Appendix A - Software Configuration Using CONFIG_C
122 AdeptModules Instruction Handbook, Volume 1: Adept MV Controller Interface, Rev. A
Adept Utility Disk
The Adept Utility Disk contains two program packages that are used to customize a
system disk for your particular robot configuration. These utility programs are:
1. System Configuration Program (CONFIG_C.V2)
This package configures the number and type of robots in your system. Each
different robot type, such as Cartesian or SCARA, has a special software file
(called a “device-module file”) that you must load into your system file in order to
use that robot. AdeptMotion VME supports multiple robots on each system; they
may be the same or different types.
As an example, suppose you want to add two XY tables with your system. In that
case, the user would need to use CONFIG_C to transfer two X/Y/Z/Theta device
modules to your system file. After transferring the device modules to your system
file, you are ready to use the Robot Specification Utility (SPEC) to fully define
each robot’s characteristics.
2. Robot Specification Utility Program (SPEC.V2)
The Robot Specification Utility Program (the SPEC program) allows you to
customize your system file with the required control parameters to move a robot
installed by CONFIG_C. It includes routines to interactively test robot I/O such
as signals from the amplifiers and encoders, and to teach robot parameters such
as servo gains and calibration specifications. The SPEC program also stores these
parameters to the system file, so that after the system boots from the modified
system disk, your custom robot(s) will be ready to run. See the AdeptMotion VME
Developer’s Guide for information on using the SPEC program.
Device Module Documentation
For each type of device module, there is a document describing the information that is
required by the device module. This document is necessary for the configuration
procedure since it informs the user how to answer some questions posed by the SPEC
program for that particular module. If you need this information for other device
modules, contact Adept Customer Service.
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