Phase 1 - Preparation For Software Configuration; Phase 2 - Load Device Modules; Phase 3 - Configure Smartservo Network Map; Phase 4 - Create Software Specification - adept technology SmartMotion Installation Manual

Chapter 3 - Software Configuration
3.2

Phase 1 - Preparation for Software Configuration

To prepare for the software configuration process, you should read the SmartMotion
Developer's Guide for the following topics:
• Adept SmartMotion: Key Concepts
• Introduction to Servo Parameters
• SPEC Program: Overview and Main Menu
• Managing SPEC Data
NOTE: The SmartMotion Developer's Guide is provided as an online HTML
document with a Table of Contents, Search, and Index features to
navigate the document. If you do not see these features when you are
viewing a topic, click the SHOW TOC icon that displays in the upper left
corner of each page in the Developer's Guide.
3.3

Phase 2 - Load Device Modules

Select and load the proper device modules using the CONFIG_C utility. For instructions,
see the topic Loading Device Modules
3.4

Phase 3 - Configure SmartServo Network Map

Use the SPEC program to configure robots and motors on the Adept SmartServo network
(a distributed controls network based on IEEE 1394). This enables the user's mechanism to
communicate with devices in the Adept SmartMotion system.
Configuration includes specifying the number of motors in the robot, mapping the motors
to hardware drive channels, and establishing the relationship of the joints to the axes of
the device module.
For instructions, see the documentation for the
option available in the Adept SmartMotion Developer's Guide.
3.5

Phase 4 - Create Software Specification

Create the software specification for each mechanism in your system. This includes
specifying parameters for initialization, tuning, calibration, motion, trajectory generation,
and other information required to operate your system.
For detailed instructions, see the
the SmartMotion Developer's Guide.
44
in the Adept SmartMotion Developer's Guide.
Creating the Software Specification
Adept SmartMotion Installation Guide, Rev. B
Robot Options and Configuration
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