SELECT/CONFIG SCREEN


SELECT/CONFIG SCREEN

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