Adept ACE User's Guide

Transcription

1 Adept ACE User's Guide

2 Cpyright Ntice The infrmatin cntained herein is the prperty f Adept Technlgy, Inc., and shall nt be reprduced in whle r in part withut prir written apprval f Adept Technlgy, Inc. The infrmatin herein is subject t change withut ntice and shuld nt be cnstrued as a cmmitment by Adept Technlgy, Inc. The dcumentatin is peridically reviewed and revised. Adept Technlgy, Inc., assumes n respnsibility fr any errrs r missins in the dcumentatin. Critical evaluatin f the dcumentatin by the user is welcmed. Yur cmments assist us in preparatin f future dcumentatin. Please submit yur cmments t: techpubs@adept.cm. Cpyright by Adept Technlgy, Inc. All rights reserved. Adept, the Adept lg, the Adept Technlgy lg, AdeptVisin, AIM, Blx, Blxview, FireBlx, Fireview, HexSight, Meta Cntrls, MetaCntrls, Metawire, Sft Machines, and Visual Machines are registered trademarks f Adept Technlgy, Inc. Brain n Bard is a registered trademark f Adept Technlgy, Inc. in Germany. ACE, ActiveV, Adept 1060 / 1060+, Adept 1850 / 1850 XP, Adept 540 Adept 560, Adept AnyFeeder, Adept Award, Adept C40, Adept C60, Adept CC, Adept Cbra 350, Adept Cbra 350 CR/ESD, Adept Cbra 550, Adept 550 CleanRm, Adept Cbra 600, Adept Cbra 800, Adept Cbra i600, Adept Cbra i800, Adept Cbra PLC server, Adept Cbra PLC800, Adept Cbra s600, Adept Cbra s800, Adept Cbra s800 Inverted, Adept Cbra Smart600, Adept Cbra Smart800, Adept DeskTp, Adept FFE, Adept FlexFeeder 250, Adept IC, Adept isight, Adept Impulse Feeder, Adept LineVisin, Adept MB-10 ServKit, Adept MC, Adept MtinBlx-10, Adept MtinBlx-40L, Adept MtinBlx-40R, Adept MV Adept MV-10, Adept MV-19, Adept MV4, Adept MV-5, Adept MV-8, Adept OC, Adept Pythn, Adept sdio, Adept SmartAmp, Adept SmartAxis, Adept SmartCntrller CS, Adept SmartCntrller CX, Adept SmartMdule, Adept SmartMtin, Adept SmartServ, Adept smi6, Adept ssight, Adept Viper s650, Adept Viper s850, Adept Viper s1300, Adept Viper s1700, AdeptCartesian, AdeptCast, AdeptFrce, AdeptFTP, AdeptGEM, AdeptMdules, AdeptMtin, AdeptMtin Serv, AdeptMtin VME, AdeptNet, AdeptNFS, AdeptOne, AdeptOne-MV, AdeptOne-XL, AdeptRAPID, AdeptSight, AdeptSix, AdeptSix 300, AdeptSix 300 CL, AdeptSix 300 CR, AdeptSix 600, AdeptTCP/IP, AdeptThree, AdeptThree-MV, AdeptThree-XL, AdeptTw, AdeptVisin, AVI AdeptVisin, AGS AdeptVisin GV, AdeptVisin I, AdeptVisin II, AdeptVisin VME, AdeptVisin VXL, AdeptVisin XGS, AdeptVisin XGS II, AdeptWindws, AdeptWindws Cntrller, AdeptWindws DDE, AdeptWindws Offline Editr, AdeptWindws PC, AIM Cmmand Server, AIM Dispense, AIM PCB, AIM VisinWare, A-Series, FlexFeedWare, HyperDrive, IO Blx, IO Blx, 88, MicrV+, MtinBlx, MtinWare, ObjectFinder, ObjectFinder 2000, PackOne, PalletWare, savi, S-Series, UltraOne, V, V+ and VisinTeach are trademarks f Adept Technlgy, Inc. Any trademarks frm ther cmpanies used in this publicatin are the prperty f thse respective cmpanies. Created in the United States f America

3 Wrkspace Explrer...36 Task Status Cntrl...41 Rbt and Teach Cntrls...43 Digital I/O...45 File Explrer D Simulatin...50 Objects and Object Editrs...52 Objects in the Wrkspace...52 Understanding Editr Menus...59 Understanding Editr Parameters...60 Understanding Online Help fr Parameters...61 AnyFeeder Editr...61 Cntrller Editr...64 Cnveyr Editr...66 Gripper Editr...68 Mtin Editrs...70 Rbt Editr...72 Rbt Exercise Editr...74 System Startup Editr...76 User Manager Editr...78 Cnfiguratin Tls...81 Upgrading V Backing Up V Restring V Cnfiguring V Tabs...84 V+ Cnfiguratin File Descriptin...88 Installing Rbts...92 Appending, Replacing, and Selecting Rbts...94 Rbt and Mtr FireWire Cnfiguratin...98 Digital I/O Cnfiguratin...99 Using the Cnfigure FireWire Ndes Dialg...99 Using the V+ System Cnfiguratin Dialg Upgrading FireWire Nde Firmware Upgrading SmartCntrller FPGA Pythn Mdule/Smart Serv Kit Cnfiguratin Rbt and Mtr Cnfiguratin Cnfiguring Axes, Optins, and Kinematic Parameters Enabled Axes Rbt Optins Kinematics Table Of Cntents Intrductin...9 Cnfiguratin Tls...9 Applicatin Setup and Operatin...9 Hw it Wrks...10 The Adept ACE Wrkspace...11 Flders...12 Linking Objects in the Wrkspace...12 Wrkspace Lading and Unlading...13 Feature Summary...13 Cmparisn t Adept Utilities...14 Cmparisn t Adept AIM...15 Cmparisn t Adept DeskTp...16 Hw D I Begin?...16 Related Manuals...17 Hw Can I Get Help?...17 Getting Started...19 Installing the Sftware...19 Beginning the Installatin...19 Installing the Supprting Libraries...20 Installing the Adept ACE Sftware...20 Cnfiguring Ethernet Cmmunicatins...20 Cnfiguring One PC and Cntrller With User-Assigned IP Address...20 Running Adept ACE fr the First Time...24 Starting the Adept ACE Sftware...24 Lading a Wrkspace...24 Accessing the Main User Interface...26 The Wrkspace Explrer...27 The 3D Simulatr...28 The Rbt Cntrl...29 The Task Status Cntrl...30 Cnfiguring User Access...30 Cnfiguring System Startup...31 User Interface...33 Main Menu...33 File Menu...33 View Menu...34 Tls Menu...34 Help Menu...35 Tlbar

4 Table Of Cntents Dwnward Rbt-t-Camera Calibratin Upward Rbt-t-Camera Calibratin Visin Prgrams Cnveyr Visin Lp Prgram Refine Tl Offset Prgram Visin Lcate Prgram Visin Queue Fill Prgram Prgramming Adept ACE Sequence Prgramming Adding Sequence Steps Understanding the Sequence Categries Pythn Language Prgramming Using the Pythn Language Interpreter Using the Cnsle Windw Invking a Pythn Cmmand frm a Sequence Prgram Invking a Pythn Cmmand frm the Task Status Cntrl Understanding the Pythn Language Within Adept ACE Examples Diagnstic Tls FireWire Events Lg Pending Errrs Lg Rbts and Encders Rbt Diagnstics External Encder Diagnstics System Diagnstic Summary Extending Adept ACE Index Grip Offsets Versus Tl Offsets Using a Grip Offset Teaching a Grip Offset Using Grip Offsets with Multiple Parts Reverse Teaching a Grip Offset with Visin Using a Tl Offset Editing Obstacles Cnfiguring S-Curve Prfiles Lading and Saving Rbt/Mtr Specificatin Files Lading a Rbt/Mtr Specificatin File Saving a Rbt/Mtr Specificatin File Tuning the Mtrs Adding and Remving Mnitred Items Cllecting Data Adding and Remving Mnitred Items Data Cllectin Parameters Mtin Cntrl Statins and Pick-Place Sequences Creating a Statin Creating a Pick and Place Sequence Mve Summary Multiple-Field Editing Rbt Exercise Creating a Rbt Exercise Cnveyr Tracking Example Understanding Cnveyr Tracking Using Cnveyr Tracking Using Cnveyr Tracking With Visin Using Cnveyr Tracking Withut Visin (Using a High-Speed Digital Sensr) Cnveyr Calibratin AnyFeeder Example Understanding the Adept AnyFeeder Using the Adept AnyFeeder Visin AdeptSight Visin Cameras Adding an AdeptSight Visin Camera t the Wrkspace Calibrating the Visin Camera AdeptSight Visin Tls Adding an AdeptSight Visin Tl t the Wrkspace Visin Calibratins Cnveyr Rbt-t-Camera Calibratin

5 Fr mre infrmatin n the AIM interface, see the cllectin f AIM dcumentatin in the Adept Dcument Library. Adept ACE prgramming: Adept ACE prvides many ways f prgramming yur applicatin frm a PC. Because it runs n the PC, it requires the PC t be cnnected during peratin. Sme f the ways yu can prgram the system include: Graphical prgramming: A graphical pint-and-click sequence prgramming envirnment is prvided fr quickly setting up mst applicatins. Fr mre details, see the tpic Sequence Prgramming. Pythn language scripting: Mre cmplex applicatins smetimes require a mre pwerful language - the Pythn language prvides an excellent cmbinatin f pwer and ease-f-use in a standard prgramming envirnment. Fr mre details, see the tpic Pythn Language Prgramming. This guide describes prgramming in Adept ACE using these methds. Hw it Wrks Adept ACE sftware prvides a cre framewrk f functinality in a library that runs n the PC, as shwn in the figure Base Framewrk and Extensins. These functins include the ability t: save and lad wrkspace data (persistence) run sequences lg events run varius utilities A variety f plug-ins are installed int this framewrk at startup, if they are fund t be available, including an interface t Adept cntrllers and rbts, machine visin, and 3D simulatin. Fr mre details n ACE plug-ins, see the sectin Extending Adept ACE. Base Framewrk and Extensins Cmmunicatin between Adept ACE sftware and the Adept cntrller is supprted ver Ethernet. At startup, Adept ACE sftware dwnlads and starts a cmmand server n the Adept cntrller, which then reprts events and respnds t requests frm the Adept ACE sftware running n the PC. An Adept ACE user applicatin can run in ne f several ways: The user can wrk directly in the Adept ACE graphical user interface (GUI), see the figure Typical Adept ACE Applicatin. In this scenari, the user wuld create sequences, edit parameters, cntrl executin, and mnitr status frm the Adept ACE applicatin's GUI. Intrductin The Adept Autmatin Cntrl Envirnment (ACE) sftware is a PC-based sftware package that cntains a cllectin f tls fr cnfiguring, prgramming, cntrlling, and mnitring Adept equipment in a wrkcell. These tls are accessed thrugh the Adept ACE graphical user interface (GUI), which prvides a user-friendly, pint-and-click envirnment. The Adept ACE sftware is primarily written t run n the PC. At startup, Adept ACE initiates a small V+ "cmmand server" prgram in the rbt cntrller, which receives cmmands frm the PC-based sftware and reprts back data and events. NOTE: The "cnfiguratin tls" versin f the Adept ACE sftware cntains a set f GUI-based utilities, which are used t set up yur Adept system fr yur particular applicatin, as described in the next sectin. Other mtin and visin features are visible and accessible in the "cnfiguratin tls" versin f the sftware. Hwever, these features have restricted functinality. T enable full functinality: the mtin features require the V+ license "ACE Mtin", license bit 44; the visin features require the AdeptSight USB hardware key. Fr details n btaining these items, please cntact Adept. Cnfiguratin Tls When yu first receive an Adept system, yu may need t cnfigure that system fr yur particular applicatin. The Adept ACE sftware cntains a set f cnfiguratin tls, which prvide GUI-driven alternatives t Adept's V+ perating system cmmand-line utilities. Mst f the Adept ACE cnfiguratin tls can be accessed directly frm the Cntrller Editr's main windw. Fr mre details n the cnfiguratin tls, see the tpics Cmparisn t Adept Utilities and Cnfiguratin Tls. Applicatin Setup and Operatin After yur Adept system is cnfigured, yu will need t prgram it t d its jb. There are several ways f accmplishing this: V+ prgramming: Adept s V+ prgramming language is pwerful and easy-t-learn. By default, V+ is a cmmand-line interface. Hwever, AdeptWindws and Adept Desktp prvide tw interfaces fr prgramming in V+. The V+ perating system runs n the Adept cntrller, allwing yu t discnnect yur PC when yu run yur applicatin. Fr mre infrmatin n the V+ perating system and prgramming language, see the cllectin f V+ dcumentatin in the Adept Dcument Library. AIM prgramming: Adept's AIM sftware is a graphical user interface t the V+ perating system, which is used fr setting up and prgramming applicatins. It has a successful histry in applicatins since its intrductin ver twenty years ag. Because AIM runs in V+, it allws yu t discnnect yur PC when yu run yur applicatin, thugh in mst applicatins a PC is still used t prvide an interactive user interface. NOTE: When prgramming a system with AIM, use AdeptWindws rather than Adept ACE as the user interface. 10 9

6 Intrductin The figure belw shws the Wrkspace Explrer and Editr windw. The left part f the windw shws the flder view f the wrkspace; the right part f the windw shws an editr used t view and change cntrller prperties. This methd is the easiest way t get started and t cnfigure the system. Expert users can extend and mdify the existing user interface by writing.net classes. Typical Adept ACE Applicatin A custm user prgram can start up Adept ACE sftware in the same prcess, making direct calls t the Adept ACE Framewrk applicatin prgramming interface (API). See the figure Cntrlling Adept ACE within a Custm Applicatin. Adept ACE Wrkspace Explrer and Cntrller Editr Fr mre details n the wrkspace, see the sectin Wrkspace Explrer. Flders The Adept ACE wrkspace hierarchy can be extended by mving bjects int flders in the Wrkspace Explrer. Flders prvide a cnvenient way t rganize the elements f yur wrkspace. Fr mre details n the wrkspace, see the sectin Wrkspace Explrer. NOTE: In the standard Adept ACE interface, bjects can be dragged and drpped between flders. Flders are als cnvenient because the cntents f a flder can be saved t and laded frm a ZIP file, either manually (thrugh the Wrkspace Explrer) r prgrammatically (fr example, thrugh a Sequence prgram). If yu use the same rbt and cntrller fr multiple applicatins, yu can stre the applicatin-specific data under a specific flder and save it t a ZIP file. Yu can then lad that flder frm its ZIP file, r lad ther previusly-saved flders. Linking Objects in the Wrkspace Objects in the wrkspace ften need t be linked lgically. Fr example, a rbt bject must cntain a link t the cntrller with which it is assciated. In mst cases, Adept ACE takes care f this linking autmatically when the bjects are added t the wrkspace. Fr mre details n wrkspace bjects, see the sectin Objects in the Wrkspace. When the wrkspace is saved, the links between bjects in the wrkspace are als stred. The links between bjects are restred when the wrkspace is reladed. Fr mre details n the saving and lading the wrkspace, see the sectin Wrkspace Lading and Unlading. Cntrlling Adept ACE within a Custm Applicatin A custm user prgram (typically written in Visual Basic, C#, r C++) can run in a prcess r n a PC that is independent frm the Adept ACE applicatin, and make remte calls t the Adept ACE Framewrk API. See the figure Cntrlling Adept ACE frm Different Prcess r PC. The Adept ACE Wrkspace Cntrlling Adept ACE frm Different Prcess r PC A fundamental cncept in the Adept ACE sftware is the wrkspace. The wrkspace is cmpsed f a hierarchy f bjects, bth physical (like rbts, statins, and end-effectrs) and nn-physical (like sequences and variable values). At startup, the wrkspace can be laded frm a ZIP file. The ZIP file cntains a cmpressed XML file, which stres data fr each bject in the hierarchy. At shutdwn, mdificatins t the wrkspace can be saved back t the same file frmat fr reuse in a future sessin

7 Intrductin Digital IO display f Inputs / Outputs / Sft and internal rbts signals. and much mre. The fllwing sectins describe hw the Adept ACE sftware features cmpare t thse fund in ther Adept sftware. Cmparisn t Adept Utilities The Adept ACE cnfiguratin tls prvide a graphical versin f the cmmand-line cnfiguratin utilities fund in the V+ perating system. Mst f these cnfiguratin tls can be accessed directly frm the Cntrller Editr's main windw. Fr details n the Cntrller Editr, see the tpic Cntrller Editr. Fr details n the cnfiguratin utilities, see the chapter Cnfiguratin Tls. CONFIG_C: Cnfigures V+ and the cntrller SPEC: Cnfigures rbt specificatins and mtr gains. DC_SETUP: Cnfigures FireWire ndes and sets up single-axis calibratin. DC_UPDAT: Updates firmware n FireWire ndes. FAULTLOG: Reads the FireWire nde fault lgs. FLASHUPD: Updates SmartCntrller FPGA. Befre Adept ACE V+ utility Included as a system cnfiguratin editing dialg, V+ upgrade utility dialg, and rbt append/remve/select dialg, which are accessed frm the Cntrller Editr. V+ utility (includes sme pltting graphics) ASL: Advanced Serv Library. V+ utility DISKCOPY: Cpies files acrss directries and netwrks. FORMAT: Frmats hard disks r CmpactFlash (CF) cards. VPROTECT: Encrypts V+ files t prvide intellectual prperty prtectin. SQUEEZE: Eliminates white space and cmments t reduce file size. Included as prperty editrs and GUI dialgs, which are accessed frm the Rbt Editr. V+ utility Included as GUI dialgs fr cnfiguring FireWire ndes and lading specs, which are accessed frm the Cntrller Editr. V+ utility Included as a GUI dialg, which is accessed frm the Cntrller Editr. V+ utility Included as a GUI dialg, which is accessed frm the Cntrller Editr. V+ utility Included as a GUI dialg, which is accessed frm the Cntrller Editr. Included as API calls. See the Adept ACE API Dcumentatin fr details. V+ utility Included as a graphical interface, which is accessed frm the File Explrer. V+ utility Included as a shrtcut menu item, which is accessed frm the File Explrer. V+ utility Included as the 'VPROTECT" PC cmmand-line utility, which is lcated in the Adept ACE installatin directry "Tls" subflder. V+ utility Included as the "VPP" PC cmmand-line utility, which is lcated in the Adept ACE installatin directry "Tls" subflder. Wrkspace Lading and Unlading Adept ACE allws yu t lad r unlad the entire cntents f the wrkspace, which makes it pssible t quickly switch between applicatins r prduct lines. T d this, the wrkspace must first be saved as a ZIP file thrugh the File menu. Fr details, see the sectin File Menu. In additin, individual flders in the wrkspace can als be saved as ZIP files and reused in ther Adept ACE prjects. Fr mre details, see the sectin Flders. Feature Summary The Adept ACE sftware includes the fllwing features: GUI-driven alternatives t Adept's V+ perating system cmmand-line utilities. See Cmparisn t Adept Utilities fr mre details. Custm wrkspace layuts that can be created/edited, saved, and pened.net Framewrk GUI, which allws greater cntrl f items in the wrkspace. NOTE: This versin f Adept ACE requires the Micrsft.NET Framewrk, versin 2.0 r later, which is supplied n the Adept ACE sftware CD-ROM. See Installatin fr mre details. Multi-axis mechanism supprt Task Status panel, which prvides the fllwing prgram cntrls: - Start (execute) - Pause - Prceed - Retry - Inf - Edit - Abrt - mnitring f current tasks and current exceptins File Explrer, which prvides - Access t files n the cnnected Adept cntrller - Drag and drp capability Wrkspace Explrer, which displays the wrkspace bjects (cntrller, rbt, gripper, etc.) in a tree structure n ne side f the display, and editrs fr thse bjects n the ther side f the display. Prgram Editrs, which prvide: - Online prgramming tls fr: Sequence Prgram editr Pythn Language interpreter - Feedfrward Tuning editr 14 13

8 Intrductin Cmparisn t Adept DeskTp The sectin highlights the similarities and differences between Adept DeskTp and Adept ACE. In general, Adept Desktp and Adept ACE bth prvide a PC-based graphical user interface fr Adept systems. In Adept DeskTp, rbtic prgrams must be written in V+ r MicrV+. In Adept ACE, the user can build and cnfigure rbtic applicatins withut any knwledge f V+. Similarities Bth Adept DeskTp and Adept ACE prvide the fllwing similar features: a PC-based interface t Adept cntrllers. a file manager fr mving files between the PC and the cntrller. a digital I/O status display fr digital signals, sft signals, and rbt signals. an interface t AdeptSight. Differences Adept DeskTp and Adept ACE differ in the fllwing features: Adept Desktp can wrk with bth MicrV+ and V+ systems; Adept ACE wrks nly with V+ systems. Adept Desktp prvides a V+ prgramming interface fr editing lw-level prgrams that run n the cntrller; Adept ACE prvides a graphical prgramming interface that edits highlevel prgrams that run n the PC, using a drag-and-drp interface. Adept Desktp has limited V+ cnfiguratin capability; Adept ACE has cmplete V+ cnfiguratin capability. AdeptSight prgramming with Adept Desktp requires V+ prgramming; AdeptSight prgramming with Adept ACE is perfrmed thrugh the drag-and-drp graphical interface. Hw D I Begin? Befre yu can use the Adept ACE sftware, yu must cmplete the fllwing steps: 1. Install the Adept cntrller and Adept rbt in the wrkcell. See the Adept user guides that were supplied with yur equipment fr installatin instructins. 2. Install Adept ACE n yur PC. See Installing the Sftware fr details. 3. Set up a physical cnnectin t the cntrller. See Cnfiguring Ethernet Cmmunicatins fr details 4. Start the Adept ACE sftware. See Running Adept Ace fr the First Time fr details. Cmparisn t Adept AIM The table belw highlights the differences between Adept AIM and Adept ACE. Runtime Executin Persistence Adept AIM Adept AIM executes sequences n the Adept cntrller. Adept AIM uses ne file per database, with each database cntaining any number f recrds with a fixed recrd size. The file is stred n the Adept cntrller. Framewrk Adept AIM uses libraries f V+ rutines. These rutines cannt be used utside f Adept AIM. The framewrk runs in V+. Utilities Visin Cntrllers Adept AIM has very limited utility supprt. The user must run cmmand-line utilities utside f Adept AIM, using the standard V+ text interface. Adept AIM VisinWare is nt accessible utside f Adept AIM. Visin in the V+ envirnment requires extensive cding. Adept AIM can cntrl ne Adept cntrller. Prgramming Adept AIM prgramming is generally dne nline, because there is n ffline interpreter. Adept ACE Executin is perfrmed n the PC, which allws access t a greater variety f hardware and sftware capabilities. Hwever, the PC must remain cnnected t the cntrller. V+ executin is still supprted fr custmers wh want t run Adept AIM r V+ prgrams. The entire wrkspace is prtable as a single ZIP file cmpsed f ne XML file per wrkspace bject. The file is stred n the PC. Libraries f.net sftware, accessible thrugh.net languages such as VB, C#, and C++. Adept ACE s.net libraries can be used either within a standard Adept GUI r in a custmerwritten applicatin. Adept ACE can als invke V+ prgrams n the cntrller. Utilities run as plug-ins int framewrk. Adept isight and AdeptSight can take advantage f fast PC prcessrs and netwrked cameras, and will be accessible frm V+ prgrams and Adept ACE. Multiple Adept cntrllers can be cntrlled frm a single Adept ACE applicatin. Prgramming in Pythn language can ccur ffline r nline. Diagnstics Adept AIM is used as a cntrl By prviding a fundatin fr utility and test applicatin, rather than a sftware, many diagnstics have already been diagnstic applicatin, because it develped, and new nes are planned. cntains few diagnstics

9 Intrductin Related Manuals In additin t this manual, yu may wish t refer t the fllwing manuals: Manual Adept rbt user's guide Adept SmartCntrller User's Guide Adept SmartMtin Develper's Guide Material Cvered Describes the installatin and cmmissining f yur Adept rbt. This manual details the installatin, cnfiguratin, and maintenance f yur Adept cntrller. The cntrller must be set up and cnfigured befre cntrl prgrams will execute prperly. Prvides backgrund infrmatin and describes key cncepts regarding cnfiguratin and tuning f Adept mtin systems. Hw Can I Get Help? Refer t the Hw t Get Help Resurce Guide, Adept P/N , fr details n getting assistance with yur Adept sftware r hardware. Additinally, yu can access the fllwing infrmatin surces n Adept's crprate website: Fr Cntact infrmatin: Fr Prduct Supprt infrmatin: Fr further infrmatin abut Adept Technlgy, Inc.: 17

10 Installing the Supprting Libraries Befre installing the Adept ACE sftware, cmplete the fllwing steps t install/update the Micrsft.NET Framewrk and DirectX libraries n yur PC: Click Install Micrsft.NET Framewrk 2.0. The installatin file is extracted and the installer pens. Fllw the n-screen instructins t cmplete the installatin. 2. Click Update Micrsft DirectX. The DirectX setup wizard pens. Fllw the n-screen instructins t cmplete the installatin. Installing the Adept ACE Sftware After the supprting libraries are installed, cmplete the fllwing steps t install the Adept ACE sftware: 1. Click Install Adept ACE. The Adept ACE setup wizard pens. Fllw the n-screen instructins t cmplete the installatin. 2. At the end f the installatin, the ReadMe file is displayed. Click the clse icn in the upper right crner f the infrmatin windw t clse it. The Adept ACE sftware installer puts an "Adept ACE" shrtcut n yur desktp and adds the fllwing items t the "Adept Technlgy/Adept ACE" flder n yur Windws Prgrams menu: Adept ACE - a shrtcut fr starting the Adept ACE GUI n yur PC. Adept ACE API Dcumentatin - a shrtcut t prgrammers dcumentatin shuld yu want t integrate Adept ACE int yur wn applicatins. Adept ACE User Guide - a shrtcut t this dcument. Adept ACE ReadMe File - a shrtcut t a dcument that describes: system requirements, installatin instructins, distributin cntents, additinal tls, usage cnsideratins, and the histry f recent changes t the Adept ACE sftware. Cnfiguring Ethernet Cmmunicatins There are many ways t cnfigure the Ethernet cmmunicatins fr yur Adept ACE system. Yu can set up a basic Ethernet installatin between ne PC and ne Adept cntrller. Or, yu can set up mre cmplex systems invlving multiple PCs and cntrllers. When cnnecting yur PC t yur Adept cntrller, there are times when yu may nt knw the IP address f the Adept cntrller. It seems like a difficult situatin, yu need t cmmunicate with the cntrller in rder t change its address, but yu can t cmmunicate with it because yu dn t knw its address. The Cntrller IP Address Cnfiguratin tl (see the figure Cntrller IP Address Cnfiguratin Dialg) can help slve this prblem. Even if the cntrller address is incmpatible with yur PC, it will reveal the cntrller s IP address t yu. Then yu can set the desired IP and subnet addresses t values that are cmpatible with thse n yur PC, which will allw yur PC and cntrller t cmmunicate prperly. See the next sectin fr mre details. Cnfiguring One PC and Cntrller With User-Assigned IP Address As shwn in the figure belw, there is ne PC netwrked t ne Adept cntrller. This cnfiguratin assumes that the PC has already been assigned an IP address (fr example, fr use n a crprate This chapter describes hw t install and start the Adept ACE sftware. Installing the Sftware Getting Started This sectin describes the prcedure fr installing the Adept ACE sftware and supprting libraries nt yur PC. NOTE: The "cnfiguratin tls" versin f the Adept ACE sftware cntains a set f cnfiguratin tls, which are used fr cnfiguring yur Adept system fr yur particular applicatin, as described in the next sectin. Other mtin and visin features are visible and accessible in the "cnfiguratin tls" versin f the sftware. Hwever, these features have restricted functinality. T enable full functinality: the mtin features require the V+ license "ACE Mtin", license bit 44; the visin features require the AdeptSight USB hardware key. Fr details n btaining these items, please cntact Adept. The Adept ACE sftware is distributed n CD-ROM. The media cntains installatin prgrams t prperly install the sftware n the PC. During the installatin prcedure, the fllwing sftware and shrtcuts will be installed: Micrsft.NET Framewrk versin 2.0 (r newer) DirectX 9.0C Octber 2005 release (r newer) Adept ACE (requires the V+ "ACE mtin" license #44 in rder t mve the rbt; see the ReadMe file fr details) AdeptSight (requires the AdeptSight USB hardware key [dngle]; see the ReadMe file fr details) Online Dcumentatin (Help, API Reference, and ReadMe file) Beginning the Installatin T begin the installatin: 1. Insert the Adept ACE sftware CD-ROM int the CD drive f yur PC. If AutPlay is enabled, the Welcme t Adept ACE menu is autmatically displayed. If AutPlay is disabled, yu will need t manually start the CD-ROM. Use Windws Explrer t brwse t yur CD-ROM drive, right-click n the drive, and select AutPlay frm the menu. 2. Click Read Imprtant Infrmatin. The ReadMe file is displayed. 3. Verify that yur system meets the minimum requirements described in the System Requirements sectin. 4. After reviewing the infrmatin, click the clse icn in the upper-right crner f the infrmatin windw t clse it. 19

11 Getting Started that defines a unique IP address n the netwrk. The subnet mask must be defined as NOTE: If yur cntrller will be cnnected t yur crprate netwrk, yu may need t cntact yur netwrk administratr t btain a cntrller IP address. 7. Start the Adept ACE sftware by selecting Start => Prgrams => Adept Technlgy => Adept ACE => Adept ACE frm the Windws task bar; r, duble-clicking the Adept ACE icn n the Windws desktp. The Adept ACE Startup dialg pens. netwrk). Therefre, the cntrller must have a user-assigned IP address rather than the default IP address assigned by V+. NOTE: This cnfiguratin requires the Adept-supplied crssver cable and CmpactFlash card that was supplied with the Adept cntrller. 8. On the Adept ACE Startup dialg, click the (binculars) icn. The Cntrller IP Address Cnfiguratin dialg pens. PC and SmartCntrller Netwrk T create the netwrk shwn abve, cmplete the fllwing steps: 1. Discnnect pwer frm the cntrller. If needed, install the Adept-supplied CmpactFlash that was included with the cntrller. See the SmartCntrller User's Guide fr details. 2. Verify that the cntrller DIP switch (lcated n the frnt f the SmartCntrller chassis) is set t the fllwing: SW1 SW2 SW3 SW4 OFF OFF OFF OFF Cntrller IP Address Cnfiguratin Dialg 9. Start the Adept cntrller. After the cntrller start up cmpletes, the IP address will be detected and displayed in the Cntrllers Detected field. 3. Cnnect the Adept cntrller and yur PC using the Adept-supplied crssver cable. Optinally, yu can cnnect the PC t the cntrller using a netwrk hub and tw Ethernet cables. NOTE: DO NOT use the crssver cable with a netwrk hub. 4. Install the Adept ACE sftware n the PC. Details Determine the IP address and subnet mask f yur PC by lking at the TCP/IP prperties f Netwrk Settings in the Windws Cntrl Panel. Alternatively, yu can determine the IP address f yur PC by using the "ipcnfig" cmmand (Windws 2000/XP) in the Windws Cmmand Prmpt windw. See yur Windws perating system dcumentatin fr details. 6. Based n the PC s IP address and subnet mask determined abve, define a cntrller IP address, which will be cnfigured in the next step. Example: If the PC s IP address is and the subnet mask is , then the cmmn netwrk number is xxx. In this case, the cntrller s IP address shuld be defined as xxx, where xxx is a number between 0 and

12 Getting Started 12.Click Open t cnnect t the Adept cntrller. The Adept ACE sftware cmpletes the cnnectin t the specified cntrller. The Adept cntrller is nw ready fr use. Running Adept ACE fr the First Time This tpic describes hw t start the Adept ACE sftware and lad a wrkspace. Additinally, several f the main user-interface items are briefly described. Starting the Adept ACE Sftware T start the Adept ACE sftware: 1. Verify that the Adept cntrller yu want t cnnect t is n the same netwrk as yur cmputer. Nte that yu can als run the Adept ACE sftware in simulatin mde (withut a cntrller). Hwever, the system s capabilities will be reduced. 2. Frm the Windws task bar, select: Start => Prgrams => Adept Technlgy => Adept ACE => Adept ACE Optinally, yu can duble-click the "Adept ACE" icn n the Windws desktp. The Adept ACE Startup dialg pens. Detected Cntrller IP Address 10.Enter the desired IP address and desired subnet mask int the crrespnding fields. 11.Click OK t restart the cntrller. The cntrller restarts and the new IP address and subnet mask are assigned. After the cntrller restarts, the Adept ACE Startup dialg pens with the assigned cntrller IP address. Adept ACE Startup Dialg Lading a Wrkspace After the Adept ACE Startup dialg has displayed, yu will need t lad a new r previusly-saved wrkspace, create an example wrkspace, r create an empty wrkspace. T lad a wrkspace, d ne f the fllwing: Lad a Saved Wrkspace T lad a previusly-saved wrkspace frm disk, select Lad Saved Wrkspace and then: Select ne f the recently-used wrkspaces frm the Lad Saved Wrkspace drpdwn list, Or click Brwse t lcate a previusly-saved wrkspace n yur cmputer. Create a New Wrkspace T create a new wrkspace fr ne f the cntrllers n yur netwrk, select the Create Assigned Cntrller IP Address 24 23

13 Getting Started Accessing the Main User Interface After yu have selected a methd fr creating a new wrkspace, click Open t access the Adept ACE main user interface shwn in the figure belw. (The actual appearance may vary, depending n hw the elements f the user interface are enabled and dcked in the main windw.) Nte that yu can dck and undck the "dckable" explrer and task windws by dragging them by the title bar r tab, if they dn t appear as desired. Sme f the key user-interface features are highlighted in the fllwing sectins. Details n the main cmpnents f the user interface can be fund in the tpic User Interface. New Wrkspace fr Cntrller at Address radi buttn and then select a cntrller frm the drp-dwn list. T refresh the cntrller list, click the (refresh) icn. T detect, and ptinally change, the IP address f a cntrller t which yu are cnnected, click the (binculars) icn. Fr mre details n detecting a new cntrller, see Cnfiguring Ethernet Cmmunicatins. Create an Example Wrkspace T create an example wrkspace ppulated with typical pick-and-place bjects, select the Create Example Wrkspace radi buttn. Create an Empty Wrkspace T create an empty wrkspace, select the Create Empty Wrkspace radi buttn. NOTE: This ptin creates an empty wrkspace (withut a cntrller, rbt, r any ther bject). If yu select this ptin, yu will need t manually ppulate the cntents f the wrkcell. Adept ACE Main User Interface 26 25

14 Getting Started The 3D Simulatr The 3D Simulatr allws yu t see a 3D simulatin f yur wrkcell. T access the 3D Simulatr, click the icn n the tlbar. A 3D view f yur wrkspace is displayed, as shwn in the figure belw. Nte that when the system is cnnected t a live cntrller, the rbt s actual psitin is shwn in the display. The Wrkspace Explrer Yu are nw ready t start explring bject prperties, cnfiguring the system, executing prgrams, and s n. Fr example, if yu duble-click "Adept Cntrller", yu ll see the editr displayed, as shwn in the figure belw. Fr mre details, see the tpic Wrkspace Explrer. Wrkspace Explrer with Cntrller Editr Simple 3D Simulatin 28 27

15 Getting Started The Task Status Cntrl The Task Status cntrl allws yu t select and cntrl the executin f a sequence, and t mnitr current tasks and exceptins. Fr example, t execute a sequence, press the (Execute) icn, which displays a panel similar t that shwn in the figure belw. T lad a sequence, select the desired sequence frm the Start New Task drp-dwn list. T begin executin f the selected sequence, click Start. The Rbt Cntrl Yu can access the Rbt Cntrl in multiple ways: by clicking the rbt icn n the tlbar, right-clicking the rbt in the 3D display and selecting the rbt icn frm the shrtcut menu, r chsing "Teach Lcatin" frm any bject that represents a lcatin. Nte that the cntrl that pens by chsing "Teach Lcatin" is a slightly mdified versin f the ne shwn belw. See the tpic Rbt and Teach Cntrls fr mre details. Rbt Cntrl Task Status Cntrl The Adept ACE sftware cntains tls fr cnfiguring system user access and system startup. Cnfiguring User Access System user access is cnfigured thrugh the User Manager editr. This tl allws yu t create a list f system users and assign an access level t each user. T access the User Manager Editr, yu must first create a User Manager bject in the Wrkspace Explrer. T create a User Manager bject, right-click n a flder a select New => Cnfiguratin => User Manager. A User Manager bject is added t the Wrkspace Explrer and the User Manager Editr pens. Fr mre details, see the tpic User Manager Editr. NOTE: Only ne User Manager bject is permitted in the Wrkspace Explrer

16 Getting Started Cnfiguring System Startup System startup (aut-run file and system lg file) is cnfigured thrugh the System Startup editr. This tl allws yu t specify a lcatin (flder and file name) n yur PC fr string a system startup lg file. It als allws yu t specify an aut-run file that will be executed when the Adept ACE sftware is cnnected t a cntrller. T access the System Startup Editr, yu must first create a System Startup bject in the Wrkspace Explrer. T create a System Startup bject, right-click n a flder a select New => Cnfiguratin => System Startup. A System Startup bject is added t the Wrkspace Explrer and the System Startup Editr pens. Fr mre details, see the tpic System Startup Editr. NOTE: Only ne System Startup bject is permitted in the Wrkspace Explrer. 31

17 View Menu This sectin describes the items available n the View menu. NOTE: Items marked with a blue backgrund are nt available in the "cnfiguratin tls" versin. Fr details, see Installing the Sftware. Tls Menu 34 Event Lg Displays event messages that have been lgged since system startup. The Adept ACE lg is als ptinally written t a file specified in a "System Startup" cnfiguratin bject. The in-memry event lg buffer is, by default, 20,000 bytes. Cnsequently, lder messages may be drpped when the buffer fills. Diagnstic Inf Displays a useful list f infrmatin abut the devices in the wrkspace. This list shuld be sent t Adept in any cmmunicatin abut the system being cntrlled. Wrkspace Explrer Displays the Wrkspace Explrer in the dckable prtin f the windw. Clse Editrs Clses any editrs pen in the Wrkspace Explrer. Full Screen Changes the display t fill the entire screen, which als eliminates the title bar and windw brder. The display can be restred t its previus size by selecting this menu item again. Task Status Opens the Task Status cntrl in the dckable prtin f the windw. Mve Summary Opens the Mve Summary windw, which is used t view and edit the parameters fr mves that are nt embedded in sequence statements r paths. 3D Simulatin Opens a windws that displays a 3D simulatin f the wrkcell. This sectin describes the items available n the Tls menu. Optins Displays a dialg used fr setting cnfiguratin ptins. These ptins are currently: Lad default wrkspace at startup. Run TFTP Server Starts a TFTP server, which allws the V+ perating system t: exchange files with the PC using the V+ perating system's FCOPY cmmand, bt frm the PC (if the bt infrmatin n the cntrller becmes crrupted). User Interface This chapter describes the main cmpnents f the user interface. The tpics cver the fllwing categries: Main Menu - describes the selectins available frm the main menu area Tlbar - describes the icns and drp-dwn lists available n the tlbar, and their crrespnding cntrls and dialgs Object Editrs - describes the items available n the bject editrs Main Menu The Adept ACE main menu prvides access t the fllwing: a File menu, fr lading and saving the wrkspace, signing in and signing ut (user access). a View menu, fr pening the Event Lg, Wrkspace Explrer, and Task Status. a Tls menu, fr setting ptins and starting a TFTP server. a Help menu, fr viewing the nline help (this dcument) and viewing the API Reference. File Menu This sectin describes the items available n the File menu. NOTE: Items marked with a blue backgrund are nt available in the "cnfiguratin tls" versin. Fr details, see Installing the Sftware. Lad Clears all bjects frm the wrkspace s that a new wrkspace can be created, and pens a dialg allwing yu t specify the wrkspace t lad. Save Saves the current wrkspace in the default file (the last file laded r selected in the "Save As" dialg). Save As Saves the current wrkspace in a file with a different name. Exit Clses Adept ACE. Sign In Displays a dialg that allws users t increase their access level by lgging in (requires a user name and passwrd). Sign Out Returns the access level t that specified by the User Manager when n user is lgged in. Change Passwrd Displays a dialg that allws users t change their passwrd (access t this dialg requires a successful lgin). 33

18 User Interface Wrkspace Explrer When enabled, click t disable high pwer n the cntrller (icn turns red). See the SmartCntrller User's Guide fr mre details n enabling high pwer. Displays the current mnitr speed. T change the mnitr speed, simply type the desired value int this field. Opens the Digital I/O cntrl. See the tpic Digital I/O fr details. Opens the File Explrer, which is used t view files/flders n the cntrller. See the tpic File Explrer fr details. Opens the 3D Simulatin windw. See the tpic 3D Simulatin fr details. The Wrkspace Explrer is the main wrk area fr the Adept ACE sftware. Yu can use it t add and delete bjects, access an bject's editr, access cnfiguratin utilities, and access prgram editrs. The Wrkspace Explrer displays the wrkspace bjects in a tree structure n ne side f the display, and editrs fr thse bjects n the ther side f the display (see the figure belw). Help Menu This sectin describes the items available n the Tls menu. NOTE: Items marked with a blue backgrund are nt available in the "cnfiguratin tls" versin. Fr details, see Installing the Sftware. Abut Displays the Adept ACE sftware cpyright ntice and the versin numbers f the sftware cmpnents. User Guide Displays this user guide. ReadMe File... Displays the Adept ACE ReadMe file, which cntains the system requirements, installatin instructins, distributin cntents, usage cnsideratins, and a versin change histry. API Reference Displays the Adept ACE applicatin prgramming interface (API) reference dcumentatin. This can be useful fr advanced Adept ACE scripting r defining variables based n bject prperties. Tlbar The Adept ACE tlbar prvides quick access t frequently-used items (see the figure belw). Each f the tlbar items is described belw. Tlbar NOTE: Items marked with a blue backgrund are nt available in the "cnfiguratin tls" versin. Fr details, see Installing the Sftware. Tlbar Item Descriptin Saves the current wrkspace in the default file (the last file laded r selected in the "Save As" dialg). Opens the Wrkspace Explrer windw. See the tpic Wrkspace Explrer fr details. Opens the Task Status cntrl. See the tpic Task Status Cntrl fr details. Displays any system cnfiguratin errrs. Shrtcut Menus 36 Wrkspace Explrer Windw Right-clicking n a bject in the tree structure f the Wrkspace Explrer causes a shrtcut menu t appear, as shwn in the figure belw. (nt cnnected) (cnnected) (nt enabled) (enabled, nt calibrated) (enabled, calibrated) Opens the Rbt Cntrl. See the tpic Rbt Cntrl fr details. Displays the currently-selected cntrller. A list f available cntrllers can be viewed by clicking the dwn arrw ( ). Cnnects (initiates cmmunicatin) t the selected cntrller (icn changes t duble-arrw). When cnnected, click t discnnect (stp cmmunicatin) frm the selected cntrller. Enables high pwer n the cntrller and indicates the calibratin state f the rbt. After enabling high pwer, use the Rbt Cntrl t calibrate the rbt. See the tpic Rbt Cntrl fr details. 35

19 User Interface Example Object Shrtcut Menu The shrtcut menu items will vary, depending n the bject that is selected. The fllwing is a descriptin f the shrtcut menu items: New : Appears n flder shrtcut menus fr adding new bjects. Wrkspace Explrer with Cntrller Editr Mst bject editrs include ne r mre f the fllwing items: Editr name: displays the name and path f the current editr Menu: menu items vary, depending n the particular editr that is pened Editr parameters: used t select and enter values fr each item. Fr mst editrs, items are gruped: a grup can be expanded r cllapsed using the "+" r "-" symbl next t the grup heading. Online help: prvides help fr the selected editr item. Fr mre details n the Wrkspace Explrer bjects and bject editrs, see the sectin Objects and Object Editrs. Dckable Editr Windws The Adept ACE wrkspace is designed s yu can psitin (dck) multiple editr windws within the same wrkspace, as shwn in the figure belw. This feature allws yu t custmize the editing envirnment fr yur applicatin. New Flder: Appears n flder shrtcut menus t create a new flder under the current flder. Delete: Deletes the selected bject r flder. Rename: Renames the selected bject r flder. Cpy: Cpies the selected bject r flder t the clipbard as XML data. Duplicate: Creates a cpy f the selected bject in its current flder. Incming References: Shws all references t the specified bject r flder in the wrkspace. Outging References: Shws all references t the specified bject r flder in the wrkspace. Paste: Pastes an bject r flder frm the clipbard. Save t Zip: Saves a flder t a ZIP file. Lad frm Zip: Lads a flder frm a ZIP file. Refresh: Refreshes the display f the selected bject r flder. Object Editrs When an bject in the tree structure f the Wrkspace Explrer is duble-clicked, its editr pens. Fr example, in the figure belw, if yu duble-click the Adept Cntrller bject, the Wrkspace Explrer displays the Cntrller editr

20 User Interface Windw Psitin Lcatrs 4. Drp the tab nt the desired psitin lcatr and release. The editr windw is repsitined in the wrkspace windw. 5. Repeat the steps abve until all editr windws are psitined as desired. Multiple Windws T dck multiple editr windws in the wrkspace: 1. Open the bject editrs yu wish t use. The bject editrs are shwn in a "stacked" cnfiguratin, the tabs at the tp f the windw allw yu t select the editr yu wish t view. Editr Windw Tabs 2. Click and hld the tab at the tp f the editr windw t select it Drag the tab int the wrkspace. Windw psitin lcatrs are displayed that yu can use t psitin the selected editr within the wrkspace windw. 39

21 User Interface Selecting a particular task in the list enables r disables buttns n the display accrding t the allwed recvery fr the current state. The buttns n the Task Status cntrl have the fllwing functins: Pause: Enabled during executin, pressing this buttn causes executin t pause befre the next statement in a sequence fr the selected task. Pause All: Enabled during executin, pressing this buttn causes executin t pause fr all tasks. Prceed: Enabled during a recverable pause r exceptin, this buttn causes executin t resume. Retry: Enabled when retry-enabled exceptins are psted, this buttn causes the ffending step t retry. Inf: This will display infrmatin abut the current sequence. Edit: Enabled when exceptins are psted with assciated bjects, this buttn pens an editr fr the specified bject. Abrt: Enabled during pauses r exceptins, this buttn causes the prgram executin t stp fr the selected task. Abrt All: Enabled during pauses r exceptins, this buttn causes the prgram executin t stp fr all tasks. Task Status Cntrl NOTE: This feature has restricted functinality in the "cnfiguratin tls" versin. Fr details, see Installing the Sftware. The Task Status cntrl prvides an interface fr cntrlling and mnitring the executin f ne r mre sequence prgrams that run cncurrently n the PC (see the figure belw). Fr mre details n sequence prgrams, see the tpic Sequence Prgramming. Task Status Cntrl The "Start New Task" drp-dwn list is used t select the task (prgram) fr executin. Click Start t execute the selected prgram. The "Current Tasks" list shws all the currently executing prgrams. Prgrams that are waiting fr user interactin are marked as fllws: The task is running The task is paused The task is stpped (abrted) The "Current Exceptin" list shws messages abut the prgram executin

22 User Interface Rbt and Teach Cntrls The Rbt and Teach Cntrls prvides an interface fr calibrating, psitining, and mnitring the psitin f the selected rbt. In additin, the Teach Cntrl prvides an interface fr teaching a lcatin. T access the Rbt Cntrl, n the Adept ACE tlbar, click the rbt ( Cntrl pens (see the figure Rbt Cntrl). ) icn. The Rbt Teach Cntrl NOTE: A mdified versin f the Teach Cntrl is used in the Teach Lcatin wizards (fr example, the Gripper Editr's Teach Tl Offset wizard). The Psitin radi buttns are used t select the display mde: Jint: Displays the current psitin in Jint crdinates. Wrld: Displays the current psitin in Wrld crdinates. The Manual Cntrl grup is used t manually psitin the rbt, as fllws: Mde: Selects the cntrl mde (Jint, Wrld, Tl, Jg t Wrld Lcatin, r Jg t Jint Lcatin). Nte that if Jg t Wrld Lcatin r Jg t Jint Lcatin is selected, the Manual Cntrl Grup layut changes, as fllws: Rbt Cntrl The Teach Cntrl is accessed frm the Teach Lcatin selectin n a Cntrl menu (fr example, frm the AnyFeeder Editr's "Cntrl" menu). Manual Cntrl Grup Gal Lcatin: Displays a pick list, which is used t select the desired Wrld r Jint lcatin. Refresh ( ): Refreshes the items n the Gal Lcatin pick list. Axis: Displays a pick list, which is used t select the jint/axis being cntrlled 44 43

23 User Interface Cntinuus Jg: Activates mvement f the selected jint/axis. The right-hand part f the cntrl mves the jint/axis in the psitive (+) directin; the left-hand part f the cntrl mves the jint/axis in the negative (-) directin. The middle area f the cntrl mves the selected jint/axis at a slw speed; the uter ends f the cntrl mve the selected jint/axis at a fast speed. Step Jg: Prvides step-jgging cntrl f the rbt. Step Size: Sets the step size fr the rbt mvement. +, - Buttns: Used t mve the selected jint/axis in a psitive (+) r negative (-) directin. The remaining items have the fllwing functins: Tl: Opens the Tl Offset dialg (see the figure belw), which is used t view r edit the displayed value. Nte that if the value is edited, it will be reset if yu change the end effectr, r during certain rbt mves. Additinally, yu can use the Reset buttn t reset the tl ffset back t the default value fr the given end-effectr, r null if n end-effectr is munted. Pwer: Enables/disables high pwer. Tl Offset Dialg Calibrate: Initiates calibratin f the rbt and changes the State t "Autmatic Cntrl". Grip: Enables/disables the gripper assciated with the rbt. State: Displays the current state f the cntrller (Off, Prgram Cntrl, r Autmatic Cntrl). Rbt: Selects the rbt that will be used with the Rbt Cntrl r Teach Cntrl. Digital I/O Windw The Outputs, Inputs, and Sft Signals checkbxes are used t select the digital I/O signal types t display: Outputs: Displays the digital I/O utput signals. Inputs: Displays the digital I/O input signals. Sft Signals: Displays the digital I/O sft signals. Rbt Signals: Displays the digital I/O rbt signals. Here: (Teach Cntrl nly) Teaches (recrds) the current psitin and clses the cntrl. Cancel: Cancels the peratin and clses the cntrl. Digital I/O The Digital I/O windw prvides an interface fr mnitring the state f digital I/O signals (inputs, utputs, sft signals, and rbt signals) n the cnnected cntrller. Additinally, yu can use this windw t manually tggle (turn n/ff) digital utput signals and sft signals. T access the Digital I/O windw, n the Adept ACE tlbar, click the digital I/O ( Digital I/O windw pens (see the figure Digital I/O Windw). ) icn. The 46 45

24 User Interface When a signal-type checkbx is selected (checked), the crrespnding grup f signals is displayed in the windw. Fr Outputs and Sft Signals, yu can manually tggle (turn n/ff) the state f a signal by clicking it. The signal states are clr cded, as fllws: Green indicates the signal is n Red indicates the signal is ff Fr details n cnfiguring digital I/O, see the tpic Digital I/O Cnfiguratin. File Explrer The File Explrer prvides an interface fr viewing (explring) the files and flders n the cnnected cntrller. Additinally, yu can use this windw t: cpy/paste, mve, rename, and delete files and flders n the cnnected cntrller; drag-and-drp files frm yur PC t the cnnected cntrller. T access the File Explrer, n the Adept ACE tlbar, click the file explrer ( Explrer pens (see the figure File Explrer). ) icn. The File File Explrer (File Tls Menu) Flder Tls The File Explrer prvides tls fr the fllwing flder peratins. New Flder (Ctrl+N): Creates a new flder within the currently-selected flder. Cpy (Ctrl+C): Cpies the selected flder t the Windws clipbard. Paste (Ctrl+V): Pastes the flder frm the clipbard t the selected lcatin. Delete (Del): Deletes (remves frm disk) the selected flder. Rename: Allws yu t rename the selected flder. Frmat: Allws yu t frmat the selected drive. CAUTION: The frmat peratin permanently deletes all data n the selected drive. Refresh: Refreshes the the File Explrer display. Up One Level: Changes the flder display t the next level up in the flder tree. File Tls The File Explrer prvides tls fr the fllwing file peratins. Cpy (Ctrl+C): Cpies the selected file t the Windws clipbard. Paste (Ctrl+V): Pastes the file frm the clipbard t the selected lcatin. Delete (Del): Deletes (remves frm disk) the selected file. 48 Flder and File Tls File Explrer The File Explrer cntains a number f tls that are used t perfrm varius peratins n the flders and files. T access the flder and file tls, right click n a drive, flder, file, r in an empty area f the File Explrer windw. Nte that the list f available peratins will vary, depending n where yu right click. A shrtcut menu pens the available file peratins, similar t the figure belw: 47

25 User Interface 3D Simulatin The Adept ACE sftware incrprates Adept s "3D fr Free " technlgy, which autmatically creates a 3D simulatin f yur system (see the figure belw). Fr example, when yu first cnnect t the Adept cntrller, the rbt autmatically appears in the 3D Simulatin windw. If yu add a gripper t yur rbt, the rbt s tl ffset is set autmatically. If yu add statin bjects t the Wrkspace Explrer and then teach the lcatins f the statins, they autmatically mve t the crrect lcatins in the 3D display. Yu can even see representatins f yur Cartesian mve lcatins in the 3D display. Rename: Allws yu t rename the selected file. Refresh (F5): Refreshes the the File Explrer display. Drag-and-Drp In additin t the features described in the previus sectin, the File Explrer als allws yu t "drag-and-drp" files r flders (mve a file r flder frm its current lcatin t a new lcatin within a lwer-level r higher-level flder). Using this feature, yu can als mve files frm yur PC ver t the cnnected Adept cntrller, as shwn in the figure belw: Tlbar Items 3D Simulatin Cntrl with gripper, part, and bstacle This sectin describes the items available n the 3D Simulatin tlbar: File Explrer (Drag-and-Drp Operatin) Zm/Translate/Rtate These functins are used t change yur view f the wrkcell. Select the desired functin frm the tlbar and then use the left muse buttn t cntrl the selected functin. Yu can als use the Shift (Zm), Cntrl (Translate), and Alt (Rtate) keys alng with the left muse buttn, t access and cntrl the functins. Refresh 50 49

26 User Interface Objects and Object Editrs As described previusly, the Adept ACE wrkspace uses bjects t represent items that, when put tgether, make up a functining wrkcell. The wrkspace is cmpsed f a hierarchy f bjects, bth physical (like rbts, statins, and end-effectrs) and nn-physical (like sequences and variable values). Sme bjects are created autmatically when yu cnnect t a cntrller (fr example, the cntrller, rbt, and rbt grippers). Other bjects can be added t prvide increased functinality t the wrkcell. Fr mre details n adding bjects t the Adept ACE wrkspace, see the tpic Objects in the Wrkspace After bjects have been added t the Adept ACE wrkspace, the bject editrs are used t edit parameters fr the bjects. Fr mre details n the bject editrs, see the tpic Object Editrs. Objects in the Wrkspace When yu cnnect t a cntrller, bjects representing the cntrller, the rbts, and grippers attached t the rbts are created in the wrkspace and shwn in the Wrkspace Explrer. These bject prvide access t cre cnfiguratin capabilities fr the cntrller and the rbt. Optinally, yu can add additinal bjects t the Wrkspace Explrer, if yu want t access mre functinality r script the system frm the PC. NOTE: Sme bjects are have restricted functinality in the "cnfiguratin tls" versin. Fr details, see Installing the Sftware. Adding Objects t the Wrkspace T add new bjects t the wrkspace: 1. Right-click n the wrkspace flder (tp-level flder), and select New frm the menu. A submenu is displayed that shws the bject categries. Refreshes the cntents f the windw. Scene Graph Opens the Scene Graph dialg, which shws all Cartesian bjects and their parent-child cnnectins in the 3D display. Tp/Side/Frnt/Edit View Lcatin Allws yu t set the camera lcatin t Tp view, Side view, r Frnt view; r t Edit the current camera lcatin. The Tp, Frnt, and Side view selectins are useful fr quickly accessing different views f yur wrkcell; r, when yu have panned arund and are "lst" in the 3D virtual wrld, yu can simply select the desired view psitin t return t a default view f the wrkcell. The Edit view lcatin functin displays the current camera lcatin, which yu can edit by changing the values. Menu Items Yu can right-click in an empty area f the 3D Simulatin windw t display the 3D menu. This sectin describes the selectins available frm that menu: Other 3D Simulatin Features Other features include: Add New Item... Allws yu t add a new physical bject t the windw. Nte that when a new bject is added t the 3D windw, it is als added t the Wrkspace Explrer. Shw rbt bstacles. Obstacles represent areas that the rbt cannt enter while under prgram cntrl. The bstacles are shwn as wire frames, which allws yu t see thrugh them. T make a rbt's bstacles visible, right-click n a rbt and select "Shw Obstacles". Quick access t cntrl panels. Yu can launch a cntrl panel, r grip/release a part with an end-effectr, by right-clicking n the device in the 3D windw, and selecting the desired menu item. Quick access t editrs. Yu can launch an editr by right-clicking n a device in the 3D windw, and selecting "Edit" frm the shrtcut menu. Hide bject. Yu can hide any bject in the 3D windw by right-clicking n the bject and selecting "Hide [bject]" frm the shrtcut menu. Shw bject lcatin. Yu can view the lcatin (crdinates) f any bject by right clicking n the bject and selecting "Shw [bject] Lcatin" frm the shrtcut menu. Use as wrkspace rtatin center. Yu can center the rtatin f the wrkspace arund a selected bject by right-clicking n the bject and selecting "Use as Wrkspace Rtatin Center". Object Categries Menu 2. Hver ver a categry t display a menu f items fr that categry. 3. Click n the desired item t add it t the wrkspace

27 User Interface Categry Object Descriptin System Startup User Manager cmmand interpreter fr Pythn language cmmands. An interactive tabbed cnsle is included, which allws cmmunicatin in a cmmand-line envirnment. Only ne Pythn Interpreter bject may exist in the wrkspace. Fr details, see Pythn Language Prgramming. Creates a System Startup bject, which is used t cnfigure the system start characteristics, such as lg file cnfiguratin and an aut-start prgram. Only ne System Startup bject may exist in the wrkspace. Creates a User Manager bject, which is used t cnfigure users and access levels. Only high-level access users may edit user infrmatin. Only ne user manager may exist in the wrkspace. Renaming Wrkspace Objects When yu add a new bject t the wrkspace, the Adept ACE sftware assigns a default name t the new bject. In cases where tw similar bjects are in the same flder (fr example, tw rbts) the Adept ACE sftware autmatically assigns a different default name t each bject (fr example, "Sequence" and "Sequence 0"). Hwever, if yu have tw rbts in different flders (ne rbt in each flder), and have used the default name, yu will have an bject with the same name in each flder. In this case, yu shuld rename ne f the bjects s that each bject has a unique name. NOTE: Fr crrect prgramming peratin, it is imprtant that yu assign unique names t yur bjects, even if they are in different flders. T rename an bject: 1. In the Wrkspace Explrer flder view, right-click n the bject and select Rename frm the menu. Or, as a shrtcut, yu can select the bject and press F2. The bject name is highlighted and a cursr is displayed. Device ATI Serial Frce Sensr Creates an ATI Serial Frce Sensr bject, which represents an ATI Serial Frce Sensr. Renaming an Object Mtin Smart Cntrller Apprach Mve Cartesian Mve Creates a SmartCntrller bject, which represents a Smart Cntrller. These will typically nt need t be created, since they are autmatically added t the wrkspace when yu cnnect t a cntrller. Creates an Apprach Mve bject, which represents an apprach t a specified lcatin. Creates a Cartesian Mve bject, which represents a mve t a Cartesian (X-Y-Z) lcatin. 2. Type the new name fr the bject. 3. Press the Enter key r click in an empty area f the Wrkspace Explrer flder view. The new name is assigned t the bject. Understanding the Wrkspace Objects The table belw describes the bjects available in the sftware. Yur system may shw fewer bjects depending n the ptins installed in yur system. NOTE: Items marked with a blue backgrund have restricted functinality in the "cnfiguratin tls" versin. Fr details, see Installing the Sftware. Jint Mve Lcatin Creates a Jint Mve bject, which represents a mve t a jint-specified lcatin. Creates a Lcatin bject, which represents a lcatin in the rbt's wrkspace. Categry Object Descriptin 3D Simulatin Bx Creates an Bx bject, which represents a bx shape (typically used in 3D simulatin). Path Rbts Creates a Path bject, which represents a series f mves. A path may cntain links t ther mves r paths in the wrkspace, r cntain embedded mves. Creates a Rbt bject, which represents a rbt. These will typically nt need t be created, since they are autmatically added t the wrkspace when yu cnnect t a cntrller. Oval Shape Path Cllectr Sphere Creates an Oval bject, which represents a val shape (typically used in 3D simulatin). Creates a Path Cllectr bject, which is used t cllect rbt psitins and display the rbt crdinates ver time (typically used in 3D simulatin). Creates a Sphere bject, which represents a sphere shape (typically used in 3D simulatin). Prgrams Invke Methd Creates an Invke Methd bject, which is used t invke an arbitrary methd n an bject. Fr example, t drp a part frm an AnyFeeder r cnveyr queue, select the AnyFeeder r cnveyr as the target f the Invke Methd and chse "Increment" as the target methd. Cnfiguratin Feedfrward Gain Tuning Pythn Interpreter Creates a Feedfrward Tuning bject, which is used t tune rbt feedfrward gains. Creates a Pythn Interpreter bject, which prvides a 54 53

28 User Interface Categry Object Descriptin Categry Object Descriptin Queued Statin Place Strategy Standard Pick Strategy Standard Place Strategy Creates a Queued Statin Place Strategy bject, which represents a strategy fr placing parts at a queued statin. Creates a Standard Pick Strategy bject, which represents a standard strategy fr picking parts. Creates a Standard Place Strategy bject, which represents a standard strategy fr placing parts. Pythn Cmmand Pythn Script Creates a Pythn Cmmand bject, which is used t send a cmmand t the Pythn language interpreter. The Pythn Interpreter bject must be defined fr this t wrk prperly. Fr details, see Pythn Language Prgramming. Creates a Pythn Script bject and displays the Pythn Script editr, which is used t create scripts in the Pythn prgramming language. Fr details, see Pythn Language Prgramming. Tls Variable Adept One-Part Gripper IO-Driven Gripper Adept Digital Input Adept Digital Output Cllectr Creates an Adept One-part Gripper bject, which represents a gripper that uses the standard rbt gripper signals fr pening and clsing. Creates an IO-Driven Gripper bject, which represents a gripper that uses arbitrary inputs and utputs fr activating the gripper. Creates an Adept Digital Input bject, which represents a cntrller digital input signal, usually in the range 1001 t Creates an Adept Digital Output bject, which represents a cntrller digital utput signal, usually in the range 1 t 512. Creates a Cllectr bject, which is used t cllect variable values ver time fr display, strage, r graphing. Statins Rbt Exercise Sequence AnyFeeder Cnveyr Creates a Rbt Exercise bject, which is used t repeatedly mve the rbt thrugh a basic mtin. Fr details, see Rbt Exercise Editr. Creates a Sequence bject, which is used t create and edit a sequence prgram. Fr details, see Sequence Prgramming. Creates an AnyFeeder bject, which represents an Adept AnyFeeder part feeder, and launches the Statin Creatin Wizard. This feeder is typically used in cnjunctin with visin t feed and singulate parts. Creates a Cnveyr bject, which represents a mving cnveyr with a psitin encder, and launches the Statin Creatin Wizard. The psitin reading is fed back t the cntrller, allwing rbts cnnected t the cntrller t track the cnveyr fr picking and placing. Numeric Cmparisn Creates a Numeric Cmparisn bject, which is used t cmpare tw numeric values, prducing a true/false result frm the cmparisn. General Pallet Creates a General Pallet bject, which cntains an editable list f transfrms fr specifying part lcatins. It culd be used fr pallets that have parts placed at nnunifrm psitins and rtatins Numeric Value Prperty Value Pythn Expressin Read-nly Adept Cntrller Value Creates a Numeric Value bject, which represents a literal numeric value. Creates a Prperty Value bject, which represents a general bject prperty (nt necessarily numeric r Blean). Creates a Pythn Expressin bject, which represents a Pythn language expressin that determines the value f the bject. Creates a Read-nly Adept Cntrller Value bject, which represents a V+ numeric variable, like "my.variable", r a V+ expressin. like "SWITCH(POWER)", that can be read but nt written. General Queued Statin Rectangular Pallet Simple Statin Queued Statin Pick Strategy Creates a General Queued Statin, which represents a statin with a queue f part lcatins (fr example, a visin camera culd be used t lad the queue with part lcatins). Creates a Rectangular Pallet bject, which represents a statin with a rectangular grid f parts, and launches the Statin Creatin Wizard. Creates a Simple Statin bject, which represents a statin with a single lcatin fr picking and placing parts, and launches the Statin Creatin Wizard. Creates a Queued Statin Pick Strategy bject, which represents a strategy fr picking parts frm a queued statin

29 User Interface Categry Object Descriptin Categry Object Descriptin Visin Lcate Prgram Visin Queue Fill Prgram Visin Tl create r refine a tl ffset. After the rbt acquires a part, the gripper is mved in frnt f an upward facing camera, a picture is taken, and a visin reference frame is calculated fr the gripped part. The difference between the part reference frame center and the true gripper center is taken int accunt when the part is placed. This imprves part placement accuracy fr parts that are nt gripped perfectly. Creates a Visin Lcate Prgram bject, which perfrms a visin lcatin fr a part and sets the lcatin f any Cartesian bject with the crdinates f lcated bject. Fr example, if yu have a part n a table that yu want t lcate and then pick, yu culd use the Visin Lcate Prgram and set the Target prperty t be the mve bject. The mve crdinates wuld be set t the crdinates f the lcated part. A Dwnward Camera Calibratin shuld be perfrmed befre using this prgram. Creates a Visin Queue Fill Prgram bject, which perfrms a visin peratin and adds part lcatins t a statin's queue. A Dwnward Camera Calibratin shuld be perfrmed befre using this prgram. Creates a Visin Tl bject and pens the editr, which is used t define and cnfigure the items in the visin tl. After bjects have been added t the Wrkspace Explrer, the Adept ACE bject editrs are used t edit parameters fr the bjects. When a new bject is added t the Wrkspace Explrer, the Adept ACE sftware autmatically pens the crrespnding bject editr, which is used t cnfigure the new bject. Yu can als access an bject's editr by duble-clicking the bject in the Wrkspace Explrer. Each f the bject editrs has a similar "lk and feel", which cnsists f: a menu quick-access buttns (available n sme editrs, see the NOTE belw) editr parameters nline help NOTE: Several editrs, such as the Cntrller Editr and AnyFeeder Editr, include an additinal area cntaining quick-access buttns, which prvide access t varius additinal functins. Fr mre details, see the tpic Cntrller Editr and the tpic AnyFeeder Editr. These elements can be seen in the figure belw, which shws an example f the Cntrller Editr. Visin Read-nly Blean Prperty Read-nly Numeric Prperty Rbt Digital Output Timer Writable Adept Cntrller Variable Writable Blean Prperty Writable Numeric Prperty Cnveyr Rbt-t- Camera Calibratin Dwnward Rbt-t- Camera Calibratin Upward Rbt-t- Camera Calibratin Camera Creates a Read-nly Blean Prperty bject, which represents an bject prperty that has a read-nly Blean value. Creates a Read-nly Numeric Prperty bject, which represents an bject prperty that has a read-nly numeric value. Creates a Rbt Digital Output bject, which represents an utput signal assciated with a specified rbt, typically numbered 3001 r Creates a Timer bject, which is used t enable a timer. Creates a Writable Adept Cntrller Variable bject, which represents is a V+ numeric variable, like "my.variable", that can be read r written. Creates a Writable Blean Prperty bject, which represents an bject prperty that has a Blean value that can be read r written. Creates a Writable Numeric Prperty bject, which represents an bject prperty that has a numeric value that can be read r written. Opens a wizard that creates a Cnveyr Rbt-t-Camera Calibratin bject, which is used t calculate the ffset f a camera munted ver a cnveyr frm the base f the rbt. It requires the user t manually teach target lcatins with a pinter r ther suitable device. Opens a wizard that creates a Dwnward Rbt-t- Camera Calibratin bject, which is used t calculate the ffset f a camera munted ver a fixed surface frm the base f the rbt. It requires the user t manually teach target lcatins with a pinter r ther suitable device. Creates an Upward Rbt-t-Camera Calibratin bject, which is used t calculate the ffset f a camera munted under a fixed surface frm the base f the rbt. It requires the user t manually teach target lcatins with a pinter r ther suitable device. Opens a wizard that creates an AdeptSight camera bject, which is used t specify the camera fr use with AdeptSight and t calibrate the camera. Cnveyr Visin Lp Prgram Creates a Cnveyr Visin Lp Prgram bject, which is used t peridically take a picture f parts n a cnveyr and add them t the cnveyr queue. The Cnveyr Camera Calibratin shuld be perfrmed befre using this prgram. Refine Tl Offset Creates a Refine Tl Offset bject, which uses visin t 58 57

30 User Interface Understanding Editr Parameters As shwn in the figure abve, each editr has a parameters sectin with tw clumns: the lefthand clumn cntains the parameter name, the right-hand clumn cntains the current setting fr the parameter. The parameters can be mdified as fllws: Field Type Pick list Direct entry / brwse Direct entry Infrmatin nly T use this field... Click the dwn arrw ( ) t display the list and then click the desired value. Nte that fr certain parameters, a resurce dialg is displayed, which is used t create the list f items. See Resurce Dialg (belw) fr mre details. Type the value directly int the field, r click the brwse buttn ( requested path / filename. ) t brwse fr the Type the value directly int the field. (Fr example, see the IP Address parameter in the figure abve.) These parameters are read-nly (yu can view the parameter's value, but the value cannt be edited). (Fr example, see the Sftware Revisin parameter in the figure abve.) Resurce Dialgs Fr sme parameters, when the dwn arrw ( the figure belw. ) is clicked, a resurce dialg displays, as shwn in Cntrller Editr Understanding Editr Menus As shwn in the figure abve, each editr has a menu. The menus and their cntents will vary, depending n which editr yu're using. At a minimum, the editr will have an Object menu with the fllwing selectins: Object Menu (Sample) Help Displays the nline help fr the editr. Resurce Dialg The resurce dialg displays a list f bject types (prgram bjects, statin bjects, etc.) that crrespnd t the parameter being edited. The resurce dialg buttns are described in the fllwing table. Refresh Editr Refreshes the cntents f the editr windw. Clse Clses the editr

31 User Interface Buttn Name New OK Nne Edit Cancel Functin Used t create a new resurce bject. A "Create a New Object" dialg displays, which allws yu t create the type f bject required fr the parameter being edited. Used t save the bject selectin. Select the desired bject and then click OK t save the selectin. Remves a previusly-made selectin. (The parameter's value field will be blank.) Displays the bject editr fr the selected bject. Clses the dialg withut saving any changes. Understanding Online Help fr Parameters Online help is autmatically displayed fr the selected editr parameter. The nline help gives a brief descriptin f the selected parameter's functin. Yu can "hide" the nline help area (this is handy if yu're wrking with a small display) by ding the fllwing: T hide the nline help bar: 1. Right click in the parameter area f the editr. A menu pens. 2. De-select (uncheck) "Descriptin". The nline help bar is hidden. T shw the nline help bar: 1. Right click in the parameter area f the editr. A menu pens. Menu Items AnyFeeder Editr This sectin describes the selectins available frm the AnyFeeder Editr menu. 2. Select (check) "Descriptin". The nline help bar is displayed. Object Menu View Lcatin As Transfrm Displays the feeder's current lcatin as wrld crdinates (x, y, z, y, p, r). Help Displays the nline help fr the AnyFeeder Editr. Refresh Editr Refreshes the cntents f the AnyFeeder Editr windw. Clse Clses the AnyFeeder Editr. AnyFeeder Editr NOTE: This feature has restricted functinality in the "cnfiguratin tls" versin. Fr details, see Installing the Sftware. The AnyFeeder Editr prvides a quick-access buttn interface fr cntrlling the Adept AnyFeeder and setting varius Adept AnyFeeder-related parameters. Fr details n creating an AnyFeeder applicatin, see AnyFeeder Example. T pen the AnyFeeder Editr, duble-click the AnyFeeder bject in the flder area f the Wrkspace Explrer

32 User Interface Cntrller Editr The Cntrller Editr prvides tls fr installing and cnfiguring yur V+ system, cntrller, FireWire ndes, and rbts. T pen the Cntrller Editr, duble-click the IP address f the cntrller bject in the flder area f the Wrkspace Explrer. Cntrl Menu Quick-Access Buttns Teach Lcatin Displays the Teach dialg, which is used t teach the pick lcatin fr the AnyFeeder. Fr details, see the tpic Rbt and Teach Cntrls. The upper area f the AnyFeeder Editr cntains quick-access buttns. These buttns prvide a cnvenient way t access the varius functins f the Adept AnyFeeder. The functin f each buttn is described belw: Initialize Initializes the mtrs n the Adept AnyFeeder. Fr details, see the Adept AnyFeeder User's Guide. Reset Errr Resets any errr cnditin and re-hmes the mtrs. Fr details, see the Adept AnyFeeder User's Guide. Purge Mves parts backward frm the bulk cntainer and the feed surface. Fr details, see the Adept AnyFeeder User's Guide. Feed Frward Mves the parts frward n the feed surface. Fr details, see the Adept AnyFeeder User's Guide. Feed Backward Mves the parts backward n the feed surface. Fr details, see the Adept AnyFeeder User's Guide. Dispense Dispenses parts frm the bulk cntainer nt the feed surface. Fr details, see the Adept AnyFeeder User's Guide. Menu Items 64 Cntrller Editr This sectin describes the selectins available frm the Cntrller Editr menu. Object Menu Pending Errrs Displays any errrs that have ccurred since the last ENABLE POWER cmmand. Fr details, see the tpic Pending Errrs Lg. Thrughput Test Displays the cmmunicatin rate (in cmmands per secnd) fr the cnnected cntrller. Message Histry Displays the Message Histry windw, which is used t view the system message lg. Cntrller Digital I/O Displays the cntrller digital I/O windw. Fr details, see the tpic Digital I/O. Help Feed+Flip Frward Mves the parts frward n the feed surface and simultaneusly flips them. Fr details, see the Adept AnyFeeder User's Guide. Feed+Flip Backward Mves the parts backward n the feed surface and simultaneusly flips them. Fr details, see the Adept AnyFeeder User's Guide. Flip Flips the parts n the feed surface. Fr details, see the Adept AnyFeeder User's Guide. AnyFeeder Queue, Editr Parameters, and Online Help The middle prtin f the AnyFeeder Editr cntains the Queue. This area displays the items being "cunted", alng with each item's psitin, as available fr pickup by the rbt. The area belw that cntains the editr parameters. These are used t cnfigure varius settings n the selected cnveyr. The bttm area f the AnyFeeder Editr displays nline help fr the selected parameter. NOTE: Because nline help fr each parameter is prvided directly in the editr, it is nt duplicated in this dcumentatin. 63

33 User Interface FireWire Grup Cnfigure Ndes Displays the FireWire Ndes cnfiguratin dialg. Fr details, see the tpic Rbt and FireWire Nde Cnfiguratin. Upgrade Firmware Displays the FireWire Nde Firmware Update dialg. Fr details, see the tpic Upgrading FireWire Firmware. Quick-Access Buttns Displays the nline help fr the Cntrller Editr. Refresh Editr Refreshes the cntents f the Cntrller Editr windw. Clse Clses the Cntrller Editr. The upper area f the Cntrller Editr cntains quick-access buttns, which are gruped by functin. These buttns prvide a cnvenient way t access the cnfiguratin tls (V+, cntrller, FireWire, and rbt utilities). The functin f each buttn is described belw: Rbt Grup Editr Parameters and Online Help Save Rbt Specs Saves all rbt and mtr specificatins t the V+ bt disk. A "Wrking..." message and prgress bar is displayed while the cmmand is prcessed. Rbt Install Wizard Displays the Rbt Installatin Wizard, which is used t install and cnfigure rbts in the system. Fr details, see the tpic Installing Rbts. Serv Reset Resets the servs. A "Wrking..." message and prgress bar is displayed while the cmmand is prcessed. The middle prtin f the Cntrller Editr cntains the editr parameters. These are used t cnfigure varius settings n the cnnected cntrller. The bttm area f the Cntrller Editr displays nline help fr the selected parameter. NOTE: Because nline help fr each parameter is prvided directly in the editr, it is nt duplicated in this dcumentatin. Cnveyr Editr NOTE: This feature has restricted functinality in the "cnfiguratin tls" versin. Fr details, see Installing the Sftware. The Cnveyr Editr prvides an interface fr setting varius cnveyr-related parameters, such as dwnstream and upstream limits, scale factr, encder number, and calibratin fr cnveyr tracking. T pen the Cnveyr Editr, duble-click the cnveyr bject in the flder area f the Wrkspace Explrer. V+ Grup Cntrller Grup Upgrade V+ Displays the V+ Upgrade dialg. Fr details, see the tpic Upgrading V+. Restre V+ Displays the Restre V+ frm PC dialg. Fr details, see the tpic Restring V+. Backup V+ Displays the Backup V+ t PC dialg. Fr details, see the tpic Backing Up V+. Cnfigure V+ Displays the V+ System Cnfiguratin editr, which prvides editing access t: NVRAM settings, the V+ Cnfiguratin file, and the V+ Licenses installed n the cntrller. Fr details, see the tpic Cnfiguring V+. Upgrade FPGA Displays the SmartCntrller FPGA Update dialg. Fr details, see the tpic Upgrading SmartCntrller FPGA. Set Time Displays a prmpt t verify that yu want t set the cntrller's time t match the time detected n the cnnected PC. Click OK t prceed; click Cancel t quit. Encder Diagnstics Displays the External Encder Diagnstics panel. Fr details, see the tpic Rbts and Encders. Rebt Cntrller Displays a prmpt t verify that yu want t save the system specificatins t the bt disk befre initiating a rebt f the cntrller. Click Yes t save the specificatins and prceed; click N t prceed withut saving the specificatins; click Cancel t quit

34 User Interface Cntrl Menu Start Tracking Starts cnveyr tracking. T use this, mve the rbt int the belt windw and then select Start Tracking. Fr mre infrmatin n Cnveyr Tracking, see Cnveyr Tracking. Stp Tracking Stps cnveyr tracking. Fr mre infrmatin n Cnveyr Tracking, see Cnveyr Tracking. Teach Lcatin Displays the Cnveyr Calibratin Wizard, which is used t calibrate (teach) the cnveyr's frame f reference fr tracking applicatins. Cnveyr Queue, Editr Parameters, and Online Help The middle prtin f the Cnveyr Editr cntains the Cnveyr Queue. This area displays the items being "cunted", alng with each item's psitin, as available fr pickup by the rbt. The area belw that cntains the editr parameters. These are used t cnfigure varius settings n the selected cnveyr. The bttm area f the Cnveyr Editr displays nline help fr the selected parameter. NOTE: Because nline help fr each parameter is prvided directly in the editr, it is nt duplicated in this dcumentatin. Gripper Editr End-effectrs, als called tls and grippers, can be used in pick, place, dispensing r ther activities. End-effectrs are ften driven by digital utputs t grip, release, r dispense, but they may als use ther means f getting their cntrl signals. Mst rbts have a single end-effectr, but thers may have multiple end-effectrs t pick and place multiple bjects at the same time. Adept ACE supprts all these variatins. By default, tw end-effectr bjects are prvided: Adept One-Part Gripper: A simple single-part gripper driven by standard utput signals. I/O-Driven Gripper: A single r multiple end-effectr with ptinal input and utput signals fr each end-effectr tip. Other end-effectrs, such as dispensing tips r turret grippers, can be cntrlled thrugh scripts r added using a plug-in library. The I/O-Driven Gripper Editr prvides an interface fr setting varius gripper-related parameters, such as end-effectr tips, minimum grip time, and maximum grip time. T pen the I/O-Driven Gripper Editr, duble-click the I/O-Driven Gripper bject in the flder area f the Wrkspace Explrer. NOTE: The I/O-Driven Gripper Editr is shwn belw. The Adept One-Part Gripper Editr is similar. Hwever, it des nt include the "Tip Cunt" and "Selected Index" cnfiguratin items. Menu Items Cnveyr Editr This sectin describes the selectins available frm the Cnveyr Editr menu. Object Menu View Lcatin As Transfrm Displays the cnveyr's current lcatin as wrld crdinates (x, y, z, y, p, r). Help Displays the nline help fr the Cnveyr Editr. Refresh Editr Refreshes the cntents f the Cnveyr Editr windw. Clse Clses the Cnveyr Editr

35 User Interface Teach Lcatin Opens the Tl Offset Wizard, which is used t teach the tl ffset fr the selected gripper. Fr details, see the tpic Teaching a Tl Offset. Editr Parameters and Online Help The middle prtin f the I/O-Driven Gripper Editr cntains the editr parameters. These are used t cnfigure varius settings n the selected rbt. The bttm area f the I/O-Driven Gripper Editr displays nline help fr the selected parameter. Several f the imprtant I/O-Driven Gripper Editr parameters are described belw: Tip cunt: 1 fr a single end-effectr, n fr an end-effectr with n tips. Selected Index: 0 fr a single-end-effectr up t n-1 fr an end-effectr with n tips. Max Grip Time: Only used when a grip input signal is specified, this value specifies the maximum time in secnds fr the grip input signal t becme true when picking a part, r false when placing a part. Min Grip Time: The time t wait in secnds after gripping r releasing befre cntinuing peratin; this shuld be the actuatin time fr the gripper. Parent: Since the gripper is munted t the rbt, the parent f the gripper is typically the rbt. In the case f a tl-changer, the parent changes when the gripper is put n the tl stand. Rbt "Selected End-Effectr" Prperty: The rbt s selected end-effectr prperty must be set t the end-effectr t ensure that the tl ffset is set prperly, allwing the rbt t mve the tl tip in a straight line, r rtate arund the tl tip. NOTE: Help fr the remaining parameters is prvided directly in the editr. Menu Items I/O-Driven Gripper Editr This sectin describes the selectins available frm the I/O-Driven Gripper Editr menu. Mtin Editrs The Mtin (Apprach, Mve, r Depart) Editrs prvide an interface fr setting varius rbt mtin-related parameters, such as mve speed, acceleratin, deceleratin, and duratin. T pen the desired editr, duble-click the mtin (apprach, mve, r depart) bject in the flder area f the Wrkspace Explrer. NOTE: The Mve Editr is shwn belw. The Apprach and Depart editrs are similar. Hwever, they d nt include the "Offset frm Parent" parameter. In place f that parameter they shw an Apprach Height parameter. Object Menu View Lcatin As Transfrm Displays the gripper's current psitin as wrld crdinates (x, y, z, y, p, r). Help Displays the nline help fr the Gripper Editr. Refresh Editr Refreshes the cntents f the Gripper Editr windw. Clse Clses the Gripper Editr. Cntrl Menu Grip Sends the grip signal t the gripper. Release Sends the release signal t the gripper

36 User Interface frm Parent" lcatin r the Apprach / Depart heights. Fr details, see the tpic Rbt and Teach Cntrls. Editr Parameters and Online Help The middle prtin f the Mtin Editr cntains the editr parameters. These are used t cnfigure varius settings fr the mve segment being edited. The bttm area f the Mve Editr displays nline help fr the selected parameter. NOTE: Because nline help fr each parameter is prvided directly in the editr, it is nt duplicated in this dcumentatin. Rbt Editr The Rbt Editr prvides an interface fr setting varius rbt-related parameters, such as jint parameters, mtr parameters, and end-effectr parameters. T pen the Rbt Editr, dubleclick the rbt bject in the flder area f the Wrkspace Explrer. Menu Items Mtin (Mve) Editr This sectin describes the selectins available frm the I/O-Driven Gripper Editr menu. Object Menu Change Parent Opens the Change Parent dialg which is used t specify the desired parent bject fr the mve segment. View Lcatin As Transfrm Displays the gripper's current psitin as wrld crdinates (x, y, z, y, p, r). Help n Displays the nline help fr the Mtin Editr. Refresh Editr Refreshes the cntents f the Mtin Editr windw. Clse Clses the Mtin Editr. Rbt Editr Cntrl Menu Teach Lcatin Opens the Teach Cntrl, which is used t teach the "Offset 72 71

37 User Interface Cntrl Menu see the tpic Cnfiguring S-Curve Prfiles. Data Cllectin Displays the Rbt Data Cllectin dialg. Fr details, see the tpic Cllecting Data. Mtr Tuning Displays the Rbt Mtr Tuning dialg. Fr details, see the tpic Tuning the Mtrs. Cntrl Panel Displays the Rbt Cntrl. Fr details, see the tpic Rbt Cntrl. Menu Items This sectin describes the selectins available frm the Rbt Editr menu. Object Menu View Lcatin As Transfrm Displays the rbt's current jint psitins as wrld crdinates (x, y, z, y, p, r). Rbt Digital I/O Displays the Rbt Digital I/O windw, which is used t tggle (turn n/ff) the rbt's gripper utputs. Editr Parameters and Online Help The middle prtin f the Rbt Editr cntains the editr parameters. These are used t cnfigure varius settings n the selected rbt. The bttm area f the Rbt Editr displays nline help fr the selected parameter. NOTE: Because nline help fr each parameter is prvided directly in the editr, it is nt duplicated in this dcumentatin. Rbt Exercise Editr NOTE: This feature has restricted functinality in the "cnfiguratin tls" versin. Fr details, see Installing the Sftware. T create a rbt exercise, right click in the Wrkspace Explrer and select New => Mtin => Rbt Exercise. A Rbt Exercise bject is added t the Wrkspace Explrer and the Rbt Exercise editr pens. Fr details n creating a rbt exercise, see Rbt Exercise. 74 Cnfigure Menu Diagnstics Saves all specificatins t the cnnected cntrller's bt disk. A prgress bar displays the status f the save peratin. Help Displays the nline help fr the Rbt Editr. Refresh Editr Refreshes the cntents f the Rbt Editr windw. Clse Clses the Rbt Editr. Lad Spec File... Displays the Lad Rbt/Mtr Specificatin File dialg. Fr details, see the tpic Lading and Saving Rbt/Mtr Specificatin Files. Save Spec File... Displays the Save Rbt/Mtr Specificatins dialg. Fr details, see the tpic Lading and Saving Rbt/Mtr Specificatin Files. Save All Specs t V+ Bt Disk Saves all specificatins t the cnnected cntrller's bt disk. A prgress bar displays the status f the save peratin. Axes, Optins, and Kinematics Displays the Axes, Optins, and Kinematics dialg. Fr details, see the tpic Cnfiguring Axes, Optins, and Kinematic Parameters. Obstacles Displays the Save Rbt/Mtr Specificatins dialg. Fr details, see the tpic Editing Obstacles. S-Curve Prfiles Displays the S-Curve Prfile Cnfiguratin dialg. Fr details, 73

38 User Interface NOTE: Because nline help fr each parameter is prvided directly in the editr, it is nt duplicated in this dcumentatin. System Startup Editr NOTE: This feature has restricted functinality in the "cnfiguratin tls" versin. Fr details, see Installing the Sftware. The System Startup Editr allws yu t specify a lcatin (flder and file name) n yur PC fr string a system startup lg file. It als allws yu t specify an aut-run file that will be executed when the Adept ACE sftware is cnnected t a cntrller. T pen the System Startup Editr, duble-click the System Startup bject in the flder area f the Wrkspace Explrer. NOTE: Only ne System Startup bject is permitted in the Wrkspace Explrer. Menu Items Rbt Exercise Editr This sectin describes the selectins available frm the Rbt Exercise Editr menu. Object Menu View Lcatin As Transfrm Displays the gripper's current psitin as wrld crdinates (x, y, z, y, p, r). Menu Items System Startup Editr This sectin describes the selectins available frm the System Startup Editr menu. Editr Parameters and Online Help Help Displays the nline help fr the Gripper Editr. Refresh Editr Refreshes the cntents f the Gripper Editr windw. Clse Clses the Gripper Editr. The middle prtin f the Rbt Exercise Editr cntains the editr parameters. These are used t cnfigure varius settings n the selected rbt. The bttm area f the Rbt Exercise Editr displays nline help fr the selected parameter

39 User Interface User Manager Editr NOTE: This feature has restricted functinality in the "cnfiguratin tls" versin. Fr details, see Installing the Sftware. The User Manager prvides an interface fr cntrlling users and access levels t yur Adept ACEcntrlled system. It allws yu t create a list f users and assign an access level t each user. A user then has access t thse features permitted by his/her assigned access level. T pen the User Manager Editr, duble-click the User Manager bject in the flder area f the Wrkspace Explrer. NOTE: There can nly be ne User Manager bject is permitted in the Wrkspace Explrer. Object Menu Editr Parameters and Online Help Help Displays the nline help fr the System Startup Editr. Refresh Editr Refreshes the cntents f the System Startup Editr windw. Clse Clses the System Startup Editr. The middle prtin f the System Startup Editr cntains the editr parameters. There is ne parameter available, which is used t define the default access level. The default access level is used when Adept ACE is started r when n ne is signed int the system. The bttm prtin f the editr displays nline help fr the selected parameter. Specifying an Event Lg File Path T specify an event lg file path: 1. Click the field t the right f the Event Lg File Path parameter. 2. Type the path directly int the field, r use the brwse buttn ( ) t select a flder n yur PC. Specifying a Startup Prgram T specify a startup prgram: 1. Click the field t the right f the Startup Prgram parameter. 2. Type the prgram name directly int the field, r use the dwn-arrw icn t display a resurce list. Yu can select a prgram frm the list and then click OK, r click New t create a new prgram. Menu Items User Manager Editr This sectin describes the selectins available frm the User Manager Editr menu. Object Menu Help Displays the nline help fr the User Manager Editr. Refresh Editr Refreshes the cntents f the User Manager Editr windw. Clse Clses the User Manager Editr. Resurce List 78 77

40 User Interface Editr Parameters, Online Help, and Users List The middle prtin f the User Manager Editr cntains the editr parameters. There is ne parameter available, which is used t define the default access level. The default access level is used when Adept ACE is started r when n ne is signed int the system. The area belw the editr parameters displays nline help fr the selected parameter. The bttm prtin f the User Manager Editr cntains the list f defined users. Yu can add, edit, r remve users thrugh the steps described in the fllwing sectins. Adding Users and Assigning Access Levels T add a new user: 1. Click Add. The Add User dialg pens. 2. In the User Name field, type the name f the new user. 3. Use the Access drp-dwn menu t view and select the access level fr the new user. The fllwing table prvides a list f available access levels and the crrespnding descriptin: Access Level Guest Operatr Technician Engineer OEMCustmizer AlphaTest SuperUser Descriptin This user can has read-nly access. N actual cntrl is pssible. This user can start and stp executin. This user can teach simple values. This user can create and edit many values. This user can create and edit values that are prtected frm end-users. This user can create and edit values that are nt yet released. This user can create and edit all values. 4. Click OK t save the infrmatin and clse the dialg. Or, click Cancel t clse the dialg withut saving the infrmatin. Editing Users There may be times when yu need t change the access level fr an existing user. T edit a user: 1. Frm the Users list, select the user yu wish t edit. 2. Click Edit. The Edit User dialg pens. 3. Use the Access drp-dwn list t select the new access level fr the user. 4. Click OK t save the change and clse the dialg. Or, click Cancel t clse the dialg withut saving. Remving Users T remve a user: 1. Frm the Users list, select the user yu wish t remve. 2. Click Remve. The selected user is remved frm the list. 79

41 5. If yu wish t upgrade yur FPGA and Serv Nde firmware, select the Upgrade FPGAs and Serv Nde Firmware checkbx. This ptin upgrades all prgrammable devices n each nde n the distributed netwrk and requires several minutes per nde. NOTE: The firmware upgrade will require several minutes fr each nde in the distributed netwrk. 6. Click Start. A cnfirmatin dialg pens, which displays the estimated time t cmplete the upgrade peratin. The entire upgrade will take several minutes. Additinal time will be required if the Upgrade FPGAs and Serv Nde Firmware ptin was selected, as described abve. Backing Up V+ The V+ backup utility allws yu t back up the V+ perating system and key V+ directries. T perfrm a V+ backup: 1. On the Cntrller Editr, click Backup V+. The Backup V+ System dialg pens. Cnfiguratin Tls V+ system cnfiguratin has histrically been perfrmed thrugh a series f cmmand-line V+ utilities. The Adept ACE sftware imprves this thrugh a set f cnfiguratin tls, which prvide bth prgrammatic and GUI access t the V+ system cnfiguratin utilities, such as upgrading V+, restring V+, backing up V+, and digital I/O cnfiguratin. The sectins in this chapter prvide details n these cnfiguratin tls. Upgrading V+ The V+ Upgrade dialg, shwn in the figure belw, is used t upgrade the V+ perating system and, ptinally, t upgrade the FPGA and Serv Nde firmware. NOTE: The FireWire and FPGA firmware can als be upgraded thrugh a separate peratin. Fr details, see Upgrading FireWire Nde Firmware. T upgrade the V+ perating system: 1. Cpy the new V+ directry frm the distributin CD-ROM t the PC that is cnnected t the cntrller yu wish t upgrade. 2. On the Cntrller Editr, click Upgrade V+. The V+ Upgrade dialg pens. Backup V+ System Dialg 2. In the Directry text bx, specify the directry int which the existing V+ system will be backed up. Yu can use the brwse buttn ( ) next t the text bx t lcate the directry n yur PC. 3. Click Backup. The entire prcess will take several minutes. Restring V+ The V+ restre utility allws yu t install a "plain vanilla" V+ distributin r t restre a backedup V+ installatin. T restre the V+ system: On the Cntrller Editr, click Restre V+. The Restre V+ System dialg pens. V+ Upgrade Dialg 3. In the V+ Directry text bx, specify the directry that yu cpied frm the distributin CD. Yu can use the brwse buttn ( ) next t the text bx t lcate the directry n yur PC. 4. In the Backup Directry text bx, specify the directry int which the existing V+ system will be backed up befre the upgrade. Yu can use the brwse buttn ( ) next t the text bx t lcate the directry n yur PC. 81

42 Cnfiguratin Tls Restre V+ System Dialg 2. In the "Directry text bx, specify the directry n the PC where the V+ system is stred. Yu can use the brwse buttn ( PC. 3. Click Restre. The entire prcess will take several minutes. Cnfiguring V+ ) next t the text bx t lcate the directry n yur The V+ System Cnfiguratin dialg prvides an interface fr cnfiguring NVRAM parameters, an editr fr the V+ cnfiguratin file, and a license manager. T pen the V+ System Cnfiguratin dialg, n the Cntrller Editr, click Cnfigure V+. The V+ System Cnfiguratin dialg pens. V+ System Cnfiguratin Dialg (NVRAM Editr) Tabs This sectin describes the tab selectins available n the V+ System Cnfiguratin dialg. NVRAM Tab The NVRAM tab pens the NVRAM Editr (see the figure abve), which is used t view and edit the NVRAM parameters fr the cnnected cntrller. NOTE: Any change t the values belw are implemented after the next system start. Address - sets the IP address f the cntrller. Aut-Start - when set t True, the V+ AUTO.V2 prgram will be autmatically executed immediately after the system bt. Subnet Mask - the subnet mask f the cntrller. V+ User Interface - the interface methd fr cmmunicatins between the PC and the cntrller. Cnfiguratin Tab The Cnfiguratin tab pens the V+ cnfiguratin file editr (see the figure belw), which allws yu t directly edit the cntents f the cnfiguratin file

43 Cnfiguratin Tls When using the license manager, yu can: License Manager Click Install t install a license. A passwrd is required fr this peratin, which must be btained frm Adept Custmer Service. Click Remve t remve a license. A passwrd is required fr this peratin, which must be btained frm Adept Custmer Service. DeviceNet Tab The DeviceNet tab pens the DeviceNet scanner (see the figure belw). This dialg allws yu t scan fr DeviceNet ndes and view infrmatin abut them (prduct name, input size, utput size, prduct id, status, etc).. V+ Cnfiguratin File Editr The V+ Cnfiguratin file editr is similar t using Windws Ntepad t edit a text file. When using the cnfiguratin editr, yu can: Press Ctrl+F t display a Find/Replace dialg, which can be used t find and/r replace specified text. Fr details n the items, see V+ Cnfiguratin File Descriptin. Click Save t write the changes t the Adept cntrller. Licenses Tab The Licenses tab pens the license manager (see the figure belw). This dialg allws yu t view all available licenses, view the installed licenses (checked items), and add r remve licenses

44 Cnfiguratin Tls V+ Cnfiguratin File Descriptin The Cnfiguratin tab pens the V+ cnfiguratin file editr (see the figure belw), which allws yu t directly edit the cntents f the cnfiguratin file. DeviceNet Scanner V+ Cnfiguratin File Editr See the manual Instructins fr Adept Utility Prgrams fr details n the items in the cnfiguratin file. A shrt descriptin f each item is prvided belw: HEADER: File header. D nt edit statements in this sectin. VPLUS: Prcessr descriptins. D nt edit statements in this sectin. DIGITAL_INPUT: Digital input definitins. SIGNAL 1033 = "/INPUT_BLOCK 16 /INPUT_BYTE 1 /IO_OPTIONAL YES". Defines first input signal ( ) in a blck f signals. INPUT_BLOCK: Input blck number, frm 0 t 31. Must match FireWire cnfiguratin. INPUT_BYTE: Byte ffset within the input blck, frm 1 t 4. Must match FireWire cnfiguratin. When using the DeviceNet scanner t scan fr DeviceNet ndes n yur system Use the Baud Rate selectr t set the desired baud rate fr yur system. This must be set t the same value as defined in the DeviceNet area f the V+ cnfiguratin file (see abve). Use the Lcal MAC ID selectr t set the MAC ID fr yur system. This must be set t the same value as defined in the DeviceNet area f the V+ cnfiguratin file (see abve). Click Scan t initiate the scanning prcess. NOTE: The scanning prcess will take several minutes, depending n the number f ndes n yur system. Fr mre infrmatin n DeviceNet, see the DeviceNet tpic in the V+ Language User's Guide

45 Cnfiguratin Tls 90 ROUTE_GATEWAY 1 = "/ADDRESS /SUBNET /GATEWAY ". Rutes messages t "ADDRESS" thrugh the "GATEWAY" ruter. ADDRESS: Address f messages t rute thrugh the gateway ( xxx in this example). SUBNET: Subnet mask specifying which bits f ADDRESS must be matched t be ruted (the high 3 bytes in this example). GATEWAY: Address f ruter t which the messages shuld be sent fr ruting t the desired address. ROBOT: Rbt and belt cnfiguratin. BELT 1 = "/POS_LATCH 1002 N1002 /LATCH_BUFFER 1". POS_LATCH: Space-separated list f inputs used t latch rbt psitin (NONE, 1, 2, 1001, 1002, 1003, 1004, N1001, N1002, N1003, r N1004). LATCH_BUFFER: Latch-buffer depth, allwing faster triggering. ROBOT 1 = "/MODULE -1 /OUTPUT_BLOCK 1 /OUTPUT_BYTE 2 /IO_OPTIONAL YES /POS_LATCH 1001 /LATCH_BUFFER 1". MODULE: Kinematic mdule ID number, r -1 fr any Adept rbt. OUTPUT_BLOCK: Output blck ID t be used fr the utput signals fr this rbt, frm 0 t 31. OUTPUT_BYTE: Byte ffset within the utput blck, frm 1 t 4. IO_OPTIONAL: Flag indicating whether t allw pwer t enable if I/O hardware nt fund n netwrk. POS_LATCH: Space-separated list f inputs used t latch rbt psitin (NONE, 1, 2, 1001, 1002, 1003, 1004, N1001, N1002, N1003, r N1004). LATCH_BUFFER: Latch-buffer depth, allwing faster triggering. SERIAL: Serial prt cnfiguratin. GLOBAL_PORT 1 = "/DRIVER SERIAL /SPEED 9600 /BYTE_LENGTH 8 /PARITY NONE /STOP_BITS 1 /FLOW NONE /FLUSH OFF /DTR ON /MULTIDROP OFF /BUFFER_SIZE 200" "Glbal" serial prt cnfiguratin (Tp tw prts n a CX cntrller, and the nly prts n a CS cntrller). DRIVER: One f SERIAL, KERMIT, r DDCMP. SPEED: One f 110, 300, 600, 1200, 2400, 4800, 7200, 9600, 19200, r BYTE_LNEGTH: Either 7 r 8. PARITY: One f NONE, EVEN, r ODD. STOP_BITS: Either 1 r 2. FLOW: One f NONE, XON_XOFF, r MODEM. FLUSH: Either OFF r ON. DTR: Either OFF r ON. IO_OPTIONAL: Flag indicating whether t allw pwer t enable if I/O hardware nt fund n netwrk. VIS_TRIGGER 1 = "/SIGNAL NONE". Defines a trigger (1 r 2) used t initiate a visin image capture. SIGNAL: Input signal t latch. One f: NONE, 1001, 1002, 1003, DIGITAL_OUTPUT: Digital utput definitins. SIGNAL 33 = "/OUTPUT_BLOCK 16 /OUTPUT_BYTE 1 /IO_OPTIONAL YES". Defines the first signal (1-505) in a blck f utputs. OUTPUT_BLOCK: Output blck number, frm 0 t 31. Must match FireWire cnfiguratin. OUTPUT_BYTE: Byte ffset within the utput blck, frm 1 t 4. Must match FireWire cnfiguratin. IO_OPTIONAL: Flag indicating whether t allw pwer t enable if I/O hardware nt fund n netwrk. DEVICENET: DeviceNet cnfiguratin. See Adept DeviceNet dcumentatin fr details. LOCAL = "/MACID n /BAUD n". MACID n = "/INPUT n /OUTPUT n /VENDOR_ID n /DEVICE_TYPE n /PRODUCT_CODE n /DISABLE_POWER NO YES". MAPPING n = "/MACID n /BYTE n /BIT n /BIT_LENGTH n /SIGNAL n". NETWORK: Netwrk cnfiguratin. MOUNT 1 = "/MOUNT 'XC' /NODE 'ASERVER' /PATH 'C:/ADEPT/DISKS/DISK_C'". Defines a NFS munt. MOUNT: Name by which the NFS server will be accessed frm V+. NODE: Server address, either a hst name frm a NODE statement r a dtseparated IP address (e.g., ' '). PATH: Path n the NFS server f the munt's rt directry. NODE 1 = "/NODE 'ASERVER' /ADDRESS ". Defines an assciatin between hst name and IP address. NODE: Hst name, as specified in the NODE clause f a MOUNT statement. ADDRESS: Space-separated hst IP address (e.g., ' '). LOCAL_ID = "/MACHINE 'CELL1' /UID 200 /GID 200". Used fr NFS servers that require authenticatin. If this statement is mitted, null authenticatin is used. MACHINE: Machine identificatin fr Unix-style authenticatin. UID: User ID fr NFS server. GID: Grup ID fr NFS server. ROUTE_DEFAULT = "/ADDRESS ". Specifies default address fr any packet with an unknwn destinatin. If all remte netwrks are accessible thrugh a single gateway, this statement is preferred; therwise, use ROUTE_GATEWAY. 89

46 Cnfiguratin Tls 92 NUM_FRAMES: Number f frame stres reserved in memry. TASKS: Task cnfiguratin. Installing Rbts USER 0 PROCESSOR 1 = "/PRIORITY ": Task priritizatin. PRIORITY: Task pririty fr each millisecnd time slice in the 16-millisecnd V+ cycle, frm -1 t means "dn't run in this slice". 64 means "run at all csts". The V+ perating system can cntrl multiple rbts f varius types, such as SCARA, Cartesian (linear mdules), and six-axis. If standard Adept rbts are used, n additinal rbt cnfiguratin is required. Hwever, if linear mdules r OEM rbts are used, a multi-step Rbt Installatin Wizard is prvided, which helps yu install and cnfigure the rbts that will be cntrlled by the system (see the figure belw). T use the Rbt Installatin Wizard: 1. On the Cntrller Editr, click Rbt Install Wizard. The Intrductin page pens. Rbt Installatin Wizard (Intrductin) 2. Read the wizard descriptin and then click Next. The FireWire Cnfiguratin page pens. MULTIDROP: Either OFF r ON. BUFFER_SIZE: Serial buffer size in bytes, frm 100 t LOCAL_PORT 1 PROCESSOR 1 = "/DRIVER SERIAL /SPEED 9600 /BYTE_LENGTH 8 /PARITY NONE /STOP_BITS 1 /FLOW NONE /FLUSH OFF /DTR ON /MULTIDROP OFF /BUFFER_SIZE 200" "Lcal" serial prt cnfiguratin (Bttm tw prts n a CX cntrller; nt present n a CS cntrller). Cnfiguratin is the same as GLOBAL_PORT. SYSTEM: System cnfiguratin. DEFAULT_DISK = "D:": Default disk t use at system startup. DEFAULT_SPEED = "50": Default mnitr speed at system startup. GRAPHICS = "/MAX_WINDOWS 80": Maximum number f windws psted t AdeptWindws. POWER_TIMEOUT = "10": Hw lng V+ waits (sec), when enabling rbt pwer, fr yu t press the Rbt Pwer buttn. Starting in V+ 16.3, a value f 0 disables waiting fr the pwer buttn. STARTUP_MESSAGE = "any text": Message displayed at system startup and by ID cmmand. TRAJ_RATE = "62.5HZ": Trajectry rate. One f "62.5HZ", "125HZ", "250HZ". POWERON_SPECIAL = "OFF": Optinal special pwer-n handling. One f "ON", "OFF". V and abve nly. FIRMWARE_OPTION = "0": Optinal special firmware cnfiguratin. Between 0 and 255. V and abve nly. VISION: Visin cnfiguratin. PROCESSOR 1 = "/ID 1 /FRAME_SIZE 640X480 /TOTAL_KB 4096 /AOI_KB 6 /BLOB_KB 28 /BOUND_KB 4 /LUT_KB 1 /OBJECT_KB 77 /RUN_LENGTH_KB 125 /UNMATCHED_KB 30 /VTRANS_KB 1 /NUM_FRAMES 2" ID: Visin system ID (shuld be 1). FRAME_SIZE: Size f the virtual frame buffers int which the physical frame stre is divided. TOTAL_KB: System memry that shuld be reserved fr visin prcesses. AOI_KB: Memry allcatin fr area-f-interest definitins. BLOB_KB: Memry allcatin fr blbs (bunded regins). BOUND_KB: Memry allcatin fr perfrming bundary analysis. LUT_KB: Memry allcatin fr visin lkup tables. OBJECT_KB: Memry allcatin fr bject data structures. RUN_LENGTH_KB: Memry allcatin fr run-length encding. UNMATCHED_KB: Memry allcatin fr unmatched bjects. VTRANS_KB: Memry allcatin fr visin transfrms. 91

47 Cnfiguratin Tls Rbt Installatin Wizard (Rbt Cnfiguratin) 4. Check the Rbt list t verify that yu have the prper rbts installed and all mtrs are peratinal. If needed, yu can d ne r mre f the fllwing: Click Change Installed Rbts t mdify the list f installed rbts. Fr details, see the tpic Appending, Remving, and Selecting Rbts. Click Cnfigure Jints and Optins t enable/disable the jints (axes) f a rbt, select the rbt ptin bits fr yur rbt, and cnfigure the kinematic parameters fr yur rbt. Fr details, see the tpic Cnfiguring Axes, Optins, and Kinematic Parameters. Click Lad Specificatins File t lad and save the rbt/mtr specificatin file. Fr details, see the tpic Lading and Saving Rbt and Mtr Specificatin Files. 5. After yu have cmpleted the rbt cnfiguratin, verify that the prper rbts are installed and all mtrs are peratinal. 6. Click Finish t exit the wizard. Rbt Installatin Wizard (FireWire Cnfiguratin) 3. Verify that the tree shws the crrect FireWire rbts and mtrs in yur system. If the list is crrect, click Next t prceed. If the list is nt crrect, yu can mdify the list by right-clicking n nde r "gadget" (mtr, encder, r I/O) t cnfigure it. After yu have mdified the list, click Save t save the changes and prceed. The Rbt Cnfiguratin page pens. Appending, Replacing, and Selecting Rbts The Rbt Append, Replace, and Select Wizard is used t add, remve, and select rbts that will be cntrlled by the system (see the figure belw). The wizard is accessed frm the Rbt Installatin Wizard. Fr details n the Rbt Installatin Wizard, see the tpic Installing Rbts. T use the Rbt Append, Replace, and Select Wizard: 1. On the Rbt Installatin page f the Rbt Installatin Wizard, click Change Installed Rbts. The Chse Wrking Directry Page pens

48 Cnfiguratin Tls Rbt Append, Replace, and Select Wizard (Mdule Select Page) 5. Frm the Available Mdules list, select the device mdules that yu want t include in yur V+ system: Chse "ASN" fr standard Adept rbts, "ENC" fr external encders, "LM" fr linear mdules, etc. Click Add t add the selected device mdule t the Selected Mdules list. Click Clear t remve ALL device mdules frm the Selected Mdules list. 6. Click Next t prceed. The Select Rbts page pens. Rbt Append, Replace, and Select Wizard (Wrking Directry Page) 2. Use the radi buttns t chse the lcatin f the V+ system that will be mdified. The lcatin can be n the cntrller, r in a directry (flder) n yur PC. If yu chse a directry n yur PC, yu must specify the flder in the crrespnding text bx. Yu can use the brwse buttn ( ) next t the text bx t lcate the directry n yur PC. 3. Use the Wrking Directry text bx t specify a directry int which the current V+ system will be backed up n yur PC. Yu can use the brwse buttn ( lcate the directry n yur PC. ) next t the text bx t 4. Click Next t prceed. A prgress bar displays while the V+ system is backed up t the specified flder. When the backup has cmpleted, the Chse Mdules page pens

49 Cnfiguratin Tls Rbt and Mtr FireWire Cnfiguratin Rbt and mtr numbers are stred in each FireWire nde. At startup, the V+ perating system uses this infrmatin t ensure that each mtr is prperly cnfigured. The Cnfigure FireWire Ndes dialg, shwn in the figure belw, is used t cnfigure the FireWire ndes. T cnfigure the FireWire ndes: 1. On the Cntrller Editr, click Cnfigure Ndes. The FireWire Ndes cnfiguratin dialg pens. Rbt Append, Replace, and Select Wizard (Rbt Select Page) Cnfigure FireWire Ndes Dialg 2. Right-click n a nde t cnfigure r identify the nde. A shrtcut menu pens. 7. Frm the All Rbts list, select the rbts in the rder yu wish t use them. The first rbt in the list will be rbt 1, the secnd rbt 2, etc. Click Add t add the selected rbt t the Selected Rbts list. Click Remve t remve a rbt frm the Selected Rbts list. 8. Click Finish t clse the wizard. FireWire Nde Shrtcut Menu 3. Frm the shrtcut menu, select "Flash LED" t help identify the nde, r "View Nde Infrmatin" t get the serial number, which yu can match t the number n the nde

50 Cnfiguratin Tls 3. Click Save t write changes t the FireWire ndes. After cmpleting the abve steps, yu must map the utput and input blcks t I/O numbers, as described in the next sectin. Using the V+ System Cnfiguratin Dialg The V+ System Cnfiguratin Dialg is used t map the utput and input blcks t I/O numbers, as described in the fllwing steps: 1. Frm the Cntrller Editr, click Cnfigure V+. The V+ System Cnfiguratin dialg pens. 4. After yu have identified the FireWire nde, select the rbt and mtr numbers. Nte the fllwing: On Adept rbts, yu can nly select the rbt number; the mtr numbers are precnfigured. On MtinBlx r smi-6 axes, yu must select bth the rbt and mtr number fr each axis. 5. Click Save t stre the changes and clse the dialg. Digital I/O Cnfiguratin The V+ perating system's digital I/O uses numeric signal numbers, with pssible utputs in the range 0001 thrugh 0512, and inputs in the range 1001 thrugh The mapping frm signal numbers t inputs and utputs is a tw-stage prcess: 1. Map blcks f FireWire I/O t "utput blcks" and "input blcks" in the range f 1 t 31 using the FireWire Cnfiguratin dialg. 2. Map the utput and input blcks t I/O numbers thrugh the V+ System Cnfiguratin dialg. Additinal cnfiguratin, such as psitin latching r I/O changes, can be dne using the V+ System Cnfiguratin dialg. Using the Cnfigure FireWire Ndes Dialg The Cnfigure FireWire Ndes dialg is used t cnfigure (map) blcks f FireWire I/O, as described in the fllwing steps: 1. On the Cntrller Editr, click Cnfigure Ndes. The Cnfigure FireWire Ndes dialg pens. V+ System Cnfiguratin Dialg Click the Cnfiguratin tab t access the text editr. Cnfigure FireWire Ndes Dialg 2. Right-click n any digital input r utput nde. Chse the utput blck r input blck numbers. Ensure that nly ne instance f each utput and input blck numbers exists n the netwrk. 99

51 Cnfiguratin Tls Upgrading FireWire Nde Firmware Serv firmware is included in the standard V+ perating system's "FIRMWARE" directry. While the prper versin f serv firmware is typically dwnladed t the serv ndes during the V+ perating system's startup, there are smetimes reasns fr upgrading that firmware. The FireWire Nde Firmware Update dialg, shwn in the figure belw, is used t upgrade the FireWire nde firmware. NOTE: The FireWire and FPGA firmware can als be upgraded during the V+ Upgrade prcess. Fr details, see Upgrading V+. T upgrade the FireWire nde firmware: 1. On the Cntrller Editr, click Upgrade Firmware. The Firmware Update dialg pens. 102 Firmware Update Dialg 2. Select the ndes t update frm the Select Ndes t Update list. Fr cnvenience, yu can click Tggle Selectin t check/uncheck the items in the list. NOTE: The upgrade peratin may take several minutes per selected nde. 3. Use the "Select Firmware t Update" grup t select the Serv Firmware and/r the FPGA Firmware. 4. In the Firmware Directry text bx, specify the directry n the PC where the files are lcated. Yu can use the brwse buttn ( n yur PC. ) next t the text bx t lcate the directry V+ Cnfiguratin Text Editr 3. Edit the cnfiguratin file t map the input and utput blcks t I/O numbers. Yu can press Ctrl+F t display a Find/Replace dialg, which can be used t find and/r replace specified text. Yu can click Help t display help n the cnfiguratin statement syntax. 4. Click Save t write the changes t the Adept cntrller. 5. Click Dne t clse the dialg. 101

52 Cnfiguratin Tls 4. Use the Lad Spec File dialg t lad the default specificatin (SPEC) files fr each Pythn mdule r Smart Serv Kit. T pen the dialg, frm the File menu f the Rbt Object Editr, chse "Lad Spec File...". Fr details, see the tpic Lading Rbt and Mtr Specificatin Files. 5. Teach the calibratin fr each mtr, as fllws: a. Display the rbt mtr list. Frm the Rbt Object Editr, click the "+" next t Mtrs t display the list f mtrs fr the rbt. 5. Click G t start the update. Upgrading SmartCntrller FPGA SmartCntrller FPGA firmware updates are nt distributed with the V+ perating system. Hwever, they may be requested frm Adept Custmer Service. If yu receive a SmartCntrller FPGA firmware update, yu can perfrm the update using the prcedure belw. T update the SmartCntrller FPGA: 1. On the Cntrller Editr, click Upgrade FPGA. The SmartCntrller FPGA Update dialg pens. Rbt Mtr List b. Duble-click the first mtr in the list t display the mtr-related parameters. Mtr Cnfiguratin Parameters c. Select the Mtr Calibratin item and use the dwn arrw t display the mtr calibratin parameters. SmartCntrller FPGA Update Dialg 2. In the Firmware File text bx, specify the directry n the PC where the firmware update files are lcated. Yu can use the brwse buttn ( ) next t the text bx t lcate the directry n yur PC. 3. Click G t start the update. Pythn Mdule/Smart Serv Kit Cnfiguratin Pythn mdules and Smart Serv Kits have part numbers embedded in the encders. This allws Adept ACE t autmatically lad the apprpriate mtr specificatins int the system. The prcedure belw describes hw t teach the calibratin fr yur Pythn mdules and Smart Serv Kit systems. After yu have cmpleted this prcedure, yu will be able t calibrate yur system at startup, r when needed, using the Calibrate buttn n the Rbt Cntrl Panel. Fr details, see the tpic Rbt Cntrl. T cnfigure yur system: 1. Use the Rbt Append/Replace/Select Wizard, if yu need t change the rbts in yur system. T pen the wizard, n the Cntrller Editr, click Append/Select. Fr details, see the tpic Appending, Remving and Selecting Rbts. 2. Ensure that yur FireWire ndes are prperly cnfigured with the crrect rbt and mtr numbers. T pen the FireWire Ndes Cnfiguratin dialg, n the Cntrller Editr, click Cnfigure Ndes. Fr details, see the tpic Rbt and Mtr FireWire Cnfiguratin. 3. Use the Axes, Optins, and Kinematics dialg t select the axes in the rbt bject that yu will be using. T pen the dialg, frm the Cnfiguratin menu f the Rbt Object Editr, chse "Axes, Optins, and Kinematics". Fr details, see the tpic Cnfiguring Axes, Optins, and Kinematic Parameters

53 Cnfiguratin Tls Mtr Calibratin Parameters d. Select Hme Search Type and use the drp-dwn list t set the value fr that parameter. If yur mtr has a hard stp, chse "HmeTStp". If yur mtr has n stp (like a cnveyr), chse "HmeTHere". e. Click Teach t teach calibratin. The frnt panel pwer buttn may flash in that case push the buttn t enable pwer. When the teach peratin has cmpleted, a message displays. Click OK t cntinue. f. Repeat the steps abve fr the ther mtrs. 6. After yu have taught the calibratin fr all mtrs, frm the Rbt Object Editr menu, select File => Save All Specs t V+ Bt Disk t save the specificatins. 7. Yu can nw calibrate yur system at startup, r when needed, by clicking Calibrate n the Rbt Cntrl Panel. Fr details, see the tpic Rbt Cntrl. 105

54 Rbt and Mtr Cnfiguratin This chapter describes the tls used t cnfigure rbts and mtrs. There are thusands f parameters that must be defined fr prper rbt peratin. If yu are putting tgether a custm rbt systems using Adept cmpnents (such as Adept SmartMtin), this chapter shuld help guide yu. Fr standard Adept rbts, the required parameters have already been set. Cnfiguring Axes, Optins, and Kinematic Parameters Sme rbts have a variable number f jints, ptin bits that cntrl the presence f special features, and kinematic parameters used in psitin calculatins. The Axes, Optins, and Kinematic Parameters dialg allws yu t edit these parameters. Fr backgrund infrmatin n rbt axes, ptins, and kinematic parameters, see the chapters "Getting Started" and "Adept SmartMtin System: Key Cncepts" in the Adept SmartMtin Develper's Guide. Nte that the Adept ACE interface, described belw, can be used in place f the SPEC prgram t edit these items. Axes, Optins, and Kinematics Dialg CAUTION: Imprper editing f rbt jints, ptin bits, and kinematic parameters can cause the rbt t malfunctin r becme inperable. Therefre, editing must be perfrmed by qualified persnnel. There are tw ways t access the dialg: Frm the Rbt Installatin Wizard. Fr details n the Rbt Installatin Wizard, see the tpic Installing Rbts. Frm the Rbt Editr menu, click Cnfigure => Axes, Optins, and Kinematics. The Axes, Optins, and Kinematics dialg pens. Enabled Axes The Enabled Axes area is used t enable/disable the jints (axes) f the rbt. If the rbt desn't have jints that can be enabled/disabled, the Enabled Axes checkbxes will appear gray. Rbt Optins The Rbt Optins area is used t select the rbt ptin bits fr yur rbt. See yur rbt's kinematic mdule dcumentatin fr the rbt ptin bits that apply t yur rbt. Sme f the cmmn ptin bits include: Free mde pwer ff: Rbt pwer is turned ff rather than disabling the individual amplifier. Execute CALIBRATE cmmand at bt: Calibrate the rbt after the V+ perating system bts. Starting with V+ versin 16.3D1, this is set by default n all Adept Viper and Adept Cbra s350 rbts. This nly wrks if the rbt can calibrate with pwer ff. It des nt wrk n ther Cbra rbts because they have t mve J4 during calibratin. Check jint interplated cllisins: While mving, check fr bstacle cllisins even fr jint-interplated mves. This causes slightly mre CPU usage, if set, because it requires the rbt t perfrm a kinematic slutin that is nt part f the nrmal peratin

55 Rbt and Mtr Cnfiguratin Using a Grip Offset NOTE: Fr details n using a grip ffset versus a tl ffset, see Grip Offsets Versus Tl Offsets. In many rbtic applicatins, the cmputed (either by visin r ther calculatin) part centrid -- the lgical grip lcatin -- differs frm the desired physical grip lcatin. Fr example, in the diagram belw, the visin system returns a centrid lcatin fr the part, which is in the runded area f the part. Hwever, the preferred place t grip this shape, using a standard set f parallel grippers, is in the tail area, because f the parallel surfaces in that area f the part. Z-up during J4 calibratin: On Adept Cbra rbts, J4 must rtate slightly during calibratin. This causes J3 t retract befre mving J4. J6 multi-turn: If yur system has the multi-turn license installed, this bit allws infinite rtatin f J6. Nte that individual mves must be n mre than 360 degrees. Sftware mtr limits: In rbt mdels with multiple mtrs cupled t mve a single jint, the standard jint mtin limits may nt be adequate t prevent the mtrs frm hitting physical limits. In such cases, yu may use sftware mtr limits t restrict mtr mtin. Split X-axis: Uses an extra mtr t run a split X-axis. Kinematics The Kinematics area is used t cnfigure the kinematic parameters fr yur rbt. See yur rbt's kinematic mdule dcumentatin fr details. The bttm sectin f the Kinematics area displays nline help fr the selected parameter. NOTE: Because nline help fr each parameter is prvided directly in the editr, it is nt duplicated in this dcumentatin. Grip Offsets Versus Tl Offsets 110 Grip Offset Example The distance between these tw lcatins is referred t as the "grip ffset". Teaching a Grip Offset Fr mst applicatins, the grip ffset is taught by mdifying the mve lcatin. T teach a grip ffset, use the fllwing prcedure: 1. Create a visin-guided part pickup applicatin, withut cnsidering the need fr a grip ffset. As part f the applicatin, yu will create a statin (fr example, a Simple Statin), as the part pickup lcatin. By default, the "Parent" prperty fr the Mve bject is set t the cmputed lcatin, and the "Parent" prperty f the Apprach and Depart mves are set t the Mve bject. 2. In the Apprach bject editr fr the statin, set the "Pause Befre Mve" prperty t True. 3. Use the Task Status Cntrl t start the applicatin. The applicatin will pause befre appraching the pick r place lcatin. 4. Teach the ffset. a. Open the bject editr fr the Mve lcatin bject b. Frm the bject editr menu, select Cntrl => Teach Lcatin. The Teach Cntrl pens. c. Jg the rbt t the desired grip lcatin. d. Click Here t recrd the ffset. The ffset is recrded and the Teach Cntrl clses. Grip ffsets and tl ffsets accmplish similar gals: they mdify the rbt psitin during pick and place peratins. Tl ffsets mdify the rbt psitin by cmmanding the rbt t cmpensate fr an ffset between the nminal tl tip and the actual tl tip. Grip ffsets mdify the rbt psitin by mdifying the crdinates f the pick r place lcatin. Bth types f ffsets have certain advantages: Grip ffsets: Are apprpriate when the desired pick-place lcatin is ffset frm the cmputed pick-place crdinates (thrugh visin, a pallet frame, r ther means) Can be changed n the fly withut causing a break in the rbt mtin Are set by mdifying the gal lcatin in Adept ACE. Fr details, see Using a Grip Offset. Tl ffsets: Are apprpriate when the tl itself is ffset frm the center f the rbt's end-effectr munting plate. Causes the rbt t perfrm straight-line mtin arund the specified tl tip. Cannt be changed n the fly withut causing a break in rbt mtin. Are set using the Tl Offset Wizard in Adept ACE. Fr details, see Using a Tl Offset. 109

56 Rbt and Mtr Cnfiguratin 2. Create a "Lcatin" bject in the Wrkspace Explrer, and name it "Grip Offset". In the Grip Offset bject editr, verify the Parent prperty is nt set (the field is blank). 3. Frm the Grip Offset bject editr menu, select Cntrl => Teach Lcatin. The Teach Cntrl pens. Put the part in the gripper, mve the part int the field f view f the camera, and carefully release the part where the camera can lcate it. 4. Mve the rbt ut f the field f view, and execute yur visin prgram. This shuld set the crdinates f yur pickup statin t be the target lcatin in the field f view. 5. In the Grip Offset bject yu taught abve, frm the bject editr menu, select Object => Change Parent, and chse the pickup statin. This will reset the Parent prperty f the Grip Offset bject t be the pickup statin. This will set the prper grip ffset fr use during the part pickup. NOTE: Make sure yur pickup mve is relative t the "Grip Offset" bject. Using a Tl Offset NOTE: Fr details n using a grip ffset versus a tl ffset, see Grip Offsets Versus Tl Offsets. In certain rbtics applicatins, it is necessary t use an end-effectr (als referred t as a "tl" r "gripper") that has an ffset frm the rigin f the rbt's end-effectr munt. The Adept ACE sftware prvides a Tl Offset Wizard, which simplifies the task f teaching a tl ffset. When teaching the tl ffset, yu must rtate the end-effectr arund the tl tip and teach at least tw pints. If mre pints are taught, the tl ffset will be slightly mre accurate and repeatable. With many rbts (fr example, SCARA rbts), yu can nly rtate in the X-Y plane, in which case nly the X-Y tl ffset will be cmputed by the tl ffset wizard. Fr these rbts, yu must manually edit the Z-extensin f the tl ffset. This will ensure that the heights f taught lcatins are accurate. It will als allw the 3D Simulatin windw t display the prper gripper dimensins. When using six-axis rbts, yu can rtate arund the tl tip in three dimensins. With these rbts, either the X-Y r full X-Y-Z tl ffset will be cmputed depending n the amunt f rtatin. Hwever, the tl ffset wizard des nt calculate the rientatin f the tl tip. Therefre, yu must enter that value manually. T teach a tl ffset: 1. Frm the I/O-Driven Gripper Editr (r Adept One-Part Gripper) menu, select Cntrl => Teach Lcatin. The Tl Offset Wizard pens. 5. In the Apprach bject editr used abve, set the "Pause Befre Mve" prperty t False 6. Use the Task Status Cntrl t prceed the paused applicatin. Using Grip Offsets with Multiple Parts When using multiple parts with different grip ffsets, it is preferable t create a dedicated grip ffset fr each part. T create a dedicated grip ffset: 1. Create a visin-guided part pickup applicatin, withut cnsidering the need fr a grip ffset. As part f the applicatin, yu will create a statin (fr example, a Simple Statin), as the part pickup lcatin. By default, the "Parent" prperty fr the Mve bject is set t the cmputed lcatin, and the "Parent" prperty f the Apprach and Depart mves are set t the Mve bject. 2. Create a "Lcatin" bject in the Wrkspace Explrer, and name it "Grip Offset". In the Grip Offset bject editr, verify the Parent prperty is nt set (the field is blank). 3. In the Simple Statin Items' Mve bject editr, set the Parent prperty t the Grip Offset bject created abve. 4. In the Grip Offset bject editr, set the Parent prperty t the cmputed lcatin (the Simple Statin bject). 5. In the Apprach bject editr fr the statin, set the "Pause Befre Mve" prperty t True. 6. Use the Task Status Cntrl t start the applicatin. The applicatin will pause befre appraching the pick r place lcatin. 7. Teach the lcatin f the Grip Offset bject. a. Open the bject editr fr the Grip Offset bject editr menu. b. Frm the bject editr menu, select Cntrl => Teach Lcatin. The Teach Cntrl pens. c. Jg the rbt t the desired grip lcatin. d. Click Here t recrd the ffset. The ffset is recrded and the Teach Cntrl clses. 8. In the Apprach bject editr used abve, set the "Pause Befre Mve" prperty t False 9. Use the Task Status Cntrl t prceed the paused applicatin. Yu can then swap in a different Grip Offset bject when using a different part. Reverse Teaching a Grip Offset with Visin Teaching a grip ffset with visin is smetimes frustrating. The prblem is yu precisely lcate the part with visin, and then try t teach the rbt the grip ffset by picking the part. Hwever, the part mves slightly each time yu try t teach the ffset! Therefre, it wuld be easier if yu culd "reverse teach" by first putting the part dwn with the rbt, carefully mving the rbt away, and then cmputing the grip ffset by taking a picture with the visin system. The Adept ACE sftware allws yu t perfrm a "reverse teach" peratin, as fllws: 1. Create a visin-guided part pickup applicatin, withut cnsidering the need fr a grip ffset. As part f the applicatin, yu will create a statin, which will be the part pickup lcatin

57 Rbt and Mtr Cnfiguratin T teach the lcatin, click Teach Pint. The Teach dialg is displayed, which allws yu t psitin the rbt tl tip at the desired lcatin. When the rbt is prperly psitined, click OK t recrd the lcatin. Tl Offset Wizard, Intrductin Page 4. Repeat step 3 t teach a secnd pint. Tl Offset Wizard, Teach Dialg NOTE: Yu must teach at least tw pints. Teaching mre than tw pints will imprve the accuracy f the cmputed tl ffset. 5. After yu have taught at least tw pints, click Next. The tl ffset is cmputed and the resulting tl ffset is displayed. 6. Click Finish t accept the cmputed tl ffset and exit the wizard. The cmputed tl ffset is entered as the value fr the "Offset t Tip" parameter n the Gripper Editr. 2. This step f the wizard requires yu t select a rbt, if yu have nt already selected ne in the Gripper Editr. T chse a rbt, use the drp-dwn list t view the available rbts and then select the desired rbt frm the list. 3. Click Next t prceed. The wizard displays a page where yu must teach tw r mre pints by mving the rbt arund the tl tip. Editing Obstacles Sme rbt wrkcells cntain "bstacles", such as part fixtures, camera supprts, r ther hardware, which yu d nt want the rbt t cntact during peratin. The Edit Obstacles dialg allws yu t add/edit the lcatin, type, and size f wrkcell bstacles. In additin t defining bstacles in the wrkcell, the Edit Obstacles dialg can als be used t define a fixed area (cntainer) fr the rbt t wrk within. T pen the Edit Obstacles dialg, n the Rbt Editr menu, click Cnfigure => Obstacles. The Edit Obstacles dialg pens. Tl Offset Wizard, Teach Pints Page

58 Rbt and Mtr Cnfiguratin Fr a general trapezidal prfile, there are fur acceleratin values that can be specified, as shwn in S-Curve (Trapezidal Acceleratin) Prfile: the ramp up t maximum acceleratin, the ramp dwn frm maximum acceleratin, the ramp up t maximum deceleratin, and the ramp dwn t zer acceleratin. In V+ each f these fur acceleratin values can be individually specified, and a set f the fur values defines a specific acceleratin "prfile". S-Curve (Trapezidal Acceleratin) Prfile The S-Curve Prfile Cnfiguratin dialg, shwn in the figure belw, is used t cnfigure the fur acceleratin values. T pen the S-Curve Prfile Cnfiguratin dialg, n the Rbt Editr menu, click Cnfigure => S-Curve Prfiles. The S-Curve Prfile Cnfiguratin dialg pens. Edit Obstacles Dialg The elements f the Edit Obstacles dialg are described belw: Prtected Obstacle: Fr Adept rbts, these are pre-defined bstacles that cannt be edited by the user. Fr nn-adept rbts, these prvide tw additinal bstacle entries. User Obstacle: Each rw prvides an entry fr a wrkcell bstacle. Type: This drp-dwn list is used t select the type f bstacle: bx, cylinder, r sphere. Lcatin: This text bx is used t enter the crdinates f the center f the bstacle. Internal: If checked, the rbt's mvements will be cntained within the bundaries f the bstacle. If unchecked, the rbt's mvements will be utside the bundaries f the bstacle. Dimensin 0, 1, 2: Used t define the dimensins f the bstacle, as fllws: Bx: X = Dimensin 0, Y = Dimensin 1, Z = Dimensin 2 Cylinder: Radius = Dimensin 0, Height = Dimensin 1 Sphere: Radius = Dimensin 0 Save: Stres the bstacle infrmatin and clses the dialg. Cancel: Cancels all edits and clses the dialg. Cnfiguring S-Curve Prfiles S-Curve Prfile Cnfiguratin Dialg The elements f the S-Curve Prfile Cnfiguratin dialg are described belw: Index: The index psitin t which the crrespnding prfile will be stred. Enabled: If checked, the crrespnding prfile is available fr use in yur prgrams. Accel Ramp Up Time: The ramp-up time fr the acceleratin phase f the prfile. Accel Ramp Dwn Time: The ramp-dwn time fr the acceleratin phase f the prfile. 116 While there are many different mtin prfiles that can be characterized as "S-curves", in the V+ perating system, an S-curve is a trajectry that has a trapezidal acceleratin prfile, giving an S- shaped velcity prfile. The benefit f a trapezidal acceleratin prfile is that the rate f change f acceleratin (the "jerk") can be cntrlled. (By cmparisn, the magnitude f the jerk fr a square-wave acceleratin prfile is always infinite.) Fr many mechanisms, cntrlling the jerk is significant because high jerk values can cause the mechanical structure f the rbt t vibrate. Minimizing structural vibratins is especially imprtant at the end f a mtin since such scillatins can adversely affect the settling time f the rbt. This can affect the cycle. Hwever, fr stiff, strng mechanisms, a square-wave prfile may result in shrter cycle times. 115

59 Rbt and Mtr Cnfiguratin Saving a Rbt/Mtr Specificatin File T save rbt /mtr specificatins, n the Rbt Editr menu, click File => Save Spec File... The Save Rbt/Mtr Specificatins dialg pens. Decel Ramp Up Time: The ramp-up time fr the acceleratin phase f the prfile. Decel Ramp Up Time: The ramp-dwn time fr the acceleratin phase f the prfile. Save: Stres the prfile infrmatin and clses the dialg. Cancel: Cancels all edits and clses the dialg. Lading and Saving Rbt/Mtr Specificatin Files Rbt and mtr specificatin files can be used t back up and restre rbt and mtr specificatins. The fllwing sectins describe hw t lad and save the specificatin files. Save Rbt/Mtr Specificatins Dialg 1. Select either the Rbt r Mtr radi buttn. If the Mtr radi buttn is selected, use the drp-dwn list t select the mtr number. 2. Specify the file name in the crrespnding text bx. Yu can use the brwse buttn ( ) next t the text bx t lcate the directry n yur PC. 3. Click OK t save the file. Lading a Rbt/Mtr Specificatin File The Lad Rbt/Mtr Specificatins dialg is used t lad a rbt r mtr specificatins file. There are tw ways t access the dialg: Frm the Rbt Installatin Wizard. Fr details n the Rbt Installatin Wizard, see the tpic Installing Rbts. Frm the Rbt Editr menu, click File => Lad Spec File... The Lad Rbt/Mtr Specificatins dialg pens. Tuning the Mtrs The Mtr Tuning dialg, shwn in the figure belw, is used t send a square wave psitining cmmand t the specified mtr, and bserve the respnse. This dialg allws yu t cllect values n the specified mtr(s) at up t the serv rate f 8KHz. Yu can cllect up t 8 data items, at rates f up t 8000 samples per secnd, up t the memry limit f the rbt. T pen the Mtr Tuning dialg, n the Rbt Editr menu, click Cntrl => Mtr Tuning. The Mtr Tuning dialg pens. Lad Rbt/Mtr Specificatin File Dialg 1. Select the methd fr lading the specificatin file. There are multiple ways f lading specificatins: Lad rbt specificatins frm a specificatin file n the PC. Yu can use the brwse buttn ( ) next t the text bx t lcate the directry n yur PC. Lad mtr specificatins frm a specificatin file n the PC. Yu can use the brwse buttn ( ) next t the text bx t lcate the directry n yur PC. Lad default Pythn Mdule specificatin file (nly used fr Pythn linear mdules). This methd autmatically btains the part number frm the mtr itself. Lad default specificatin file by part number. The part number textbx may be preppulated with a part number, if a part number file has been previusly laded. The part number can als be entered directly int the text bx. 2. Click Lad t lad the specificatin file

60 Rbt and Mtr Cnfiguratin Live Data Display Start: Click t start the data cllectin. The data cllectin will cntinue until either: Stp is clicked, r the specified cllect time is reached. Stp: Click t stp the data cllectin. If the specified cllect time has already expired, this buttn is disabled. Plt: Click t plt the cllected data. A prgress bar displays while the data is prcessed. After the prcessing has cmpleted, the data is pltted n the graph lcated at the lwer prtin f the Mtr Tuning dialg, as shwn in the figure belw. Mtr Tuning Dialg This sectin describes the items in the Mtr Tuning dialg: Square Wave Tuning: This area cntains items fr specifying and initiating a square wave psitining cmmand t ne f the rbt's mtrs. Mtr: Specifies the mtr that will receive the square wave psitining cmmand. Perid (sec): Specifies the length f the square wave (in secnds). Amplitude (cts): Specifies the amplitude f the square wave (in serv cunts) G: Tggles (turns n/ff) the square wave psitining cmmand t the specified mtr. Cllect Time (sec): Specifies the data cllectin time in secnds, the default value is 1. Fr example, t cllect data fr five secnds, enter the value 5. Samples/Sec: Specifies the data cllectin rate in samples per secnd, the default value is Fr example, t cllect data at a sample rate f 1600 samples/sec, enter the value Live...: Displays a windw that shws the "live" data being cllected, as shwn in the figure belw

61 Rbt and Mtr Cnfiguratin Data Dump Windw Dump t File...: Displays a Save As dialg used fr saving the cllected data t a text file, which can be viewed r prcessed at a later time. Add: Click t add mnitred items t the list. See the sectin Adding and Remving Mnitred Items, belw, fr mre details. Remve: Click t remve mnitred items frm the list. See the sectin Adding and Remving Mnitred Items, belw, fr mre details. Adding and Remving Mnitred Items The Add Items t Cllect dialg is used t add items t the data cllectin list. Typically, fr mtr tuning, yu will want t cllect psitin errr data n the mtr receiving the square wave psitining cmmand. Mtr Tuning Plt Dump t Screen: Displays the cllected data in a Data Dump windw in text-file frmat, as shwn in the figure belw

62 Rbt and Mtr Cnfiguratin Add Items t Cllect Dialg T add a new item: 1. On the Mtr Tuning dialg, click Add. The Add Items t Cllect dialg pens (see the figure abve). 2. Frm the Mtrs list, select (check) the bx next t the item t be added. Fr a descriptin f each f the items, see the tpic Data Cllectin Parameters. 3. Select the value t be mnitred frm the drp dwn list (see the figure abve) Data Cllectin Dialg This sectin describes the items in the Data Cllectin dialg: Cllect Time (sec): Specifies the data cllectin time in secnds, the default value is 1. Fr example, t cllect data fr five secnds, enter the value 5. Samples/Sec: Specifies the data cllectin rate in samples per secnd, the default value is Fr example, t cllect data at a sample rate f 1600 samples/sec, enter the value Live...: Displays a windw that shws the "live" data being cllected, as shwn in the figure belw. 4. Click Add t add the items and clse the dialg. The items are listed in the Mtr Tuning dialg. T remve an item: 1. On the Mtr Tuning dialg, select (click n) the item t be remved frm the list. 2. Click Remve. The selected item is remved frm the list. Cllecting Data The Data Cllectin dialg, shwn in the figure belw, is used t cllect values n the serv nde at up t the serv rate f 8KHz. Yu can cllect up t 8 data items, at rates f up t 8000 samples per secnd, up t the memry limit f the rbt. T pen the Data Cllectin dialg, n the Rbt Editr menu, click Cntrl => Data Cllectin. The Data Cllectin dialg pens. Live Data Display Start: Click t start the data cllectin. The data cllectin will cntinue until either: Stp is clicked, r the specified cllect time is reached

63 Rbt and Mtr Cnfiguratin Stp: Click t stp the data cllectin. If the specified cllect time has already expired, this buttn is disabled. Plt: Click t plt the cllected data. A prgress bar displays while the data is prcessed. After the prcessing has cmpleted, the data is pltted n the graph lcated at the lwer prtin f the Data Cllectin dialg, as shwn in the figure belw. Data Dump Windw Dump t File...: Displays a Save As dialg used fr saving the cllected data t a text file, which can be viewed r prcessed at a later time. Add: Click t add mnitred items t the list. See the sectin Adding and Remving Mnitred Items, belw, fr mre details. Remve: Click t remve mnitred items frm the list. See the sectin Adding and Remving Mnitred Items, belw, fr mre details. Data Cllectin Plt Dump t Screen: Displays the cllected data in a Data Dump windw in text-file frmat, as shwn in the figure belw

64 Rbt and Mtr Cnfiguratin Data Cllectin Parameters The data cllectin and mtr tuning prcesses require yu t select a mtr and crrespnding data parameter t mnitr. This is dne thrugh the Add Items t Cllect dialg, shwn in the figure belw. T pen the Add Items t Cllect dialg, click Add... n the Data Cllectin dialg. Adding and Remving Mnitred Items The Add Items t Cllect dialg is used t add items t the data cllectin list. Add Items t Cllect Dialg 128 Data Cllectin Parameters This fllwing table describes the parameters available frm the drp-dwn list. Parameter Amp AC Input RMS Vltage Amp Bus Vltage Amp Temperature Base Bard Temperature Cmmanded Acceleratin Cmmanded Psitin Cmmanded Velcity Current Lp Output Current Lp Peak T Peak Output DC Input Vltage Encder Psitin Index Delta Latched Errrs Output Level Descriptin Mnitrs the RMS input vltage t amplifier (in vlts) fr the selected mtr. Mnitrs the high-vltage DC bus fr the selected mtr. Mnitrs the amplifier temperature (in degrees C) fr the selected mtr. Mnitrs the amplifier base-bard temperature (in degrees C), per-amp nt per-mtr, fr the selected mtr. Mnitrs the cmmanded acceleratin (in cunts/ms 2 ) fr the selected mtr. Mnitrs the cmmanded psitin (in cunts) fr the selected mtr. Mnitrs the cmmanded velcity (in cunts/ms) fr the selected mtr. Mnitrs the utput f the 'PI' current lp fr the selected mtr. Mnitrs the peak utput f the 'PI' current lp fr the selected mtr. Mnitrs the DC cntrl vltage (in vlts) fr the selected mtr. Mnitrs the actual psitin (in cunts) fr the selected mtr. Mnitrs the index delta (last index psitin minus previus index psitin), in cunts, fr the selected mtr. Mnitrs the latched errr bit mask fr the selected mtr. Fr pssible values and their descriptins, see the tpic MtrLatchedErrrBits Enumeratin in the ACE API Dcumentatin Help file. Yu can access this file by selecting Help => API Reference... frm the Adept ACE sftware menu. Mnitrs the utput level, typically a trque cmmand between and 32767, fr the selected mtr. T add a new item: 1. On the Data Cllectin dialg, click Add. The Add Items t Cllect dialg pens (see the figure abve). 2. Frm the Mtrs list, select (check) the bx next t the item t be added 3. Select the value t be mnitred frm the drp dwn list (see the figure abve). Fr a descriptin f each f the items, see the tpic Data Cllectin Parameters. 4. Click Add t add the items and clse the dialg. The items are listed in the Data Cllectin dialg. T remve an item: 1. On the Data Cllectin dialg, select (click n) the item t be remved frm the list. 2. Click Remve. The selected item is remved frm the list. 127

65 Rbt and Mtr Cnfiguratin Psitin Errr Serv Status Unlatched Errrs Mnitrs the psitin errr (cmmanded psitin minus actual encder psitin), in cunts, fr the selected mtr. Mnitrs the serv status bit mask fr the selected mtr. Fr pssible values and their descriptins, see the tpic MtrStatusBits Enumeratin in the ACE API Dcumentatin Help file. Yu can access this file by selecting Help => API Reference... frm the Adept ACE sftware menu. Mnitrs the unlatched errr bit mask fr the selected mtr. Fr pssible values and their descriptins, see the tpic MtrUnlatchedErrrBits Enumeratin in the ACE API Dcumentatin Help file. Yu can access this file by selecting Help => API Reference... frm the Adept ACE sftware menu. V+ Cmmand V+ cmmand cde. Valid cmmands are: 0: Current mde. Arg: DAC utput. 1: Free mde. Arg: DAC utput. 2: Psitin mde. Arg: Scaled psitin cmmand. 3: Set psitin. Arg: Scaled psitin. 4: Amp cmmand. Arg: 1 t enable, 0 t disable. 5: Cal mde. Arg: Nne. 7: Adjust psitin. Arg: Scaled psitin ffset. 8: Clear latched errrs. Arg: Bit mask t clear. 9: Drive mtr. Arg: Scaled psitin. 0xF: NOP. Arg: Nne. V+ Cmmand Argument V+ cmmand argument. 0x10: High pwer. Arg: 1 t turn n, 0 t turn ff. 0x11: Brake rel. Arg: 1 t release, 0 t engage. 0x12: Velcity mde Arg: Target velcity. Velcity Errr Mnitrs the velcity errr (cmmanded velcity minus encder velcity), in cunts/ms, fr the selected mtr. 129

66 Mtin Cntrl NOTE: This feature has restricted functinality in the "cnfiguratin tls" versin. Fr details, see Installing the Sftware. This chapter describes the mtin-cntrl features prvided by the Adept ACE sftware, such as setting up statins, pick and place sequences, and cnveyr tracking. NOTE: The V+ license "ACE Mtin", license bit 44, is required t successfully issue a mve cmmand t a rbt. Withut this license, yu can still jg the rbt frm the Rbt r Teach cntrls, and perfrm step mves frm the Mtr Tuning dialg. Statin Creatin Wizard, Start Page The wizard displays a page where yu can create a name fr the statin and assciate the statin with a rbt. 2. After yu have entered the name and selected a rbt, click Next t prceed. The wizard displays a page where yu must chse r create a "pick-place strategy" (see the figure belw). A pick-place strategy is an bject cntaining the data and lgic required t guide the rbt thrugh the pick and place prcedure. Statins and Pick-Place Sequences NOTE: This feature has restricted functinality in the "cnfiguratin tls" versin. Fr details, see Installing the Sftware. "Pick and place" is an industry phrase fr a cmmn material-handling applicatin fr rbtics. The Adept ACE sftware simplifies the task f creating a pick and place applicatin: define tw statins (a statin can be a ne-part fixture, a pallet, r a cnveyr) using the Statin Cnfiguratin Wizard, teach their lcatins, and create the pick and place sequence between them. Creating a Statin The Statin Creatin Wizard, shwn in the figure belw, allws yu t create a new statin. T create a statin: 1. Frm the Wrkspace Explrer, right click and select New => Statins and then select a statin type frm the menu. The Statin Creatin Wizard pens

67 Mtin Cntrl Statin Creatin Wizard, Teach Statin Page 4. T teach the lcatin, click Teach. The Teach dialg is displayed, which allws yu t psitin the rbt tl tip at the desired lcatin. When the rbt is prperly psitined, click Here t recrd the lcatin. Statin Creatin Wizard, Strategy Page The standard pick and standard place strategies perfrms the fllwing peratins: If a lcatin variable is defined, the variable s value is set t the lcatin f the statin. When the mves used t pick r place are made relative t the lcatin variable, the same transfer strategy can be used at multiple statins. The first element f the mve list is perfrmed as the apprach. The secnd element f the mve list is perfrmed t the statin lcatin. The part is gripped r released as apprpriate. The third element f the mve list is perfrmed t depart frm the statin. Gripper I/O checking is perfrmed as apprpriate t verify that the part has been successfully picked r placed. If n gripper inputs are defined, n checking is perfrmed. 3. Click Next t prceed. The wizard displays a page that allws yu t teach the lcatin f the statin. Statin Wizard, Teach Dialg Optinally, yu can skip this step and teach the lcatin at a later time

68 Mtin Cntrl 5. Click Finish t exit the wizard. The statin bject is added t the Wrkspace Explrer. If there are ther items required fr the newly-created statin, fr example, a new pick-place strategy, a flder is autmatically created in the Wrkspace Explrer, which stres thse items. NOTE: If yu need t edit the statin infrmatin, fr example, if yu want t g back and create a new pick-place strategy fr the statin thrugh the Statin Creatin Wizard, yu will first need t delete the statin, and then use the steps abve t recreate the statin. Creating a Pick and Place Sequence This sectin describes hw t use the create a simple pick and place sequence using the Sequence Editr. Fr mre details n the Sequence Editr, see Sequence Prgramming. NOTE: In additin t the Sequence prgram described belw, there are ther methds f prgramming, such as the Pythn language. Fr mre details, see the chapter Prgramming Adept ACE. After yu create the statins, yu are ready t create a sequence with pick and place statements, as shwn in the figure belw. Pick frm Statin, Statin List 5. Click OK t prceed. The selected statin is stred. 6. Click the "X" n the upper-right crner f the Pick frm Statin editr t clse it and return t the Sequence editr. 7. Repeat the abve steps t add a "Place at statin " statement t yur sequence. Yu can nw run the sequence prgram using the Task Status Cntrl. Mve Summary NOTE: This feature has restricted functinality in the "cnfiguratin tls" versin. Fr details, see Installing the Sftware. The Mve Summary windw is used t view and edit the parameters fr mves that are nt embedded in sequence statements r paths. The Mve Summary windw allws yu t edit the lcatin fr the mve, mve speeds (accel, speed, decel), and mve duratin. T pen the Mve Summary windw, frm the Adept ACE menu bar, select View => Mve Summary. The Mve Summary windw pens. T create the sequence: Simple Pick-Place Sequence 1. Right click in the flder area f the Wrkspace Explrer and select New => Prgrams => Sequence frm the shrtcut menu. The Sequence editr pens. 2. Right-click n the first line f the sequence and select New => Cntrl => WHILE lp frm the shrtcut menu. A "WHILE 'True' DO" statement is inserted. 3. Right-click n the "DO" line f the statement and select New => Statin => Pick frm the shrtcut menu. A "Pick frm statin " statement is inserted. 4. Duble-click n the "Pick frm statin " statement t display the Pick frm Statin editr. Select the desired pick statin frm the list

69 Mtin Cntrl If the value -1 is used, the S-Curve parameter is ignred, leaving the current value unchanged. If the value 0 is used, the prfile is defined t be a square-wave acceleratin curve with all fur ramp times set t zer. Teach: Opens the Teach Cntrl, which is used t teach the lcatin. Refresh: Refreshes the windw and updates any changed values. Dne: Clses the windw. Multiple-Field Editing The fllwing fields supprt multiple-field editing: Accel, Speed, Decel, and SCurve. T use multiple-field editing: 1. Select the first field in the clumn f values yu wish t edit. 2. T select a set f adjining fields in a clumn: a. Press and hld the Shift key n yur keybard. b. While hlding the Shift key, select the last field in the clumn f values yu wish t edit. c. Release the Shift key. The selected fields are highlighted. T select multiple fields frm the same clumn: a. Press and hld the Cntrl key n yur keybard. b. While hlding the Cntrl key, select the ther fields yu wish t edit. c. Release the Cntrl key. The selected fields are highlighted. 3. Use the cmputer keybard t type the new value and press the Enter key. The new value is assigned t the selected fields. Rbt Exercise NOTE: This feature has restricted functinality in the "cnfiguratin tls" versin. Fr details, see Installing the Sftware. "Rbt exercise" is an industry phrase fr mving a rbt between a series f predefined pints. The rbt is nt actually perfrming any task (such as picking r placing parts), but is merely being "exercised". The Rbt Exercise editr allws yu t set up a rbt exercise between maximum and minimum jint limits. The rbt can be set t either mve ut t these limits, r t mve randmly within the limits. Yu als have the ptin f letting the rbt exercise indefinitely r specifying a time limit fr the exercise. The fllwing items are available: Mve Summary Windw Path: Displays the path and name f the mve. This field cannt be edited. Offset: Displays the "ffset frm parent" values. This field can be edited. The Teach Cntrl, which is accessed thrugh the Teach buttn, can als be used t teach the ffset. Parent: Displays the parent bject fr the mve. This field cannt be edited. Mtin End: Use t select the end type fr the mtin: N Null: The system des nt wait fr psitin errrs t be nulled at the end f cntinuuspath mtins befre it begins the next mtin. Like COARSE mde, this mde allws faster mtin. Hwever, since n psitin-errr checking is dne, large psitin errrs can ccur. Therefre, this shuld be used nly when high accuracy is nt required. Blend: Blends this mtin int the subsequent ne, if the subsequent mtin is cmmanded befre deceleratin f this mtin begins. Settle Fine: Settle t within the Fine settling tlerance, specified in the Rbt Editr, befre starting the next mtin. Settle Carse: Settle t within the Carse settling tlerance, specified in the Rbt Editr, befre starting the next mtin. This permits larger errrs in the final psitins f the rbt jints at the ends f mtins, which results in faster mtin executin. This shuld be used nly when high accuracy is nt required. Accel, Speed, Decel: Displays the current speed parameters fr the mve. These fields can be edited. Min Duratin: Displays the duratin (time in millisecnds) fr the mve. This field can be edited. Straight: When checked, specifies a straight-line mtin. This item can be edited. SCurve: Specifies the S-curve prfile fr the mve. The S-curve prfiles are defined in the S-Curve Prfile Cnfiguratin Dialg

70 Mtin Cntrl High-speed digital input latch - a high-speed sensr detects parts as they pass by it n the cnveyr. This methd is used when parts are presented in a fixed rientatin and mving alng a fixed (straight line) path alng the cnveyr. Behind the scenes, the V+ perating system reprts when lcatins are upstream, dwnstream, r within the desired perating windw. When the lcatin is in within the windw, the V+ perating system synchrnizes the rbt mtin with the cnveyr t pick the part. Creating a Rbt Exercise The Rbt Exercise Editr, is used t set up the parameters fr a rbt exercise. T create a rbt exercise: 1. Open the Rbt Exercise editr. See Rbt Exercise Editr fr details. 2. Use the Rbt list t select the desired rbt. If there is nly ne rbt in the system, the dialg is autmatically ppulated with that rbt and its default jint psitin values. 3. Use the Maximum Jint Psitins and Minimum Jint Psitins fields t specify the maximum and minimum jint psitins fr the rbt mtin. 4. Use the Randmize Mves list t select False (rbt mves between the maximum and minimum jint limits) r True (rbt mves t randm psitins within the jint limits). 5. Use the Exercise Time (minutes) field t specify the duratin (in minutes) fr the exercise. If yu wish t have the exercise run indefinitely, set the value t After yu have cmpleted the edits, yu can drag the Rbt Exercise bject frm the Wrkspace Explrer and drp it int a sequence prgram. Fr details, see Sequence Prgramming. Cnveyr Tracking Example NOTE: This feature has restricted functinality in the "cnfiguratin tls" versin. Fr details, see Installing the Sftware. The ability t pick parts frm a mving cnveyr is an imprtant feature in sme material-handling applicatins. The Adept ACE sftware allws yu t perfrm cnveyr tracking, using either the visin-guided r I/O-driven methd. The fllwing sectins prvide: an verview f cnveyr tracking; using cnveyr tracking in the Adept ACE sftware; an example cnfiguratin fr cnveyr tracking with visin; and an example cnfiguratin fr cnveyr tracking withut visin. Understanding Cnveyr Tracking While tracking a cnveyr, a psitin encder attached t the cnveyr prvides a belt psitin measurement t the Adept cntrller. Using the belt psitin measurement, the rbt synchrnizes its mtin with the cnveyr within a defined perating windw (see the figure belw). When the rbt travels utside the windw while tracking a part, an errr is declared. The cnveyr lcatin defines the directin and rientatin f cnveyr travel: mtin f the cnveyr is alng the cnveyr s X axis, and the Y axis is at a right angle t the X axis alng the surface f the cnveyr. Cnveyr Features The Adept ACE cnveyr bject maintains an bject queue frm which it picks parts. Parts are detected using ne f the fllwing methds: Visin guidance - the visin system detects parts n the cnveyr and fills the bject queue. This methd is used when parts are presented in a randm rientatin and/r in a randm pattern alng the width f the cnveyr

71 Mtin Cntrl Creating a Cnveyr Statin b. Use the Enter a Statin Name text bx t enter a name fr the cnveyr statin (the name Cnveyr_Track is used fr this example). c. Click Next t cntinue. The "Chse r Create a Pick-Place Strategy" page pens. Using Cnveyr Tracking NOTE: The fllwing example assumes: - a manually-perated feed cnveyr (ne that can be turned n/ff by the peratr) - a single part place statin (a bin, part fixture, etc.). - A FireWire camera, cmpatible with AdeptSight. T use cnveyr tracking, perfrm the fllwing steps: Setting up a Cnveyr Statin 1. Cnnect a digital signal line frm the camera t the Adept cntrller s high-speed digital input number 1001, 1002, 1003, r See yur Adept cntrller user's guide fr details. 2. Cnnect a psitin encder t the cnveyr, and cnnect the signal lines frm the encder t the "External Encder" input n the Adept cntrller. See yur Adept cntrller user's guide fr details. 3. T verify the encder is cunting prperly, frm the Cntrller Editr, click Encder Diagnstics t display the Encder Diagnstics windw, and then manually activate yur cnveyr. When the cnveyr mves, the Psitin and Velcity cunts shuld increment. 4. Open the Cntrller Editr, and click Cnfigure V+. Click the Cnfiguratin tab, and then set the "POS_LATCH" value fr the encder yu are using t the input number yu are using. Fr example, if yu are using input "1001" and encder number 1, yu wuld include the fllwing line in yur cnfiguratin file: BELT 1 = "/POS_LATCH 1001" After setting the value, click Save and, at the prmpt, chse Yes t rebt V+, which ensures yur changes take effect. 5. Use the Rbt Cntrl t enable pwer and calibrate the rbt. 6. If yu have an ffset end-effectr, yu shuld use the Tl Offset Wizard t teach the tl ffset. 7. Define a cnveyr bject. a. Right click in the Wrkspace Explrer and select New => Statins => Cnveyr t create the cnveyr. The Statin Creatin Wizard pens. Creating a Pick-Place Strategy

72 Mtin Cntrl d. On the "Chse r Create a Pick-Place Strategy" page, click Create New Pick Strategy. Use the drp-dwn list t select Queued Statin Pick Strategy. This strategy will be used t get bjects frm the cnveyr. e. Click Next t cntinue. The "Teach Statin" page pens. Teaching a Statin Cnveyr Calibratin Wizard Next, yu will need t cmplete ne f the fllwing sectins, depending n yur applicatin requirements. f. On the Teach Statin page, click Teach. The Cnveyr Calibratin Wizard pens. Fllw the instructins in the wizard t calibrate the cnveyr. Fr mre details, see the tpic Cnveyr Calibratin. Using Cnveyr Tracking With Visin When the visin system lcates a part in a picture, it stres: each entry in the queue, the encder cunt when the picture was taken, and the ffset frm the rbt t the bject lcatin in the picture. At any time, the system can cmpute the psitin f the part by shifting that lcatin by the distance the belt has mved. NOTE: T use cnveyr tracking with visin, yu must have the AdeptSight visin sftware installed n yur PC alng with a valid AdeptSight license. The system must be cnfigured t capture the encder cunt when a picture is taken. The fllwing is an example f a "cnveyr tracking with visin" system cnfiguratin: 1. Perfrm the steps in the sectin "Setting up a Tracking Cnveyr", abve. 2. Create a camera and calibrate it using a dt-pattern calibratin target. Fr details, see AdeptSight Visin Cameras. 3. Create an AdeptSight visin tl t lcate the part. Fr mre details, see AdeptSight Visin Tls. The visin tl must cntain the fllwing statements in this rder:

73 Mtin Cntrl a. An "Acquire Image" (frm the Acquisitin Tls grup), which frces an utput frm the camera. b. A tl that cmputes a lcatin, such as the Lcatr tl (frm the Lcatin Tls grup). When yu add the Lcatr tl, yu will need t teach the mdel fr the part. 4. Create a Cnveyr Rbt-t-Camera Calibratin bject t teach the relatinship f the camera t the cnveyr and rbt. T d this, right-click in the Wrkspace Explrer flder pane and select New => Visin => Calibratin => Cnveyr Rbt-t-Camera Calibratin. In the bject editr, d the fllwing: 146 Pick-and-Place Sequence Example NOTE: The last line f the sequence (Invke 'Increment' n 'Cnveyr_Track') is imprtant, as it increments the part queue each time a part is acquired by the rbt. This prevents the rbt frm attempting multiple acquisitins n the same part. 9. Create a task-management sequence, using the Sequence Editr. The fllwing is a sample sequence, based n the previus steps: 10.Run the cnveyr-tracking applicatin: a. Start the cnveyr b. Open the Task Status Cntrl Task-Management Sequence Example c. Select the task-management sequence (created in the previus step) d. Click Start. When yu place parts nt the cnveyr, the rbt shuld lcate them, pick them up, and mve them t the "place" lcatin. Using Cnveyr Tracking Withut Visin (Using a High-Speed Digital Sensr) The cnfiguratin fr cnveyr tracking withut visin (using a high-speed digital sensr in place f a visin camera) is similar t that used fr cnveyr tracking with visin (described abve). The differences are: When setting up the cnveyr statin in the Statin Setup Wizard, select Standard Pick- Place Strategy. On the Cnveyr Editr, set the Latch Plling Interval parameter t a nn-zer value. This value is the time in millisecnds at which the the cnveyr is plled fr latches. A psitive value enables plling. Chse a value as large as pssible, but n larger than the time fr a part t travel frm the sensr t the rbt s perating windw n the cnveyr. a. Use the Visin Tl field t select the visin tl yu created in AdeptSight. b. Use the Cnveyr selectr t specify the cnveyr bject that the calibratin will reference. In this example, there is nly ne cnveyr bject, named "Cnveyr_Track". c. Click Next t cntinue and fllw the wizard's instructins t cmplete the calibratin. d. When yu have cmpleted the calibratin steps, click Finish t exit the wizard. 5. Create a Cnveyr Visin Lp Prgram bject. T d this, right-click in the Wrkspace Explrer flder pane and select New => Visin => Prgram => Cnveyr Visin Lp Prgram frm the menu. Set the Picture Interval prperty s pictures are snapped at an apprpriate rate, depending n the cnveyr speed (a value f 1000 equals ne picture per secnd). 6. Create and teach a "place" statin (a statin where the parts will be placed by the rbt), using the Statin Setup Wizard n the Help menu. Select the Standard Pick-Place Strategy fr this statin. 7. Create and teach a "safe" lcatin (a starting lcatin fr the rbt that is ut f the camera's field-f-view and nt blcked by any wrkcell bstacles). Yu can use the Statin Setup Wizard n the Help menu (select the Standard Pick-Place Strategy fr this statin). Or, because this simple lcatin really desn't require a strategy (apprach, depart, etc.), yu can d the fllwing: a. Right-click in the flder area f the Adept ACE Wrkspace Explrer t display a shrtcut menu. b. Frm the shrtcut menu, select New => Mtin => Jint Mve. A Jint Mve bject is created. c. Rename the Jint Mve bject t "Safe" (n qutes). d. Teach the lcatin by duble-clicking the bject t pen its editr and, frm the editr menu, select Cntrl => Teach Lcatin. The Teach Cntrl pens. e. Use the Teach Cntrl t psitin the rbt and recrd the lcatin. 8. Create a pick-and-place sequence, using the Sequence Editr. The fllwing is a sample sequence, based n the previus steps: 145

74 Mtin Cntrl 1. After reading the Intrductin text, click Next t cntinue. The Test Encder peratin page pens and the detected encders are displayed. If multiple latches can ccur between plling cycles, yu will need t increase the latch buffer size frm its default f 1. T d this, pen the Cntrller Editr, click Cnfigure V+, and select the Cnfiguratin tab t access the editr. A typical cnfiguratin line wuld be as fllws: BELT 1 = "/POS_LATCH 1001 /LATCH_BUFFER 5" Because n visin is being used: d nt cmplete the steps in AdeptSight d nt create a "Cnveyr Rbt-t-Camera Calibratin" bject. d nt create a "Cnveyr Visin Lp Prgram" bject. Cnveyr Calibratin NOTE: This feature has restricted functinality in the "cnfiguratin tls" versin. Fr details, see Installing the Sftware. When using cnveyr tracking, the rbt and cnveyr must be calibrated s the rbt can track the mvement f the cnveyr and pick parts frm it. The Cnveyr Calibratin Wizard helps yu perfrm this calibratin. T pen the Cnveyr Calibratin Wizard, frm the Cnveyr Editr menu, select Cntrl => Teach Lcatin. The Cnveyr Calibratin Wizard pens. Cnveyr Calibratin Wizard (Test Encder Operatin) 2. Activate the feed cnveyr and watch the dialg. The encder cunt shuld increment t indicate that the encder is functining prperly. 3. Stp the feed cnveyr and click Next t cntinue. The Teach Upstream Limit page pens. Cnveyr Calibratin Wizard (Intrductin)

75 Mtin Cntrl Cnveyr Calibratin Wizard (Teach Dwnstream Limit) 6. On this page, yu will teach a dwnstream limit pint lcated n the far side (side furthest frm the rbt) f the cnveyr, designated by item 2 in the diagram. a. Run the cnveyr until the calibratin bject is lcated at the dwnstream limit, described abve, and then mve the rbt s that its tl tip is centered in the calibratin bject. b. After the rbt is prperly psitined, click Here. The lcatin is recrded n the page. 7. Click Next t prceed. The Teach Dwnstream Pick Limit page pens. Cnveyr Calibratin Wizard (Teach Upstream Limit) 4. On this page, yu will teach an upstream limit pint lcated n the far side (side furthest frm the rbt) f the cnveyr, designated by item 1 in the diagram. a. Place a calibratin bject n that area f the cnveyr and then mve the rbt s that its tl tip is centered in the calibratin bject. Click Teach t pen the Teach Cntrl, which can be used t mve the rbt t the required lcatin. b. After the rbt is prperly psitined, click Here. The lcatin is recrded n the page. 5. Click Next t prceed. The Teach Dwnstream Limit page pens

76 Mtin Cntrl The rbt and cnveyr are nw calibrated fr use with a cnveyr-tracking applicatin. Fr details, see the tpic Cnveyr Tracking. AnyFeeder Example NOTE: This feature has restricted functinality in the "cnfiguratin tls" versin. Fr details, see Installing the Sftware. This sectin prvides an example applicatin using the Adept AnyFeeder with a SCARA rbt and FireWire visin camera. Understanding the Adept AnyFeeder The Adept AnyFeeder is used t dispense parts fr rbtic pick-and-place applicatins. The AnyFeeder has a parts hpper in the back and a feed surface in the frnt. When signaled, the AnyFeeder dispenses parts nt the feed surface and then uses varius mtins t distribute the parts and mve them frward. A visin camera, which is munted ver the feed surface, is used t lcate "pickable" parts and queues the lcatins fr pick-and-place by the rbt. Cnveyr Calibratin Wizard (Teach Dwnstream Pick Limit) 8. On this page, yu will teach a dwnstream pick limit pint lcated n the near side (side clsest t the rbt) f the cnveyr, designated by item 3 in the diagram. 152 AnyFeeder Wrkcell Diagram AnyFeeder Wrkcell Pht The figures abve illustrate the wrkcell layut used fr the AnyFeeder example applicatin. Using the Adept AnyFeeder NOTE: The fllwing example assumes: - an Adept AnyFeeder - a bx r bin t represent the part place statin. - A FireWire camera, cmpatible with AdeptSight. T create the Adept AnyFeeder example applicatin, perfrm the fllwing steps: Setting up an AnyFeeder Statin 1. Use the Rbt Cntrl t enable pwer and calibrate the rbt. 2. If yu have an ffset end-effectr, yu shuld use the Tl Offset Wizard t teach the tl ffset. 3. Define an AnyFeeder bject. a. Place a calibratin bject n that area f the cnveyr and then mve the rbt s that its tl tip is centered in the calibratin bject. b. After the rbt is prperly psitined, click Here. The lcatin is recrded n the page. 9. Click Next t prceed. The Test Calibratin page pens, which allws yu t test the tracking f the rbt with the cnveyr. T test the cnveyr calibratin: a. Make sure the cnveyr is turned ff (belt is nt running). b. Place a part n the cnveyr. c. Psitin the rbt's tl tip s that it is just abve the center f the part. d. On the Test Calibratin page, click Start Tracking. e. Start the cnveyr (belt is running). The rbt shuld track the target lcatin until it leaves the tracking regin. f. When yu have finished, click Stp Tracking t stp the tracking. 10.Click Finish t prceed. The Cnveyr Calibratin Wizard clses. 151

77 Mtin Cntrl a. Right click in the Wrkspace Explrer and select New => Statins => AnyFeeder t create the AnyFeeder. The Statin Creatin Wizard pens. Creating a Pick-Place Strategy d. On the "Chse r Create a Pick-Place Strategy" page, click Create New Pick Strategy. Use the drp-dwn list t select Queued Statin Pick Strategy. This strategy will be used t get bjects frm the AnyFeeder. e. Set the Apprach and Depart heights t 50 mm, which will allw the rbt t clear the side rails f the AnyFeeder. f. Click Next t cntinue. The "Teach Statin" page pens. Creating an AnyFeeder Statin b. Use the Enter a Statin Name text bx t enter a name fr the AnyFeeder statin (the name AnyFeeder is used fr this example). c. Click Next t cntinue. The "Chse r Create a Pick-Place Strategy" page pens

78 Mtin Cntrl Setting up the Visin System NOTE: T use AnyFeeder with visin, yu must have the AdeptSight visin sftware installed n yur PC alng with a valid AdeptSight license. T set up the visin system fr use with the AnyFeeder: 1. Create a Visin Camera bject and calibrate it using a dt-pattern calibratin target. Fr details, see AdeptSight Visin Cameras. 2. Create an AdeptSight Visin Tl t lcate the part. Fr mre details, see AdeptSight Visin Tl. The visin tl must cntain the fllwing statements in this rder: a. An "Acquire Image" (frm the Acquisitin Tls grup), which frces an utput frm the camera. b. A tl that cmputes a lcatin, such as the Lcatr tl (frm the Lcatin Tls grup). When yu add the Lcatr tl, yu will need t teach the mdel fr the part. c. Click the Execute Sequence icn t acquire the image and lcate the part. 3. Create a Dwnward Rbt-t-Camera Calibratin bject t teach the relatinship f the camera t the AnyFeeder and rbt. T d this, right-click in the Wrkspace Explrer flder pane and select New => Visin => Calibratin => Dwnward Rbt-t-Camera Calibratin. In the bject editr, d the fllwing: a. Use the Visin Tl field t select the visin sequence yu created in AdeptSight. b. Set the depart height t 50 t clear the sides f the AnyFeeder. c. Click Teach Mve t Picture Lcatin. Use the Teach Cntrl t psitin the rbt ut f the camera's field f view. Click Here t recrd the lcatin. d. Click Next t cntinue and fllw the wizard's instructins t cmplete the calibratin. e. When yu have cmpleted the calibratin steps, click Finish t exit the wizard. 4. Create a Visin Queue Fill Prgram bject. T d this, right-click in the Wrkspace Explrer flder pane and select New => Visin => Visin Queue Fill Prgram frm the menu. a. Set the Visin Tl t the visin tl yu created previusly. b. Set the Dwnward Camera Calibratin t the dwnward rbt-t-camera calibratin yu created previusly. c. Set the Statin t the AnyFeeder statin. Cmpleting the Applicatin 1. Create and teach a simple "place" statin (a statin where the parts will be placed by the rbt), using the Statin Setup Wizard n the Help menu. a. Select the Standard Pick-Place Strategy fr this statin. b. Set the Apprach and Depart heights t 0 mm. (Because yu're simply drpping the parts int a bx r bin, n apprach r depart height is required.) Teaching a Statin g. On the Teach Statin page, click Teach. The Teach Cntrl pens. Use the Teach cntrl's Manual Cntrl settings t psitin the rbt's end-effectr in the center f the AnyFeeder's part feed area and click Here t recrd the lcatin. Teach Cntrl

79 Mtin Cntrl 2. Create and teach a "safe" lcatin (a starting lcatin fr the rbt that is ut f the camera's field-f-view and nt blcked by any wrkcell bstacles). Yu can use the Statin Setup Wizard n the Help menu (select the Standard Pick-Place Strategy fr this statin). Or, because this simple lcatin really desn't require a strategy (apprach, depart, etc.), yu can d the fllwing: a. Right-click in the flder area f the Adept ACE Wrkspace Explrer t display a shrtcut menu. b. Frm the shrtcut menu, select New => Mtin => Jint Mve. A Jint Mve bject is created. c. Rename the Jint Mve bject t "Safe Lcatin" (n qutes). d. Teach the lcatin by duble-clicking the bject t pen its editr and, frm the editr menu, select Cntrl => Teach Lcatin. The Teach Cntrl pens. e. Use the Teach Cntrl t psitin the rbt and recrd the lcatin. 3. Create a variable named AnyFeeder Part Cunt, which will be used t "cunt" queued parts. a. Right-click in the flder area f the Adept ACE Wrkspace Explrer t display a shrtcut menu. b. Frm the shrtcut menu, select New => Variable => Prperty Value. A variable bject is created. c. Change the name t "AnyFeeder Part Cunt". d. Set the Methd Name prperty t "Cunt" AnyFeeder Pick-and-Place Sequence Example NOTE: The line f the sequence (Invke 'Increment' n 'AnyFeeder') is imprtant, as it increments the part queue each time a part is acquired by the rbt. This prevents the rbt frm attempting multiple acquisitins n the same part. 6. Run the AnyFeeder applicatin: a. Open the Task Status Cntrl b. Select the Main sequence (created in the previus step) c. Click Start. The AnyFeeder will begin dispensing parts nt the feed surface until the visin camera acquires ne r mre parts in the field-f-view and adds them t the queue. At that time, the rbt shuld pick each part and mve it t the "place" lcatin (the bin in the figure abve). As each part is "picked", the part's infrmatin will be remved frm the queue s the rbt des nt attempt t pick the same part again. e. Set the Target prperty t "AnyFeeder". 4. Create an AnyFeeder Dispense Prgram bject. a. Right-click in the flder area f the Adept ACE Wrkspace Explrer t display a shrtcut menu. b. Frm the shrtcut menu, select New => Statins => AnyFeeder Dispense Prgram. An AnyFeeder Dispense Prgram bject is created. c. Set the Rbt Operating Radius prperty t 200. d. Set the Visin Prgram prperty t the visin queue fill prgram previusly created. 5. Create a pick-and-place sequence, using the Sequence Editr. The fllwing is a sample sequence, based n the previus steps:

80 Visin NOTE: This feature has restricted functinality in the "cnfiguratin tls" versin. Fr details, see Installing the Sftware. Fr details, see Installing the Sftware. This chapter describes the visin features prvided by the Adept ACE sftware, such as visin calibratins and visin prgrams. The visin cmpnent within Adept ACE is prvided by AdeptSight, a pwerful visin package that integrates int Adept rbtic systems. It allws quick develpment f rbust and accurate visinguided and inspectin applicatins thrugh its simple graphical user interface. Fr mre details n AdeptSight, see the AdeptSight User Guide. NOTE: The AdeptSight sftware requires the AdeptSight USB hardware key t enable cmplete functinality. Befre yu can use visin with yur Adept ACE applicatin: Yu must use AdeptSight t set up a camera, calibrate the camera, and then create a visin tl. Fr details, see AdeptSight Visin Cameras, and AdeptSight Visin Tls. Yu must calibrate the visin system t the rbt and, ptinally, a cnveyr. The Adept ACE sftware prvides built-in wizards, which assist yu with the calibratin prcess. Fr details, see Visin Calibratins. 2. Use the Camera list t select the camera yu wish t use. If nly ne camera is cnnected t the system, it will be autmatically displayed fr yu. 3. Use the Name field t enter a descriptive name fr the AdeptSight Camera bject. This is the name that will be assigned t the bject when it is displayed in the Wrkspace Explrer. 4. Click Next t cntinue. The next page f the wizard pens. AdeptSight Visin Cameras NOTE: This feature has restricted functinality in the "cnfiguratin tls" versin. Fr details, see Installing the Sftware. Adding an AdeptSight Visin Camera t the Wrkspace The Camera Creatin Wizard is used t add an AdeptSight visin camera t the Adept ACE wrkspace. 1. T start the wizard, right-click in the flder area f the Wrkspace Explrer and select New => Visin => AdeptSight Camera frm the menu. The Camera Creatin Wizard pens

81 Visin Perfrm Standalne Calibratin pens the 2D Calibratin Wizard, which is used t calibrate the camera. 6. Click Finish t clse the wizard. Calibrating the Visin Camera Yu shuld first calibrate the camera befre yu create any AdeptSight Visin Tls. The basic camera calibratin is a "spatial" calibratin that crrects fr crrects fr perspective distrtin, lens distrtin, and defines the relatinship between the size f camera pixels and real-wrld dimensins. This calibratin can be carried ut are tw thrugh the 2D Visin Calibratin wizard r thrugh a visin-t-rbt calibratin. Befre Calibrating Befre starting this calibratin, make sure that the entire area cvered by the camera field f view is within the rbt s wrk range, if required by yur applicatin. The camera calibratin requires a grid f dts target. Fr demnstratin r learning purpses yu can print and use the sample dt target that is prvided with the AdeptSight installatin. T Start a Calibratin 1. Click Perfrm Standalne Calibratin n the last page f the Camera Creatin Wizard. Alternatively, yu can select Object => Perfrm Standalne Calibratin frm the AdeptSight Visin Camera bject editr menu. The 2D Visin Calibratin Wizard pens. 5. At this step, yu can use the buttns, as fllws: Shw Live Vide pens a Live Display windw, which displays the live vide image frm the camera Edit AdeptSight Camera Prperties pens the Camera Prperties dialg, which is used t view infrmatin abut the camera and make changes t shutter, gain, brightness, and ther settings

82 Visin AdeptSight Visin Tls NOTE: This feature has restricted functinality in the "cnfiguratin tls" versin. Fr details, see Installing the Sftware. Adding an AdeptSight Visin Tl t the Wrkspace The Visin Tl editr is used t add a visin tls t the Adept ACE wrkspace. As tls are added, they are arranged in a "sequence", which is a series f visin prcesses that are executed by tls. These visin tls are als cnfigured within the Visin Tl editr. 1. T start the Visin Tl editr, select Visin Tl frm the Visin menu. The Visin Tl editr pens Use the Tlbx t view and drag tls int the Prcess Manager (the area displaying "Drp Tls Here" in the figure abve). Fr mst applicatins, yu will need at least the fllwing tls: Acquire Image (frm the Acquisitin Tls grup) Lcatr (frm the Lcatin Tls grup) 3. Use the cntrls within the selected tls t cnfigure them fr yur applicatin. Fr details n the cntrls within each tl, see the AdeptSight User Guide. Yu can display the user guide by clicking the Help icn ( ) n the Sequence Editr tlbar. 2. Fllw the instructins in the wizard. If yu need help during the Calibratin prcess, click Help in the 2D Visin Calibratin Wizard. 163

83 Visin 4. Click n the desired item t add it t pen the crrespnding wizard. Fr example, if yu select Cnveyr Rbt-t-Camera Calibratin frm the menu, the Cnveyr-Munt Camera Calibratin Wizard pens. Visin Calibratins NOTE: This feature has restricted functinality in the "cnfiguratin tls" versin. Fr details, see Installing the Sftware. Befre yu can use visin with yur Adept ACE applicatin: Yu must use AdeptSight t set up a camera, calibrate the camera, and then create a visin tl. Fr details, see the AdeptSight User Guide. Yu must calibrate the visin system t the rbt and, ptinally, a cnveyr. The Adept ACE sftware prvides built-in wizards, which assist yu with the calibratin prcess. This sectin describes the prcess fr accessing the rbt-t-camera calibratin wizards. T access the rbt-t-camera calibratin wizards: 1. Right-click n the wrkspace flder (tp-level flder), and select New frm the menu. A submenu is displayed that shws the bject categries. 5. Fllw the n-screen instructins within the wizard t cmplete the steps fr the selected calibratin. After the calibratin is cmpleted, the calibratin bject is added t the Adept ACE wrkspace. Object Categries Menu 2. Hver ver the Visin categry t display a menu f items fr that categry. Cnveyr Rbt-t-Camera Calibratin The Cnveyr Rbt-t-Camera Calibratin pens a wizard that creates a Cnveyr Rbt-t- Camera Calibratin bject, which is used t calculate the ffset f a camera munted ver a cnveyr frm the base f the rbt. It requires the user t manually teach target lcatins with a pinter r ther suitable device. T perfrm the Cnveyr Camera Calibratin: 1. Frm the Calibratin categry, select Cnveyr Rbt-t-Camera Calibratin. The Cnveyr-Munt Calibratin Wizard pens. Visin Menu 3. Hver ver the Calibratin categry t display a menu f items fr that categry. Calibratin Menu

84 Visin 4. Fllw the n-screen instructins t cmplete the calibratin. Nte that yu need t teach a minimum f tw sets f lcatins t btain an accurate calibratin. 5. Click Next t prceed. The wizard displays a reprt f the calibratin results. 2. In the Visin Tl field, enter the AdeptSight visin tl name. In the Cnveyr field, enter the name f the cnveyr bject yu wish t use. 3. Click Next t prceed. The next page f the wizard pens. 6. After yu have examined the reprt, click Finish t clse the wizard. If yu need t make adjustments t the calibratin, click Calibratin Wizard n the Cnveyr Rbt-t-Camera Calibratin bject editr dialg

85 Visin 3. Click Teach Mve t Picture Lcatin, t display the Teach Cntrl, which is used t psitin the rbt at the picture lcatin. Fr fixed-munt cameras, the picture lcatin will be a lcatin that is ut f the camera's field-f-view (FOV). Fr arm munted cameras, the picture lcatin will be ne that psitins the camera ver the desired picture-taking area. 4. Click Next t prceed. The next page f the wizard pens. Dwnward Rbt-t-Camera Calibratin The Dwnward Rbt-t-Camera Calibratin menu item pens a wizard that creates a Dwnward Rbt-t-Camera Calibratin bject, which is used t calculate the ffset f a camera munted ver a fixed surface frm the base f the rbt. It requires the user t manually teach target lcatins with a pinter r ther suitable device. T perfrm the Dwnward Rbt-t-Camera Calibratin: 1. Frm the Calibratin categry, select Dwnward Rbt-t-Camera Calibratin. The Dwnward-Munt Camera Calibratin Wizard pens. 5. Fllw the n-screen instructins t cmplete the rbt tl t visin lcatin calibratin. Nte that yu need t teach a minimum f three sets f lcatins t btain an accurate calibratin. 6. Click Next t prceed. The wizard displays a reprt f the calibratin results. 2. Read the n-screen instructins and enter the requested infrmatin, as fllws: 170 Visin Tl: enter the AdeptSight visin tl name. Jint: enter the number f the rbt jint that the camera is attached t, r enter 0 fr a statinary (fixed-munt) camera. Depart Height: enter the desired depart height fr the rbt t use when leaving the target area. Mve Speed t Picture Lcatin: enter the desired mve speed the rbt will use when mving t the picture lcatin. Use Vacuum Tip during Calibratin: select this ptin if yu are using a vacuum tl tip during the calibratin prcedure. Align Camara Z with Tl Z: select this ptin if yu want t align the camera's Z lcatin with the rbt tl tip's Z lcatin. 169

86 Visin frm the base f the rbt. It requires the user t manually teach target lcatins with a pinter r ther suitable device. T create an Upward Rbt-t-Camera Calibratin: 1. Frm the Calibratin categry, select Upward Rbt-t-Camera Calibratin. The Upward Rbt-t-Camera Calibratin bject is added t the Adept ACE wrkspace Explrer and the editr page pens. 7. After yu have examined the reprt, click Finish t clse the wizard. Testing the Dwnward Rbt-t-Camera Calibratin After yu cmplete the Dwnward Rbt-t-Camera Calibratin, yu can test it using the fllwing prcedure: 1. Duble-click the Dwnward Rbt-t-Camera Calibratin bject in the Wrkspace Explrer t view the editr dialg. 2. Click the Test Calibratin... t pen the test dialg. 2. Select the Visin Tl t use with the calibratin. 3. Attach a part t the end-effectr (turn n and ff grip with rbt cntrl panel if necessary), with the target centered as well as pssible underneath the tl tip. 4. Frm the menu bar n the editr page, select Cntrl => Teach Lcatin. 3. Fllw the n-screen instructins t perfrm the test. If yu need t make adjustments t the calibratin, click Calibratin Wizard n the Dwnward Rbt-t-Camera Calibratin bject editr dialg. Upward Rbt-t-Camera Calibratin The Upward Rbt-t-Camera Calibratin menu item creates an Upward Rbt-t-Camera Calibratin bject, which is used t calculate the ffset f a camera munted under a fixed surface

87 Visin Visin Prgrams NOTE: This feature has restricted functinality in the "cnfiguratin tls" versin. Fr details, see Installing the Sftware. Befre yu can use visin with yur Adept ACE applicatin: Yu must use AdeptSight t set up a camera, calibrate the camera, and then create a visin tl. Fr details, see the AdeptSight User Guide. Yu must calibrate the visin system t the rbt and, ptinally, a cnveyr. The Adept ACE sftware prvides built-in wizards, which assist yu with the calibratin prcess. Fr details, see Visin Calibratins. T access the visin prgrams: 1. Right-click n the wrkspace flder (tp-level flder), and select New frm the menu. A submenu is displayed that shws the bject categries. The Teach Cntrl pens, which is used t psitin the target ver the center f the camera image and teach the calibratin lcatin. Object Categries Menu 2. Hver ver the Visin categry t display a menu f items fr that categry. 5. Set the Mtin Radius t a value (in millimeters) large enugh that the target will nt mve ut f the field-f-view during calibratin. This is a temprary setting t get the calibratin started. The system will eventually generate the required value autmatically, as results are prcessed. 6. Execute the upward rbt-t-camera calibratin prgram. Visin Menu 3. Click n the desired item t add it t the Adept ACE wrkspace explrer. Fr example, if yu select Cnveyr Visin Lp Prgram frm the menu, that bject is added t the Wrkspace Explrer and the crrespnding editr pens

88 Visin Edit the fields as fllws: Visin Tl: select the AdeptSight visin tl name Visin Subtl Index: enter the number f the AdeptSight visin tl that will return the part lcatin. If the value is less than r equal t 0, the last tl in the sequence is used. Cnveyr-Munt Calibratin: select the cnveyr-munt calibratin name Picture Interval: the picture interval in millisecnds. A default value f 1000 is prvided. Yu can enter a different value, if needed, fr yur applicatin. The Picture Interval value shuld be set t the highest pssible value withut missing a part. If the value is set t lw, it can generate multiple image acquisitins n the same part, which may result in errrs in yur prgram. Cnveyr Visin Lp Prgram The Cnveyr Visin Lp Prgram menu item creates a Cnveyr Visin Lp Prgram bject, which is used t peridically take a picture f parts n a cnveyr and add them t the cnveyr queue. The Cnveyr Camera Calibratin shuld be perfrmed befre using this prgram. Refine Tl Offset Prgram The Refine Tl Offset Prgram menu item creates a Refine Tl Offset bject, which uses visin t create r refine a tl ffset. After the rbt acquires a part, the gripper is mved in frnt f an upward facing camera, a picture is taken, and a visin reference frame is calculated fr the gripped part. The difference between the part reference frame center and the true gripper center is taken int accunt when the part is placed. This imprves part placement accuracy fr parts that are nt gripped perfectly. The Upward Camera Calibratin shuld be perfrmed befre using this prgram

89 Visin Edit the fields as fllws: Visin Tl: select the AdeptSight visin tl name Visin Subtl Index: enter the number f the AdeptSight tl that will return the part lcatin. If the value is less than r equal t 0, the last tl in the sequence is used. Dwnward Camera Calibratin: select the dwnward camera calibratin name. Apprach Path and Depart Path: these are ptinal fields that can be used t specify an apprach path t the picture-taking lcatin r a depart path frm the picture-taking lcatin. Cartesian Lcatin: the lcatin that will be set by the visin prgram. Visin Queue Fill Prgram The Visin Queue Fill Prgram menu item creates a Visin Queue Fill Prgram bject, which perfrms a visin peratin and adds part lcatins t a statin's queue. A Dwnward Camera Calibratin shuld be perfrmed befre using this prgram. Edit the fields as fllws: Visin Tl: select the AdeptSight visin tl name Apprach Path and Depart Path: these are ptinal fields that can be used t specify an apprach path t the picture-taking lcatin r a depart path frm the picture-taking lcatin. Upward Camera Calibratin: select the upward camera calibratin name Visin Lcate Prgram The Visin Lcate Prgram menu item creates a Visin Lcate Prgram bject, which perfrms a visin lcatin fr a part and sets the lcatin f any Cartesian bject with the crdinates f lcated bject. Fr example, if yu have a part n a table that yu want t lcate and then pick, yu culd use the Visin Lcate Prgram and set the Target prperty t be the mve bject. The mve crdinates wuld be set t the crdinates f the lcated part. A Dwnward Camera Calibratin shuld be perfrmed befre using this prgram

90 Visin Edit the fields as fllws: Visin Tl: select the AdeptSight visin tl name Visin Subtl Index: enter the number f the AdeptSight tl that will return the part lcatin. If the value is less than r equal t 0, the last tl in the sequence is used. Dwnward Camera Calibratin: select the dwnward camera calibratin name. Apprach Path and Depart Path: these are ptinal fields that can be used t specify an apprach path t the picture-taking lcatin r a depart path frm the picture-taking lcatin. Statin: the statin that will use the lcatins fund by the prgram. 179

91 Prgramming Adept ACE NOTE: This feature is fr Beta testing nly. The internal ACE API s are subject t change during the Beta testing phase. NOTE: This feature has restricted functinality in the "cnfiguratin tls" versin. Fr details, see Installing the Sftware. There are several ways f prgramming Adept ACE applicatins, each methd is summarized belw. The methd yu chse depends n yur prgramming experience and the type f applicatin yu want t develp. Als, nte that the different methds f prgramming can be cmbined. Sequence Prgramming: This is apprpriate fr many applicatins, allwing yu t script pick and place applicatins and visin applicatins with a pint-and-click interface. The sequence appears in the editr as a tree structure, which supprts drag-and-drp, breakpints, and disabling selected statements. Pythn Language: The Pythn prgramming language ( is a cmmn, mature scripting language. Adept ACE integrates a Pythn interpreter t make it easier t write mre cmplex applicatins than is pssible with the sequence editr. Hwever, yu can invke Pythn cmmands frm a sequence prgram. This prvides a cnvenient way t use the sequence editr fr yur prgramming while having access t the increased functinality prvided by the Pythn prgramming language. Adding Sequence Steps T add sequence steps using the menus: Sequence Editr 1. Right click n the Sequence item in the editr, and select New. A list f sequence categries is displayed. Sequence Prgramming NOTE: This feature has restricted functinality in the "cnfiguratin tls" versin. Fr details, see Installing the Sftware. T create a sequence prgram, right-click n the Wrkspace Explrer flder view and select New => Prgrams => Sequence. A Sequence bject is added t the Adept ACE Wrkspace Explrer and the Sequence Editr pens. Sequence Categries

92 Prgramming Adept ACE a mtin bject, a Perfrm mve statement is inserted. 2. Select a categry t display the sequence items in that categry. Each f the categries and the crrespnding sequence items are described in the next sectin. Sequence Items 3. Select a sequence item. The selected item is added t the sequence. Object Drag-and-Drp Feature Understanding the Sequence Categries The available sequence items are described in the fllwing table. Categry Sequence Items Descriptin General Cmment Inserts a cmment int the prgram. Takes n actin. Cntrl Break Frm Lp Causes the cde t break ut f the current lp. Cntinue Exceptin Handler FOR Blck IF Blck Return Causes the cde t return t the tp f the current lp. Implements a TRY-CATCH cntrl structure. Any exceptin within a TRY structure can be handled in the CATCH structure. Implements a FOR lp structure. Implements an IF-THEN-ELSE cntrl structure. Exits the current sequence. IF Blck Added t Sequence T add sequence steps using the bject drag-and-drp feature: 1. Select an bject in the flder list f the Wrkspace Explrer windw. 2. Hld the left muse buttn dwn while dragging the selected bject int the Sequence editr. 3. Release the left muse buttn. A sequence item crrespnding t the bject type is inserted int the sequence and that item's editr pens. Fr example, if yu drag and drp: a gripper bject, a Set 'Gripper' t 'False' ('True') statement is inserted. a rbt bject, a Wait fr Mtin t Cmplete statement is inserted

93 Prgramming Adept ACE Categry Sequence Items Descriptin Categry Sequence Items Descriptin Save Flder Save and then delete a flder f bjects frm the current wrkspace. WHILE Lp Perfrms a lp while the specified cnditin evaluates t TRUE. Task Pause Pause the prgram and display the specified message. Invke Pythn Cmmand Executes the specified Pythn prgramming language cmmand. Reprt Exceptin Set Pririty Sleep Start New Task Stp Task Reprt an exceptin. Sets the pririty f the current task t the specified level. Sleep fr a specified amunt f time. Start executing a prgram in a new task. Stps the specified prgram. Methd Prgram n Cntrller Invkes an arbitrary methd n an bject in the wrkspace. Fr example, if yu have an AnyFeeder defined in the ACE wrkspace, yu culd invke a "Feedfrward" cmmand n the "AnyFeeder" bject. Invkes a V+ prgram n the Adept cntrller. The V+ prgram must exist in V+ memry, and be f the frm my_prgram(num_reals, reals[], num_strings, $strings[]) Variable Add t Variable Add r subtract a value frm a variable. Mtin Calibrate Rbt Calibrates all rbts in the system. Set Blean Variable Set a Blean variable as true r false. This can be used t pen r clse a gripper, fr example. Halt Rbt Mtin Perfrm Mve Sends a BRAKE cmmand t halt rbt mtin. Perfrms a rbt mve. Set Link t Object Link an bject t anther bject. Rbt Exercise Perfrms a mve that exercises the rbt. Visin Set Numeric Variable Wait fr Cnditin Cmpute Picture Lcatin Refine Tl Offset Set a numeric variable t a specified value. Pause executin fr the specified amunt f time r until the specified cnditin is met. If the time value is exceeded and the wait cnditin is nt met, an exceptin is generated. A time value f 0 causes an immediate exceptin, if the wait cnditin is nt met. A negative time value waits frever. Cmpute a lcatin t which the rbt shuld be mved t place a target at a specified lcatin in the camera's field f view. Execute the specified Visin Tl and refine the rbt's tl ffset after lcating the bject. Select End Effectr Specifies the end effectr t be used by the rbt. If null, the end effectr will be remved frm the rbt. Set Frame Set Serv State Teach Lcatin Wait fr Mtin Percentage t Cmplete Wait fr Mtin t Cmplete Sets a frame f reference frm tw r three pints. Enable r disable high pwer. Teaches the lcatin f a statin bject r lcatin bject with the specified rbt. Waits fr the specified percentage f the current rbt mtin t cmplete befre executing the next statement in the sequence. Waits fr the current rbt mtin t cmplete befre executing the next statement in the sequence. Visin Lcate Prgram Visin Queue Fill Prgram Execute the specified Visin Tl and set the specified bject's psitin with the first result lcatin. Executes the specified Visin Tl and put the resulting lcatins int the specified queued statin bject. Statin System Pick Place Clear Flder Lad Flder Pick a part frm a lcatin. Place a part at a lcatin. Clears a flder f bjects frm the current wrkspace. Lad a flder f bjects int the current wrkspace

94 Prgramming Adept ACE Pythn Language Prgramming NOTE: This feature has restricted functinality in the "cnfiguratin tls" versin. Fr details, see Installing the Sftware. The Pythn language was designed t be easy t learn and use. It has been extended t prvide access t bjects within the Adept ACE envirnment. The fllwing items are available t help yu learn mre abut the Pythn language: Tutrials n using the Pythn language are available n the Internet at web sites such as There is a tutrial included with the Adept ACE distributin. T view the tutrial, select Object => Pythn Tutrial frm the Pythn Interpreter menu. Read the sectin Understanding the Pythn Language in Adept ACE t understand hw the Pythn language wrks in the Adept ACE envirnment. Using the Pythn Language Interpreter The Pythn Language Interpreter prvides a cmmand interpreter fr Pythn language cmmands. An interactive tabbed cnsle is included, which allws cmmunicatin in a cmmand-line envirnment. Only ne Pythn Interpreter bject may exist in the wrkspace. Use the Prgram editr, selected T use the Pythn language t prgram Adept ACE: 1. Create a Pythn interpreter bject. Right-click n the wrkspace explrer flder view and select New => Cnfiguratin => Pythn Interpreter. This will create a Pythn Interpreter bject similar t the ne in the figure belw. Pythn Interpreter The Pythn Interpreter tabs prvide access t the fllwing functins: Cnsle: an interactive cnsle, which is used t type in cmmands directly. Prgram: a prgram editr, which features clr syntax highlighting, find and replace, cut, cpy, paste, and prgram cmpile. Remte Cnnectin: a prperty editr, which is used t enable a remte cnsle thrugh a telnet cnnectin. 2. When the Pythn Interpreter bject is created, it will be selected in the flder tree s that yu can assign a name t yur Pythn prgram. Renaming the Pythn Interpreter Object

95 Prgramming Adept ACE Using the Cnsle Windw In additin t the Pythn prgram editr, yu can launch an interactive cmmand windw, called the Cnsle. T launch the Cnsle: 1. Click the Remte Cnnectin tab. The Remte Cnnectin ptins windw pens. 3. Use the Prgram editr, selected by the Prgram tab in the Pythn Interpreter windw, t create and edit a Pythn prgram. The text (prgram) can cntain a mix f functin definitins, variable definitins, and cmmands. Fr mre details n the Pythn language, see the sectin Understanding the Pythn Language Within Adept ACE. 4. Click Save t interpret and save yur prgram. The figure belw shws a pick and place prgram in the sequence editr and its equivalent in the Pythn interpreter. Remte Cnnectin Windw 2. Select the Enable ptin. This tells the Pythn Interpreter t "listen" fr incming Telnet cmmunicatins. 3. Frm the Pythn Interpreter menu, select the Cnsle tab. The Cnsle windw pens, as shwn in the figure belw

96 Prgramming Adept ACE Pythn Cmmand Object Editr 3. Enter any Pythn language cmmand string int the Cmmand Text field. When yu run the sequence prgram, the Pythn cmmand will be executed. Invking a Pythn Cmmand frm the Task Status Cntrl T invke a Pythn cmmand frm the Task Status Cntrl: 1. Right-click n the Wrkspace Explrer flder view and select New => Prgrams => Pythn Cmmand. A Pythn Cmmand bject is added t the Wrkspace Explrer and the bject editr pens. Cnsle Windw Nte that mst Telnet clients can be used as a terminal windw. Hwever, the internal Cnsle windw prvides the fllwing features: Cmmand editing with a histry buffer, which is accessed thrugh arrw keys. Text clring -- text entered by the user is shwn in ne clr; text returned by the interpreter in shwn in a different clr. Invke functins n any ACE bject. Fr example, in the figure abve, there are bjects in the Wrkspace Explrer called "CX" and "Rbt". Therefre, entering the cmmand print CX.HighPwer displays a flag indicating whether high pwer is enabled; similarly, entering the cmmand print Rbt.WrldLcatin displays the lcatin f the rbt in wrld crdinates. NOTE: If yu invke a functin that desn t return (fr example, if it has an infinite lp), yu must disable the interpreter t stp it. Invking a Pythn Cmmand frm a Sequence Prgram T invke a Pythn cmmand frm a sequence prgram: 1. Open the Sequence Editr. Fr mre details n the sequence editr, see the tpic Sequence Prgramming. 2. Right-click and select New => Invke => Pythn Cmmand. A Pythn Cmmand bject editr pens

97 Prgramming Adept ACE cbra = ace[ /Rbts/Cbra ] print cbra.wrldlcatin. In Pythn, blcks f cde are started by a cln (":") and marked by indentatin rather than braces, which are used in many ther languages. The examples belw illustrate this: The functin belw prints "Hell" ne time (after running an empty lp five times). def Test(): fr j in range(0,5): print Hel l The functin belw prints "Hell" five times because the print statement is indented. def Test(): fr j in range(0,5): print Hel l T find ut the functins available n an bject in the wrkspace, yu can use the "dir()" cmmand. The interpreter will respnd with a full list f cmmands available n the bject. Fr example, dir(ace) gives a list f the functins n the ACE server. If yu have an bject named "Rbt" in yur wrkspace, dir(rbt) gives a list f the functins n that bject. di r(rbt) T declare r handle an exceptin, use a try-except structure: def Test(): try: raise Exceptin("Hey") except Excepti n, e: print "Excepti n", e raise 194 #Thrw the excepti n #Catch the excepti n #Reprt the exceptin #Re-thrw the exceptin T make a library available fr use, add a reference t the library with clr.addreference r clr.addreferencetfile. Fr example, t use System.Windws.Frms.dll, enter the cmmand clr.addreference("system.windws.frms"). T use "MyDll.dll", enter the cmmand clr.addreferencetfile("mydll.dll"). T imprt classes frm a namespace, enter the frm...imprt statement. Fr example, t create a MessageBx (after adding a reference t the System.Windws.Frms library as shwn abve), enter the cmmand frm System.Windws.Frms imprt MessageBx r frm System.Windws.Frms imprt *. Yu can then use a cmmand such as MessageBx.Shw("Hell, Wrld"). The fllwing namespaces are autmatically imprted: System System.IO System.Math Yu can define an array with syntax like "myarray = Array[Duble]((2,3,4))". Examples Belw is shwn an example pick-and-place script, and a "Depart" cmmand. def Pi ckandpl ace(stati n1, stati n2): stati n1.index = 0 fr i i n range(statin1.indexttal ): stati n1.pi ck() stati n1.increment() stati n2.pl ace() stati n2.increment() def Depart(rbt, di stance): l c = rbt.wrldlcati n * Transfrm3D(0, 0, -di stance) Pythn Cmmand Object with Editr 2. Enter any Pythn language cmmand string int the Cmmand Text field. 3. Open the Task Status Cntrl, select the Pythn Cmmand bject and click Start. The Pythn cmmand is executed. Understanding the Pythn Language Within Adept ACE NOTE: This feature has restricted functinality in the "cnfiguratin tls" versin. Fr details, see Installing the Sftware. All bjects in the wrkspace are cnverted t variables f the same names with spaces remved. Objects with illegal variable names, such as thse starting with numbers r cntaining parentheses will be discarded. If an bject is renamed in the wrkspace, its variable name is autmatically changed. When bjects in different flders have the same names, all but ne f the bjects will be inaccessible. Therefre, it is imprtant that yu assign unique names t yur bjects, even if they are in different flders. Fr details, see the sectin Renaming Wrkspace Objects in the tpic Objects in the Wrkspace. There is ne special variable in the interpreter, "Ace", which is a reference t the ACE server bject. This prvides access t the cre functinality in ACE. Any item in the wrkspace can be referred t using ace by its wrkspace path. Fr example, if yu have a rbt named Cbra in a flder called Rbts, yu can define a Pythn variable cbra and then print its psitin with the instructins: 193

98 Prgramming Adept ACE mve = CartesianMve(rbt, l c) mve. DMve() This is an example f simple file I/O in Pythn. def Write(): utput = pen(' c:\\py.txt', "wb") utput.write("hey") utput.clse() def Read(): input = pen(' c:\\py.txt', "rb") print input.readline() input.cl se() Belw is an example f a Pythn prgram that finds prime factrs. Nte that a fr lp can have an else statement assciated with it that nly executes if the lp exits due t nrmal cmpletin, but nt when it executes due t a break. def Prime(): fr n i n range(2, 10): fr x i n range(2, n): i f n %x == 0: print n, ' equals', x, ' *', n/x break el se: # Lp fell thrugh withut findi ng a factr pri nt n, ' i s a pri me number' Belw is an example f the dir(math) functin and the trig functins: Example Functins 195

99 Diagnstic Tls Adept ACE cntains a set f diagnstic tls t help yu identify prblems in yur system. The sectins in this chapter describe the diagnstic tls available in the Adept ACE sftware. Pending Errrs Lg The Pending Errrs lg shws the V+ errr number n the left, fllwed by the errr descriptin. Fr example, if the emergency stp buttn is pressed, an indicatr in Adept ACE shws that pwer is ff. The Pending Errrs lg can be examined t find ut why the pwer is ff, as shwn in the figure abve. Fr mre infrmatin n V+ errr messages and descriptins, see the chapter "System Messages" in the V+ Language Reference Guide. Other features f the Pending Errrs lg are as fllws: The Cpy buttn is used t cpy the cntents f the lg, which is useful fr pasting int an r ther dcument. The OK buttn is used t clse the lg. FireWire Events Lg Each FireWire nde cntains an event lg that can be displayed by right-clicking n any nde in the FireWire Cnfigure Ndes dialg. T display the FireWire Event lg: 1. Open the Cntrller Editr. (Fr details, see the tpic Cntrller Editr.) 2. On the "FireWire" buttn grup, click Cnfigure Ndes. The Cnfigure Ndes dialg pens. 3. Right-click n the desired nde. A pp-up menu displays. 4. Frm the menu, select View Event Lg. The FireWire Events lg pens. Rbts and Encders The Adept ACE sftware prvides access t rbt diagnstics and external encder diagnstics. Each f these are described in the fllwing sectins. Rbt Diagnstics Rbt diagnstics are available frm the Rbt Diagnstics dialg (see the figure Rbt Diagnstics Dialg). T pen the Rbt Diagnstics dialg: 1. Open the Rbt Editr fr the desired rbt. (Fr details, see the tpic Rbt Editr.) 2. Frm the View menu, click Diagnstics. The Rbt Diagnstics dialg pens. FireWire Events Lg The event lg shws the event ID n the left, fllwed by the event descriptin, the time and date f the last event, the event cunt, and an arbitrary message assciated with the last event. Pending Errrs Lg The Pending Errrs lg displays any errrs that have ccurred since the last ENABLE POWER cmmand. It used t view errr messages describing why the rbt pwered ff (r failed t pwer n). T access the Pending Errrs lg: 1. Open the Cntrller Editr. (Fr details, see the tpic Cntrller Editr.) 2. Frm the menu, select View => Pending Errrs. The Pending Errrs lg pens

100 Diagnstic Tls H T C V I Q P W S High pwer n In tlerance Calibrated V+ cntrl Independent cntrl Current mde Psitin mde Square wave active Serv trajectry active Reset Pwer buttn Resets any encder errrs fr the crrespnding mtr. Tggles the high pwer (the status field displays the current pwer state). Clses the dialg withut saving any uncmmitted change. Nte that the fllwing key cmbinatins will cmmit a change: Cancel buttn Cntrl + Enter Enter Tab External Encder Diagnstics Cmmits the change at the current cell Cmmits the change at the current cell and mves dwn t the next rw Cmmits the change at the current cell and mves t the next clumn External encder diagnstics are available frm the External Encder Diagnstics dialg. T pen the External Encder Diagnstics dialg: 1. Open the Cntrller Editr. (Fr details, see the tpic Cntrller Editr.) 2. On the "Cntrller" buttn grup, click Encder Diagnstics. Rbt Diagnstics Dialg The Rbt Diagnstics dialg features are described in the fllwing table: Item Amp Enable Brake Release Output Level Psitin Ps Errr Index Delta Descriptin Enables / disables the amplifier fr the selected mtr. Enables / disables the brake release fr the selected mtr. Allws yu t test that the crrespnding mtr will spin by specifying a cmmanded trque. The range is frm t 32767, r the range specified by the mtr's Max Output Level" parameter in the Rbt Editr. Displays the crrespnding mtr's current psitin (in encder cunts) Displays the crrespnding mtr's current psitin errr (in encder cunts) Displays the change (in encder cunts) frm the crrespnding mtr's previus latched zer index and the mst recent latched zer index. Nte that this is nly useful with incremental encders, t verify zer index spacing and prper encder readings. Displays the crrespnding mtr's errrs, as fllws: Encder Diagnstic Dialg The External Encder Diagnstics dialg shws a live display f the encder psitin, in cunts. Errr P N D A R E H S M Psitive vertravel Negative vertravel Duty cycle errr Amp fault RSC pwer failure Encder fault Hard envelpe errr Sft envelpe errr Mtr stalled Status Displays the crrespnding mtr's status, as fllws:

101 Diagnstic Tls System Diagnstic Summary The Diagnstic Summary is a tl used t cllect the cmpnent infrmatin in the system. T pen the Diagnstic Summary, frm the Adept ACE menu, select View => Diagnstic Summary. The Diagnstic Summary pens. Diagnstic Summary The diagnstic summary cllects: the versin numbers f sftware, firmware, and hardware; serial numbers; and ther system infrmatin, which can be used by service persnnel t trublesht prblems. If yu have a prblem t reprt t field service, it is helpful t include the diagnstic summary in any cmmunicatin. T cpy the Diagnstic Summary infrmatin and paste it int an 1. Click Cpy t cpy the cntents f the lg. 2. Open yur sftware and start a new Click in the bdy f the new where yu want t past the infrmatin. 4. Press Ctrl+V (hld the Cntrl key and press the V key) t paste the selected text int the . After yu have finished viewing the lg, click OK t clse it. 201