adept technology MV Instruction Handbook

Appendix C - Sample Specification File
140 AdeptModules Instruction Handbook, Volume 1: Adept MV Controller Interface, Rev. A
.DATA 1053 ;Calibration group
1, 1, 1
.DATA 1038 ;Park position after homing (cts)
0, 0, 0
.DATA 1044 ;Saturation time during calibration (ms)
300, 300, 300
; JOINT MOTION PARAMETERS
.DATA 180 ;FINE nulling tolerance (cts)
20, 20, 40
.DATA 181 ;COARSE nulling tolerance (cts)
400, 400, 400
.DATA 1019 ;Time to be in tolerance (sec)
0.016, 0.016, 0.016
.DATA 1055 ;Tolerance checking filter pole
4, 4, 4
.DATA 202 ;READY location joint values (deg or mm)
0, 0, 0
.DATA 141 ;Min joint pendant increment (deg or mm)
1E-03, 1E-03, 1E-03
.DATA 142 ;Max joint pendant speed (deg/sec or mm/sec)
50, 50, 50
.DATA 240 ;Free mode enable bit field
65535
.DATA 22 ;Free mode signals
0, 0, 0
; LINK DIMENSIONS (mm)
.DATA 80 ;Wrist to flange distance
0
.DATA 81 ;Link dimensions
0
; SOFTWARE JOINT LIMITS (deg or mm)
.DATA 120 ;Lower joint travel limit
-10, -10, -10
.DATA 121 ;Upper joint travel limit
780, 530, 210
.DATA 123 ;Max lower joint travel limit
-11, -11, -11
.DATA 124 ;Max upper joint travel limit
781, 531, 211
; CARTESIAN MOTION SPECIFICATIONS
.DATA 144 ;Max WORLD/TOOL pendant trans./rot. speed (mm/sec or deg/sec)
0, 50, 0
.DATA 140 ;Time to reach max WORLD/TOOL pendant speed (sec)
0.16
.DATA 143 ;Min WORLD/TOOL pendant trans./rot. increment (mm or deg)
1E-03, 1E-03, 1.74533E-05
; TRAJECTORY GENERATOR SPEED PARAMETERS
.DATA 162 ;Minimum execution time for Cartesian motions (sec)
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adept technology MV Specifications

General

Brand	adept technology
Model	MV
Category	Controller
Language	English