AXY:Element Coordination/ATP

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Robot Synchronization Verification


Table of ContentsRevisions3

ATP Status Table3

Test Requirements4

Related Documentation4

Functionality ATP5

Configuration Verification5

Synchronization of Axes5

Synchronization of Robots6

Synchronization of different Element types6

Synchronization of different Movements length7

Synchronization of different Movements types7

Synchronization of different profiler types8

Synchronization of different motion properties8

Synchronization of movements with extreme short Movement9

Stop synchronization movements 10

Proceed the stopped movements11

Rejected Movement12= Revisions =

Revision Description Author
V1.0 Global test Naama Neubuaer

ATP Status Table

Test Case Description Status
1 Configuration verification
2 Synchronization of Axes
3 Synchronization of Robots
4 Synchronization of different Robot types
5 Synchronization of different Movements length
6 Synchronization of different Movements types
7 Synchronization of different profiler types
8 Synchronization of different motion properties
9 Synchronization of movements with extreme short Movement
10 Stop synchronization movements
11 Proceed the stopped movements
12 Rejected Movement

Test Requirements

AMCS Firmware version: 4.11.?

Application Framework: ?


Related Documentation

SyncAll description can be found at:

https://wiki.manz-automation.com/wiki/AXY:Element_Synchronization


Functionality ATP

Configuration Verification

Test Case №:
1
Date:
Performed by:
HW Rev:
FW Rev:
Test Purpose Ensure the syntax of the command
Test Equipment * aico.control
  • MIB StandAlone or Extend
  • Simulated or Real system


Test Procedure # Load configuration with more than 2 axes
  1. Set-up the axes properties (factors, limits, movement properties.)Set two axes startype to be different then SYNC
  2. Execute SyncAll commad


Expected Values * No movement


Measured Values
Test Results
Comments

Synchronization of Axes

Test Case №:
2
Date:
Performed by:
HW Rev:
FW Rev:
Test Purpose Verified that axes movement are fully synchronized – that mean the movements start and finish at the same time.
Test Equipment * aico.control
  • MIB StandAlone or Extend
  • Simulated or Real system


Test Procedure # Load configuration with more than 2 axes
  1. Set-up the axes properties properties (factors, limits, movement properties.)
  2. Set StartType of two axes to Sync
  3. Execute movements with different targets to the two axes
  4. Operate recording that record – pcmd , vcmd, ismoving flag for every axis
  5. Execute SyncAll command
  6. Repeat the above scenario with 3 or 4 axes


Expected Values * Analyze the record file
  • All axes start to move at the same time
  • All axes stop at the same time


Measured Values
Test Results
Comments

Synchronization of Robots

Test Case №:
3
Date:
Performed by:
HW Rev:
FW Rev:
Test Purpose Verified that Robots movement are fully synchronized – that mean the movements start and finish at the same time – at Robots from the same type.
Test Equipment * aico.control
  • MIB StandAlone or Extend
  • Simulated or Real system


Test Procedure # Load configuration with at least 2 Robots from the same type (Scara/Delta/Puma …)
  1. Set-up the Robots properties (factors, limits, movement properties.)
  2. Set StartType of two robots to Sync
  3. Execute movements with different duration to the two robots
  4. Operate recording that record position (joint or cartesian) , velocity and ismoving flag for every Robot
  5. Execute SyncAll command
  6. Repeat the above scenario with 3 or 4 robots
  7. Repeat the same movements but with starttye = gcom (GeneratorCompleted) and operate recording on the same properties.


Expected Values * 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.


Measured Values
Test Results
Comments

Synchronization of different Element types

Test Case №:
4
Date:
Performed by:
HW Rev:
FW Rev:
Test Purpose 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.
Test Equipment * aico.control
  • MIB StandAlone or Extend
  • Simulated or Real system


Test Procedure # Load configuration with at least 2 Robots from different types. For example Delta and Scara.
  1. Set-up the Robots properties (factors, limits, movement properties.)
  2. Set StartType of two robots to Sync
  3. Execute movements with different durations to the two robots
  4. Operate recording that record position (joint or cartesian) , velocity and ismoving flag for every Robot
  5. Execute SyncAll command
  6. Repeat the above scenario with 3 or 4 robots
  7. Repeat the above scenario with Robot and Axis.


Expected Values 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


Measured Values
Test Results
Comments

Synchronization of different Movements length

Test Case №:
5
Date:
Performed by:
HW Rev:
FW Rev:
Test Purpose This test aim is to confirm the behavior of the SyncAll on spectrum of movement lengths.
Test Equipment * aico.control
  • MIB StandAlone or Extend
  • Simulated or Real system


Test Procedure # Load configuration with at least 2 Robots from different types.
  1. Set-up the Robots properties (factors, limits, movement properties.)
  2. Set StartType of two robots to Sync
  3. Execute several movements with different durations – same duration, one significantly shorter than the other one , both are short/long movements.
  4. Operate recording that record position (joint or cartesian) , velocity and ismoving flag for every Robot
  5. Execute SyncAll command


Expected Values 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


Measured Values
Test Results
Comments

Synchronization of different Movements types

Test Case №:
6
Date:
Performed by:
HW Rev:
FW Rev:
Test Purpose This test aim is to confirm the behavior of the SyncAll on movements with different motion type – Move / Moves / Circle.
Test Equipment * aico.control
  • MIB StandAlone or Extend
  • Simulated or Real system


Test Procedure # Load configuration with at least 2 Robots from same type.
  1. Set-up the Robots properties (factors, limits, movement properties.)
  2. Set different profiler types to the Robots (Move / Moves / Circle).
  3. Set StartType of two robots to Sync
  4. Operate recording that record position (joint or cartesian) , velocity and ismoving flag for every Robot
  5. Execute SyncAll command


Expected Values 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.


Measured Values
Test Results
Comments

Synchronization of different profiler types

Test Case №:
7
Date:
Performed by:
HW Rev:
FW Rev:
Test Purpose This test aim is to confirm the behavior of the SyncAll on movements with different profiler type – Sinus/Trapeze/Time base.
Test Equipment * aico.control
  • MIB StandAlone or Extend
  • Simulated or Real system


Test Procedure # Load configuration with at least 2 Robots from same type.
  1. Set-up the Robots properties (factors, limits, movement properties.)
  2. Set different profiler types to the Robots (Sinus / Trapeze / Time base).
  3. Set StartType of two robots to Sync
  4. Execute several movements with different durations.
  5. Operate recording that record position (joint or cartesian) , velocity and ismoving flag for every Robot
  6. Execute SyncAll command


Expected Values 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


Measured Values
Test Results
Comments

Synchronization of different motion properties

Test Case №:
8
Date:
Performed by:
HW Rev:
FW Rev:
Test Purpose This test aim is to check the synchronized movement’s properties. The original properties are changed to create an equaled duration movements.
Test Equipment * aico.control
  • MIB StandAlone or Extend
  • Simulated or Real system


Test Procedure # Load configuration with at least 2 Robots from same type.
  1. Set-up the Robots properties properties (factors, limits, movement properties.)
  2. Set different motion properties types to the Robots – velocity, acceleration
  3. Set StartType of two robots to Sync
  4. Execute several movements with different durations.
  5. Operate recording that record position (joint or cartesian) , velocity and ismoving flag for every Robot
  6. Execute SyncAll command


Expected Values 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.


Measured Values
Test Results
Comments

Synchronization of movements with extreme short Movement

Test Case №:
9
Date:
Performed by:
HW Rev:
FW Rev:
Test Purpose This case is for testing a border case where one of the movement is extremely short.
Test Equipment * aico.control
  • MIB StandAlone or Extend
  • Simulated or Real system


Test Procedure # Load configuration with at least 2 Robots from same type.
  1. Set-up the Robots properties (pfac, vac, afac, vtran, vrot….)
  2. Set StartType of two robots to Sync
  3. Execute movements that one of them is extremely short (duration can be few sec).
  4. Operate recording that record position (joint or cartesian) , velocity and ismoving flag for every Robot
  5. Execute SyncAll command


Expected Values 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


Measured Values
Test Results
Comments

Stop synchronization movements

Test Case №:
10
Date:
Performed by:
HW Rev:
FW Rev:
Test Purpose This test aim is to check the behavior of stopping synchronization movement. The stopping pfofiler will be different as there are several StopType.
Test Equipment * aico.control
  • MIB StandAlone or Extend
  • Simulated or Real system


Test Procedure # Load configuration with at least 2 Robots from same type.
  1. Set-up the Robots properties (pfac, vac, afac, vtran, vrot….)
  2. Set StartType of two robots to Sync
  3. Execute movements so the synchronization will affect their motion properties (for example different duration or with different motion characteristics).
  4. Execute SyncAll command
  5. Stop one of the movements and track the stopping profiler. Repeat this stage using different StopType values (immed / onpath /endmotion / decstop).
  6. Operate recording that record position (joint or cartesian) , velocity and ismoving flag for every case


Expected Values 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


Measured Values
Test Results
Comments

Proceed the stopped movements

Test Case №:
11
Date:
Performed by:
HW Rev:
FW Rev:
Test Purpose 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.
Test Equipment * aico.control
  • MIB StandAlone or Extend
  • Simulated or Real system


Test Procedure # Load configuration with at least 2 Robots from same type.
  1. Set-up the Robots properties (pfac, vac, afac, vtran, vrot….)
  2. Set StartType of two robots to Sync
  3. Execute movements so the synchronization will affect their motion properties (for example different duration or with different motion characteristics).
  4. Execute SyncAll command
  5. Stop one of the movements and track the stopping profiler.
  6. Proceed the stopped movement with ProceedType = continue.
  7. Operate recording that record position (joint or cartesian) , velocity and ismoving flag for every case


Expected Values 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.


Measured Values
Test Results
Comments

Rejected Movement

Test Case №:
12
Date:
Performed by:
HW Rev:
FW Rev:
Test Purpose Reject movements that can’t be synchronized.
Test Equipment * aico.control
  • MIB StandAlone or Extend
  • Simulated or Real system


Test Procedure # Load configuration with at least 2 axis.
  1. Set-up the axis properties (factors, limits, movement properties.)
  2. Set different motion properties types to the Robots – velocity, acceleration
  3. Set StartType of two robots to Sync
  4. Try to execute movements with vfinal > 0.
  5. Execute SyncAll command


Expected Values For every one of the suggested tests:
  • An error should be return.


Measured Values
Test Results
Comments
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