure you clearly identify the diskettes used during the installation process. There is no way for the program to tell if you have inserted the wrong diskette in response to a request. Carefully read the program messages before you respond to each prompt. During installation, answer the program questions about the system disks.

In various situations, the program recommends that you make a backup copy of the old and/or new V+ systems. If you agree, DISKCOPY is invoked to make the copy. You should be familiar with the use of the DISKCOPY program to copy a V+ system and to copy a diskette image.

NOTE: In most situations Adept strongly recommends that you make a backup, and you are asked a second time if you want to make the backup.

After the appropriate backup disks are made, the program asks you to put one or the other of the system disks in the floppy drive so that configuration information can be read and con-firmation can be made that needed files are present on the new system disk.

Next, the actual installation process begins, and it should not be interrupted. The following steps are performed:

1. The new system is copied to the specified output drive.

2. The appropriate device modules are installed in the V+ system file on the output disk. NOTE: If the installer cannot find the necessary device-module file(s), you are asked for the disk to be accessed.

3. The configuration information from the old system is written to the output disk. NOTE: No check is made to ensure that the robot selections defined in the con-figuration data match the device modules that are present on the disk. That is, if the old system is incorrectly configured, the new system is also.

Finally, you are told what steps must be performed to load the robot data from the disk files created in step #1 of the three-step installation process.

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APPLY saved ROBOT DATA

CAUTION: For Cobra s600 or s800 systems (purchased before 2005), when using a customized SPEC file, you must manually re-enter any customized SPEC data when upgrading the V+ operating system software.Details...

This option applies the saved robot and encoder data from the old V+ system to the new V+ system disk.

The system must have been booted from the disk created with step #2 above.

1. After the purpose of the menu item is displayed, you are given an opportunity to can-cel the menu selection.

2. Next, the robot and external encoder configuration of the current system is displayed, and you are given another chance to cancel the process.

3. You are asked which disk drive contains the configuration data files. If an optional floppy drive is indicated, you are asked to insert the diskette. The program looks for the configuration data files on the specified disk in the subdirectory \CONFIG_C\ with the names that were displayed during step #1.

4. After confirming that the required files are present, you are given one more chance to cancel the process. (If any required file is not found, its file specification is displayed, and the process cannot be continued.)

5. If you agree to continue, all the data files are read automatically. Each file name is dis-played for reference. For example, if an error occurs, the file name should help you to understand the problem.

NOTE: As the files are read, several lines of output may be displayed. You are advised by the program to use CTRL+S/CTRL+Q to control the output. Some of those lines may appear to be error messages. (Refer to the documentation for the SPEC utility in theAdept SmartMotion Developer's Guidefor an explanation of the messages displayed while a configuration data file is being read.) In general, such messages result from changes that have been made to the V+ system or the CON-FIG_C program and do not indicate a real problem.

6. After all the data files are read, you are asked if that data should be written to a V+ sys-tem disk. If so, you are told that the syssys-tem disk must be the one from which the cur-rent V+ system was booted. If you indicate that the data should not be written to a V+ system disk, the ramifications are explained and you are asked to confirm your choice.

Related Utilities CFG_COBR

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DC_SETUP SPEC

For optimal viewing and navigation, please use the HTML version of this document, which can be accessed from the Adept Document Library.

Instructions for Adept Utility Programs

Copyright Notice

Table Of Contents

Introduction to the Adept Utility Programs

7

Overview

9

Danger, Warning, Caution, and Note

9

Conventions

10

Listing of Utility Programs

11

Types of Program Files on the V+ Software CD-ROMs

15

How Can I Get Help?

16

Adept Utility Program Descriptions

17

Overview of the Utility Descriptions

18

ABS_ENC

19

ADV_CAL

26

ADV_USER

28

BELT_CAL

29

CFG_COBR

38

CONFIG_C

41

DC_SETUP

94

DISKCOPY

106

DUTY_CYC

112

EDITICON

114

FAULTLOG

121

FORMAT

129

FTP_CLNT

132

FTP_SRVR

133

LOADAREA

134

LOADBELT

138

LOADICON

141

LOADTCH

144

PROFILER

146

RSC_RSTR

152

SAFE_UTL

163

SFUTIL

171

SLMOTION

176

SPEC

181

SQUEEZE

275

TOUCHCAL

277

VPROTECT

280

XMODEM

283

Common Procedures

285