AXY:Element Coordination/ATP

Element Coordination Verification Procedure

Test Requirements

Firmware version: 4.11.? Application Framework: ?

Functionality ATP

Data Creation

Test Case №: 1		Date:	Performed by:	HW Rev: FW Rev:
Test Purpose	There are two kinds of Moving Frame (MF) objects in ControlStudio: axis-based and robot-based. Both of them are created in the same way as axes-based means using the command: COMMON SHARED <mf name> as moving frame of <mf-type> The difference between axes-based and robot-based moving frames is in the argument supplied to the MasterSource command. We should be able to supply <ROBOT>.SETPOINT and <ROBOT>.HERE values.
Test Equipment	ControlStudio Simulated or Real system
Test Procedure	Load configuration with more than 2 robots (Robot1, Robot2) Create a Moving Frame Object MF Assign MF.MasterSource to Robot2.setpoint or Robot2.Here Assing MF to MasterFrame of the robot Robot1.MasterFrame = MF Activate tracking: Robot1.En =1 and Robot1.Slave = 5
Expected Values	No movement
Measured Values
Test Results
Comments

Type parameter

Test Case №: 2		Date:	Performed by:	HW Rev: FW Rev:
Test Purpose	Check if it is in accordance to: TYPE
Test Equipment	ControlStudio Simulated or Real system
Test Procedure	Load configuration with more than 2 robot Try different combinations of master & slave robots Master: ( position-only, orientation-only, position&orientation, 1,2,3 coordinates) Slave: ( position-only, orientation-only, position&orientation, 1,2,3 coordinates) Check if it behaves according to the table in: TYPE
Expected Values	No movement
Measured Values
Test Results
Comments

ObjectLoc parameter

Test Case №: 3		Date:	Performed by:	HW Rev: FW Rev:
Test Purpose	Check if it is in accordance to: TYPE
Test Equipment	ControlStudio Simulated or Real system
Test Procedure	Load configuration with more than 2 robot Try different combinations of master & slave robots Master: ( position-only, orientation-only, position&orientation, 1,2,3 coordinates) Slave: ( position-only, orientation-only, position&orientation, 1,2,3 coordinates) Check if it behaves according to the table in: TYPE
Expected Values	No movement
Measured Values
Test Results
Comments

Moving Frame Base parameter

Test Case №: 5		Date:	Performed by:	HW Rev: FW Rev:
Test Purpose	Check if it is in accordance to: MF.BASE
Test Equipment	ControlStudio Simulated or Real system
Test Procedure	Load configuration with more than 2 robot
Expected Values	No movement
Measured Values
Test Results
Comments

Maser/Slave relationship

Test Case №: 6		Date:	Performed by:	HW Rev: FW Rev:
Test Purpose	Check if it is in accordance to: MF.BASE
Test Equipment	ControlStudio Simulated or Real system
Test Procedure	Load configuration with more than 2 robot
Expected Values	No movement
Measured Values
Test Results
Comments

Point Type transformation

Test Case №: 7		Date:	Performed by:	HW Rev: FW Rev:
Test Purpose	Check if it is in accordance to: MF.BASE
Test Equipment	ControlStudio Simulated or Real system
Test Procedure	Load configuration with more than 2 robot
Expected Values	No movement
Measured Values
Test Results
Comments

Syncing

Test Case №: 8		Date:	Performed by:	HW Rev: FW Rev:
Test Purpose	Check if it is in accordance to: MF.BASE
Test Equipment	ControlStudio Simulated or Real system
Test Procedure	Load configuration with more than 2 robot
Expected Values	No movement
Measured Values
Test Results
Comments

DeSyncing

Test Case №: 9		Date:	Performed by:	HW Rev: FW Rev:
Test Purpose	Check if it is in accordance to: MF.BASE
Test Equipment	ControlStudio Simulated or Real system
Test Procedure	Load configuration with more than 2 robot
Expected Values	No movement
Measured Values
Test Results
Comments