Appendix C - Sample Specification File
138 AdeptModules Instruction Handbook, Volume 1: Adept MV Controller Interface, Rev. A
; OPTION WORD AND MOTOR CONFIGURATION
.DATA 230 ;Robot option word
0
.DATA 1 ;Number of joints
3
.DATA 2 ;Motor to axis mapping
1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 1, 2, 1, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 1, 3, 1, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0
.DATA 3 ;Enabled axis mask
7
.DATA 4 ;Velocity servo enable mask
15
; ROBOT INITIALIZATION SPECIFICATIONS
.DATA 17 ;Module password
Null
.DATA 15 ;Modular joint type
"h10080", "m20055", "sz40023"
.DATA 20 ;Hand OPEN/CLOSE signals
0, 0, 0, 0
.DATA 220 ;Timeouts (sec): 1=Nulling timeout, 2=Drive enable timeout
; 3=Power-on/amp-on delay, 4=Brake-off delay, 5=Brake-on delay
8, 1.008, 0, 0, 0
.DATA 222 ;Max time to wait for amp power (sec)
20.16
.DATA 221 ;Time required for clutch to engage (sec)
0
; AMPLIFIER AND ENCODER SPECIFICATIONS
.DATA 61 ;Counts per joint travel (cts/deg or cts/mm)
400, 400, 400
.DATA 62 ;Joint travel per count (deg/cts or mm/cts)
2.5E-03, 2.5E-03, 2.5E-03
.DATA 1017 ;Counts per zero index (zero = disable)
8000, 8000, 4000
.DATA 1016 ;Zero-index configuration
5, 5, 6
.DATA 1015 ;Encoder sign (non-zero => flip sign)
0, 0, -1
.DATA 1009 ;Motor sign (non-zero => flip sign)
0, 0, -1
.DATA 1010 ;Maximum DAC value
32767, 32767, 13653
.DATA 1059 ;Maximum DAC value in Manual mode
17000, 15000, 8000
.DATA 1012 ;*Duty cycle exceeded* DAC limit
10922, 10922, 4551
.DATA 1013 ;*Duty cycle exceeded* filter pole
18, 18, 18
.DATA 1014 ;*Motor stalled* timeout (sec)
0.5, 0.5, 0.5
.DATA 1018 ;*Soft envelope error* limit (cts)
6000, 6000, 3000
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