User`s guide

Chapter 8 - Maintenance
106 Adept Quattro s650H Robot User’s Guide, Rev A
• Take care not to trap debris between the balls and their sockets.
Configuration
If the replacement platform has the same part number as the old platform, the robot does
not need to be reconfigured.
If the replacement platform has a different part number, for instance, replacing a 185
°
platform with a 60
° platform, the new configuration needs to be loaded using the SPEC
utility.
Two binary SPEC files are available in the SPECDATA directory on the CompactFlash
card of the Adept controller. These two files contain configuration data for the available
Adept Quattro s650H robot platforms. The robot will not operate correctly if the wrong
SPEC file is loaded. (If these files are not on your CompactFlash card, you can copy them
from your V+ system CD-ROM.)
Platform Data Files:
Load the SPEC Program
Refer to the Adept SmartMotion Developer’s Guide for a more thorough coverage of the
SPEC utility.
1. Load the utility program into system memory and start execution of the program
with the commands:
load d:\util\spec
execute 1 a.spec
2. Follow the prompts provided by the program (see the following sections).
NOTE: If you want to exit the program, you can press Ctrl+Z at any
prompt.
Load Robot Specifications from a Disk File
This function reads a specification data file that contains the specification information for
a single robot, and writes over the data in memory for the currently selected robot. After
loading the file, be sure to save the specification data to your V+ system disk.
To load a specification file:
1. To update the specification data for a robot, select the robot, if it is not already
selected. (To change the selection, use the Change robot number option on the SPEC
main menu.)
2. From the SPEC main menu, select Load robot specifications from a disk file. The
following screen is displayed (the details of NFS mounts may be different for
your system):
Platform Tool Rotation Assembly P/N SPEC File
185
°±185° 09068-000 QP09068.SPC
60
°±60° 09023-000 QP09023.SPC