-------------------------------------------------------------------------------Institut de Recherche en Communications et Cyberntique de Nantes - Robotics team -------------------------------------------------------------------------------INSTALLATION OF THE SYMORO+ 1.2.5 PACKAGE README.

TXT File ++++++++++++++++++++++++++++++++++++++++++++++ Content: 1. 2. 3. 4. 5. System requirements Space requirements Installation of the SYMORO+ package Known problem with installed Mathematica package Upgrading from a version prior to 1.1

++++++++++++++++++++++++++++++++++++++++++++++ 1. System requirements: ---------------------------------Screen resolution: This program requires 1024x768 or better resolution. Operating system: Windows (95/98/Me/NT4/2000/XP). Mathematica from Wolfram Research Inc. version 3.0.1 or higher must be installed on your computer to run this program. The installed software must at least contain the following components: Kernel, MathLink Libraries and Standard Add-on Packages. 2. Space requirements: -------------------------------4 Mb of free space are required on the hard disk to install SYMORO+ and the SENTINEL DRIVER (this size does not include the Mathematica package). 3. Installation: ------------------SYMORO+ is provided on a CD-ROM that contains a setup program. A protection key, which must be installed on the parallel port of the computer, is also supplied. During the installation a directory "Math" which contains the Mathematica programs and a directory "Robots" which contains the parameters of some robots are copied to the hard disk. To install the SYMORO+ package on Microsoft Windows NT/2000/XP systems, you must have administrator privileges. It is recommended to cancel a previously installed version of SYMORO+ by using the "uninstall" procedure that was provided with it, in order to clean the Windows registry. Be aware that when installing the software in the same directory as an older version, all the files in the underlying directory tree "Symoro+" will be delete d by the setup program ("Symoro+" is the generic name for the location directory o f

the software). If you want to preserve some files in the current "Symoro+\Robots \ ... " directories you must make a copy of them. To start the installation process run the file "setup.exe" on the distribute d disk in the directory named "SYMORO" and follow the instructions on the screen. If the autorun is activated for your CD-ROM drive, the install process starts automatically when the disk is inserted. You must also install (if not already done) the driver provided on the distributed disk in the directory named "SENTINEL" and connect the key to the parallel port that has been chosen in the driver configuration process. Please edit the "Readme.txt" file in the "SENTINEL" directory to get useful information about the driver install process. When setup is complete, you may run the installed program by selecting the SYMORO+ icon in the program group. Note that Mathematica from Wolfram Research Inc. version 3.0.1 or higher must be installed on your computer to run this program. (the list of the components to be installed is given at the beginning of this file) The user guide is available in "pdf" format by selecting it in the program group. This guide is located in the directory of the installed software package. This program is not intended to run on a network configuration, so SYMORO+ and the SENTINEL package and its key must be installed on the computer that will be used by the final users. 4. Known problem with installed Mathematica package: -------------------------------------------------------------Sometime the installation of the Mathematica package does not update the following registry key: "HKEY_LOCAL_MACHINE\SOFTWARE\Microsoft\Windows\CurrentVersion\App Paths\ MathKernel.exe" So this error message appears on the screen when you start SYMORO+: "Mathematica references are not correct in the Windows Registry. Try to reinstal l the Mathematica package". To solve this problem you must update the Windows registry with the key above. To help you we provide a file named "MathKey.reg" on the distribution dis k and in the installed software package directory. Edit this file and set the correct access path for the Mathematica program file "MathKernel.exe". Then just double-click the file or drag and drop the file on the opened registry editor. (to open the registry editor execute the command "regedit") 5. Upgrading from a version prior to 1.1: ------------------------------------------------------The *.ini files (located in the robot directories and containing some customized parameters) generated by a version prior to 1.1 are no longer readabl e by SYMORO+. We recommend to delete these *.ini files in order to let SYMORO+ be able to load the corresponding *.par files (containing the robot definition). The

specification of the points used to get the "Inverse Geometric Model" using the "General Numerical Method" will be lost and replaced by the default values in th e new *.ini created files. -------------------------------------------------------------------------------Institut de Recherche en Communications et Cyberntique de Nantes - Robotics team --------------------------------------------------------------------------------