Adept DeskTop 4.3 Manuel d'utilisateur

Adept DeskTop 4.3 Online User Guide June 2007Adept DeskTop Online User GuideWelcome to the Adept DeskTop 4.3 Online User Guide. To help get you starte

Adept DeskTop 4.3 - Online Help 10View MenuUtilities MenuController Configuration: • V+ Utilities: Opens the V+ Utilities Control.• Auto-Start: Open

Adept DeskTop 4.3 - Online Help 100Export Custom List from fileAllows you to saved the items that are in the Custom Display, and the status of the i

Adept DeskTop 4.3 - Online Help 101Switches and Parameters ControlThe Switches and Parameters control is used to access all available switches and p

Adept DeskTop 4.3 - Online Help 102Parameters and Switches Toolbar• All: By default, only basic switches and parameters are shown in the display. En

Adept DeskTop 4.3 - Online Help 103System Information ControlThis control displays information on the system, such as:•Software versions,• Available

Adept DeskTop 4.3 - Online Help 104File Manager UtilityThe File Manager Utility provides a user interface to manage the organization, reading, writi

Adept DeskTop 4.3 - Online Help 105Using the File ManagerTo change display options:• Select view options from the View menu, or from the toolbar ico

Adept DeskTop 4.3 - Online Help 106Viewing Files with File Manager Quick ViewThe Quick View function allows you to view the contents of a selected f

Adept DeskTop 4.3 - Online Help 107Mounting an NFS Drive with the File ManagerThe File Manager uses the NFS protocol to carry out its task. The Moun

Adept DeskTop 4.3 - Online Help 108NFS PathEnter the physical path of the exported drive/directory. • The drive/directory names in the path must be

Adept DeskTop 4.3 - Online Help 109File Manager Backup UtilityThe Backup utility provides the functionality in Adept DeskTop to backup files on your

Adept DeskTop 4.3 - Online Help 11Tools MenuWindows MenuOptions...: Opens the Options form. See Setting Adept DeskTop Options.The following may be a

Adept DeskTop 4.3 - Online Help 110• Restore: Launches the restore operation.Backing Up DataTo backup files, you must first select the files and fol

Adept DeskTop 4.3 - Online Help 111Figure 77 Manually Selecting Specific Files and Folders for Backup3. Once you have completed the selection of fi

Adept DeskTop 4.3 - Online Help 112Figure 79 Progress Display of the Backup OperationRestoring DataThere are two restore options: Restore, which is

Adept DeskTop 4.3 - Online Help 113• Please contact Adept for more details on the compatibility of versions before reinstalling from a distribution.

Adept DeskTop 4.3 - Online Help 114License Manager UtilityThe License Manager utility is used to track, manage, and activate Adept licenses, passwor

Adept DeskTop 4.3 - Online Help 115Display All LicensesDisplays all possible Adept Licenses, even if they are not currently installed on the Control

Adept DeskTop 4.3 - Online Help 116MicroV+ Profiler UtilityThe MicroV+ Profiler utility provides you with a way to analyze program efficiencies, as

Adept DeskTop 4.3 - Online Help 117Controller IP Configuration WizardThe Controller Network Configuration wizard simplifies the process of bringing

Adept DeskTop 4.3 - Online Help 1182. From the tools menu select Tools > Controller IP Config...3. The wizard opens as shown in Figure 84. To edi

Adept DeskTop 4.3 - Online Help 119Pick And Place WizardThe Pick And Place Wizard guides you through the creation of simple pick-and-place applicati

Adept DeskTop 4.3 - Online Help 19Access LevelsWhen you first open an Adept DeskTop session, you are prompted for a Access Level (user name) and pas

Adept DeskTop 4.3 - Online Help 120Configuration Manager UtilityWelcome to the Configuration Manager Utility ProgramThe Configuration Manager Utilit

Adept DeskTop 4.3 - Online Help 121Installing the Configuration Manager UtilityThe Configuration Utility is distributed with the Adept DeskTop softw

Adept DeskTop 4.3 - Online Help 122Starting the Configuration ManagerTo open the Configuration Manager Utility: 1. Launch Adept DeskTop and connect

Adept DeskTop 4.3 - Online Help 123Learning the Configuration Manager Utility InterfaceThe Configuration Manager Utility user interface allows direc

Adept DeskTop 4.3 - Online Help 124Configuration Manager Menus The application-level functions are accessed through a menu system. The most common f

Adept DeskTop 4.3 - Online Help 125Related TopicsLoad Configuration Data from a FileSave Configuration Data to a FileChange Access LevelHide Help Re

Adept DeskTop 4.3 - Online Help 126Configuration Manager Main WindowWhen the Configuration Manager Utility is launched from Adept DeskTop, the appli

Adept DeskTop 4.3 - Online Help 127Related TopicsConfiguration Manager MenusConfiguration PageJoint ViewSystem Tree View Provides a node-level view

Adept DeskTop 4.3 - Online Help 128Workcell ObstaclesHand Control SignalsApply Changes to the ControllerRestore Configuration

Adept DeskTop 4.3 - Online Help 129Configuration PageThe Configuration Page has three views: a Controller View, a Robot View, and a Joint View. Cont

Adept DeskTop 4.3 - Online Help 20Changing Access LevelsYou can at any time change Access Levels. Before changing Access Levels you should save any

Adept DeskTop 4.3 - Online Help 130Robot ViewWhen the robot node is selected in the system tree view, the Robot Configuration pages display in the C

Adept DeskTop 4.3 - Online Help 131Related TopicsEdit Joint LimitsApply Changes to the ControllerRestore ConfigurationChange Access LevelButtonsAppl

Adept DeskTop 4.3 - Online Help 132Robot Configuration PageWhen the robot node is selected in the system tree view, the Robot Configuration pages di

Adept DeskTop 4.3 - Online Help 133Workcell Obstacle ViewThe obstacle view displays the obstacle in relation to the base of the robot as illustrated

Adept DeskTop 4.3 - Online Help 134View control descriptionsRelated TopicsManage Obstacles in the WorkcellSpecify Hand Control SignalsApply Changes

Adept DeskTop 4.3 - Online Help 135Hand Control Signals When the robot node is selected in the system tree view, click the Hand Control tab to displ

Adept DeskTop 4.3 - Online Help 136Related TopicsSpecify Hand Control SignalsManage Obstacles in the WorkcellApply Changes to the ControllerRestore

Adept DeskTop 4.3 - Online Help 137Advanced Robot ConfigurationWhen the robot node is selected in the system tree view, click the Advanced tab to di

Adept DeskTop 4.3 - Online Help 138Related TopicsSpecify Hand Control SignalsManage Obstacles in the WorkcellApply Changes to the ControllerRestore

Adept DeskTop 4.3 - Online Help 139Managing Configuration Data: OverviewThe configuration data entered using the Configuration Manager utility progr

Adept DeskTop 4.3 - Online Help 21Access Level ManagerThe Access Level Manager allows the system administrator to set access levels for all the cont

Adept DeskTop 4.3 - Online Help 140Working with Configuration FilesThe Configuration Manager utility allows you to save your system configuration (a

Adept DeskTop 4.3 - Online Help 141Apply Changes to the ControllerChanges to the configuration data are stored in the Configuration Manager Utility

Adept DeskTop 4.3 - Online Help 142Option DescriptionsScope Scope options determine whether to save all configuration changes made or only made on t

Adept DeskTop 4.3 - Online Help 143Reset Servos for changes to take effect immediatelyWhen you select this option, the Apply Changes operation issue

Adept DeskTop 4.3 - Online Help 144Load Configuration Data from a FileUse this option to:• Restore configuration data for the current device from a

Adept DeskTop 4.3 - Online Help 145Load File ReportIf the Configuration Manager Utility program encounters problems during the load process, a Load

Adept DeskTop 4.3 - Online Help 146Save Configuration Data to a FileUse this option to save the configuration data for the current device to a disk

Adept DeskTop 4.3 - Online Help 147Restore ConfigurationRestore allows you to reset the configuration parameters to either the values currently stor

Adept DeskTop 4.3 - Online Help 148Password-Protect Configuration DataPassword protection prevents end users from modifying the default configuratio

Adept DeskTop 4.3 - Online Help 149Edit Configuration Data: OverviewThe Configuration Manager Utility program allows you to change the following sys

Adept DeskTop 4.3 - Online Help 22CloneOpens the Access Level Editor with same settings as the selected Access Level. The administrator level cannot

Adept DeskTop 4.3 - Online Help 150Manage Obstacles in the WorkcellYou can define travel constraints for a robot within the workcell from the Workce

Adept DeskTop 4.3 - Online Help 151Edit ObstaclesTo edit the an obstacle:1. Select the obstacle name in the Defined Obstacle list. 2. Enter the new

Adept DeskTop 4.3 - Online Help 152Select Advanced Configuration OptionsThe Advanced Configuration page provides options to control ESTOP and calibr

Adept DeskTop 4.3 - Online Help 153Specify Hand Control SignalsThe numbers of the digital signals accessed by MicroV+ for controlling the end-effect

Adept DeskTop 4.3 - Online Help 154Edit Joint LimitsThe motion limits for the individual robot joints can be changed from their standard settings to

Adept DeskTop 4.3 - Online Help 155Related TopicsJoint ViewApply Changes to the ControllerChange Access LevelUpper Limit In degrees.Minimum Travel R

AdeptSight V+ and MicroV+ Keywords Adept DeskTop 4.3 - Online Help

Adept DeskTop 4.3 - Online Help 157VLOCATIONtransformati

Adept DeskTop 4.3 - Online Help 158ExamplesExample 1In t

Adept DeskTop 4.3 - Online Help 159VPARAMETERprogram ins

Adept DeskTop 4.3 - Online Help 23Configuring and Adding Access LevelsThe Access Level Editor provides the interface in which an administrator can s

Adept DeskTop 4.3 - Online Help 160VPARAMETERreal-valued

Adept DeskTop 4.3 - Online Help 161VRESULTreal-valued fu

Adept DeskTop 4.3 - Online Help 162VRUNprogram instructi

Adept DeskTop 4.3 - Online Help 163VSTATEreal-valued fun

Adept DeskTop 4.3 - Online Help 164VTIMEOUTsystem parame

Adept DeskTop 4.3 - Online Help 165VWAITIprogram instruc

Adept DeskTop 4.3 - Online Help 166Legal NoticesCopyright Copyright© 2004-2007 by Adept Technology, Inc. All Rights Reserved. No part of this public

Adept DeskTop 4.3 - Online Help 24• Developer. Level 2. Full access to all controls and utilities visible in the Access Level Manager. Cannot admini

Adept DeskTop 4.3 - Online Help 25 Figure 9 Setting all Access Types to the Same ValueCancelCancels changes and closes the form.OKMakes changes to

Adept DeskTop 4.3 - Online Help 17Connecting to a ControllerTo use most of the Adept DeskTop tools and functions you must be connected to a controll

Adept DeskTop 4.3 - Online Help 2Installing Adept DeskTopThe following procedures describe pre-installation steps as well as the installation proced

Adept DeskTop 4.3 - Online Help 18Address Enter, or select from the list at right, the Ethernet address of the controller to which you want to conne

Adept DeskTop 4.3 - Online Help 26Adept DeskTop LayoutsWindows and tools can be positioned in different manners in the Adept DeskTop user interface,

Adept DeskTop 4.3 - Online Help 27Operator LayoutThe default Operator Layout contains only the windows that are enabled when the default Operator Le

Adept DeskTop 4.3 - Online Help 28Deleting LayoutsTo delete a layout:1. Choose File > Layout > Delete > layout name.2. Choose the layout yo

Adept DeskTop 4.3 - Online Help 29Creating a Custom DeskTop LayoutAdept DeskTop allows you to create and save custom desktop layouts. After a deskto

Adept DeskTop 4.3 - Online Help 30Saving DeskTop LayoutsA configuration of windows and controls in the Adept DeskTop interface is called a 'lay

Adept DeskTop 4.3 - Online Help 12Setting Adept DeskTop OptionsThe Options form allows you to customize the appearance of Adept DeskTop. For example

Adept DeskTop 4.3 - Online Help 13Setting Controls OptionsUse options in the tab to set the colors, fonts and other appearance properties of the Pro

Adept DeskTop 4.3 - Online Help 14Table 2: Example of Legacy Keyboard Shortcuts DOWN ARROW Down one unit or line HOME To the beginning of the line

Adept DeskTop 4.3 - Online Help 15Setting Desktop OptionsOpen "Terminal Monitor" control on program outputWhen this option is enabled, th

Adept DeskTop 4.3 - Online Help 3System RequirementsTo run and use Adept DeskTop Software, the following hardware and software are required.PC Requi

Adept DeskTop 4.3 - Online Help 16Setting Controller OptionsAutomatically connect using the last connectionWhen this option is enabled, Adept DeskTo

Adept DeskTop 4.3 - Online Help 31Program Manager ControlThe Program Manager control allows you to create, load, store and delete programs. Also, fr

Adept DeskTop 4.3 - Online Help 32Figure 14 Program Manager Control in MicroV+ Protected Programs and ModulesProtected programs are displayed in th

Adept DeskTop 4.3 - Online Help 33Figure 15 Program Manager Toolbar and Context menuEdit selected programOpens a selected program in the Program Ed

Adept DeskTop 4.3 - Online Help 34Save All LocationsSaves to file all location values currently in the selected program. The values are stored to th

Adept DeskTop 4.3 - Online Help 35Using the Program Manager ControlFrom the Program Manager control you can manage programs, create new programs, an

Adept DeskTop 4.3 - Online Help 36Deleting ProgramsPrograms that are assigned to a task cannot be deleted from the Program Manager. For this reason

Adept DeskTop 4.3 - Online Help 37Managing Programs in MicroV+The Program Manager displays the list of all programs currently in memory. From this l

Adept DeskTop 4.3 - Online Help 38• Select a program in the list, then click the Edit Program toolbar or context menu.• You can also double-click on

Adept DeskTop 4.3 - Online Help 39Creating a New ProgramTo create a new program: 1. From the Adept DeskTop menu, select File > New Program.2. Alt

Adept DeskTop 4.3 - Online Help 4Configuring Ethernet CommunicationsThere are many ways to configure the Ethernet communications for your Adept Desk

Adept DeskTop 4.3 - Online Help 40Related TopicsSaving Programs and ModulesProgram Manager Control

Adept DeskTop 4.3 - Online Help 41Saving Programs and ModulesThe saving and storing of files on the controller differs between MicroV+ and V+ system

Adept DeskTop 4.3 - Online Help 42• To save all variables that are in the saved module(s) or file(s) enable the with Data check box.Table 3: Relatio

Adept DeskTop 4.3 - Online Help 43 Figure 20 Saving Micro V+ FilesSaving programs to NVRAMSaving programs to NVRAM saves all data that is in RAM an

Adept DeskTop 4.3 - Online Help 44Task Manager ControlThe Task Manager control allows you to assign programs to tasks, visualize, and manage tasks t

Adept DeskTop 4.3 - Online Help 45The display box displays information on the status of a selected task.Number of TasksThe number of tasks is limite

Adept DeskTop 4.3 - Online Help 46Task Manager Toolbar and Context Menu OptionsThe following actions or tasks can be launched from the task bar or t

Adept DeskTop 4.3 - Online Help 47Copy Stack to ClipboardRecords the contents of the selected task stack to the Windows clipboard. If a program term

Adept DeskTop 4.3 - Online Help 48Using the Task Manager ControlThe Task Manager control allows you to assign programs to tasks, and visualize and m

Adept DeskTop 4.3 - Online Help 49To execute a task:1. Select a task in the Task Manager.2. If the task already contains instructions (one or more

Adept DeskTop 4.3 - Online Help 5Getting Started with Adept DeskTopTo access the full functionality of Adept DeskTop, you will need to connect to a

Adept DeskTop 4.3 - Online Help 50Program EditorThe Adept DeskTop Program Editor is an online, interactive editor that includes program debugging fu

Adept DeskTop 4.3 - Online Help 51Viewing Programs in The Program EditorFigure 28 Displaying programs in Vertical or Horizontal groupsYou can split

Adept DeskTop 4.3 - Online Help 52• Copy: Copy the selected text.• Paste: Paste the text in the clipboard to the selected position.• Undo last chang

Adept DeskTop 4.3 - Online Help 53Syntax HighlightingThe default syntax highlighting colors can be modified in the Options window. See Setting Contr

Adept DeskTop 4.3 - Online Help 54Using the Program EditorFigure 31 Using the Program EditorOpening the Program EditorThe Program Editor opens when

Adept DeskTop 4.3 - Online Help 55Figure 32 Automatic Formatting of Code in Program EditorDetecting ErrorsThere are many aids in the Program Manage

Adept DeskTop 4.3 - Online Help 56• You can have as many active debugging sessions as there are tasks. This feature allows you to debug multiple tas

Adept DeskTop 4.3 - Online Help 57• Step over: Single steps into program lines. If it encounters a subroutine, it executes the subroutine the contin

Adept DeskTop 4.3 - Online Help 58Code Library ControlThe Code Library tool is used to store code samples, also called clips, that can reused. • Ade

Adept DeskTop 4.3 - Online Help 59To create a new code clip:New clips are created and define in Clip Editor. To open the Clip Editor do one of the f

Adept DeskTop 4.3 - Online Help 6Using Adept DeskTop InterfaceThe Adept DeskTop interface is based on the Windows Visual Studio development interfac

Adept DeskTop 4.3 - Online Help 60Creating and Editing Code ClipsUse the Clip Editor to create new clips or edit existing code clips.Figure 36 Clip

Adept DeskTop 4.3 - Online Help 61Clip Editor Text and Data Fields Name You must enter an Name. This name is the node name that is displayed in the

Adept DeskTop 4.3 - Online Help 62Keyword Browser ControlThe Keyword Browser control displays and manages all the keywords available for the type of

Adept DeskTop 4.3 - Online Help 63GroupedEnabling Grouped displays all the keywords grouped by similarity in function, as illustrated in Figure 37.

Adept DeskTop 4.3 - Online Help 64Variable Manager ControlThe Variable Manager control allows you to view, search, and modify variables that are in

Adept DeskTop 4.3 - Online Help 65Variable Manager Toolbar and Context MenuYou can carry out the following operations with the task bar and context

Adept DeskTop 4.3 - Online Help 66FilterThe Filter facilitates finding one or more variables. • Enter characters in the Filter field and click OK to

Adept DeskTop 4.3 - Online Help 67Using the Variable Manager ControlCreating a VariableTo create a new variable:• In the Variable Manager toolbar, c

Adept DeskTop 4.3 - Online Help 685. Click OK to save the variable and exit the form.To create a Real variable:1. In the Type field, select: Real.2.

Adept DeskTop 4.3 - Online Help 693. Select a Task number. If you leave the Name field blank, program monitoring will be added for AUTO variables.

Adept DeskTop 4.3 - Online Help 7Control WindowsA Control, sometimes called a Tool, is a module that provides specific functionalities to Adept Desk

Adept DeskTop 4.3 - Online Help 70Operator ControlThe Operator Control provides an interface for the basic operations required to run a robotic appl

Adept DeskTop 4.3 - Online Help 71PAUSEPAUSE halts the selected operation. After a PAUSE, the operation can be restarted at the point where it was h

Adept DeskTop 4.3 - Online Help 72Operations ManagerThe Operations Manager tool allows an administrator-level user to configure operations that can

Adept DeskTop 4.3 - Online Help 73Related TopicsOperator ControlOperation Editor

Adept DeskTop 4.3 - Online Help 74Operation EditorThe Operation Editor allows you to configure and define an operation that will be added to the Ope

Adept DeskTop 4.3 - Online Help 75Figure 47 The Operation Editor in MicroV+ Task NumberIn the Task Number drop-down list, select the task to which

Adept DeskTop 4.3 - Online Help 76Robot ControlThe Robot Control tool is used to enable power, calibrate, and change the speed of the robot. This co

Adept DeskTop 4.3 - Online Help 77Table 4: E-Stop Button appearance in the Robot ControlRobot Status Display and MessagesThe Robot Status field disp

Adept DeskTop 4.3 - Online Help 78Jog Pendant ControlThe Jog Pendant control, also called the virtual jog pendant, performs functions similar to the

Adept DeskTop 4.3 - Online Help 79Jog ControlThe Jog Control frame provides controls and parameters to physically move the robot and to control spee

Adept DeskTop 4.3 - Online Help 8Opening and Displaying Control Windows Controls can be opened from the Adept DeskTop toolbar. The positions and sta

Adept DeskTop 4.3 - Online Help 80Increments are expressed in World coordinates; the Increment option sets the Jog Pendant to World mode. • In this

Adept DeskTop 4.3 - Online Help 81Figure 52 Jog Pendant in Joint ModeWorld ModeWorld mode enables the Jog Control to move the robot in the selecte

Adept DeskTop 4.3 - Online Help 82Figure 53 Setting a Robot Location for Jog to ModeLocation Management vs. Precision Point ManagementThe Location

Adept DeskTop 4.3 - Online Help 832. To search for a variable, click Browse, to open the Variable Browser. 3. In the Variable Browser find and selec

Adept DeskTop 4.3 - Online Help 84Tool Transformation ControlThis control gives users access to the currently defined tool transformation. It also a

Adept DeskTop 4.3 - Online Help 85Frame Manager ControlThe Compute Frame control is used to define and store multiple frames of reference.• The Comp

Adept DeskTop 4.3 - Online Help 86Figure 57 Illustration of a Simple Pallet Frame of ReferenceCreating a Frame of ReferenceYou can create a frame o

Adept DeskTop 4.3 - Online Help 87• The yaw, pitch, and roll are optional. They do not affect the computation of the frame of reference.OriginOrigin

Adept DeskTop 4.3 - Online Help 88Teach Frame WizardThe Teach Frame Wizard guides you through the creation of a frame of reference for the current s

Adept DeskTop 4.3 - Online Help 89Figure 60 Operating the Robot from the Teach Frame Window

Adept DeskTop 4.3 - Online Help 9Adept DeskTop MenusThe following section gives an overview of the Adept DeskTop menus. Depending on your system, se

Adept DeskTop 4.3 - Online Help 90Adept Graphics Window ControlThe Adept Graphics Window control allows you to access the Adept Windows terminal.To

Adept DeskTop 4.3 - Online Help 91V+ Utilities ControlThe V+ Utilities control simplifies access to the V+ based utilities on the connected controll

Adept DeskTop 4.3 - Online Help 92• Pause Application: Pauses the utility and unloads the last launched utility. If a utility does not complete, cli

Adept DeskTop 4.3 - Online Help 93Watch Variable ControlThe Watch Variable control is used to monitor specified variables and expressions while debu

Adept DeskTop 4.3 - Online Help 945. Once the variable is created, reopen or refresh the Watch Variable control: the correct variable value and vari

Adept DeskTop 4.3 - Online Help 95Variable Browser The Variable Browser allows you to find and select an existing variable and insert this variable

Adept DeskTop 4.3 - Online Help 96ScopeThe browser shows only variables of the selected Scope: Global (by default) or LOCAL/AUTO. • To browse for LO

Adept DeskTop 4.3 - Online Help 97Monitor Terminal ControlThe Monitor Terminal Window control is a test terminal that emulates AdeptWindows. This al

Adept DeskTop 4.3 - Online Help 98Digital I/O ControlThe Digital IO tool is provides a virtual display of the current status of the available digit

Adept DeskTop 4.3 - Online Help 99Custom IO Signals The Custom Display allows you to assemble a list of signals, inputs, and outputs. This list can