Table of Contents ACE Reference Guide, 18317-000 Rev A Page 27 1. A standard collection of ACE Sight V+ programs are contained in a file called asight.v2. This file is updated on any controllers in the workspace when the ACE software connects to a given controller. 2. The asight.v2 file contains some of the sample code associated with AdeptSight 2.x queue management, namely: getinstance reset seq string2instance _ nzs2string set as exec mod _ _ _ It is no longer necessary to include those programs in an application being migrated from AdeptSight 2 to ACE Sight. 3. ACE Sight operates in the “AdeptSight Server” mode of AdeptSight 2.x.
This will not functionally change applications that use the communications tool queue to access parts. 4. Several of the properties have changed. In total, there are 440 command parameter codes in AdeptSight 2.x. The conversion to ACE Sight affects 17 of these commands. The changes are as follows: Property Name Code Description of the Change RobotConfiguration 10400 No longer supported. InverseKinematics 10060 The configuration used in the kinematic calculation is based on the current configuration of the robot. It no longer uses the RobotConfiguration parameter. Inverse kinematics calculations are not supported for the Cobra i-Series robot.
GripperOffset 10100 ACE Sight returns the gripper offset from the gripper offset table associated with a specific robot. For details, see See "GripperOffset". The following command codes are not directly supported in ACE Sight at this time. Please contact Adept Technical Support for programming options. Property Name Code LoadProject 10300 LoadSequence 10301 LoadColorCalibration 10302 LoadVisionCalibration 10303 LoadRobotCalibration 10304 getinstance reset seq _ string2instance nzs2string set as exec mod _ _ _ Property Name Code LoadProject 10300 LoadSequence 10301 LoadColorCalibration 10302 LoadVisionCalibration 10303 LoadRobotCalibration 10304