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| − | <center>'''''Robot Synchronization Verification'''''</center> | + | <center>'''''Element Coordination Verification Procedure'''''</center> |
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| − | Table of Contents'''Revisions3'''
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| − | '''ATP Status Table3'''
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| − | '''Test Requirements4'''
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| − | '''Related Documentation4'''
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| − | '''Functionality ATP5'''
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| − | ''Configuration Verification5''
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| − | Synchronization of Axes5
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| − | Synchronization of Robots6
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| − | Synchronization of different Element types6
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| − | Synchronization of different Movements length7
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| − | Synchronization of different Movements types7
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| − | Synchronization of different profiler types8
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| − | Synchronization of different motion properties8
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| − | Synchronization of movements with extreme short Movement9
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| − | Stop synchronization movements 10
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| − | Proceed the stopped movements11
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| − | Rejected Movement12= Revisions =
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| − | {| style="border-spacing:0;"
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| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Revision'''
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| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Description'''
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| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Author'''
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| − | | style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| V1.0
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| − | | style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| Global test
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| − | | style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| Naama Neubuaer
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| − | |}
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| − | = ATP Status Table =
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| − | {| style="border-spacing:0;"
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| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Case'''
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| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Description'''
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| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Status'''
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| − | | style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| 1
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| − | | style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| Configuration verification
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| − | | style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| 2
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| Synchronization of Axes
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| 3
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| Synchronization of Robots
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| 4
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| Synchronization of different Robot types
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| 5
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| Synchronization of different Movements length
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| 6
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| Synchronization of different Movements types
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| 7
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| Synchronization of different profiler types
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| 8
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| Synchronization of different motion properties
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| 9
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| Synchronization of movements with extreme short Movement
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| 10
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| Stop synchronization movements
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| 11
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| Proceed the stopped movements
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| 12
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| Rejected Movement
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | |}
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| | = Test Requirements = | | = Test Requirements = |
| | AMCS Firmware version: 4.11.? | | AMCS Firmware version: 4.11.? |
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| | Application Framework: ? | | Application Framework: ? |
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| | = Related Documentation = | | = Related Documentation = |
| − | SyncAll description can be found at:
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| − | [https://wiki.manz-automation.com/wiki/AXY:Element_Synchronization https://wiki.manz-automation.com/wiki/AXY:Element_Synchronization]
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| | | | |
| | + | = Functionality ATP = |
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| − | = Functionality ATP =
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| | == Configuration Verification == | | == Configuration Verification == |
| | | | |
| | {| style="border-spacing:0;" | | {| style="border-spacing:0;" |
| | | colspan="2" style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Test Case №:'''</center> | | | colspan="2" style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Test Case №:'''</center> |
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| | <center>'''1'''</center> | | <center>'''1'''</center> |
| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Date:'''</center>
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| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Performed by:'''</center>
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| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''HW Rev: '''</center>
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| − |
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| − | <center>'''FW Rev:'''</center>
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| − |
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| − | |-
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| − | | style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Purpose'''
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| − | | colspan="4" style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| Ensure the syntax of the command
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| | | | |
| − | |-
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Equipment'''
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| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| * '''aico.control'''
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| − | * '''MIB StandAlone or Extend '''
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| − | * '''Simulated or Real system'''
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| − |
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| − |
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| − |
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| − | |-
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Procedure'''
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| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| # Load configuration with more than 2 axes
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| − | # Set-up the axes properties (factors, limits, movement properties.)Set two axes startype to be different then SYNC
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| − | # Execute SyncAll commad
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| − |
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| − |
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| − |
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| − | |-
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Expected Values'''
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| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| * No movement
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| − |
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| − |
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| − |
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| − | |-
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Measured Values'''
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| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − |
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| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Results'''
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| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − |
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| − | |-
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Comments'''
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| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − |
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| − | |}
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| − | === Synchronization of Axes ===
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| − |
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| − | {| style="border-spacing:0;"
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| − | | colspan="2" style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Test Case №:'''</center>
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| − |
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| − | <center>'''2'''</center>
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| | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Date:'''</center> | | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Date:'''</center> |
| − |
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| | | | |
| | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Performed by:'''</center> | | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Performed by:'''</center> |
| − |
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| Line 239: |
Line 28: |
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| | |- | | |- |
| − | | style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Purpose''' | + | | style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| Verified that axes movement are fully synchronized – that mean the movements start and finish at the same time.
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| − | | |
| − | |-
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Equipment'''
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| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| * '''aico.control'''
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| − | * '''MIB StandAlone or Extend '''
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| − | * '''Simulated or Real system'''
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| − | | |
| − | | |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Procedure'''
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| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| # Load configuration with more than 2 axes
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| − | # Set-up the axes properties properties (factors, limits, movement properties.)
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| − | # Set StartType of two axes to Sync
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| − | # Execute movements with different targets to the two axes
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| − | # Operate recording that record – pcmd , vcmd, ismoving flag for every axis
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| − | # Execute SyncAll command
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| − | # Repeat the above scenario with 3 or 4 axes
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| | | | |
| | + | '''Test Purpose''' |
| | | | |
| | + | | colspan="4" style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| |
| | | | |
| − | |-
| + | '''X''' |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Expected Values'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| * Analyze the record file
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| − | * All axes start to move at the same time
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| − | * All axes stop at the same time
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| − | | |
| − | | |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Measured Values'''
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| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Results'''
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| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
| |
| − | | |
| − | |-
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| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Comments'''
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| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
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| − | | |
| − | |}
| |
| − | === Synchronization of Robots ===
| |
| − | | |
| − | {| style="border-spacing:0;"
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| − | | colspan="2" style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Test Case №:'''</center>
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| − | | |
| − | <center>'''3'''</center>
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| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Date:'''</center>
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| − | | |
| − | | |
| − | | |
| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Performed by:'''</center>
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| − | | |
| − | | |
| − | | |
| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''HW Rev: '''</center>
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| − | | |
| − | <center>'''FW Rev:'''</center>
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| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Purpose'''
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| − | | colspan="4" style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| Verified that Robots movement are fully synchronized – that mean the movements start and finish at the same time – at Robots from the same type.
| |
| | | | |
| | |- | | |- |
| | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Equipment''' | | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Equipment''' |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| * '''aico.control'''
| |
| − | * '''MIB StandAlone or Extend '''
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| − | * '''Simulated or Real system'''
| |
| − |
| |
| − |
| |
| − |
| |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Procedure'''
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| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| # Load configuration with at least 2 Robots from the same type (Scara/Delta/Puma …)
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| − | # Set-up the Robots properties (factors, limits, movement properties.)
| |
| − | # Set StartType of two robots to Sync
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| − | # Execute movements with different duration to the two robots
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| − | # Operate recording that record position (joint or cartesian) , velocity and ismoving flag for every Robot
| |
| − | # Execute SyncAll command
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| − | # Repeat the above scenario with 3 or 4 robots
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| − | # Repeat the same movements but with starttye = gcom (GeneratorCompleted) and operate recording on the same properties.
| |
| − |
| |
| − |
| |
| − |
| |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Expected Values'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| * Analyze the record file
| |
| − | * All axes start to move at the same time
| |
| − | * All axes stop at the same time
| |
| − | * Compare to the record result of the movements in section 8 – there should be differences in the movement duration, velocity , acceleration and jerk.
| |
| − |
| |
| − |
| |
| − |
| |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Measured Values'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
| |
| − |
| |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Results'''
| |
| | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| | | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| |
| | | | |
| − | |-
| + | * '''aico.control''' |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Comments'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
| |
| − | | |
| − | |}
| |
| − | === Synchronization of different Element types ===
| |
| − | | |
| − | {| style="border-spacing:0;"
| |
| − | | colspan="2" style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Test Case №:'''</center>
| |
| − | | |
| − | <center>'''4'''</center>
| |
| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Date:'''</center>
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| − | | |
| − | | |
| − | | |
| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Performed by:'''</center>
| |
| − | | |
| − | | |
| − | | |
| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''HW Rev: '''</center>
| |
| − | | |
| − | <center>'''FW Rev:'''</center>
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Purpose'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| Verified that synchronization of movements of different elements is fully applied. That can be test on synchronization of different Robot types or combination of axis and Robot.
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Equipment'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| * '''aico.control'''
| |
| | * '''MIB StandAlone or Extend ''' | | * '''MIB StandAlone or Extend ''' |
| | * '''Simulated or Real system''' | | * '''Simulated or Real system''' |
| − |
| |
| | | | |
| | | | |
| | |- | | |- |
| | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Procedure''' | | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Procedure''' |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| # Load configuration with at least 2 Robots from different types. For example Delta and Scara.
| |
| − | # Set-up the Robots properties (factors, limits, movement properties.)
| |
| − | # Set StartType of two robots to Sync
| |
| − | # Execute movements with different durations to the two robots
| |
| − | # Operate recording that record position (joint or cartesian) , velocity and ismoving flag for every Robot
| |
| − | # Execute SyncAll command
| |
| − | # Repeat the above scenario with 3 or 4 robots
| |
| − | # Repeat the above scenario with Robot and Axis.
| |
| − |
| |
| − |
| |
| − |
| |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Expected Values'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| For every one of the suggested tests:
| |
| − |
| |
| − | * Analyze the record file
| |
| − | * All axes start to move at the same time
| |
| − | * All axes stop at the same time
| |
| − |
| |
| − |
| |
| − |
| |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Measured Values'''
| |
| | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| | | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| |
| | | | |
| − | |-
| + | # Load configuration with more than 2 axes |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Results'''
| + | # Set-up the axes properties (factors, limits, movement properties.)Set two axes startype to be different then SYNC |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
| + | # Execute SyncAll commad |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Comments'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
| |
| − | | |
| − | |}
| |
| − | === Synchronization of different Movements length ===
| |
| − | | |
| − | {| style="border-spacing:0;"
| |
| − | | colspan="2" style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Test Case №:'''</center>
| |
| − | | |
| − | <center>'''5'''</center>
| |
| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Date:'''</center>
| |
| − | | |
| − | | |
| − | | |
| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Performed by:'''</center>
| |
| − | | |
| − | | |
| − | | |
| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''HW Rev: '''</center>
| |
| − | | |
| − | <center>'''FW Rev:'''</center>
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Purpose'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| This test aim is to confirm the behavior of the SyncAll on spectrum of movement lengths.
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Equipment'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| * '''aico.control'''
| |
| − | * '''MIB StandAlone or Extend '''
| |
| − | * '''Simulated or Real system'''
| |
| − | | |
| − | | |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Procedure'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| # Load configuration with at least 2 Robots from different types.
| |
| − | # Set-up the Robots properties (factors, limits, movement properties.) | |
| − | # Set StartType of two robots to Sync
| |
| − | # Execute several movements with different durations – same duration, one significantly shorter than the other one , both are short/long movements.
| |
| − | # Operate recording that record position (joint or cartesian) , velocity and ismoving flag for every Robot
| |
| − | # Execute SyncAll command | |
| − | | |
| − | | |
| | | | |
| | |- | | |- |
| | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Expected Values''' | | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Expected Values''' |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| For every one of the suggested tests:
| |
| − |
| |
| − | * Analyze the record file
| |
| − | * All axes start to move at the same time
| |
| − | * All axes stop at the same time
| |
| − |
| |
| − |
| |
| − |
| |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Measured Values'''
| |
| | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| | | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| |
| | | | |
| − | |-
| + | * No movement |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Results'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Comments'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
| |
| − | | |
| − | |}
| |
| − | === Synchronization of different Movements types ===
| |
| − | | |
| − | {| style="border-spacing:0;"
| |
| − | | colspan="2" style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Test Case №:'''</center>
| |
| − | | |
| − | <center>'''6'''</center>
| |
| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Date:'''</center>
| |
| − | | |
| − | | |
| − | | |
| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Performed by:'''</center>
| |
| − | | |
| − | | |
| − | | |
| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''HW Rev: '''</center>
| |
| − | | |
| − | <center>'''FW Rev:'''</center>
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Purpose'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| This test aim is to confirm the behavior of the SyncAll on movements with different motion type – Move / Moves / Circle.
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Equipment'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| * '''aico.control'''
| |
| − | * '''MIB StandAlone or Extend '''
| |
| − | * '''Simulated or Real system'''
| |
| − | | |
| − | | |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Procedure'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| # Load configuration with at least 2 Robots from same type.
| |
| − | # Set-up the Robots properties (factors, limits, movement properties.)
| |
| − | # Set different profiler types to the Robots (Move / Moves / Circle).
| |
| − | # Set StartType of two robots to Sync
| |
| − | # Operate recording that record position (joint or cartesian) , velocity and ismoving flag for every Robot
| |
| − | # Execute SyncAll command
| |
| − | | |
| − | | |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Expected Values'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| For every one of the suggested tests:
| |
| − | | |
| − | * Analyze the record file
| |
| − | * All axes start to move at the same time
| |
| − | * All axes stop at the same time
| |
| − | * Pay attention that the movement are as expected.
| |
| − | | |
| − | | |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Measured Values'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Results'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Comments'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
| |
| − | | |
| − | |}
| |
| − | === Synchronization of different profiler types ===
| |
| − | | |
| − | {| style="border-spacing:0;"
| |
| − | | colspan="2" style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Test Case №:'''</center>
| |
| − | | |
| − | <center>'''7'''</center>
| |
| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Date:'''</center>
| |
| − | | |
| − | | |
| − | | |
| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Performed by:'''</center>
| |
| − | | |
| − | | |
| − | | |
| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''HW Rev: '''</center>
| |
| − | | |
| − | <center>'''FW Rev:'''</center>
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Purpose'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| This test aim is to confirm the behavior of the SyncAll on movements with different profiler type – Sinus/Trapeze/Time base.
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Equipment'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| * '''aico.control'''
| |
| − | * '''MIB StandAlone or Extend '''
| |
| − | * '''Simulated or Real system'''
| |
| − | | |
| − | | |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Procedure'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| # Load configuration with at least 2 Robots from same type.
| |
| − | # Set-up the Robots properties (factors, limits, movement properties.)
| |
| − | # Set different profiler types to the Robots (Sinus / Trapeze / Time base).
| |
| − | # Set StartType of two robots to Sync
| |
| − | # Execute several movements with different durations.
| |
| − | # Operate recording that record position (joint or cartesian) , velocity and ismoving flag for every Robot
| |
| − | # Execute SyncAll command
| |
| − | | |
| − | | |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Expected Values'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| For every one of the suggested tests:
| |
| − | | |
| − | * Analyze the record file
| |
| − | * All axes start to move at the same time
| |
| − | * All axes stop at the same time
| |
| − | * The longest movement forces its profiler
| |
| − | | |
| − | | |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Measured Values'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Results'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Comments'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
| |
| − | | |
| − | |}
| |
| − | === Synchronization of different motion properties ===
| |
| − | | |
| − | {| style="border-spacing:0;"
| |
| − | | colspan="2" style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Test Case №:'''</center>
| |
| − | | |
| − | <center>'''8'''</center>
| |
| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Date:'''</center>
| |
| − | | |
| − | | |
| − | | |
| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Performed by:'''</center>
| |
| − | | |
| − | | |
| − | | |
| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''HW Rev: '''</center>
| |
| − | | |
| − | <center>'''FW Rev:'''</center>
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Purpose'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| This test aim is to check the synchronized movement’s properties. The original properties are changed to create an equaled duration movements.
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Equipment'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| * '''aico.control'''
| |
| − | * '''MIB StandAlone or Extend '''
| |
| − | * '''Simulated or Real system'''
| |
| − | | |
| − | | |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Procedure'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| # Load configuration with at least 2 Robots from same type.
| |
| − | # Set-up the Robots properties properties (factors, limits, movement properties.)
| |
| − | # Set different motion properties types to the Robots – velocity, acceleration
| |
| − | # Set StartType of two robots to Sync
| |
| − | # Execute several movements with different durations.
| |
| − | # Operate recording that record position (joint or cartesian) , velocity and ismoving flag for every Robot
| |
| − | # Execute SyncAll command
| |
| − | | |
| − | | |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Expected Values'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| For every one of the suggested tests:
| |
| − | | |
| − | * Analyze the record file
| |
| − | * All axes start to move at the same time
| |
| − | * All axes stop at the same time
| |
| − | * The resulted motion properties value should be different than the originals.
| |
| − | | |
| − | | |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Measured Values'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Results'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Comments'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
| |
| − | | |
| − | |}
| |
| − | === Synchronization of movements with extreme short Movement ===
| |
| − | | |
| − | {| style="border-spacing:0;"
| |
| − | | colspan="2" style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Test Case №:'''</center>
| |
| − | | |
| − | <center>'''9'''</center>
| |
| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Date:'''</center>
| |
| − | | |
| − | | |
| − | | |
| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Performed by:'''</center>
| |
| − | | |
| − | | |
| − | | |
| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''HW Rev: '''</center>
| |
| − | | |
| − | <center>'''FW Rev:'''</center>
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Purpose'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| This case is for testing a border case where one of the movement is extremely short.
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Equipment'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| * '''aico.control'''
| |
| − | * '''MIB StandAlone or Extend '''
| |
| − | * '''Simulated or Real system'''
| |
| − | | |
| − | | |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Procedure'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| # Load configuration with at least 2 Robots from same type.
| |
| − | # Set-up the Robots properties (pfac, vac, afac, vtran, vrot….)
| |
| − | # Set StartType of two robots to Sync
| |
| − | # Execute movements that one of them is extremely short (duration can be few sec).
| |
| − | # Operate recording that record position (joint or cartesian) , velocity and ismoving flag for every Robot
| |
| − | # Execute SyncAll command
| |
| − | | |
| − | | |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Expected Values'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| For every one of the suggested tests:
| |
| − | | |
| − | * Analyze the record file
| |
| − | * All axes start to move at the same time
| |
| − | * All axes stop at the same time
| |
| − | | |
| − | | |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Measured Values'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Results'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Comments'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
| |
| − | | |
| − | |}
| |
| − | === Stop synchronization movements ===
| |
| − | | |
| − | {| style="border-spacing:0;"
| |
| − | | colspan="2" style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Test Case №:'''</center>
| |
| − | | |
| − | <center>'''10'''</center>
| |
| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Date:'''</center>
| |
| − | | |
| − | | |
| − | | |
| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Performed by:'''</center>
| |
| − | | |
| − | | |
| − | | |
| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''HW Rev: '''</center>
| |
| − | | |
| − | <center>'''FW Rev:'''</center>
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Purpose'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| This test aim is to check the behavior of stopping synchronization movement. The stopping pfofiler will be different as there are several StopType.
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Equipment'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| * '''aico.control'''
| |
| − | * '''MIB StandAlone or Extend '''
| |
| − | * '''Simulated or Real system'''
| |
| − | | |
| − | | |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Procedure'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| # Load configuration with at least 2 Robots from same type.
| |
| − | # Set-up the Robots properties (pfac, vac, afac, vtran, vrot….)
| |
| − | # Set StartType of two robots to Sync
| |
| − | # Execute movements so the synchronization will affect their motion properties (for example different duration or with different motion characteristics).
| |
| − | # Execute SyncAll command
| |
| − | # Stop one of the movements and track the stopping profiler. Repeat this stage using different StopType values (immed / onpath /endmotion / decstop).
| |
| − | # Operate recording that record position (joint or cartesian) , velocity and ismoving flag for every case
| |
| − | | |
| − | | |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Expected Values'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| For every one of the suggested tests:
| |
| − | | |
| − | * Analyze the record file
| |
| − | * All axes start to move at the same time
| |
| − | * All axes stop at the same time
| |
| − | | |
| − | | |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Measured Values'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Results'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Comments'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
| |
| − | | |
| − | |}
| |
| − | === Proceed the stopped movements ===
| |
| − | | |
| − | {| style="border-spacing:0;"
| |
| − | | colspan="2" style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Test Case №:'''</center>
| |
| − | | |
| − | <center>'''11'''</center>
| |
| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Date:'''</center>
| |
| − | | |
| − | | |
| − | | |
| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Performed by:'''</center>
| |
| − | | |
| − | | |
| − | | |
| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''HW Rev: '''</center>
| |
| − | | |
| − | <center>'''FW Rev:'''</center>
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Purpose'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| This test aim is to check the behavior of proceeding stopped synchronization movement. The proceed command should continue the stopped movement with the same motion properties.
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Equipment'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| * '''aico.control'''
| |
| − | * '''MIB StandAlone or Extend '''
| |
| − | * '''Simulated or Real system'''
| |
| − | | |
| − | | |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Procedure'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| # Load configuration with at least 2 Robots from same type.
| |
| − | # Set-up the Robots properties (pfac, vac, afac, vtran, vrot….)
| |
| − | # Set StartType of two robots to Sync
| |
| − | # Execute movements so the synchronization will affect their motion properties (for example different duration or with different motion characteristics).
| |
| − | # Execute SyncAll command
| |
| − | # Stop one of the movements and track the stopping profiler.
| |
| − | # Proceed the stopped movement with ProceedType = continue.
| |
| − | # Operate recording that record position (joint or cartesian) , velocity and ismoving flag for every case
| |
| − | | |
| − | | |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Expected Values'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| For every one of the suggested tests:
| |
| − | | |
| − | * Analyze the record file
| |
| − | * All axes start to move at the same time
| |
| − | * All axes stop at the same time
| |
| − | * Proceed should be used the calculated movement properties due to synchronization and not he original one.
| |
| − | | |
| − | | |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Measured Values'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Results'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Comments'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"|
| |
| − | | |
| − | |}
| |
| − | === Rejected Movement ===
| |
| − | | |
| − | {| style="border-spacing:0;"
| |
| − | | colspan="2" style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Test Case №:'''</center>
| |
| − | | |
| − | <center>'''12'''</center>
| |
| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Date:'''</center>
| |
| − | | |
| − | | |
| − | | |
| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''Performed by:'''</center>
| |
| − | | |
| − | | |
| − | | |
| − | | style="background-color:#006d75;border-top:0.0139in solid #000001;border-bottom:0.0139in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>'''HW Rev: '''</center>
| |
| − | | |
| − | <center>'''FW Rev:'''</center>
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Purpose'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0139in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| Reject movements that can’t be synchronized.
| |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Equipment'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| * '''aico.control'''
| |
| − | * '''MIB StandAlone or Extend '''
| |
| − | * '''Simulated or Real system'''
| |
| − | | |
| − | | |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Test Procedure'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| # Load configuration with at least 2 axis.
| |
| − | # Set-up the axis properties (factors, limits, movement properties.)
| |
| − | # Set different motion properties types to the Robots – velocity, acceleration
| |
| − | # Set StartType of two robots to Sync
| |
| − | # Try to execute movements with vfinal > 0.
| |
| − | # Execute SyncAll command
| |
| − | | |
| − | | |
| − | | |
| − | |-
| |
| − | | style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0139in solid #000001;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| '''Expected Values'''
| |
| − | | colspan="4" style="background-color:#ffffff;border-top:0.0069in solid #000001;border-bottom:0.0069in solid #000001;border-left:0.0069in solid #000001;border-right:0.0139in solid #000001;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| For every one of the suggested tests:
| |
| − | | |
| − | * An error should be return.
| |
| − | | |
| | | | |
| | | | |