Element Coordination Verification Procedure
Test Requirements
AMCS Firmware version: 4.11.?
Application Framework: ?
Related Documentation
Functionality ATP
Data Creation
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1
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Date:
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Performed by:
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HW Rev:
FW Rev:
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Test Purpose
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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.
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| Test Equipment
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- aico.control
- MIB StandAlone or Extend
- Simulated or Real system
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| Test Procedure
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- 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
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| Expected Values
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| Measured Values
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| Test Results
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| Comments
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Type parameter
| Test Case №:
2
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Date:
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Performed by:
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HW Rev:
FW Rev:
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Test Purpose
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Check if it is in accordance to: TYPE
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| Test Equipment
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- aico.control
- MIB StandAlone or Extend
- Simulated or Real system
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| Test Procedure
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- 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
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| Expected Values
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| Measured Values
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| Test Results
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| Comments
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ObjectLoc parameter
| Test Case №:
3
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Date:
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Performed by:
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HW Rev:
FW Rev:
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Test Purpose
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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
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| Expected Values
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| Measured Values
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| Test Results
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| Comments
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