Element Coordination Verification Procedure

Test Requirements

AMCS Firmware version: 4.11.? Application Framework: ?

Functionality ATP

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 №: 1		Date:	Performed by:	HW Rev: FW Rev:
Test Purpose	X
Test Equipment	aico.control MIB StandAlone or Extend Simulated or Real system
Test Procedure	Load configuration with more than 2 axes Set-up the axes properties (factors, limits, movement properties.)Set two axes startype to be different then SYNC Execute SyncAll commad
Expected Values	No movement
Measured Values
Test Results
Comments