Final check

Tick off every step of the configuration, and test each one to see that it is right.

  6 minute read  

The last step: go through this list before you hand the machine over. Each item says what must be set and how to test it. Tick an item once its test passes; the ticks stay in this browser, so you can come back later. To work on paper instead, press Print a blank checklist: it prints every item with an empty box and a line for notes, and space for the machine, your name, the date and a signature.

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Before you start

  • The emergency stop works.
    • Test: engage, press the emergency stop. The drives switch off and root/Logic/state becomes 7, ESTOP_OFF_S. Release it and reset the errors before you go on.
  • The configuration is deployed and saved.
    • Test: restart the application and check that a value you changed, such as a limiter setting, is still there.

Step 1: devices

See EtherCAT devices.

  • Every drive and I/O module is on the bus, in the right order.
    • Test: run ethercat slaves on the controller. Every device is listed at the position the ECAT tool expects.
  • Every PDO entry the application needs is mapped and linked.
    • Test: in Desk, watch each drive’s root/DriveLogic/driveStatusWord change when you engage, and its motorPositionActual change when the axis moves.
  • Inputs and outputs are linked.
    • Test: press each button and watch its parameter change; write 1 to each output and check the lamp or valve.

Step 2: drive mode

See Drive logic.

  • Every axis has the drive mode you chose: 8 CSP, 9 CSV or 10 CST in root/DriveLogic/driveMode.
    • Test: engage. Every drive switches on without an error, and each axis holds still.
  • The setpoint matches the drive mode, with the controllers it needs switched on.
    • Test: jog each axis a little. It follows smoothly, in both directions.

Step 3: axes

See Axes control.

  • Position transformation: every axis reads rad or m, in the right direction.
    • Test: move the axis a known amount, for example a quarter turn. actuatorPositionActual changes by that amount, 1.571 rad, and grows in the positive direction of the axis.
  • Velocity transformation: the velocity matches the position.
    • Test: jog at a constant speed. actuatorVelocityActual equals the change of actuatorPositionActual per second.
  • Torque transformations, if you use torque: the torque reads Nm at the axis, with the right sign.
    • Test: with the axis at rest and unloaded, the torque is close to 0; pushing the axis one way and then the other changes its sign.
  • Limiter: positionLowerLimit, positionUpperLimit, velocityLimit and accelerationLimit are set for every axis.
    • Test: in simulation, jog each axis to both ends. It stops at the limits, and never goes faster than velocityLimit.
  • Setpoint jump detector is switched on.
    • Test: the axis moves normally without warning 210.
  • Position window detector is switched on, just outside the limiter’s range.
    • Test: in simulation, jog to the limiter’s end. There is no warning; the window lies beyond it.
  • Controllers are tuned, for axes in CSV or CST.
    • Test: jog back and forth. The error stays small, without overshoot, humming or oscillation. See Tune the controllers.

Step 4: mechanism

Pick your application type. Only its items are shown, and counted in the total:

Do only the part for your application type.

See Set up a robot.

  • Kinematics: the segments and the solver describe your robot.
    • Test: jog in Cartesian mode along x, y and z of the base. The tool moves along that line and keeps its orientation.
  • Mass and inertia, if you use dynamics.
    • Test: hold the robot still in a few poses. The gravity torque of each joint is close to the torque the drive measures.
  • Frames and tool: the base and the tool point are where they are on the real robot.
    • Test: rotate the tool in Cartesian mode. The tool tip stays at one point.
  • Joint jog limits are inside the limiter’s range.
    • Test: jog each joint to both jog limits. It stops there, with warning 112.
  • Manipulability: low and tooLow suit your robot.
    • Test: in simulation, jog in Cartesian mode towards a stretched arm. Warning 109 comes first, then emergency stop 507.

See Set up a machine.

  • Every axis moves in its own direction, the one on the machine’s drawing.
    • Test: jog each axis in its positive direction and check that the machine moves the way the drawing says.
  • Every axis stays inside its travel.
    • Test: jog each axis slowly to both ends. The limiter stops it before the mechanical end.

See Set up an AGV.

  • The vehicle type and wheels are set.
    • Test: with the wheels off the ground, command a slow forward speed. All drive wheels turn forward.
  • The speed limits are set and switched on.
    • Test: command more than highLinearVelocityLimit. The vehicle does not go faster.
  • The input timeout works.
    • Test: stop sending speeds. The vehicle stops after hostInSignalTimeout.
  • Odometry is right.
    • Test: drive a measured distance straight ahead and compare it with actualPose, then turn left and check that the heading grows.

Step 5: alarm devices

See Alarm devices.

  • The light and the beeper follow the state.
    • Test: switch between off, idle and engaged, and press the emergency stop. The light and the beeper show each state the way you set them.

Step 6: 3D model

See Add a 3D model.

  • The model moves with the machine.
    • Test: move each axis in turn. The same part moves in the 3D view, the same way and by the same amount.