Table 1. Permanent Program Storage States
Storage | Meaning | Constant |
---|---|---|
CMOS | Same as standard controller | TPSTOR_CMOS |
SHADOW | Program is in SHADOW memory | TPSTOR_SHAD |
SHADOW ONDEMAND | Program will be loaded to SHADOW when needed | TPSTOR_SHOD |
FILE | Program is in a TP file in $FILE_PATH | TPSTOR_FILE |
Table 2. FILE Programs Limitations and Attributes
The file is just an ordinary TP file that can be shared among robots or even directly shared with ROBOGuide. |
Programs of this type can be edited using the TP editor just like other programs. |
Dynamic changes to header information temporarily move a program from FILE to CMOS to do these adjustments. |
Programs of type FILE may not be compatible with certain applications |
Table 3. Temporary Program Storage States
Temporary State | Meaning |
---|---|
SHAD (DRAM) ONDE | SHADOW ONDEMAND program is loaded to DRAM |
FILE (DRAM) | FILE program is loaded into DRAM |
SHAD(CMOS) | SHADOW program moved to CMOS for editing |
SHAD(CMOS) ONDE | SHADOW ONDEMAND program moved to CMOS for editing |
FILE (CMOS) | FILE program moved to CMOS for editing |
Table 4. Storage Configuration Status and Settings
Type | Information |
---|---|
Status | Total number of programs in CMOS,SHADOW,SHADOW ONDEMAND, FILE |
Status | Loaded programs in SHADOW,SHADOW ONDEMAND, FILE This is dynamic on startup and will show load progress |
Status | Total memory use of programs in CMOS,SHADOW,SHADOW ONDEMAND, FILE |
Setting | String which is validated. If changed FILE programs list is updated according to new setting ($TPDRAM_CFG.$FILE_PATH) |
Setting | To and from locations for moving programs between storage types |
Setting | CMOS,SHADOW or SHADOW ONDEMAND. Designates the default storage location for new programs ($TPDRAM_CFG.$TPSTORE_DEF) |
Setting | Default setting overrides setting in TP file. ($TPDRAM_CFG.$FORCE_DEF = 0 or 1) |
Setting | Exclude or include FILE program types in backup. ($TPDRAM_CFG.$BACK_FILE = 0 or 1) |
Setting | SHADOW non-volatile storage size ($TPDRAM_CFG.$SHAD_SIZE) |
Setting | Minimum allowable DRAM (does not allow remaining DRAM to go below this limit) ($TPDRAM_CFG.$MIN_DRAM) |
Function | MOVE — Move programs according to specified storage types |
Function | REFRESH — Update the information according to the FILE storage TP files |
Function | END — Continue to SELECT screen or normal TPMM operation at startup. |
Table 5. Maximum Program Size for Typical CMOS Allocations
CMOS Size | Number of Points | CMOS Allocation |
---|---|---|
1 Meg | 2,000 | 240k |
2 Meg | 8,800 | 800k |
3 Meg | 12,600 | 1000k |
Table 6. Load/Convert Times for 1,000 Point Program
Source | Destination | Time (ms) |
---|---|---|
SHADOW ONDEMAND | DRAM | 112 |
DRAM | CMOS | 1,282 |
CMOS | DRAM | 1,116 |
FILE (PC Share) | FILE(DRAM | 2,251 |
FILE (MC) | FILE(DRAM | 2,791 |
FILE (FR) | FILE(DRAM | 2,838 |
FILE (RD) | FILE(DRAM | 1,300 |
FILE (USB) | FILE(DRAM | 2,904 |