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System Requirements
To run and use Adept DeskTop Software, the following hardware and software are required.
PC Requirements
Hardware Processor: Minimum: P4 / 1 GHz or higher Disk Space: 500MB recommended minimum Memory: Minimum: 256 MB RAM. Your operating system may require more. Monitor: SVGA, minimum resolution 800x600 Ethernet card and networking hardware required for Ethernet connection. Serial-interface cable required for serial connection. Software Operating System (OS): Windows XP (SP1 or SP2) or Windows 2000 (SP3 or SP4), with latest critical updates for the version of Windows that you are running. Microsoft .NET Framework version 2.0 (included in the Adept DeskTop installer) Microsoft Internet Explorer version 5.01 or later. Necessary for viewing Online help.
Controller Requirements
Adept SmartController or AIB (amp in base) controller V+: version 16.2D3 or higher MicroV+: 2.1A8 for Adept Cobra i600/800
Network Requirements
A fixed IP address is required for both the PC and the Controller. Typically, IP addresses are allocated by your IT department.
Related Topics
Using Adept DeskTop Interface Opening and Displaying Control Windows Adept DeskTop Menus
Menu Toolbar
Control Windows
Menus
The following drop-down menus are available in the menu bar: File, View, Utilities, Tools, Windows, and Help. See the Adept DeskTop Menus topic for more information on these menus.
Toolbar
The toolbar appears directly under the menu bar. Icons in the toolbar provide quick access to Adept DeskTop controls. Hover the cursor over an icon to see the name.
Status Bar
The Status Bar displays the information on the following: Access Level (on bottom left) Controller OS version IP Address Connection State (icon at bottom right)
Control Windows
A Control, sometimes called a Tool, is a module that provides specific functionalities to Adept DeskTop. Controls interfaces can be docked almost anywhere in the interface as shown in Figure 1. For additional help on docking or displaying windows, see Opening and Displaying Control Windows Most control windows provide a toolbar, for executing processes and tasks to the control. Other interface elements that can be found in control windows are message boxes, displays, status bars, and context menus.
Connection status
Related Topics
Adept DeskTop Layouts Adept DeskTop Menus
File Menu
New Program: See Creating a New Program. Connect: Establishes communication between DeskTop and the controller. See Connecting to a Controller. Disconnect: Halts communications between Adept DeskTop the controller. Change Access Level: See Access Levels. Layout: See Adept DeskTop Layouts. Page Setup..., Print Preview..., Print...: Provides options for printing documents (programs) that are open in the Program Editor. Exit: Closes Adept DeskTop.
View Menu
Controller Configuration: V+ Utilities: Opens the V+ Utilities Control. Auto-Start: Opens the Switches and Parameters Control. Debug Tools: Watch Variable: Opens the Watch Variable Control. Monitor Terminal: Opens a Monitor Terminal window. See Monitor Terminal Control. System Resources: Digital I/O: Opens the Digital I/O Control. Switches and Parameters: Opens the Switches and Parameters Control to the Auto Start switch. MicroV+ systems only. Variable Manager: Opens the Variable Manager Control. System Information: Opens the System Information Control. Adept Graphics Window: Opens the Adept Graphics Window Control. The remaining selections can be toggled on or off the displaying of Adept DeskTop controls. See related sections on controls. For AdeptSight, see the AdeptSight online help.
Utilities Menu
The utilities available from this menu depend on the type of system and the active licenses that are installed on the system. The following are usually available to all systems and users. File Manager: Opens the File Manager Utility. License Manager: Opens the License Manager Utility. Pick and Place Wizard: Opens the Pick and Place Wizard.
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Tools Menu
Options...: Opens the Options form. See Setting Adept DeskTop Options. The following may be available depending on the Access Level of the user. Access Level Manager...: See Access Level Manager. Controller IP Config...: See Controller IP Configuration Wizard. Operations Manager...: See Operations Manager.
Windows Menu
Shows list of all windows currently open in the Program Editor and provides options for closing these windows. A dot indicates the topmost (active) window in the Program Editor.
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Access Levels
When you first open an Adept DeskTop session, you are prompted for a Access Level (user name) and password as show in Figure 6.
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Clone Opens the Access Level Editor with same settings as the selected Access Level. The administrator level cannot be cloned. Delete Deletes the selected Access Level. The administrator level cannot be deleted. Lock when not used for When enabled, Adept DeskTop will lock when it has been idle for the set number of minutes. Once locked, the user must log in with an access level name and password. If you reenter at the same access level as before the lock up, your session will continue. If you enter another access level, your session will be closed and a new session will be opened with the new access level.
Related Topics
Configuring and Adding Access Levels
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Relative value assigned to the current level. Higher numbers indicate more restrictions. Lower numbers indicate less restrictions
Figure 8 Access Level Settings Level Levels values range from 1 to 10. The permissions associated with each level are relative and can be set by the Administrator. Only Level 1 permissions cannot be modified. Level 1 is the top level and is reserved for administrators of the system. You cannot delete Level 1, nor change the permissions for this access level. The only changes allowed to Level 1 are modifications to the name and password. You cannot create another Level 1 access level; if you try to create another Level 1, it will be automatically changed to Level 2. Name The name assigned to the Access Level should reflects the status or function of users who will use the Access Level. When Adept DeskTop is installed, there are initially four predefined Access Levels, which can be modified by a Level 1 administrator. Admin. Level 1. Full access to all controls and utilities visible in the Access Level Editor. This is the only level that can access the Access Level Manager and a few other tools such as the Operations Manager and the Controller Network Configuration Utility.
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Developer. Level 2. Full access to all controls and utilities visible in the Access Level Manager. Cannot administrate or configure Access Levels. Maintenance.Level 5. Full access to most controls. Read only access to Program Editor and variables. Operator. Level 10. Full access only to Operator Control, Robot Control and Adept Graphics Window. All other controls and utilities are hidden. Password/Confirm Password Create and confirm passwords in these fields. Passwords are optional, but strongly recommended. Note:If you are a Level 1 administrator make sure that you do not lose your password. If you forget or lose your administrator password, you will need to contact Adept Technical Support. Controls and Utilities The Controls and Utilities tabs display elements for which permissions can be set. Use the drop-down list to set permissions for the Adept DeskTop controls and utilities. The available permissions (Access Type) are: Full: Full capacity to use, edit, and set properties of a controls and utilities. Read Only: the user can open a control or utility but not modify properties. Hidden: A hidden control or utility cannot be opened nor seen by the user. To modify the permission on a control or utility: 1. Select an item from the Control or Utilities tab. 2. Double-click in the Access Type column. 3. Select the permission type (Access Type) from the drop-down box. 4. You can also set all access types (permissions) to a same value from the context menu. To do so, right-click in the list to display the context menu then select Set all items to > type. See Figure 9.
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Figure 9 Setting all Access Types to the Same Value Cancel Cancels changes and closes the form. OK Makes changes to access level settings and parameters, and closes the form.
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Connecting to a Controller
To use most of the Adept DeskTop tools and functions you must be connected to a controller. Adept DeskTop can be used with the following controllers: Adept SmartController CX Adept AIB controller in an Adept Cobra i600 or Adept Cobra i800 robot Adept AIB in Smart Amp/SmartAxis Note:When you attempt scan/connect to a controller for the first time in Adept DeskTop, the Windows XP Firewall may block the scanning or connecting operations. In such a case, Click 'Off' in the Windows Firewall window. This will add Adept DeskTop to the list of exceptions, and unblock scanning and connecting. After this, you may have to close the connection dialog and reattempt the operation To connect to a controller: 1. From the menu, select File>Connect... 2. In the Connect To Controller form, select the System Type. 3. Depending on the System Type, select either the required COM port or the Ethernet address. 4. If necessary, click Scan to browse and locate the address of controllers that are available on the network. 5. Click Connect to complete connection to the required Controller. If another computer is already connected to this controller you will be prompted to choose between continuing or cancelling the connection request. 6. The connection status is displayed in the Adept DeskTop status bar. See Figure 5.
Select Controller type Enter or select Address/COM port List of the available addresses or COM ports for the selected controller Scan to locate addresses of controllers currently on the network
Figure 4 Connect to Controller Form System Type Select the type of controller to which you want to connect.
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Address Enter, or select from the list at right, the Ethernet address of the controller to which you want to connect. This appears only if the selected System Type is SmartController. COM Enter, or select from the list at right, the COM port of the controller to which you want to connect. This appears if the selected System Type is Cobra iSeries or Smart Axis. Scan Scans the network to find the ethernet address of available controller. Addresses found by the Scan procedure are displayed in the list box. Connect Initiates the connection to the controller and closes the form. The status connection icon appears in the Adept DeskTop status bar. See Figure 5. Cancel Cancels changes and closes the form.
Connection status icon: Double-click to connect/ Address or Port of the controller disconnect
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Move (hover) cursor over tab to display windows that are 'hidden' (Auto-Hide)
Docked windows can be repositioned by dragging with the cursor Status bar
Default Layouts
There are three default layouts installed with Adept DeskTop. These layouts cannot be deleted nor modified. Adept DeskTop Default: Shows the controls and windows most commonly used to create and edit programs and tasks. Empty: Useful for creating a completely new layout. See Creating a Custom DeskTop Layout. Operator: Useful for configuring a layout that corresponds to an Operator access Level. See Operator Layout.
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Operator Layout
The default Operator Layout contains only the windows that are enabled when the default Operator Level user access is enabled. These controls are those typically required for basic operation-level tasks in a workcell: The Robot Control The Operator Control Note:Selecting the Operator Layout will NOT log the user into the Operator Access Level.
Robot Control
Operator Control
Changing Layouts
To change layouts: 1. From the Adept DeskTop menu select File >Layout >Select > layout name 2. Select a layout from the list of available layouts. Available layouts are the default Adept DeskTop layouts and any layouts you have saved. Any layouts saved in previous Adept DeskTop versions are displayed in Adept DeskTop 4.1. Note that layouts are no longer stored as *.lyt files as in previous versions; layouts are now stored as part of your Adept DeskTop preferences, on your computer.
Saving Layouts
At any given moment, you can save the layout information as a new layout. See Saving DeskTop Layouts for more details.
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Deleting Layouts
To delete a layout: 1. Choose File > Layout > Delete > layout name. 2. Choose the layout you want to delete. Default layouts do not appear in the list because the cannot be deleted. See Default Layouts.
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Related Topics
Saving DeskTop Layouts
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Figure 12 Adept DeskTop - Saving a New Layout Layout name Enter the name of the layout. OK Saves the current layout with the new name and close the form. Cancel Cancels changes and closes the form.
Related Topics
Default Layouts Creating a Custom DeskTop Layout
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Figure 3 Adept DeskTop Options Form To modify options: 1. In the list at left of the Options form, select an option. Options are classed into three categories: Controls, Desktop, or Controller. 2. Settings and parameters for the selected option are displayed on the right side of the Options form. 3. For more details on configuring options, refer to the following topics: Setting Controls Options Setting Desktop Options Setting Controller Options
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Keys Ctrl+A Ctrl+C Ctrl+F Ctrl+V Ctrl+X Ctrl+Z F1 F5 LEFT ARROW RIGHT ARROW UP ARROW
Action Select All Copy Find Paste Cut Undo Display contextual Help window Execute (run) a program Left one unit Right one unit Up one unit or line
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Action Down one unit or line To the beginning of the line /To the beginning of the data (topmost position) To the end of the line /To the end of the data (bottommost position) Next field / To next tab position
Action Add or remove breakpoints to a program. Single step operation that skips stepping through a subroutine call. Single step operation that will enter a subroutine call. The current position of the cursor becomes the next point the program starts from. Pause the program task execution. Retries the current line. Proceeds the task until the next break point or program terminates.
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Program Manager toolbar Modules and programs currently on the controller. Bold letters indicate that one or more programs To assign a program to a task, drag program onto a task in the Task have been modified
Figure 13 Program Manager Control in V+ The appearance of the Program Manager differs depending on whether you are in V+ or MicroV+. The Program Manager in V+ In V+, program files are 'contained' in one or more modules as illustrated in Figure 13. See Using the Program Manager Control and Saving Programs in V+ for more information. The Program Manager in MicroV+ In Micro V+, Programs are not 'contained' in modules; all programs are listed in a 'flat' hierarchy as shown in Figure 14. Programs are not stored as files, instead they are saved as a block, on the controller, in NVRAM. You cannot drag and drop programs from the PC into the task manager You cannot copy/paste programs.
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Programs currently on the controller. Bold letters indicate that one or more programs have been modified To assign a program to a task, drag program onto a task in the Task Manager
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Toolbar
Context menu
Figure 15 Program Manager Toolbar and Context menu Edit selected program Opens a selected program in the Program Editor. If the program is already open, it becomes the active program in the Program Editor. If there is an error in the program code, the icon changes to a question mark to indicate this condition. Create New Program Opens the New Program dialog that asks for the new program name and module name. See Creating a New Program. Open Program Opens a existing program file and adds it tho the Program Manager. See Opening Programs in the Program Editor. Save As... Saves files to PC or Controller. See Saving Programs and Modules for details and differences between V+ and MicroV+ systems. Save Module Saves the module with the last filename used to load or save the module. If this file has been previously saved, a dialog opens showed to ask for a filename. Unsaved modules appear in bold type in Program Manager list. Does not apply to MicroV+ systems. Save All Modules Saves all modules currently in the Program Manager to the controller, with the last used filename. A dialog opens for each filename that is not yet defined. Does not apply to MicroV+ systems. Save All Reals Saves to file all real values currently in the selected program. The values are stored to the specified destination, with the file extension 'rv'.
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Save All Locations Saves to file all location values currently in the selected program. The values are stored to the specified destination, with the file extension 'lc. Save All Strings Saves to file all string values currently in the selected program. The values are stored to the specified destination with the file extension 'st'. Cut Program Removes a selected program so it can be pasted to another module. If the program is not pasted elsewhere, it is permanently deleted. Does not apply to MicroV+ systems. Copy Program Copies a program so it can be pasted to another module. Does not apply to MicroV+ systems. Paste Pastes (adds) the program to a selected module after a Cut Program or Copy Program operation. Does not apply to MicroV+ systems. Search and Replace Opens a Search and Replace dialog that allows you to find and replace text in program files. Delete Permanently deletes the selected program so it can be pasted to another module. Zero contents of controller memory Clears from memory all programs and variables that have not been saved as well as any changes made to programs and modules since the last 'Save'. Rename Enables you to rename a selected program. This function is not active on protected items. Refresh Refreshes the list of programs in the Program Manager. Help Opens Adept Online Help to the Program Manager section. Note:There is no 'undo' for the Zero Memory operation. A warning prompt is displayed, with an option to cancel the operation, before this command is executed. Refresh list of programs Updates the list of modules and programs.
Related Topics
Creating a New Program Using the Program Manager Control Saving Programs and Modules
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Modules and programs indicated by yellow icon are protected and cannot be modified Modules and programs in bold letters indicate unsaved modifications
Managing Programs in V+
The Program Manager displays the list of all programs in a hierarchical view, organized by modules. From this list you can carry our various operations on programs through the toolbar, the context menu, or by dragging elements in the interface. Programs in the Program Manager are physically on the controller. Until a program is saved, it exists in volatile memory (RAM) only. See Saving Programs in V+ for details on saving files and modules.
Opening Programs
To open a program and add it to the program list: Drag any program file (*.V2) from the Microsoft Windows Explorer or the Adept File Manager Utility and drop it onto this area. The file will automatically be loaded into the memory of the connected Adept controller. From the toolbar, select Open Program. In the Open form, browse to find a file on the controller or on the computer.
Saving Programs
See the section Saving Programs in V+.
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Deleting Programs
Programs that are assigned to a task cannot be deleted from the Program Manager. For this reason you cannot delete a module that contains a program that is in a task execution stack. You must first clear the task execution task, then delete the program or module. See Using the Task Manager Control. You can delete either a selected program or module from the task, with the Delete Program/Module icon in the toolbar or the Delete instruction.
Renaming a Program
To rename a program, select a program and then select Rename from the context menu or click F2. Alternatively, you can click on the program name in the list. When the name of the program is edited, the arguments and the parentheses are removed and only the name can be modified. The arguments and the parentheses are added back after editing. If you want to modify or remove arguments that appear after the program name, you must open the program in the Program Editor and modify or remove the arguments in the code.
You cannot move a program that is currently assigned to a task. To copy a program from a module to another module: Select a program the use Copy Program operation followed by a Paste operation on a selected module. Drag the selected program, while holding the CTRL key, to a new module.
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Opening Programs
To open a program from the PC: 1. From the toolbar, select Open Program > from PC. 2. In the Open form, browse to find a file on the controller or on the computer. To open a program in NVRAM: 1. From the toolbar, select Open Program > from NVRAM.
Deleting Programs
Programs that are assigned to a task cannot be deleted from the Program Manager. You must first clear the tasks execution stack, then delete the program. See Using the Task Manager Control. You can delete either a selected program or module from the task, with the Delete Program/Module icon in the toolbar or the Delete instruction.
Saving Programs
See the section Saving Programs in MicroV+.
Bold letters indicate unsaved changes Right-click here to display context menu
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Select a program in the list, then click the Edit Program toolbar or context menu. You can also double-click on a program in the list to open it in the Program Editor.
Renaming a Program
To rename a program, select a program and then select Rename from the context menu or click F2. Alternatively, you can click on the program name in the list. When the name of the program is edited, the arguments and the parentheses are removed and only the name can be modified. The arguments and the parentheses are added back after editing. If you want to modify or remove arguments that appear after the program name, you must open the program in the Program Editor and modify or remove the arguments in the code.
Related Topics
Creating a New Program Saving Programs and Modules Using the Task Manager Control
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Figure 18 New Program Form Program Name Enter the name of the new program of the program that will be created. If you want to create a program with arguments, you can specify the argument(s) in the program name, in parentheses. Figure 18 illustrates an example where the program 'prgrm_test' will be created containing the argument 'er'. Empty spaces are not allowed in program names. A name cannot exceed 15 characters. Module name Enter the name of the module to which the new program will be assigned or select a module name from the drop-down list. Empty spaces are not allowed in module names. A name cannot exceed 15 characters. Modules only apply to V+. There are no modules in a MicroV+ system. Create Creates the new program, adds it to the program Manager list, and opens the program in the Program Editor. Cancel Cancels any changes and closes the form. Help Opens the Adept DeskTop online help to the related help topic.
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Related Topics
Saving Programs and Modules Program Manager Control
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Saving Programs in V+
In V+, programs and modules can be save to the controller or the PC. You have the option of saving all modules, all programs, or only selected modules or programs. Optionally, you can save data in the files. See Table 3: for details on the correspondence between file saving options and V+ keywords.
Save As
This operation allows you to saves the current selection under another filename. The Save dialog that opens allows you to save only the Selection (selected program or module) or All programs or modules that are in memory.
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To save all variables that are in the saved module(s) or file(s) enable the with Data check box. Table 3: Relation between Save Options in Adept DeskTop and V+ Keywords
STOREM with the Module name selected but without any data STOREM with the Module name selected and with all the data
STORE with the program name selected STOREP with the program name selected
Save Module
This operation saves the selected module to the controller, with the last filename used to load or save the module. This function is only available from the context menu when there are unsaved changes to the selected module. Module names are temporary and are not saved to memory. When you save a module, the programs it contains are saved with their respective names; the Module name is not saved. When you reopen the file to which the module programs were saved, Adept DeskTop opens a module that has the same name as the first file in the module.
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Task Manager toolbar Color of flag icons indicate the status of a task Right-click here to display the context menu Information on selected task
What is a Task?
A task is a sequence of instructions that are defined by one or more programs. This sequence is also referred to as the execution stack of the task. Tasks can be executed and stopped either manually or programatically. Errors and system failures can also halt or stop the execution of a task.
Task Status
Task status is indicated by a colored flag: Red indicates that the task was stopped due to an error or was manually stopped. Yellow indicates that task execution is paused or at breakpoint. Green indicates that the task is running. Black and white checker pattern indicates that the task execution has completed. White indicates that the task is idle or primed.
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Number of Tasks
The number of tasks is limited as follows: Micro V+: 4 tasks. Task 0 is the only task that can send instructions to a robot. V+: 7 tasks. V+ with Extensions: 28 tasks Numbering of task is 0-based, that is the numbering of tasks starts at Task 0.
this program calls program 'pallet_loc' After executing Task 1, program 'pallet_loc' is added to the stack
Task Handling
In MicroV+, Task0 is the only task that can be assigned to a robot. You cannot delete a task that is running, or delete or edit programs that are in a currently executing task. You can Zero the memory when a task is running. In the Program Editor, attempting to edit a program that is executing will generate an error, or will be ignored.
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Copy Stack to Clipboard Records the contents of the selected task stack to the Windows clipboard. If a program terminates with an error, this allows you to copy and paste the stack contents and send it to the proper support person. Note that the robot ID is also recorded in this operation. Figure 23 shows an example of the contents of a stack.
Figure 23 Text Content of a Task Stack Copied to the Clipboard Refresh task list Refreshes the status of the task list.
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Executing Tasks
You can execute, pause and debug programs from the Task Manager. If a program in the task calls one or more programs that have not been opened, executing the task will generate the error: Undefined program or variable name. Refer to V+ System Messages in the V+ Reference Guide for more details.
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To execute a task: 1. Select a task in the Task Manager. 2. If the task already contains instructions (one or more programs) select Execute Task from the toolbar or context menu 3. If the task is empty, select Select Program, and enter the name of the program that you want to execute in this task. 4. The flag beside the task will change color to indicate the progress/status of the program. To pause a task: Select the task in the list, then select Pause Task from the toolbar or context menu. This stops the task at the next execution in the running program. To pause all tasks that are running, select Stop All Tasks. This pauses all tasks that are currently executing. To resume execution of a task that has been paused, select Retry Failed Step or Proceed Task. To debug a program: You can launch debugging of programs from the Task Manager. For more details on debugging programs see Debugging Programs. 1. Right-click on a task in the Task Manager to display the context menu as shown in Figure 25. 2. If the task is empty (no programs), select Debug Using. You will be prompted to provide the name of the program you want to debug. The program will open in the Program Editor window. 3. If the task contains programs, select Debug Task. The task programs will open in the Program Editor window. Reset and Debug will reset variable values and restart the debugging of a program from the beginning. 4. Debugging messages and status appear in the bottom pane of the Task Manager window.
If the task stack is empty, you can add a program to the task list and launch debugging from the Task
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Program Editor
The Adept DeskTop Program Editor is an online, interactive editor that includes program debugging functionality. The editor performs syntax checking and formatting while you are programming. You can open up as many programs as needed. Program pages can be displayed as a group of tabs, or 'tiled' and displayed in horizontal or vertical windows, which allows you to compare two or more routines. An example is shown in Figure 26
Tabs show programs currently open in the Program Editor Program Editor toolbar
Keyword tooltip displays keyword syntax and description when you move (hover) over with mouse Status bar indicates: line and column number of the cursor position, error message, and keyword help
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Two vertical tab groups each with its own toolbar and status bar
Figure 28 Displaying programs in Vertical or Horizontal groups You can split (tile) the display in the Program Editor into vertical or horizontal groups. Figure 28 illustrates two vertical groups, one containing two tabbed program windows. To split the Program Editor Window into groups: 1. In the Program Editor click on a tab and drag it elsewhere in the Program Editor window 2. Release the mouse to open a context menu. 3. Select an option from the context menu.
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Copy: Copy the selected text. Paste: Paste the text in the clipboard to the selected position. Undo last change: Erases last text change made to current file, returning it back to previous state. Redo last undo: Reverses the previous Undo command; returning text back to state before the Undo. Find/Replace: Opens the Search and Replace form, as illustrated in figure Toggle breakpoint at current line: Add or remove breakpoints to a program. Breakpoints provide a way to set a point in the program where the program will automatically pause when it reaches that point. This optimizes debugging so you don't have to single step through the entire program. Clear all breakpoints: Removes all break points in the active program. Step into: Single step operation that will enter a subroutine call. Step over: Single step operation that skips stepping through a subroutine call. The subroutine is executed in it entirety. Jump to current line and step: Starts the execution of the program, in step mode, starting with at the current line (where the cursor is positioned). Retry line: Retries the current line. Proceed execution: Continues program execution.
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Syntax Highlighting
The default syntax highlighting colors can be modified in the Options window. See Setting Controls Options.
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Breakpoint
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New line is typed, starting at left margin After 'Enter/Return' key is clicked, the new line is automatically indented
Detecting Errors
There are many aids in the Program Manager to assist you in finding errors in programs. Syntax highlighting: Some errors are detected by the syntax checker. These errors are highlighted in different color (red, by default) from the rest of the code. Status bar: The status bar displays the last error message reported by V+ or MicroV+ on the controller, as illustrated in Figure 33. It also shows the line (Ln:) and column (Col:) position of the cursor. Program Manager Icons: In the Program Manager, the program containing an error is indicated by an icon with a red "?" character. Tooltips: Tooltips appear at various places in the Program Editor when you hover and pause over items with the mouse.
Error tooltip
Debugging Programs
Program debugging integrated into the Program Editor. Debugging allows you to interactively step through a program execution while simultaneously displaying variables and states.
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You can have as many active debugging sessions as there are tasks. This feature allows you to debug multiple tasks. The Watch Variable control assists in debugging programs. You can observe changes in the values of variable as you step through the program. See the Watch Variable Control section for more details.
Breakpoints
Set breakpoints at a point of interest in a program where you want to pause the execution of the program and observe the value of variables. An executing program will stop at a breakpoint and then wait for a command to step through the code or resume execution. The corresponding keyword for a breakpoint is BPT. To add and remove breakpoints in a program: Breakpoints must be set after the first executable statement in a program. You cannot set a breakpoint before the .PROGRAM statement, any AUTO and LOCAL statements, and all comments and blank lines at the start of the program. In the Program Editor, click to the left of a code line, in the left margin of the editor window. The breakpoint is indicated by a dot and a highlighted line; similar to Figure 34. The color may vary depending on personal preferences set in the Options form. See Setting Controls Options. To remove a breakpoint, click on the breakpoint dot, at the left side of the line. You cannot add breakpoints before the first executable statement in the program. You cannot add or remove breakpoints in a program that is actively executing.
Figure 34 Breakpoints in a program To step through a program using breakpoints: 1. When a execution of a program stops at a breakpoint the line is highlighted in yellow (default color). The Program editor is in 'step' mode. 2. To continue the execution and debugging of the program in step mode, you must use one of the following actions: Step into: Single steps into program lines. If it encounters a subroutine, it steps through the subroutine, then continues stepping through the program.
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Step over: Single steps into program lines. If it encounters a subroutine, it executes the subroutine the continues in step mode at the first line after the subroutine call. Jump into Current Line and Step: Starts single step mode, starting at the current line, where the cursor is positioned. Retry: Retries the current line Proceed: Exits step mode and continues program execution.
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Code Library toolbar Code clip created by user Yellow icons indicate protected code clips Group of code clips
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To create a new code clip: New clips are created and define in Clip Editor. To open the Clip Editor do one of the following: From the toolbar, click the Create a new library entry icon, or select a New from the context menu. This opens a blank Clip Editor session. Select a code clip from which you want to reuse the code. Click Copy, then, Paste. This opens the Clip Editor, containing the code copied from the selected clip. Select a code clip and click Edit. You can then rename and edit this code clip in the Clip Editor. See Creating and Editing Code Clips for more details. To insert a code clip into an open program: Select a code clip and drag it onto an open program in the Program Editor. This adds the code contained in the clip, starting at the line where you drop the clip. Adept DeskTop will not allow you to drop the code clip into certain incorrect positions in a program. For example after the.END statement. To delete a code clip: Note that you cannot delete the protected code clips that are installed with Adept DeskTop. Protected code clips are indicated by a yellow icon. 1. Select the clip you want to delete. 2. From the toolbar click the Remove clip from system icon.
Related Topics
Creating and Editing Code Clips
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Figure 36 Clip File Editor Note:A clip does not require a '.PROGRAM' and '.END'. However, if either is used in the clip, then both are required. To open a create an new code clip: 1. From the Code Library toolbar, select Create a new library entry. 2. Fill in the fields described below and type or paste code into the Data field. 3. Click Ok to save this clip and add it to the Library. To edit an existing code clip: 1. Select the code clip to edit in the Code Library list. 2. From the Code Library toolbar, select Edit Clip. 3. Alternatively, you can double-click on the Clip name to open the Clip Editor. 4. Enter the required modifications to the text fields in the Clip Editor and Ok to save the modifications.
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Related Topics
Code Library Control
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Toolbar provides display options Icons indicate type of keyword: I - Instruction F - Function M - Monitor Command Yellow icons indicate advanced keywords
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Grouped Enabling Grouped displays all the keywords grouped by similarity in function, as illustrated in Figure 37. Alphabetic Enabling Alphabetic the keywords in three groups: Functions, Instructions and Monitor Commands. The keywords are displayed alphabetically within each group. Drag Keyword When Drag Keyword button is enabled, only the keyword can be dragged to the Program Editor, the default arguments are not. Drag Keyword and Instructions When this button is enabled both the keyword and the default arguments can be dragged to the Program Editor. All By default, the Keyword Browser tool displays only the commonly used keywords. When All is enabled, this button is selected, advanced keywords are also displayed are displayed in the selected display mode. Advanced keywords are indicated by yellow icons. Help Displays online help for the selected keyword.
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Figure 38 Variable Manager Control Variables are arranged by type in a tree view control. Each variable is represented by a node item in the display with the variable name followed by its last value.
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Corresponding V+ keywords for displaying variables are LISTL, LISTR, and LISTS. Add to Watch Variable Opens the Watch Variable control to add the selected variable to the list of watched variables. See Adding a Watched Variable. Refresh Refresh the contents of the window. Record Records the current position of the robot in the selected Location or Precision Point variable. Jog To Opens the Jog Pendant control to set the selected variable as a Jog To location.
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Filter The Filter facilitates finding one or more variables. Enter characters in the Filter field and click OK to display variables that begin with the entered characters.
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Figure 40 Create New Variable Form To create a Location variable: 1. In the Type field, select: Location 2. In the Name field, type a unique name that will identify the variable. The name cannot exceed 15 characters and empty spaces are not allowed. 3. Type in or select a Value for the components of the Location variable for: X, Y, Z, Yaw, Pitch, Roll. 4. To create the Location variable from the current position of a connected robot, select the appropriate Robot, then click the Record button 5. Click OK to save the variable and exit the form. To create a Precision Point variable: To create a Precision Point variable you must be connected to a controller on which a robot is configured. 1. In the Type field, select: Precision Point. 2. In the Name field, type a unique name that will identify the variable. The name cannot exceed 15 characters and empty spaces are not allowed. 3. Type in or select a Value for the components of the Location variable for: X, Y, Z, Yaw, Pitch, Roll. 4. To create the Precision Point variable from the current position of a connected robot, select the appropriate Robot, then click the Record button.
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5. Click OK to save the variable and exit the form. To create a Real variable: 1. In the Type field, select: Real. 2. In the Name field, type a unique name that will identify the variable. The name cannot exceed 15 characters and empty spaces are not allowed. 3. In the Value field, enter the text string for the variable. 4. Click OK to save the variable and exit the form. To create a String variable (in V+ only): String variables are currently supported only in V+ systems. 1. In the Type field, select: String. 2. In the Name field, type a unique name that will identify the variable. String variable names MUST start with a '$' symbol to be correctly recognized and interpreted as a string. The name cannot exceed 15 characters and empty spaces are not allowed. 3. In the Value field, enter the text string for the variable. 4. Click OK to save the variable and exit the form.
Editing a Variable
To directly edit the value of a variable, select a variable in the Variable Manager and click the Edit selected variable icon in the toolbar. You can the directly view the current value and edit the value in the Edit Variable form, as shown in Figure 41. The Edit Variable form differs depending on the type of variable selected.
Name of variable appears in title bar
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3. Select a Task number. If you leave the Name field blank, program monitoring will be added for AUTO variables. 4. To add task monitoring for LOCAL variables, specify a program name in the Program field.
Figure 42 Add Program Monitoring Form Task Number of the task to which is assigned the program you want to monitor. Program Name of the program in which you want to monitor variable values.
Related Topics
Variable Manager Control Watch Variable Control
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Operator Control
The Operator Control provides an interface for the basic operations required to run a robotic application in a workcell. The operations that can be run from the Operator Control must be created by a system administrator, through the Operation Manager control. The control buttons available in the Operator Control window execute one of the four following commands: Start, Proceed, Pause, Stop.
Operation buttons. Pause and Stop buttons may be disabled for some operations Displays the status of the current task
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PAUSE PAUSE halts the selected operation. After a PAUSE, the operation can be restarted at the point where it was halted by the PAUSE. The PAUSE button may be disabled for some operations. See Operation Editor. STOP Clicking STOP completely stops the selected operation. The STOP button may be disabled for some operations. See Operation Editor. Task Status The Task Status display provides information on the execution of the current operation.
Proceed restarts an operation that has been halted by an external cause Message reporting why the current operation is been stopped
Related Topics
Operator Layout Operations Manager
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Operations Manager
The Operations Manager tool allows an administrator-level user to configure operations that can later be run from the Operator Control. Note:The Operation Manager is only available if you are logged into Adept DeskTop with the administrator (top-level) Access Level. The operations configured and managed through the Operation Manager are operations that are typically executed by an operator in a workcell. The only possible actions that can be carried out on these operations from the Operator Control are START, Proceed, PAUSE and STOP. See Operator Control. The STOP and PAUSE buttons for a defined operation can be optionally enabled or disabled in the Operation Editor. The grid in the Operation window displays all the currently available operations, as illustrated in Figure 45. To open the Operations Manager: 1. From the Adept DeskTop menu, select Tools > Operations Manager. 2. The Operation Manager window opens, as illustrated in Figure 45. This is a modal window: you cannot return to the main interface while it is open.
Figure 45 Operations Manager Window Add Opens a blank Operation Editor form in which you can configure a new operation to add to the current list. See Operation Editor. Remove Removes the a selected operation from the list of operations. Edit Opens the Operation Editor, containing the current settings of the selected operation. See Operation Editor.
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Related Topics
Operator Control Operation Editor
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Operation Editor
The Operation Editor allows you to configure and define an operation that will be added to the Operations Manager. All operations defined in the Operations Manager can be run from the Operator Control.
Figure 46 Operations Editor Window in V+ Operation Name In the Operation Name field, enter a unique, common name that will identify the operation. Program Name In the Operation Name field, enter the name of a program, currently in memory (in the Program Manager), that defines the operation. If this program may not be in memory when an operator launches it from the Operator Control, you can define a program in the Source parameters, as explained below. Source Use Source parameters to set the location of a program that can be run from the Operations Manager, when the required program is NOT in memory (not in the Program Manager). To set Source parameters in V+ 1. Click the browse button (...) to find the required program. 2. In the Open file dialog, browse and select the required program. 3. Enable the check box Also load data from file if you want to load the data associated to the source program when the operation is executed. To set Source parameters in MicroV+ 1. Click the browse button (...) to find the required program. 2. In the Open file dialog, Browse and select the required program. 3. Enable the check box Also load data from file if you want to load the data associated to the source program when the operation is executed. 4. Enabling Auto Load NVRAM will allow Adept DeskTop to load NVRAM to find the required program if is not in memory.
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Source file used if the program is not found in memory when the operation is run
Figure 47 The Operation Editor in MicroV+ Task Number In the Task Number drop-down list, select the task to which the defined operation will be assigned. Buttons Enabled Enable the buttons that will be enabled in the Operator Control to run this task. Stop: Enables the use of the Stop button in the Operator Control, to stop the selected task. Pause: Enables the use of the Pause button in the Operator Control, to pause the selected task. Paused task can be resumed by the operator by a Start or Proceed command.
Related Topics
Operator Control Operations Manager
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Robot Control
The Robot Control tool is used to enable power, calibrate, and change the speed of the robot. This control also provides the status of power, calibration, and e-stop state of the connected controller. To display the Robot Control tool: 1. From the menu select: View > Robot Control. 2. The Robot Control tool opens, the E-Stop Button and Robot Status indicate the current status of the robot connection.
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Description Adept DeskTop has not connected to a controller The robot power is ON and the robot is calibrated. Click to disable power to the robot. The robot power is off and the E-stop state is off. Click the button to enable power to the robot. The robot power is ON but the robot is not calibrated. The robot cannot operate until it is calibrated. Click the button to attempt a calibration sequence. The system is waiting for High Power to be enabled by pressing the High Power button on the Front Panel. E-stop is pushed. There is no power to the robot. You cannot operate the robot until E-stop state is cleared on the controller.
Yellow Red
Text Not connected Robot power ON Dry Run Mode E-Stop Pushed Fatal Error
Description Adept DeskTop has not connected to a controller Robot power is on. DRY.RUN is enabled and it overrides all other display states except for E-Stop Pushed. An E-stop is pushed. A fatal hardware error has occurred. Robot power is off and cannot be turned on. The robot is not configured correctly and High Power cannot be enabled. Robot power is off. The system is waiting for the High Power button on the Front Panel to be pressed. If the button is not pressed, the message returns to Robot Power Off. Robot is not calibrated.
White White
Robot Power OFF Press HIGH POWER button on Front Panel Not calibrated
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Robot Speed
Use the Robot Speed% items to set to set the monitor speed of the controller. You can enter the speed numerically into the field, or use the slider to adjust the speed. The results of any slider adjustments are displayed numerically in the % field. Clear Display Click Clear Display to clear the error messages displayed in the Robot Control.
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Current Position
The Current Position frame displays the current position of the robot tool. This display is dynamically refreshed as the robot moves. Use the World and Joint radio buttons to show the robot position expressed in either Cartesian units or joint angles. In the World frame of reference, position is expressed as x, y, z, yaw, pitch, roll In the Joint frame of reference, position is expressed as joint angles, in degrees.
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Jog Control
The Jog Control frame provides controls and parameters to physically move the robot and to control speed and distance of robot movements. Use the slider to set a value, or type a value directly in the text box. When setting up, slow speed or small increments are recommended. Movement Commands Movement command buttons display arrows representing the relative direction in which the robot will be moved. For example in Figure 50, pressing movement buttons will move the Robot along the Y-axis of the Robot tool (end-effector) frame of reference. The behavior of the movement buttons is determined by the Speed and Increment options. The arrow labels vary depending on the selected Mode and Axis. In Figure 50, movement buttons represent robot movement along the Y axis. In Figure 51, movement buttons represent robot movement as a rotation about the Z axis.
Robot position expressed precision-point values when 'Joint' mode is selected Movement buttons express direction and axis of robot movement
Figure 50 Jog Pendant in Tool Mode Speed The Speed option enables you to set the speed at which the robot moves, as a percentage of the maximum robot speed. In this mode, the robot moves with the set speed, in the selected direction, for as long as a movement button (arrow) is maintained When the robot attains its limit (out of range), the movement stops. If you need to refine the movement to reach a precise point, the Increment mode may provide more control. Increment The Increment option enables you to set a distance increment for robot movement. This is useful for precise positioning; for example, when the slowest Speed mode overshoots the precise location to which you are attempting to position the robot.
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Increments are expressed in World coordinates; the Increment option sets the Jog Pendant to World mode. In this mode the robot moves by the define Increment distance, in the selected direction, regardless of the time the movement button (arrow) is maintained, except if released before completed. Each time the movement button is pressed, the robot moves again, to the Increment distance.
Incremental movement can be used only in 'World' mode Increments can be millimeters or degrees, depending on axis Precision Point values described robot position in Joint-based values
Mode
Jog Mode sets the Mode that will be used to move the robot. These modes are described below.
Comp Mode
Comp mode is also called Computer mode. In this mode, the Jog Control commands and settings are disabled. When Comp mode is enabled, the robot can be controlled by an executing program or the system terminal, the operator cannot move the robot.
Joint Mode
Joint mode enables the Jog Control to move the robot about the axis of the joint selected in the Axis group.
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Buttons move selected joint in + or - direction Number of joints depends on the type of the selected robot Location Management allows you set location manually or get location from robot
World Mode
World mode enables the Jog Control to move the robot in the selected direction: X, Y, or Z axes, of the World frame of reference, or rotated around these axes: RX, RY, or RZ, in the world coordinate system.
Tool Mode
Tool mode enables the Jog Control to move the robot in the selected direction X, Y, or Z axes of the Tool coordinate system, or rotated around these axes: RX, RY, or RZ, in the tool coordinate system.
Jog To Mode
The Jog To mode allows you to move the robot to a defined location. You must first set the Jog To location before you enable the Jog To button. The Jog To location is defined under Location Management if the current robot position is expressed in World coordinates. Jog To locations can only be expressed in Cartesian units. Jog To mode is not available in MicroV+ systems. To set the Jog To location: 1. Set the Jog To location by doing one of the following: Enter or select known values in the required fields Acquire the location from a variable: click Browse and select a location array variable from the Variable Browser. Click Record to set the Jog To location. 2. Set a distance value under Jog to - distance. This enables the Jog Control buttons shown in Figure 52 to move to the robot either directly to the Jog To position, or above the Jog To position, at the defined distance.
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Precision Point Management allows you set precision points or get points from robot
Location Management
The Location Management frame allows you to either manually set the values of a transform, or get a transform from the current position of the robot. You can then save this location to variable. The first three components of a transform variable are the values for the points on the X, Y, and Z axes. The three other components are the yaw, pitch, and roll.
Figure 54 Selecting a variable in the Location Management Frame To set a transform from the current robot position: 1. Select the Robot that will provide the transform. 2. Click the Record button. The Location Management values are updated with the values of the current robot position. To get a transform from a variable: 1. If you know the name of the required variable, enter or select the name of the variable, as shown in Figure 54.
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2. To search for a variable, click Browse, to open the Variable Browser. 3. In the Variable Browser find and select a location variable. Click OK. 4. The name of the variable and its value are added to the Location Management fields. To save the transform to a variable: 1. You cannot create a new variable in the Location Management frame. To save values in the location management frame you must select an exiting variable. 2. Any changes that you make to transform parameters, either manually, or recorded from a robot position, will be saved to the variable, overriding the current value of the variable. 3. Click 'Enter' to save transform parameters to the variable.
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Source Transform
Source transform parameters provide a set of parameters that will be applied to the current tool transformation. Browse Opens the Variables Browser from which you can search and select a variable that will provide the values for the source transform.
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Opens the Variables Browser form Read-only values of the computed frame transform
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Base Points
You must provide three location from which the control will compute the transform for a Frame. These locations are labeled: Origin, Point on X, Point on Y For each location, you must provide the x, y, z coordinates of the new frame expressed by their position in the World Frame of Reference. The Teach Frame Wizard can facilitate this process by allowing you to move the robot to these points instead of calculating their value in World coordinates.
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The yaw, pitch, and roll are optional. They do not affect the computation of the frame of reference. Origin Origin is the origin (0,0) of the new frame of reference. Point on X Point on X must be ON the x axis of the new Frame. It should be as far as possible on the X axis: a longer distance provides greater accuracy in the computation of the Frame of reference. Point on Y Point on Y does not have to be ON the Y axis of the new frame, but it must be ON the X-Y plane, on the positive side.
Z axis Y axis
Figure 58 Base Points to Required to Compute a Reference Frame Note:The direction of the Z-Axis is computed from the above points, using the right-hand rule.
Related Topics
Teach Frame Wizard See also: FRAME transformation Function in V+ Reference
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Figure 61 Adept Graphics Window For more information on the Adept Graphics window, refer to the AdeptWindows Users Guide.
Related Topics
AdeptWindows Users Guide (on Adept Website)
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V+ Utilities Control
The V+ Utilities control simplifies access to the V+ based utilities on the connected controller. This control enables you to execute utility programs from the PC instead of running them in text mode, from the Monitor Terminal window. The utilities are typically installed on the CompactFlash directory: Disk>D:\UTIL\ You can browse the system (including NFS-mounted drives) for utilities that are located in a different folder on the controller. You can assign a V+ utility to a task. You can execute and pause a V+ utility. Note:The V+ Utilities control in not available on MicroV+ systems.
To open the V+ Utilities Tool: 1. From the Menu, select View > Controller Configuration > V+ Utilities 2. The V+ Utilities window opens, similar to Figure 62 opens and displays several categories of available utilities. Click the + sign next to the folders to display utilities.
V+ Utilities toolbar
Description of the selected Utility Opens a browser form to find a Utility Assign selected utility to task list
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Pause Application: Pauses the utility and unloads the last launched utility. If a utility does not complete, clicking on this button will force the Terminal Window to close. Displays All Items: Displays all utility programs (all *.V2 files) by group. Any unknown utilities are placed in the 'Others' folder. Advanced and unknown utilities are indicted by yellow icons. Refresh Display: Refresh the contents of the window. To execute a utility: 1. Select a utility from the list, then click the Execute Selected Utility icon, or double-click on a selected utility in the list. 2. The utility opens in a Monitor Terminal Window. 3. To pause the execution, click the Pause Application icon. Note:The V+ Control will attempt to attempt to launch any V+ program that follows the standard Adept naming conventions 'FileName.V2' = EXE tsk 'A.FileName' However this control DOES NOT KNOW what requirements may be needed on a controller in order to use a selected utility. To add a utility: 1. Click the 'Browse' button (...) to open the Browse For Folder window, to search for, or add, folders to the V+ Utilities, as shown in Figure 63. 2. Click the Display All Utilities icon to show all existing V+ commands on the controller.
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Figure 64 Watch Variable Control To enable dynamic updating of variables and expressions: 1. In the toolbar, Watch Variable toolbar select the Start continuous refresh icon. 2. As programs execute and variables change, the new values will be displayed in the watch list. 3. To stop the continuous updating, click the Stop continuous refresh icon. To add an existing variable: 1. Click the Browse button to open the Variable Browser and choose a variable. 2. Alternatively, if you know the name of the variable or expression, and its location, enter the appropriate values in the Task, Program and New expression fields. See below for more details. To add an undefined variable to the list: It is possible to add an undefined (non-existent) variable or expression to the watch list. 1. Set/enter the appropriate values for the new variable in the Task, Program and New expression fields. 2. Click Enter. 3. This only adds the variable name to the watch list, it does not create the variable. Therefore, the variable appears as undefined, with an invalid type, as shown in Figure 65. 4. You can then create a new variable with the same name, from the Variable Manager.
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5. Once the variable is created, reopen or refresh the Watch Variable control: the correct variable value and variable type will be displayed. See Figure 65.
Undefined variable added to watch list. Once defined, the variable value and type are updated.
Figure 65 Adding an undefined variable to the Watch Variable To modify the value of a variable: 1. Click once in the Value field of a selected variable 2. A text cursor appears next to the value of the variable 3. Type in the desired value, then press Enter. To remove variables from the watch list: 1. To remove a single variable, select the variable, then select the Delete the currently selected item... icon from the Watch Variable toolbar. 2. To remove all variables from the list, select the Delete all items... icon from the toolbar,. The above actions only remove variables from the Watch Variable control, they do not delete the variables. Task Selects the task in which the watched variable is situated. Global variables apply to all tasks. Program Enter a program name for an AUTO or Local variable. No program name is required for a Global variable. New Expression Enter the name of the variable. Browse Opens the Variable Browser in which you can search for existing variables. See Variable Browser for more details.
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Variable Browser
The Variable Browser allows you to find and select an existing variable and insert this variable to an Adept DeskTop control. The Variable Browser form opens from Adept DeskTop controls in which you have the option to insert an existing variable. To open the Variable Browser Do one of the following: Click Browse... in the Tool Transform control. Click Browse... in the Digital IO control. Click Browse... in the Watch Variable control. The Variable Browser displays all existing variables that meet the specified Type, Scope and Filter criteria.
Variables that meet the selected criteria. In this example: 'Location' and 'Global'
Figure 66 Variable Browser Form List of Variables Displays Name and current Value of variable that meet the selection criteria in this form. Filter Enter characters in the Filter to search for variables by their names. Task Use the drop-down list to select the task in which you want to search for a LOCAL or AUTO variable. This is not required for Global variables. Program The program in which you want to search for a LOCAL variable. Type The browser shows only variables of the selected Type: Real, Location, String or Precision Point.
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Scope The browser shows only variables of the selected Scope: Global (by default) or LOCAL/AUTO. To browse for LOCAL and AUTO variables, select a Task number and enter a Program name. Only Global variables are available in MicroV+.
Related Topics
Variable Manager Control Creating a Variable Watch Variable Control
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Related Topics
Monitor Terminal Control AdeptWindows Users Guide (on Adept Website)
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Custom IO Signals
The Custom Display allows you to assemble a list of signals, inputs, and outputs. This list can be saved to file. The saved file includes the status of item. Saved items can be imported as needed into the Digital IO settings of the current application. To assemble a custom list of signals: 1. Enter the signal address in the Signal field or click Browse to search for a value in the Variable Browser. 2. Click Add to add the to the list. 3. Type a description of the signal in the Description field 4. To edit an item on the list, click the desired item on the list. The item's signal and description are inserted into the corresponding fields for editing. 5. Use toolbar icons to remove items from the custom display. To save a custom list of signals: 1. In the Digital IO toolbar, select the 'Export Custom list to file' icon 2. Provide the path and filename for the file. The file is saved with a 'cio' extension.
Digital IO Toolbar
Use the toolbar to refresh the display of IO, change refresh options, save a custom list of items, or import items into the Custom Display list. Continuous Refresh Automatically refresh the selected I/O. On Ethernet-based systems, the update rate is once per 100 msec. On Adept Cobra i600/i800 and SmartAmp systems, the rate is once per second. Stop Continuous Refresh Stops the Continuous Refresh process. Refresh Once Refreshes the status of IO signal one time only. Delete current line in the custom display Deletes the contents of a selected line in the Custom Display. Erase all lines in the custom display Deletes the contents of all items that are in the Custom Display list. line in the custom display. Import Custom List from file Allows you to import a saved list of items. If there are items in the Custom Display list, the imported items are appended to the list. Import Custom List from file Allows you to import a saved list of items. If there are items in the Custom Display list, the imported items are appended to the list.
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Export Custom List from file Allows you to saved the items that are in the Custom Display, and the status of the items. The file is saved with a 'cio' extension.
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Toolbar
Figure 69 V+ Parameter Displayed in the Switches and Parameters Control Value The Value text box shows the current value of a selected parameter. To modify the value of a selected parameter: Entering a new value or select a value. Upper and lower limits for the value are expressed to the right of the text box. State The State field displays the state of a selected parameter. To change the state of a selected switch: Enable the switch by checking the Enable check box. Disable the switch by unchecking the Enable check box.
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Parameters and Switches Toolbar All: By default, only basic switches and parameters are shown in the display. Enable All to also display 'Advanced' switches and parameters. Advanced items are indicated by yellow icons. Context Help: opens online help to the page describing the selected switch or parameter.
Toolbar
Figure 70 MicroV+ Autostart Switch Displayed in the Switches and Parameter Control
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To open the System Information Control: 1. From the Adept DeskTop menu select View > System Resources > System Information. 2. Alternatively you can click the System Information icon in the tool bar. 3. The information displayed in the form differs depending on the controller and system environment, as illustrated in Figure 71.
Figure 71 System Information Control Software Version Displays the version information for the software on the currently connected controller. Free Memory Displays the memory available. Temperature When available, this frame displays the temperature of the motor, of the robots connected to the system.
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Tools available in the File Manager are Mount NFS Drive: Enables you to mount an NFS drive from the File Manager. See Mounting an NFS Drive with the File Manager. Quick View: Provides a viewer for ASCII text files. See Viewing Files with File Manager Quick View. Backup Utility: Provides full backup and restore options for controller files. See File Manager Backup Utility.The File Manager Utility is not available with a MicroV+ system.
File Manager menu File Manager Toolbar File path Disk space on a controller is expressed in blocks
Status Bar
Figure 72 File Manager Utility - Main Window To open the File Manager Utility: 1. From the Adept DeskTop menu, select Utilities > File Manager. 2. It may take some time for the File Manager to open, because the utility must build file lists and retrieve data.
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Related Topics
Viewing Files with File Manager Quick View Mounting an NFS Drive with the File Manager File Manager Backup Utility
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Figure 73 File Manager Utility - Quick View Window To view a file: 1. In the File Manager, browse to find the file you want to view. 2. Select the file and click the Quick View icon in the toolbar 3. Alternatively, you can double-click the selected file to display the file in the viewer. 4. Some files, such as protected program files cannot be opened in the viewer.
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Figure 74 File Manager Utility - Mount NFS Drives Form Most Recent Mounts Shows any previously mounted drives in a drop-down list. Selecting one of these will populate all of the fields.
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NFS Path Enter the physical path of the exported drive/directory. The drive/directory names in the path must be eight characters or less, and must use alphanumeric characters or underscores. Spaces or other characters are not allowed in names. NFS Drive Enter a name for the mounted drive/directory. The name must be eight characters or less, and must use alphanumeric characters or underscores. Spaces or other characters are not allowed in names. IP Address Enter the IP address of the PC that has the exported drive/directory. Description Enter a brief description of the drive/directory being mounted. Help Opens online help to the relevant topic. Cancel Cancels changes and closes the form. OK Makes changes to access level settings and parameters, and closes the form.
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Operation tabs
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Backing Up Data
To backup files, you must first select the files and folders that will be backed up. This selection can then be saved to be applied to future backups. When you launch the Backup operation, all files selected for backup will be saved to a designated location. The selection status, i.e. which files are selected or not selected, can also be saved to file, to be applied to future backups. To select files for backup: 1. A blue check mark signifies that a folder and all its files and subfolders are selected for backup. Additionally a blue check mark signifies that all new files and subfolders added in the future to this folder, will automatically be selected and added to future backups. For example, in Figure 76, any new files that will added to the SET2 folder and its subfolders (ALL, CALIB, FOLDER, and NEW) will be automatically selected and added to future backups.
Figure 76 Selecting All Files and Folders - Including Future Files and Folders 2. To select only specific files or folders for backup, add remove check marks as needed. Specifically selected folders and files will be identified by black check marks. All future files and subfolders that are later added to a folder selected by a black check mark, will NOT be automatically backed up. For future backups you will have to manually add (if needed) any new files and folders to the backup. For example in Figure 77: No files in folder TEMP will be saved. All files and subfolders in Disk>D, except the TEMP folder and files, will be backed up Any files added in the future to folders and subfolders of Disk>D will NOT be automatically backed up Any files or folders added in the future to V+ Operating System (blue check mark) will automatically be backed up.
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Figure 77 Manually Selecting Specific Files and Folders for Backup 3. Once you have completed the selection of files and folders, save these selections. To do this, click the Save Selections icon in the toolbar. 4. In the Save dialog, specify the path and name of the selection file. Typically you should save it in, or near the same folder when you will save your backup files. To backup up files: 1. Select the files and folders that will be backed up, as described in the previous section. See To select files for backup: Check marks indicate the files and folders that will be backed up. When you select a folder, its files, subfolders and subfolder are automatically selected. To remove from the backup selection any files or folders that are currently selected, click in the check box to remove the check marks. 2. To launch the backup operation, click the Backup button at bottom right of the window. 3. In the Save dialog that opens, set the location and folder to where the backup files will be created. The data will be saved in the following format: An *.adb file that is a listing (catalog) of all the backed up files. For example: Backup.adb. A folder that contains all the data in the backed up files. This folder is named with the adb filename with *.data appended to the name. For example: Backup.adb.data. See Figure 78.
Figure 78 Saving Backup Files 4. Click OK in the Save dialog. The backup process starts. The Saving files window, illustrated in Figure 79, shows the progress of the backup operation.
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Restoring Data
There are two restore options: Restore, which is the most common operation, and Restore from Distribution, to be used only for specific cases, as described below.
Restore
This is the option to use for normal restoration of files and folders from backed-up files. To restore data: 1. Click the Restore tab 2. In the Open dialog, select the backup file and click OK. 3. Once the backup files are loaded, the Backup Utility displays, in the Restore tab, as shown in Figure 80. 4. You can select the data that you want to restore by checking/unchecking files and folders. 5. To launch the Restore operation, click the Restore button, at bottom right. 6. The restore process starts. The Restore window opens to shows the progress of the restore operation.
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Please contact Adept for more details on the compatibility of versions before reinstalling from a distribution.
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Figure 82 License Manager Utility Current Controller Information Displays the controller ID and information in a scrolling panel. This allows you to verify the information that is provided on the license page. Enter Controller License Password To install or remove a license, enter the password provided by Adept for the license, then click Install or Remove. The result of the installation process appears in the Results field. Display Area This area provides a list of licenses that are currently installed. Optionally, you can enable the Display all licenses check box to display all known licenses.
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Display All Licenses Displays all possible Adept Licenses, even if they are not currently installed on the Controller. Copy to Clipboard Copies the Current Controller Information and the list of currently installed licenses, to the Windows clipboard. This enables you to document this information and/or send this information to Adept if you request technical assistance. Close Closes the License Manager Utility. To install a license: 1. Enter the License password in the Password field. 2. Click the Install button. 3. The result of the installation appears in the Results field. To remove a license: 1. Enter the License password in the field. 2. Click the Remove button. 3. The result of the removal process appears in the Results field.
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To open the MicroV+ Profiler Utility: 1. From the Adept DeskTop Menu, select Utilities > MicroV+ Profiler 2. The Utility opens, similar to Figure 83
Toolbar Bar charts display the percentage of utilization of each system and user task within the system. (MicroV+ systems only)
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2. From the tools menu select Tools > Controller IP Config... 3. The wizard opens as shown in Figure 84. To edit an existing configuration see Step 4. To create a new IP configuration, go to Step 5. 4. To edit the parameters of an existing IP configuration, click Scan, find and select the IP address of the required controller and click next. Go to Step 9. 5. Click on Next. The Controller Network Configuration Utility prompts you to make sure the Adept controller is turned off. 6. Turn off the Adept controller. 7. Click on Next. The Controller Network Configuration Utility prompts you to turn the Adept controller back on and wait until it boots completely. 8. Turn the Adept controller on. Once the controller is detected, a new window is displayed as illustrated in Figure. 9. Use the IP address shown OR enter the new IP address and subnet mask. 10.Configure other parameters as required. 11.Click on Update.
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Related Topics
Starting the Configuration Manager Learning the Configuration Manager Utility Interface Working with Configuration Files
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Related Topics
Starting the Configuration Manager Learning the Configuration Manager Utility Interface
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Note:If the Configuration Manager option is not available on the Adept DeskTop Utilities menu, the program may already be open. Look for the Configuration Manager Utility shortcut button in the Windows taskbar:
Related Topics
Edit Joint Limits Manage Obstacles in the Workcell Specify Hand Control Signals
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File Menu
To display the menu, click File. Load configuration Displays a dialog to load a configuration data file. These files are created using the Save Configuration option. For details, see Load Configuration Data from a File. You can also access Load Configuration using the toolbar icon or the keyboard shortcut Ctrl+O. Save Configuration Displays a dialog to save the configuration parameters currently stored in the Configuration Manager Utility program. For details, see Save Configuration Data to a File. You can also access Save Configuration option using the toolbar icon Quit or the keyboard shortcut Ctrl+S.
Quits the application. If you have not saved your changes, you will be prompted to do so.
Controller Menu
To display the menu, click Controller. Change Access Level By default, access to some parameters is restricted. Only authorized users can modify these restricted parameters. Use Change Access Level to allow full access to all parameters. For details, see Change Access Level. You can also open the Change Access Level option with the toolbar icon .
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Hide Help
Removes the Help tab from the Configuration Manager Utility window. If this option is selected, the help will only display when it is called from the application via the F1 key, a Help button, or the General Help option on the Help Menu. Option to display Help in a tabbed window in the Configuration Manager Utility window. This is the default display setting for Help. When you call help using the Help tab, the F1 key, a Help button, or the General Help option on the Help menu, the Help page is brought to focus in the Configuration Manager Utility window.
Window Tabbed
Window Floating
Display the online help in a separate window that floats on top of the application. When this option is selected, you can close the help window. After the help window is closed, the help will only display when it is called from the application via the F1 key, a Help button, or the General Help option on the Help Menu. Displays the version number and copyright notice for the Configuration Manager Utility program.
About...
Related Topics
Load Configuration Data from a File Save Configuration Data to a File Change Access Level
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Item Descriptions
Main Menu
The main menu provides access to application-level functions in the Configuration Manager Utility program. For details, see Configuration Manager Menus. The Configuration Manager Utility is launched from Adept DeskTop into a new window. The controls in the upper right corner of this window allow you to minimize, maximize, or close the Configuration Manager Utility program. When the program is open, the shortcut to the program is available in the Windows taskbar, as illustrated in the following figure.
Window Controls
Tool bar
The toolbar provides shortcuts for the Load, Save and Change Access Level functions. For details on these functions, see Configuration Manager Menus.
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Provides a node-level view of the system being configured. The toplevel represents the currently connected controller, followed by one or more nodes representing the mechanisms in the system. For each mechanism, the components available for configuration are displayed as child nodes under the mechanism name. When you select a node in tree view, the Configuration View changes to provide access to the configuration options for that node. For example, if the cursor is on a joint node, the Joint View page displays.
Tabs
Click the tabs to change the page in the Configuration View. Clicking the Help tab displays the online help topic for the current configuration view. If the Help tab is not displayed, you can turn it on by selecting Tabbed Window from the Help menu. The tabs available are determined by the system component selected in the system tree view. For example, if you select the Cobra i600 mechanism, you will have tabs on the side to access the Hand Control and Obstacle configuration pages.
Page
The pages available in the Configuration view are determined by the node selected in the System Tree View. Click a tab to change the page currently displayed. For more details, see Related Topics.
Buttons
The configuration pages contain three command buttons: Apply, Restore, and Help. Apply Configuration data changes remain local to the Configuration Manager Utility program until they are saved to the controller using the Apply button. Clicking this button launches the Apply Changes dialog. For details, see Apply Changes to the Controller. Restore If you make a mistake editing the configuration data, the Restore option is available to reset the data. The Restore button is only available after a change has been made. Clicking this button launches the Restore Configuration dialog. For details, see Restore Configuration. Help Launches the help topic for the current page or dialog.
Related Topics
Configuration Manager Menus Configuration Page Joint View
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Workcell Obstacles Hand Control Signals Apply Changes to the Controller Restore Configuration
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Configuration Page
The Configuration Page has three views: a Controller View, a Robot View, and a Joint View.
Controller View
When the Controller node is selected in the system tree view, the configuration page for the controller displays. This page provides information about the system and the available digital inputs and outputs. For details on user interface elements, see the Field Descriptions below.
Field Descriptions
Menus and Toolbars Tree View For more information on the menus and toolbars, see Configuration Manager Menus. Click a node in the tree view to access the configuration options for the selected component. When you select the node, the Configuration view changes to show the configuration pages available for that component. Use tabs to change to a different page. For example, if you click the Cobra i600 node, the Configuration View displays tabs for Hand Control and Workcell Obstacle configuration.
System Information
OS Version Serial number System memory Version and revision number of the MicroV+ software in use. Serial number of the system controller. Size of the system program memory in kilobytes (1K = 1024 8-bit bytes)
Inputs/Outputs
Available digital input numbers Lists the available digital input signals for the robot. For additional details on I/O signals, see the User's Guide for your robot.
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Lists the available digital output signals for the robot. For additional details on I/O signals, see the User's Guide for your robot.
Robot View
When the robot node is selected in the system tree view, the Robot Configuration pages display in the Configuration View. The view includes three pages: Advanced, Workcell Obstacles and Hand Control. For details, see the Robot Configuration Page section.
Joint View
When the Joint node is selected in the system tree view, the joint configuration page is displayed. This page allows you to view and edit the default travel limits for the selected joint to limit robot joint travel. Lower and Upper limits are always editable. Minimum and Maximum travel and Mid range are not editable If you are in restricted-access mode. For details on setting joint limits, see Edit Joint Limits. For details on user interface elements see Field Descriptions below. For details on changing restricted access to parameters see Change Access Level.
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Buttons
Apply Configuration data changes remain local to the Configuration Manager Utility program until they are saved to the controller using the Apply button. Clicking this button launches the Apply Changes dialog. For details, see Apply Changes to the Controller. In the event of an error, the Restore button is available to reset the configuration data. The Restore button is available only after you have edited the data. Clicking this button launches the Restore Configuration dialog. For details, see Restore Configuration. Launches the help topic for the current page or dialog.
Restore
Help
Related Topics
Edit Joint Limits Apply Changes to the Controller Restore Configuration Change Access Level
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Workcell Obstacles
The Workcell Obstacle page, displayed below, allows you to view, define, and edit workcell obstacles. The Obstacle display requires that you have DirectX9, or later, installed. For details on displaying and defining obstacles, see Manage Obstacles in the Workcell. For details on user interface elements see the Field Descriptions below.
Field Descriptions
Tabs
Hand Control Clicking the Hand Control tab displays the configuration page for hand control open and close signals. For details, see Specify Hand Control Signals. Clicking the Advanced tab displays the configuration page to configure E-STOP and calibration options. For details, see Advanced Robot Configuration.
Advanced
Obstacle Management
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Obstacle List
Lists the currently defined obstacles for the workcell. To edit the obstacle parameters, click on the obstacle name. The obstacle parameters fields will update to show the settings for that obstacle. Click this button to display a drop-down list of available obstacles. Click the desired obstacle to add it to the Obstacle List and to specify the parameters. Select an obstacle in the Obstacle List, then click the Delete Obstacle button to remove it. The obstacle parameters include the dimension, position, and orientation of the obstacle in the workcell with respect to the base frame of the robot.
Add Obstacle
Buttons
Apply Restore Help Click Apply to write the changes to the obstacle definitions to the controller. For details, see Apply Changes to the Controller. Click Restore to reset the configuration data. For details, see Restore Configuration. Launches the help topic for the current page or dialog.
Figure 87 Obstacle Display Viewpoint You can change the viewpoint on obstacles using the view controls, or by clicking and dragging with the mouse.
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Related Topics
Manage Obstacles in the Workcell Specify Hand Control Signals Apply Changes to the Controller Restore Configuration
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Field Descriptions
Tabs
Workcell Obstacles Clicking the Workcell Obstacles tab displays the configuration page to specify parameters for obstacles in the Workcell. For details, see Manage Obstacles in the Workcell. Clicking the Advanced tab displays the advanced configuration options. For details, see Advanced Robot Configuration.
Advanced
Signal Fields
On/Off Each signal field has an On or Off option which determines how the hand control responds to the specified signal. On indicates that the hand will perform the specified operation when the signal is turned on. Off indicates that the hand will perform the specified operation when the signal is turned off.
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The signals listed in the selection list for each signal field include both the hard and soft signals.
Open Signal Open Relax Signal Close Signal Close Relax Signal
Specifies the signal used to Open the hand control. Specifies the signal to relax the pneumatic hand after it opens. Specifies the signal used to Close the hand control. Specifies the signal used to relax the pneumatic hand after it closes.
Buttons
Apply Restore Help Click Apply to write the changes to the hand control signals to the controller. For details, see Apply Changes to the Controller. Click Restore to reset the configuration data. For details, see Restore Configuration. Launches the help topic for the current page or dialog.
Related Topics
Specify Hand Control Signals Manage Obstacles in the Workcell Apply Changes to the Controller Restore Configuration
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Field Descriptions
Tabs
Hand Control Clicking the Hand Control tab displays the configuration page for hand control open and close signals. For details, see Specify Hand Control Signals. Clicking the Workcell Obstacles tab displays the configuration page to specify parameters for obstacles in the Workcell. For details, see Manage Obstacles in the Workcell. Advanced Clicking the Advanced tab displays the advanced configuration options. For details, see Advanced Robot Configuration.
Workcell Obstacles
Option Fields
Retract Z on CALIBRATE During calibration of Joint 4, the Z-axis moves slightly. To protect the tool flange or gripper, select this option to retract the Z-axis before Joint 4 moves during the execution of the CALIBRATE instruction. The break-away E-stop function is provided to enable a high power shutdown from the outer link area. For example, if you want a breakaway gripper to shut down robot high power. It essentially lets you disable high power via a user relay circuit inside the robot. This feature is set to OFF at the factory. Check this box to enable the Breakaway E-Stop if required.
Breakaway ESTOP
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Select this option to enable the indicator signal for the state of the emergency stop circuits. The indicator-- Digital Output 1-- is ON when the E-Stop circuits are closed (E-Stop buttons are not pushed, muted safety gates are closed, etcetera.) and OFF when an E-Stop circuit is open (e.g. an E-Stop button is pushed).
Buttons
Apply Restore Help Click Apply to write the changes to the hand control signals to the controller. For details, see Apply Changes to the Controller. Click Restore to reset the configuration data. For details, see Manage Obstacles in the Workcell. Launches the help topic for the current page or dialog.
Related Topics
Specify Hand Control Signals Manage Obstacles in the Workcell Apply Changes to the Controller Restore Configuration
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Function
Apply Button
When to use
Periodically during the configuration process to avoid losing data. When you click Apply, the Apply Changes dialog displays with options on how to save the configuration changes to the MicroV+ system. If you try to close the Configuration Utility without saving your changes, you will be prompted to Apply your changes. This button is also used to write configuration data to the MicroV+ system (NVRAM) after loading configuration data from a disk file. The configuration data saved to the controller is used to configure the mechanism when MicroV+ boots.
To create a backup copy of the configuration data for the currently selected device. The backup file can be used to restore the configuration on your system or to copy the configuration to another system. To copy the configuration data from another device to the currently selected device. The configuration data must have been previously saved to a configuration (.cfg) file using the Save Configuration option. After the configuration data is loaded, use the Apply button to save the data to the currently connected device.
Related Topics
Save Configuration Data to a File Load Configuration Data from a File
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Destination
Destination options determine whether the configuration data is committed to the non-volatile memory on the controller. Write changes to temporary memory only Writes the changes to the RAM on the controller. When the controller is rebooted, the changes will be lost. Write changes to permanent memory Saves the configuration data to the non-volatile memory (NVRAM). When the controller is rebooted the updated configuration data is loaded.
Servo Reset
Servo Reset options determine whether the servos are reset when the configuration data is written to the controller.
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Reset Servos for changes to take effect immediately When you select this option, the Apply Changes operation issues a SRV.RESET command to restart the servos. This ensures that all configuration changes are immediately in effect. Do not reset Servos. I will reboot the controller later When you select this option, the Apply Changes operation will execute without restarting the servos.
Related Topics
Save Configuration Data to a File Restore Configuration
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3. Click Continue to load the file. The values in the configuration file will be loaded into the Configuration Manager. After the file is loaded, use the Apply option to save the changes to the controller. If you don't have full access to modify the configuration parameters, the Configuration Manager Utility generates a Load File Report listing the values that were not loaded. For details on access levels, see Change Access Level.
Related Topics
Change Access Level Apply Changes to the Controller Load File Report
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Related Topics
Load Configuration Data from a File
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Related Topics
Load Configuration Data from a File
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Restore Configuration
Restore allows you to reset the configuration parameters to either the values currently stored on the controller, or to the values read when the Configuration Manager utility program was launched. This option is only available after you have edited the configuration parameters. For details on user interface elements, click on the area in the figure below for which you want detailed information, or see the OPtion Descriptions descriptions.
Option Descriptions
Restore only on current node Restores the values on the currently displayed configuration page using the selected data source. The current page name is displayed in parentheses. Restore all settings Restores all values in the configuration data using the selected data source. Re-synchronize with values in controller Specifies the controller RAM as the data source to be used when restoring the data specified in the Scope group. Restore values read when this program was started Specifies the configuration data loaded when the Configuration Manager Utility was started as the data source to be used when restoring the data specified in the Scope group. Choosing this option allows you to reverse any Apply actions that you may have performed during your current editing session.
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3. Enter the correct password to change the access level. 4. Click OK to save the changes.
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Related Topics
Edit Joint Limitss Specify Hand Control Signals Manage Obstacles in the Workcell
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Add Obstacles
To add an obstacle 1. In the tree view, select the robot you want to configure. 2. If the Workcell Obstacles page is not visible, click the Workcell Obstacles tab on the left side of the Configuration View. 3. Click Add Obstacle to display a list of available obstacles. 4. Click the type of obstacle or area that most closely matches the motion limitations you need to accommodate in your workcell. For example, if you want the robot to avoid a boxshaped obstacle, click Avoid Box. If you want the robot to work within a box-shaped area, click Inside Box. After you click the obstacle, the Defined Obstacle list to the left is updated. You can define up to six obstacles for the current workcell. 5. Specify the parameters for the obstacle dimensions, position, and orientation in the corresponding fields. The location of the obstacle is defined with respect to the base reference frame of the robot. 6. Click Apply to save your changes.
Delete Obstacles
To delete an obstacle: 1. Select the obstacle name in the Defined Obstacle list. 2. Click Delete. 3. Click Apply to save your changes.
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Edit Obstacles
To edit the an obstacle: 1. Select the obstacle name in the Defined Obstacle list. 2. Enter the new values in the dimension, position, and orientation fields as needed. 3. Click Apply to save your changes.
Display Obstacles
When you create an obstacle, the Obstacle display area automatically updates to show the obstacle as it is positioned with respect to the base reference frame of the robot. Use the view buttons at the top of the obstacle display area to change the point of view. For details, see the Workcell Obstacles Page. Note:If the Obstacle Display is not present or does not display properly, the DirectX9 software used to run the Obstacle Display may not be installed, or may have a problem. To troubleshoot the problem, you can run the DirectX diagnostic utility as explained below. To run the DirectX Diagnostic Utility: 1. On the Windows Start menu, select Run. 2. To execute the diagnostic program, enter dxdiag in the Open field:
Related Topics
Robot Configuration Page Apply Changes to the Controller Restore Configuration
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2. Click the Advanced tab to view the Advanced Configuration page. 3. Use the check box for each option to enable or disable the option. In the following figure the Retract Z on CALIBRATE option is enabled.
For details on each option, see Advanced Robot Configuration. 4. After your changes are complete, use Apply to save the changes.
Related Topics
Apply Changes to the Controller Advanced Robot Configuration
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2. For details on each option, see Advanced Robot Configuration. 3. Click the Hand Control tab to view the Hand Control Configuration page. 4. For each signal field, click the arrow to view a drop-down list of the available signals:
5. Select the desired signal. 6. Choose On to indicate that the hand will open when the specified signal is turned on. Choose Off to indicate that the hand will open when the specified signal is turned off. 7. After your changes are complete, click Apply to save the changes.
Related Topics
Apply Changes to the Controller Hand Control Signals
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Warning: Be sure to properly set the software joint limits before attempting to move the robot with a MicroV+ program.
Field Descriptions
Minimum Travel Read only.
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Related Topics
Joint View Apply Changes to the Controller Change Access Level
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transformation function program instruction real-valued function real-valued function program instruction real-valued function system parameter program instruction
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VLOCATION
transformation function
Syntax MicroV+ VLOCATION (sequence, tool, instance, result, index, frame) V+ VLOCATION ($ip, sequence, tool, instance, result, index, frame) Description Returns a Cartesian transform result of the execution of the specified vision sequence. The returned value is a transform result: x, y, z, yaw, pitch, roll. Parameters $ip IP address of the vision server. Standard IP address format. For example 255.255.255.255. This parameter applies to V+ syntax only. sequence tool instance result Index of the vision sequence. 1-based. Index of the tool in the sequence. 1-based. Index of the instance for which you want the transform. 1-based. Identifier of the result. Typically this value = 1311. For gripper offset location this value can be set to 1400 and incremented by 1 for each additional gripper offset. The maximum value is 1499. See Example 2. index frame Details Parameters sequence, tool, instance, index, and frame are optional. These parameters are 1-based. If no value is provided for these parameters, they default to 1. In V+ the vision server is the PC on which the AdeptSight vision software is running. To retrieve specific values To retrieve global values : sequence = -1, tool = -1 To retrieve camera values : sequence = -1, tool = cameraIndex To retrieve camera-relative-to robot values: sequence = -1, tool = cameraIndex, index = robotIndex To retrieve sequence values: sequence = sequenceIndex, tool = -1 To retrieve Belt Calibration related values (read only) Reserved for internal use. Value is always '1'. Index of the frame that contains the specified instance.
sequence -1 -1
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Property
sequence
DownstreamLimit -1 VisionOrigin
Examples Example 1
-1
In this example, the 1311 result ID indicates using the first gripper offset. This is equivalent to using the 1400 result ID. ; Retrieve the location of a found instance ; instance location = 1311 SET location = VLOCATION(1, 2, 1, 1311) Example 2 ; set 1st gripper offset location ; 1st gripper offset location = 1400 SET location = VLOCATION (1,2,1,1400) ;set 2nd gripper offset location SET location = VLOCATION (1,2,1,1401) ... ;set 6th gripper offset location SET location = VLOCATION (1,2,1,1405) Example 3 ; Retrieve the location of the Belt frame ; BeltCalibrationFrame index is 10000 VLOCATION ($ip, -1, cameraIndex, ,10000, robotIndex) ; Retrieve the location of the Vision origin ; VisionOrigin index is 10050 VLOCATOIN ($ip, -1, cameraIndex, ,10050, robotIndex )
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VPARAMETER
program instruction
Syntax MicroV+ VPARAMETER (sequence, tool, parameter, index, object) = value V+ VPARAMETER (sequence, tool, parameter, index, object) $ip = value Description Sets the current value of a vision tool parameter. Parameters sequence tool parameter index object $ip Index of the vision sequence. First sequence is '1' Index of the tool in the sequence. Identifier (ID) of the parameter. Refer to the AdeptSight Quick Reference tables to find the ID for the required parameter. Some parameters require an index. For example, the index of a model, of an edge pair, or of a blob. Some parameters require an object index to access specific values in an array. IP address of the vision server. Standard IP address format. For example 255.255.255.255. This parameter applies to V+ syntax only. Details Parameters sequence, tool, parameter, index, and object are optional. These parameters are 1-based. If no value is provided for these parameters, they default to 1. In V+ the vision server is the PC on which the AdeptSight vision software is running. Example ; Set a Locator to find ; a maximum of 4 object instances ; MaximumInstanceCount = 519 VPARAMETER(1,2,519) = 4
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VPARAMETER
real-valued function
Syntax MicroV+ value = VPARAMETER (sequence, tool, parameter, index, object) V+ value = VPARAMETER ($ip, sequence, tool, parameter, index, object) Description Gets the current value of a vision tool parameter. Parameters $ip IP address of the vision server. Standard IP address format. For example 255.255.255.255. This parameter applies to V+ syntax only. sequence tool parameter index object Details Parameters sequence, tool, parameter, index, and object are optional. These parameters are 1-based. If no value is provided for these parameters, they default to 1. To retrieve specific values To retrieve global values: sequence = -1, tool = -1 To retrieve camera values: sequence = -1, tool = cameraIndex To retrieve sequence values: sequence = sequenceIndex, tool = -1 To retrieve Belt-Calibration-related values ( read only ) Scale (10004): sequence = -1, tool = cameraIndex, index = robotIndex, object = n/a To retrieve sequence-related values Mode (10200): sequence = sequenceIndex, tool = -1, index = n/a, object = n/a Example ; Get the Scale value for the Belt Calibration VPARAMETER ($ip, -1, cameraIndex, 10004, robotIndex ) Index of the vision sequence. First sequence is '1' Index of the tool in the sequence. Identifier (ID) of the parameter. Refer to the AdeptSight Quick Reference tables to find the ID for the required parameter. Some parameters require an index. For example, the index of a model, of an edge pair, or of a blob. Some parameters require an object index to access specific values in an array.
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VRESULT
real-valued function
Syntax MicroV+
V+ VRESULT ($ip, sequence, tool, instance, result, index, frame) Description Returns a result of the execution of a vision sequence. Parameters $ip IP address of the vision server. Standard IP address format. For example 255.255.255.255. This parameter applies to V+ syntax only. sequence tool instance result index frame Details Parameters sequence, tool, instance, index, and frame are optional. These parameters are 1-based. If no value is provided for these parameters, they default to 1. In V+ the vision server is the PC on which the AdeptSight vision software is running. Example ; Get the number of instances found a Locator ; instance count = 1310 instance_count = VRESULT(1, 2, 1, 1310) Index of the vision sequence. Index of the tool in the sequence. Index of the instance for which you want the transform. Identifier (ID) of the result. Refer to the AdeptSight Quick Reference tables to find the ID for the required result. Reserved for internal use. Value is always '1'. Index of the frame that contains the specified instance.
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VRUN
program instruction
Syntax Micro V+ VRUN sequence V+ VRUN $ip, sequence Description Initiates the execution of a vision sequence. Parameters $ip IP address of the vision server. Standard IP address format. For example 255.255.255.255. This parameter applies to V+ syntax only. sequence Details In V+ the vision server is the PC on which the AdeptSight vision software is running. Example ; Execute the first sequence VRUN 1 Index of the vision sequence. Optional. 1-based; if unspecified defaults to '1'.
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VSTATE
real-valued function
Syntax MicroV+ VSTATE (sequence) V+ VSTATE ($ip, sequence) Description Returns the state of the execution of a sequence. Parameters $ip IP address of the vision server. Standard IP address format. For example 255.255.255.255. This parameter applies to V+ syntax only. sequence Details In V+ the vision server is the PC on which the AdeptSight vision software is running. Return Return values are different for V+ and MicroV+: Index of the vision sequence. Optional. 1-based; if unspecified defaults to '1'.
MicroV+ Value 0 1 2 3 Description Running This value is currently unused. Completed Error
V+ Value 0 1 2 3 4 5
Example ; Get the state of the first sequence VSTATE(1)
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VTIMEOUT
system parameter
Syntax MicroV+ PARAMETER VTIMEOUT = value V+ PARAMETER VTIMEOUT = value Description Sets a timeout value so that an error message is returned if no answer is received following an vision command. The timeout value is expressed in seconds; i.e value = 0.15 = 150 ms. The default value is 0, which is an infinite timeout. Details It is important to set a value other than the default value of 0. TIMEOUT = 0 sets the timeout value to 'infinite'. In this case the operation will wait indefinitely for an error message. Example ; Get error message if no answer after 200ms PARAMETER VTIMEOUT = .20
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VWAITI
program instruction
Syntax MicroV+ VWAITI (sequence) type V+ VWAITI (sequence) $ip, type Description Waits efficiently until the specified vision sequence reaches the state specified by the type parameter. Use VWAITI call after VRUN. In a V+ conveyor-tracking application, the absence of a specific VWAITI instruction can interfere with Acquire Images tool and the Communication tool, and cause a delay in the execution of the application. Parameters sequence $ip Index of the vision sequence. 1-based; if unspecified defaults to '1' IP address of the vision server. Standard IP address format. For example 255.255.255.255. This parameter applies to V+ syntax only. type 0 Wait for full completion (default) 1 Wait for partial completion Details Parameters sequence and type are optional. In V+, the vision server is the PC on which the AdeptSight vision software is running. Example ; Execute the first sequence VRUN 1 ; Wait for completion of first sequence VWAIT (1) 0
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Legal Notices
Copyright
Copyright 2004-2007 by Adept Technology, Inc. All Rights Reserved. No part of this publication may be reproduced or transmitted in any form without the written permission of Adept Technology, Inc.
Notice
Adept Technology, Inc.. shall not be responsible for any errors that may appear in this document and shall not be liable for any damages arising out of or related to this document or the information contained in it, even if Adept Technology, Inc. has been advised of the possibility of such damages.
Trademark Information
Copyright 2003-2007 by Adept Technology, Inc. All rights reserved. Adept, AdeptSight, Adept DeskTop, Adept SmartController, AdeptWindows, MicroV+, V+, are trademarks of Adept Technology, Inc. HexSight is a registered trademark of Adept Technology, Inc. The following are trademarks or registered trademarks of the associated company: .NET, ActiveX, COM, C++, C#, DevStudio, DirectShow, DirectX, MFC, Notepad, Visual Basic, Visual C++, Windows, Windows NT, Windows 2000, Windows XP, HTML Help: Microsoft Corporation Acrobat Reader, PDF: Adobe Systems Incorporated Apple Computer, Inc.: FireWire Pentium, MMX: Intel Corporation Any other trademarks in this document are the property of their respective owners.
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