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V+ Language User`s Guide, Ver. 13.0

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1. V Language User s Guide Rev A 303 Chapter 11 Programming Example MCP Menu PROG ABST soft e WRITE WRITI WRITI WRITI INP OUT RAM mcp disp main RACT This program is called to display a main menu above the five keys on the MCP The program assumes the MCP has been attached UT PARAMS None PUT PARAMS None GLOBAL VARS mcpMCP logical unit mcp mcp mcp mcp clr scrn pendant control code clear display amp home cursor Ccur pos pendant control code set cursor position beep pendant control code beep the pendant tab pendant control code tab to next soft button Clear the display and write the top line mcp SCHR mcp clr scr SCHR mcp cur pos CHR 16 MAIN MENU S Write the menu options Lu Fl FI mcp SCHR mcp cur pos CHR 41 S mcp Option5 SCHR mcp tab Option4 SCHR mcp tab S mcp Option3 SCHR mcp tab Option2 SCHR mcp tab QUIT S Beep the MCP RITE PROG ABS mai INP OUT mcp SCHR mcp beep S RAM mcp main quit quit TRACT This program responds to a Quit selection from the MCP n menu It verifies the selection and passes the result UT PARAMS None PUT PARAM quit Boolean indicating whether a quit has been verified GLOBAL VARS mcp MCP logical unit mcp mcp mcp mcp mcp 304 clr scr pendant control co
2. TYPE C1 Move the tool tip to the selected reference S TYPE location C1 Set ref tool equal to the S TYPE transformation for this location C2 Press S TYPE the REC DONE button on the manual control pendant when S TYPE ready to proceed S DETACH 0 Release the robot to the user WAIT PENDANT 8 Wait for user to press REC DONE button ATTACH 0 Regain control of the robot automatically wait for COMP mode TOOL ref tool HERE ref loc Record the reference location TYPE END YPE C1 Install the new tool Move its tip to the S YPE reference location C2 Press the REC DONE button S YPE on the manual control pendant when ready to proceed S DETACH 0 Release the robot to the user WAIT PENDANT 8 Wait for user to press REC DONE button ATTACH 0 Regain control of the robot Compute the new tool transformation new tool TOOL ref tool SET new tool ref tool INVERSE HERE ref loc V Language User s Guide Rev A 349 Appendix A Defining a Tool Transformation TOOL new tool Apply the new tool transformation YPE C2 All done The tool transformation has been set S YPE equal to new tool C1 DETACH 1 Detach the pendant RETURN Return to calling program or STOP END 350 Because of computational err
3. ododo als asada amp eee amp Je elee e Figure 11 1 MCP Button Map Using the STEP Button When manual mode is selected V programs cannot initiate motions unless you press the STEP button and speed bar on the MCP To continue the motion once it has started you can release the STEP button but must continue to press the speed bar Failure to operate the STEP button and the speed bar properly results in the following error message with error code 620 Speed pot or STEP not pressed Once a motion has started in this mode releasing the speed bar also terminates any belt tracking or motion defined by an ALTER program instruction Motions started in this mode have their maximum speeds limited to those defined for manual control mode 294 V Language User s Guide Rev A Chapter 11 Detecting User Input As an additional safeguard when high power is enabled and manual mode is selected the MCP is set to OFF mode not COMP or MANUAL mode Reading the State of the MCP It is good programming practice to check the state of the MCP before ATTACHing to it The instruction cur state PENDANT 3 will return a value to be interpreted as follows 1 Indicates that one of the predefined function buttons has been pressed 2 Indicates the MCP is in background mode not ATTACHed to an application
4. s s 296 Control Codes for the LCD Panel 2 296 The Pendant LEDS ls sss 297 Making Pendant Buttons Repeat Butfons 298 Auto Starting Programs With the MCP 0 300 WAILSIARD do 9599 0 6 vox EOS X E XX XU oos 301 Programming Example MCP Menu 302 V Language User s Guide Rev A 287 Chapter 11 Introduction Introduction This chapter provides an overview of strategies for programming the manual control pendant ATTACHing and DETACHing the Pendant 288 Before an application program can communicate with the MCP the MCP must first be ATTACHed using the ATTACH instruction The logical unit number for the MCP is 1 The following instruction will ready the MCP for communication mcp_lun 1 ATTACH mcp_lun When the MCP is ATTACHed the USER LED on the MCP will be lit As with all other devices that are ATTACHed by a program the MCP should be DETACHed when the program is finished with the MCP The following instruction will free up the MCP DETACH mcp_lun When the MCP has been ATTACHed by an application program the user can interact with the pendant without selecting manual mode As with all I O devices the IOSTAT function should be used to check for errors after each I O operation V Language User s Guide Rev A Chapter 11 Writing to the Pendant Display Writing to the Pendant Display The Pendant Display The MCP displa
5. 248 Attaching Detaching DDCMP Devices 249 InputProcessing 0 249 Output Processing 0 sss 250 Protocol Parameters 0 0000 251 V Language User s Guide Rev A 11 Table of Contents 10 11 12 Kermit Communication Protocol 0 252 StartingaKermitSession 24 253 File Access Using Kermit 255 Binary AM M MNA IR 256 Kermit Line Errors lll ss 257 V System Parameters forKermit 258 DeviceNet 4 qudd 4 4 AAA 258 Summary of I O Operations 00 000 4 259 Graphics Programming 000 263 Creating Windows oos s 264 ATTACH Instruction lll sss 264 FOPEN Instruction lll sss 265 FCLOSE Instruction lll ss 265 FDELETE Instruction lll sss 265 DETACH Instruction 0 000 ee 266 Custom Window Example 266 Monitoring Events sss 267 GETEVENT Instruction l l ll sn 268 FSEDINSHUCHON gt s uo go XD XO X Y Ecko Rok OW 3 3 269 Building a Menu Structure 0 sls s 270 MenuExample 270 Defining Keyboard Shortcuts 0 272 Creating Buttons 0 4 273 GPANEL Instruction 273 Button Example 2 2 2 2 2 2 5 273 Creating a Slide Ba
6. 181 WOW IAEA 182 PGs amp amp Md 34 A HD 184 KS uon 4 4 45 3 3x X WORK OR ROROR ee OE ee EO 185 Relative Transformation 5 045 190 Relative Locations ls sss 191 Recording Locations 04 204 Tool Transformation sss s 205 Analog I O Board Channels 224 Sample Menu 272 MCP Button Map 294 Pendant LCD Display 004 297 ConveyorTerms 5 sls n 317 V Language User Guide Rev A Table 1 1 Table 2 1 Table 2 2 Table 2 3 Table 2 4 Table 3 1 Table 3 2 Table 3 3 Table 3 4 Table 3 5 Table 3 6 Table 3 7 Table 3 8 Table 3 9 Table 3 10 Table 4 1 Table 4 2 Table 4 3 Table 4 4 Table 4 5 Table 4 6 Table 5 1 Table 6 1 Table 6 2 Table 6 3 Table 6 4 Table 7 1 Table 7 2 Table 8 1 Table 9 1 Table 9 2 Table 9 3 Table 9 4 Table 9 5 Table 9 6 Table 9 7 Table 10 1 List of Tables Related Publications 0404 Stack Space Required by a Subroutine Description of System Tasks System Task Priorities 0 Default Task Priorities Cursor Movement Keys With a VGB based Keyboard Cursor Movement Keys With an AdeptWindows based Keyboard 46 064 wo sisas ROEOAS AAA Cursor Movement Keys With a ASCII terminal based Terminal 2 2 2 2 25 Shortcut Keys for Editing
7. s l sl s s oos 168 Parameters a s 169 Viewing Parameters sss s 169 Setting Parameters 0 0 0 170 Summary of Basic System Parameters 170 Graphics Based System Terminal Settings 172 cols a e 4 0k AAA A ah de 172 Viewing Switch Settings 1 0 0 172 Setting Switches a 173 Summary of Basic System Switches 173 Motion Control Operations 177 INTOCUCION aaa 178 Location Variables 0 178 Coordinate Systems sss 179 Transformations 4 44 2 xo ox or RR XO ee ee yox o 180 YAW AAA 181 V Language User s Guide Rev A 9 Table of Contents FIIO oa 4 4 amp IEA 183 RO uu n Seve oko Ap Xo a we De ae 185 Special Situations l l sss 186 Creating and Altering Location Variables 187 Creating Location Variables 187 Transformations vs Precision Points 187 Modifying Location Variables 187 Relative Transformations 188 Examples of Modifying Location Variables 188 Defining a Reference Frame 0 191 Miscellaneous Location Operations 194 Motion Control Instructions lll sss 195 Basic Motion Operations 195 Joint Interpolated Motion vs Straight Line Motion 195 Safe
8. a 36 Changing Editing Modes 37 The SEE Editor Environments 38 Using Text Editors Other Than the SEE Editor 38 The SEE Editor Window 40 The Adept Windows Off line Editor 41 Using the Editor oss 41 Entering New Lines of Code 41 EXI The EAO o o Eoo bee be 4 ETE 42 Saving a Program ooo OO ES 42 V Program Types usd od do o4 AR RO we EE de chu e o amp d 43 V Language User s Guide Rev A 5 Table of Contents Executable Programs 2 2 004 43 Robot Control Programs 43 Exclusive Control of a Robot 44 General Programs sn 45 Format of Programs sss 46 Program Lines 2 4 4 6 404 8 8 8 8 4 ww oko Rok ec wD eA 46 Program Organization eee sn 48 Program Variables 48 Executing Programs aa a 49 Selecting a Program Task 0 000 4 49 Program SIGGKS o s 664 seo oho he TE DOSE eu 5 Stack Requirements 00 008 5 Flow of Program Execution aa a a 53 RUN HOLD Button oss 53 Subroutines 4 444 404 x EO ESE CE EO X o XE CE AAA 54 Argument Passing ls 54 Mapping the Argument List 54 Argument Passing by Value orReference 56 Undefined Arguments 4 57 Program Files 2 2
9. 0 139 Logical Boolean Expressions 4 142 Conditional Branching Instructions 143 IF GOIO 4523110685568 509333360 h 143 ESTREMERA 143 CASE value OF 00 lt lt lt lt 0 lt lt lt lt lt lt 001 145 Example 6 ps PRR HS SESS EE 44 146 Looping Structures 4 147 III NE bee ee d 147 Examples rs mirrors 148 8 V Language User s Guide Rev A Table of Contents DORE aoo d 2 4 49 ba EOE 53 OR OX amp 39 3 148 WHILE DO 2 4 6 6 a uso ooo ee wm RR he Re 150 Summary of Program Control Keywords 152 Controlling Programs in Multiple CPU Systems 155 Functions ls 157 Using Functions s 158 Variable Assignment Using Functions 158 Functions Used in Expressions 158 Functions as Arguments to a Function 158 String Related Functions 1 0 0 159 Examples of String Functions 160 Location Motion and External Encoder Functions 161 Examples of Location Functions 161 Numeric Value Functions 0 0 058 162 Examples of Arithmetic Functions 163 Logical Functions 6664 2 2 amp ae Pe E Eck we a xw ww 163 System Control Functions 0 0 00 eee 164 Example of System Control Functions 165 Switches and Parameters 167 Introduction
10. Chapter 5 Summary of Program Control Keywords Table 5 1 Program Control Operations Continued Keyword Type Function RETURNE Program Terminate execution of an error reaction subroutine Instruction and resume execution of the last suspended program at the step following the instruction that caused the subroutine to be invoked RUNSIG Program Turn on or off the specified digital signal as long as Instruction execution of the invoking program task continues SET EVENT Program Set an event associated with the specified task Instruction STOP Program Terminate execution of the current program cycle Instruction WAIT Program Put the program into a wait loop until the condition Instruction is TRUE WAIT EVENT Program Suspend program execution until a specified event Instruction has occurred or until a specified amount of time has elapsed WHILE Program Initiate processing of a WHILE structure if the Instruction condition is TRUE or skipping of the WHILE structure if the condition is initially FALSE 154 V Language User s Guide Rev A Chapter 5 Controlling Programs in Multiple CPU Systems Controlling Programs in Multiple CPU Systems Vt systems equipped with multiple CPUs and optional V Extensions can run multiple copies of V see Chapter 13 for more information Keep the following considerations in mind when running multiple V systems e A graphics based system is required e The second third ete V copies will be displaye
11. 0 oss s 345 Program Listing 2 2 lle 346 Teaching Locations With the MCP 347 Features Introduced 0 347 Program Listing 0 0 347 Defining a Tool Transformation aa aa 349 External Encoder Device o s 351 Introduction 2 sls s sss 352 Parameters 2225s 993 9 OR ORO 37 3 13 A 7379 AA 353 Device SOU SESS Se RRR KR RPE a ovx 354 Reading Device Data 0 0 00 0004 356 CharacterSets 0 0 0 359 o AAA 373 V Language User s Guide Rev A 15 Figure 1 1 Figure 1 2 Figure 2 1 Figure 2 2 Figure 2 3 Figure 2 4 Figure 2 5 Figure 3 1 Figure 4 1 Figure 4 2 Figure 5 1 Figure 8 1 Figure 8 2 Figure 8 3 Figure 8 4 Figure 8 5 Figure 8 6 Figure 8 7 Figure 8 8 Figure 8 9 Figure 9 1 Figure 10 1 Figure 11 1 Figure 11 2 Figure 12 1 16 List of Figures Impacts and Trapping Points 24 Arm Power Light 4 4 6 62 6 Hh Oe a 25 The SEE Editor Window 39 Argument Mapping sls ss 55 Call by Value 2 2 2 2 2 57 Task Scheduler oos s 66 Priority Examplel 68 Example Program Debugger Display 98 Variable Scoping a ss 123 Variable Scope Example 124 Priority Example2 141 Adept Robot Cartesian Space 179 XYZ Elements of a Transformation
12. Attaching or detaching a serial line automatically stops any output in progress and clears all input buffers Serial lines are not automatically detached from a program unless it completes with success so it is possible to single step through a program or proceed from a PAUSE instruction without loss of data Input Processing 244 Input data is received by V according to the byte format specified by the I O configuration program The size of the buffer can be set with the CONFIG_C utility program Data errors such as parity or framing errors are also buffered and are returned in the proper order The possible data errors from the serial input lines are 522 Data error on device A data byte was received with incorrect parity or the byte generated a framing error 524 Communications overrun Data bytes were received after the input buffer was full or faster than V could process them 526 No data received If data is expected continue polling the serial line 504 Unexpected end of file A BREAK was received from the remote device Serial line input data is normally read using the GETC function since it allows the most flexible response to communications errors The READ instruction also can be used provided that input data is terminated by a Line Feed character 10 decimal V does not support input echoing or input line editing for the serial lines V Language User s Guide Rev A Chapter 9 Serial
13. GETC RF Return the next character byte from a device or input record on the specified logical unit IOGET_ RF Return a value from a device on the VME bus SIOGETS SF Return a string value from a device on the VME bus IOPUT_ PI Write a value to a device on the VME bus IOSTAT RF Return status information for the last input output operation for a device associated with a logical unit IOTAS RF Control access to shared devices on the VME bus KERMIT RETRY P Establish the maximum number of times the local Kermit driver should retry an operation before reporting an error KERMIT TIMEOUT P Establish the delay parameter that the V driver for the Kermit protocol will send to the remote server PI Program Instruction RF Real Valued Function P Parameter SF String Function 260 V Language User s Guide Rev A Chapter 9 Summary of I O Operations Table 9 7 System Input Output Operations Continued Keyword Type Function KEYMODE PI Set the behavior of a group of keys on the manual control pendant PENDANT RF Return input from the manual control pendant PROMPT PI Display a string on the system terminal and wait for operator input READ PI Read a record from an open file or from an attached device that is not file oriented RESET PI Turn off all the external output signals SETDEVICE PI Initialize a device or set device parameters The actual operation perf
14. 0 0 004 238 Random Access Files 0 0 00 004 238 V Language User s Guide Rev A 215 Chapter 9 216 Buffering and I O Overlapping 2 239 Disk Commands 0 000 eee es 240 Accessing the Disk Directories 241 AGSDINET ie are 6448 o3 ee ee ee 8 3398 242 Serial Line I O 243 I O Configuration 2 243 Attaching Detaching Serial I O Lines 2 244 Input Processing sss 244 Output Processing 0 0 ss 245 Serial I O Examples 2 0 08 245 DDCMP Communication Protocol 248 General Operation 248 Attaching Detaching DDCMP Devices 249 Input Processing 0 249 Output Processing 0 ss 250 Protocol Parameters s s 251 Kermit Communication Protocol 252 Starting a Kermit Session 0 4000 4 253 File Access Using Kermit c n 255 Binary Files ons 256 Kermit Line Errors s n 257 V System Parameters forKermit 258 DeviceNet s s s oos 258 Summary of I O Operations 0 0000 4 259 V Language User s Guide Rev A Chapter 9 Terminal I O Terminal I O The program instruction used to output text to the monitor screen is TYPE The program line TYPE This is a terminal output instruction
15. 44 V Language User s Guide Rev A Chapter 2 V Program Types General Programs A general program is any program that does not control a robot With a robot system there can be one or more programs executing concurrently with the robot control program For example an additional program might monitor and control external processes via the external digital signal lines and analog signal lines General programs can also communicate with the robot control program and each other through global variables and software signals General programs can also have a direct effect on the robot motion with the BRAKE instruction although that practice is not recommended With the exception of the BRAKE instruction a general program cannot execute any instruction that affects the robot motion Also the BASE or TOOL settings cannot be changed by general programs Except for the robot general purpose control programs can access all the other features of the Adept system including the AdeptVision option if it is present in the system the internal and external digital signal lines the USER serial lines the system terminal the disk drives and the manual control pendant Note that except for the exclusion of certain instructions general purpose control programs are just like robot control programs Thus the term program is used in the remainder of this chapter when the material applies to either type of control program V Language User
16. NORMAL TF Correct a transformation for any mathematical round off errors NOT CALIBRAT P Indicate or assert the calibration status of the robots ED connected to the system NULL TF Return a null transformation value one with all zero components NULL PI Enable nulling of joint position errors OPEN PI Open the robot gripper OPENI PI Open the robot gripper immediately PAYLOAD PI Set an indication of the current robot payload PDEST PF Return a precision point value representing the planned destination location for the current robot motion PLATCH PF Return a precision point value representing the location of the robot at the occurrence of the last external trigger PI Program Instruction RF Real Valued Function TF Transformation Function S Switch P Parameter PF Precision Point Function CF Conversion Factor V Language User s Guide Rev A 211 Chapter 8 Summary of Motion Keywords Table 8 1 Motion Control Operations Continued Keyword Type Function POWER S Control or monitor the status of Robot Power PPOINT PF Return a precision point value composed from the given components REACTI PI Initiate continuous monitoring of a specified digital signal Automatically stop the current robot motion if the signal properly transitions and optionally trigger a subroutine call READY PI Move the robot to the READY location above the
17. Quit Set variable for event to be monitored wn e menu 14 Start the processing loop quit FALSE DO GETEVEN glun event IF event 0 wn e menu THEN The menu event 14 has two components a button down component corresponding to a click on a menu bar selection anda button up component corresponding to the pull down selection made when the button is released After the first component pointer down on the menu bar event 1 will be 0 and event 2 will have the number of the menu bar selection Check to see if event 1 is 0 indicating a top level menu select 270 V Language User s Guide Rev A Chapter 10 IF event 1 Use th valu Building a Menu Structure Il ll o H d Lr EN in event 2 to select a pull down menu FSET lun pulldown event 2 menu event 2 Else xecut ELSE If event 1 pull down sel event 1 event 2 menu item The outer CAS The inner CAS CASE VALU the appropriate code for each menu selection is not 0 then the button has been released on a lection and will have the value of the top level selection menu will have the value of the pull down selection item event 1 event 2 menu 13 Gl I I E structure checks the top level menu selection E structure checks the item sele
18. READ slun Stext F IOSTAT slun lt 0 GOTO 100 V Language User s Guide Rev A 245 Chapter 9 Serial Line I O Display any errors 100 F OSTAT slun lt 0 THEN TYPE IOSTAT slun SERROR IOSTAT slun END DETACH slun Detach from logical unit END The next example reads data from a serial line using the GETC function with no wait mode Records that are received are displayed on the terminal In this program data records on the serial line are assumed to be terminated by an ETX character which is not displayed An empty record terminates the program PROGRAM display ABSTRACT Monitor a serial line and read data when available AUTO Sbuffer char done etx ienod line etx 3 ASC code for ETX character ienod 526 Error code for no data ATTACH line 4 SERIAL 1 F IOSTAT line lt 0 GOTO 90 Check for errors Sbuffer Initialize buffer to empty done FALSE Assert not done DO CLEAR EVENT c GETC line 1 Read byte from the ser line WHILE c ienod DO While there is no data WAIT EVENT 1 Wait for an event CLEAR EVENT c GETC line 1 Read byte from the ser line END IF c lt 0 GOTO 90 Check for errors 246 V Language User s Guide Rev A Chapter 9 Serial Line I O IF c etx THEN If ETX seen TYPE Sbuffer N Type buff
19. Read Latched Position The position or the encoder in millimeters when the last external trigger occurred is returned The LATCHED real valued function may be used to determined when an external trigger has occurred and a valid position has been recorded V Language User s Guide Rev A 357 Character Sets Table C 1 and Table C 2 list the standard Adept character set Values 0 to 127 decimal are the standard ASCII character set Characters 1 to 31 are the common set of special and line drawing characters Characters 0 and 127 to 141 are Adept additions to the standard sets Characters 32 to 255 excluding 127 through 141 are the ISO standard 8859 1 character set Characters 145 to 159 are overstrike characters see the OVERSTRIKE attribute to the TERMINAL argument for the FSET instruction in the V Language Reference Guide Values 1 to 31 are also given special meaning in the extended Adept character set when they are output to a graphics window with the GTYPE instruction NOTE The full character set is defined for font 1 only Fonts 2 medium font 3 large font and 4 small font have defined characters for ASCII values 0 and 32 127 Fonts 5 and 6 have standard English characters for ASCII values 0 and 32 135 while ASCII 136 235 are Katakana and Hiragana characters Font 5 is standard size and font 6 contains large characters The last column in Table C 2 shows the Katakana and Hiragana characters The Katakana
20. Trapping Pinch gt Points Figure 1 1 Impacts and Trapping Points Adept recommends that you read the American National Standard for Industrial Robot Systems Safety Requirements published by the Robotic Industries Association in conjunction with the American National Standards Institute The publication ANSI RIA R15 06 1986 contains guidelines for robot system installation safeguarding maintenance testing startup and operator training The document is available from the American National Standards Institute 1430 Broadway New York NY 10018 24 V Language User s Guide Rev A Chapter 1 Safety System Safeguards Safeguards should be an integral part of robot workcell design installation operator training and operating procedures Adept robot systems have various communication features to aid you in constructing system safeguards These include remote emergency stop circuitry and digital input and output lines Computer Controlled Robots Adept robots are computer controlled and the program that is running the robot may cause it to move at times or along paths you may not anticipate Your system should be equipped with indicator lights that tell operators when the system is active The controller interface panel CIP provides these lights When the White HIGH POWER enable light on the CIP is illuminated do not enter the workcell because the robot may move unexpectedly Manual Automatic Switch High Power Manual
21. s responsibility to limit the input data flow using a higher level protocol on the remote system V Language User s Guide Rev A 249 Chapter 9 DDCMP Communication Protocol Input data is accessed via the Vt READ instruction Each READ instruction returns the contents of the next data buffer If no received data is available the read will not complete until a data message is received No wait READ mode can be used for reading the serial line can be polled using the function IOSTAT un 1 to detect when the read is completed Keep in mind that the DDCMP acknowledge was sent when the data was originally received and buffered not when the READ instruction is executed Output Processing 250 Output on a DDCMP line is performed using the V WRITE instruction Each WRITE instruction sends a single data message with a maximum length of 512 bytes The write request does not complete until the remote system acknowledges successful receipt of the message Retransmission because of errors is handled automatically without any action required by the V program If the no wait format control N is specified in the format list for the WRITE instruction V processing continues without waiting for the write to complete Like other output requests a second write issued before the first has completed will force the V program to wait for the first write to complete The IOSTAT lun 3 function can be used to determine whether or not a no wait write
22. 1 80 19 Not Used 20 Not Used 21 Not Used 22 Enable blinking positions starting Number of blinking positions at current cursor location 1 80 23 Disable blinking positions starting Number of blinking positions at current cursor location 1 80 24 Enable repeat mode for button Button number 25 Disable repeat mode for button Button number 26 Not Used 27 Not Used Code Function Second Code 28 Turn off pendant button LED Light number 29 Not used 30 Start pendant button LED Light number blinking 31 Turn on pendant button LED Light number For soft buttons F buttons and REC DONE button only V Language User s Guide Rev A 299 Chapter 11 Auto Starting Programs With the MCP Auto Starting Programs With the MCP The CMD predefined function button provides three options for loading and auto starting a program from the pendant These three options are AUTO START CMD1 and CMD2 The program file requirements for all three options are the same 1 The file being loaded must be on the default disk The default disk is specified with the DEFAULT DISK command The utility CONFIG_C can be used to specify a default disk at startup See the Instructions for Adept Utility Programs for details on running this utility 2 The file name must correspond to the MCP selection If CMD1 is pressed the disk file must be named CMD1 V2 If AUTO START is pressed the user will be asked to input one
23. All but the last of these invalid names would be rejected by V with an error message The extra long name would be truncated without warning to this_is_a_long_ V Language User s Guide Rev A 113 Chapter 4 String Data Type String Data Type Variable names are preceded with a dollar sign to indicate that they contain string data The program instruction Sstring_name Adept V allocates the string variable string_name if it had not previously been allocated and assigns it the value Adept V Numbers can be used as strings with a program instruction such as Snumeric_string 13 5 where numeric _string is assigned the value 13 5 The program instruction Snumeric_string 13 5 will result in an error since you are attempting to assign a real value to a string variable The following restrictions apply to string constants e g a string e ASCII values 32 space to 126 are acceptable e ASCII 34 cannot be used in a string Strings can contain from 0 to 128 characters String variables can contain values from 0 to 255 see Appendix C for the interpretation of the full character set The following are all valid names for string variables Sx Sprocess Sprototype names part 1 The following names are invalid for strings for the reasons indicated 3x first character not a letter Sone two is an invalid name character factor prefix missing Sthis_is_a_long_name too many characters
24. Before a variable can be used it must be initialized String and numeric variables can be initialized by placing them on the left side of an assignment statement The statements var_one 36 Svar_two two will initialize the variables var_one and var_two var_one var_two will initialize var_one if var_two has already been initialized Otherwise an undefined value error will be returned A variable can never be initialized on the right side of an assignment statement var_two could never be initialized by the above statement The statement var_one var_one 10 would be valid only if var_one had been initialized in a previous statement Strings numeric variables and location variables can be initialized by being loaded from a disk file Strings and numeric variables can be initialized with the PROMPT instruction Transformations and precision points can be initialized with the SET or HERE program instructions They can also be initialized with the HERE and POINT monitor commands or with the TEACH monitor command and the manual control pendant See the V Operating System Reference Guide for information on monitor commands V Language User s Guide Rev A 125 Chapter 4 Operators Operators The following sections discuss the valid operators Assignment Operator The equal sign is used to assign a value to a numeric or string variable The variable being assigned a value must appear by itself on the left
25. GIYPE vlun DX vis loc DY vis loc Blob 3 ELSE Else if object was NOT found GCOLOR vlun 3 Select the color red GTRANS vlun 0 Select pixel scaling GTYPE vlun 100 100 No object found 3 END Detach frees up the communications path DETACH vlun 100 IF IOSTAT vlun lt 0 THEN Check for errors TYPE SERROR IOSTAT vlun END END V Language User s Guide Rev A 283 Chapter 10 Additional Graphics Instructions Additional Graphics Instructions Table 10 1 lists the different graphics instructions See the V Language Reference Guide for complete details on using these instructions Table 10 1 List of Graphics Instructions Command Action GARC Draw an arc or circle in a graphics window GCHAIN Draw a chain of points GCLEAR Clear an entire window to the background color GCLIP Constrain the area of a window within which graphics are displayed GCOLOR Set the foreground and background colors for subsequent graphics instructions GCOPY Copy one area of a graphics window to another area in the window GFLOOD Flood an area with foreground color GICON Allows you to display icons on the screen You can access the predefined Adept icons or use your own icons created with the Icon Editor see the Instructions for Adept Utility Programs GLINE Draw a line GLINES
26. It is the user s responsibility to keep track of memory usage If you are using application or utility programs written by someone else you should read the documentation provided with that software to check that it does not conflict with your usage of the shared area e In general robot control and system configuration changes must be performed from CPU 1 CPUs other than 1 always start up with the stand alone control module No belts or kinematic modules are loaded V Language User s Guide Rev A 155 Chapter 5 Controlling Programs in Multiple CPU Systems e Each multiple CPU can execute its own autostart routine CPU 1 will load the normal AUTO file and execute the program auto CPU 2 will load the file AUTOO2 V2 and execute the program auto02 156 V Language User s Guide Rev A Functions USINO FUNCHONS a 648 3 OG ee Ee ee a A 158 Variable Assignment Using Functions 158 Functions Used in Expressions 158 Functions as Arguments to a Function 158 String Related Functions 1 1 a 159 Examples of String Functions 160 Location Motion and External Encoder Functions 161 Examples of Location Functions 161 Numeric Value Functions 0 0 00 4 0 162 Examples of Arithmetic Functions 163 Logical Functions 0 4 163 System Control Functions 164
27. LEN Return the number of characters in the given string LNGB Return the value of four bytes of a string interpreted as a signed 32 bit binary integer LNGB Return a 4 byte string containing the binary representation of a 32 bit integer MID Return a substring of the specified string PACK Replace a substring within an array of 128 character string variables or within a nonarray string variable POS Return the starting character position of a substring in a string V Language User s Guide Rev A 159 Chapter 6 String Related Functions Table 6 1 String Related Functions Continued Keyword Function TRANSB Return a 48 byte string containing the binary representation of a transformation value TRUNCATE Return all characters in the input string until an ASCII NUL or the end of the string is encountered UNPACK Return a substring from an array of 128 character string variables VAL Return the real value represented by the characters in the input string Examples of String Functions The instruction IYPE SERROR 504 will output the text Unexpected end of file to the screen The instructions Smessage The length of this line is TYPE SENCODE message 10 LEN message 14 characters will output the message The length of this line is 42 characters 160 V Language User s Guide Rev A Chapter 6 Location Motion and Externa
28. Language User s Guide Rev A 43 Chapter 2 V Program Types Exclusive Control of a Robot e Whenever a robot is attached by an active task no other task can attach that robot or execute instructions that affect it except for the REACTI and BRAKE instructions see pages 136 and 138 respectively for more information about these instructions When the robot control task stops execution for any reason the robot is detached until the task resumes at which time the task automatically attempts to reattach the robot If another task has attached the robot in the meantime the first task cannot be resumed e Task 0 always attempts to attach robot 1 when program execution begins No other tasks can successfully attach any robot unless an explicit ATTACH instruction is executed e Since task 0 attempts to attach robot 1 that task cannot be executed after another task has attached that robot If you want another task to control the robot and you want to execute task 0 you must follow this sequence of events e Starttask 0 e Have task 0 DETACH the robot e Start the task that will control the robot The program executing as task 0 can start up another task e Have that task ATTACH the robot See page 288 for more information on the ATTACH and DETACH instructions Note that robots are attached even in DRY RUN mode In this case motion commands issued by the task are ignored and no other task can access the robot
29. NI 199 C7 C cedilla NU 200 C8 E grave NE 201 C9 E acute NO 202 CA E circumflex HA 203 CB E dieresis HI 204 CC I grave I FU 205 CD I acute HE 206 CE I circumflex I HO 207 CF I dieresis I MA 208 DO Eth D MI 209 D1 N tilde N MU 210 D2 O grave O ME 211 D3 O acute MO 212 D4 O circumflex YA 213 D5 O tilde YU 214 D6 O dieresis YO 215 D7 multiply x RA 370 V Language User s Guide Rev A Appendix C Table C 2 Adept Character Set Continued Dec Hex Value Value Description Font 1 Fonts 2 3 4 5 amp 6 216 D8 O slash RI 217 D9 U grave RU 218 DA U acute RE 219 DB U circumflex U RO 220 DC U dieresis U WA 221 DD Y acute Y N 222 DE Thorn o Voiced consonant 223 DF German double s fs Voiced consonant P 224 EO a grave a SE 225 E1 a acute SO 226 E2 a circumflex TA 227 E3 a tilde CHI 228 E4 a dieresis TSU 229 E5 a ring a TE 230 E6 ae ligature TO 231 E7 c cedilla C NA 232 E8 e grave e NI 233 E9 e acute NU 234 EA e circumflex NE 235 EB e dieresis NO 236 EC i grave i HA 237 ED i acute HI 238 EE i circumflex i FU 239 EF i dieresis i HE V Language User s Guide Rev A 371 Appendix C Table C 2 Adept Character Set Continued Dec Hex
30. PROCEED or RETRY will not resume execution See EXECUTE for details on execution cycles When a PAUSE instruction is encountered execution will be suspended After a PAUSE the system prompt will appear and Monitor Commands can be executed This allows you to check the values of program variables and set system parameters This is useful during program debugging The monitor command PROCEED will resume execution of a program interrupted with the PAUSE command NOTE The PANIC monitor command halts program execution and robot motion immediately but leaves HIGH POWER on BRAKE BREAK and DELAY BRAKE aborts the current robot motion This instruction can be issued from any task Program execution is not suspended and the program executing as task 0 will continue executing at the next instruction BREAK suspends program execution defeats forward processing until the current robot motion is completed This instruction can be executed only from a robot control program and is used when completion of the current robot motion must occur before execution of the next instruction A DELAY instruction specifies the minimum delay between robot motions not program instructions Additional Program Interrupt Instructions 138 You can specify a parameter in the instruction line for the I O instructions ATTACH READ GETC and WRITE that causes the program to suspend until the I O request has been successfully completed Third party boards may also
31. Shows which task the debug session is running in Shows the debug mode In monitor mode debug and other monitor commands can be entered and the program can be executed In edi tor mode the typing cursor will appear in the editor window and the program can be edited Displays entered commands and the results of various debug opera tions The gt character serves as a prompt for user input when you are entering commands to the debugger After processing a com mand the debugger displays OK on the command line after the command That acknowledges completion of the command regard less of whether or not the command was successful For example the command line shown in Figure 3 1 indicates that the debugger has just processed the command XSTEP place NOTE Under some circumstances the display in the edit window can be overwritten by program or system output Press Redraw S F6 to restore the entire debugger screen Since the edit window can be moved to anywhere in the current program or even to another program this pointer may not be visible in the edit window The edit window will move to the section of program containing this pointer whenever program execution stops for any reason V Language User s Guide Rev A 99 Chapter 3 The Program Debugger Debugger Operation Modes The program debugger has two modes of operation e Monitor mode In this mode the program in the edit window is accessed in read only mode and all k
32. System Task Priorities Default Task Configuration E Slice E E 2 o ES o l1 2 13 l4 5 6 7 8 9 11011 12 13 14 15 Trajectory 63 63 63 63 63 63 63 63 63 63 63 63 63 63 63 63 Generator Terminal lo g lo lo lo o lo lo lo lo lo lo Jo lo Jo 58 Graphics Monitor 0 0 lo lo lo lo lo lo lo lo lo lo lo Jo Jo 156 DDCMP lo lo lo lo lo lo lo lo lo lo lo 0 lo Jo Jo 42 Kermit lo 0 lo lo lo lo lo lo lo lo lo lo lo Jo Jo 152 Pendant 0 0 lo lo lo lo lo lo lo lo lo lo lo 0 5010 Disk o lo lo lo lo Jo lo lo lo lo Jo lo lo lo 139 48 Driver Serial I O 0 0 lo lo lo lo lo lo lo lo lo lo lo O 44 44 Pipes lo lolo Jo Jo lo lo lo lo lo lo Jo Jo Jo lalo Driver NPS o lo lo lo lo Jo lo lo o lo Jo lo lo lo 40140 Driver Ter o o lo lo lo lo lolo 0 lo lo lo Jo lo 38 54 Driver Vision Communi 114 14 14 14 14 14 14 14 14 14 14114 14 O Jo 10 cations VICIO 13 13 13 113 13 113 13 13 113 13 113 13 as oo lo Analysis V Language User s Guide Rev A 71 Chapter 2 Default Task Configuration Table 2 3 System Task Priorities Continued E Slice E E 2 o A 0 1 12 3 4 5 7 9 10 11 12 13 14 15 Servo Communi O 10 10 10 10 10 0 0 10 JO JO 0 41 0 cations Cat 3 0 145010 145510 45 45 45 0 1451 0
33. The valid error bits for this device are listed below The corresponding error listed is the one V would report if the error occurred while tracking a belt encoder Bit Bit Mask Corresponding Error Message and Code 19 AH040000 Lost encoder sync 1012 20 AH080000 Encoder quadrature error 1013 21 AH100000 No zero index 1011 Only bit 20 for encoder quadrature error is detected by the error parameter of the DEVICE function to generate an error 1 Read Position The current position of the encoder in millimeters is returned subject to the scale factor offset and limits defined by the SETDEVICE instruction The value returned is computed by position scale encoder offset position MAX position lower_limit position MIN position upper_limit 356 V Language User s Guide Rev A Appendix B select 2 Reading Device Data Table B 2 Select Parameter Values Continued Description Read Velocity The current value of the encoder velocity in millimeters per second is returned subject to the scale factor defined by the SETDEVICE instruction The value returned is computed by velocity scale encoder_velocity Read Predicted Position The predicted position of the encoder in millimeters is returned The position is predicted 32 milliseconds in the future based upon the current position and velocity The value is scaled the same as the current position described above
34. The signal monitoring initiated by REACT REACTI is in effect until another REACT REACTI or IGNORE instruction is encountered If the specified signal transition is not detected before an IGNORE or second REACT REACTI instruction is encountered the REACT REACTI instruction will have no effect on program execution The syntax for a REACT or REACTI instruction is REACT signal number program priority signal number digital input signal in the range 1001 to 1012 or 2001 to 2008 program thesubroutine and its argument list that is to be executed when a react is initiated priority number from 1 to 127 that indicates the relative importance of the reaction The following code implements a REACT routine 35 Look for a change in signal 1001 from on to off 36 Call subroutine alarm if a change is detected 37 Set priority of alarm to 10 default would be 1 38 The main program has default priority of 0 39 40 REACT 1001 alarm 10 41 42 REACT will be in effect for the following code 43 44 MOVE a V Language User s Guide Rev A Chapter 5 Program Interrupt Instructions 45 MOVE b 46 LOCK 20 Defer any REACTions to alarm 47 MOVE c 48 MOVE d 49 LOCK 0 Allow REACTions 50 MOVE e 51 52 Disable monitoring of signal 1001 53 54 IGNORE 1001 55 If signal 1001 transitions during execution of step 43 step 43 will complete the subroutine alarm will be called and execution
35. Uppercase and Lowercase Letters 28 You will notice that a mixture of uppercase capital and lowercase letters is used throughout this manual when V operations are presented Vt keywords are shown in uppercase letters Parameters to keywords are shown in lowercase Many V keywords have optional parameters and or elements Required keyword elements and parameters are shown in boldface type Optional keyword elements and parameters are shown in normal type If there is a comma following an optional parameter the comma must be retained if the parameter is omitted unless nothing follows For example the BASE operation command or instruction has the form BASE dx dy dz rotation where all of the parameters are optional To specify only a 300 millimeter change in the Z direction the operation could be entered in any of the following ways BASE 0 0 300 0 BASE 300 BASE 300 Note that the commas preceding the number 300 must be present to correctly relate the number with a Z direction change V Language User s Guide Rev A Chapter 1 Notations and Conventions Numeric Arguments All numbers in this manual are decimal unless otherwise noted Binary numbers are shown as B octal numbers as and hexadecimal numbers as H Several types of numeric arguments can appear in commands and instructions For each type of argument the value can generally be specified by a numeric constant a variable name or a mathematica
36. a subroutine CALLS Program Suspend execution of the current program and Instruction continue execution with a new program that is a subroutine specified with a string value CASE Program Initiate processing of a CASE structure by defining Instruction the value of interest CLEAR EVENT Program Clear an event associated with the specified task Instruction CYCLE END Program Terminate the specified control program the next Instruction time it executes a STOP program instruction or its equivalent Suspend processing of an application program or command program until a program completes execution DO Program Introduce a DO program structure Instruction EXECUTE Program Begin execution of a control program Instruction EXIT Program Exit a FOR DO or WHILE control structure Instruction FOR Program Execute a group of program instructions a certain Instruction number of times GET EVENT Real Valued Return events that are set for the specified task Function 152 V Language User s Guide Rev A Chapter 5 Summary of Program Control Keywords Table 5 1 Program Control Operations Continued Keyword Type Function GOTO Program Perform an unconditional branch to the program Instruction step identified by the given label HALT Program Stop program execution and do not allow the Instruction program to be resumed IF GOTO Program Branch to the specified label if the value of a logical
37. and similar commands will take place at the cursor location With a graphics based system clicking with the pointer device will set the typing cursor at the pointer location The cursor cannot be set lower than the last line in a program Also the scroll bars on the monitor window can be used to scroll through the program Shows the name of the program currently being edited If the pro gram is open in read only mode R will be appended to the name Shows the program step the cursor is at and the total number of lines in the program Shows the current editor mode Shows the number of lines in the copy attach buffer Whenever a program line is Cut or Copied it is placed in the copy buffer When lines are pasted they are removed from the copy buffer and pasted in the reverse order they were copied The F9 and F10 keys are used for copying and pasting program lines This is the message line It displays various messages and prompts Programs are open in read only mode when R is appended to the SEE command when the program is opened or when a currently executing program is open 40 V Language User s Guide Rev A Chapter 2 The Adept Windows Off line Editor The Adept Windows Off line Editor The Adept Windows Off line Editor AWOL is a Microsoft Windows95 or NT based program that emulates the V SEE editor AWOL performs the same syntax checking as the SEE editor Programs created in the SEE editor can be edited
38. e Each program line must be terminated with a carriage return line feed ASCII 13 ASCII 10 e The end of the file not the end of each program must be marked with a Control Z character ASCII 27 e Lines that contain only a line feed ASCII 10 are ignored 38 V Language User s Guide Rev A Chapter 2 The SEE Editor Environments The features of the SEE editor window are shown in Figure 2 1 2 1 PROGRAM see sample o ge o o O see_sampl Step 2 of Command mode 3a E Program SEE SAMPLE doesn t exist Create it Y N Figure 2 1 The SEE Editor Window V Language User s Guide Rev A 39 Chapter 2 The SEE Editor Environments The SEE Editor Window The items in the following numbered list refer to the numbers in Figure 2 1 O 2 On ASCII terminals this area shows the row and column of the cur sor location This line displays the program name and the program s parameter list The program name cannot be edited but program parameters can be added between the parentheses see Special Editing Situa tions on page 83 for a description of a special case where you can not edit this list The typing cursor In insert mode characters entered at the keyboard will be entered at the cursor position Existing characters to the right of the cursor will be pushed right eIn replace mode the character under the cursor will be replaced eIn command mode Copy Paste
39. indicating that an assembly is in the proper place The WAIT instruction and SIG function are used to halt program execution until a digital input channel signal achieves a specified state The program line WAIT SIG 1001 will halt program execution until a switching device attached to digital input channel 1001 is closed If signal 1002 is a sensor indicating a part feeder is empty the code F SIG 1002 THEN CALL service feeder END will check the sensor state and call a routine to service the feeder if the sensor is on The SIGNAL instruction is used for digital output In the above example the conveyor belt may need to be stopped after digital input signal 1001 signals that a part is in place The instruction SIGNAL 33 V Language User s Guide Rev A Chapter 9 Digital I O will turn off digital output signal 33 causing the conveyor belt connected to signal 33 to stop When processing on the part is finished and the part needs to be moved out of the work area the instruction SIGNAL 33 will turn the conveyor belt back on The digital I O channels must be installed before they can be accessed by the SIG function or SIGNAL instruction The SIG INS function returns an indication of whether a given signal number is available The code line F SIG INS 33 THEN can be used to insure that a digital signal was available before you attempted to access it The mo
40. variable name or expression V Language User s Guide Rev A 103 Chapter 3 The Program Debugger Debug Monitor Mode Keyboard Commands 104 The V program debugger allows you to interactively execute and edit the program being debugged The commands described in Table 3 10 can be used to control execution of the program you are debugging see Control of Program Execution on page 107 for more information The terms defined in Table 3 9 are used in Table 3 10 when showing equivalent monitor commands Table 3 9 Definition of Terms Term Used Definition current program Refers to the program displayed in the edit window current_step Refers to the program step at which the movable cursor is positioned Note that even when the terminal cursor is visible in the debug window or on the command line the position of the movable cursor is still retained by the debugger debug_task Refers to the task number shown on the information line of the debug window NOTE All the commands described below except Ctrl E require debug monitor mode for their use Be careful not to enter Ctrl O or Ctrl S while using the debugger These control characters disable output to the terminal until a second Ctrl O or a Ctrl Q is input V Language User s Guide Rev A Chapter 3 Key s The Program Debugger Table 3 10 Debugger Commands Action Ctrl B Set a breakpoint at the step indicat
41. with most I O errors It is good practice to use IOSTAT to check each I O operation performed even if you think it cannot fail hardware problems can cause unexpected errors Note that it is not necessary to use IOSTAT after use of a GETC function since errors are returned directly by the GETC function V Language User s Guide Rev A Chapter 9 Serial and Disk I O Basics Attaching Detaching Logical Units In general an I O device must be attached using the ATTACH instruction before it can be accessed by a program Once a specific device such as the manual control pendant is attached by one program task it cannot be used by another program task Most I O requests fail if the device associated with the referenced LUN is not attached Each program task has its own sets of disk and graphics logical units Thus more than one program task can attach the same logical unit number in those groups at the same time without interference A physical device type can be specified when the logical unit is attached If a device type is specified it supersedes the default but only for the logical unit attached The specified device type remains selected until the logical unit is detached An attach request can optionally specify immediate mode Normally an attach request is queued and the calling program is suspended if another control program task is attached to the device When the device is detached the next attachment in the queue wi
42. 14510 10 Timer User Task Configuration The remaining time is allocated to the user tasks using the controller configuration utility See the description of CONFIG_C in the Instructions for Adept Utility Programs for details For each time slice you specify which tasks may run in the slice and what priority each task has in that slice The default priority configuration is shown in Table 2 4 Table 2 4 Default Task Priorities d Slice ES y 5 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0 20 20 20 20 20 20 20 20 20 10 10 10 10 0 0 0 1 19 19 21 21 19 19 21 21 19 9 11 11 9 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 20 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 15 0 0 4 15 15 15 115 15 15 15 15 15 5 5 5 5 0 0 0 5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 20 0 6 0 0 0 0 0 0 0 0 0 0 0 0 0 0 15 0 7 27 0 0 0 0 0 0 0 0 0 0 0 0 0 5 0 0 72 V Language User s Guide Rev A The SEE Editor and Debugger Basic SEE Editor Operations 2 0000 74 Cursor Movement 1 s 75 Deleting Copying and Moving Lines 77 Text Searching and Replacing 78 Switching Programs in the Editor 79 The Internal Program List 0 0004 81 Special Editing Situations 0 004 83 The SEE Editor in Command Mode 85 SEE Editor Exten
43. 2 Subroutines Figure 2 2 shows the mapping of an argument list in a CALL statement to the argument list in a subroutine The arrows indicate that each item in the list must match in position and data type but not necessarily in name The CALL statement argument list can include values and expressions as well as variable names instruction in main program CALL a routine loc var a real var a 43 654 S string var a subroutine program header PROGRAM a routine any loc any real x any real y S any string Figure 2 2 Argument Mapping In the example in Figure 2 2 when the main program reaches the CALL instruction shown at the top of the figure the subroutine a routine is called and the argument list is passed as shown See the description of the CALL instruction in the V Language Reference Guide for additional details on passing arrays V Language User s Guide Rev A 55 Chapter 2 Subroutines 56 Argument Passing by Value or Reference An important principle to grasp in using subroutine calls is the way that the variables being passed are affected Variables can be changed by a subroutine and the changed value can be passed back to the calling program If a calling program passes a variable to a subroutine and the subroutine can change the variable and pass back the changed variable to the calling program the variable is said to be passed by reference If a calling program passes a variable to a subroutine but the su
44. 213 Input Output Operations Terminal I O 1 217 Terminal Types 0 218 Input Processing sss 218 Output Processing 1 ss 220 DIU 0 gt aote ode do 4 a KR Ke SR COR A 220 High Speed Interrupts ccs s 221 Soft Signals oss 221 Digital I O and Third Party Boards 222 Digital I O and DeviceNet 0 222 Pendant I O ww oo sss 223 Andog lO uuo deb os 9 eA a ee E em we ee 223 Serial and Disk I O Basics 0 ee 0 225 Logical Units 2 0 a 225 ENOFSICI S ssa 6 4d 8E 9S RE E X XE ta ee 3040 225 Attaching Detaching Logical Units 227 Reading noz bbe or a we a 228 WII gt PARRA ee ee ee ee 229 Input Wait Modes a a eee 229 Output Wait Modes sss s 230 DISKO CH ROE x 231 Attaching Disk Devices 2 0004 231 Disk I O and the Network File System NFS 232 Disk Directories 232 Disk File Operations 0 0 00 0 ss 232 OpeningaDiskFile 000 233 Writing to a Disk 234 Reading From a Disk 0 0048 235 Detaching o aaa aa 235 Disk I O Example 236 Advanced Disk Operations 0 loss s 237 Variable Length Records 0 048 237 Fixed Length Records 200 238 Sequential Access Files
45. 7 x gt 2 AND y lt 10 And these expressions will resolve to 0 false NOT x 6 x lt 2 OR y gt 10 Bitwise Logical Operators Bitwise logical operators operate on pairs of integers The corresponding bits of each integer are compared and the result is stored in the same bit position in a third binary number Table 4 5 lists the V bitwise logical operators Table 4 5 Bitwise Logical Operators Operator Effect BAND Each bit is compared using and logic If both bits are 1 then the corresponding bit will be set to 1 Otherwise the bit is set to 0 128 V Language User s Guide Rev A Chapter 4 Operators Table 4 5 Bitwise Logical Operators Continued Operator Effect BOR Each bit is compared using or logic If either bit is 1 then the corresponding bit will be set to 1 If both bits are 0 the corresponding bit will be set to 0 BXOR Each bit is compared using exclusive or logic If both bits are 1 or both bits are 0 the corresponding bit will be set to 0 When one bit is 1 and the other is 0 the corresponding bit will be set to 1 COM This operator works on only one number Each bit is complemented 1s become 0s and 0s become 1s Examples x B1001001 BAND B1110011 results in x having a value of B1000001 x COM B100001 results in x having a value of B11110 V Language User s Guide Rev A 129 Chapter 4 String Operat
46. Adept Utility Disk 2 Terminal behavior is configurable using the FLUSH and FLOW arguments to the FSET instruction See the V Language Reference Guide 218 V Language User s Guide Rev A Chapter 9 Terminal I O When Ctrl O is used to suppress output all output instructions behave normally except that no output is sent to the terminal Output suppression is canceled by typing a second Ctrl O by V writing a system error message or by a terminal read request Other special characters are recognized by the terminal input handler when processing a PROMPT or READ instruction or when reading a monitor command However these characters can be read by the GETC function in which case their normal action is suppressed Table 9 2 Special Character Codes Read by GETC Char Decimal Name Action Ctrl C 03 Abort the current monitor command Ctrl H 08 Backspace Delete the previous input character Ctrl I 09 Tab Move to the next tab stop Ctrl M 13 Return Complete this input line Ctrl R 18 Retype the current input line Ctrl U 21 Delete the entire current line Ctrl W 23 Start stop slow output mode Ctrl Z 26 Complete this input with an end of file error DEL Ke Delete Delete the previous input character During a PROMPT or READ instruction all control characters are ignored except those listed above Tab characters are automatically converted to the appropriate number of space characters wh
47. Debugger The Debugger Display Once the program debugger has been invoked the display will look similar to that shown in Figure 3 1 NOTE The sample shown below represents the display that would appear on graphics based monitor You will see a slightly different display on a nongraphics based terminal DATA STRUCT start Starting location for motion end Ending height Approach depart distance Copyright c 1984 1987 1988 1989 by Adept Technology Inc LOCAL first height LOCAL end start EE first TRUE Record that we re starting a p1ace B ter f Command mode 3a Debug Window Task 1 Q XSTEP place OK Figure 3 1 Example Program Debugger Display 98 V Language User s Guide Rev A Chapter 3 The Program Debugger The following numbered list refers to the display shown in Figure 3 1 O 2 The execution pointer indicates the next step in the program that will be executed The editor information line provides the same information as dur ing a normal editing session see Figure 2 1 on page 39 Notice that while the debugger is in monitor mode the program will be in read only mode The debug window occupies the screen below this line The typing cursor In monitor mode the cursor will appear in the debug window and debug and monitor commands can be entered Responses to program prompts will appear here Commands will appear below the debug information line
48. Draw multiple lines GLOGICAL Set the drawing mode for the next graphics instruction Useful for erasing existing graphics and simulating the dragging of a graphic across the screen GPOINT Draw a single point GRECTANGLE Draw a rectangle GSCAN Draw a series of horizontal lines GSLIDE Create a slide bar 284 V Language User s Guide Rev A Chapter 10 Additional Graphics Instructions Table 10 1 List of Graphics Instructions Continued Command Action GTEXTURE Develop a texture for subsequent graphics Set subsequent graphics to transparent or opaque GTRANS Define a transformation to apply to all subsequent G instructions GTYPE Display a text string V Language User s Guide Rev A 285 Programming the MCP Introduction uu ox OX x xx ok OE XCY X X ee 093 288 ATTACHing and DETACHing the Pendant 288 Writing to the Pendant Display 289 The Pendant Display 289 Using WRITE With the Pendant a aaa aaa 289 DetectingUserlnput oss s 290 Using READ With the Pendant 290 Detecting Pendant Button Presses 290 Keyboard Mode 291 Toggle MOTE sia KEP we RE ox xx EER SS 291 Level Mode 25 292 Monitoring the MCP Speed Bar 293 Using the STEP Button ls ss 294 Reading the State ofthe MCP 295 Controlling the Pendant
49. Instruction expression is TRUE nonzero IF THEN Program Conditionally execute a group of instructions or one Instruction of two groups depending on the result of a logical expression INT EVENT Program Send a SET EVENT instruction to the current task if Instruction an interrupt occurs on a specified VME bus vector LOCK Program Set the program reaction lock out priority to the Instruction value given MCS Program Invoke a monitor command from a control program Instruction NEXT Program Break a FOR DO or WHILE structure and start the Instruction next iteration of the control structure PAUSE Program Stop program execution but allow the program to be Instruction resumed PRIORITY Real Valued Return the current reaction lock out priority for the Function program REACT Program Initiate continuous monitoring of a specified digital Instruction signal and automatically trigger a subroutine call if REACTI ia the signal transitions properly REACTE Program Initiate the monitoring of errors that occur during Instruction execution of the current program task RELEASE Program Allow the next available program task to run Instruction RETURN Program Terminate execution of the current subroutine and Instruction resume execution of the last suspended program at the step following the CALL or CALLS instruction that caused the subroutine to be invoked V Language User s Guide Rev A 153
50. Language Reference Guide for complete details on all V keywords V Language User s Guide Rev A 21 Chapter 1 Related Publications Related Publications In addition to this manual have the following publications handy as you set up and program your Adept automation system Table 1 1 Related Publications Manual Release Notes for V Version 13 0 Material Covered Late breaking changes not in manuals and summary of changes V Language Reference Guide This link goes to the PDF file named vlang pdf A complete description of the keywords used in the basic V system V Operating System User s Guide A description of the V operating system Loading storing and executing programs are covered in this manual V Operating System Reference Guide Descriptions of the V operating system commands known as monitor commands AdeptVision User s Guide Concepts and strategies for programming the AdeptVision VXL system AdeptVision Reference Guide The keywords available with systems that include the optional AdeptVision VXL system Instructions for Adept Utility Programs Adept provides a series of programs for configuring and calibrating various features of your Adept system The use of these utility programs is described in this manual Adept MV Controller User s Guide This manual details the installation configuration and maintenance of your Adept controller The control
51. Line I O Output Processing All serial line output is performed using the WRITE instruction All binary data including NULL characters is output without conversion If the serial line is configured to support parity a parity bit is automatically appended to each data byte By default the WRITE instruction appends a Return character 13 decimal and a Line Feed character 10 decimal to each data record unless the S format control is specified in the instruction parameter list If output flow control is enabled and output has been suspended by a Ctrl S character from the remote device a WRITE request may wait indefinitely before completing Serial I O Examples The first example attaches to a serial line and performs simple WRITEs and READs on the line PROGRAM serial io ABSTRACT Example program to write and read lines of text to and from serial port 1 on the SIO module AUTO slun Logical unit to communicate to serial port AUTO Stext Attach to a logical unit open communications path to serial port ATTACH slun 4 SERIAL 1 F IOSTAT slun O GOTO 100 Write text out to the serial port WRITE slun Hello there F IOSTAT slun lt 0 GOTO 100 Read a line of text from the serial port The incoming line of text must be terminated by a carriage return and line feed The READ instruction will wait until a line of text is received
52. Note that it is parallel to the primary reference frame Z axis but may be centered at any point in that space In this example the yaw value is 30 resulting in a transformation with the value X 30 Y 100 Z 125 yaw 30 pitch 0 and roll 0 V Language User s Guide Rev A 181 Chapter 8 Location Variables 182 When you are using a robot the local frame of reference defined by the XYZ components is located at the end of the robot tool flange This local reference frame is referred to as the tool coordinate system In Figure 8 3 the large Cartesian space represents a world coordinate system The small Cartesian space represents a local tool coordinate system which would be centered at the motion device tooling flange M 30 Figure 8 3 Yaw V Language User s Guide Rev A Chapter 8 Location Variables Pitch Pitch is defined as a rotation about the local reference frame Y axis after yaw has been applied Figure 8 4 on page 184 shows the local reference frame with a yaw of 30 and a pitch of 40 V Language User s Guide Rev A 183 Chapter 8 Location Variables For example deflection of a wrist joint is reflected in the pitch component The movement of a fifth axis on a SCARA robot is reflected in the pitch component In this example the motion device end of arm tooling has a pitch of 40 resulting in a transformation with the value X 30 Y 100 Z 125 yaw 30 pitch 40 and
53. R V Refresh the full display R X Initiate extended command see below R XDEBUG Change to debugger monitor mode R Command Mode Copy Buffer 88 V Language User s Guide Rev A Chapter 3 Basic SEE Editor Operations In command mode a special 25 line copy buffer is maintained This buffer is completely separate from the copy buffer described in Deleting Copying and Moving Lines on page 77 and works only when the editor is in command mode S Delete A removes lines from the program and places them in the special buffer Preceding S Delete A by a minus sign copies the line most recently deleted and removes it from the buffer S Delete A can be prefaced with a minus sign and a number to undelete a number of lines These keystrokes work as described only in Command mode The copy buffer is discarded when you exit the SEE editor but is maintained as you edit different programs without leaving the editor SEE Editor Extended Commands Editor extended commands are used for infrequent operations that do not warrant allocation to a dedicated keyboard key The extended commands are invoked with the X command in Command mode which prompts for the name of the actual command to be performed The command name can be abbreviated to the shortest length that uniquely identifies the command After the command name or abbreviation is entered press to indicate the end of the name As indicated below some commands display
54. Rev A Chapter 3 10 11 12 13 14 15 Sample Editing Session Move the cursor off the program line and enter the lines PROMPT May I have your name please S text param RETURN Review your programs The Retrieve S F3 key will toggle you through all the programs you have edited in the current session When you are satisfied your programs are correct exit the SEE editor by pressing the Exit F4 key You will now be at the system prompt Test your program by entering the command EXECUTE c sample The program should greet you ask for your name and print the response on the screen A message will then be displayed indicating the program completed If all works correctly save your programs to a disk file by entering the commands STOREP sampfile v2 A file will be created using the default path specification that will contain the two programs sample and get response To check that the programs were stored successfully enter the commands ZERO LOAD sampfile v2 EXECUTE sample The program should execute as before See the V Operating System User s Guide for details on the default path and options to the STORE commands V Language User s Guide Rev A 93 Chapter 3 Sample Editing Session When you are creating and modifying programs keep in mind e If you load a file containing programs with the same names as programs resident in memory the resident programs will NOT be replac
55. TAS Return the current value of a real valued variable and assign it a new value The two actions are done indivisibly so no other program task can modify the variable at the same time TASK Return information about a program execution task TIME Return an integer value representing either the date or the time specified in the given string parameter 164 V Language User s Guide Rev A Chapter 6 System Control Functions Table 6 4 System Control Functions Continued Keyword Function TIME Return a string value containing either the current system date and time or the specified date and time TIMER Return the current time value of the specified system timer TRS Return the number of ticks of the system clock that occur per second Ticks Per Second Example of System Control Functions The instruction F TIMER 2 gt 100 AND DEFINED loc_1 THEN MOVE loc 1 END would execute the MOVE instruction only if timer 2 had a value greater than 100 and the variable loc 1 had been defined V Language User s Guide Rev A 165 Switches and Parameters Introduction 46466 646 69 oe o9 o9 ROO Y x ee ee RW e ge 168 Parameters s s s 169 Viewing Parameters 1 sss 169 Setting Parameters 0 lll ss 170 Summary of Basic System Parameters 170 Graphics Based System Terminal Settings 172 SWICHOS 66 avisas 9 woe o de a
56. This number is returned to the event queue so you can distinguish which slide was moved The coordinates of the top left corner of the slide bar The width or height of the bar Specifies the maximum value the slide bar will return Specifies the increment the slide bar should register when the arrows are clicked The slide bar will be created with a scroll handle and scroll arrows Specifies position the scroll handle will be in when the slide bar is created V Language User s Guide Rev A 275 Chapter 10 Creating a Slide Bar GSLIDE Example 276 We will be interested in two events when monitoring a slide bar event 8 slide bar pointer move and event 9 slide bar button up Additional event monitoring must be enabled with the FSET instruction Object must be specified to monitor slide bars and move_b2 must be specified to monitor the dragging of the middle button The values returned in the GETEVENT array will be e event 0 the pointer device event code e event 1 the ID of the slide bar as specified by s1ide id e event 2 the slide bar value e event 3 the maximum slide bar value The following code will display and monitor a slide bar The slide bar will be in the window open on glun The slide bar will use events 8 and 9 A double click event will halt monitoring of the slide bar btn smov 8 btn sup 9 btn dclk 3 Slide bar position and start up values 20 x y 60 l
57. V Language User s Guide Rev A 221 Chapter 9 Digital I O Digital I O and Third Party Boards When V starts default blocks of system memory are assigned to the digital I O system V expects to find the digital I O image at these locations If you are using a third party digital I O board you will need to remap these memory locations to correspond to the actual memory location of the digital I O image on your board See the description of DEF DIO in the V Language Reference Guide for details Digital I O and DeviceNet 222 When V starts default blocks of system memory are assigned to the DeviceNet system V expects to find the DeviceNet image at these locations See the DeviceNet configuration set up procedures in the Adept MV Controller User s Guide for details V Language User s Guide Rev A Chapter 9 Pendant I O Pendant I O Most of the standard V I O operations can be used to read data from the manual control pendant keypad and to write data to the pendant display See Chapter 11 for information on accessing the manual control pendant Analog I O Up to eight analog I O modules for a total of 32 output and 256 input channels can be installed in an Adept MV controller Figure 9 1 on page 224 shows the I O channel numbers for each installed module Analog I O modules can be configured for different input output ranges The actual input and output voltages are determined by setting on the AIO module Regardless of t
58. Value Value Description Font 1 Fonts 2 3 4 5 amp 6 240 FO eth HO 241 F1 n tilde f MA 242 F2 o grave MI 243 F3 O acute MU 244 F4 o circumflex ME 245 F5 o tilde MO 246 F6 o dieresis YA 247 F7 divide E YU 248 F8 o slash YO 249 F9 u grave RA 250 FA u acute RI 251 FB u circumflex RU 252 FC u dieresis RE 253 FD y acute RO 254 FE thorn o WA 255 FF y dieresis y N 372 V Language User s Guide Rev A Symbols 211 212 to indicate belt variable 311 multiplication 126 system prompt 49 addition 126 subtraction 126 system prompt 49 division 126 semicolon 47 lt less than 127 lt less than or equal to 127 lt gt not equal to 127 assignment operator 126 lt less than or equal to 127 equal to 127 gt greater than or equal to 127 gt greater than 127 gt greater than or equal to 127 A abbreviation parameter name 169 switch name 172 ABORT 152 ABOVE 207 ABS 162 ACCEL 202 203 207 accessing memory 333 addition operator 126 Adept MV Controller User s Guide 22 Adept MV controllers processor support 334 Adept Vision User s Guide 22 Adept Windows Off line Editor 41 AdeptForce restrictions 337 VEL assigning 328 AdeptMotion requirements for multiple systems 327 AdeptMotion VME User s Guide 22 AdeptNET 242 and disk files 232 AdeptVision Reference Guide 22 AIO IN 223 259 AIO INS 223 259 Index AIO OUT 22
59. Variable Name Requirements 112 String Data Type sn 114 ASCII Values sn 115 Functions That Operate on String Data 115 Real and Integer Data Types 1 0 116 Numeric Representation 117 Numeric Expressions eee 0 117 Logical Expressions sss 118 Logical Constants 0 000 118 Functions That Operate on Numeric Data 118 Location DataTypes 0 119 Transformations clle n 119 Precision Points lll ss 119 FUEL uu esate do dod nk PORE X 5k RO iod une Uca dk n A3 120 Variable Classes sn 121 Global Variables 121 Local Variables 5 252 222 oo o OO 121 Automatic Variables s l ll sn 122 Scope of Variables 123 Variable Initialization 125 Operators ls s 126 Assignment Operator 126 Mathematical Operators 126 Relational Operators sss 127 Logical Operators 2 oss 128 Bitwise Logical Operators 128 String Operator ooo sss 130 Order of Evaluation 6 68 ooo ooo ooo 8854044 130 V Language User s Guide Rev A 111 Chapter 4 Introduction Introduction This chapter describes the data types used by V Dynamic Data Typing and Allocation Vt does not requ
60. Wait for key to be pressed V Language User s Guide Rev A 347 Appendix A Teaching Locations With the MCP HERE start Record the location start WAIT not pendant 3 Prompt for second location WRITE 1 clear display Move robot to PICK amp press RECORD WRITE 1 X17 RECORD SCHR 5 S WAIT PENDANT 3 Wait for key to be pressed HERE pick Record the location pick WAIT not pendant 3 Prompt for third location WRITE 1 Sclear display Move robot to PLACE amp press RECORD WRITE 1 X17 RECORD SCHR 5 S WAIT PENDANT 3 Wait for key to be pressed HERE place Record the location place WAIT not pendant 3 ATTACH 0 Reconnect to the robot DETACH 1 Release the pendant RETURN Return to calling program END 348 V Language User s Guide Rev A Appendix A Defining a Tool Transformation Defining a Tool Transformation The following program establishes a reference point from which tool transformations can be taught PROGRAM def tool ABSTRACT Invoke a new tool transformation based on a predefined referenc location and optionally teach the reference location AUTO Sanswer TYPE C1 PROGRAM TO DEFINE TOOL TRANSFORMATION C1 ATTACH 1 Attach the pendant PROMPT Revising a previously defined tool Y N Sanswer IF Sanswer lt gt Y THEN
61. Window You can place menu options on the top level menu bar by opening the window Screen_1 For example ATTACH glun 2 GRAPHICS FOPEN glun AScreen_1 menu iteml item2 item3 will open the main window and place three items on the top level menu bar Pull downs and event monitoring can proceed as described earlier The instruction FSET glun menu will delete the menu items The Monitor Window The monitor window can be opened in write only mode to change the characteristics of the monitor window For example the following instruction will open the monitor window disable scrolling and disallow moving of the window FOPEN glun Monitor WRITEONLY SPECIAL NOPOSITION NOSIZE To prevent a user from accessing the monitor window use the instruction FOPEN glun Monitor WRITEONLY NOSELECTABLE To allow access FSET glun SELECTABLE V Language User s Guide Rev A 281 Chapter 10 Communicating With the System Windows The Vision Window 282 For systems equipped with the Adept Vision option text or graphics can be output to the vision window and events can be monitored in the vision window To communicate with the vision window you open it just as you would any other window For the window name you must use Vision For example FOPEN glun Vision Remember graphics output to the vision window is displayed only when a graphics display mode or over
62. With the MCP Teaching Locations With the MCP This program demonstrates how an operator can teach locations with the manual control pendant thus allowing the controller to operate without a system terminal The two line liquid crystal display LCD of the pendant is used to prompt the operator for the locations to be taught The operator can then manually position the robot at a desired location and press a key on the pendant The program automatically records the location for later use in this case for the pick and place program Features Introduced e Subroutine parameters e Attachments and detachments e Manual control pendant interaction e WAIT instruction e Location definition within a program Program Listing PROGRAM teach pick place start ABSTRACT This program is used for teaching the locations pick place and start for the move parts program INPUT PARAM None OUTPUT PARAM pick place and start SIDE EFFECTS Robot is detached while this routine is active AUTO Sclear display Sclear display CHR 12 CHR 7 ATTACH 1 Connect to the pendant DETACH 0 Release control of the robot Output prompt to the display on the manual control pendant WRITE 1 clear display Move robot to START amp press RECORD WRITE 1 X17 RECORD SCHR 5 S WRITE 1 SCHR 30 SCHR 3 S Blink LED on control pendant WAI gv ENDANT 3
63. a straight line robot motion away from the current location DEST TF Return a transformation value representing the planned destination location for the current robot motion DISTANCE RF Determine the distance between the points defined by two location values DRIVE PI Move an individual joint of the robot DRY RUN S Control whether or not V communicates with the robot DURATION PI Set the minimum execution time for subsequent robot motions DURATION RF Return the current setting of one of the motion DURATION specifications Dx RF Return the X displacement component of a given transformation value DY RF Return the Y displacement component of a given transformation value DZ RF Return the Z displacement component of a given transformation value FINE PI Enable a high precision feature of the robot hardware servo see COARSE FLIP PI Request a change in the robot configuration during the next motion so that the pitch angle of the robot wrist has a negative value see NOFLIP FORCE S Control whether or not the optional stop on force feature of the V system is active FRAME TF Return a transformation value defined by four positions HAND RF Return the current hand opening HAND TIME P Establish the duration of the motion delay that occurs during OPENI CLOSEI and RELAXI instructions PI Program Instruction RF Real Valued Function TF Transformation Function S Switch P Parameter PF Precision Point Fun
64. an error trapping program the V system will invoke that program as a subroutine instead of terminating the program that encountered the error Each program task can have its own error trap enabled Before invoking the error trapping subroutine V locks out all other reactions by raising the main program priority to 254 see Asynchronous Processing on page 60 See the description of the REACTE instruction in the V Language Reference Guide for further information on error trapping V Language User s Guide Rev A 61 Chapter 2 Scheduling of Program Execution Tasks Scheduling of Program Execution Tasks The V system appears to execute all the program tasks at the same time However this is actually achieved by rapidly switching between the tasks many times each second with each task receiving a fraction of the total time available This is referred to as concurrent execution The following sections describe how execution time is divided among the different tasks NOTE The default task configuration will work for most applications You will not have to alter task execution priorities The default configuration is optimized for Adept s AIM software System Timing and Time Slices The amount of time a particular program task receives is determined by two parameters its assignment to the various time slices and its priority within the time slice A brief description of the system timing will help you to understand what a tim
65. and program instructions greater than operator 127 GRECTANGLE 284 gripper instructions 197 GSCAN 284 GSLIDE 275 284 GTEXTURE 285 GTYPE 285 H HALT 138 153 HAND 209 HAND TIME 171 209 HERE 187 210 hexadecimal value representing 117 HIGH POWER 25 HOUR 210 l I O buffering 239 errors checking for 279 status 225 opening multiple files 239 overlapping 239 I O operations 259 DEFAULT 259 IOGETS 260 AIO IN 259 AIO INS 259 AIO OUT 259 ATTACH 259 BITS 259 DEF DIO 259 DETACH 259 DEVICE 259 DEVICES 260 error status 225 FCLOSE 260 FCMND 260 FEMPTY 260 FOPENA 260 FOPEND 260 FOPENR 260 FOPENW 260 Index FSEEK 260 GETC 260 IOGET 260 IOPUT 260 IOSTAT 260 IOTAS 260 KERMIT RETRY 260 KERMIT TIMEOUT 260 KEYMODE 261 PENDANT 261 PROMPT 261 READ 261 RESET 261 See also belt instructions commands control structures debugger commands functions graphics instructions motion control operations and program instructions SETDEVICE 261 SIG 261 SIG INS 261 SIGNAL 261 TYPE 261 WRITE 261 ID 164 ID 164 IDENTICAL 210 IF 153 IF GOTO 143 IF THEN ELSE 143 IGNORE with REACT 136 importing program files 48 initialization of variables 125 input analog 223 digital 220 manual control pendant 223 serial 225 terminal 217 input processing terminal interrupt characters 218 input signals 336 input wait modes 229 INRANGE 210 insert SEE editor mode 36 installing V Language User s Guide Rev A 379
66. as arguments to a function but also allows you to use a function as an argument to a function so long as the data type returned is the type expected by the function The following example will result in i having the absolute value of x i D2 Eg i SORT SOR x V Language User s Guide Rev A Chapter 6 String Related Functions String Related Functions The value returned from a string function may be another string or a numeric value Table 6 1 String Related Functions Keyword Function ASC Return a single character value from within a string CHR Return a one character string having a given value DBLB Return the value of eight bytes of a string interpreted as an IEEE double precision floating point number DBLB Return an 8 byte string containing the binary representation of a real value in double precision IEEE floating point format DECODE Extract part of a string as delimited by given break characters ENCODE Return a string created from output specifications The string produced is similar to the output of a TYPE instruction FLTB Return the value of four bytes of a string interpreted as an IEEE single precision floating point number FLTB Return a 4 byte string containing the binary representation of a real value in single precision IEEE floating point format INTB Return a 2 byte string containing the binary representation of a 16 bit integer
67. axis rotation of the quill is reflected in the yaw component and motion of a rotating end effector sixth axis is reflected in the roll component Notice in Figure 8 2 on page 181 that the local reference frame points straight up This corresponds to a situation where the end of arm tooling points straight back along the third axis In a mechanism not equipped with a 360 wrist this is an impossible position For a four axis SCARA this component must point straight down pitch 180 For a mechanism with a fifth axis this component must be within the range of motion of the fifth axis NOTE When thinking about a transformation remember that the rules of ZYZ Euler angles require that the orientation components be applied in order after the local reference frame has been defined After calculating the Cartesian components and placing a local reference frame with x y and z axes parallel to the primary reference frame X Y and Z axes the orientation components are applied in a strict order yaw is applied first then pitch and finally roll V Language User s Guide Rev A Chapter 8 Creating and Altering Location Variables Creating and Altering Location Variables Creating Location Variables The most straightforward method of creating a location variable is to place the robot or motion device at a location and enter the monitor command HERE loc_name Transformations vs Precision Points A location can be specified us
68. be done for example with the HERE command The location must be chosen such that the robot can move from it to the pick up location for the parts without hitting anything After initialization the following program section performs the application tasks FOR i 1 TO parts Start a program loop The following instructions down to the END will be executed parts times After the last time the loop is executed program execution will continue with the TYPE instruction following the END below APPRO pick heightl Move the robot to a location that is height 1 millimeters above the location pick V Language User s Guide Rev A 343 Appendix A Pick and Place The APPROS instruction is not used here because its straight line motion would be slower than the motion commanded by APPRO MOVES pick Move the robot to the pick up location pick which must have been defined previously The straight line motion commanded by MOVES assures that the hand does not hit the part during the motion A MOVE instruction could be used here if there is sufficient clearance between the hand and the part to allow for a nonstraight line path CLOSEI Close the hand To assure that the part is grasped before the robot moves away the I form of the CLOSE instruction is used program execution will be suspended while the hand is closing DEPARTS heightl Now that the robot is grasping the part we can back away from the part holder This inst
69. characters are at ASCII 161 223 The Hiragana characters are at ASCII 136 159 and 224 255 The character sets listed in Table C 1 and Table C 2 are for use with VGB graphics systems only and do not apply to AdeptWindows PC Characters with values 0 to 31 and 127 decimal have the control meanings listed in Table C 1 when output to a serial line an ASCII terminal or the monitor window with TYPE PROMPT or WRITE instructions In files exported to other text editors or transmitted across serial lines characters 0 to 31 will generally be interpreted as having the specified control meaning The symbols shown for characters 0 to 31 and 127 in Table C 2 can be displayed only with the GTYPE instruction V Language User s Guide Rev A 359 Appendix C Characters in the extended Adept character set can be output using the CHR function For example TYPE CHR 229 will output the character to the monitor window The instruction GTYPE glun 50 50 SCHR 229 will output the same character to the window open on logical unit glun Table C 1 ASCII Control Values Decimal Character Value Hex Value Meaning of Control Character NUL 000 00 Null SOH 001 01 Start of heading STX 002 02 Start of text ETX 003 03 End of text EOT 004 04 End of transmission ENQ 005 05 Enquiry ACK 006 06 Acknowledgment BEL 007 07 Bell BS 008 08 Backspace HT 00
70. code block executed when expression is true ELSE code block executed when expression is false END expression is any well formed boolean expression described above V Language User s Guide Rev A 143 Chapter 5 144 Conditional Branching Instructions In the following example if program execution reaches step 59 and num_parts is greater than 75 step 60 will be executed Otherwise execution will resume at step 62 56 5 58 59 60 61 62 CALL check_num if num_ parts is greater than 75 IF num_parts gt 75 THEN CALL check_num num_parts END In the following example if program execution reaches step 37 with input signal 1033 on and need_part true the program will execute steps 38 to 40 and resume at step 44 Otherwise it will execute step 42 and resume at step 44 32 33 34 39 36 If I O signal 1033 is on and Boolean need part is true then pick up the part else alert the operator 341 38 39 40 41 42 43 44 F SIG 1033 AND need_part THEN MOVE locl CLOSET DEPART 50 ELSE TYPE Part not picked up END V Language User s Guide Rev A Chapter 5 Conditional Branching Instructions CASE value OF The IF THEN ELSE structure allows a program to take one of two different actions The CASE structure will allow a program to take one of many different actions based on the value of a variable The variable used must be a
71. dlun Write the text FOR i 1 TO 10 WRITE dlun END Close the file FCLOSE dlun F IOSTAT dlun Reopen the fil F IOSTAT dlun Line SENCODE 1 lt 0 GOTO 100 lt 0 GOTO 100 FOPENR dlun file name lt 0 GOTO 100 F IOSTAT dlun READ dlun txt WHILE IOSTAT dlun gt 0 DO TYPE txt READ dlun txt END End of file or error Hj OSTAT dlun and read its contents Get first line from file 0 AND END FCLOSE dlun F IOSTAT dlun 100 TYPE SERROR 1 0 THEN IOSTAT dlun 504 THEN OSTAT dlun Report any errors Close the file IYPE SERROR IOSTAT dlun END DETACH dlun 236 Detach the LUN Se V Language User s Guide Rev A Chapter 9 Advanced Disk Operations Advanced Disk Operations This section introduces additional parameters to the FOPEN_ instructions See the descriptions of the FOPEN_ instructions in the V Language Reference Guide for details Variable Length Records The default disk file access mode is variable length record mode In this mode records can have any length up to a maximum of 512 bytes and can cross the boundaries of 512 byte sectors The end of a record is indicated by a Line Feed character ASCII 10 Also the end of the file is indicated by the pre
72. e a ESE EH 172 Viewing Switch Settings 0 0008 172 Setting Switches oll sss 173 Summary of Basic System Switches 173 V Language User s Guide Rev A 167 Chapter 7 Introduction Introduction 168 System parameters determine certain operating characteristics of the Vt system These parameters have numeric values that can be changed from the command line or from within a program to suit particular system configurations and needs The various parameters are described in this chapter along with the operations for displaying and changing their values System switches are similar to system parameters in that they control the operating behavior of the V system Switches differ from parameters however in that they do not have numeric values Switches can be set to either enabled or disabled which can be thought of as on and off respectively All the basic system switches are described in this chapter The monitor commands and program instructions that can be used to display and change their settings are also presented V Language User s Guide Rev A Chapter 7 Parameters Parameters See the V Language Reference Guide for more detailed descriptions of the keywords discussed here Whenever a system parameter name is used it can be abbreviated to the minimum length required to identify the parameter For example the HAND TIME parameter can be abbreviated to H since no other para
73. file size is not stored in the disk directory until the file is closed Closing a file also forces any partial sector buffers to be written to the disk Note that aborting a program does not force files associated with it to be closed The files are not closed and the directory is not updated until a KILL command is executed or until the aborted program is executed again CAUTION To preserve newly written data do not remove a floppy disk from the drive until you are sure the file has been closed Disk Commands There are several disk oriented monitor commands that do not havea corresponding program instruction The FCMND instruction must be used to perform the following actions from within a program e Rename a file e Formata disk e Create a subdirectory e Delete a subdirectory The MCS instruction can be used to issue an FCOPY command from within a program FCMND is similar to other disk I O instructions in that a logical unit must be attached and the success or failure of the command is returned via the IOSTAT real valued function The FCMND instruction is described in detail in the V Language Reference Guide See the Adept MV Controller User s Guide for the FCMND instruction updates for DeviceNet 240 V Language User s Guide Rev A Chapter 9 Advanced Disk Operations Accessing the Disk Directories The V directory structure is identical to that used by the IBM PC DOS operating system version 2 0 and later For ea
74. following baud rates are available 110 300 600 1200 2400 4800 7200 9600 19200 38400 In addition V provides automatic buffering with optional flow control for each serial line The I O configuration program can be used to enable output flow control with which Vt recognizes Ctrl S 19 decimal and Ctrl Q 17 decimal and uses them to suspend and resume respectively serial line output The configuration program can also enable input flow control with which Vt generates Ctrl S and Ctrl Q to suspend and resume respectively input from an external source With Ctrl S and Ctrl Q flow control disabled all input and output is totally transparent and all 8 bit data bytes can be sent and received Serial lines may also be configured to use hardware modem control lines for flow control The RTS CTS lines must be installed in the modem cable standard modem cables often leave these lines out See the Adept MV Controller User s Guide for pin assignments 1 The controller configuration utility is on the Adept Utility Disk in the file CONFIG_C V2 V Language User s Guide Rev A 243 Chapter 9 Serial Line I O Attaching Detaching Serial I O Lines Serial lines must be attached before any I O operations can take place Note that only one control program task can be attached to a single serial line at any one time All other attachment requests will queue or fail depending on the setting of the mode parameter in the ATTACH instructions
75. generate system level interrupts See the descriptions of INT EVENT CLEAR EVENT and WAIT EVENT for details V Language User s Guide Rev A Chapter 5 Program Interrupt Instructions Program Interrupt Example Figure 5 1 on page 141 shows how the task and program priority scheme works It also shows how the asynchronous and program interrupt instructions work within the priority scheme The example makes the following simplifying assumptions e Task 1 runs in all time slices at priority 30 e Task 2 runs in all time slices at priority 20 e All system tasks are ignored e All system interrupts are ignored The illustration shows the time lines of executing programs A solid line indicates a program is running and a dotted line indicates a program is waiting The Y axis shows the program priority The X axis is divided into 16 millisecond major cycles The example shows two tasks executing concurrently with REACT routines enabled for each task Note how the LOCK instructions and triggering of the REACT routines change the program priority The sequence of events for the example is o Task 1 is running program prog a at program priority 0 A reaction program based on signal 1003 is enabled at priority 5 o Signal 1003 is asserted externally The signal transition is not detected until the next major cycle e The signal 1003 transition is detected The task 1 reaction program begins execution interrupting prog a o The task 1 r
76. is not spec ified the task number will be determined as follows If any execution task has terminated execution since the start of the last debugging session that task will be assumed If no task has terminated since the previous debugging session the previous task is accessed again If neither of the above situations apply the main control task num ber 0 is accessed Commands affecting other tasks can still be entered but their task number will have to be specified explicitly prog The named program is displayed in the debugger edit window in read only editor access mode If the name is omitted the program primed for the task or the last program executed by the task will be selected An error will result if the named program does not exist and the DEBUG request will be aborted When the specified program is opened for read only editing its name is added at the top of the SEE editor internal program list step An optional parameter that allows you to open a program at the step number specified 96 V Language User s Guide Rev A Chapter 3 The Program Debugger DEBUG without any parameters is useful when 1 You want to resume the latest debugging session In this case the edit window and the execution pointer see Figure 3 1 on page 98 will be restored as they were when the previous debugging session was ended That is debugging can continue as though it had not been interrupted 2 A program has t
77. is resumed the terminal and the manual control pendant are automatically reattached if they were attached before the termination NOTE It is possible that another program task could have attached the terminal or manual control pendant in the meantime That would result in an error message when the stopped task is restarted Reading The READ instruction processes input from all devices The basic READ instruction issues a request to the device attached on the indicated LUN and waits until a complete data record is received before program execution continues The length of the last record read can be obtained with the IOSTAT function with its second argument set to 2 The GETC real valued function returns the next data byte from an I O device without waiting for a complete data record It is commonly used to read data from the serial lines or the system terminal It also can be used to read disk files in a byte by byte manner Special mode bits to allow reading with no echo are supported for terminal read operations Terminal input also can be performed using the PROMPT instruction The GETEVENT instruction can be used to read input from the system terminal This may be useful in writing programs that operate on both graphics and nongraphics based systems To read data from a disk device a file must be open on the corresponding logical unit The FOPEN_ instructions open disk files 228 V Language User s Guide Rev A Chapter 9 S
78. iteml itemn top levels is the number of the top level selection the pull down menu is to appear under iteml itemn are the menu items in the pull down menu The items appear from top to bottom The relationship between these two uses of FSET will become clear when we actually build a menu structure The basic FSET instruction for monitoring menu and mouse events is FSET glun EVENT BUTTON MENU V Language User s Guide Rev A 269 Chapter 10 Building a Menu Structure Building a Menu Structure The strategy for implementing a menu is 1 Declare the top level bar menu Start a loop monitoring event 14 menu selection When event 14 is detected check to see if the mouse event was on the top level bar menu or on a pull down option 4 Ifthe event was a top level menu selection then display the proper pull down options 5 If the event was a pull down selection use nested CASE structures to take appropriate action based on the selections made to the top level menu and its corresponding pull down menu Menu Example This code segment will implement a menu structure for a window open on glun Set the top level menu bar and enable monitoring of events FSET glun menu Menu 1 Menu 2 Menu 3 FSET glun event button menu Define the strings for the pull down menus Smenu 1 Item 1 1 Item 1 2 Smenu 2 Item 2 1 Item 2 2 Item 2 3 Smenu 3
79. line Top F15 Go to top of program Bottom F16 Go to end of program V Language User s Guide Rev A Chapter 3 Basic SEE Editor Operations Deleting Copying and Moving Lines Table 3 4 lists the keys to use for program editing Unlike many text editors this one stores multiple copy operations in a stack Each copy operation places a line s on top of the stack Each paste operation removes a line s from the top of the stack and pastes it at the current location However once a single line has been pasted it is removed from the copy buffer and cannot be pasted again Table 3 4 Shortcut Keys for Editing Operations Key s Action Copy F9 Copy the current line into the editor s copy buffer know as the attach buffer Paste F10 Paste the most recently copied line above the current line You cannot exit SEE with lines in the attach buffer Ctrl K will remove lines from the copy buffer without pasting them into a program Lines cannot be pasted in read only mode Paste All S F10 Paste the entire copy buffer above the current line Cut S F9 Cut the current line and place it in the copy buffer Ctrl Delete Delete the current program line and do not place it in the copy buffer Press Undo F6 immediately after deleting to restore the line s just deleted V Language User s Guide Rev A 77 Chapter 3 Basic SEE Editor Operations Text Searching and Replacing The SEE editor c
80. must be set before setting the offset or limits If the scale factor is changed the offset and limit values will need to be updated 354 V Language User s Guide Rev A Appendix B Device Setup Table B 1 Command Parameter Values Continued Command Description 9 Set Position Offset This command sets the position offset for this encoder unit to the value of parameter p1 The units are millimeters The scale factor must be set before setting the offset 10 Set Position Limits This command sets the position limits for the encoder unit to the values of optional parameters p1 and p2 which are the lower and upper limits respectively If a parameter is omitted no checking is performed for that limit The units are millimeters The scale factor must be set before setting the limits V Language User s Guide Rev A 359 Appendix B Reading Device Data Reading Device Data The DEVICE real valued function returns information about the encoder error status position and velocity The scale factor offset and limits defined by the SETDEVICE instruction affect the velocity and position values returned The syntax for this function is DEVICE 0 unit error select The value returned depends upon the value of the select parameter as described in Table B 2 Table B 2 Select Parameter Values select Description 0 Read Hardware Status The error status of the encoder unit is returned as a 24 bit value
81. of line period Go to end of line lt n gt J Jump to column lt n gt S lt char gt Skip to character lt char gt j Skip to semicolon Table 3 7 lists the actions keystrokes will perform when the editor is in Command mode The characters in the column labeled Char Codes are defined as follows M The command changes edit mode from Command mode to either Insert mode or Replace mode as indicated in the table M The command changes the mode as indicated only until the next character is typed and then the editor returns to Command mode R The command can be executed when the program is being viewed in read only mode Table 3 7 SEE Editor Command Mode Operations Char Keystroke s Function Codes Editing a Line of Text D Delete a character I Start character Insert mode M Esc I Break line and enter Insert mode M R Start character Replace mode M Esc Return to Command mode W Delete up to the next item Esc W Delete item and start Insert mode M K lt char gt Delete kill up to character lt char gt 86 V Language User s Guide Rev A Chapter 3 Basic SEE Editor Operations Table 3 7 SEE Editor Command Mode Operations Continued Char Keystroke s Function Codes Replace a single character M Insert a single character M Ctrl L Convert to lowercase to end of line Ctrl U Convert to uppercas
82. on page 124 shows an example of using the various variable classes Notice that e prog 1 declares a to be GLOBAL Thus it is available to all programs not having an AUTO or LOCAL a e prog 2 creates an undeclared variable b By default b is GLOBAL and available to other programs not having a LOCAL or AUTO b e prog 3 declares an AUTO a and will not be able to use GLOBAL a After prog 3 completes the value of AUTO a is deleted V Language User s Guide Rev A 123 Chapter 4 Variable Classes e prog 4 declares a LOCAL a and therefore will not be able to use GLOBAL a Unlike the AUTO a in prog 3 however the value of LOCAL a is stored and is available for any future CALLs to prog 4 PROGRAM prog 1 _ a GLOBAL to GLOBAL a all programs a 4 not having AUTO CALL prog 2 or LOCAL a PROGRAM prog 2 GLOBAL a a 7 b 12 CALL prog_3 PROGRAM prog_3 AUTO a a 23 a AUTO defined b 56 for each time b GLOBAL to CALL prog E program is called all programs not having AUTO PROGRAM prog_4 or LOCAL b LOCAL a a 2 CALL prog_3 PROGRAM prog_3 AUTO a a LOCAL defined a c3 a AUTO defined once for all calls 71 b 56 for each time to prog 4 CALL prog 4 program is called PROGRAM prog 4 LOCAL a a 2 CALL prog 3 Figure 4 2 Variable Scope Example 124 V Language User s Guide Rev A Chapter 4 Variable Classes Variable Initialization
83. p r of an Adept transformation can be represented as a 3 D vector as shown by the dashed lines and arrows in Figure 8 6 The following code generates the locations shown in that figure V Language User s Guide Rev A Chapter 8 Creating and Altering Location Variables Define a simple transformation SET loc a TRANS 300 50 350 0 180 0 Move to the location MOVE loc_a BREAK Move to a location offset 50mm in X 20mm in Y and 30mm in Z relative to loc a MOVE loc a TRANS 50 20 30 BREAK Define loc b to be the current location relative to loc a HERE loc a loc b loc_b 50 20 30 0 0 O BREAK Define loc c as the vector sum of loc a and loc p SET loc c loc a loc b loc c 350 70 320 0 180 O Once this code has run loc b exists as a transformation that is completely independent of loc a The following instruction will move the robot another 50mm in the x 20mm in the y and 30mm in the z direction relative to loc c MOVE loc c loc b Multiple relative transformations can be chained together If we define loc d to have the value 0 50 0 0 0 0 SET loc d TRANS 0 50 and then issue the following MOVE instruction MOVE loc a loc b loc d the robot will move to a position x 50mm y 70mm and z 30mm relative to loc a In Figure 8 6 on page 190 the transformation loc b defines the transformation needed to get from the local reference frame
84. program 3 Indicates an error is being displayed 4 Indicates that the MCP is in USER mode ATTACHed to an application program See Programming Example MCP Menu on page 302 for a program example that checks the MCP state V Language User s Guide Rev A 295 Chapter 11 Controlling the Pendant Controlling the Pendant The MCP responds to a number of control codes that affect the LCD panel whether or not the buttons are repeat buttons and the LEDs associated with the pendant buttons The control codes are listed in Table 11 1 on page 298 The control codes are sent as ASCII values using the WRITE instruction The normal way to send control codes is to use the CHR function to convert a control code to its ASCII value Control Codes for the LCD Panel 296 To clear the display and position the cursor in the middle of the top line issue the instruction WRITE mcp lun CHR 12 SCHR 18 SCHR 20 S CHR 12 clears the pendant and places the cursor at position 1 see Figure 11 2 on page 297 CHR 18 indicates that the next value received should be interpreted as a cursor location CHR 20 indicates the cursor should be placed at position 20 5 must be appended to the WRITE instruction or a lt CR LF gt will be sent Notice that using control code 18 allows you to position the cursor without disturbing existing text The following code will place the text EXIT in the middle of the bottom line and set the
85. roll 0 This location can be reached only by a mechanism with a fifth axis Pitch is represented as 180 not as 360 of rotation Thus a positive rotation of 190 is shown as 170 Y axis of local reference frame after applying yaw VS 30 Figure 8 4 Pitch 184 V Language User s Guide Rev A Chapter 8 Location Variables Roll Roll is defined as a rotation about the Z axis of the local reference frame after yaw and pitch have been applied Figure 8 5 shows a local reference frame in the primary robot Cartesian space and the direction roll would take within that space In this example the transformation has a value of X 30 Y 100 Z 125 yaw 30 pitch 40 and roll 20 This location can be reached only by a mechanism with fifth and sixth axes ROLL Au Z axis of local reference frame after applying l yaw and pitch Z A A y 30 Figure 8 5 Roll V Language User s Guide Rev A 185 Chapter 8 Location Variables 186 Special Situations When the Z axes of the local and primary reference frames are parallel roll and yaw produce the same motion in the same plane although the two motions may be in different directions This is always the case with a four axis SCARA robot The system automatically reflects rotation of the quill in the roll component of a transformation variable and the yaw component is forced to 0 Ina SCARA robot equipped with a fifth
86. s Guide Rev A 45 Chapter 2 Format of Programs Format of Programs This section presents the format V programs must follow The format of the individual lines is described followed by the overall organization of programs This information applies to all programs regardless of their type or intended use Program Lines Each line or step of a program is ime a by the V system as a program instruction The general format of a V program step is step number step label operation Comment Each item is optional and is described in detail below Step Number Each step within a program is automatically assigned a step num Step Label Operation 46 ber Steps are numbered consecutively and the numbers are auto matically adjusted whenever steps are inserted or deleted Although you will never enter step numbers into programs you will see them displayed by the V system in several situations Because step numbers change as a program evolves they are not useful for identifying steps for program controlled branching Therefore program steps can contain a step label A step label is a programmer specified integer 0 to 65535 that is placed at the start of a program line to be referenced elsewhere in the program used with GOTO statements The operation portion of each step must be a valid V language key word and may contain parameters and additional keywords The V Language Reference Guide gives detailed descriptions of al
87. scale 0 030670 Encoder scale factor Define belt twice for two stations FBELT b1 belt 1 32 belt scale NDOW b1 window 1 window 2 window error FBELT b2 belt 2 32 belt scale NDOW b2 window 1 window 2 window error ILE TRUE DO Loop indefinitely WAIT part ready Wait for signal that part present bx BELT b1 Read present belt position SETBELT b1 bx Set encoder offset for pick up SETBELT b2 bx P and drop off stations APPROS b1 pl1 50 00 Move to the part and pick it up MOVES b1 pl CLOSEI DEPARTS 50 00 APPROS b2 p2 50 00 Carry part to drop off location MOVES b2 p2 OPENI DEPARTS 50 00 MOVES wait location Return to rest location D Wait for the next part V Language User s Guide Rev A Chapter 12 Sample Programs End of program The WINDOW instruction in the above program indicates that whenever a window violation occurs a subroutine named window error is to be executed The following is an example of what such a routine might contain WINDOW VIOLATION ROUTINE TYPE B C1 WINDOW ERROR OCCURRED C1 Find out which end of window was violated F DISTANCE HERE window 1 DISTANCE HERE window 2 THEN Error occurred at window 2 TYPE Part moved downstream out of reach j Respond to downstream window error ELSE Error o
88. ss 58 Reentrant Programs 2 ee sss 58 Recursive Programs los sn 59 Asynchronous Processing 0 0 0 0 s 60 Error TOPPING gt s 5 3 4 3 8 Ro SRI A DA 61 Scheduling of Program Execution Tasks 62 System Timing and Time Slices 4 62 Specifying Tasks Time Slices and Priorities 62 Task Scheduling i gt ss 9 4 meta ee ee ew WU eid 63 Execution Priority Example 67 Default Task Configuration ls ss 69 System Task Configuration 1 0 69 Description of System Tasks 70 User Task Configuration aaa sns 72 g TheSEEEditorandDebugger 73 Basic SEE Editor Operations 2 0 00 74 CursorMovement 2 ee s 75 Deleting Copying and Moving Lines 77 Text Searching and Replacing 78 Switching Programs in the Editor 4 79 6 V Language User s Guide Rev A Table of Contents The Internal Program List 0 08 81 Special Editing Situations 0 4 83 The SEE Editor in Command Mode 85 SEE Editor Extended Commands 89 Edit Macros 2 242 9 oo a 91 Sample Editing Session 0 a 92 The Program Debugger oll s 95 Entering and Exiting the Debugger 95 The DEBUG Monitor Command 96 U
89. status of a button event will be stored in event 0 Look to see if that event was a button up event IF event 0 btn up THEN Check if the button up event was within the button area The x location is in event 1 the y location in event 2 hit event 2 gt 99 AND event 2 lt 146 hit hit AND event 3 gt 99 AND event 3 lt 146 END UNTIL hit The code for reacting to a button press is placed here This code will work for a single button but will become very unwieldy if several buttons are used In the case of several buttons you should place the button locations in arrays or a two dimensional array and then pass these locations to a subroutine that checks whether the mouse event was within the array parameters passed to it V Language User s Guide Rev A Chapter 10 Creating a Slide Bar Creating a Slide Bar V allows you to create a feature similar to the window scroll bars called slide bars The syntax for a slide bar is GSLIDE glun mode slide_id x y len max_pos arrow inc glun mode 0 1 2 slide_id X y len max_pos arrow_inc handle handle The logical unit of the window the slide bar is to be created in is replaced with indicating a horizontal slide bar is to be created or updated indicating a slide bar is to be deleted indicating a vertical slide bar is to be created or updated A number that will identify the slide bar
90. subroutines always exist as separate programs The V file structure allows you to keep a main program and all the subroutines it CALLs or EXECUTEs together in a single file so that when a main program is loaded all the subroutines it calls are also loaded If a program calls a subroutine that is not resident in system memory the error Undefined program or variable name will result See the descriptions of the STORE_ commands and the MODULE command in the V Operating System User s Guide for details For an example of creating a program file see Sample Editing Session on page 92 Reentrant Programs The V system allows the same program to be executed concurrently by multiple program tasks That is the program can be reentered while it is already executing This allows different tasks that are running concurrently to use the same general purpose subroutine To make a program reentrant you must observe a few general guidelines when writing the program e Global variables can be read but must not be modified e Local variables should not be used Only automatic variables and subroutine arguments can be modified In special situations local variables can be used and global variables can be modified but then the program must explicitly provide program logic to interlock access to these variables The TAS real valued function defined in Table 6 4 System Control Functions on page 164 may be helpful in these situat
91. successive time out maximum nak retry is the successive NAK maximum For example the instruction FCMND lun 501 CHR 2 CHR 20 CHR 8 specifies a time out interval of 2 seconds with a maximum of 20 time outs and 8 NAK retries V Language User s Guide Rev A 251 Chapter 9 Kermit Communication Protocol Kermit Communication Protocol The Kermit protocol is an error correcting protocol for transferring sequential files between computers over asynchronous serial communication lines This protocol is available as an option to the Adept V system Kermit is nonproprietary and was originally developed at Columbia University Computer users may copy Kermit implementations from one another or they may obtain copies from Columbia University for a nominal charge The following information is not intended to be a thorough description of Kermit and its use You should refer to the Kermit User Guide and the Reference Kermit Protocol Manual both available from Columbia University for more details on implementation and operation of the Kermit protocol The Adept implementation of Kermit can communicate only with a server see the Kermit User Guide for a definition of terms The following material describes use of Kermit from the V system In addition to this information you will need to know how to perform steps on your computer to initiate the Kermit protocol and access disk files When the V implementation of the Kermit pro
92. the board address switches on the processor module The V monitor window indicates the number of the processor with which it is associated The monitor window for processor 1 is simply entitled Monitor the window for processor 2 is entitled Monitor_2 CAUTION V does not enforce any memory protection schemes i for use of the application shared memory area It is your 334 responsibility to keep track of memory usage If you are using application or utility programs for example Adept AIM VisionWare or AIM MotionWare you should read the V Language User s Guide Rev A Chapter 13 Using Multiple V Systems documentation provided with that software to check that there is no conflict with your usage of the shared area AIM users should note that Adept plans to assign application shared memory starting from the top address hexadecimal 1FFF and working down Therefore you should start at the bottom address 0 and work up If you read a value from a location that has not been previously written to you will get an invalid value You will not get an error message The system will provide a value based upon the default memory contents and the manner in which the memory is being read Every byte of the application shared area is initialized to zero when V is initialized The memory addresses are based on single byte 8 bit memory locations For example if you write a 32 bit 4 byte value to an address the value will occupy fou
93. the value of the belt encoder offset is variable and will usually be changed often Normally the instantaneous location of the reference frame will be established using external input from a sensory device such as a photocell or the AdeptVision system For example the VFEATURE function provided by AdeptVision returns as one of its computed values the belt encoder offset that must be set in order to grasp an object identified by the vision system The DEVICE real valued function also returns latched or unlatched encoder values for use with SETBELT The encoder offset is set with the SETBELT program instruction described in Belt Variable Definitions on page 320 V Language User s Guide Rev A 315 Chapter 12 Basic Programming Concepts 316 The Belt Window The belt window controls the region of the belt in which the robot is to work Figure 12 1 on page 317 illustrates the terms used here A window is a segment of the belt bounded by two planes that are perpendicular to the direction of travel of the belt When defining the window ensure that the robot can reach all conveyor locations within the belt window This is especially important for revolute i e non Cartesian robots NOTE The window has limits only in the direction along the belt Within V a belt window is defined by two transformations with a WINDOW program instruction The window boundaries are computed by V as planes that are perpendicular to the direction o
94. to defaults when the V system is initialized The default values are indicated with each parameter description below The settings of the parameter values are not affected by the ZERO command If your robot system includes optional enhancements such as vision you will have other system parameters available Consult the documentation for the options for details The basic system parameters are shown in Table 7 1 on page 171 V Language User s Guide Rev A Chapter 7 Table 7 1 Basic System Parameters Parameters Parameter Use Min Max BELT MODE Controls the operation of the conveyor tracking feature of the V system 14 HAND TIME Determines the duration of the motion delay that occurs during processing of OPENI CLOSEL and RELAXI instructions The value for this parameter is interpreted as the number of seconds to delay Due to the way in which V generates its time delays the HAND TIME parameter is internally rounded to the nearest multiple of 0 016 seconds 0 05 1E18 KERMIT RETRY Sets the number of times Kermit will attempt to transfer a data packet before quitting with an error 15 1000 KERMIT TIMEOUT Time in seconds that Kermit will wait before retrying the transfer of a data packet 95 NOT CALIBRATED Represents the calibration status of the robot s controlled by the y system SCREEN TIMEOUT Controls automatic blanking of the graphics m
95. uses three classes of variables GLOBAL LOCAL and AUTO These are described in detail in Variable Classes on page 121 The PROGRAM and END lines are automatically entered by the V editors If you use another text editor for transfer to a V system you MUST enter these two lines In general any editor that produces unformatted ASCII files can be used for programming See the FORMAT command for details on creating floppy disks compatible with other operating systems 48 V Language User s Guide Rev A Chapter 2 Executing Programs Executing Programs When V is actively following the instructions in a program it is said to be executing that program The standard V system provides for simultaneous execution of up to seven different programs for example a robot control program and up to six additional programs The optional V extensions software provides for simultaneous execution of up to 28 programs Execution of each program is administered as a separate program task by the system The way program execution is started depends upon the program task to be used and the type of program to be executed The following sections describe program execution in detail Selecting a Program Task Task 0 has the highest priority in the standard task configuration Thus this task is normally used for the primary application program For example with a robot system task 0 is normally used to execute the robot control program NO
96. w w w 366 V Language User s Guide Rev A Appendix C Table C 2 Adept Character Set Continued Dec Hex Value Value Description Font 1 Fonts 2 3 4 5 amp 6 120 78 x x X 121 79 y y y 122 7A Z Z Z 123 7B right brace 124 7C bar 125 7D left brace 126 7E tilde 127 7F solid A A 128 80 copyright O O 129 81 registered trademark 130 82 trademark TM TM 131 83 bullet 132 84 superscript y x 133 85 double quote modified y w 134 86 checkmark v v 135 87 right pointing triangle b 136 88 approximately equal z symbol 137 89 OE ligature CE a 138 8A oe ligature ce i 139 8B beta p u 140 8C Sigma E e 141 8D Omega Q O 142 8E blank ya 143 8F blank yu V Language User s Guide Rev A 367 Appendix C Table C 2 Adept Character Set Continued Dec Hex Value Value Description Font 1 Fonts 2 3 4 5 amp 6 144 90 dotless i i yo 145 91 grave accent Dbl next consonant 146 92 acute accent 147 93 circumflex dh A 148 94 tilde I 149 95 macron S U 150 96 breve E 151 97 dot accent O 152 98 dieresis x KA 153 99 blank KI 154 9A ring E KU 155 9B cedilla d KE 156 9C blank KO 157 9D hungarumlaut i SA 158 9E ogonek SHI 159 9F caron g SU 160 AO blank Yen symbol 161 Al in
97. will output the text between the quotation marks to the current cursor location If a variable x has a value of 27 the instruction TYPE The value of x is x will output The value of x is 27 to the monitor The TYPE instruction has qualifiers for entering blank spaces and moving the cursor The instruction TYPE C34 U17 This is the screen center will enter 34 carriage returns clear the screen move up 17 lines from the bottom of the screen and output the text message Additional qualifiers are available to format the output of variables and control terminal behavior The program instruction used to retrieve data input from the keyboard is PROMPT The program line PROMPT Enter a value for x x will halt program execution and wait for the operator to enter a value from the keyboard in this case a real or integer value If a value of the proper data type is entered the value is assigned to the named variable if the variable does not exist it will be created and assigned the value entered and program execution will proceed If an improper data type is entered the system will generate an error message and halt execution String data is expected if a string variable x for example is specified All terminal input should be checked for proper data type The following code segment will insure that a positive integer is input Using the VAL function also guarantees that inadvertently entered nonnum
98. workspace which forces the robot into a standard configuration RELAX PI Limp the pneumatic hand RELAXI PI Limp the pneumatic hand immediately RIGHTY PI Request a change in the robot configuration during the next motion so that the first two links of the robot resemble a human s right arm see LEFTY ROBOT S Enable or disable one robot or all robots RX TF Return a transformation describing a rotation about the x axis RY TF Return a transformation describing a rotation about the y axis RZ TF Return a transformation describing a rotation about the z axis SCALE TF Return a transformation value equal to the transformation parameter with the position scaled by the scale factor SELECT PI Select the unit of the named device for access by the current task SELECT RF PI Select the unit real value function of the named device for access by the current task PI Program Instruction RF Real Valued Function TF Transformation Function S Switch P Parameter PF Precision Point Function CF Conversion Factor 212 V Language User s Guide Rev A Chapter 8 Summary of Motion Keywords Table 8 1 Motion Control Operations Continued Keyword Type Function SET PI Set the value of the location variable on the left equal to the location value on the right of the equal sign SET SPEED S Control whether or not the monitor speed can be changed from the manual control pe
99. 01 Chapter 3 102 The Program Debugger Positioning the Typing Cursor The typing cursor is positioned in the debug window when The program debugger is initiated Task execution is initiated or terminated in the latter case the edit window will be moved as required to include the execution pointer The Redraw S F6 or Undo F6 key is pressed in debug monitor mode The debugger is switched from editor mode to monitor mode The typing cursor is positioned in the edit window when Any function key operation other than Redraw S F6 or Undo F6 is performed during debug monitor mode Note that this includes all the keys normally used to move the cursor in the edit window such as the arrow keys The debugger is switched from monitor mode to edit mode With graphics based systems the typing cursor is positioned in the edit window if you click the pointer device anywhere in that window V Language User s Guide Rev A Chapter 3 The Program Debugger Debugger Key Commands Table 3 6 on page 85 and Table 3 7 on page 86 list all the keys interpreted as commands by the V SEE editor Except for the differences described below all the keys listed in those tables have exactly the same effect with the debugger in either of its modes as they do when used with the SEE editor detailed earlier in this chapter NOTE While using the debugger the following keys are particularly useful for moving to different progra
100. 07 8 388 608 8 388 607 As long as the distance between the workspace of the robot and the nominal transformation of the belt is within the distance that can be represented by the maximum encoder value V application programs normally do not have to take into account the fact that the counter will periodically roll over The belt distance equation described above is based upon a relative encoder value encoder count encoder offset and V automatically adjusts this calculation for any belt rollover that may occur Care must be exercised however if an application processes encoder values in any way For example a program may save encoder values associated with individual parts on the conveyor and then later use the values to determine which parts should be processed by the robot In such situations the application program may need to consider the possibility of rollover of the encoder value NOTE While the encoder counter value is stored as a 24 bit number the rate of change of the belt encoder the speed of the belt is maintained only as a 16 bit number The belt speed is used internally by V to predict future positions on the belt Therefore the rate of change of the belt encoder should not exceed 32 768 counts per 16 milliseconds The Adept application program for belt calibration includes a test for this condition and prints a warning if this restriction will be violated This requirement will be a limitation only for ver
101. 163 FALSE 163 OFF 163 ON 163 TRUE 163 logical operators 128 380 V Language User s Guide Rev A AND 128 NOT 128 OR 128 XOR 128 logical units attaching detaching 227 number 225 for MCP 288 long line editing 83 looping structures 147 lowercase letters 28 47 LUN 225 M macros defining 91 editing 91 majorcycle 62 MAX 162 MCP button map 294 button modes keyboard 291 level 292 toggle 291 control codes 296 298 for LCDs 296 determining state of 295 LCDs control codes 296 level mode 292 logical unit number 288 potentiometer programming 293 slow button rogramming 293 MCP MESSAGES system switch 175 MCS 153 MCS MESSAGES system switch 175 memory accessing with multiple V systems 333 required by a program 51 shared 334 usage 334 menus creating 270 messages control of 175 Index MESSAGES system switch 175 MID 159 MIN 162 MMPS 210 MOD 126 modes program debugger 100 monitor task 70 MONITORS system switch 331 motion procedural 199 relative to belt 318 motion control restrictions 337 tasks 338 motion control operations 178 213 PDEST 211 PLATCH 211 PPOINT 212 ABOVE 207 ACCEL 207 ALIGN 207 ALTER 207 ALTOFF 207 ALTON 207 AMOVE 207 APPRO 207 APPROS 207 BASE 207 BELOW 208 BRAKE 208 BREAK 208 CALIBRATE 208 CLOSE 208 CLOSEI 208 COARSE 208 CONFIG 208 CP 208 CPOFF 208 CPON 208 DECOMPOSE 208 DELAY 208 DEPART 208 DEPARTS 209 DEST 209 DISTANCE 209 DRIVE 209 DR
102. 198 Procedural Motion 0 eee 0 0 199 Procedural Motion Examples 199 Timing Considerations 0 0 4 200 Robot Speed 201 Motion Modifiers 0 203 Customizing the Calibration Routine 203 Tool Transformations oss 204 Defining a Tool Transformation 205 Summary of Motion Keywords c sss 207 V Language User s Guide Rev A 177 Chapter 8 Introduction Introduction A primary focus of the V language is to drive motion devices This chapter discusses the language elements that generate controller output to move a motion device from one location to another Before we introduce the V motion instructions we should examine the V location variables and see how they relate to the space the motion device operates in Location Variables 178 Locations can be specified in two ways in V transformations and precision points A transformation is a set of six components that uniquely identifies a location in Cartesian space and the orientation of the motion device end of arm tooling at that location A transformation can also represent the location of an arbitrary local reference frame A precision point includes an element for each joint in the motion device Rotational joint values are measured in degrees translational joint values are measured in millimeters These values are absolute wit
103. 3 1224 in 1225 1256 dif 1129 1144 dif 1161 1176 dif 1193 1208 dif 1225 1240 out 17 20 out 21 24 out 25 28 out 29 32 Figure 9 1 Analog I O Board Channels 224 V Language User s Guide Rev A Chapter 9 Serial and Disk I O Basics Serial and Disk I O Basics The following sections describe the basic procedures that are common to both serial and disk I O operations Disk I O on page 231 covers disk I O in detail Serial Line I O on page 243 covers serial I O in detail Logical Units All V serial and disk I O operations reference an integer value called a Logical Unit Number or LUN The LUN provides a shorthand method of identifying which device or file is being referenced by an I O operation See the ATTACH command in the V Language Reference Guide for the default device LUN numbers Disk devices are different from all the other devices in that they allow files to be opened Each program task can have one file open on each disk LUN That is each program task can have multiple files open simultaneously on the same or different disk units NOTE No more than 60 disk files can be open by the entire system at any time That includes files opened by programs and by the system monitor for example for the FCOPY command The error Device not ready results if an attempt is made to open a 61st file See Chapter 10 for details on accessing the graphics window LUNs Error Status Unlike most other V instruc
104. 3 259 ALIGN 207 Alt key on non graphics based terminals 74 ALTER 207 program instruction 294 ALTOFF 207 ALTON 207 ALWAYS 203 AMOVE 207 analog I O 223 AND logical operator 128 angles 29 apostrophe 115 apostrophe character 115 APPRO 207 approaching a location 196 APPROS 196 207 arguments numeric 29 passing toaroutine 133 program passing 54 arithmetic functions 162 arrays 120 belt variable 311 efficient allocation 120 multidimensional 120 string 120 ASC 159 ASCII values 115 ASCII control codes 360 ACK 360 BEL 360 BS 360 CAN 361 CR 360 DC1 361 DC2 361 DC3 361 DC4 361 DEL 361 DLE 360 EM 361 ENQ 360 EOT 360 V Language User s Guide Rev A 373 Index ESC 361 ETB 361 ETX 360 FF 360 FS 361 GS 361 HT 360 LF 360 NAK 361 NUL 360 RS 361 SI 360 SO 360 SOH 360 SIX 360 SUB 361 SYN 361 US 361 VT 360 assignment operator 126 asterisk prompt 49 asynchronous processing 60 ATAN2 162 ATTACH 259 graphics window 264 with the MCP 288 attach buffer 77 SEE editor 42 attaching disk devices 231 I O devices 227 logical units 227 program lines 77 robot 43 with Copy 77 AUTO 122 automatic variables 122 autostart 332 AWOL Adept Windows Offline Editor 41 BAND 128 BASE 207 208 battery backup module 137 BCD 162 BELOW 208 BELT 174 311 320 belt calibration 310 encoder 314 tracking 308 variable 311 window 316 belt encoder offset 315 scaling f
105. 318 Motion Termination 319 Defining Belt Relative Locations 319 Moving Line Programming a ee ees 320 Instructions and Functions 320 Belt Variable Definitions 320 Encoder Position and Velocity Information 320 Window Testing 0 0 321 Status Information 00 04 321 System Switch a 321 System Parameters lll ss 321 sample Programs 646444 6 RR RUE IR ROC Y RO P E ow cw we xo x8 322 V Language User s Guide Rev A 307 Chapter 12 Introduction to Conveyor Tracking Introduction to Conveyor Tracking 308 This chapter describes the Adept Conveyor Tracking moving line feature The moving line feature allows the programs to specify locations that are automatically modified to compensate for the instantaneous position of a conveyor belt Motion locations that are defined relative to a belt can be taught and played back while the belt is stationary or moving at arbitrarily varying speeds Conveyor tracking is available only for systems that have the optional V Extensions software For V to determine the instantaneous position and speed of a belt the belt must be equipped with a device to measure its position and speed As part of the moving line hardware option Adept provides an encoder and an interface for instrumenting two separate conveyor belts Robot motions and locations
106. 35 for descriptions of the REACT routines the LOCK instruction and another program execution example The illustration shows the timelines of executing programs A solid line indicates a program is running a dotted line indicates a program is waiting The Y axis shows the program priority The X axis is divided into 1 millisecond time slices The sequence of events for Priority Example 1 is o prog a issues a WAIT EVENT This suspends prog a and passes execution to the next highest task which is task 2 running prog c o prog c runs until it issues a RELEASE instruction Since the RELEASE has no arguments execution is passed to the next highest task with a program to run Since task 0 is waiting on a SET EVENT the next task is task 1 e Task 2 issues a SET EVENT to task 0 and runs until the end of a time slice at which time task 0 runs Tasks 0 and 2 have the same priority so they swap execution If two tasks with equal priority are ready to run the least recently run task runs o prog c waits for a disk I O operation to complete The next highest priority task is 2 which runs until the I O operation completes and task 0 becomes the least recently run task prog_a completes passing control to task 2 O prog_c completes passing control to task 1 V Language User s Guide Rev A 67 Program Priority a o o Chapter 2 Scheduling of Program Execution Tasks Notice that unless both task 0 and task 2 are wai
107. 4 The simplified syntax for a CALL instruction is CALL program arg_list program is the name of the program to be called The program name must be specified exactly and the program being CALLed must be resident in system memory arg_list is the list of arguments being passed to the subroutine These argu ments can be passed either by value or by reference and must agree with the arguments expected by the program being called Subrou tines and argument lists are described in Subroutines on page 54 The code 48 49 CALL check_data locx locy length 50 will suspend execution of the calling program pass the arguments locx locy and length to program check_data execute check_data and after check_data has completed execution resume execution of the calling program at step 50 V Language User s Guide Rev A 133 Chapter 5 Unconditional Branch Instructions CALLS 134 The CALLS instruction is identical to the CALL instruction except for the specification of program For a CALLS instruction program is a string value variable or expression This allows you to call different subroutines under different conditions using the same line of code These different subroutines must have the same arg_list The code 47 s 48 S Sprogram name program list program select 49 CALLS Sprogram_name length width 50 will suspend execution of the calling program pass the parameters length and width to the program s
108. 5 WAILEVENT lt ici 9 o 6 oo oo wa we eH HORS 135 REACT and REACTI i4 s xo RE E OX X X ok coe OS o 136 REAGE use 3 o4 OT AAA AR 137 HALT STOP and PAUSE 00 138 BRAKE BREAK and DELAY 138 Additional Program Interrupt Instructions 138 Program Interrupt Example 139 Logical Boolean Expressions 00 4 142 Conditional Branching Instructions 143 IF GOTO rra EERE EKER SG 143 IF MHEN ELSE CT 143 CASE VAU OF e acia Rex por i d Ae roe ie iere He AR 145 Example uu d o 2 3 g a ap og g da d d ee Ge eG 146 Looping Structures aaa aa 147 FS dee he a Ho EG OE Fe AA cda aam 4e a 43 147 Examples 1 o 148 DO UNTIL ucro o9 o9 ee OS Se OR Fe a 148 WHILE DO ira ra oRe xtheR 4e he dock Re Be ed 150 Summary of Program Control Keywords 152 Controlling Programs in Multiple CPU Systems 155 V Language User s Guide Rev A 131 Chapter 5 Introduction Introduction This chapter introduces the structures available in V to control program execution These structures include the looping and branching instructions common to most high level languages as well as some instructions specific to V Unconditional Branch Instructions There are three unconditional branching instructions in V GOTO CALL e CALLS GOTO The GOTO instruction causes program execution to branch immediatel
109. 51 task execution 51 STATE 213 state of MCP determining 295 Index STATUS 164 step label 46 number 46 program 46 STOP 138 154 straight line motion 195 string arrays 120 data 114 operators 130 replacement 78 searching 78 string functions 115 159 ASC 159 CHR 159 DBLB 159 DBLB 159 DECODE 159 ENCODE 159 FLTB 159 FLIB 159 INTB 159 IOGETS 333 LEN 159 LNGB 159 LNGB 159 MID 159 PACK 159 POS 159 See also functions numeric value functions real valued functions and system control functions TRANSB 160 TRUNCATE 160 UNPACK 160 VAL 160 subdirectories 232 subroutine argument lists 54 call 133 using a string expression 133 recursive 59 reentrant 58 stack 51 requirements 51 size calculation 52 subtraction operator 126 Support V Language User s Guide Rev A 387 Index phone numbers 32 suppressing CR LF to the MCP 289 SWITCH 164 switch 168 172 switches BELT 174 CP 174 DRY RUN 174 FORCE 175 INTERACTIVE 175 MCP MESSAGES 175 MCS MESSAGES 175 MESSAGES 175 MONITORS 175 operations 173 POWER 175 ROBOT 176 SET SPEED 176 TRACE 176 UPPER 176 syntax error 47 system parameter 168 169 prompt 49 switch 168 172 system configuration restrictions 337 system control functions 164 ERROR 164 ID 164 TIME 165 DEFINED 164 ERROR 164 FREE 164 GET EVENT 164 ID 164 LAST 164 PARAMETER 164 PRIORITY 164 See also functions numeric value functions real valued functions and string functio
110. 73 Button Example 2 2 2 2 2 5 273 Creating a Slide Bar a 275 GSLIDE Example sns 276 Graphics Programming Considerations 278 Using lOSTAT o 279 Managing Windows 0 0 eee 280 Communicating With the System Windows 281 The Main Window 2 2 281 The MonitorWindow 0 0 0 ls 281 The Vision Window a a a nn 282 Additional Graphics Instructions 0 284 V Language User s Guide Rev A 263 Chapter 10 Creating Windows The instructions in this chapter require a graphics based system NOTE For clarity in presenting the programming principles examples in this chapter leave out the calls to IOSTAT that are critical to detecting and responding to I O errors Creating Windows V communicates to windows through logical units with logical unit numbers LUNs 20 to 23 reserved for window use Each task has access to its own set of four LUNs The basic strategy for using a window or any of the graphics instructions is 1 ATTACH to a logical unit 2 FOPEN a window on the logical unit 3 Perform the window s tasks or graphics operations 4 FCLOSE the window 5 FDELETE the window 6 DETACH from the logical unit ATTACH Instruction The ATTACH instruction sets up a communications path so a window can be written to and read from The syntax for the ATTACH instructi
111. 9 09 Horizontal tab LF 010 0A Line feed VT 011 0B Vertical tab FF 012 0C Form feed CR 013 0D Carriage return SO 014 OE Shift out SI 015 OF Shift in DLE 016 10 Data link escape 360 V Language User s Guide Rev A Appendix C Table C 1 ASCII Control Values Continued Decimal Character Value Hex Value Meaning of Control Character DC1 017 11 Direct control 1 DC2 018 12 Direct control 2 DC3 019 13 Direct control 3 DC4 020 14 Direct control 4 NAK 021 15 Negative acknowledge SYN 022 16 Synchronous idle ETB 023 17 End of transmission block CAN 024 18 Cancel EM 025 19 End of medium SUB 026 1A Substitute ESC 027 1B Escape FS 028 1C File separator GS 029 1D Group separator RS 030 1E Record separator US 031 1F Unit separator DEL 127 7F Delete V Language User s Guide Rev A 361 Appendix C Table C 2 Adept Character Set Dec Hex Value Value Description Font 1 Fonts 2 3 4 5 amp 6 000 00 cell outline 001 01 diamond u 002 02 checkerboard 003 03 HT Horizontal Tab E 004 04 FF Form Feed P 005 05 CR Carriage Return s 006 06 LF Line Feed e 007 07 degree symbol i 008 08 plus minus E 009 09 NL New line 24 010 0A VT Vertical Tab m 011 OB lower right corner 012 0C upper right corner 013 0D upper left
112. AILSDART s poo 5 5 5 5 548 5 ERA CkcEcRcCE Ew o 3 301 Programming Example MCP Menu 302 12 Conveyor Tracking 0 307 Introduction to ConveyorTracking 308 Installation ir AAA A 309 Calibration s ach oo Sw Rok DED 310 Basic Programming Concepts 0 311 Belt Variables 2 sss 311 Nominal Belt Transformation 2 2 312 The Belt Encoder 0 0 0 2 314 The Encoder Scaling Factor 314 The Encoder Offset oss 315 The Belt Window 316 Belt Relative Motion Instructions 318 Motion Termination 319 Defining Belt Relative Locations 319 Moving Line Programming 0 sns 320 Instructions and Functions 0 8 320 Belt Variable Definitions 320 Encoder Position and Velocity Information 320 Window Testing 2 sss 321 V Language User s Guide Rev A 13 Table of Contents 13 14 Status Information 0 0 2 0 004 321 System Switch s loss 321 System Parameters lll sn 321 sample Programs oa 6 FR EET ERS HHH ok ERE DOHA 322 MultiProcessor Systems 325 Introduction i ls s sss 326 Requirements for Motion Systems 08 327 Allocating Servos with an MI 3 or MI 6 Board 327 Allocat
113. Adept IC Adept OC Adept MV AdeptVision AIM VisionWare AdeptMotion MotionWare PalletWare FlexFeedWare AdeptNet AdeptFTP AdeptNFS AdeptTCP IP AdeptForce AdeptModules AdeptWindows AdeptWindows PC AdeptWindows DDE AdeptWindows Offline Editor and V are trademarks of Adept Technology Inc Any trademarks from other companies used in this publication are the property of those respective companies Printed in the United States of America Table of Contents Introduction oo ons 19 Compatibility s ls ls ooo 20 Manual Overview 2 2 e 21 Related Publications 2 2 0 ss 22 Notes Cautions and Warnings 4 23 SAE ss aaa RE SO et Ad A 24 Reading and Training for System Users 2 2 24 System Safeguards 0 25 Computer Controlled Robots 25 Manually Controlled Robots 00 25 Other Computer Controlled Devices 26 Notations and Conventions 2 0 08 27 Keyboard Keys 1 l l o 27 Uppercase and Lowercase Letiers 28 Numeric Arguments 0 oll s 29 Output Control Commands 0 00080 4 4 30 How Can I Get Help a a 32 Programming V Laaa kd aa 33 Creating a Program aaa s ss 35 Program and Variable Name Requirements 35 The Editing Window 36 Editing Modes
114. All but the last of these invalid names would be rejected by V with an error message The extra long name would be truncated without warning to this is a long The dollar sign is not considered in the character count of the variable name 114 V Language User s Guide Rev A Chapter 4 String Data Type ASCII Values An ASCII value is the numeric representation of a single ASCII character See Appendix C for a complete list of the ASCII character set An ASCII value is specified by prefixing a character with an apostrophe Any ASCII character from the space character decimal value 32 to the tilde character decimal value 126 can be used as an ASCII constant Thus the following are valid ASCII constants A 1 ty Y oe Note that the ASCII value 1 decimal value 49 is not the same as the integer value 1 decimal value 1 0 Also it is not the same as the string value 1 Functions That Operate on String Data Table 6 1 String Related Functions on page 159 summarizes the V functions that operate on string data V Language User s Guide Rev A 115 Chapter 4 Real and Integer Data Types Real and Integer Data Types 116 Numbers that have a whole number and a fractional part or mantissa and exponent if the value is expressed in scientific notation belong to the data type real Numeric values having only a whole number belong to the data type integer In general V does not require you to dilfev
115. Approaches and Departures 196 Moving an Individual Joint 196 End Effector Operation Instructions 197 Continuous Path Trajectories 197 Breaking Continuous Path Operation 198 Procedural Motion a 4 199 Procedural Motion Examples 199 Timing Considerations 200 Robot Speed 2 201 Motion Modifiers 0 00084 203 Customizing the Calibration Routine 203 Tool Transformations 2 2 lll ls s 204 Defining a Tool Transformation 205 Summary of Motion Keywords s s sss 207 9 Input Output Operations 215 Terminal I O sra 3b RR ODE de wo ew d 5 217 Terminal Types os ss 218 Input Processing sss 218 Output Processing 0 220 Digital UD uud owe Bah EG E 4 x x xx 3x33 220 High Speed Interrupts 0 0 0 ees 221 Soft Signals 46 bb ad o o o ooo o o Dew 3 EOS 221 Digital I O and Third Party Boards 222 Digital I O and DeviceNet 0 222 Pendantl O o ss 223 10 V Language User s Guide Rev A Table of Contents Andog DO s generere d d RRA AA 223 Serial and Disk I O Basics aa a a 225 Logical Units 1 gt s s s soa seres BE we BSS ea mi 225 Enor SIMS o o are 34 4 AAA 225 Attaching Detaching Logical Un
116. Control Pendant Connector Manual Mode Auto Mode Enable Switch Emergency Stop e NB f MCP lt 250mm Network Switch System Power Switch Figure 1 2 High Power Enable Light Manually Controlled Robots Adept robots can also be controlled manually when the white HIGH POWER enable light on the front of the controller is illuminated When this light is lit robot motion can be initiated from the terminal or the manual control pendant see Chapter 11 for more information Before you enter the workspace turn the keyswitch to manual mode and take the key with you This will prevent anyone else from initiating unexpected robot motions from the terminal keyboard V Language User s Guide Rev A 25 Chapter 1 Safety Other Computer Controlled Devices 26 In addition these systems can be programmed to control equipment or devices other than the robot As with the robot the program controlling these devices may cause them to operate at times not anticipated by personnel Make sure that safeguards are in place to prevent personnel from entering the workcell WARNING Entering the robot workcell when the white A HIGH POWER enable light is illuminated can result in severe injury Adept Technology recommends the use of additional safety features such as light curtains safety gates or safety floor mats to prevent entry to the workcell while HIGH POWER is enabled These devices
117. END 19 Changing the value of index inside a FOR loop will cause the loop to behave improperly To avoid problems with the index make the index variable an auto variable and do not change the index from inside the FOR loop Changes to the starting and ending variables will not affect the FOR loop once it is executing UNTIL DO UNTIL is a looping structure that will execute a given block of code an indeterminate number of times Termination of the loop depends on the boolean expression or variable that controls the loop becoming true The boolean is tested after each execution of the code block if the expression evaluates to true the loop is not executed again Since the expression is not evaluated until after the code block has been executed the code block will always execute at least once The form for this looping structure is V Language User s Guide Rev A Chapter 5 Looping Structures DO code block UNTIL expression expression is any well formed boolean expression This expression must eventually evaluate to true or the loop will execute indefinitely yes the infamous infinite loop 20 3 21 Output the numbers 1 to 100 to the screen 22 23 x 1 24 DO 25 TYPE x 26 xX X 1 27 UNTIL x gt 100 28 Step 26 insures that x will reach a high enough value so that the expression x gt 100 will become true BE ds do Gau 0 10 OB CO 49 50 gl 52 5 3 Echo up to 15 cha
118. Example of System Control Functions 165 V Language User s Guide Rev A 157 Chapter 6 Using Functions Using Functions V provides you with a wide variety of predefined functions for performing string mathematical and general system parameter manipulation Functions generally require you to provide them with data and they return a value based on a specific operation on that data Functions can be used anywhere a value or expression would be used Variable Assignment Using Functions The instruction Scurr_time STIME will put the current system time into the variable curr_time This is an example of a function that does not require any input data The instruction var root SORT x will put the square root of the value x into var_root x will not be changed by the function Functions Used in Expressions A function can be used wherever an expression can be used as long as the data type returned by the function is the correct type The instruction IF LEN Ssome_string gt 12 THEN will result in the boolean expression being true if the string some_string has more than 12 characters The instruction array var some_array VAL x will result in array_var having the same value as the array cell x VAL converts a string to a real Functions as Arguments to a Function 158 In most cases the values passed to a function are not changed This not only protects the variables you use
119. Guide Rev A 193 Chapter 8 Creating and Altering Location Variables Miscellaneous Location Operations 194 The instruction DECOMPOSE array_name loc_name will place the joint values of loc_name in the array array_name DECOMPOSE works with transformations and precision points The command WHERE will display the current robot location The BASE operation can be used to realign the world reference frame relative to the robot V Language User s Guide Rev A Chapter 8 Motion Control Instructions Motion Control Instructions V processes robot motion instructions differently from the way you might expect With V a motion instruction such as MOVE part is interpreted to mean start moving the robot to location part As soon as the robot starts moving to the specified destination the V program continues without waiting for the robot motion to complete The instruction sequence MOVE part l SIGNAL 1 MOVE part 2 SIGNAL 2 will cause external output signal 1 to be turned on immediately after the robot begins moving to part 1 rather than waiting for it to arrive at the location When the second MOVE instruction is encountered V waits until the motion to part 1 is completed External output signal 2 is turned on just after the motion to part 2 begins This is known as forward processing See Breaking Continuous Path Operation on page 198 for details on how to defeat forward processing This p
120. Help How Can Get Help 32 Refer to the How to Get Help Resource Guide Adept P N 00961 00700 for details on getting assistance with your Adept software or hardware You can obtain this document through Adept On Demand The phone numbers are 800 474 8889 toll free 503 207 4023 toll call Please request document number 1020 V Language User s Guide Rev A Programming V Creating a Program 4 4 64 6 8 4 6 eS ewe ee ee ee ee 35 Program and Variable Name Requirements 35 The Editing Window 36 Editing Modes 2 000 a 36 Changing Editing Modes 37 The SEE Editor Environments 38 Using Text Editors Other Than the SEE Editor 38 The SEE Editor Window 40 The Adept Windows Off line Editor 41 Using the Editor a aaa a 41 Entering New Lines of Code 41 Exiting the Editor oll ss 42 Saving a Program s sn 42 V Program Types 2 a s s sn 43 Executable Programs 0054548 43 Robot Control Programs 43 Exclusive Control of a Robot 44 General Programs 2 2 a 45 Format of Programs 2 4 4 6 44 on SP e a 3 46 Program Lines 6 4 44 46 AAA OG 3 46 Program Organization 0 ee s 48 Program Variables 48 Executing Programs o o moo
121. I will open the gripper before any additional motion instructions are executed CLOSE and CLOSEI are the complementary instructions When an OPEN I or CLOSE I instruction is issued one solenoid is activated and the other is released To completely relax both solenoids use the instruction RELAX or RELAXI Use the system parameter HAND TIME to set the duration of the motion delay that occurs during an OPENI CLOSEL or RELAX instruction Use the function HAND to return the current state of the gripper Continuous Path Trajectories When a single motion instruction is processed such as the instruction MOVE pick the robot begins moving toward the location by accelerating smoothly to the commanded speed Sometime later when the robot is close to the destination location pick the robot will decelerate smoothly to a stop at location pick This motion is referred to as a single motion segment since it is produced by a single motion instruction When a sequence of motion instructions is executed such as MOVE loc 1 MOVE loc 2 the robot begins moving toward loc 1 by accelerating smoothly to the commanded speed just as before However the robot will not decelerate to a stop when it gets close to loc 1 Instead it will smoothly change its direction and begin moving toward loc 2 Finally when the robot is close to loc 2 it will decelerate smoothly to a stop at loc 2 This motion consists of two motion segments since it is genera
122. Index multiple processor boards 329 instructions format 46 restrictions 337 INT 162 INT EVENT 153 INTB 159 INTB 164 integers data type 116 range 116 INTERACTIVE system switch 175 internal program list 81 interrupting a program 135 interrupts 221 intersystem communications 333 INVERSE 210 IOGET 260 333 IOPUT_ 260 333 IOSTAT 260 279 reporting communication errors 226 return values 226 with GETC 226 IOTAS 260 333 334 IPS 210 J joint moving an individual 196 number 29 joint interpolated motion 195 K keeping track of memory usage 334 KERMIT 260 Kermit 252 258 attaching 255 binary files 256 communication protocol 252 errors 257 fileaccess 255 256 commands 256 input 256 operation 255 256 output 256 parameters 258 starting session 253 task 70 KERMIT RETRY parameter 171 KERMIT TIMEOUT parameter keyboard 27 input 217 mode MCP 291 KEYMODE 261 keys control Ctrl 27 enter 27 function 27 103 return 27 shift 27 171 260 L label program 132 program step 46 LAST 164 LATCH 210 LATCHED 210 LEFTY 203 210 LEN 159 less than operator 127 LNGB 159 LNGB 159 LOADBELT V2 310 LOCAL 121 local variables 121 location relative to belt 319 location data transformations 180 type precision point 119 transformation 119 location functions 161 location values modifying 188 location variables 179 locations 178 190 LOCK 60 logical constants 118 logical expressions 118 142 logical functions
123. KEYMODE 45 51 2 DO IF PENDANT 49 THEN TYPE X1 S Cursor right END IF PENDANT 47 THEN TYPE SCHR 8 Cursor left backspace END IF PENDANT 51 THEN TYPE U1 S Cursor up END IF PENDANT 45 THEN TYPE SCHR 12 Cursor down line feed END UNTIL PENDANT 8 V Language User s Guide Rev A Chapter 11 Detecting User Input Monitoring the MCP Speed Bar The speed bar on the MCP returns a value from 128 to 127 depending on where it is being pressed An argument of 2 to the PENDANT function will return the value of the speed bar The following code displays the state of the speed bar Set the REC DONE button to toggle KEYMODE 8 1 Display speed bar value until the REC DONE is pressed DO WRITE 1 PENDANT 2 UNTIL PENDANT 8 The Slow button is intended to alter the value returned by the speed bar The following code compresses the range of values returned by 50 whenever the Slow button is on Set the REC DONE button to toggle KEYMODE 8 1 Do until the REC DONE button is pressed DO IF PENDANT 36 THEN TYPE PENDANT 2 0 5 ELSE TYPE PENDANT 2 END UNTIL PENDANT 8 V Language User s Guide Rev A 293 Chapter 11 Detecting User Input OJO USER ES TOOL JOINT FREE DEV2 e e
124. Left 1 item Home Top of program Page Up Up 1 screen Page Down Down 1 screen End End of program Table 3 2 Cursor Movement Keys With an AdeptWindows based Keyboard Cursor Key Without Ctrl Key With Ctrl Key T Up 1 line Up 1 4 page Down 1 line Down 1 4 page gt Right 1 character Right 1 item Left 1 character Left 1 item Home Top of program Page Up Up 1 screen Page Down Down 1 screen End End of program V Language User s Guide Rev A 75 Chapter 3 Basic SEE Editor Operations The scroll bars will also move through a SEE editor program The bottom scroll bar has an effect only if the editor window has been sized down Clicking on the up down arrows moves the program up or down a few lines Clicking the left right arrows moves the program left or right Clicking in a scroll bar displays the corresponding section of the program e g clicking in the middle of the scroll bar displays the middle section of the program Dragging a scroll handle moves the program up or down or left or right Table 3 3 Cursor Movement Keys With an ASCII Terminal based Terminal Key Function Without Shift Key T Up 1 line y Down 1 line gt Right 1 character c Left 1 character Line Feed Up 1 screen Home Down 1 screen Start PF1 Go to start of line PF2 Move left 1 item PF3 Move right 1 item End PF4 Go to end of
125. ND The last directory in the specified directory path is opened Only read operations are allowed Each record read returns an ASCII string containing directory information Directories should be opened using variable length sequential access mode While a file is open for write or append access another control program task cannot access that file However multiple control program tasks can access a file simultaneously in read only mode Writing to a Disk The instruction WRITE dlun Sin string will write the string stored in in string to the disk file open on dlun The instruction error IOSTAT dlun will return any errors generated during the write operation 234 V Language User s Guide Rev A Chapter 9 Disk I O Reading From a Disk The instruction READ dlun Sin string will read from the open file on dlun up to the first CR LF or end of file if it is encountered and store the result in in string When the end of file is reached V error number 504 Unexpected end of file is generated The IOSTAT function must be used to recognize this error and halt reading of the file DO READ dlun Sin string TYPE Sin string UNTIL IOSTAT dlun 504 The GETC function reads the file byte by byte if you want to examine individual bytes from the file or if the file is not delimited by CR LFs Detaching When a disk logical unit is detached any disk file that was open on tha
126. NITORS system switch is enabled multiple monitor windows can be displayed The first monitor window is the normal monitor window for the system processor labeled Monitor The monitor windows for the other V system is labeled Monitor 2 The processor can run its own independent V system and can perform all of the V functions with the exceptions described in Restrictions With Multiprocessor Systems on page 337 V Language User s Guide Rev A 331 Chapter 13 Using Multiple V Systems Autostart When the autostart program is used with processor 1 it acts the same as on a single V system and performs the following commands LOAD O auto COMM auto When autostart is used with V processor 2 the program performs the following commands LOAD Q auto02 COMM auto02 where n is V system number 2 You do not have to enable the MONITORS system switch unless you want access to the V command line when using autostart to execute programs on system 2 The autostart function is enabled for all processors using CONFIG_C utility Controller NVRAM menu selection See the Instructions for Adept Utility Programs for more details Accessing the Command Prompt If you are not using autostart you must enable the MONITORS system switch and use the Adept pull down menu to select the Monitor window for the system you want to command You can then enter V commands such as LOAD and EXECUTE at the V command prompt See the V Lan
127. Operations The SEE Editor Function Key Description Cursor Movement in Command Mode SEE Editor Command Mode Operations Function Keys Associated With Macros Definition of Terms Debugger Commands Integer Value Representation Mathematical Operators Relational Operators s s s Logical Operators a ls ss Bitwise Logical Operators 0 Order of Operator Evaluation Program Control Operations String Related Functions Numeric Value Functions Logical Functions 5 99 ewe See we we ox ox System Control Functions Basic System Parameters Basic System Switches 0 58 Motion Control Operations Special CharacterCodes Special Character Codes Read by GETC IOSTAT Return Values Disk Directory Format File Attribute Codes Standard DDCMP NAK Reason Codes System Input Output Operations List of Graphics Instructions V Language User s Guide Rev A 22 52 70 71 72 75 75 76 17 79 85 86 91 104 105 117 126 127 128 128 130 152 159 162 163 164 171 174 207 218 219 226 241 242 249 259 284 17 Table of Co
128. PACK 160 UPPER system switch 176 uppercase letters 28 47 user input MCP detecting 290 user task configuration default 72 V V Extensions license running tasks 333 V keyword arguments 28 V Language Reference Guide 22 Index V Operating System Reference Guide 22 V Operating System User s Guide 22 V system tasks 70 VAL 160 value ASCII 115 variable allocation 112 variable classes 121 125 variable declarations 48 variable length records 237 variables and recursive programs 122 automatic 122 belt 311 global 121 global double precision 121 initialization 125 local 121 logical 118 naming requirements 112 numeric 116 passing by reference 56 passing by value 56 scalar 29 scoping 123 string 114 VFI board 328 vision analysis task 70 communication task 70 processing 331 VMEbus 335 W WAIT 64 135 154 220 wait modes input 229 output 230 WATCH 109 watchpoint 109 WHERE 194 WHILE 154 WHILE DO 150 WINDOW 320 321 windows and multiple tasks 280 creating 264 V Language User s Guide Rev A 389 Index deselecting 280 hiding 280 selecting 280 workload assignment CONFIG C 330 world coordinate system 179 WRITE 261 with the MCP 289 writing to I O devices 229 X XOR 128 Y yaw 181 390 V Language User s Guide Rev A Adept User s Manual Comment Form We have provided this form to allow you to make comments about this manual to point out any mis takes you may find or to offer
129. PI Align the robot tool Z axis with the nearest world axis ALTER PI Specify the magnitude of the real time path modification that is to be applied to the robot path during the next trajectory computation ALTOFF PI Terminate real time path modification mode alter mode ALTON PI Enable real time path modification mode alter mode and specify the way in which ALTER coordinate information will be interpreted AMOVE PI Position an extra robot axis during the next joint interpolated or straight line motion APPRO PI Start joint interpolated robot motion toward a location defined relative to specified location APPROS PI Start straight line robot motion toward a location defined relative to specified location BASE PI Translate and rotate the world reference frame relative to the robot PI Program Instruction RF Real Valued Function TF Transformation Function S Switch P Parameter PF Precision Point Function CF Conversion Factor V Language User s Guide Rev A 207 Chapter 8 Summary of Motion Keywords Table 8 1 Motion Control Operations Continued Keyword Type Function BASE TF Return the transformation value that represents the translation and rotation set by the last BASE command or instruction BELOW PI Request a change in the robot configuration during the next motion so that the elbow is below the line from the shoulder to the wrist BRAKE PI A
130. PI Initiate a straight line robot motion to the position and orientation described by the given location MOVEF PI Initiate a three segment pick and place joint interpolated robot motion to the specified destination moving the robot at the fastest allowable speed PI Program Instruction RF Real Valued Function TF Transformation Function S Switch P Parameter PF Precision Point Function CF Conversion Factor 210 V Language User s Guide Rev A Chapter 8 Summary of Motion Keywords Table 8 1 Motion Control Operations Continued Keyword Type Function MOVESF PI Initiate a three segment pick and place straight line robot motion to the specified destination moving the robot at the fastest allowable speed MOVET PI Initiate a joint interpolated robot motion to the position and orientation described by the given location and simultaneously operate the hand MOVEST PI Initiate a straight line robot motion to the position and orientation described by the given location and simultaneously operate the hand MULTIPLE PI Allow full rotations of the robot wrist joints see SINGLE NOFLIP PI Request a change in the robot configuration during the next motion so that the pitch angle of the robot wrist has a positive value see FLIP NONULL PI Instruct the V system not to wait for position errors to be nulled at the end of continuous path motions see NULL
131. Record point on x axis PROMPT Place robot at point in positive y direction Sans HERE loc pos y Record positive y direction Create the local reference frame assm frame SET assm frame FRAME loc origin loc x axis loc pos y loc origin Teach the locations on the assembly PROMPT Place the robot in the first location Sans HERE assm frame loc 1 Record the first location PROMPT Place the robot in the second location Sans HERE assm frame loc 2 Record the second location V Language User s Guide Rev A Chapter 8 Creating and Altering Location Variables etc Move to the locations on the assembly ATTACH Reattach the robot APPRO assm frame loc 1 25 D OVE assm frame loc 1 Activate gripper DEPART 25 APPRO assm frame loc 1 25 MOVE assm frame loc 2 Activate gripper DEPART 25 etc In the above example the frame will need to be taught each time the assembly moves the locations on the assembly need to be taught only once The instruction HERE assm frame loc 1 tells the system to record the location loc 1 relative to assm frame rather than relative to the world coordinate frame If a subassembly is being built relative to loc 1 the instruction HERE assm frame loc 1 sub loc 1 will create a compound transformation where sub loc 1 is relative to the transformation assm frame loc 1 V Language User s
132. STEP debug_task Ctrl Z Perform an SSTEP command for the current task from the current position of the execution pointer This command is equivalent to the following system monitor command SSTEP debug task 106 V Language User s Guide Rev A Chapter 3 The Program Debugger Using a Pointing Device With the Debugger On graphics based systems double clicking on a variable or expression will display the value of the variable or expression If program execution has not progressed to the point where a variable has been assigned a value double clicking on the variable may return an undefined value message Control of Program Execution While debugging programs you will want to pause execution at various points to examine the status of the system e g to display the values of program variables The following paragraphs describe how to control execution of the program being debugged NOTE Except for the special debugger commands mentioned below all the following techniques can be used even when the program debugger is not in use Single Step Execution The debugger Ctrl X command provides a convenient means for having program execution stop after each instruction is processed Each time Ctrl X is entered a Vt XSTEP command is processed for the program being debugged The debugger Ctrl Z command is provided to allow you to step across subroutine calls Each time Ctrl Z is entered an SSTEP command is processed for the
133. String variables e WHILE and CASE structures V Language User s Guide Rev A 345 Appendix A Menu Program Prog ram Listing PROGRAM sub menu AB 2 SE STRACT This program provides the operator with a menu of operation selections on the system terminal After accepting input from the keyboard the program executes the desired operation In this case the menu items include execution of the pick and place program teaching locations for the pick and place program and returning to a main menu DE EFFECTS The pick and place program may be executed and locations may be defined AUTO choice quit Sanswer quit FALSI Lu DO TYPE C2 PICK AND PLACE OPERATIONAL MENU TYPE C1 1 gt Initiate pick and place TYPE C1 2 gt Teach locations TYPE C1 3 gt Return to previous menu C1 PROMPT Enter selection and press RETURN Sanswer choice VAL Sanswer Convert string to number CASE choice OF Process menu request VALUE 1 Selection 1 TYPE C2 Initiating Operation CALL move parts VALUE 2 Se0lection 2 CALL teach VALUE 3 fo selection 3 quit TRUE ANY P any other selection TYPE B C1 Invalid input END End of CASE structure UNTIL quit End of DO structure END 346 V Language User s Guide Rev A Appendix A Teaching Locations
134. Systems 337 High Level Motion Control Tasks 338 Peripheral Drivers 0 ls 338 V Language User s Guide Rev A 325 Chapter 13 Introduction Introduction 326 In most cases your controller has already been preconfigured at the factory with sufficient processors for your application Occasionally however your applications may be more demanding and need multiple processors and possibly multiple You can have an auxiliary processor board installed in an Adept MV controller To correctly use multiple auxiliary processors with your system you need to consider the following e Processor and memory requirements e Installation of the processor boards e Assignment of the processor workloads V Language User s Guide Rev A Chapter 13 Requirements for Motion Systems Requirements for Motion Systems This section details the motion boards setup when more than one motion board is present in the system Allocating Servos with an MI 3 or MI 6 Board When associating servo processes with a motion interface board all channels of a motion interface board must be serviced by the same processor In addition when a motion interface board is assigned to a processor board it allocates all of the available servo processes per board even if less than the maximum number of axes are being servioed For example if you are controlling a 4 axis robot with two MI 3 boards you must assign all three channel
135. TE Asa convenience when execution of task 0 begins the task always automatically selects robot 1 and attaches the robot Execution of task 0 is normally started by using the EXECUTE monitor command or by starting the program from the manual control pendant While task 0 is executing the V monitor will not display its normal dot prompt An asterisk prompt is used instead to remind the user that task 0 is executing The asterisk prompt does not appear automatically however The prompt is displayed whenever there is input to the V system monitor from the system terminal NOTE Even though the system prompt is not displayed while program task 0 is executing V monitor commands can be entered at any time that a program is not waiting for input from the terminal The ABORT monitor command or program instruction will stop task 0 after the current robot motion completes The CYCLE END monitor command or program instruction can be used to stop the program at the end of its current execution cycle V Language User s Guide Rev A 49 Chapter 2 Executing Programs If program execution stops because of an error a PAUSE instruction an ABORT command or instruction or the monitor commands PROCEED or RETRY can be used to resume execution see the V Operating System Reference Guide for information on monitor commands While execution is stopped the DO monitor command can be used to execute a single program instruction entered from
136. V Language User s Guide Version 13 0 4 V Language User s Guide Version 13 0 Part 00963 01300 Rev A July 1998 cry 150 Rose Orchard Way San Jose CA 95134 USA Phone 408 432 0888 Fax 408 432 8707 CO YA Otto Hahn Strasse 23 44227 Dortmund Germany Phone 49 231 75 89 40 Fax 49 231 75 89 450 adept 41 rue du Saule Trapu 91300 Massy France Phone 33 1 69 19 16 16 Fax 33 1 69 32 04 62 technology inc The information contained herein is the property of Adept Technology Inc and shall not be repro duced in whole or in part without prior written approval of Adept Technology Inc The informa tion herein is subject to change without notice and should not be construed as a commitment by Adept Technology Inc This manual is periodically reviewed and revised Adept Technology Inc assumes no responsibility for any errors or omissions in this document Critical evaluation of this manual by the user is welcomed Your comments assist us in preparation of future documentation A form is provided at the back of the book for submitting your comments Copyright 1994 1998 by Adept Technology Inc All rights reserved The Adept logo is a registered trademark of Adept Technology Inc Adept AdeptOne AdeptOne MV AdeptThree AdeptThree XL AdeptThree MV PackOne PackOne MV HyperDrive Adept 550 Adept 550 CleanRoom Adept 1850 Adept 1850XP A Series S Series Adept MC Adept CC
137. VME devices the meaning of COARSE FINE is set with the SPEC utility e Any DURATION setting DURATION forces a robot move to take a minimum time to complete regardless of the SPEED settings e The maximum allowable velocity For Adept robots maximum velocity is factory set For AdeptMotion VME devices this is set with the SPEC utility e The inertial loading of the robot and the tuning of the robot e Straight line vs joint interpolated motions for complex geometries straight line and joint interpolated paths produce different dynamic responses and therefore different motion times Robot performance for a given application can be greatly enhanced or severely degraded by these settings For example e A heavily loaded robot may actually show better performance with slower SPEED and ACCEL settings which will lessen overshoot at the end of a move and allow the robot to settle more quickly e Applications such as picking up bags of product with a vacuum gripper do not require high accuracy and can generally run faster with a COARSE tolerance V Language User s Guide Rev A Chapter 8 Motion Control Instructions Motion Modifiers The following instructions modify the characteristics of individual motions These instructions are summarized in Table 8 1 on page 207 ACCEL BRAKE BREAK COARSE FINE DURATION SPEED ABOVE BELOW CPON CPOFF FLIP NOFLIP LEFIY RIGHTY NULL NONULL SINGLE MULTIPLE The instructions list
138. Y RUN 209 DURATION 209 V Language User s Guide Rev A 381 Index DX 209 DY 209 DZ 209 FINE 209 FLIP 209 FORCE 209 FRAME 209 HAND 209 HAND TIME 209 HERE 210 HOUR METER 210 IDENTICAL 210 INRANGE 210 INVERSE 210 IPS 210 LATCH 210 LATCHED 210 LEFTY 210 MMPS 210 MOVE 210 MOVEF 210 MOVES 210 MOVESF 211 MOVEST 211 MOVET 211 MULTIPLE 211 NOFLIP 211 NONULL 211 NORMAL 211 NOT CALIBRATED 211 NULL 211 OPEN 211 OPENI 211 PAYLOAD 211 POWER 212 REACTI 212 READY 212 RELAX 212 RELAXI 212 RIGHTY 212 ROBOT 212 RX 212 RY 212 RZ 212 SCALE 212 See also belt instructions commands control structures debugger commands functions graphics instructions I O operations and program instructions SELECT 212 SELECT RF 212 SEI 213 SET SPEED 213 SHIFT 213 SINGLE 213 SOLVE ANGLES 213 SOLVE FLAGS 213 SOLVE TRANS 213 SPEED 213 STATE 213 TOOL 213 TRANS 213 motion instructions description of coordinate space 179 mouse events monitoring 267 using in SEE editor 75 MOVE 196 210 MOVEF 210 MOVES 210 straight line move 195 with conveyor tracking 310 MOVESF 211 MOVEST 211 MOVET 211 moving an individual joint 196 moving line feature 308 MULITPLE 203 MULTIPLE 211 multiple processors customizing workloads 329 requirements for AdeptMotion 327 using 326 multiple V systems 331 multiplication operator 126 N names belt variable 311 disk file 233 parameter 169 progra
139. a message on the editor command line Some of the commands prompt for additional input All of the following commands can be used when viewing a program in read only mode Most of the commands close the current line AUTO BAD Toggles between the methods the editor uses to respond to invalid lines detected while editing In the first mode such lines are flagged as bad lines with a question mark in column one Editing of the program can continue normally but the program will not be executable until all the bad lines are either corrected deleted or made into comment lines In the second mode invalid lines must be corrected deleted or commented out before the line can be closed V Language User s Guide Rev A 89 Chapter 3 90 DEBUG DSIZE EXACT READONLY READWRITE SEE TSIZE WHERE Basic SEE Editor Operations Switches from normal program editing to use of the program debugger in its monitor mode The debugger is described in The Program Debugger on page 95 Sets the size of the debug window used by the program debugger described in The Debugger Display on page 98 Toggles the case sensitivity of text searches In the first mode case is ignored when making text searches In the second mode text searches must match upper and lowercase letters exactly for a search to be successful Changes the access mode for the current program to read only mode May be abbreviated RO Changes t
140. about how to examine the execution stacks and the KILL monitor command for information on how to clear a stack If you enter a line of code that is longer than 80 characters the portion of the line longer than 80 characters will not be displayed until you move the cursor along the line or make a change to the line Then the editor temporarily wraps the line and overwrites the next line on the screen The temporarily overwritten line will be redisplayed as soon as you move off the line that is wrapping on top of it NOTE You may occasionally encounter lines that are too long for SEE to process Such lines can be created with an editor on another computer or they may result from a line becoming further indented because of new surrounding control structures Any attempt to move the cursor to such a line will result in the message Line too long and the cursor will automatically move to the next line The command and others can be used to move the cursor above a long line The best way to use the SEE editor to change such a line is to 1 move the cursor to the end of the line just above the long line 2 use Insert mode to insert two or more program lines that will have the same effect as the long line plus a blank line 3 with the cursor at the blank line issue one command to delete the blank line and the long line for example S Delete in Command mode V Language User s Guide Rev A 83 Chapter 3 84 Basic SEE Ed
141. actor 314 belt instructions BELT 320 BELT MODE 321 BSTATUS 321 DEFBELT 320 See also commands control structures debugger commands functions graphics instructions I O operations motion control operations and program instructions SETBELT 320 WINDOW 320 321 belt tracking 308 322 BELT MODE 171 316 321 BELT CAL V2 310 binary operators BAND 128 BOR 128 BXOR 128 COM 128 binary value representing 117 BITS 259 blankline 47 boolean expressions 142 boolean values 118 BOR 128 BPT commands 108 BRAKE 138 203 208 branch instructions conditional 143 BREAK 138 203 breaking continuous path 198 breakpoint 108 BSTATUS 321 buffer attach 77 copy 77 pasting to 77 374 V Language User s Guide Rev A button modes MCP 290 buttons 273 BXOR 128 C CALIBRATE 208 calibration customizing 203 CALL 133 152 by reference 56 by value 56 passing variables with 57 CALLS 134 152 CASE 152 statement 145 case letter case sensitivity 176 case sensitive text searches 90 character codes 218 read by GETC 219 Character set Adept s 362 graphics 362 CHR 159 CLEAR EVENT 152 CLOSE 197 208 CLOSEI 197 208 COARSE 203 208 tolerance setting 202 codes ASCII control 360 DDCMP NAK reason 249 file attributes 242 MCP control 298 COM 128 command processor 330 command prompt accessing with multiple V systems 332 commands BPT 108 DEBUG 96 debugger see debugger commands restrictions 337 See also belt inst
142. als on nongraphics based systems will not have an Alt key and the Esc key must be used instead For example the equivalent of Alt A is Esc and then A the escape key should be pressed and released before the next key is pressed NOTE For ASCII terminal and AdeptWindows based systems use the shift key to get the secondary function of the cusors and keypad keys Use the control key instead of the shift in VGB based systems lt n gt indicates a number is to be entered as a command prefix without the angle brackets For example you would enter 10L to move the cursor to line 10 lt char gt indicates a character is to be entered without the angle brackets For example you would enter Sa to skip to the next a on the line Keys used only with graphics based systems are marked with an A Keys used only with nongraphics based systems are marked with an S V Language User s Guide Rev A Chapter 3 Cursor Movement Basic SEE Editor Operations Table 3 1 Table 3 2 and Table 3 1 list the keys used for moving around the editor in all modes The cursor keys can be either the cursor movement keys above the trackball or the keys on the numeric keypad when Num lock is not engaged Table 3 1 Cursor Movement Keys With a VGB based Keyboard Cursor Key Without Ctrl Key With Ctrl Key T Up 1 line Up 1 4 page J Down 1 line Down 1 4 page gt Right 1 character Right 1 item E Left 1 character
143. ample V program and subroutine give an example of parameter passing and create a disk file of the sample programs 1 With the controller on and running make sure there are no other programs in memory by entering the command ZERO 2 The system will ask for verification that you want to delete all programs from memory This will delete the programs and data from system memory but will not delete the disk files 3 Enter the command SEE sample 4 The system will advise you that this program does not exist and ask if you want to create it Respond Y 4 5 The SEE editor window should now be displayed Enter insert mode by pressing the Insert key Edit F11 on a Wyse terminal 6 Enter the following lines exactly as shown AUTO Sans TYPE Welcome CALL get_response Sans TYPE Sans is now at the keyboard 7 Create the subroutine get_response a Move the cursor to the CALL line and press the Goto F3 key b The message line will indicate that get_response does not exist and ask if you want to create it Respond Y J 8 A new program will be opened in the SEE editor window Enter the parameter for this subroutine by using the cursor keys to place the typing cursor between the parentheses on the program line and type text_param Memory does not have to be cleared However it will make this example simpler 2 There is no difference between a subroutine and a program 92 V Language User s Guide
144. ams Executable Programs e Command Programs Executable programs are described in this section Command programs are similar to MS DOS batch programs or UNIX scripts They are described in the V Operating System User s Guide Executable Programs There are two classes of executable programs robot control programs and general programs Robot Control Programs A robot control program is a V program that directly controls a robot or motion device It can contain any of the V program instructions Robot control programs are usually executed by program task 0 but they can be executed by any of the program tasks available in the V system Task 0 automatically attaches the robot when program execution begins If a robot control program is executed by a task other than 0 however the program must explicitly attach the robot program tasks are described in detail later in this chapter For normal execution of a robot control program the system switch DRY RUN must be disabled and the robot must be attached by the robot control program Then any robot related error will stop execution of the program unless an erin TeCovery program has been established see REACTE in the V Language Reference Guide 1 Tf the system is in DRY RUN mode while a robot control program is executing robot motion instructions are ignored Also if the robot is detached from the program robot related errors do not affect program execution V
145. an search for specific text strings or change a specified string to another string The following keys perform string searches and replacements To search for a text string 1 Press the Find F7 key or press F in command mode 2 Enter a search string and press The text will be searched for from the cursor location to the bottom of the program but not from the top of the program to the cursor location 4 To repeat the search press the Repeat F8 key or in command mode To find and replace a line of text 1 Press the Change S F7 key or press C in command mode 2 Entera search string and press J 3 Enter the replace string and press 4 4 The text will be searched for from the cursor location to the bottom of the program Only one search and replace operation will take place at a time Global search and replaces are not performed 5 Torepeat the change press the Repeat F8 key or in command mode To cancel the change press the Undo F6 key before closing the line Normally text searches are not case sensitive The EXACT editor command toggles the case sensitivity of the search operation see SEE Editor Extended Commands on page 89 NOTE Press the space bar to abort a search The latest search and replacement strings are retained between edit sessions 78 V Language User s Guide Rev A Chapter 3 Basic SEE Editor Operations Switching Programs in the Editor The following function keys s
146. apter 4 Variable Classes Automatic Variables 122 Automatic variables are created by a program instruction similar to AUTO the_auto_var where the_auto_var is created as an automatic variable Automatic variables can be changed only by a particular calling instance of a program AUTO statements cannot be added or deleted when the program is on the stack See Special Editing Situations on page 83 NOTE If LOCAL or AUTO variables are to be double precision the DOUBLE keyword must be used AUTO DOUBLE dbl_auto_var Automatic variables are more like the local variables of other high level languages If you are writing programs using a recursive algorithm you will most likely want to use variables in the automatic class V Language User s Guide Rev A Chapter 4 Variable Classes Scope of Variables The scope of a variable refers to the range of programs that can see that variable Figure 4 1 shows the scope of the different variable classes A variable can be altered by the program s indicated in the shaded area of the box it is in plus any programs that are in smaller boxes When a program declares an AUTO or LOCAL variable any GLOBAL variables of the same name created in other programs are not accessible Any Program Global Variables Program Declared in Local Variables Copy of Program Declared in Automatic Variables Figure 4 1 Variable Scoping Figure 4 2
147. arallel operation of program execution and robot motion makes possible the procedural motions described later in this chapter Basic Motion Operations Joint Interpolated Motion vs Straight Line Motion The path a motion device takes when moving from one location to another can be either a joint interpolated motion or a straight line motion Joint interpolated motions move each joint at a constant velocity except during the acceleration deceleration phases see Robot Speed on page 201 Typically the robot tool tip moves in a series of arcs that represents the least processing intensive path the trajectory generator can formulate Straight line motions ensure that the robot tool tip traces a straight line useful for cutting a straight line or laying a bead of sealant The instruction MOVE pick will cause the robot to move to the location pick using joint interpolated motion The instruction MOVES pick will cause the robot to move the pick using a straight line motion V Language User s Guide Rev A 195 Chapter 8 Motion Control Instructions Safe Approaches and Departures In many cases you will want to approach a location from a distance offset along the tool Z axis or depart from a location along the tool Z axis before moving to the next location For example if you were inserting components into a crowded circuit board you would want the robot arm to approach a location from directly above the board so nearby
148. at the system terminal except Ctrl C and Ctrl P will be sent directly to the remote system If you cannot get any response from the remote system at this point there is probably a problem with the serial line connection A common problem is a mismatch of baud rates or other communication characteristics or a bad serial line connection Previous experience is helpful in solving such problems Once you are able to communicate with the remote system you may have to log onto the remote system After you have reached the point of being able to enter commands to the system the Kermit program may be started simply by typing KERMIT or a similar command appropriate to the operating system of the remote computer The Kermit program should start up in its command mode with a prompt such as C Kermit gt V Language User s Guide Rev A 253 Chapter 9 Kermit Communication Protocol You may then enter commands directly to the Kermit program For example you might want to enter commands to initialize various parameters in preparation for communication with the V Kermit For instance you may type SET FILE TYPE TEXT to initialize the remote file type to ASCII The actual syntax needed for these commands will depend on the remote system Refer to that system s user guide Most Kermit programs are equipped with help facilities that can be invoked by typing HELP or a question mark After successfully initializing the
149. ative to a belt can be only of the straight line type Attempting a joint interpolated motion relative to a belt causes an error and halts execution of the application program Except for these restrictions motion statements that are defined relative to a belt are treated just like any other motion statement In particular continuous path motions relative to belts are permitted Once the robot has been moved to a destination that is defined relative to a belt the robot tool will continue to track the belt until it is directed to a location that is not relative to the belt For example the following series of instructions would move the tool to a location relative to a belt open the hand track the belt for two seconds close the hand and finally move off the belt to a fixed location MOVES belt 1 location3 OPENI DELAY 2 00 CLOSEI MOVES fixed location If this example did not have the second MOVES statement the robot would continue to track the belt until a belt window violation occurred As with motions defined relative to a belt motions that move the tool off a belt that is to a fixed location must be of the straight line type 318 V Language User s Guide Rev A Chapter 12 Basic Programming Concepts Motion Termination When moving the robot relative to a belt special attention must be paid to the conditions used to determine when a motion is completed At the conclusion of a continuous path motion V normall
150. ature does not apply to tasks other than 0 NOTE To use TRACE with a program that is intended to execute in a task other than 0 execute the program as task 0 This consideration does not apply when using the V program debugger which can access any program task See section Scheduling of Program Execution Tasks on page 62 for details on task scheduling 50 V Language User s Guide Rev A Chapter 2 Program Stacks Program Stacks When subroutine calls are made V uses an internal storage area called a stack to save information required by the program that begins executing This information includes The name and step number of the calling program Data necessary to access subroutine arguments The values of any automatic variables specified in the called program The V system allows you to explicitly allocate storage to the stack for each program task Thus the amount of stack space can be tuned for a particular application to optimize the use of system memory Stacks can be made arbitrarily large limited only by the amount of memory available on your system Stack Requirements When a V program is executed in a given task each program stack is allocated six kilobytes of memory This value can be adjusted once the desired stack requirements are determined by using the STACK monitor command for example in a start up monitor command program See the V Operating System Reference Guide for information on mon
151. belt variable contains the following information 1 The nominal transformation for the belt This defines the position and direction of travel of the belt and its approximate center 2 The number of the encoder used for reading the instantaneous location of the belt from 1 to 6 3 The belt encoder scaling factor which is used for converting encoder counts to millimeters of belt travel 4 An encoder offset which is used to adjust the origin of the belt frame of reference 5 Window parameters which define the working range of the robot along the belt These components of belt variables are described in detail in the following sections Unlike other V data types belt variables cannot be stored in a disk file for later loading However the location and real valued data used to define a belt variable can be stored and loaded in the normal ways After the data is loaded from disk DEFBELT and WINDOW instructions must be executed to define the belt variable See Belt Variable Definitions on page 320 for details The file LOADBELT V2 on the Adept Utility Disk contains a subroutine that will read belt data from a disk file and execute the appropriate DEFBELT and WINDOW instructions Nominal Belt Transformation The position orientation and direction of motion of a belt are defined by a transformation called the nominal belt transformation This transformation defines a reference frame aligned with the belt as follows it
152. bort the current robot motion BREAK PI Suspend program execution until the current motion completes CALIBRATE PI Initialize the robot positioning system CLOSE PI Close the robot gripper immediately CLOSEI PI Close the robot gripper COARSE PI Enable a low precision feature of the robot hardware servo see FINE CONFIG RF Return a value that provides information about the robot s geometric configuration or the status of the motion servo control features CP S Control the continuous path feature CPOFF PI Instruct the V system to stop the robot at the completion of the next motion instruction for all subsequent motion instructions and null position errors CPON PI Instruct the V system to execute the next motion instruction or all subsequent motion instructions as part of a continuous path DECOMPOSE PI Extract the real values of individual components of a location value DELAY PI Cause robot motion to stop for the specified period of time DEPART PI Start a joint interpolated robot motion away from the current location PI Program Instruction RF Real Valued Function TF Transformation Function S Switch P Parameter PF Precision Point Function CF Conversion Factor 208 V Language User s Guide Rev A Chapter 8 Summary of Motion Keywords Table 8 1 Motion Control Operations Continued Keyword Type Function DEPARTS PI Start
153. broutine cannot pass back the variable in an altered form the variable is said to be passed by value Variables you want changed by a subroutine should be passed by reference All the variables passed in the CALL statement in Figure 2 2 on page 55 are being passed by reference Changes made by the subroutine will be reflected in the state of the variables in the calling program Any argument that is to be changed by a subroutine and passed back to the calling routine must be specified as a variable not an expression or value In addition to passing variables whose value you want changed you will also pass variables that are required for the subroutine to perform its task but whose value you do not want changed after the subroutine completes execution Pass these variables by value When a variable is passed by value a copy of the variable rather than the actual variable is passed to the subroutine The subroutine can make changes to the variable but the changes are not returned to the calling program the variable in the calling program will have the same value it had when the subroutine was called Figure 2 3 on page 57 shows how to pass the different types of variables by value Reals and integers are surrounded by parentheses NULL is appended to location variables and is appended to string variables see Chapter 4 for details on the different variable types In Figure 2 3 real_var_b is still being passed by reference and any
154. by AWOL and programs created by AWOL are ready for loading and execution on an Adept controller AWOL provides additional program management features not available to the SEE editor such as direct access to Adept s electronic documentation For details on using AWOL see the AdeptWindows User s Guide Using the Editor The following sections tell you how to use the SEE editor Entering New Lines of Code Once you have opened the editor and moved to insert or replace mode you can begin entering lines of code Each complete line of code needs to be terminated with a carriage return J If a line of code exceeds the monitor line width the editor will wrap the code to the next line and temporarily overwrite the next line Do not enter a carriage return until you have typed the complete line of code When you press the return J key after completing a line of code the SEE editor will automatically check the syntax of the line Keywords are checked for proper spelling instructions are checked for required arguments parentheses are checked for proper closing and in general the line is checked to make sure the VT system will be able to execute the line of code Remember this check is solely for syntax not for program logic If the program line fails the syntax check the system will place a question mark at the beginning of the line and usually display a message indicating the problem You do not have to correct the line immediat
155. can be specified relative to either belt There are no restrictions concerning the placement or orientation of a conveyor belt relative to the robot In fact belts that move uphill or downhill or at an angle to the reference frame of the robot can be treated as easily as those that move parallel to an axis of the robot reference frame The only restriction regarding a belt is that its motion must follow a straight line path in the region where the robot is to work The following sections contain installation and application instructions for using the moving line feature Before using this chapter you should be familiar with V and the basic operation of the robot V Language User s Guide Rev A Chapter 12 Installation Installation To set up a conveyor belt for use with a robot controlled by the V system 1 Install all the hardware components and securely fasten them in place The conveyor frame and robot base must be mounted rigidly so that no motion can occur between them Install the encoder on the conveyor Since any jitter of the encoder will be reflected as jitter in motions of the robot while tracking the belt make sure the mechanical connection between the belt and the encoder operates smoothly In particular eliminate any backlash in gear driven systems 4 Wire the encoder to the robot controller See the Adept MV Controller User s Guide for location of the encoder ports 5 Start up the robot system contr
156. cation and the instantaneous location defined by belt While a belt variable can be used as the first leftmost element of a compound transformation to define a transformation value a belt variable cannot appear by itself For example LISTL will not display a belt variable directly To view the value of a belt variable enter the command LISTL belt variable NULL 1 Before defining a location relative to a belt you must make sure the belt encoder offset is set properly That usually involves issuing a monitor command in the form DO SETBELT belt BELT belt V Language User s Guide Rev A 319 Chapter 12 Moving Line Programming Moving Line Programming This section describes how to access the moving line capabilities within V A functional overview is presented that summarizes the extensions to V for Conveyor Tracking All the V moving line keywords are described in detail in the V Language Reference Guide The moving line extensions to V include e Instructions and functions there are no monitor commands e System switch e System parameters Instructions and Functions 320 This section summarizes the V instructions and functions dedicated to moving line processing The belt related functions return real values Belt Variable Definitions The following keywords are used to define the parameters of belt variables Some parameters are typically set once based upon information derived fro
157. ccurred at window 1 TYPE Part moved upstream out of reach Respond to upstream window error END MOVES wait location Move robot to rest location Use digital output signals to sound alarm and stop belt SIGNAL alarm stop belt HALT Halt program execution V Language User s Guide Rev A 323 MultiProcessor Systems Introduction ss se raa naasa sms ee eee es 326 Requirements for Motion Systems a aaa a a a aaa 327 Allocating Servos with an MI 3 or MI 6 Board 327 Allocating Servos with a EJI Board 327 Conveyor BeltEncoders a a aa 328 Force Sensors a a aaa we x WO RO 328 Installing Processor Boards a a a aaa a sss 329 Processor Board Locations 329 Slot Ordering of Processor Boards 329 Processor Board Addressing 329 Customizing Processor Workloads 329 Assigning Workloads With CONFIG C 330 Using Multiple V Systems 331 Requirements for Running Multiple V Systems 331 Using V Commands With Multiple V Systems 331 AMOS o a s a oe RK ex Pe eee AAA 332 Accessing the Command Prompt 332 Intersystem Communications 333 Shared Dad cirio 334 IOTAS and Data Integrity 2 00 335 Efficiency Considerations 04 336 Digna ah oe ee RAR Ke ee es ee eae RA 336 Restrictions With Multiprocessor
158. ch file the directory structure contains the file name attributes creation time and date and file size Directory entries may be read after successfully executing an FOPEND instruction Each directory record returned by a READ instruction contains an ASCII string with the information shown in Table 9 4 Table 9 4 Disk Directory Format Byte Size Description 1 8 8 ASCII file name padded with blanks on right 9 1 ASCII period character 46 decimal 10 12 3 ASCII file extension padded with blanks on right 13 20 8 ASCII file size in sectors right justified 21 1 ASCII space character 32 decimal 22 28 7 Attribute codes padded with blanks on right 29 37 9 File revision date in the format dd mm yy 38 1 ASCII space character 32 decimal 39 46 8 File revision time in the format hh mm ss V Language User s Guide Rev A 241 Chapter 9 Advanced Disk Operations The following characters are possible in the file attribute code field of directory entries Table 9 5 File Attribute Codes Character Meaning D Entry is a subdirectory L Entry is the volume label not supported by v P File is protected and cannot be read or modified R File is read only and cannot be modified File is a system file The attribute field is blank if no special attributes are indicated The file revision date and time fields are blank if the system date and time had not been set
159. changes made in the subroutine will be reflected in the calling program The subroutine cannot change any of the other variables it can make changes only to the copies of those variables that have been passed to it It is considered poor programming practice for a subroutine to change any arguments except those that are being passed back to the calling routine If an input argument must be changed Adept suggests you make an AUTOmatic copy of the argument and work with the copy V Language User s Guide Rev A Chapter 2 Subroutines instruction in main program CALL a_routine loc_var_a NULL real var a real var b string_var_a subroutine program header PROGRAM a routine any loc any real x any real y S any string Figure 2 3 Call by Value Values as well as variables can be passed by a CALL statement The instruction CALL a routine loc 1 17 5 121 some string is an acceptable call to a routine Undefined Arguments If the calling program omits an argument either by leaving a blank in the argument list e g arg 1 arg 3 or by omitting arguments at the end of a list e g arg 1 arg 2 the argument will be passed as undefined The subroutine receiving the argument list can test for this value using the DEFINED function and take appropriate action V Language User s Guide Rev A 57 Chapter 2 Subroutines Program Files Since linking and compiling are not required by V main programs and
160. cm emm he oo 49 Selecting a Program Task sss 49 Program Stacks ok ow o9 OOS Re OR Poe RE CE RWW X 5 Stack Requirements ool sss 5 Flow of Program Execution lr ss 53 RUN HOLD Button 2 25s oko ook a 53 SMOIOUINIGS 2 6 pop o x ee UR E Rho dece de hehe denke d 54 Argument Passing oos 54 Mapping the Argument List 54 Argument Passing by Value orReference 56 Undefined Arguments 0 0544 57 Program Files coccion eee OX Y 3 93 58 V Language User s Guide Rev A 33 Chapter 2 Reentrant Programs 2 s ls ss 58 Recursive Programs eee sss 59 Asynchronous Processing 00 5048 4 60 Enor OO OING o e o sesa 4E FOR ewe ee ee CEKCOY X O3 U 61 Scheduling of Program Execution Tasks 62 System Timing and Time Slices 0 4 62 Specifying Tasks Time Slices and Priorities 62 Task Scheduling 2 2 2 0 ss 63 Execution Priority Example s s 67 Default Task Configuration ss 69 System Task Configuration 2 0504 69 Description of System Tasks 0 0 70 User Task Configuration 2 084 72 34 V Language User s Guide Rev A Chapter 2 Creating a Program Creating a Program Vt programs are created using the SEE editor This section provides a brief overview of using the ed
161. corner i 014 OE lower left corner L 015 OF intersection 016 10 scan line 3 017 11 scan line 6 x 018 12 scan line 9 019 13 scan line 12 020 14 scan line 15 021 15 left T bar H 022 16 right T bar 4 023 17 bottom T bar ll 362 V Language User s Guide Rev A Appendix C Table C 2 Adept Character Set Continued Dec Hex Value Value Description Font 1 Fonts 2 3 4 5 amp 6 024 18 top T bar i 025 19 vertical bar 026 1A less than or equal to lt 027 1B greater than or equal to 2 028 1C pi lowercase Y 029 1D not equal to i 030 1E sterling 031 1F centered dot 032 20 space 033 21 exclamation 034 22 double quote 035 23 pound 036 24 dollar sign 037 25 percent 038 26 ampersand amp 039 27 single quote i 040 28 open paren 041 29 close paren 042 2A asterisk 043 2B plus 044 2C comma j 045 2D hyphen 046 2E period 047 2F slash V Language User s Guide Rev A 363 Appendix C Table C 2 Adept Character Set Continued Dec Hex Value Value Description Font 1 Fonts 2 3 4 5 amp 6 048 30 Zero 0 0 049 31 one 1 1 050 32 two 2 2 051 33 three 3 3 052 34 four 4 4 053 35 five 5 5 054 36 six 6 6 055 37 seven 7 7 056 38 eight 8 8 057 39 nine 9 9 058 3A colon 059 3B
162. cted from the pull down OF Menu 1 CASE item OF VALUI VALUE 1 code for Item 1 1 code for Item 1 2 Gl N Menu 2 CASE item OF VALU VALUE code for Item 2 1 code for Item 2 2 code for Item 2 3 Gl Ww Menu 3 CASE item OF VALU quit TRUE time to quit V Language User s Guide Rev A 271 Chapter 10 Building a Menu Structure EN END UNTIL END case menu of D if event 1 if event 0 quit Implementing the above code and then clicking on Menu 2 would result in the window shown in Figure 10 1 a Test La Menu 1 Menu 2 Menu 3 Item 2 1 Item 2 2 Item 2 3 Figure 10 1 Sample Menu Defining Keyboard Shortcuts 272 If you are using AdeptWindows you can create keyboard shortcuts on menu and pull down items by placing an ampersand amp before the desired letter For example FSET lun menu amp File amp Edit In this example the letters F and E are used as shortcuts when pressed with the ALT key Thus pressing ALT F displays the File menu and ALT E displays the Edit menu The letters F and E are underlined on the menu or pull down item to indicate the keyboard shortcut V Language User s Guide Rev A Chapter 10 Creating Buttons Creating Buttons Creating a button in a window is a simple matter of placing a graphic repre
163. ction A nonzero record length must also be specified A specific record is accessed by specifying the record number in a READ or WRITE instruction If the record number is omitted or is zero the record following the one last accessed is used see the FOPEN description in the V Language Reference Guide 238 V Language User s Guide Rev A Chapter 9 Advanced Disk Operations NOTE Logically each disk file appears to be simply a sequence of bytes These bytes are interpreted as grouped into records according to the manner in which the file was opened Files do not contain record format information so any file can be opened in any record mode Thus it is the programmer s responsibility to make sure files are read with the same record format as was used to create the file Buffering and I O Overlapping All physical disk I O occurs as 512 byte sector reads and writes Records are unpacked from the sector buffer on input and additional sectors are read as needed to complete a record To speed up read operations V automatically issues a read request for the next sector while it is processing the current sector This request is called a preread Preread is selected by default for both sequential access and random access modes It can be disabled by setting a bit in the mode parameter of the FOPEN_ instruction If prereads are enabled opening a file for read access immediately issues a read for the first sector in the file Preread ope
164. ction CF Conversion Factor V Language User s Guide Rev A 209 Chapter 8 Summary of Motion Keywords Table 8 1 Motion Control Operations Continued Keyword Type Function HERE PI Set the value of a transformation or precision point variable equal to the current robot location HERE TF Return a transformation value that represents the current location of the robot tool point HOUR METER RF Return the current value of the robot hour meter IDENTICAL RF Determine if two location values are exactly the same INRANGE RF Return a value that indicates if a location can be reached by the robot and if not why not INVERSE TF Return the transformation value that is the mathematical inverse of the given transformation value IPS CF Specify the units for a SPEED instruction as inches per second LATCH TF Return a transformation value representing the location of the robot at the occurrence of the last external trigger LATCHED RF Return the status of the external trigger and of the information it causes to be latched LEFTY PI Request a change in the robot configuration during the next motion so that the first two links of a SCARA robot resemble a human s left arm see RIGHTY MMPS CF Specify the units for a SPEED instruction as millimeters per second MOVE PI Initiate a joint interpolated robot motion to the position and orientation described by the given location MOVES
165. d by a character The actual directory path is determined by combining any specified path with the path set by the DEFAULT command If path is preceded with a the path is absolute Otherwise the path is relative and is added to the current DEFAULT path specification If unit is speci fied and is different from the default unit the path is always abso lute filename is aname with 1 to 8 characters which is used as the name of the file on the disk ext is the filename extension a string with 0 to 3 characters which is used to identify the file type When accessing files on a remote system for example when using Kermit the unit can be any name string and the file name and extension can be any arbitrary string of characters V Language User s Guide Rev A 233 Chapter 9 Disk I O The four open commands are 1 Open for read only FOPENR If the disk file does not exist an error is returned No write operations are allowed so data in the file cannot be modified 2 Open for write FOPENW If the disk file already exists an error is returned Otherwise a new file is created Both read and write operations are allowed 3 Open for append FOPENA If the disk file does not exist a new file is created Otherwise an existing file is opened No error is returned in either case A sequential write or a random write with a zero record number appends data to the end of the file 4 Open for directory read FOPE
166. d by entering a PROCEED or RETRY monitor command at the system terminal With Category 1 or 3 systems there are additional restrictions when using the MCP See the robot instruction handbook for your Category 1 or 3 system for details Also see Using the STEP Button on page 294 Occasionally you may want to disable the HOLD button on the MCP For example the REACTE instruction will not react when the MCP HOLD button is pressed unless you disable the HOLD button You can disable the HOLD button using the KEYMODE instruction See the V Language Reference Guide for details on the KEYMODE instruction V Language User s Guide Rev A 53 Chapter 2 Subroutines Subroutines There are three methods of exchanging information between programs e global variables e soft signals program argument list When using global variables simply use the same variable names in the different programs Unless used carefully this method can make program execution unpredictable and hard to debug It also makes it difficult to write generalized subroutines because the variable names in the main program and subroutine must always be the same Soft signals are internal program signals These are digital software switches whose state can be read and set by all tasks and programs including across CPUs in multiple CPU systems See Soft Signals on page 221 for details Exchanging information through the program argument list gives you better contr
167. d in separate windows on the monitor These windows are labeled Monitor_2 Monitor_3 etc The system switch MONITORS must be enabled before these windows can be displayed The CPU number is determined by the board address switch see the Adept MV Controller User s Guide e ALL V copies share the same digital input output and soft signals Global variables are not shared e The IOGET_and IOPUT_ instructions can be used to share data between VT copies via an 8 KB reserved section of shared memory on each board Acceptable address values are 0 to hexadecimal value 1FFF decimal value 0 to 8191 This memory area is used only for communication between V application programs and is not used for any other purpose It is not possible to access the rest of the processor memory map e The IOTAS function can be used to interlock access to user data structures e The addresses are based on single byte 8 bit values For example if you write a 32 bit value to an address it will occupy four address spaces the address that you specify and the next three addresses e If you read a value from a location using a format different from the format that was used to write to that location you will get an invalid value but you will not get an error message For example if you write using IOPUTF and read using IOPUTL your data will be invalid NOTE V does not enforce any memory protection schemes for use of the application shared memory area
168. de Rev A Chapter 4 Location Data Types Location Data Types This section gives a brief explanation of location data Chapter 8 covers locations and their use in detail Transformations A data type particular to V is the transformation data type This data type is a collection of several values that uniquely identify a location in Cartesian space The creation and modification of location variables are discussed in Chapter 8 Precision Points Precision points are a second data type particular to V A precision point is a collection of joint angles and translational values that uniquely identify the position and orientation of a robot The difference between transformation variables and precision point variables will become more apparent when robot motion instructions are discussed in Chapter 8 V Language User s Guide Rev A 119 Chapter 4 Arrays Arrays 120 V supports arrays of up to three dimensions Any V data type can be stored in an array Like simple variables array allocation and typing is dynamic Unless they are declared to be AUTOmatic array sizes do not have to be declared For example array one 2 36 allocates space for a one dimensional array named array one and places the value 36 in element two of the array The numbers inside the brackets are referred to as indices An array index can also be a variable or an expression Sarray two 4 5 row 4 col 5 allocates space for a two
169. de clear display amp home cursor off led pendant control code turn off an LED blink char pendant control code start blink position noblink char pendant control code disable blink position tab pendant control code tab to next soft button V Language User s Guide Rev A Chapter 11 Programming Example MCP Menu quit FALSE assume quit will not be verified Display submenu and start the NO option blinking WRITE mcp CHR mcp clr scr Quit Are you sure WRITE mcp SCHR mcp tab SCHR mcp tab SCHR mcp tab YES S WRITE mcp SCHR mcp tab CHR mcp blink char NO SCHR mcp noblink char S button PENDANT 0 Set quit to true if verified lse turn off the NO soft button LED IF button THEN quit TRUE E iS E WRITE mcp CHR mcp off led SCHR 1 S END END V Language User s Guide Rev A 305 Conveyor Tracking Introduction to ConveyorTracking 308 Installation 2 ls ls ss 309 CONDO usu s os s ros oroi RR xk Xt dod amp done eS ee RR 310 Basic Programming Concepts ss 311 Belt Variables a 311 Nominal Belt Transformation 312 The BeltEncoder 0 0000048 314 The Encoder Scaling Factor 314 The Encoder Offset 2 0004 315 The Belt Window 316 Belt Relative Motion Instructions
170. de error in data field 3 REP response with NUM in REP lt gt R 8 Buffer temporarily unavailable for incoming data 9 Bytes lost due to receiver overrun 16 Message too long for buffer 17 Header format error but check code was okay Attaching Detaching DDCMP Devices Input An ATTACH request initiates the DDCMP protocol for the specified logical unit The attach will not complete until the remote system also starts up the protocol and acknowledges the local request There is no time out limit for start up so the attach request can wait indefinitely For applications that service multiple lines no wait ATTACH mode can be used and the logical unit for each line can be polled with the IOSTAT function to detect when the remote system has started A DETACH request stops the protocol flushes any pending input data and deactivates the line Any data received on the line is ignored Processing When the protocol is active received DDCMP data messages are stored in internal data buffers and acknowledged immediately The maximum input message length is 512 bytes The total number of data buffers shared by all the DDCMP serial lines is initially 10 The Adept controller configuration program CONFIG C can be used to change the number of buffers allocated for use by DDCMP Once all the DDCMP buffers are full additional data messages are rejected with negative acknowledge NAK reason 8 Buffer temporarily unavailable It is the user
171. ded Commands 89 Edit MACIOS ox s s RR RARE ARERR EEE EE EES 91 Sample Editing Session 0 0 a 92 The Program Debugger oll ss 95 Entering and Exiting the Debugger 95 The DEBUG Monitor Command 96 Using the Debug Key or the DEBUG Extended Command 97 Exiting the Debugger 00 48 97 The Debugger Display 0 0 00004 98 Debugger Operation Modes 100 Debugging Programs 0 sss s 101 Positioning the Typing Cursor 102 Debugger Key Commands 103 Debug Monitor Mode Keyboard Commands 104 Using a Pointing Device With the Debugger 107 Control of Program Execution 107 Single Step Execution 0004 107 PAUSE Instructions lll ss 108 Program Breakpoints sss 108 Program Watchpoints 2 048 109 V Language User s Guide Rev A 73 Chapter 3 Basic SEE Editor Operations Basic SEE Editor Operations 74 The SEE editor was introduced in Chapter 2 It is described in more detail in this chapter The following notation is used in the tables in this section The control key is indicated by Ctrl the alternate key is indicated by Alt and the Shift key is indicated by S When using the shift alternate and control keys they should be pressed at the same time as the following key Some termin
172. defined by loc a to the local reference frame defined by loc c V Language User s Guide Rev A 189 Chapter 8 Creating and Altering Location Variables The transformation needed to go in the opposite direction from loc_c to loc_a can be calculated by INVERSE loc b Thus the instruction MOVE loc c INVERSE loc b will effectively move the robot back to loc a loc a 300 50 350 0 180 0 loc c loc a loc b 350 70 320 0 180 0 loc b 50 20 30 0 0 0 Figure 8 6 Relative Transformation Figure 8 6 shows the first three locations from the code examples on page 188 190 V Language User s Guide Rev A Chapter 8 Creating and Altering Location Variables Defining a Reference Frame In the example shown in Figure 8 7 a pallet is brought into the workcell on a conveyor The program that follows will teach three locations that define the pallet reference frame pallet frame and then remove the parts from the pallet The program that follows will run regardless of where the pallet is placed in the workcell as long as it O is within the robot working envelope Get the locations DETACH PROMPT Place robot HERE loc origin PROMPT Place robot HERE loc x axis PROMPT Place robot HERE loc pos y loc origin loc x axis loc pos y Figure 8 7 Relative Locations to define the pallet Release robot fo
173. des 230 Normally V waits for each I O operation to be complete before continuing to the next program instruction For example the instruction TYPE X50 causes V to wait for the entire record of 50 spaces to be transmitted about 50 milliseconds with the terminal set to 9600 baud before continuing to the next program instruction Similarly WRITE instructions to serial lines or disk files will wait for any required physical output to complete before continuing This waiting is not performed if the N no wait format control is specified in an output instruction Instead V immediately executes the next instruction The IOSTAT function will check whether or not the output has completed It returns a value of zero if the previous I O is not complete If a second output instruction for a particular LUN is encountered before the first no wait operation has completed the second instruction will automatically wait until the first is done This scheme means the no wait output is effectively double buffered If an error occurs in the first operation the second operation is canceled and the IOSTAT value is correct for the first operation With V the IOSTAT function can be used with a second argument of 3 to explicitly check for the completion of a no wait write V Language User s Guide Rev A Chapter 9 Disk I O Disk I O The following sections discuss disk I O Attaching Disk Devices A disk LUN refers to a local disk
174. desired parameters the Kermit server should be started by typing SERVER The remote server should start up and type a short message about basic server usage This message may not be applicable to use of Kermit communications with the V system Whenever the instructions for handling and terminating the server differ from those in this manual the instructions in this manual should be followed At this point you should escape back to the local V system by typing a Ctrl C to terminate the PASSTHRU command NOTE A Ctrl C may be typed at any time while in PASSTHRU mode to escape back to the local system This implies that you will not be able to send a Ctrl C to the remote system If the remote system uses Ctrl C for special purposes for example the DEC VAX VMS system uses it to interrupt operations you will have to use some other means to achieve those special purposes Most Kermit servers cannot be aborted or terminated except by a special communication packet In order to terminate the remote server when communicating with a Vt system you must go into PASSTHRU mode as described earlier Then when a Ctrl P is typed a special packet of information is sent to the remote server that causes it to terminate After this is achieved the remote Kermit program should return to command mode and display its command prompt You may then exit Kermit and log off the remote system 254 V Language User s Guide Rev A Chapter 9 Kermit Comm
175. device such as a 3 1 2 inch diskette drive the hard disk on a SIO based system or the Compact Flash in an AWC system Also a remote disk may be accessed via the Kermit protocol or a network The type of device to be accessed is determined by the DEFAULT command or the ATTACH instruction If the default device type set by the DEFAULT command is not appropriate at a particular time the ATTACH instruction can be used to override the default The syntax of the ATTACH instruction is ATTACH lun mode Sdevice See the description of ATTACH in the V Language Reference Guide for the mode options and the possible device names The instruction ATTACH dlun 4 DISK will attach to an available disk logical unit and return the number of the logical unit in the variable dlun which can then be used in other disk I O instructions If the device name is omitted from the instruction the default device for the specified LUN is used Adept recommends that you always specify a device name with the ATTACH instruction The device SYSTEM refers to the device specified with the DEFAULT monitor command Once the attachment is made the device cannot be changed until the logical unit is detached However any of the units available on the device can be specified when opening a file For example the Vt DISK units are A C and D After attaching a DISK device LUN a program can open and close files on either of these disk units before detaching th
176. dimensional array named array two and places row 4 col 5 in row four column five of the array array three 2 2 4 10 5 allocates space for a three dimensional array named array three and places the value 10 5 in row two column two range four If any of the above instructions were executed and the array had already been declared the instruction would merely place the value in the appropriate location If a data type different from the one the array was originally created with is specified an error will result Arrays are allocated in blocks of 16 Thus the instruction any_array 2 50 will result in allocation of array elements 0 15 The instructions any_array 2 50 any_array 20 75 will result in the allocation of array elements 0 31 Array allocation is most efficient when the highest range index exceeds the highest column index and the highest column index exceeds the highest row index Row is the first element column is the second element and range is the third element V Language User s Guide Rev A Chapter 4 Variable Classes Variable Classes In addition to having a data type variables belong to one of three classes GLOBAL LOCAL or AUTOMATIC These classes determine how a variable can be altered by different calling instances of a program Global Variables This is the default class Unless a variable has been specifically declared to be LOCAL or AUTO a newly created variable will be con
177. e 1 value 2 BCD Convert a real value to Binary Coded Decimal BCD format COS Return the trigonometric cosine of a given angle DCB Convert BCD digits into an equivalent integer value FRACT Return the fractional part of the argument INT Return the integer part of the value MAX Return the maximum value contained in the list of values MIN Return the minimum value contained in the list of values OUTSIDE Test a value to see if it is outside a specified range PI Return the value of the mathematical constant pi 3 141593 RANDOM Return a pseudorandom number SIGN Return the value 1 with the sign of the value parameter SIN Return the trigonometric sine of a given angle SOR Return the square of the parameter SORT Return the square root of the parameter 162 V Language User s Guide Rev A Chapter 6 Logical Functions Examples of Arithmetic Functions The instructions Sa jg x SQRT VAL Sa will result in x having a value of 4 The instruction x INT RANDOM 10 will create a pseudorandom number between 0 and 10 Logical Functions The functions listed in Table 6 3 return boolean values These functions require no arguments and essentially operate as system constants Table 6 3 Logical Functions Keyword Function FALSE Return the value used by V to represent a logical false result OFF Return the value used by V to represent a logical false result ON Return the value used by V to
178. e LUN V Language User s Guide Rev A 231 Chapter 9 Disk I O Disk I O and the Network File System NFS In addition to local disk devices an Adept system equipped with the optional ethernet hardware and the TCP IP and NFS licenses can mount remote disk drives Once mounted these remote disk drives can be accessed in the same fashion as local disks The following sections describe accessing a disk drive regardless of whether it is a local drive or a remotely mounted drive See the AdeptNet User s Guide for details on making an NFS mount Disk Directories The FOPEN_ instructions which open disk files for reading and writing use directory paths in the same fashion as the monitor commands LOAD STORE etc Files on a disk are grouped in directories If a disk is thought of as a file cabinet then a directory can be thought of as a drawer in that cabinet Directories allow files the file folders in our file cabinet analogy that have some relationship to each other to be grouped together and separated from other files See the chapter Using Files in the V Operating System User s Guide for more details on the directory structure Disk File Operations All I O requests to a disk device are made to a file on that device A disk file is a logical collection of data records on a disk Each disk file has a name and all the names on a disk are stored in a directory on the disk The FDIRECTORY monitor command displays the names of the fil
179. e group ran most recently The RELEASE program instruction may be used to bypass the normal scheduling process by explicitly passing control to another task That task then gets to run in the current time slice until it is rescheduled by the 1ms clock A task may also RELEASE to anyone which means that a normal scan is made of all other tasks to find one that is ready to run During this scan members of the original task s round robin group if any are ignored Therefore RELEASE to anyone cannot be used to pass control to a different member of the current group AWAIT program instruction with no argument suspends a task until the start of the next major cycle slice 0 At that time the task becomes runnable and will execute if selected by the normal scheduling process A WAIT with an expression performs a release to anyone if the expression is FALSE On systems that include the V extensions the V task profiler can be used to determine how the various tasks are interacting It provides a means of determining how much time is being used by each task either on an average basis or as a snapshot of several consecutive cycles 64 V Language User s Guide Rev A Chapter 2 Scheduling of Program Execution Tasks Within each time slice the task with highest priority can be locked out only by a servo interrupt Tasks with lower priority can run only if the higher priority task is inactive or waiting A user task waits whenever any of the foll
180. e slice is and how one can be selected NOTE Do not confuse task priority described here with program priority described in Asynchronous Processing on page 60 Task priority governs the processing of the various system tasks within a time slice Program priority governs the execution of programs within a task Each system cycle is divided into 16 time slices of one millisecond each The time slices are numbered 0 through 15 A single occurrence of all 16 time slices is referred to as a major cycle For a robot or motion system each of these cycles corresponds to one output from the V trajectory generator to the digital servos Specifying Tasks Time Slices and Priorities 62 Tasks 0 through 6 0 through 27 with optional V Extensions software can be used and their configuration can be tailored to suit the needs of specific applications Each program task configured for use requires dedicated system memory which is unavailable to user programs Therefore the number of tasks available should be made no larger than necessary especially if memory space for user programs is critical V Language User s Guide Rev A Chapter 2 Scheduling of Program Execution Tasks When application programs are executed their program tasks are normally assigned default time slices and priorities according to the current system configuration These defaults can be overridden temporarily for any user program task This is done by specifyin
181. e to end of line Esc Ctrl B Convert tabs to blanks spaces Esc Ctrl T Convert spaces to tabs Deleting Copying Moving Lines Esc D Delete a line Ctrl D Esc D Undelete last line deleted Ctrl D A Copy line to attach buffer R A Copy line from attach buffer Esc A Move line to attach buffer Ctrl A Esc A Move line from attach buffer Ctrl A E Dump attach buffer to program Esc K Delete kill line in attach buffer R Ctrl K Text Searching and Replacement F Find a string in the program R C Substitute a string in the program Repeat last Find or Change ql Display string being searched for V Language User s Guide Rev A 87 Chapter 3 Basic SEE Editor Operations Table 3 7 SEE Editor Command Mode Operations Continued Char Keystroke s Function Codes Program Operations N Change to editing new program R H Rotate home list and show top name R Esc H Change to top program on home list R Ctrl R Change to editing program CALLed on the R current line Esc Ctrl R Change to next program on home list R Esc S Change to previous program on stack Esc S Change to next program on stack Miscellaneous Operations Esc Ctrl C Cancel changes to current line R Esc E Exit the editor or the debugger R Ctrl E Exit the editor or the debugger R G Repeat the last S K Ctrl L or Ctrl U command R whichever was last M Memorize current line and column R M Return to memorized position
182. e value is rounded and the resulting interger is used Arguments indicated as being scalar variables can be satisfied with a real value that is one with integer and fractional parts except where noted Scalars can range from 9 22 10 to 9 22 101 in value displayed as 9 22E18 and 9 22E18 See the IPS instruction for a special case of specifying robot speed in inches per second 2 Numbers specifically declared to be double precision values can range from 1 8 107 to Leno V Language User s Guide Rev A 29 Chapter 1 Output Control Commands Output Control Commands 30 The following special commands control output to the system terminal For all these commands which are called control characters the control Ctrl key on the terminal is held down while a letter key is pressed The letter key can be typed with or without the Shift key Unlike other V commands control characters do not need to be completed by pressing the Enter or Return key Ctrl C Ctrl S Ctrl Q Ctrl O Aborts some commands for example DIRECTORY LISTP I O If any input has been entered at the keyboard since the current com mand was initiated then the first Ctrl C cancels that pending input and the second Ctrl C aborts the current command Ctrl C cannot be used to abort program execution Enter the ABORT or PANIC command at the keyboard to stop the robot pro gram or press one of the panic buttons to turn off Robot Power Stops out
183. eaction program reenables itself and completes by issu ing a RETURN instruction prog a resumes execution in task 1 e Task 1 prog a issues a CLEAR EVENT instruction followed by a WAIT EVENT instruction to wait for its event flag to be set Task 1 is suspended and task 2 resumes execution of prog b Task 2 hasa reaction program based on signal 1010 enabled at priority 5 L6 Task 2 prog b issues a LOCK 10 instruction to raise its program pri ority to level 10 O Signal 1010 is asserted externally The signal transition is not detected until the next major cycle V Language User s Guide Rev A 199 Chapter 5 140 e Program Interrupt Instructions The signal 1010 transition is detected and the task 2 reaction is trig gered However since the reaction is at level 5 and the current pro gram priority is 10 the reaction execution is deferred Task 2 prog b issues a LOCK 0 instruction to lower its program pri ority to level 0 Since a level 5 reaction program is pending it begins execution immediately and sets the program priority to 5 Signal 1003 is asserted externally The signal transition is not detected until the next major cycle The signal 1003 transition is detected which triggers the task 1 reac tion routine and also sets the task 1 event flag Since task 1 has a higher priority 30 than task 2 20 task 1 begins executing its reac tion routine and task 2 is suspended The task 1 reaction routine completes by
184. ed You must delete from memory a program before you can load a program with the same name e You cannot overwrite existing disk files A file must be deleted from disk with the FDELETE instruction before a file of the same name can be written to the same sub directory If you are making changes to existing files we recommend the following procedure 1 Rename the existing file for backup FRENAME filename bak filename v2 2 Store the modified files STOREP filename v2 3 When you are satisfied with the modified files delete the backup FDELETE filename bak e Ifyou have programs from multiple disk files resident in memory the module commands will help keep the various files straight See the descriptions of MODULE STOREM MIDRECTORY and DELETEM in the V Language Reference Guide 94 V Language User s Guide Rev A Chapter 3 The Program Debugger The Program Debugger V systems include a program debugger for interactively executing and modifying application programs With the debugger a program can be executed a step at a time or in larger user controlled segments while the program instructions and the program output are simultaneously displayed in two separate sections of the monitor window NOTE The program debugger cannot access protected programs The debugger has an editor mode that allows editing of programs during the debugging session Changes made to the program can be executed immediately to verify the
185. ed above with an asterisk can take ALWAYS as an argument Customizing the Calibration Routine The following information is required only if you need to customize the calibration sequence Most AdeptMotion users do not need to do this When a CALIBRATE command or instruction is processed the V system loads the file CAL UTIL V2 see the dictionary page for the CALIBRATE command for details and executes a program contained in that file The main calibration program then examines the SPEC data for the robot to determine the name of the disk file that contains the specific calibration program for the current robot and the name of that program The standard routine used for AdeptMotion devices is stored on the system disk in NCALIBNSTANDARD CAL and the routine is named a standard cal That file is protected and thus cannot be viewed However a read only copy of the file is provided in NCALIBNSTANDARD V2 as a basis for developing a custom calibration routine that can then be substituted for the standard file The name of the robot specific calibration file and program can be changed using the SPEC utility program V Language User s Guide Rev A 203 Chapter 8 Tool Transformations Tool Transformations A tool transformation is a special transformation that is used to account for robot grippers or parts held in grippers that are offset from the center of the robot tool flange If a location is taught using a part secured by an of
186. ed by the typing cursor also see Ctrl N below The use of breakpoints is described in Program Breakpoints on page 108 This command is equivalent to the following system monitor command BPT current_program current_step Ctrl E Alternate between debug modes This command is equivalent to the Edit F12 and Debug S F12 function keys depending on the current debugger mode Use Ctrl E with terminals that do not have the equivalent function keys Use Esc and then E to exit from the editor to the V system prompt Ctrl G Perform an XSTEP command for the instruction step indicated by the typing cursor This command is equivalent to the following system monitor command XSTEP debug_task current_step Ctrl N Cancel the breakpoint at the step indicated by the typing cursor see Ctrl B above This command is equivalent to the following system monitor command BPT current_program current_step Ctrl P PROCEED execution of the current task from the current position of the execution pointer This command is equivalent to the following system monitor command PROCEED debug_task V Language User s Guide Rev A 105 Chapter 3 The Program Debugger Table 3 10 Debugger Commands Continued Key s Action Ctrl X Perform an XSTEP command for the current task from the current position of the execution pointer This command is equivalent to the following system monitor command X
187. ed memory area while a program on another processor is reading it In this case data that is read across a 32 bit boundary may be invalid If the data is being used for safety critical operations including robot motions be sure to use the IOTAS function to prevent such conflicts Efficiency Considerations You can put your shared data on any processor However it is most efficient to put the data on the processor that will use it most often or that is performing the most time critical operations It takes slightly longer to access data on another processor than to access data on the local processor If you wish you can put some of your data on one processor and other data on a different processor You must be careful to keep track of which data items are stored in which location 32 bit and 64 bit operations operate slightly faster if the address is an exact multiple of four 16 bit operations operate slightly faster if the address is an exact multiple of two Digital I O 336 The digital I O image including input 1001 1512 output 1 512 and soft signals 2000 2512 and 3001 3004 is managed by processor 1 These signals are shared by all processors You can use the soft signals to pass control information between processors V Language User s Guide Rev A Chapter 13 Restrictions With Multiprocessor Systems Restrictions With Multiprocessor Systems You can set up certain tasks to operate on any processor board incl
188. ed with systems configured for multiple V system processors requires the optional V Extensions software and Enable or disable selecting of multiple monitor windows POWER Tracks the status of Robot Power This switch is automatically enabled whenever Robot Power is turned on This switch can be used to turn Robot Power on or off enabling the switch turns on Robot Power and disabling the switch turns off Robot Power Default is disabled WARNING ADEPT RECOMMENDS THAT YOU NOT TURN ON ROBOT POWER FROM WITHIN A PROGRAM since the robot can be activated without direct operator action Turning on Robot Power from the terminal can be hazardous if the operator does not have a clear view of the robot workspace V Language User s Guide Rev A 175 Chapter 7 Switches Table 7 2 Basic System Switches Continued Switch Use ROBOT This is an array of switches that control whether or not the system should access robots normally controlled by the system Default is disabled SUPERVISOR Not used in normal operation SET SPEED Enable disable the ability to set the monitor speed from the manual control pendant Default is enabled TRACE Enable disable a special mode of program execution in which each program step is displayed on the system terminal before it is executed This is useful during program development for checking the logical flow of execution also see the DRY RUN sw
189. eeping subroutines with 58 robot control 43 PROMPT 217 261 prompt system 49 R RANDOM 162 random access files 238 REACT 136 153 REACTE 137 153 REACTI 136 212 reaction routines 60 READ 228 261 with the MCP 290 Reading from input devices 228 READY 212 real data type 116 real valued functions BELT 320 BSTATUS 321 GETC 228 IOSTAT 226 IOTAS 333 See also functions numeric value functions string functions and system control functions records V Language User s Guide Rev A 385 Index fixed length 238 variable length 237 recursive programs 59 and variables 122 variable use 121 redraw S F6 key 101 reentrant programs 58 relative transformations 188 RELAX 197 212 RELAXI 197 212 RELEASE 153 releasing atask 64 remote disk access 232 replace SEE editor mode 36 replacing text case sensitive 90 SEE editor 78 RESET 261 restrictions high level motion control tasks 338 multiple processors 337 peripheral drivers 338 RETURN 153 return key 27 RETURNE 154 RIGHTY 203 212 ROBOT 212 robot attaching 43 control restrictions 337 control program 43 motions 195 speed 201 ROBOT system switch 176 roll 185 root directory 232 round robin group task scheduling 64 RUN HOLD button 53 RUNSIG 154 RX 212 RY 212 RZ 212 S safety overview 24 saving programs 42 scalar variable 29 SCALE 212 scheduling of execution tasks 63 scope of variables 123 SCREEN TIMEOUT 171 scroll bars and the SEE edit
190. ely and you can exit the editor with uncorrected program lines You will not however be able to execute the program V Language User s Guide Rev A 41 Chapter 2 Using the Editor Exiting the Editor To complete an editing session and exit the editor press the Exit F4 key ona graphics based system If your program is executable you will be returned to the system prompt without any further messages If any lines of code in the program have failed the syntax check the status line will display the message Program not executable Press RETURN to continue Pressing 4 will return you to the system prompt You may also get the message Control structure error at step xx This indicates that a control structure described in Chapter 5 has not been properly ended Pressing will return you to the system prompt but the program you have been editing will not be executable You cannot exit the editor with lines in the copy buffer To discard unwanted lines 1 Put the editor in command mode 2 Enter the number of lines to discard and press Esc and then k Saving a Program When you exit the SEE editor changes to the program you were working on are saved only in system memory To permanently save a program to disk use one of the STORE commands described in the V Operating System User s Guide 42 V Language User s Guide Rev A Chapter 2 V Program Types V Program Types There are two types of V progr
191. em s serial line is other than no parity and there is no way you can change that setting it will not be possible to successfully transfer binary files using Kermit An ASCII file may be accessed as a binary file but not vice versa A file that is transferred back and forth over the Kermit line must be transferred in the same file mode each time For example if a file is copied in binary mode from the remote system to the V system then it must be copied back to the remote system in binary mode in order to preserve the file contents Kermit Line Errors The error Nonexistent file is common when using Kermit This error could mean any of several things in addition to the inability to find the desired file on the remote system the command FDIR K gt will verify the contents of a remote directory The transactions over the Kermit line are generally considered to be file transfers When the V system tries to start a file operation the local Kermit driver generally tries to open a file on the remote server If this operation fails V returns the error Nonexistent file Among the things that could possibly cause this error are mismatched line settings like baud rate and parity unexpected server state the server didn t terminate the previous transaction as expected the server was not started correctly or the file may really not exist NOTE When an error occurs that is associated with the use of Kermit it sometimes helps to perform t
192. em tasks and their functions are shown in Table 2 2 Table 2 2 Description of System Tasks Task Description Trajectory Generator Compute the series of set points that make up a robot motion Terminal Graphics Refresh the terminal or graphics monitor display Monitor Service user requests entered at the monitor window monitor commands and responses to system prompts DDCMP Handle implementation of DDCMP protocols for serial lines configured as DDCMP lines Kermit Handle implementation of Kermit protocols for serial lines configured as Kermit lines Pendant Handle manual control pendant I O Disk Driver Handle requests for I O to the hard and floppy disk drives and the Compact Flash Serial I O Service serial I O ports Pipes Driver Allows a V task to service I O requests like a standard I O driver NFS Driver Allows access of remote files on network file servers using the Network File Services protocol TCP Driver Handles the TCP network communications protocol on Ethernet Vision Communications Communicate between V and vision software Vision Analysis Evaluate vision commands Servo Communications Communicate with the servo interrupt routines or the motion control hardware Cat 3 Timer Handles timing and sequencing when robot power is enabled in systems with the Cat 3 option enabled V Language User s Guide Rev A Chapter 2 Table 2 3
193. en they are received Tab stops are assumed to be set every eight spaces at columns 9 17 25 and cannot be changed Unlike PROMPT both READ and GETC require that the terminal be ATTACHed Normally READ and GETC echo input characters as they are processed An optional mode argument for each of these operations allows echo to be suppressed V Language User s Guide Rev A 219 Chapter 9 Digital I O Output Processing Output to the system terminal can be performed using PROMPT TYPE or WRITE instructions All eight bit binary byte data is output to the terminal without any modification TYPE and WRITE automatically append a Return character 13 decimal and Line Feed character 10 decimal to each data record unless the S format control is specified PROMPT does not append any characters Unlike all the other I O devices the terminal does not have to be attached prior to output requests If a different task is attached to the terminal however any output requests are queued until the other task detaches V system error messages are always displayed immediately regardless of the status of terminal attachment Digital 1 O 220 Adept controllers can communicate in a digital fashion with external devices using the Digital I O capability Digital input reads the status of a signal controlled by user installed equipment A typical digital input operation would be to wait for a microswitch on a workcell conveyor to close
194. ength 200 max pos 100 arrow_inc 10 handle_pos 50 Enable monitoring of slide bars and pointer drags FSET glun event object move_b2 V Language User s Guide Rev A Chapter 10 Display the slide bar GSLIDE glun 0 1 x y length max_pos handle_pos Creating a Slide Bar arrow_inc Begin monitoring events and take action when the slide bar is moved Monitor events until a double click is detected then delete th Slide bar DO GETEVENT glun event Your code to monitor the slide bar value here END UNTIL event 0 btn dclk Delete the slide bar GSLIDE glun 1 1 V Language User s Guide Rev A IF event 0 btn smov OR event 0 btn sup THEN event 2 goes 277 Chapter 10 Graphics Programming Considerations Graphics Programming Considerations 278 Buttons and menus can be monitored in the same window However the code will get complicated and you might consider using different windows when the button and menu structure becomes complex Only one pull down menu can be active at any time Design your windows with the following mechanical and aesthetic considerations e Keep your windows as simple and uncluttered as possible Use color carefully and purposefully e If you are using multiple windows use similar graphic elements so the screen elements become familiar and intuitive e Let the operato
195. entiate between these two data types If an integer is required and you supply a real V will promote the can toan integer by rounding not truncation Where real values are required V considers an integer a special case of a real that does not have a fractional part The default real type is a signed 32 bit IEEE single precision number Real values can also be stored as 64 bit IEEE double precision numbers if they are specifically typed using the DOUBLE instruction see Variable Classes on page 121 for details The range of integer values is 16 771 216 to 16 777 215 The range of single precision real values is 3 4 10 The range of double precision real values is 1 8 10907 V Language User s Guide Rev A Chapter 4 Real and Integer Data Types Numeric Representation Numeric values can be represented in the standard decimal notation or in scientific notation as illustrated above Numeric values can also be represented in octal binary and hexadecimal form Table 4 1 shows the required form for each integer representation Table 4 1 Integer Value Representation Prefix Example Representation none 193 decimal AB AB1001 binary maximum of 8 bits 346 octal H H23FF hexadecimal D D20000000 double precision Numeric Expressions In almost all situations where a numeric value of a variable can be used a numeric expression can also be used The following examples all r
196. er done LEN buffer 0 Done if buffer length is 0 Sbuffer Set buffer to empty ELSE Sbuffer Sbuffer SCHR c Append next byte to buffer END UNTIL done Loop until empty buffer seen GOTO 100 Exit 90 TYPE SERIAL LINE I O ERROR SERROR IOSTAT line PAUSE 100 DETACH line RETURN END V Language User s Guide Rev A 247 Chapter 9 DDCMP Communication Protocol DDCMP Communication Protocol DDCMP is a rigorous protocol that automatically handles the detection of errors and the retransmission of messages when an error occurs The name stands for Digital Data Communications Message Protocol It is used in Digital Equipment Corporation s computer network DECnet DDCMP makes use of one or more of the general purpose USER serial lines To be used for DDCMP a serial line must be configured using the Adept I O configuration program The configuration program is on the Adept Utility Diskette in the file CONFIG_C V2 The Adept implementation of DDCMP does not support maintenance messages or multidrop lines In all other respects it is a full implementation of the protocol This section is not intended to be a thorough description of DDCMP Refer to the DEC DDCMP manual for more details on protocol operation and implementation General Operation All messages transmitted by DDCMP are embedded in a packet that includes sequence information and check codes Upon receipt a m
197. erial and Disk I O Basics Writing The WRITE instruction processes output to serial and disk devices and to the terminal The basic WRITE instruction issues a request to the device attached on the indicated LUN and waits until the complete data record is output before program execution continues WRITE instructions accept format control specifiers that determine how output data is formatted and whether or not an end of record mark should be written at the end of the record Terminal output also can be performed using the PROMPT or TYPE instructions A file must be open using the FOPENW or FOPENA instructions before data can be written to a disk device FOPENW opens a new file FOPENA opens an existing file and appends data to that file Input Wait Modes Normally V waits until the data from an input instruction is available before continuing with program execution However the READ instruction and GETC function accept an optional argument that specifies no wait mode In no wait mode these instructions return immediately with the error status 526 No data received if there is no data available A program can loop and use these operations repeatedly until a successful read is completed or until some other error is received The disk devices do not recognize no wait mode on input and treat such requests as normal input with wait requests V Language User s Guide Rev A 229 Chapter 9 Serial and Disk I O Basics Output Wait Mo
198. eric characters will not cause a system error V Language User s Guide Rev A 217 Chapter 9 Terminal I O DO PROMPT Enter a value greater than 0 x x VAL x UNTIL x gt O Terminal Types In order for V to echo input characters properly and to generate certain displays on character based terminals the type of terminal being used must be specified to the system The default E type which is I on the V system disk is assumed each time the V system is booted from disk After the system is booted the TERMINAL system parameter can be set to specify a different terminal type Input Processing Terminal np is buffered by the system but is not echoed until it is actually read by the V monitor or by a program A maximum of 80 a can be received before V begins to reject input When input is being rejected V beeps the terminal for each character rejected On input V may intercept special characters Ctrl O Ctrl Q and Ctrl S and use them to control terminal output They cannot be input even by the GETC function Their functions are shown in Table 9 1 Table 9 1 Special Character Codes Char Decimal Function Ctrl O 15 Suppress or stop suppressing output Ctrl Q 17 Resume output suspended by Ctrl S Ctrl S 19 Immediately suspend terminal output The default terminal type and communication characteristics of the serial line are set with the een program in the file CONFIG_C V2 on the
199. ering of Processor Boards In general you should configure the fastest processor with the greatest amount of memory as processor 1 Processor Board Addressing The system processor must reside in slot 1 and be addressed as board 1 The auxiliary processor must be addressed as processor 2 It does not matter which slot an auxiliary processor is in For details on setting the board address see the Adept MV Controller User s Guide Customizing Processor Workloads Generally the default assignment of processor workloads is sufficient for most applications However if the default assignments does not suit your application you can customize them You can assign the following system tasks to the auxiliary processor e Vision processing V Language User s Guide Rev A 229 Chapter 13 Customizing Processor Workloads You can assign each vision system in the controller to a specific processor e Servo processing You can assign the servo task for each VMI board to a specific processor e A copy of the V command processor Each processor can run an individual copy of the V command processor See Using Multiple V Systems on page 331 for more details on multiple copies of V Assigning Workloads With CONFIG C The assignment of workloads to the different processors is automatic in most cases However you may examine or override the defaults using the CONFIG C configuration utility The default configuration implements the
200. erminated execution with an error and you want to use the debugger to investigate the cause In this case the program that failed will be displayed in the edit window with the execution pointer positioned at the step after the failed step Using the Debug Key or the DEBUG Extended Command While editing a program with the SEE editor change to the program debugger by pressing the Debug S F11 key or by entering the DEBUG extended command When the debugger is invoked from the SEE editor you are asked which execution task you want to use Then the debugger display replaces the normal SEE editor display with the same program visible in the edit window and the specified task selected While using the program debugger you may decide you want to change the default task number You can use the following steps to make that change 1 If you are in debug monitor mode press Edit F11 to select debug editor mode The debug modes are described later in this chapter 2 Enter the SEE editor DEBUG extended command 3 In response to the prompt enter the desired new task number Exiting the Debugger Press Exit F4 to exit the program debugger and return to the system prompt This command is accepted in either debug mode In addition in debug editor mode in Command mode you can use Alt E to exit to the V system prompt or Esc and E if your keyboard does not have an Alt key V Language User s Guide Rev A 97 Chapter 3 The Program
201. es on a disk A disk file can be accessed either sequentially where data records are accessed from the beginning of the file to its end or randomly where data records are accessed in any order Sequential access is simplest and is assumed in this section Random access is described later in this chapter 1 A variable length record is a text string terminated by a CR LF ASCII 13 ASCII 10 232 V Language User s Guide Rev A Chapter 9 Disk I O Opening a Disk File Before a disk file can be opened the disk the file is on must be ATTACHed The FOPEN_ instructions open disk files and file directories These instructions associate a LUN with a disk file Once a file is open the READ GETC and WRITE instructions access the file These instructions use the assigned LUN to access the file so multiple files may be open on the same disk and the I O operations for the different disk files will not affect each other The simplified syntax for FOPEN_ is FOPEN_ lun file_spec where lun logical unit number used in the ATTACH instruction file spec file specification in the form unit path filename ext unit is an optional disk unit name The standard local disk units are A C and D If no unit is specified the colon also must be omitted Then the default unit as determined by the DEFAULT command is assumed path is an optional directory path string The directory path is defined by one or more directory names each followe
202. es to true or false An expression can take into account any number of variables or digital input signals as long as the final resolution of the expression is a boolean value In V any number real or integer can satisfy this requirement 0 is considered false any nonzero number is considered true There are four system constants TRUE and ON that resolve to 1 and FALSE and FALSE that resolve to 0 Examples of valid boolean expressions y gt 32 NOT y gt 32 x 56 x AND y x AND y OR varl lt var2 1 See the section Relational Operators on page 127 for details on V relational operators V Language User s Guide Rev A Chapter 5 Conditional Branching Instructions Conditional Branching Instructions Conditional branching instructions allow you to execute blocks of code based on the current values of program variables or expressions V has three conditional branch instructions e F GOTO e IE THEN ELSE e CASE value OF IF GOTO IF GOTO behaves similarly to GOTO but a condition can be attached to the branch If the instruction IF logical expression GOTO 100 is encountered the branch to label 100 will occur only if 16gical expression has a value of true IF THEN ELSE The basic conditional instruction is the IF THEN ELSE clause This instruction has two forms IF expression THEN code block executed when expression is true END IF expression THEN
203. es where it left off when the CALLed program executes a RETURN instruction The WAIT instruction suspends execution of the current program until a condition is satisfied The WAIT EVENT instruction suspends execution of the current program until a specified event occurs or until a specified time elapses The PAUSE and HALT instructions both terminate execution of the current program After a PAUSE program execution can be resumed with a PROCEED monitor command see the V Operating System Reference Guide for information on monitor commands Execution cannot be resumed after a HALT The STOP instruction may or may not terminate program execution If there are more program execution cycles to perform the STOP instruction causes the main program to be restarted at its first step even if the STOP instruction occurs in a subroutine If no execution loops remain STOP terminates the current program RUN HOLD Button Execution of program task 0 can also be stopped with the RUN HOLD button on the manual control pendant MCP When a program is executing and the RUN HOLD button on the pendant is pressed program execution is suspended If the keyswitch on the CIP or on a remote front panel is set to manual mode program execution will resume if the RUN HOLD button is held down but execution will stop again when the button is released If the keyswitch on the CIP or on a remote front panel is set to automatic mode program execution can be resume
204. ess the Replace F12 key press the r key the editor must be in Command mode V Language User s Guide Rev A 37 Chapter 2 The SEE Editor Environments The SEE Editor Environments The SEE editor appears in two environments in a window on a graphics based system or in a window within the AdeptWindows PC application program Regardless of the environment the SEE editor runs under the majority of the functions are identical The differences in the SEE editor running under AdeptWindows PC are described in the AdeptWindows User s Guide Using Text Editors Other Than the SEE Editor Programs can be written using any editor that creates a DOS ASCII text file These programs can then be stored on a V compatible disk see the FORMAT command in the V Language Reference Guide LOADed into system memory and opened by the SEE editor When the program is loaded a syntax check is made Programs that fail the syntax check will be marked as nonexecutable These programs can be brought into the SEE editor and any nonconforming lines will be marked with a question mark Once these lines have been corrected the program can be executed In order for program files created outside of the SEE editor to LOAD correctly the following requirements must be met e Each program must begin with a PROGRAM line e Each program must end with a END line this line is automatically added by the SEE editor but must be explicitly added by other editors
205. essage packet is checked to verify that it is received in sequence and without transmission errors To initiate communications a system sends special start up messages until the proper acknowledgment is received from the remote system This handshaking guarantees that both sides are active and ready to exchange data packets If a start request is received after the protocol is active it means that a system has stopped and restarted its end of the protocol and an error is signaled to the local system Once the protocol is active each transmitted message is acknowledged by the remote system indicating that it was received correctly or requesting retransmission If a message is not acknowledged after a certain time the remote system is signaled and a retry sequence is initiated If a message is not sent correctly after a number of retries DDCMP stops the protocol and signals an error to the local system 1 Reference DECnet Digital Network Architecture Digital Data Communications Message Protocol DDCMP Specification Version 4 0 March 1 1978 Digital Equipment Corporation order number AA D599A TC 248 V Language User s Guide Rev A Chapter 9 DDCMP Communication Protocol Table 9 6 shows the standard DDCMP NAK reason codes generated by the Adept implementation of DDCMP Table 9 6 Standard DDCMP NAK Reason Codes Code Description 1 Check code error in data header or control message 2 Check co
206. estion marks indicating bad lines NOTE The editor provides a command AUTO BAD see SEE Editor Extended Commands on page 89 for more information that can be used to tell the editor you want to be forced to correct bad lines as soon as they are detected V Language User s Guide Rev A Chapter 3 Basic SEE Editor Operations The SEE Editor in Command Mode In addition to the key lists in Table 3 1 on page 75 through Table 3 1 on page 75 the key strokes listed in Table 3 6 will move the cursor when the editor is in command mode Table 3 6 Cursor Movement in Command Mode Key Action B Bump window down a few lines Esc B Go to bottom of program Ctrl B T Bump window up a few lines Esc T Go to top of program Ctrl T Up a line Down a line Alt graphics based system Up a few lines Alt graphics based system Down a few lines Up to top of window Down to bottom of window lt n gt L Move to line lt n gt Space Right one character Esc Space Right to next item Tab Back Space Left one character Esc Back Space Left to previous item Esc Tab Return Go to start of next line V Language User s Guide Rev A 85 Chapter 3 Basic SEE Editor Operations Table 3 6 Cursor Movement in Command Mode Continued Key Action Esc Return Close line and go to column 1 comma Go to beginning
207. esult in x having the same value 3 6 2 SORT 9 SOR 2 1 9 MOD 6 x x Xx xXx V Language User s Guide Rev A 117 Chapter 4 Real and Integer Data Types Logical Expressions Vt does not have a specific logical Boolean data type Any numeric value variable or expression can be used as a logical data type V considers 0 to be false and any other value to be true When a real value is used as a logical data type the value is first promoted to an integer Logical Constants There are four logical constants TRUE and ON that will resolve to 1 and FALSE and OFF that will resolve to 0 These constants can be used anywhere a boolean expression is expected A logical value variable or expression can be used anywhere a decision is required In this example an input signal is tested If the signal is on high the variable dio sample is given the value true and the IF clause executes Otherwise the ELSE clause executes dio sample SIG 1001 IF dio sample THEN Steps to take when signal is on high ELSE Steps to take when signal is off low END Since a logical expression can be used in place of a logical variable the first two lines of this example could be combined to F SIG 1001 THEN Functions That Operate on Numeric Data Table 6 2 Numeric Value Functions on page 162 summarizes the Vt functions that operate on numerical data 118 V Language User s Gui
208. eystrokes are interpreted as system monitor commands System and program output is displayed in the debug window While in monitor mode the program displayed in the edit window is accessed in read only mode As described in a later section most of the keyboard function keys perform the same functions as with the SEE editor This is the initial mode when the debugger is invoked See the section Debug Monitor Mode Keyboard Commands on page 104 for a description of how monitor mode is used e Editor mode As its name indicates this mode enables full editing access to the program in the editor window All the features of the SEE editor can be used in this mode NOTE Programs that have been loaded from disk files with the read only attribute cannot be accessed in editor read write mode Use the Edit F11 and Debug S F11 keys or Ctrl E to change modes 100 V Language User s Guide Rev A Chapter 3 The Program Debugger Debugging Programs The basic strategy for debugging a program is 1 Invoke the program debugger with the DEBUG monitor command the DEBUG editor extended command or the Debug S F12 key 2 Initiate execution of the program usually with the PRIME or XSTEP monitor commands This step can be performed before or after the debugger is initiated 3 Step through the program executing individual steps sections of the program or complete subroutines to trace the flow of program execution A later sec
209. f evaluation operators 130 output analog 223 digital 220 manual control pendant 223 serial 225 signals 336 terminal 217 wait modes 230 OUTSIDE 162 P T pi 162 PACK 159 PARAMETER 164 V Language User s Guide Rev A 383 Index parameters 168 169 BELT MODE 171 316 321 command values 354 HAND TIME 171 KERMIT RETRY 171 KERMIT TIMEOUT 171 260 NOT CALIBRATED 171 operations 169 SCREEN TIMEOUT 171 select values 356 TERMINAL 171 type 333 Paste 77 pasting program lines 77 PAUSE 138 153 PAYLOAD 211 PENDANT 261 pendant see MCP pendantI O 223 pendant task 70 PENDANT 291 used to determine MCP state 295 with MCP speed potentiometer 293 with toggle buttons 291 performance robot 201 peripheral drivers restrictions with multiple processors 338 Pi mathematical constant 162 pitch 183 POINT 187 POS 159 POWER 212 power failures and REACTE 137 POWER system switch 175 precision points 187 location data type 119 PRIORITY 164 priority program task 63 task 62 procedural motion 199 PROCEED with PAUSE 138 processing asynchronous 60 servo 330 331 processor boards addressing 329 locations 329 sharing data 336 slot ordering 329 processor number 334 program blank line 47 comment 47 creating 35 examples 199 340 executing 49 execution 49 format 46 48 general purpose 45 interrupts 135 interupt 153 label 46 132 line format 46 list internal 81 memory requirements 51 naming
210. f the program Detailed Description This program has five sections formal introduction initialization of variables initialization of the robot location performance of the desired motion sequence and notice to the operator of completion of the task Each of these sections is described in detail below The first line of every program must have the form of the line below Itis a good practice to follow that line with a brief description of the purpose of the program If there are any special requirements for use of the program they should be included as well PROGRAM move parts This line identifies the program to the V system In this case we see that the name of the program is move parts ABSTRACT Pick up parts at location pick and put them down at place This is a very brief description of the operation performed by the program Most programs will require a more extensive summary Use variables to represent constants for two reasons Using a variable name throughout a program makes the program easier to understand and only one program line needs to be modified if the value of the constant must be changed parts 100 Tell the program how many parts to process during a production run In this case 100 parts will be processed heightl 25 4 height1 controls the height of the robot path when approaching and departing from the location where the parts are to be picked up Here it is set to 25 4 millimeters tha
211. f travel of the belt and that pass through the positions defined by the transformations If the robot attempts to move to a belt relative location that has not yet come within the window is upstream of the window the robot can be instructed either to pause until it can accomplish the motion or immediately generate a program error If a destination moves out of the window is downstream of the window it is flagged as an error condition and the application program can specify what action is to be taken See the description of the BELT MODE system parameter in V Language Reference Guide If the normal error testing options are selected whenever the V system is planning a robot motion to a belt relative location and the destination is outside the belt window but upstream the system automatically delays motion planning until the destination is within the window However if an application program attempts to perform a motion to a belt relative destination that is out of the window at planning time or is predicted to be out by the time the destination would be reached and this destination is downstream a window violation condition exists Also if during the execution of a belt relative motion or while the robot is tracking the belt the destination moves outside the belt window for any reason a window violation occurs Depending upon the details of the application program the program either prints an error message and halts execution or bra
212. flags indicating the status of the moving line software System Switch The switch BELT enables disables the operation of the moving line software See the description of ENABLE DISABLE and SWITCH for details on setting and displaying the value of BELT BELT This switch must be enabled before any conveyor tracking process ing begins System Parameters The following parameter selects alternative modes of operation of the belt window testing routines See the description of PARAMETER for details on setting and displaying the parameter values BELT MODE Bit flags for selecting special belt window testing modes of opera tion V Language User s Guide Rev A 321 Chapter 12 Sample Programs Sample Programs The following program is an example of a robot task working from a conveyor belt The task consists of the following steps 1 2 3 4 Wait for a signal that a part is present Pick up the part Place the part at a new location on the belt Return to a rest location to wait for the next part CAUTION These programs are meant only to illustrate programming techniques useful in typical applications Moving line programs are hardware dependent because of the belt parameters so care must be exercised if you attempt to use these programs PROGRAM TO RELOCATE PART ON CONVEYOR Set up belt parameters ENABLE BELT PA be DE WI DE WI WH EN 322 RAMETER BELT MODE O lt
213. following processor workload configurations e If only one processor is installed all tasks run on that processor e Ifasecond processor is present the vision task and servo tasks for the first two motion boards are automatically assigned to it e Ifthe V Extensions license is installed a copy of the V command processor is also available on each installed processor In most cases the copy of V on the auxiliary processor will be idle That is it will not be executing any user tasks When idle V uses less than one percent of the processor time 330 V Language User s Guide Rev A Chapter 13 Using Multiple V Systems Using Multiple V Systems For applications demanding extremely intensive V processing it is possible to run a copy of V on every processor This section details the requirements and considerations needed to run multiple V systems Requirements for Running Multiple V Systems You must have the following items before you can use multiple processors to run multiple V systems e V Extensions license e CONFIG C utility program e One processor for every V system that you intend to run e A graphics based system If you are using additional processors for vision or servo processing only you do not need a V Extensions license Contact your local Adept sales office for more information on this license Using V Commands With Multiple V Systems If more than one processor is running a copy of V and the MO
214. fset gripper the actual location recorded is not the part location but the center of the tool flange the offset gripper is attached to see Figure 8 8 If the same location is taught with a tool transformation in place the location recorded will be the center of the gripper not the center of the tool flange This allows you to change grippers and still have the robot reach the correct location Figure 8 8 shows the location of the robot when a location is taught and the actual location that is recorded when no tool transformation is in effect If the proper tool transformation is in effect when the location is taught the location recorded will be the part location and not the center of the tool flange Robot tool flange The location that is recorded The actual A Figure 8 8 Recording Locations 204 V Language User s Guide Rev A Chapter 8 Tool Transformations Defining a Tool Transformation If the dimensions of a robot tool are known the POINT command can be used to define a tool transformation to describe the tool The null tool has its center at the surface of the tool mounting flange and its coordinate axes parallel to that of the last joint of the robot The null tool transformation is equal to 0 0 0 0 0 0 For example if your tool has fingers that extend 50 mm below the tool flange and 100 mm in the tool x direction and you want to change the tool setting to compensate for the offset enter the following l
215. g the desired time slice and priority parameters in the EXECUTE PRIME or XSTEP command used to initiate execution The temporary values remain in effect until the program task is started again by anew EXECUTE PRIME or XSTEP command See the V Language Reference Guide for details on these instructions Task Scheduling Tasks are scheduled to run with a specified priority in one or more time slices Tasks may have priorities from 1 to 64 and the priorities may be different in each time slice The priority meanings are 1 Do not run in this slice even if no other task is ready to run 0 Do not run in this slice unless no task from this slice is ready to run 1 64 Run in this slice according to specified priority Higher priority tasks may lock out lower ones Priorities are broken into the following ranges 1 31 Normal user task priorities 32 62 Used by V device drivers and system tasks 63 Used by the trajectory generator Do not use 63 or 64 unless you have very short task execution times Use of these priorities may cause jerks in robot trajectories Whenever the current task becomes inactive e g due to an I O operation a WAIT instruction or completion of the task programs V searches for a new task to run The search begins with the highest priority task in the current time slice and proceeds through that slice in order of descending priority If multiple programs are waiting to run in the task they are run accord
216. guage Reference Guide for a description of the MONITORS system switch Each time the controller is turned on the default is that the auxiliary monitor window monitor_2 is hidden and disabled To enable it type the command ENABLE MONITORS 332 V Language User s Guide Rev A Chapter 13 Using Multiple V Systems Intersystem Communications V application programs running on the same processor communicate in the normal way using global V variables V can execute up to 7 tasks simultaneously on each processor or up to 28 tasks if the V Extensions software license is installed When multiple V systems are running each operates on its own processor and functions independently Programs and global variables for one V system are not accessible to the other V systems Application programs running on different V systems can communicate through an 8 KB reserved section of shared memory on each board This memory area is used only for communication between V application programs Itis not used for any other purpose You can access this memory through the following e the six IOPUT instructions IOPUTB IOPUTD IOPUTF IOPUTL IOPUTS IOPUTW e the five IOGET real valued functions IOGETB IOGETD IOGETF IOGETL IOGETW e the string function IOGETS Each of the above keywords has a type parameter Type 0 zero the default is used to access memory on other Adept V processors See the V Language Reference Gu
217. h respect to the motion device s home sensors and cannot be made relative to other locations or coordinate frames V Language User s Guide Rev A Chapter 8 Location Variables Coordinate Systems Figure 8 1 shows the world coordinate system for an Adept SCARA robot and an Adept Cartesian robot Ultimately all transformations are based on a world coordinate system The V language contains several instructions for creating local reference frames building relative transformations and changing the origin of the base world coordinate frame Therefore an individual transformation may be relative to another transformation a local reference frame or an altered base reference frame Different robots and motion devices will designate different locations as the origin of the world coordinate system See the user s guide for Adept robots or the device module documentation for AdeptMotion VME systems to determine the origin and orientation of the world coordinate frame Figure 8 1 Adept Robot Cartesian Space V Language User s Guide Rev A 179 Chapter 8 Location Variables Transformations 180 The first three components of a transformation variable are the values for the points on the X Y and Z axes In an Adept SCARA robot the origin of this Cartesian space is the base of the robot The Z axis points straight up through the middle of the robot column The X axis points straight out and the Y axis runs
218. han or equal to gt or gt greater than or equal to lt gt not equal to If x has a value of 6 and y has a value of 10 the following boolean expressions would resolve to 1 true X lt y y gt x y lt gt X and these expressions would resolve to 0 false X gt y x lt gt 6 A Y Note the difference between the assignment operator and the relational operator Zz X y In this example z will be assigned a value of 0 since the boolean expression x y is false and would therefore resolve to 0 A relational operator will never change the value of the variables on either side of the relational operator V Language User s Guide Rev A 127 Chapter 4 Operators Logical Operators Logical operators affect the resolution of a boolean variable or expression and combine several boolean expressions so they resolve to a single boolean value V uses the standard logical operators shown in Table 4 4 Table 4 4 Logical Operators Symbol Effect NOT Complement the expression or value makes a true expression or value false and vice versa AND Both expressions must be true before the entire expression is true OR Either expression must be true before the entire expression is true XOR One expression must be true and one must be false before the entire expression is true If x 6 and y 10 the following expressions will resolve to 1 true NOT x
219. has completed NOTE A WRITE instruction automatically appends a Return character 13 decimal and Line Feed character 10 decimal to the data message unless the S format control is specified V Language User s Guide Rev A Chapter 9 DDCMP Communication Protocol Protocol Parameters Certain parameters can be set to control the operation of DDCMP These parameters are set with the V FCMND instruction The following parameters can be set 1 Time before message confirmation or retransmission is attempted An acknowledge request must have been received before this period of time or a time out occurs The default value is 3 seconds It can be set to any value from 1 to 255 seconds 2 Number of successive time outs before an unrecoverable error is signaled halting the protocol and aborting I O requests The default value is 8 It can be set to any value from 1 to 255 3 Number of successive negative acknowledge NAK packets that can be received before an unrecoverable error is signaled halting the protocol and aborting I O requests The default value is 8 It can be set to any value from 1 to 255 The FCMND instruction to set the parameters is as follows see V Language Reference Guide for more information on the FCMND instruction FCMND lun 501 CHR time out CHR time retry SCHR nak retry where lun is the logical unit number for the serial line time out is the time out interval in seconds time retry is the
220. he input output range selected the AIO IN function returns a value in the 1 0 to 1 0 range and the AIO OUT instruction expects a value in the range 1 0 to 1 0 Additionally modules can be configured for differential input which reduces the maximum number of input channels to 128 Contact Adept Applications for details on installing and configuring analog I O boards See How Can I Get Help on page 32 for phone numbers The instruction analog value AIO IN 1004 will read the current state of analog input channel 4 The instruction AIO OUT 2 0 9 will write the value 0 9 to analog output channel 2 The instruction F ATO INS 4 THEN AIO OUT 4 0 56 END will write to output channel 4 only if output channel 4 is installed 1 Analog I O boards can be configured for differential input rather than single ended input Differential input reduces the number of channels on a single board from 32 to 16 The analog I O board used by the Adept controller is supplied by Xycom Inc The model number is XVME 540 The phone number for Xycom is 800 289 9266 V Language User s Guide Rev A 223 Chapter 9 Analog I O Board 1 Board 2 Board 3 Board 4 in 1001 1032 in 1033 1064 in 1065 1096 in 1097 1128 dif 1001 1016 dif 1033 1048 dif 1065 1080 dif 1097 1112 out 1 4 out 5 8 out 9 12 out 13 16 Board 5 Board 6 Board 7 Board 8 in 1129 1160 in 1161 1192 in 119
221. he access mode for the current program to read write mode May be abbreviated RW Switches from debug editor mode to normal full screen program editing Also see the Edit F7 key In response to this command you will be shown the current size of the display and asked how many lines high you want the display to be You must specify at least seven lines Press 4 to retain the current setting See DSIZE above for an explanation of how the TSIZE setting affects the size of the edit and debug windows displayed by the program debugger Displays the current cursor column number The current cursor line number is always displayed on the information line at the bottom of the edit window NOTE The settings controlled by the extended commands are all retained between editing sessions initiated with the SEE monitor command When the SEE program instruction is used to initiate program editing all the settings controlled by the extended commands are set to the initial settings described below Settings changed during the edit session are not retained after the editor is exited V Language User s Guide Rev A Chapter 3 Basic SEE Editor Operations Edit Macros Edit macros allow you to perform the same sequence of editor commands or enter the same sequence of text characters several times during an editing session Two edit macros can be defined at the same time Either macro can be invoked from any point in the definition of
222. he following steps to make sure the remote server is in a known state 1 enter PASSTHRU mode 2 stop the remote server by typing Ctrl P several times and 3 restart the remote server If a Kermit file access is aborted by the user for example Ctrl C is typed to abort a V monitor command it may take five seconds for the abort request to be processed V Language User s Guide Rev A 257 Chapter 9 DeviceNet V System Parameters for Kermit Two V system parameters are provided for setting communication parameters for the Kermit protocol The parameter KERMIT TIMEOUT sets the amount of time that the remote server is to wait for a response from the V system before the remote server declares a time out error and retransmits its previous message This Parameter should be set to a high value less than or equal to 95 seconds when V READ or WRITE instructions performed on the Kermit line are far apart that is when there are long pauses between disk requests This can occur for example when the Vt program is being executed in single step mode with the program debugger The parameter KERMIT RETRY is the number of errors and retransmissions that are allowed by the local V Kermit When this number of errors is exceeded the error Ioo many network errors will occur When this parameter is set to a large value less than or equal to 1000 the equivalent parameter for the remote server must be set to the same value Otherwise the sett
223. ical flow and correct external communication without having to worry about the robot running into something Also see the TRACE switch which is useful during program checkout The manual control pendant can still be used to move the robot when DRY RUN is enabled Default is disabled 174 V Language User s Guide Rev A Chapter 7 Switches Table 7 2 Basic System Switches Continued Switch Use FORCE Controls whether the optional stop on force feature of the V system is active Default is disabled INTERACTIVE Suppresses display of various messages on the system terminal In particular when the INTERACTIVE switch is disabled V does not ask for confirmation before performing certain operations and does not output the text of error messages This switch is usually disabled when the system is being controlled by a supervisory computer to relieve the computer from having to process the text of messages Default is enabled MCP MESSAGES Controls how system error messages are handled when the controller keyswitch is not in the MANUAL mode position Default is disabled MCS MESSAGES Controls whether monitor commands executed with the MCS instruction will have their output displayed on the terminal Default is disabled MESSAGES Controls whether output from TYPE instructions will be displayed on the terminal Default is enabled MONITORS This switch is us
224. ice 0 yes slice slice 1 Scheduling of Program Execution Tasks task in p gt no yes t run servos until complete or slice is up run task until Y task completes P or time slice is up yes runnable Mio no current slice make highest priority task in slice or round robin group the current task run highest priority program in task until program completes waits or time slice is up time left in slice 66 Figure 2 4 Task Scheduler V Language User s Guide Rev A task run look ahead for runnable task in any other time slice no run null task until an event occurs Chapter 2 Scheduling of Program Execution Tasks Execution Priority Example The following example shows how the task priority scheme works The example makes the following simplifying assumptions e Task 0 runs in all time slices at priority 20 e Task 1 runs in all time slices at priority 10 e Task 2 runs in all time slices at priority 20 e All system tasks are ignored systems tasks are described in the next section e All system interrupts are ignored Figure 2 5 on page 68 shows three tasks executing concurrently Note that since no LOCK or REACT_ instructions are issued the program priority remains 0 for the entire segment See Program Interrupt Instructions on page 1
225. ice KERMIT explicitly or via the current default NOTE Only one logical unit in the entire V system can be attached to the KERMIT physical device at any one time An attempt to perform a second attachment will result in the error Device not ready 2 FOPEN the desired file on that logical unit if the file is open in fixed length record mode as long as the length is less than about 90 V Language User s Guide Rev A 255 Chapter 9 Kermit Communication Protocol 256 3 READ or WRITE variable length records using that logical unit The following V commands and instructions can be used to access files with Kermit FCOPY FOPEND STORE STORES FDELETE FOPENR STOREL VLOAD FLIST FOPENW STOREP VSTORE FDIRECTORY LOAD STORER VLOAD and VSTORE can be used with Kermit only in binary mode The specific commands for the remote system will depend on the system you are using Binary Files Disk files created by the V system are called ASCII files because the files contain only ASCII characters V application programs and other computers can create nonASCII disk files which contain information that is not interpreted as ASCII characters Such files are often called binary files When Kermit is transferring normal text ASCII files the file contents are not adversely affected if the eighth bit of a byte is corrupted For example the serial line hardware would affect the eighth bit if parity checking is enabled since that bit i
226. ide for more details You can use the real valued function IOTAS to interlock access to this memory V Language User s Guide Rev A 333 Chapter 13 Using Multiple V Systems Shared Data The IOGET IOGETS and IOPUT_ keywords allow the following to be written and read e Single bytes e 16 bit words e 32 bit long words e 32 bit single precision floating point values e 64 bit double precision floating point values e Strings up to 128 bytes An address parameter indicates the position within the application shared area that is to be written to or from Acceptable address values are 0 to hexadecimal 1FFF decimal 8191 Any Adept system processor can access the shared memory areas of all the Adept system processors including its own area The IOGET IOGETS IOPUT and IOTAS keywords have an optional parameter to specify the processor number The default value for the processor parameter is 0 which is the local processor that is the processor on which the instruction is executing A nonzero value for the processor parameter causes that processor to be accessed Note that a processor can access itself as either processor 0 or by its real processor number For example the instruction IOPUTS HFF 0 2 Hello will write five ASCII bytes to the shared memory area on processor 2 at the address HFF Adept MV controllers support four processors numbered 1 through 4 The processor number is established by
227. ime required by V to perform the transitions between motion segments there is a limit on how closely spaced commanded locations can be When locations are too close together there is not enough time for V to compute and perform the transition from one motion to the next and there will be a break in the continuous path motion This means that the robot will stop momentarily at intermediate locations The minimum spacing that can be used between locations before this effect occurs is determined by the time required to complete the motion from one location to the next Straight line motions can be used if the motion segments take more than about 32 milliseconds each Joint interpolated motions can be used with motion segments as short as about 16 milliseconds each V Language User s Guide Rev A Chapter 8 Motion Control Instructions NOTE The standard trajectory generation frequency is 62 5 Hz With an optional software license trajectory frequencies of 125Hz 250 Hz and 500 Hz are possible TE statement in the SYSTEM section of the configuration data and may be changed with the CONFIG C system utility The minimum motion times for joint and straight line motions must be greater than or equal to the configured trajectory cycle time As a convenience if they are set to be less than the configured trajectory cycle time for example 0 the trajectory cycle time is used as the minimum motion time Robot Speed A robot move has three
228. in the array path One way to create the path array is to use the Vt TEACH command to move the robot along the desired path and to press repeatedly the RECORD button on the manual control pendant In the next example the robot tool is to be moved along a circular arc However the path is not prerecorded it is described mathematically based on the radius and center of the arc to be followed The program segment below assumes that a real variable radius has already been assigned the radius of the desired arc and x center and y center have been assigned the respective coordinates of the center of curvature The variables start and last are assumed to have been defined to describe the portion of the circle to be traced Finally the variable angle step is assumed to have been defined to specify the angular increment to be traversed in each incremental motion Because the DURATION instruction is used the program will move the robot tool angle step degrees around the arc every 0 5 second When this program segment is executed the X and Y coordinates of points on the arc are repeatedly computed They are then used to create a transformation that defines the destination for the next robot motion segment DURATION 0 5 ALWAYS FOR angle start TO last STEP angle step x radius COS angle x center y radius SIN angle y center MOVE TRANS x y 0 0 180 0 END Timing Considerations Because of the computation t
229. ines at the system prompt bold characters indicate those actually entered POINT hand tool create a new transformation X Y Z y p r 0 00 0 00 0 00 0 000 0 000 0 000 Change 100 50 alter it by the grip offset 0 00 100 00 50 00 0 000 0 000 0 000 Change 4 TOOL hand tool l LISTL hand tool l xe qt y jt2 z jt3 y jt4 PIES Ef TES 0 00 100 00 50 00 0 000 0 000 0 000 Figure 8 9 shows the TOOL that would result from the above operation Elle Figure 8 9 Tool Transformation V Language User s Guide Rev A 205 Chapter 8 Tool Transformations Tool transformations are most important when e Grippers are changed frequently e The robot is vision guided e Robot locations are loaded directly from CAD data 206 V Language User s Guide Rev A Chapter 8 Summary of Motion Keywords Summary of Motion Keywords Table 8 1 summarizes the keywords associated with motion in V These instructions are covered in detail in the V Language Reference Guide Please see the reference guide for the keyword parameters and their uses Table 8 1 Motion Control Operations Keyword Type Function ABOVE PI Request a change in the robot configuration during the next motion so that the elbow is above the line from the shoulder to the wrist ACCEL PI Set acceleration and deceleration for robot motions ACCEL RF Return the current robot acceleration or deceleration setting ALIGN
230. ing Servos with a EJI Board 327 Conveyor Belt Encoders a a aa s sss 328 Force Sensors o aaa sn 328 Installing Processor Boards a aa aaa a 329 Processor Board Locations 329 Slot Ordering of Processor Boards 329 Processor Board Addressing 2 2 202 329 Customizing Processor Workloads 329 Assigning Workloads With CONFIG C 330 Using Multiple V Systems 0 0040 331 Requirements for Running Multiple V Systems 331 Using V Commands With Multiple V Systems 331 Autostart 25299 oo oo a 332 Accessing the Command Prompt 332 Intersystem Communications 333 Shared Data 4 334 IOTAS and Data Integrity 335 Efficiency Considerations 336 Digital WO amp o e sco at eR ee o dox X X x X OS om 336 Restrictions With Multiprocessor Systems 337 High Level Motion Control Tasks 338 Peripheral Drivers ls s 338 Example V Programs 04 339 Infroduclion 4 so o oso o o RR He ee eee os 340 Pick and Place sn 341 Features Introduced sss 341 Program Listing aa a a 341 Detailed Description 048 342 Menu Program 222229 ee a 345 V Language User s Guide Rev A Table of Contents Features Introduced
231. ing either the six components described in the previous section or by specifying the state the robot joints would be in when a location is reached The former method results in a transformation variable Transformations are the most flexible and efficient location variables Precision points record the joint values of each joint in the motion device Precision points may be more accurate and they are the only way of extracting joint information that will allow you to move an individual joint Precision points are identified by a leading pound sign The command HERE pick will create the precision point pick equal to the current robot joint values Modifying Location Variables The individual components of an existing transformation or precision point can be edited with the POINT monitor command POINT loc_name will display the transformation components of loc_name and allow you to edit them If loc_name is not defined a null transformation will be displayed for editing V Language User s Guide Rev A 187 Chapter 8 Creating and Altering Location Variables 188 A location variable can be duplicated using the POINT monitor command or SET program instruction The monitor command POINT loc name loo value and the program instruction SET loc name loc value will both result in the variable loc name being given the value of loc value The POINT monitor command also allows you to edit loc name after it has been as
232. ing to the relative program priorities If a runnable task is not found the next higher slice is checked All time slices are checked wrapping around from slice 15 to slice 0 until the original slice is reached If no runnable tasks are encountered the V null task executes Whenever a 1ms interval expires V performs a similar search of the next time slice If the next time slice does not contain a runnable task the currently executing task continues V Language User s Guide Rev A 63 Chapter 2 Scheduling of Program Execution Tasks If more than one task in the same time slice have the same priority they become part of a round robin scheduling group Whenever a member of a round robin group is selected by the normal slice searching the group is scanned to find the member of the group that ran most recently The member that follows the most recent is run instead of the one that was originally selected If a task is in more than one round robin group in different slices then all such tasks in both slices appear to be in one big group This property can cause a task to be run in a slice you did not expect For example Slice 1 Task A priority 10 Task B priority 10 Slice 5 Task B priority 15 Task C priority 15 All three tasks A B and C are in the same round robin group because task B appears in both Therefore task C may run in slice 1 at priority 10 or task A may run in slice 5 at priority 15 depending on which member of th
233. ings will not be effective DeviceNet 258 Adept now supports DeviceNet and DeviceNet protocols within the Adept MV controller For more information on setup and programming procedures see the V Language Reference Guide and the Instructions for Adept Utility Programs manuals V Language User s Guide Rev A Chapter 9 Summary of I O Operations Summary of I O Operations Table 9 7 summarizes the V I O instructions Table 9 7 System Input Output Operations Keyword Type Function AIO IN RF Read a channel from one of the analog IO boards AIO OUT PI Write to a channel on one of the analog IO boards AIO INS RF Test whether an analog input or output channel is installed ATTACH PI Make a device available for use by the application program BITS PI Set or clear a group of digital signals based on a value BITS RF Read multiple digital signals and return the value corresponding to the binary bit pattern present on the signals DEFAULT SF Return a string containing the current system default device unit and directory path for disk file access DEF DIO PI Assign third party digital I O boards to standard V signal numbers for use by standard V instructions functions and monitor commands This instruction requires the Third Party Board Support license DETACH PI Release a specified device from the control of the app
234. ion SWITCH switch name returns TRUE 1 0 if the switch is enabled FALSE 0 0 if the switch is disabled Some switches are organized as arrays and may be accessed by specifying the array index V Language User s Guide Rev A Chapter 7 Switches Setting Switches The ENABLE and DISABLE monitor commands program instructions control the setting of system switches The instruction ENABLE BELT will enable the BELT switch The instruction DISABLE BELT CP will disable the CP and BELT switches Multiple switches can be specified for either instruction Switches can also be set with the SWITCH program instruction Its syntax is SWITCH switch_name value This instruction differs from the ENABLE and DISABLE instructions in that the SWITCH instruction enables or disables a switch depending on the value on the right hand side of the equal sign This allows you to set switches based on a variable or expression The switch is enabled if the value is TRUE nonzero and disabled if the value is FALSE zero The instruction SWITCH CP SIG 1001 will enable the continuous path CP switch if input signal 1001 is on Summary of Basic System Switches The default switch settings at system power up are given in Table 7 2 The switch settings are not affected by the ZERO command Optional enhancements to your V system may include additional system switches If so they are described in the doc
235. ions See the V Language Reference Guide for details 58 V Language User s Guide Rev A Chapter 2 Subroutines Recursive Programs Recursive programs are subroutines that call themselves either directly or indirectly A direct call occurs when a program actually calls itself which is useful for some special programming situations Indirect calls are more common They occur when program A calls program B which eventually leads to another call to program A before program B returns For example an output routine may detect an error and call an error handling routine which in turn calls the original output routine to report the error If recursive subroutine calls are used the program must observe the same guidelines as for reentrant programs see Reentrant Programs on page 58 In addition you must guarantee that the recursive calls do not continue indefinitely Otherwise the program task will run out of stack space NOTE Very strange results may occur if a nonreentrant program is inadvertently called from different tasks or recursively from a single task Therefore it is good practice to make programs reentrant if possible V Language User s Guide Rev A 59 Chapter 2 Subroutines Asynchronous Processing A particularly powerful feature of V is the ability to respond to an event such as an external signal or error condition when it occurs without the programmer s having to include instructions to test repea
236. ir correctness While the program is executing the values of program variables can easily be displayed or changed The following sections describe the use of the program debugger in detail Entering and Exiting the Debugger The program debugger can be invoked in two ways e From the command line with the DEBUG monitor command see the V Operating System Reference Guide for information on monitor commands e From the SEE editor with the Debug S F11 key or the DEBUG extended command The function keys and the SEE editor extended commands are described in The SEE Editor in Command Mode on page 85 NOTE The program debugger cannot be invoked from the SEE editor when the editor has been initiated with the SEE program instruction When a debugging session is initiated two aspects of the debugging session need to be established the program task that will be accessed for program execution and the program that will be displayed in the debugger edit window The methods for providing this information depend on how you invoke the program debugger as described below Use the Exit F4 key or a keyboard command to exit the debugger and return to the V system monitor V Language User s Guide Rev A 95 Chapter 3 The Program Debugger The DEBUG Monitor Command The following command formats will invoke the debugger from the system prompt DEBUG t prog step t Initiates debugging in task number t If the task number
237. ire you to declare variables or their data types The first use of a variable will determine its data type and allocate space for that variable You can create variables and assign them a type as needed The program instruction real var 13 65 will create the variable real_var as a real variable and assign it the value 13 65 if the real_var had already been created the instruction will merely change its value Numeric string and transformation arrays up to three dimensions can be declared dynamically Variable Name Requirements The requirements for a valid variable name are 1 Keywords reserved by Adept cannot be used Chapter 1 of the V Language Reference Guide lists the basic keywords reserved by Adept If you have AdeptVision VXL Chapter 1 of the AdeptVision Reference Guide lists the additional reserved words used by the vision system The first character of a variable name must be a letter Allowable characters after the first character are letters numbers periods and the underline character 4 Only the first 15 characters in a variable name are significant The following are all valid variable names Xx count dist to part 33 ref_frame 112 V Language User s Guide Rev A Chapter 4 Introduction The following names are invalid for the reasons indicated 3x first character not a letter one amp two amp is an invalid name character pi reserved word this_is_a_long_name too many characters
238. isables the repeat for the period button ITE mep lum SOHR 25 SOHR 55 S The repeat option is enabled with the instruction WR ITE mcp lun SCHR 24 SCHR 55 S Table 11 1 lists all the control codes used with the pendant Table 11 1 Pendant Control Codes Single Byte Control Codes Code Function 1 Not Used 2 Enable blink mode for subsequent characters 3 Disable blink mode for subsequent characters characters will still blink if they appear in a blinking position set by code 22 4 Display cursor make the cursor visible 5 Hide cursor make the cursor invisible 6 Not Used 7 Beep 8 Backspace ignored if cursor is in character position 1 9 Tab to next soft button 10 Line feed move down in same position scroll if on line 2 11 Vertical tab move up in same position do not scroll 12 Home cursor and clear screen cancels any blinking positions but does not affect blink mode set by code 2 13 Carriage return move to column 1 of current line 14 Home cursor move to character position 1 15 Clear from cursor position to end of line V Language User s Guide Rev A Chapter 11 Controlling the Pendant Table 11 1 Pendant Control Codes Continued Double Byte Control Codes Code Function Second Code 16 Not Used 17 Not Used 18 Position cursor Cursor position
239. issuing a RETURN instruc tion Control returns to prog a in task 1 Task 1 prog a issues a CLEAR EVENT instruction followed by a WAIT EVENT instruction to wait for its event flag to be set Task 1 is suspended and task 2 resumes execution of its reaction routine The task 2 reaction routine completes by issuing a RETURN instruc tion Control returns to prog b in task 2 Task 2 prog b issues a SET EVENT 1 instruction setting the event flag for task 1 Task 2 now issues a RELEASE program instruction to yield control of the CPU Since the task 1 event flag is now set and its priority is higher than task 2 task 1 resumes execution and task 2 is suspended V Language User s Guide Rev A Chapter 5 Program Interrupt Instructions 2 o net task waiting a task running main program E x task running reaction routine D 2 a I li d task 1 running prog a task priority 30 10 5 o 0600 6 20 iud da task 2 running prog b task priority e 16ms V Major Cycles Figure 5 1 Priority Example 2 V Language User s Guide Rev A 141 Chapter 5 Logical Boolean Expressions Logical Boolean Expressions 142 The next two sections discuss program control structures whose execution depends on an expression or variable that will take on a boolean value a variable that is either true or false or an expression that resolv
240. itch Default is disabled UPPER Determines whether comparisons of string values will consider lowercase letters the same as uppercase letters When this switch is enabled all lowercase letters are considered as though they are uppercase Default is enabled 176 V Language User s Guide Rev A Motion Control Operations Introduction ic dd A A A 178 Location Variables 2 2 2 2 252 5 5 178 Coordinate Systems 0 0 179 Transformations 1 sss sn 180 TOW AENA 181 PUGH ada AREA AAA A 183 AA 185 Special Situations 0 000 sss 186 Creating and Altering Location Variables 187 Creating Location Variables 187 Transformations vs Precision Points 187 Modifying Location Variables 187 Relative Transformations 188 Examples of Modifying Location Variables 188 Defining a Reference Frame 0 191 Miscellaneous Location Operations 194 Motion Control Instructions 0 ls 195 Basic Motion Operations 195 Joint Interpolated Motion vs Straight Line Motion 195 Safe Approaches and Departures 196 Moving an Individual Joint 196 End Effector Operation Instructions 197 Continuous Path Trajectories 197 Breaking Continuous Path Operation
241. ith variable length records 237 FINE 202 203 209 fixed length records 238 FLIP 209 FLIB 159 FLTB 159 FOPEN 265 FOPENA 260 FOPEND 234 260 FOPENR 234 260 FOPENW 234 260 FOR 147 152 FORCE 209 force sensors 328 FORCE system switch 175 format disk directory 241 of program lines 46 of programs 46 48 FRACT 162 FRAME 209 FREE 164 FSEEK 260 FSET 269 FIP 242 function keys debugger commands 103 terminal 27 functions 158 164 as arguments to a function 158 location 161 logical 163 numeric value 162 See also numeric value functions real valued functions string functions and system control functions string 159 system control 164 used in expressions 158 G GARC 284 GCHAIN 284 GCLEAR 284 GCLIP 284 GCOLOR 284 GCOPY 284 general purpose control program 45 GET EVENT 152 164 GETC 228 260 with IOSTAT 226 GETEVENT 268 GFLOOD 284 GICON 284 GLINE 284 GLINES 284 global variables 121 double precision 121 GLOGICAL 284 GOTO 132 153 GPANEL 273 GPOINT 284 graphic instructions GSLIDE 284 graphics character set 362 instructions 284 graphics instructions GARC 284 GCHAIN 284 GCLEAR 284 GCLIP 284 GCOLOR 284 GCOPY 284 GFLOOD 284 GICON 284 GLINE 284 GLINES 284 GLOGICAL 284 GPOINT 284 GRECTANGLE 284 GSCAN 284 GTEXTURE 285 GTRANS 285 GTYPE 285 See also belt instructions commands control structures debugger commands functions I O operations motion control 378 V Language User s Guide Rev A operations
242. itor Chapter 3 provides complete details on the SEE editor and program debugger NOTE See the AdeptWindows User s Guide for instructions on using AdeptWindows PC The editor is accessed from the system prompt with the command SEE prog_name If prog_name is already resident in system memory it will be opened for editing If prog_name is not currently resident in system memory the SEE editor will open and the bottom line will ask prog_name doesn t exist Create it Y N If you answer Y the program will be created the SEE editor cursor will move to the top of the editing window and you can begin editing the program If you answer N you will be returned to the system prompt If prog_name is omitted the last program edited will be brought into the editor for editing Program and Variable Name Requirements Program and variable names can have up to 15 characters Names must begin with a letter and can be followed by any sequence of letters numbers periods and underline characters Letters used in program names can be entered in either lowercase or uppercase V always displays program and variable names in lowercase 1 Unless an executing program has failed to complete normally in which case the failed program will be opened V Language User s Guide Rev A 35 Chapter 2 Creating a Program The Editing Window When the SEE editor is open it will occupy the Monitor window on the monitor If the Monitor window i
243. itor Operations Whenever the cursor is moved off a program line and when certain commands are invoked the editor closes the current line As part of that process the line and those following it are displayed in standard V format for example abbreviation expansion letter case spacing and line indents When a long line is closed the end of the line is erased from the screen and the next line is automatically redrawn Undo F6 will not undo changes to a closed line Until a line is closed its effect on the indenting of subsequent lines is not considered Thus for example Redraw S F6 ignores an unclosed line when redrawing the display In some cases closing a line will cause its length to be increased because of abbreviation expansion and line indents If the expanded line would be longer that the maximum line length allowed an error message will be displayed and you will be prevented from moving off the long line You will then have to shorten the line break it into two or more pieces or press Undo F6 to restore the previous version of the line Syntax is also checked when a line is closing If an error is detected the editor normally marks the line as a bad line by placing a in column 1 Programs containing bad lines cannot be executed Thus you will have to eliminate all the bad lines in a program before you will be able to execute it You can use the editor s string search feature to search through a program for qu
244. itor commands One method of determining the stack requirements of a program task is simply to execute its program If the program runs out of stack space it will stop with the error message Too many subroutine calls Or Not enough stack space If this happens use the STACK monitor command to increase the stack size and then issue the RETRY monitor command to continue program execution In this case you do not need to restart the program from the beginning The STATUS command will tell you how much stack space a failed task requested Alternatively you can start by setting a large stack size before running your program Then execute the program After the program has been run and all the execution paths have been followed use the STATUS monitor command to look at the stack statistics for the program task The stack MAX value shows how much stack space your program task needs to execute The stack size can then be set to the maximum shown with a little extra for safety V Language User s Guide Rev A 51 Chapter 2 Program Stacks If it is impossible to invoke all the possible execution paths the theoretical stack limits can be calculated using Table 2 1 You can calculate the worst case stack size by adding up the overhead for all the program calls that can be active at one time Divide the total by 1024 to get the size in kilobytes Use this number in the STACK monitor command to set the size Table 2 1 Stack Space Re
245. its 227 Reading uuo god o lA oe e ce ue dy dy amp 228 VDO oe amp amp pew 4 4 2 4e UR GERD ESE E CE 30k Sw SG 229 Input Wait Modes 0 00 sns 229 Output Wait Modes 00000 230 DEKO a bay amp GG aes es Ed eT Oe 0 am ee es A 231 Attaching Disk Devices 0 1 0 0 231 Disk I O and the Network File System NFS 232 Disk Directories 232 Disk File Operations 232 Opening a Disk File 0 233 Writing to a Disk 2 5 wokXGXE a 234 Reading From a Disk a aa aa aa 235 Detaching aaa aa a 235 Disk I O Example a aa a a a a 0 000 ee 236 Advanced Disk Operations 237 Variable Length Records 0048 237 Fixed Length Records 040 238 Sequential Access Files 0 004 238 Random Access Files 0 0 00004 238 Buffering and I O Overlapping 239 Disk Commands 00 0004 4 240 Accessing the Disk Directories 241 AdeptNET Ga 8 4 383 0 RE Ee ERE ER 242 Serial Line I O 6460 6 9 99 PPO v Xy xo o as 243 I O Configuration ls 243 Attaching Detaching Serial I O Lines aaa 244 Input Processing oss 244 Output Processing aa a a 245 Serial I O Examples 245 DDCMP Communication Protocol 248 General Operation
246. k char 3 mcp beep 7 mcp tab 9 mcp on led 31 Check to see if the MCP is free IF PENDANT 3 lt gt 2 THEN GOTO 100 END Attach to the MCP ATTACH mcp Verify ATTACH was successful IF IOSTAT mcp lt gt 1 THEN GOTO 100 302 V Language User s Guide Rev A cp cur pos_pendant control code set cursor position cp blink char_pendant control code start blink position cp noblink char_pendant control code disable blink position button Chapter 11 Programming Example MCP Menu END DO Main processing loop Display the top level menu CALL mcp disp main Get the operator selection must be between 1 and 5 DO button PENDANT 0 UNTIL button lt 6 Turn on the LED of the selected button WRITE mcp CHR mcp on led CHR button S Respond to the menu item selected CASE button OF VALUE 1 Verify program exit CALL mcp main quit quit rj VALUE 2 CALL mcp option 2 Ej VALUE 3 CALL mcp option 3 VALUE CALL mcp option 4 rj A lt pi k xj UE 5 CALL mcp option 5 END CASE button of Turn off LED WRITE mcp SCHR mcp off led CHR button S UNTIL quit Detach from the MCP DETACH mcp 100 IF NOT quit THEN Exit on MCP busy YPE C34 U17 The MCP is busy or not connected YPE Press the REC DONE button to clear C5
247. l Encoder Functions Location Motion and External Encoder Functions V provides numerous functions for manipulating and converting location variables See Chapter 8 for details on motion processing and a table that includes all location related functions See Appendix B for details on the external encoders Examples of Location Functions The instruction rotation RZ HERE will place the value of the current rotation about the Z axis in the variable rotation The instruction dist DISTANCE HERE DEST will place the distance between the motion device s current location and its destination the value of the next motion instruction in the variable dist The instructions F INRANGE loc_1 0 THEN IF SPEED 2 gt 50 THEN SPEED 50 END MOVE loc 1 END will ensure loc 1 is reachable and then move the motion device to that location at a program speed not exceeding 50 V Language User s Guide Rev A 161 Chapter 6 Numeric Value Functions Numeric Value Functions The functions listed in Table 6 2 provide trigonometric statistical and data type conversion operations See Chapter 4 for additional details on arithmetic processing Table 6 2 Numeric Value Functions Keyword Function ABS Return absolute value ATAN2 Return the size of the angle in degrees that has its trigonometric tangent equal to valu
248. l expression There are some restrictions on the numeric values that are accepted by V The following rules determine how a value will be interpreted in the various situations described 1 Distances are used to define locations to which the robot is to move The unit of measure for distances is the millimeter although units are never explicitly entered for any value Values entered for distances can be positive or negative Angles in degrees are entered to define and modify orientations the robot is to assume at named locations and to describe angular positions of robot joints Angle values can be positive or negative with their magnitudes limited by 180 degrees or 360 degrees depending on the usage Joint numbers are integers from one up to the number of joints in the robot including the hand if a servo controlled hand is operational For Adept SCARA robots joint numbering starts with the rotation about the base referred to as joint 1 For mechanisms controlled by AdeptMotion VME see the device module documentation for joint numbering Signal numbers are used to identify digital on off signals They are always considered as integer values with magnitudes in the ranges 1 to 8 33 to 512 1001 to 1012 1032 to 1512 2001 to 2512 or 3001 to 3004 A negative signal number indicates an off state Integer arguments can be satisfied with real values that is values with integer and fractional parts When an integer is required th
249. l the key words recognized by V Other instructions may be recognized if your system includes optional features such as AdeptVision V Language User s Guide Rev A Chapter 2 Format of Programs Comment The semicolon character is used to indicate that the remainder of a program line is comment information to be ignored by V When all the elements of a program step are omitted a blank line results Blank program lines are acceptable in V programs Blank lines are often useful to space out program steps to make them eas ier to read When only the comment element of a program step is present the step is called a comment line Comments are useful to describe what the program does and how it interacts with other programs Use comments to describe and explain the intent of the sections of the programs Such internal documentation will make it easier to modify and debug programs The example programs in this manual and the utility programs provided by Adept with your system provide examples of programming format and style Notice that Adept programs contain numerous comments and blank lines When program lines are entered extra spaces can be entered between any elements in the line The V editors add or delete spaces in program lines to make them conform with the standard spacing The editors also automatically format the lines to uppercase for all keywords and lowercase for all user defined names When you complete a program line b
250. lay is selected When you are done communicating with the vision window close and detach from it just as you would any other window This will free up the logical unit but will not delete the vision window You can close and detach from the vision window but you cannot delete it To preserve the vision system pull down menus open the window in write only mode FOPEN glun Vision WRITEONLY The following example opens the vision window writes to the vision window and detaches the vision window PROGRAM label blob ABSTRACT This program demonstrates how to attach to the vision window and how to use the millimeter scaling mode of the GTRANS instruction to label a blob in the vision window AUTO vlun cam Attach the vision window and get a logical unit number ATTACH vlun 4 GRAPHICS F IOSTAT vlun O GOTO 100 FOPEN vlun Vision Open the vision window F IOSTAT vlun O GOTO 100 Select display mode and graphics mode VDISPLAY cam 1 1 Display grayscale frame and graphics Take a picture and locate an object VPICTURE cam Take a processed picture VLOCATE cam 2 Attempt to locate an object V Language User s Guide Rev A Chapter 10 Communicating With the System Windows F VFEATURE 1 THEN If an object was found GCOLOR vlun 1 Select the color black GTRANS vlun 2 Select millimeter scaling
251. left to right as you face the robot The first robot in Figure 8 1 on page 179 shows the orientation of the Cartesian space for an Adept SCARA robot The location of the world coordinate system for other robots and motion devices depends on the kinematic model of the motion device For example the second robot in Figure 8 1 shows the world coordinate frame for a robot built on the Cartesian coordinate model See the kinematic device module documents for your particular motion device When a transformation is defined a local reference frame is created at the X Y Z location with all three local frame axes parallel to the world coordinate frame Figure 8 2 on page 181 shows the first part of a transformation This trans formation has the value X 30 Y 100 Z 125 yaw 0 pitch 0 and roll 0 V Language User s Guide Rev A Chapter 8 Location Variables Figure 8 2 XYZ Elements of a Transformation The second three components of a transformation variable specify the orientation of the end of arm tooling These three components are yaw pitch and roll These elements are figured as ZYZ Euler values Figures 8 3 through 8 5 demonstrate how these values are interpreted Yaw Yaw is a rotation about the local reference frame Z axis This rotation is not about the primary reference frame Z axis but is centered at the origin of the local frame of reference Figure 8 3 on page 182 shows the yaw axis with a rotation of 30
252. ler must be set up and configured before control programs will execute properly AdeptMotion VME Developer s Guide Installation configuration and tuning of an AdeptMotion VME system Manual Control Pendant User s Guide Basic use and programming of the manual control pendant V Language User s Guide Rev A Chapter 1 Notes Cautions and Warnings Notes Cautions and Warnings There are three levels of special notation used in this equipment manual In descending order of importance they are WARNING If the actions indicated in a WARNING are not complied with injury or major equipment damage could result A WARNING will typically describe the potential hazard its possible effect and the measures that must be taken to reduce the hazard CAUTION If the action specified in the CAUTION is not complied AN with damage to your equipment could result NOTE A NOTE provides supplementary information emphasizes a point or procedure or gives a tip for easier operation V Language User s Guide Rev A 23 Chapter 1 Safety Safety The following sections discuss the safety measures you must take while operating an Adept robot Reading and Training for System Users Adept robot systems include computer controlled mechanisms that are capable of moving at high speeds and exerting considerable force Like all robot systems and industrial equipment they must be treated with respect by the system user
253. level menu bar In this case an FSET instruction must be executed to display the pull down options under the menu bar selection and event 2 is the number from left to right of the menu bar option selected If event 1 is 1 then a selection from a pull down menu has been made and event 2 is the number of the pull down option selected You cannot use the GETEVENT instruction to specify which events to monitor It monitors all the events that are enabled for the window See descriptions of the FOPEN and FSET instructions in the V Language Reference Guide for details on using the EVENT argument for enabling and disabling the monitoring of various events 268 V Language User s Guide Rev A Chapter 10 Monitoring Events FSET Instruction FSET is used to alter the characteristics of a window opened with an FOPEN instruction and to display pull down menus We are going to describe only the use of FSET to create the top level menu bar create the pull down menu selections below the top level menu and initiate monitoring of events The instruction for displaying a top level menu is FSET glun MENU iteml item2 iteml0 glun is the logical unit of the window the menu will be displayed in iteml item10 are the menu titles for a top level bar menu The items appear from left to right The instruction to display a pull down menu called when event 0 14 and event 1 0 is FSET glun PULLDOWN top_level
254. lication program DEVICE PI Send a command or data to an external device and optionally return data back to the program The actual operation performed depends on the device referenced DEVICE RF Return a real value from a specified device The value may be data or status information depending upon the device and the parameters PI Program Instruction RF Real Valued Function P Parameter SF String Function V Language User s Guide Rev A 259 Chapter 9 Summary of I O Operations Table 9 7 System Input Output Operations Continued Keyword Type Function DEVICES PI Send commands or data to an external device and optionally return data The actual operation performed depends on the device referenced FCLOSE PI Close the disk file graphics window or graphics icon currently open on the specified logical unit FCMND PI Generate a device specific command to the input output device specified by the logical unit FEMPTY PI Empty any internal buffers in use for a disk file or a graphics window by writing the buffers to the file or window if necessary FOPENR PI Open a disk file for read only FOPENW PI Open a disk file for read write FOPENA PI Open a disk file for read write append FOPEND PI Open a disk directory for read FSEEK PI Position a file open for random access and initiate a read operation on the specified record
255. ll be processed In immediate mode the ATTACH instruction completes immediately with an error if the requested device is already attached by another control program task With V systems attach requests can also specify no wait mode This mode allows an attach request to be queued without forcing the program to wait for it to complete The IOSTAT function must then be used to determine when the attach has completed If a task is already attached to a logical unit it will get an error immediately if it attempts to attach again without detaching regardless of the type of wait mode specified When a program is finished with a device it should detach the device with the DETACH program instruction This allows other programs to process any pending I O operations When a control program completes execution normally all I O devices attached by it are automatically detached If a program stops abnormally however most device attachments are preserved If the control program task is resumed and attempts to reattach these logical units it may fail because of the attachments still in effect The KILL monitor command forces a program to detach all the devices it has attached V Language User s Guide Rev A 227 Chapter 9 Serial and Disk I O Basics If attached by a program the terminal and manual control pendant are detached whenever the program halts or pauses for any reason including error conditions and single step mode If the program
256. locks of code a variable number of times The three instructions are e FOR e DO UNTIL e WHILE DO A FOR instruction creates an execution loop that will execute a given block of code a specified number of times The basic form of a FOR loop is FOR index start val TO end val STEP incr code block END index is a real variable that will keep track of the number of times the FOR loop has been executed This variable is available for use within the loop start val isa real expression for the starting value of the index end val is a real expression for the ending value of the index Execution of the loop will terminate when index reaches this value incr is a real expression indicating the amount index is to be incre mented after each execution of the loop The default value is 1 V Language User s Guide Rev A 147 Chapter 5 Looping Structures DO 148 Examples 88 A 89 Output even elements of array names up to index 32 90 91 FOR i 2 TO 32 STEP 2 92 TYPE Snames i 93 END 94 102 103 Output the values of the 2 dimensional array values in 104 column and row form 10 rows by 10 columns 105 106 FOR i 1 TO 10 107 FOR j 1 to 10 108 TYPE values i j S 109 END 110 TYPE t Ye 11 END 12 A FOR loop can be made to count backward by entering a negative value for the step increment 13 14 Count backward from 10 to 1 15 16 FOR i 10 TO 1 STEP 1 17 TYPE i 18
257. m 35 switch 172 variable 112 network File System NFS 232 network DDCMP task 70 NFS 242 382 V Language User s Guide Rev A and disk files 232 NOFLIP 211 NONULL tolerance setting 202 211 NORMAL 211 normal speed 201 NOT 211 logical operator 128 notequaloperator 127 NOT CALIBRATED 171 notation used in this manual 27 NULL 211 NULL tolerance setting 202 203 nulltool 350 numeric argument 29 numeric expressions 117 numeric functions 118 numeric operator 126 numeric representation 117 numeric value functions 162 ABS 162 ATAN2 162 BCD 162 COS 162 DCB 162 FRACT 162 INT 162 INTB 164 MAX 162 MIN 162 OUTSIDE 162 PI 162 RANDOM 162 See also functions real valued functions string functions and system control functions SIGN 162 SIN 162 SOR 162 SQRT 162 numeric values representing 117 O octal value representing 117 OFF 163 Off line programming 41 Index ON 163 OPEN 197 211 OPENI 197 211 operations system I O 259 operators 126 128 subtraction 126 multiplication 126 addition 126 division 126 lt less than 127 lt less than or equal to 127 lt gt not equal to 127 equal to 127 gt greater than 127 gt greater than or equal to 127 AND 128 assignment 126 BAND 128 bitwise 128 BOR 129 BXOR 129 COM 129 logical 128 mathematical 126 MOD 126 NOT 128 OR 128 order of evaluation 130 relational 127 XOR 128 OR logical operator 128 Order o
258. m list maintained by the editor If the execution stack is being accessed for the first time during the edit session the editor accesses the stack for the task that most recently stopped executing if the program debugger is not in use or the stack for the task being debugged The last program on the execution stack is opened for editing If the execution stack has already been accessed the program opened is the one that called the previous program accessed from the stack Prog Down S Ctrl End A Changes to editing a program contained on the task execution stack being accessed by the editor When the new program is opened its name is added to the internal program list maintained by the editor If the execution stack is being accessed for the first time during the edit session this command acts exactly like Prog Up S or S Home A see above If the execution stack has already been accessed the program opened is the one that was called by the previous program accessed from the stack V Language User s Guide Rev A Chapter 3 Basic SEE Editor Operations The Internal Program List To simplify moving from one program to another during an editing session the SEE editor maintains an internal list of programs The program list contains the following information for up to 20 programs e Program name e Editor access mode last used e Number of the step last accessed e Memorized cursor position see the M com
259. m the belt calibration procedure Other parameters are changed dynamically as the application program is executing DEFBELT Program instruction that creates a belt variable and defines its static characteristics nominal transformation encoder number and encoder scaling factor SETBELT Program instruction to set the encoder offset of a belt variable This defines the instantaneous belt location relative to that of the nomi nal belt transformation WINDOW Program instruction for establishing the belt window boundaries and specifying a window violation error subroutine Encoder Position and Velocity Information The following function is used to read information concerning the encoder associated with a belt variable BELT Real valued function that returns the instantaneous encoder counter value or the rate of change of the encoder counter value V Language User s Guide Rev A Chapter 12 Moving Line Programming Window Testing The following function allows an application program to incorporate its own specialized working region strategy independent of the strategy provided as an integral part of the V conveyor tracking system WINDOW Real valued function that indicates where a belt relative location is or will be at some future time relative to a belt window Status Information The following function indicates the current operating status of the moving line software BSTATUS Real valued function that returns bit
260. mand The program list is accessed with the SEE monitor command and program instruction and with editor commands described in this chapter The editor maintains two pointers into the program list 1 The top pointer always refers to the program currently displayed in the edit window 2 The home pointer refers to the program that was edited most recently The program list is cleared when the ZERO monitor command is processed V Language User s Guide Rev A 81 Chapter 3 Basic SEE Editor Operations The following rules govern the program list and its pointers e When a SEE monitor command is entered one of the following occurs e Ifa program name is specified the new program name is added at the top of the program list e If no program name is specified and no program task has stopped executing since the last edit session the program list is not changed and the program at the top of the list the last program edited is opened e fno program name is specified and a program task has stopped executing since the last edit session that program is added to the top of the program list and is displayed for editing e When a SEE program instruction is executed a temporary program list is created for that editing session The list initially includes only the current program name The list is deleted at the end of the editing session e Whenever a program not already on the list is edited during an editing session for exa
261. may be connected using the robot s remote emergency stop circuitry see the Adept MV Controller User s Guide V Language User s Guide Rev A Chapter 1 Notations and Conventions Notations and Conventions This section describes various notations used throughout this manual and conventions observed by the V system Keyboard Keys The system keyboard is the primary input device for controlling the V system Graphics based systems use a PC style keyboard and high resolution graphics monitor NOTE The word terminal is used throughout this manual to refer either to a computer terminal or to the combination of a graphics monitor and a PC style keyboard Input typed at the terminal must generally be terminated by pressing the Enter or Return key These keys are functionally identical and are often abbreviated with the symbol S F9 means to hold down the Shift key while pressing the F9 key Ctrl R means to hold down the Ctrl key while pressing the R key The keys in the row across the top of the keyboard are referred to as function keys The V SEE program editor and the V program debugger use some of them for special functions NOTE The Delete and Backspace keyboard keys can always be used to erase the last character typed The Delete options associated with the F14 key on a Wyse terminal are used only by the SEE editor and the program debugger V Language User s Guide Rev A 27 Chapter 1 Notations and Conventions
262. meter name begins with H Viewing Parameters To see the state of a single parameter use the PARAMETER monitor command PARAMETER parameter_name If parameter_name is omitted the value of all parameters is displayed To retrieve the value of a parameter from within a program use the PARAMETER function The instruction TYPE HAND TIME parameter PARAMETER HAND TIME will display the current setting of the hand delay parameter in the monitor window The PARAMETER function can be used in any expression to include the value of a parameter For example the following program statement will increase the delay for hand actuation PARAMETER HAND TIME PARAMETER HAND TIME 0 15 Note that the left hand occurrence of PARAMETER is the instruction name and the right hand occurrence is the function name V Language User s Guide Rev A 169 Chapter 7 Parameters Setting Parameters To set a parameter from the command line use the PARAMETER monitor command The instruction PARAMETER SCREEN TIMEOUT 10 sets the screen blanking time to 10 seconds To set a parameter in a program use the PARAMETER program instruction The instruction PARAMETER NOT CALIBRATED 1 asserts the not calibrated state for robot 1 Some parameters are organized as arrays and must be accessed by specifying an array index Summary of Basic System Parameters 170 System parameters are set
263. mple pressing the New F2 or Go To F3 key the new name is added at the top of the program list and the home pointer is moved to the entry for the previous program edited e Retrieve S F3 rotates the program list so the top entry moves to the bottom and all the other entries move up one position Then the top program is displayed for editing and the home pointer is positioned at the first entry below the top of the list e The H command advances the home pointer down the list and displays the name of the program at the new position e The Alt H command switches to editing the program marked by the home pointer that program is moved to the top of the list and the home pointer is moved to the entry for the previous program edited If the home pointer has not been explicitly moved Alt H opens the previously edited program 82 V Language User s Guide Rev A Chapter 3 Basic SEE Editor Operations Special Editing Situations You cannot modify the PROGRAM argument list or an AUTO instruction while the program is present on a task execution stack A program is on the execution stack if it has been executed in that task since the last KILL or ZERO instruction The error message Invalid when program on stack will be displayed To edit the line exit the editor and remove the program from all the execution stack s in which it appears See the STATUS monitor command in the V Operating System Reference Guide for information
264. ms on the execution stack for the task being debugged Prog Up and Prog Down S and Ctrl Home and Ctrl End A The following function keys are interpreted differently by the program debugger and the SEE editor Edit F11 When the debugger is in monitor mode this key causes editor mode to be selected This key has its normal editor function selection of editor Command mode when in editor mode Undo F6 When the debugger is in monitor mode this key simply moves the typing cursor to the bottom of the debug window Teach S F5 Initiates changing the value of the variable at the cursor position NOTE This command cannot be used while the editor is in read write access mode You can use the READONLY or RO extended command to select read only mode see SEE Editor Extended Commands on page 89 for details As with Display F5 the typing cursor is used to point to the variable of interest Pressing Teach S F5 causes the current value of the variable to be displayed in the debug window and a prompt for a new value to be assigned to the variable For real valued variables the new value can be input as a constant a variable name or an expression For location variables the new value can be input as a location function for example HERE or TRANS ora variable name Also a compound transformation can be specified when accessing a transformation variable For string variables the new value can be input as a string constant
265. n of GETEVENT in the V Language Reference Guide for details on the different events that can be monitored The basic strategy for an event loop is 1 Wait for an event to occur 2 When an event is detected a If it is the desired event go to step 3 b Otherwise return to step 1 3 Check the data from the event array not necessary for event 14 menu select a If it is appropriate go to step 4 b Otherwise return to step 1 Initiate appropriate action Return to step 1 V Language User s Guide Rev A 267 Chapter 10 Monitoring Events GETEVENT Instruction The instruction that initiates monitoring of pointer device and keyboard events is GETEVENT Its simplified syntax is GETEVENT lun event lun Logical unit number of the window to be monitored event Array into which the results of the detected event will be stored The value stored in event 0 indicates which event was detected If event 0 is 2 a button up event was detected in which case event 1 indicates the number of the button pressed For two button devices 2 left button 4 right button For three button devices 1 left button 2 middle button 4 right button event 2 is the X value of the pointer location of the click event 3 is the Y value of the pointer location of the click If event 0 is 14 a click on a menu bar selection was detected in which case If event 1 is 0 a click has been made to the top
266. n is configured as a toggle button its state is maintained as on 1 or off 0 The state is toggled each time the button is pressed If an LED is associated with the button it is also toggled The following code sets the REC DONE button to toggle mode and waits until REC DONE is pressed Set the REC DONE button to toggle KEYMODE 8 1 Wait until the REC DONE button is pressed DO WAIT UNTIL PENDANT 8 The arguments to KEYMODE indicate that MCP button number 8 the REC DONE button is configured as a toggle button The argument to PENDANT indicates that the state of MCP button 8 is to be read V Language User s Guide Rev A 291 Chapter 11 Detecting User Input 292 Level Mode To detect the state of a button in level mode the PENDANT function must specify the button to be monitored When a button has been configured as a level button the state of the button is on as long as the button is pressed When the button is not pressed its state is off The following code uses the buttons labeled 2 4 6 and 8 button numbers 45 47 49 and 57 don t confuse the button labels with the numbers returned by the PENDANT function to move the cursor around the terminal display The buttons are configured as level buttons so the cursor moves as long as a button is depressed Set the REC DONE button to toggle KEYMODE 8 1 Set the data entry buttons labeled 2 8 to level
267. n the range 32 64 22 23 PROMPT Enter a number in the range 32 to 64 ans 24 WHILE ans lt 32 OR ans gt 64 DO 25 PROMPT Number must be in the range 32 64 ans 26 END 27 In the above code an operator could enter a nonnumeric value in which case the program would crash A more robust strategy would be to use a string variable in the PROMPT instruction and then use the DECODE and VAL functions to evaluate the input In the following code if digital signal 1033 is on when step 69 is reached the loop will not execute and the program will continue at step 73 If digital signal 1033 is off the loop will execute continually until the signal comes on 65 66 Create a busy loop waiting for signal 67 1033 to turn on 68 WHILE NOT SIG 1033 DO V Language User s Guide Rev A Chapter 5 Looping Structures 69 70 Wait for signal 71 72 END 73 V Language User s Guide Rev A 151 Chapter 5 Summary of Program Control Keywords Summary of Program Control Keywords Table 5 1 summarizes the program control instructions See the V Language Reference Guide for details on these commands Table 5 1 Program Control Operations Keyword Type Function ABORT Program Terminate execution of a control program Instruction CALL Program Suspend execution of the current program and Instruction continue execution with a new program that is
268. nches to a specified subroutine when a window violation occurs In order to provide flexibility with regard to the operation of the window testing mechanism several modifications to the normal algorithms can be selected by modifying the value of the BELT MODE system parameter To assist in teaching the belt window the Adept conveyor belt calibration program contains routines that lead the operator through definition of the required bounding transformations V Language User s Guide Rev A Chapter 12 Basic Programming Concepts Y Nominal Transformation Upstream Sok AS pa a Downstream Lower Limit Upper LImit Belt Window Figure 12 1 Conveyor Terms V Language User s Guide Rev A 317 Chapter 12 Basic Programming Concepts Belt Relative Motion Instructions To define a robot motion relative to a conveyor belt or to define a relative transformation with respect to the instantaneous location of a moving frame of reference a belt variable can be used in place of a regular transformation in a compound transformation For example the instruction MOVES belt loc 1 directs the robot to perform a straight line motion to location loc 1 which is specified relative to the location defined by the belt variable belt If a belt variable is specified it must be the first that is leftmost element in a compound transformation Only one belt variable can appear in any compound transformation Motions rel
269. ndant The monitor speed cannot be changed when the switch is disabled SHIFT TF Return a transformation value resulting from shifting the position of the transformation parameter by the given shift amounts SINGLE PI Limit rotations of the robot wrist joint to the range 180 degrees to 180 degrees see MULTIPLE SOLVE ANGLES PI Compute the robot joint positions for the current robot that are equivalent to a specified transformation SOLVE FLAGS RF Return bit flags representing the robot configuration specified by an array of joint positions SOLVE TRANS PI Compute the transformation equivalent to a given set of joint positions for the current robot SPEED PI Set the nominal speed for subsequent robot motions SPEED RF Return one of the system motion speed factors STATE RF Return a value that provides information about the robot system state TOOL PI Set the internal transformation used to represent the location and orientation of the tool tip relative to the tool mounting flange of the robot TOOL TF Return the value of the transformation specified in the last TOOL command or instruction TRANS TF Return a transformation value computed from the given X Y Z position displacements and y p r orientation rotations PI Program Instruction RF Real Valued Function TF Transformation Function S Switch P Parameter PF Precision Point Function CF Conversion Factor V Language User s Guide Rev A
270. nitor command IO will display the status of all digital I O channels See the Adept MV Controller User s Guide for details on installing digital I O hardware Digital output channels are numbered from 1 to 512 Input channels are in the range 1001 to 1512 High Speed Interrupts Normally the digital I O system is checked once every V major cycle every 16ms In some cases the delay or uncertainty resulting may be unacceptable Digital signals 1001 1004 can be configured as high speed interrupts When a signal configured as a high speed interrupt transitions its state is read at system interrupt level resulting in a maximum delay of 1ms The controller configuration utility CONFIG C is used to configure high speed interrupts See the INT EVENT instruction in the V Language Reference Guide for more information Soft Signals Soft signals are used primarily as global flags The soft signals are in the range 2001 2512 and can be used with SIG and SIGNAL A typical use of soft signals is for intertask communication See REACT and REACTI on page 136 and the REACT instructions in the V Language Reference Guide Soft signals may be used to communicate between different V systems running on multiple system processors 1 Tf your system is equipped with multiple system processors and the optional V Extensions software you can run different copies of V on each processor Use the CONFIG C utility to set up multiple V systems
271. ns SELECT 164 STATUS 164 SWITCH 164 TAS 164 TASK 164 TIME 164 TIMER 165 TPS 165 system interrupt digital I O 221 system safeguards computer controlled devices 25 system switch MONITORS 331 system tasks 70 priorities 71 T TAS 164 TASK 164 task availability 49 number 49 priority 62 63 program execution 49 62 releasing 64 running on multiple V systems 333 scheduling 63 stack 51 requirements 51 size calculation 52 system 70 71 time slices 62 timing 62 waiting 64 task scheduling 62 63 66 overriding 64 round robin groups 64 TCP IP 232 242 TERMINAL 171 terminal 27 control 30 CRI 172 function keys 27 suppressing message to 175 terminalI O 217 220 terminal input 217 terminal graphics tasks 70 TIME 165 TIME 164 time slice cycle 69 TIMER 165 timing considerations motions 200 toggle mode MCP 291 388 V Language User s Guide Rev A TOOL 213 tool 204 coordinate system 181 coordinates 205 null 350 point 205 transformation 205 transformations 204 TPS 165 TRACE system switch 176 trajectory continuous path 197 generator task 70 TRANS 188 213 TRANSB 160 transformation component pitch 183 rol 185 yaw 181 182 transformations 180 190 belt relative 319 location datatype 119 nominal belt 312 relative 188 TRUE 163 TRUNCATE 160 TYPE 217 261 type parameter 333 typing cursor with the debugger 99 U unconditional branch instructions 132 undo F6 key 101 unit number logical 225 UN
272. ntents Table 11 1 Table B 1 Table B 2 Table C 1 Table C 2 18 Pendant ControlCodes Command Parameter Values Select Parameter Values ASCII Control Values Adept CharacterSet V Language User s Guide Rev A 298 354 356 360 362 Introduction Compatibility 2 444 4 xoxo X kx dd de AR de ck eRe A 20 Manual Overview 5 5 ss 21 Related Publications ls 22 Notes Cautions and Warnings lll ss 23 AEREA 24 Reading and Training for System Users 24 System Safeguards ss 25 Computer Controlled Robots 25 Manually Controlled Robots 040 25 Other Computer Controlled Devices 26 Notations and Conventions 0 0 00 eng 27 Keyboard Keys oll 27 Uppercase and Lowercase Letters 28 Numeric Arguments 0 ee s 29 Output Control Commands 2 2 30 How Can I Get Help 2 2 2 32 V Language User s Guide Rev A 19 Chapter 1 Compatibility V is a computer based control system and programming language designed specifically for use with Adept Technology industrial robots vision systems and motion control systems As a real time system continuous trajectory computation by V permits complex motions to be executed quickly
273. nts 119 V Language User s Guide Rev A 7 Table of Contents PROS 4 24 amp o oo ewe 4 3 4 4 4 amp A krh Eo 7E Soe Se AS A 120 Variable Classes 2 4 121 Global Variables sn 121 Local Variables siii eRe RE cR RO E OX NUS 121 Automatic Variables 0 0 00008 122 Scope of Variables 2 2 123 Variable Initialization 125 Operators 222 3 ee 126 Assignment Operator ee 0 126 Mathematical Operators 126 Relational Operators sss 127 Logical Operators 1 a 128 Bitwise Logical Operators 128 String Operator 2 ooo sss 130 Order of Evaluation a ss 130 5 Program Control 00 0 131 Introduction gt o o o 564845 s o oon o ee ee Rw Rok d ad 132 Unconditional Branch Instructions 132 SOTO cri IR AAA 4 d 132 CALL 4b 4444 Me ae we AO A de a al 133 ERE 4 os ae a aa Ar 134 Program Interrupt Instructions cols ss 135 WAIT babe heheh hhh AE T oH eR eb HE eod 135 WAIT EVENT ll s s s s s s ses 135 REACT and REACTI i uo 6 ox X X X X tok we ee 136 REACTE veria ROR RR dde ae d 137 HALT STOP and PAUSE 0 138 BRAKE BREAK and DELAY 0 138 Additional Program Interrupt Instructions 138 Program Interrupt Example
274. number The code line is TYPE SERROR IOSTAT lun V Language User s Guide Rev A 279 Chapter 10 Graphics Programming Considerations Managing Windows Windows can be e Hidden but not deleted A hidden window is removed from the screen but not from graphics memory and it can be retrieved at any time FSET glun NODISPLAY Hide a window FSET glun DISPLAY Redisplay a window e Sent behind the parent s window stack FSET glun STACK 1 e Brought to the front of the window stack FSET glun STACK 1 If you will not be reading events from a window open it in write only mode to save memory and processing time Only the task that opened a window in read write mode can read from it monitor events Multiple tasks can write to an open window A second task can write to an already open window by executing its own ATTACH and OPEN for the window The logical units numbers need not match but the window name must be the same If a task has the window Test open other tasks can write to the window by ATTACH lun_1 4 GRAPHICS FOPEN lun_1 Test MAXSIZE 200 200 WRITEONLY 280 V Language User s Guide Rev A Chapter 10 Communicating With the System Windows Communicating With the System Windows The Adept system has three operating system level windows the main window the monitor window and the vision window on systems with the AdeptVision option The Main
275. o indicate where records begin or end Records are contiguous and may freely cross the boundaries of 512 byte sectors Fixed length record mode is selected by setting the record length parameter in the FOPEN_ instruction to the size of the record in bytes WRITE instructions then pad data records with zero bytes or truncate records as necessary to make the record length the size specified No other data bytes are appended and the S format control has no effect In fixed length mode READ instructions always return records of the specified length If the length of the file is such that it cannot be divided into an even number of records a READ of the last record will be padded with zero bytes to make it the correct length Sequential Access Files Normally the records within a disk file are accessed in order from the beginning to the end without skipping any records Such files are called sequential files Sequential access files may contain either variable length or fixed length records Random Access Files In some applications disk files need to be read or written in a nonsequential or random order V supports random access only for files with fixed length records Records are numbered starting with 1 The position of the first byte in a random access record can be computed by byte position 1 record number 1 record length Random access is selected by setting the random access bit in the mode parameter of the FOPEN instru
276. of 0 The standard Adept controller allows two external encoder units These units are numbered 0 and 1 All DEVICE functions and SETDEVICE instructions that reference the external encoders must specify one of these unit numbers for the unit parameter V Language User s Guide Rev A 353 Appendix B Device Setup Device Setup The SETDEVICE program instruction allows the external encoders to be initialized and various parameters to be set up The action taken by the SETDEVICE instruction depends upon the value of the command parameter The syntax of the SETDEVICE instruction is SET DEVICE 0 unit error command pl p2 Table B 1 describes the valid commands Command 0 Table B 1 Command Parameter Values Description Initialize Device This command sets all scale factors offsets and limits to their default values as follows offset 0 scale factor 1 no limit checking This command also resets any errors for the specified device This command should be issued before any other commands for a particular unit and before using the DEVICE real valued function for the unit Reset Device This command clears any errors associated with this encoder unit It does not affect the scale factor offset or limits Set Scale Factor This command sets the position and velocity scale factor for this encoder unit to the value of parameter p1 The units are millimeters per encoder count The scale factor
277. ol of when variables are changed It also eliminates the requirement that the variable names in the calling program be the same as the names in the subroutine The following sections describe exchanging data through the program parameter list Argument Passing 54 There are two important considerations when passing an argument list from a calling program to a subroutine The first is making sure the calling program passes arguments in the way the subroutine expects to receive them mapping The second is determining how you want the subroutine to be able to alter the variables passing by value or reference Mapping the Argument List An argument list is a list of variables or values separated by commas The argument list passed to a calling program must match the subroutine s argument listin number of arguments and data type of each argument see Undefined Arguments on page 57 The variable names do not have to match When a calling program passes an argument list to a subroutine the subroutine does not look at the variable names in the list but the position of the arguments in the list The argument list in the CALL statement is mapped item for item to the argument list of the subroutine It is this mapping feature that allows you to write generalized subroutines that can be called by any number of different programs regardless of the actual values or variable names the calling program uses V Language User s Guide Rev A Chapter
278. oller in the normal manner Calibrate the location of the conveyor belt relative to the robot by executing the Belt Calibration Program That program is provided in the file BELT_CAL V2 on the Adept Utility Disk supplied with your robot system When these steps have been completed the system is ready for use However each time the system is restarted the belt calibration data must be reloaded from the disk file created in the above steps The next section describes loading belt calibration 1 See the Instructions for Adept Utility Programs for details V Language User s Guide Rev A 309 Chapter 12 Calibration Calibration 310 The position and orientation of the conveyor belt must be precisely known in order for the robot to track motion of the belt The file BELT_CAL V2 on the Adept Utility Disk contains a program to calibrate the relationship between the belt and the robot The program saves the calibration data in a disk file for later use by application programs The DEFBELT and WINDOW program instructions must be executed before the associated belt is referenced in a V program See Belt Variable Definitions on page 320 for details We suggest you include these instructions in an initialization section of your application program Although these instructions need be executed only once no harm is done if they are executed subsequently The file LOADBELT V2 on the Adept Utility Disk contains a V subroutine that
279. on is ATTACH glun 4 GRAPHICS glun variable that receives the number of the attached graphics logical unit All menus and graphics commands that take place within a window will also use glun 264 V Language User s Guide Rev A Chapter 10 Creating Windows FOPEN Instruction FOPEN creates a new window or reselects an existing window for input and output When a window is created its name is placed in the list of available windows displayed when the adept logo is clicked on The simplified syntax for FOPEN is FOPEN glun window_name MAXSIZE width height glun The logical unit already ATTACHed to window_name The title that will appear at the top of the window Also used to close and select the window width height Specify the largest size the window can be opened to This instruction will give you a window with all the default attributes See the description of FOPEN and FSET in the V Language Reference Guide for details on how to control the attributes of a window for example background color size and scrolling FCLOSE Instruction FCLOSE closes a window to input and output but does not erase it or remove it from memory The syntax for FCLOSE is FCLOSE glun glun The logical unit number specified in the FOPEN instruction that opened the window FDELETE Instruction FDELETE removes a closed attached window from the screen and from graphics memory The syntax for FDELETE is FDELETE glun windo
280. onitor on graphics based systems 16383 TERMINAL This parameter determines how the V will interact with an ASCII system terminal The acceptable values are 0 through 4 and they have the interpretations shown in the following table 4a The default value for TERMINAL is changed with the utility CONFIG_C V2 on the Adept Utility Disk See the Instructions for Adept Utility Programs V Language User s Guide Rev A 171 Chapter 7 Switches Graphics Based System Terminal Settings Parameter Terminal Treatment of Cursor up Value Type DEL amp BS Command 0 TTY lt echo gt None 1 CRT Erase lt VT gt 2 CRT Erase lt SUB gt 3 CRT Erase lt FF gt 4 CRT Erase lt ESC gt M Switches System switches govern various features of the V system The switches are described below See the V Language Reference Guide and the V Operating System Reference Guide for more detailed descriptions of the keywords discussed here As with system parameters the names of system switches can be abbreviated to the minimum length required to identify the switch Viewing Switch Settings 172 The SWITCH monitor command displays the setting of one or more system switches SWITCH switch_name switch_name If no switches are specified the settings of all switches are displayed Within programs the SWITCH real valued function returns the status of a switch The instruct
281. ontrol code 22 CHR 7 causes the pendant to beep EEEE EEEH Figure 11 2 Pendant LCD Display The Pendant LEDs The LEDs on the soft buttons the F buttons and the REC DONE button can be lit either continuously or intermittently The following code places the text CLEAR and EXIT over the first two soft buttons lights the LED over the first soft button and blinks the light over the second soft button WRITE WRITE WRITE WRITE mcp_lun SCHR mcp_lun SCHR mcp_lun SCHR mcp_lun SCHR 18 CHR 41 CLEAR S 9 EXIT S 31 SCHR S 8 30 SCHR 4 S p CHR 9 tabs the cursor to the next soft button position SCHR 31 lights an LED CHR 30 starts an LED blinking The button LED to be lit is specified in the ensuing control code In the above example button 5 s LED is turned on and button 4 s LED is set blinking The soft buttons F buttons and REC DONE button are the only buttons that have programmable LEDs V Language User s Guide Rev A 297 Chapter 11 Controlling the Pendant Making Pendant Buttons Repeat Buttons 298 Pendant buttons that are configured as keyboard buttons are normally repeat buttons Button presses are recorded as long as the button is held down The repeat function can be disabled requiring users to press the button once for each button option WR press they want recorded The following instruction d
282. onveyor Belt Encoders With a V Extensions License you can install a maximum of one encoder device module The Encoder Device module supports up to 6 encoders the default is 2 Thus you can interface a maximum of 6 conveyor belt encoders to a controller Each belt encoder requires one servo channel although it adds a negligible amount of computational load These encoders are physically connected through an EJI MI 6 MI 3 Force Sensors 328 The AdeptForce VME option allows up to three force sensors per controller Each sensor requires one Force Interface Board VFI You can assign one or two VFIs to each processor board Each of these force sensors requires one element of the servo axis allocation The force sensor loads the processor computationally only when a force sensing operation is taking place and the load is somewhat less than a single servioed axis V Language User s Guide Rev A Chapter 13 Installing Processor Boards Installing Processor Boards This section gives you an overview of installing auxiliary processor boards including e Board locations e Slot ordering e Board addressing e System controller functions Processor Board Locations In each controller the first slot available for processor boards must be occupied by an AWC processor This processor must be addressed as board 1 and it must have the system controller functions enabled This processor is considered the system processor Slot Ord
283. or String Operator Strings can be concatenated joined using the plus sign For example Sname Adept Sincorp Inc Sconame Sname Technology Sincorp results in the variable coname having the value Adept Technology Inc Order of Evaluation Expressions containing more than one operator are not evaluated in a simple left to right manner Table 4 6 lists the order in which operators are evaluated Within an expression functions are evaluated first with expressions within the function evaluated according to the table The order of evaluation can be changed using parentheses Operators within each pair of parentheses starting with the most deeply nested pair are completely evaluated according to the rules in Table 4 6 before any operators outside the parentheses are evaluated Operators on the same level in the table are evaluated strictly left to right Table 4 6 Order of Operator Evaluation Operator NOT COM Unary minus MOD AND BAND OR BOR XOR BXOR lt gt lt gt lt gt 130 V Language User s Guide Rev A Program Control INMOQUCHION lt ss e a dex x ob hehe Ee PR eee See OG 132 Unconditional Branch Instructions 0 132 GOTIO uuo od Be ded 4 48 4o A de do d 132 CALL P ae Re Oe ee 133 CALLS oa 134 Program Interrupt Instructions 0 04 135 WAI os 30x A E He he ee a ee RR 13
284. or 76 searching for text in SEE editor 78 text case sensitive 90 SEE editor 35 42 74 109 attach buffer 77 command mode 85 commands 86 copy buffer 77 copying lines 77 exiting 42 extended commands 89 macros 91 modes 36 command 36 insert 36 replace 36 moving the cursor 75 pasting from copy buffer 77 scroll bars 76 selecting program 79 switching program 79 using the mousein 75 SELECT 164 212 sequential access files 238 serial I O 225 230 243 258 task 70 serial line 243 attaching 244 249 configuration 243 DDCMP see DDCMP detaching 244 249 input 244 249 Kermit see Kermit output 245 250 servo allocating MI3 and MI6 boards 327 VJI boards 327 communication task 70 processing 330 vision 331 386 V Language User s Guide Rev A SET 188 213 SET EVENT 154 with WAITEVENT 135 SET SPEED system switch 176 SETBELT 320 SETDEVICE 261 with external encoder 352 settings DURATION 202 shared data 334 shared memory keeping track of 334 updating 336 sharing data processor efficiency 336 SHIFT 188 213 shift key 27 SIG 220 261 SIG INS 221 261 SIGN 162 SIGNAL 221 261 signal number 29 SIN 162 SINGLE 213 single step execution 107 slide bars creating 275 soft signals 221 336 SOLVE 213 spacing 47 program line 47 SPEC utility program 202 SPEED 203 213 absolute speed 201 monitor command 201 normalspeed 201 program instruction 201 speed and the MCP 176 vs performance 201 SOR 162 SORT 162 stacks program
285. or two digits These digits will be used to complete the file name AUTOxx V2 A corresponding file name must exist on the default drive 3 A command program with the same name as the file name minus the extension must be one of the programs in the file If AUTO22 V2 is loaded the program auto22 will be COMMANDed See the V Operating System Reference Guide for details on command programs The default disk is not the same as the boot drive The boot drive is set in hardware and is used during the boot procedure to specify the drive that contains the operating system Once the system is loaded the default disk is the drive and path specification for loading and storing files 300 V Language User s Guide Rev A Chapter 11 Auto Starting Programs With the MCP WAIT START Starting a robot program while the operator is in the workcell can be extremely dangerous Therefore Adept has installed the following safety procedure to prevent program startup while an operator is in the workcell Before a program auto started from the MCP will begin execution the operator will have to leave the workcell put the controller in automatic mode and press the Start soft key on the MCP The WAIT START instruction implements this safety feature This instruction is automatically included in any programs started with the AUTO START CMD CMD1 CMD2 and CALIBRATE buttons on the MCP You should include this safety feature in any pendant routines you write
286. ormed depends on the device referenced SIG RF Return the logical AND of the states of the indicated digital signals SIG INS RF Return an indication of whether or not a digital I O signal is configured for use by the system or whether or not a software signal is available in the system SIGNAL PI Turn on or off external digital output signals or internal software signals TYPE PI Display the information described by the output specifications on the system terminal A blank line is output if no argument is provided WRITE PI Write a record to an open file or to an attached device that is not file oriented PI Program Instruction RF Real Valued Function P Parameter SF String Function V Language User s Guide Rev A 261 Graphics Programming Creating Windows ses 264 ATTACH Instruction 0 s 264 FOPEN Instruction sss 265 FCLOSE Instruction oll sss 265 FDELETE Instruction a sess 265 DETACH Instruction sss s 266 Custom Window Example 266 Monitoring Events s ss n 267 GETEVENT Instruction aaa less 268 FSET Instruction uu usos Edo ROV deo Rob ECC a 269 Building a Menu Structure 2 lol 0 270 Menu Example 2 2 2 2 5 2 2 52 5 270 Defining Keyboard Shortcuts 272 Creating Buttons 2 0 a 273 GPANEL Instruction 2
287. ors introduced when compound transformations are used the accuracy of the program presented above can be improved by using a simple tool with no oblique rotations as the reference tool In fact you can get the most accurate results if you can use the mounting flange of the robot without a tool as the initial pointer In this case the reference tool would be the default null tool The program above can be simplified by deleting the references to ref tool in lines 17 28 45 and 46 The first time the program is executed respond to the prompt with N The reference tool is defined After the program executes once the tool transformation can be updated by executing the program again This time respond to the prompt with Y The program directs you to position the new tool at the same reference location as before As long as the values of ref tool and ref loc have not been altered a new tool transformation is automatically computed and asserted This is a convenient method for occasionally altering the tool transformation to account for tool wear V Language User s Guide Rev A External Encoder Device Introduction ss sss sss 352 Parameters dw 5 s s s s s 353 Device SeluD 4 4 5 88 o3 eek ROROE OE 4o XC OX we eS 354 Reading Device Data V Language User s Guide Rev A 351 Appendix B Introduction Introduction 352 The external encoder inputs on the system controller are normally used for conveyor belt
288. owing occurs e The program issues an input or output request that causes a wait e The program executes a robot motion instruction while the robot is still moving in response to a previous motion instruction e The program executes a WAIT or WAIT EVENT program instruction If a program is executing continuously without performing any of the above operations it will lock out any lower priority tasks in its time slice Thus programs that execute in a continuous loop should generally execute a WAIT or WAIT EVENT instruction occasionally for example once each time through the loop This should not be done of course if timing considerations for the application preclude such execution delays If a program potentially has a lot of critical processing to perform its task should be in multiple slices and the task should have the highest priority in these slices This will guarantee the task s getting all the time needed in the multiple slices plus if needed additional unused time in the major cycle Figure 2 4 on page 66 shows the task scheduler algorithm This flow chart assumes that the servo task is configured to run every 1ms and no task issues a RELEASE instruction Actually at the point marked run servos any system level interrupts are processed in motion systems the servo task is generally the most likely to interrupt and is the most time consuming system task V Language User s Guide Rev A 65 Chapter 2 e sl
289. parts are not disturbed Assuming you were using a four axis Adept robot the instructions APPRO place 50 MOVE place DEPART 50 will cause joint interpolated motion to a point 50 mm above place movement down to place and movement straight up to 50 mm above place If the instructions APPROS DEPARTS and MOVES had been used the motions would have been straight line instead of joint interpolated NOTE Approaches and departs are based on the tool coordinate system not the world coordinate system Thus if the location specifies a pitch of 135 the robot will approach at a 45 angle relative to the world coordinate system See Yaw on page 181 fora description of the tool coordinate system Moving an Individual Joint You can move an individual joint of a robot using the instruction DRIVE The instructions DRIVE 2 50 0 100 DRIVE 3 25 100 will move joint 2 through 50 of motion and then move joint 3 a distance of 25 mm at SPEED 100 196 V Language User s Guide Rev A Chapter 8 Motion Control Instructions End Effector Operation Instructions The instructions described in this section depend on the use of two digital signals They are used to open close or relax a gripper The utility program SPEC specifies which signals control the end effector See the Instructions for Adept Utility Programs The instruction OPEN will open the gripper during the ensuing motion instruction The instruction OPEN
290. pecified by array index program_select from the array program_list execute the specified program and resume execution of the calling program at step 50 V Language User s Guide Rev A Chapter 5 Program Interrupt Instructions Program Interrupt Instructions V provides several ways of suspending or terminating program execution A program can be put on hold until a specific condition becomes TRUE using the WAIT instruction A program can be put on hold for a specified time period or until an event is generated in another task by the WAIT EVENT instruction A program can be interrupted based on a state transition of a digital input signal with the REACT and REACTI instructions Program errors can be intercepted and handled with a REACTE instruction Program execution can be terminated with the HALT STOP and PAUSE commands These instructions will interrupt the program they are contained in Any programs running as other tasks will not be affected Robot motion can be controlled with the BRAKE BREAK and DELAY instructions The ABORT and PROCEED monitor commands can also be used to suspend and proceed programs see the V Operating System Reference Guide for details WAIT WAIT suspends program execution until a condition or conditions becomes true WAIT SIG 1032 1028 will delay execution until digital input signal 1032 is on and 1028 is off WAIT TIMER 1 gt 10 will suspend execution until time
291. peed With monitor speed set to 50 and program speed set to 50 the robot will move at 2576 of its normal speed To move the robot tool tip at an absolute rate of speed a speed rate in inches per second or millimeters per second is specified in the SPEED program instruction The instruction SPEED 25 MMPS ALWAYS V Language User s Guide Rev A 201 Chapter 8 Motion Control Instructions 202 specifies an absolute tool tip speed of 25 millimeters per second for all robot motions until the next SPEED instruction In order for the tool tip to actually move at the specified speed e The monitor speed must be 100 e The locations must be far enough apart so that the robot can accelerate to the desired speed and decelerate to a stop at the end of the motion Robot performance is a function of the SPEED settings and the following factors e The robot acceleration profile and ACCEL settings The default acceleration profile is based on a normal maximum rate of acceleration and deceleration The ACCEL command can scale down these maximum rates so the robot acceleration and or deceleration takes more time You can also define optional acceleration profiles that alter the maximum rate of change for acceleration and deceleration using the SPEC utility e The location tolerance settings COARSE FINE NULL NONULL for the move The more accurately a robot must get to the actual location the more time the move will take For AdeptMotion
292. phases an acceleration phase where the robot accelerates to the maximum speed specified for the move a velocity phase where the robot moves at a rate not exceeding the specified maximum speed and a deceleration phase where the robot decelerates to a stop or transitions to the next motion Robot speed can mean two things how fast the robot moves between the acceleration and deceleration phases of a motion referred to in this manual as robot speed or how fast the robot gets from one place to another referred to in this manual as robot performance The robot speed between the acceleration and deceleration phases is specified as either a percentage of normal speed or an absolute rate of travel of the robot tool tip Speed set as a percentage of normal speed is the default The speed of a robot move based on normal speed is determined by the following factors e The program speed set with the SPEED program instruction This speed is set to 100 when program execution begins e The monitor speed set with the SPEED monitor command or a SPEED program instruction that specifies MONITOR This speed is normally set to 50 at system startup start up SPEED can be set with the CONFIG C utility The effects of the two SPEED operations are slightly different See the SPEED program instruction for further details Robot speed is the product of these two speeds With monitor speed and program speed set to 100 the robot will move at its normal s
293. point to an instruction The BPT allows either or both of the following responses to occur when the breakpoint is encountered during execution e Execution stops at the flagged instruction before it is executed e Values are displayed on the system terminal showing the current status of user specified expressions To set breakpoints at various points in the program enter the appropriate BPT commands on the debugger command line to place the breakpoints and to specify expressions to be evaluated when the breakpoints are encountered If you do not need to have an expression evaluated at a breakpoint you can use the debugger Ctrl B command to set a pausing breakpoint that is one that will cause execution to stop To use the Ctrl B command you must position the typing cursor in the edit window so it is on the instruction of interest Once the cursor is positioned you can type Ctrl B to have a breakpoint placed at that instruction NOTE You can use Go To F3 and other editor commands to change the program in the edit window Thus you can move to any program you want before typing Ctrl B to set a breakpoint You do not have to explicitly change back to having the edit window show the program currently stopped The debugger will automatically display the appropriate program the next time execution stops for any reason V Language User s Guide Rev A Chapter 3 The Program Debugger When program execution stops at a breakpoint
294. ponse is entered before the robot motion completes e The V program instructions between motion instructions take longer to execute than the robot takes to perform its motion Procedural Motion The ability to move in straight lines and joint interpolated arcs is built into the basic operation of V The robot tool can also move along a path that is prerecorded or described by a mathematical formula Such motions are performed by programming the robot trajectory as the robot is moving Such a program is said to perform a procedural motion A procedural motion is a program loop that computes many short motions and issues the appropriate motion requests The parallel execution of robot motions and non motion instructions allows each successive motion to be defined without stopping the robot The continuous path feature of V automatically smooths the transitions between the computed motion segments Procedural Motion Examples Two simple examples of procedural motions are described below In the first example the robot tool is moved along a trajectory described by locations stored in the array path The LAST function is used to determine the size of the array SPEED 0 75 IPS ALWAYS FOR index 0 TO LAST path MOVES path index END V Language User s Guide Rev A 199 Chapter 8 Motion Control Instructions 200 The robot tool will move at the constant speed of 0 75 inch per second through each location defined
295. priority is greater than or equal to the reaction program priority execution of the reaction subroutine is deferred until the main program priority drops Since the main program for example the robot control program normally runs at program priority zero and the minimum reaction program priority is one any reaction can normally interrupt the main program The main program priority can be raised or lowered with the LOCK program instruction and its current value can be determined with the PRIORITY real valued function When the main program priority is raised to a certain value all reactions of equal or lower priority are locked out 60 V Language User s Guide Rev A Chapter 2 Subroutines When a reaction subroutine is called the main program priority is automatically set to the reaction program priority thus preventing any reactions of equal or lower program priority from interrupting it When a RETURN instruction is executed in the reaction program the main program priority is automatically reset to the level it had before the reaction subroutine was called For further information on reactions and program priority see the following keywords LOCK PRIORITY REACT and REACTI in the V Language Reference Guide Error Trapping Normally when an error occurs during execution of a program the program is terminated and an error message is displayed on the system terminal However if the REACTE instruction has been used to enable
296. program being debugged Thus when the execution pointer is positioned at a CALL or CALLS instruction typing Ctrl Z will cause the entire subroutine to be executed and execution will pause at the step following the subroutine call Ctrl Z acts exactly like Ctrl X when the current instruction is not a subroutine call NOTE You cannot single step into a subroutine that was loaded from a protected disk file Thus you must use Ctrl Z to step across any CALL of such a routine NOTE The execution pointer gt will not be displayed while the system is executing an instruction Do not type a Ctrl X or Ctrl Z until the execution pointer reappears V Language User s Guide Rev A 107 Chapter 3 The Program Debugger 108 PAUSE Instructions Debug editor mode can be used to insert PAUSE instructions in the program at strategic points Then execution will pause when those points are reached After the pause has occurred and you are ready to have execution resume you can use the PROCEED command The debugger Ctrl P command provides a convenient means of issuing a PROCEED command for the program being debugged The disadvantage of using PAUSE instructions however is that they must be explicitly edited into the program and removed when debugging is completed The following section describes a more convenient way to achieve the same effect as a PAUSE instruction Program Breakpoints The V BPT command can be used to attach a break
297. put to the monitor or terminal so it can be reviewed The operation producing the output is stopped until output is resumed by Ctrl Q Resumes output to the monitor or terminal after it has been stopped with a Ctrl S Suspends output to the ASCII terminal even though the current operation continues that is the output is lost This is useful for dis regarding a portion of a lengthy output Another Ctrl O will cause the output to be displayed again NOTE This output control command only works with the ASCII terminal Ctrl W The Ctrl O condition is canceled automatically when the current operation completes or if there is an input request from an execut ing program Slows output to the monitor or terminal so it can be read more eas ily A second Ctrl W will terminate this mode and restore normal display speed The Ctrl W condition will be canceled automatically when the cur rent operation completes or if there is an input request from an exe cuting program V Language User s Guide Rev A Chapter 1 Ctrl Z Ctrl U Output Control Commands If typed in response to a program prompt terminates program exe cution with the message Unexpected end of file This is sometimes useful for aborting a program Cancels the current input line Useful if you notice an error earlier in the line or you want to ignore the current input line for some other reason V Language User s Guide Rev A 31 Chapter 1 How Can I Get
298. put will be stored in the string variable response The input can be stored as a real variable but the and buttons must not be used for input Detecting Pendant Button Presses 290 Individual MCP button presses are detected with the PENDANT function This function returns the number of the first acceptable button press The interpretation of a button press is determined by the KEYMODE instruction See the V Language Reference Guide for complete details The basic use of these two operations is described below V Language User s Guide Rev A Chapter 11 Detecting User Input Keyboard Mode The default mode is keyboard If a PENDANT instruction requests keyboard input the button number of the first keyboard type button pressed will be returned See Figure 11 1 on page 294 for the numbers of the buttons on the MCP The following code will detect the first soft button pressed Set the soft keys to keyboard mode KEYMODE 1 5 0 Wait for a button press from buttons 1 5 DO button PENDANT 0 UNTIL button lt 6 The arguments to the KEYMODE instruction indicate that pendant buttons 1 through 5 are to be configured in keyboard mode The 0 argument to the PENDANT function indicates that the button number of the first keyboard button pressed is to be returned Toggle Mode To detect the state of a button in toggle mode the PENDANT function must specify the button to be monitored When a butto
299. quired by a Subroutine Bytes Required For Notes 20 The actual subroutine call 32 Each subroutine argument plus one of the following 4 Each real subroutine argument or automatic variable 1 8 Each double precision real subroutine argument or automatic 1 variable 48 Each transformation subroutine argument or automatic variable 1 2 varies Each precision point subroutine argument or automatic variable 1 2 3 84 Each belt variable argument or automatic variable 1 2 132 Each string variable argument or automatic variable 1 2 Notes 1 If any subroutine argument or automatic variable is an array the size shown must be multiplied by the size of the array Remember that array indexes start at zero 2 If a subroutine argument is always called by reference this value can be omitted for that argument 3 Requires four bytes for each joint of the robot on multiple robot systems use the robot with the most joints 52 V Language User s Guide Rev A Chapter 2 Flow of Program Execution Flow of Program Execution Program instructions are normally executed sequentially from the beginning of a program to its end This sequential flow may be changed when a GOTO or IE GOTO instruction or a control structure is encountered The CALL instruction causes another program to be executed but it does not change the sequential flow through the calling program since execution resum
300. r lll sss 275 GSLIDEExample a sns 276 Graphics Programming Considerations 278 UsinglOSTAT a 279 Managing Windows 0 ee 280 Communicating With the System Windows 281 The Main Window 2 0 ee eee 281 The Monitor Window ee ns 281 The Vision Window 1 ns 282 Additional Graphics Instructions 0 284 Programming the MCP 0 00 287 Introduction xiii A 288 V Language User s Guide Rev A Table of Contents ATTACHing and DETACHing the Pendant 288 Writing to the Pendant Display 0 4 289 The Pendant Display s css 289 Using WRITE With the Pendant 289 DetectingUserlnput 0 0 290 Using READ With the Pendant 290 Detecting Pendant Button Presses 290 Keyboard Mode 291 Toggle M0de oll sn 291 Level Mode 2 5 292 Monitoring the MCP SpeedBar 293 Using the STEP Button sss 294 Reading the State ofthe MCP 295 Controlling the Pendant s s 296 Control Codes for the LCD Panel 296 The Pendant LEDS 252 sooo oo o ORO OR we 297 Making Pendant Buttons Repeat Butfons 298 Auto Starting Programs With the MCP 0 300 M
301. r 1 returns a value greater than 10 WAIT EVENT The instruction WAIT EVENT 3 7 will suspend execution for 3 7 seconds This wait is more efficient than waiting for a timer as in the previous example since the task does not have to loop continually to check the timer value The instruction WAIT EVENT will suspend execution until another task issues a SET EVENT instruction to the waiting task If the SET EVENT does not occur the task will wait indefinitely V Language User s Guide Rev A 135 Chapter 5 Program Interrupt Instructions REACT and REACTI 136 When a REACT or REACTI instruction is encountered the program will begin monitoring a digital input signal specified in the REACT instruction This signal is monitored in the background with program execution continuing normally until the specified signal transitions When and if a transition is detected the program will suspend execution at the currently executing step REACT and REACTI suspend execution of the current program and call a specified subroutine Additionally REACTI issues a BRAKE instruction to immediately stop the current robot motion Both instructions specify a subroutine to be run when the digital transition is detected After the specified subroutine has completed program execution will resume at the step executing when the digital transition was detected Digital signals 1001 1012 and 2001 2008 can be used for REACT instructions
302. r address spaces the address that you specify and the next three addresses If you read a value from a location using a format different from the format that was used to write to that location you will also get an invalid value You will not get an error message The system will provide a value based upon the default memory contents For example if you write using IOPUTF and read using IOPUTL the value read will be invalid IOTAS and Data Integrity Some IOPUT_ and IOGET_ operations involve multiple hardware read or write cycles For example all 64 bit operations will involve at least two 32 bit data transfers three transfers if the operation crosses more than one 32 bit boundary If a 16 bit or 32 bit operation crosses a 32 bit boundary it will involve two transfers You can interlock operations that must cross a 32 bit boundary using the IOTAS function The syntax and an example are given in the V Language Reference Guide The IOTAS function performs a hardware level read modify write RMW cycle on the VMEbus to make a Test And Set operation indivisible in a multiprocessing environment If multiple processors all access the same byte by using IOTAS the byte can serve as an interlock between the processors V Language User s Guide Rev A 335 Chapter 13 Using Multiple V Systems WARNING Depending on the application there is a possibility that a V program running on one processor may update a prog 8 P y up shar
303. r know what is going on Never leave the operator in the dark as to the status of a button push or menu selection e Whenever possible have your windows mimic the real world the operator is working in In the interest of clarity the examples in this chapter have not been generalized When you actually program an application use generalized subroutine calls for commonly used code or your code will quickly become unmanageable V Language User s Guide Rev A Chapter 10 Graphics Programming Considerations Using IOSTAT The example code in this chapter leaves out critical error detection and recovery procedures Effective application code requires these procedures The IOSTAT function should be used to build error handling routines for use with every ATTACH FOPEN FCLOSE and FSET instruction The syntax for using IOSTAT to check the status of I O requests is IOSTAT lun lun The LUN specified in the previous I O request The IOSTAT function will return the following values 1 if the last operation was successful 0 if the last operation is not yet complete lt 0 if the last operation failed a negative number corresponding to a standard Adept error code will be returned The following code will check for I O errors Issue I O instruction ATTACH FOPEN etc F IOSTAT lun lt 0 THEN your code to handle the error END The ERROR function can be used to return the text of an error
304. r use by the MCP at pallet origin Sans Record the frame origin at point on the pallet x axis Sans Record point on x axis at point in positive y direction Sans Record positive y direction V Language User s Guide Rev A 191 Chapter 8 Creating and Altering Location Variables 192 ATTACH Reattach the robot Create the local reference frame pallet frame SET pallet frame FRAME loc origin loc x axis loc pos y loc origin cell space 50 Spacing of cells on pallet Remove the palletized items FOR i 0 TO 3 FOR J 0 TO 2 PPRO pallet frame TRANS i cell space j cell space 25 OVE pallet frame TRANS i cell space j cell space EAK Settle robot OSEI Grab the part EPART 25 MOVE to the drop off location Z Jg H AIW a 23 gt Z U In the above example the code that teaches the pallet frame will need to be run only when the pallet location changes If you are building an assembly that does not have regularly spaced locations like the above example the following code will teach individual locations relative to the frame Get the locations to define the pallet frame U ETACH Release robot for use by the MCP ROMPT Place robot at assembly origin ans HERE loc origin Record the frame origin U PROMPT Place robot at point on the assm x axis ans HERE loc x axis
305. racters to the screen Stop when 15 characters or the character have been entered x 1 DO PROMPT Enter a character Sans TYPE Sans X X 1 UNTIL x gt 15 OR Sans In this code either x reaching 15 or being entered at the PROMPT instruction will terminate the loop As long as the operator enters enough characters the loop will terminate V Language User s Guide Rev A 149 Chapter 5 Looping Structures WHILE DO 150 WHILE DO is a looping structure similar to DO UNTIL except the boolean expression is evaluated at the beginning of the loop instead of at the end This means that if the condition indicated by the expression is true when the WHILE DO instruction is encountered the code within the loop will not be executed at all WHILE DO loops are susceptible to infinite looping just as DO UNTIL loops are The expression controlling the loop must eventually evaluate to true for the loop to terminate The form of the WHILE DO looping structure is WHILE expression DO code block END expression is any well formed boolean expression as described at the beginning of this section The following code shows a WHILE DO loop being used to validate input Since the boolean expression is tested before the loop is executed the code within the loop will be executed only when the operator inputs an unacceptable value at step 23 20 21 Loop until operator inputs value i
306. rations may actually degrade system performance if records are accessed in truly random order since sectors would be read that would never be used In this case prereads should be disabled and the FSEEK instruction should be used to initiate a preread of the next record to be used The function IOSTAT lun 1 returns the completion status for a pending preread or FSEEK operation On output records are packed into sector buffers and written after the buffers are filled If no wait mode is selected for a write operation by using the N format control the WRITE instruction does not wait for a sector to be written before allowing program execution to continue In random access mode a sector buffer is not normally written to disk until a record not contained in that buffer is accessed The FEMPTY instruction empties the current sector buffer by immediately writing it to the disk A file may be opened in nonbuffered mode which is much slower than normal buffered mode but it guarantees that information that is written will not be lost due to a system crash or power failure This mode was intended primarily for use with log files that are left opened over an extended period of time and intermittently updated For these types of files the additional significant overhead of this mode is not so important as the benefit V Language User s Guide Rev A 239 Chapter 9 Advanced Disk Operations When a file is being created information about the
307. real or an integer The form of the CASE structure is CASE target OF VALUE list_of values code block executed when target is in list_of values VALUE list_of values code block executed when target is in list of values ANY code block executed when target not in any list of values END target real value to match list of values list separated by commas of real values If one of the values in the list equals target the code following that value statement will be executed V Language User s Guide Rev A 145 Chapter 5 Conditional Branching Instructions Example 65 Create a menu structure using a CASE statement 66 67 50 TYPE 1 Execute the program 68 TYPE 2 Execute the programmer 69 TYPE 3 Execute the computer 70 PROMPT Enter menu selection select 71 72 CASE select OF 73 VALUE 1 74 CALL exec program 75 VALUE 2 76 CALL exec programmer 77 VALUE 3 78 CALL exec_computer 79 ANY 80 PROMPT Entry must be from 1 to 3 select 81 GOTO 50 82 END 83 146 If the above code is rewritten without an ANY statement and a value other than 1 2 or 3 is entered the program will continue execution at step 83 without executing any program V Language User s Guide Rev A Chapter 5 Looping Structures Looping Structures FOR In many cases you will want the program to execute a block of code more than once V has three looping structures that allow you to execute b
308. represent a logical true result TRUE Return the value used by V to represent a logical true result V Language User s Guide Rev A 163 Chapter 6 System Control Functions System Control Functions The functions listed in Table 6 4 return information about the system and system parameters Table 6 4 System Control Functions Keyword Function DEFINED Determine whether a variable has been defined ERROR Return the error number of a recent error that caused program execution to stop or caused a REACTE reaction ERROR Return the error message associated with the given error code FREE Return the amount of unused free memory storage space GET EVENT Return events that are set for the specified task ID Return values that identify the configuration of the current system ID Return the system creation date and edit revision information INTB Return the value of two bytes of a string interpreted as a signed 16 bit binary integer LAST Return the highest index used for an array dimension PARAMETER Return the current setting of the named system parameter PRIORITY Return the current reaction lock out priority for the program SELECT Return the unit number that is currently selected by the current task for the device named STATUS Return status information for an application program SWITCH Return an indication of the setting of a system switch
309. requirements 35 pausing 138 priority 63 setting 153 recursive 59 reentrant 58 saving toadisk file 42 spacing 47 stacks 51 requirements 51 size calculation 52 step format 46 label 46 number 46 tasks 49 62 scheduling 62 program debugger 95 109 program editor see SEE editor program execution stopping 138 program files 58 program instructions ABORT 152 APPROS 196 BRAKE 138 BREAK 138 384 V Language User s Guide Rev A CALL 133 152 CALLS 134 152 CASE 152 CASE VALUE OF 145 CLEAR EVENT 152 CLOSE 197 CLOSEI 197 CYCLE END 152 DECOMPOSE 194 DEFBELT 310 320 DELAY 138 DEPART 196 DO 152 DO UNTIL 148 DRIVE 196 EXECUTE 152 EXIT 152 FCLOSE 265 FDELETE 265 FOPEN 265 FOR 147 152 FSET 269 GET EVENT 152 GETEVENT 268 GOTO 132 153 HALT 138 153 HERE 187 IE GOTO 143 153 IF THEN 153 IE THEN ELSE 143 INT EVENT 153 LOCAL 121 LOCK 60 153 MCS 153 MOVE 196 MOVES 195 NEXT 153 OPEN 197 OPENI 197 PAUSE 138 153 POINT 187 PRIORITY 153 PROMPT 217 REACT 136 153 REACTE 153 REACTI 136 153 RELAX 197 RELAXI 197 RELEASE 153 Index RETURN 153 RETURNE 154 RUNSIG 154 See also belt instructions commands control structures debugger commands functions graphics instructions I O operations and motion control operations SET 188 SELEVENT 154 SIGNAL 221 STOP 138 154 TYPE 217 WAIT 135 154 220 WAIT EVENT 135 154 WHERE 194 WHILE 154 WHILE DO 150 programming off line 41 programs debugging 101 k
310. ruction will move the hand back height1 millimeters following a straight line path to make sure the part does not hit its holder APPRO place height2 MOVES place OPENI DEPARTS height2 Similar to the above motion sequence these instructions cause the part to be moved to the put down location and released END This marks the end of the FOR loop When this instruction is executed control is transferred back to the FOR instruction for the next cycle through the loop unless the loop count specified by parts is exceeded 344 V Language User s Guide Rev A Appendix A Menu Program The final section of the program simply displays a message on the system terminal and terminates execution TYPE All done IO parts pieces processed The above instruction will output the message All done 100 pieces processed The 10 format specification in the instruction causes the value of parts to be output as an integer value without a decimal point RETURN Although not absolutely necessary for proper execution of the program itis good programming practice to include a RETURN or STOP instruction at the end of every program END This line is automatically included by the V editor to mark the program s end Menu Program This program displays a menu of operations from which an operator can choose Features Introduced e Subroutines e Local variables e Terminal interaction with operator e
311. ructions control structures debugger commands functions graphic operations I O operations motion control Index operations and program instructions SEE editor extended commands 89 comment program 47 communications DDCMP protocol 248 Kermit protocol 252 serial 243 with the MCP 288 concatenation string 130 conditional branch instructions 143 CONFIG 208 CONFIG_C assigning workloads 330 configuration system restrictions 337 constants ASCII 115 logical 118 continuous path breaking 198 trajectories 197 199 control characters 30 external device 352 robot 43 control structures 132 154 CASE VALUE OF 145 DO UNTIL 148 FOR 147 GOTO 132 IF GOTO 143 IF THEN ELSE 143 looping 147 multibranching 145 See also belt instructions commands debugger commands functions graphics instructions I O operations motion control operations and program instructions WHILE DO 150 conventions used in this manual 27 conveyor belt V Language User s Guide Rev A 375 Index encoders 328 operations 308 tracking 308 322 coordinate systems 179 tools 205 copy buffer 77 pasting from 77 SFE editor 42 program lines 77 to attach buffer 77 copying program lines 77 COS 162 CP 174 208 CPOFF 208 CPON 208 CR LF suppressing to the MCP 289 Ctrl key 27 Ctrl B 105 108 Ctrl E 105 Ctrl G 105 Ctrl N 105 109 Ctrl O 30 Ctrl P 105 108 Ctrl O 30 Ctrl S 30 Ctrl U 31 Ctrl W 30 Ctrl X 106 107 Ctrl Z 31 106 107 cur
312. s X Y plane coincides with the plane of the belt its X axis is parallel to the direction of belt motion and its origin is located at a point fixed in space chosen by the user Since the direction of the X axis of the nominal belt transformation is taken to be the direction along which the belt moves this component of the transformation must be determined with great care Furthermore while the point defined by this transformation the origin of the frame can be selected arbitrarily it normally should be approximately at the middle of the robot s working range on the belt This transformation will usually be defined using the FRAME location valued function with recorded robot locations on the belt The easiest way to define nominal belt transformation is with the conveyor belt calibration program provided by Adept V Language User s Guide Rev A Chapter 12 Basic Programming Concepts The instantaneous location described by the belt variable will almost always be different from that specified by the nominal transformation However since the belt is constrained to move in a straight line in the working area the instantaneous orientation of a belt variable is constant and equal to that defined by the nominal belt transformation To determine the instantaneous location defined by a belt variable the V system performs a computation that is equivalent to multiplying a unit vector in the X direction of the nominal transformation by a di
313. s not open click on the adept logo in the upper left corner of the monitor and select Monitor from the displayed list Once the SEE editor is open it functions nearly uniformly regardless of which type of Adept system it is used on For graphics based systems see the V Operating System User s Guide and see the AdeptWindows User s Guide for information on using AdeptWindows PC Editing Modes 36 The SEE editor has three editing modes command insert and replace The status line shows the mode the editor is currently in see Figure 2 1 on page 39 The editor begins in command mode In command mode you do not enter actual program code but enter the special editor commands listed in Table 3 6 Cursor Movement in Command Mode on page 85 and Table 3 7 SEE Editor Command Mode Operations on page 86 You enter actual lines of code in insert or replace mode In insert mode the characters you type are placed to the left of the cursor and existing code is pushed to the right In replace mode the characters you enter replace the character that is under the cursor V Language User s Guide Rev A Chapter 2 Creating a Program Changing Editing Modes To enter command mode press the Edit F11 key or Esc key To enter insert mode press the Insert key the key s LED must be off press the 0 Ins key the Num Lock LED must be off press the i key the editor must be in Command mode To enter replace mode pr
314. s of button presses from the data entry buttons can be read The READ instruction is used for this type of input e Asingle button press from any of the buttons can be detected These single button presses can be monitored in three different modes e The buttons can be monitored like keys on a normal keyboard e The buttons can be monitored in toggle mode on or off The state of the button is changed each time the button is pressed e The keys can be monitored in level mode The state of the button is considered on only when the button is held down The PENDANT function is used to detect button presses in these modes The KEYMODE instruction is used to set the button behavior Using READ With the Pendant The READ instruction accepts input from the pendant Data Entry Buttons 1 2 3 4 5 6 7 8 9 0 A READ instruction expects a lt CR LF gt to indicate the end of data entry On the MCP this sequence is sent by the REC DONE button similar to the Enter or Return key on a normal keyboard The DEL button behaves like the Backspace key on a normal keyboard All other pendant buttons are ignored by the READ instruction Note that the predefined function buttons are active and may be used while an attached program is waiting for input The instruction line READ 1 Sresponse will pause the program and wait for input from the pendant The user must signal the end of input by pressing the REC DONE button The in
315. s of the first MI 3 board to a single processor as a group Likewise you must assign all three channels of the second MI 6 to a single processor although it need not be the same processor as the first three axes If you assign the two MI 6s to the same processor 6 servo processes on that board are occupied even though only 4 channels are being used In this situation the processor computational load corresponds to that for 4 axes but no additional MI 6s can be controlled by this processor Allocating Servos with a EJI Board When associating servo processes with an EJI Enhanced Joint Interface board all channels of the EJI must be serviced by the same processor board In addition when a EJl is assigned to a processor board it allocates 8 of the available servo processes per board even if less than 8 axes are being servioed For example if you are controlling a 4 axis robot with two EJI boards you must assign all eight channels of the first EJI board to a single processor as a group Likewise you must assign all eight channels of the second EJI to a single processor although it need not be the same processor as the first 8 axes If you assign the two EJIs to the same processor 16 servo processes on that board are occupied even though only 4 channels are being used In this situation the processor computational load corresponds to that for 4 axes V Language User s Guide Rev A 327 Chapter 13 Requirements for Motion Systems C
316. s used for the parity information However when binary files need to be transferred the eighth bit of each byte must be preserved Thus the serial line parity must be set to no parity that is the serial ports on both the V system and the remote system must be set Also the Kermit file mode must be set to binary The parity mode for the V serial ports is set with the Adept controller configuration program CONFIG C You may be able to set the modes on the remote system by performing the following steps 1 Gointo PASSTHRU mode at the V system terminal 2 Enteracommand to the remote system to exit the Kermit program it may first be necessary to terminate the server by typing Ctrl P Enter a command to the remote system to set the terminal mode to no parity Enter a command to the remote system to restart the Kermit program Enter a command to the remote Kermit to set its file mode to binary For example V Language User s Guide Rev A Chapter 9 Kermit Communication Protocol SET FILE TYPE BINARY 6 Enter a command to Kermit to start the remote server 7 Type Ctrl C to escape back to the local V system When a binary file is accessed over the Kermit line the file specified to V must have a B qualifier For example the following command will copy the file REMOTE DAT from the Kermit line to the local disk drive A FCOPY A local dat K gt remote dat B NOTE If the default setting for the remote syst
317. semicolon 5 060 3C less than lt lt 061 3D equal to 062 3E greater than gt gt 063 3F question 064 40 at 065 41 A A A 066 42 B B B 067 43 C C C 068 44 D D D 069 45 E E E 070 46 F F F 071 47 G G G 364 V Language User s Guide Rev A Appendix C Table C 2 Adept Character Set Continued Dec Hex Value Value Description Font 1 Fonts 2 3 4 5 amp 6 072 48 H H H 073 49 I I I 074 4A J J J 075 4B K K K 076 4C L L L 077 4D M M M 078 4E N N N 079 4F O O O 080 50 P P P 081 51 Q Q Q 082 52 R R R 083 53 S S S 084 54 T T T 085 55 U U U 086 56 V V V 087 57 W W W 088 58 X X X 089 59 Y Y Y 090 5A Z Z Z 091 5B left bracket 092 5C back slash 093 5D right bracket 094 5E circumflex caret A A 095 5F underscore V Language User s Guide Rev A 365 Appendix C Table C 2 Adept Character Set Continued Dec Hex Value Value Description Font 1 Fonts 2 3 4 5 amp 6 096 60 grave accent 097 61 a a a 098 62 b b b 099 63 c c c 100 64 d d d 101 65 e e e 102 66 f f f 103 67 g g g 104 68 105 69 i i i 106 6A j j j 107 6B k k k 108 6C l l l 109 6D m m m 110 6E n n n 111 6F O O O 112 70 p p p 113 71 q q q 114 72 r r r 115 73 S S S 116 74 t t t 117 45 u u u 118 76 V V V 119 77
318. sence of a Ctrl Z character 26 decimal in the file Variable length records should not contain any internal Line Feed or Ctrl Z characters as data This format is used for loading and storing V programs and is compatible with the IBM PC standard ASCII file format Variable length record mode is selected by setting the record length parameter in the FOPEN_ instruction to zero or by omitting the parameter completely In this mode WRITE instructions automatically append Return ASCII 13 and Line Feed characters to the output data which makes it a complete record If the S format control is specified in an output specification no Return Line Feed is appended Then any subsequent WRITE will have its data concatenated to the current data as part of the same record If the Cn format control is specified n Return Line Feeds are written creating multiple records with a single WRITE When a variable length record is read using a READ instruction the Return Line Feed sequence at the end is removed before returning the data to the V program If the GETC function is used to read from a disk file all characters are returned as they appear in the file including Return Line Feed and Ctrl Z characters V Language User s Guide Rev A 237 Chapter 9 Advanced Disk Operations Fixed Length Records In fixed length record mode all records in the disk file have the same specific length Then there are no special characters embedded in the file t
319. senting your button on the screen and then looking to see if a mouse event occurred within the confines of that graphic GPANEL Instruction The GPANEL instruction is useful for creating standard button graphics The syntax for GPANEL is GPANEL glun mode x y dx dy glun The logical unit of the window the button is in mode Is replaced with 0 indicating a raised ungrooved panel 2 indicating a sunken ungrooved panel 4 indicating a raised grooved panel 6 indicating a sunken grooved panel Adding 1 to any of the mode values will fill the panel with fore ground color x y Coordinates of the upper left corner of the button dx dy Width and height of the button Button Example This code segment would place a button on the screen and then monitor a button up event at that button the logical unit the button is accessing must be ATTACHed and FOPENed Initialize monitoring of button events for a button FSET glun event button Draw a 45x45 pixel panel at window coordinates 100 100 GPANEL glun 0 100 100 45 45 Put a label in the button V Language User s Guide Rev A 273 Chapter 10 Creating Buttons 274 GTYPE glun 102 122 Label Declare a variable for pointer event 2 button up btn up 2 Set a variable that will stop the monitoring of button events hit FALSE Start a loop waiting for a button up event DO GETEVENT glun event The
320. side of the equal sign The right side of the equal sign can contain any variable or value of the same data type as the left side or any expression that resolves to the same data type as the left side Any variables used on the right side of an assignment operator must have been previously initialized Location variables require the use of the SET instruction for a valid assignment statement see Chapter 8 The instruction loc_varl loc_var2 is unacceptable for location and precision point variables Mathematical Operators V uses the standard mathematical operators shown in Table 4 2 Table 4 2 Mathematical Operators Symbol Function addition subtraction or unary minus multiplication division MOD modular remainder division 126 V Language User s Guide Rev A Chapter 4 Operators Relational Operators Relational operators are used in expressions that yield a boolean value The resolution of an expression containing a relational operator will always be 1 true or 0 false and will tell you if the specific relation stated in the expression is true or false The most common use of relational expressions is with the control structures discussed in Chapter 5 V uses the standard relational operators shown in Table 4 3 Table 4 3 Relational Operators Symbol Function equal to lt less than gt greater than lt or lt less t
321. sider the instruction sequence MOVE loc 1 BREAK SIGNAL 1 The MOVE instruction starts the robot moving to loc 1 Program execution then continues and the BREAK instruction is processed BREAK causes the V program to wait until the motion to loc 1 completes The external signal will not be turned on until the robot stops Recall that without the BREAK instruction the signal would be turned on immediately after the motion to loc 1 starts The following instructions always cause V to suspend program execution until the robot stops see the V Language Reference Guide for detailed information on these instructions BASE BREAK CLOSEI CPOFF DETACH 0 HALT OPENI PAUSE RELAXI TOOL 198 V Language User s Guide Rev A Chapter 8 Motion Control Instructions Also the robot decelerates to a stop when the BRAKE not to be confused with BREAK instruction is executed by any program task and when the reaction associated with a REACTI instruction is triggered These events could happen at any point within a motion segment Note that these events can be initiated from a different program task The robot also decelerates and comes to a stop if no new motion instruction is encountered before the current motion completes This situation can occur for a variety of reasons e AWAIT or WAIT EVENT instruction is executed and the wait condition is not satisfied before the robot motion completes e A PROMPT instruction is executed and no res
322. sidered global Once a global variable has been initialized it is available to any executing program until the variable is deleted or all programs that reference it are removed from system memory with a DELETE or ZERO instruction Global variables can be explicitly declared with the GLOBAL program instruction GLOBAL DOUBLE dbl real var NOTE For double precision real variables to be global they must be explicitly declared as global in each program they are used in Global variables are very powerful and should be used carefully and consciously If you cannot think of a good reason to make a variable global good programming practice dictates that you declare it to be LOCAL or AUTO Local Variables Local variables are created by a program instruction similar to LOCAL the_local_var where the variable the_local_var is created as a local variable Local variables can be changed only by the program they are declared in An important difference between local variables in V and local variables in most other high level languages is that V local variables are local to all copies calling instances of a program not just a particular calling instance of that program This distinction is critical if you write recursive programs In recursive programs you will generally want to use the next variable class AUTO Unless the program has declared a LOCAL or AUTO variable with the same name V Language User s Guide Rev A 121 Ch
323. signed the value of loc value The following functions return transformation values TRANS Create a location by specifying individual components of a transfor mation A value can be specified for each component SHIFT Alter the Cartesian components of an existing transformation The POINT and SET operations can be used in conjunction with the transformation functions SHIFT and TRANS to create location variables based on specific modifications of existing variables SET loc name SHIFT loc value BY 5 5 5 will create the location variable loc name The location of loc name will be shifted 5 mm in the positive X Y and Z directions from loc value Relative Transformations Relative transformations allow you to make one location relative to another and to build local reference frames that transformations can be relative to For example you may be building an assembly whose location in the workcell changes periodically If all the locations on the assembly are taught relative to the world coordinate frame each time the assembly is located differently in the workcell all the locations must be retaught If however you create a frame based on identifiable features of the assembly you will have to reteach only the points that define the frame Examples of Modifying Location Variables Figure 8 6 on page 190 shows how relative transformations work The magnitude and direction elements x y z but not the orientation elements y
324. sing the Debug Key or the DEBUG Extended Command 97 Exiting the Debugger 00 0 97 The Debugger Display 0 00004 98 Debugger Operation Modes 100 Debugging Programs 0 0004 101 Positioning the Typing Cursor 102 Debugger Key Commands 103 Debug Monitor Mode Keyboard Commands 104 Using a Pointing Device With the Debugger 107 Control of Program Execution 107 Single Step Execution 0004 107 PAUSE Instructions lcs sss 108 Program Breakpoinfs 108 Program Watchpoints 04 109 Data Types and Operators 111 IniroducHOhn e c s ssa ooo sooo So RO X X X tok ee E Yo 4 3 112 Dynamic Data Typing and Allocation 112 Variable Name Requirements 112 Siring Data Type gt cur a a Aa Ec deo ee 358 114 ASCII Values 2 2 66 4 44 o ooo ORE Te we a 115 Functions That Operate on StringData 115 Real and IntegerDataTypes 2 040 116 Numeric Representation 004 117 Numeric Expressions 0 00020 s 117 Logical Expressions 0 00 00 0 04 118 Logical Constants 0 0 0 een 118 Functions That Operate on Numeric Data 118 Location DataTypes 1 2 119 Transformations cll sn 119 Precision Poi
325. sor 1 whenever an auxiliary processor accesses one of these devices However communications between a processor board and its local serial lines digital I O and analog I O operate on the processor on which the V instruction is executed V Language User s Guide Rev A Example V Programs Introduction 544 4444 44 8 ew yox ee ee ew 340 Pick nd Place uu xu 4 X x ok ee Ree AL RARE SG OEE SE 341 Features Introduced 0 341 Program Listing css 341 Detailed Description 048 342 Menu Program 22 s s o o oo o9 OR OR ee ee wo we 345 Features Introduced les 345 Program Listing sss 346 Teaching Locations With the MCP 347 Features Introduced 2 00048 347 Program Listing lt 4 4 4 4 ox Eos amp Mm arm eB we ee 347 Defining a Tool Transformation 0084 349 V Language User s Guide Rev A 339 Appendix A Introduction Introduction 340 This appendix contains a sampling of V programs The first program is presented twice once in its entirety exactly as it would be displayed by V and a second time with a line by line explanation The program keywords are detailed in the V Language Reference Guide NOTE The programs in this manual are not necessarily complete In most cases further refinements could be added to improve the programs For example the programs could be made more toleran
326. sor movement keys 75 Customer service assistance phone numbers 32 CYCLE END 152 D data integrity 335 datatypes 114 119 integer 116 location 178 real 116 string 114 datatyping 112 DBLB 159 DBLB 159 DCB 162 DDCMP 248 251 attaching 249 communication protocol 248 detaching 249 input 249 NAK reason codes 249 operation 248 output 250 parameters 251 DEBUG 96 debugger 95 109 breakpoints 108 commands editor mode 100 103 execution control 104 function key 103 monitor mode 103 104 See also belt instructions commands control structures functions graphics instructions I O operations motion control operations and program instructions display 98 exiting 97 invoking 95 modes 100 watchpoints 109 window 98 debugging programs 95 101 suppressing robot commands 174 DECODE 159 DECOMPOSE 194 208 DEFBELT 310 320 DEFINED 164 defining belt variable 311 belt relative locations 319 DELAY 138 203 208 deleting program lines 77 DEPART 196 departing alocation 196 DEPARTS 209 DEST 209 DETACH 259 graphics window 266 with the MCP 288 detaching I O devices 227 376 V Language User s Guide Rev A logical units 227 detecting user input from the MCP 290 DEVICE 259 with external encoder 352 device control 352 disk 231 DEVICES 260 digital I O 220 336 system interrupt 221 digital input 220 digital output 221 directories disk 232 files opening 234 root 232 disabling event monitoring 269 disk de
327. stance which is a function of the belt encoder reading and adding the result to the position vector of the nominal belt transformation Symbolically this can be represented as instantaneous_XYZ nominal XYZ belt distance X direction of nominal transform where belt distance encoder count encoder offset encoder scaling factor The encoder variables contained in this final equation will be described in later sections V Language User s Guide Rev A 313 Chapter 12 Basic Programming Concepts 314 The Belt Encoder Six belt encoders are supported by the conveyor tracking feature Each belt encoder generates pulses that indicate both the distance that the belt has moved and the direction of travel The pulses are counted by the belt interface and the count is stored as a signed 24 bit number Therefore the value of an encoder counter can range from 23 1 8 388 607 to epe 8 388 608 For example if a single count of the encoder corresponds to 0 02 millimeters 0 00008 inch of belt motion then the full range of the counter would represent motion of the belt from approximately 167 meters 550 feet to 167 meters 550 feet After a counter reaches its maximum positive or negative value its value will roll over to the maximum negative or positive value respectively This means that if the encoder value is increasing and a rollover occurs the sequence of encoder counter values will be 8 388 606 8 388 6
328. suggestions about information you want to see added to the manual We review and revise user s manuals on a regular basis and any comments or feedback you send us will be given serious consideration Thank you for your input NAME DATE COMPANY ADDRESS PHONE MANUAL TITLE V Language User s Guide PART NUMBER 00963 01300 PUBLICATION DATE June 1998 COMMENTS MAIL TO Adept Technology Inc Technical Publications Dept 11133 Kenwood Rd Cincinnati OH 45242 00963 01300 Rev A
329. t of unusual events such as error conditions V Language User s Guide Rev A Appendix A Pick and Place Pick and Place This program demonstrates a simple pick and place application The robot picks up parts at one location and places them at another Features Introduced e Program initialization e Variable assignment e System parameter modification e FOR loop e Motion instructions e Hand control e Terminal output Program Listing PROGRAM move parts ABSTRACT Pick up parts at location pick and put them down at place parts 100 Number of parts to be processed heightl 25 4 Approach depart height at pick height2 50 8 Approach depart height at place PARAMETER HAND TIM ial ll 0 16 Set up for slow hand OPEN RIGHTY MOVE start ake sure the hand is open ake sure configuration is correct se se se ove to safe starting location FOR i 1 TO parts Process the parts se APPRO pick heightl Go toward the pick up MOVES pick Move to the part CLOSEI Close the hand DEPARTS heightl Back away APPRO place height2 Go toward the put down MOVES place Move to the destination OPENI Release the part DEPARTS height2 Back away V Language User s Guide Rev A 341 Appendix A Pick and Place END Loop for next part YP ET y y 342 E All done 10 parts parts processed URN End o
330. t is 1 inch height2 50 8 Similar to height1 height2 sets the height of the robot path when approaching and departing from the put down location It is set to 50 8 millimeters 2 inches PARAMETER HAND TIME 0 16 V Language User s Guide Rev A Appendix A Pick and Place Set the system parameter HAND TIME so sufficient time will be allowed for actuation of the robot hand This setting will cause OPENI and CLOSEI instructions to delay program execution for 160 milliseconds while the hand is actuated Other important initializing functions are to make sure that the robot has the desired hand opening and is at a safe starting location and that SCARA robots have the desired configuration RIGHTY Make sure the robot has a right handed configuration with the elbow of the robot to the right side of the workspace This is important if there are obstructions in the workspace that must be avoided This instruction will cause the robot to assume the requested configuration during its next motion OPEN Make sure the hand is initially open This instruction will have its effect during the next robot motion rather than delaying program execution as would be done by the OPENI instruction MOVE start Move to a safe starting location Due to the preceding two instructions the robot will assume a right handed configuration with the hand open The location start must be defined before the program is executed That can
331. t unit is automatically closed However error conditions detected by the close operation may not be reported Therefore it is good practice to use the FCLOSE instruction to close files and to check the error status afterwards FCLOSE ensures that all buffered data for the file is written to the disk and updates the disk directory to reflect any changes made to the file The DETACH instruction frees up the logical unit The following instructions close a file and detach a disk LUN FCLOSE dlun F IOSTAT dlun THEN TYPE SERROR IOSTAT dlun END DETACH dlun When a program completes normally any open disk files are automatically closed If a program stops abnormally and execution will not proceed the KILL monitor command will close any files left open by the program floppy disk with another disk Data may be lost and the new disk CAUTION While a file is open on a floppy disk do not replace the AN may be corrupted V Language User s Guide Rev A 235 Chapter 9 Disk I O Example Disk I O The following example creates a disk file writes to the file closes the file reopens the file and reads back its contents AUTO dlun 1 AUTO Sfile name Sfile name data tst Attach to a di sk logical unit ATTACH dlun 4 F IOSTAT dlun DISK 0 GOTO 100 Open a new file and check status FOPENW dlun file name lt 0 GOTO 100 F IOSTAT
332. ted by two motion instructions See the SPEED monitor command and SPEED program instructions V Language User s Guide Rev A 197 Chapter 8 Motion Control Instructions Making smooth transitions between motion segments without stopping the robot motion is called continuous path operation That is the normal method V uses to perform robot motions If desired continuous path operation can be disabled with the CP switch When the CP switch is disabled the robot will decelerate and stop at the end of each motion segment before beginning to move to the next location NOTE Disabling continuous path operation does not affect forward processing the parallel operation of robot motion and program execution Continuous path transitions can occur between any combination of straight line and joint interpolated motions For example a continuous motion could consist of a straight line motion for example DEPARTS followed by a joint interpolated motion for example APPRO and a final straight line motion for example MOVES Any number of motion segments can be combined this way Breaking Continuous Path Operation Certain V program instructions cause program execution to be suspended until the current robot motion reaches its destination location and comes to a stop This is called breaking continuous path Such instructions are useful when the robot must be stopped while some operation is performed for example closing the hand Con
333. tedly for the event If event handling is properly enabled V will react to an event by invoking a specified program just as if a CALL instruction had been executed Such a program is said to be called asynchronously since its execution is not synchronized with the normal program flow Asynchronous processing is enabled by the REACT REACTE and REACTI program instructions Each program task can use these instructions to prepare for independent processing of events In addition the optional V Extensions software uses the WINDOW instruction to enable asynchronous processing of window violations when the robot is tracking a conveyor belt see Chapter 12 Sometimes a reaction must be delayed until a critical program section has completed Also since some events are more important than others a program should be able to react to some events but not others V allows the relative importance of a reaction to be specified by a program priority value from 1 to 127 The higher the program priority setting the more important is the reaction NOTE Do not confuse program priority described here with task priority described in System Timing and Time Slices on page 62 Task priority governs the processing of the various system tasks Program priority governs the execution of programs within a program task A reaction subroutine is called only if the main program priority is less than that of the reaction program priority If the main program
334. text blinking WRITE mcp lun CHR 18 SCHR 58 EXIT S WRITE mep_lun SCHR 18 SCHR 58 CHR 22 SCHR 4 S CHR 22 tells the pendant to start a series of blinking positions starting at the current cursor location and extending for the number of positions specified by the next control code CHR 4 This code will cause any text in positions 58 62 to blink until an instruction is sent to cancel the blinking The following code line disables the blink positions WRITE mcp lun CHR 18 SCHR 58 SCHR 23 SCHR 4 S CHR 23 tells the pendant to cancel a series of blinking positions starting at the current cursor location and extending for the number of positions specified by the next control code CHR 4 Text can be made to blink as it is written to the display regardless of the position the text is in The following code writes the text EXIT to the middle of the bottom line starts the E blinking and then beeps the MCP V Language User s Guide Rev A Chapter 11 Controlling the Pendant WRITE mcp_lun CHR 18 SCHR 58 SCHR 2 E S WRITE mcp_lun CHR 3 XIT S WRITE mcp_lun CHR 7 S CHR 2 starts blink mode Any characters sent to the MCP display will blink Blink mode is canceled by CHR 3 CHR 3 cancels blink mode for subsequent characters it does not cancel blinking of previously entered characters It also does not cancel blinking of character positions set by c
335. that initiate monitor command programs that include robot motions The command WAIT START in a monitor command program will pause execution of a monitor command program until the automatic mode is selected and the START soft key on the MCP is pressed See the V Language Reference Guide for other uses of WAIT START WARNING For this safety feature to be effective the optional front A panel must be installed outside the workcell V Language User s Guide Rev A 301 Chapter 11 Programming Example MCP Menu Programming Example MCP Menu The following code implements a menu structure on the MCP Additionally Teaching Locations With the MCP on page 347 presents a program example for using the MCP to teach robot locations PROGRAM mcp main ABSTRACT This program creates and monitors a menu structure on the MCP r INPUT PARAMS None OUTPUT PARAMS None GLOBAL VARS mcp MCP logical unit H mcp clr scr pendant control code clear display amp home cursor cp off led pendant control code turn off an LED Ccp beep pendant control code beep the pendant cp tab pendant control code tab to next soft Ccp on led pendant control code turn on an LED 3333333 AUTO button Number of the soft button pressed AUTO quit Boolean indicating menu structure should be exited mcp 1 quit FALSE mcp clr scr 12 mcp cur pos 18 mcp off led 28 mcp blink char 2 mcp noblin
336. the keyboard as though it were the next instruction in the program that is stopped For debugging purposes the SSTEP or XSTEP monitor commands can be used to execute a program one step at a time Also the TRACE feature can be used to follow the flow of program execution The program debugger can also be used to execute a program one instruction at a time See Chapter 3 for information on the Vt program debugger Execution of program tasks other than 0 is generally the same as for task 0 The following points highlight the differences e The task number must be explicitly included in all the monitor commands and program instructions that affect program execution including EXECUTE ABORT PROCEED RETRY SSTEP and XSTEP However when the Vt program debugger is being used the task being accessed by the debugger becomes the default task for all these commands e If the program is going to control the robot it must explicitly ATTACH the robot before executing any instructions that control the robot e If task 0 is not executing concurrently the V monitor prompt continues to be a dot Also the prompt is displayed after the task initiating EXECUTE command is processed NOTE If you want program execution to be delayed briefly to allow time for the dot prompt to be output for example to prevent it from occurring during output from the program have your program execute two WAIT instructions with no parameter e The TRACE fe
337. the other macro except that such linking is not permitted to be recursive That is a macro cannot call itself and a called macro cannot call the other macro Table 3 8 shows the keys used to define and apply the macros All these commands can be used when viewing a program in read only mode but cannot perform any actions disallowed in read only mode Press the space bar to abort an executing macro Table 3 8 Function Keys Associated With Macros Key s Action Esc U Define the U macro The prompt Macro Ctrl Z ends is displayed on the editor command line Press the keys you wish to have recorded in exactly the sequence they are to be processed to perform the desired operations When you have finished entering the macro definition enter Ctrl Z NOTE It may be easier to manually perform the sequence to be recorded writing down the keys as you press them Then you can read from your notes as you define the equivalent macro U Process the U macro 0U Display the current definition of the U macro Esc Y Define the Y macro Y Process the Y macro OY Display the current definition of the Y macro NOTE Macro definitions are retained between editor sessions initiated with the SEE monitor command but not between sessions initiated with the SEE program instruction V Language User s Guide Rev A 91 Chapter 3 Sample Editing Session Sample Editing Session The following steps will create a s
338. ting or do not have a program to run or task 0 or task 2 RELEASEs to task 1 task 1 is effectively blocked from execution 1 millisecond time slices task O running prog a task priority 20 task waiting task running task 1 running prog_b task priority 10 68 One Vt Major Cycle Figure 2 5 Priority Example 1 The numbers in this example are referenced in the text on page 67 V Language User s Guide Rev A Chapter 2 Default Task Configuration Default Task Configuration System Task Configuration The Adept V system has a number of internal tasks that compete with application user program tasks for time within each time slice On motion systems the V trajectory generator runs as the highest priority task in slice 0 and continues through as many time slices as necessary to compute the next motion device set point e On motion systems the CPU running servo code will run the servo task at interrupt level every 1 or 2 milliseconds The V system tasks run according to the priorities shown in Table 2 3 System Task Priorities on page 71 The frequency at which the servo tasks interrupts the major cycle is set with the controller configuration utility CONFIG C V Language User s Guide Rev A 69 Chapter 2 Description of System Tasks Default Task Configuration The syst
339. tion and orientation relative to the belt Alternatively a belt variable can be thought of as a transformation with a time varying component that defines the location of a reference frame fixed to a moving conveyor As a convenience more than one belt variable can be associated with the same physical belt and belt encoder In this way several work stations can be easily referenced on the same belt Like other variable names in V the names of belt variables are assigned by the programmer Each name must start with a letter and can contain only letters numbers periods and underline characters Letters used in variable names can be entered in either lowercase or uppercase V always displays variable names in lowercase To differentiate belt variables from other data types the name of a belt variable must be preceded by a percent sign As with all other V data types arrays of belt variables are permitted Hence the following are all valid belt variable names Spallet on belt base plate belt 1 The DEFBELT instruction must be used to define belt variables see the Moving Line Programming section of this chapter Thus the following are not valid operations SET new belt old belt or HERE belt 1 V Language User s Guide Rev A 311 Chapter 12 Basic Programming Concepts 312 Compared to other V data types the belt variable is rather complex in that it contains several different types of information Briefly a
340. tion of this chapter describes control of program execution while debugging 4 Use the Display F5 and Teach S F5 keys to display and redefine the values of variables 5 Use edit mode to perform any desired editing operations on the program 6 Repeat steps 2 through 5 as required 7 Exit from the debugger The following sections describe the debugger commands and other features of the V system that aid program debugging When using the debugger keep in mind e Some system monitor commands are not accepted in debug monitor mode For example the COMMANDS command is not accepted e In some situations the terminal cursor will be in the edit window when you want it to be in the debug window In debug monitor mode the Redraw S F6 or Undo F6 keys will force the cursor to the bottom line of the debug window e Output to the screen from the program will generally be directed to the debug window However if the output includes control strings to position the cursor for example clear the screen the program output may appear in the edit window The Redraw S F6 key will restore the normal debugger display except in the situation described by the next item e When the program displays a prompt for input in the debug window and executes a PROMPT instruction everything you type before pressing J will be received by the program Thus you cannot issue any debugger commands at such times V Language User s Guide Rev A 1
341. tions I O operations are expected to fail under certain circumstances For example when reading a file an error status is returned to the program to indicate when the end of the file is reached The program is expected to handle this error and continue execution Similarly a serial line may return an indication of a parity error which should cause the program to retry a data transmission sequence V Language User s Guide Rev A 225 Chapter 9 Serial and Disk I O Basics For these reasons V I O instructions normally do not stop program execution when an error occurs Instead the success or failure of the operation is saved internally for access by the IOSTAT real valued function For example a reference to IOSTAT 5 will return a value indicating the status of the last I O operation performed on LUN 5 The values returned by IOSTAT fall into one of following three categories Table 9 3 IOSTAT Return Values Value Explanation The I O operation completed successfully The I O operation has not yet completed This value appears only if a pre read or no wait I O is being performed lt 0 The I O operation completed with an error The error code indicates what type of error occurred 226 The error message associated with a negative value from IOSTAT can be found in the V Language Reference Guide The ERROR string function can be used in a program or with the LISTS monitor command to generate the text associated
342. tocol is enabled it makes use of one of the general purpose USER serial lines on the Adept system controller For a serial line to be used with Kermit the line must have been configured using the Adept controller configuration program Kermit documentation and software are available from Kermit Distribution Columbia University Center for Computing Activities 612 West 115th Street New York NY 10025 USA Web site lt http www columbia edu kermit gt 2 Only one line can be configured at any one time for use with Kermit The controller 252 configuration program is on the Adept Utility Diskette in the file CONFIG_C V2 V Language User s Guide Rev A Chapter 9 Kermit Communication Protocol Starting a Kermit Session This section will lead you through the steps involved with initiating a Kermit file transfer session using Kermit with the V system The term remote system is used in this discussion to refer to the computer system that is to be accessed with Kermit NOTE The following information should be considered an example The specific details may not be correct for the computer system you are accessing with Kermit The first step is to start up a Kermit server on the remote system One way to do this is to go into pass through mode on the V system by typing the monitor command PASSTHRU KERMIT The system terminal is now connected directly to the serial line to the remote system Anything you type
343. tracking with a robot However these inputs also can be used for other sensing applications In such applications the DEVICE real valued function and SETDEVICE program instruction allow the external encoders to be accessed in a more flexible manner than the belt oriented instructions and functions This appendix describes the use of the DEVICE real valued function and the SETDEVICE program instruction to access the external encoder device In general SETDEVICE allows a scale factor offset and limits to be specified for a specified external encoder unit The DEVICE real valued function returns error status position or velocity information for the specified encoder Accessing the external encoders via DEVICE and SETDEVICE is independent of any belt tracking commands or instructions Setting belt parameters with SETBELT and setting encoder parameters with SETDEVICE have no effect on each other The only exceptions are the SETDEVICE initialize command and reset command which reset all errors for the specified external encoder including any belt related errors NOTE See the V Language Reference Guide for complete information on the DEVICE real valued function and the SETDEVICE program instruction V Language User s Guide Rev A Appendix B Parameters Parameters The external encoder device type is 0 This means that the type parameter in all DEVICE or SETDEVICE instructions that reference the external encoders must have a value
344. uding servo tasks vision tasks and in some cases V user tasks However there are several V operations that can be performed only from Processor 1 e Robot control e System configuration changes e Certain commands instructions e ENABLE DISABLE of POWER e ENABLE DISABLE of ROBOT e INSTALL e High level motion control tasks e trajectory generation e kinematic solution program execution e V motion instructions such as MOVE instructions e V force instructions such as FORCE READ instructions e DeviceNet Processors other than processor 1 always start up with the stand alone control module with no belts or kinematic modules loaded If attempted on another processor the V operations listed above will return the error 666 Must use Monitor 1 with the exception of a V force instruction which will return the following error 666 Device Hardware not Present V Language User s Guide Rev A 337 Chapter 13 Restrictions With Multiprocessor Systems 338 High Level Motion Control Tasks As more axes are added to the system the high level motion control computational load on processor 1 increases even if the servo processing is moved off to other processors For any given application the processing power required to execute the high level motion control is a function of which kinematic modules are used It must be evaluated on a case by case basis Peripheral Drivers There is an impact on proces
345. umentation for the options V Language User s Guide Rev A 173 Chapter 7 Switches Table 7 2 Basic System Switches Switch Use OFF AUTO POWER When this switch is enabled V will treat software errors as hard errors and disable HIGH POWER Normally these errors stop the robot and signal the V program but DO NOT cause HIGH POWER to be turned off The soft errors are 624 force protect limit exceeded 1003 Time out nulling errors Mtr 1006 Soft envelope error Mtr BELT Used to turn on the conveyor tracking features of V if the option is installed This switch must be enabled before any of the special conveyor tracking instructions can be executed When BELT is disabled the conveyor tracking software has a minimal impact on the overall performance of the system Default is disabled CP Enable disable continuous path motion processing see Continuous Path Trajectories on page 197 Default is enabled DECEL 100 When DECEL 100 is enabled for a robot the maximum deceleration percentage defined by SPEC is ignored and a maximum deceleration of 10076 is used instead This maximum deceleration value is used to limit the value specified by the ACCEL program instruction For backwards compatibility by default DECEL 100 is disabled for all robots DRY RUN Enable disable sending of motion commands to the robot Enable this switch to test programs for proper log
346. unication Protocol File Access Using Kermit After the remote Kermit server has been initiated you are ready to use the Kermit line for file access In general to access a file via Kermit with the V system all you have to do is specify the KERMIT gt physical device in a normal V file access command or instruction For example the command LOAD K gt file_spec will load from the remote system the programs or data contained in the specified file The file specification may be a simple file name or it may contain device and directory information The actual interpretation of the file specification depends on the remote Kermit server as well as on the type of remote system being used You may also use the V DEFAULT command to define the default disk device to be the Kermit line For example you can enter DEFAULT K gt directory In this command K gt tells the V system it should access the Kermit device when the local disk device is not explicitly specified and directory represents directory information to be used as the default in subsequent file specifications After the above DEFAULT command is entered the command LOAD file name would load a program or data file from the Kermit line It is also possible for a V program to READ and WRITE to remote sequential files over the Kermit line To do that the program has to perform the following steps 1 ATTACH a disk logical unit specifying the physical dev
347. verted exclamation i Closed circle point 162 A2 cent Start quote 163 A3 sterling End quote 164 A4 currency a Comma 165 A5 yen Y End sentence 166 A6 broken bar i o 167 A7 section a 368 V Language User s Guide Rev A Appendix C Table C 2 Adept Character Set Continued Dec Hex Value Value Description Font 1 Fonts 2 3 4 5 amp 6 168 A8 dieresis i 169 A9 copyright u 170 AA feminine ordinal e 171 AB left guillemot O 172 AC logical not a ya 173 AD en dash x yu 174 AE registered yo 175 AF macron j Dbl next consonant 176 BO degree 177 B1 plus minus sE A 178 B2 superscript 2 J I 179 B3 superscript 3 3 U 180 B4 acute accent E 181 B5 mu O 182 B6 paragraph I KA 183 B7 centered dot KI 184 B8 cedilla 2 KU 185 B9 superscript 1 KE 186 BA masculine ordinal B KO 187 BB right guillemot SA 188 BC 1 4 1 4 SHI 189 BD 1 2 1 2 SU 190 BE 3 4 3 4 SE 191 BF inverted question mark SO V Language User s Guide Rev A 369 Appendix C Table C 2 Adept Character Set Continued Dec Hex Value Value Description Font 1 Fonts 2 3 4 5 amp 6 192 CO A grave A TA 193 Cl A acute A CHI 194 C2 A circumflex A TSU 195 C3 A tilde A TE 196 C4 A dieresis A TO 197 C5 A ring NA 198 C6 AE ligature
348. vices attaching 231 directories 232 directory format 241 filename 233 disk driver task 70 disk files accessing with AdeptNET 232 and NFS 232 opening 234 disk I O 225 242 DISTANCE 209 distances 29 division operator 126 DO 152 DO UNTIL 148 dot prompt 49 double precision variables global 121 DRIVE 196 209 drivers peripheral 338 DRY 209 DRY RUN system switch 174 DURATION 202 203 209 DX 209 DY 209 DZ 209 E editing closing aline 83 Index line expansion 84 long line 83 syntax check 84 editor commands 86 mode changing 37 using others 48 emergency backup 137 reaction routines 136 ENCODE 159 encoder external 352 end effector instructions 197 enter key 27 equal operator equalto 127 greater than or equal to 127 less than or equal to 127 notequal 127 ERROR 164 error Kermit communication 257 processing 61 reacting tosystem 137 recovery routines 136 syntax 47 trapping 61 Esc key using instead of Alt key 74 Ethernet 242 evaluation order of operator 130 EXECUTE 152 executing programs 49 107 execution pointer 99 exiting the SEE editor 42 extended commands SEE editor 89 external device control 352 encoder 352 F FALSE 163 FCLOSE 260 graphics window 265 FCMND 260 FDELETE 265 graphics window 265 FEMPTY 260 V Language User s Guide Rev A 377 Index files attribute codes 242 naming 233 opening disk file 234 random access 238 sequential access 238 with fixed length records 238 w
349. w_name glun The same values as specified in the FOPEN instruction that created the window V Language User s Guide Rev A 265 Chapter 10 Creating Windows DETACH Instruction DETACH frees up a LUN for use by a subsequent ATTACH instruction The syntax for DETACH is DETACH glun glun The LUN specified in a previous ATTACH instruction Custom Window Example 266 This section of code will create and delete a window AUTO glun Graphics window LUN ATTACH glun 4 GRAPHICS Attach to a window LUN Open the window Test with a maximum size of 400 x 300 pixels FOPEN glun Test MAXSIZE 400 300 Your code for processing within the window goes here e g GTYPE glun 10 10 Hello When the window is no longer needed close and delete the window and detach from the logical unit FCLOSE glun FDELETE glun Test DETACH glun V Language User s Guide Rev A Chapter 10 Monitoring Events Monitoring Events The key to pointing device driven programming is an event loop In an event loop you wait for an event from the keyboard or pointer device and when the correct event occurs in the proper place your program initiates some appropriate action V can monitor many different events including button up button down double click open window and menu select The example code in the following sections will use event 2 button up and event 14 menu select See the descriptio
350. when the file was created or last modified The system date and time are set with the TIME monitor command or program instruction AdeptNET 242 AdeptNET provides the ability to perform TCP IP communications with other equipment perform NFS mounts on remote disks and perform FIP transfers of files between local and remote disks See the AdeptNet User s Guide for details V Language User s Guide Rev A Chapter 9 Serial Line I O Serial Line I O The V controller has several serial lines that are available for general use This section describes how these lines are used for simple serial communications To use a serial line for a special protocol such as DDCMP and Kermit described later in this chapter the line must be configured using the Adept controller configuration utility program I O Configuration In addition to selecting the protocol to be used the Adept controller configuration program allows the baud rate and byte format for each serial line to be defined Once the serial line configuration is defined on the V system boot disk the serial lines are set up automatically when the V system is loaded and initialized After the system is running the FSET instruction can be used to reconfigure the serial lines The following byte formats are available e Byte data length of 7 or 8 bits not including parity e One or two stop bits e Parity disabled or enabled e Odd or even parity adds 1 bit to byte length The
351. will load the belt calibration data from a disk file and execute the DEFBELT and WINDOW instructions See the next section While the robot is moving relative to a belt including motions to and from the belt all motions must be of the straight line type Thus APPROS DEPARTS MOVES and MOVEST can be used but APPRO DEPART DRIVE MOVE and MOVET cannot Motion relative to a belt is terminated when the robot moves to a location that is not defined relative to the belt variable or when a belt window violation occurs V Language User s Guide Rev A Chapter 12 Basic Programming Concepts Basic Programming Concepts This section describes the basic concepts of the Conveyor Belt Tracking feature First the data used to describe the relationship of the conveyor belt to the robot is presented Then a description is given of how belt relative motion instructions are specified Finally a description is presented of how belt relative locations are taught The V operations associated with belt tracking are disabled when the BELT system switch is disabled Thus application programs that use those operations must be sure the BELT switch is enabled Belt Variables The primary mechanism for specifying motions relative to a belt is a V data type called a belt variable By defining a belt variable the program specifies the relationship between a specific belt encoder and the location and speed of a reference frame that maintains a fixed posi
352. will resume at step 44 If signal 1001 transitions during execution of step 47 steps 47 48 and 49 will complete since the program had been given a higher priority than REACT the subroutine alarm will be called and execution will resume at step 50 REACTE REACTE enables a reaction program that is run whenever a system error that would cause program execution to terminate is encountered This includes all robot errors hardware errors and most system errors it does NOT include I O errors Unlike REACT and REACTI REACTE cannot be deferred based on priority considerations The instruction REACTE trouble will enable monitoring of system errors and execute the program trouble whenever a system error is generated The LOCK instruction can be used to control execution of a program after a REACT or REACTI subroutine has completed V Language User s Guide Rev A 137 Chapter 5 Program Interrupt Instructions HALT STOP and PAUSE When a HALT instruction is encountered program execution is terminated and any open serial or disk units are DETACHED and FCLOSEd PROCEED or RETRY will not resume execution When a STOP instruction is encountered execution of the current program cycle is terminated and the next execution cycle resumes at the first step of the program If the STOP instruction is encountered on the last execution cycle program execution is terminated and any open serial or disk units are DETACHED and FCLOSEd
353. witch from editing one program to editing another program The internal program list mentioned below is described in the next section Table 3 5 The SEE Editor Function Key Description Key s Action New F2 The editor prompts for the name of the new program to edit The new program will be accessed in read write mode unless R is specified after the program name or the program is currently executing The home pointer for the internal program list is set to the old program Go To F3 If the cursor is on a line containing a CALL instruction the program referenced by the CALL is opened in the SEE editor If the program is present on the internal program list the previous access mode will be used If the program is not on the program list the editor will remain in its current access mode Retrieve S F3 This command causes the editor to cycle through the internal program list bringing the next program in the list into the editor The access mode for the new program will be the same as the previous time the program was edited V Language User s Guide Rev A 79 Chapter 3 Basic SEE Editor Operations Table 3 5 The SEE Editor Function Key Description Continued Key s Action Prog Up S Changes to editing a program contained on the task 80 Ctrl Home A Home key on numeric keypad execution stack being accessed by the editor When the new program is opened its name is added to the internal progra
354. with efficient use of system memory and reduction in overall system complexity The V system continuously generates robot control commands and can concurrently interact with an operator permitting on line program generation and modification V provides all the functionality of modern high level programming languages including e Callable subroutines e Control structures e Multitasking environment e Recursive reentrant program execution Compatibility 20 This manual is for use with V version 13 0 and later This manual covers the basic V system If your system is equipped with optional AdeptVision VXL see the AdeptVision Reference Guide and the AdeptVision User s Guide for details on the vision enhancements to basic V V Language User s Guide Rev A Chapter 1 Manual Overview Manual Overview The V Language User s Guide details the concepts and strategies of programming in V Material covered includes e Functional overview of V e A description of the data types used in V e A description of the system parameters and switches e Basic programming of V systems e Editing and debugging V programs Communication with peripheral devices e Communication with the manual control pendant e Conveyor tracking feature Example programs Using tool transformations Requirements for the system terminal e Accessing external encoders Many V keywords are shown in abbreviated form in this user guide See the V
355. y entering a carriage return moving off a line or exiting the editor the editor checks the syntax of the line If the line cannot be executed an error message is output Certain control structure errors are not checked until you exit from the editor or change to editing a different program If an error is detected at that time an error message will be output and the program will be marked as not executable Error checking stops at that point in the program Thus only one control structure error at a time can be detected V Language User s Guide Rev A 47 Chapter 2 Format of Programs Program Organization The first step of every V program must be a PROGRAM instruction This instruction names the program defines any arguments it will receive or return and has the format PROGRAM program name parameter list Comment The program name is required but the parameter list and comment are optional After the PROGRAM line there are only two restrictions on the order of other instructions in a program AUTO LOCAL or GLOBAL instructions must precede any executable program instructions Only comment lines blank lines and other AUTO LOCAL or GLOBAL instructions are permitted between the PROGRAM step and an AUTO LOCAL or GLOBAL instruction e The end of a program is marked by a line beginning with END The V editors automatically add but do not display this line at the end of a program Program Variables V
356. y high speed conveyors with very high resolution encoders The Encoder Scaling Factor For any given conveyor encoder installation the encoder scaling factor is a constant number that represents the amount the encoder counter changes during a change in belt position The units of the scaling factor are millimeters count V Language User s Guide Rev A Chapter 12 Basic Programming Concepts This factor can be determined either directly from the details of the mechanical coupling of the encoder to the belt or experimentally by reading the encoder as the belt is moved The Adept belt calibration program supports either method of determining the encoder scaling factor If the encoder counter decreases as the belt moves in its normal direction of travel the scaling factor will have a negative value The Encoder Offset The last encoder value needed for proper operation of the moving line system is the belt encoder offset The belt encoder offset is used by V to establish the instantaneous location of the belt reference frame relative to its nominal location In particular if the belt offset is set equal to the current belt encoder reading the instantaneous belt transformation will be equal to the nominal transformation The belt encoder offset can be used in effect to zero the encoder reading or to set it to a particular value whenever necessary Unlike the encoder scaling factor which is constant for any given conveyor encoder setup
357. y is a 2 line 80 character LCD display It is written to using the WRITE instruction Using WRITE With the Pendant The following instructions will display a welcome message on the two lines of the pendant display AUTO mcp_lun Pendant LUN AUTO Sintro Sintro Welcome to the MCP mcp_lun 1 Attach the MCP check for errors and output message ATTACH mcp_lun F IOSTAT mcp_lun lt 1 GOTO 100 WRITE mcp_lun Sintro WRITE mcp_lun Instructions to follow S 100 IF IOSTAT mcp_lun lt 1 THEN Report errors TYPE IOSTAT mcp lun SERROR IOSTAT MCP LUN END DETACH mcp lun Notice that the second WRITE instruction uses the S qualifier This qualifier suppresses the carriage return line feed lt CR LF gt that is normally sent by the WRITE instruction If this qualifier was not specified the first line displayed would have been scrolled off the top This section Controlling the Pendant on page 296 discusses the pendant control codes These codes control the cursor position the lights on the MCP and the interpretation of MCP button presses These codes are sent to the pendant using the WRITE instruction The S qualifier must be sent with these instructions to avoid overwriting the pendant display V Language User s Guide Rev A 289 Chapter 11 Detecting User Input Detecting User Input Input from the pendant can be received in two ways e A serie
358. y to a program label instruction somewhere else in the program The syntax for GOTO is GOTO label label is an integer entered at the beginning of a line of program code label is not the same as the program step numbers Step numbers are assigned by the system labels are entered by the programmer as the opening to a line of code In the next code example the numbers in the first column are program step numbers these numbers are not displayed in the SEE editor The numbers in the second column are program labels 61 i 62 GOTO 100 63 64 3 65 100 TYPE The instruction GOTO 100 got me here 66 132 V Language User s Guide Rev A Chapter 5 Unconditional Branch Instructions A GOTO instruction can branch to a label before or after the GOTO instruction GOTO instructions can make program logic difficult to follow and debug especially in a long complicated program with many subroutine calls Use GOTO instructions with care A common use of GOTO is as an exit routine or exit on error instruction CALL The CALL and CALLS instructions are used in V to implement subroutine calls The CALL instruction causes program execution to be suspended and execution of a new program to begin When the new program has completed execution execution of the original program will resume at the instruction after the CALL instruction The details of subroutine creation execution and parameter passing are covered in Subroutines on page 5
359. y waits until all the joints of the manipulator have achieved their final destinations to within a tight error tolerance before proceeding to the next instruction In the case of motions relative to a belt the destination is constantly changing and depending upon the magnitude and variability of the belt speed the robot may not always be able to achieve final positions with the default error tolerance Therefore if a motion does not successfully complete that is it is aborted due to a Time out nulling error or if it takes an excessive amount of time to complete the error tolerance for the motion should be increased by preceding the motion instruction with a COARSE instruction In extreme situations it may even be necessary to entirely disable checking of the final error tolerance This can be done by specifying NONULL before the start of the motion Defining Belt Relative Locations In order to define locations relative to a belt belt relative compound transformations can be used as parameters to all the standard V teaching aids For example all the following commands define a location loc_1 relative to the current belt location HERE Sbelt loc_1 POINT Sbelt loc_1 TEACH belt loc In each of these cases the instantaneous location corresponding to belt would be determined based upon the reading of the belt encoder associated with belt loc 1 would be set equal to the difference between the current tool lo
360. you can use the debugger Ctrl N command to cancel the breakpoint at the instruction Or you can leave the breakpoint set In either case you can type Ctrl P when you are ready to have program execution resume NOTE A BPT command with no parameters will clear the breakpoints in all the programs in the system memory except those programs that are executing Entering a BPT command with no parameters in debug monitor mode will clear breakpoints in the current program Program Watchpoints The Vt WATCH command attaches a watchpoint to a variable or user specified expression When a watchpoint has been set the specified variable or expression is examined before each program instruction is executed by the task associated with the watchpoint The value determined is compared with the value recorded when the watchpoint was originally defined If the value has changed the task is stopped and the old and new values are displayed NOTE Processing watchpoints consumes a lot of execution time and can significantly slow down program execution Be sure to cancel all the watchpoints for an execution task after you are through using the task for debugging There is no shorthand debugger command for setting watchpoints but WATCH commands can be entered on the debugger command line V Language User s Guide Rev A 109 Data Types and Operators Introduction s a RS RS D ES AAA OR o D TO 112 Dynamic Data Typing and Allocation 112

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