Robots and Device Modules
AdeptModules Instruction Handbook, Volume 1: Adept MV Controller Interface, Rev. A 123
Software Installation Procedure for a New System
When configuring a new system, follow the recommended procedures in the order
described in this section. Once your hardware is installed as described earlier in this
guide, follow these steps to power-up and configure the system.
1. Copy the V
+
system sent to you by Adept to the hard drive. Do not make changes
to the master copy that arrived with your system; after duplicating it, put it
somewhere safe and change only the copy. Use the DISKCOPY Utility from the
Adept Utility Disk to copy the master to either the hard drive or another floppy
disk. See the Instructions for Adept Utility Programs included with every Adept
system, for details.
2. Load the proper device modules to the working copy of the system disk using the
CONFIG_C utility.
3. Reboot the system to allow V
+
to recognize the new modules. You may see
initialization errors displayed by V
+
; they can be ignored at this point.
4. Use the SPEC program to define the robot specifications (link lengths, encoder
type, tuning, etc.).
5. Finally, save the SPEC parameters to the system file and to a backup data file,
using SPEC.
If you are setting up two or more controllers with similar mechanisms, you can use the
DISKCOPY utility to copy the fully configured System Files from the first controller to a
floppy disk, then use DISKCOPY to install the files on the second controller. If the systems
are electrically and mechanically identical, you should then only have to use SPEC to
enter the correct serial number and calibration parameters (encoder offsets) for the second
system.
Upgrade Procedure for an Existing System
You may at some time the need to upgrade the revision level of the V
+
system software. In
that case, you do not have to repeat the system specification process. You must, however,
carefully follow the procedure outlined in the appropriate V
+
release notes to successfully
perform the upgrade.
It is important to follow the correct procedure, because the System Files contain all your
tuning parameters and mechanism specifications, which need to be carried forward to the
new V
+
system. Correct use of CONFIG_C to install the new V
+
system will completely
configure the new system to match the previous system.
A.2 Robots and Device Modules
The Configuration utility program (CONFIG_C.V2) allows you to copy device modules
onto a system disk to make them available for use. You will need one device module for
each mechanism. Groups of one or more device modules are stored in disk files and must
be copied as a group.
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