Adept AdeptSight Reference Guide - Manual (Page 19)

Recent Changes
For the most recent change information, please see the ReadMe.rtf file, which can be viewed by selecting
the following from the Windows Start button:
Start > Program > Adept Technology > Adept ACE > Adept ACE ReadMe File
Compatibility Differences
This section describes the compatibility differences between AdeptSight 2.x and AdeptSight 3.x.
1. A standard collection of AdeptSight V+ programs are contained in a file called asight.v2. This file is
updated on any controllers in the workspace when the ACE software connects to a given
controller.
2. The asight.v2 file contains some of the sample code associated with AdeptSight 2.x queue
management, namely:
getinstance reset_seq string2instance
nzs2string set_as_exec_mod
It is no longer necessary to include those programs in an application being migrated from
AdeptSight 2 to AdeptSight 3.
3. AdeptSight 3.x operates in the “AdeptSight Server” mode of AdeptSight 2.x. This will not
functionally change applications that use the communications tool queue to access parts.
4. Several of the properties have changed. In total, there are 439 command parameter codes in
AdeptSight 2.x. The conversion to AdeptSight 3.x affects 17 of these commands. The changes
are as follows:
Property Name Code Description of the Change
RobotConfiguration 10400 No longer supported.
InverseKinematics 10060
The configuration used in the kinematic calculation is based on the current
configuration of the robot. It no longer uses the RobotConfiguration param-
eter.
Inverse kinematics calculations for a Cobra i-series robot is not supported
GripperOffset 10100
AdeptSight 3 returns the gripper offset from the gripper offset table asso-
ciated with a specific robot. For details, see GripperOffset.
The following command codes are not directly supported in AdeptSight 3.x at this time. Please
contact Adept Technical Support for programming options.
RecentChanges
AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012
Page 19