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Appendix F Introduction
376 Adept MV Controller User’s Guide, Rev. B
Introduction
Diagnostic self tests are performed when power to the Adept controller is applied
and then continuously through the operating cycle of the V
+
code. These tests
check numerous areas within the controller to ensure that it is operating properly.
Tests During System Power-up
Processor Self-Test
After power is turned on, each CPU performs basic functional checks including
CPU register and mathematical tests, EPROM content checksum test, 100% RAM
read-write test, and a watchdog timer test. If any of the CPU tests fail, a message
is displayed. If the tests pass, no message is displayed and the V
+
operating
system will be loaded onto each CPU. During loading a checksum test is
performed on each record.
System Initialization Tests
If the operating system is loaded successfully, the V
+
copyright message is
displayed. V
+
tests NVRAM checksums and verifies that software licenses are
consistent with installed hardware.
V
+
then checks presence of a vision board and makes read/write test of the vision
framestore.
RSC Self-Test
Adept robots include a Robot Signature Card (RSC) inside the robot. On
power-up, the RSC performs CPU EEPROM checksum, code checksum, and
RAM tests. V
+
tests communication with the RSC, then reads the results of the
RSC Diagnostics.
Completion of Power-up Tests
If any of the initialization tests fail, one or more messages are displayed.
Otherwise, the system ID message is displayed (controller serial number, V
+
version, etc.).
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