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How do you load new configuration (PAC) files to a controller?

All of the controller configuration data (e.g. controller name, joint limit stops, nominal speeds, etc.) are saved in files on the flash disk.  The primary configuration files have a ".pac" or ".ppc" file extension and are stored in the flash\config\ folder.  If a backup set of configuration data has been created, these files are stored in the same flash folder but will have a ".sav" file extension. For ease-of-use, the configuration files are typically formatted as plain text files.  However, in some cases, the configuration file for the first robot (robot01) we be supplied as a protected encrypted file to prevent key values from be altered by mistake.

You may wish to copy new configuration files from a host computer to a controller for the following reasons:

• You may have been provided new "pac/ppc" files as part of a system upgrade.
• You may wish to restore a controller to an old configuration.
• You may be bringing up a duplicate work cell or robot and wish to duplicate the controllers configuration.

Before superceding the configuration files in a controller, it is strongly recommended that you first either copy the controller's configuration to a host computer or use the web interface to create a backup set of configuration files in the flash disk.

When you are ready to write the new configuration files to a controller, please perform the following procedure.

1. Start up GPL on your Guidance controller.
2. Connect to the controller using a web browser and login.
3. Click on the tab labeled “Utilities” .
4. Click on the words “Backup and Restore” in the left-hand panel.
5. Click the button “Start File Manager” to open a FTP window.  This should open the /flash/ folder.
6. Double click the "config" folder to display its contents.
7. Open the folder on your host computer that contains the new configuration files.  For example, in a Windows PC system, use the Windows Explorer to display the folder.
8. Drag each of the new "pac/ppc" files from the host computer folder to the controller's FTP window and drop them.



NOTE: If you are upgrading an operational system, you should normally only copy new "controller.pac" and "robotxx.pac" (or "robotxx.ppc) files.  In particular, the "diomotionxx.pac" and the "gpl_vars.pac" files may contain application data that you wish to preserve and the "calibxx.pac" file contains the unique calibration data for your specific robot.



9. Wait until the copy operation is completed.
   
   

   Always wait 10 seconds after writing to the flash before you power down the controller, otherwise, you may corrupt the flash disk

   
   
10. Close the FTP window and return to the "Backup and restore" panel.
11. Restart the controller to put the new configuration information into effect.