adept technology MV Instruction Handbook

Prior to Starting the AdeptModules
AdeptModules Instruction Handbook, Volume 1: Adept MV Controller Interface, Rev. A 89
This program configures the number and type of robots in a system. A special
software file called a “device module file” must be loaded into the system file in
order to use the AdeptModules system. Refer to Appendix A for a detailed
explanation of CONFIG_C. Refer to the section “Bringing Up the AdeptModules
System” for a detailed step-by-step procedure.
2. Robot specification utility program (SPEC.V2)
The robot specification utility program (referred to as the SPEC program) allows
customizing of the system file with the required control parameters for
AdeptModules. It includes routines to interactively configure the AdeptModules
system. The SPEC program allows use of the “Quick Setup” of the AdeptModules
by loading SPEC parameter files provided with the system. The SPEC program
will allow modification of the parameters (before modifying the parameters, be
sure to understand the effect of each parameter). Adept recommends using the
default parameters which are loaded during configuration. The program also
stores these parameters to the system file so that the configured system boots
from the modified system disk.
SPEC Data
The Adept Utilities Disk contains the subdirectory “SPECDATA”. This subdirectory
contains SPEC parameter files for selected AdeptModules and robot configurations. Load
the SPEC data files from this disk when using AdeptModules Quick Setup from the main
menu of the SPEC program. These parameters files can be copied to the hard disk in a
separate directory.
Overview of AdeptModules Quick Setup
The AdeptModules Quick Setup allows bringing up the system quickly by loading
default SPEC parameter files. All the appropriate files are on the Adept Utilities Disk in
the directory Spec Data. These SPEC parameters are optimized for AdeptModules. If the
application requires further tuning of the parameters, use caution in changing them. The
AdeptModules Quick Setup is divided into two main sections. First, load the
JOINT-INDEPENDENT file and then the JOINT-specific file for each module in the robot.
The JOINT-INDEPENDENT files contain information such as number of axes, Cartesian
parameters, etc.
The JOINT-INDEPENDENT file naming convention is:
LM_XYZ or LM_XZ
Where “XYZ” represents number of axes and kinematic configuration of the
AdeptModules system.
Each JOINT file contains information about a specific joint (AdeptModule) in the system,
including tuning parameters, encoder configuration, calibration configuration, etc.
The JOINT data files are named using the last five digits of AdeptModule part number.
For example:
The part number of an H-Module with 800mm stroke is 90400-10080
The name of the SPEC parameter file name for this module is “10080”.
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adept technology MV Specifications

General

Brand	adept technology
Model	MV
Category	Controller
Language	English