Revision as of 13:47, 11 November 2012

Element Coordination Verification Procedure

Test Requirements

AMCS Firmware version: 4.11.? Application Framework: ?

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

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

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

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

Test Case №: 4		Date:	Performed by:	HW Rev: FW Rev:
Test Purpose	Check if it is in accordance to: MF.BASE
Test Equipment	aico.control MIB StandAlone or Extend Simulated or Real system
Test Procedure	Load configuration with more than 2 robot
Expected Values	No movement
Measured Values
Test Results
Comments

Test Case №: 4		Date:	Performed by:	HW Rev: FW Rev:
Test Purpose	Check if it is in accordance to: MF.BASE
Test Equipment	aico.control MIB StandAlone or Extend Simulated or Real system
Test Procedure	Load configuration with more than 2 robot
Expected Values	No movement
Measured Values
Test Results
Comments

@@ Line 235: / Line 235: @@
 {| 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>
+<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>
@@ Line 291: / Line 291: @@
 |}
 == Maser/Slave relationship ==