Copyright Notice The information contained herein is the property of Omron Adept Technologies, Inc., and shall not be repro- duced in whole or in part without prior written approval of Omron Adept Technologies, Inc. The information herein is subject to change without notice and should not be construed as a commitment by Omron Adept Technologies, Inc. The documentation is periodically reviewed and revised. Omron Adept Technologies, Inc., assumes no responsibility for any errors or omissions in the doc- umentation. Critical evaluation of the documentation by the user is welcomed. Your comments assist us in preparation of future documentation. Please submit your comments to:

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Table Of Contents Introduction 17 Overview 18 Configuration Tools 18 Application Setup and Operation 18 The ACE Workspace 19 Feature Summary 20 Comparison to Adept Utilities 21 Comparison to Adept AIM Software 22 Comparison to Adept DeskTop Software 23 How Do I Begin?

25 Getting Started with the ACE Software 27 Installing the Software 28 Licensing Requirements 28 Beginning the Installation 30 Installing the ACE Software 30 Configuring Ethernet Communications 32 Configuring One PC and Controller With User-Assigned IP Address 32 Configuring Serial Communications 36 Required Cabling and Hardware 36 Configuring the Serial Protocol 36 Running ACE for the First Time 37 Starting the ACE Software 37 Starting a Localized Version of the ACE Software 38 Loading or Creating a Workspace 39 Controller Connection Errors 40 Starting ACE from the Windows Command Prompt 40 Creating Shortcuts for Starting ACE 42 Understanding the Interface 46 The Main User Interface 46 Icons in the Workspace 46 The 3D Visualization Window 47 The Robot Jog Control 48 Programming Tools and Editors 49 Task Status Control 50 Workspace Loading and Unloading 52 Loading a Workspace 52 Dragging an AWP File into the Workspace 54 Saving a Workspace 54 User and Startup Configuration 55 ACE User's Guide, 3.6.x, 18316-000 Rev A Page 5

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Configuring User Access 55 Configuring System Startup 55 Robot Concepts 57 The Coordinate System 58 Locations and Precision Points 58 Defining a Location 59 Workspace Coordinates 60 Basic Robot-Motion Parameters 61 Speed, Acceleration, and Deceleration 61 Approach and Depart 61 Arm Configuration 62 Location Precision 63 Continuous-Path Motion 63 Joint-Interpolated Motion vs. Straight-Line Motion 64 Performance Considerations 64 Understanding Conveyors (Belts) 66 Indexing versus Tracking Conveyors 66 Conveyor Terminology 66 Defining a Pallet Layout 68 Why is Gripper Orientation Important?

70 User Interface 71 Main Menu 72 File Menu 72 View Menu 73 Tools Menu 74 Help Menu 74 Objects and Object Editors 75 Workspace Explorer 75 Objects in the Workspace 85 Objects and Object Editors 92 Controller Editor 97 System Options 104 Gripper Editor 108 Note Editor 113 Robot Editor 114 System Startup Editor 119 User Manager Editor 125 Data Mapper Editor 129 Variable Editor 131 Adept AnyFeeder Object 138 FlexiBowl Feeder Object 144 IO Feeder Object 148 CAD Data Object 152 ACE User's Guide, 3.6.x 18316-000 Rev A Page 6

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Toolbar 157 Toolbar - General 157 Toolbar - Connections 158 Toolbar - Task Status Control 160 Save Workspace 161 Robot Jog Control 163 Digital I/O Window 166 File Explorer 168 3D Visualization 176 Function Keys 180 Wizards 181 Wizard Elements 182 Application Sample and Calibration Wizards 184 Emulation Mode Wizards 185 V+ System Configuration Tools 189 Controller Installation 190 Using the Controller Installation Wizard 190 DeviceNet Scan 193 Digital I/O Configuration 195 Using the Configure (FireWire) Nodes Dialog 195 Using the V+ System Configuration Dialog 196 Encoder Latches 198 FireWire Node Firmware Upgrade 200 Python Module/Smart Servo Kit Configuration 202 Robot and Motor FireWire Configuration 205 Setting the Robot and Motor Numbers 206 Setting the sDIO Block Numbers 208 Flashing the Node LED 208 Viewing the Node Information 209 Setting the Node Clock 210 Robot Installation 211 Adding a Robot With Auto Configuration 213 V+ Backup 214 V+ Restore 215 DeviceNet Configuration 216 LOCAL Statement 217 MACID Statement 218 MAPPING Statement 218 V+ System Configuration Editor 221 Adding, Editing, or Removing a Statement 222 Adding Multiple Item Values Within a Statement 224 ACE User's Guide, 3.6.x, 18316-000 Rev A Page 7

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