Appendix A - Software Configuration Using CONFIG_C
128 AdeptModules Instruction Handbook, Volume 1: Adept MV Controller Interface, Rev. A
Enter desired file name: sca
Reading device-module file C:\SYSTEM\B2K00EOM.SYS...
Reading device-module file C:\SYSTEM\B2K00SCA.SYS...
Module in file: General SCARA Robot Control Module.
** WARNING ** The system file will be corrupted if the replace operation
fails for any reason.
You should be working with a COPY of your V+ system.
Are you sure you want to continue (Y/N)? Y
Figure A-5. Example Device Module REPLACE Procedure
"APPEND device modules to system file"
Select this menu item to add more device modules to your system file. If you already have
a robot (such as an Adept robot) installed in your system, you should normally use the
Append option instead of Replace.
"SELECT device modules for robots"
Choose this menu item to change which device module corresponds to each of the
available robots. Any module in the system file can be assigned to any robot. If you have
copied the external encoder device module to the system file, that module will be enabled
automatically if you have the V
+
Extensions software license installed.
A.3 Servo Loop Rate
The default servo rate is 1 kHz. This means the robot position is read from every channel
once every millisecond. New servo output commands are calculated and the DAC
outputs are updated at this millisecond rate. CONFIG_C can be used to reduce the servo
rate to 500 Hz. In many applications, there will be no detectable reduction in performance.
However, if your system includes an Adept robot, you must not change the servo loop
rate. Adept robots are designed to operate only at 1 kHz.
The benefit of choosing the 500 Hz rate is reduced processor demand. For example, at the
1 kHz rate, servoing 4 channels will occupy approximately 50% of the CPU time on an
Adept 030 processor. This leaves the other 50% for V
+
(operating system, language
interpreter, trajectory generator, kinematics, disk and serial drivers, etc.) and the user’s
application programs. At the 500 Hz rate, servoing 4 channels will occupy 25% of an
Adept 030, leaving 75% for V
+
and user activity.
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