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V+ Operating System User`s Guide

1. ccion pP USER ka TOOL JOINT FREE l Soft Buttons Predefined lt Function Buttons Manual State LEDs Emergency Stop Switch Mode Control Buttons F Joint Axis Control Buttons Disable Power Button Figure 1 3 The Adept Manual Control Pendant V Operating System User s Guide Ver 12 1 35 Chapter 1 Other Input and Output Devices Other Input and Output Devices In most cases an automation task requires coordination between the motion device and other workcell equipment such as part feeders conveyor belts and other controllers or production floor computers Cameras and Lighting Equipment The AdeptVision option incorporates a machine vision system into the Adept controller The machine vision system may be on a system with or without a motion device Stand alone vision systems perform quality and process control inspections Guidance vision systems perform inspections as well as providing a means of guiding the motion device to pick up and place objects that are not in precise or predictable locations The Adept MV Controller User s Guide details the installation and hardware configuration of machine vision equipment The AdeptVision User s Guide covers the basics of Adept vision systems The Controller Disk Drives Disk drives store programs and information
2. Recommended Manual Material Covered for V Language A complete description of the keywords All Reference Guide used by the basic V programming programmers language This manual contains a list of all system messages AdeptVision A description of the structure and Vision User s Guide elements of the AdeptVision extensions application to the Vt language programmers and users AdeptVision The keywords available with systems Vision Reference Guide that include the optional AdeptVision application VME system programmers AdeptForce VME Installation operation and Force User s Guide programming of the AdeptForce VME application product programmers AdeptMotion Installing configuring and tuning a Programmers VME Developer s motion system and installers of Guide AdeptMotion VME systems AIM application Installing and using AIM application Programmers module user s modules Vision Ware MotionWare and users of the guides AIM PCB etc application module AIM module Customizing AIM baseline modules and AIM reference guides applications modules customizers Instructions for Complete details on the Adept utility All Adept Utility programs The most common uses of programmers Programs the utility programs are covered in V Operating System User s Guide AdeptNet User s Use and programming of the AdeptNet Network users Guide product and programmers V Operating System User s Guide Ver 12 1 15 Introduction
3. A full path can also be used when creating a subdirectory F kd IRECTORY C C PROGS_1 DATA_1 DATA A To Delete a Subdirectory Before a subdirectory can be deleted the subdirectory must be empty no disk files and no subdirectories can be below the directory The command FDELETE will delete all the files in the current subdirectory Since all file related commands look only at the current directory or the directory specified at the end of a path no files will be touched in any other subdirectories regardless of whether they are above below or on the same level as the current subdirectory The subdirectory DATA_1 can be deleted with either of the following groups of commands assuming there are no files in DATA_1 tr DELETE C PROGS_2 DATA_1 FDIRECTORY D C PROGS_2 DATA_1 Or DEFAULT DISK C NPROGS_2N FDELETE data_1 FDIRECTORY D DATA lN 70 V Operating System User s Guide Ver 12 1 Chapter 3 File Management Using Diskcopy File Management Using Diskcopy The Adept utility program DISKCOPY V2 provides a convenient method of copying and deleting large groups of disk files It is particularly useful if you are installing application programs such as AIM application programs or getting rid of disk files you no longer use To start the diskcopy program LOAD UTIL DISKCOPY v2 EXECUTE a diskcopy The
4. Bad block in disk header 523 Explanation While formatting a disk a bad disk block has been found in the disk header area The format operation has failed and the disk is not usable User action Enter the FORMAT command again use a different diskette if the error persists Calibration sensor failure Mtr n 1106 Explanation During calibration the calibration sensor for the indicated motor could not be read correctly Either the robot is blocked from moving or a hardware error has occurred User action Retry the CALIBRATE command or instruction after making sure that the robot is not blocked If the problem persists contact Adept Field Service Camera interface board absent 722 Explanation The vision interface board is not responding to a command from the vision system User action Make sure that the vision interface board is installed properly After saving all the programs and prototypes in memory power down the controller and power it up again Consult Adept Field Service if the problem persists Can t go on use EXECUTE or PRIME 313 Explanation An attempt has been made to continue the execution of a program that has completed or stopped because of a HALT instruction Nor mally an error results when a PROCEED RETRY or XSTEP com mand is entered or the pendant RUN HOLD button is pressed after a program has completed all its cycles User action Use the EXECUTE or PRIME command or the
5. Index V Operating System User s Guide Ver 12 1 104 106 107 108 108 108 110 110 110 111 111 112 113 115 141 145 Figure 1 Figure 2 Figure 1 1 Figure 1 2 Figure 1 3 Figure 2 1 Figure 2 2 Figure 2 3 Figure 2 4 Figure 3 1 Figure 3 2 Figure 3 3 Figure 3 4 Figure 4 1 Figure 4 2 Figure 4 3 Figure 5 1 Figure 5 2 List of Figures Impacts and Trapping Points 17 External Front Panel VFP _ 18 Typical Adept MV Controllers 29 The Keyboard 30 The Adept Manual Control Pendant 35 Initial Screen _ 43 Window Feature Identification 5 Track Bql 51 Making q Menu Selection 55 Contents of a Disk File U 61 Disk File SIrtuclure_____ _ 65 Directory Siruclure_ ____ 66 Default Directory Specification 67 LOADing a Disk File _ 77 EXECUTING a Vi Program 78 Deleting Objects rom Memory 81 Formatted Disk 86 Inserting a Standard 3 1 2 Floppy Disk 89 V Operating System User
6. LOAD DATA_1 my_file v2 Loads the disk file my_file v2 located in C PROGS_2 DATA_1 LOAD C PROGS_2 DATA_1 my_file v2 Loads the disk file my_file v2 located in C PROGS_2 DATA_1 The following examples load files from the floppy drive LOAD A my_file v2 Loads the disk file my_file v2 located in A DEFAULT DISK A LOAD my_file v2 Loads the disk file my_file v2 located in A CD PROGS LOAD my_file v2 Loads the disk file my_file v2 located in A PROGS Working With Subdirectories To View the Contents of a Directory To view all the files in the current subdirectory enter the command F k IRECTORY To view all the files in a subdirectory other than the current one use a path The instruction FDIRECTORY C PROGS_1 DATA_1 will display the contents of the DATA_1 subdirectory To View Groups of Files Use wildcards to view a group of files The command FP O TRECTORY v2 V Operating System User s Guide Ver 12 1 69 Chapter 3 Using Directories will display the files in the current directory that have the extension v2 The command FDIRECTORY C PROGS_1 file will display the files in the current directory that begin with file To Create a Subdirectory To create a new subdirectory directly below the current directory enter the command FDIRECTORY C dir _name
7. 1 2 100 Start the controller configuration utility as described in Chapter 6 From the configuration submenu select V Operating System User s Guide Ver 12 1 Chapter 6 10 11 12 13 14 15 The Default Monitor Speed 10 gt Change SYSTEM configuration The program will display all system configuration options and display the first option for editing If the line beginning with DEFAULT_SPEED is not already displayed enter N and press 4 until it is displayed The program shows you the current default speed and then asks if you want to edit it Enter Y and press The program will ask if you want to delete the statement containing the default speed Enter N and press The program will show you the current default speed Enter the new speed immediately after the displayed path For example if the current speed is 50 and you want to change it to 100 the program will display Value 50 Z Type 100 immediately after the displayed speed Value 50 100Z and press 4 The program will show you the new value and ask you if you want to edit it If you have specified the correct speed enter N and press 4 The next configuration option will be displayed Enter Q and press z The program will ask if you want to add a new statement Enter N and press to return to the edit configuration submenu From this submenu select 0 gt Do
8. s Guide Ver 12 1 11 Table 1 Table 2 1 Table 4 1 Table 6 1 Table 6 2 Table 6 3 12 List of Tables Related Manuals 14 Wyse Terminal Special Keys 58 The Delete Commands 81 Configuration DIP Switch Settings 96 Basic System Swiflches 97 Serial I O Attributes 102 V Operating System User s Guide Ver 12 1 Introduction What Systems Can I Use This Manual With What Is Covered in This Manual What Other Manuals Might Need What About Safety Reading and Training for System Users System Safeguards l Computer Controlled Robots Manually Controlled Robots Other Computer Controlled Devices Conventions Typographic Conventions Keyboard Conventions Selecting Choosing and Pressing Abbreviations How Can I Get Help In Europe Europe Germany France Italy In the United States Service Calls Application Questions Applications Internet E Mail Address Training Information Outside Continental United States or Europe Adept World Wide Web Site Adept Bulletin Board Service V Operating System User s Guide Ver 12 1 14 14 14 16 16 17 17 18 18 19 19 21 21 22 22 22 22 22 23 23 23 23 23 23 23 24 24 13 Introduction What Systems Can I Use This Manual With What Systems Can
9. 232 3378 and ask about the BBS V Operating System User s Guide Ver 12 1 part Adept System Fundamentals Your Adept System Hardware Before You Begin The Controller The Keyboard Standard Keys Function Keys Modifier Keys Cursor Keys The Numeric Keypad Screen Control Keys The Mouse Keys Other Special Keys The Status LEDs The Trackball The Controller and Memory Robots and Motion Devices The Manual Control Pendant Other Input and Output Devices Cameras and Lighting Equipment The Controller Disk Drives Serial I O Digital I O Analog I O Remote Emergency Stop V Operating System User s Guide Ver 12 1 28 29 30 32 32 32 32 33 33 33 33 34 34 34 35 35 36 36 36 36 36 37 37 27 Chapter 1 Before You Begin Before You Begin In this manual you will learn the basics of using an Adept controller You will learn to execute programs enter monitor commands perform basic pointing device functions and customize your controller Before you begin you must have the controller installed and connected to any peripheral equipment The minimum installation required is e The controller chassis including e A system processor board e A system input output board SIO e Acolor monitor and integrated keyboard and trackball or A system terminal Or AdeptWindowsPC running on a IBM compatible PC e See the Adept MV Controller User s Guide for installation details
10. 53 53 53 53 54 54 54 54 55 55 56 56 56 57 57 59 Table of Contents Understanding Disk Files Disk Files Subdirectories File Names Filename Requirements Reserved File Names Contents of a V Disk File Working With Disk Files To List the Files on a Disk Drive To Use Wildcards to List Groups of Files To Copy q Disk File To Renome q Disk File To Delete q Disk File Using Directories Understanding the Directory Structure Understanding Paths The Current Directory Full Paths Relative Paths To Display the Current Path Path Examples Working With Subdirectories To View the Contents of a Directory To View Groups of Files To Create a Subdirectory To Delete a Subdirectory File Management Using Diskcopy Copying Multiple Files Deleting Multiple Files Other Disk Like Devices 4 Executing V Programs Understanding V Programs To LOAD a Disk File To Start a Monitor Command Program To Start an Executable V Program Program Startup Example Which Program Do Execute To Halt Execution of a Program Emergency Stop 8 V Operating System User s Guide Ver 12 1 60 60 60 60 60 61 61 62 62 63 63 63 64 64 65 66 67 68 68 68 68 69 69 69 70 70 71 71 72 73 75 76 76 77 78 78 79 80 80 Early Program Termination Removing Objects From System Memory Understanding Program Modules 5 Using Disk Drives Understanding Disk Drives
11. An attempt has been made to PRIME or otherwise initiate program execution from the manual control pendant when the front panel keyswitch is not in the MANUAL position If you do not have a front panel the keyswitch is assumed to be set to the AUTO posi tion Move the keyswitch to the MANUAL position or start program execution from the selected device Keyswitch not set to NETWORK 317 Explanation User action Location out of range Explanation User action Location too close Explanation User action 126 An attempt has been made to use a serial line configured for net work use but the controller keyswitch is not in the NETWORK position If you do not have a front panel the keyswitch is assumed to be in the TERMINAL position Move the keyswitch to the NETWORK position and retry the opera tion 610 V has encountered a location that is too far away to represent pos sibly within an intermediate computation This probably indicates an error in a location function argument value or in a compound transformation Check to make sure you are using location functions and operations correctly and edit the program as required 618 An attempt has been made to move the robot to a location that is too close to the robot column This probably indicates an error in the value of a location function argument or an incorrect compound transformation Check to make sure you are us
12. FORMAT a h J for double density formatting 3 Respond Y when the system asks for verification that you want to format the disk CAUTION Formatting erases ALL information on a disk The data on the disk cannot be reclaimed Making System Disks To make a backup copy of your current operating system use the DISKCOPY or CONFIG _C utility These utilities are described in Instructions for Adept Utility Programs 90 V Operating System User s Guide Ver 12 1 part 2 Adept System Customization Customizing an Adept System Customizing the Controller Hardware Wyse Type Terminal Baud Rate Default Boot Drive Program Autoload V Output System Software Switches The Controller Configuration Utility The Default Path Changing the Default Path The Default Monitor Speed Changing the Default Monitor Speed Serial I O Configuration Serial 1 O Groups Changing the Serial Line Attributes l Analog I O Configuration Additional Configuration Options V Operating System User s Guide Ver 12 1 94 95 95 95 95 97 98 99 99 100 100 102 102 103 104 106 93 Chapter 6 Customizing the Controller Hardware This chapter includes directions on making the following changes to your system e Enable autoload of a program at system startup e Selecting an A Series or S Series monitor e Setting the default path specification that is set each time the controller is turned on e Setting
13. please have the serial number of the Adept MV Controller Adept PA 4 power chassis and the part numbers of the AdeptModules The serial numbers are located on the product data labels on each piece of equipment The serial number of the Adept MV controller can also be determined by using the ID command In Europe 22 Europe Germany Adept Technology maintains a European Customer Service Center in Dortmund Germany The phone numbers are 49 231 75 89 40 Monday to Friday 8 00 to 17 00 CET 49 231 75 89 450 FAX France For customers in France Adept Technology maintains a Customer Service Center in Paris France The phone numbers are V Operating System User s Guide Ver 12 1 Introduction How Can I Get Help 33 1 69 19 16 16 Monday to Friday 8 30 to 17 30 CET 33 1 69 32 04 62 FAX Italy For customers in Italy Adept Technology maintains a Customer Service Center in Arezzo Italy The phone numbers are 39 575 3986 11 Monday to Friday 8 30 to 17 30 CET 39 575 3986 20 FAX In the United States Adept Technology maintains a Customer Service Center at its headquarters in San Jose CA The phone numbers are Service Calls 800 232 3378 24 hours per day 7 days a week 408 433 9462 FAX Application Questions NOTE Address all applications questions Monday to Friday 8 00 A M to 5 00 P M in the respective time zone of the regional office calling Western Region 408 434 5033 M
14. unless you are loading a program with the same name as one already in RAM However if you get an out of memory message while loading a disk file the only way to complete the load operation is to delete objects from system memory Understanding Program Modules When a disk file is loaded a module is created that holds the names of all programs loaded from the disk file The name of the created module is the same as the first program loaded A module allows you to remove easily all the programs loaded from a disk file without disturbing programs loaded from other disk files For example if the command LOAD my_file v2 J loaded the following programs a my_file mf check stuff mf do stuff mf init The MDIRECTORY command will list the modules resident in system memory M a DIRECTORY 4 my file The DELETEM command will remove the module and all programs in the module from system memory 82 V Operating System User s Guide Ver 12 1 Chapter 4 Removing Objects From System Memory DELETEM a my_file J MDIRECTORY J IRECTORY 4 V Operating System User s Guide Ver 12 1 83 Using Disk Drives Understanding Disk Drives Types of Disk Drives Using Hard Drives Backing up Hard Drives Formatting Hard Drives Using Floppy Disk Drives Core oe Bw S eee 2 2 To Prevent Writing to or Erasing a Floppy Disk Inserting and Removing Floppy Disks Fo
15. 12 1 61 Chapter 3 Understanding Disk Files In general unless you will be writing custom programs for the V system you do not need to be concerned about creating new data files The files will be created already or will be created and modified automatically by the programs that you run You may need to copy existing programs from one disk to another Copying disk files is covered in To Copy a Disk File on page 63 Working With Disk Files 62 In the course of using your Adept controller you will most likely access files stored on the disk drives This section tells you how to view load copy and delete disk files To List the Files on a Disk Drive The FDIRECTORY command will list all the files in a subdirectory see section along with information about each file s size type and creation date After you enter the command FDIRECTORY the monitor might look like MY_FILE3 19 MAR 92 10 32 29 PR_FILE V2 4 PO1 JAN 92 14 45 31 UTIL 0 DO8 MAY 91 09 43 43 27768 41744 sectors used unused The information in this display includes e The first column lists the file name e The second column lists the file size in disk sectors a high density double sided disk holds approximately 2880 sectors The third column lists special attributes of the file P indicates the program is protected and cannot be modified or copied D indicates the entry is a subdirectory R indicates the file i
16. 129 Appendix A tion Change the program so that it does not attempt to attach the robot No vision system selected 751 Explanation The current task has not selected a vision system By default vision system 1 is selected This error may indicate the vision option is not installed User action Use the SELECT function to select a vision system Nonexistent file 501 Explanation 1 The requested file is not stored on the disk accessed Either the name was mistyped or the wrong disk was read 2 The requested graphics window title menu or scroll bar does not exist User action 1 Check the file name use the FDIRECTORY command to display the directory of the disk 2 Check the name of the graphics window element specified Nonexistent subdirectory 545 Explanation The subdirectory referenced in a file specification does not exist on the disk that is referenced Note that the subdirectory may be part of a default directory path set by the DEFAULT monitor command User action Check that the subdirectory name was entered correctly Check that the correct disk drive was referenced and that the correct diskette is loaded Use an FDIRECTORY command to display the directory containing the subdirectory Check that the default directory path is correct Not enough program stack space 413 Explanation An attempt was made to call a subroutine process a reaction sub routine or allocate automatic varia
17. Adept controller is covered in the controller user s guide Peripheral input output devices The Adept MV Controller User s Guide covers the physical interconnect of I O devices The V Language User s Guide covers programming considerations for accessing the peripheral devices V Operating System User s Guide Ver 12 1 41 Chapter 2 Using the Controller Moving conveyors The V Language User s Guide describes programming considerations for coordinating robot motions with a conveyor belt connected to one of the external encoder ports on the controller e Cameras and strobe lights requires the AdeptVision option The Adept Vision User s Guide details installing and configuring cameras and strobe lights Power up the System Before turning on the controller make sure All safety devices are installed and operating correctly The cardboard shipping disks have been removed from the floppy drive The workcell is free of obstructions and personnel WARNING Do not turn on the controller unless all safety devices are in place and operating correctly Make sure the workcell is free of obstructions and personnel WARNING Do not connect any cables or make any hardware configuration changes with the controller turned on To Power up the Controller With an A Series system turn on the monitor With an S Series system that uses a Wyse type terminal turn on the terminal Turn on the controller by mov
18. In addition you may have the following equipment installed e A graphics board VGB see the Adept MV Controller User s Guide Amotion system including e Amotion device see the AdeptMotion VME User s Guide e Motion interface board VMI see the Adept MV Controller User s Guide Digital serial or analog I O boards and devices see the Adept MV Controller User s Guide Conveyor belts see the V Language User s Guide e Vision board EVI and equipment see the Adept MV Controller User s Guide e Auxiliary system processor s see the Adept MV Controller User s Guide This chapter summarizes the hardware components that may be part of your Adept system Chapter 2 covers the basics of using the V operating system software 28 V Operating System User s Guide Ver 12 1 Chapter 1 The Controller The Controller An Adept system will always have the Adept controller A system will also normally have a monitor and keyboard although systems in production can be configured to run using only a touch screen or the manual control pendant Adept A Series controllers use a high resolution color monitor and PC style extended keyboard Adept S Series controllers use a character based terminal that incorporates the keyboard and a character based monitor AdeptWindowsPC equipped systems use an IBM compatible PC connected to the controller by ethernet or a serial cable The Adept MV Controller User s Guide covers the
19. To run the command program that was created in the previous section enter the commands LOAD my_cmd pg COMMANDS my cmd program Starting Command Programs From the Manual Control Pendant 110 The CMD buttons on the pendant will start monitor command programs The key switch on the optional front panel of the controller must be at the PENDANT position before command programs can be initiated from the pendant The pendant display will show Enter last two digits of file name auto_ Enter one or two digits and press REC DONE The pendant LCD will prompt you to place the controller key switch in the terminal position and press the controller PROGRAM START button on the controller The system will then attempt to load the file AUTOxx V2 from the default disk and COMMAND the program autoxx xx refers to the digits you entered The program file AUTOxx V2 must reside on the default disk and it must contain a monitor command program named autoxx If the file does not exist or does not contain a correctly named program the operation will be aborted and the appropriate error message will be displayed on the LCD For example if you had entered 9 the system would attempt to load the file AUTO9 V2 and COMMAND the program auto9 V Operating System User s Guide Ver 12 1 Chapter 7 Controlling Command Programs NOTE As a safety feature you will have to press the program start bu
20. Types of Disk Drives Using Hard Drives Backing up Hard Drives Formatting Hard Drives Using Floppy Disk Drives Care To Prevent Writing is or Erasing a Floppy Disk Inserting and Removing Floppy Disks Formatting Floppy Disks To Format a Floppy Drive Making System Disks Part 2 Adept System Customization 6 Customizing an Adept System Customizing the Controller Hardware Wyse Type Terminal Baud Rate Default Boot Drive Program Autoload V Output System Software Switches I The Controller Configuration Utility The Default Path Changing the Default Path The Default Monitor Speed Changing the Default Monitor Speed Serial I O Configuration Serial I O Groups Changing the Serial Line Attributes V Operating System User s Guide Ver 12 1 Table of Contents 80 80 82 85 86 86 87 87 87 88 88 88 88 89 89 90 93 94 95 95 95 95 97 98 99 99 100 100 102 102 103 Table of Contents W gt 10 Analog I O Configuration Additional Configuration Options Command Programs Creating Command Programs Command Program Names Creating a Command Program Running Command Programs Starting Command Programs From the System Terminal Starting Command Programs From the Manual Control Pendant 24 eek Autostarting a Command Program Controlling Command Programs Command Programs and V Language Keywords Example Command Program System Messages Glossary
21. Using the A Series Graphical Interface adopt seco ar woaie vo sow sorun unnes see oe Close Icon Scroll Bar Icon Zoom Icon Main Title Bar Menu Bar WAP counts E i Scroll HandJe Window Menu Bar Vertical Scroll Bar Cursor Arrow Horizontal Scroll Bar Size Icon Figure 2 2 Window Feature Identification Drag Lock LED Click Button F N ie k J Drag Lock Button Figure 2 3 Track Ball V Operating System User s Guide Ver 12 1 51 Chapter 2 Using the A Series Graphical Interface Working in Windows 52 A basic Adept system comes with a main menu and one predefined window called the Monitor window In this window you can execute programs issue commands from the system prompt and access the SEE editor Adept options such as AdeptVision define additional windows Also application programs may contain their own windows NOTE AdeptWindows PC software uses the basic Microsoft Windows95 format Refer to the AdeptWindows PC User s Guide and the Windows95 Operation Manual for more information To Open a Window e With the pointing device position the pointer over the Adept logo in the upper left side of the screen adept will always be the first menu item in the main menu bar with A series systems and the second menu item an AdeptWindowsPC systems Press and hold down the click button and a pull down menu will appear Drag the poin
22. What About Safety What About Safety Safety is critical Read the following section carefully and follow the cautions and warnings that are placed throughout this manual There are three levels of safety notation used in Adept manuals They are WARNING If the actions indicated in a warning are not complied with injury or major equipment damage could result A warning typically describes the potential hazard its possible effect and the measures that must be taken to reduce the hazard CAUTION If the action specified in a caution is not complied with damage to your equipment or data could result NOTE A note provides supplementary information emphasizes or supplements a point or procedure or gives a tip for easier operation Reading and Training for System Users Adept robot systems include computer controlled mechanisms that are capable of moving at high speeds and exerting considerable force Like all robot systems and industrial equipment they must be treated with respect by the system user We recommend you read the American National Standard for Industrial Robot Systems Safety Requirements published by the Robotic Industries Association in conjunction with the American National Standards Institute The publication ANSI RIA R15 06 1992 contains guidelines for robot system installation safeguarding maintenance testing startup and operator training The document is available from the American National Standar
23. Z appears on the monitor keystrokes typed on the standard keys will be entered to the left of the typing cursor The typing cursor appears at the system prompt when the system is ready to accept monitor commands in the SEE editor and when entering field data in Adept s AIM software products Function Keys The next group of keys is the function keys These keys are not normally used for system level operations but have dedicated uses in the Adept programming editors and AIM software The dedicated uses of these keys with the program editor are described in the V Language User s Guide The use of the function keys with AIM software is described in the various AIM application user guides Modifier Keys The Ctrl Alt and Shift keys are always used in conjunction with another key they have no function when pressed alone The keys marked Ctrl control and Alt alternate behave similarly to the Shift key in that you always hold down the Ctrl or Alt key and then press another key The Adept SEE program editor makes extensive use of the Ctrl key see the V Language User s Guide for details Wherever this manual calls for one of these key combinations it is shown in a format similar to Ctrl C which means hold down the Ctrl key and press the C key Sh F4 means hold down the Shift key and press the F4 key Cursor Keys These are dual function keys When the LED on the Insert key is lit the P
24. actually move out of range you do not need to move the robot before continuing 2 move the robot back into the working envelope Correct whatever caused the robot to get into the restricted area Then enable power Power failure detected 667 Explanation Indicates that a controller AC power fail condition has been detected If battery backup is installed this error will be reported when power is restored by any I O operations that were canceled due to the power failure This error code may be trapped by a pro gram using the REACTE instruction in order to provide some level of automatic power failure response User action The user may need to restart or repeat any operations that were interrupted by the controller AC power failure Some reinitialization of the system may be required for example any robot s connected to the controller will need to be recalibrated after a controller power failure Power failure detected by robot 632 Explanation Indicates that a controller power failure condition has been detected by the robot control software while a robot is attached to a program This error is issued in addition to 667 if a program has a robot attached and has a REACTE routine defined Unlike error 667 if no REACTE routine is defined and a robot is attached the V program stops with this error User action The user may need to restart or repeat any operations that were interrupted by the controller AC power f
25. automatically check the syntax of each line as it is completed That is not done when entering lines in a command program Thus you must make sure the command on each MC line has a valid monitor command the command is spelled correctly and any required parameters are included Exit the SEE editor When you have finished entering monitor commands press the Exit F4 key If all lines in the program are acceptable you will be returned to the system prompt Store your program to a disk file Your program now exists only in RAM and must be saved to a disk drive To store the program my cmd program on the disk file my_cmd pg in the default subdirectory enter the command STOREP MY_CMD PG MY CMD PROGRAM J The program can now be loaded and run V Operating System User s Guide Ver 12 1 109 Chapter 7 Running Command Programs Running Command Programs There are three ways to run command programs from the system terminal from the manual control pendant or automatically when the controller is turned on Starting Command Programs From the System Terminal The EXECUTE command expects programs that contain V program instructions not monitor commands If you use the EXECUTE command to run a program with lines that begin with MC the program will abort and you will get a message indicating that you cannot mix program instructions and monitor commands The COMMANDS monitor command starts a command program
26. created by V or the file has been corrupted User action Use another diskette or reference another file File or subdirectory name error 514 Explanation The specified file name or subdirectory was not a valid disk file name the directory path contained invalid syntax or the directory path was too long User action Retry the operation with a correct file name or subdirectory name Verify that syntax of the directory path is correct Check that any default directory path specified by the DEFAULT command is cor rect Check that the total directory path is not too long when the default is combined with the current file specification Graphics processor timeout 552 Explanation The graphics processor on the system processor failed to respond to a command from V within five seconds User action Save all your programs and variables on disk and then reboot the system from disk Contact Adept Customer Service if the problem repeats Graphics software checksum error 558 Explanation The code on the graphics board has been corrupted V Operating System User s Guide Ver 12 1 121 Appendix A User action Save new or modified programs restart the controller reload the programs If the problem persists contact Adept Customer service Graphics storage area format error 555 Explanation During execution of a FREE command V has detected that the information in graphics memory may have been corrupted Thi
27. directories 69 Deleting files with Diskcopy 72 Deleting objects from system memory 82 Digital I O 36 Directories 64 70 and files 60 and paths 66 creating 69 deleting 69 displaying with FDIRECTORY 62 naming 65 Directory current 67 viewing contents 69 Disk displaying free space 62 Disk drives 36 86 90 sectors 86 tracks 86 Disk file displaying 76 Disk file names 60 Disk files 60 loading 75 loading to RAM 76 Disk files see also Files Displaying the contents of a disk file 76 Dot prompt see System prompt Driver serial IO 102 Drives listing files on 62 DRY RUN system switch 97 DTR serial IO 103 Editing monitor commands 48 Emergency stop 80 Emergency stop circuitry 37 Error messages Protection error 88 list of 115 139 Escape Esc key 33 EVI see Vision board Executable V programs 78 starting 78 Executable vs command programs 76 EXECUTE 76 Executing programs 110 Executing programs 76 83 F FCOPY 63 FDELETE 64 FDIRECTORY 62 69 displaying file size 86 used to create directory 69 used to delete directories 69 File contents of a V file 61 File names 60 File size displaying 62 File structure 59 Files 60 64 and program execution 75 copying 63 71 copying multiple 71 deleting all in a directory 70 deleting from disk 64 deleting multiple 72 naming 60 protected 62 renaming 63 Files names reserved 61 Files vs programs 60 FLIST 76 Floppy disks handling 88 insertion and remov
28. installation of the controller as well as the interconnection to the equipment in your automation system All other hardware described in this chapter is optional and may or may not be included in your system Figure 1 1 shows an Adept MV 8 controller and an Adept MV 10 controller Adept systems are flexible modular systems that allow you to combine the needed components for your automation task The appearance of your system will vary depending on the components you have selected clenlenlenle TS Te VIS VJI DIO A MM J00 xi L AC nl at Q a 2 J o j el i ae LL HOH f ade U UAU i oleh toot dele gt gt gt lt D m 8 ooh cds o wa S gt S gt del omo gt C Cl hj z O Hi li gt lt b o eJ U U U Figure 1 1 Typical Adept MV Controllers V Operating System User s Guide Ver 12 1 29 Chapte
29. is to output an error message to the system terminal indicating what is wrong so the user can correct the error The following section lists the most common errors and suggests remedies to correct the problems The list of all possible messages is contained in the V Language Reference Guide If the system has more than one robot connected and an error is associated with a specific one of the robots the robot number is appended to the error message in the form Robot Aborted Explanation User action Ambiguous name Explanation User action Auto Startup Explanation User action 400 The last command requested or the program that was executing has been aborted at the operator s request None 453 The abbreviation used for the last command instruction or sys tem defined name was not long enough to identify the operation intended Reenter the last line using a longer abbreviation None The automatic startup procedure has begun See the discussion of command programs for more information None required for this message but subsequent commands in the auto startup command program may require user action WARNING The robot may begin to move during the automatic EMERGENCY STOP on the controller front panel or PANIC on the A startup procedure If necessary you can stop the robot by pressing manual control pendant V Operating System User s Guide Ver 12 1 115 Appendix A
30. not installed 804 Explanation An attempt has been made to use a feature of a V system option that is not present in this robot system User action Power down the controller and try starting it again Contact Adept Application Engineering if the problem repeats Out of graphics memory 549 Explanation There is no more space in the graphics memory on the system pro cessor for windows icons fonts or other graphics items User action Delete unused graphics items or reduce the size of windows to free up graphics memory Out of I O buffer space 532 Explanation An I O operation cannot be performed because the V system has run out of memory for buffers V Operating System User s Guide Ver 12 1 131 Appendix A User action Delete some of the programs or data in the system memory and retry the operation Also see Not enough storage area Out of vision transform memory 753 Explanation The space allocated for vision transformations in inadequate A vision transformation may be defined for each task for each CPU running V user tasks Vision transformations are defined with the VTRANS instruction User action Define only the vision transformations that you need If more mem ory must be allocated to vision transformations see the description of the DEVICE instruction PANIC command 633 Explanation The operator has entered a V PANIC monitor command which has stopped the current
31. output stopping 33 Monitor speed default 100 Motion interface board VMI 28 V Operating System User s Guide Ver 12 1 147 Index Mouse see Pointer device Mouse keys 33 Moving the typing cursor 32 Multidrop serial IO 103 MV19 controller chassis 29 MV8 controller chassis 29 N Names command programs 108 Num lock 33 Numeric keypad 33 O Overview of V 14 P Parity serial IO 102 Path displaying current 68 Paths 66 and directories 66 full 68 relative 68 Pointer device buttons 50 clicking 50 dragging 50 POWER system switch 97 Program command 108 monitor command 108 Program execution halting 80 Program modules 82 Programmer s terminal baud rate 95 Programs executable V 78 executing 76 loading from disk files 76 monitor command 77 108 Programs vs files 60 Protected files 62 Protection error error message 88 Pull down menus using keyboard for 55 R RAM 80 controlling modules in 82 deleting contents of 82 system memory 34 Relative paths 68 Remote emergency stop 37 Renaming files 63 Reserved file names 61 Robot Power see HIGH POWER Robots Adept 35 Running programs see Executing programs S Screen control keys 33 Scroll lock 33 Scroll lock key 33 Scrolling controlling speed of 58 Sectors disk drive 86 Serial I O 36 Serial IO setting defaults 102 Serial IO configuration 102 Software applications 56 V operating system 56 SPEED changing monitor s
32. path enter N and press 4 The next configuration option will be displayed Enter Q and press The program will ask if you want to add a new statement Enter N and press to return to the edit configuration submenu From this submenu select 0 gt Done editing The program will ask if you want to save the configuration to disk Enter Y and press 1 The new configuration data will be written to the disk When the data is stored press J and the main menu will be displayed To see if your changes have been made correctly select 1 gt DISPLAY system CONFIGURATION Enter the system drive letter and the system configuration will be displayed Press the spacebar until the SYSTEM section is displayed The new default disk specification should appear in the SYSTEM section Press the spacebar until all options have been displayed and then press to display the main menu Exit the controller configuration utility by selecting 0 gt EXIT to system monitor The Default Monitor Speed The default monitor speed specifies the monitor speed that will be in effect for all programs that control a motion device As delivered from Adept the default monitor speed is 50 The default monitor speed is set at system startup and is in effect until it is changed by a SPEED monitor command Changing the Default Monitor Speed To change the default monitor speed set at system startup
33. pressed or the external panic circuit has been interrupted causing Robot Power to be turned off This message is also displayed if the MANUAL button is pressed or the PANIC command is entered while a robot control program is executing User action If Robot Power is off release the panic button or restore the external panic circuit Then turn on Robot Power If Robot Power is not off reselect COMP mode on the manual control pendant Then resume program execution Fatal any message None Explanation An internal problem has occurred with the V software or with the system hardware User action It would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error mes 120 V Operating System User s Guide Ver 12 1 Appendix A sage and exactly what you were doing at the time the error occurred To save programs that are in memory you can restart V tempo rarily by typing Ctrl G The robot servos will not function but you can STORE the programs Then power down the controller and restart the system File already exists 500 Explanation There is already a disk file or a graphics window with the name sup plied to the last storage request User action Reissue the storage request with a different file name or delete the old file File format error 512 Explanation The requested disk file is not in a format acceptable to V because either it was not
34. rate see the AdeptMotion VME User s Guide The task program priority matrix see the V Language User s Guide The vision memory allocation see the AdeptVision User s Guide V Operating System User s Guide Ver 12 1 Command Programs Creating Command Programs Command Program Names Creating a Command Program Running Command Programs Starting Command Programs From the System Terminal Starting Command Programs From the Manual Control Pendant Autostarting a Command Program Controlling Command Programs Command Programs and V Language Keywords Example Command Program V Operating System User s Guide Ver 12 1 108 108 108 110 110 110 111 111 112 113 107 Chapter 7 Creating Command Programs Command programs are special programs that consist of a series of monitor commands Monitor command programs automate system startup and other frequently executed monitor command sequences Command programs can be started from the system terminal or from the manual control pendant With the autostart feature they can be started automatically when the Adept system is turned on Creating Command Programs Command programs are created using the SEE program editor Complete details on running the SEE editor are contained in the V Language User s Guide This chapter shows you how to create simple command programs Command programs can contain all the V monitor commands except the DONE TEACH and ZERO comm
35. robot 35 AdeptNet User s Guide 14 AdeptOne robot 35 AdeptThree robot 35 Adept Vision Reference Guide 15 Adept Vision User s Guide 15 Alternate Alt key 32 Analog I O 37 Auto command program 111 AUTO V2 95 autostart disk file 111 Autoload option 95 Autostart and command program 111 BELT 97 Boot drive default 95 selecting 95 Buffer monitor command 48 Buffer size serial IO 103 Byte length serial IO 102 C Cameras 36 Caps lock key 33 Command 108 program 108 controlling 111 creating 108 example 113 invoking 110 syntax 47 Command see Monitor commands Command program creating 108 Command programs autostarting 111 naming 108 running 110 starting from MCP 110 storing 109 Command programs see monitor command programs COMMANDS 77 110 vs EXECUTE 110 Commands editing 48 retrieving previously entered 48 Compatability with this manual 14 Control Ctrl key 32 Controller MV10 chassis 29 MV8 chassis 29 options 28 starting 42 Copying files 63 with disk copy 71 Creating directories 69 Current directory 67 Cursor moving 32 Cursor ball 34 Cursor keys 32 Customer service assistance phone numbers 19 D Debugging suppressing robot commands 97 DEFAULT 68 Default boot drive 95 V Operating System User s Guide Ver 12 1 145 Index changing 95 DEFAULT DISK 67 DEFAULT monitor command 99 Default path changing 99 DELETE 81 DELETEL 82 DELETEM 81 DELETEP 81 DELETER 82 DELETES 82 Deleting
36. specifications used with disk file related commands that do not specify a full path name Digital I O System input output that is based on a one bit state on off high low Digital I O is commonly used to control devices such as warning signals feeders and other periph eral workcell equipment DirectoryOrganizational unit of a disk drive hierarchical file structure Allows you to organize and isolate groups of disk files E E Stop Emergency Stop Special controller circuitry that allows the immediate halting of a mo tion device and any executing programs Executable ProgramA V program that is initiated with the EXECUTE command Contrasted with Monitor Command programs which are initiated with the COMMANDS command F Floppy DriveMagnetic data storage device that uses removable magnetic disks FormattingBefore data can be reliably written to and read from a disk drive the drive must be formatted The format process places track and sector information on a disk Function Keys The keys at the top of the keyboard labeled F1 F2 etc These keys have special functions V Operating System User s Guide Ver 12 1 141 Appendix B in various application programs M MCP Manual Control Pendant Hand held device for controlling Adept systems Memory Adept controllers have two types of memory volitole and non volitole Non volitole memory is permanent storage on hard or floppy disks Before data in non volitole memory c
37. After an Emergency Shutdown Using the V Command Line 6 V Operating System User s Guide Ver 12 1 27 28 29 30 32 32 32 32 33 33 33 33 34 34 34 35 35 36 36 36 36 36 37 37 39 41 41 42 42 44 44 45 Table of Contents The System Prompt and Typing Cursor The Parts of a Monitor Command The Command Name Command Parameters I Required and Optional Parameters Using the ID Command Monilor Command Syntax Conventions Shortcuts to Typing a Command To Cancel a Command To Edit the Current Command I To Retrieve Previously Entered Commands To Enter a Command While a Program Is Executing Using the A Series Graphical Interface Working with Pointing Devices To Move the Pointer To Click To Drag Working in Windows To Open a Window To Select a Window To Move a Window To Size a Window To Zoom a Window To Close a Window Scrolling in Windows To Turn Scroll Bars On and Off To Use the Scroll Arrows To Use the Scroll Handles Window Menu Bars To Make a Menu Selection Using the Pointing Device To Make a Menu Selection Using the Keyboard Using Software The V Operating System Software Application Software The V Operating System Using Files and Directories Using the Wyse Terminal Using Files V Operating System User s Guide Ver 12 1 45 45 45 46 46 46 47 47 48 48 48 49 49 50 50 50 50 52 52 52 52 53
38. Mtr n 1005 Explanation A zero index signal was received from the encoder for this motor at an unexpected time The encoder may be gaining or losing counts there may be a hardware problem with the zero index signal or the Counts per zero index configuration parameter may be set incor rectly User action Turn on Robot Power and continue to use the system If this error occurs repeatedly contact Adept Customer Service VISION not enabled 701 Explanation A vision command was entered before the vision system has been enabled User action Enter an ENABLE VISION command and retry the previous com mand Warning Not calibrated 51 Explanation The robot servo system and joint position sensors are not calibrated Thus any location variables that are defined may not represent the locations desired User action Enter a CALIBRATE command or have your program execute a CALIBRATE instruction Warning Watchdog timer disabled 56 Explanation Displayed at startup by all CPUs if the watchdog timer on the board is disabled For Adept CPUs the timer is enabled by removing a jumper This timer is a hardware device that asserts SYSFAIL on the VME bus which drops robot power if the CPU halts or gets hung On the Adept 030 board the green light goes out if SYSFAIL is asserted This message also is displayed whenever a user task is started from the monitor and the watchdog timer is disabled 138 V Operating System Us
39. NFIG_C 3 When the file is loaded execute the program a config_c EXECUTE a config_c 4 The following main menu will be displayed 0 gt EXIT to system monitor 1 gt V Installation 2 gt V System Configuration Data 3 gt Robots and Device Modules 4 gt Controller NVRAM To edit the system configuration 1 Select menu item 2 2 gt v systemData 2 Select menu item 2 2 gt EDIT system CONFIGURATION 3 You will be asked to enter the letter of the drive containing the system files If for example the system files are on the hard drive respond C dH 98 V Operating System User s Guide Ver 12 1 Chapter 6 The Default Path The configuration submenu will be displayed At this point you can edit the various system configuration options The most commonly changed options are covered in the following sections The complete set of options is detailed in the Instructions for Adept Utility Programs To activate system configuration changes 1 Turn off the controller wait five seconds and turn the controller back on Changes made to the system configuration file will not take effect until the system is restarted The Default Path The default disk specifies the drive unit and directory path that file related commands such as LOAD and FDIRECTORY will use when accessing a disk drive The default disk is set at system startup and is in effe
40. NOT halt immediately but will complete the current motion The only time you cannot enter the ABORT command is when the system is waiting for input from the keyboard For example suppose the following message is displayed in the monitor window Are you sure Y N Z The typing cursor at the end of the line tells you the system is waiting for you to enter a response at the keyboard To halt program execution at this point hold down the Ctrl key and press Z Program execution will halt Removing Objects From System Memory 80 When a program completes it is not automatically removed from system memory RAM To free up the RAM for use by other programs and data objects in memory must be specifically removed with a DELETE_ command Also the LOAD command will not overwrite programs that reside in system memory Therefore if you want to load new programs with identical names you must delete the programs currently in RAM Figure 4 3 shows the various delete commands and the objects each command removes from memory V Operating System User s Guide Ver 12 1 Chapter 4 Removing Objects From System Memory Disk Drive System RAM program_a data loc_1 loc_2 names DELETEM DELETE DELETE FDELETE DELETE DELETEP DELETEL DELETEP ZERO DELETES ZERO DELETER zy ZERO Figure 4 3 Deleting Objects From Memory Remember the FDELETE command removes disk files from a disk
41. On V output to a terminal connected to CPU 1 AdeptWindows PC A Off V graphics via VGB On V graphics via AdeptWindows Network connection Switch 5 is ignored if Switch 4 is Off 3 Off AdeptWindows via Ethernet On AdeptWindows via serial port if switch 4 is on Network Addressing 6 Off Use network address data in controller NVRAM On Use default network address data Diagnostics Zand8 Off Reserved for diagnostics Set to Off 96 V Operating System User s Guide Ver 12 1 Chapter 6 System Software Switches System Software Switches Several controller options can be enabled disabled with the ENABLE DISABLE monitor commands Most of these switches should be controlled by executing programs and not changed from the monitor prompt Table 6 2 shows the switches you are likely to change from the monitor prompt Table 6 2 Basic System Switches Switch Use Default BELT Used to turn on the conveyor tracking features of V if OFF the option is installed This switch must be enabled before any of the special conveyor tracking instructions can be executed When BELT is disabled the conveyor tracking software has a minimal impact on the overall performance of the system DRY RUN Enable disable sending of motion commands to the OFF robot Enable this switch to test programs for proper logical flow and correct external communication without having to worry about the robot running into something Also s
42. RUN switch to allow program execution without using the robot V Operating System User s Guide Ver 12 1 135 Appendix A Robot power off Explanation User action Robot power on Explanation User action RSC any message Explanation User action Subdirectory in use Explanation User action 604 High power is not turned on or cannot be turned on because of a hardware failure On a system with the Manual Mode Safety Package MMSP you can get this error if you press the HIGH POWER ON OFF button before it starts to flash 1 Turn on high power and reenter the last command 2 on a sys tem with the MMSP wait for the HIGH POWER ON OFF button to start to flash before you press it 627 An attempt has been made to perform an action that requires robot power to be off DISABLE POWER and reexecute the action V has received incorrect data from the robot signature card Retry the operation If the problem persists contact Adept Cus tomer Service 547 An attempt has been made to delete a subdirectory that still con tains files or that is being referenced by another operation for exam ple an FDIRECTORY command Check that all the files within the subdirectory have been deleted Check that no other program tasks are referencing the subdirectory Retry the delete operation Subdirectory list too long 546 Explanation User action 136 A directory path contain
43. Use This Manual With This manual is for use with V version 12 0 and later What Is Covered in This Manual This manual covers the Vt operating system After your controller and any attached devices are installed the material in this manual covers what you need to know to start operate and shut down the system If you are running a system that is already programmed and configured this manual contains most of the information you will need What Other Manuals Might Need If you will be modifying the system configuration installing new equipment or programming in the V language you may need the following manuals Table 1 Related Manuals Recommended Manual Material Covered for Robot or motion Installation of robot or motion device All users device instruction service handhaokor Periodic maintenance of the device personnel and user s guide programmers using the robot V Operating Detailed descriptions of all monitor All System Reference commands some of which are programmers Guide described only briefly in the V Operating and users System User s Guide installing or configuring the controller V Language A description of the structure and All User s Guide elements of the Vt programming programmers language 14 V Operating System User s Guide Ver 12 1 Introduction What Other Manuals Might I Need Table 1 Related Manuals Continued
44. V Operating System User s Guide Version 12 1 00 rooe OQe fa lol je d gt nooo ass x 48 IS To q op V Operating System User s Guide Version 12 1 o jel ye S mee Fb be Part 00962 01230 Rev A September 1997 Ao 150 Rose Orchard Way San Jose CA 95134 USA Phone 408 432 0888 Fax 408 432 8707 cee s Otto Hahn Strasse 23 44227 Dortmund Germany Phone 49 231 75 89 40 Fax 49 231 75 89 450 adept are 41 rue du Saule Trapu 91300 Massy France Phone 33 1 69 19 16 16 Fax 33 1 69 32 04 62 technology inc 1 2 Aza Nakahara Mitsuya Cho Toyohashi Aichi Ken 441 31 Japan 81 532 65 2391 Fax 81 532 65 2390 The information contained herein is the property of Adept Technology Inc and shall not be repro duced in whole or in part without prior written approval of Adept Technology Inc The informa t
45. aded into RAM Disk Files One of the biggest differences between Vt and other operating systems is the nature of a disk file In most operating systems a disk file contains a single executable program text document or data file In Vt a file can contain several items the most common of which are programs and the values of global variables As later chapters discuss the way Vt executes programs handles subroutines and stores the values of program variables the reasons for this file strategy will become clear The important thing to remember as you become familiar with the V file structure is that when you load or store a file you are not necessarily loading or storing a single program Subdirectories In normal operations you may wind up with large quantities of files If you had no way of organizing and isolating related files your disk drives would quickly become awkward and difficult to use V uses a directory structure to help organize and manage disk files Subdirectories and the directory structure are covered in the next section File Names 60 Each file within a subdirectory must have a unique name V uses this name to keep track of the file and to allow you to access the file Filename Requirements V filename requirements are similar to MS DOS filename requirements File names must Have a maximum of eight characters plus a three character extension Use only alphabet characters a z numbers 1 0 a
46. afety gates or safety floor mats to prevent entry to the workcell while HIGH POWER is enabled These devices may be connected using the controller s remote emergency stop circuitry see the controller user s guide Conventions This section discusses Typographic conventions e Keyboard conventions Selecting choosing and pressing items Typographic Conventions The following typographic conventions are used throughout this manual This Represents ALL CAPITALS V file names directory names commands keywords and attributes also acronyms monospace Screen displays code examples italic monospace nonplaceholder terms in formal syntax definitions and case sensitive words required for a UNIX like setting associated with the AdeptNet product Placeholders for information that you provide in formal syntax definitions You must replace such a placeholder written in bold weight but need not replace an optional one which is written in regular weight V Operating System User s Guide Ver 12 1 19 Introduction This Conventions Represents bold italic SMALL CAPITALS 20 In a typing or entering instruction anything that you type exactly as it appears For example if you are asked to type execute 1 a diskcopy you type all the bold characters exactly as they are printed What you type is shown in lowercase letters unless it must be typed in uppercase letters to work prope
47. again 16 Explanation The input provided was not consistent with what V expected User action Provide another response Invalid argument 407 Explanation An argument for a function program instruction or SEE editor command is not in the accepted range V Operating System User s Guide Ver 12 1 123 Appendix A User action Check the range of arguments for the function program instruction or editor command being used Invalid disk format 520 Explanation An attempt has been made to read a disk that is not formatted or is formatted improperly or a FORMAT command has been entered that specifies invalid format parameters for the device specified User action If a FORMAT command has been entered check the command syn tax and retry the command Otherwise try a different diskette or reformat the current one Remember that formatting erases all information on the diskette If the diskette was created on an IBM PC be sure it was formatted with one of the formats accepted by the V system Invalid program or variable name 455 Explanation A user defined name used in a command or instruction was not rec ognized by V User action Check the name and retype the line Invalid qualifier 476 Explanation An invalid qualifier was specified on the last command User action Enter the command again with a valid qualifier Invalid servo error Mtrn 1001 Explanation An unrecognized error was reported for the in
48. ailure Some reinitialization of the system may be required For example any robot s connected to the controller will need to be recalibrated after a controller power failure Processor crash CPU n None Explanation V has detected that the specified CPU within the controller has entered a fatal error state Following a crash message from that pro cessor is then displayed immediately A software error or hardware problem with that processor is likely V Operating System User s Guide Ver 12 1 133 Appendix A User action It would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error mes sage and exactly what you were doing at the time the error occurred You should store the programs that are in memory power down the controller and start it again If the processor ID shown is 1 you can restart V by typing Ctrl G The robot servos will not function but you can STORE the programs in memory If the prob lem persists contact Adept Customer Service Program already exists 309 Explanation User action Program completed Explanation User action Program HOLD Explanation User action An attempt has been made to LOAD a program that already exists or to COPY or RENAME a program to a name that is already in use Delete the conflicting program or use a different name 3 The program has been executed the number of times speci
49. al 88 write protection 88 Floppy drive write protecting 88 Flow serial IO 103 146 V Operating System User s Guide Ver 12 1 Flush serial IO 103 Formatting hard drives 87 FRENAME 63 FSET changing serial IO configuration 102 Full paths 68 Function keys 32 G Graphics board VGB 28 H Hard drives formatting 87 HIGH POWER 17 History monitor command 48 I O devices workcell 36 ID Command 46 Input output analog 37 digital I O 36 serial 36 K Keyboard 30 34 cursor keys 32 function keys 32 making menu selections with 55 modifier keys 32 mouse keys 33 numeric keypad 33 standard keys 32 summary of keys 31 L LEDs keyboard status 34 LOAD 76 Loading disk files 76 M Manual Control Pendant 35 Index MCP see Manual Control Pendant MDIRECTORY 82 Memory RAM 34 system 34 Menu selection with the keyboard 55 Messages 115 Modifier keys 32 Modules displaying 82 program 82 Monitor command program 108 controlling speed of output to 58 Monitor command canceling 48 parameters 46 Monitor command programs 77 see also Command programs starting 77 Monitor command vs executable programs 76 Monitor commands 45 48 ABORT 80 DEFAULT 68 DEFAULT DISK 67 DELETE 81 DELETEL 82 DELETEM 81 DELETEP 81 DELETER 82 DELETES 82 editing 48 EXECUTE 76 FCOPY 63 FDELETE 64 FDIRECTORY 62 69 FRENAME 63 LOAD 76 MIDRECTORY 82 retrieving previously entered 48 shortcuts to entering 47 ZERO 82 Monitor
50. an be used it must be loaded to volitole system Modifier Keys These keys are used in conjunctions with the standard keyboard keys to perform special functions The modifier keys are the alternate Alt control Ctrl and Shift keys Monitor Command ProgramA special V program that contains only monitor commands Similar to MS DOS batch programs MV19 The Adept 19 slot VME controller chassis MV8 The Adept eight slot VME controller chassis Num Lock Special key that toggles the numeric keypad from numeric entry to cursor movement RAM Random Access Memory also known as system memory The program code and data for executing programs must be resident in system memory Before a program can be exe cuted it must be loaded from disk memory to system memory Relative pathDisk drive path specifications that is relative to appended to an existing path specification S SCSISmall Computer Systems Interface A defined standard for interfacing computers and peripheral de vices particularly data storage devices Adept controllers equippped with the SCSI op tion can read from and write to storage devi SectorUnit of storage capacity on a disk drive Drives are divided in the circular tracks and then further di vided into anular shaped sectors Serial I O System I O based on RS232 protocols Most commonly used for communicating with other compputers or computer controlled devices S series Adept controllers that use a Wyse type character
51. and responding to system requests with the manual control pendant The optional MCP is generally used with motion systems Use of the MCP is described in Manual Control Pendant User s Guide The following are the minimum steps required to get an Adept system up and running Install the Equipment and Set the Hardware Configuration All the equipment must be installed and tested The user s guide covers installation and hardware configuration of the controller As delivered from Adept all systems have their hardware configuration set to the most common defaults You will not have to perform any hardware configuration changes if these defaults are acceptable to your installation The hardware configuration options are detailed in the Manual Control Pendant User s Guide In addition to the controller your system may include the following e Amotion device and the AdeptMotion VME option Installation of the device should be covered in the documentation provided with the device Interconnection of the device with the Adept controller is covered as is the motion servo hardware configuration in the AdeptMotion VME User s Guide Safety equipment In workcells with robots or motion devices it is critical that sensors be placed that will prevent personnel from entering the workcell when the motion device might move Make sure this equipment is installed and functioning properly before proceeding The interconnection of safety devices to the
52. ands and editor commands The SEE editor can be invoked by a command program Several commands require subsequent input from the user For example CALIBRATE and DELETEP normally require confirmation and POINT and HERE normally require responses to the query Change When commands such as these are processed in a command program the commands will be performed without any prompts being issued Make sure your monitor command programs can execute correctly without operator response Every nonblank line of a monitor command program must contain either a monitor command or a comment Command Program Names Command programs are stored as elements in a V disk file The disk file but not the file name must conform to V disk file name conventions see File Names on page 60 Command program names can have up to 15 characters must begin with a character and can contain characters numbers periods and underline characters Creating a Command Program To create a monitor command program 1 Open the SEE editor with the SEE command followed by the name of the program you want to create For example to create a program named my cmd program enter the command 108 V Operating System User s Guide Ver 12 1 Chapter 7 Creating Command Programs SEE my cmd program 4 The SEE editor will open and a message at the bottom of the editor will tell you that my cmd program does not exist and ask if you want to create
53. at About Safety SYSTEM HIGH POWER TEST MANUAL AUTO o POWER ON OFF ceder QO N O ER Caer PROGRAM PROGRAM PENDANT LOCAL NETWORK START RUNNING O O Figure 2 External Front Panel VFP Manually Controlled Robots Adept robots can also be controlled manually when the amber HIGH POWER light on the front of the controller is illuminated When this light is lit robot motion can be initiated from the system keyboard or the manual control pendant If you enter the workcell set the keyswitch to MANUAL press the MAN HALT button on the manual control pendant and take the key with you This prevents anyone else from initiating unexpected robot motions from the keyboard Other Computer Controlled Devices In addition these systems can be programmed to control equipment or devices other than the robot As with the robot the program controlling these devices may cause them to operate at times not anticipated by personnel Make sure that safeguards are in place to prevent personnel from entering the workcell when the blue PROGRAM RUNNING light on the front of the controller is illuminated WARNING Entering the robot workcell when either the amber HIGH POWER or the blue PROGRAM RUNNING light is illuminated can result in severe injury 18 V Operating System User s Guide Ver 12 1 Introduction Conventions Adept Technology recommends the use of additional safety features such as light curtains s
54. ault subdirectory simply press To add a relative path enter the subdirectory path from the default subdirectory To ignore the default subdirectory and specify an absolute path begin the path specification with a backslash In this example the relative path new N will be added to the current default path Enter output subdirectory default is vision new Z The program will ask you if you want to overwrite automatically disk files with the same names as new files If you answer Y any files with the same name will be deleted and overwritten without warning If you answer N you will be advised if files with the same name exist and be given the opportunity to overwrite or save the existing file Do you want existing files automatically superseded Y N 7 The program will now display the name of the first file that matches the spec of files to copy NEW V2 100 22 MAR 93 7 58 34 Copy this file Y N G Q The options are Y es copy the file and show the next file N o skip the file and show the next file G o ahead and copy all files matching the spec of files to copy without further prompts unless you have chosen not to supersede existing files automatically in which case the program will stop and ask you what you want to do each time a duplicate file name is found Q uit and enter a new file specification When all the files matching the file specification have been copie
55. based terminal Sub directorySee Directory SYSIO System Input Ouput board This board controls basic system communications with a system terminal serial I O devices the MCP and digital I O devices System MemorySee RAM T Terminal Used on Adept S Series systems a terminal incorporates the functions of a monitor and key board Trackball A pointing device used with Adept A series controllers The trackball controls the pos tion of the screen pointer TrackUnit of storage capacity on a disk drive Drives are divided in the circular tracks and then further di vided into anular shaped sectors 142 V Operating System User s Guide Ver 12 1 Appendix B Vv VGB VME Graphics Board This board is included in A series controllers It provides the graphics functions and memory VIS Vision Board This board is included in AdeptVision VME systems It controls vision pro cessing and image acquistion VJI VME Joint Interface Board This board is included in systems that include an Adept robot It generates commands for driving the robot joints VMI VME Motion Interface Board This board is included in systems with the AdeptMotion VME option It generates commands to drive the motion device joints V Operating System User s Guide Ver 12 1 143 Index A ABORT 80 Aborting program execution 80 Adept 604 S robot 35 Adept A series keyboard 30 Adept PackOne robot 35 Adept S series keyboard 31 Adept UltraOne
56. bles when the stack for the pro gram task was too full User action Reorganize the program logic to eliminate one or more nested sub routine calls or reactions eliminate some of the automatic variables that are allocated by the programs use the STACK monitor com mand to increase the size of the stack for the program task The pro gram may be restarted with the RETRY command 130 V Operating System User s Guide Ver 12 1 Appendix A Not enough storage area 411 Explanation There is no more space in RAM for programs or variables User action Delete unused programs and variables If the memory is frag mented because of numerous deletions it can be consolidated by issuing the commands STORE save_all ZERO and LOAD save_all This will write the memory contents to the disk and read them back into memory Note however that this procedure will not retain any variables that are not referenced by any program in mem ory nor will it retain the values of variables that are defined to be AUTO or LOCAL NVRAM battery failure 665 Explanation The nonvolatile RAM battery backup has failed and the RAM may not hold valid data User action Replace NVRAM battery NVRAM data invalid 661 Explanation The nonvolatile RAM has not been initialized or the data has been corrupted User action Power down your controller and reboot your system If the error persists contact Adept Customer Service Option
57. by enabling the BELT switch while a belt is defined User action Make sure the encoder cable is properly connected Try to run the conveyor at a slower speed Contact Adept Customer Service if the error persists V Operating System User s Guide Ver 12 1 119 Appendix A Encoder quadrature error Mtr n 1008 Explanation The position encoder signal from the specified motor is sending information that is not phased correctly The encoder or its cabling may be defective User action Turn on high power calibrate the robot and try to perform the motion at a slower speed If the error persists contact Adept Cus tomer Service Envelope error Mtrn 1006 Explanation The indicated motor was not tracking the commanded position with sufficient accuracy indicating a failure in the hardware servo system or something impeding the path of the robot User action Turn on high power and try to perform the motion at a slower speed Make sure nothing is obstructing the robot motion If the error recurs contact Adept Customer Service Executing in DRY RUN mode 50 Explanation The DRY RUN switch is enabled and program execution has been requested Thus no motion of the robot will occur User action None unless motion of the robot is desired In that case abort execu tion of the program and disable the DRY RUN switch External E STOP 608 Explanation The hardware panic button on the controller or pendant has been
58. configuration will be displayed Press the spacebar until the ANALOG _ INPUT or ANALOG OUTPUT section is displayed The new configuration for each analog board or channel will be displayed Press the spacebar until all options have been displayed and then press to display the main menu Exit the controller configuration utility by selecting V Operating System User s Guide Ver 12 1 105 Chapter 6 Additional Configuration Options 0 gt EXIT to system monitor Additional Configuration Options There are several other controller configuration options that may be changed These options can significantly change the way programs execute and should be made only by system programmers who are very familiar with the Adept operating system These options are detailed in the Instructions for Adept Utility Programs The additional options are 106 Which system processors can run V programs default is all system processors Use of the high speed digital I O signals for position latches or vision triggers default is no high speed latches or triggers Assignment of kinematic modules to robots see the AdeptMotion VME User s Guide Assignment of servo boards to system processor boards see the AdeptMotion VME User s Guide The number of graphics windows default 10 and icons default 20 that may be open at one time The time interval for pointer device double clicks default 10ms The servo interrupt
59. ct until it is changed by a DEFAULT monitor command The default disk can always be ignored by specifying a full path a path that starts with a disk designation see Chapter 3 Changing the Default Path To change the default path set at system startup 1 2 Start the controller configuration utility as described in Chapter 6 From the configuration submenu select 10 gt Change SYSTEM configuration The program will display all system configuration options and display the first option for editing If the line beginning with DEFAULT_DISK is not displayed enter N and press 4 until it is displayed The program will show you the current default disk and then ask if you want to edit it Enter Y and press The program will ask if you want to delete the statement containing the default disk Enter N and press 4 The program will show you the current default path Enter the new path immediately after the displayed path For example if the current path is A and you want to change it to C utilities the program will display Value a Z Type c utilities immediately after the displayed path V Operating System User s Guide Ver 12 1 99 Chapter 6 10 11 12 13 14 15 The Default Monitor Speed Value a c utilities Z and press 4 The program will show you the new value and ask you if you want to edit it If you have specified the correct
60. d the program will ask you for a new specification You can enter a new file specification and repeat the above process or you can simply press J to return to the diskcopy main menu Deleting Multiple Files 1 2 72 From the diskcopy main menu select 5 gt DELETE multiple FILES The program will ask you for the drive that contains the files you want to delete Enter a drive letter and press 1 For example if the A drive contains the files you want to delete enter A after the prompt What is the letter for the disk unit e g A C AZ V Operating System User s Guide Ver 12 1 Chapter 3 Other Disk Like Devices The program will show you the default subdirectory and ask you which files you want to delete You will generally want to use wildcards to specify a group of files For example to delete all files from the default subdirectory in the specified drive enter x 1 Tn the following example all files that end with V2 in the default subdirectory will be deleted Enter the file spec for deletion blank to exit V2Z The program will now display the name of the first file that matches the file spec for deletion NEW V2 100 22 MAR 93 7 58 34 Copy this file Y N G Q The options are Y es delete the file and show the next file N o skip the file and show the next file G o ahead and delete all files matching the file spec for deletion without further pro
61. d window Scrolling in Windows The scrolling features allow you to view the contents of a window that is larger than its currently displayed size You can scroll vertically or horizontally and the scroll bars can be turned off if they are not needed To Turn Scroll Bars On and Off To turn the scroll bars on and off position the pointer in the scroll bar icon at the upper right corner of the window and press the click button The scroll bars must be turned on to use the size icon and the zoom icon V Operating System User s Guide Ver 12 1 53 Chapter 2 Using the A Series Graphical Interface To Use the Scroll Arrows The arrows at the bottom of the vertical scroll bar or at the right side of the horizontal scroll bar allow you to scroll through a window vertically or horizontally e To scroll a line at a time vertically or one character at a time horizontally click once when the pointer is on the arrow that points in the direction you want to scroll To scroll continuously use the scroll handle which is described in the following section To Use the Scroll Handles The scroll handles appear when the window has been sized down with the size or zoom icons The scroll handle in each scroll bar allows you to scroll quickly to any part of the window The vertical scroll bar represents the height of the window the horizontal bar represents the width e To scroll to a specific location position the pointer on the scrol
62. de both character based monitors and the monitor window in an A Series system See the documentation provided with your terminal for additional details 58 V Operating System User s Guide Ver 12 1 Using Files Understanding Disk Files Disk Files Subdirectories File Names Filename Requirements Reserved File Names Contents of a V Disk File Working With Disk Files To List the Files on a Disk Drive To Use Wildcards to List Groups of Files To Copy q Disk File To Rename a Disk File To Delete a Disk File Using Directories Understanding the Directory Structure Understanding Paths The Current Directory Full Paths Relative Paths To Display the Current Path Path Examples Working With Subdirectories To View the Contents of a Diraelory To View Groups of Files To Create q Subdirectory To Delete a Subdirectory File Management Using Diskcopy Copying Multiple Files Deleting Multiple Files Other Disk Like Devices V Operating System User s Guide Ver 12 1 60 60 60 60 60 61 61 62 62 63 63 63 64 64 65 66 67 68 68 68 68 69 69 69 70 70 71 71 72 73 59 Chapter 3 Understanding Disk Files Understanding Disk Files Information used by your Adept controller is stored in files on the floppy or hard drives Unlike information stored in RAM disk files provide permanent storage However before the data in the files can be used it must be lo
63. derstanding V Programs Understanding V Programs Your Adept controller will not perform any useful work until you run a program Running a V program is a two step process First you LOAD a disk file then you EXECUTE or COMMAND one of the programs that is contained in the file A disk file may contain two different types of programs Monitor Command Programs and or Executable V Programs Monitor command programs perform system level functions such as loading files changing the default path and starting executable V programs These programs are similar to MS DOS batch programs or UNIX scripts The commands detailed in the rest of this manual can be put into monitor command programs Chapter 7 provides details on writing basic monitor command programs Executable V programs contain the logic motion control and vision instructions that actually control a workcell Creating and modifying executable V programs is covered in the V Language User s Guide and V Language Reference Guide The documentation for program files delivered by Adept specifies which program in a disk file is the main program and whether the main program is a monitor command program or an executable V program The documentation for program files supplied by third parties should include this same information You can peek at a disk file to see what type of programs it contains by entering the command FLIST file name The contents of the file will
64. dicated robot motor User action Attempt the operation again Contact Adept Customer Service if the error repeats Invalid servo initialization data 625 Explanation During V system initialization after booting from disk servo ini tialization data in the wrong format was found This can be caused by using a version of the SPEC utility that is incompatible with the V system User action Make sure your system disk has been configured correctly Contact Adept Application Engineering for assistance 124 V Operating System User s Guide Ver 12 1 Appendix A Invalid software configuration 315 Explanation During initial startup V has detected that the system software is not configured properly for the options or hardware present User action Power down the controller and try starting it again Make sure that the boot disk you are using is valid for your controller If the prob lem persists contact Adept Customer Service for assistance Invalid when program task active 311 Explanation An attempt has been made to begin execution of a robot or PC pro gram task when that task is already active User action Abort the currently executing task or execute the program as a dif ferent task if possible I O communication error 507 Explanation A hardware error has been detected in the I O interface User action Try your command again If the problem persists contact Adept Customer Service I O
65. directory under the root directory can also contain other directories and files There are a few simple rules for using files and subdirectories e Directories have the same naming requirements as files except they cannot have an extension e Atany one level all directory and file names must be unique e Each disk can have only one root directory Figure 3 3 shows a simple directory structure V Operating System User s Guide Ver 12 1 65 Chapter 3 Using Directories CN root directory uy my_file v2 PROGS_2 PROGS 1 DATA_1 my_progs rv my_file v2 big_file Ic Figure 3 3 Directory Structure new_file v2 old_file v2 YB w O Understanding Paths A path consists of the directions to a specific file or directory within the directory structure Paths are used with LOAD FCOPY FDELETE and other file related commands to identify a particular file A full path always starts at the root directory and moves through each level until you reach the desired file In the above example the path to new_file starts at the root directory and goes through subdirectory PROGS_2 before arriving at new_file v2 To specify a path in a command e Start with the letter of the drive you want to access followed by a colon e Separate the elements of the path with backslash N Enter the names of the elements exactly as they were created Directory names and file names a
66. disk place the disk in the drive slot as shown in Figure 5 2 and seat with slight finger pressure To remove a disk press the eject button This will eject the disk from the drive 1 Adept allows formatting of single sided floppy disks However single sided disks are almost obsolete and you are unlikely to use them The most common floppy disks are double sided double density and double sided high density 88 V Operating System User s Guide Ver 12 1 Chapter 5 Using Floppy Disk Drives CAUTION When the drive activity light is lit see Figure 5 2 indicating that the drive is being accessed do not attempt to remove the disk Damage to the disk drive and loss of data may occur if a disk is removed during a disk access Formatting Floppy Disks High density disks are marked with the HD symbol and have an extra hole opposite the write protect window see Figure 5 2 High density disks can be formatted only as high density disks Double density disks can be formatted only as double density disks High Density Mark and Window D Eject Button Drive Activity Light Insertion Arrow Write Protect Window Figure 5 2 Inserting a Standard 3 1 2 Floppy Disk To Format a Floppy Drive 1 Insert the disk into the drive with the write protect window closed 2 Enter the command V Operating System User s Guide Ver 12 1 89 Chapter 5 Using Floppy Disk Drives FORMAT a A for high density formatting or
67. drive Once a disk file is deleted it cannot be recovered FDELETE does not remove objects from RAM if they have been loaded The DELETE_ commands remove objects from RAM they do not affect the disk files the objects were loaded from After objects have been removed from RAM they can be reloaded using the LOAD command Figure 4 1 summarizes the various delete commands Table 4 1 The Delete Commands Command Action DELETE Deletes all named programs and any programs or variables that are used in the named programs DELETEM The DELETEM command removes all programs in a module The variables used by the programs are not deleted See Understanding Program Modules on page 82 DELETEP Deletes the specified programs from memory Other programs used by the specified programs are not deleted and variables used by the program are not deleted V Operating System User s Guide Ver 12 1 81 Chapter 4 Removing Objects From System Memory Table 4 1 The Delete Commands Continued Command Action DELETEL Deletes specified location variables DELETES Deletes specified string variables DELETER Deletes numeric real variables ZERO Clears ALL system memory except the operating system In normal operations you are most likely to use the DELETE and ZERO commands Objects do not have to be removed from RAM before different disk files are loaded and other programs are executed
68. ds Institute 1430 Broadway New York NY 10018 All Adept robot systems sold in Europe must conform to European Certification requirements Consult your robot Instruction Handbook for details 16 V Operating System User s Guide Ver 12 1 Introduction What About Safety Trapping Pinch gt l Points a NJ 1 2 s a Figure 1 Impacts and Trapping Points System Safeguards Safeguards should be an integral part of robot workcell design installation operator training and operating procedures Adept robot systems have various communication features to aid you in constructing system safeguards These include remote emergency stop circuitry and digital input and output lines Computer Controlled Robots Adept robots are computer controlled and the program that is running the robot may cause it to move at times or along paths you may not anticipate When the amber HIGH POWER light or the blue PROGRAM RUNNING light on the optional front panel is illuminated do not enter the workcell because the robot may move unexpectedly Systems not equipped with the optional front panel should have similar user supplied warning lights installed see the Adept MV Controller User s Guide 1 Amber and blue are the colors for the lights on the optional Adept front panel If a remote front panel has been installed by another party the colors may vary V Operating System User s Guide Ver 12 1 17 Introduction Wh
69. e attempting to read information from an external device possibly because a diskette has been damaged or was not formatted properly Attempt the read again Make sure the correct diskette is being used that it is properly installed in the drive and that it is format ted Recall that formatting a diskette erases its contents 503 There is no more space available on a device If received for a disk file the disk is full if there are many small files on the device this error indicates the disk directory is full If received for a servo device an attempt has been made to assign too many servo axes to a single CPU Delete unneeded disk files or use another drive or diskette Recon figure your system so the maximum number of axes per CPU is not exceeded Check the program code to make sure the requested device has not already been attached 508 1 The requested disk device or remote network task is not pre pared to communicate with the V system 2 A limited access device like the terminal the manual control pendant or a serial line is attached to a different program task V Operating System User s Guide Ver 12 1 Appendix A 3 You have tried to write into a pull down window while it is dis played User action 1 If the intended device is a system microfloppy disk drive make sure the diskette is correctly inserted and formatted 2 If a limited access device is specified ABORT and KILL the pr
70. ee the TRACE switch which is useful during program checkout The manual control pendant can still be used to move the robot when DRY RUN is enabled FORCE Controls whether the stop on force feature of the V OFF system is active to enable this switch the force option must be installed on your system POWER Tracks the status of Robot Power this switch is OFF automatically enabled whenever Robot Power is turned on This switch can also be used to turn Robot Power on or off enabling the switch turns on Robot Power and disabling the switch turns off Robot Power To enable a switch type ENABLE followed by a space and the switch name For example ENABLE DRY RUN V Operating System User s Guide Ver 12 1 97 Chapter 6 The Controller Configuration Utility To disable a switch use the DISABLE monitor commands For example DISABLE DRY RUN The Controller Configuration Utility The remaining sections in this chapter use the Adept controller configuration utility to customize the controller The controller configuration utility is supplied on the Adept Utility disk To run the utility 1 Place the utility disk in drive A if the utility programs have been copied to the hard disk the controller configuration utility can be run from the hard drive by substituting A with the correct drive and path in step 2 2 Load the controller configuration utility CONFIG_C V2 LOAD A CO
71. em Safeguards Computer Controlled Robots Manually Controlled Robots Other Computer Controlled Devices Conventions Typographic Conventions Keyboard Conventions Selecting Choosing and Pressing Abbreviations How Can I Get Help In Europe Futope aan France Italy In the United States Service Calls Application Questions Applications Internet E Mail Address Training Information Outside Continental United States or Europe Adept World Wide Web Site Adept Bulletin Board Service V Operating System User s Guide Ver 12 1 13 14 14 14 16 16 17 17 18 18 19 19 21 21 22 22 22 22 22 23 23 23 23 23 23 23 24 24 Table of Contents Part 1 Adept System Fundamentals 1 Your Adept System Hardware Before You Begin The Controller The Keyboard Standard Keys Function Keys Modifier Keys Cursor Keys I The Numeric Keypod Screen Control Keys The Mouse Keys Other Special Keys The Status LEDs The Trackball The Controller and Memory Robots and Motion Devices The Manual Control Pendant Other Input and Output Devices Cameras and Lighting Equipment The Controller Disk Drives Serial I O Digital I O Analog I O Remote Emergency Stop 2 Learning the Basics Using the Controller Install the Equipment and Set the Hardware Configuration Power up the System I To Power up the Controller To Power up the Motion Device To Reenable Power to a Motion Device
72. er s Guide Ver 12 1 Appendix A User action Replace the watchdog timer jumper See the Adept MV Controller User s Guide Wrong disk loaded 521 Explanation The diskette in a disk drive has been changed while a file was still open Further attempts to access the file result in this error Data being written into the file may be lost User action Check your diskette to see if any data was lost If so it s too late now Be more careful in the future V Operating System User s Guide Ver 12 1 139 Glossary A Absolute pathDisk drive path specification that starts at the root top level directory of a disk Alt Alternate key This is one of the special modifier keyboard keys Analogue I O System I O that is based on analogue values as represented by a voltage range from 1V to 1V or OV to 1V Used with peripheral devices that generate a similar analgue sig nal A series Adept contollers that are graphics based and use a color monitor and pointing device AutostartOperating system features that allows a program to to loaded and executed when the controller is turned on C Caps Lock Special key that forces all letter keys to capital letters Command ProgramSee Monitor Command Program Ctrl Control key This is one of the special modifier keyboard keys D Default driveThe drive unit the controller will attempt to load the operating system from when it is turned on or reset Default pathDefault directory
73. f information to and from disk drives e Monitor external devices attached to the controller e Report errors generated during processing In general unless you are programming applications you do not have to be concerned with the internal operation of the operating system V Operating System User s Guide Ver 12 1 Chapter 2 Using Files and Directories Using Files and Directories Application programs and other data are stored in files on the disk drives when not being actively used by the controller If the different files are not organized carefully the information on your disk drives can quickly become unmanageable The Vt operating system uses a hierarchical file system for organizing files and isolating related files This system is identical to the one used by MS DOS and is similar to most other operating systems Chapter 3 describes the file directory structure in detail With large hard drives it is particularly important that you carefully organize your file structure so you can quickly locate needed files Carefully organized files make common operations such as copying deleting and renaming files much easier It is very difficult to clean up a badly disorganized disk so read Chapter 3 carefully before you begin copying large quantities of files to your hard disk Using the Wyse Terminal The Wyse terminal behaves similarly to most system terminals As you type characters they appear to the left side of the flashi
74. fied in the last EXECUTE command or instruction Any monitor command can be entered except that PROCEED can not be used to resume program execution 15 The RUN HOLD button on the pendant has been pressed while a robot program was executing and it is now suspended Any monitor command can be entered To continue execution of the program type PROCEED or RETRY or press the PROGRAM START button on the controller The RUN HOLD button can be held down to temporarily resume execution of the program if the controller keyswitch is in the MANUAL position Program task stopped at program_name step step_number date time 4 Explanation User action 134 Execution of the program task indicated by has terminated for the reason indicated in the message that preceded this message The step number displayed corresponds to the NEXT program step that would be executed for example if PROCEED were entered The current date and time are displayed if the system date and time have been set None This is only an informational message V Operating System User s Guide Ver 12 1 Appendix A Protection error Explanation User action 530 An I O operation cannot be performed because 1 it attempted to write to a disk that is write protected or 2 the user does not have the proper access status Check the diskette to make sure the write protect tab is in the cor rect position Use an FDIRECTORY com
75. g System User s Guide Ver 12 1 149 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 Road Cincinnati Ohio 45242 FAX 513 792 0274 00962 01230 Rev A
76. g Up Pg Dn etc functions are performed When the LED on the Insert key is not lit the keys marked with arrows move the typing cursor up down left and right one space or one line at a time To toggle the Insert LED press Ctrl Insert 1 See the Vt Language User s Guide and the AIM documentation for details on the SEE editor see AIM documentation for details on AIM software 32 V Operating System User s Guide Ver 12 1 Chapter 1 The Keyboard The Numeric Keypad The numeric keypad keys have a dual function they duplicate the number keys from the top row of the standard keys or they duplicate the cursor keys When numeric lock is engaged the Num Lock LED in the status LEDs section is lit the numeric keypad is used for numeric entry When numeric lock is not engaged the Num Lock LED in the status LEDs section is not lit the keys have the same function as the correspondingly marked cursor movement keys To toggle the Num lock LED press the Num Lock key Note You cannot change the Num lock status when the optional mouse keys are selected see Mouse Keys below Screen Control Keys The only key in this group that is used with Adept systems is the Scroll Lock key When this key is pressed and the Scroll Lock status LED is lit all output to the monitor is halted and further keyboard input is buffered stored but not executed The top level menu bar turns red to
77. he lower right corner of the window the scroll bars have to be turned on to see the size icon see the section on scrolling Position the pointer on the size icon press and hold down the click button and drag to a new location You will see the window change size e Release the mouse button when the window is the desired size The contents of the window do not change Only the amount you can see changes To Zoom a Window Another way to change the size of a window is to use the zoom icon in the upper right corner of the window the scroll bars have to be turned on to see the zoom icon see the section on scrolling below The zoom feature toggles the window between its maximum size and the most recently set size windows that have not been resized since being opened will not be affected Position the pointer on the zoom icon then press the click button The window changes to its previous size To Close a Window To close a window position the pointer on the close icon in the upper left corner of the window and press the click button When you close the Monitor window any system operations or processes that are taking place continue even though the window is closed Subsequent output to the window will be seen when the window is opened For example if you started an application program from the monitor window closing the monitor window does NOT halt the program that you started Use the adept pull down menu to reopen a close
78. idwestern Region 513 792 0266 Eastern Region 203 264 0564 Applications Internet E Mail Address If you have access to the Internet you can send applications questions by e mail to applications adept com Training Information For information regarding Adept Training Courses in the USA please call 408 474 3246 or fax 408 474 3226 Outside Continental United States or Europe For service calls applications questions and training information call the Adept Customer Service Center in San Jose California USA V Operating System User s Guide Ver 12 1 23 Introduction How Can I Get Help 408 434 5000 408 433 9462 FAX service requests 408 434 6248 FAX applications questions Adept World Wide Web Site Adept has a Web site at the following URL http www adept com You can find current information about Adept products and services You can go to the Technical Publications section in the Services area and find information about Adept s manuals including a section on corrections and updates Adept Bulletin Board Service 24 Adept maintains a bulletin board service for Adept customers Adept posts application hints and utilities to this bulletin board and users may post their own hints and application notes There is no charge for access to the bulletin board The BBS number is 203 264 5590 The first time you call you can set up an account right from the BBS If you have any questions call 800
79. iguration utility as described in Chapter 6 From the configuration submenu select 3 gt Change ANALOG_INPUT configuration 4 gt Change ANALOG_OUTPUT configuration The program will display all the defined analog input boards or all the defined output channels and display the first definition for editing If the analog board or channel you want to configure is not displayed enter N and press until the correct line is displayed The program will show you the current configuration and then ask if you want to edit it Enter Y and press 1 The program will ask if you want to delete the statement Enter N and press J The program will now cycle through each analog board or channel display the current and the possible settings and ask if you want to change the attribute To leave the attribute unchanged simply press 4 To change the attribute enter the number corresponding to the desired value After all attributes have been displayed for editing the program will display the new set of attributes and ask if you want to edit them If you have specified the correct attributes enter N and press The next analog board or channel configuration will be displayed If you have made all the desired configuration changes enter Q and press 4 To see if your changes have been made correctly select 1 gt DISPLAY system CONFIGURATION Enter the system drive letter and the system
80. in this section use the click button the large left button on the integrated trackball the center button on a three button mouse or the left button on a two button mouse To Move the Pointer You move the pointer arrow around the screen by rolling the trackball see Figure 2 3 or sliding the mouse in the direction you want to move the pointer Do not press any pointer device buttons when you simply want to move the pointer to a different location on the screen To Click To click the pointing device move the pointer until it is over the area you want to click on then press and release the click button see Figure 2 3 Clicking selects windows presses buttons and performs other actions within an application To Drag To drag the pointing device move the pointer to the starting location press and hold the click button then move the pointer to a different location and release the click button Some of the uses for dragging are to move or resize windows and to select items in pull down menus The integrated trackball on the standard Adept keyboard has a special button that locks the trackball in drag mode see Figure 2 3 Press the drag lock key to engage the drag lock feature The drag lock LED will light and the trackball will behave as if the click button is held down Press the drag lock button again to release drag mode 50 V Operating System User s Guide Ver 12 1 Chapter 2
81. indicate the scroll lock key has been pressed To turn off scroll lock and allow normal operations press the Scroll Lock key again The Mouse Keys There are two groups of optional mouse keys that can be set to mimic the left right and drag lock buttons on the trackball To enable the mouse keys press the key in the upper right corner of the keyboard marked with a mouse graphic When the LED on this key is lit pressing the left Ctrl or Num Lock key is the same as pressing the left trackball button Pressing the blank key between the left Ctrl and Alt keys or the key on the numeric keypad is the same as pressing the drag lock button on the trackball Pressing the left Alt key or the key on the numeric keypad is the same as pressing the right button on the trackball the right button is not generally used by Adept applications NOTE When the mouse keys are enabled they will not perform their marked functions even if they are used without the trackball Press the key with the mouse graphic to disable the optional mouse keys Other Special Keys The Caps Lock key forces all characters entered from the standard keys to be capital letters Numbers and symbols are not affected by Caps Lock The Scroll Lock LED indicates whether scroll lock is engaged or not Pressing Ctrl S will halt output to the monitor and pressing Ctrl Q will resume output V Operating System User s Guide Ver 12 1 33 Chapte
82. ing location functions and operations correctly and edit the program as required V Operating System User s Guide Ver 12 1 Appendix A Manual control pendant failure 650 Explanation A program has attempted to access the manual control pendant when it is disconnected or has failed User action Make sure the pendant is connected properly If the problem per sists contact Adept Customer Service Memory Err at aaaaaa None Explanation During initialization V detected a hardware failure at the indi cated memory location User action Power down the controller and start it again If the error persists contact Adept Customer Service Missing argument 454 Explanation A valid argument was not found for one or more of the arguments required for the requested command or instruction That is the argument was not present at all or an invalid argument was present A possible cause is the use of a single equal sign for the equal ity relational operator User action Check the operation syntax and reenter the line Motion interface E STOP 630 Explanation The AdeptMotion system has detected an error or problem and has asserted the BRKSTOP signal on the VME bus User action Correct the problem generating the error from the motion system Motor amplifier fault Mtrn 1009 Explanation The power amplifier for the indicated motor has signaled a fault condition A momentary power failu
83. ing the power switch on the controller chassis to the on position On systems equipped with the optional front panel turn on the System Power switch The controller will perform a series of self tests and load the operating system The controller will first look to the A drive for an operating system and load from the A drive if a system is found If the operating system files are not found on the A drive the controller will look to the C drive for operating system files In order to start up successfully there must be operating system files on either the A or C drive This switch provides terminals for the user to connect an AC power source If this option is not be used on your system the switch will be inactive 42 V Operating System User s Guide Ver 12 1 Chapter 2 Using the Controller The system power up and boot procedures will take about a minute When startup is complete a screen similar to Figure 2 1 will be displayed on S Series terminals the display will fill the entire screen instead of a window on the monitor The exact wording will vary depending on the software version and installed options of your system When the start up boot process is complete the cursor will appear next to the system prompt The V system prompt is a period If you have an A Series system or an AdeptWindowsPC based system read section for details on how to use the window and pointer device features For S Series s
84. ion 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 preparation of future documentation A form is provided at the back of the book for submitting your comments Copyright 1994 1997 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 Table of Contents Introduction What Systems Can I Use This Manual With What Is Covered in This Manual What Other Manuals Might Need What About Safety Reading and Training fer system icers Syst
85. it Respond y and the SEE editor will open the program and display the program name at the top of the editor window Place the SEE editor in insert mode by pressing the i key When the SEE editor is first opened it is in command mode and expects you to enter editor instructions rather than the text of monitor commands Enter the commands you want the command program to perform The SEE editor normally expects instructions from the V programming language and not monitor commands from the V operating system To let the SEE editor know you are entering a monitor command precede each command with MC and a space For example to enter the instructions to load the file my_file and execute a program a my_file type MC LOAD MY_FILE J MC EXECUTE A MY_FILE Jd NOTE The SEE editor ignores the case of command program statements You can enter command lines in any combination of lower and uppercase letters If you enter a line and the SEE editor places a question mark in front of it the line is not acceptable to the editor Most likely you have not preceded the line with MC and a space To correct the line use the up and down arrow keys to move the cursor to the line use the left and right arrow keys to place the cursor to the right of the incorrect character and use the backspace key to erase it Then enter the correct character NOTE When editing regular programs the V editors
86. l Interface Working with Pointing Devices To Move the Pointer To Click To Drag Working in Windows To Open a Window To Select a Window To Move a Window To Size a Window To Zoom a Window To Close a Window Scrolling in Windows V Operating System User s Guide Ver 12 1 41 41 42 42 44 44 45 45 45 45 46 46 46 47 47 48 48 48 49 49 50 50 50 50 52 52 52 52 53 53 53 53 39 Chapter 2 To Turn Scroll Bars On and Off To Use the Scroll Arrows To Use the Scroll Handles Window Menu Bars To Make a Menu Selection Using the Pointing Device To Make a Menu Selection Using the Keyboard Using Software The V Operating System Software Application Software The V Operating System Using Files and Directories Using the Wyse Terminal 40 V Operating System User s Guide Ver 12 1 53 54 54 54 54 55 55 56 56 56 57 57 Chapter 2 Using the Controller Using the Controller You interact with the controller by e Entering commands and responding to system requests by typing entries at the command line This is the most basic type of interaction and is used by all Adept controllers Section covers the command line basics e Using a pointing device to make selections This type of interaction is used with programs written for the Adept A Series graphical interface Section describes the basics of the graphical user interface e Initiating actions
87. l handle then press and hold down the click button e Drag the handle to the new location then release the click button you will see the contents of the window scroll by as you drag You do not have to keep the pointer within the scroll bar as you drag e Togo immediately to a particular location in a window position the pointer at a place on the scroll bar that corresponds to where you want to go to then click once The portion of the window that you selected appears in the window and the scroll handle moves to the corresponding location in the scroll bar Window Menu Bars 54 Windows may have pull down menu bars that allow you to select various options For example all systems will have a top level menu bar with at least one pull down option This option is labeled adept and allows you to select a particular window To Make a Menu Selection Using the Pointing Device Position the pointer above the desired menu item as shown in Figure 2 4 and press and hold the click button The pull down options for this menu item will appear below the menu item selected Drag down the options until the desired option is highlighted and release the click button V Operating System User s Guide Ver 12 1 Chapter 2 Using Software Variables Global Variables Global Variables Global Go Edit Help Edit Help Go Seek Edit Help Previous Next Last Find Repeat Find Wala OM Figure 2 4 Making a Menu Selec
88. l one of the following events occurs 1 The end of the command program is reached 1 In multiple CPU systems CPU 2 will load the file AUTO02 V2 and execute the program auto02 CPU 3 will load AUTO03 V2 and execute the program auto03 etc V Operating System User s Guide Ver 12 1 111 Chapter 7 Controlling Command Programs 2 A WAIT START command is processed in the command program This will suspend processing of the command program until the PROGRAM START button is pressed or until a specified condition is satisfied 3 A CYCLE END command is processed in the command program and the referenced program task is executing That will suspend processing of the command program until the referenced program task finishes executing NOTE A command program will not be suspended when an EXECUTE command is processed The command program will continue with the next command after initiating execution of the specified application program A CYCLE END command must be included in the command program to make it wait for the application program to complete before processing the next step in the command program 4 The Ctrl key is held down while the C key is pressed This will terminate processing of the command program 5 Another command program is invoked from within the active command program Unlike starting an executable program control will not return to the first command program when the
89. lity programs for configuring various features of your Adept system This example will load the controller configuration file from the floppy disk and execute the configuration utility To make sure we are all at the same spot we will start this example with the controller turned off To execute the controller configuration utility V Operating System User s Guide Ver 12 1 Chapter 4 Understanding V Programs Turn on the controller After the start up sequence is complete place the Adept Utilities Disk in the floppy drive LOAD the controller configuration file by entering the following command the u indicates that the Return or Enter key should be pressed LOAD A CONFIG_C V2 J EXECUTE the main program by entering the command EXECUTE a config_c J The main menu for the controller configuration utility will be displayed Select the EXIT to system monitor option by typing 0 Remove the programs from memory See section DELETEM a config_c NOTE On A Series controllers monitor commands cannot be entered when the monitor window is closed To redisplay a closed monitor window select Monitor from the adept main menu option Which Program Do Execute Normally a disk file containing programs will have one main program that uses the other programs in the file All program files delivered by Adept follow these conventions There is only one main program per disk file The name
90. lly when the program is created 2 These are comment lines Notice that each line begins with a semicolon Lines beginning with a semicolon are ignored during execution 1 If the system controller has an optional front panel wait for the operator to press the PROGRAM START button WARNING Before processing a command program that turns on A High Power the operator must make sure the robot area is clear Turn on High Power Initiate the CALIBRATE sequence Load the file main v2 using the default path specification Or Rog N Move the robot to the location named safe assumed to be stored in main v2 or already in memory 6 Initiate continuous execution of the program motion assumed to have been loaded from main v2 or already in memory V Operating System User s Guide Ver 12 1 113 Chapter 7 Example Command Program 114 7 This line is added automatically after you exit the SEE editor This program could be initiated by the monitor command COMMANDS auto The program could also be initiated automatically when the system is turned on as described in Autostarting a Command Program on page 111 V Operating System User s Guide Ver 12 1 System Messages While the V system is being used it is possible for hardware and software errors to occur For example if commands or instructions are not entered in the correct way V rejects the input The usual response
91. m processor module they are attached to As delivered by Adept each serial line has a statement in the configuration file statements that reference uninstalled lines are ignored The configuration utility identifies the serial lines on the SIO module as GLOBAL_PORT followed by a number that refers to the serial port numbers on the SIO front panel port 4 is the FP MCP connection The serial lines on the system processor modules are shown as LOCAL_PORT followed by a number that corresponds to the processor board number and a number that refers to the serial port numbers on the system processor The processor board number is determined by an addressing switch on the processor board see the Adept MV Controller User s Guide The person setting up a controller with multiple processors should identify the number of each system processor Table 6 3 Serial I O Attributes 102 Attribute Use Default Other possible Driver Specifies the device attached to the Serial Pendant serial line or the communications Monitor Kermit protocol used by the line DDCMP Speed Specifies the communication baud 9600 110 300 600 rate used by the serial line Must 1 200 2 400 match the rate of the connected 4 800 7 200 device 19 200 38 400 Byte Specifies whether ASCII bytes are 8 7 length transmitted with 7 or 8 bits Parity Specifies the parity checking None Odd Even scheme used V Operating System User
92. main menu for the diskcopy program will be displayed Copying Multiple Files 1 From the diskcopy main menu select 4 gt COPY multiple FILES 2 The program will ask you for the drive that contains the files you want to copy Enter a drive letter and press For example if the A drive contains the files you want to copy enter A after the prompt What is the INPUT disk device e g A C AZ 3 The program will ask you which drive you want to copy the files onto Enter a drive letter and press J For example if the files are being copied to the C drive enter C after the prompt What is the OUTPUT disk device e g A C CZ 4 The program will show the default subdirectory of the output disk and ask you which files you want to copy You will generally want to use wildcards to specify a group of files For example to copy all files from the default subdirectory on the input drive enter In the following example all files that end with V2 will be copied Enter spec of file s to copy blank to exit V2Z NOTE An absolute or relative path can be included in the file specification The program can also be loaded from another directory if the correct path is specified V Operating System User s Guide Ver 12 1 71 Chapter 3 File Management Using Diskcopy The program will show you the default subdirectory of the output drive and ask you for a subdirectory To use the def
93. mand to display the disk directory If the file has protected P or read only R protec tion you cannot access it in the way attempted Return manual control pendant to background display AC to exit None Explanation User action The manual control pendant display must be in background for the operation you have selected Press the DONE button on the pendant one or more times to exit the current function Robot module not loaded ID n 628 Explanation User Action Robot not calibrated Explanation User action This error occurs only during startup when a robot module has been configured using the CONFIG_C or DM_UTIL utilities but the robot module is not present in memory This error will also occur if the encoder module is not present in memory Use the DM_UTIL or CONFIG _C utility to add the robot module or the encoder module to the boot disk before rebooting Note that the encoder module is selected in a way that is different from other modules While normal robot modules are selected by specifying an ID using the DM_UTIL utility the encoder module is selected using the CONFIG_C utility 605 An attempt has been made to execute a robot control program when the robot is not calibrated No motion is allowed until the robot is calibrated If you want to use the robot issue a CALIBRATE command or have your program execute a CALIBRATE instruction Or enable the DRY
94. me my_file v2 The FCOPY command is useful for copying small quantities of files However if you are copying many files the Adept utility program DISKCOPY is more convenient for copying multiple files DISKCOPY is described in section on page 71 To Rename a Disk File To change a file name without changing its location use the FRENAME command The command FRENAME new_name old name V Operating System User s Guide Ver 12 1 63 Chapter 3 Using Directories will change the name of disk file old_name to new_name To Delete a Disk File Disk files that are no longer used or needed should be deleted from the disk This recovers space on the disk for other files If you are copying or storing files to a disk and get a disk full message the only way to continue with the copy or store operation is to delete some files from the disk The FDELETE command removes files from the hard or floppy drives To delete a single file enter the command FDELETE old_file and the file old_file will be removed from the current subdirectory Note that the file name old_file is different from old_file v2 You must specify the entire file name when deleting files To delete all the files in the current subdirectory with the extension v2 enter the command FDELETE v2 To delete all the files in the current subdirectory enter the command FDELETE The Diskcopy
95. me the system is not actively requesting input you can begin typing a monitor command As soon as you begin typing the asterisk prompt will be displayed along with any characters you type The only time you cannot enter a command is when the system is waiting for input from the keyboard For example suppose the following message is displayed in the monitor window Are you sure Y N Z The typing cursor at the end of the line tells you the system is waiting for you to enter a response at the keyboard Entering Ctrl Z at this point will abort the program NOTE If you are entering a command while a program is executing the program will wait until you press before displaying to the monitor window any output generated by the program Therefore you should not leave a partially completed command in the monitor window since it may cause programs with screen output to wait indefinitely Using the A Series Graphical Interface The operations described in this section reference the window features shown in Figure 2 2 V Operating System User s Guide Ver 12 1 49 Chapter 2 Using the A Series Graphical Interface Working with Pointing Devices Pointing devices such as a mouse or trackball control the position of the pointer on the screen see Figure 2 2 The pointing device selects windows moves windows on the screen opens applications and helps you interact with application programs The basic pointing functions described
96. mpts Q uit and enter a new file specification When all the files matching the file specification have been deleted the program will ask you for a new specification You can enter a new file specification and repeat the above process or you can simply press J to return to the diskcopy main menu Other Disk Like Devices Adept offers several options for performing file operations on disk like devices The current options for disk like devices are Remote access to services using the Kermit protocol See the V Language User s Guide for details Remote access using the DDCMP protocol See the V Language User s Guide for details Remote access to services running the NFS network file services or FTP file transfer protocol These options require the AdeptNet option and appropriate licenses See the AdeptNet User s Guide for details 1 A full or relative path can be included in the file specification V Operating System User s Guide Ver 12 1 73 Executing V Programs Understanding V Programs To LOAD a Disk File N S a To Start a Monitor Command Program To Start an Executable V Program Program Startup Example Which Program Do Execute To Halt Execution of a Program Emergency Stop l Early Program Termination Removing Objects From System Memory Understanding Program Modules V Operating System User s Guide Ver 12 1 76 76 77 78 78 79 80 80 80 80 82 75 Chapter 4 Un
97. n in Table 6 1 If the switch is set to autoload the system will load a file named AUTO V2 when it boots and then execute a monitor command program named AUTO The default path is used when attempting to LOAD the auto file See section for details on setting the default path The user must write the program auto and store it in the file AUTO V2 on the default disk See Chapter 7 for more information about autoload command programs V Output On S Series systems switch position 3 is not used and the V output is automatically sent to the terminal On A Series systems switch position 3 is normally off However if you have a terminal attached to the system processor board you can direct V output to the terminal by setting switch position 3 to open Graphics and vision output will still be sent to the color monitor V Operating System User s Guide Ver 12 1 95 Chapter 6 Customizing the Controller Hardware If your system includes the optional AdeptWindows PC interface switch position 4 directs V output to the serial or ethernet connection to the PC running AdeptWindows PC Table 6 1 Configuration DIP Switch Settings Position Setting Effects Autostart 1 Off Do not autostart On Autostart DDT editions 2 Off Reserved set to Off Monitor 3 Off V output to the monitor window via graphics if possible
98. nd the underscore _ character V ignores the case of letters used in file names Not contain any spaces or characters not listed above Use only one period which marks the beginning of the filename extension V Operating System User s Guide Ver 12 1 Chapter 3 Understanding Disk Files Reserved File Names You may use any valid file name for your files However Adept uses several common naming schemes including the following filename conventions e The advanced camera calibration program uses dat as a file extension e The Adept file compression utility uses squ as an extension e The vision system stores vision models with a vs extension e Adept s AIM software uses the extensions ovr ov2 db mnu and F rfd Contents of a V Disk File Disk files may contain three different types of objects as illustrated in Figure 3 1 e V programs e User Data e Vt variables and their assigned values Figure 3 1 Contents of a Disk File V programs contain coded instructions that tell the computer what to do and which external devices to communicate with User data is generated by various V programs such as camera calibration programs or the Adept AIM database management system V variables provide specific information needed by a program For example the location values that a robot is to move to can be stored in a disk file V Operating System User s Guide Ver
99. ne editing The program will ask you if you want to save the configuration to disk Enter Y and press The new configuration data will be written to the disk When the data is stored press and the main menu will be displayed To see if your changes have been made correctly select 1 gt DISPLAY system CONFIGURATION Enter the system drive letter and the system configuration will be displayed Press the spacebar until the SYSTEM section is displayed The new default speed specification should appear in the SYSTEM section Press the spacebar until all options have been displayed and then press to display the main menu Exit the controller configuration utility by selecting 0 gt EXIT to system monitor V Operating System User s Guide Ver 12 1 101 Chapter 6 Serial I O Configuration Serial I O Configuration The default serial IO configuration is set at system startup and is in effect until changed with an FSET monitor command Executing programs may also change the serial IO configuration The serial IO attributes attribute use default value and possible values are shown in Table 6 3 Serial I O Groups There are two groups of serial lines the global serial lines on the SIO module and the local serial lines available on each system processor module The global serial lines can be accessed by all system processor modules The local serial lines can be accessed only by the syste
100. ne will be displayed Press the spacebar until all options have been displayed and then press to display the main menu Exit the controller configuration utility by selecting 0 gt EXIT to system monitor Analog I O Configuration 104 The analog I O configuration is set during system startup and cannot be changed The configuration must match the hardware setup of the analog I O module See the Adept MV Controller User s Guide for details on hardware setup The change that can be made to both analog input and output channels is Bipolar vs unipolar I O If any of the voltage ranges 5V 10V etc are selected in the hardware setup the software setup must specify bipolar I O If a positive only voltage range is hardware selected the software must specify unipolar I O For input channels bipolar unipolar must be selected for all channels on the board For output channels bipolar unipolar can be selected for each channel The change that can be made to analog input channels is V Operating System User s Guide Ver 12 1 Chapter 6 Analog I O Configuration Single end vs differential input Single ended input uses the returned value of each input channel Differential input uses the difference between returned values on pairs of input channels The software setup must match the hardware setup To change the analog line attributes set at system startup 1 2 Or 10 11 Start the controller conf
101. ng cursor Any commands you type at the system prompt are executed when the return key shown as is pressed The backspace key will delete the character to the left of the cursor Cursor movement keys left right up and down arrow keys PF keys line feed key home key and function F keys are used primarily with the SEE editor The local block key has some specialized terminal functions that are explained in the Wyse terminal manual If you accidentally hit this key you will not be able to enter properly commands or text in the SEE editor until you press the local block key again and then enter a return If your cursor seems to be stuck on a single line you have probably pressed the local block key by mistake BLK will appear in the upper left hand corner of the screen when this key has been pressed The no scroll key will toggle screen scrolling V Operating System User s Guide Ver 12 1 57 Chapter 2 Using the Wyse Terminal Table 2 1 lists several useful combination key functions Table 2 1 Wyse Terminal Special Keys Key Combination Effect Ctrl T Faster scrolling rate Ctrl Slower scrolling rate Shift Ctrl Home Clear the screen Shift SetUp Reset terminal Shift Ctrl Toggle key click noise Ctrl C Abort a command not all commands can be aborted Ctrl O Suppress terminal output Ctrl U Cancel current command line Ctrl W Toggle slow output mo
102. not actively being used by the controller System RAM is limited and only a certain number of programs can be resident in RAM at one time Disk drives on the other hand provide extensive storage capacity With removable hard drives and floppy disks storage capacity is unlimited See Chapter 5 for details on the system disk drives Serial I O The system I O board SIO has serial I O connectors as does each main processor board for RS 232 communication with other controllers or computers V supports Kermit and DDCMP communications protocols as well as simple serial I O See the Adept MV Controller User s Guide for details on installing serial I O devices See the V Language User s Guide for details on programming serial I O Digital 1 O 36 Adepts digital I O system behaves similarly to programmable logic controllers PLCs allowing input and output from devices generating a simple on off signal Digital I O uses optical isolation modules to insulate the controller from noise generated by inductive devices in the workcell The SIO board provides V Operating System User s Guide Ver 12 1 Chapter 1 Other Input and Output Devices several digital I O channels Additional DIO boards can be installed in the controller See the Adept MV Controller User s Guide for details on installing digital I O devices See the V Language User s Guide for details on programming digital I O Analog I O The analog I O allows communication
103. nt the system communicates with When you first turn on the Adept controller this software is automatically loaded and made ready for use You do not have to do anything special to get this software active Chapter 6 lists several options for customizing and optimizing the operating system behavior However as delivered from Adept the operating system will correctly run your basic system Application Software Application software makes the Adept system perform the tasks required by your particular automation system Application software has many sources Adept provides standard utility programs Adept system integrators provide custom software programs or you may create your own application software Application software must be specifically loaded from a disk drive to system RAM each time the controller is turned on or after each time the programs are removed to make room in RAM to run other programs Chapter 4 describes the process of loading and unloading software The V Operating System 56 The V operating system manages the flow of information within the controller The operating system accepts instructions from applications programs input from workcell peripheral devices and operator input from the MCP keyboard and pointing device It generates output to the monitor and peripheral devices in the workcell The tasks performed by the operating system include e Manage the execution of applications programs e Manage the flow o
104. o gram task that has it attached or wait for the program task to release the device If the intended device is on the network check that the proper connections are made and that the remote system is operating correctly 3 The pull down menu should not be modified with the FSET instruction while it is being displayed A suitable time for modify ing the pull down menu is immediately after receiving a menu selection event Directory error 509 Explanation An error occurred while accessing a disk directory possibly because the diskette was not formatted or the diskette has been damaged in some way User action Make sure the correct diskette is being used that it is properly installed in the drive and that it is formatted Recall that formatting a diskette erases its contents Duty cycle exceeded Mtrn 1021 Explanation The indicated motor has been driven fast for too long a period of time The servo system has disabled Arm Power to protect the robot hardware User action Turn on Arm Power reduce the speed and or acceleration for the motion that was in progress or for motions that preceded that motion and repeat the motion that failed Encoder quadrature error Belt n 1013 Explanation The position encoder signal from the specified conveyor belt is sending information that is not phased correctly The encoder or its cabling may be defective Encoder error checking is initiated by the DEFBELT instruction and
105. of the main program is the name of the disk file without any extension proceeded by a In the previous example the disk file that holds the controller configuration files is named CONFIG_C V2 The main executable program in that file is a config_c These conventions are not requirements Programs that are not supplied by Adept may follow other conventions See the documentation provided with the files for details on which program to execute V Operating System User s Guide Ver 12 1 79 Chapter 4 Removing Objects From System Memory To Halt Execution of a Program Emergency Stop To immediately halt a robot or motion device and halt execution of a program activate any remote emergency stop connected to the system such as the red panic button on the optional remote front panel This will immediately turn off power to the motion device and stop the execution of any program currently attached to the robot or motion device Early Program Termination To halt a program in a nonemergency situation enter the command ABORT u en ABORT can be entered even though the normal system prompt is not displayed during program execution When you type the first letter an will appear where the dot prompt would normally appear This special prompt is displayed when commands are being entered while a program is executing NOTE If a robot is in motion when the ABORT command is entered the robot will
106. om the C drive if the correct path is specified V Operating System User s Guide Ver 12 1 87 Chapter 5 Using Floppy Disk Drives 4 When formatting is complete press J to return to the main menu Using Floppy Disk Drives The internal floppy drive uses either 3 5 HDDS or 3 5 DDDS hard jacketed floppy disks HDDS High Density Double Sided disks have twice as many sectors as DDDS Double Density Double Sided disks High density disks are marked with the HD symbol and have an extra window opposite the write protect window see Figure 5 2 Care The 3 1 2 floppy disks are hard jacketed disks that are protected against damage from handling However all disks whether hard or soft jacketed should be protected from exposure to dust heat and magnetic fields to prevent data loss To Prevent Writing to or Erasing a Floppy Disk Figure 5 2 shows a standard 3 1 2 floppy disk If the write protect window on the front of the disk is open the disk is write protected Any attempt to store or delete files on a write protected disk will result in the error Protection error Opening the write protection window prevents accidental deletion or alteration of disk files Closing the write protection window allows storing deleting and alteration of disk files Remember window open means the disk is write protected window closed means the disk is not write protected Inserting and Removing Floppy Disks To insert a
107. ommands at the system prompt you can Load and execute program files Display system status e Change certain characteristics of operating system behavior The System Prompt and Typing Cursor The Vt system prompt is a period sometimes referred to as the dot prompt When the system prompt is displayed system commands known as monitor commands can be entered Monitor commands allow you to access the file structure execute programs and display system status The typing cursor is a black rectangle z When the system is first started up the last line displayed will show the dot prompt followed by the typing cursor See Figure 2 1 Whenever the typing cursor appears the system is ready to accept input from the keyboard The Parts of a Monitor Command Every monitor command has a name Most monitor commands will also have one or more parameters to the command The Command Name Every command has a unique name that tells V what action to perform The name must be typed exactly as shown For example to see the system ID line enter the command ID J This manual covers the most commonly used monitor commands and parameters All monitor commands and their complete syntax are covered in the V Operating System Reference Guide V Operating System User s Guide Ver 12 1 45 Chapter 2 Using the V Command Line The system begins executing a command as soon as you press the Enter or Retu
108. on enter the command CALIBRATE J The motion device will proceed through a series of motions to verify its current location and the state of its position encoders Once the calibration procedure is complete robot control programs can be executed You do not have to perform this procedure for systems such as stand alone vision systems that do not have an attached motion device NOTE When enable high power on Catagory 1 and Catagory 3 systems you must press the High Power On Off button on the VFP within a programmable amount of time Failure to press the High Power On Off button will result in a time out error To Reenable Power to a Motion Device After an Emergency Shutdown When a panic button is pressed or other emergency stop switch is tripped high power is immediately removed from the motion device Power is also removed from the device if a servo error is reported Servo errors occur if the motion device cannot get to a desired location for example if the device runs into something Before the motion device can be used again you must enter the command ENABLE POWER J V Operating System User s Guide Ver 12 1 Chapter 2 Using the V Command Line You do NOT have to reissue the CALIBRATE command NOTE You can also enable power by pressing the COMP PWR button on the manual control pendant Using the V Command Line The command line is your primary access to the Vt operating system By entering monitor c
109. on optl opt2 Controller model serial options Processor n version revision type options memMb Robot n model serial options module 2 This manual always shows commands in all capital letters However you can enter commands in any combination of capital or small letters See page 47 for shortcuts to typing the entire command 46 V Operating System User s Guide Ver 12 1 Chapter 2 Using the V Command Line A sample display from the command ID is Software 11 0 81 1C0 Controller 3302 108 0 Processor 1 0 2 1 3 8Mb Robot 1 100 0 0 8 For more detailed information see the V Operating System Reference Guide Monitor Command Syntax Conventions To help present the required syntax in the clearest simplest manner this manual uses the following syntax conventions The command name is shown in capital letters Some commands have required and optional parts The required part is shown in bold capital letters and the optional part is shown in regular capital letters Parameters shown in bold lowercase letters are required and should be replaced with values you provide For example drive should be replaced with a drive letter you choose Parameters shown in normal lowercase letters are optional If you omit an optional parameter the system will assume a default value For example the following sample command has one required and one optional parameter SAMPLECOMMAND param_required
110. oved as possible adding boards back in until the problem board is identified If the problem persists contact Adept Customer Service Time out nulling errors Mtrn 1003 Explanation The indicated motor took too long to complete the last motion pos sibly because the robot is blocked and cannot reach its destination User action Turn on Robot Power and retry the motion after making any neces sary program changes If this error occurs repeatedly contact Adept Application Engineering for assistance Too many arguments 553 Explanation Too many arguments were specified for the last command or instruction User action Reenter the command or instruction but with the correct number of arguments Undefined program or variable name 406 Explanation The program or variable referenced in a command or program step does not exist possibly because the name was mistyped User action If the correct name was entered create the program or variable using one of the V editors or the appropriate Vt monitor com mands or by loading from a disk file V Operating System User s Guide Ver 12 1 137 Appendix A Unexpected text at end of line 451 Explanation The previous command or instruction could not be recognized by V possibly because of a mistyped function name or because an argument was specified where none is allowed User action Reenter the line correcting the syntax error Unexpected zero index
111. ow enter the command CD the current directory will become C PROGS_Z The tells the system to go up one level in the directory structure note that there is a space between CD and Full Paths The default subdirectory set with a DEFAULT command can always be overridden by using a full path specification A full path starts with a backslash and may include the drive designation The command LOAD C PROGS_1 my_progs rv will load the disk file my_progs rv in the PROGS_1 subdirectory regardless of the default set with a DEFAULT command Relative Paths A partial path can be added to any default path that has been set with the DEFAULT command The following commands will load the file old_file v2 as shown in Figure 3 4 DEFAULT DISK C PROGS_2 LOAD DATA_1 old_file v2 NOTE A DEFAULT path can be set at system startup using the controller configuration utility See Changing the Default Path on page 90 To Display the Current Path To show the current path enter the command DEFAULT The current directory path will be displayed Path Examples Assume you set the default path to C PROGS_2 The following commands will attempt to load the indicated files as shown in Figure 3 3 V Operating System User s Guide Ver 12 1 Chapter 3 Using Directories LOAD my_file v2 Loads the disk file my_file v2 located in C PROGS_2
112. param_optional If both parameters are specified the comma separating the parameters must be entered If only the required argument is used the comma is omitted Shortcuts to Typing a Command Command names do not have to be typed completely you need to type only enough characters to uniquely identify the command For example the only command that begins with stat is STATUS Therefore typing STAT J is sufficient to execute the STATUS command Typing STA 4 will result in the error Ambiguous name since it could refer to either the STATUS or STACK command V Operating System User s Guide Ver 12 1 47 Chapter 2 Using the V Command Line To Cancel a Command To cancel an executing command press Ctrl C These keystrokes will NOT halt a program that was started with the EXECUTE command The ABORT command halts an executing program Many commands output information to the monitor This output can be temporarily halted by pressing the Scroll Lock key To restart the output press Scroll Lock again On an A Series monitor the main menu bar will turn red when output to the monitor has been halted To Edit the Current Command The key erases characters to the left of the typing cursor The following keys move the typing cursor on the command line The lt and keys move the typing cursor left and right Shift lt or Ctrl e moves the typing cursor to the beginning of the line Shift or C
113. peed 100 SPEED monitor command 100 Speed serial IO 102 Standard keys 32 Startup 41 Start up messages 42 Start up procedures 42 Start up screen 43 Status LEDs 34 Stop bits serial IO 103 Stopping command programs 112 Stopping program execution 80 Subdirectories see Directories 64 Switch BELT 97 DRY RUN 97 148 V Operating System User s Guide Ver 12 1 POWER 97 SYSIO see System I O board System I O board SYSIO 28 System memory 34 deleting objects from 80 System prompt 45 System safeguards computer controlled devices 17 System startup 41 System terminal output to 95 T Tab key 33 Terminal output to 95 Trackball 31 keyboard mouse keys 33 moving typing cursor with 34 Trackball see also Pointer device Tracks disk drive 86 Typing cursor 42 45 moving 32 moving on command line 48 V V operating system 56 V files 60 V Language User s Guide 14 15 V Operating System Reference Guide 14 V output redirecting 95 V programs command vs executable 76 starting 78 V messages 115 VGB see Graphics board Vision board VIS 28 VMI see Motion interface board W WAITSTART 113 Windows 52 55 closing a window 53 moving a window 52 opening a window 52 Index scrolling 53 arrows 54 handles 54 scroll bars 52 53 selecting a window 52 sizing a window 53 zooming a window 53 Write protecting floppy drives 88 Wyse terminal 31 57 special keys 58 Z ZERO 82 V Operatin
114. pendant PRIME function to restart the program from the desired instruction Can t interpret line 450 Explanation V could not interpret the last command or instruction entered User action Check the spelling and usage and reenter the line In the case of an error while loading from the disk edit the affected programs to cor rect the indicated lines they have been converted to bad lines 116 V Operating System User s Guide Ver 12 1 Appendix A Can t mix MC amp program instructions 414 Explanation A program instruction has been encountered during processing of a command program or an MC instruction has been encountered in a normal program User action Edit the command program to use the DO command to include the program instruction or remove the MC instruction from the normal program Can t start while program running 312 Explanation An attempt has been made to start execution of a program from the manual control pendant while a program is already executing as task 0 User action Stop the program currently executing and then retry the operation Communication time out 531 Explanation An I O operation has not completed within the allotted time inter val For data communications the remote communications device has not properly acknowledged data that was sent User action Make sure the remote device is communicating Make sure connec tions to the remote device are operating properl
115. planation A command program is active and an attempt has been made to execute a command that would interfere with operation of the com mand program For example processing a ZERO command would cause the command program to be deleted from the system mem ory User action Edit the command program and delete the command causing the error Image processing board failure 728 Explanation The controller circuit board that processes vision images has failed to respond while processing a request to grab a frame User action After saving the programs variables and vision prototypes in memory power down the controller Make sure the image processor is firmly seated in the controller backplane Contact Adept Cus tomer Service if the problem persists Initialization failure Belt n 1015 Explanation The indicated belt encoder monitoring system failed to respond to V during the initialization caused by the DEFBELT instruction User action Power down the controller and restart If the problem persists con tact Adept Field Service You can prevent this error from being reported by enabling the DRY RUN system switch Input block error 511 Explanation A read error has occurred while reading a binary data file from the floppy disk This indicates that the wrong file was specified or that the data in the file is corrupted User action Try the operation again If the error recurs use another diskette Input error Try
116. queue full 517 Explanation Too many I O requests have been issued to a device too quickly and there is no more room to queue them User action Retry the operation If the problem persists it would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error message and exactly what you were doing at the time the error occurred Joint 1 in brake track or robot overheated 606 Explanation 1 Robot joint 1 has been moved into the hardware brake track area which causes robot power to be turned off and prevents the robot from moving 2 The robot base has become overheated User action 1 Push the brake release button at the robot base and move the joints back into the normal working range Turn on robot power and continue program execution 2 Check the fan filter on the robot base and check the ambient temperature of the robot Allow the robot to cool down turn on robot power and continue program execution V Operating System User s Guide Ver 12 1 125 Appendix A Keyswitch not set to AUTO 303 Explanation User action An attempt has been made to PRIME or otherwise initiate program execution from the terminal when the front panel keyswitch is not set to the AUTO position Move the keyswitch to the AUTO position or start program execu tion from the selected device Keyswitch not set to MANUAL 304 Explanation User action
117. r 1 The Controller and Memory The Tab key enters a tab in the SEE editor It also selects successive menu items on AIM menu pages The Esc key is used in the special command mode of the SEE program editor The key marked Cursor Ball changes the function of the trackball When cursor ball is enabled the LED on the Cursor Ball key is lit the trackball will move the typing cursor up down left and right When this mode is enabled the trackball will not move the cursor pointer and the mouse buttons have no effect The Status LEDs These three LEDs indicate the status of the toggle keys When Num Lock is lit the numeric keypad will produce numeric output rather than cursor movement When Caps Lock is lit capital letter lock is engaged When Scroll Lock is lit scrolling to the monitor or monitor window is temporarily halted The Trackball See Working with Pointing Devices on page 50 for details on using pointing devices The Controller and Memory 34 The controller contains the printed circuit boards that run robot and vision control programs Your controller contains circuit boards for running application programs and communicating with the disk drives that store programs and information The controller may also contain circuit boards that drive robot joints circuit boards that communicate with equipment outside the controllers and special boards that control the machine vision system The main processo
118. r 1 The Keyboard The Keyboard 30 Adept A Series controllers are supplied with the integrated keyboard and trackball shown in Figure 1 2 See the Adept MV Controller User s Guide for details on connecting the integrated keyboard to your controller The rest of this section describes the special features of the A Series keyboard Function Keys Standard Keys ee Pes e e Je l Yo m ee nanas Optional Mouse Keys m Figure 1 2 The Keyboard V Operating System User s Guide Ver 12 1 Chapter 1 The Keyboard Adept S Series controllers are supplied with a connection for a user supplied Wyse type terminal See the Adept MV Controller User s Guide and documentation provided with your terminal for details on connecting and using character based terminals Screen Control Status LEDs Keys Cursor Keys Optional Mouse Keys D Num Caps Scroll O P l maan O Home Delete End Pg Dn LS M o N x J A Track ball Mode Track ball Numeric Keypad V Operating System User s Guide Ver 12 1 31 Chapter 1 The Keyboard Standard Keys The standard keys behave like regular typewriter keys Whenever the typing cursor a black rectangle
119. r circuit board also contains memory chips for the system s Random Access Memory RAM Programs that are actively executing and the data needed by those programs reside in RAM Adept system processors can have 4 megabytes 8 Mb or 16 Mb of RAM Information that is not actively being used is stored on mass storage devices Adept systems may have three different types of mass storage devices an internal hard drive an external hard drive and a floppy disk drive Chapter 5 covers the different disk drives V Operating System User s Guide Ver 12 1 Chapter 1 Robots and Motion Devices Robots and Motion Devices Your system may be equipped with the AdeptMotion VME option that provides a means of controlling many types of motion devices The AdeptMotion VME User s Guide details the installation and configuration of the Adept hardware and the interconnection between the Adept controller and your motion device The Manual Control Pendant The optional manual control pendant MCP shown in Figure 1 3 has its own set of typewriter style keys and function keys including keys that can be assigned special uses by application programs Special MCP keys allow you to move a robot or motion device and to teach locations used by motion control programs The features of the MCP are covered in the robot instruction handbooks Liquid Crystal 4 Display LCD User LED Speed ssid Bars Hold to Run Switch
120. re or a hardware error may have occurred User action Turn Robot Power back on and restart the program If the error per sists contact Adept Field Service Motor amplifier fault 1 Mtr n 1018 Explanation The power amplifier for the indicated motor has signaled a fault condition on fault line 1 This fault occurs only for devices con trolled by the AdeptMotion Servo system The interpretation of this fault depends on the particular device being controlled V Operating System User s Guide Ver 12 1 127 Appendix A User action Turn Robot Power back on and restart the program If the error per sists implement procedures appropriate for your AdeptMotion sys tem If the robot is a standard Adept product contact Adept Customer Service Motor amplifier fault 2 Mtr n 1019 Explanation The power amplifier for the indicated motor has signaled a fault User action condition on fault line 2 This fault occurs only for devices con trolled by the AdeptMotion Servo system The interpretation of this fault depends on the particular device being controlled Turn Robot Power back on and restart the program If the error per sists implement procedures appropriate for your AdeptMotion sys tem If the robot is a standard Adept product contact Adept Customer Service Motor amplifier fault 3 Mtr n 1020 Explanation The power amplifier for the indicated motor has signaled a fault User action condition on faul
121. re shown here in capital and small letters to help illustrate the directory structure They are normally both shown in all capital letters 66 V Operating System User s Guide Ver 12 1 Chapter 3 Using Directories To load the file big_file enter the command LOAD C PROGS_2 DATA_1 big_file lc The Current Directory When you are working exclusively within a single subdirectory it is inconvenient to specify the full path for every file operation The DEFAULT command specifies a default path to use with all commands To make DATA_1 the current default directory enter the command DEFAULT DISK C PROGS_2 DATA_1 Figure 3 4 shows the effect of the above command EFAULT DISK c PROGS_2 DATA_1 PROGS 2 Wa PROGS_1 DATA _1 my_progs rv my_file v2 big_file Ic Figure 3 4 Default Directory Specification CN root directory J 030 new_file v2 5 Y old_file v2 y yr O After the above default path has been set the command LOAD my_file v2 will load the copy of my_file v2 that is in the subdirectory DATA_1 rather than the copy in the root directory V Operating System User s Guide Ver 12 1 67 Chapter 3 Using Directories 68 You can also change the current directory with the CD command If the current directory is C PROGS_Z and you enter the command CD DATA_1 The current directory will change to C PROGS_Z DATA_1 If you n
122. rly You may always substitute a currently valid shortcut form when typing a V command In order for the V system to process your typing you must conclude your entry by pressing the ENTER or RETURN key Bold type is used for lowercase names such as subroutine names variable names and program names for example a diskcopy Bold type also is used for window items that you choose and window items that do not have initial capital letters in all principal words Placeholders that you must provide in typed input This font also indicates new terms and other emphasized words The name of a physical key or button that you must press such as the ENTER key and the PROGRAM START button Similarly this font style is also used for the setting of a physical switch such as the TERMINAL setting of the VFP keyswitch V Operating System User s Guide Ver 12 1 Introduction This Conventions Represents Initial Capitals Keyboard Conventions The name of an object such as a window screen menu button dialog box or dialog box component Examples are the Display menu and the Task Profiler window The logical names of physical function keys or buttons use regular font and follow the interface s capitalization which usually has initial capital letters in all principal words Examples are the Go To key in the SEE editor and the CMD1 button on the manual control pendant Key combinations appear in the following fo
123. rmat Notation Meaning KEY1 KEY2 A plus sign between keys means that you must press the keys at the same time For example Press CTRL Z means that you press CTRL and hold it down while you press Z Selecting Choosing and Pressing In a context using windows the terms select choose and press have different and specific meanings Selecting an item usually means marking or highlighting it as in selecting a radio button Selecting alone does not initiate an action Choosing an item carries out an action For example choosing a menu item might open a window or carry out a command You can also initiate an action by choosing a command button a push button or a standard button You often need to select an item before you can choose it Often you can use a combination of keyboard and mouse techniques for selecting and choosing V Operating System User s Guide Ver 12 1 21 Introduction How Can I Get Help Pressing refers to physical keys and buttons For example you press the SAVE key and the PROGRAM START button By contrast you select or choose a window button Abbreviations The following abbreviations may appear in this manual Abbreviation Meaning CE European Certification DAC Digital to Analog Converter I O Input output MCP Manual Control Pendant MMSP Manual Mode Safety Package VFP External Front Panel How Can Get Help When calling with an equipment related question
124. rmatting Floppy Disks To Format a Floppy Drive Making System Disks V Operating System User s Guide Ver 12 1 86 86 87 87 87 88 88 88 88 89 89 90 85 Chapter 5 Understanding Disk Drives Understanding Disk Drives Disk drives provide permanent storage for programs and data Unlike information in system memory information on a disk drive is retained after the controller is turned off External hard drives and floppy disks provide almost unlimited storage capacity They also allow exchange of information between controllers Types of Disk Drives 86 The Adept controller uses two types of drives e Internal hard drive Internal floppy drive Before a disk can store information it must be formatted The format process divides the disk into tracks and sectors that allow data to be accurately stored and retrieved Formatting also places a special directory file on the disk that keeps track of where directories and files have been stored and where free space is available for storing new data Figure 5 1 shows how a disk is organized Figure 5 1 Formatted Disk All drives are formatted with tracks and sectors When V reports the size of a file or the amount of free space on a disk it is reported in sectors A sector contains 512 bytes of information The FDIRECTORY command will display the size of files in a directory V Operating System User s Guide Ver 12 1 Chapter 5 Using Hard Drives The
125. rn key these keys are identical some keyboards are marked Return and some are marked Enter The symbol 4 indicates that the Enter or Return key should be pressed Command Parameters Most commands require additional information that tells the system exactly how you want the command executed This additional information is specified as parameters to the command line You specify unique information for each command parameter Command parameters must be entered in the order they are listed and they must be separated delimited in exactly the fashion shown A comma is normally used to separate parameters Occasionally an equal sign is used You must always type a space between a command and its list of parameters Required and Optional Parameters Command parameters can be optional or required If a parameter is required a value must be entered on the command line or the command will not execute correctly If a parameter is optional its value can be omitted and the system will substitute a default value For example the command STATUS has one optional parameter If the command STATUS J is entered status information on all the system tasks will be displayed If the command STATUS 1 4 is entered status information will be displayed only for system task number 1 Using the ID Command The ID command displays identity information about the components of the system Software version revisi
126. robot motion High power is still enabled User action To continue with the current motion enter the RETRY monitor com mand To continue after the current motion enter the PROCEED monitor command PAUSED 9 Explanation A PAUSE instruction has been executed and thus the current pro gram has suspended execution User action Any monitor command can be entered To continue execution of the program type PROCEED Position out of range Jt n 1002 Explanation 1 The requested motion was beyond the software limited range of motion for the indicated joint 2 while enabling high power V detected that the indicated robot joint was outside the software limit User action 1 Modify the program as required to prevent the invalid motion request Because the robot did not actually move out of range you do not need to move the robot before continuing 2 move the robot back into the working envelope Correct whatever caused the robot to get into the restricted area Then enable power Position out of range Mtr n 1023 Explanation 1 The requested motion was beyond the software limited range of motion for the indicated motor 2 while enabling high power V 132 V Operating System User s Guide Ver 12 1 Appendix A detected that the indicated robot motor was outside the software limit User action 1 Modify the program as required to prevent the invalid motion request Because the robot did not
127. s may have been caused by a momentary hardware failure or a soft ware error User action Attempt to save as much as possible onto disk Issue ZERO 1 and ZERO 2 monitor commands to delete graphics data If the error per sists power down the controller and restart the system HALTED 8 Explanation A HALT instruction has been executed and thus execution of the current program has terminated User action Any monitor command can be entered but PROCEED cannot be used to resume program execution Hardware not in system 805 Explanation An instruction has attempted to access optional hardware such as a FORCE board that is not installed in the system User Action Install the needed hardware or remove the instruction that addresses the hardware Tllegal monitor command 300 8 Explanation The name of the command just attempted was not recognized by the system possibly because it was mistyped or because it was a pro gram instruction and not a command User action Check the spelling of the command name and enter the command again Use the DO command to invoke a program instruction from the terminal Illegal value 402 Explanation A numeric or expression value that is not in the allowed range was specified within a command or instruction User action Edit the program to use a legal value 122 V Operating System User s Guide Ver 12 1 Appendix A Illegal when command program active 419 Ex
128. s Guide Ver 12 1 Chapter 6 Serial I O Configuration Table 6 3 Serial I O Attributes Continued Attribute Use Default Other possible Stop bits Specifies the number of stop bits 1 2 used Flow Specifies the modem flow control None XON_XOFF to use Modem Flush Determines if a Ctrl O character Off On ASCII 15 received by V should flush the output of the associated transmitter applies only to TERMINAL and SERIAL devices DTR Specifies whether the Data On Off Terminal Ready signal is asserted Multidrop Controls whether the RS 485 line Off On on the Adept CPU is to be used in multidrop mode Buffer size Specifies the size of the 100 100 25 500 bytes communications buffer Changing the Serial Line Attributes To change the serial line attributes set at system startup 1 Start the controller configuration utility as described in Chapter 6 2 From the configuration submenu select 8 gt Change SERIAL configuration 3 The program will display all the defined serial I O lines and display the first definition for editing If the serial line you want to configure is not displayed enter N and press until the correct line is displayed 4 The program will show you the current configuration and then ask if you want to edit it Enter Y and press 5 The program will ask if you want to delete the statement Enter N and press l 6 The program
129. s read only The last column lists the date and time the file was created or copied The final line of the display lists the total number of used and unused sectors on the disk In this example the disk drive has 27 768 sectors filled with files and 41 744 sectors available for storing files V Operating System User s Guide Ver 12 1 Chapter 3 Understanding Disk Files To Use Wildcards to List Groups of Files You can list specific groups of files using the wildcard character an asterisk and portions of a file name The command FDIRECTORY MY J will list only the files that begin with my The command FDIRECTORY V2 J will list all the files with the extension v2 The command FDIRECTORY Y J will list all the files that have a y as the second character of the file name You can also use wildcards in certain file copying and deleting operations To Copy a Disk File The FCOPY command allows you to Copy files from one disk or subdirectory to another e Change the name of a file while copying the file useful for making backup copies of a file The command FCOPY new_file old_file will make a copy of old_file name the copy new_file and place it in the same subdirectory as old_file The command FCOPY my_file v2 a my_file v2 will make a copy of my_file v2 on the A drive and place it in the current subdirectory with the na
130. s too many subdirectories or the directory path is too long to be processed The path is a combination of subdi rectories in the file specification and the default directory path set by the DEFAULT monitor command Directory paths are limited to a total of 16 subdirectories and 80 characters including any portion of the directory path specified by the current default path Specify a shorter directory path in the file specification or in the DEFAULT command If you are accessing a foreign disk that con tains more than 16 nested subdirectories you cannot read the files in subdirectories nested deeper than 16 levels In that case you will V Operating System User s Guide Ver 12 1 Appendix A need to use the system that created the disk to copy the files to a directory that is nested less deeply Switch can t be enabled 314 Explanation An ENABLE command for a certain switch has been rejected because of some error condition For example ENABLE POWER will fail if the system is in FATAL ERROR state User action Review the description for the switch you are trying to enable cor rect the error condition and try again SYSFAIL asserted 629 Explanation A board on the VME bus has encountered a severe error and asserted SYSFAIL which turns off robot power User action Restart the system Check for proper seating of the system boards and correct device connections to the boards Test the system with as many boards rem
131. scroll up the monitor window Use the Scroll Lock key to pause scrolling If a program is a monitor command program all lines in the program will be preceded with an MC Remember a disk file can contain many programs including both monitor command and executable V programs To LOAD a Disk File 76 The controller cannot use the programs and information stored in disk files until they are loaded into system memory RAM The LOAD command takes a copy of the contents of a disk file and places it in RAM Figure 4 1 shows the command LOAD my_file This command places the contents of the disk file my_file into RAM my_file contains two programs and the values of variables used by those programs V Operating System User s Guide Ver 12 1 Chapter 4 Understanding V Programs The LOAD command does not actually start a program It simply places a copy of the disk file contents into system RAM so additional commands can start the program or modify the values of the program variables LOAD my_file prog_main prog_sub loc_1 loc_2 names File on Programs and Disk Drive Variables in RAM 4 Figure 4 1 LOADing a Disk File To see all the programs that have been loaded with the LOAD command use the DIRECTORY command FDIRECTORY lists files on a disk DIRECTORY lists programs in RAM To Start a Monitor Command Program Once a monitor command program is resident in sys
132. second command program completes 6 Anerror condition results when a statement is processing in the command program Command Programs and V Language Keywords 112 The V programming language is described in the V Language User s Guide and the V Language Reference Guide Normally a command program contains only monitor commands However language keywords can be included by using the DO monitor command To include a language keyword in a monitor command program type a line with the format MC DO keyword paraml Any parameters to the language keyword must be specified by value variable names will not be accepted V control instructions for example GOTO and IF will be ignored in a command program Command programs can proceed only in a top down manner from the first line to the last V Operating System User s Guide Ver 12 1 Chapter 7 Example Command Program Example Command Program The following monitor command program shows a simple autostart program 1 PROGRAM auto This program will perform startup procedures for the 2 3 motion device load a program file move the device 4 to a safe location and execute the main program 5 MC WAIT START 6 MC ENABLE POWER 7 MC CALIBRATE 8 MC LOAD main v2 9 MC DO MOVE safe 10 MC EXECUTE motion 1 11 END The lines in this monitor command program are described below 1 This line is entered automatica
133. system disk drives are assigned letters Each drive has a unique letter that allows you to load information from and store information to the different drives In an Adept system the internal hard drive is designated drive C The floppy disk is designated drive A Using Hard Drives Backing up Hard Drives Hard disk drives are very reliable storage devices but they can fail Data ona failed disk drive may not be readable and may be completely lost We strongly recommend that you make periodic backups of your hard drive The DISKCOPY utility is an easy way to copy the contents of your hard disk onto multiple floppy disks In the event of a drive failure these floppy disks can be used to restore the contents to a new hard drive Formatting Hard Drives The internal hard drive is preformatted and should never need formatting unless a drive failure occurs and the drive must be replaced The FORMAT V2 utility program formats hard drives the FORMAT monitor command will not format hard drives To format a hard drive 1 Place the Adept Utility disk in the floppy drive and enter LOAD A FORMAT V2 EXECUTE a format 2 The main menu for the format program will be displayed Select 1 gt Format the hard drive 3 The program will prompt you for verification before beginning the format process CAUTION Formatting erases ALL information on a disk The data A on the disk cannot be reclaimed 1 The program can also be loaded fr
134. t line 3 This fault occurs only for devices con trolled by the AdeptMotion Servo system The interpretation of this fault depends on the particular device being controlled Turn Robot Power back on and restart the program If the error per sists implement procedures appropriate for your AdeptMotion sys tem If the robot is a standard Adept product contact Adept Customer Service Motor overheating Mtr n 1016 Explanation The indicated motor is overheating User action Reduce the speed acceleration and or deceleration of the robot motions or introduce delays in the application cycle to give the motor an opportunity to cool Motor power failure Mtr n 1017 128 Explanation The power source for the indicated motor has signaled a fault condi User action tion A momentary power failure or a hardware error may have occurred Turn Robot Power back on and restart the program If the error per sists contact Adept Customer Service V Operating System User s Guide Ver 12 1 Appendix A Motor stalled Mtr n 1007 Explanation The indicated motor has stalled while being driven This is usually caused by the robot encountering an obstruction User action Turn Robot Power back on and restart the program Remove the obstruction or modify the program to have the robot follow a differ ent path Motor startup failure Mtr n 1105 Explanation During calibration the indicated motor did not move as e
135. tem memory the COMMANDS command starts the program If the program init system is in RAM loaded using the LOAD command and it is a monitor command program the command COMMANDS init system will start the program If init system is an executable V program the preceding instruction will result in the error Can t mix MC amp program instructions V Operating System User s Guide Ver 12 1 77 Chapter 4 Understanding V Programs To Start an Executable V Program Once an executable V program and possibly its related programs and variables has been LOADed into RAM the EXECUTE command actually initiates execution of the program Figure 4 2 shows the command EXECUTE prog_main 4 The program prog_main was loaded with the disk file my_file When is pressed the program begins executing In the course of execution prog_main makes use of prog _sub and the variables that were loaded with the disk file my_file EXECUTE prog_main prog_main prog_sub loc_1 loc_2 names XY Programs and Variables in RAM Figure 4 2 EXECUTING a V Program NOTE If the executable program will control a motion device the device must be powered up and calibrated before the program is executed See To Power up the Motion Device on page 44 Program Startup Example 78 Every V system is provided with a disk that contains uti
136. ter down until the window you want to open is highlighted You can use the drag lock button rather than the click button Release the click button to open the window Press the drag lock button if you are using the drag lock instead of the click button e Multiple windows can be open at one time windows can overlap each other When windows overlap the window currently selected appears on top of any other open windows To Select a Window A window is selected when its title bar is shaded blue if the title bar is white the window is deselected Also the scroll bars disappear when a window is deselected Keyboard entry goes to the selected window To select a deselected window position the pointer anywhere inside that window then press the click button You can also activate a window by selecting it from the window names appearing in the adept pull down menu To deselect a window position the pointer anywhere outside that window then press the click button To Move a Window Position the pointer anywhere on the title bar of the window you want to move Press and hold down the click button or use the drag lock then drag the window to the new location V Operating System User s Guide Ver 12 1 Chapter 2 Using the A Series Graphical Interface e Release the click button To Size a Window You can change the size of a window from its maximum preset size down to a smaller size using the size icon in t
137. the start up robot monitor SPEED e Setting the serial I O configuration e Setting the analog I O configuration Setting of certain system switches The majority of custom operations are made with the controller configuration utility CONFIG_C V2 A few operations require setting switches on the controller Most controller configuration changes will not take effect until the controller has been restarted The changes made with the controller configuration utility are written to the operating system disk Therefore if you make changes to the controller configuration and then start the system with a different system disk a different controller configuration may be in place The user definable characteristics of the operating system can be stored in a separate file In the event a drive failure results in the loss of your operating system these files can be used to configure a new operating system copy to the exact configuration of the lost operating system You can also make an exact copy of the operating system and its current configuration on a floppy disk for backup see the Instructions for Adept Utility Programs Customizing the Controller Hardware 94 When the controller is turned on the system looks at the setting of the configuration DIP switch on the SIO module This switch determines several options the system uses during the boot procedure See the Adept MV Controller User s Guide for the location of the configuration DIP s
138. tion To Make a Menu Selection Using the Keyboard Press Alt 5 to display the pull down options for the first menu item in the currently selected window Pressing Alt 5 again will select the next window and display its first menu item options windows without menu bars are skipped Press the key to display the next menu item s options The 9 key displays the previous menu item s options Press the L key to highlight the next pull down option The 1 key highlights the previous pull down option Press to select the highlighted option or if a pull down option is not highlighted to cancel menu selecting from the keyboard Using Software In the course of using an Adept system you will deal with two primary types of Sota operating system software and application programs If you are using an AIM based application you will also access special database software 1 The adept menu item from the main menu bar shows the list of selectable windows 2 Adept s Assembly and Information Management software and application development environment V Operating System User s Guide Ver 12 1 55 Chapter 2 The V Operating System The V Operating System Software Before a computer can perform any work it must boot and make active special software known as an operating system The operating system is the master controller that coordinates the activities of all the computer components and external equipme
139. trl moves the typing cursor to the end of the line Ctrl U erases all characters from the typing cursor to the beginning of the line The system prompt is always in insert mode If the typing cursor is not at the end of the line entered characters will be inserted to the right of the cursor and the remaining characters are pushed to the right To Retrieve Previously Entered Commands The twenty most recently entered commands are stored in the command history buffer The 1 key moves backward through the history displaying successive commands The L key moves forward through the history The displayed command can be reexecuted by pressing Enter The command can also be edited as described above and then reexecuted 1 ABORT does not stop any robot motion that may have already begun Use any emergency stop button to immediately halt robot motion 48 V Operating System User s Guide Ver 12 1 Chapter 2 Using the A Series Graphical Interface To Enter a Command While a Program Is Executing The Adept system is a multitasking system multiple programs can be executing concurrently in different tasks This allows you to enter monitor commands any time the monitor window is displayed While a program is executing you can start other programs in different tasks get status information or abort programs before they have completed ey Once a program has begun execution the prompt will disappear However any ti
140. tton on the optional front panel before programs commanded from the MCP will begin Autostarting a Command Program A monitor command program can be loaded and started automatically when the controller is turned on if the following conditions have been met 1 The autoload option must be selected on the controller configuration DIP switch 2 A disk file with the name AUTO V2 must reside on the default disk See The Default Path on page 99 for details on specifying the default disk 3 The AUTO V2 disk file must contain a program named auto Auto must be a monitor command program Other programs can be stored in the disk file AUTO V2 When the controller is turned on the operating system is loaded the default disk specification is set and 1 The command LOAD auto is issued 2 The command COMMANDS auto is issued NOTE The V system does not wait for Robot Power to be turned on or for any other event or condition The autostart command program must explicitly invoke any such functions or they must be performed by programs invoked by the command program For example if you want to require that the operator press the PROGRAM START button on the controller when the command program is processed you must include a WAIT START command in the command program Controlling Command Programs After a command program is initiated it will process all the commands in the program unti
141. utility program provides a more versatile and safer way of deleting large quantities of files Using this program to delete files is covered in the Instructions for Adept Utility Programs If you have the optional AIM software the AIM File Manager provides a graphical interface for copying renaming and storing files See the AIM user s guides for details Using Directories 64 The V disk file structure allows you to organize your disk files in a manner similar to a filing cabinet A file cabinet represents a disk drive the individual drawers and dividers in the cabinet are referred to as directories or subdirectories The file folders in the drawers represent a disk file The papers in a file represent the programs and other objects that can be placed in a V disk file Figure 3 2 shows this file structure V Operating System User s Guide Ver 12 1 Chapter 3 Using Directories Disk Drive a A Subdirectory amp Data File Z Programs Figure 3 2 Disk File Structure Understanding the Directory Structure The V file structure is a hierarchical file system Files and subdirectories are organized in a multilevel tree structure In order to get to the files stored in lower levels you must go through all the levels starting at the top The top level directory is the root directory it forms the root of the inverted tree The root directory can contain files and other directories Each
142. will now cycle through each serial line attribute display the current and the possible settings and allow you to change the attribute To leave the attribute unchanged simply press To change the attribute enter the number corresponding to the desired value V Operating System User s Guide Ver 12 1 103 Chapter 6 10 11 12 13 14 Analog I O Configuration After all individual attributes for a given serial line have been displayed for editing the program will display the current attributes and ask if you want to edit them If you have specified the correct attributes enter N and press The next serial line configuration will be displayed If you have made all the desired configuration changes enter Q and press The program will ask if you want to add a new statement Enter N and press to return to the edit configuration submenu From this submenu select 0 gt Done editing The program will ask if you want to save the configuration to disk Enter Y and press The new configuration data will be written to the disk When the data is stored press J and the main menu will be displayed To see if your changes have been made correctly select 1 gt DISPLAY system CONFIGURATION Enter the system drive letter and the system configuration will be displayed Press the spacebar until the SERIAL section is displayed The new configuration for each serial li
143. witch on the SIO module The options are Whether to autoload a program at startup e Where V output should be displayed V Operating System User s Guide Ver 12 1 Chapter 6 Customizing the Controller Hardware Wyse Type Terminal Baud Rate To change the baud rate for a Wyse type terminal you will have to make a hardware and a software change The hardware change affects the communication rate during the system boot procedure and the software change affects the rate during normal operation The hardware change is made to the Configuration DIP switch on the system processor Table 6 1 shows the switch settings for various baud rates The software change is described in the next section Default Boot Drive If your system has a hard drive it should be configured to boot from that drive Otherwise it will attempt to boot from drive A If the default boot drive does not contain the operating system files you will be asked to specify a different drive To change the default boot drive to A or C change position 8 on the Configuration DIP switch as shown in Table 6 1 The default drive is used only to select a drive for loading the operating system Once the operating system is loaded the default path becomes active and is used for file related commands see section Program Autoload To configure the system to autoload a disk file and run a program at startup set position 1 on the Configuration DIP switch as show
144. with devices that can generate or receive an analog signal AIO boards respond to or generate output in several voltage or current ranges See the Adept MV Controller User s Guide for details on installing analog I O devices See the V Language User s Guide for details on programming analog I O Remote Emergency Stop Motion systems must be able to react immediately to interruptions and dangerous conditions in the workcell Adept s remote E stop circuitry monitors series wired sensors that detect dangerous conditions in the workcell The controller connection for user emergency stop is on the SIO board See the Adept MV Controller User s Guide for details on installing remote E stop devices V Operating System User s Guide Ver 12 1 37 Learning the Basics Using the Controller Install the Equipment and Set the Hardware Configuration Power up the System To Power up the Controller To Power up the Motion Device To Reenoble Power to q Motion Device After an Emergency Shutdown Using the V Command Line The System Prompt and Typing Cursor The Parts of a Monitor Command The Command Name Command Parameters I Required and Optional Parameters Using the ID Command Te Monitor Command Syntax Conventions Shortcuts to Typing a Command To Cancel a Command To Edit the Current Command To Retrieve Previously Entered Commands To Enter a Command While a Program Is Executing Using the A Series Graphica
145. xpected The problem may be 1 the motor is obstructed or up against a limit stop 2 the load on the robot is too large for calibration 3 the motor drive hardware is not functioning or 4 the position encod ers are not functioning User action Move the robot away from its limit stops and remove any unusual load Turn Robot Power back on and try to calibrate again Contact Adept Customer Service if the error persists No air pressure 607 Explanation V detected that the air supply to the robot brakes and hand has failed Robot Power is turned off and cannot be turned on until the air pressure is restored User action Restore the air pressure turn Robot Power back on and resume pro gram execution If the error persists contact Adept Customer Ser vice No program specified 301 Explanation No program was specified for an EXECUTE or SEE command or instruction or DEBUG command and no previous program is avail able as a default User action Type the line again providing a program name No robot connected to system 622 Explanation An attempt has been made to attach a robot with a system that does not support control of a robot Note that some commands instruc tions and functions implicitly attach the robot User action Make sure the system has been booted from the correct system disk for example use the ID command to display the system identifica V Operating System User s Guide Ver 12 1
146. y Communications overrun 524 Explanation Data has been received on an I O device faster than V is process ing it and some data has been lost This will happen only on the serial interface line or the network User action Modify the program to service the I O device more often add a handshaking protocol or slow down the transmission rate to VT COMP mode disabled 603 Explanation The command attempted requires computer control of the robot but COMPUTER mode was not selected on the pendant User action Select COMP mode on the pendant or enable DRY RUN mode from the terminal then reissue the command V Operating System User s Guide Ver 12 1 117 Appendix A Controller overheating 631 Explanation User action Data checksum error Explanation User action Data error on device Explanation User action Device full Explanation User action Device not ready Explanation 118 The temperature sensor in the controller power supply has detected an overheating condition Robot power is switched off Make sure the controller fans are operating and are not obstructed Make sure the fan filters are clean Power down the controller to let it cool off 510 An error was detected while transferring information to or from an external device Attempt the transfer again If the problem persists contact Adept Customer Service 522 An error was detected whil
147. ystems read section for details on using the character based terminal Monitor Ble 2 Adept V Copyright c 1984 1997 by Adept Technology Inc All rights reserved X Y 2 Theta Robot Module Configured as Category 3 Robot System per ISO 10216 and EN954 Software 12 1 81 71E0 Edit DS O8 Apr 1997 Preliminary Release Controller 3302 773 0 Processor 1 0 0 2 7 8MB Robot 1 100 0 0 0 8 Vision 1 12 1 500 1 1 25MB Edit C1 28 Mar 1997 19 Jun 97 11 40 03 Figure 2 1 Initial Screen V Operating System User s Guide Ver 12 1 43 Chapter 2 Using the Controller To Power up the Motion Device Each time the controller is turned on a start up calibration procedure must be performed for the motion device The CALIBRATE and ENABLE POWER commands perform this start up procedure Programs that send instructions to a motion device will not execute properly unless this start up procedure is completed When the controller is first turned on power is not sent to the motion device To enable power enter the command ENABLE POWER 4J See the next section for complete details on entering commands WARNING When CALIBRATE is entered the motion device will move A Before you enter this command make sure the workcell is free of 44 obstructions and that all personnel are out of the workcell Once high power has been enabled the motion device start up calibration must be performed To perform start up calibrati

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