Introduction; Tests During System Power-Up; Processor Self-Test; System Initialization Tests - adept technology MV User Manual

Appendix F

Introduction

Diagnostic self tests are performed when power to the Adept controller is applied
and then continuously through the operating cycle of the V
check numerous areas within the controller to ensure that it is operating properly.

Tests During System Power-up

Processor Self-Test

After power is turned on, each CPU performs basic functional checks including
CPU register and mathematical tests, EPROM content checksum test, 100% RAM
read-write test, and a watchdog timer test. If any of the CPU tests fail, a message
is displayed. If the tests pass, no message is displayed and the V
system will be loaded onto each CPU. During loading a checksum test is
performed on each record.

System Initialization Tests

If the operating system is loaded successfully, the V
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displayed. V tests NVRAM checksums and verifies that software licenses are
consistent with installed hardware.
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V then checks presence of a vision board and makes read/write test of the vision
framestore.

RSC Self-Test

Adept robots include a Robot Signature Card (RSC) inside the robot. On
power-up, the RSC performs CPU EEPROM checksum, code checksum, and
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RAM tests. V
RSC Diagnostics.

Completion of Power-up Tests

If any of the initialization tests fail, one or more messages are displayed.
Otherwise, the system ID message is displayed (controller serial number, V
version, etc.).
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tests communication with the RSC, then reads the results of the
Adept MV Controller User's Guide, Rev. B

Introduction

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code. These tests
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operating
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copyright message is
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