Controller Software Setup

This section describes the procedures for software configuring a Guidance Controller for first time operation. It explains the basic steps necessary when the controller is delivered as a part of a robot, like the PrecisePlace 2300, and the more extensive list of actions required to interface the controller to a robot or other mechanism for the first time.

Prior to reading this section, you should review the "Guidance Controller Setup and Operation Quick Start Guide" to become familiar with the web based user interface for the controller. Should you desire additional information on the controller software, please refer to the "Introduction to the Software" and "Software Reference" sections of the PreciseFlex™ PreciseFlex Library.

All of the controller software setup data is stored in a consistent manner in the controller's Configuration and Parameter Database. In addition, this database provides many values that are dynamically updated to allow key elements of the system to be monitored. For example, this database provides access to: the IP information for the Ethernet interface; the data necessary to define the dimensions and dynamic performance of each axis; the servo tuning parameters for each motor; the specifications for the axis homing methods; data for configuring Digital Input channels (DIN) as well as methods for reading their current values; and methods for reading the current commanded and actual position of each motor and joint of any robot. In general, if you need to access a system configuration value or view raw system status information, it can be found in the Configuration and Parameter Database.

The software for managing the Configuration Database is built into the basic controller software and the data files for preserving this information are stored in the controller's flash disk.

The purpose of this section is to introduce the Parameter Database and to guide you through the steps for setting the database values that control the software configuration for your system.

If you intend to configure a controller for the first time for use with a robot or if you anticipate making significant changes to the basic robot setup data, we highly recommend that you obtain a copy of the "Guidance Development Suite" (GDS). This package includes the Guidance Configuration Utility (GCU). The GCU contains a series of wizards that provide step-by-step instructions on configuring or modifying the basic robot configuration information that is stored in the Configuration and Parameter Database. The GCU can be thought of as an automated teaching aid for performing the basic robot configuration that is described in this section.

This document is divided into the following major sections:

Configuration and Parameter Database. This section provides an overview of the Configuration and Parameter Database. This includes a description of how elements of the database are accessed, how the contents of the database are stored on the flash disk, how to manage the database disk files, what to do if the database files don't exist or become corrupted, and how values can be datalogged.
Setup Check Lists. This section includes a series of check lists that guide you through the setup process. The first short list contains operations that must be performed on all systems by both end-users who receive a controller integrated with a robot and mechanism manufactures who are integrating a controller to a mechanism for the first time. This is followed by check lists that are only needed by mechanism manufactures. These check lists are organized to permit the system to be operational as quickly as possible.
Selected Setup Details and Procedures. This section contains detailed setup instructions and background information for selected operations. For example, this section includes a complete description of the possible homing operations, instructions on setting up a 3rd party amplifier, detailed information on the available kinematic modules, and information on tuning control loops. This material serves as a informational resource as you step through the setup check lists.