Adept SmartMotion - Manual (Page 44)

Chapter 3 - Software Configuration
44 Adept SmartMotion Installation Guide, Rev. C
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 in the Adept SmartMotion Developer's Guide.
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 Robot Options and Configuration menu
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 Creating the Software Specification topic available in
the SmartMotion Developer's Guide.