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Advanced Servo Library Reference Guide

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1. oa Data Returned Units sLcaltrq Actual motor torque command DAC cts sl cmdvel Commanded velocity cts msec sl velerr Velocity error cts msec sl motvel Actual motor velocity cts msec sl cmdpos Commanded position setpoint cts sl poserr Position error cts sl motpos Actual motor position cts sl eplpos Last latched position of encoder cts sl inxpos Last position of zero index cts sl inxdel Actual count between zero indexes cts sl inxerr Running count of index errors None sl inttrq Integrator torque DAC cts sl ganskw Gantry skew error cts sl ganvgn Gantry velocity feed forward gain None sl settim Settling time in ticks reads negative until None motion completes sl maxerr Maximum previous position error cts sl forcex Force in X direction Ibs sl forcey Force in Y direction Ibs sl forcez Force in Z direction Ibs sl torqx Torque about X axis in lbs sl torqy Torque about Y axis in lbs sl torqz Torque about Z axis in lbs sLintsta Integrator state in torque counts DAC cts 92 Advanced Servo Library Reference Guide Rev A Library Routine Table 2 4 SPEC Servo Data Parameter Names Continued Parameter Data Returned Units name sl cmdacc Commanded acceleration cts msec sLesttrq Filtered torque None sLsofset Stop on force setpoint cts sLeplflg Latched Stop on Force flags None sl sync Axis SYNC ASYNC Command None Related Routines sl rw sl c read sl c write sl clr ltch err
2. Hex Bit Bitmas Description k 1 H1 Phase A HIGH LOW Encoder phasing configuration 2 H2 Phase B HIGH LOW Encoder phasing configuration 3 H4 Index Active HIGH LOW Encoder phasing configuration 4 H8 Zero Index Checking ON OFF 5 H10 Quadrature Error Checking ON OFF 6 H20 Broken Encoder Wire Detection ON OFF 114 Advanced Servo Library Reference Guide Rev A Library Routine sl rw enccfg Hex Bit Bitmas Description k H40 Extra filtering MHz Max Edge Rate H80 No filtering 3MHz edge rate Available on Revision 1 Enhanced MI 3 6 boards only Board must be configured as Rev 1 Advanced Servo Library Reference Guide Rev A 115 sl rw ftol Library Routine Calling Sequence CALL sl rw ftol mot num write ftol error Function This program reads or writes the FINE tolerance Input Parameters mot num Motor number write If TRUE write value if FALSE read value ftol If write is TRUE new value for fine tolerance Output Parameters ftol If write is FALSE return fine tolerance error Success error code see Errors on page 20 for details on special error codes for the rw routines Details The value for this motion parameter will be changed in local RAM only The value is not written to the system disk CAUTION Be careful when writing motion parameters They can have large effects on mechanism performance longevity and safety Rel
3. CALL sl calibrat IF error lt 0 THE TYPE Error polling calibration status for motor e mtr r r States error zZ GOTO 100 Advanced Servo Library Reference Guide Rev A Chapter 3 ex calibrate Motor Calibration Example END If we made it this far the motor should be stopped at the calibration featur either the hard stop or the home switch What we do next depends on the calibration method amp type If we are calibrating to the hard stop 1 Drive away from the hard stop looking for the Z Index if necessary 2 Update th ncoder register with the motor position at the hard stop i If we are calibrating to the home switch 1 Find the edge of the home switch 7 2 Drive in the proper direction to the zero index if necessary A 3 Update th ncoder register with the motor position at the index IF cal method THEN Calibrate to feature hard stop or home switch No Z Index search Update position reference CALL sl here mtr cal pos error IF error lt 0 THE N TYPE Error setting position reference for motor mtr wow GOTO 100 END ELSE Calibrate to Z Index Read expected distance from cal feature to lst Z Index CALL sl read mtr sl homin4 exp dist error IF error lt 0 THEN TYPE Error reading expected distance to Z Index for MOOK MS Mer aT GOTO 100 END
4. Bit Description 1 V Extensions license installed 2 External encoders are supported 3 7 Reserved for future use 8 ALTER instruction enabled word 3 SYSTEM OPTION WORD 2 Bit Description 1 6 Reserved for future use 7 Guidance Vision enabled 8 Inspection Vision enabled 9 DDCMP option installed 10 11 Reserved for future use 12 AdeptNet installed word 4 CONTROLLER OPTION WORD Currently not used All bits return 0 word 5 PROCESSOR OPTION WORD Bit Description 1 Processor is running V 2 Processor is running Vision code 3 Processor is running Servo code Advanced Servo Library Reference Guide Rev A 97 sl read opt bit Library Routine word 6 VISION OPTION WORD Bit Description 1 4 CPU number for VIS interface module 5 Reserved for future use 6 EVI present 7 8 Reserved for future use 9 10 Reserved for Adept internal use may be 1 or 0 word 7 FORCE OPTION WORD Bit Description 1 Stop on force enabled cpu Optional CPU number to read option bits for Processor Option Output Parameters opt set TRUE if option bit is set otherwise FALSE opt word Optional Requested option word Details This routine can be used to determine what system options are available to an application program 98 Advanced Servo Library Reference Guide Rev A Library Routine sl rw accel
5. Press ER to Advanced Servo Library Reference Guide Rev A riggering buffer for servos and fill setpoint buffers 1 size ppoint loc stt Trigger buffers to start motion sine waves Ty A00 Ool 0 57 0 57 Stt 07 100 07h OO 57 0 57 SEt De T757 0er 05047 0257 SEE 0 100 0 4 0ST 0 57 Stt Trigger buffers to start motion abort motion 7 a 173 Chapter 3 ex setpt Setpoint Buffer Example Re enabling SYNC mode will abort current motion FOR i 1 TO ID 3 10 robot CALL sl enable i FALSE FALSE error END 100 CS DELETEL loc ppoint CS DELETER status CS DELETES Spassword RETURN PROGRAM ex setpt path mask num ppoint loc error ABSTRACT Configures setpoint buffer for path following All points 7 in the path are stored as relative to the first point in the path either loc 0 or ppoint 0 depending on whether loc 0 is defined i INPUT PARMS mask Bit mask indicating motors that should be 7 configured to follow the path A 1 all motors num Number of points in the path 7 ppoint If following a path of precision points A locs must not be supplied and this array defines the path with elements 0 to num 1 HB loc If following a path of locations only ppoint 0 needs to be defined and this array defines the path with elemen
6. Square wave test counts r T T wave period 1 5 IF error lt 0 THEN TYPE GOTO 120 END Define trigger mode and type smpmode 1 Use re trigger mod sync 1 IF error lt 0 THEN TYPE GOTO 120 END Define data collection 71 000 encoder count amplitude 71 5 second wave period CALL sl defwave mtr num test wave ampl wave period Error enabling defining test error Error defining test trigger error ex servo data Joint Motion Data Monitoring Example 500 error Sync to rising edge of square wave CALL sl wave trig mtr num smpmode sync error data cycle 500 Collect for 500 ms update rate 1 Update every 1 ms data 1 sl poserr Collect position error data num data 1 Number of data items to collect CALL sl defdata mtr num data cycle update rate data error IF error lt 0 THEN TYPE GOTO 120 END Show the actual status of data collection CALL sl listdata mtr num status error IF error lt 0 THEN TYPE Error verifying status of data collection GOTO 120 END num recs status 0 status 1 YPE C2 Number of records being stored num recs YPE Data is updated every status 1 cycle s Advanced Servo Library Reference Guide Rev A Error defining data collection error num data GETREE 169 Chapter
7. ABSTRACT Example routine that shows how to change the gain of Joint 4 on an Adept robot on the fly In this example the Integral Gain is changed This example demonstrates how to dynamically change the tuning of joint 4 on an Adept SCARA robot The hypothetical application could be that the robot has to manipulate two different parts with different end effectors which have significantly different weights You would need to know the tuning parameters in advance before attempting to change the tuning dynamically These advance values could be determined in one of two ways 1 By using the SPEC utility to plot and change the values until you are satisified with the performance 2 By using the Advanced Servo Library to collect analyze and alter the values until you are satisfied with the performance In either case it is assumed that the values are known before hand Th xample code below moves the robot to three different locations loc 1 loc 2 and loc 3 The gain for Joint 4 will be altered between locations loc 2 and loc 3 It will then be reset back to the original factory value on the way back to loci INPUT PARM None OUTPUT PARM None DATA STRUCT loc 1 Global variables defining locations to which Loe 2 the robot wil be moved THESE LOCATIONS ARE LOGs3 NOT DEFINED BY THIS ROUTINE THEY MUST BE TAUGHT BEFORE EXECUTING THIS
8. Joint Motion Data Monitoring Example ex j4 gainset Dynamic Tuning of Adept Joint 4 Example ex calibrate Motor Calibration Example ex free FREE Mode Example Advanced Servo Library Reference Guide Rev A Chapter 1 Channel Numbers vs Motor Numbers Channel Numbers vs Motor Numbers There are two ways of selecting a servo channel to write to read from The first is to specify a robot motor number the second is to specify a motion board number and a channel number on that board Reading Writing on a Motor Number Basis Routines that read write on a motor number basis have a parameter for the motor number The motor number is determined by the axis to motor mapping that is specified in the device module for each robot The motor number will always be associated with the currently SELECTed robot NOTE In most cases a motor number and a joint number will be the same However in cases such as a robot with split axis control this is not the case and you will have to refer to the device module documentation for the correct motor number assignments In some cases the read write routines refer to values that apply to all motors in a kinematic description In these cases the value is associated with the currently SELECTed robot Reading Writing on a Channel Basis Routines that read write on a channel basis have parameters for a board number and a channel number These routines read write the specified board channel with
9. and the elements for joint 3 would be stored in enc scales 3 1 Motor3 to motor 2 scale enc scales 3 2 Motor 3 to motor 3 scale To get data for a single joint from the returned array use the following code FOR ii 1 TO LAST enc scales mot num jnt scales ii enc scales mot num ii END The form of the array for a write operation must match exactly the form of the array returned from a read operation Example Change the first scale factor of joint 3 to 1123 64 and then display all the scale factors for joint 3 LOCAL DOUBLE enc scales Make sure there are no defined elements for enc scales Stask SENCODE 10 TASK MCS DELETER 4 Stask enc scales Advanced Servo Library Reference Guide Rev A 135 sl rw scale Library Routine Read the current encoder scale factors CALL sl rw scales FALSE enc scales error IF error lt 0 GOTO 100 Change the first scale factor for joint 3 enc scales 3 1 1123 64 Write the new scale factors CALL sl rw scales TRUE enc scales error IF error lt 0 GOTO 100 Display the scale factors for joint 3 FOR ii 1 TO LAST enc scales 3 TYPE enc scales 3 ii END 100 RETURN 136 Advanced Servo Library Reference Guide Rev A Library Routine sl rw softstops Calling Sequence CALL sl rw softstops mot num write llim ulim error lmin umax Function This progra
10. Binary Hex Bitmask Bitmask PCO Operation 10xx H8 Fire Camera Strobe 0 CSTRB0 when motor position matches the PCO position pco pos 11xx SHC Fire Camera Strobe 1 CSTRB1 when motor position matches the PCO position pco pos Output Parameters frm servo Real array defined as follows 0 Previous state of PCO output for this motion board 0 PCO was cleared gt 0 PCO was set 1 Previous compare position for this axis 2 Previous compare delta in encoder counts 3 Previous compare configuration for this axis error Success error code If successful contains number of elements in the frm servo array Details The Position Compare Output PCO function generates an internal signal called Equal EQU when the actual position of the axis exactly matches the target position This signal may be routed either to the physical PCO on the Machine connector on the VMI ONLY or to one of the backplane Camera Strobe lines CSTRBO and CSTRB1 After a trigger is generated the Position Compare function will automatically update the target position by adding the input parameter delta to it See Note 3 below On the VMI the input argument pco st controls the initial state of the physical PCO signal That is when this routine is called the PCO signal will be set to the state indicated by the pco st argument If the application requires that the PCO signal be asserted when the axis passes over the trigger position
11. Calling Sequence CALL sl rw accel mot num write accel error Function This program reads or writes a robot Cartesian acceleration value Input Parameters mot num Motor number write If TRUE write value if FALSE read value accel If write is TRUE new value for acceleration Output Parameters accel If write is FALSE returns current value of acceleration error Standard success error code see Errors on page 20 for details on special error codes for the rw routines Details The value for this motion parameter will be changed in local RAM only The value is not written to the system disk CAUTION Be careful when writing motion parameters They can have large effects on mechanism performance longevity and safety Related Routine sl rw jaccel Advanced Servo Library Reference Guide Rev A 99 sl rw amask Library Routine Calling Sequence CALL sl rw amask write mask error Function This program reads or writes the robot axis mask Input Parameters write If TRUE write value if FALSE read value mask If write is TRUE new value for axis mask Output Parameters mask If write is FALSE returns value of the axis mask error Success error code see Errors on page 20 for details on special error codes for the rw routines Details The axis mask indicates which axes are available to V There is only one value per robot for this parameter The robot associated with this read write operation is the currentl
12. HERE Remember the current postion of the second robot CALL sl c where 2 2 start pos error C05 IF error lt 0 GOTO 120 This is a motor following example based on speed Robot 2 will track robot 1 until Signal 1001 is asserted DO Move joint 1 of robot 1 joint is assumed to be a translational joint MOVE start TRANS RANDOM 10 DO Get the DAC value for the first robot CALL sl c getdac 1 2 FALSE dac error IF error lt 0 GOTO 120 Drive the second robot CALL sl c setdac 2 2 FALSE dac scale error IF error lt 0 GOTO 120 UNTIL STATE 2 2 UNTIL NOT SIG 1001 Decelerate the second robot IF dac gt 0 THEN decel rate 100 ELSE decel rate 100 END FOR ii dac scale TO 0 STEP decel rate CALL sl c setdac 2 2 FALSE ii error Advanced Servo Library Reference Guide Rev A 179 Chapter 3 ex follow Axis Following Examples IF error lt 0 GOTO 120 END Wait for the axis to stop by reading the motor velocity until it hits zero DO CALL sl c read 2 2 sl motvel spd error IF error lt 0 GOTO 120 UNTIL spd 0 Return second robot to original position CALL sl c drive 2 2 1000 50 start pos TRUE error IF error lt 0 GOTO 120 CALL sl c break 2 2 error IF error lt 0 GOTO 120 i i This is a motor following example based on motor position The tw
13. Binary Hex Bitmask Bitmask PCO Operation 0111 H7 PCO is asserted when motor position matches the PCO position pco pos 10xx H8 Fire Camera Strobe 0 CSTRBO when motor position matches the PCO position pco pos 11xx HC Fire Camera Strobe 1 CSTRB1 when motor position matches the PCO position pco pos Output Parameters frm servo Real array defined as follows 0 Previous state of PCO output for this motion board 0 PCO was cleared gt 0 PCO was set 1 Previous compare position in encoder counts for this axis 2 Previous compare delta in encoder counts 3 Previous compare configuration for this axis error Success error code If successful contains number of elements in the frm servo array Details 40 The Position Compare Output PCO function generates an internal signal called Equal EQU when the actual position of the axis exactly matches the target position This signal may be routed to either the physical PCO on the Machine connector on the VMI ONLY or one of the backplane Camera Strobe lines CSTRBO and CSTRB1 After a trigger is generated the Position Compare function will automatically update the target position by adding the input parameter delta to it See Note 3 On the VMI the input argument pco st controls the initial state of the physical PCO signal That is when this routine is called the PCO signal will be set to the state indicated by the p
14. Calling Sequence CALL sl spare Spare l spare 2 error Function Enables or disables the SPARE output signals on the motion board Usage Considerationss If you do not wish to change the state of a SPARE signal then leave it undefined Input Parameters spare 1 Optional If defined the Spare signal 1 will be set to the appropriate state TRUE to enable the signal FALSE to disable the signal spare 2 Optional If defined the Spare signal 2 will be set to the appropriate state if the hardware supports it MI 3 MI 6 ONLY TRUE to enable the signal FALSE to disable the signal Output Parameter error Standard success error code Details NOTE The VMI has only one SPARE output signal The MI 6 MI 3 has two SPARE output signals On the MI 6 MI 3 the SPARE_1 signal is located on the SERVO connector The SPARE_2 signal is located on the MACHINE connector See the AdeptMotion VME Developer s Guide for details on connector pinouts and signal specifications Advanced Servo Library Reference Guide Rev A 151 sl status Library Routine Calling Sequence CALL sl status mot num j status error Function This program reads the joint status bits for the specified motor Usage Considerations The output parameter j status must be declared as a DOUBLE or AUTO DOUBLE by the calling program Input Parameter mot num Motor number Output Parameters j status Returns 32 bits of joint status information error Standard success
15. Take J4 out of FREE mode T Ca E o e a E o a T O 1 B E e t a gt S E INPUT PARMS robot Optional Number of robot to move Default is robot 1 Spassword Optional Robot module password to access SPEC data May be undefined OUTPUT PARMS error Standard success error value SIDE EFFECTS None Copyright c 1997 by Adept Technology Inc Select sp 194 cified robot IF NOT DEFINED robot THEN If no robot was specified robot 1 access the default robot END IF SELECT ROBOT lt gt robot THEN Different robot selected DETACH Robot must be detached before selecting new one SELECT ROBOT robot Select the robot END Advanced Servo Library Reference Guide Rev A Chapter 3 ex free FREE Mode Example Define the password s if required IF DEFINED S password THEN Spassword robot Spassword Use password passed in ELSE Spassword robot 7Assume no password isa ND Initialize things TYPE Initializing the Advanced Servo Library CALL sl init Spassword status IF status robot lt gt 1 THEN YPE Advanced Servo Library initialization failure S YPE for robot 10 robot GOTO 100 Exit ira ND OPEN Open gripper Approach PICK location APPRO pick 50 BREAK Move to PICK
16. They can A have large effects on mechanism performance longevity and safety Advanced Servo Library Reference Guide Rev A 101 sl rw cal file Library Routine Calling Sequence CALL sl rw cal file write cal file error Function Reads or writes the robot calibration program file name Input Parameters write If TRUE writes value if FALSE reads value S cal file Calibration program file name Output Parameter error Success error code see Errors on page 20 for details on special error codes for the rw routines Details Robot calibration is controlled by a program located by default in the subdirectory CALIB on the boot disk SPEC allows a system customizer to specify a V application program that will perform custom calibration operations There are special file and program naming conventions that should be adhered to For more information please refer to the AdeptMotion VME Developer s Guide The values for this motion parameter will be changed in local RAM only The value is not written to the system disk 102 Advanced Servo Library Reference Guide Rev A Library Routine sl rw calcfg Calling Sequence CALL sl rw calcfg mot num write cal type cal method cal dir error Function Configures the calibration parameters for the indicated motor Input Parameters mot num Motor number write TRUE to write new home configuration FALSE to read current home configuration cal type Calibrat
17. error IF error lt 0 THEN TYPE Error Reading Joint status for motor mtr GOTO 100 END UNTIL j status BAND H2000000 H2000000 OR j status BAND H10000 H10000 ABORT motion 190 Advanced Servo Library Reference Guide Rev A Chapter 3 ex calibrate Motor Calibration Example CALL sl stop mtr error IF error lt 0 THEN TYPE Error Aborting motion for motor mtr GOTO 100 END Wait for motor to stop CALL sl break mtr error IF error lt 0 THEN TYPE Error Aborting motion for motor mtr GOTO 100 END Check to see if we actually saw the Z Index Otherwise return an error Pl IF j status BAND H2000000 lt gt H2000000 THEN TYPE ERROR No Zero index found for motor mtr error er no zidx No Zero Index found GOTO 100 END Updat ncoder register CALL sl here mtr cal pos error IF error lt 0 THEN TYPE Error updating encoder register for motor mtr nom GOTO 100 END Re enable SYNC mode for this motor CALL sl enable mtr FALSE FALSE error IF error lt 0 THEN TYPE Error re enabling SYNC mode for motor mtr GOTO 100 END GOTO 110 Exit skipping error reporting e Display V or Servo error information 100 CALL sl adv diag error a BST 110 RETURN END Advanced Servo Library Reference Guide Rev A 191 Chapter 3 ex calibra
18. error Standard success error code Details The value for the motion parameter will be changed in local RAM only The value is not written to the system disk CAUTION Be careful when writing motion parameters They can have large effects on mechanism performance longevity and safety 50 Advanced Servo Library Reference Guide Rev A Library Routine sl c write Related Routines sl rw sl read sl c read sl write Advanced Servo Library Reference Guide Rev A 51 sl calibrate Library Routine Calling Sequence CALL sl calibrate mot num srch dist spd max accel time abs srch type hard tol states error Function Performs trajectory generation and home switch latching associated with calibration Usage Considerations The indicated motor must be in ASYNC mode Input Parameters mot num Motor number srch dist Optional search distance in encoder counts If undefined NULL TRAJECTORY is assumed spd max Optional maximum speed unsigned in counts millisecond If undefined default speed data is assumed accel time Optional acceleration time in msec If undefined default acceleration data is assumed abs Optional Absolute Relative motion flag TRUE for Absolute motion FALSE for Relative motion srch type Optional Search Type 1 Don t stop at transition 0 Stop at Home Switch transition 1 Stop at Hard Stop transition hard tol Optional Used ONLY if srch type 1 Specifies the position to
19. rate FOR i 0 TO size l io i amp SIGN i gt size 2 Fill Buffer END ANY Sine wave cycles 1 Number of cycles in buffer size INT STATE 14 freq Buffer size in ticks IF size lt 30 AND INT size lt gt size THEN If high frequency 176 Advanced Servo Library Reference Guide Rev A Chapter 3 acc STAT 100 TYP CAL E 14 IF TYP CAL IF MCS RET ex setpt Setpoint Buffer Example cycles size size INT STATE 14 cycles freq END freq STATE 14 cycles size Actual freq FOR i 0 TO size 1 io i amp SIN 360 cycles i size END E Configuring buffer for motor mt L sl setpt cfg mt size SELECT ROBOT 1 open 0 dec STATE 14 0 stt stt lt 0 GOTO 100 E Filling buffer for motor mt L sl setpt fill mt 1 size io stt stt lt 0 GOTO 100 DELETER io URN Advanced Servo Library Reference Guide Rev A 177 Chapter 3 ex follow Axis Following Examples ex follow Axis Following Examples This example program shows how to make one axis follow speed or position data from an external source In this case the external source is another robot but the source could be another encoder or data input from a serial or AdeptNet transmission PROGRAM ex follow ABSTRACT This routine shows how to use the drive routine fora J following electronic gearing application This program
20. sl trqsgn Motor sign None sl maxtrq Maximum DAC limit for motor DAC cts sl mxdtrq Duty Cycle Exceeded torque limit RMS DAC cts limit sl dtylg2 Duty Cycle Exceeded filter pole None sl sattim Time before Motor stalled error declared secs sLencsgn Encoder sign None slenccfg Encoder configuration byte None sl inxcnt Expected counts per zero index 0 Disable cts slenverr Soft envelope error tolerance cts sl toltim Milliseconds to be in tolerance before msec declaring it sl dacfltr or DAC Output Filter None sLtrqlg2 sl maxafg Maximum acceleration feed forward gain None sl defafg Default acceleration feed forward gain None sl velchk Velocity envelope error limit cts msec sl menerr Manual mode envelope error limit cts sl setbcf MI 6 axis to Board fault configuration None sl henerr Hard Envelope error tolerance cts sl mantrq Maximum torque to use in MCP manual DAC cts mode sl minafg Minimum acceleration feed forward gain None 88 Advanced Servo Library Reference Guide Rev A Table 2 3 Library Routine SPEC Servo Configuration Parameter Names Continued Parameter name Opcode Data returned Units sl homcfg Homing Configuration Byte Least significant four bits interpreted as follows 3210 ditt Bits 1 and 0 form a type field tt that is interpreted as tt 00 Calibrate using the home sensor tt 01 Calibrate using the hard stop tt 10 Calibrate to current position
21. sl write Advanced Servo Library Reference Guide Rev A sl read 93 sl read file Library Routine Calling Sequence CALL sl read file Sfname interactive first joint num joints error Function Reads an ASCII or Binary SPEC data file from the specified disk into RAM overwriting the data for the currently SELECTed robot Usage Considerations The servos will be restarted after the SPEC file is successfully read into RAM Current robot or joint specification data for the currently SELECTed robot will be lost at the succesful completion of this routine Input Parameter fname SPEC file name to read May include an absolute or relative path NFS shared disks are also supported If the file extension is omitted SPC will be assumed interactive Optional If TRUE this routine will describe the function of the read operation and prompt the operator for an input file name The interactive text will be output to the Monitor window If FALSE the file name must be specified and the routine will not be interactive Default is FALSE first joint Optional If only joint data is to be read this is the number of the first robot joint to be overwritten by the data in the file If a standard robot file SPC is to be read this value MUST be zero or undefined As a special case if this parameter is 1 this routine will prompt the user for the number of the robot joint to overwrite regardless of the value of the interact
22. 3 Sphere parms If write is TRUE array of obstacle definition parameters as Location parms 1 Centroid X position mm parms 2 Centroid Y position mm parms 3 Centroid Z position mm parms 4 Rotation YAW deg parms 5 Rotation PITCH deg parms 6 Rotation ROLL deg In addition to LOCATION data the following parameters are required to define the size of the obstacle For a BOX parms 7 Size X LENGTH mm parms 8 Size Y LENGTH mm parms 9 Size Z LENGTH mm 106 Advanced Servo Library Reference Guide Rev A Library Routine sl rw colsn det For a CYLINDER parms 7 Size DIAMETER mm parms 8 Size Z HEIGHT mm For a SPHERE parms 7 Size DIAMETER mm Output Parameters shape parms Shape of obstacle specified in obstacle argument 0 No obstacle 1 Box 2 Cylinder 3 Sphere If write is FALSE array of obstacle definition parameters for obstacle specifed in obstacle argument If shape is 0 output values are invalid If shape is 1 Box parms 1 Centroid X position mm parms 2 Centroid Y position mm parms 3 Centroid Z position mm parms 4 Rotation YAW deg parms 5 Rotation PITCH deg parms 6 Rotation ROLL deg parms 7 Size X LENGTH mm parms 8 Size Y LENGTH mm parms 9 Size Z LENGTH mm If shape is 2 Cylinder parms 1 Centroid X position mm parms 2 Centroid Y positi
23. 3 ex servo data Joint Motion Data Monitoring Example TYPE Buffer status code status 2 TYPE Data collection codes S FOR ii 3 TO LAST status TYPE status ii S ti d END TYPE Allow data collection for 5 seconds WAIT EVENT 5 Return the data buf status 2 Wait until buffer is full CALL sl getdata mtr num buf status data 1l 1 num recs out error IF error lt 0 THEN TYPE Error returning data error GOTO 120 END Display the first 64 data points Note The number of points that can be returned with each call to sl getdata depends on the memory available on the VMI FOR ii TYPI END 0 TO 63 Servordata Tp J T2 Ai r y Out ELL Gl Turn off the wave test set amplitude and period to 0 CALL sl defwave mtr num 0 0 0 error IF error lt 0 THEN TYPE Error halting data collection error GOTO 120 END Wait for the last axis to stop CALL sl break mtr num error IF error lt 0 THEN TYPE Break error GOTO 120 END Disable ASYNC mode for all axes 120 CALL sl enable mtr num FALSE FALSE error IF error lt 0 THEN TYPE Error disabling ASYNCH mode error END Delete the Advanced Servo Library data structures 170 Advanced Servo Library Reference Guide Rev A Chapter 3 ex servo data Joint Motion Data Monito
24. Compute direction of fine search plus a 1000 count tolerance dist SIGN srch dist exp dist 1000 IF cal type 0 THEN Find edge of home switch 1st Read current state of home switch CALL sl status mtr j status error IF error lt 0 THEN TYPE Error Reading Home Switch state for motor mtr nom GOTO 100 END Advanced Servo Library Reference Guide Rev A 189 Chapter 3 ex calibrate Motor Calibration Example Get current state of home switch results in 0 or 1 home sw state j status BAND H1 1 Drive motor towards edge of home switch CALL sl drive mtr IF error lt 0 THEN TYPE Error Driving motor mtr GOTO 100 END 8 fine speed dist FALSE error Poll for change in home switch state DO CALL sl status mtr j status error IF error lt 0 THEN TYPE Error Reading Home Switch state for motor mtxr eT GOTO 100 END UNTIL j status BAND H1 1 lt gt home sw state ABORT motion CALL sl stop mtr error IF error lt 0 THEN TYPE Error Aborting motion for motor mtr GOTO 100 END Begin motion towards Z Index CALL sl drive mtr 8 fine speed dist FALSE error IF error lt 0 THEN TYPE Error Driving motor mer Me GOTO 100 END Poll status register until lst Z index is seen or motion completes DO CALL sl status mtr j status
25. FREE mode is not allowed it is disabled in SPEC for a requested motor error code 609 Illegal joint number is returned An informational message is typed to the monitor if the global flag sl adv diag is nonzero Details WARNING Placing a gravity loaded joint into FREE mode could cause the joint to drop causing damage to the payload or the workspace FREE mode releases servo control of the motor by either disabling the Drive Enable signal for the specified channel or by commanding zero torque The specific method depends on the drive configuration specified in SPEC Advanced Servo Library Reference Guide Rev A 35 sl c free Library Routine This mode is intended to allow the mechanism to be easily moved by hand during setup or to create a compliant robot joint or joints to ease part insertion This routine places only one channel into or out of FREE mode To place multiple motors into FREE mode use sl free Related Routine sl free 36 Advanced Servo Library Reference Guide Rev A Library Routine sl c getdac Calling Sequence CALL sl c getdac board channel select dac error Function Returns the current DAC value being output to the selected channel Usage Considerations The indicated channel must be in ASYNC mode Input Parameters board Board number channel Channel number on board select If TRUE dac is returned as a voltage 10VDC If FALSE dac is returned in DAC units 32 767 Output
26. GOTO 140 board version 7 Get motors TYPE Moving all motors with sl mslew FOR ii 1 TO 1000 CALL sl mslew board mtr datal num mtrs IF error lt 0 THEN TYPE Error for motor Dip V y CALL sl adv diag error GOTO 120 END Disable ASYNCH mode for all axes 120 166 TYPE Disabl FOR ii ing ASYNC mode 1 TO num mtrs Advanced Servo Library Reference Guide Rev A error abs Add error string Display error string rea ECT ed robot is running on board number from version array must be in the same servo task enc pos S c03 Add error string Chapter 3 ex motion Robot Motion Example CALL sl enable ii FALSE FALSE error IF error lt 0 THEN TYPE Error for motor ii S CALL sl adv diag error Add error string END Delete the Advanced Servo Library data structures 140 CALL sl asl cleanup RETURN END Advanced Servo Library Reference Guide Rev A 167 Chapter 3 ex servo data Joint Motion Data Monitoring Example ex servo data Joint Motion Data Monitoring Example This example program shows how to establish a data collection operation so you can monitor the behavior of an axis This is similar to the operations that are performed with the SPEC utility program tuning options PROGRAM ex servo data robot Spassword mtr num ABSTRACT I
27. Parameters write TRUE to write values FALSE to read values offsets Real array containing six values corresponding to the six degrees of freedom describing the collision detection zone first Optional First element to read write in the offsets array Default is 0 last Optional Last element to read write in the offsets array Default is 5 Output Parameters offsets If write is FALSE returns the current collision avoidance offsets as follows offsets 0 X offset in millimeters offsets 1 Y offset in millimeters Only offset currently supported offsets 2 Z offset in millimeters offsets 3 RX offset in degrees offsets 4 RY offset in degrees offsets 5 RZ offset in degrees error Success error code see Errors on page 20 for details on special error codes for the rw routines If the SELECTed robot is not a XY3Z robot error code 533 Invalid hardware configuration will be returned If Robot Option Bit 5 is not enabled error code 804 Option not installed will be returned 104 Advanced Servo Library Reference Guide Rev A Library Routine sl rw collision Details This program will check to ensure that the SELECTed robot is an XY3Z device and that Option Bit 5 is enabled The XY3Z robot module has been enhanced to provide a simple form of collision detection and avoidance for the special case of two XY3Z robots mounted above the same work surface For this configuration i
28. Routines Split Axis Gantry Module Specific Routines Miscellaneous Routines Routines for Using the Setpoint Buffer Routines for Reading Writing Servo Parameters Example Routines Channel Numbers vs Motor Numbers Reading Writing on a Motor Number Basis Reading Writing on a Channel Basis Parameter Descriptions Initialization Password Protection Synchronous vs Asynchronous Mode Errors Advanced Servo Library Reference Guide Rev A 10 11 11 12 12 12 12 13 13 13 14 14 14 15 15 16 17 17 17 17 18 18 19 20 Chapter 1 Introduction This chapter presents basic material and instructions for using the Advanced Servo Library Introduction The Advanced Servo Library is a set of routines that allow you to perform robot control outside of the normal V command set These routines allow you to perform actions such as Dynamic reading writing of many SPEC parameters Direct control of a mechanism on an axis by axis basis Direct access to the setpoint buffer Direct access to joint servo data The majority of V applications will not require the Advanced Servo Library These routines should be used only by programmers who are very familiar with the Adept control system Normal V operations include numerous checks to protect the mechanism In many cases the Advanced Servo Library routines bypass these checks and it becomes the responsibility of the programmer to ensure proper and safe
29. Spassword robot 7Assume no password END Initialize things TYPE Initializing the Advanced Servo Library 172 Advanced Servo Library Reference Guide Rev A Chapter 3 CALL sl init Spassword ex setpt Setpoint Buffer Example status IF status robot lt gt 1 THEN TYPE Advanced Servo Library initialization failure S TYPE for robot 10 robot T GOTO 100 Exit END TYPE Enabling ASYNC mode FOR i 1 TO ID 3 10 robot ID gt number of motors CALL sl enable i TRUE FALSE error END Define the path locations IF DEFINED circle THEN circ circle Used the passed value ELSE circ FALSE Default is sine wave path END IF circ THEN Compute setpoints for circle HERE loc Record current location size 1000 Buffer size 1000 points rad 20 Radius of circle FOR i 0 TO size 1l Compute transforms for circle SET loc i loc RZ 360 i size 1 TRANS rad RZ 360 i size 1 END HERE ppoint 0 Record current joint locations a CALL Compute setpoints ex setpt path EY CALL ELSE r r CALL CALL CALL CALL CALL END PROMPT l exttrig 1 Configure setpoint buffers for individual on each motor Sin ex sin ex sin Sin si ENT
30. Undefined value if mtr argument is undefined Returns 407 Invalid argument if selected robot does not contain motor number specified by AME u Returns 604 Robot power off if high power is not enabled Returns 0 or 1 if routine completes successfully SIDE EFFECTS Motor motion and loss of current calibration NOTE If this routine is used to calibrate all the motors on a given robot the system parameter NOT CALIBRATED must be updated to reflect the correct calibration status of the robot s in the system This parameter informs V of the calibration status of of the robot s in the system If this parameter is set incorrectly the user application program will not be able to ATTACH to the robot The calling program must set this parameter This routine does NOT modify the NOT CALIBRATED parameter S the V Language User s Guide for details Copyright c 1997 by Adept Technology Inc AUTO DOUBLE j status AUTO accel time dist r undefined er inv arg er pwr off AUTO er no zidx srch type AUTO REAL cal dir cal method cal pos cal type cur pos AUTO REAL exp dist fine speed hrd tol srch dist srch speed AUTO REAL states 6 AUTO a Spwd 15 Advanced Servo Library Reference Guide Rev A 185 Chapter 3 Define error codes referenced by this program r undefined 401 Undefined value er inv arg 407 Invalid argument er pwr off 604 7 Robot power off er no zidx 1004 No zero i
31. WARNING The axis brake should not be enabled for joints that are under servo control Be very careful when releasing the brake on a gravity loaded joint that is not under servo control because the joint may drop immediately Related Routine sl brake Advanced Servo Library Reference Guide Rev A 31 sl c break Library Routine Calling Sequence CALL sl c break board channel error Function This program checks the device status information to assure the axis is stabilized or in tolerance before proceeding Usage Considerations The indicated channel must be in ASYNC mode Input Parameters board Board number channel Channel number on board Output Parameter error Standard success error code Details This routine performs a channel specific function similar to the V BREAK instruction Program execution will be delayed until the motor is within the tolerance COARSE FINE specified by the application program Related Routine sl break 32 Advanced Servo Library Reference Guide Rev A Library Routine sl c drive Calling Sequence CALL sl c drive board channel accel spd dist abs error Function This program moves the motor a specified distance Acceleration and speed are included to control the motion Usage Considerationss The program does not check for encoder roll over The indicated channel must be in ASYNC mode Input Parameters board Board number channel Channel number on board accel
32. be disabled ASYNC mode is enabled disabled on a channel by channel basis While a motor or motors are in ASYNC mode V will continue to plan a motion for the motor s however motion control is left to the application program using the Advanced Servo Library routines The remaining motors on the robot will continue to function normally That is the robot can be commanded to move using the standard V motion commands NOTE ASYNC mode can also be disabled by issuing the V command DISABLE POWER Subsequent power up of the robot will enable SYNC mode Related Routine sl enable 34 Advanced Servo Library Reference Guide Rev A Library Routine sl c free Calling Sequence CALL sl c free board channel enable rror Function Places the desired channel into FREE mode if FREE mode is allowed for the motor attached to the channel Usage Considerations This routine will automatically place the required channel into and out of ASYNC mode The FREE mode digital signal defined in SPEC is supported by this routine If disabling FREE mode the channel will automatically be placed back into SYNC mode position servo mode and the robot will be DETACHed and reATTACHed to the calling task Input Parameters board Board number channel Channel number on board enable If TRUE enable FREE mode for specified channel If FALSE disable FREE mode for specified channel Output Parameter error Standard success error code If
33. enable routines Asynchronous mode tells V that its commands are being ignored and that commands issued directly from a user program are being processed When a channel is in asynchronous mode normal V motion instructions will be ignored Thus when you have completed any asynchronous operations you must again call sl enable or sl c enable to disable asynchronous mode before using normal V instructions An alternative method of disabling asynchronous mode is to disable high power Subsequent power up of the robot will then reenable synchronous mode automatically Advanced Servo Library Reference Guide Rev A 19 Chapter 1 Errors Errors In general the Advanced Servo Library routines return error values in the normal V ranges 0 or 1 Success lt 0 Error as described in the V Language Reference Guide The following are special errors defined for the Advanced Servo Library 1 No system data to edit for the referenced robot That is the data is irrele vant for this type of robot no data is read or written 2 Internal consistency error Make sure all referenced motors and boards are installed and configured no data is read or written 3 Entered value too small write operation only 4 Entered value too large write operation only 5 Illegal digital I O number entered write operation only 6 Illegal data type entered e g a string entered where a numeric value is required These values are always r
34. obstacle shapes 1 2 3 Centroid Z position mm 4 5 For a Box e Size X LENGTH mm e Size Y LENGTH mm e Size Z LENGTH mm For a Cylinder e Size DIAMETER mm e Size Z HEIGHT mm For a Sphere e Size DIAMETER mm Advanced Servo Library Reference Guide Rev A 109 sl rw comp Library Routine Calling Sequence CALL sl rw comp mot num write last val comp error Function This program reads or writes the linear compensation table for the SELECTed robot This will allow user programs to change the linear compensation values used in V Usage Considerations This routine requires an enhanced robot module that supports linear compensation Input Parameters mot num Motor number write If TRUE write values if FALSE read values last val If write is TRUE total number of correction values to apply If write is FALSE total number of correction values to read clipped at 1 010 comp If write is TRUE Linear Compensation table in the following format comp 1 Lowest position for comp values to be corrected comp 2 Highest position in mm for corrections comp 3 Change in joint position per correction value comp 4 9 Future use Set equal to 0 comp 10 First correction value at the lowest position These correction values are equal to actual_position commanded_position comp 11 Second correction value comp 1010 Last possible correction value Input Parameters comp If write is FALSE returns
35. pco pos make sure that the initial PCO state is cleared when this routine is called pco st 0 Advanced Servo Library Reference Guide Rev A 85 sl pcocfg NOTES 1 Related Routine 86 sl c pcocfg Library Routine On the VMI each channel produces an EQU signal but there is only one physical PCO per board and no matter how it is configured the PCO will always be directly controlled with the pco st argument The PCO tracks the most recent change in state of any of its available trigger sources position compare triggers or pco st If two sources change at exactly the same time clearing the PCO signal has priority over asserting the PCO signal V can use the PCO function to generate camera strobes Changing this configuration on a belt encoder may therefore interfere with the operation of the camera strobes The compare delta is unidirectional That is after the initial compare position causes a match a PCO trigger the input parameter delta is added to it to form a new compare position The old compare position will not trigger any changes in the PCO or camera strobe lines should the axis back up over it again To force the system to trigger using the old position simply call this routine again to reconfigure the PCO before backing over the position The VJI supports the Position Compare function on its belt encoder channels only and has no physical PCO output so several of the options described above are not
36. problem 2 RSC power failure 670 The RSC has reported that its power is failing 3 Servo board 12v fuse open Your servo board has a fused 12v 671 bus and the system has detected an open circuit at that location Advanced Servo Library Reference Guide Rev A 55 siI clr ltch err Library Routine Table 2 2 Latched Errors Bit Definition Continued Bit V Error Message V error code Description 4 Servo board solenoid fuse Your servo board has a fused robot open 672 solenoid control line and the system has detected an open circuit at that location 5 Servo board E STOP fuse Your servo board has a fused ESTOP open 673 circuit and the system has detected an open circuit at that location 6 E STOP from robot 640 The motion interface board VJI has detected an E STOP condition generated by the RSC in the robot Adept robots only 7 E STOP from amplifier The motion interface board has 641 detected an E STOP condition generated by the amplifiers 8 Motor amplifier fault Mtr The power amplifier for the n 1018 indicated motor has signaled a fault condition on fault line 1 This fault occurs only for devices controlled by an AdeptMotion Servo system 9 No air pressure 607 V detected that the air supply to the robot brakes and hand has failed Adept robots only 10 Motor overheating Mtr n The indicated motor i
37. robot will be considered calibrated and able to move Related Routines sl adjust sl c here sl here Advanced Servo Library Reference Guide Rev A 29 sl c amp Library Routine Calling Sequence CALL sl c amp board channel enable rrot Function This program turns on or off the Drive Enable signal for the indicated channel Usage Considerations The indicated channel must be in ASYNC mode Input Parameters board Board number channel Channel number on board enable TRUE to turn ON the drive enable signal FALSE to turn OFF the drive enable signal Output Parameter error Standard success error code Details This program enables or disables the Drive Enable signal for the specified channel In order to command motion of the motor its amplifier must be enabled by the Drive Enable signal Related Routine sl amp 30 Advanced Servo Library Reference Guide Rev A Library Routine sl c brake Calling Sequence CALL sl c brake board channel enable Fror Function This program turns the axis brake on or off Usage Considerations The indicated channel must be in ASYNC mode Input Parameters board Board number channel Channel number on board enable If TRUE enable the brake If FALSE disable the brake Output Parameter error Standard success error code Details This routine will enable or disable the brake signal for the specified channel Typically the brakes are released when this signal is enabled
38. to the application program using the Advanced Servo Library routines The remaining motors on the robot will continue to function normally That is the robot can be commanded to move using the standard V motion commands NOTE ASYNC mode can also be disabled by issuing the V instruction DISABLE POWER Subsequent power up of the robot will enable SYNC mode Related Routine sl c enable 66 Advanced Servo Library Reference Guide Rev A Library Routine sl exttrig Calling Sequence CALL sl exttrig enable group error Function This routine causes an external trigger to occur on all axes Usage Considerations The routines sl setpt cfg and sl setpt fill must have been called previously to configure and fill the setpoint buffer prior to executing it with this routine Input Parameters enable Enable flag TRUE to enable FALSE to disable group Optional Trigger group number to control the default is 0 gt 0 starts a setpoint buffer Otriggers data collection lt Ostops a setpoint buffer Output Parameter error Standard success error code Details This command is global in that all axes are affected identically even across the servo task boundaries External triggers that occur while data is being collected are ignored This guarantees that the buffer will fill each time a trigger is accepted If the buffer is NOT collecting data a new trigger causes all data currently in the buffer to be lost This routine is
39. tt 11 Absolute calibration Reserved for Adept use only Bit 2 forms an index field indicating whether to calibrate to the nearest zero index or not i 1 Calibrate to home switch hard stop or current position i 0 Calibrate to zero index Bit 3 forms a direction field indicating which direction to search for the index d 1 Home to index moving ON sensor d 0 Home to index moving OFF sensor None sl sofint Stop on force integral gain None sl ganxen Gantry skew error gain None sl ganvmx Gantry maximum velocity feed forward gain None Advanced Servo Library Reference Guide Rev A sl read 89 sl read Library Routine Table 2 3 SPEC Servo Configuration Parameter Names Continued Parameter name Data returned Units Opcode sl mchcfg Machine input polarity Bitfield as follows None Bit 0 Home sensor Bit 1 Positive Overtravel Bit 2 Negative Overtravel Bit 3 Drive Fault If bit is set logical 1 then signal is configured as Active High otherwise signal is configured as Active Low sl homin1 Maximum distance to search for first zero cts index sl homin2 Calibration position at first zero index cts sl homin3 Maximum width of home sensor or hardstop cts tolerance depending on calibration configuration sl homin4 Expected distance from home sensor to first cts zero index or absolute position of factory calib
40. using the normal deceleration phases of a motion this is not an immediate halt of axis motion Related Routines sl c drive sl c stop sl drive 154 Advanced Servo Library Reference Guide Rev A Library Routine sl version Calling Sequence CALL sl version joint S version version error Function This program returns AdeptMotion VME version and revision information as well as basic information on the selected joint Input Parameter joint Joint number Output Parameters Sversion Array of strings as follows 0 Servo Code version revision edit letter and fork number Format vvref Example 122B2 version Real array containing the following 0 Number of channels on board 1 Axis type 1 primary 2 secondary 2 Servo loop rate in Hz B Max DAC for this motor 4 Servo Board Type 0 VMI 1 ACB 2 VJI 3 VFI 4 MI 6 or MI 3 5 Robot number that owns joint 6 Motor number corresponding to joint 7 Board number running joint 8 Channel number running joint 9 Processor running servo code for joint 10 Calibration compatibility code 11 Robot serial number 12 Servo mechanism ID 13 Servo board revision error Standard success error code Related Routine sl c version Advanced Servo Library Reference Guide Rev A 155 sl wave trig Library Routine Calling Sequence CALL sl wave trig mot num sample mode sync error Function This program defines the trigger u
41. 178 ex j4 gainset Dynamic Tuning of Adept Joint 4 Example 182 ex calibrate Motor Calibration Example 185 ex free FREE Mode Example 194 Advanced Servo Library Reference Guide Rev A 163 Chapter 3 ex motion Robot Motion Example This chapter provides some example programs for using the Advanced Servo Library The code for these files is in unprotected form in the file EXAMPLES V2 on the Advanced Servo Library disk ex motion Robot Motion Example The following program shows the basic steps for initializing and moving a joint with the Advanced Servo Library PROGRAM ex motion robot num mtrs Spassword r ABSTRACT This example program shows how to initialize the Advanced Servo Library and move a robot This routine performs the following Note T Enable ASYNCH mode Drive the robot joints sequentially using sl drive Wait for joints to stop Drive the joints simultaneously using sl mslew Disable ASYNCH mode Delete the Advanced Servo Library data structures his code is written for a system with one robot and one VMI board The robot uses the XYZ kinematic module Different combinations of robots VMIs and kinematic modules will require INPUT PARMS OUTPUT PARMS SIDE EFFECTS Copyright c modification of this code to work correclty robot Optional Robot number to move Default is Robot 1 if undefined num m
42. 55 sl wave trig routine 156 sl write routine 158 sl wrt dat file routine 159 sl wrt sys file routine 161 split axis gantry module specific routines 14 status routines 13 summary of library routines 12 synchronous vs asynchronous mode 19 T tuning of Adept joint 4 example dynamic 182 U using the setpoint buffer routines for 15 utility routines initialization and other 12 200 Advanced Servo Library Reference Guide Rev A Adept User s Manual Comment Form We have provided this form to allow you to make comments about this manual to point out any mistakes you may find or to offer suggestions about information you want to see added to the manual We review and revise user s manuals on a regular basis and any comments or feedback you send us will be given serious consideration Thank you for your input NAME DATE COMPANY ADDRESS PHONE MANUAL TITLE PART NUMBER and REV level COMMENTS MAIL TO Adept Technology Inc Technical Publications Dept 11133 Kenwood Rd Cincinnati OH 45242 FAX 513 792 0274 00963 04000 Rev A
43. ARSE tolerance Input Parameters mot num Motor number write If TRUE write value if FALSE read value ctol If write is TRUE new value for coarse tolerance Output Parameters ctol If write is FALSE returns coarse tolerance error Success error code see Errors on page 20 for details on special error codes for the rw routines Details The value for this motion parameter will be changed in local RAM only The value is not written to the system disk CAUTION Be careful when writing motion parameters They can have large effects on mechanism performance longevity and safety Related Routine slL rw ftol Advanced Servo Library Reference Guide Rev A 113 sl rw enccfg Library Routine Calling Sequence CALL sl rw enccfg mot num write enc cfg error Function This program will read or write the encoder configuration byte for the specified motor Input Parameters mot num Motor number write TRUE to write new configuration FALSE to read current configuration enc cfg If write is TRUE new encoder configuration byte Output Parameters enc cfg If write is FALSE current encoder configuration byte error Success error code see Errors on page 20 for details on special error codes for the rw routines 658 Device hardware not present is returned if an attempt is made to set a Rev 0 board up for an 8MHz edge rate Details The encoder configuration byte is a bit field broken down as follows
44. Advanced Servo Library Reference Guide Version 13 0 Advanced Servo Library Reference Guide Version 13 0 Part 00963 04000 Rev A August 1998 cert 150 Rose Orchard Way San Jose CA 95134 USA Phone 408 432 0888 Fax 408 432 8707 ws Otto Hahn Strasse 23 44227 Dortmund Germany Phone 49 231 75 89 40 Fax 49 231 75 89 450 adept 41 rue du Saule Trapu 91300 Massy France Phone 33 1 69 19 16 16 Fax 33 1 69 32 04 62 technology inc The information contained herein is the property of Adept Technology Inc and shall not be re peeled in whole or in part without prior written approval of eh Technology Inc The in ormation herein is subject to change without notice and should not be construed as a commitment by Adept Technology Inc This manual is periodically reviewed and revised Adept Technology Inc assumes no responsibility for any errors or omissions in this document Critical evaluation of this manual by the user is welcomed Your comments assist us in prepa
45. Amount of time to reach max speed in milliseconds spd Maximum speed in encoder counts millisecond dist The distance the axis is to move in encoder counts abs If TRUE drive to the actual position If FALSE drive to relative position Output Parameter error Standard success error code Details This routine performs an operation similar to the V DRIVE program instruction However the programmer has the option to make the move to an absolute position or relative to the current position of the motor Related Routines sl drive sl mslew sl slew Advanced Servo Library Reference Guide Rev A 33 sl c enable Library Routine Calling Sequence CALL sl c enable board channel enable finish error Function This program enables disables asynchronous mode for controlling a motion board channel Input Parameters board Board number channel Channel number on board enable If TRUE enable ASYNC mode for specified channel If FALSE disable ASYNC mode for specified channel finish If TRUE the program will wait until the last motion instruction for the indicated channel has completed before DETACHing and ATTACHing the robot Output Parameter error Standard success error code Details Before any routines in the Advanced Servo Library that require ASYNC mode can function ASYNC mode for any referenced channel must be set Once ASYNC mode is set normal V motion instructions will be ignored To resume normal operation ASYNC mode must
46. An informational message is typed to the monitor if the global flag sl adv diag is nonzero Details WARNING Placing a gravity loaded joint into FREE mode could cause the joint to drop causing damage to the payload or the workspace FREE mode releases servo control of the motor by either disabling the Drive Enable signal for the specified channel or by commanding zero torque The specific method depends on the drive configuration This mode is intended to allow the mechanism to be easily moved by hand during setup or to create a compliant robot joint or joints to ease part insertion See the example routine ex free FREE Mode Example for more details Related Routine sl c free Advanced Servo Library Reference Guide Rev A 69 sl getdac Library Routine Calling Sequence CALL sl getdac mot num select dac error Function Returns the current DAC value being output to the selected motor Input Parameters mot num Motor number select If TRUE dac is returned as a voltage 10 If FALSE dac is returned in DAC units 32 767 Output Parameters dac Current DAC output in DAC counts or volts depending on the value of select error Standard success error code Details This function returns the current value of the DAC output to the robot amplifiers Since there normally is some steady state holding torque applied when joint is servoing in place this value will generally be 0 only when arm power is disabled or th
47. END Enable ASYNCH mode for all joints TYPE Enabling ASYNC mode FOR ii 1 TO num mtrs CALL sl enable ii TRUE FALSE error IF error lt 0 THEN TYPE Error for motor Dip Y Wa 7S CALL sl adv diag error Add error string GOTO 120 END END acc t 10 Time to reach max acceleration spd max 10 Maximum speed encoder counts ms dist 200 Distance to move encoder counts abs FALSE Make a relative mov Drive each axis TYPE Driving each axis with sl drive FOR ii 1 TO num mtrs CALL sl drive ii acc t spd max dist abs error IF error lt 0 THEN TYPE Error for motor ii S Advanced Servo Library Reference Guide Rev A 165 Chapter 3 Wait for t Generate motor data for 50 Get the servo ex motion Robot Motion Example CALL sl adv diag error GOTO 120 END he last axis to stop TYPE Waiting for all the motors to stop CALL sl break num mtrs error IF error lt 0 THEN CALL sl adv diag error GOTO 120 END TYPE PROMPT Press enter to continue with the routine sl mslew TYPE sl mslew mtr data l 1 mtr data 2 10 mtr data 3 2 mtr data 4 10 mtr data 5 3 mtr data 6 10 mtr data 7 4 mtr data 8 10 board number that the SEL This is needed for the subsequent CALL to sl mslew Move all motors simultaneously error CALL sl version 1 S version version IF error lt 0
48. F assumes that there are two robots in the system Robot 1 is gt sent a normal V command to move one axes a random distance i The DAC value for robot 1 is read and passed to a single axis of the second robot causing robot 2 to follow robot 1 r The first application is based on speed r NOTE Unless carefully programmed violent motions of the following robot may result r s The second application is based on motor position r Each application will run until input signal 1001 is removed or low r INPUT PARMS None OUTPUT PARMS None gt SID A EFFECTS None Copyright c 1995 1997 by Adept Technology Inc AUTO cur pos dac decel rate error ii ref pos scale spd AUTO REAL enc pos 15 mtr data 15 start pos status 2 AUTO start Set the scale factor for the slave robot scale 1 Call the Advanced Servo Library initialization routine CALL sl init status IF NOT status 1 OR NOT status 2 THEN TYPE Error WRITE access to one of the robots is denied PAUSI END B Select Robot 1 178 Advanced Servo Library Reference Guide Rev A Chapter 3 ex follow Axis Following Examples DETACH 0 SELECT ROBOT 1 ATTACH 0 Enable ASYNCH mode for joint 2 of robot 2 CALL sl c enable 2 2 TRUE FALSE error IF error lt 0 GOTO 120 Define a starting point for the first robot SET start
49. It always returns the current position in encoder counts If the loc argument is specified the routine will also compute the current location in joint units millimeters or degrees Related Routines sl c where sl c here sl here Advanced Servo Library Reference Guide Rev A 157 sl write Library Routine Calling Sequence CALL sl write mot num opcode value save error Function This program writes tuning and other SPEC parameters to memory Input Parameters mot num Motor number opcode Symbolic name of desired value see the description of sl read for a list of the SPEC parameters that can be written value New value for the specified parameter save If TRUE save the new value the next time a parameter file is written or parameters are written to the V operating system If FALSE use this value only for the current session This routine will execute faster with this parameter set to FALSE Output Parameter error Standard success error code Details The value for this motion parameter will be changed in local RAM only The value is not written to the system disk If you wish to save the parameter to a disk file or to the system disk using the routines sl wrt dat file or sl wrt sys file respectively the save parameter must be set to TRUE Otherwise the change is made only in RAM CAUTION Be careful when writing motion parameters They can f have large effects on mechanism performance longevity
50. NPUT PARMS OUTPUT PARMS This program shows how to set up data collection robot Robot number to test Spassword Optional Robot module password to mtr SIDE EFFECTS Copyright access SPEC data May be undefined num Motor number to test on robot None None c 1995 1996 by Adept Technology Inc AUTO buf status data cycle data 15 error ii num data AUTO num recs out 128 smpmode sync test update rate AUTO wave ampl wave period AUTO Spassword 15 LOCAL status Define the password s if required IF DEFINED password THEN Spa ELSE Spa END ssword robot Spassword Use password passed in ssword robot 7Assume no password Call the Advanced Servo Library initialization routine CALL sl init Spassword status IF status robot lt gt 1 THEN TYPE Advanced Servo Library initialization failure S TYPE for robot 1I0 robot GOTO 140 Exit END Select a robot robot must be calibrated and High Power must be enabled DETACH 0 SELECT ROBOT robot ATTACH 0 168 Advanced Servo Library Reference Guide Rev A Chapter 3 Enable ASYNC mode for specified joint CALL sl enable mtr num TRUE FALSE error IF error lt 0 THEN TYPE Error enabling ASYNC mode error GOTO 120 END Define test type test 0 wave ampl 500
51. PROGRAM SIDE EFFECTS The gain for joint 4 of the Adept robot will be changed This may cause the motor to become unstable USE CAUTION MISC This routine is for example purposes only You should experiment with the SPEC parameters to obtain optimal joint 182 Advanced Servo Library Reference Guide Rev A Chapter 3 ex j4 gainset Dynamic Tuning of Adept Joint 4 Example z performance under different loads Copyright c 1996 97 by Adept Technology Inc AUTO error mtr orig igain LOCAL stt Initialize AUTO values mtr 4 Joint 4 Initialize the ASL CALL sl init stt IF stt 1 lt gt TRUE GOTO 100 If error exit routine ATTACH Attach the robot Read in the orginal factory setting for the Integral Gain CALL sl rw tuning mtr FALSE FALSE orig igain error IF error lt 0 GOTO 100 YPE Original Integral gain for Joint mtr orig igain YPE Cl Moving to LOC 1 MOVE loc 1 Move to loc 1 BREAK Wait for motion to complete TYPE Cl Moving to LOC 2 MOVE loc 2 Move to loc 2 BREAK Wait for motion to complete Increase Integral Gain by 25 CALL sl rw tuning mtr TRUE FALSE orig igain 1 25 F r F L error IF error lt 0 GOTO 100 YPE New Integral gain for Joint mtr orig igain 1 25 YPE C1 Moving to LOC 3 MOVE loc 3 Mo
52. Parameters dac Current DAC output in DAC counts or volts depending on the value of select error Standard success error code Details This function returns the current value of the DAC output to the motor amplifiers Since there normally is always some steady state holding torque applied when a joint is servoing in place this value will generally be 0 only when arm power is disabled or the motor is uncalibrated In the case of velocity style drives 0 indicates no commanded velocity Related Routines sl getdac sl setdac sl c setdac Advanced Servo Library Reference Guide Rev A 37 sl c here Library Routine Calling Sequence CALL sl c here board channel count error Function This program sets the encoder register to the indicated value and marks the motor calibrated without moving the motor Usage Considerations The indicated channel must be in ASYNC mode Input Parameters board Board number channel Channel number on board count Encoder value to place in the register Output Parameter error Standard success error code Details This routine sets the position reference of the motor attached to the indicated channel This is useful for example in custom calibration programs that require reading a resolver or absolute encoder to get the position without moving the motor After computing the correct position in encoder counts this routine can be called to set the position reference WARNING Any existing calibrat
53. Release the specified axis brakes Delay software execution until the last motion is complete Move one or more joints Move to an encoder position every servo tick Return various servo identification data Read the status bits for an axis sl over travel Read the status of the over travel switches sl read opt bit Read the status of various system option bits Routines for Collecting Servo Data sl listdata Return status of servo data collection sl getdata Retrieve the data collected from the servo task Advanced Servo Library Reference Guide Rev A 13 Chapter 1 Summary of Library Routines sl defdata Define the data to be collected from the servo task sl deftrig Define the data collection trigger mode and synchronization sl defwave Define motion profile for axis testing sl wave trig Trigger motion profile defined with sl defwave Encoder and DAC Output Routines sl setdac Set the DAC to a specified voltage sl c setdac sl getdac Read the DAC output value sl c getdac sl adjust Adjust the position reference and mark the motor calibrated sl c adjust sl here Set the position reference and mark the motor calibrated sl c here sl where Read the current position of the motor sl c where Split Axis Gantry Module Specific Routines sl set gan splt Set split axis gantry pointers sl slave mode Put motors into out of slave mode Miscellaneous Routines 14 sl clr
54. Rev A 187 Chapter 3 ex calibrate Motor Calibration Example END Set position reference and mark the motor calibrated The sl here amp Sl adjust routines mark the motor calibrated as far as the servo s are concerned mtr END CALL sl here mtr cur pos error IF error lt 0 THEN TYPE Error setting position reference for motor GOTO 100 Enable the amplifier The amp must b nabled before any motion can occur CALL sl amp mtr IF error lt 0 THEN TRUE error TYPE Error enabling the amplifier for motor mtr GOTO 100 END IF cal type 2 GOTO 110 Motor is now calibrated Exit Initialize general calibration parms accel time 16 Acceleration time in milliseconds IF cal type 0 THEN Calibrating to hard stop srch type 1 Stop at hard stop transition ELSE srch type 0 Stop at home switch transition END Begin search for calibration feature home switch or hard stop CALL sl calibra srch type hrd t LE lt 6 END Loop here chec feature hard WHIL mee pT 188 te mtr srch dist srch speed accel time FALSE ol states error rror lt 0 THE TYPE Error beginning calibration motion for motor mtr GOTO 100 Z king calibration status until motor reaches calibration stop or home sensor E states 0 lt gt 0 DO While motor trajectory is NOT done
55. TO 100 END Read Fine Search speed 192 Advanced Servo Library Reference Guide Rev A Chapter 3 ex calibrate Motor Calibration Example CALL sl read mtr sl homin7y fine speed error IF error lt 0 THEN Stxt Error reading Fine Search Speed from servos for motor GOTO 100 END Read Home sensor width or hard stop tolerance The meaning depends on the calibration method CALL sl read mtr sl homin3 hrd tol error IF error lt 0 THEN txt Error reading Hard Stop Tolerance from servos for motor END 100 IF LEN txt THEN If an error occured Stxt txt SENCODE mtr Encode motor number to error txt END RETURN END Advanced Servo Library Reference Guide Rev A 193 Chapter 3 ex free FREE Mode Example ex free FREE Mode Example This example program shows how to make Joint 4 RZ a compliant joint to ease part insertion PROGRAM ex ABSTRACT free robot Spassword error This is an example routine that will demonstrate Joint 4 compliance in order to successfully insert a chamfered keyed A part into a hole This routine assumes that two locations are ALREADY defined PICK PLACI J The robot will perform the following Approach the PICK location Aquire the part Depart PICK location Approach the PLACE location Place J4 into FREE mode Move to PLACE location Release the part Depart PLACE location
56. TRUE to turn ON the Drive Enable signal FALSE to turn OFF the Drive Enable signal Output Parameter error Standard success error code Details This program enables or disables the Drive Enable signal for the specified motor In order to command motion of the motor its amplifier must be enabled by the Drive Enable signal Related Routine sl c amp Advanced Servo Library Reference Guide Rev A 25 sl asl cleanup Library Routine Calling Sequence CALL sl asl cleanup Function Deletes all the global data structures defined by the Advanced Servo Library Input Parameters None Output Parameters None Details This routine may be called whenever you are finished using the Advanced Servo Library It deletes all the global data structures from memory The command DELETEM a advservo will delete all the Advanced Servo Library routines 26 Advanced Servo Library Reference Guide Rev A Library Routine sl brake Calling Sequence CALL sl brake mot num enable error Function Turn on or off the axis brake Usage Considerations The indicated motor must be in ASYNC mode Input Parameters mot num Motor number enable If TRUE enable the brake If FALSE disable the brake Output Parameter error Standard success error code Details This routine will enable or disable the brake signal for the specified motor WARNING The axis brake should not be enabled for joints that are under servo control Be very careful when
57. YNC mode CALL sl enable mtr TRUE FALSE error IF error lt 0 THEN TYPE Error entering ASYNC mode for motor mtr S GOTO 100 END Read the current calibration configuration from the servos for the requested motor This routine returns the following data i cal type 0 Calibrate using home sensor 1 Calibrate using hard stop A 2 Calibrate to current position i cal method 0 Calibrate to zero index 1 Calibrate to home switch or hardstop i n Galvad 0 Calibrate to zero index moving OFF the sensor 1 Calibrate to zero index moving ON the sensor CALL sl rw calcfg mtr FALSE cal type cal method cal dir error IF error lt 0 THEN TYPE Error reading calibration configuration from servos for MOLonre MEE Bist GOTO 100 END Read calibration control parameters from V This is the data entered in 3 SPEC CALL ex get cal parm mtr srch dist cal pos srch speed fine speed hrd tol S txt error IF error lt 0 THEN TYPE Stxt Type out error text GOTO 100 Exit routine END Begin motion to calibration feature IF cal type 2 THEN Calibrate to current position Read current motor position CALL sl read mtr sl motpos cur pos error IF error lt 0 THEN TYPE Error reading current motor position for motor Wy MEL GOTO 100 Advanced Servo Library Reference Guide
58. active parameter num joint s Optional If only joint data is to be written this is the number of joints to write If all robot data is to be written this value must be zero or undefined Output Parameter error Success error code Details This routine normally writes all of the accessible data for a given robot Alternatively it can be used to write the data for a specific joint or series of joints In this mode general robot data e g brake control I O number of joints Cartesian motion times is suppressed Advanced Servo Library Reference Guide Rev A 159 sl wrt dat file Library Routine Although joint mode allows the data for multiple sequential joints to be written to a single data file WRITING THE DATA FOR MULTIPLE JOINTS INTO ONE DATA FILE SHOULD BE USED WITH EXTREME CARE When writing a joint mode file only the following cases of single or sequential joints should be written into a single data file 1 Any single joint coupled or uncoupled 2 Any sequence of uncoupled joints 3 A single complete set of coupled joints For instance if there is a 3x3 matrix for three coupled joints all three joints must be specified together and no extra joints can be specified Related Routines 160 sl read file sl wrt sys file Advanced Servo Library Reference Guide Rev A Library Routine sl wrt sys file Calling Sequence CALL sl wrt sys file Sdrive interactive error Function This program saves all mot
59. alibrate routine 52 sl defdata routine 59 sl deftrig routine 61 sl defwave routine 63 sl drive routine 64 sl enable routine 66 sl exttrig routine 67 sl getdac routine 70 sl getdata routine 71 sl hand ctrl routine 73 sl here routine 74 sl init routine 75 sl jnt to mtr routine 77 sl listdata routine 78 sl mslew routine 79 sl mtr to jnt routine 82 sl over travel routine 83 sl pcocfg routine 84 sl read routine 87 sl read file routine 94 sl rw accel routine 99 sl rw amask routine 100 sl rw bcklsh routine 101 sl rw cal file routine 102 sl rw calcfg routine 103 sl rw collision routine 104 sl rw comp routine 110 sl rw cspd routine 112 sl rw ctol routine 113 sl rw ftol routine 116 sl rw hand routine 117 sl rw id data routine 120 sl rw jaccel routine 121 sl rw jmap routine 122 sl rw link routine 124 sl rw maxjspd routine 128 sl rw mspd routine 129 sl rw mtic routine 130 sl rw rollover routine 133 sl rw s_crv routine 139 sl rw scale routine 134 sl rw softstops routine 137 sl rw tooloff routine 140 sl set gan splt routine 143 Advanced Servo Library Reference Guide Rev A 199 Index sl setdac routine 144 sl setpt cfg routine 145 sLsetpt fill routine 147 sl slave mode routine 148 sl slew routine 149 sLspare routine 151 sl status routine 152 sLstop routine 154 sl version routine 1
60. anced Servo Library can be used until the SPECSUB LIB file has been loaded and the sl init routine has successfully initialized the global data structures When you are done using the Advanced Servo Library the routine sl as cleanup can be called to delete these data structures and free up the allocated memory The command DELETEM a advservo will delete all the advanced servo routines from memory Password Protection Any robot that has a password specified in its SPEC file will also be protected against write operations of the Advanced Servo Library Read only access is allowed for all robots Password protection for the Advanced Servo Library is done on a mechanism specific basis not a parameter by parameter basis See the description of sl init for details on entering passwords 18 Advanced Servo Library Reference Guide Rev A Chapter 1 Synchronous vs Asynchronous Mode Synchronous vs Asynchronous Mode Normally the Adept servo task expects commands from V once each V trajectory cycle This synchronous mode allows normal control of a mechanism using the standard MOVE MOVES etc instructions However many of the routines in the Advanced Servo Library require the asynchronous mode which allows servo commands that are not generated by normal V commands In order to use the routines that require asynchronous mode you must first place the desired servo channels in asynchronous mode using the sl enable or sl c
61. and DAC 14 overview 9 P parameter descriptions 17 parameters routines for reading writing servo 15 password protection 18 programs Advanced Servo Library example 163 protection password 18 publications related 12 R reading writing on a channel basis 17 on a motor number basis 17 servo parameters routines for 15 related publications 12 robot access Adept 11 motion example 164 routines 13 routine sl adjust 23 sl adv diag 24 sLamp 25 sLasl cleanup 26 sl brake 27 sl break 28 sl c adjust 29 sl c amp 30 sl c brake 31 sl c break 32 sl c drive 33 sl c enable 34 sl c getdac 37 sl c here 38 sl c pcocfg 39 sl c read 42 sl c setdac 43 sl c status 44 sl c stop 46 sl c write 50 sl calibrate 52 sl defdata 59 sl deftrig 61 sl defwave 63 sl drive 64 sl enable 66 sl exttrig 67 sl getdac 70 sl getdata 71 sl hand ctrl 73 sl here 74 sl init 75 sl jnt to mtr 77 sl listdata 78 sl mslew 79 sl mtr to jnt 82 sl over travel 83 sl pcocfg 84 sl read 87 sl read file 94 sl rw accel 99 sl rw amask 100 sl rw bcklsh 101 sl rw cal file 102 sl rw calcfg 103 sl rw collision 104 sl rw comp 110 sl rw cspd 112 sl rw ctol 113 sl rw ftol 116 sl rw hand 117 sl rw id data 120 sl rw jaccel 121 sl rw jmap 122 sl rw link 124 sl rw maxjspd 128 sLrw mspd 129 sLr
62. and safety Related Routines sl rw sl read sl c read sl c write sl wrt dat file sl wrt sys file 158 Advanced Servo Library Reference Guide Rev A Library Routine sl wrt dat file Calling Sequence CALL sl wrt dat file binary interactive fname first joint num joints error Function This program writes all of the robot specification information for the currently selected robot or specified joint to a disk file in an ASCII or BINARY format Input Parameters binary If TRUE write a binary file if FALSE write an ASCII file interactivelf TRUE this routine will be interactive prompting the user to enter the disk file name All text will be displayed in the Monitor window If FALSE this routine is noninteractive and all required input parameters must be specified fname Name of file to create Can include absolute or relative path NFS shared disks are also supported The file extension is optional However if it is undefined it will be set to SPC If writing specification for a specific joint or series of joints the file extension will be set to SPJ by default if undefined first joint Optional If only joint data is to be written this is the number of the first joint to be written If all robot data is to be written this value must be zero or undefined As a special case if this parameter is 1 this routine will prompt the user for the number of the joint regardless of the value of the inter
63. appropriately the motion may be quite jerky Input Parameters mot num Motor number enc pos Absolute position in encoder counts to move to The maximum range of position values is 24 to 40241 Output Parameter error Success error code Details CAUTION The speed of the motor is directly proportional to the spacing of the setpoints V monitor speed and program speed have A no effect on the speed of a motor running in ASYNC mode High acceleration rates can damage the motor windings couplings and other drive components This routine allows direct communication with the servo code to command motor motion V normally checks the computed trajectory to ensure that the robot can reach the destination location safely In ASYNC mode these checks are bypassed It is the responsibility of the programmer to ensure that the setpoints computed by a custom V trajectory algorithm will result in safe controlled motion of the motor Advanced Servo Library Reference Guide Rev A 149 sl slew Library Routine The speed of the motor is directly proportional to the spacing of the setpoints That is the closer together the setpoints are the slower the motor will move The farther apart the setpoints are the faster the motor will move This is because the motion to the next encoder position occurs in one V cycle Related Routines sl mslew sl drive sl c drive 150 Advanced Servo Library Reference Guide Rev A Library Routine sl spare
64. ard Input Parameter mot num Motor number Output Parameters out Array of output data as follows 0 Returns length of data collection in milliseconds 1 Milliseconds between updates of data 2 Buffer status 0 Data collection is disabled 1 Waiting for trigger 2 Collecting 3 Full halted single sweep mode 3 User s index for first data collection variable n User s index for last data variables error Standard success error code If success contains the number of elements in the out array Details This routine along with sl defdata and sl getdata allows you to see all the servo Statistics that are generated when a robot motion is made See the example program ex servo data Joint Motion Data Monitoring Example for details Related Routines sl getdata sl defdata sl defwave sl wave trig 78 Advanced Servo Library Reference Guide Rev A Library Routine sl mslew Calling Sequence CALL sl mslew board mtr data num mtrs abs enc pos error Function This routine allows you to drive a series of joints from 1 to all the joints in a servo task It also allows you to read the current values of the encoder registers for all the joints on the specified board within the same servo tick Usage Considerations The referenced motors must be in ASYNC mode Input Parameters board First board in a servo task For example if boards 1 and 2 are assigned to CPU 1 and boards 3 an
65. ards have only one overtravel input per axis In this case both pos and neg output arguments will reflect the state of the single overtravel input Advanced Servo Library Reference Guide Rev A 83 sl pcocfg Library Routine Calling Sequence CALL sl pcocfg mot num pco state pco pos delta equ frm servo error Function This program configures the Position Compare feature in the servo code Full support is available only on VMI based motion systems There is reduced functionality on the VJI belt encoder channels 7 and 8 It is NOT supported on MI 6 or MI 3 motion boards Input Parameters mot num Motor number pco st Initial PCO State VMI ONLY lt 0 No change 0 Clear PCO gt 0 Set PCO pco pos Initial compare position in encoder counts delta New compare delta in encoder counts equ New EQUal signal configuration Bit mask as follows xx means don t care Binary Hex Bitmask Bitmask PCO Operation 00xx HO Nothing PCO controllable with pco st VMI ONLY 0100 H4 PCO pulses when motor position matches the PCO position pco pos 0101 H5 PCO toggles when motor position matches the PCO position pco pos 0110 H6 PCO is deasserted when motor position matches the PCO position pco pos 0111 H7 PCO is asserted when motor position matches the PCO position pco pos 84 Advanced Servo Library Reference Guide Rev A Library Routine sl pcocfg
66. assumed This means the home latching logic will be reset A NULL TRAJECTORY WILL NOT MODIFY THE TRAJECTORY OF ANY PREVIOUS COMMANDS If a positive search configuration is passed in that is the input parameters are defined the motion will be halted if the search for the home switch or hard stop was successful During the motion the following calibration specific operations will be performed 1 Thetimeouton Motor Stalled errors will be set to the value in sl homsat Opcode 1044 2 Calibration feature transitions that occur during the motion will be latched into an array for later reading Up to four previous values will be latched Upon completion of the motion calibration mode will be cleared and latching of home positions will cease Advanced Servo Library Reference Guide Rev A 53 sl calibrate Library Routine NOTE This means that calibration features that occur close to the destination may not be returned because the actual position may lag the commanded trajectory and latching is disabled when the commanded trajectory is complete A V program would typically 1 Call this routine with a defined trajectory to start the search for the calibration feature object home switch hard stop 2 Poll for motion completion or latched home switch transitions or hard stop position by repeatedly calling this routine with a NULL trajectory i e no inputs except motor number 3 Determine a position reference per
67. ated Routine sLrw ctol 116 Advanced Servo Library Reference Guide Rev A Library Routine sl rw hand Calling Sequence CALL sl rw hand write open sig close sig error Function This program reads or writes the hand control signals Used by OPEN OPENI CLOSE CLOSEI RELAX Input Parameters write If TRUE write value if FALSE read value open sig If write is TRUE new value for Open hand control signal if only one valve is used to control the hand this value should be set to zero close sig If write is TRUE new value for Close hand control signal Output Parameter open sig If write is FALSE returns Open hand signal close sig If write is FALSE returns Close hand signal error Success error code see Errors on page 20 for details on special error codes for the rw routines Details There is only one value per robot for this parameter The robot associated with this read write operation is the currently SELECTed robot The values for these motion parameters will be changed in local RAM only The values are not written to the system disk CAUTION Be careful when writing motion parameters They can M have large effects on mechanism performance longevity and safety Advanced Servo Library Reference Guide Rev A 117 sl rw hdw latch Library Routine Calling Sequence CALL sl rw hdw latch mot num write latch error Function This program configures the axis specific encoder latch
68. atrix for three coupled joints all three joints must be specified together and no extra joints can be specified Related Routines sl wrt dat file sl wrt sys file Advanced Servo Library Reference Guide Rev A 95 sl read opt bit Library Routine Calling Sequence CALL sl read opt bit word bit opt set opt word cpu Function This routine returns the status of the requested option bit and optionally the entire option word Input Parameters word Option word to interrogate as follows 0 Robot Option Word 1 1 Robot Option Word 2 2 System Option Word 1 3 System Option Word 2 4 Controller Option Word 5 Processor Option Word 6 Vision Option Word 7 Force Option Word bit Option bit to check inside of requested option word Meaning of bit depends on which option word is being checked word 0 ROBOT OPTION WORD 1 Meaning depends on the robot module See robot module documentation for the description of the robot option bits for your robot module word 1 ROBOT OPTION WORD 2 Bit Description 1 Robot has RSC card Robot has extended length quill Robot has cleanroom option Robot has HyperDrive option Robot has high torque option Reserved for future use N D OF AIQ N Robot has EC Certification option 96 Advanced Servo Library Reference Guide Rev A Library Routine sl read opt bit word 2 SYSTEM OPTION WORD 1
69. available on its belt channels The functions labeled VMI ONLY do not apply to the VJI belt channels Advanced Servo Library Reference Guide Rev A Library Routine sl read Calling Sequence CALL sl read mot num opcode frm servo error Function This program reads the value of the servo parameter indicated in the opcode argument Input Parameters mot num Motor number opcode Symbolic name of parameter to read see Details Output Parameters frm servo Contains the value of the requested parameter error Standard success error code Details The following tables list the parameters that can be read These parameter names should be entered as the opcode parameter No other values should be entered for the opcode parameter Table 2 3 SPEC Servo Configuration Parameter Names Parameter name Data returned Units Opcode sl dcgain Proportional gain None sl zero Location of zero None sl pole Location of pole None sl igain Integrator gain None sl emax Maximum positional error to integrate cts sl imax Maximum value for integrator state cts sl vfgain Velocity feed forward gain None sLafgain Acceleration feed forward gain None Advanced Servo Library Reference Guide Rev A 87 sl read Library Routine Table 2 3 SPEC Servo Configuration Parameter Names Continued Parameter name Data returned Units Opcode
70. c here sl adjust sl c adjust sl where sl c where 74 Advanced Servo Library Reference Guide Rev A Library Routine sl init Calling Sequence CALL sl init Spassword status n Function This program defines the global data structures used by the Advanced Servo Library Input Parameter password Optional Array of passwords indexed by robot number corresponding to the passwords assigned in each robot s SPEC parameter file password 1 corresponds to the first robot password 2 corresponds to the second robot etc If a password is incorrect or not specified for a robot protected by a password the Advanced Servo Library routines are restricted to read only access and an informational message is output to the Monitor window The password checking is NOT case sensitive If password protection is not in effect for a robot the corresponding array element is ignored and can be left undefined status n REQUIRED Real array indexed by the robot number 1 2 3 indicating initialization success or failure for the respective robot as follows status n 0 READ ONLY access to robot n status n 1Successful initializaton of robot n Full read write access granted status n 2Initialization FAILED for robot n Details This program must be called before any of the routines in the Advanced Servo Library are called This routines does not enable ASYNC mode for any motors Error messages are output t
71. co st argument If the application requires that the PCO signal be asserted when the axis passes over the trigger position pco pos make sure that the initial PCO state is cleared when this routine is called pco st 0 Advanced Servo Library Reference Guide Rev A NOTE Related Routine sl pcocfg Library Routine sl c pcocfg On the VMI each channel produces an EQU signal but there is only one physical PCO per board and no matter how it is configured the PCO will always be directly controlled with the pco st argument The PCO tracks the most recent change in state of any of its available trigger sources position compare triggers or pco st If two sources change at exactly the same time clearing the PCO signal has priority over asserting the PCO signal V can use the PCO function to generate camera strobes Changing this configuration on a belt encoder may therefore interfere with the operation of the camera strobes The compare delta is unidirectional i e after the initial compare position causes a match a PCO trigger the input parameter delta is added to it to form a new compare position The old compare position will not trigger any changes in the PCO or camera strobe lines should the axis back up over it again To force the system to trigger using the old position simply call this routine again to reconfigure the PCO before backing over the position The EJI supports the Position Compare function on its belt en
72. coder channels only and has no physical PCO output Several of the options described above are not available on its belt channels The functions labeled VMI ONLY do not apply for the EJI belt channels Advanced Servo Library Reference Guide Rev A 41 sl c read Library Routine Calling Sequence CALL sl c read board channel opcode frm servo error Function This routine reads motion parameter values from the servos or V Input Parameters board Board number channel Channel number on board opcode Symbolic name of the parameter to read see the description of sl read for a list of the SPEC parameters that can be read Output Parameters frm servo If successful contains the requested parameter value error Standard success error code Details This routine reads the SPEC parameters listed in the sl read routine description If the global variable sl adv diag is nonzero error messages will be displayed on the monitor Related Routines sl rw sl read sl c write sl write 42 Advanced Servo Library Reference Guide Rev A Library Routine sl c setdac Calling Sequence CALL sl c setdac board channel select value error Function This program sets the DAC for a specified channel to a specified output Usage Considerations The maximum output voltage is 10 volts The maximum DAC value is 32 767 The indicated channel must be in ASYNC mode Input Parameters board Board number channel Channel number on board s
73. compensation data error Success error code see Errors on page 20 for details on special error codes for the rw routines 110 Advanced Servo Library Reference Guide Rev A Library Routine sl rw comp Details The values for these motion parameters will be changed in local RAM only The values are not written to the system disk CAUTION Be careful when writing motion parameters They can M have large effects on mechanism performance longevity and safety Advanced Servo Library Reference Guide Rev A 111 sl rw cspd Library Routine Calling Sequence CALL sl rw cspd write cspd error Function This program reads or writes the maximum Cartesian pendant translation speed Input Parameters write TRUE write value FALSE read value cspd If write is TRUE new value for manual Cartesian speed Output Parameters cspd If write is FALSE current value of manual Cartesian speed error Success error code see Errors on page 20 for details on special error codes for the rw routines Details The value for this motion parameter will be changed in local RAM only The value is not written to the system disk CAUTION Be careful when writing motion parameters They can have large effects on mechanism performance longevity and safety 112 Advanced Servo Library Reference Guide Rev A Library Routine sl rw ctol Calling Sequence CALL sl rw ctol mot num write ctol error Function This program reads or writes the CO
74. d motor If all the optional arguments are undefined this routine does nothing and returns without error See the AdeptMotion VME Developer s Guide for detailed descriptions of all the motor tuning parameters Related Routines sl read sl c read sl write sl c write 142 Advanced Servo Library Reference Guide Rev A Library Routine sl set gan splt Calling Sequence CALL sl set gan splt mot num link error Function Configures the servos for a split axis joint That is creates a link between motor mot num and the motor specified in the link argument Usage Considerations This routine is for use with split axis Gantry robot systems only Input Parameters mot num Motor number of the master motor link Linkage pointer as follows 0 Remove any existing linkage 1 Put axis into slave mode LL A 1 n Link motor mot num to motor n Output Parameters link Motor number of the linked channel BEFORE implementation of the new linkage Returns 0 if there was no previous linkage error Success error code see Errors on page 20 for details on special error codes for the rw routines Details CAUTION Be careful when writing motion parameters They can have large effects on mechanism performance longevity and safety This routine sets clears the pointer used by the skew error compensator and accepts the motor number of the other linked axis Pointers for both channels are then set
75. d 4 are assigned to CPU 2 this routine can move all the motors on either boards 1 and 2 or boards 3 and 4 You cannot move motors on boards 1 and 3 or 2 and 4 nor can you move motors based on robot assignment mtr data Array of servo database numbers and position values 1 servo DB number 2 position value 3 servo DB number 4 position value This array must start at index 1 See the Details section below for a description of the servo database allocation num mtrs Number of motors to move allows you to input an array with more elements defined than you want to use If this value is 0 no motion will be occur but encoder values will be returned abs If TRUE position data is absolute if FALSE position data is relative Output Parameters enc pos Array of encoder values starts at index 0 one element per encoder error Standard success error code If successful contains the number of elements in the enc pos array Advanced Servo Library Reference Guide Rev A 79 sl mslew Library Routine Details This routine allows you to move multiple axes to absolute or relative encoder positions The axes will make a coordinated move This routine steps axes in a single servo task NOT joints on a single robot This routine can be made to affect all the joints of a single robot only if the joints on that robot happen to be mapped to the same servo task NOTE The motion will be made across one servo cycle without an
76. e Read write encoder configuration Read write fine tolerance Read write hand control signals sl rw hdw latch Read write axis specific encoder latching configuration sl rw id data sl rw jaccel Read write robot name option word model and serial numbers Read write joint acceleration Advanced Servo Library Reference Guide Rev A 15 Chapter 1 Summary of Library Routines sl rw jmap Read write motor mapping for robot or external encoders sl rw link Read write robot link dimensions sl rw maxcspd Read write maximum Cartesian speed sl rw maxjspd Read write maximum joint speed sl rw max c acc Read write maximum Cartesian acceleration sl rw max j acc Read write maximum joint acceleration slrw mspd Read write maximum manual joint speed for MCP sl rw mtic Read write smallest joint increment using MCP sl rw njts Read write the number of joints for the selected robot sl rw pwr decel Read write arm power off deceleration sl rw rollover Read write encoder roll over value sl rw scale Read write encoder scale factors sl rw softstops Read write working and maximum soft stop limits sl rw s_crv Read write S curve profiles sl rw tooloff Read write robot tool offset sLrw tuning Read write any or all of the tuning parameters for a motor Example Routines 16 ex motion Robot Motion Example ex setpt Setpoint Buffer Example ex follow Axis Following Examples ex servo data
77. e module documentation on how to properly interpret the link dimensions Input Parameters link dim numLink dimension number write If TRUE write value if FALSE read value l dim If write is TRUE new value for the link dimension Output Parameters l dim If write is FALSE returns value of the link dimension error Success error code see Errors on page 20 for details on special error codes for the rw routines Details The value for this motion parameter will be changed in local RAM only The value is not written to the system disk CAUTION Be careful when writing motion parameters They can M have large effects on mechanism performance longevity and safety Related Routine sl rw tooloff 124 Advanced Servo Library Reference Guide Rev A Library Routine sl rw max c acc Calling Sequence CALL sl rw max c acc write max accel error Function This program reads or writes the robot maximum Cartesian acceleration Input Parameters write If TRUE write new value if FALSE read value max accel If write is TRUE new value for maximum Cartesian acceleration Output Parameters max accel It write is FALSE returns maximum Cartesian acceleration error Success error code see Errors on page 20 for details on special error codes for the rw routines Details There is only one value per robot for this parameter The robot associated with this read write operation is the currently SELECTed robot The values for the
78. e motor is uncalibrated In the case of velocity style drives 0 indicates no commanded velocity Related Routines sl c getdac sl setdac sl c setdac 70 Advanced Servo Library Reference Guide Rev A Library Routine sl getdata Calling Sequence CALL sl getdata mot num buf wait opcode first rec numrec out error Function This routine returns servo data for variables defined in the routine sl defdata It can also retrieve data from the force buffer Usage Considerations The number of records returned may be restricted by the memory on the motion board The error code 730 Information not available will be returned if data is requested before the trigger has been set for data collection Input Parameters mot num Motor number Set to zero 0 to read force data buf wait 0 Stop buffer immediately and return data 1 No wait mode Return 668 Device in use error if buffer not full 2 Wait until buffer is full before reading the records opcode Opcode variable of the data item to retrieve The array user ind defined in the call to sl defdata contains the symbolic names of the data items that are to be collected This value specifies which data item to return based on the definition of that array first rec First record number to be read numrec Number of records to be read Output Parameters out Array of the records that were read from the motion board starting at element 0 error Standa
79. e of the mode arguments above modes 0 Current value of mode argument modes 1 Current value of sync argument Standard success error code Typically the trigger will be an internally generated square or sine wave excitation of the motor This command will behave consistently no matter what motor it is sent to on a given servo board since the trigger is the same for all axes on a given board Note that old data in the buffer is not lost until the next trigger actually occurs Executing this routine with no inputs defined will simply return the current values of mode and sync Advanced Servo Library Reference Guide Rev A 61 sl deftrig Related Routines sl defdata sl defwave sl exttrig 62 Library Routine Advanced Servo Library Reference Guide Rev A Library Routine sl defwave Calling Sequence CALL sl defwave mot num wave type amplt period error Function This program specifies the motor motion to make during data collection Input Parameters mot num Motor number wave type Type of wave 0 Square wave 1 Sine wave amplt Amplitude of the wave in encoder counts Set to 0 to disable wave period Period of wave in seconds Set to 0 to disable wave Output Parameter error Standard success error code Details Once a square or sine wave has been defined and triggered the specified motor will make continuous reciprocal moves based on amplt and period The motion can be halted by calling sl defwave with
80. e value if FALSE read value max spd If write is TRUE new value for maximum speed Output Parameters max spd If write is FALSE returns maximum speed error Success error code see Errors on page 20 for details on special error codes for the rw routines Details The value for this motion parameter will be changed in local RAM only The value is not written to the system disk CAUTION Be careful when writing motion parameters They can i have large effects on mechanism performance longevity and safety Related Routine sl rw maxjspd Advanced Servo Library Reference Guide Rev A 127 sl rw maxjspd Library Routine Calling Sequence CALL sl rw maxjspd mot num write max spd error Function This program reads or writes the maximum robot speed during joint interpolated motions Input Parameters mot num Motor number write If TRUE write value if FALSE read value max spd If write is TRUE new value for maximum joint speed Output Parameters max spd If write is FALSE returns maximum joint speed error Success error code See Errors on page 20 for details on special error codes for the rw routines Details The value for this motion parameter will be changed in local RAM only The value is not written to the system disk CAUTION Be careful when writing motion parameters They can i have large effects on mechanism performance longevity and safety Related Routine sl rw maxcspd 128 Advanced Ser
81. either the amplitude or period parameter set to 0 This routine along with sl getdata and sl defdata allows you to see all the servo Statistics that are generated when a robot motion is made See the example program ex servo data Joint Motion Data Monitoring Example for details Related Routines sl listdata sl defdata sl getdata sl wave trig Advanced Servo Library Reference Guide Rev A 63 sl drive Library Routine Calling Sequence CALL sl drive mot num accel spd dist abs error Function This program places the servo code in position mode and commands a relative or absolute motion Trajectory generation will be performed by the servo code so this command will execute over many servo cycles The routine sl break can be called to determine when the motion is complete The routine sl stop can be called to abort a motion started with this routine Acceleration and speed are included to control the motion Usage Considerations The indicated motor must be in ASYNC mode Input Parameters mot num Motor number accel Amount of time to reach maximum speed in milliseconds spd Motor speed in encoder counts millisecond dist The distance or position to which the motor is to move in encoder counts abs If TRUE drive to the actual position If FALSE drive to a relative position Output Parameter error Standard success error code Details 64 This routine performs an operation similar to t
82. elect Optional If TRUE value contains a voltage 10 If FALSE value contains DAC counts 32 767 Default is FALSE value Desired analog voltage output or DAC value to set If undefined the DAC is set to 0 Output Parameter error Success error code Details WARNING This function could cause serious damage to the VAN mechanism tooling workspace or personnel Executing this function with arm power on may cause the axis specified to move at VERY HIGH SPEED This command is open loop USE EXTREME CAUTION when running this program Related Routine sl setdac Advanced Servo Library Reference Guide Rev A 43 sl c status Library Routine Calling Sequence CALL sl c status board channel c status error Function This program reads the status bits from the servo database for the specified board and channel Usage Considerations The output parameter c status must be declared as a DOUBLE or AUTO DOUBLE by the calling program Input Parameters board Board number channel Channel number on board Output Parameters c status Status word for this channel error Standard success error code Details The status word bits are interpreted as follows undefined bits are reserved and do not return useful information Hex Bit Bitmask Description 0 H1 Home Switch state for this axis input 1 H2 Spare Input state for this axis input 8 H100 Spare Output state for this axis output 9 H200 Bra
83. ent value for encoder roll over for this motor error Success error code see Errors on page 20 for details on special error codes for the rw routines CAUTION Be careful when writing motion parameters They can M have large effects on mechanism performance longevity and safety Details The encoder roll over value is typically used for continuous rotational joints or for servo controlled unidirectional conveyors Dynamically changing this value can prevent large motions in the event the encoder register rolls over Advanced Servo Library Reference Guide Rev A 133 sl rw scale Library Routine Calling Sequence CALL sl rw scale write enc scales error Function This program reads or writes encoder scale factors for the currently selected robot Usage Considerations The input array must be aGLOBAL DOUBLE or LOCAL DOUBLE array and must not contain any extra elements See example below Some kinematic modules define more axes than you may actually have enabled Default values will be returned for all possible axes regardless of how many axes are actually enabled Input Parameters write If TRUE write values if FALSE read values enc scales If write is TRUE new values for encoder scale factors must be a GLOBAL DOUBLE or LOCAL DOUBLE array Output Parameters enc scales If write is FALSE returns encoder scale factors must be a GLOBAL DOUBLE or LOCAL DOUBLE array error Success error code see E
84. error code Details The status word bits are interpreted as follows undefined bits are reserved and do not return useful information Bit oo Description 0 H1 Home Switch state for this axis input 1 H2 Spare Input state for this axis input 8 H100 Spare Output state for this axis output 9 H200 Brake release status for this axis output 10 H400 Drive motor enable status for this axis output 12 H1000 High Power Enable state all drives output 13 H2000 Set if Hand solenoids are active 16 H1 0000 Multiple cycle command complete such as sl drive 17 H2 0000 Set if motor is capable of servoing 152 Advanced Servo Library Reference Guide Rev A Library Routine sl status 24 H100 0000 Motor is in tolerance 25 H200 0000 First zero index seen after RESET or CAL 26 H400 0000 Stop on force detected 30 H4000 0000 Set if High Power is Enabled and Drive is Enabled 31 H8000 0000 Motor has been calibrated Related Routine sl c status Advanced Servo Library Reference Guide Rev A 153 sl stop Library Routine Calling Sequence CALL sl stop mot num error Function Stop a motion started with a sl drive or sl c drive routine call Usage Considerations The indicated motor must be in ASYNC mode Input Parameter mot num Motor number Output Parameter error Standard success error code Details This routine stops a joint
85. et If write is FALSE returns value of the tool offset error Success error code see Errors on page 20 for details on special error codes for the rw routines Details There is only one value per robot for this parameter The robot associated with this read write operation is the currently SELECTed robot The value for this motion parameter will be changed in local RAM only The value is not written to the system disk Related Routine sl rw link 140 Advanced Servo Library Reference Guide Rev A Library Routine sl rw tuning Calling Sequence CALL sl rw tuning mot num write save pgain pzero ppole igain ival istep affwd vffwd dacfltr error Function Reads or writes any or all the tuning parameters for the specified motor Usage Considerations Motor tuning values may be changed This could cause the motor to become unstable USE EXTREME CAUTION Input Parameters mot num Motor number write TRUE to write tuning parameters FALSE to read tuning parameters save Optional If TRUE save the values when a new SPEC file is written or parameters are saved to the V Operating System If FALSE change only for current session Default is FALSE pgain Optional If write is TRUE new value for Proportional Gain pzero Optional If write is TRUE new value for Proportional Zero ppole Optional If write is TRUE new value for Proportional Pole igain Optional If write is TRUE new value for Integral Ga
86. eturned by the called routine In order to provide maximum flexibility for user interfaces error messages are displayed on the screen only when the variable sl adv diag has been set to TRUE or the Advanced Servo Library routine sl adv diag is executed In some cases if a read operation is successful the status output variable will contain a positive number that conveys quantitative information about the results of the operation 20 Advanced Servo Library Reference Guide Rev A Descriptions of Library Routines This chapter describes the functions and calling sequences of the routines in the Advanced Servo Library These routines may be called by application software written by a system customizer The descriptions of the routines are presented in alphabetical order with each routine starting on a separate page The description for each routine contains the following sections as applicable Calling Sequence The format of a V CALL instruction for the routine is shown NOTE The variable names used for the routine parameters are for explanation purposes only Your application program can use any variable names you want when calling the routine Although some CALL instructions are shown continued on a second line instructions in an actual V program must always be completed on one line Function This is a brief statement of the function of the routine Usage Considerations This section is used to point out any special co
87. for buffer configuration Buffer size in servo ticks lt 0 Don t change gt 0 Buffer is cleared and resized to this value Buffer size is limited by available V memory Trigger group number to start stop buffer lt 0 Don t change 0 Disable triggering 1 12 Valid trigger number to use Trigger groups can be set up to control multiple axes across the servo task boundaries For example configure axes 1 6 all the same using the same trigger number When triggered all axes will begin motion at the same time Wrap flag lt 0 Don t change 0 Single sweep In this mode the last value in the buffer will persist after completion 1 Wrap around to beginning Open loop flag lt 0 Don t change 0 Closed loop position setpoints 1 Open loop torque setpoints Absolute flag lt 0 Don t change 0 Relative motions 1 Absolute motions Ramp up time in ticks This applies only to relative buffers The buffer will take this many ticks to reach its full value when started Advanced Servo Library Reference Guide Rev A 145 sl setpt cfg Library Routine dec Ramp down time in ticks This applies only to relative buffers The buffer will take this number of ticks to ramp down after being stopped smooth fact Velocity and acceleration smoothing factor This value determines how much averaging is performed on the setpoints for the motion as follows lt 0 Don t change 0 Disable velocity smoothing computatio
88. haps by moving to the next zero index after the home switch 4 Use the sl adjust or sl here routines to set the new position reference and mark the axis as calibrated See the example program ex calibrate Motor Calibration Example for details Related Routine sl rw calcfg 54 Advanced Servo Library Reference Guide Rev A Library Routine sl clr ltch err Calling Sequence CALL sl clr ltch err mot num error Function This program clears the Latched errors word in the servo code for the specified motor Input Parameter mot num Motor number To clear the Latched errors for ALL motors attached to the currently SELECTed robot set this value to 0 Output Parameter error Standard success error code Details The Latched errors word is used to report errors that are of a transient nature but must not be missed by V When the robot is known to be in a safe state e g arm power is disabled V clears this word after reporting any errors The value of the Latched errors word can be read using the sl read routine to read the value of opcode sl latch The Latched errors word is defined as follows Table 2 2 Latched Errors Bit Definition Bit V Error Message V error code Description 0 RSC communications failure V has lost communications with the 651 robot signature card RSC 1 RSC hardware failure The RSC has reported an internal 669
89. he V DRIVE program instruction However the programmer has the option to make the move to an absolute position or relative to the current position of the motor If the spd or accel arguments are set to zero then the servo trajectory generator will apply the default speed stored in opcode sl trjdvm and the default acceleration stored in opcode sl trjdta Advanced Servo Library Reference Guide Rev A Library Routine sl drive Related Routines sl c drive sl slew sl mslew sl stop sl c stop Advanced Servo Library Reference Guide Rev A 65 sl enable Library Routine Calling Sequence CALL sl enable mot num enable finish error Function This program enables disables ASYNC mode for the specified motor Input Parameters mot num Motor number enable If TRUE enable ASYNC mode for the specified motor If FALSE disable ASYNC mode for the specified motor finish If TRUE the program will wait until completion of the last motion instruction for the specified motor before DETACHing and ATTACHing the robot Output Parameter error Standard success error code Details ASYNC mode must be enabled before any routine in the Advanced Servo Library that requires ASYNC mode can be run ASYNC mode must be disabled for normal V motion operations to continue ASYNC mode is enabled disabled on a motor by motor basis While a motor or motors are in ASYNC mode V will continue to plan a motion for the motor s However motion control is left
90. i Convert to motor angles CALL sl jnt to mtr mts mts Stuff motor angles into array correcting for absolute positions FOR m 0 TO mots 1 mts m i mts m mt m END Load the setpoint buffer FOR m 1 TO mots IF mask BAND BMASK m 1 OR mask lt 0 THEN TYPE Filling setpoint buffer for motor m CALL sl setpt fill m out l i mts m 1 error IF error 402 THEN Advanced Servo Library Reference Guide Rev A 175 Chapter 3 100 ABSTRACT PROGRAM ex sin wave mt ex setpt Setpoint Buffer Example GOTO 100 7Count the completed block PAUSE END IF error lt 0 AND error lt gt 544 END END out out i END MCS DELETER mts RETURN type amp freq acc dec stt This routine configures and fills the setpoint buffer for A sine wave or square wave motion i INPUT PARMS mt Motor number 7 type Wave type as follows 0 Closed loop square wave 1 Close loop sine wave A 2 Open loop sine wave A amp ave amplitude freq ave frequency in Hz acc Ramp up time in seconds dec Ramp down time in seconds i OUTPUT PARMS stt Error code i SIDE EFFECTS None i Copyright c 1995 by Adept Technology Inc AUTO cycles i open size LOCAL io open ABS type 2 CASE type OF VALUE 0 Closed loop sine wave size STATE 14 freq STATE 14 returns servo loop
91. in ival Optional If write is TRUE new value for Maximum Integral Value istep Optional If write is TRUE new value for Integral Step affwd Optional If write is TRUE new value for Acceleration Feed Forward vffwd Optional If write is TRUE new value for Velocity Feed Forward dacfltr Optional If write is TRUE new value for DAC Output Filter Output Parameters pgain Optional If write is FALSE current value for Proportional Gain Advanced Servo Library Reference Guide Rev A 141 sl rw tuning Library Routine pzero Optional If write is FALSE current value for Proportional Zero ppole Optional If write is FALSE current value for Proportional Pole igain Optional If write is FALSE current value for Integral Gain ival Optional If write is FALSE current value for Maximum Integral Value istep Optional If write is FALSE current value for Integral Step affwd Optional If write is FALSE current value for Acceleration Feed Forward vffwd Optional If write is FALSE current value for Velocity Feed Forward dacfltr Optional If write is FALSE current value for DAC Output Filter error Success error code see Errors on page 20 for details on special error codes for the rw routines CAUTION Changing the motor tuning values can make the motor unstable This could cause significant damage to the robot or the load Details This routine allows access to any or all of the tuning parameters for the specifie
92. ing This feature is only available on the Enhanced MI 3 MI 6 boards Rev 1 servo boards This routine can be used to configure the standard board level position latching available on all standard AdeptMotion boards VMI MI 3 MI 6 VJI EJI See Details section below Input Parameters mot num Motor number write TRUE to write encoder latching configuration to V FALSE to read encoder latching configuration from V latch Two bit bitfield indicating which position latch signal to use for this motor as Value Bitmask Signal BOO HO None B01 H1 POS_LATCH 1 B10 H2 POS_LATCH 2 B11 H3 Illegal Value These signals are defined in CONFIG_C under Digital Signals Output Parameters latch Two bit bitfield indicating which position latch signal is configured for this motor as Value Signal 00 None 01 POS_LATCH 1 10 POS_LATCH 2 118 Advanced Servo Library Reference Guide Rev A Library Routine sl rw hdw latch error Standard success error code If illegal latch configuration is Details specified error code 402 Illegal value is returned See Errors on page 20 for details on special error codes for the rw routines There are three possible cases for encoder latching on AdeptMotion boards 1 Old Rev 0 VMI boards will work as they always did with the new servo code If an application program attempts to use this routine to enable axis s
93. ing Sequence CALL sl c version board channel Sversion version error Function This program returns various servo identification as well as basic information on the selected joint Input Parameter board Board number channel Channel number on board Output Parameters Sversion Array of strings as follows 0 Servo Code version revision edit and fork number Format vvref Example 122B1 version Real array containing the following 0 Number of channels on board 1 Axis type 1 primary 2 secondary 2 Servo loop rate in Hz 3 Max DAC for this motor 4 Servo Board Type 0 VMI 1 ACB 2 VII 3 VFI 4 MI 6 or MI 3 5 Robot number that owns joint mapped to board and channel 6 Motor number corresponding to joint mapped to board and channel 7 Board number Matches board input argument 8 Channel number Matches channel input argument 9 Processor running servo code for joint mapped to board and channel Calibration compatibility code Robot serial number 12 Servo mechanism ID Servo board revision error Standard success error code Advanced Servo Library Reference Guide Rev A 47 sl c version Library Routine Related Routine sl version 48 Advanced Servo Library Reference Guide Rev A Library Routine sl c where Calling Sequence CALL sl c where board channel cts loc error Function Reads current location of the motor mapped to board and channel Input Pa
94. ing a robot panic stop 30 Force sensor communication error 634 Force communication error has occured Related Routine sl read 58 Advanced Servo Library Reference Guide Rev A Library Routine sl defdata Calling Sequence CALL sl defdata mot num coll time up cycle user ind n args error Function This program selects what type of data is to be collected during a robot motion Input Parameters mot num Motor number coll time Amount of time to collect data in milliseconds up cycle Cycles between updates 0 max rate n args Number of data items to be collected clipped at 8 user ind User s index of data to be collected see Details Output Parameters coll time Actual time to collect data in milliseconds up cycle Actual time between updates in milliseconds error Standard success error code Details This routine along with sl getdata and sl defwave allows you to see all the servo Statistics that are generated when a robot motion is made See the example program ex servo data Joint Motion Data Monitoring Example for details The following global variables can be used to specify the type of data to collect sl caltrq Torque commanded to drive sl cmdvel Commanded velocity sl velerr Velocity error sl motvel Actual motor velocity sl cmdpos Commanded position setpoint sl poserr Position error sl motpos Actual motor position sl eplpos Last latched posit
95. ion of encoder sliinxpos Last position of zero index sl inxdel Actual count between zero indexes sl inxerr Running count of index errors Advanced Servo Library Reference Guide Rev A 59 sl defdata sl interr sl ganskw sl ganvgn sl settim sl maxerr Related Routines 60 sl listdata sl getdata sl defwave sl wave trig Library Routine Integrated position error Split axis skew error Split axis velocity feed forward gain Settling time in ticks reads negative until motion completes Maximum previous position error Advanced Servo Library Reference Guide Rev A Calling Sequence Library Routine sl deftrig CALL sl deftrig mot num mode sync modes error Function Used to specify what trigger is to be used to start data collection Input Parameters mot num mode sync Motor number Optional Trigger mode as follows 0 OFF No data collected If currently collecting buffer will be stopped 1 Re Trigger Mode Trigger is reenabled after buffer fills 2 Single Sweep Mode Trigger is NOT reenabled after buffer fills Optional Synchronization mode as follows 0 Trigger now free running 1 Sync to rising edge of square wave If square wave is not commanded trigger never occurs 2 External trigger See the routine sl exttrig for details Output Parameters modes error Details If the input arguments are undefined a real array containing the current valu
96. ion parameters for all robots to the system disk Usage Considerations If this routine fails for any reason the file block may be left in an unusable state Input Parameter Sdrive Disk drive that contains the operating system file the colon is optional interactive Optional If TRUE this routine will interact with the operator exactly like SPEC If FALSE this routine is noninteractive Default is FALSE If TRUE the drive argument is ignored Output Parameter error Standard success error code Details This routine writes the current motion parameters for all robots to the system disk If incorrect values for SPEC parameters are supplied the write operation may fail WARNING This routine if executed in noninteractive mode interactive FALSE will without warning write all currently defined motion parameters to the system disk If the write operation fails for any reason the system disk will be corrupted forcing a reinstallation of the V Operating System Before calling this routine make sure you have a copy of the current SPEC data and system files Related Routines sl read file sl wrt dat file Advanced Servo Library Reference Guide Rev A 161 Advanced Servo Library Example Programs ex motion Robot Motion Example 164 ex servo data Joint Motion Data Monitoring Example 168 ex setpt Setpoint BufferExample 172 ex follow Axis Following Examples
97. ion type 0 Calibrate using home sensor 1 Calibrate using hard stop 2 Calibrate to current position 3 Absolute calibration special cal methodCalibration method 0 Calibrate to zero index 1 Calibrate to home switch or hardstop cal dir Calibration direction 0 Calibrate to zero index moving OFF the sensor 1 Calibrate to zero index moving ON the sensor Output Parameters cal type Calibration type see above cal methodCalibration method see above cal dir Calibration direction see above error Standard success error code see Errors on page 20 for details on special error codes for the rw routines Details The values for these motion parameters will be changed in local RAM only The values are not written to the system disk CAUTION Be careful when writing motion parameters They can have large effects on mechanism performance longevity and safety Advanced Servo Library Reference Guide Rev A 103 sl rw collision Library Routine Calling Sequence CALL sl rw collision write offsets first last error Function This program reads or writes the robot collision avoidance offsets Usage Considerationss 1 This feature is supported ONLY for the XY3Z device module Device Module ID 21 2 There must be two XY3Z robots running on the same controller for this function to have any effect Robot option bit 5 must be set on both robots in order to enable collision detection Input
98. ion will be invalidated but the robot will be considered to be calibrated and able to move Related Routines sl here sl adjust sl c adjust sl c where sl where 38 Advanced Servo Library Reference Guide Rev A Calling Sequence Library Routine sl c pcocfg CALL sl c pcocfg board channel pco st pco pos delta Function equ frm servo error This program configures the Position Compare feature in the servo code Full support is available only on VMI based motion systems There is reduced functionality on the EJI belt encoder channels 7 amp 8 It is NOT supported on MI 3 MI 6 motion boards Input Parameters board channel pco st pco pos delta equ Board number Channel number on board Initial PCO State VMI ONLY lt 0 No change 0 Clear PCO gt 0 Set PCO Initial compare position in encoder counts New compare delta in encoder counts New EQUal signal configuration Bit mask as follows xx means not important Binary Hex Bitmask Bitmask PCO Operation 00xx HO Nothing Physical PCO directly controllable with pco st VMI ONLY 0100 H4 PCO pulses when motor position matches the PCO position pco pos 0101 H5 PCO toggles when motor position matches the PCO position pco pos 0110 H6 PCO is deasserted when motor position matches the PCO position pco pos Advanced Servo Library Reference Guide Rev A 39 sl c pcocfg Library Routine
99. ive input parameter Default is 0 num joint s Optional If only joint data is to be read this specifies the number of joints to be read If a standard robot file SPC is to be read this parameter should be zero or undefined Default is 0 Output Parameter error Indicates success or failure status as follows 1 Operation failed early for some reason 1 Operation successful Vt Error code hard error occurred 94 Advanced Servo Library Reference Guide Rev A Library Routine sl read file Details WARNING The specification data for the currently SELECTed robot will be lost at the successful completion of this routine This routine normally reads a data file that contains all of the accessible data for a given robot Alternatively it can be used to read a file that contains only the data for a specific joint or a series of sequential joints a file with the SPJ extension contains joint data In the latter mode the data in the file will overwrite the data for a specified joint or series of joints for the selected robot During this read any non joint specific data encountered Reading a SPC file in JOINT mode will generate an error When reading in joint mode only the following cases of single or sequential joints can be input from a single SPJ data file 1 Any single joint coupled or uncoupled Any sequence of uncoupled joints A single complete set of coupled joints For instance if there is a 3x3 m
100. ke release status for this axis output 10 H400 Drive motor enable status for this axis output 12 H1000 High Power Enable state all drives output 13 H2000 Set if Hand solenoids are active 44 Advanced Servo Library Reference Guide Rev A Library Routine sl c status Hex Bit Bitmask Description 16 H1 0000 Multiple cycle command complete such as sl drive 17 H2 0000 Setif motor is capable of servoing 24 H100 Motor is in tolerance 0000 25 H200 First zero index seen after RESET or CAL 0000 26 H400 Stop on force detected 0000 30 H4000 Set if High Power is enabled and drive is enabled 0000 31 H8000 Motor has been calibrated 0000 Related Routine sl status Advanced Servo Library Reference Guide Rev A 45 sl c stop Library Routine Calling Sequence CALL sl c stop board channel error Function Stop a motion started with a call to the routine sl drive or sl c drive Usage Considerations The indicated channel must be in ASYNC mode Input Parameters board Board number channel Channel number on board Output Parameter error Standard success error code Details This routine stops a motor using the normal deceleration phases of a motion this is not an immediate halt of motor motion Related Routines sl drive sl c drive sl stop 46 Advanced Servo Library Reference Guide Rev A Library Routine sl c version Call
101. lerance to use when searching for the hard stop This parameter is ignored for all other search types Output Parameters states Current state of command as follows 0 Current state of trajectory 3 Accel 2 Constant Velocity 1 Decel 52 Advanced Servo Library Reference Guide Rev A Library Routine sl calibrate 0 Done 1 Current state of Home Switch 2 Number of calibration features or transitions last seen Four optional outputs depending on how many features or transitions were seen 3 Position of 1st calibration feature 4 Position of 2nd calibration feature 5 Position of 3rd calibration feature 6 Position of 4th calibration feature error Standard success error code If successful contains number of elements in the states array Details This routine is meant to assist a V program as it performs the sequence of operations necessary to calibrate a robot Each time this routine is called the count of calibration feature transitions will be zeroed and the previous latched positions will be cleared If a non null trajectory is passed in the axis will be placed in calibration mode latching of home switch transitions will be enabled and the indicated motion if any will be started If the speed or accel time is 0 then the defaults data in opcodes sl trjdvm and sl trjdta respectively will be used If the distance is 0 or if no trajectory parameters are passed in a null trajectory is
102. location MOVE pick BREAK CLOSE Agquire the part WAIT EVENT 0 3 Wait for mechanical motion to complete Depart PICK location DEPART 50 Approach PLACE location APPRO place 50 Place J4 into FREE mode The first argument for the sl free routine is a bitmask indicating which motors to place into fr mode There is one bit per motor Bit 1 LSB is for motor one bit 2 is for motor 2 etc CALL sl free B1000 TRUE error IF error lt 0 GOTO 100 SP T ED 25 Reduce speed to 25 Advanced Servo Library Reference Guide Rev A 195 Chapter 3 ex free FREE Mode Example Move to PLACE location E MOVE place BREAK OPEN 7Release part WAIT EVENT 0 3 Wait for mechanical motion to complete Depart PLACE location DEPART 50 Place J4 back into position servo mode CALL sl free B1000 FALSE error IF error lt 0 GOTO 100 100 IF error lt 0 THEN CALL sl adv diag error END RETURN END 196 Advanced Servo Library Reference Guide Rev A A access Adept robot 11 Adept joint 4 example dynamic tuning of 182 Adept robot access 11 Advanced Servo Library example programs 163 asynchronous mode synchronous vs 19 axis following examples 178 basis reading writing on a channel 17 basis reading writing on a motor number 17 buffer example setpoint 172 buffer routines for using the setp
103. ls Some robots have a Solenoid Enable bit that turns on air pressure to the valve block This bit is controlled by the enable argument Robots that don t have this feature ignore the enable argument Different types of robots have different numbers of hand solenoids The LSB of mask and state always correspond to the first solenoid Higher order bits for which there are no corresponding available solenoids are ignored Advanced Servo Library Reference Guide Rev A 73 sl here Library Routine Calling Sequence CALL sl here mot num position error Function This program sets the encoder register position reference to the indicated value and marks the motor as calibrated without moving the motor Usage Considerations This routine requires ASYNC mode Input Parameters mot num Motor number indicating which register to set position Encoder value to place in the register Output Parameter error Standard success error code Details Without moving the motor the encoder value is set to the indicated value This is useful for example in custom calibration programs that require reading a resolver or absolute encoder to get the position without moving the motor After computing the correct position in encoder counts this routine can be called to set the position reference WARNING Any existing calibration will be invalidated but the robot will still be considered to be calibrated and able to move Related Routines sl
104. ltch err Clear Latched errors word for specified motor sl jnt to mtr Convert joint degrees or millimeters to encoder counts sl mtr to jnt Convert encoder counts to joint degrees or millimeters sl pcocfg Configure Position Compare Output signal sl c pcocfg sl read file Read a SPEC data file into RAM sl wrt dat file Write SPEC data to ASCII or binary disk file sl wrt sys file Write all SPEC data to boot disk for all robots Advanced Servo Library Reference Guide Rev A Chapter 1 Summary of Library Routines Routines for Using the Setpoint Buffer sl setpt cfg sl setpt fill sl exttrig Configure the setpoint buffer Fill the setpoint buffer Trigger the setpoint buffer Routines for Reading Writing Servo Parameters sl read sl c read sl write sl c write sl rw accel sl rw amask sl rw bcklsh sl rw calcfg sL rw cal file Read a servo parameter Write a servo parameter Read write Cartesian acceleration Read write the axis enable mask Read write backlash compensation Read write calibration configuration Read write robot calibration program file sl rw collision Read write robot collision avoidance offsets sl rw colsn det Read write static obstacle detection parameters sl rw comp sl rw cspd sl rw ctol sl rw enccfg sl rw ftol sLrw hand Read write linear compensation table Read write Cartesian speed Read write coarse toleranc
105. m reads or writes both the working soft stop limits and the maximum joint limits for the specified motor Input Parameters mot num Motor number write If TRUE write limits if FALSE read limits llim If write is TRUE new Lower soft stop limit in millimeters or degrees ulim If write is TRUE new Upper soft stop limit in millimeters or degrees Imin Optional If write is TRUE new Minimum soft stop limit in millimeters or degrees umax Optional If write is TRUE new Maximum soft stop limit in millimeters or degrees Output Parameters llim If write is FALSE returns lower limit for joint specified ulim If write is FALSE returns upper limit for joint specified error Success error code see Errors on page 20 for details on special error codes for the rw routines lmin If write is FALSE returns minimum limit for joint specified umax If write is FALSE returns maximum limit for joint specified Details The values for these motion parameters will be changed in local RAM only The values are not written to the system disk Advanced Servo Library Reference Guide Rev A 137 sl rw softstops Library Routine CAUTION Be careful when writing motion parameters They can have large effects on mechanism performance longevity and safety 138 Advanced Servo Library Reference Guide Rev A Library Routine sl rw s_crv Calling Sequence CALL sl rw s_crv write prof num scrv error Function This program reads or w
106. mechanism motion 10 Advanced Servo Library Reference Guide Rev A Chapter 1 Compatibility Compatibility The Advanced Servo Library is compatible with any AdeptMotion system including Adept robots limited to Joint 4 only running V version 13 0 and having the Enhanced Trajectory Control License installed Adept Robot Access Access to Adept robots is limited to Joint 4 only Support for Adept robots is limited to the routine summaries listed in the following sections Initialization and Other Utility Routines on page 12 Robot Motion Routines on page 13 Routines for Collecting Servo Data on page 13 Miscellaneous Routines on page 14 Routines for Reading Writing Servo Parameters on page 15 In addition the routines sl version and sl c version can be used with an Adept robot NOTE Any calls to routines outside of the sections indicated above will result in an error Advanced Servo Library Reference Guide Rev A 11 Chapter 1 Related Publications Related Publications Before using these library routines you should be completely familiar with the contents of the AdeptMotion VME Developer s Guide which describes the Adept control system and how it relates to installed mechanisms You should also be familiar with the V language as described in the V Language User s Guide and the V Language Reference Guide Installation The Advanced Servo Library software is included on the Adep
107. n 1 Joint n 1 2 Channel number Output Parameters jmap If write is FALSE contains returned joint map with the same format as the input array above error Success error code see Errors on page 20 for details on special error codes for the rw routines If an attempt is made to read write 122 Advanced Servo Library Reference Guide Rev A Library Routine sl rw jmap external encoder mapping on a system that does not support external encoders the error 658 Device harware not present is returned No data will be read or written Details To ensure that the correct number of parameters are passed into this routine you should perform a read function for the specified robot make the desired changes and write the modified jmap array back to the servos The values for these motion parameters will be changed in local RAM only The values are not written to the system disk CAUTION Be careful when writing motion parameters They can have large effects on mechanism performance longevity and safety Related Routine sl mslew Advanced Servo Library Reference Guide Rev A 123 sl rw link Library Routine Calling Sequence CALL sl rw link link dim num write l dim error Function This program reads or writes the robot link dimensions Usage Considerations Changing the robot link dimensions will dramatically affect how the robot performs as well as robot calibration Please refer to the robot s devic
108. n and function return the following bit will also be turned on if a collision is detected Bit 13 counting from zero gt collision detected For SOLVE ANGLES this bit is returned in the error variable For INRANGE this bit is returned as part of the value forth function The robot s tool tip and tool mounting flange are automatically tested by the operating system to ensure that they will not collide with the objects defined by this routine This testing is performed under the following circumstances ONLY 1 When the robot is moved in JOINT WORLD or TOOL mode via the MCP 2 When the destination of the next motion is being planned 3 During a straight line motion The testing is NOT performed for ANY motions made in ASYNC mode since trajectory generation is bypassed for those types of motions This testing is also NOT performed for joint interpolated motions Advanced Servo Library Reference Guide Rev A Library Routine sl rw colsn det The location of the obstacle is defined with respect to the base reference frame of the robot when its BASE transformation is NULL Three different obstacle shapes are supported 1 Box 2 Cylinder 3 Sphere Six parameters control the position and orientation of the obstacles Centroid X position mm Centroid Y position mm Rotation YAW deg Rotation PITCH deg 6 Rotation ROLL deg In addition the following parameters are required to define the size of the different
109. ndex error FALSE Assume success DETACH 0 Detach robot Select required robot ex calibrate Motor Calibration Example IF NOT DEFINED robot THEN If no robot was specified robot 1 access the default robot END SELECT ROBOT robot Select the robot Make sure motor argument is defined and valid IF NOT DEFINED mtr THEN rror er undefined Undefined value GOTO 100 END IF OUTSIDE 1 mtr ID 3 10 robot THEN error er inv arg Invalid argument GOTO 100 END Check High Power Enable status IF NOT SWITCH POWER THEN error er pwr off 7 Robot power off GOTO 100 Exit routine END Define the password s if required IF DEFINED pwd THEN Spwd robot Spwd Use password passed in ELSE Spwd robot Assume no password END Initialize the Advanced Servo Library EYP CAL IF 186 E Initializing the Advanced Servo Library da N sl OT init pwd status status robot THEN YP E Advanced Servo Library initialization failure S YP PRO E for robot 10 robot PT Press ENTER to exit routine a Advanced Servo Library Reference Guide Rev A Chapter 3 ex calibrate Motor Calibration Example GOTO 110 Exit END Enable ASYNCH mode for the requested motor TYPE Enabling AS
110. ne Calling Sequence CALL sl adv diag error Function This is a service routine that types error messages to the MONITOR window Input Parameter error Standard V error code or special Advanced Servo Library diagnostic error code Output Parameters None Details This routine is called automatically by the sl rw routines if the global variable sl adv diag is nonzero The special Advanced Servo Library diagnostic error codes are returned by the low level routines that read write the SPEC parameters These codes represent the conditions described in Table 2 1 Table 2 1 Advanced Servo Library Diagnostic Error Codes Error Code Description 1 No system data to edit for the referenced robot i e the data is irrelevant for this type of robot no data was read or written 2 Internal consistency error make sure all referenced motors and boards are installed and configured no data was read or written 3 Value too small write operation only 4 Value too large write operation only 5 Illegal digital I O number write operation only 6 Illegal data type i e a string 24 Advanced Servo Library Reference Guide Rev A Library Routine sl amp Calling Sequence CALL sl amp mot num enable error Function This program turns on or off the Drive Enable signal Usage Considerations The indicated motor must be in ASYNC mode Input Parameters mot num Motor number enable
111. ns 1 Compute average velocity based on 1 setpoint in the past and future 2 Compute average velocity based on 2 setpoints in the past and future 3 Compute average velocity based on 3 setpoints in the past and future etc Output Parameter error Standard success error code Details This routine allows the user to write a position or torque setpoint stream directly to any motors in the system When enabled the setpoint buffer will command the servos at the servo rate 1kHz or 500Hz This allows for tight path control for such tasks as electronic camming and scrubbing Setpoint buffers for various motors can be triggered individually or simultaneously including buffers running on different processors See the example program ex setpt Setpoint Buffer Example for details Related Routines sl setpt fill sl exttrig 146 Advanced Servo Library Reference Guide Rev A Library Routine sl setpt fill Calling Sequence CALL sl setpt fill mtr first num data error Function This routine fills the setpoint buffer with either torque or position setpoints Usage Considerations The routine sl setpt cfg MUST have been called to configure the buffer prior to execution of this routine The routine sl exttrig is used to actually run the setpoint buffer Input Parameters mtr Motor number first Optional first record to fill The first record is 1 num Optional total number of records to fill Default is 0 data A
112. nsiderations associated with use of the routine Input Parameters Each of the input parameters in the calling sequence is described in detail For any parameter that has a restriction on its acceptable values or is required to be defined as a double precision variable the restriction requirement is specified Output Parameters Each of the output parameters in the calling sequence is described in detail Advanced Servo Library Reference Guide Rev A 21 Library Routine Details A complete description of the routine and its use is given Related Routines Other library routines with related functions are listed 22 Advanced Servo Library Reference Guide Rev A Library Routine sl adjust Calling Sequence CALL sl adjust mot num count error Function This program incrementally adjusts the axis position reference both commanded and reported actual position by the amount specified and marks the motor calibrated without moving the motor Usage Consideration The indicated motor must be in ASYNC mode Input Parameters mot num Motor number count Value in encoder counts to add to the position reference Output Parameter error Standard success error code Details WARNING Any existing calibration will be invalidated but the robot will still be considered to be calibrated and able to move Related Routines sl c adjust sl c here sl here Advanced Servo Library Reference Guide Rev A 23 sl adv diag Library Routi
113. o joints will track each other until SIGNAL 1001 is LOW 50 error 180 CALL sl where 1l ref pos error IF error lt 0 GOTO 120 DO CALL IF CALL Move joint 2 of robot 1 joint is assumed to be a translational joint MOV DO start TRANS 0 RANDOM 50 Get the motor position of the joint 2 CALL sl where 2 cur pos error IF error lt 0 GOTO 120 Drive the second robot mtr data 2 ref pos cur pos ref pos cur pos mtr data 1 6 CALL sl mslew 1 mtr data 1 FALSE enc pos UNTIL STATE 2 2 UNTIL NOT SIG 1001 gi c drive 2 2 1000 50 start pos TRUI Return second robot to original position Pl error 3i error lt 0 GOTO 120 C break 2 2 error Advanced Servo Library Reference Guide Rev A Chapter 3 ex follow Axis Following Examples IF error lt 0 GOTO 120 Disable ASYNCH mode 120 CALL sl c enable 2 2 FALSE FALSE error IF error lt 0 THEN CALL sl adv diag error END Delete the Advanced Servo Library data structures CALL sl asl cleanup RETURN Advanced Servo Library Reference Guide Rev A 181 Chapter 3 ex j4 gainset Dynamic Tuning of Adept Joint 4 Example ex j4 gainset Dynamic Tuning of Adept Joint 4 Example This example program shows how to dynamically change the tuning on Joint 4 for an Adept robot PROGRAM ex j4 gainset x
114. o the monitor and execution of the subroutine is stopped if any of the following conditions exist e This edition of the ASL is incompatible with the current version of V e The SPECSUB LIB library is not already loaded in memory or its disk file cannot be found to lad e The current edition of SPECSUB is not compatible with the current V system Advanced Servo Library Reference Guide Rev A 75 sl init Library Routine e The Adept MV controller is not configured to run a robot e The V system does not have an Enhanced Trajectory Control license installed Related Routine sl asl cleanup 76 Advanced Servo Library Reference Guide Rev A Library Routine sl jnt to mtr Calling Sequence CALL sl jnt to mtr jnt angles mtr cnts Function This routine converts joint units degrees or millimeters into motor counts Input Parameter jnt angles Array of joint angles beginning at index 0 Output Parameter mtr cnts Array of corresponding motor counts beginning at index 0 Details This routine accepts an array of joint values in degrees or millimeters as returned from the V SOLVE ANGLES instruction and returns the corresponding motor count values Related Routine sl mtr to jnt Advanced Servo Library Reference Guide Rev A ae sl listdata Library Routine Calling Sequence CALL sl listdata mot num out error Function This program returns the status of the data collection being done by the motion bo
115. oint 15 C channel basis reading writing on a 17 channel numbers vs motor numbers 17 collecting servo data routines for 13 compatibility 11 D DAC output routines encoder and 14 data monitoring example joint motion 168 data routines for collecting servo 13 descriptions of library routines 21 descriptions parameter 17 dynamic tuning of Adept joint 4 example 182 E encoder and DAC output routines 14 errors 20 example dynamic tuning of Adept joint 4 182 joint motion data monitoring 168 programs Advanced Servo index Library 163 robot motion 164 routines 16 setpoint buffer 172 examples axis following 178 l initialization 18 initialization and other utility routines 12 installation 12 Introduction 10 J joint 4 example dynamic tuning of Adept 182 joint motion data monitoring example 168 L library example programs Advanced Servo 163 routines descriptions of 21 routines summary of 12 M miscellaneous routines 14 mode synchronous vs asynchronous 19 module specific routines split axis gantry 14 monitoring example joint motion data 168 motion data monitoring example joint 168 example robot 164 routines robot 13 motor numbers channel numbers vs 17 motor number basis reading writing on a 17 Advanced Servo Library Reference Guide Rev A 197 Index N numbers channel numbers vs motor 17 O other utility routines initialization and 12 output routines encoder
116. on mm parms 3 Centroid Z position mm parms 4 Rotation YAW deg parms 5 Rotation PITCH deg parms 6 Rotation ROLL deg parms 7 Size DIAMETER mm parms 8 Size Z HEIGHT mm If shape is 3 Sphere parms 1 Centroid X position mm parms 2 Centroid Y position mm parms 3 Centroid Z position mm Advanced Servo Library Reference Guide Rev A 107 sl rw colsn det Library Routine parms 4 Rotation YAW deg parms 5 Rotation PITCH deg parms 6 Rotation ROLL deg parms 7 Size DIAMETER mm error Success error code see Errors on page 20 for details on special error codes for the rw routines Details 108 This routine allows the definition of Obstacles or regions in the workspace that the mechanism needs to avoid After defining the regions the robot will not be able to be driven into or through the regions with either the MCP under manual control or with straight line moves under program control If the user or a program attempts to drive the robot into an obstacle the following error message will occur 901 Obstacle collision detected When a collision is detected during manual control the following error will be displayed on the MCP screen OBSTACLE COLLISION The SOLVE ANGLES instruction and the INRANGE function both test for collisions with static Cartesian obstacles In addition to the other error bits that this instructio
117. or Number Basis Reading Writing on a Channel Basis Parameter Descriptions Initialization Password Pictection p Synchronous vs Asynchronous Mode Errors Descriptions of Library Routines Advanced Servo Library Example Programs ex motion Robot Motion Example ex servo data Joint Motion Data Monitoring Example ex setpt Setpoint Buffer Example Advanced Servo Library Reference Guide Rev A 10 11 11 12 12 12 12 13 13 13 14 14 14 15 15 16 17 17 17 17 18 18 19 20 21 163 164 168 172 Table of Contents ex follow Axis Following Examples ex j4 gainset Dynamic Tuning of Adept Joint 4 Example ex calibrate Motor Calibration Example ex free FREE Mode Example Index Advanced Servo Library Reference Guide Rev A 178 182 185 194 197 Table 2 1 Table 2 2 Table 2 3 Table 2 4 List of Tables Advanced Servo Library Diagnostic Error Codes 24 Latched Errors Bit Definition 55 SPEC Servo Configuration Parameter Names 87 SPEC Servo Data ParameterNames 92 Advanced Servo Library Reference Guide Rev A 7 Overview Introduction Compatibility Adept Robot Access Related Publications Installation Summary of Library Routines Initialization and Other Utility Routines Robot Motion Routines Status Routines Routines for Collecting Servo Data Encoder and DAC Output
118. out regard for the motor assignments in the currently selected robot s device module description Board numbers are based on the physical settings of the address DIP switches on the motion board See the AdeptMotion VME Developer s Guide for details on setting these DIP switches See the AdeptMotion VME Developer s Guide for details on the physical connections that correspond to each channel Parameter Descriptions The Advanced Servo Library routines allow you to read and write parameters that are normally accessible only with the SPEC utility program This manual does not give a complete description of each parameter s use and interactions See the AdeptMotion VME Developer s Guide for a complete description of all parameters Advanced Servo Library Reference Guide Rev A 17 Chapter 1 Initialization Initialization Before any routines in the Advanced Servo Library can be used the routine sl init must be run This routine initializes all of the global data structures that are required by the routines described in Descriptions of Library Routines on page 21 When this routine is selected the system checks for the SPECSUB library to be in system memory If it is not in memory the program attempts to load the file SPECSUB LIB from the same path from which the program was originally loaded If the file cannot be found the user is asked to enter the appropriate path specifications to access the file No routine in the Adv
119. pecific latching the new setting will be accepted however it will affect all axes This is how it behaved before You can determine if you have a Rev 0 or Rev 1 board by calling the Advanced Servo Library routine sl version In order to support field service spares of Rev 0 boards with Rev 1 boards configuration of the Enhanced MI 6 MI 3 board to be Rev 1 will be performed with a hardware jumper From the servo s perspective if a Rev 1 board is configured to be Rev 0 the axis specific latching will not be useable but the board wide latching should work as it would on a true Rev 0 board Rev 1 boards configured as Rev 1 These boards will have board wide latching disabled and will use only axis specific latching At boot they will attempt to simulate board level latching by configuring all the axes identically based upon the CONFIG _C settings for the board This configuration can then be overridden from this routine on an axis by axis basis Advanced Servo Library Reference Guide Rev A 119 sl rw id data Library Routine Calling Sequence CALL sl rw id data write opt word model num serial num name error Function This program reads or writes the robot option word model number serial number and robot name Usage Considerations Arm power is disabled and the servos are restarted if the robot option word is changed Read only access to Adept robots is allowed Input Parameters write If TRUE write value if FALSE
120. r the rw routines Details The value for this motion parameter will be changed in local RAM only The value is not written to the system disk CAUTION Be careful when writing motion parameters They can i have large effects on mechanism performance longevity and safety Related Routine sl rw mspd 130 Advanced Servo Library Reference Guide Rev A Library Routine sl rw njts Calling Sequence CALL sl rw njts write n jts stt Function This program will read or write the number of joints for the currently selected robot Input Parameter write TRUE write value FALSE read value n jts If write new value for number of robot joints Output Parameter n jts If read current number of robot joints stt Success failure status 0 success lt 0 Failure V error code Details If the number of joints is changed the servos will be restarted NOTE The maximum number of joints is limited to the max supported by the kinematic device module of the selected robot Advanced Servo Library Reference Guide Rev A 131 sl rw pwr decel Library Routine Calling Sequence CALL sl rw pwr decel write decel rror Function This program reads or writes the robot Arm Power Off Deceleration Usage Considerations Robot Option Bit 12 must be set in Robot Option word 1 Input Parameters write TRUE write decel value FALSE read decel value decel If write is TRUE new value for deceleration Output Paramete
121. ra tion of future documentation A form is provided at the back of the book for submitting your comments Copyright 1998 by Adept Technology Inc All rights reserved The Adept logo is a registered trademark of Adept Technology Inc Adept AdeptOne AdeptOne MV AdeptThree AdeptThree XL AdeptThree MV PackOne PackOne MV HyperDrive Adept 550 Adept 550 CleanRoom Adept 1850 Adept 1850XP A Series S Series Adept MC Adept CC Adept IC Adept OC Adept MV AdeptVision AIM VisionWare AdeptMotion MotionWare PalletWare FlexFeedWare AdeptNet AdeptFTP AdeptNFS AdeptTCP IP AdeptForce AdeptModules AdeptWindows AdeptWindows PC AdeptWindows DDE AdeptWindows Offline Editor and V are trademarks of Adept Technology Inc Any trademarks from other companies used in this publication are the property of those respective companies Printed in the United States of America 25 Table of Contents Overview Introduction Compatibility Adept Robot Neca Related Publications Installation Summary of Library Pautings Initialization and Other Utility Routines Robot Motion Routines Status Routines i Routines for Collecting Servo Data Encoder and DAC Output Routines Split Axis Gantry Module Specific Routines Miscellaneous Routines Routines for Using the Setpoint Buffer Routines for Reading Writing Servo Parameters Example Routines Channel Numbers vs Motor umbe Reading Writing on a Mot
122. rameters board Board number channel Channel number on board Output Parameters ets Current position in encoder counts loc Optional Current position in millimeters or degrees error Standard success error code Details This routine returns the current position of the motor mapped to the board and channel input arguments It always returns the current position in encoder counts If the loc argument is specified the routine will also compute the current location in joint units millimeters or degrees Related Routines sl where sl c here sl here Advanced Servo Library Reference Guide Rev A 49 sl c write Library Routine Calling Sequence CALL sl c write board channel opcode value error Function This program writes tuning and other SPEC parameters to V or the servos in RAM only Usage Considerations Since motion parameters are saved based on a kinematic description parameters changed on a board channel basis will not be saved when a new SPEC file is created or parameters are saved to the system file The routine sl write must be used if you want to permanently save edited motion parameters to the system disk using the routine sl wrt sys file Input Parameters board Board number channel Channel number on board opcode Symbolic name of desired value see the description of sl read for a list of the SPEC parameters that can be written value New value for the specified parameter Output Parameter
123. ration for Adept robots sl homin5 Park position after calibration is complete cts sl homin6 Initial speed for home switch search cts msec sl homin7 Fine search speed for home switch cts msec sl homin8 Motor Stalled time out for use during secs calibration sl trjdvm Default velocity for the DRIVE command cts msec sl amptype Amplifier type None sl ctscom Counts per commutation cycle cts VJI controlled robots only 90 Advanced Servo Library Reference Guide Rev A Library Routine sl read Table 2 3 SPEC Servo Configuration Parameter Names Continued Parameter name Data returned Units Opcode sl comlg Commutation lead gain VJI controlled None robots only sl scribe Scribe position AdeptOne family of robots cts only sl dcgain DC gain value None sl szero S Plane zero None sl spole S Plane pole None sl twacal Commutation position at first index cts VJI controlled robots only sLigain Raw unscaled integral gain None sl latch Latched errors word None sl calgrp Calibration group bit mask None sLtrjdta Servo internal trajectory generator msec acceleration time in milliseconds Default 500 milliseconds sl tollg2 Tolerance extrapolation time secs Advanced Servo Library Reference Guide Rev A 91 sl read Library Routine Table 2 4 SPEC Servo Data Parameter Names Parameter
124. rd V error code If gt 0 contains the number of elements in the out array Details This routine along with sl defdata and sl listdata allows you see all the servo or force statistics that are generated when a robot motion is made The routine sl defdata must have been called previously to initiate data collection Advanced Servo Library Reference Guide Rev A 71 sl getdata Library Routine See the example program ex servo data Joint Motion Data Monitoring Example for details Related Routines sl listdata sl defdata sl defwave sl deftrig 72 Advanced Servo Library Reference Guide Rev A Library Routine sl hand ctrl Calling Sequence CALL sl hand ctrl mask state nable rror Function Operates the hand solenoids Input Parameters mask A bitfield describing which solenoids to affect With this input it is possible to limit operation to a subset of solenoid lines The LSB Least Significant Bit affects Hand Solenoid 1 The next LSB affects Hand Solenoid 2 etc Solenoids with no bits set in the mask will not change state state A bitfield that sets the state of each solenoid 1 energize 0 de energize enable Optional Boolean that enables the solenoids TRUE to enable solenoids FALSE to disable solenoids This argument is ignored if the SELECTed robot does not support this feature See the Details section below Output Parameter error Standard success error code Detai
125. read value opt word Optional If write is TRUE new value for robot option word model num Optional If write is TRUE new value for robot model number serial num Optional If write is TRUE new value for robot serial number Sname Optional If write is TRUE new value for the robot name Output Parameters opt word If write is FALSE current value of robot option word model num If write is FALSE current value for robot model number serial numlf write is FALSE current value for robot serial number Sname If write is FALSE current value for robot name error Success error code see Errors on page 20 for details on special error codes for the rw routines Details The value for these motion parameters will be changed in local RAM only The values are not written to the system disk See the robot s device module documentation for information on robot option words 120 Advanced Servo Library Reference Guide Rev A Library Routine sl rw jaccel Calling Sequence CALL sl rw jaccel mot num write accel error Function This program reads or writes a robot joint acceleration value Input Parameters mot num Motor number write If TRUE write value if FALSE read value accel If write is TRUE new value for joint acceleration Output Parameters accel If write is FALSE returns joint acceleration error Success error code see Errors on page 20 for details on special error codes for the rw routines Details The
126. releasing the brake on a gravity loaded joint that is not under servo control because the joint may drop immediately Related Routine sl c brake Advanced Servo Library Reference Guide Rev A 27 sl break Library Routine Calling Sequence CALL sl break mot num error Function This program checks the device status information to assure that the most recent motion command for the specified motor has completed before proceeding Input Parameter mot num Motor number Output Parameter error Standard success error code Details This routine performs a motor specific function similar to the V BREAK instruction Program execution will be delayed until the motor is within the tolerance COARSE FINE specified by the application program Related Routine sl c break 28 Advanced Servo Library Reference Guide Rev A Library Routine sl c adjust Calling Sequence CALL sl c adjust board channel count error Function This program incrementally adjusts the axis position reference both commanded and reported actual position by the amount specified and marks the motor calibrated without moving the motor Usage Considerations The indicated channel must be in ASYNC mode Input Parameters board Board number channel Channel number on board count Value in encoder counts to add to the position reference Output Parameter error Standard success error code Details WARNING Any existing calibration will be invalidated but the
127. ring Example 140 CALL sl asl cleanup MCS DELETER status RETURN END Advanced Servo Library Reference Guide Rev A 171 Chapter 3 ex setpt Setpoint Buffer Example ex setpt Setpoint Buffer Example Using the setpoint buffer you can predefine a series of robot points and then command the robot to move through these points PROGRAM ex setpt robot Spassword circle ABSTRACT This is an example routine that will move an XY pair of axes along a circular or sine wave path using the setpoint buffer in the servos INPUT PARMS robot Optional Number of robot to move Default is robot 1 Spassword Optional Robot module password to gt access SPEC data May be undefined A circle Optional If TRUE follow circular path Default is sine wave path OUTPUT PARMS None SIDE EFFECTS None Copyright c 1995 97 by Adept Technology Inc AUTO REAL circ error i rad size stt AUTO loc AUTO a LOCAL loc ppoint Spassword status Select specified robot DETACH Robot must be detached before selecting new one IF NOT DEFINED robot THEN If no robot was specified robot 1 access the default robot END SELECT ROBOT robot Select the robot Define the password s if required IF DEFINED password THEN Spassword robot Spassword Use password passed in ELSE
128. rites an S curve profile This allows dynamic redefinition of S curve profiles Input Parameters write If TRUE write the S curve in scrv else read the S curve for the indicated joint and return the values in scrvf prof num S curve profile number to read write 1 8 Clipped at 8 scrv If write is TRUE new S curve profile to write Output Parameters scrv If write is FALSE contains requested S curve profile error Success error code see Errors on page 20 for details on special error codes for the rw routines Details There are five elements to an S curve profile scrv 1 TRUE enable profile FALSE disable profile scrv 2 Time to ramp up to maximum acceleration scrv 3 Time to ramp down to 0 scrv 4 Time to ramp up to maximum deceleration scrv 5 Time to ramp down to 0 A maximum of 8 profiles can be defined per robot The values for these motion parameters will be changed in local RAM only The values are not written to the system disk CAUTION Be careful when writing motion parameters They can have large effects on mechanism performance longevity and safety Advanced Servo Library Reference Guide Rev A 139 sl rw tooloff Library Routine Calling Sequence CALL sl rw tooloff write offset error Function This program reads or writes the robot tool offset Input Parameters write If TRUE write value if FALSE read value offset If write is TRUE new value for tool offset Output Parameters offs
129. rray of setpoints Output Parameter error Success error code If success contains the number of elements in the buffer Details See the example program ex setpt Setpoint Buffer Example for details Related Routines sl exttrig sl setpt cfg Advanced Servo Library Reference Guide Rev A 147 sl slave mode Library Routine Calling Sequence CALL sl slave mode axis num enable error Function This routine places the specified axis into or out of slave mode such that one axis will follow the other s setpoints Usage Considerations This routine is for use with split axis Gantry robot systems ONLY ASYNC mode must be enabled for BOTH affected motors Input Parameters axis num Axis number enable TRUE to enable slave mode FALSE to disable slave mode Output Parameter error Standard success error code Details This routine can be used to allow coordination of split axis pairs Related Routine sl set gan splt 148 Advanced Servo Library Reference Guide Rev A Library Routine sl slew Calling Sequence CALL sl slew mot num enc pos error Function This routine commands a step motion of a single motor Usage Considerations The motion will be implemented over one V major cycle 16 milliseconds The motor must be in ASYNC mode for this command to work NOTE The servos are expecting commands at the servo loop rate either 1ms or 2ms depending on configuration If the commands sent to this routine are not timed
130. rrors on page 20 for details on special error codes for the rw routines Details The values for these motion parameters will be changed in local RAM only The values are not written to the system disk CAUTION Be careful when writing motion parameters They can have large effects on mechanism performance longevity and safety In order to maintain the encoder scale factor data structures particularly for robots with coupling matrices follow this procedure 134 Advanced Servo Library Reference Guide Rev A Library Routine sl rw scale 1 Call this routine with the write parameter set to FALSE This will READ the current scale factor s for the selected robot 2 Make the changes to the scale factors 3 Call this routine again with the write parameter set TRUE passing in the modified array This will ensure that the data received will be in the correct format for the robot This routine is limited to reading or writing 18 motors joints NOTE This program reads writes a two dimensional array where the left index is the joint number and the right indices point to the scale factors scale factor enc scales jnt idx Check the robot device module documentation for the definitions of the individual elements For example if joints 2 and 3 of a robot were part of a 2x2 coupling matrix the two elements for joint 2 would be stored in enc scales 2 1 Motor 2 to motor 2 scale enc scales 2 2 Motor 2 to motor 3 scale
131. rs decel If write is FALSE current value of deceleration error Standard success error code see Errors on page 20 for details on special error codes for the rw routines CAUTION Be careful when writing motion parameters They can have large effects on mechanism performance longevity and safety Details The Arm Power Off Deceleration is an additional parameter that is used when a trajectory is prematurely stopped and arm power is turned off This value forces a specific deceleration percentage in the case where a severe error has occurred during a program generated motion and arm power is disabled For most systems this value is ignored since disabling arm power normally disables power to the amplifiers which makes trajectory generation meaningless However for systems that continue to supply power to the amplifiers for a period of time after arm power is disabled this value can be used to specify a specific deceleration To have V compute an appropriate deceleration set this value to zero 132 Advanced Servo Library Reference Guide Rev A Library Routine sl rw rollover Calling Sequence CALL sl rw rollover mot num write rollover error Function Reads or writes an encoder roll over value Input Parameters mot num Motor number write TRUE to write value FALSE to read value rollover If write is TRUE new value for encoder roll over for this motor Output Parameters rollover If write is FALSE curr
132. rw jmap Library Routine Servo Board CPU Board Channel Database 2 1 7 2 2 8 2 3 9 2 4 10 2 5 11 2 6 12 Advanced Servo Library Reference Guide Rev A sl mslew 81 sl mtr to jnt Library Routine Calling Sequence CALL sl mtr to jnt mtr cnts jnt angles Function This routine converts motor counts into joint units degrees or millimeters Input Parameter mtr cnts Array of motor counts starting at element 0 Output Parameter jnt angles Array of corresponding joint angles starting at element 0 Details This routine accepts an array of motor count values and returns the corresponding joint values in millimeters or degrees as appropriate Related Routine sl jnt to mtr 82 Advanced Servo Library Reference Guide Rev A Library Routine sl over travel Calling Sequence CALL sl over travel mot num pos neg error Function This program reads the state of the positive and negative overtravel switches The state of both switches is available only on the VMI Input Parameter mot num Motor number Output Parameters pos State of the positive overtravel switch neg State of the negative overtravel switch error Standard success error code Details This routine reads the state of the overtravel switches The output parameters pos and neg are set to TRUE if the respective switch is on and to FALSE if the respective switch is off NOTE The MI 6 MI 3 bo
133. s overheating 1016 11 Duty cycle exceeded Mtr n The indicated motor has been driven 1021 fast for too long a period of time 12 E STOP from backplane The motion interface board has 643 detected an E STOP due to the BRAKE ESTOP signal being asserted on the VMEbus 13 E STOP from SYSFAIL 642 The motion interface board has detected an E STOP due to the SYS FAIL signal being asserted on the VME bus 56 Advanced Servo Library Reference Guide Rev A Library Routine Table 2 2 Latched Errors Bit Definition Continued sl cir ltch err Bit V Error Message V error code Description 14 Negative overtravel Mtr n The indicated motor has moved 1032 beyond the hardware limited negative range of motion 15 Positive overtravel Mtr n The indicated motor has moved 1033 beyond the hardware limited positive range of motion 16 Motor stalled Mtr n The indicated motor has stalled 1007 while being driven 17 Envelope error Mtr n The indicated motor was not 1006 tracking the commanded position with sufficient accuracy indicating a failure in the hardware servo system or something impeding the path of the robot 18 Unexpected zero index Mtr A zero index signal was received n 1005 from the encoder for this motor at an unexpected time 19 Encoder quadrature error The encoder from the specified Mtr n 1008 motor is sending information
134. se motion parameters will be changed in local RAM only The values are not written to the system disk CAUTION Be careful when writing motion parameters They can M have large effects on mechanism performance longevity and safety Related Routine sl rw max j acc Advanced Servo Library Reference Guide Rev A 125 sl rw max j acc Library Routine Calling Sequence CALL sl rw max j acc mot num write max accel error Function This program reads or writes the robot maximum joint acceleration Input Parameters mot num Motor number write If TRUE write new value if FALSE read value max accel If write is TRUE new value for maximum joint acceleration Output Parameters max accel It write is FALSE returns maximum joint acceleration for specified joint error Success error code see Errors on page 20 for details on special error codes for the rw routines Details The values for these motion parameters will be changed in local RAM only The values are not written to the system disk CAUTION Be careful when writing motion parameters They can M have large effects on mechanism performance longevity and safety Related Routine sl rw max c acc 126 Advanced Servo Library Reference Guide Rev A Library Routine sl rw maxcspd Calling Sequence CALL sl rw maxcspd write max spd error Function This program reads or writes the maximum robot speed during Cartesian motions Input Parameters write If TRUE writ
135. sed for data collection Typically the trigger will be an internally generated square wave excitation of the joint Old data in the buffer is not lost until the next trigger actually occurs Input Parameters mot num Motor number sample mode Defines the sampling mode 0 Turn trigger OFF no data collected 1 Re trigger trigger is reenabled after buffer is filled 2 Single sweep trigger is not reenabled after buffer is filled sync Defines the sync or start of the sampling 0 Free run start collection now 1 Sync to rising edge of square wave 2 External trigger see sl exttrig Output Parameter error Standard success error code Details This routine along with sl defdata and sl getdata allows you to see all the servo Statistics that are generated when a robot motion is made See the example program ex servo data Joint Motion Data Monitoring Example for details Related Routines sl deftrig sl defwave sl exttrig sl getdata sl listdata 156 Advanced Servo Library Reference Guide Rev A Library Routine sl where Calling Sequence CALL sl where mot num cts loc error Function Reads current location of motor mot num Input Parameter mot num Motor number Output Parameters cts Current position in encoder counts loc Optional Current position in millimeters or degrees error Standard success error code Details This routine returns the current position of the motor specified in the mot num argument
136. t Utility Disk The library routines compatible with V 13 0 which are protected and cannot be viewed or edited are in the file ADVSERVO LIB The example routines which are not protected and can be edited and copied are in the file EXAMPLES V2 Summary of Library Routines Following is a brief summary of the routines in the Advanced Servo Library These routines are fully described in Descriptions of Library Routines on page 21 Routines that have an s1 and s1 c prefix can write to either a motor or a servo board channel See Channel Numbers vs Motor Numbers on page 17 Initialization and Other Utility Routines 12 sl init Initialize data structures required by all other routines sl asl cleanup Delete the Advanced Servo Library global data structures Advanced Servo Library Reference Guide Rev A Chapter 1 sl enable sl c enable sl amp sl c amp sl calibrate sl drive sl c drive sl free sl c free sl stop sl c stop sl brake sl c brake sl break sl c break sl mslew sl slew Status Routines sl version sl c version sl status sl c status Summary of Library Routines Robot Motion Routines Enable disable ASYNC Mode Enable disable Drive Enable signal Initiate monitor motor calibration Move an axis a specified distance Enable disable FREE mode for a motor or motors Halt a motion started with one of the drive routines
137. t is assumed that the two robots share a common Y Axis and that the Y axes have the same origin i e the same physical zero position and direction In order to allow a clearance zone to be taken into consideration when testing for a collision a special array of six values has been allocated Nominally these six values correspond to the six degrees of freedom X Y Z y p r However for the XY3Z robot module only the second value is used Y component The absolute value of the second parameter specifies a desired clearance zone to be maintained between the two robots along the Y axis This clearance must be set in both of the XY3Z robot modules Advanced Servo Library Reference Guide Rev A 105 sl rw colsn det Library Routine Calling Sequence CALL sl rw colsn det write obstacle shape parms error Function This programs reads or writes the parameters that define the shape location and size of a static Cartesian obstacle that is used for the generalized collision detection feature of the robot modules Input Parameters write TRUE to write collision detection parameters FALSE to read collision detection parameters obstacle Obstacle number 1 PROTECTED Obstacle 1 2 PROTECTED Obstacle 2 0 Unused ignored 1 USER defined Obstacle 1 2 USER defined Obstacle 2 3 USER defined Obstacle 3 4 USER defined Obstacle 4 shape Shape of obstacle as 0 No obstacle 1 Box 2 Cylinder
138. te Motor Calibration Example PROGRAM ex get cal parm mtr srch dist cal pos srch speed fine speed hrd tol txt error ABSTRACT This routine assists the ex calibrate routine It reads A all the necessary calibration parameters i INPUT PARMS mtr Motor number i OUTPUT PARMS srch dist Search distance in encoder counts 7 cal pos Motor position at calibration feature A home switch or hard stop H srch speed Search speed fine speed Fine search speed 7 hrd tol Home sensor width or hard stop tolerance Stxt If an error occurs text string that 7 contains information about what parameter caused the error error Success failure status of this routine SIDE EFFECTS None Copyright c 1997 by Adept Technology Inc Initialize error outputs Stxt No text to display error FALSI Assume success Gl Read Maximum search distance CALL sl read mtr sl hominl srch dist error IF error lt 0 THEN Stxt Error reading Search Distance from servos for motor GOTO 100 END Read Calibration Position at lst index or other feature CALL sl read mtr sl homin2 cal pos error IF error lt 0 THEN Stxt Error reading Calibration Position from servos for motor GOTO 100 END Read Search speed CALL sl read mtr sl homin6 srch speed error IF error lt 0 THEN Stxt Error reading Search Speed from servos for motor GO
139. that is not phased correctly 20 No zero index Mtr n The motion system did not detect a 1004 zero index mark for the indicated joint 21 Hard envelope error Mtr n The indicated motor was not 1027 tracking the commanded position with sufficient accuracy indicating a failure in the hardware servo system or something impeding the path of the robot 22 Encoder fault Mtr n The servo board has detected a 1025 broken encoder wire on the indicated axis 23 Skew envelope error Mtr n The two motors associated with a 1022 split axis were not tracking each other with sufficient accuracy Advanced Servo Library Reference Guide Rev A 57 sl clr litch err Library Routine Table 2 2 Latched Errors Bit Definition Continued Bit V Error Message V error code Description 24 Manual brake release 639 The robot s manual brake release button is active 25 Unused 26 Unused 27 Unused 28 Servo task overloaded 674 A servo interrupt task has used up all the execution time The detection algorithm reports an error when the servo interrupt task completely occupies 10 or more time slices per second of real time The robot went to a fatal error state when this error occurred and the servo interrupt task stopped running 29 Force protect limit xceeded 624 At least one force sensor strain gauge reading has exceeded the preset limit caus
140. to point to each other Advanced Servo Library Reference Guide Rev A 143 sl setdac Library Routine Calling Sequence CALL sl setdac mot num select value error Function This program sets the indicated motor s DAC to the specified value Usage Considerations The maximum output voltage is 10 volts The maximum DAC value is 32 767 The motor must be in ASYNC mode Input Parameters mot num Motor number select Optional If TRUE value contains a voltage 10 If FALSE value contains DAC counts 32 767 Default is FALSE value Desired analog voltage output or DAC value to set If undefined the DAC is set to 0 Output Parameter error Success error code Details WARNING This function could cause serious damage to the mechanism tooling or workspace or injury to personnel Executing this function with arm power on may cause the axis specified to move at VERY HIGH SPEED This command is open loop USE EXTREME CAUTION when running this program Related Routine sl c setdac 144 Advanced Servo Library Reference Guide Rev A Calling Sequence Library Routine sl setpt cfg CALL sl setpt cfg mtr sz group wrap open abs acc Function dec smooth fact error This routine configures the position or torque setpoint buffer This must be executed to size the buffer prior to calling the routines sl setpt fill or sl exttrig Input Parameters mtr SZ group wrap open abs acc Motor number
141. trs Number of motors to move on robot Spassword Optional Robot module password to access SPEC data May be undefined None Robot motion will occur 1995 97 by Adept Technology Inc AUTO abs acc t board dist error ii spd max AUTO REAL enc pos 15 mtr data 15 version 12 AUTO Sa Spassword 15 S version 2 LOCAL status Select the robot specified robot must be calibrated and High Power must be enabled 164 Advanced Servo Library Reference Guide Rev A Chapter 3 IF NOT DEFINED robot robot al END TH Do we need to select a new robot IF SELECT ROBOT lt gt robo DETACH SELECT ROBOT robot ATTACH END Define the password s if required IF DEFINED Spassword TH Spassword robot ELSE Spassword robot END Call the Advanced Servo Library in ex motion Robot Motion Example EN If no robot was specified access the default robot r t THEN Select the robot Attach the robot EN password Use password passed in y Assume no password itialization routine TYPE Initializing the Advanced Servo Library CALL sl init Spassword status IF NOT status robot THEN YPE Advanced Servo Library initialization failure S YPE for robot 10 robot GOTO 140 Exit
142. ts 0 to loc num 1 i OUTPUT PARMS error Error code SIDE EFFECTS None Copyright c 1995 by Adept Technology Inc AUTO flags group i jt 10 locs m mots mt 12 mts 12 out LOCAL mts error FALSI Gl Assume success mots ID 3 8 Number of motors in robot locs DEFINED loc 0 Flag indicating defined locations path DECOMPOSE jt ppoint 0 Stuff array of joint angles IF locs THEN Solve for joint angles of ref loc SOLVE ANGLES jt flags error loc 0 jtI flags END 174 Advanced Servo Library Reference Guide Rev A Chapter 3 ex setpt Setpoint Buffer Example CALL sl jnt to mtr jt mt Joint angles gt motor counts flags SOLVE FLAGS jt Get joint configuration flags FOR m 1 TO mots Compute motor group to move group 0 Disable unused motors IF mask BAND BMASK m OR mask lt 0 THEN group SELECT ROBOT END Configure the setpoint buffer CALL sl setpt cfg m num group 1 0 0 710 710 0 error IF error lt 0 GOTO 100 END Fill setpoint buffers in blocks of 64 setpoints out 0 WHILE out lt num DO Loop until all setpoints are done WHILE i lt 63 AND out i lt num DO Calculate mtr angles of desired positions IF locs THEN SOLVE ANGLES mts flags error loc outti jt flags DECOMPOSE mts ppoint outt
143. used with the servo setpoint buffer and may be used with the routine sl getdata for gathering servo data Related Routines sl setpt cfg sl setpt fill sl deftrig Advanced Servo Library Reference Guide Rev A 67 sl free Library Routine Calling Sequence CALL sl free mtr mask enable error Function Places the desired motor s into free mode if free mode is allowed for the specified motor s Usage Considerationss This routine will automatically place the required channel into and out of ASYNC mode The FREE mode digital signal defined in SPEC is supported by this routine If disabling FREE mode the motor s will automatically be placed back into SYNC mode position servo mode and the robot will be DETACHed and reATTACHed to the calling task Input Parameters mtr mask Bitmask indicating which joint s to free up one bit per motor Motor 1 is the LSB Binary Hex Motor Bit Bitmask Bitmask 1 1 ABI H1 2 2 B10 H2 3 3 B100 H3 4 4 B1000 H4 5 5 B10000 H5 6 6 B100000 H6 etc enable If TRUE enable FREE mode for specified channel If FALSE disable FREE mode for specified channel Output Parameter error Standard success error code If FREE mode is not allowed it is disabled in SPEC for a requested motor error code 609 68 Advanced Servo Library Reference Guide Rev A Library Routine sl free Illegal joint number is returned
144. value for this motion parameter will be changed in local RAM only The value is not written to the system disk CAUTION Be careful when writing motion parameters They can have large effects on mechanism performance longevity and safety Related Routine sl rw accel Advanced Servo Library Reference Guide Rev A 121 sl rw jmap Library Routine Calling Sequence CALL sl rw jmap write rob num jmap error Function This program reads or writes the joint external encoder mapping for the specified robot number Usage Considerations The robot will be DETACHed after reading OR writing the joint mapping The robot will be left in an uncalibrated state after writing the new mapping Arm power will be disabled and the servos will be restarted after writing the new mapping Writing a new joint mapping to an Adept robot is not allowed Input Parameters write If TRUE write the joint map in jmapl if FALSE read the joint mapping for the indicated robot and return the values in jmap rob num Robot number to read write joint mapping To read write external encoder mapping set this value to zero jmap If write is TRUE new joint map for specified rob num as follows jmap 1 Joint Encoder 1 Board number jmap 2 Joint Encoder 1 Channel number jmap 3 Joint Encoder 2 Board number jmap 4 Joint Encoder 2 Channel number jmap 5 Joint 3 Board number jmap 6 Joint 3 Channel number jmap n Joint n 1 2 Board number jmap
145. ve to loc 3 Wait until the motion to loc 3 is at least 85 complete WAIT STATE 10 gt 85 Reset the Integral Gain back to the original value CALL sl rw tuning mtr TRUE FALSE orig igain r error IF error lt 0 GOTO 100 Advanced Servo Library Reference Guide Rev A 183 Chapter 3 ex j4 gainset Dynamic Tuning of Adept Joint 4 Example MOVE loc 1 Move back to loc 1 BREAK Wait for motion to complete CALL sl asl cleanup Delete ASL globals from RAM 100 RETURN END 184 Advanced Servo Library Reference Guide Rev A Chapter 3 ex calibrate Motor Calibration Example ex calibrate Motor Calibration Example PROGRAM ex calibrate robot This example program shows how to calibrate a motor using the Advanced Servo Library routines Spwd mtr error ABSTRACT This routine shows how to perform motor calibration for a single motor on the specified robot High Power must be enabled prior to calling this routine INPUT PARMS robot Optional Robot number containing the motor that is to be calibrated Default is robot 1 if undefined Spwd Optional Robot module password if required Default is NULL string if undefined mtr Motor number on robot to calibrate OUTPUT PARMS error Success error status of the motor calibration Returns 401
146. vo Library Reference Guide Rev A Library Routine sl rw mspd Calling Sequence CALL sl rw mspd mot num write mspd error Function This program reads or writes maximum joint speed under manual control with the MCP Input Parameters mot num Motor number write If TRUE write value if FALSE read value mspd If write is TRUE new value for manual joint speed Output Parameters mspd If write is FALSE returns manual joint speed error Success error code see Errors on page 20 for details on special error codes for the rw routines Details The value for this motion parameter will be changed in local RAM only The value is not written to the system disk CAUTION Be careful when writing motion parameters They can i have large effects on mechanism performance longevity and safety Related Routine sl rw mtic Advanced Servo Library Reference Guide Rev A 129 sl rw mtic Library Routine Calling Sequence CALL sl rw mtic mot num write mtic error Function This program reads or writes robot pendant tic increment smallest positional increment when using the speed pot on the MCP Input Parameters mot num Motor number write If TRUE write value if FALSE read value mtic If write is TRUE new value for pendant tic increment Output Parameters mtic If write is FALSE returns current value of pendant tic increment error Success error code see Errors on page 20 for details on special error codes fo
147. w mtic 130 sLrw rollover 133 sLrw s_crv 139 sl rw scale 134 sl rw softstops 137 sl rw tooloff 140 sl set gan splt 143 sl setdac 144 sl setpt cfg 145 sl setpt fill 147 198 Advanced Servo Library Reference Guide Rev A sl slave mode 148 sl slew 149 sLspare 151 sl status 152 sl stop 154 sl version 155 sl wave trig 156 sl write 158 sl wrt dat file 159 sl wrt sys file 161 routines descriptions of library 21 encoder and DAC output 14 example 16 for collecting servo data 13 for reading writing servo parameters 15 for using the setpoint buffer 15 initialization and other utility 12 misc 14 robot motion 13 split axis gantry module specific 14 status 13 summary of library 12 S servo data routines for collecting 13 Servo Library example programs Advanced 163 servo parameters routines for reading writing 15 setpoint buffer example 172 routines for using the 15 sl adjust routine 23 sl adv diag routine 24 sl amp routine 25 sl asl cleanup routine 26 sl brake routine 27 sl break routine 28 sl c adjust routine 29 sl c amp routine 30 sl c brake routine 31 sl c break routine 32 sl c drive routine 33 sl c enable routine 34 sl c getdac routine 37 sl c here routine 38 sl c pcocfg routine 39 Index sl c read routine 42 sl c setdac routine 43 sl c status routine 44 sl c stop routine 46 sl c write routine 50 sl c
148. y SELECTed robot The value for this motion parameter will be changed in local RAM only The value is not written to the system disk CAUTION Be careful when writing motion parameters They can fi have large effects on mechanism performance longevity and safety 100 Advanced Servo Library Reference Guide Rev A Library Routine sl rw bcklsh Calling Sequence CALL sl rw bcklsh mot num write pos bcklsh neg bcklsh error Function This program reads or writes the mechanism backlash values Usage Considerations Backlash values are always in encoder counts An error is returned if the currently SELECTed robot does not support backlash compensation In this case no data is read or written Input Parameters mot num Motor number write If TRUE write value if FALSE read value pos bcklsh_ If write is TRUE new value for positive backlash neg bcklsh_ If write is TRUE new value for negative backlash Output Parameters pos bcklsh If write is FALSE return current positive backlash value neg bcklsh_ If write is FALSE return current negative backlash value error Success error code see Errors on page 20 for details on special error codes for the rw routines Returns error if selected robot does not support backlash compensation Details The values for these motion parameters will be changed in local RAM only The values are not written to the system disk CAUTION Be careful when writing motion parameters
149. y accel decel profiling Be careful to not pass values that would result in large motions The maximum allowable range of position values is 924 to 2241 The number of axes that step to new positions is controlled by the number of inputs provided The inputs must be provided in pairs such that the first number Ms Wy is a servo database number and the next setpoint No more than n pairs 2 n array elements can be sent where n is the number of servoable axes board If no setpoints are supplied then no axis motion will be performed but the encoder readings will still be provided The input setpoints and output encoder values are all guaranteed to be applied read from the same servo tick 1 or 2 milliseconds Servo databases are allocated starting with the first channel on the first servo board assigned to the servo task there is one servo task per CPU Motion board to CPU assignment is made using the CONFIG_C V2 utility program Servo databases can therefore be determined from hardware channel numbers For example in a two MI 6 system with the MI 6s addressed as servo board 1 and 2 and with both mapped to the servo task on the main CPU board the servo database allocation would be as follows Servo Board CPU Board Channel Database 1 1 1 1 2 2 1 3 3 1 4 4 1 5 5 1 6 6 80 Advanced Servo Library Reference Guide Rev A Related Routines sl slew sl drive sl c drive sl

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