Dual Adept Cobra Robot Configuration · PDF fileThis procedure provides details on how to use the CONFIG_C utility to load the Cobra s600/s800 device modules for each robot. 1

Dual Adept Cobra RobotConfiguration Procedure

Rev A, April, 2007

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1.0 OverviewThis procedure provides details on how to configure a dual Cobra s600/s800/s800 Inverted robot system.

NOTE: This procedure is only required if your system was not configured for dual robots at the factory.

The main steps in the configuration process are:

1. Use the CONFIG_C utility to load the Cobra s600/s800 device modules for each robot. Save the data and reboot the system. See Section 3.0 on page 5 for details.

2. Use the DC_SETUP utility to configure each robot as a unique node on the SmartServo network. See Section 4.0 on page 9 for details.

3. Use the DC_SETUP utility to assign the correct digital “logical” IO blocks to each robot. Save the data and reboot the system. See Section 5.0 on page 11 for details.

Dual Adept Cobra Robot Configuation Procedure, Rev A 3


2.0 Robot System InstallationThis diagram below is provided for reference. See the user’s guide shipped with your robot for complete details.

Figure 1. Dual sCobra 600/800 System Cable Diagram

GND XSLV

1

2

SmartServo

RS-232XPANELAC INPUT

(200-240 VAC 1Φ)

+24VDC INPUT(24 VDC)

XIO

GND XSLV

1

2

SmartServo

RS-232XPANELAC INPUT

(200-240 VAC 1Φ)

+24VDC INPUT(24 VDC)

XIO

Eth

erne

t to

PC

IEEE 1394 cable

IEEE 1394 cable

AdeptSmartController Adept Cobra

s600/s800 Robot #1

Adept Cobras600/s800 Robot #2

User-Supplied 24VDC Power Supply

User-Supplied 200-240 VAC, single phase

User-Supplied 200-240 VAC, single phase

Controller (XFP) to Front Panel (XFP)

Front Panel

XSYS Cable to Robot #1

XSYS Cable to Robot #2

XSYS Y-Cable

24VDC to Controller

24VDC to Robot #1

24VDC to Robot #2

Desktop or Laptop PC running AdeptWindows

Terminator Installed

User-Supplied Ground Wire

STOP

R

1 2 3

RS-422/485

XUSR XSYS

SF

XMCP

1.1

Sm

artC

ontr

olle

r C

S

LANHPE

OFF

24V 5A

ON

RS-232/TERM

XFP

HDES

XDIO

Eth 10/100

*S/N 3561-XXXXX*

SW1Device Net

IEEE-1394

XDC1 XDC2

- + - +

1 2 3 4

OK

R

1.2

Controller (XMCP) to T1

T1 Pendant (optional)

4 Dual Adept Cobra Robot Configuation Procedure, Rev A


3.0 Loading Device Modules with CONFIG_CThis procedure provides details on how to use the CONFIG_C utility to load the Cobra s600/s800 device modules for each robot.

1. Install the robots and controller as per the Dual Robot System Cable Diagram shown in Figure 1 on page 4.

2. Power-up both robots, and then the controller.

The following will be displayed on boot-up.

Figure 2. Typical Startup Screen

3. Load the CONFIG_C utility by typing the following command at the V+ dot prompt:

load \util\config_c

4. Execute the CONFIG_C utility by typing the following command at the V+ dot prompt:

exe 1 a.config_c



The following will be displayed.

Figure 3. CONFIG_C Main Menu

5. Select option 3 “Robots and Device Modules.” The following will be displayed.

Figure 4. Robots and Device Modules Menu

6. Select option 5 “Select device modules for robots.” The following will be displayed.



Figure 5. Selecting Device Modules Menu

7. At the “Do you want robot 1 (Y/N)? prompt,” enter Y. The following will be displayed.

Figure 6. Device Module Selection

8. Enter 6 at the “Enter selection number” prompt. The following will be displayed.

Figure 7. Module Confirmation

9. Enter Y at the “Are you sure you want to select this module (Y/N)?” prompt. The following will be displayed.

Figure 8. Robot Number Confirmation

10.Enter Y at the “Do you want robot number 2 (Y/N)?” prompt. The following will be displayed.



Figure 9. Device Module Selection

11.Enter 6 at the “Enter selection number” prompt. The following will be displayed.

Figure 10. Module Confirmation

12.Enter Y at the “Are you sure you want to select this module (Y/N)?” prompt.

13.Enter N at the “Do you want robot number 3 (Y/N)?” prompt. The above information will now be saved to the system.

14.Press Enter to continue.

15.Select option 0 “Return to main menu.”

16.Select option 0 “Exit to system monitor.”

17.Disconnect the controller from AdeptWindows, and power cycle both robots and the SmartController.

18.After boot up, a screen similar to the screen shown in Figure 2 on page 5 will be displayed. Go to Section 4.0 to continue the setup process.



4.0 Configuring SmartServo Nodes with DC_SETUPUse the DC_SETUP utility to configure each robot as a unique node on the SmartServo network.

1. Load the DC_SETUP utility by typing the following command at the V+ monitor prompt:

load \util\dc_setup

2. Execute the DC_SETUP utility by typing the following command at the V+ monitor prompt:

exe 1 a.dc_setup

The main DC_SETUP menu appears, as shown in the figure below.

Figure 11. DC_SETUP Main Menu

3. In DC_SETUP, select option 2 “Configure Adept robot/axis gadgets.” Follow the instructions on the screen. After several screens, you will see a screen similar to the figure below.

NOTE: If the Adept Cobra s600/s800/s800 Inverted robots were shipped from the factory configured as single robot systems, both robots will be configured as Robot 1. As this stage, you must hit the SPACE bar to cycle through each robot to remove the Robot 1 configuration before you continue. If you do not visit each servo node, there will be no servo nodes presented to you later in the procedure when you will configure Robot 2.



Figure 12. Configure Robot Confirmation

4. For robot #1, identify the flashing LED on the top of robot #1. Press Enter to configure the robot.

NOTE: As of V+ 17.0 Edit A, the selected servo node LED could be flashing green/red or amber, based on the product type.

5. Return to main menu, and then select option 6 “Change robot number.” Then select option 2, and repeat the above process for robot #2.



5.0 Configuring Digital I/O Blocks with DC_SETUPAfter you have configured the robots as nodes in the SmartServo network, you are ready to assign the correct logical I/O blocks to each robot. Use the DC_SETUP utility to assign the correct digital logical IO blocks to each robot.

1. In the main DC_SETUP menu, select option 1 “Configure DIO input/output blocks.” Read the instructions on the screen.

Figure 13. Logical Blocks Description

2. After you have read the information, press Enter to proceed.

3. The next screen appears. This is where you will configure the DIO for each robot. Enter the block numbers as follows:

• Map block 1 and block 3 to robot #1 (see Figure 14)

• Map block 2 and block 4 to robot #2

Figure 14. DIO Configuration

4. When the DIO blocks for both robots have been configured, return to the main menu and select option 4 “Save all specifications to system disk.”

5. Follow the instructions on screen to save the new configuration data.

6. Return to the main menu and select option 1 “Exit to system monitor.”



7. Cycle the power off and on to the controller and each robot. The dual robot system is now ready for use.

The following will be displayed after the system has completed the boot-up cycle.

Figure 15. Robot 1 and Robot 2 Configured


Documents

Dual Adept Cobra Robot Configuration · PDF fileThis procedure provides details on how to use the CONFIG_C utility to load the Cobra s600/s800 device modules for each robot. 1