• General Robot Information
• Command/Instruction/Function Terminology
• System Startup
• System Shutdown
• Operation With the Manual Control Pendant (MCP)
• Operation From the Computer Terminal
• Command Execution
• Using the Program (Text) Editor
• Disk I/O
• Using FTP to Store Files on ENGR
• Memory Management
• Setting System Parameters and Switches
• Motion Instructions
• Location/Transformation Definition
• Program Execution
• Programming Features
• Using the Vision System
• Binary I/O and Interrupts
• Contacts / System Information

• Manuals From Adept

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GENERAL ROBOT INFORMATION

• Robot: ADEPTOne-MV.
• joints (RRPR) - j1 (shoulder): +/-150°, j2 (elbow): 294°, j3 (quill) - 196 mm (7.7"); j4 (wrist) - 554°

SCARA (Selective Compliance Assembly Robot Arm), 4-axis, dual elbow configuration (LEFTY, RIGHTY).
• direct drive electric actuators (high speed and precision, no gearing effects).
• manual control pendant (MCP)
• workspace area: 1.84 m² (20 ft²), maximum reach: 800 mm (31.5"), minimum reach: 231 mm (9.1").
• maximum slew speed: 9.15 m/sec (30 ft/sec)
• maximum speeds:  j1: 540°/sec, j2: 540°/sec, j3: 500 mm/sec, j4: 3600°/sec
• maximum payload: 9 kg (20#), maximum push force: 178 N (40#)
• repeatability: 0.025 mm (0.001") xy-plane; 0.05 mm (0.002") z-axis and wrist rotation

 
• Vision System: ADEPT XGS (gray scale or binary area vision - CCD array). See the Vision section for more details.

• End-effectors: vacuum suction, jaw gripper, and automatic screw driver, all compatible with an Applied Robotics auto-change system

• Operating System, Programming Language: ADEPT V+ 12.2

• Mass Storage: hard disk (C:), one 3.5" floppy drive (A:)  See the Disk I/O section for more details.

• Units of Measurement: angles are specified in degrees, distances are specified in millimeters (mm).

• Documentation: all manuals from Adept are available as PDF files

SYSTEM STARTUP

1. Make sure the main power breaker (labeled adept1 208 Volts) on the east wall of the Lab is in the ON position. It should be ON already.
2. Make sure both power switches on the adept1 controller (on the west side of the robot base frame) are in the ON positions. They should be ON already.
3. The robot brakes and gripper operate on pneumatic power.  Make sure the robot's black air hose is connected to the building air-supply line on the column next to the south-east corner of the robot base frame. It should be connected already.
4. Turn on the surge protector power strip (with the small black toggle switch) on the west side of the robot base frame (to the left of the adept1 controller). You should hear the power supply fans start up.
5. On the system control panel (on the south side of the robot base frame, labeled "adept1") turn on the SYSTEM POWER switch; the green light should illuminate (if not, push the Lamp Test button to see if the indicator light is burned out).
6. Make sure the key switch is set to AUTO.  Never move this switch.
7. Make sure the red E-stop plungers are pulled out on the control panel and the MCP (Manual Control Pendant.)  Rotate clockwise to pull out.
8. Turn on the computer monitor.
9. Wait for the start-up message and the monitor prompt (a period) to appear.
10. Make sure the workspace is clear of people and objects.
11. Type ENABLE POWER ("EN PO" for short) to activate arm power.  The amber HIGH POWER ON/OFF light should turn on. If this step fails, it is probably because the controller amplifier power switch is in the OFF position. If so, turn it on and try again.
12. Type CALIBRATE ("CA" for short), respond with Y to have the robot calibrate itself.  This takes 1-2 minutes.  If calibration fails (because of *lost encoder sync*), manually move the suspect joints and try again. The resulting calibration holds for as long as the controller remains powered up, even if the arm power is turned off and enabled again.
13. You can now operate the robot through the Terminal or the Manual Control Pendant.  See these sections for further details.
14. If using the vision system, complete the vision calibration procedure in the Vision System Section of this reference.

• If the robot trips off during operation with a "loss of air pressure" message repeat Step 1 and re-enable power.
• The robot arm is capable of actually extending below the wooden table surface. Don't do this, for obvious reasons (it can result in damage to the robot or its gripper).

SYSTEM SHUTDOWN

 

**** IMPORTANT: EMERGENCY SHUTDOWN **** TO ABORT A ROBOT MOTION (IN CASE OF UNEXPECTED MOTION OR EMERGENCY), Push the E-STOP plunger on the system control panel -or- Push the E-STOP plunger on the MCP


To restore from an E-STOP, pull out the red plunger (rotate clockwise), then type ENABLE POWER on the terminal or press the COMP/PWR button on the MCP.

NORMAL SHUTDOWN:
 

1. Type DISABLE POWER ("DIS PO" for short) on the terminal to deactivate arm power.
2. Make sure you save to disk anything in memory you wish to keep (programs, locations, vision prototypes, variables, vision calibration data). See disk I/O section for instructions.  Memory is lost when system power is turned off.
3. Turn off the computer monitor.
4. Turn the green power switch to "OFF" on the system control panel.
5. Turn off the small black toggle switch on the surge protector power strip. The robot should become quiet at this point.

OPERATION WITH THE MANUAL CONTROL PENDANT (MCP)

1. After the System Startup procedure is complete, enable the MCP with the MAN/HALT button (right side).
2. Select the motion mode by repeatedly pressing the MAN/HALT button (an LED will indicate the current mode):
• WORLD (default): produces end-effector motion along the fixed world x (straight out from base), y (to left from base), and z (straight up) axes.
• TOOL: produces end-effector motion along the tool x, y, and z-axes. The tool x- and y-axis orientations are aligned with the end-effector. The tool z-axis is in the opposite direction of the world z-axis.
• JOINT: produces independent motion of each of the four joints (j1 - shoulder, j2 - elbow, j3 - quill extension, j4 - tool roll).
• FREE: relaxes the designated joints (making them limp) for manual positioning.
3. Select the degree of freedom to operate (j1/x, j2/y, j3/z, j4/roll).
4. Operate the selected degree of freedom with the speed pot (-.........+) on the left side of the MCP, or in the case of FREE physically move the freed joint.
5. To return to terminal control, press the COMP/PWR button.  This allows you to execute commands and programs from the terminal.

• If you take the MCP out of its rack, you must continuously hold down the "deadman switch" (large button inside the hand grip, lower left side.)  Whenever you release the deadman switch, the system cuts off power to the arm.  Restore power by holding in the switch and pressing the COMP/PWR button or typing ENABLE POWER on the terminal.

• You can use FREE motion to teach the robot positions in space.  To do this, put the MCP in FREE mode (Step 2) then select the x, y, and z axes in Step 3.  Physically move the end effector to the exact position you want.  Type "here A" on the terminal, where A is the variable name for the position.  The system will recognize A as the position you set.

• If you extend a joint to a limit during MCP FREE operation, the robot will lock and you will need to use a different mode (MAN or COMP) to move the robot away from the limit.

• T1 (in JOINT mode): used to open (+) and close (-) the jaw gripper. This function should not be used when the vacuum suction tool is attached. Pneumatic pressure will be vented to the room (resulting in a loud constant noise) if this occurs. If this happens, press the COMP/PWR mode on the MCP and enter DO RELAXI on the terminal.

• CLR/ERR: used to clear any error message appearing on the MCP display, allowing further operations (the MCP is inactive until the error is cleared).

• COMP/PWR: in addition to returning control to the terminal (step 5 above), this button can be used to turn on the arm power (same function as ENABLE POWER).

• REC/DONE: used to continue a program after an MCP prompt; or, in the case of a menu-driven operation, to back up one step in the MCP's menu hierarchy.

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OPERATION FROM THE COMPUTER TERMINAL

^S / ^Q: scroll stop/continue.
^C: break / cancel.
^W: scroll slow/normal toggle.
^U: cancel current input line.

Pressing the UP ARROW or DOWN ARROW cycles through the previous commands you entered on the command line.  This can save a lot of re-typing.

After the System Startup procedure is complete, you can type commands to the robot from the command prompt (indicated by a period: .).  See the Command Execution and Program Execution sections.

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COMMAND/INSTRUCTION/FUNCTION TERMINOLOGY

Program Instruction (PI): instruction executed from a program or at the monitor prompt with a DO statement.

Function (F): callable routine which returns a value. A function call can only appear where a value is expected (e.g., an assignment statement)
 
 

NOTE - anything shown in brackets [] in this reference guide is an optional parameter.

COMMAND EXECUTION

DO program instruction

allows program instructions to be executed at the "." prompt.

allows monitor commands to be executed from within a program file.

executes a program file containing only MC instructions.
Use "MC DO program instruction" to execute program instructions in a COMMANDS file.

Monitor Commands (MC) can be executed directly at the "." prompt.

All commands and instructions can be abbreviated by enough leading characters to uniquely identify the command (e.g., EN PO for ENABLE POWER).

MC instructions and normal program instructions cannot be mixed in the same program.

USING THE PROGRAM (TEXT) EDITOR

to invoke the "SEE" editor. If prog_name exists in memory it is loaded for editing, otherwise it is created.

1. COMMAND [ESC key]- for issuing line-editor type commands (SEE starts in this mode.  You must change to INSERT or REPLACE mode to enter text.)

 
2. INSERT [INSERT key]- for inserting text at the cursor

 
3. REPLACE [F12] - for writing over text at the cursor

[DELETE key] - deletes character at the cursor.
CTRL-[DELETE key] - deletes the current line.
EXIT [F4] - saves the program (to memory only, not disk) and exits SEE.
COPY - add a copy of the current line to the attach buffer. The size of the buffer is highlighted in black in the lower right (i.e., "1a")
CUT - cuts current line and adds to the attach buffer.
PASTE - pastes the contents of the attach buffer at the current cursor position.  This operation may be required before exiting SEE.  If you cut or copy something, you must paste it somewhere else (and delete it if necessary) before you can exit.
PAGE UP - go to top of program
PAGE DOWN - go to bottom of program

F - finds a string in the program
I - enter insert mode
CTRL-T - goto top of program
CTRL-B - goto bottom of program

Notes:

• SEE performs syntax checking interactively as the program is edited.
• Save your file to disk between edits (or make a copy in memory) since you can't exit SEE without saving changes (for the case of undesirable edits).
• If you get the error message "Can't exit while lines are attached" while trying to exit, enter Insert mode and Paste (and delete the pasted text if necessary).

DISK I/O (MC)

hard disk: C:

floppy drive: A:

path specification: drive:[sub1\sub2]\ (be sure to include trailing \).

file specification: drive:[sub1\sub2\]file[.ext]  (Note:  the extension is required for some commands; e.g., FDEL)

file name extensions: V2 (programs and variables), PG (programs only), LC (locations only), RV (real variables only), ST (string variables only), VS (vision prototypes), DAT (data).

maximum filename length:  8 characters (not counting the extension)

formats (and therefore erases) a double-density disk in the A: drive. Use the Q switch for ADEPT double-sided, the H switch for DOS compatible double-sided, no switch for ADEPT single-sided (also DOS compatible). Formatting is required to prepare a disk for use with the floppy drive (MC).

NOTE: This command is not required for pre-formatted DOS/Windows discs.

NOTE: Be very careful to make sure you never format the hard disk (C:) - everything, including the operating system, would be be lost!!!

defines a default (current) drive and/or subdirectory (MC).
Ex: DEFAULT DISK = C:MECH564\

NOTE: The DOS/UNIX command CD can also be used to change to a subdirectory (CD subdir) and go up one directory (CD ..).

stores a program, its subprograms, and/or its variables (locations, numbers, strings) in a disk file (MC).
[x] can be:
P: for program and referenced subprograms only.
L: for locations only.
R: for real variables only.
S: for string variables only.
missing: program and all associated data.

Note: writing over an existing file is not allowed; the old file must be FDEL'd first (e.g., after first using FCOPY to make a backup)

loads a disk file into memory (default file extension: V2) (MC).

lists the contents of a directory (MC).

create a directory indicated by path (MC).

delete a directory indicated by path (MC).

delete a file from a disk (MC).
Note: the file extension is required.

rename a disk file (MC).

copy a disk file (MC).

list the contents of a disk file (MC).

USING FTP TO STORE FILES ON ENGR

NOTE - This feature is currently unavailable.

You can transfer files to and from the ADEPT computer from a remote system (but only if the ADEPT is turned on.)

• Open the FTP client program on your remote computer.
• The server name is "adept1.engr.colostate.edu"
• If your FTP client has an option for host type, use "chameleon"
• User ID/name is "guest" (no password required)
• You should see the files on the ADEPT hard drive.  Download and upload files with your FTP client.

MEMORY MANAGEMENT

to execute programs or access data, they must be first loaded into memory.  See disk I/O section for loading data.

the contents of memory are lost at power down, so anything you want to retain must be stored on a disk.

list the names of all programs in memory (MC).

list the contents of an object in memory. If object is not included, all objects of the specified type will be listed. The object type must agree with [x] (MC).
[x] can be:
P: program.
L: location variable.
R: real variable.
S: string variable.
Examples:
LISTP STARTUP (displays the program STARTUP).
LISTL (lists all location variables and their values).
LISTR data[] (lists all values in array data[]).

delete object from memory. The object type must agree with [x] (MC).
[x] can be:
P: program, referenced subprograms, and variables.
L: location.
R: real variable.
S: string variable.
Missing: programs and data.

erases the total contents of memory. Make sure you save to disk anything you want to keep before executing this command (MC).

make a copy of a program in memory (MC).

rename a program in memory (MC).

SETTING SYSTEM PARAMETERS AND SWITCHES

displays or sets a system parameter; a parameter is a quantity which can take on a range of values (e.g., PARAMETER V.THRESHOLD = 95 to set the binary vision threshold [range: 0 to 127] to 95) (MC).

displays system switch settings. A switch can only take on one of two values: ON or OFF (MC).

turns a system switch ON (MC/PI).

turns a system switch OFF (MC/PI).

returns the value of a specified switch (F).

POWER robot arm power.

CP continuous path trajectory control (on by default).

VISION vision system.

TRACE program step display before execution.

DRY.RUN robot controller state (for testing programs w/o robot motion).

MOTION INSTRUCTIONS

joint interpolated: joint motions are linearly interpolated from one location to another.

straight line: tool traverses a straight line path and orientation is maintained from one location to another.

Angles are measured in degrees, distances are measured in millimeters (mm).

Continuous path (CP) motion causes smooth transitions between motion instructions. Motion is maintained through the task points rather than coming to a complete stop. Activate CP with ENABLE CP; deactivate with DISABLE CP.

The "S" suffix for certain motion commands indicates straight line end-effector motion; otherwise, joint-interpolated motion is assumed.

The"I" suffix for the gripper functions indicates immediate action; otherwise, the function is performed during the next motion instruction.

Do not use the jaw gripper functions when the vacuum suction tool is attached. If you do this by mistake, execute RELAXI.

 

moves the robot to a location (PI).

moves a single joint (1, 2, 3, or 4) a given increment at a given speed (PI).

moves to a position a given distance above a location (PI).

moves vertically away from the current location (PI).

opens the jaw gripper (This function is equivalent to SIGNAL 3002, SIGNAL -3001) (PI).

closes the jaw gripper (This function is equivalent to SIGNAL 3001, SIGNAL -3002) (PI).

relaxes (turn off air pressure to) the jaw gripper (This function is equivalent to SIGNAL -3001, -3002) (PI).

MC: SPEED value

set the monitor robot speed as a percent (0 to 100 - default: 50) of the maximum allowable.

PI: SPEED factor [ALWAYS]

set the speed percentage factor (0 to 100 - default: 100) to be applied to the monitor speed for the next motion instruction. The ALWAYS switch causes the speed to apply to all subsequent motion instructions in the program (until another SPEED instruction).

F: SPEED(i)

returns the current monitor (i=1) or program (i=2) speed.

stops robot motion for a given number of seconds (PI).

delays program execution until the current motion finishes. This causes a break in the continuous path if CP is enabled (PI).

sets the time for the subsequent motion to take (PI).

sets the acceleration and deceleration percentage factors (1 to 100 percent of allowable maximums) for subsequent motion instructions (PI).

LOCATION/TRANSFORMATION DEFINITION

precision point - location defined by its joint values (θ1, θ2, d3, θ4). Variable name must begin with a pound sign (e.g., HERE #start). Useful for a high precision fixed configuration location specification.

transformation - location described by a cartesian end-effector specification (x, y, z, yaw, pitch, roll). Requires LEFTY/RIGHTY specification to determine configuration.

relative transformation - defines a transformation relative to another (e.g., HERE pallet:post defines transformation post relative to pallet). Useful for defining locations relative to a mobile but fixed geometry pallet.

location expression - various transformations concatenated (multiplied) with the ":" operator (e.g., A:RX(45):DX(10))

displays the current robot location (MC).

assigns the current robot location to the location variable loc (MC, PI, F)

specifies a right-elbow configuration for the next motion (PI).

specifies a left-elbow configuration for the next motion (PI).

assigns a location expression to a location variable and allows keyboard editing of the values (MC).

assigns a location expression to a location variable (PI).

returns a transformation defined by six cartesian components (F).

returns single axis rotation transformations (F).

returns a translation-shifted transformation (F).

stores the location components of a location variable (precision point or transformation) in an array starting at a given index (PI).

returns the displacement components of a transformation (F).

calculates location transformation given an indexed array of joint values. ERROR = return status.  (PI)

computes joint positions from a location transformation. ERROR = return status, flag = 0:LEFTY, 1:RIGHTY. (PI)

determines whether or not a location is reachable (i.e., is in the workspace) (F).

returns transformation defining a frame with origin at loc4, x-axis from loc1 to loc2, and y-axis from x-axis to loc3.

defines tool transformation between the tool mounting flange to the tool tip (MC, PI, F).
Note:
for the jaw gripper, use TOOL = TRANS(0,0,0,0,0,30) to align the jaw axes with the tool coordinate system.

PROGRAM EXECUTION

runs a program [a given number of cycles starting at a given step] (MC).

causes each program step to be displayed as it is executed (MC).
(DISABLE TRACE to deactivate).

steps through a program one step at a time (MC).

executes displayed step from XSTEP (MC).

displays the programs running (with task #'s) and system status (MC).

kills the specified task (task numbers displayed with STATUS)

From terminal:
type ABORT (robot will stop after current move, use PROCEED to continue).
Use STATUS and KILL to hault a program that has been interrupted (e.g., due to bug-related crash).
 
• From MCP:

hit RUN/HOLD button (stops program immediately)
or
hit PANIC button (cuts off robot power, hit COMP/PWR to reactivate power)
 
• From controller:

hit E-STOP plunger (cuts off robot power).

PROGRAMMING FEATURES

• Data Types:

name: transformation or real/integer value (i.e., x_loc)
#name: precision_point (i.e., #prec_loc1)
$name: string (i.e., $s1)
• Constants are valid for real numbers (e.g., 2, -5.2) and string (e.g., "hello") only.
• Arrays are indexed from 0 and elements are accessed with array[index]. Multiple subscript arrays are supported (array[index1, index2, ....]). Memory is automatically allocated as elements are referenced (no need to declare and dimension).
• Variable names can be up to 15 characters long.
• Variables do not have to be declared. Variables are automatically declared at assignment time and the type is determined by name and context.  (e.g., X = 5.25 creates real variable X; SET X = RZ(45) creates transformation variable X).
• Variables are assumed global unless explicitly declared LOCAL at the first executable line of the program.
• LOCAL program variables retain their values between CALLs

• Program comments are indicated with a preceding semicolon (;).
• arithmetic operators: +, -, *, /, MOD, =.
• relational operators: <, >, <=, =<, ==, >=, =>, <>.
• logical operators: AND, NOT, OR, XOR.
• intrinsic functions: ABS, ATAN2, COS, INT, MAX, MIN, RANDOM, SIN, SQRT
• system constants: OFF, ON, PI, TRUE, FALSE

TYPE output_spec

displays output specification (strings, expressions, variables, format) on the terminal screen (PI).

displays a prompt string on the screen and waits for variable input (PI).
(e.g., PROMPT "Hit return to continue", $cr).

temporarily release program control to the MCP (so MAN mode can be used) (PI).

resume program control from MCP (COMP/PWR must be activated) (PI).

TIMER i = 0 or TIMER(i) = 0

reset timer i (1 to 15) to 0 seconds (PI).

returns the current time from timer i (F).

suspend program execution for a given number of seconds (PI).

suspends execution until PROCEED is entered (PI).

terminates program execution (PI).

• unconditional branch to a program step identified by a numeric label:

GOTO label
.....
.....
label .....
 
• external subprogram invocation:

CALL prog_name(arg_list)
• variables are passed by reference.
• Arrays are passed and received as array[] (single dimensional), array[,] (two dimensional), etc.
• subprogram formal parameters are automatic (exist only during subprogram execution) and local.
• global variables can be referenced in the subprogram.
• local subprogram variables are assumed global unless explicitly declared with LOCAL.
• control is returned to the calling program with RETURN.

• conditional branch:

IF logical_exp GOTO label
 
• conditional execution:

IF logical_exp THEN
.....
[ELSE]
.....
END

CASE expression OF
VALUE value1[, .....]
.....
VALUE value2[, .....]
.....
.....
[ANY]
.....
END
 

• iteration:

FOR var = start TO final [STEP inc]
.....
END

WHILE logical_exp DO
.....
END

DO
.....
UNTIL logical_exp

USING THE VISION SYSTEM

See also: Student-created vision system guide

Notes:

• Camera/monitor resolution: 509x481.
• Field of view (FOV) frame has origin at bottom left with a horizontal x-y coordinate system (size: 181 mm x 133 mm).
• Two modes of vision processing:
• BINARY - each pixel is given an ON or OFF value depending upon V.THRESHOLD. This mode is the fastest for processing but is sensitive to ambient light.
• GRAYSCALE - each pixel is assigned a value (0 to 127 using 7 bits) based on a range of intensities. More detail can be seen in this mode.

Note:  Calibration is required every time the system is powered up in order to use the vision system.

Output from the calibration: threshold settings, relationship between pixels and linear dimensions (scaling and aspect ratio relations), transformation to.cam[1] relating the end of link 2 to the field-of-view of the camera.

• Verify that the vision system is functioning properly by executing the following commands:
      ENABLE VISION
      VDISPLAY -1
• Left mouse click on the "adept" logo in the top left corner of the screen and select "Vision".
• Place an object in the FOV of the camera, A grayscale image should appear on the monitor.
• Type LOAD C:\UTIL\ADV_CAL to load the calibration routines.
• Type EXECUTE A.ADV_CAL to run the menu-driven calibration program.
• Select virtual camera 1, physical camera 1.
• Adjusting the camera threshold (main menu option 2 - ADJUST, then option 3 - ADJUST BINARY THRESHOLD) is highly recommended to ensure accurate results from the image processing software.  Make sure that edges are well defined and steady when viewing the object.
• To load a previously defined calibration from disk, select main menu option 1 - LOAD/STORE calibration.  Enter the disk drive, subdirectory, and calibration file number for the calibration data (e.g. disk drive: C; Subdirectory: MECH564; calibration file number: 564).
• To define a new calibration, see the vision system guide for detailed instructions.

• Do not adjust the aperture and focus unless they have obviously been tampered with.
• V.THRESHOLD (the binary vision threshold parameter) may have to be changed periodically to compensate for slight changes in background lighting.
Either use A.ADV_CAL (main menu option 2 - ADJUST) or use:
VDISPLAY 0
PARAMETER V.THRESHOLD = new_value
(try different new_value's until the monitor's threshold seems appropriate).
• To obtain a live image on the vision screen, select display, then Live grayscale or Live binary.
• If no image appears where one is expected during A.ADV_CAL (e.g., during focus/aperture check), make sure the lens cap is off and check the cable connection at the camera.  If there is still no picture, shutdown the system and try again.

     VISION enable the vision system
           (ENABLED to use vision system).

     V.BACKLIGHT establishes the background color (white/black)
           (ENABLED for white background).
     V.BINARY enable binary image processing (disable grayscale)
           (ENABLED to use binary vision).
     V.BOUNDARIES enables boundary analysis processing
          (ENABLED to enable identification of object boundaries in a scene).
     V.HOLES enable processing/accounting of interior holes in parts
          (DISABLED to ignore interior holes in scene objects).
     V.RECOGNITION enables prototype identification
          (ENABLED to enable matching of object boundaries to prototypes).
 
 

VDISPLAY mode [, overlay]

determines what is displayed on the monitor. This has no effect on the results of the vision processing (MC, PI).

mode:
    -1 live grayscale image.
     0 live binary image (useful for setting V.THRESHOLD).
     1 grayscale image from last VPICTURE.
     2 binary image from last VPICTURE.
     3 special graphics (useful for showing (with V.SHOW switches) the results of the vision processing).

overlay:
     TRUE to overlay special graphics (useful for displaying user graphics (e.g., from RULERI) over the current picture).

VPICTURE [mode, how_many]

grabs a camera image and optionally performs vision processing. Processed object data (if generated) is stored in a queue for retrieval with VLOCATE (MC, PI).

mode:
     -1 acquires and processes the image (this is the default).
     0 initiate processing of previously acquired image.
     1 acquire an image but don't process.
     2 perform a quick frame grab.

how_many:
     specifies the maximum number of objects for the processing to try to recognize.

VTRAIN proto_name

initiate training or continue training examples of a prototype object for later identification by image processing (MC, PI).
Note:
    set camera 1 by pressing the Set/Clr button and then the Rec/Done button.
    use +/- to step through entities.
    Use Yes/No to respond to questions.
    Use REC/DONE to accept or continue.
    several (at least two) examples must be trained.
    see pp. 79-91 in "AdeptVision AGS User's Guide" for more information.

returns the prototype name and location (relative to the camera FOV) of the next object in the VPICTURE processed data queue. Success of this function is indicated by VFEATURE(1) (FALSE implies end of list) (PI).

Note - VWINDOW can be used to limit the area searched and improve the success rate.

VLOCATE (, 0) "proto_name", loc

returns the location (relative to the camera FOV) of a prototype object in the VPICTURE processed data queue. Success of this function is indicated by VFEATURE(1) (FALSE implies an object of the given prototype form was not in the FOV during VPICTURE) (PI).

Note - VWINDOW can be used to limit the area searched and improve the success rate.

VFEATURE (index)

returns information about an object that was VLOCATE'd  (F).

index:
     1: flag indicating if VLOCATE was successful or not (true (-1) or false (0)).
     2: x-coordinate of object centroid (in FOV).
     3: y-coordinate of object centroid (in FOV).
     7: z-rotation of object (i.e., orientation in the horizontal plane).
     17: whether a hole is present or not.

VRULERI (camera, type, dmode) data[] = 1, xo, yo, L, ang

lays a straight line (ruler) across an image and records transitions in color along the line (ruler)  (PI).

Arguments:
     camera=1, type=0 (standard binary ruler).
     dmode (ruler draw mode) = -1 (no draw), 0 (erase), or 1 (draw).
     xo, yo: starting point of ruler in FOV(mm).
     L: length(mm) of ruler.
     ang: angle of ruler from FOV x-axis (¡).
     data[]: array containing data returned from the function:
         0: # of transitions along ruler (n).
         1: color of starting pixel.
         2 to (n+1): distance(mm) of each transition point from the starting point.

VSTORE file_spec = name1[, name2, .....]

stores vision prototype[s] in a disk file.

VLOAD file_spec

loads vision prototype[s] from a disk file.

VDELETE proto_name

deletes a vision prototype from vision memory.

VRENAME proto_new = proto_old

renames a prototype in vision memory.

Example program:

     .PROGRAM vac_part()
     ; Program to locate the TARGET in the field of view and pick it up
     ; with the vacuum suction tool.  to.cam[1] must be previously defined
     ; by vision calibration.  part.grip must be previously defined by
     ; manual teaching.  The TARGET prototype must be loaded.
     ;
     SPEED 20 ALWAYS
     VDISPLAY 0
     100 VPICTURE
     VLOCATE (, 2) "TARGET", fov.loc
     IF NOT (VFEATURE(1)) THEN
     TYPE "TARGET is not in the FOV of the camera"
     PROMPT "Move TARGET into the FOV and hit RETURN", $cr
     GOTO 100
     END
     HERE pict.loc
     HERE #pict.loc
     DECOMPOSE jt[1] = #pict.loc
     SET link2 = pict.loc:RZ(-jt[4]):TRANS(,,-jt[3])
     SET obj.loc = link2:to.cam[1]:fov.loc
     SET grasp.loc = obj.loc:part.grip
     APPROS grasp.loc, 10
     SPEED 5
     MOVES grasp.loc
     BREAK
     SIGNAL 2025
     DEPART 10
     PROMPT "Hit RETURN to return part", $cr
     SPEED 5
     MOVE grasp.loc
     BREAK
     SIGNAL -2025
     DEPART 10
     MOVE pict.loc
     PROMPT "Move the TARGET and Hit Return to continue", $cr
     GOTO 100
 

     .LOCATIONS
     fov.loc 1 0 0 0 1 0
     0 0 1 107.15625 85.668655 0
     grasp.loc 0.94044149 -0.33995634 0 -0.33995634 -0.94044149 0
     0 0 -1 659.19281 115.05168 783.65313
     link2 0.88274276 -0.46985676 0 -0.46985676 -0.88274276 0
     0 0 -1 527.03521 200.90631 879.29998
     obj.loc -0.46829047 -0.88357466 0 0.88357466 -0.46829047 0
     0 0 1 659.83923 111.9056 699.8034
     part.grip -0.14002296 0.99014842 0 0.99014842 0.14002296 0
     0 0 -1 -2.4770812 -2.0444335 83.849731
     pict.loc 0.90227979 -0.431151 0 -0.431151 -0.90227979 0
     0 0 -1 527.03521 200.90631 793.65106
     #pict.loc 62.535938 -90.560935 85.648925 -2.4843747
     to.cam[1] 1.7735231E-03 0.99999845 0 0.99999845 -1.7735231E-03 0
     0 0 -1 73.190757 -90.838272 179.49658

BINARY I/O AND INTERRUPTS

Input Signal Numbers: 1001 - 1064 (for application sensors).
Output Signal Numbers: 0001 - 0064 (for application auxiliary device control).

3001 - close the jaw gripper.
3002 - open the jaw gripper.

turns on a signal; if negative, turns off the signal (MC, PI).

displays the status of I/O signals on the screen (terminate display with ^C).
i determines which signals are displayed (0: external outputs, 1: external inputs, 2: software) (MC).

returns (sig1 AND sig2 AND ............ sign) (F).

turns off all external hardware outputs (MC, PI).

monitors a signal during program execution and calls a subprogram when the signal transitions; if "I", react immediately, else react after current motion. After RETURN from the subprogram, execution resumes at the statement following the point of reaction (PI).

cancel a previous REACT (PI).

CONTACTS / SYSTEM INFORMATION

Adept Technology
150 Rose Orchard Way
San Jose, CA 95134
(408) 432-0888
FAX: (408) 432-8707

Adept Customer Support Calls:
(800) 232-3378
Adept Sales (CO rep):
(816) 862-6811 (Roger Marble)
Applied Robotics (end-effector change system):
(518) 384-1200

MANUALS FROM ADEPT

• Manual Control Pendant User's Guide (mcpug.pdf)
• MV Controller User's Guide (mvcug.pdf)
• AdeptOne-MV Instruction Handbook (newarihb.pdf)
• Adept Utility Programs Instructions (utlprg.pdf)
• V+ Language User's Guide (vlngug.pdf)
• V+ Language Reference Guide (v_lrg.pdf)
• V+ Operating System User's Guide (v_osug.pdf)
• V+ Operating System Reference Guide (v_osrg.pdf)
• AdeptVision User's Guide (v_vmeug.pdf)
• AdeptVisionm Reference Guide (visionrg.pdf)