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eV+ Language Reference Guide, v2.0.x

1. 0000 ccc cece cece e cece cece neces eeeeeeeaees 351 NETWORK real valued function 0 2 0 0 0 200 c cece ccc cece ccc cccceceecceceeceeceeeeeees 353 NEXT program Instruction Seat tick hte Uhr test iat cin LAS alt ation EA aa 355 NOFLIP program instruction 0 200 2200 ccc cece ence cee e cece ceeeeeeeeeeeeees 357 NONULL program instruction _ 2 00 0 358 NOOVEREAP program IMSEMUCTION 22 sities sae lue ate lin ds Het nise cies oS tele os em 360 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 9 NORMAL transformation function aoaaa aoaaa aoaaa aaao aLL LLL LLL LaaLa 362 NOT operatore esna a ses r aal Paes oe a Soe nx areh eaaa eead 363 NOT CALIBRATED system parameter 2 00 0 0 0 00 c occ cece cece cece eee ec eee eecceceeceeeeeees 364 NULL program instruction 2 2 2 2 200 2202 aie eaa ccc r aE cee eeeceeeceeteeeees 366 NULL transformation function 205 2 xcacantlod Sd nani acu tin de cuyct vd dpaae nese deth co layne dies 368 OFF real valued function 2s sce cct 5 cea eunetdeucecadenue ns aot bautueaie ggasi Raiden eaa 369 ON real valued FUNCTION sireeni ern pa aat ehh eal be cae ett 2 370 OPEN program instruction 2 00 2200 c cece cece cece cece e cece c ec eeeeeeeeeeeeeeees 371 OPEN program instruction 0 00 2200 c ccc ccc ccc eee cece cece ec eeeeeeeeeeeeeseees 373 OR Operator rensas nnana aa or nC Oe 375 OUTSIDE real valued Funettor s 2 0 s cc0022cc22gan coe ecielange ee De
2. eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 100 BXOR operator For each bitin pa ft fet io That is a bit in the result is 1 if the corresponding bit in one and only one of the operands is 1 To review the order of evaluation for operators within expressions see the section Order of Evaluation in the eV Language User s Guide Examples Consider the following binary values are shown only to make the operation more evident B101000 BXOR B100001 yields B001001 9 Note that a very different result is obtained with the logical XOR operation B101000 XOR B100001 yields 0 FALSE In this case B101000 and B100001 are each interpreted as logically TRUE since they are nonzero Related Keywords BAND operator BOR operator XOR operator eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 101 BY keyword BY keyword Syntax SCALE transformation BY value SHIFT transformation BY value value value Function Complete the syntax of the SCALE and SHIFT functions Examples SET new trans SCALE old trans BY scale factor SET new trans SHIFT old trans BY x y 2Z Related Keywords SCALE transformation function SHIFT transformation function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 102 CALIBRATE program instruction CALIBRATE program instruction Syntax CALIBRATE mode status Function Initialize the robot positioning system with the robot s
3. Variables can be defined only once within the same context automatic local or global Attempting to define a variable more than once that is with a different type will yield the error Attempt to redefine variable type For details see Data Types and Operators in the eV Language User s Guide Local variables can be referenced with monitor commands such as BPT DELETE_ DO HERE LIST_ POINT TEACH TOOL and WATCH by using the optional context specifier The general syntax is command task program command_arguments For more information on specifying program context see the section Programming eV in the eV Language User s Guide Example Declare the variables loc a ans and i to be local to the current program LOCAL loc a Sans i Related Keywords AUTO program instruction GLOBAL program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 326 LOCK program instruction LOCK program instruction Syntax LOCK priority Function Set the program reaction lock out priority to the value given Usage Considerations LOCK 0 is assumed whenever program execution is initiated and when a new execution cycle begins Changing the priority may affect how reactions are processed Before using this instruction be sure you know what reactions are active and their priorities Parameter priority Real valued expression with a value from 0 to 127 which becomes the new reaction lock out prior
4. Invalid steps will be changed to lines None Explanation The AUTO BAD extended command has been used to change the action to be taken when an invalid line is detected while editing Subsequently such a line automatically changed to a bad line with a question mark in column one User action None This is an informational message Invalid when program on stack 366 Explanation An attempt has been made to edit a PROGRAM or AUTO statement while the program appears on some task execution stack While a task is on a stack its subroutine arguments and automatic variable values are kept on the stack Changes to these statements modify the stack which is not allowed User action Remove the program from the stack by allowing the task to run until the desired program executes a RETURN instruction or issue a KILL monitor command to clear the stack If you are using the SEE program editor press the Undo key to allow you to continue editing Invalid when program task active 311 Explanation An attempt has been made to begin execution of a robot or PC program task when that task is already active User action Abort the currently executing task or execute the program as a different task if possible I O communication error 507 Explanation A hardware error has been detected in the I O interface eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 614 System Messages Alphabetical List User action Try y
5. WARNING It is important to execute SETBELT each time the robot is going to track the belt to make sure the difference between the current belt position as returned by the BELT function and the belt position of the specified belt variable does not exceed 8 388 607 H7FFFFF eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 459 SETBELT program instruction during active belt tracking Unpredictable robot motion may result if the difference does exceed this value while tracking the belt The SETBELT instruction can be used to synchronize robot motion with the encoder value latched by an external signal or by the AdeptVision system See the LATCHED real valued function and the DEVICE real valued function for more information Example The following example waits for a digital signal and then sets the belt position to zero That is done by setting the belt offset equal to the current belt position Finally the robot is moved onto the belt WAIT sig 1001 SETBELT Sbeltl BELT belt1 MOVES belt1l pickup Related Keywords BELT real valued function BELT system switch DEFBELT program instruction DEVICE real valued function LATCHED real valued function WINDOW program instruction WINDOW real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 460 SETDEVICE program instruction SETDEVICE program instruction Syntax SETDEVICE type unit error command p1 p2 Function Initia
6. out in Details DEVICES program instruction Optional string expression variable or array that defines a string value to be sent to the device as part of the command The actual data that should be sent depends upon the device type and the command When the out parameter is specified as an array the total length of the string value must be less than or equal to 520 bytes If an array is specified and no index is specified element 0 is accessed first Optional string variable or array that receives any data values returned from a device as the result of the command The actual data returned depends upon the device type and the command The error variable receives the number of input bytes returned When the in parameter is specified as an array up to 512 bytes may be returned packed in up to four successive string array elements If an array is specified and no index is specified element 0 is accessed first DEVICES is a general purpose instruction for accessing external devices It is similar to the DEVICE program instruction except that data items are sent and received as strings rather than real values NOTE Similar to the CALL and CALLS instruction pair this instruction is a string based version of the DEVICE instruction Thus the name DEVICES can be thought of as device s rather than the plural of device For details and examples see the supplementary documentation for specific devices Related Key
7. Enable disable the ESTOP timer delay feature for servo errors Usage Considerations This switch is only operational for systems equipped with an AWC II board as the main CPU For program compatibility the DELAY POWER OFF system switch is recognized by eV systems for both AWC II based controllers and SmartController systems but the switch has no effect on the latter Details When DELAY POWER OFF is disabled default servo errors will cause the robot power to be disabled immediately without an ESTOP timer delay When DELAY POWER OFF is enabled servo errors will use the ESTOP timer delay function just as if the ESTOP button had been pressed eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 161 DEPART and DEPARTS program instruction DEPART and DEPARTS program instruction Syntax DEPART distance DEPARTS distance Function Start a robot motion away from the current location Usage Considerations DEPART causes a joint interpolated motion DEPARTS causes a straight line motion during which no changes in configuration are permitted These instructions can be executed by any program task as long as the task has attached a robot The instructions apply to the robot selected by the task If the eV system is not configured to control a robot executing these instructions causes an error Parameter distance Real valued expression that specifies the distance in millimeters along the robot tool Z axis betw
8. Related Keywords BREAK program instruction CPOFF program instruction CPON program instruction DISABLE monitor command DISABLE program instruction ENABLE monitor command ENABLE program instruction SWITCH monitor command SWITCH program instruction SWITCH real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 134 CPOFF program instruction CPOFF program instruction Syntax CPOFF ALWAYS Function Instruct the eV system to stop the robot at the completion of the next motion instruction or all subsequent motion instructions and null position errors Usage Considerations Only the next robot motion will be affected if the ALWAYS parameter is not specified CPON ALWAYS is assumed whenever program execution is initiated and when a new execution cycle begins The CPOFF instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task The instruction applies only to the robot selected by the task If the eV system is not configured to control a robot executing the CPOFF instruction causes an error Parameter ALWAYS Optional qualifier that establishes CPOFF as the default condition That is when ALWAYS is included in a CPOFF instruction CPOFF will remain in effect continuously until disabled by a CPON instruction If ALWAYS is not specified the CPOFF instruction applies only to the next robot motion Details When CPOFF is in effect t
9. Usage Considerations This instruction can be executed by any program task as long as the task has attached a robot The instruction applies to the robot selected by the task If the eV system is not configured to control a robot executing this instruction causes an error Parameters angle Real valued expression that specifies the angle of the arc in degrees This parameter is optional if location2 is specified angle can be a positive or negative number but must be within 360 360 turn Optional boolean expression that specifies whether the tool should rotate with the arc If turn is omitted or zero then the tool orientation will stay constant with a MOVEC angle center syntax and end at the orientation of location2 for a MOVEC location1 location2 syntax If turn is non zero the tool orientation will be rotated by the angle of the arc around the axis of the circle and maintain a constant orientation relative to the trajectory This is useful for dispensing applications center Transformation precision point location function or compound transformation that specifies the center of the circle locationi Transformation precision point location function or compound transformation that specifies an intermediate location on the circle arc through which the robot is to move location2 Optional transformation precision point location function or compound transformation that specifies the end point of the circle arc to whi
10. Uses the value of the real variable i as an index to the character of interest in the string contained in the variable Ssystem ASC Ssystem i Related Keywords CHR string function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 62 ASC real valued function VAL real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 63 ATANZ2 real valued function ATAN2 real valued function Syntax ATAN2 value_i value_2 Function Return the size of the angle in degrees that has its trigonometric tangent equal to value_ 1 value_2 Usage Considerations The returned value is zero if both parameter values are zero Parameters value_1 Real valued expression value_2 Real valued expression Examples ATAN2 0 123 0 251 Returns 26 1067 ATAN2 5 462 47 2 Returns 6 600926 ATAN2 1 3125E 2 1 3 Returns 90 56748 slope ATAN2 rise run NOTE TYPE PROMPT and similar instructions output the results of the above examples as single precision values However they are actually stored and manipulated as double precision values The LISTR monitor command will display real values to full precision eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 64 ATTACH program instruction ATTACH program instruction Syntax ATTACH lun mode device Function Make a device available for use by the application program Usage Considerations The robot is auto
11. eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 84 BELT system switch BELT system switch Syntax BELT Function Control the function of the conveyor tracking features of the eV system Usage Considerations This option is available only if your Adept system is equipped with the eV Extensions option If the eV system is not configured to control a robot an attempt to enable the BELT system switch will cause an error The DEVICE real valued function and the SETDEVICE program instruction must be used to access external encoders from a nonrobot system For more information see the section External Encoder Device in the eV Language User s Guide Details 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 When the BELT switch is enabled error checking is initiated for the encoders associated with any belt variables that are defined The switch is disabled when the eV system is initialized Related Keywords BELT real valued function BELT MODE system parameter BSTATUS real valued function DEFBELT program instruction DISABLE monitor command DISABLE program instruction ENABLE monitor command ENABLE program instruction SETBELT program instruction SWITCH monitor command SWITCH program instruction eV Language Reference Guide v2 0 x Updated
12. 0 00 220 cece cece ccc eee cece cece ccc eeeceeeceeeseeees 220 FCMND program instruction 00200 0000000000 0000000000 0000da cece cee eeeeeeceeeeeeeees 222 FCOPY program instruction 2 00 2 0 e cece e cee a cece aa aea E E AE 232 FDELETE program instruction 2 2 c lt 4c2cc3cceesudquue cccgecnte guuaricnaiddoxuscdadadeeda ecu 234 FEMPTY program instruction spisie e a i eS et ak ol 236 FINE program instruction 2 ixctoseusitls yn2 52 oltre atin tit cea collin eit ak Gat SALA lb aia 238 FLIP programi INSEPUGEIOMN oy crank es fe ee ue Bh ts fe SIN es Ae ero e 240 FE GB real valued function ss Taaa senor bts ive nsbhexaSinetanup ahs aa a Style an 243 FLTB string function sch fon2 soon st ot5 ate anes i oonc ncn et eee n cuca tesa aC eete me 245 FOPEN program instruction 0 200 c ccc eee c cece eee ceeceeceeeeeceecveceeceeeeeees 246 FOPEN_ program instruction l 0000000000000000 000000000000 cece cece eee ee ce ecteceeeeeeees 249 FOR program instruction 0000 2 00 ce tec e cece eeeeeeeeeeeeeeseees 253 FRACS re l valded fUNCEON ai erosin Gases ete dias dinate ad die le e ea Aide de aarti 255 FRAME transformation function 00 0 0 200 c cece eee cece c eee ce cece ceceeceeceeeeeeeeees 256 FREE real valued function reras cae sent tele it OLS Bie td ih ERte naina annann nianna 258 FSEEK program instruction 0 0 00 2 coc ccc cece ence cece ccc ee cee eeceeeeceeeeeeeees 260 FSET program i
13. FOPEN program instruction FOPENR program instruction IOSTAT real valued function KILL monitor command KILL program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 221 FCMND program instruction FCMND program instruction Syntax FCMND logical_unit command_code out_string in_string Function Generate a device specific command to the input output device specified by the logical unit Usage Considerations The logical unit referenced must have been previously attached As appropriate the current default device unit and directory path are considered for any disk file specification see the DEFAULT command Parameters logical_unit Real valued expression that identifies the device to be accessed See the ATTACH instruction for a description of logical unit numbers command_code Real valued expression that specifies the command to be executed See the explanation of command codes below out_string String constant variable or expression that is transmitted to the device along with the command code to specify the operation to be performed in_string Optional string variable This variable receives any information returned from the device as a result of the command Details This instruction allows a program to generate device specific command sequences For example this instruction can be used to send a command to the disk to delete a file or to rename a file Since these are maintenance
14. HFO SCHR 0 CHR 0 SCHR 0 SCHR 0 CHR 0 S CHR 0 Returns 1 0 Related Keywords ASC real valued function DBLB string function DOUBLE type keyword for AUTO GLOBAL and LOCAL FLTB real valued function FLTB string function INTB real valued function TRANSB transformation function VAL real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 142 DBLB string function DBLB string function Syntax DBLB value Function Return an 8 byte string containing the binary representation of a real value in double precision IEEE floating point format Parameter value Real valued expression the value of which is converted to its IEEE floating point binary representation Details A real value is converted to its binary representation using the IEEE double precision standard floating point format This 64 bit value is packed as eight successive 8 bit characters in a string See the DBLB real valued function for a more detailed description of IEEE floating point format The main use of this function is to convert a double precision real value to its binary representation in an output record of a data file Example SDBLB 1 215 Returns a character string equivalent to SCHR H3F CHR H3F CHR H70 SCHR HA3 CHR HD7 CHR HOA CHR H3D CHR H71 Related Keywords CHR string function DOUBLE type keyword for AUTO GLOBAL and LOCAL FLTB string functio
15. INTB 12345 SLNGB 67 65536 12345 Related Keywords CHR string function FLTB string function INTB string function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 323 LNGB string function LNGB real valued function TRANSB string function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 324 LOCAL program instruction LOCAL program instruction Syntax LOCAL type variable variable Function Declare permanent variables that are defined only within the current program Usage Considerations Subroutines can be called simultaneously by multiple program tasks and recursively by a single task Local and global variables can be corrupted if such calls occur inadvertently Thus the use of automatic variables in place of local variables is recommended LOCAL statements must appear before any executable statement in the program If a variable is listed in a LOCAL statement any global variable with the same name cannot be accessed directly by that program The values of local variables are not saved or restored by the STORE or LOAD monitor command Parameters type Optional parameter specifying the type of a variable The acceptable types are LOC Location variable transformation or precision point REAL Single precision real variable DOUBLE Double precision real variable See the description of the GLOBAL program instruction for details on the default type variable Variable
16. MC monitor_command Function Introduce a monitor command within a command program Usage Considerations The MC instruction can be contained only within a command program Command programs can contain only MC instructions blank lines and comment lines Parameter monitor_command Any valid eV monitor command Details Command programs are created using one of the eV editors To indicate to the editor that a command program rather than a normal program is being created every operation line of a command program must begin with the letters MC that is for Monitor Command follows followed by one or more spaces As with regular application programs command programs can contain blank lines and comment lines to add clarity Every nonblank line of acommand program must contain a monitor command ora comment Monitor commands and program instructions cannot be mixed Program instructions can be included however by using the DO command That is to include an instruction in a command program you can type a line with the form me do instruction See the eV Operating System Reference Guide for details on monitor commands Example The following command program loads disk files prepares for execution of a program and begins the execution Note that a DO command is used to include a MOVE instruction 1 PROGRAM setup 2 MC LOAD C project 3 MC LOAD B project lc 4 MC SPEED 50 5 6 7 MC DO MOVE safe loc MC EXECUTE mo
17. Syntax NOT CALIBRATED Function Indicate or assert the calibration status of the robots connected to the system Usage Considerations The current value of the NOT CALIBRATED parameter can be determined with the PARAMETER monitor command or real valued function You can modify the value of this parameter at any time refer to the next section for details The parameter name can be abbreviated Details The value of this parameter which can range from 1 to 32767 should be interpreted as a bit mask Bits 1 through 15 correspond to robots 1 through 15 respectively For example the following values have the following interpretations Value of Interpretation parameter All robots are calibrated Robot 1 is not calibrated Robots 1 and 2 are not calibrated Robots 1 through 3 are not calibrated On power up this parameter is set to indicate that all installed robots are not calibrated If a robot is not connected or not defined its NOT CALIBRATED bit is always off The CALIBRATE command and instruction attempt to calibrate any enabled ROBOT that has its NOT CALIBRATED bit set When the calibration operation completes the NOT CALIBRATEd bits are updated as appropriate For example consider a system that has only one robot installed If the CALIBRATE command is issued and it succeeds NOT CALIBRATED is set to 0 If three robots are connected and the CALIBRATE command succeeds in calibrating robots 1 and 2 but not
18. TRANS transformation function TRANS transformation function Syntax TRANS X_value Y_value Z_value y_value p_value r_value Function Return a transformation value computed from the given X Y Z position displacements and y p r orientation rotations Parameters X_value Optional expressions for the X Y and Z displacement components Y_value respectively Z_value y_value Optional expressions for the yaw pitch and roll orientation p value COMPonents respectively r_value NOTE If any parameter is omitted its value is taken to be zero Details The input parameter values are used to compute a transformation value that can be assigned to a location variable or used in a compound transformation or motion request Examples If rs the radius of a circle and angle is the angle of rotation about the circle then the transformation TRANS r COS angle r SIN angle 0 0 0 0 yields points on that circle If frame is a transformation defining the position of the center of the circle and the plane in which it lies the following program segment moves the robot tool point around the circle in steps of 1 degree FOR angle 0 TO 360 1 MOVE frame TRANS r COS angle r SIN angle 0 0 0 0 END eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 536 TRANS transformation function Related Keywords DECOMPOSE program instruction DX real valued function DY real valued function DZ real v
19. The possible values returned by this function are Value Interpretation select 19 o Not a MOVEF MOVESF motion Depart segment of MOVEF MOVESF Horizontal segment of MOVEF MOVESF Final segment of MOVEF MOVESF When select is 20 through 27 the function returns detailed information on the planned execution time of the current motion or the previously executed motion if the robot is eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 498 STATE real valued function stopped Note unlike STATE 9 that returns the remaining motion execution time corrected for the monitor speed setting the values returned by STATE 20 through STATE 27 are the planned values and are not affected by the setting of the monitor speed value The values returned by these functions in units of seconds are When select 30 the function returns the state of the Front Panel power light The possible values returned by this function are Interpretation select 30 Light is off Light is blinking at 4 Hz Light is blinking at 1 Hz Example The following example shows how the STATE function can be used to determine whether or not a REACTI was triggered during a robot motion REACTI 1001 Setup the reaction MOVES final Start the robot motion BREAK Wait for the motion to complete CASE STATE 2 OF Decide what happened VALUE 2 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 499 STATE real valued function
20. Usage Considerations There must be a matching END statement for every IF THEN in a program Parameters logical_expr Real valued expression whose value is tested for TRUE nonzero or FALSE zero first_steps Optional group of program instructions that are executed only if the value of the logical expression is TRUE nonzero second_steps Optional group of program instructions that are executed only if the value of the logical expression is FALSE zero The ELSE statement may be omitted if there are no steps in this group Details This control structure provides a means for conditionally executing one of two groups of instructions In detail it is processed as follows 1 logical_expr is evaluated If the result is FALSE zero skip to item 4 below 2 The first group of instruction steps is executed 3 Skip to item 5 below eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 287 IF logical_expr THEN program instruction 4 Ifthereis an ELSE step the second group of instruction steps is executed 5 Program execution continues at the first step after the END step The ELSE and END steps must be on lines by themselves as shown There are no restrictions on the instructions that can be in either group in the structure Thus nested IF structures can be used Examples Consider the following segment of a eV program If the value of row is greater than 5 the expression row gt 5 will be TRUE 1 0 so
21. User action None This is an informational message Network connection opened 100 Explanation A new client connection has been established on the given logical unit User action None This is an informational message Network connection terminated 565 Explanation This error occurs when input or output operations are attempted on a network connection that has already been terminated User action Reestablish the network connection and retry the original operation Network error Code n value received Explanation An error code between 255 and 1 inclusive has been received from the network The error code which does not have meaning to eV is being reported to you User action Application dependent If the indicated code does not having meaning for the current application verify that the remote computer is sending valid data eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 620 System Messages Alphabetical List Network node off line 538 Explanation An attempt has been made to send data to a known network node that is off line Either the node has been disabled or it is not connected to the network User action Make sure that the remote node is active and connected to the network Make sure that the local node is connected to the network Network not enabled 542 Explanation An attempt has been made to access a remote network node or perform certain network functions when
22. eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 36 eV Language Quick Reference Kerwort te SSC ests obtained with the SYMBOL PTR real valued function SYS INFO ST This string function is intended to provide general system information It also provides access to the ActiveVR log data TAS RF Return the current value of a real valued variable and assign it a new value The two actions are done indivisibly so that no other program task can modify the variable at the same time TASK Return information about a program execution task TIME Set the date and time I RF Return an integer value representing either the four digit date or the time specified in the given string parameter ST Return a string value containing either the current system date and time or the specified date and time Return a string value containing either the current system four digit date and time or the specified four digit date and time TIMER Set the specified system timer to the given time value TIMER Return the current time value of the specified system timer 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 TPS Return the number of ticks of the system clock that occur per second Ticks Per Second RF TF Return a transformation valu
23. 40 is interpreted as logically TRUE since it is nonzero eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 126 CONFIG real valued function CONFIG real valued function Syntax CONFIG select Function Return a value that provides information about the robot s geometric configuration or the status of the motion servo control features Usage Considerations The CONFIG function returns information for the robot selected by the task executing the function If the eV system is not configured to control a robot use of the CONFIG function causes an error Parameter select Optional real value variable or expression interpreted as an integer that has a value from 0 to 13 and selects the category of the configuration information to be returned See below for details Details This function returns a value that is interpreted as a series of bit flags The interpretation of the value returned by this function depends on the select parameter When the select parameter is omitted or has the value 0 1 or 2 the CONFIG function returns a value that can be interpreted as bit flags indicating a geometric configuration of the robot That is each bit in the value represents one characteristic of a robot configuration The parameter values in this group determine which robot configuration is returned by the function Select Configuration information returned The robot s current instantaneous configuration The
24. 5 8 2013 Page 510 SYMBOL string function SYMBOL string function Syntax SYMBOL pointer Function Determine the user symbol that is referenced by a pointer previously obtained with the SYMBOL PTR real valued function Usage Considerations The pointer value must have been obtained with the SYMBOL PTR real valued function Parameter pointer Real variable that identifies the symbol to be referenced Details This function can be used to determine the user symbol that is program or variable name that is pointed to by a pointer previously determined with the SYMBOL PTR real valued function A null string is returned if the pointer value is zero or invalid or if the symbol has been deleted since the pointer was defined Example After the SYMBOL PTR function has been used to set the values of elements of the array my pgm ptr for example see the dictionary page for the CALLP instruction the following instruction can be used to display the program name that is referenced by one of the pointers TYPE Program index is SSYMBOL my pgm ptr index Related Keyword CALLP program instruction SYMBOL PTR real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 511 SYMBOL PTR real valued function SYMBOL PTR real valued function Syntax SYMBOL PTR string type Function Determine the value of a pointer to a user symbol in eV memory Usage Considerations The value r
25. 5 8 2013 Page 669 System Messages Numerical List eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 670 System Messages Numerical List ce anes 1023 Position out of range Mtrn eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 671 System Messages Numerical List vee Moet eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 672
26. BITS real valued function IO monitor command RESET monitor command RUNSIG program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 466 SIG INS real valued function SIG INS real valued function SIGNAL monitor command SIGNAL program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 467 SIGN real valued function SIGN real valued function Syntax SIGN value Function Return the value 1 with the sign of the value parameter Parameter value Real valued expression Details This function returns 1 0 if the value of the parameter is less than zero If the parameter value is greater than or equal to zero 1 0 is returned Example SIGN 0 Returns 1 0 SIGN 0 123 Returns 1 0 SIGN 5 462 Returns 1 0 SIGN 1 3125E 2 Returns 1 0 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 468 SIGNAL program instruction SIGNAL program instruction Syntax SIGNAL signal_num signal_num Function Turn on or off external digital output signals or internal software signals Parameter signal_num _ Real valued expression that evaluates to a digital output or internal signal number A positive value indicates turn on a negative value indicates turn off SIGNAL ignores parameters with a zero value Details The magnitude of a signal_num parameter determines which digital or internal signal is to be considered Only digital output signals numbered fr
27. Creates a pendant notification Usage Considerations The pendant does not need to be attached using an ATTACH instruction prior to using this function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 389 PDNT WRITE program instruction Parameters title Optional string constant variable or expression that contains the title of the pendant notification msg Optional string constant variable or expression that contains the message of pendant notification Details PDNT NOTIFY is used to create a simple notification box on the T20 Pendant screen that can be cleared by pressing the OK or Cancel buttons on the pendant or with a eV call to PDNT CLEAR Example The following code PDNT NOTIFY Manual Mode To enable power press and hold the enable switch Creates the screen Manual Mode SPEED 25 To enable power press and hold the enable switch oO O U lu O Q ss O O mM ROBOT 1 Disp Loc I O Next gt Related Keywords PDNT WRITE program instruction PDNT CLEAR program instruction PDNT WRITE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 390 PDNT WRITE program instruction Syntax PDNT WRITE msgsize title msg f1 f2 f3 f4 Function Sets the pendant s Custom Message screen Usage Considerations The pendant does not need to be attached using an ATTACH instruction prior to using this function Parameters
28. Service Safety system not commissioned 648 Explanation A system with the EN954 Safety Category 3 option pre 2012 the Manual Mode Safety Package MMSP has not been successfully commissioned with the SAFE_UTL utility program OR Asystem with the PL d Safety according to ISO 13849 has not been successfully commissioned with Adept ACE Safety Commissioning Utility or has been decommissioned by the internal self checking firmware User action Test the safety with the SAFE_UTL utility program or Adept ACE Safety Commissioning Utility before enabling power for the first time You should then rerun the SAFE_UTL utility program or Adept ACE every three months to re commission the robot If you have connected the robot to a different controller or replaced the controller or the SIO module repeat the test For details see the documentation for the SAFE_UTL program or the Adept ACE User s Guide and the hardware documentation for your robot eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 639 System Messages Alphabetical List Searching for string exact case None Explanation The SEE editor command 0 has been entered The editor is prepared to search for the string indicated in the search mode indicated User action This is an informational message You can use the Repeat command to perform the indicated search or you can use Find or Change to initiate a new search or replacement operation The EXACT
29. The light on the HIGH POWER ON OFF button will blink when it is time to press it You must press the button within the time period specified in the eV configuration data which by default is ten seconds User action When the HIGH POWER ON OFF button on the VFP blinks promptly press the button to complete the two step process of enabling high power Processor crash CPU n None Explanation eV has detected that the specified CPU within the controller has entered a fatal error state A crash message from that processor is displayed immediately following A software error or hardware problem with that processor is likely User action It would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error message and exactly what you were doing at the time the error occurred You should store the programs that are in memory power down the controller and start it again If the processor ID shown is 1 you can restart eV by pressing Ctrl G The robot servos do not function but you can STORE the programs in memory If the problem persists contact Adept Customer Service Program already exists 309 Explanation An attempt has been made to LOAD a program that already exists or to COPY or RENAME a program to aname that is already in use User action Delete the conflicting program or use a different name Program argument mismatch 408 Explanation The arguments in
30. This function returns a string that identifies the release edition and date of the requested system software component Details Related Keywords ID monitor command ID real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 285 IDENTICAL real valued function IDENTICAL real valued function Syntax IDENTICAL location location Function Determine whether two location values are exactly the same Parameter location Transformation value that defines one of the locations of interest This can be a function a variable or a compound transformation Details This function returns the value TRUE if the positional and rotational components of the two specified locations are exactly the same Even a single bit difference in any of the components results in the value FALSE being returned Example The statement x IDENTICAL base 1 loc part sets the value of the real variable x to TRUE if the value of loc relative to the base 1 frame is exactly the same as the value stored in the variable part Related Keyword DISTANCE real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 286 IF logical_expr THEN program instruction IF logical_expr THEN program instruction Syntax IF logical_expr THEN first steps ELSE second steps END Function Conditionally execute a group of instructions or one of two groups depending on the result of a logical expression
31. affixed to the CIP connector on the AWC Verify that the CIP is connected securely If this error persists contact Adept Customer Service Manual mode switch 2 off detected by CPU 918 Explanation An E STOP condition has occurred during manual mode because the CPU has detected on signal channel 2 that the manual mode key switch has been set to automatic mode Normally this message is suppressed and error 645 is reported There may bea hardware problem with the CIP its cabling or most likely the AWC User action If safe to do so toggle the auto manual key switch and attempt to enable HIGH POWER again Reseat the plug affixed to the JAWC connector on the CIP and the plug affixed to the CIP connector on the AWC Verify that the CIP is connected securely If this error persists contact Adept Customer Service MCP enable switch 1 off detected by CPU 915 Explanation An E STOP condition has occurred because the CPU has detected on signal channel 1 that the MCP enable switch formerly called Hold to Run has been released Normally this message is suppressed and error 913 is reported There may be a hardware problem with the CIP or its cabling User action Hold the MCP enable switch and re enable HIGH POWER as desired If this error occurs frequently contact Adept Customer Service MCP enable switch 2 off detected by CPU 916 Explanation An E STOP condition has occurred because the CPU has detected on signal channel 2
32. below The value is interpreted as follows month ranges from 1 to 12 date year 1980 512 month 32 day time Optional integer value representing the hour minutes and seconds past midnight see below The value is interpreted as follows hour ranges from 0 to 23 time hour 2048 minute 32 second 2 NOTE This function always returns a string containing both the date and the time That can result in an erroneous date string if the date parameter is omitted when the time parameter is specified Details If both the date and time parameters are omitted this function returns the current system date and time in the format described below An empty string is returned if the system clock has not been initialized If the date and time parameters are specified their values are converted to an ASCII string in the format described below and the string is returned This operation is used to decode the output values generated by the TIME real valued function The date and time are output in the format dd mmm yy hh mm ss in which the individual elements are defined as follows eee een fad The day of the month 1 to 31 The month specified as a 3 letter abbreviation JAN FEB MAR APR eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 525 TIME string function Flement Description 4 MAY JUN JUL AUG SEP OCT NOV or DEC yy The year where 80 to 99 represent 1980 through 1999 respectively an
33. permitted These instructions can be executed by any program task as long as the task has attached a robot The instructions apply to the robot selected by the task If the eV system is not configured to control a robot executing these instructions causes an error Parameter location Transformation precision point location function or compound transformation that specifies the destination to which the robot is to move Details The MOVE instruction causes a joint interpolated motion That is intermediate set points between the initial and final robot locations are computed by interpolating between the initial and final joint positions Any changes in configuration requested by the program for example by a LEFTY instruction are executed during the motion The MOVES instruction causes a straight line motion During such a motion the tool is moved along a straight line path and is smoothly rotated to its final orientation No changes in configuration are allowed during straight line motions Examples MOVE pick Move by joint interpolated motion to the location described by the precision point pick eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 349 MOVE and MOVES program instruction MOVES ref place Move along a straight line path to the location described by the compound transformation ref place Related Keywords APPRO program instruction APPROS program instruction DEPART program instruction DEPARTS p
34. robot 3 NOT CALIBRATED is set to 4 binary 100 robots 1 and 2 calibrated 3 not calibrated eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 364 NOT CALIBRATED system parameter The purpose of this parameter is to allow one of the bits to be set to force the corresponding robot to be calibrated the next time a CALIBRATE command or instruction is executed This parameter can also be used to determine the calibration status of the robot s The parameter value can be changed at any time The following rules describe how a new asserted value is treated e Ifthe new value asserts that a robot is not calibrated the eV system behaves as if the robot is not calibrated whether or not the servo software believes that the robot is not calibrated e Ifthe new value asserts that a robot is calibrated the servo software is checked and eV tracks the calibrated not calibrated state indicated by the servo software for that robot NOTE It is usually not meaningful to use PARAMETER NOT CALIBRATED to clear a bit Examples Mark all installed robots as uncalibrated PARAMETER NOT CALIBRATED 1 Mark only robots 1 and 2 as uncalibrated PARAMETER NOT CALIBRATED 3 Related Keywords CALIBRATE monitor command CALIBRATE program instruction PARAMETER monitor command PARAMETER program instruction PARAMETER real valued function ROBOT system switch eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 365 NULL program instr
35. that declares the variable or reference the variable in a program instruction in a manner that makes its type clear Ambiguous name 453 Explanation The abbreviation used for the last command instruction or system defined name was not long enough to identify the operation intended User action Reenter the last line using a longer abbreviation Are you sure Y N 10 Explanation The requested command has a significant effect on the state of the system and eV wants to know if you really want it to happen User action To have eV continue type y followed by a carriage return An n followed by a carriage return or just a carriage return causes the command to be aborted Arithmetic overflow 409 Explanation The result of a calculation was outside the allowable range for real variables or eV has encountered a number that is outside the allowed range for integers while converting a real valued number to a decimal hexadecimal or octal integer or logical value Logical values use 32 bit integers but most program instructions that require integer arguments allow only 16 bit integers Also real variables can have only magnitudes in the range from about 5 4E 20 to 9 2E 18 User action Modify the program as required eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 580 System Messages Alphabetical List Attempt to modify active belt 614 Explanation A program instruction has been executed that
36. the eV Language User s Guide for an explanation of execution tasks The select parameter determines the type of information that is returned as follows select 0 select 1 Task number The function returns the number of the task executing the current program Task run state Returns the run state for the task specified by the task_num parameter The value returned should be interpreted as Value Interpretation oa Invalid task number ce E follows Stopped due to program completion Stopped due to program execution error for example undefined value eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 517 TASK real valued function paii Interpretation Stopped due to ABORT panic button pressed robot error or watchpoint Stopped due to PAUSE or breakpoint Stopped due to single step execution select 2 Task status bits Returns an integer value that should be interpreted as a set of bit flags that indicate the following information about the task specified by the task_num parameter IE Indication if bit is set Debugger is accessing task Task has robot attached Examples Display the task number the program is running in TYPE This program is running as task number TASK The following program segment demonstrates how the TASK function can be used to decide whether to initiate execution of a program named pc job 2 with task 2 IF TASK 1 2 lt gt 4 THEN If task 2 not
37. the file creation date and time are preserved along with the standard file attributes The only attribute that is affected is the archived bit which is cleared to indicate that the file is not archived In general a file specification consists of six elements 1 2 eS E An optional physical device for example DISK gt An optional disk unit for example D An optional directory path for example DEMO A file name for example NEWFILE A period character A file extension for example V2 FCOPY can also be used to write a file to a serial line FCOPY SERIAL n gt myfile Global serial line n Example Create a file named newfile v2 on disk device D that is an exact copy of the existing file named oldfile v2 on disk device D FCOPY D newfile v2 D oldfile v2 Related Keywords FCOPY monitor command DEFAULT monitor command FRENAME monitor command eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 233 FDELETE program instruction FDELETE program instruction Syntax FDELETE logical_unit object Function Delete the specified disk file the specified graphics window and all its child windows or the specified graphics icon Usage Considerations The logical unit number must be attached but no file or window can be currently open on that logical unit The window cannot be deleted if it or any of its child windows is open as any other logical unit or by
38. the time for a new trajectory point has arrived but the internal trajectory task has not finished computing the previous point 2 the servos did not receive trajectory data at the expected time because the trajectory task took too long to compute and write out the data or 3 the trajectory interval is equal to or less than the servo interval User action Perform one or more of the following 1 if the trajectory cycle time is less than 16 msec change it to the next longer time 2 move servo tasks off CPU 1 to allow more time for trajectory generation 3 upgrade the system processor to increase the throughput 4 reduce the number of robots or axes that you are operating or 5 if the trajectory cycle time is set to 2 msec make sure the servo interval is 1 msec Undefined program or variable name 406 Explanation The program or variable referenced in a command or program step does not exist possibly because the name was mistyped User action If the correct name was entered create the program or variable using one of the eV editors or the appropriate eV monitor commands or by loading from a disk file eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 648 System Messages Alphabetical List Undefined value 401 Explanation 1 A variable has been referenced that has not been assigned a value 2 Using the SEE editor an attempt has been made to use a macro return to a memorized cursor position or
39. 0 before it is reset to reflect the next motion When select 10 the function returns the percentage of the current motion that has completed The value 100 indicates that no motion is in progress For continuous path motions the value of STATE 10 increases during each motion until the transition to the next motion and then the value suddenly changes to close to 0 to reflect the start of the next motion That is STATE 10 does not reach 100 before it is reset to reflect the next motion When select 11 the function returns detailed information on which portion of the acceleration profile is currently being generated for the selected robot ce etn nee o memen C ieee o eem o peme o eere 2 reemer AE Constant acceleration during the transition section between motions 7 Ramping down acceleration during the transition section between motions e em o fe o iromo O E Nulling final errors 1 2 3 4 5 10 11 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 497 STATE real valued function When select 12 the function returns a flag that is set to nonzero when an ALTER program instruction is executed for the currently selected robot and cleared after the trajectory generator processes the posted ALTER data This flag can be used to coordinate the execution of ALTER instructions with the processing of the data by the trajectory generator When select 13 the function returns the trajectory generator exe
40. 1000 for TIMER 2 start_time TIMER 1 interval TIMER 1 start_time BAND HFFFFFF scale Note that timer 3 provides a better method for computing such intervals provided that a DOUBLE value can be used The type of eV variable used in time computations affects the maximum interval that can be computed with full resolution e Standard REAL variables have only 24 bits of resolution which limits the time interval to 16 777 216 22 counts This limit corresponds to about 4 6 hours for millisecond eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 531 TIMER real valued function timers and 74 hours for 16 millisecond timers e DOUBLE REAL variables have 52 bits of precision which stores the full resolution of the various timers This is the default type used when none is explicitly specified Example The following example shows how the TIMER instruction and real valued function can be used to time the execution of a subroutine TIMER 1 0 Set timer to zero CALL test routine Call the subroutine TYPE Elapsed time TIMER 1 seconds Related Keyword TIMER program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 532 TOOL program instruction TOOL program instruction Syntax TOOLtransformation_value Function Set the internal transformation used to represent the location and orientation of the tool tip relative to the tool mounting flange of the robot Us
41. 1011 Explanation The conveyor belt controller did not detect a zero index mark for the indicated belt User action Make sure the belt encoder is connected properly If the problem persists contact Adept Customer Service No zero index Mtr n 1004 Explanation The motor controller did not detect a zero index mark for the indicated joint User action Before you can resume running the program you must recalibrate the robot If the problem persists contact Adept Customer Service NVRAM battery failure 665 Explanation The nonvolatile RAM battery backup has failed and the RAM may not hold valid data User action Replace the NVRAM battery NVRAM data invalid 661 Explanation The nonvolatile RAM has not been initialized or the data has been corrupted User action Power down your controller and restart your system If the error persists contact Adept Customer Service eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 625 System Messages Alphabetical List Obsolete keyword 2 Explanation This keyword is no longer supported User action Don t use this keyword Obstacle collision detected 901 Explanation A possible or actual collision has been detected between the robot anda statically defined obstacle Obstacles may include fixed objects in the workcell as well as structural elements of the robot such as its base This error is similar to Location out of range in that it is often
42. 220 ccc ccc ccc c cece cece cece cece ceceeeceeeseeees 492 STATUS real valued function 2 02 0 0 00 cocci e cece cece eee eceeceeceecereceeeeeeeeees 501 STOP program instruction 00 00 000000000 eee cc ccc cece eee ec cece ce ceceecceceecceceecereees 503 STRDIF real valued function 2 02 00 0 00 c cece cece eee ee eee eeececeecceeeeeceeeees 505 SWITCH program instruction 200 220 cece ccc cece cece cece cece cece eeeeeceeeeeeeeeeees 507 SWITCH real valued function 2222 20 00 ooo c cece cece eee oodd aaraa rann 509 SYMBOL string FUNCTION 2022 occ cc ccc ence ce ccececceeceeceeseveeeseesteseeeeaes 511 SYMBOL PTR real valued function 2 2 00 0 0 22 2 occ cece ccc eee ec eee cece ccecececeeeeeeees 512 SYS INFO string function 222 cece ccc eee ccc ccc ccc ec ccc ceeceeceeeeceeveeeseeeeeseeneens 513 TAS real valued function 2 0 0 0 0 00 c cece eee cece cece cece eee ee cee eeceeceecceececceeeeceees 514 TASK real valued function 202 00 0 00 o 000000000000 cee cece cece ccc ec eee cec eee eeceeececceceeeeeeceees 517 TIME program instruction 200 2002 ea ec cece a cece cece S E a ies 520 TIME real valued function 2 0 0 0 cece cece eee ee eee cence cee ceeeeeeseeeeneenees 522 TIME string function 2 2 2 ccc cece ence c cece ccc cecccecececceeceteeteeesetseeseesensees 525 TIME4 string function 2022 cc cece cece ccc cccecceececcceceestnseceeteeeseeeeaeeaes 527 TIMER program instruction 2
43. 24 significant bits are converted with some loss in precision Double precision numbers are stored with 32 bits of significance with the MSB being the sign bit Doubles are converted with no loss of precision Parameters string String constant variable or expression that contains the four bytes to be converted first_char Optional real value variable or expression interpreted as an integer that specifies the position of the first of the four bytes in the string An error results if first_char specifies a series of four bytes that goes beyond the end of the input string If first_char is omitted or has the value 0 or 1 the first four bytes of the string are extracted If first_char is greater than 1 it is interpreted as the character position for the first byte see below Details Four sequential characters bytes of a string are interpreted as being a 2 s complement 32 bit signed binary integer The first of the four bytes contains bits 25 to 32 of the integer the second of the four bytes contains bits 17 to 24 etc For example if first_char has the value 9 then the ninth character byte in the input string contains bits 25 to 32 of the integer the tenth byte of the string contains bits 17 to 24 and so forth The main use of this function is to convert binary numbers from an input data record to values that can be used internally by eV eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 321 LNGB real v
44. 5 8 2013 Page 85 BELT system switch SWITCH real valued function WINDOW program instruction WINDOW real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 86 BELT MODE system parameter BELT MODE system parameter Syntax BELT MODE Function Set characteristics of the conveyor tracking feature of the eV system Usage Considerations This option is available only if your Adept system is equipped with the eV Extensions option The current value of the BELT MODE parameter can be determined with the PARAMETER monitor command or real valued function The value of the BELT MODE parameter can be modified only with the PARAMETER monitor command or program instruction Details This parameter is interpreted as a bit flag word The initial setting of this parameter is 0 That is all the bits are zero Bits can be set by assigning the value resulting from adding together the desired bit mask values see the example below The bit flags have the following interpretations Bit 1 LSB Upstream downstream definition mask value 1 When this bit is set to one the instantaneous direction of travel of the belt is used to define upstream and downstream for the window testing routines both in the internal motion planner and the WINDOW real valued function When this bit is set to zero going from upstream to downstream always corresponds to traveling in the direction of the positive X axis of the nom
45. 8 2013 Page 660 System Messages Numerical List cee Memeo eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 661 System Messages Numerical List eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 662 System Messages Numerical List cote meager 549 Out of graphics memory eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 663 System Messages Numerical List Message Text 561 Invalid network address 562 Network timeout 563 Remote has not exported network resource eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 664 System Messages Numerical List or ini Must use straight line motion Straight line motion can t alter configuration 625 Invalid servo initialization data 626 Can t ALTER and track belt Robot power on eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 665 System Messages Numerical List eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 666 System Messages Numerical List cee Monee ae rower ae monn as e eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 667 System Messages Numerical List eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 668 System Messages Numerical List sis remes 917 Manual mode switch 1 off detected by CPU 918 Manual mode switch 2 off detected by CPU eV Language Reference Guide v2 0 x Updated
46. ACCEL PI Set acceleration and deceleration for robot motions Optionally specify a defined acceleration profile ACCEL RF Return the current setting for robot acceleration or deceleration setting or return the maximum allowable percentage limits defined in the robot configuration profile Align the robot tool Z axis with the nearest world axis ALWAYS K Used with certain program instructions to specify a long term effect AND o Perform the logical AND operation on two values ALIGN ANY Signal the beginning of an alternative group of instructions for the eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 25 APPRO APPROS ASC ATAN2 ATTACH AUTO AUTO POWER OFF BAND BASE BASE BELOW BELT BELT BELT MODE BITS BITS BMASK BRAKE BREAK BSTATUS eV Language Quick Reference fd CASE structure Start a robot motion toward a location defined relative to specified location Return an ASCII character value from within a string RF Return the size of the angle in degrees that has its trigonometric tangent equal to value_1 value_2 PI Make a device available for use by the application program PI Declare temporary variables that are automatically created on the program stack when the program is entered SW Control whether or not eV disables high power when certain motion errors occur Perform the binary AND operation on two values Return the transformation value that represents the tr
47. COS angle Function Return the trigonometric cosine of a given angle Usage Considerations The angle parameter must be measured in degrees The parameter is interpreted as modulo 360 degrees but excessively large values may cause a loss of accuracy in the returned value Parameter angle Real valued expression that defines the angular value in degrees to be considered Details Returns the trigonometric cosine of the argument which is assumed to be in degrees The resulting value is always in the range of 1 0 to 1 0 inclusive Examples Cos 0 5 7 Returns 0 999962 COS 5 462 Returns 0 9954596 COS 60 7 Returns 0 4999999 COS 1 3125E 2 Returns 0 6593457 NOTE TYPE PROMPT and similar instructions output the results of the above examples as single precision values However they are actually stored and manipulated as double precision values The LISTR monitor command will display real values to full precision eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 133 CP system switch CP system switch Syntax CP Function Control the continuous path feature Details The CP switch can be used to turn off continuous path motion processing For more information on continuous path motion see the section Continuous Path Trajectories in the eV Language User s Guide This switch is enabled when the eV system is initialized Example DISABLE CP 7 Turn off continuous path motion processing
48. EXECUTE command or instruction is processed for task 0 2 The robot is attached with an ATTACH instruction 3 ACALIBRATE command or instruction is processed Before an application program changes the setting of the DRY RUN switch the program must have the robot detached Otherwise an error results when the attempt is made to change the switch setting Details This system switch can be used to stop eV from sending motion commands to the robot and expecting position information back from the robot Thus when the system is in DRY RUN mode application programs can be executed to test for such things as proper logical flow and correct external communication without having to worry about the robot running into something Also see the TRACE system switch The pendant can still be used to control the robot while the system is in DRY RUN mode The DRY RUN switch is sampled whenever a robot is attached Note that task 0 attempts to attach the robot when program execution begins or is resumed The DRY RUN setting for a task can be changed during execution by DETACHing the robot changing DRY RUN and then ATTACHing the robot NOTE Do not allow multiple tasks to change DRY RUN simultaneously since the DRY RUN state can then be different from that expected Your programs should use a software interlock in this case The DRY RUN switch is initially disabled eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 186 DRY RUN system s
49. HOLD Input error Try again Breakpoint at task program_name stepn Watchpoint changed at task program_name step n Old value n New value n Warning Messages CO Warning Not calibrated Warning Protected and read only programs are not stored Protected program rosso rarer ami eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 655 System Messages Numerical List cee temo 1 1 2 03 Warning Network monitor interface not open Error Messages COn a peee O e eem Program already exists 310 Can t access protected or read only program Invalid when program task active eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 656 System Messages Numerical List ee eres 351 First statement must be PROGRAM eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 657 System Messages Numerical List Message Text Can t execute from SEE program instruction 365 Tllegal in read write mode 401 Undefined value eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 658 System Messages Numerical List vee meee eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 659 System Messages Numerical List 468 Duplicate PROGRAM arguments 469 Attempt to redefine variable type variable_name Attempt to redefine variable class variable_name eV Language Reference Guide v2 0 x Updated 5
50. Language Reference Guide v2 0 x Updated 5 8 2013 Page 59 APPRO program instruction APPRO program instruction Syntax APPRO location distance APPROS location distance Function Start a robot motion toward a location defined relative to specified location Usage Considerations APPRO causes a joint interpolated motion APPROS causes a straight line motion during which no changes in configuration are permitted The APPRO and APPROS instructions can be executed by any program task as long as the task has attached a robot The instructions apply to the robot selected by the task If the eV system is not configured to control a robot executing these instructions will cause an error Parameters location Transformation value that defines the basis for the final location distance Real valued expression that specifies the distance along the robot tool Z axis between the specified location and the actual desired destination A positive distance sets the tool back negative tool Z from the specified location a negative distance offsets the tool forward positive tool Z Details These instructions initiate a robot motion to the orientation described by the given location value The position of the destination location is offset from the given location by the distance given measured along the tool Z axis Examples APPRO place offset eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 60 APPRO program instr
51. Otherwise the function returns the value FALSE When this function returns a nonzero value the data for the latch event is made available for retrieval by the following functions DEVICE Returns position of external encoder BELT Returns position of external encoder LATCH Returns robot location as a transformation PLATCH Returns robot location as a precision point eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 316 LATCHED real valued function NOTE After one or multiple nonzero values are returned by this function and the latch buffer is empty subsequent use of the function returns the value FALSE until the next occurrence of a latch trigger Operation of the position latch can be configured from the V System Configuration Editor in the Adept ACE software For details see the Adept ACE User s Guide Related Keywords DEVICE real valued function BELT real valued function LATCH transformation function PLATCH precision point function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 317 LEFTY program instruction LEFTY program instruction Syntax LEFTY Function 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 Usage Considerations Configuration changes cannot be made during straight line motions If the selected robot does not support a left handed configuration this instruction is ignored by the robo
52. PROGRAM statement any AUTO and LOCAL statements and all comments and blank lines at the start of the program Calibration program not loaded 425 Explanation A program required for calibration has not been loaded from disk This error occurs if a robot specific calibration file cannot be found on the disk i e in the same location as the file for the main calibration program or if a required calibration program is not present in memory when it is expected The latter situation can occur if the CALIBRATION command or instruction is executed with an input mode that does not cause the calibration programs to be loaded from disk and the programs are not already present in memory User action Reissue the CALIBRATE command or instruction with the proper mode The default mode of zero causes CALIBRATE to automatically load the required programs from disk perform the calibration and then delete the programs Alternatively issue a CALIBRATE command or instruction with mode 1 which causes the calibration programs to be loaded into memory and then reissue the CALIBRATE command or instruction that was originally attempted Calibration sensor failure Mtr n 1106 Explanation During calibration the calibration sensor for the indicated motor cannot be read correctly Either the robot is blocked from moving or a hardware error has occurred User action Retry the CALIBRATE command or instruction after making sure that the robot is not
53. RY transformation function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 193 DX DY DZ real valued function RZ transformation function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 194 DX DY DZ real valued function DX DY DZ real valued function Syntax DX location DY location DZ location Function Return a displacement component of a given transformation value Parameter location Transformation value from which a component is desired This can be a function a variable or a compound transformation Details These three functions return the respective displacement components of the specified transformation value NOTE The DECOMPOSE instruction can also be used to obtain the displacement components of a transformation value If the rotation components are desired that instruction must be used DECOMPOSE is more efficient if more than one element is needed and the location is a compound transformation Example Consider a transformation start with the following components 125 250 50 135 50 75 The following function references will then yield the indicated values DX start Returns 125 00 DY start Returns 250 00 DZ start Returns 50 00 Related Keywords DECOMPOSE program instruction RX transformation function RY transformation function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 195 DX DY DZ real valued function RZ transformati
54. Reference Guide v2 0 x Updated 5 8 2013 Page 16 Dangers Warnings Cautions and Notes in Manual AdeptSight Reference Describes the AdeptSight vision commands used for Guide custom vision programming Adept SmartController Instructions for setting up configuring and User s Guide maintaining the controller on which eV runs Robot or motion device Instructions for installing and maintaining the motion user s guides if connected device connected to your system to your system Dangers Warnings Cautions and Notes in Manual There are four levels of special notation used in this manual In descending order of importance they are DANGER This indicates an imminently hazardous electrical situation which if not avoided will result in death or serious injury DANGER This indicates an imminently hazardous situation which if not avoided will result in death or serious injury WARNING This indicates a potentially hazardous electrical situation which if not avoided could result in serious injury or major damage to the equipment WARNING This indicates a potentially hazardous situation which if not avoided could result in serious injury or major damage to the equipment gt gt gt gt eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 17 Conventions CAUTION This indicates a situation which if not avoided could result in minor injury or damage to the equipment NOTE This provides supplementary
55. Reference Guide v2 0 x Updated 5 8 2013 Page 33 eV Language Quick Reference _lasraunsnernemaoeestnetonesren PHERE Return a precision point value representing the current location of aa currently selected robot RF Return the Return the value of the mathematical constant pi 3 141593 of the mathematical constant pi Return the value of the mathematical constant pi 3 141593 141593 PLATCH Return a precision point value representing the location of the robot at the occurrence of the last external trigger POS Return the starting character position of a substring in a string POWER Control or monitor the status of high power PPOINT Return a precision point value composed from the given components PRIORITY Return the current reaction lock out priority for the program RF PROGRAM Define the arguments that are passed to a program when it is invoked PROMPT Display a string on the system terminal and wait for operator input RANDOM Return a pseudorandom number REACT PI Initiate continuous monitoring of a specified digital signal and automatically trigger a subroutine call if the signal properly transitions REACTE PI Initiate the monitoring of errors that occur during execution of the current program task REACTI PI Initiate continuous monitoring of a specified digital signal Automatically stop the current robot motion if the signal transitions properly and optionally trigger a subroutine call READ PI R
56. SystemMessages Numerical List eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 13 Introduction Introduction The following topics are described in this chapter Compatibility 0 000000000 000000000000000 cece cece cece eect cece cece eeeeeeee 16 Licenses Gani ttn O82 Ok iD eee A ETON e tal oe teh LD NOB I Ma tat DA A ht ONS a a Jel 16 Related Publications __ 2 2 22 02 o oo c cence cece cece cceeeceecceeceeeceeeeeeee 16 Dangers Warnings Cautions and Notes in Manual 17 CONVENTIONS A soyis te ea aie ee ade as ae eaten oa Si ea 18 How Can I Get Help cece ie tec ise hn she aod pete ae ah Me dadeh ue 21 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 15 Compatibility Compatibility This guide is for use with eV systems version 2 0 x and later This guide provides reference material and descriptions of keywords for the eV programming language For information on the eV operating system and descriptions of the monitor commands see the eV Operating System User s Guide and the eV Operating System Reference Guide See the eV Release Notes for a summary of changes for each version Licenses The eV Operating System software requires the appropriate eV version license to be installed in the nonvolatile RAM NVRAM on the Adept controller s system processor board If this license is not installed the system displays a Protection Error after attempting
57. TYPE Motion completed normally VALUE 6 TYPE Motion stopped by REACTI VALUE 8 TYPE Motion stopped by panic button END Related Keywords SELECT program instruction SELECT real valued function STATUS monitor command STATUS real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 500 STATUS real valued function STATUS real valued function Syntax STATUS program_name Function Return status information for an application program Usage Considerations The use of STATUS with a null program name to determine the task number is obsolete The TASK real valued function is more efficient and should be used instead Parameter program_name String constant variable or expression that specifies the name of the application program of interest Letters in the name can be uppercase or lowercase The string can be empty in order not to specify a program name see below but the parameter cannot be omitted Details This function returns information about the execution status of the specified program If no program name is specified that is the parameter string is empty the task number of the program containing the function call is returned This allows a program to determine which system task it is executing as Tasks and task numbers are described in the section Scheduling of Program Execution Tasks in the eV Language User s Guide If a program name is specified as the functio
58. The watchdog timers on the CPU boards assert this signal and light the SF LED if severe software errors occur User action Check the SYSFAIL LEDs on the front edge of the boards The board which has failed should light its LED Restart the system Verify proper seating of the system boards and correct device connections to the boards Test the system with as many boards removed as possible adding boards back in until the problem board is identified If the problem persists contact Adept Customer Service SYSFAIL detected by robot 642 Explanation The motion interface board has detected a SYSFAIL signal on the VMEbus and has asserted the backplane E STOP signal This error is normally superseded by other errors and not seen User action Check for a subsequent message To determine if there was an unreported RSC error type listr error task 4 where task is the number of the task that received the error If no additional information is available call Adept Customer Service Task None Explanation The SEE editor DEBUG extended command has been used to initiate a program debugging session for the current program The debugger needs to know which program task you want to use when executing the program User action Enter the desired task number or press Return to access the same task used for the last debugging session eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 645 System Messages Alphabetical List Tem
59. Un Xn B Example Include the characters necessary to move the cursor up n lines if the resulting string is output to the terminal This works correctly only if the TERMINAL parameter is correctly set for the terminal being used Include n spaces Include a character that beeps the terminal if the resulting string is output to the terminal The program statement Soutput ENCODE F6 2 count adds a formatted representation of the value of count to the string contained in output eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 203 ENCODE string function The ENCODE function provides a way of adding format control to the output from PROMPT instructions This is shown by the following example in which the value of motor is displayed as part of the prompt message to you PROMPT SENCODE B Start motor I0 motor Y N Sanswer This PROMPT instruction beeps the terminal B and displays the following user prompt when the value of motor is 3 Start motor 3 Y N Related Keyword TYPE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 204 END program instruction END program instruction Syntax END Function Mark the end of a control structure Usage Considerations Every END instruction must be part of a CASE FOR IF or WHILE control structure Details Every CASE FOR IF and WHILE control structure must have its end marked by an END i
60. Updated 5 8 2013 Page 189 DURATION program instruction SELECT program instruction SELECT real valued function SPEED monitor command SPEED program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 190 DURATION real valued function DURATION real valued function Syntax DURATION select Function Return the current setting of one of the motion DURATION specifications Usage Considerations The DURATION function returns information for the robot selected by the task executing the function If the eV system is not configured to control a robot the DURATION function does not generate an error due to the absence of a robot However the information returned by the function may not be meaningful Parameter select Real valued expression whose value determines which duration value should be returned see below Details This function returns the user specified minimum robot motion duration in seconds corresponding to the select parameter value See the description of the DURATION program instruction for an explanation of the specification of motion duration times Different select values determine when the duration time returned applies as listed below All other values for the select parameter are considered invalid DURATION value returned Permanent minimum robot motion duration set by a DURATION ALWAYS program instruction Temporary motion duration for the current or last m
61. User action None required for this message but subsequent commands in the auto startup command program may require user action WARNING The robot may begin to move during the automatic start up procedure If necessary you can stop the robot by pressing EMERGENCY STOP or the controller or PANIC on the pendant Backplane E STOP detected by CPU 630 Explanation The AdeptMotion system has detected an error or problem and has asserted the BRKSTOP signal on the VME bus If that error is seen it indicates a transient BRAKE ESTOP signal User action Correct the problem that is causing the motion system to report the error eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 581 System Messages Alphabetical List Bad block in disk header 523 Explanation While formatting a disk a bad disk block has been found in the disk header area The format operation has failed and the disk is not usable User action Enter the FORMAT command again use a different diskette if the error persists Belt not enabled 615 Explanation A robot operation that references a moving conveyor belt has been attempted when the conveyor tracking feature is disabled User action Enter an ENABLE BELT command and retry the operation Belt servo dead 617 Explanation The belt processor isn t responding to commands from eV User action After saving the programs power down the controller and power it up again If this erro
62. a SCARA robot is in use If this bit is set the position has the robot configured with the pitch axis of the wrist set to a negative angle Otherwise the pitch angle of the robot wrist has a positive value This bit is always 0 when the robot does not have a three axis wrist which is the case for a SCARA robot Real variable that receives a bit flag value that indicates whether any joint positions were computed to be outside of their working range or whether the XYZ position of the destination was outside the working envelope of the robot The bit flags are interpreted as follows Bits 1 12 Joint Motor out of range If set the computed value for the joint or motor was found to be outside of its limit stops Joint Mask Value Motor eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 475 SOLVE ANGLES program instruction Bit 13 Collision When this bit is turned on a mask value H1000 collision has been detected Bit 14 Too close The XYZ position of the destination mask value H2000 cannot be reached because it was too close to the column of the robot Bit 15 Too far The XYZ position of the destination mask value H4000 cannot be reached because it was too far away from the robot Bit 16 Joint vs motor If set a motor is limiting Otherwise mask value H8000 a joint is limiting trans Transformation variable function or compound transformation that defines the robo
63. a subroutine specified with a string value CAS RF Compare a real variable to a test value and conditionally sets a new value as one indivisible operation CASE Initiate processing of a CASE structure by defining the value of interest CHR Return a one character string corresponding to a given ASCII value CLOSE Close the robot gripper CLOSEI COARSE fpr Enable a low precision feature of the robot hardware servo cm sf Perform the binary complement operation on a value CONFIG RF Return a value that provides information about the robot s geometric configuration or the status of the motion servo control features Return the trigonometric cosine of a given angle Control the continuous path feature CPOFF PI Instruct the eV system to stop the robot at the completion of the next motion instruction or all subsequent motion instructions and null position errors CPON PI Instruct the eV system to execute the next motion instruction or all subsequent motion instructions as part of a continuous path CYCLE END PI Terminate the executing program in the specified task the next time it executes a STOP program instruction or its equivalent CLEAR EVENT Clear an event associated with the specified task PI eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 27 eV Language Quick Reference TKerwora te SSCs SS Suspend processing of an executable program until a program running in the specified task completes
64. action Make sure nothing is obstructing the robot motion Turn on high power and try to perform the motion at a slower speed If necessary use the SPEC utility to increase the maximum skew error Soft envelope error Mtr n 1006 Explanation The indicated motor was not tracking the commanded position with sufficient accuracy indicating a failure in the hardware servo system or something impeding the path of the robot Because this was not considered a serious error a controlled motion stop occurred and high power remains on User action Try to perform the motion at a slower speed Make sure nothing is obstructing the robot s motion Soft overspeed error Mtr n 1028 Explanation During manual mode the servos have detected an attempt to move a robot axis at a speed faster than allowed The motion is terminated but robot power remains enabled User action Move the robot at a slower speed If you are near a mechanical singularity move the robot using joint mode instead of world or too mode Software checksum error 316 Explanation During processing of a FREE command the eV system has detected a checksum error in the system memory This indicates a problem with the system software or hardware Note however that a checksum error is introduced if any patches are made to the system software after the system is loaded from disk and started up The following codes are appended to the message indicating where the error occur
65. action To continue the current motion enter the RETRY monitor command To continue after the current motion enter the PROCEED monitor command PAUSED 9 Explanation A PAUSE instruction has been executed and thus the current program has suspended execution User action Any monitor command can be entered To continue execution of the program type proceed followed by the task number if it is not 0 Pendant Not Connected 657 Explanation The pendant is not connected to the XMCP connector or it is not responding User Action Check the connection cable and pendant Position out of range Jt n 1002 Explanation 1 The requested motion was beyond the software limited range of motion for the indicated joint 2 while enabling high power eV detected that the indicated robot joint was outside the software limit User action 1 Modify the program as required to prevent the invalid motion request Because the robot did not actually move out of range you do not need to move the robot before continuing 2 move the robot back into the working envelope Correct whatever caused the robot to get into the restricted area and enable power eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 628 System Messages Alphabetical List Position out of range Mtr n 1023 Explanation 1 The requested motion was beyond the software limited range of motion for the indicated motor 2 while enabling high power
66. always be jogged All other keys have no effect aside from being sent to the eV software Example Using PDNT WRITE with the Pendant The following instructions Sp title Operator Control Sp msg 0 Select Options from buttons below p f 1 Apps p f 2 Status Sp f 3 1 p f 4 woe PDNT WRITE Sp title Sp msg p f 1 p f 2 Sp f 3 Sp f 4 Create the screen Operator Control Select Option from buttons below 5 k Screen Generatate by Preceding Instructions Paragraph lt p gt This is a paragraph lt p gt Bold Text lt b gt Bold text lt b gt Emphasized Text lt em gt Emphasized text lt em gt Italic Text lt i gt Italic text lt i gt Smaller Text lt small gt Smaller text lt small gt Important Text lt strong gt Important text lt strong gt eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 392 PDNT WRITE program instruction Related Keywords PDNT NOTIFY program instruction PDNT CLEAR program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 393 PHERE precision point function PHERE precision point function Syntax PHERE Function Return a precision point value representing the current location of the currently selected robot Usage Considerations The function PHERE is considered to be a precision point name Thus the character must precede the function name whenever it is used PHERE is a reserved word
67. and support main e For user discussions support and programming examples http www adept com forum e For further information about Adept Technology Inc http www adept com eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 21 Keyword Overview Keyword Overview The following topics are described in this chapter New or Enhanced Keywords 2 2 2 0 000 0 oso eee cece eee cee cence eee eee eeees eV Language Quick Reference __ 22 2 0 022 o cece eee cece cece eee ees eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 23 New or Enhanced Keywords New or Enhanced Keywords For information on new or enhanced keywords listed by eV software release select a link below eV 2 0 x Release Notes eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 24 eV Language Quick Reference eV Language Quick Reference This Quick Reference table is arranged alphabetically by command name click an underlined letter to jump to the first command that begins with that letter A B C D E F G H I J K L N O P Q R S T U V W X Y M Z o fome a pooma e Resriestncion w fem e semprer i EE ca Transformation function Precision point kerwort pe aware ABORT Terminate execution of an executing program task 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 ABS Return absolute value
68. any other program task Parameters logical_unit Real value variable or expression interpreted as an integer that corresponds to a disk or window logical unit See the ATTACH instruction for a description of logical unit numbers object String constant variable or expression specifying the disk file graphics window or graphics icon to delete The error Nonexistent file will be reported via IOSTAT if the specified object does not exist For disk files the string may contain an optional disk unit and an optional directory path and must contain a file name a period and a file extension The current default disk unit and directory path are considered as appropriate see the DEFAULT command For graphics windows the string must fully specify the position in the window tree of the window to be deleted For graphics icons the string must specify the name of the icon followed by ICON Details If a disk logical unit number is specified the object parameter is interpreted as the specification of a disk file to be deleted If the deletion fails for any reason for example the file does not exist or the disk is protected an error will be returned via the IOSTAT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 234 FDELETE program instruction NOTE In order to delete a file from a 3 5 inch diskette the write protect slider must be in the position that covers the hole If the
69. be affected A value of 1 is assumed if none is specified The maximum valid value is 32 value Real valued expression defining the value to be set on the specified signals If the binary representation of the value has more bits than num_sigs only the lowest num_sigs signals will be affected Details Sets or clears one or more external output signals or internal software signals based on the value to the right of the equal sign The effect of this instruction is to round value to an integer and then set or clear a number of signals based on the individual bits of the binary representation of the integer All eV digital output instructions do not wait for a eV cycle they turned on outputs immediately However digital inputs are checked every 2 milliseconds by the eV operating system eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 89 BITS program instruction Examples Set external output signals 1 8 8 bits to the binary representation of the current monitor speed setting BITS 1 8 SPEED 1 If the monitor speed were currently set to 50 0011 0010 binary then signals 1 8 are set as follows after this instruction signal 1 gt 0 off signal 5 gt 1 on signal 2 gt 1 on signal 6 gt 1 on signal 3 gt 0 off signal 7 gt 0 off signal 4 gt 0 off signal 8 gt 0 off Set external output signals 5 9 4 bits to the binary representation of the BCD digit 7 BITS 5 4 BCD 7 Set ex
70. be turned on User action Power down the controller and restart If the problem persists contact Adept Customer Service Fatal Servo init failure Board n 1107 Explanation During system initialization the indicated servo interface board cannot be initialized The problem may be an invalid servo configuration a missing or improperly configured servo interface board or a hardware failure eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 600 System Messages Alphabetical List User action Power down the controller and restart making sure you are using the correct system disk If the problem persists contact Adept Customer Service Fatal Servo process dead CPU n 1101 Explanation eV failed to detect proper operation of the servo process on the indicated CPU eV continues to operate but does not allow high power to be turned on User action Power down the controller and restart Use the CONFIG_C V2 utility to verify that a servo process is enabled for this CPU If the problem persists contact Adept Customer Service Fatal Spurious Int at aaaaaa m n None Explanation An internal problem has occurred with the eV software or with the system hardware User action It would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error message and exactly what you were doing at the time the error occurred To save programs that are in mem
71. between the two instructions is the way the subroutine name is specified CALL requires that the name be explicitly entered in the instruction step CALLS permits the name to be specified by a string variable or expression which can have its value defined when the program is executed That allows the program to call different subroutines depending on the circumstances As with the CALL instruction execution automatically returns to the current program when a RETURN instruction is executed in the subroutine Execution continues with the instruction immediately following the CALLS instruction For some applications the CALLP instruction is much more efficient than CALLS See the CALLP instruction for details eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 111 CALLS program instruction Examples The program segment below demonstrates how the CALLS instruction can be used to branch to a subroutine whose name is determined when the program is executed First the program reads a set of four digital input lines 1001 to 1004 to determine which of sixteen different part types it is dealing with The part type is considered to be a hexadecimal number which is converted to the corresponding ASCII character Once the character is defined the appropriate subroutine that is part 0 part 1 part f is called to process the part The part type value is also used to select the portion of the two dimensional array argument that is p
72. blocked If the problem persists contact Adept Customer Service Canceled 358 Explanation An editor debugger or pendant operation has been terminated due to operator intervention User action This is usually an informative message to acknowledge the cancellation of the operation Can t access protected or read only program 310 Explanation An attempt has been made to edit a protected or read only program These programs cannot be edited User action None Can t ALTER and track belt 626 Explanation Either a belt relative motion was specified while ALTER mode was enabled or an attempt was made to enable ALTER mode while the selected robot was tracking a belt eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 583 System Messages Alphabetical List Both operations are prohibited because belt tracking and ALTER mode cannot be performed at the same time User action Either disable ALTER mode or stop tracking the belt Can t change modes while task running 361 Explanation A command was issued to change from debug monitor mode to debug editor mode while the program task being debugged was executing You can change to debug editor mode only when the associated task is stopped User action Stop execution of the program task being debugged or continue without using debug editor mode Can t create new slide bar 557 Explanation An attempt has been made to create a graphic slide bar in
73. calibrated Thus any location variables that are defined may not represent the locations desired User action Enter a CALIBRATE command or have your program execute a CALIBRATE instruction Warning Protected and read only programs are not stored 52 Explanation A STORE command has been executed while protected and or read only programs are loaded in the eV system memory The protected and read only programs are not stored in the new disk file User action Use the FCOPY command if you want to move read only programs from one disk to another Protected programs cannot be moved from one disk to another Warning SET SPEED switch disabled 54 Explanation A PRIME operation has been performed from the manual control pendant while the SET SPEED system switch is disabled Therefore the monitor speed specified in the PRIME command has no effect User action If you want the PRIME command to change the monitor speed type the command enable set speed at the keyboard eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 652 System Messages Numerical List Warning Watchdog timer disabled 56 Explanation Displayed at startup by all CPUs if the watchdog timer on the board is disabled This timer is a hardware device that asserts SYSFAIL on the VME bus which drops high power if the CPU halts or gets hung The board that has failed should light its SF LED This message is also displayed whenever a user task is started from th
74. cancels the effect of the AMOVE instruction Parameter time Real value variable or expression that specifies the length of time in seconds that the robot is to pause A time value less than 0 016 16 milliseconds results in a 16 millisecond delay Details The DELAY instruction is processed as a robot motion As a result the following consequences occur when a DELAY is executed 1 Any pending hand actuation takes place during the execution of the DELAY instruction 2 Any temporary trajectory switches that have been specified are cleared after the eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 158 DELAY program instruction conclusion of the delay 3 Any pending configuration change is canceled NOTE When DRY RUN mode is in effect DELAY instructions do not cause any delay Examples DELAY 2 5 Causes all robot motion to stop for 2 5 seconds and any pending hand operation to occur Clears any temporary trajectory switches that may be set and cancels any pending requests for configuration change DELAY pause 1 Stops all robot motion for pause 1 seconds Related Keywords DURATION program instruction SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 159 DELAY IN TOL system switch DELAY IN TOL system switch Syntax DELAY IN TOL robot_num Function Controls the timing of COARSE or FINE nulling after eV com
75. cece ence cece cece ccc eeececeeeeeeeeeees 291 INRANGE real valued function 2 0 00 00 00 c cece cece cece cece eee ceeceeceecceceeceeeeeeeees 292 INSTALL program instruction 2 0 00 00 22 occ ee eee cece ce aaan 295 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 8 INT B real valued FUNCION f 5 1 655 0 20205 corens As prec an fee an knee Aan Sie ene eee an 297 INTB string function 5 sts ches te ete tt ciao ad need att hua stat aN cite yee tet iund 299 INVERSE transformation function 2 2 0 0 00 00 c cece eee e ccc ec eee eeceeceeeeecteceeeees 300 IOSTAT real valued function 0 00000000000000 e ccc cece cece eevee eee eeceeseeeeeeeeeeesees 302 IPS keyword 0 0 cece cc cece cece eee ec cece eee ec eee ceeeeececeeececeeececeeseectereeeeeeeeeeees 305 JHERE program MStruCtionh 62 acc foes 3 te ee eee te eee eee ee ele 306 JMOVE program instruction 2 00 00 c ec e cee c ec eeeececeeeeeeee 307 JOG program instruction 2220 00 00 e cece cece eee cececeeececceeceeceeseeeees 308 KILL programi instructions re sand teenie 2 ea eri ai ilads snl se stddednnmely aa 312 LAST real valued function 0000a0000000 0000000000000000 aaoo addaa aood aaraa aaran 313 LATCH transformation function 2 220020 00 00 c cece cece cece cece cece ceceeceeceeeveceeseesees 315 LATCHED real valued function 2 0 00 20 20 c cece eee eee e cece cece ceecceceeceeceeeeeees 316 PO PE VDOC UD MVS INGUIN seriean Bech ae act tect
76. conclusion of the current motion OPENI Related Keywords CLOSE program instruction CLOSEI program instruction HAND TIME system parameter RELAX program instruction RELAXI program instruction SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 372 OPEN program instruction OPEN program instruction Syntax OPEN OPENI Function Open the robot gripper Usage Considerations OPEN causes the hand to open during the next robot motion OPENI causes a BREAK in the current continuous path motion and causes the hand to open immediately after the current motion completes The OPEN instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task The instruction applies to the robot selected by the task The OPENI instruction can be executed by any program task as long as the task has attached a robot The instruction applies to the robot selected by the task If the eV system is not configured to control a robot executing these instructions causes an error Details These instructions cause the control valves for the pneumatic hand to receive a signal to open If the OPEN instruction is used the signal is sent when the next robot motion begins NOTE You can use the Robot Configuration Utility program to set the digital signals that control the pneumatic hand The utility program is on the Adept Utility
77. control a robot executing the NONULL instruction causes an error Parameter ALWAYS Optional qualifier that establishes NONULL as the default condition That is when ALWAYS is included in a NONULL instruction NONULL remains in effect continuously until disabled by a NULL instruction If ALWAYS is not specified the NONULL instruction applies only to the next robot motion Details When NONULL is in effect and a BREAK in the robot motion occurs eV does not wait for the servos to signal that all moving joints have reached their specified positions before it begins the next motion That is at the end of the allotted time eV assumes that the joints have all reached their final positions and starts commanding the next motion Like COARSE mode this mode allows faster motion if high final position accuracy is not required However since no position error checking is done large position errors can occur Related Keywords COARSE program instruction CONFIG real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 358 NONULL program instruction DELAY IN TOL program instruction FINE program instruction NULL program instruction SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 359 NOOVERLAP program instruction NOOVERLAP program instruction Syntax NOOVERLAP ALWAYS Function Generate a program error if a subsequent motion is plann
78. dimension specified in the AUTO statement Each index specified must represent the last element to be referenced in that dimension The first element allocated always has index value zero For example the statement AUTO LOC points 3 5 allocates a transformation array with 24 elements The left hand index ranges from 0 to 3 and the right hand index ranges from 0 to 5 The storage space for AUTOmatic variables is allocated on the program execution stack If the stack is too small for the number of AUTOmatic variables declared the task execution will stop with the error message Too many subroutine calls If this happens use the STATUS monitor command to determine how much additional stack space is required Then use the STACK monitor command to increase the stack size and then issue the RETRY monitor command to continue program execution eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 72 AUTO program instruction AUTOmatic variables cannot be deleted with the DELETE_ commands AUTOmatic variables can be referenced with monitor commands such as BPT DELETE_ DO HERE LIST_ POINT TEACH TOOL and WATCH by using the optional context specifier The general syntax is command task program command_arguments Examples e Declare the variables loc a ans and ito be AUTOmatic in the current program the variable types for loc a andi must be clear from their use in the program AUTO loc a Sans i e Declare th
79. echoed back to the source If the bit is set characters are not echoed back to the source This bit is ignored for the serial lines The next byte from the device is returned When reading from a record oriented device such as the system terminal or a disk file the carriage return and line feed characters at the end eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 265 GETC real valued function of records are also returned When the end of a disk file is reached a Ctrl Z character 26 decimal is returned When reading from the terminal GETC will return the next character entered at the keyboard All control characters will be read except Ctrl S Ctrl Q Ctrl O and Ctrl W which will have their normal terminal control functions When reading from the serial line GETC will return the next data byte immediately unmodified Note that if the serial line is configured to recognize Ctrl S and Ctrl Q automatically as control characters then those characters are not returned by the GETC function Normally the byte value returned is in the range 0 to 255 decimal If an input error occurs a negative error code number is returned The meanings of the error codes are listed in the section System Messages Example The following program segment reads characters from a disk file until a comma character a control character or an I O error is encountered The characters are appended to the string variable field The d
80. elements are defined corresponding to X Y Z yaw pitch and roll If the location is represented as a precision point value then from one to twelve elements are defined depending on the number of robot joints that correspond to the individual joint positions Examples The following code assigns the components of transformation part to elements 0 to 5 of array x DECOMPOSE x part The following code assigns the components of precision point pick to array element angles 4 and those that follow it DECOMPOSE angles 4 pick eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 149 DECOMPOSE program instruction Related Keywords PPOINT precision point function TRANS transformation function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 150 DEFAULT string function DEFAULT string function Syntax DEFAULT mode Function Return a string containing the current or initial system default device unit and directory path for disk file access Usage Considerations Parentheses must be included even when mode is omitted Parameter mode Optional real value variable or expression interpreted as an integer that specifies the default path to be returned as follows e Ifthe parameter is omitted or has the value zero the current system default path is returned e Ifthe parameter has the value one the default path returned is the one that was in effect immediately after the eV
81. executing IF STATUS pc job 2 1 THEN and if program is okay EXECUTE 2 pc job 2 start it up ELSE But if program not okay TYPE B Can t start task 2 output error message END END Related Keywords ERROR real valued function STATE real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 518 TASK real valued function STATUS monitor command STATUS real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 519 TIME program instruction TIME program instruction Syntax TIME time_string Function Set the date and time Parameter time_string String expression whose value specifies the date and time to be set The value of the string must have one of these formats see below dd mmm yy hh mm ss dd mmm yyyy hh mm ss dd mmm yy hh mm dd mmm yyyy hh mm Details The system clock is set equal to the value of the string expression The system clock is maintained automatically and should be changed only when its setting is incorrect e g the controller is moved to a different time zone The system clock is used in the following situations e The date and time are displayed when the eV system is booted from disk e Whenever a new disk file is created the date and time are recorded with the file name The FDIRECTORY command displays the dates and times for files e The date and time are appended to the message indicating that an application program has t
82. expression that indicates the relative importance of this reaction as explained below The value of this expression is interpreted as an integer value and can range from 1 to 127 If this argument is omitted it defaults to 1 See the LOCK instruction for additional details on priority values Details When the specified signal transition is detected eV reacts by immediately stopping the current robot motion If a program is specified eV then continues processing the reaction just as it would for a REACT instruction See the description of the REACT instruction for a full explanation of this processing eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 414 REACTI program instruction When REACTL is used by a program task that is not actually controlling the robot care must be exercised to make sure the robot control program does not nullify the intended effect of the reaction subroutine That is if your application has one program task monitoring the signal and a different program task controlling the robot you should keep the following points in mind when planning for processing of the reaction e The robot motion in process at the time of the reaction is stopped as if a BRAKE instruction were executed but execution of the robot control program is not directly affected e Ifareaction subroutine is specified that routine is executed by the task that is monitoring the reaction not by the task controlling the robot T
83. extended command controls the setting of the search mode Searching for string ignoring case None Explanation The SEE editor command 0 has been entered The editor is prepared to search for the string indicated in the search mode indicated User action This is an informational message You can use the Repeat command to perform the indicated search or you can use Find or Change to initiate a new search or replacement operation The EXACT extended command controls the setting of the search mode Servo board E Stop fuse open 673 Explanation Your servo board has a fused E STOP circuit and the system has detected an open circuit at that location User action Refer to your hardware documentation consult with Adept Customer Service as needed for details about types and locations of fuses and replace the fuse Servo board 12v fuse open 671 Explanation Your servo board has a fused 12 volt bus and the system has detected an open circuit at that location User action Refer to your hardware documentation and replace the fuse Servo board solenoid fuse open 672 Explanation Your servo board has a fused robot solenoid control line and the system has detected an open circuit at that location User action Refer to your hardware documentation and replace the fuse Servo hardware init failure 931 Explanation During system startup or after a servo reset the servo software had detected that it could
84. file oriented For an network device read a string from an attached and open TCP connection Usage Considerations The logical unit referenced by this instruction must have been attached previously For file oriented devices a file must already have been opened with an FOPEN_ instruction Parameters lun record_num mode Real valued expression that identifies the device to be accessed See the ATTACH instruction for a description of unit numbers Optional real valued expression that specifies the record to read for file oriented devices opened in random access mode see the FOPEN_ instructions For nonfile oriented devices or for sequential access of a file this parameter should be 0 or omitted Records are numbered from one to a maximum of 16 777 216 When accessing the TCP device with a server program this parameter is an optional real variable that returns the client handle number The handle can be used to identify the client accessing a multiple client server Optional real valued expression that specifies the mode of the read operation Currently the mode is used only for the terminal and serial I O logical units The value is interpreted as a sequence of bit flags as detailed below All bits are assumed to be clear if no mode value is specified Bit 1 LSB Wait 0 vs No wait 1 mask value 1 If this bit is clear program execution is suspended until the read operation is completed If the bit is set an
85. for opening a server connection the port is explicitly defined using the LOCAL_PORT attribute Note that the server does not need to know the port number used by the client Port numbers 0 through 255 are used by standard TCP application packages For example FTP uses ports 20 and 21 By convention if you are writing your own custom protocol use a port number greater than 255 The following table shows valid TCP attributes for the FOPEN instruction FOPEN TCP Attributes a Explanation Defines the number of client connections allowable on a server If omitted a single client connection is assumed The maximum number of client connections is 31 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 247 FOPEN program instruction Explanation Defines the local port number for the connection If omitted a local port number is automatically assigned Explanation Defines the port number of a server to which a client connection is to be made This must be provided when establishing a client connection Examples Set up a TCP server with local port 260 to accept 5 client connections FOPEN lun 16 LOCAL PORT 260 CLIENTS 5 Set up a TCP client connection that connects to port number 260 on the server called server1 FOPEN lun 0 serverl REMOTE PORT 260 Related Keywords ATTACH program instruction DETACH program instruction FCLOSE program instruction FDELETE program instruction FEMPTY program ins
86. function is used to convert the numeric string into its corresponding real value which is assigned to the next element of the real array value The DECODE function is used a second time to extract the characters that separate the numbers the characters found are ignored i 0 Set array index DO temp DECODE string var 0 Pick off a number string value i VAL temp Convert to real value temp DECODE string var 1 Discard spaces and eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 147 DECODE string function commas i itl Advance the array index UNTIL string var Stop when input is empty In acase where string_var contains a sequence of numeric values as strings separated by spaces commas or any combination of spaces and commas such as string_var 1234 93465 2 4358 3458103 executing the above instructions results in the first four elements of the value array having the following values value 0 1234 0 value 1 93465 2 value 2 0 4358 value 3 3458103 0 The string variable input string_var also contains an empty string As shown above use of the DECODE function normally involves two string variables the input variable and the output variable If you are interested only in the characters up to the first break character and want to discard all the characters that follow the same variable can be used for both input and output In the following
87. hal a a ta 318 LEN real valued TU MCEIOM ten 2 5135 8 cea aden e ea OS a ecole NA Oana aA 320 LNGB real valued function a 0 00000000000000 eee ec c cece eee e cece ceeeeeceeeeeeveceeseesees 321 SLNGB string function ce scc cee wut Lb antes dd ev ey Ob eae eona rrara ooa onora rrr oraora 323 LOCAL program instruction 000 22000 ce eee e cece cece ceeececeeeees 325 LOCK program instruction si erna a e a c ence cece ence cneceneeeeees 327 MAX real valued function 202 00 0 0 loi eccec cc c cc ecce cc eee eee ee cece ec ceeecececceececeveeeeeeees 329 MC program instruction 2 00 00 coe cece eee c cece cece eee eecceceeceececeeeceveveeeeeeees 330 MCS program instruction 0 20 ccceceeccceeeecceecccecc eee eee eee ceeceeeeeeeeneeeeees 332 MESSAGES system switch o0 o oo eee e eee eee cee cece ee ceeeeeeeenseneensenes 334 SMID SUM fN CT OMA ses Ate Shah ah ar Steal ele be teat dhol cee 335 MIN real valued function 2 020 000 0o occ 336 MMPS keyword 2 20 00 20 cece e cece cece cece e cece cece cece ce eceeeeeececeeeeceeeececceeeceseceeeeres 337 MOD OPGraton vences wn ew cnc a eee Nest BN LEE EDO See AL 338 MOVE and MOVES program instruction 2 00 0 0 00000 e cece cece cece eee cee eeceeceeeceece 339 MOVEC program instruction 00 0000 22 0c cece cence cece cece cece ce ceeececeeeees 341 MOVE and MOVES program instruction 0 0 00 0 e cece cece ccc ec eee cec eee eeceeeeeees 349 MULTIPLE program instruction
88. higher order bits determined by the next num_sigs 1 signals Example Assume that the following input signal states are present Signal 1008 1007 1006 1005 1004 1003 1002 1001 State 1 1 0 1 0 1 0 The program step x BITS 1003 4 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 91 BITS real valued function will yield a value of 5 for x since the four signals starting at 1003 that is signals 1003 through 1006 can be interpreted as a binary representation of that value Related Keywords BITS monitor command BITS program instruction IO monitor command RESET monitor command SIG real valued function SIG INS real valued function SIGNAL monitor command SIGNAL program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 92 BMASK real valued function BMASK real valued function Syntax BMASK bit bit bit Function Create a bit mask by setting individual bits Parameter bit Integer value from 1 to 32 specifying a bit to turn on The least significant bit is number 1 Details This instruction creates a bit mask by turning on bit 1 the specified bits and leaving all other bits off bit 0 Bit 32 is the sign bit and yields a negative number when set Examples Create the bit mask B10001 bm BMASK 1 5 Attach to a disk LUN with mode bit 2 turned on mode BMASK 2 ATTACH lun mode DISK eV Language Reference Guide v2 0 x Updated 5 8
89. in one of the E STOP channels or the result of a pair of contacts connected to the E STOP channels being in the opposite state one open the other closed User action Check all user connections to each of the E STOP channels plugs fully seated contacts on each channel in the same closed state If no problem is uncovered in the user connections call Adept Customer Service E STOP detected by robot 643 Explanation The motion interface board has detected an E STOP due to the BRAKE ESTOP signal being asserted on the VMEbus User action Check for a subsequent message To determine if there was an unreported RSC error type listr error task 4 where task is the number of the task that received the error If no additional information is available call Adept Customer Service E STOP from amplifier 641 Explanation The SmartController has detected an E STOP condition generated by the motor amplifiers It indicates that the amplifiers have detected some fault condition User action Check for a subsequent message To determine if there was an unreported RSC error type listr error task 4 where task is the number of the task that received the error E STOP from front panel button 908 Explanation An E STOP condition has occurred because the E STOP button on the front panel has been pressed User action Unlatch the locking E STOP button Re enable HIGH POWER as desired E STOP from front panel external input 9
90. information emphasizes a point or procedure or gives a tip for easier operation Conventions Typographic Conventions The following typographic conventions are used throughout this manual ALL CAPITALS eV file names directory names commands keywords and attributes also acronyms A physical key or button that you must press such as the Y N and ENTER keys Bold type is used for subroutine names variable names and program names such as a diskcopy Bold type also is used for window items that you choose and window items that do bold regular not have initial capital letters in all principal words In atyping or entering instructions anything that you must type exactly as it appears For example if you are asked to type execute 1 a diskcopy you type all the bold characters exactly as they are printed What you type is shown in lowercase letters unless it must be typed in uppercase letters to work properly You may always substitute a currently valid shortcut form when typing a eV command In order for the eV system to process your typing you must conclude your entry by pressing the ENTER or RETURN key eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 18 Conventions In Syntax place holders in formal syntax definitions for information that you provide You must replace such a place holder written in bold weight but need not replace an optional one which is written in regu ar weight italic
91. instruction 200 222 20 ce cece ccc ccc eee cece cece cece cece eee a anaana anaran ana 553 WAIT EVENT program instruction 00 000002220 c ec cee ec cece ececce cece 555 WHILE program instruction 0 00 22 0220 ccc cece ccc ence eee ec Aaa aaa anana anaana naana 558 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 12 WINDOW program instruction 00 0 0 02 c cece cece ccc eee eee cece cece eee eeeeeeeeees 560 WINDOW real valued function 2 00 00 20 ccc e cece ec ec cee ceeceeceeceeceeceeee 562 WRITE program instruction 2 0 0 0 20 e occ e cence cece cece ceceeeseeeseees 566 KORiOP Craton 2 2 2 eee oath eee esas ator sea ad eee bes she 569 ID Option WordS cote wh eric esa ts cau aes a ole er Reeve ns el 571 Introduction to ID Option Words 0 00 00 c cece eee cece ccc ceeceeceeececeeceece 572 Robot Option Words 0 00 00 e cece cece cece cece cece ec eeceeeceeeeecececececceeceeeceeeeeeeee 572 System Option Words 2 0 00 0 0c cece cece cece cece eee e cece cee ecececeeececeeeeeececeeeeeeeees 574 Processor Option Word 00 00 cece ccc eee cece cece cece cece eee ecececeeceeceeceeceeeeeceeeesers 576 System Messages 0 00 aaao aoaaa cece cece eee ece odoo aaa oranana aar 577 Introduction to System Messages 2 0 0000000000 0000000000000 ceeceeceeceeceeceeeeeees 578 System Messages Alphabetical List 0000000000000000000000 e ccc ec eee ceceeceeeeeecs 578
92. instruction unless another specifier is used to change their effect For all these display modes if a value is too large to be displayed in the specified field width the field is filled with asterisk characters D Use the default format which displays values to full precision with a single leading space Scientific notation is used for values greater than or equal to 1 000 000 NOTE The following format specifications accept a zero as the field width n That causes the actual field size to vary to fit the value and causes all leading spaces to be suppressed That is useful when a value is displayed within a line of text or at the end of a line eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 543 En m Fn m Gn m Hn In On TYPE program instruction Output values in scientific notation for example 1 234E 02 in fields n spaces wide with m digits the fractional parts If n is not zero it must be large enough to include space for a minus sign if the displayed value is negative one digit to the left of the decimal point a decimal point if m is not zero m digits and four or five characters for the exponent Output values in fixed point notation for example 123 4 in fields n spaces wide with m digits in the fractional parts Output values in F format with m digits in the fractional parts if the values are larger than 0 01 and will fit in fields n spaces wide Otherwise En m format
93. instruction causes an error See LEFTY RIGHTY Related Keywords CONFIG real valued function LEFTY program instruction SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 430 ROBOT system switch ROBOT system switch Syntax 1 ROBOT index Function Enable or disable one robot or all robots Usage Considerations The ROBOT system switches may be modified only when both of the following conditions are satisfied 1 The POWER system switch is OFF 2 When the eV system was booted from disk at least one robot started up without reporting a fatal error The maximum number of robots supported depends on your controller configuration Some controllers do not allow a robot to be calibrated unless all robots with lower index numbers are enabled Parameter index Optional real value variable or expression interpreted as an integer that specifies the robot to be enabled or disabled The value should be 1 through 15 corresponding to robots 1 through 15 respectively If the index is omitted or zero in an ENABLE or DISABLE command or instruction the settings for all robots are altered Otherwise only the setting for the specified robot is affected Details When the eV system starts up after booting from disk all the robots that started up without reporting a fatal error are enabled by default and all the corresponding ROBOT switches are enable
94. internal error condition This error should not normally be seen User action If safe to do so attempt to enable HIGH POWER and note any different error messages that occur If this error persists contact Adept Customer Service E STOP channels 1 and 2 do not match 922 Explanation An E STOP condition has occurred because the two redundant E STOP signal channels do not report the same E STOP state This error can be caused if redundant E STOP channels do not track each other within a reasonable time around 0 5 sec User action If an external E STOP circuit is being used verify that both channels are wired and functioning properly E STOP circuit is shorted 923 Explanation An E STOP condition has occurred because a short circuit in the E STOP wiring has been detected User action Verify that all E STOP channels are wired and functioning properly and that there is no external power source wired to the E STOP circuit Check that the E STOP source jumper on any connected robot is on the EXT position If the problem persists contact Adept Customer Service E STOP circuit relay failure 907 Explanation An E STOP condition has occurred because the E STOP chain on one channel is not in the same state as the other channel This can be the result of welded contacts on eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 593 System Messages Alphabetical List one of the two E STOP Relays a short circuit
95. is signaled Bit 22 Single turn joint When this bit is set the computed 4 mask value value of joint 4 is restricted to the H200000 range of 180 to 180 degrees Bit 23 Straight line When this bit is set the joint motion mask value positions returned must correspond H400000 to the same configuration as those initially specified That is no change in robot configuration is allowed Details This instruction computes the joint positions that are equivalent to a specified transformation value using the geometric data of the robot connected to the system The specified transformation is interpreted to be the position and location of the end of the robot tool in the World coordinate system taking into consideration the current TOOL transformation and BASE offsets eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 479 SOLVE ANGLES program instruction Example The instructions below do not perform any useful function but are intended to illustrate how the SOLVE ANGLES instruction operates After execution of these instructions both the jts2 and jts arrays contain approximately the same values Any differences in the values are due to computational round off errors HERE cpos DECOMPOSE jts cpos SOLVE TRANS new t error jts SOLVE ANGLES jts2 flags error new t jts SOLVE FLAGS jts Related Keywords DECOMPOSE program instruction SELECT program instruction SELECT real valu
96. is not begun because eV realizes the destination location cannot be reached for example it is too far from the robot then DEST is not set to the goal location Example The DEST function is useful for example for continuing a motion that has been interrupted by a reaction initiated by a REACTI instruction The subroutine automatically invoked can contain steps such as the following to process the interruption and resume the original motion SET save HERE SET old dest DEST old speed SPEED 3 DEPART 50 0 APPRO MOVES SPEED MOVES save 50 0 save old speed old dest Related Keywords HERE transformation function PDEST precision point function SELECT program instruction SELECT real valued function Record where the robot is Record where the robot was going Record the current motion speed Back away a safe distance 7 Return to the original motion path pi Dack to where we left 7 Restore the original motion speed Continue toward original destination eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 167 DETACH program instruction DETACH program instruction Syntax DETACH logical_unit Function Release a specified device from the control of the application program Usage Considerations Detaching the robot causes a BREAK in continuous path motion DETACH automatically forces an FCLOSE if a disk file or graphics window is open on the specified device The robot is autom
97. is used Output values as hexadecimal integers in fields n spaces wide Output values as decimal integers in fields n spaces wide Output values as octal integers in fields n spaces wide The following specifiers can be used to control the appearance of the output Cn S Un Xn Output the characters carriage return CR and line feed LF n times This will result in n blank lines if the control specifier is at the beginning or end of an output specification otherwise n 1 blank lines will result Do not output a carriage return CR or line feed LF after displaying the current line Move the cursor up n lines This will work correctly only if the TERMINAL parameter is correctly set for the terminal being used Output n spaces The following specifiers can be used to perform control functions B N Example Beep the terminal nongraphics based systems only Initiate output without having program execution wait for its completion Asecond output request will force program execution to wait for the first output if it has not yet completed Assume that the real variable i has the value 5 and that array element point 5 has the value 12 666666 Then the instruction TYPE B Point i F5 2 point i sounds a beep at the system terminal B and display the message eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 544 TYPE program instruction Point 5 12 67 If point 5 has th
98. keywords are e Program Instructions e Functions e System Parameters e System Switches This manual often refers to monitor commands Monitor commands are part of the eV operating system The eV operating system commands are detailed in the eV Operating System Reference Guide If your system is equipped with AdeptVision additional program instructions functions switches parameters and monitor commands are detailed in the AdeptVision Reference Guide The keywords are presented in alphabetical order with the description for each keyword starting on a new page For details on what is included see Documentation Conventions for Keywords Documentation Conventions for Keywords The keyword type function program instruction and so on is shown at the top of the page Syntax An abbreviated syntax is shown for some keywords This is done when the abbreviated form is the most commonly used variation of the complete syntax This section presents the syntax of the keyword The keyword is shown in uppercase and the arguments are shown in lowercase The keyword must be entered exactly as shown Parentheses must be placed exactly as shown Required keywords parameters and marks such as equal signs and parentheses are shown in bold type optional keywords parameters and marks are shown in regular type In the example KEYWORD req param1 req param2 OPT KEYWORD opt param KEYWORD must be entered exactly as shown req param
99. modifies the belt variable that is currently being tracked by the robot User action Change the program in order not to modify the variable while the robot is tracking it Attempt to redefine variable class variable_name 470 Explanation Upon exiting from the editor the named variable was found in two of the following places the PROGRAM argument list an AUTO statement a LOCAL statement ora GLOBAL statement User action Modify the program to include the variable in only one of these places Attempt to redefine variable type variable_name 469 Explanation If a program is being edited the line just entered contains a reference to a variable in a manner inconsistent with its use elsewhere in the program The most likely problem is confusing a location variable with a real variable If you just exited from the editor the named variable conflicts with a global variable that already exists User action If the new use of the variable is correct you must delete all references to the incorrect variable and then reenter the statement that caused the error If the new use is incorrect use a different variable name If there is a conflict with a global variable either use a DELETE_ command to delete that variable or make the conflicting variable AUTO or LOCAL to the current program Auto Startup None Explanation The automatic start up procedure has begun See the discussion of command programs for more information
100. msgsize Optional Real value variable or expression whose value represents the array size of msg title Optional string constant variable or expression that contains the title of the pendant s Custom Message screen msg Optional string constant variable or expression that contains the body of the pendant s Custom Message screen This can accept html tags to create an html formatted text box If msg is an array and msgsize gt 1 it will concatenate all the elements of the array See the example code that follows f1 Optional string constant variable or expression that contains the label of the F1 Key of the Custom Message Screen f2 Optional string constant variable or expression that contains the label of the F2 Key of the Custom Message Screen f3 Optional string constant variable or expression that contains the label of the F3 Key of the Custom Message Screen f4 Optional string constant variable or expression that contains the label of the F4 Key of the Custom Message Screen Details PDNT WRITE is used to set the screen of the T20 Pendant This is used to create a user interface to program the pendant through eV The screen can be either updated with a subsequent PDNT WRITE or cleared with a PDNT CLEAR While the screen is displayed all eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 391 PDNT WRITE program instruction green keys as well as Select Robot are active so that the robot can
101. not initialize its hardware This is a generic error when more specific error information is not available eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 640 System Messages Alphabetical List User action Restart the servos and reboot the controller Check the safety related cables If the problem persists contact Adept Customer Service Servo node not downloaded 680 Explanation eV has attempted to use a servo node that does not contain properly downloaded software Servo node software is only loaded at eV startup time One of the following has happened 1 You are using a servo node that is not supported by the eV system software 2 You have plugged in a new servo node after eV was started User action Reboot eV and try again Make sure your software is compatible with your 1394 nodes Update the 1394 firmware Servo protocol incompatible 677 Explanation During startup eV has detected a remote node on the servo network that is incompatible with the current eV system because incompatible versions of software are being used The servo network does not operate User action Use the SRV NET monitor command to determine which network nodes are causing this error Verify that the proper eV software is being used Verify that the servo nodes were configured using the proper utility program version Servo task overloaded 674 Explanation A servo interrupt task has used up all the execution time T
102. number of program execution cycles to be performed If omitted the cycle count is assumed to be 1 For unlimited cycles specify any negative value The maximum loop count value allowed is 32 767 step Optional real value variable or expression interpreted as an integer that specifies the step at which program execution is to begin If omitted program execution begins at the first executable statement in the program that is after the initial blank and comment lines and all the AUTO and LOCAL instructions Details This command initiates execution of the specified control program The program is executed cycles times starting at the specified program step After a program initiates execution of another program the initiating program can use the STATUS and ERROR real valued functions to monitor the status of the other program The optional C qualifier has an effect only when starting execution of task 0 When Cis not specified an EXECUTE instruction for task 0 fails if the robot cannot be attached attachment requires that the robot be calibrated and that arm power be enabled or that the DRY RUN switch is enabled When C is specified an execute instruction for task 0 attempts to attach the robot but allows execution of task 0 to continue without any indication of error if the robot cannot be attached Certain default conditions are assumed whenever program execution is initiated They are equivalent to the following program in
103. perform a repeat string search or change without first performing the appropriate initialization sequence User action 1 Assign the variable a value or correct its name 2 Define the macro record a cursor position or enter the desired search replacement string s Undefined value in this context 420 Explanation An automatic variable or subroutine argument value appears in a monitor command but the specified program is not on the execution stack for the specified program task Automatic variables and subroutine arguments have values only when the program that defines them is on a stack User action Change the monitor command to not reference the variables Make sure that the program is on the expected execution stack You can place a PAUSE instruction or breakpoint in the program to stop it while it is on the execution stack Unexpected end of file 504 Explanation 1 If a file was being loaded from the disk the end of the file was encountered unexpectedly 2 If a program is reading a file this error code merely indicates that the end of the file has been reached and should not be interpreted as a real error 3 This message results if a CTRL Z is pressed in response to a program PROMPT 4 A break condition was detected on a serial line User action 1 Try again to read the file 2 Close the file and continue program execution 3 Treat the program as having been aborted early by user request Unex
104. persists contact Adept Customer Service Safety speed limit error Chn n 1035 Explanation During system startup or a servo reset the servo self test has determined that the safety speed limit hardware is not functioning properly Robot power cannot be eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 638 System Messages Alphabetical List enabled User action Power down and restart your controller and servo nodes If the problem persists contact Adept Customer Service Safety system fault Code n 1109 NOTE If you are using an AIB robot such as the Cobra s600 s800 refer to the document Adept Status Code Summary for Embedded Products Because the status codes are related to hardware refer to your robot hardware documentation as your primary source of information for correct hardware and safety system setup You should also re commission the robot For details see the hardware documentation for your robot If it does not resolve the problem contact Adept Customer Service Safety system init failure Code n 1108 NOTE See also details of messages codes in error 1109 Because the status codes are related to hardware refer to your robot hardware documentation as your primary source of information for correct hardware and safety system setup You should also re commission the robot For details see the hardware documentation for your robot If it does not resolve the problem contact Adept Customer
105. program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 261 FSET program instruction FSET program instruction Syntax FSET logical_unit attribute_list Function Set or modify attributes of a serial line or a network device Usage Considerations If a window has been referenced it must have been opened already with an FOPEN instruction If a serial line is referenced it must have been attached already with an ATTACH instruction The use of this instruction withnetwork devices applies only to systemswith the appropriate license s As with all eV I O instructions the IOSTAT real valued function should be used after each FSET instruction to determine the success of the FSET request Parameters logical_unit Real value variable or expression interpreted as an integer that defines the logical unit number of the window to be accessed See the ATTACH instruction for a description of unit numbers attribute_list List of string constants variables and expressions real values variables and expressions and format specifiers used to define the characteristics of the window See the description of the FOPEN instruction for detailed information on this parameter Details Using FSET With Serial Lines The following specifications can be used as arguments to directly ATTACH a serial line SERIAL n Local serial line n on the local controller The keywords listed in the following table may appear in
106. program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 277 HERE transformation function HERE transformation function Syntax HERE Function Return a transformation value that represents the current location of the robot tool point Usage Considerations The current location is obtained by reading the instantaneous value of the joint encoders so that it represents the actual location of the robot The HERE function returns information for the robot selected by the task executing the function If the eV system is not configured to control a robot use of the HERE function does not generate an error due to the absence of a robot However the information returned by the function may not be meaningful The word here cannot be used as the name of a program or variable Example Calculate the distance between the current robot location and the location the robot is currently moving to dist DISTANCE HERE DEST Related Keywords DEST transformation function HERE monitor command HERE program instruction SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 278 ID real valued function ID real valued function Syntax ID component device board Function Return values that identify the configuration of the current system Parameters component Real value variable or expression interpreted as an integer whose va
107. program instruction DELAY IN TOL program instruction FINE program instruction NONULL program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 366 NULL program instruction NULL program instruction SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 367 NULL transformation function NULL transformation function Syntax NULL Function Return a null transformation value one with all zero components Usage Considerations The word null cannot be used as a program name or variable name Details A null transformation corresponds to a null vector X Y Z 0 and no rotation yaw pitch roll 0 Such a transformation is useful for example with a SHIFT function to create a transformation representing a translation with no rotation Example Define a new transformation new loc to be the result of shifting an existing transformation old loc in the World coordinate directions new loc SHIFT NULL BY x shift y shift z shift old loc Determine the length of the vector described by the transformation test loc dist DISTANCE NULL test loc Related Keywords CONFIG real valued function NULL program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 368 OFF real valued function OFF real valued function Syntax OFF Function Return the value used by eV to represent a logical false re
108. restart or repeat any operations that were interrupted by the controller AC power failure Some reinitialization of the system may be required for example any robot s connected to the controller must be recalibrated after a controller power failure Power failure detected by robot 632 Explanation Indicates that a robot amplifier has detected an under or over voltage of its internal DC Bus This may be due to AC power supply out of spec of 200V 240V or a motion that is too hard or too fast for the payload of the robot User action Verify the voltage on the AC input line Lower the speed acceleration or deceleration of the robot Reduce the payload if possible eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 629 System Messages Alphabetical List Press HIGH POWER button to enable power 57 Explanation The high power on off button on the front panel must be pressed to complete the process of enabling high power User action When the high power on off button on the Controller Interface Panel CIP blinks promptly press the button to complete the two step process of enabling high power You must press the button within the time period specified in the eV configuration data Press HIGH POWER button when blinking 60 Explanation When enabling power for Cat3 systems which are in manual mode the HIGH POWER ON OFF button on the front panel must be pressed after the Hold to run button has been released and held
109. returned and deleted can either contain no break characters mode 0 or nothing but break characters mode 1 That is DECODE can return and delete all the characters up to the first break character usually some desired substring or the function can return and delete all the leading break characters which are usually discarded By alternating the modes groups of desired characters can be picked from the input string see the first example below The modes 2 and 3 copy all nonbreak characters up to the first break characters plus the first break character Mode 2 is equivalent to the following instructions s DECODE S i S break 0 Extract up to 1st break character Ss s S MID Si 1 1 Add on 1st break character Si MID i 2 127 Remove the break character The following instruction can perform these operations s DECODE i Sbreak 2 Extract through 1st break character Mode 3 is equivalent to mode 2 if a break character is present However if no break character is contained in the input string mode 3 returns an empty string and leaves the input string unchanged Examples The instructions below pick off consecutive numbers from the string input assuming that the numbers are separated by some combination of spaces and commas The first instruction within the DO structure sets the variable temp to the substring from input that contains the first number and removes that substring from input The VAL
110. robot motion Usage Considerations The DEST function returns information for the robot selected by the task executing the function If the eV system is not configured to control a robot use of the DEST function does not generate an error due to the absence of a robot However the information returned by the function may not be meaningful The word dest cannot be used as a program name or variable name Details DEST returns the location to which a robot was moving when its motion was interrupted This applies for all motion instructions including 1 Motions to named locations such as MOVE start MOVES part 10 Note that even though the second instruction references a precision point location variable the DEST function returns a transformation value during that motion 2 Motions to locations defined relative to named locations or defined relative to the current robot location APPROS drop 50 00 DEPART 30 00 MOVE SHIFT HERE BY 50 0 10 3 Motions to special locations such as READY The location value returned by the DEST function may not be the same as the location at which the robot stops if the motion of the robot is interrupted for some reason For example if the RUN HOLD button on the pendant is pressed the robot stops immediately but DEST still returns the location to which the robot was moving eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 166 DEST transformation function If a motion
111. serial communication line is configured as a network port it cannot be accessed as a user serial line User action Make sure the correct device is being accessed Power down the controller and try starting it again Make sure the boot disk you are using is valid for your controller Use the CONFIG_C utility program to make sure the serial I O configuration is correct If the problem persists contact Adept Application Engineering for assistance If the error resulted from a disk I O operation it indicates that the disk controller hardware is not configured correctly Adept Customer Service should be contacted in that case Invalid in read only mode 352 Explanation An editor function was attempted that cannot be performed while accessing a program in read only mode User action Change to editing the program in read write mode or use a different editor command Invalid network address 561 Explanation This error occurs when a file server has not correctly exported the path being accessed or when an IP network address specified is not of class A B or C User action Check the IP addresses used to refer to network nodes Invalid network protocol 541 Explanation A message has been received and rejected by a remote node because it does not follow the expected protocol If the KERMIT device was being accessed this error indicates that the remote server reported an error or sent a message not understood by the eV Ker
112. step 22 is executed and 24 is not executed Otherwise step 22 is not executed but step 24 is executed 21 IF row gt 5 THEN 22 spacing 10 23 ELSE 24 spacing 20 25 END The next program segment determines whether the variable input signal has been defined If it has the program checks the signal indicated by the value of input signal and types different messages depending on its setting Note that the outer IF does not include an ELSE clause 71 IF DEFINED input signal THEN 72 IF SIG input signal THEN 73 TYPE The input signal is ON 74 ELSE T TYPE The input signal is OFF 76 END 77 END Refer to the DEFINED function for details on testing nonreal arguments Related Keywords CASE program instruction DEFINED real valued function ELSE program instruction IF GOTO program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 288 IF logical_expr GOTO program instruction IF logical_expr GOTO program instruction Syntax IF logical_expr GOTO label Function Branch to the specified step label if the value of the logical expression is TRUE nonzero Usage Considerations In general it is a better programming practice to use the IF THEN control structure rather than this instruction Parameters logical_expr Real valued expression whose value is tested for TRUE nonzero or FALSE zero label Program step label of a step in the current program Details If the value of the
113. subdirectory referenced in a file specification does not exist on the disk that is referenced Note that the subdirectory may be part of a default directory path set by the DEFAULT monitor command User action Make sure that the subdirectory name was entered correctly Make sure that the correct disk drive was referenced and that the correct diskette is loaded Use an FDIRECTORY command to display the directory containing the subdirectory Make sure that the default directory path is correct eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 622 System Messages Alphabetical List No other program referenced 353 Explanation A command was issued that attempted to reference a previously edited program but no other program has been edited during the current editing session User action Use the New or GoTo function key command or the N keyboard command to change to a new program No program specified 301 Explanation No program was specified for an EXECUTE or SEE command or instruction or DEBUG command and no previous program is available as a default User action Type the line again providing a program name No robot connected to system 622 Explanation An attempt has been made to attach a robot with a system that does not support control of a robot Note that some commands instructions and functions implicitly attach the robot User action Make sure the system has been booted from the correct
114. such that the X Y plane is at the robot mounting surface the X axis is in the direction defined by joint 1 equal to zero and the Z axis coincides with the joint 1 axis The BASE instruction offsets and rotates the reference frame as specified above This is useful if the robot is moved after locations have been defined for an application eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 78 BASE program instruction If after robot locations have been defined by transformations relative to the robot reference frame the robot is moved relative to those locations to a point translated by dX dY dZ and rotated by Z rotation degrees about the Z axis a BASE command or instruction can be used to compensate so that motions to the previously defined locations will still be as desired Another convenient use for the BASE command or instruction is to realign the X and Y coordinate axes so that SHIFT functions cause displacements in desired nonstandard directions NOTE The BASE instruction has no effect on locations defined as precision points The arguments for the BASE instruction describe the displacement of the robot relative to its normal location The BASE function can be used with the LISTL command to display the current BASE setting Examples BASE xbase 50 5 30 Redefines the World reference frame because the robot has been shifted xbase millimeters in the positive X direction and 50 5 millimeters in the negative Z di
115. system disk for example use the ID command to display the system identification Change the program so that it does not attempt to attach the robot Not a directory 567 Explanation The caller specified a nondirectory in a directory operation User action Specify a directory in the operation or use the correct nondirectory operation Not attached to logical unit 516 Explanation A program has attempted to perform I O to a logical unit that it has not attached with an ATTACH instruction Logical unit 4 allows output without being attached but all other logical units require attachment for both input and output User action Edit the program to make sure it attaches a logical unit before attempting to use it to perform I O Not configured as accessed 544 Explanation An attempt has been made to access a serial line or other I O device in a manner for which it is not configured For example a Kermit or network line cannot be accessed as a simple serial line User action Verify the proper way to access the serial line for the current configuration Use the configuration utility program to display the serial line configuration and change it if desired eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 623 System Messages Alphabetical List Not enough program stack space 413 Explanation An attempt was made to call a subroutine process a reaction subroutine or allocate automatic variables when
116. system was booted from disk Details The system default device unit and directory path can be set by the CD or DEFAULT monitor command The DEFAULT function returns the current or initial default values as a string The string contains the portions of the following information that have been set device gt disk unit directory path where device is one of the following DISK a local disk SYSTEM a disk device drive and subdirectory path currently set with the DEFAULT command For more details on valid devices see the ATTACH program instruction on page 65 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 151 DEFAULT string function disk_unit is the disk unit specified to the DEFAULT monitor command The colon is omitted if no unit was specified directory_path is any input to the DEFAULT command that followed the device and unit The directory path is omitted if no additional input was specified Example The following commands set the default drive specification to DISK gt D TEST and then display it on the terminal for confirmation DEFAULT DISK gt D TEST LISTS SDEFAULT Related Keywords CD monitor command DEFAULT monitor command eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 152 DEFBELT program instruction DEFBELT program instruction Syntax DEFBELT belt_var nom_trans belt_num vel_avg scale_fact Function Define a belt variable for use with a conveyor trac
117. task is not attached by any other task The instruction applies to the robot selected by the task If the eV system is not configured to control a robot executing the ACCEL instruction causes the error Robot not attached to this program Before an acceleration deceleration profile can be used it must be defined for the selected robot profile 0 is always defined The robot configuration is edited using the Adept ACE software see the Adept ACE User s Guide Parameters profile Optional integer specifying the acceleration profile to use Acceptable values are 0 to 8 depending on the number of defined profiles The default is the last specified profile see Details for the number of the start up profile If a profile is specified that has not been defined profile 0 is used acceleration Optional real value variable or expression considered as a percentage of the maximum possible acceleration deceleration Optional real value variable or expression considered as a percentage of the maximum possible deceleration The value should normally be in the range of 1 to 100 upper limits greater than 100 may be established by the robot manufacturer If an out of range value is specified the nearest extreme value will be used If a parameter is omitted its current setting remains in effect eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 49 ACCEL program instruction Details If profile O is used a Square wave a
118. that the HALT instruction has a different effect it cancels all remaining cycles A RETURN instruction in a main program has the same effect as a STOP instruction A main program is one that is invoked by an EXECUTE command or instruction or a PRIME or XSTEP command whereas a subroutine is a program that is invoked by a CALL CALLP or CALLS instruction or a reaction within another program Related Keywords ABORT monitor command ABORT program instruction EXECUTE program instruction HALT program instruction PAUSE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 503 STOP program instruction RETURN program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 504 STRDIF real valued function STRDIF real valued function Syntax STRDIF a b Function Compare two strings byte by byte for the purpose of sorting This function always compares bytes exactly It ignores the setting of the UPPER system switch Parameters a A string constant variable or expression that contains the bytes to be compared with those in b b A string constant variable or expression that contains the bytes to be compared with those in a Details This function compares strings byte by byte using the unsigned byte values without any case conversion That is the function ignores the setting of the UPPER system switch The two strings can have different lengths The returned values a
119. the codes MMSP External E STOP Error Message Codes Coden Explanation Lay Adept E stop channel 1 error Adept E stop channel 2 error Customer E stop channel 1 error Customer E stop channel 2 error E STOP from robot 640 Explanation The motion interface board has detected an E STOP condition generated by the RSC in the robot This error is probably due to low air pressure joint 1 overtravel or motor overheating A subsequent error message may provide more information User action Check for a subsequent message To determine if there was an unreported RSC error type listr error task 4 where task is the number of the task that received the error If no additional information is available check for low air pressure joint 1 overtravel or motor overheating eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 595 System Messages Alphabetical List E STOP from user enable switch 912 Explanation An E STOP condition has occurred because the user enable switch formerly called the Hold to Run switch has been released During MANUAL mode releasing this switch performs a controlled power off rather than an E STOP User action Hold the user enable switch and re enable HIGH POWER as desired If the switch was already pressed check the switch and the associated connectors and wiring E STOP from user E STOP button 910 Explanation An E STOP condition has occurred because the user E STOP button
120. the day 0 to 23 Minutes past the hour 0 to 59 Seconds past the minute 0 to 59 0 assumed if ss omitted If the string parameter is not supplied and the select parameter is 1 the current date of the system clock is returned In addition the current time of the system clock is stored in the internal administrative data for the program task If the string parameter is not supplied and the select parameter is 2 or 3 the selected time value is returned for the system clock time previously saved Example The following program segment shows how the TIME real valued function can be used to make sure you enter a valid date and time after a prompt PROMPT Enter the date and time dd mmm yy hh mm ss time WHILE TIME S time 1 1 DO Make sure it s valid TYPE B Cannot interpret date time PROMPT Try again dd mmm yy hh mm ss time END TIME Stime Set system time Related Keywords TIME monitor command TIME program instruction TIME string function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 523 TIME real valued function TIME4 string function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 524 TIME string function TIME string function Syntax TIME date time Function Return a string value containing either the current system date and time or the specified date and time Parameters date Optional integer value representing the year month and day see
121. the error number of a recent error that caused program execution to stop or caused a REACTE reaction Usage Considerations Executing a REACTE statement clears any errors for the current task and prevents the ERROR function from returning errors as expected A FIFO buffer is available that receives all asynchronous errors that occur from the time an enable power request is issued using ENABLE POWER or the MCP until power is disabled for any reason The FIFO is accessed using the ERROR real valued function The asynchronous FIFO is not valid while the robot is in the power down initialization state User programs should wait until STATE 1 lt gt 0 before calling ERROR with a source parameter gt 1000 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 207 ERROR real valued function Parameters source Real value variable or expression interpreted as an integer whose value selects the source of the error code as follows 2 Return additional error code for current robot ERROR 2 0 returns the standard eV error number ERROR 2 1 returns the motor mask for the current robot This bit mask indicates the motor s referenced for the error number returned by the instruction ERROR 2 0 The LSB indicates motor 1 etcetera If the ERROR 2 1 0 the error is not associated with a specific motor 1 Return the number of the most recent error from the program in which the ERROR function is executed 0 Retur
122. the first RUNSIG before attempting to initiate a second If program execution is interrupted after a RUNSIG instruction has been executed the specified signal returns to the selected state again if a PROCEED or RETRY command is issued If an SSTEP or XSTEP command is issued the signal returns to the specified state during execution of the instruction that is invoked Similarly processing of aDO command temporarily activates the RUNSIG signal for the corresponding program task The EXECUTE command and instruction cancel any previous RUNSIG for the specified program task eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 441 RUNSIG program instruction Example Turn on the digital signal identified by the value of the variable run signal assuming the value is positive RUNSIG run signal The signal remains on throughout execution of the current program The signal goes off when execution ends Related Keywords IO monitor command RESET monitor command SIG real valued function SIG INS real valued function SIGNAL monitor command SIGNAL program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 442 RX RY RZ transformation functions RX RY RZ transformation functions Syntax RX angle RY angle RZ angle Function Return a transformation describing a rotation Parameter angle Real valued expression that represents the rotation angle in degrees Details These functions g
123. the instruction until the specified program task completes execution If a program is aborted while its execution is suspended by a CYCLE END instruction the program task specified by the CYCLE END instruction will still be terminated if the stop_flag is TRUE Parameters task_num Optional real value variable or expression interpreted as an integer that specifies which program task is to be monitored or terminated If the task number is not specified the CYCLE END instruction always accesses task 0 stop_flag Optional real value variable or expression interpreted as a logical TRUE or FALSE value If the parameter is omitted or has the value 0 the specified task is not stopped but the CYCLE END has all its other effects see below If the parameter has a nonzero value the selected task stops at the end of its current cycle Details If the stop_flag parameter has a TRUE value the specified program task will terminate the next time it executes a STOP program instruction or its equivalent regardless of how many program cycles are left to be executed NOTE CYCLE END will not terminate a program with continuous internal loops Such a program must be terminated with the ABORT command or instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 139 CYCLE END program instruction Regardless of the stop_flag parameter this instruction will wait until the program actually is terminated If the program being
124. the network is not enabled User action Enable the network and retry the operation Network packet partially read 102 Explanation A network packet from the UDP driver was too big and was only partially read User action Retry the READ instruction for the UDP device Change the parameters of the sender to transmit smaller packets Network resource already in use 587 Explanation An attempt has been made to use a network address or other network resource that is already in use User action Specify a different address or resource to use Network resource name conflict 564 Explanation The name specified matches an existing network resource name User action Choose a different name Network restarted remotely 534 Explanation eV has received a DDCMP start up message from the remote system when the protocol was already started The remote system has probably stopped and restarted its protocol The local protocol is stopped and all pending I O requests are completed with this error User action 1 Close and reopen the DDCMP line 2 check the remote program logic to see why it restarted the protocol Network timeout 562 Explanation This error occurs when a network transaction is initiated but no reply is received from the server eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 621 System Messages Alphabetical List User action Check network integrity Make sure the server is up a
125. the position for joint 1 the second element must contain the value for joint 2 etc For rotating joints the joint positions are assumed to have units of degrees For translational joints the joint positions are assumed to have units of millimeters index Optional integer value that identifies the array element that contains the position for joint 1 If no index is specified element zero must contain the position for joint 1 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 483 SOLVE TRANS program instruction Details This instruction converts a set of joint positions to an equivalent transformation value using the geometric data of the robot connected to the system The computed transformation represents the position and orientation of the end of the tool in the World coordinate system taking into consideration the current TOOL transformation and BASE offsets Example The series of instructions below computes the position and orientation to which the robot is moved if its current location is altered by rotating joint 1 by 10 degrees HERE cpos DECOMPOSE joints 1 cpos joints 1l joints 1 10 SOLVE TRANS new trans error joints 1 Related Keywords DECOMPOSE program instruction SELECT program instruction SELECT real valued function SOLVE ANGLES program instruction SOLVE FLAGS real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 484 SPEED program instruction SPEED pr
126. to another The instruction is ignored if there is no robot attached An error is reported if the robot is tracking a belt or if ALTER is active Parameters function_code Optional real value that specifies a function for the selected robot module exp1 exp2 Optional expressions whose interpretation is determined by the expn selected robot module NOTE An Invalid argument error is returned if the function_code value used is not valid The same error is returned if an exp value exceeds its allowable range The valid function_code and exp values are described in the device module documentation for your robot See the Adept Robot Device Modules menu in the Adept Document Library to access the device module for your robot Details This instruction executes operations that are specific to the currently selected robot or robot module If the selected robot does not support any special operations this instruction has no effect The following table shows the function and exp values for the supported robot modules For additional details about the applicability and use of this instruction refer to the documentation for your specific robot module See the Adept Robot Device Modules menu to access the documentation for the device module for your robot NOTE Only device modules for non Adept robots are documented eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 433 Robot Module XY3 module ID 21 RO
127. to boot the controller The Adept controller is supplied with the Adept network licenses installed This allows you to connect your Adept controller to an Ethernet network and to share files on it You can use Adept ACE to share files between your PC and controller Related Publications This reference guide is a companion to the eV Language User s Guide which covers the principles of the eV programming language and robot control system In addition to being a complete programming language eV is also a complete operating system that controls equipment connected to Adept controllers The eV Operating System User s Guide and eV Operating System Reference Guide detail the eV operating system You must be familiar with the operating system in order to effectively use the eV programming language The most current releases of some related publications may be for an earlier version of the eV system You need to use them in conjunction with the release notes published since those books were published You may also need to refer to one or more of the manuals listed in the following table eV Release Notes Late breaking changes not in manuals summary of changes Adept ACE User s Guide Describes the Adept ACE user interface which is used for configuration control and programming of the Adept robot system AdeptSight User s Guide Describes the interface use and programming of the optional AdeptSight vision system eV Language
128. tool flange rotation Related Keywords ROBOT OPR program instruction SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 440 RUNSIG program instruction RUNSIG program instruction Syntax RUNSIG signal_num Function Turn on or off the specified digital signal as long as execution of the invoking program task continues Usage Considerations Only one RUNSIG signal can be in effect for each program task Parameter signal_num Optional real valued expression that specifies one of the digital output signals or an internal software signal that is to be controlled The signal is set to on during program execution if the value is positive A negative value results in the signal being set to off during program execution and turned on when execution stops If no signal is specified any RUNSIG in effect for the task is canceled Details This instruction causes the specified digital signal to be turned on or off as soon as the instruction is executed The signal is turned off or on as soon as execution of the invoking program task stops or the STOP instruction is executed This instruction is useful in an application where auxiliary equipment must be stopped if an error occurs during program execution Only one signal can be activated by a RUNSIG instruction at any one time for each program task An error condition results unless a program cancels
129. variables must be preceded with a Precision point variables must be preceded with a Belt variables must be preceded with a String constants must be enclosed in quotes Real and integer constants can be used without modification Note that some eV keywords cannot be used as variable names Details This section describes the function of the keyword in detail eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 43 Documentation Conventions for Keywords Examples Examples of correctly formed instruction lines are presented in this section Related Keywords Additional keywords that are similar or are frequently used in conjunction with this instruction are listed here Any related keywords that are monitor commands are described in the eV Operating System Reference Guide 1In the program editor instructions can be abbreviated to a length that uniquely identifies the keyword The SEE editor automatically expands the instruction to its full length eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 44 ABORT program instruction ABORT program instruction Syntax ABORT task_num Function Terminate execution of an executing program task Usage Considerations ABORT is ignored if no program is executing as the specified task ABORT does not force DETACH or FCLOSE operations on the disk or serial communication logical units If the program has one or more files open and you decide not to resume exe
130. workspace or do not have immediate access to an Emergency Stop button Details Enabling this switch is equivalent to pushing the COMP PWR button on the pendant to turn on high power If there is no error condition that prevents power from coming on the enabling process proceeds to the second step in which you must press the HIGH POWER button on the FP Systems not subject to European certification do not require the second step Disabling this switch requests the robot to perform a controlled deceleration and power down sequence This sequence consists of 1 Decelerating all robots according to the user specified parameters See the following Note Turning on the brakes Waiting for the user specified brake delay interval See the following Note Turning off the amplifiers and power ao A U N Asserting the backplane Emergency Stop signal and deasserting the High Power Enable HPE signal Note that DISABLE POWER may take an arbitrarily long time due to long deceleration times and long brake turn on delays Use the ESTOP command or program instruction when you eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 398 POWER system switch desire an immediate shutdown The value of this switch can be checked at any time with the SWITCH real valued function to determine if high power is on or off To disable power from a robot program without generating an error condition the program must either be in DRY RUN m
131. 0 x Updated 5 8 2013 Page 405 PROMPT program instruction PROMPT program instruction Syntax PROMPT output_string variable_list Function Display a string on the system terminal and wait for operator input Parameters output_string Optional string expression that is output to the system terminal The cursor is left at the end of the string variable_list A list of real valued variables or a single string variable that receives the data Details Displays the text of the output string on the system terminal and waits for you to type in a line terminated by pressing the RETURN key The input line can be processed in either of two ways 1 Ifa list of real valued variables is specified as the variable list the line is assumed to contain a list of numbers separated by space characters and or commas Each number is converted from text to its internal representation and its value is stored in the next variable contained in the variable list If more values are read than the number of variables specified the extra values are ignored If fewer values are read the remaining variables are set to zero If data is read that is not a number an error occurs and program execution stops Each PROMPT instruction should request only one value to avoid confusion and to reduce the possibility of error 2 Ifa single string variable is specified as the variable list the entire input line is stored in the string variable The program must th
132. 0 x Updated 5 8 2013 Page 547 UNTIL program instruction UNTIL program instruction Syntax UNTIL expression Function Indicate the end of a DO UNTIL control structure and specify the expression that is evaluated to determine when to exit the loop The loop continues to be executed until the expression value is nonzero Usage Considerations UNTIL must be used in conjunction with a DO control structure See the description of the DO instruction for details Parameter expression Real valued expression constant or relation that is interpreted as either TRUE nonzero or FALSE zero Details If the expression in the UNTIL statement is zero program execution continues with the statement following the matching DO statement If the expression is nonzero program execution continues with the statement following the UNTIL statement Example The following example is a loop that continues to prompt you to enter a number until you enter one that is greater than or equal to zero DO PROMPT Enter a positive number number UNTIL number gt 0 Related Keyword DO program instruction EXIT program instruction NEXT program instruction WHILE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 548 UPPER system switch UPPER system switch Syntax UPPER Function Control whether or not the case of each character is ignored when string comparisons are performed Usage Cons
133. 00 020 0200 o cece cece cece cece cence cece cee eeeeeeeseeteeeees 529 TIMER real valued function 2 0 0 0 0 o cece eee cece cece eee ccc eecceceeceecceeveceeeeeeeees 530 TOOL program instruction 2 2 00 00 20 e cece cece nec 0000000000 000022221222 533 TOOL transformation function 0 2 0 0 00 0 eee ec eccec cece cee aooo adara oorr ann 534 TPS real valued function 82 sf fates tale te taste tliat Sit MARRS OS Li tettios halle SARS tai ats 535 TRANS transformation function 0 cece eee eee cece eee eceeceeeeeeeeeeeeees 536 TRANSB string function _ 2 2 ccc cc cece ccc ces ceccecceeceteeeceeceeseteeeseeseens 538 TRANSB transformation function 22 0 0 0c cece cece cece cece cece eee eeceeceeceeeveceeees 539 TRUE real valued function 2 00 00 0 00 c cece cece cc ccc cece cece c cece aaao aooaa araoa aan 541 TRUNCATE string function 220 nc cnc ccccececceeceeseeseeseeeeeeeees 542 TYPE program instruction ai cece a Sete so send hove E e ote 543 UNPACK string function 0 2 ccc cee ccc cece ccc eccecceceeceeceeceeacetetteeteeeeeeseees 546 UNTIL program instruction 0 20 2 0 220 c cece 1o o 1a ccc ccecceecceeseeeseessees 548 UPPER system switch 0 2 0 eee eee c eee e cece cece ee eeeceeeeeeseeeeeeaeeeaeeeaeeues 549 VAL real valued function 2 00 00 ec eee ccc cece eevee eee ceceeececeeeceeeceeeeees 551 VALUE program instruction 2 200 000 2200 o cece cece cece 11a 1 cece cecceeceeeceeseees 552 WAIT program
134. 1 0 TRUE Related Keywords BITS monitor command BITS program instruction BITS real valued function IO monitor command RESET monitor command RUNSIG program instruction SIGNAL monitor command SIGNAL program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 465 SIG INS real valued function SIG INS real valued function Syntax SIG INS signal_num Function Return an indication of whether a digital I O signal is installed in the system or whether a software signal is available in the system Parameter signal_num Real valued expression that defines the number of the digital I O or software signal to check The absolute value is used so negative signal numbers are allowed Details This function returns TRUE 1 if the specified digital I O or software signal is available for use by the system Otherwise FALSE 0 0 is returned The function always returns TRUE if signal_number is zero This function can be used to make sure the digital I O signals are installed as expected by the application program Example The following program segment checks whether digital I O signal 12 is installed as an input signal referenced as signal 1012 A message is displayed on the system terminal if the signal is not configured correctly in sig 1012 IF NOT SIG INS in sig THEN TYPE Digital I O signal in sig is not installed END Related Keywords BITS monitor command BITS program instruction
135. 1 must be replaced with a value variable or expression eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 42 Documentation Conventions for Keywords the equal sign must be entered req param2 must be replaced with a value variable or expression OPT KEYWORD can be omitted but must be entered exactly as shown if used opt param may be replaced with a value variable or expression but assumes a default value if not used Function This section gives a brief description of the keyword Usage Considerations This section lists any restrictions on the keyword s use If specific hardware or other options are required they are listed here Parameters The requirements for input and output parameters are explained in this section Ifa parameter is optional it is noted here When an instruction line is entered optional parameters do not have to be specified and the system will assume a default Unspecified parameters at the end of an argument list can be ignored Unspecified parameters in the middle of an argument list must be represented by commas For example the following keyword has four parameters the first and third are used and the second and fourth are left unspecified SAMPLE INST var_1 test String and numeric input parameters can be constant values 3 32 part_1 etc or any legitimate variable names The data type of the constant or variable must agree with that expected by the instruction String
136. 101000 OR B100001 yields 1 TRUE In this case B101000 and B100001 are each interpreted as logically TRUE since they are nonzero Related Keywords BAND operator BXOR operator OR operator eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 95 BRAKE program instruction BRAKE program instruction Syntax BRAKE Function Abort the current robot motion Usage Considerations The BRAKE instruction can be executed by any program task including a task that is not actively controlling the robot This instruction does not cause a BREAK to occur see Details below If more than one robot is connected to the controller this instruction applies to the robot currently selected see the SELECT instruction If the eV system is not configured to control a robot the BRAKE instruction will not generate an error due to the absence of a robot Details BRAKE causes the current robot motion to be aborted immediately In response to this instruction the robot will decelerate to a stop and then without waiting for position errors to null begin the next motion NOTE Program execution is not suspended until the robot motion stops Example The following program segment initiates a robot motion and simultaneously tests for a condition to be met If the condition is met the motion is stopped with a BRAKE instruction Otherwise the motion is completed normally MOVES step 1 Initiate motion to next location DO Lo
137. 11 Explanation An E STOP condition has occurred because it was requested through the front panel external input signal User action Restore the front panel external input signal state Re enable HIGH POWER as desired E Stop from Line E Stop input 929 Explanation An E STOP condition has occurred because it was requested through the Line E STOP input signal User action Restore the state of the Line E STOP input signal Re enable HIGH POWER as desired eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 594 System Messages Alphabetical List E STOP from MCP enable switch 913 Explanation An E STOP condition has occurred because the enable switch formerly called Hold to Run switch on the Pendant has been released During MANUAL mode releasing this switch performs a controlled power off rather than an E STOP User action Hold the Pendant enable switch and re enable HIGH POWER as desired E STOP from MCP E STOP button 909 Explanation An E STOP condition has occurred because the E STOP button on the Pendant has been pressed User action Unlatch the locking E STOP button Re enable HIGH POWER as desired E STOP from safety system Code n 1111 Because these message codes are related to hardware refer to your Robot Instruction Handbook as your primary source of information If it does not answer your questions contact Adept Customer Service The following table summarizes information about
138. 125E 2 Returns 131 0 INT cost F Returns the value of cost truncated to an integer INT cost 0 5 SIGN cost Returns the value of cost rounded to the nearest integer The SIGN function needs to be included to correctly round negative values of P Cost Related Keyword FRACT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 296 INTB real valued function INTB real valued function Syntax INTB string first_char Function Return the value of two bytes of a string interpreted as a signed 16 bit binary integer Parameters string String expression that contains the two bytes to be converted first_char Optional real valued expression that specifies the position of the first of the two bytes in the string If first_char is omitted or has a value of 0 or 1 the first two bytes of the string are extracted If first_char is greater than 1 it is interpreted as the character position for the first byte For example a value of 2 means that the second byte contains bits 9 to 16 and the third byte contains bits 1 to 8 An error is generated if first_char specifies a byte pair that is beyond the end of the input string Details Two sequential bytes of a string are interpreted as being a 2 s complement 16 bit signed binary integer The first byte contains bits 9 to 16 and the second byte contains bits 1 to 8 The main use of this function is to convert binary numbers from an
139. 16 200 102 Related Keywords FOPEN program instruction IOSTAT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 264 GETC real valued function GETC real valued function Syntax GETC lun mode Function Return the next character byte from a device or input record on the specified logical unit Usage Considerations The logical unit must be attached by the program for normal variable length record input output Parameters lun mode Details Real value variable or expression interpreted as an integer that identifies the device to be accessed See the ATTACH instruction for a description of the unit numbers Real value variable or expression interpreted as an integer that specifies the mode of the read operation Currently the mode is used only for the terminal and serial I O logical units The value is interpreted as a sequence of bit flags as detailed below All bits are assumed to be clear if no mode value is specified Bit 1 LSB Disable waiting for input mask value 1 If this bit is clear program execution is suspended until the next byte is received If the bit is set and no bytes are available the function immediately returns the error code for No data received 526 NOTE A 526 error may be returned by the first no wait GETC even if there are bytes queued Bit 2 Disable echo mask value 2 If this bit is clear input from the terminal is
140. 2 second 2 NOTE This function always returns a string containing both the date and the time That can result in an erroneous date string if the date parameter is omitted when the time parameter is specified Details If both the date and time parameters are omitted this function returns the current system date and time in the format described below An empty string is returned if the system clock has not been initialized If the date and time parameters are specified their values are converted to an ASCII string in the format described below and the string is returned This operation is used to decode the output values generated by the TIME real valued function The date and time are output in the format dd mmm yyyy hh mm ss in which the individual elements are defined as follows peeve mee fad The day of the month 1 to 31 The month specified as a 3 letter abbreviation JAN FEB MAR APR eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 527 TIME4 string function C 4 MAY JUN JUL AUG SEP OCT NOV or DEC yyyy The year 1980 to 2079 The hour of the day 0 to 23 Minutes past the hour 0 to 59 Seconds past the minute 0 to 59 NOTE The TIME4 function converts passed arguments instead of the system time when either the date or the time parameter is supplied However the function always tries to generate a string representation of both parameters You get the date 01 Jan 80 if you do n
141. 2 is close to 90 degrees e The axis of joint 3 isin the World X Z plane that is Y 0 e The alignment keyway in the end effector flange is directed along the positive X axis that is the tool X axis is parallel to the world X axis The following table lists the joint positions for the READY locations for various Adept robots Adept Quattro Viper s650 s80 s650 s85 0 s1300 10 0 10 0 10 0 mm mm mm eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 420 READY program instruction o eeel e e e Related Keyword SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 421 RELAX and RELAXI program instruction RELAX and RELAXI program instruction Syntax RELAX RELAXI Function Limp the pneumatic hand Usage Considerations RELAX causes the hand to limp during the next robot motion RELAXI causes a BREAK in the current continuous path motion and causes the hand to limp immediately after the current motion completes The RELAX instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task The instruction applies to the robot selected by the task The RELAXI instruction can be executed by any program task as long as the task has attached a robot The instruction applies to the robot selected by the task If the eV system is not configured to control a robot executing these instru
142. 2013 Page 93 BOR operator BOR operator Syntax Value BOR value Function Perform the binary OR operation on two values Usage Considerations The BOR operation is meaningful only when performed on integer values Only the integer parts of real values are used Any fractional parts are ignored Details The BOR operator can be used to perform a binary OR operation on two values on a bit by bit basis resulting in a real value Specifically the BOR operation consists of the following steps 1 Convert the operands to sign extended 32 bit integers truncating any fractional part 2 Perform a binary OR operation see below 3 Convert the result back to a real value During the binary OR operation c a BOR b the bits in the resultant C statement are determined by comparing the corresponding bits in the operands A and B as indicated in the following table For each bit in That is a bit in the result will be 1 if the corresponding bit in either of the operands is 1 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 94 BOR operator To review the order of evaluation for operators within expressions see the section Order of Evaluation in the eV Language User s Guide Examples Consider the following binary values are shown only to make the operation more evident B101000 BOR B100001 yields B101001 41 Note that a very different result is obtained with the logical OR operation B
143. 4 STATE real valued function Interpretation select 3 ge When select 4 the function value returns information about thehardware status to be read by programs Interpret the value as a set of bit flags each of which indicates a corresponding condition ave Trin en ESTOP circuit is open HIGH POWER button is pushed Front Panel keyswitch is in manual state H100 HFOO ESTOP source 0x0 No ESTOP or pending waiting for 120 ms settling period 0x1 ESTOP from loss of ESTOP source eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 495 STATE real valued function Interpretation when bit set select 4 0x2 ESTOP from Front Panel 0x3 ESTOP from pendant 0x4 ESTOP from User Gate 0x5 ESTOP from Line Input 0x6 ESTOP from Muted Safety Gate auto mode only 0x7 ESTOP from AUTO to Manual change 0x8 ESTOP from Manual to AUTO change 0x9 OxE Reserved for future use OxF Unresolved ESTOP source 3 position Enable switch is closed reported only in manual mode 1 If eV is detecting a hardware ESTOP condition Bit 4 is non zero 7The HIGH POWER button will not function if its light bulb is burned out or missing When select 5 the function value indicates the settings of the switch on the Front Panel For more information refer to the Adept SmartController User s Guide Interpretation select 5 Automatic mode When select 6 the function retur
144. 4 and 5 are as follows eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 128 CONFIG real valued function Indicati on if bit Bit SET CLEAR FINE COARSE asserted asserted NULL NONULL asserted asserted MULTIPL SINGLE E asserted asserted H10 CPON CPOFF asserted asserted OVERLA NOOVER P LAP asserted asserted When the select parameter is 6 7 or 8 the CONFIG function returns a value that represents the setting of the FINE tolerance FINE tolerance returned The permanent setting as a percentage of the standard tolerance The setting used for the previous or current motion as a percentage of the standard tolerance The setting to be used for the next motion as a percentage of the standard tolerance When the select parameter is 9 10 or 11 the CONFIG function returns a value that represents the setting of the COARSE tolerance eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 129 CONFIG real valued function COARSE tolerance returned The permanent setting asa percentage of the standard tolerance The setting used for the previous or current motion as a percentage of the standard tolerance The setting to be used for the next motion as a percentage of the standard tolerance When the select parameter is 12 the available joint configuration options for the selected robot are returned as shown below Indication if bit set Robot can have left
145. 80 S CHR 0 CHR 0 LTB CHR HCO CHR H40 CHR 0 CHR 0 mj Related Keywords ASC real valued function DBLB real valued function DBLB string function FLTB string function INTB real valued function LNGB real valued function LNGB string function TRANSB transformation function VAL real valued function Returns 1 0 Returns 3 0 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 244 FLTB string function FLTB string function Syntax FLTB value Function Return a 4 byte string containing the binary representation of a real value in single precision IEEE floating point format Parameter value Real valued expression the value of which is converted to its IEEE floating point binary representation Details A real value is converted to its binary representation using the IEEE single precision standard floating point format This 32 bit value is packed as four successive 8 bit characters in astring See the FLTB real valued function for a more detailed description of IEEE floating point format The main use of this function is to convert a real value to its binary representation in an output record of a data file Example SFLTB 1 215 Returns a character string equivalent to SCHR H3F SCHR H9B SCHR H85 SCHR H1F Related Keywords CHR string function DBLB real valued function DBLB string function FLTB real valued function INTB string function LNGB real va
146. ABLE or DISABLE command or instruction the settings for all robots are altered Otherwise only the setting for the specified robot is affected Details When DECEL 100 is enabled for the selected robot the maximum deceleration percentage defined by the SPEC utility program is ignored and a maximum deceleration of 100 is used instead This maximum is used to limit the value specified by the ACCEL program instruction By default DECEL 100 is disabled for all robots Example DECEL 100 2 Cause ACCEL to use 100 for maximum deceleration for robot 2 Related Keywords ACCEL program instruction ACCEL real valued function SPEED monitor command SPEED program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 145 DECODE string function DECODE string function Syntax DECODE string_var string_exp mode Function Extract part of a string as delimited by given break characters Usage Considerations DECODE modifies the input string_var variable as well as returning a string value The test for break characters is always performed without regard for the case of the characters in the input string The break characters are treated as individual characters independent of the other characters in the string that defines them Parameters string_ String variable that contains the string to be scanned After the var function is processed this variable will contain the portion of the original str
147. An internal problem has occurred with the eV software or with the system hardware eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 598 System Messages Alphabetical List User action It would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error message and exactly what you were doing at the time the error occurred To save programs that are in memory you can restart eV temporarily by pressing Ctrl G The robot servos do not function but you can STORE the programs Then power down the controller and restart the system Fatal Initialization failure Mtr n 1014 Explanation During initialization of a robot kinematic module the indicated motor failed initialization The problem may be a missing or improperly configured servo interface board or an incorrect motor mapping for this module User action Verify that all servo interface boards are correctly installed and configured use the SPEC V2 utility for motor mapping If the problem persists contact Adept Customer Service Fatal Invalid serial I O configuration None Explanation During initial startup eV has detected that the configuration of the hardware for serial communications is not valid An attempt has been made to configure a serial unit that is not installed or an invalid byte format or baud rate has been requested User action Power down the controller and try starting it ag
148. BOT OPR program instruction Supported Robot Modules function_ dode Description When the system is first booted the first Z Theta pair is selected as the primary head and the second and third heads are not slaved The ROBOT OPR program instruction must be executed to specify a different primary head and to slave heads The following points should be kept in mind when utilizing ROBOT OPR to change the head selection 1 This instruction breaks any executing continuous path motion and modifies the head selection after the robot has come to a stop 2 Before you slave one head to another head you should ensure that the Z and Theta values for the slave head are identical to those of the primary head If any differences exist at the start of the next motion the axes of the slave head will quickly jump to the same joint positions as the primary head 0 enables Number of the primary Z Theta axes selection of 1 N the primary and slaved axes Optional Number of the secondary Z Theta axes 1 N Optional Number of the third Z Theta axes 1 N Optional Number of the fourth Z Theta axes 1 N NOTE N is the number of configured Z Theta pairs which can be 1 to 4 There is no check for an axis pair being specified more than once 1 enables Z offset for first slaved axes definition of the position offset values eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 434 Robot Module DLT m
149. CALL prog_c start NULL As stated above the items in the arg_list must match their corresponding items in the called program In addition to straightforward matches of scalar to scalar and arrays of equal numbers of dimensions there are several situations in which higher dimension arrays can be passed in place of lower dimension arrays For example all the following cases are valid e Array element passed to a scalar CALL example a 1 gt PROGRAM example b eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 107 CALL program instruction CALL example a 1 2 gt PROGRAM example b CALL example a 1 2 3 SSS PROGRAM example b e Onedimension of an array passed to a one dimensional array CALL example al a PROGRAM example b CALL example a 1 a gt PROGRAM example b CALL example a 1 2 gt PROGRAM example b e Two dimensions of an array passed to a two dimensional array CALL example a gt PROGRAM example b CALL example a 1 gt PROGRAM example b e Three dimensions of an array passed to a three dimensional array CALL example a gt PROGRAM example b Examples CALL pallet count Branches to the program named pallet passing to it a pointer to the variable count When a RETURN instruction is executed control returns to the program containing the CALL instruction and count will contain the current v
150. CH 1 Discontinue program control of the manual control pendant Related Keyword ATTACH program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 169 DEVICE program instruction DEVICE program instruction Syntax DEVICE type unit error p1 p2 out i in j out_trans in_trans Function 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 Usage Considerations The syntax contains optional parameters that apply only to specific device types and commands Parameters type Real value variable or expression interpreted as an integer that indicates the type of device being referenced The following types are currently available 0 Belt encoder 1 Not used 2 Force Processor Board for Adept use only 3 Robot device i e servo for Adept use only 4 Vision 5 1394 bus for Adept use only unit Real value variable or expression interpreted as an integer that indicates the device unit number The value must be in the range 0 to max 1 where max is the maximum number of devices of the specified type The value should be 0 if there is only one device of the given type error Optional real variable that receives a standard system error number if this instruction failed If this parameter is omitted any device error stops program execution If the error parameter is spe
151. CH real valued function SWITCH real valued function Syntax SWITCH switch_name SWITCH switch_name index Function Return an indication of the setting of a system switch Parameters switch_name Name of the system switch of interest see below index For switches that can be qualified by an index this is a required real value variable or expression that specifies the specific switch element of interest Details This function returns FALSE 0 0 if the specified switch is disabled Otherwise TRUE 1 is returned The switch name can be abbreviated to the minimum length that identifies it uniquely For details on switch names see the section Switches in the eV Language User s Guide Other system switches are available when options are installed Refer to the option documentation for details For example the switches associated with the AdeptVision options are described in the AdeptVision Reference Guide Example This program segment checks whether the DRY RUN switch is enabled If it is a message is displayed on the system terminal IF SWITCH DRY RUN THEN TYPE DRY RUN mode is enabled END Related Keywords DISABLE monitor command DISABLE program instruction ENABLE monitor command eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 509 SWITCH real valued function ENABLE program instruction SWITCH monitor command SWITCH program instruction eV Language Reference Guide v2 0 x Updated
152. D operator eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 569 XOR operator BXOR operator OR operator eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 570 ID Option Words ID Option Words The following topics are described in this chapter Introduction to ID Option Words 2 222 22 e cee e eee 572 Robot Option Words 22 022 222 e cece cece cece eect cece cece ceeeeeees 572 System Option Words 2 102 2 22 0 o eect cece eect cece eeeeeees 574 Processor Option Word 2 2 22 2 occ c cece ee eee cece ec eeeeeceeeeeees 576 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 571 Introduction to ID Option Words Introduction to ID Option Words This appendix supplements the descriptions of the ID monitor command and the ID real valued function The ID command displays various option words as hexadecimal values the ID function makes the same values available to programs This appendix describes the following e Basic eV system two option words e Processor option word for each processor Robot Option Words The real valued functions ID 8 8 and ID 8 10 robot return the first option word for the selected and specified robot respectively The interpretations of the high order bits in this option word are described in the following table Note that the interpretation of the bits in the high byte of this value bits 9 through 16 is
153. DCMP Status Format INTB reply 1 DDCMP network state 0 1 o0r2 INTB reply 3 LNGB reply 5 LNGB reply 9 LNGB reply 13 LNGB reply 17 LNGB reply 21 LNGB reply 25 LNGB reply 29 LNGB reply 33 0 Line is closed 1 Line is open but waiting for remote 2 Line is active Local media error count Local timing error count Local format error count Remote media error count Remote timing error count Remote format error count Count of blocks sent Count of blocks received eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 226 501 FCMND program instruction Set DDCMP communication parameters This command is recognized only by serial communication lines configured for use with the DDCMP protocol See the eV Language User s Guide for the details of this command TCP Command Codes 600 601 Initiate a close connection from the TCP server side for the client identified by the handle number handle in the instruction FCMND lun 600 INTB handle Note however that close connection requests are more commonly initiated by the client side Initiate a PING command see the eV Operating System Reference Guide for details on the PING monitor command The resulting IOSTAT value is either 1 indicating the client was found on the network or 562 indicating a network timeout eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 227 FCMND program instruction De
154. Disk See the manual Instructions for Adept Utility Programs for information on use of the program The OPENI instruction differs from OPEN in the following ways e ABREAK occurs if a continuous path robot motion is in progress e The signal is sent to the control valves at the conclusion of the current motion or immediately if no motion is in progress e Robot motions are delayed for a brief time to allow the hand actuation to complete The length of the delay in seconds is the current setting of the HAND TIME system parameter eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 373 OPEN program instruction Examples During the next robot motion cause the pneumatic control valves to assume the open state OPEN Cause the pneumatic control valves to assume the open state at the conclusion of the current motion OPENI Related Keywords CLOSE program instruction CLOSEI program instruction HAND TIME system parameter RELAX program instruction RELAXI program instruction SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 374 OR operator OR operator Syntax a Value OR value Function Perform the logical OR operation on two values Details The OR operator operates on two values resulting in their logical OR combination For example during the OR operation c aORb the following four situations can occur FALSE FALSE TRUE FAL
155. ENT real valued function SET EVENT program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 557 WHILE program instruction WHILE program instruction Syntax WHILE condition DO Function Initiate processing of a WHILE structure if the condition is TRUE or skipping of the WHILE structure if the condition is initially FALSE Usage Considerations Every WHILE statement must be part of a complete WHILE DO END structure Parameter condition Real valued expression that is evaluated and tested for a TRUE nonzero or FALSE zero value Details This structure provides another means for executing a group of instructions until a control condition is satisfied compare it with the DO structure The complete syntax for the WHILE structure is WHILE condition DO group_of_ steps END Processing of the WHILE structure can be described as follows 1 Evaluate the condition If the result is FALSE proceed to item 4 2 Execute the group_of_steps 3 Return to item 1 4 Continue program execution at the first instruction after the END step Unlike the DO structure described elsewhere the group of instructions within the WHILE structure may not be executed at all That is if the condition has a FALSE value when the WHILE is first executed then the group of instructions are not executed at all When this structure is used it is assumed that some action occurs within the group of enclosed instructio
156. Example The program instruction min value MIN 1000 x y zZ sets min value to the smallest value of the variables x y and z or to the value 1000 if all three variables have values greater than 1000 Related Keyword MAX real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 336 MMPS keyword MMPS keyword Syntax SPEED value MMPS ALWAYS Function Specify the units for a SPEED instruction as millimeters per second NOTE To specify units in inches per second use the IPS conversion factor Usage Considerations MMPS can be used only as a parameter for a SPEED program instruction The speed setting specified is scaled by the monitor speed in effect when the robot motion occurs Speeds specified with the MMPS parameter apply to straight line motions Joint interpolated motions do not maintain the specified tool speed Details This is an optional parameter for the SPEED program instruction which specifies the units to be used for the speed value That is when MMPS is specified in a SPEED instruction the speed value is interpreted as millimeters second for straight line motions See the description of the SPEED program instruction for further details on setting motion speeds with the IPS conversion factor Example Set the default program speed for straight line motions to 10 millimeters per second assuming the monitor speed is set to 100 SPEED 10 MMPS ALWAYS Related Keywords IPS key
157. H dlun 4 DISK FOPENR dlun RECORD DAT IF IOSTAT dlun lt 0 THEN TYPE Error opening file HALT END file size IOSTAT dlun 2 Read and display records until the end of the file is reached ieeof 504 End of file error code READ dlun S record WHILE IOSTAT dlun gt 0 DO TYPE Srecord READ dlun record END IF IOSTAT dlun ieeof THEN TYPE Normal end of file ELSE TYPE B I O error SERROR IOSTAT dlun END eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 303 IOSTAT real valued function FCLOSE dlun DETACH dlun In the following example a TCP server program segment performs a no wait read and then checks the status to determine whether a client connection or disconnection was made ATTACH lun 4 TCP IF IOSTAT lun lt 0 THEN TYPE Attach error SERROR IOSTAT lun END no wait 1 READ lun handle no_ wait in str status IOSTAT lun CASE status OF VALUE 1 Data received TYPE Data received Handle handle VALUE 100 New connection opened TYPE New connection established Handle handle VALUE 101 7Connection closed TYPE Connection closed Handle handle VALUE 526 No data received WAIT ANY Some other error TYPE Error during READ SERROR status GOTO 100 END Related Keywords ATTACH program instruction FCLOSE program instruction FCMND program instruction FEMPTY program instruction FOPEN program instruction FSEEK
158. IF status 0 0 THEN If vision system is idle VPICTURE 1 take a picture END END SELECT FORCE Example Program The following program selects force sensor 2 and reads the current forces from it PROGRAM test SELECT FORCE 2 Select force sensor 2 FORCE READ f Read sensor 2 forces TYPE Current forces on sensor SELECT FORCE S TYPE are FO 1 0 X1 f 1 X1 f 2 END Related Keywords ATTACH program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 452 SELECT real valued function SELECT real valued function Syntax SELECT device_type mode Function Return the unit number that is currently selected by the current task for the device named Parameters device_type Keyword that identifies the type of device that is to be selected The only valid type is ROBOT The device type keyword can be abbreviated mode Optional real value variable or expression interpreted as an integer that specifies the mode for the function If this parameter is omitted or has the value 0 the function returns the number of the unit currently selected or 0 if no unit is selected If mode has the value 1 the function returns the total number of units available for the specified device Details This function returns either the number of the specified device that is currently selected or the total number of devices connected to the system controll
159. IG real valued function 22 00 00 o cece cece cece ccc ec cece ec eecceceeceeceeeeeeeeeeees 127 COS real valued function 22 2 2 lee eee ccc cece cece eeceeeveceeeeeceeeeeeeeeeees 133 CP System Switch 2 220 uraa do dedi as Seidea t posads eae eee tke Sa See e as ese SS 134 CPOFF program instruction 0 02200 2 occ ccc eee cece cence cece cece ce eeeeeeceeeeeeees 135 CPON program inStruction 20 0 2 o a ccc eee eee eee e cece cence eeeeeecceeeeneeeeeees 137 CYCLE END program instruction 0 00 20 0002 c ccc ccc cece ec eeeeceeeceeeeees 139 DBLB real valued function 200 200 o cece cece ence cnc ce cece cece ceecceeceeeseesseees 141 DBLB string UNCON As So erre cece eee cc e aer aeie E E EN A aaa 143 DCB real valued function 00 0000000000000 c cece cece cece aaae eeceeeceeeceeceeseeeeeees 144 DECEL 100 system switch 000000000000000000000000000000000000000000000000000000010000000 145 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 6 SDECODE string function lt 2 6st scons eee Ae cos ecc crite es toledo een ocee cae 146 DECOMPOSE program instruction 2 000 2220 cco cece cece cece cece cceeececeeeeee 149 SDEFAUET string function fu2222 3520 foto a ath cated et ae Sot i iret s Joka 151 DEFBEET programi Instr ction seee ei tot eal e nh ak a bh dire a ae ct 153 DEFINED real valued function 0 0 000000 c cece cece cece cece cece ceceeceeceecveceeseesees 156 DELAY pro
160. L can be used to display the current tool setting The TOOL function returns information for the robot selected by the task executing the function If the eV system is not configured to control a robot use of the TOOL function does not generate an error because of the absence of a robot However the information returned by the function may not be meaningful The name tool cannot be used as a program name or variable name Examples Display the value of the current TOOL transformation from the system prompt LISTL TOOL Save the value of the current TOOL SET save tool TOOL Related Keywords SELECT program instruction SELECT real valued function TOOL monitor command TOOL transformation function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 534 TPS real valued function TPS real valued function Syntax TPS Function Return the number of ticks of the system clock that occur per second Ticks Per Second Usage Considerations The name tps cannot be used as a program name or variable name Example The following example shows how an event can be tested each system clock tick with a time out of 5 seconds using the TPS function and the WAIT instruction FOR ticks 1 TO 5 TPS Loop 5 ticks sec times IF SIG 1001 THEN TYPE Signal ON HALT END WAIT Wait until next clock tick END TYPE Time out while waiting for signal 1001 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 535
161. Language Reference Guide v2 0 x Updated 5 8 2013 Page 596 System Messages Alphabetical List User action It would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error message and exactly what you were doing at the time the error occurred To save programs that are in memory you can restart eV temporarily by pressing Ctrl G The robot servos do not function but you can STORE the programs Then power down the controller and restart the system Fatal Bus Err at aaaaaa m n I xxxx t aaaa F ff None Explanation A computer error occurred because of a bad read from memory because of noise on the internal data bus or because of a hardware problem User action To save programs that are in memory you can restart eV temporarily by pressing Ctrl G The robot servos do not function but you can STORE the programs Then power down the controller and restart the system If the problem persists contact Adept Customer Service Fatal CHK Trap at aaaaaa m n None Explanation An internal problem has occurred with the eV software or with the system hardware User action It would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error message and exactly what you were doing at the time the error occurred To save programs that are in memory you can restart eV temporarily by pressing Ctrl G The ro
162. OARSE instruction will apply only to the next robot motion Details This instruction enables a low precision feature in the robot motion servo so that larger errors in the final positions of the robot joints are permitted at the ends of motions This allows faster motion execution when high accuracy is not required Lower precision is sometimes required in belt tracking applications when the constant motion of the robot prevents the servos from settling to high precision eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 124 COARSE program instruction If the tolerance parameter is specified the new setting takes effect at the start of the next motion Also the value becomes the default for any subsequent COARSE instruction executed during the current execution cycle regardless of whether ALWAYS is specified Changing the COARSE tolerance does not affect the FINE tolerance If the tolerance parameter is omitted the most recent setting for the attached robot is used The default setting is restored to 100 percent when program execution begins or a new execution cycle starts assuming that the robot is attached to the program Examples Enable the low precision feature only for the next motion COARSE Enable the low precision feature for the next motion with the tolerance settings changed to 150 of the standard tolerance for each joint that is a looser tolerance COARSE 150 Enable the low precision feature unti
163. OE 403 PROMPT program instruction 0 20 00 20 o ecco eee eens 406 RANDOM real valued function 0 cece ccc e eee ec eee e cen enceaeeeeeeseneenenes 408 REACT program instruction iio ee ot ead ta tee Nak ll Uk tl NS Eo iad St BN Lea 409 REACTE program instruction 00 000 000 2200 2 coco cece cece cece cnc ccecccecceecceeseeeseeses 412 REACTI program instruction 0 2 0002 c ccc cece ce cece eee eececeeeeeeeeeees 414 READ program instruction _ 0 20 20 0oeeeeeeeeeeeeeeeeeeeeeeeeees 416 READY program INSUTUGEION eeose Specs diated Ea send ah Ads inna ss metas 420 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 10 RELAX and RELAXI program instruction 0 200 000 220 200 c ccc cc cce ec cce cece cece ceeees 422 RELAX and RELAXI program instruction 0 0 0 00 2 00 20 c ccc cece ccc ce cece cece eeeees 424 RELEASE program instruction 2 20 2 0 20 2200 c ccc cc cccc cece cece cece ceccceecceccceseeeseees 426 RESET program instruction 000 2200 2 cc cece cece cece ceeececeeeees 427 RETURN program instruction 00 0 00 22 o cece c cece e ccc eeeceeeceeeeeesees 428 RETURNE program instruction 0 00 2202 2 0c ccc cc ccc cece cc cecccecccecceeceeesceeseeeee 429 RIGHTY program instruction 2 00 0 0 0 0 c cece cece cece cece eee eee cece eeeeeeeeeeeseneeeeeees 430 ROBOT system SWItCh oo 200 00 e cece cc ec ec cece cece ceceeeeeececeeceeceeeeeceees 431 ROBOT OPR pr
164. PROMPT SENCODE B C1 X10 Enter the number of parts Sinput beeps the terminal spaces down a line spaces over ten spaces outputs the string and waits for your input Note that a sign has to be used between the ENCODE function and the quoted string because the entire output_string parameter must be a single string expression The following pairs of instructions are equivalent to the previous example TYPE B Cl X10 S PROMPT Enter the number of parts Sinput or TYPE B C1 X10 Enter the number of parts S PROMPT input Note that S must be included in the TYPE instructions as shown to have the prompt string output on one line and to have the cursor remain on that line Related Keywords GETC real valued function READ program instruction TYPE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 407 RANDOM real valued function Syntax RANDOM Function Return a pseudorandom number Usage Considerations The word random cannot be used as a program name or variable name Details Returns a pseudorandom number in the range 0 0 to 1 0 inclusive Thus each time the RANDOM function is evaluated it returns a different value The numbers generated by this function are pseudorandom because the sequence repeats after this function has been called 224 16 777 216 times eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 408 REACT program instructio
165. S start _pos BREAK Do a half circle with rotating orientation MOVEC 180 TRUE center BREAK eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 345 MOVEC program instruction MOVEC Creating a Half Circle with rotating orientation e g the turn parameter is set By changing the last 3 lines of the code the example can be modified to create the same motion but without rotating the orientation as follows Same motion without rotating the orientation MOVEC 180 center BREAK eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 346 MOVEC program instruction MOVEC Creating a Half Circle with constant orientation e g the turn parameter is omitted eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 347 MOVEC program instruction Related Keywords APPRO program instruction APPROS program instruction DEPART program instruction DEPARTS program instruction MOVE program instruction MOVES program instruction SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 348 MOVE and MOVES program instruction MOVE and MOVES program instruction Syntax MOVE location MOVES location Function Initiate a robot motion to the position and orientation described by the given location Usage Considerations MOVE causes a joint interpolated motion MOVES causes a straight line motion during which no changes in configuration are
166. SC or within or around the arm signal cable It is possible that the power lines to the RSC have an intermittent connection somewhere On FireWire Robots this error indicates that a robot amplifier has detected an under or over voltage of its internal DC Bus This may be due to AC power supply out of spec of 200 240V or a motion that is too hard or too fast for the payload of the robot User action If the problem persists contact Adept Customer Service RSC reset 652 Explanation eV has detected that the robot signature card RSC has lost power temporarily but is now functioning User action Turn high power back on and resume program execution If the problem persists check the cabling to the robot Contact Adept Customer Service if no solution can be found RSC time out 653 Explanation eV has not received a response from the robot signature card RSC when expected during the initial calibration data load The RSC or its cabling is probably faulty User action Power down the controller and check the cables to the robot If the problem persists contact Adept Customer Service RSC transmission garbled 654 Explanation eV has received an invalid transmission from the robot signature card RSC Either a hardware problem has occurred or the robot is being operated in an environment with excessive electrical noise User action None unless the calibration load fails or RSC communications fail If the problem
167. SE Function Separate the alternate group of statements in an IF THEN control structure Usage Considerations ELSE can be used only within an IF THEN ELSE END control structure Details Marks the end of a group of statements to be executed if the value of the logical expression in an IF logical_expr THEN control structure is nonzero and the start of the group of statements to be executed if the value is zero Related Keyword IF THEN program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 199 ENABLE program instruction ENABLE program instruction Syntax ENABLE switch switch Function Turn on one or more system control switches Usage Considerations The ENABLE monitor command can be used when a program is executing If a specified switch accepts an index qualifier and the index is zero or omitted with or without the brackets a the elements of the switch array are enabled Parameter switch Name of a system switch to be turned on The name can be abbreviated to the minimum length that uniquely identifies the switch That is for example the MESSAGES switch can be referred to with ME since there is no other switch with a name beginning with the letters ME Details System switches control various aspects of the operation of the eV system including some optional subsystems such as vision The Switch entry in the index for this document directs you to the
168. SE FALSE TRUE TRUE FALSE TRUE TRUE The result is TRUE only if both of the two operand values are logically TRUE To review the order of evaluation for operators within expressions see the section Order of Evaluation in the eV Language User s Guide Example The instructions following the IF will be executed if both ready is TRUE nonzero and count equals 1 IF ready AND count 1 THEN Related Keywords BAND operator OR operator XOR operator eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 56 ANY program instruction ANY program instruction Syntax ANY Function Signal the beginning of an alternative group of instructions for the CASE structure Usage Considerations The ANY instruction must be within a CASE structure Details See the description of the CASE structure Related Keywords CASE program instruction VALUE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 57 APPRO program instruction APPRO program instruction Syntax APPRO location distance APPROS location distance Function Start a robot motion toward a location defined relative to specified location Usage Considerations APPRO causes a joint interpolated motion APPROS causes a straight line motion during which no changes in configuration are permitted The APPRO and APPROS instructions can be executed by any program task as long as the task has attached a robot The ins
169. SE TRUE TRUE That is the result is TRUE if either or both of the two operand values is logically TRUE To review the order of evaluation for operators within expressions see the section Order of Evaluation in the eV Language User s Guide FALSE TRUE Example In the following sequence the instructions immediately following the IF instruction are executed if either ready is TRUE that is nonzero or count equals 1 The instructions are not executed if both ready is FALSE and count is not equal to 1 IF ready OR count 1 THEN END eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 375 OR operator Related Keywords AND operator BOR operator XOR operator eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 376 OUTSIDE real valued function OUTSIDE real valued function Syntax OUTSIDE low test high Function Test a value to see if it is outside a specified range Parameters low Real value expression or variable specifying the lower limit of the range to be tested test Real value expression or variable to test against the range high Real value expression or variable specifying the upper limit of the range to be tested Details Returns TRUE 1 if test is less than low or greater than high Returns FALSE 0 otherwise Related Keywords MAX real valued function MIN real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 377 OVERLAP progra
170. See the first example below For multiple dimension arrays for example names this function returns the largest array index for which an element is defined for the left most dimension that is omitted from the array specification See the second example below There cannot be an index specified to the right of an omitted index Note that the value returned by this function is an index not an array element Furthermore the value is not a count of the array elements that are defined it is the largest index for which an array element is defined The value 1 is returned if the array does not have any elements defined for the requested dimension That is 1 is returned if any of the following situations occur e The array does not exist e Thearray has more or fewer dimensions than the number indicated in the function call For example LAST a will return 1 if the array a has two dimensions e The specified dimension in a multiple dimension array has not been defined at all For example LAST a 20 returns 1 if LAST a returns 19 That is no elements a 20 i exist eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 313 LAST real valued function The error Illegal array index results if there is not at least one blank index in the array specification supplied to this function or if there is an index specified to the right of a blank index Examples If the array part has all its elements defin
171. The priority can be changed by the program at any time with the LOCK instruction or the priority is set automatically when a reaction occurs as prescribed by a REACT or REACTI instruction The PRIORITY function can be used to determine the current setting of the reaction lock out priority for the task executing the function Example This example raises the priority performs some operation that requires a reaction routine to be locked out and then restores it to its previous value save PRIORITY Save the current priority IF save lt 10 THEN Raise priority to at least 10 LOCK 10 END Access data shared by a reaction routine LOCK save Set priority to original value Related Keywords LOCK program instruction REACT program instruction REACTI program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 402 PROGRAM program instruction PROGRAM program instruction Syntax PROGRAM program_name argument_list comment Function Define the arguments that are passed to a program when it is invoked Usage Considerations This instruction is inserted automatically by the eV editors when a new program is edited This special instruction must be the first line of every program The PROGRAM statement cannot be deleted from a program Parameters program_name Name of the program in which this instruction is found argument_list Optional list of variable names separated by commas Each variable c
172. Usage Considerations The BAND operation is meaningful only when performed on integer values Only the integer parts of real values are used Any fractional parts are ignored Details The BAND operator can be used to perform a binary AND operation on two values on a bit by bit basis resulting in a real value Specifically the BAND operation consists of the following steps 1 Convert the operands to sign extended 32 bit integers truncating any fractional part 2 Perform a binary AND operation see below 3 Convert the result back to a real value During the binary AND operation c a BAND b the bits in the resultant C are determined by comparing the corresponding bits in the operands A and B as indicated in the following table For each bitin That is a bit in the result will be 1 if the corresponding bit in both of the operands is 1 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 76 BAND operator To review the order of evaluation for operators within expressions see the section Order of Evaluation in the eV Language User s Guide Examples Consider the following binary values are shown to make the operation more evident B101000 BAND B100001 yields B100000 32 Note that a very different result is obtained with the logical AND operation B101000 AND B100001 yields 1 TRUE In this case B101000 and B100001 are each interpreted as logically TRUE since they are nonzero Related Keyw
173. V cannot run without the clock operating properly eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 601 System Messages Alphabetical List User action Power down the controller and try starting it again If the problem persists contact Adept Customer Service Fatal System clock too fast None Explanation During initial startup eV has detected that the system hardware clock is running too fast eV cannot run without the clock operating properly User action Power down the controller and try starting it again If the problem persists contact Adept Customer Service Fatal Uninit Trap at aaaaaa m n None Explanation An internal problem has occurred with the eV software or with the system hardware User action It would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error message and exactly what you were doing at the time the error occurred To save programs that are in memory you can restart eV temporarily by pressing Ctrl G The robot servos do not function but you can STORE the programs Then power down the controller and restart the system Fatal ZDIV Trap at aaaaaa m n None Explanation An internal problem has occurred with the eV software or with the system hardware User action It would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error message an
174. Values Variables and Expressions The parameters to eV keywords can generally be satisfied with a specific value of the correct data type a variable of the correct data type or an expression that resolves to the correct type Unless specifically stated parameters can be replaced with a value variable or expression of the correct type The most common case where a parameter cannot be satisfied with all three options occurs when data is being returned in one of the parameters In this case a variable must be used the parameter description states this restriction Integers and Real Values In eV integers and real values are not different data types Real values satisfy parameters requiring integers by rounding the real value Where real values are required an integer is considered a special case of a real value with no fractional part Special Notation Numbers shown in other than decimal format are preceded with a carat and the letter H for hexadecimal or B for binary and with just a carat for Octal For example HF B1111 417 15 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 20 How Can I Get Help How Can I Get Help For details on getting assistance with your Adept software or hardware you can access the following information sources on the Adept corporate website e For Contact information http www adept com contact americas e For Product Support information http www adept com support service
175. Y program instruction CASE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 552 WAIT program instruction WAIT program instruction Syntax WAIT condition Function Put the program into a wait loop for one trajectory cycle If a condition is specified wait until the condition is TRUE Usage Considerations e AWATT with no condition specified is useful in programs that need to perform an operation only once each trajectory cycle For more information see Details and Example 1 e To wait for a specific time period use the WAIT EVENT program instruction rather than the WAIT program instruction e During execution use the PROCEED monitor command to cancel a WAIT instruction in an application program Parameter condition Optional real value variable or expression that is tested for a TRUE nonzero or FALSE zero value Details If no condition is supplied with the WAIT instruction program execution is suspended until the next trajectory cycle Trajectory cycles occur at 16 8 4 or 2 millisecond intervals depending on the system configuration If you need to guarantee at least a trajectory cycle delay for example while manipulating signals monitored by REACT or REACTI you should execute two consecutive WAIT instructions with no arguments If a condition is specified WAIT will suspend program execution until the condition exists For example the state of one or more external
176. a CALL CALLS or EXECUTE instruction do not match the arguments in the program being referenced because they are of different types User action Modify the CALL CALLS or EXECUTE instruction or the PROGRAM statement of the referenced program so that the argument types match If arguments are omitted in eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 630 System Messages Alphabetical List the CALL CALLS or EXECUTE instruction make sure the appropriate commas are included to position the arguments that are present Program completed 3 Explanation The program has been executed the number of times specified in the last EXECUTE command or instruction User action Any monitor command can be entered except that PROCEED cannot be used to resume program execution Program HOLD 15 Explanation The RUN HOLD button on the pendant has been pressed while a robot program was executing and it is now suspended User action Any monitor command can be entered To continue execution of the program type proceed or retry or press the PROGRAM START button on the controller The RUN HOLD button can be held down to temporarily resume execution of the program if the front panel keyswitch is in the MANUAL position Program interlocked 308 Explanation An attempt has been made to access a program that is already in use by some eV process For example you have attempted to delete or edit a program that is being execute
177. a limit stop NORMAL Te Correct a transformation for any mathematical round off errors as ae Perform logical negation of a value NOT CALIBRATED Indicate or assert the calibration status of the robots connected to the system NULL Instruct the eV system to wait for position errors to be nulled at the end of continuous path motions NULL Return a null transformation value one with all zero components forF RF Return the value used by eV to represent a logical false result ae re Return the value used by eV to represent a logical true result OPEN Open the robot gripper OPENI oR st Perform the ogica OR operation on two values OUTSIDE Test a value to see if it is outside a specified range OVERLAP PI Disable the NOOVERLAP limit error checking either for the next motion or for all subsequent motions PACK PI Replace a substring within an array of 128 character string variables or within a nonarray string variable PANIC PI Simulate an external E stop or panic button press stop all robots immediately but do not turn off HIGH POWER PARAMETER Set the value of a system parameter PARAMETER Return the current setting of the named system parameter PAUSE Stop program execution but allow the program to be resumed PDEST Return a precision point value representing the planned destination location for the current robot motion PDNT CLEAR Clears the current notification or custom message window if any eV Language
178. a location string or real variable Both scalar variables and array variables are permitted A location variable can be a transformation a precision point or a belt variable Details The value of the specified variable is tested If the value is defined the function returns the value TRUE Otherwise the value FALSE is returned For array variables if a specific array element is specified the single array element is tested If no array element is specified this function returns a TRUE value if any element of the array is defined NOTE For nonreal arguments i e strings locations transformations that are passed in the argument list of a CALL statement you can test to see if the variable is defined or not However you cannot assign a value to undefined nonreal arguments within the CALLed program If you attempt to assign a value to an undefined nonreal argument you receive an undefined value error message Therefore when using DEFINED to test for user input be sure to assign a default value to the variable before testing it See the example below Examples PROGRAM test s AUTO tmp Stmp default IF DEFINED Ss THEN tmp s END TYPE C3 The string is tmp When the example above is executed with a value ex test ABCD eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 156 DEFINED real valued function the routine returns The string is ABCD When the example above is executed withou
179. able that receives a data value returned from the device as the result of a command The actual data returned depends upon the device type and the command DEVICE is a general purpose instruction for accessing external devices For more information and examples see the section External Encoder Device in the eV Language User s Guide Related Keywords DEVICE real valued function DEVICES program instruction SETDEVICE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 171 DEVICE real valued function DEVICE real valued function Syntax DEVICE type unit error p1 p2 Function Return a real value from a specified device The value may be data or status information depending upon the device and the parameters Usage Considerations The syntax contains optional parameters that may be useful only for specific device types and information requests Parameters type unit error p1 p2 Real value variable or expression interpreted as an integer that indicates the type of device being referenced The following types are currently available 0 Belt encoder 1 Not used 2 Force Processor Board for Adept use only 3 Robot device i e servo for Adept use only 4 Vision 5 1394 bus for Adept use only Real value that indicates the device unit number The value must be in the range 0 to max 1 where max is the maximum number of devices of the specified ty
180. access is to be done The value specified is interpreted as a sequence of bit flags as eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 249 FOPEN_ program instruction detailed below All bits are assumed to be clear if no mode value is specified Bit 1 LSB Disable prereads mask value 1 If this bit is clear eV will read a record as soon as the file is opened a preread and after each READ instruction in anticipation of subsequent READ requests If this bit is set no such prereads are performed Bit 2 Enable random access mask value 2 If this bit is clear the file will be accessed sequentially That is records are read or written in the order they occur in the file If this bit is set the file is accessed using random access which is allowed only for disk files with fixed length records In random access mode the record number parameter in the READ or WRITE instruction specifies which record is accessed Bit 4 Force disk write mask value 8 If set for a disk file being opened for write access the physical disk is written every time a record is written In addition the directory or file allocation information is updated with each write This mode is equivalent to but faster than closing the file after every write It 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 is intended primaril
181. achines are registered trademarks of Adept Technology Inc Brain on Board is a registered trademark of Adept Technology Inc in Germany Adept ACE ACE PackXpert Adept SmartController EX and eV are trademarks of Adept Technology Inc Any trademarks from other companies used in this publication are the property of those respective companies Created in the United States of America eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 3 Table Of Contents Introduction f cc205 cn coharsccdesscareaassanbisracaceecdessacecbuesas cadet adaus eaee tegen gidedaoaieaae 15 COMpatibility c2 oi A EEN TE PEE EATE coi ade dd A EEEE ees eeddeseusdseeiaue 16 BIGERSOS Her eet ne do ee Ie LE aidan Oa ce Aline dad nares ace a e n eNOS Aik 16 Related Publications 0 0 00 0 c coco ccc cece cece cece cece eceec eee eeceeceeccuccecesenccusoress 16 Dangers Warnings Cautions and Notes in Manual 22 2 222 220 222 22 17 CONVENTIONS 2 22 2 sr ekes Darel Steins eee oes Sac fece Sian bb tcaben sos cote serene son aeee SEE 18 How Can I Get Help oaiiy a a cnc eee a cece eeeeeeeeeeees 21 Keyword Overview ooo occ ccc oa aoaaa A DDADL PLEDD DL a a a 23 New or Enhanced Keywords 0 0 20 22 c cece cece cece cece cee ceceeececececeeceeceeeceeeeeeee 24 eV Language Quick Reference 200 00 eee cece cece ccc ec eee eec eee Aaa o aaneren 25 Keyword Descriptions 2022 o oo ooo oo cece cece ccc ccc cece cecceccceccecceec
182. ad or write data from a disk device when no file was open or an attempt was made to access a graphics window that is not open User action Modify the program to open the file or graphics window before attempting to read or write data File or subdirectory name error 514 Explanation The specified file name or subdirectory was not a valid disk file name the directory path contained invalid syntax or the directory path was too long User action Retry the operation with a correct file name or subdirectory name Verify that syntax of the directory path is correct Verify that any default directory path specified by the DEFAULT command is correct Verify that the total directory path is not too long when the default is combined with the current file specification File too large 569 Explanation The operation caused a file to grow beyond the server s limit User action Close the file open a new file and retry the previous operation Find None Explanation While initiating a string search or replacement operation the SEE editor is prompting for the string to be found in the program User action Enter the desired search string or press Return to cancel the request eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 603 System Messages Alphabetical List First statement must be PROGRAM 351 Explanation An attempt was made to insert or deposit a program statement above the PROGRAM statement which
183. ae ik ee tenia eae alta a distance lt 0 distance gt 0 distance 0 WINDOW Function for Mode gt 0 Note that the value returned by the WINDOW function always becomes more positive as the test location moves downstream except for the discontinuity at the middle of the window when the mode value is less than or equal to zero Example distance WINDOW beltl pick up 2 1 The distance is nonzero if in two seconds the location will be outside the operating window for belt1 Otherwise distance is zero if the location is within the window Related Keywords BELT real valued function BELT system switch BELT MODE system parameter BSTATUS real valued function DEFBELT program instruction SETBELT program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 564 WINDOW real valued function WINDOW program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 565 WRITE program instruction WRITE program instruction Syntax WRITE lun record_num format_list Function Write a record to an open file or to any I O device For a network device write a string to an attached and open TCP connection Usage Considerations Except for the monitor window or console serial port the device to receive the output must have been attached If the output is to a disk file the file must have been opened with an FOPENA or FOPENW instruction Program execution waits for the write o
184. ag is cleared at the start of each belt relative motion Related Keywords BELT real valued function BELT system switch eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 98 BSTATUS real valued function BELT MODE system parameter DEFBELT program instruction SELECT program instruction SELECT real valued function WINDOW program instruction WINDOW real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 99 BXOR operator BXOR operator Syntax Value BXOR value Function Perform the binary exclusive OR operation on two values Usage Considerations The BXOR operation is meaningful only when performed on integer values Only the integer parts of real values are used Any fractional parts are ignored Details The BXOR operator can be used to perform a binary exclusive OR operation on two values on a bit by bit basis resulting in a real value NOTE This operation is meaningful only when performed on integer values Specifically the BXOR operation consists of the following steps 1 Convert the operands to sign extended 32 bit integers truncating any fractional part 2 Perform a binary exclusive OR operation see below 3 Convert the result back to a real value During the binary exclusive OR operation c a BXOR b the bits in the resultant C are determined by comparing the corresponding bits in the operands A and B as indicated in the following table For each bitin
185. again Make sure the correct diskette is being used that it is properly installed in the drive and that it is formatted Recall that formatting a diskette erases its contents Device error 660 Explanation An error was detected for an external device such as one specified in the last DEVICE or SETDEVICE program instruction The actual error depends upon the type of device referenced User action Make sure the instruction s parameters are valid Refer to the documentation for the device type referenced for information on how to determine what has caused the error Device full 503 Explanation There is no more space available on a device If this error is received for a disk file it indicates that the disk is full if there are many small files on the device this error indicates the directory is full If this error is received for a servo device it indicates that an attempt has been made to assign too many servo axes to a single CPU User action Delete unneeded disk files or use another drive or diskette Reconfigure your system so the maximum number of axes per CPU is not exceeded Device hardware not present 658 Explanation An attempt has been made to reference a device that is not present in your system User action Verify that the device was correctly specified Verify that the device hardware is present and is configured properly eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 589 Syst
186. age Considerations The TOOL instruction causes a BREAK in continuous path motion The TOOL instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task The instruction applies to the robot selected by the task If the eV system is not configured to control a robot executing the TOOL instruction causes an error The word tool cannot be used as a program name or variable name Parameter transformation_value Optional transformation variable or function or compound transformation expression that is the new tool transformation If the transformation value is omitted the tool is set to NULL Details Causes a BREAK in the robot continuous path motion and sets the value of the tool transformation equal to the transformation value given Refer to the TOOL monitor command for a complete description of the effect of this instruction For information on how to define a tool transformation see the section Tool Transformations in the eV Language User s Guide Related Keywords SELECT program instruction SELECT real valued function TOOL monitor command TOOL transformation function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 533 TOOL transformation function TOOL transformation function Syntax TOOL Function Return the value of the transformation specified in the last TOOL command or instruction Usage Considerations The command LISTL TOO
187. ailure or a hardware error may have occurred User action Turn high power back on and restart the program If the error persists contact Adept Customer Service Timeout enabling power 675 Explanation High power did not enable within the allowed amount of time and the servos reported no other error during the timeout period User action For non Adept robots use the SPEC utility to increase the value of the high power time out For Adept robots double check your installation cabling AC power line voltages circuit breakers amplifier retaining screws cables and contactors For information about the correct configuration for installation refer to your Robot Instruction Handbook Make sure that the amplifier chassis is properly connected to a power source and is turned on Try again If the problem persists contact Adept Customer Service eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 646 System Messages Alphabetical List Timeout MCP enable switch not toggled 649 Explanation eV did not enable high power because you failed to properly toggle the MCP enable switch on the manual control pendant User action Do one or more of the following 1 when toggling the MCP enable switch release it for a minimum of two seconds and a maximum of ten seconds and then press it back in and 2 make sure that you are pressing the MCP enable switch and not the run hold button by mistake Time out nulling error
188. ain Make sure that the boot disk you are using is valid for your controller Use the CONFIG_C utility program to make sure the serial I O configuration is correct If the problem persists contact Adept Application Engineering Fatal I O processor failure 905 Explanation The I O processor on the main CPU board did not start up properly This processor is critical to the safe operation of the robot Therefore if this error occurs HIGH POWER cannot be enabled User action Power down and restart your controller Try a different boot device Reload your system software If this problem persists contact Adept Customer Service for assistance Fatal Manual mode switch stuck off 920 Explanation During system initialization a hardware test of the manual mode circuit has found that the key switch is stuck in automatic mode This error indicates a safety hazard and prevents HIGH POWER from being enabled User action Check any user manual mode switch that may be in use Verify that the CIP is connected securely Restart your eV system to clear the error and repeat the test If the problem persists contact Adept Customer Service eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 599 System Messages Alphabetical List Fatal OVF Trap at aaaaaa m n None Explanation An internal problem has occurred with the eV software or with the system hardware User action It would be appreciated if you would repor
189. ains a syntax error User action Move below the first line of the program or reenter the line correctly With the eV SEE editor you can press the Undo function key or press Esc Ctrl C to cancel the changes you have made to a PROGRAM line Illegal record length 528 Explanation An FOPEN instruction has specified a record length that is not acceptable For example the value is negative or too large or the record length is zero with random access eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 608 System Messages Alphabetical List mode specified User action Edit the program to specify a correct record length or specify sequential access mode Illegal use of belt variable 466 Explanation A belt variable has been used in a context where it is not allowed probably in a compound transformation but not at the left most position User action Edit the program to use the belt variable correctly Illegal user LUN specified 527 Explanation An I O instruction has specified a logical unit number LUN that is not defined in the eV system or cannot be accessed in the manner attempted See the description of the ATTACH instruction for a list of the valid logical unit numbers and the devices to which they apply User action Edit the program to use a logical unit number appropriate for the instruction Tllegal value 402 Explanation A numeric or expression value that is not in the allowed
190. al connection ID Invalid disk format 520 Explanation An attempt has been made to read a disk that is not formatted or is formatted improperly or a FORMAT command has been entered that specifies invalid format parameters for the device specified User action If a FORMAT command has been entered verify the command syntax and retry the command Otherwise try a different diskette or reformat the current one Remember that formatting erases all information on the diskette If the diskette was created on an IBM PC be sure it was formatted with one of the formats accepted by the eV system Invalid error code Belt n 1010 Explanation An unrecognized error was reported by the controller for the indicated conveyor belt User action Attempt the operation again If the error repeats report the situation to Adept Application Engineering eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 611 System Messages Alphabetical List Invalid format specifier 461 Explanation An unrecognized output format specifier was encountered in a TYPE or WRITE instruction or in an ENCODE function User action Edit the program to use a valid format specifier Invalid hardware configuration 533 Explanation An attempt has been made to access an I O device in a manner inconsistent with its current configuration Either the I O device is not present in the system or it is configured for some other use For example if a
191. al valued function BCD real valued function Syntax BCD value Function Convert a real value to Binary Coded Decimal BCD format Usage Considerations The BCD function is most useful when used in conjunction with the BITS command instruction and function see below Parameter value Real valued expression defining the value to be converted Details The BCD function converts an integer value in the range 0 to 9999 into its BCD representation This can be used to set a BCD value on a set of external output signals Example If you want to use digital signals 4 to 8 to output a BCD digit The instruction BITS 4 4 BCD digit converts the value of the real variable digit to BCD and impresses it on external output signals 4 8 Related Keyword DCB real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 81 BELOW program instruction BELOW program instruction Syntax BELOW Function 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 Usage Considerations Configuration changes cannot be made during straight line motions If the selected robot does not support a below configuration this instruction is ignored by the robot SCARA robots for example cannot be in an ABOVE BELOW configuration The BELOW instruction can be executed by any program task as long as the robot selected by the task is not attached b
192. al valued variable that receives the exit status returned by the calibration program or in mode 1 from eV when trying to enter into eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 104 CALIBRATE program instruction the special calibrate mode Details When started eV assumes that the robot is not calibrated and restricts your ability to move the robot with the pendant or an application program NOTE The COMP mode light on the pendant does not come on when the robot is not calibrated Robots with incremental encoders lose start up calibration whenever system power is switched off As a safety measure these robots also lose start up calibration whenever an Encoder quadrature error occurs for one of the robot joints Other servo errors that can cause the robot to lose calibration are Unexpected zero index No zero index and RSC Communications Failure e Forthe Cobra s600 and s800 robots this instruction causes a small motion of joint 4 theta If this program instruction attempts to load the main calibration program the same program module and file name and search algorithm are employed as for the CALIBRATE monitor command If you wish to carry out a CALIBRATE instruction in task 0 one way to do so is from a program run using the C qualifier on the EXECUTE instruction With that qualifier specified a program to calibrate the robot can run in task 0 even when DRY RUN is disabled A program runn
193. alue of the corresponding subroutine argument CALL cycle 1 n 3 Branches to the program named cycle The value 1 is passed to the first parameter of cycle its second parameter is undefined and its third parameter receives the value of the expression n 3 If cycle has more than three parameters the remaining parameters are all undefined Because none of the arguments in the CALL are variables no data will be returned by the program cycle Related Keywords CALLP program instruction CALLS program instruction PROGRAM program instruction RETURN program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 108 CALLP program instruction CALLP program instruction Syntax CALLP var arg_list Function Call a program given a pointer to the program in memory Usage Considerations Using SYMBOL PTR and CALLP is an alternative to using CALLS to invoke a eV subroutine given its name as string data For some applications the SYMBOL PTR CALLP combination is much faster than CALLS Parameters var A real variable not an expression that contains a pointer to a program symbol arg_list A list of arguments to be passed between the current program and the new program Details In situations where the same program is called multiple times the CALLP instruction can be significantly more efficient than the CALLS instruction This is especially true in systems that have many programs loaded In situation
194. alued function Example Return the value 65541 LNGB SINTB 1 SINTB 5 Related Keywords ASC real valued function DBLEB real valued function FLTB real valued function INTB real valued function LNGB string function TRANSB transformation function VAL real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 322 LNGB string function LNGB string function Syntax LNGB value Function Return a 4 byte string containing the binary representation of a 32 bit integer Usage Considerations Real values are rounded and any fractional part is lost Values must be in the range H7FFFFFFF to H80000000 Parameter value Real value variable or expression whose value is to be converted to its binary representation Details The integer part of a real value is converted into its binary representation the low 32 bits of that binary representation are packed into a string as four 8 bit characters Bits 25 to 32 are packed into the first byte followed by bits 17 to 24 in the second byte and so forth The main use of this function is to convert integer values to binary representation within an output record of a data file The operation performed by this function is equivalent to the following expression SCHR INT value H1000000 BAND HFF SCHR INT value H10000 BAND HFF SCHR INT value H100 BAND HFF SCHR INT value BAND HFF Example Returns the value INTB 67
195. alued function PPOINT precision point function SET program instruction SHIFT transformation function TRANSB transformation function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 537 TRANSB string function TRANSB string function Syntax TRANSB transformation double_precision Function Return a 48 byte or 96 byte string containing the binary representation of a transformation value Parameter transformation Transformation variable or function or compound transformation that defines the value to be converted toa string value double_precision Optional real valued expression that specifies wether the transformation is returned in single precision 48 bytes or double precision 96 bytes If double_precision is omitted or has a value of 0 the transformation is returned in single precision in a 48 byte string otherwise the transformation is returned in double precision in a 96 byte string This parameter is used to offer full precision while preserving backward compatibility Details This function converts the given transformation value to the binary representation of its twelve internal components The twelve values defining the transformation are the components of a 3 by 4 transformation matrix stored by column Each of the twelve 32 bit values is packed as four successive 8 bit characters in a string resulting in a total of 48 or 96 characters The IEEE single precision or double precision s
196. am The ERROR and IOSTAT functions return this code The ERROR string function returns the error message corresponding to an error code All of the eV messages are described in this section Each description includes the text of the message its error code if applicable an explanation of the likely cause of the message and a suggestion of what action you should take The error code for each message is listed after the error text for all those messages that have a code The system messages are arranged alphabetically by system message text Click an underlined letter to jump to the first message that begins with that letter For a list of the system messages sorted by numerical codes see System Messages Numerical List A B C D EF GHtI 3 K LM N O P QRS T U V W X YZ NOTE If the system has more than one robot connected and an error is associated with a specific robot the robot number is appended to the error message in the form Robot 1394 communications timeout 927 Explanation eV has timed out waiting for a node on the 1394 based servo network to respond A transient network problem may have interfered with normal communications or the network node itself may have failed User action Retry the operation that failed Reinitialize your servo network Reboot your robot controller If the problem persists contact Adept Customer Service Adept Digital Workcell Simulation mode None Explanation This message is displayed d
197. am instruction NEXT program instruction Syntax NEXT count Function Branch to the END statement of the nth nested loop perform the loop test and loop if appropriate Usage Considerations This instruction can be used with the FOR WHILE and DO control structures Parameter count Optional integer specifying the number of nested structures to branch to the END of expressions and variables are not acceptable Details When a NEXT instruction is processed with count 1 execution continues at the END of the control structure If count gt 1 execution continues at the END of count number of nested control structures Example If error 1 branch to the END of the innermost control structure If error 2 branch to the END of the outermost control structure 45 FOR i 1 to 20 46 FOR j 1 to 10 47 FOR k 10 to 50 48 IF error 1 THEN 49 NEXT branch to step 54 50 END gL IF error 2 THEN 52 NEXT 3 branch to step 56 53 END 54 END 55 END 56 END 57 Related Keywords DO program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 355 NEXT program instruction EXIT program instruction FOR program instruction WHILE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 356 NOFLIP program instruction NOFLIP program instruction Syntax NOFLIP Function Request a change in the robot configuration during the next motion so that the pitc
198. am tasks Thus care should be exercised when multiple tasks are disabling and enabling switches otherwise the switches may not be set correctly for one or more of the tasks Disabling the DRY RUN switch does not have an effect until the next EXECUTE command or instruction is processed for task 0 an ATTACH instruction is executed for the robot or a CALIBRATE command or instruction is processed eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 176 DISABLE program instruction The SWITCH monitor command or the SWITCH real valued function can be used to determine the status of a switch at any time The SWITCH program instruction can be used like the DISABLE instruction to disable a switch Example DISABLE MESSAGES Turns off the MESSAGES switch Related Keywords ENABLE monitor command ENABLE program instruction SWITCH monitor command SWITCH program instruction SWITCH real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 177 DISTANCE real valued function DISTANCE real valued function Syntax DISTANCE location_1 location_2 Function Determine the distance between the points defined by two location values Parameter location_1 Transformation value that defines the first point of interest This can be a function a variable or a compound transformation location_2 Transformation value that defines the second point of interest This can be a function a variable or a compound tr
199. an invalid orientation error for 4 axis robots like the Adept Cobra and Quattro robots or Adept Python linear modules if the plane of the circle is not parallel to the XY plane of the Tool Center Point As with straight line motion circular motion is compatible with multi turn rotation This means that if location2 is a precision point the multi turn joint can rotate more than 360 degrees MOVEC angle turn center This MOVEC program instruction syntax is designed to create a circle arc path that starts from the current robot position or in case of Continuous Path the current robot destination The path is centered around the center location the end location is specified with angle degrees eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 342 MOVEC program instruction The plane of the circle is defined as the plane passing through the start position and parallel to the XY plane of the center location In other words if the Z orientation of the center location is not perpendicular to the straight line passing through center and the start position then the center of the circle is not the location center rather it is the intersection of the Z axis of center and a plane that is perpendicular to this axis and passes through the start position After the actual center of the circle is defined the radius of the circle is simply the distance from the start position to the actual center Kpa 4 center A end_pos a al i
200. an be any one of the data types available with eV belt precision point real value string and transformation Each variable can be a simple variable or an array with all of its indexes left blank comment Optional comment that is displayed when the program is loaded from a disk file and when the DIRECTORY command is processed The semicolon should be omitted if no comment is included Details The eV editors automatically enter a PROGRAM line when you edit a new program They also prevent you from deleting the line or changing the program name You can however edit the line to add delete or modify the argument list The RENAME monitor command must be used to change the program name The variables in the argument list are considered automatic variables for the named program See the AUTO instruction When a program begins execution for example via an EXECUTE command or instruction or a CALL instruction the arguments in the PROGRAM instruction are associated with those in the EXECUTE or CALL This association allows values to be passed between a program and its caller eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 403 PROGRAM program instruction See the description of the CALL instruction for an explanation of how the program arguments receive their values from a calling program and return their values to the calling program The following rules apply to any program argument that is omitted when th
201. an be executed by any program task as long as the robot selected by the task is not attached by any other task The instruction applies to the robot selected by the task The RELAXI instruction can be executed by any program task as long as the task has attached a robot The instruction applies to the robot selected by the task If the eV system is not configured to control a robot executing these instructions causes an error Details These instructions turn off both the open and close pneumatic control solenoid valves causing the pneumatic hand to become limp If the RELAX instruction is used the signal is sent when the next robot motion begins The RELAXI instruction differs from RELAX in the following ways e ABREAK occurs if a continuous path robot motion is in progress e The signals are sent to the control valves at the conclusion of the current motion or immediately if no motion is in progress e Robot motions are delayed for a brief time to allow the hand actuation to complete The length of the delay in seconds is the current setting of the HAND TIME system parameter Related Keywords CLOSE program instruction CLOSEI program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 424 RELAX and RELAXI program instruction HAND TIME system parameter OPEN program instruction OPENI program instruction SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Update
202. ansformation Details Returns the distance in millimeters between the points defined by the two specified locations The order in which the locations are specified does not matter Also the orientations defined by the locations have no effect on the value returned Example The statement x DISTANCE HERE part sets the value of the real variable x to be the distance between where the robot tool point is currently located and the point defined by the transformation part Related Keyword IDENTICAL real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 178 DN RESTART program instruction DN RESTART program instruction Syntax DN RESTART Function Restarts DeviceNet communication if the CanBus goes offline Details The eV DeviceNet interface goes offline if you disconnect it from the actual network or if too many errors occur during operation DN RESTART forces eV to reinitialize the DeviceNet interface as if you rebooted your system Related Keywords DEVICENET monitor command DN RESTART monitor command eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 179 DO program instruction DO program instruction Syntax DO Function Introduce a DO program structure Usage Considerations The DO program structure must be concluded with an UNTIL instruction Details The DO structure provides a way to control the execution of a group of instructions based on a control expre
203. anslation and rotation set by the last BASE command or instruction Convert a real value to Binary Coded Decimal BCD format 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 Control the function of the conveyor tracking features of the eV system Return information about a conveyor belt being tracked with the conveyor tracking feature Set characteristics of the conveyor tracking feature of the eV system Set or clear a group of digital signals based on a value Read multiple digital signals and return the value corresponding to the binary bit pattern present on the signals Create a bit mask by setting individual bits Perform the binary OR operation on two values Abort the current robot motion Suspend program execution until the current motion completes Return information about the status of the conveyor tracking eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 26 eV Language Quick Reference C ewa vee ert E S oa fo Pererm miner sanean nvo Y CALIBRATE PI Initialize the robot positioning system with the robot s current position PI CALL Suspend execution of the current program and continue execution with a new program that is a subroutine CALLP Call a program given a pointer to the program in memory CALLS PI Suspend execution of the current program and continue execution with a new program that is
204. aracters to be copied to the substring Details If first_char is omitted or has a value less than or equal to 1 the substring starts with the first character of string If first_char is larger than the length of the input string the function returns an empty string If there are fewer than num_chars characters from the specified starting character position to the end of the input string the output string consists of only the characters up to the end of the input string That is no error results and the output string is not extended to the requested length Example The instructions below result in the string variable substring containing the string cd since cd is the 2 character string that starts at character position 3 of the string abcde contained in the string variable string string abcdef substring MID string 3 2 Related Keyword UNPACK string function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 335 MIN real valued function MIN real valued function Syntax MIN value value Function Return the minimum value contained in the list of values Parameter value Each value in the list can be specified as a real valued constant variable or expression Details The list of values provided is scanned for the smallest value and that value is returned by the function The sign of each value is considered Thus for example the value 100 is considered smaller than 10
205. ariablen Function Records the current robot joint positions in real or double precision variables This instruction supports MicroeV Parameters variable1 A real or double precision variable to receive the position of joint 1 variablen A real or double precision variable to receive the position of joint n Details You can specify a maximum of 12 variables The variables can be array elements with index expressions You can omit variables from the list as desired The following example records the joint 3 and joint 5 positions respectively JHERE 33 35 If more variables are defined than there are joints for a robot the extra variables are zero Related Keyword JMOVE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 306 JMOVE program instruction JMOVE program instruction Syntax JMOVE expression1 expressionn Function Moves all robot joints to positions described by a list of joint values The robot performs a coordinated motion in joint interpolated mode This instruction is supported by MicroeV Parameters expression1 An optional expression for the joint 1 value expressionn An optional expression for the nth joint value NOTE You must specify at least one expression joint in order to move the robot Details You can specify a maximum of 12 expressions If an expression is omitted that joint is not moved The following example moves only joint 1 and join
206. ask that initiated the REACT or REACTI instruction Parameter signal Digital input signal number in the range 1001 to 1012 an internal signal in the range 2001 to 2008 Details Disables continuous monitoring of the specified signal canceling the effect of the last REACT or REACTI for this signal Example Stop monitoring of the digital input or soft signal identified by the value of test IGNORE test Related Keywords LOCK program instruction REACT program instruction REACTI program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 291 INRANGE real valued function INRANGE real valued function Syntax INRANGE location Function Return a value that indicates whether a location can be reached by the robot and if not why not Usage Considerations The INRANGE function returns information for the robot selected by the task executing the function Parameter location Transformation function variable or compound that specifies a desired position and orientation for the robot tool tip Details The function returns a value that indicates whether or not the given location can be reached by the robot The value zero indicates that the specified location can be reached If the location cannot be reached the returned value is a coded binary number that identifies the reason A bit equal to 1 in the value indicates that the corresponding robot constraint would be violated as shown in the
207. assed to the subroutine type BITS 1001 4 7Get part type from digital input type SENCODE HO type Convert to ASCII character CALLS part Stype arguments type status This example can be made more robust by using the STATUS real valued function to make sure the proposed subroutine exists before it is called Using this function avoids possible errors from undefined program names Related Keywords CALL program instruction CALLP program instruction PROGRAM program instruction RETURN program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 112 CAS real valued function CAS real valued function Syntax CAS variable test_value new_value Function This function compares a real variable to a test value and conditionally sets a new value as one indivisible operation Usage Considerations The eV system does not enforce any protection scheme for global variables that are shared by multiple program tasks It is the programmer s responsibility to keep track of the usage of such global variables The CAS real valued function or the similar TAS function can be used to implement logical interlocks on access to shared variables This function can also be used to work around a restriction on the simultaneous access of global arrays by multiple program tasks program execution can fail if two or more tasks attempt to increase the size of an array at the same time For a detailed description
208. at any time eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 327 LOCK program instruction NOTE Although a LOCK instruction can be used to change the program priority within a reaction program the priority still returns to its prereaction value when a RETURN is executed in the program This occurs only when executing a RETURN from a reaction program Example Increase the program priority by 10 LOCK PRIORITY 10 Related Keywords PRIORITY real valued function REACT program instruction REACTI program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 328 MAX real valued function MAX real valued function Syntax MAX value value Function Return the maximum value contained in the list of values Parameter value Each value in the list can be specified as a real valued constant variable or expression Details The list of values provided is scanned for the largest value and that value is returned by the function The sign of each value is considered Thus for example the value 10 is considered larger than 100 Example The program instruction max value MAX x y Z 0 sets max value to the largest value of the variables x y and z or to zero if all three variables have values less than zero Related Keyword MIN real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 329 MC program instruction MC program instruction Syntax
209. ated 5 8 2013 Page 209 END ERROR real valued function robot Number of the robot associated with the error i e from ERROR n 3 OUTPUTS msg Corresponding error message may be null AUTO i n msg 7 Assume no error IF code lt 0 THEN If there was an error Smsg SERROR code Get base message string Add bit numbers if applicable IF 1100 lt code AND code lt 1000 THEN n 1 Initialize bit mask FOR i 1 TO 7 For each of 7 bits IF vcode BAND n THEN If this bit is set msg msg ENCODE i add it to message END n 2 n Shift the mask 1 bit END END Add numeric variable if applicable IF 1200 lt code AND code lt 1100 THEN msg msg ENCODE vcode Add number END Add robot number if applicable IF robot AND SELECT ROBOT 1 gt 1 THEN msg msg Robot SENCODE robot END END RETURN Related Keywords ERROR string function IOSTAT real valued function REACTE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 210 ERROR string function ERROR string function Syntax ERROR error_code Function Return the error message associated with the given error code Parameter error_code Real valued expression with a negative value that identifies an error condition Details All the error codes returned by the IOSTAT function and by the ERROR real valued function can be converted into their corresponding eV e
210. atically attached to task 0 when the EXECUTE monitor command or program instruction is processed to initiate that task and the DRY RUN system switch is disabled All the other logical units are automatically detached when program execution begins Other events that cause automatic detachment are listed below Parameter logical_unit Optional real value variable or expression interpreted as an integer that identifies the device to be detached See the ATTACH instruction for a description of logical unit numbers The parentheses can be omitted if the logical unit number is omitted causing the robot to be detached Details This instruction releases the specified device from control by the application program No error is generated if the device was not attached Control of the specified device can be returned to the program with the ATTACH instruction When logical_unit is 0 or is omitted the program releases control of the robot While the robot is detached robot power can be turned off and on the pendant can be used to move the robot and a different robot can be selected if more than one robot is connected to the system controller A delay of one system cycle 16 ms occurs when a robot is detached This is useful for applications that require you to define where the robot should be located for certain operations For such tasks a teaching program can DETACH the robot and then output directions to you on the system terminal or t
211. ault this switch is disabled Enabling it restores functionality as it was in eV version 11 x and earlier Adept reviewed all automatic mode errors that disabled high power in eV version 12 0 and determined which can be changed simply to decelerate the robot and generate an error without compromising the safe operation of the system Examples of particular importance are errors such as nulling timeout and envelope errors that often occur during the normal operation of the system In some cases Adept has modified internal software to ensure the continued safe operation of your system The setting of this switch has no effect during manual mode If this switch is enabled eV disables high power for all motion related errors including nulling timeout and soft envelope errors Example The following program segment instructs eV to disable high power when any motion error occurs ENABLE AUTO POWER OFF Disable high power when any motion error occurs Related Keywords DISABLE monitor command eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 74 AUTO POWER OFF system switch DISABLE program instruction ENABLE monitor command ENABLE program instruction SWITCH monitor command SWITCH program instruction SWITCH real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 75 BAND operator BAND operator Syntax Value BAND value Function Perform the binary AND operation on two values
212. ave been requested with a SETDEVICE instruction by another program task that is accessing the device or the device can have initiated the reset on its own User action Use software interlocks to prevent a second program task from accessing the device after a reset operation has been requested Note that the requesting SETDEVICE instruction waits for the reset to complete Refer to the documentation for the specific device for information on its self generated resets Device sensor error 662 Explanation A hardware error occurred in the sensing system accessed with the last DEVICE instruction User action Refer to the documentation for the sensing system for information on how to determine the cause of the error eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 590 System Messages Alphabetical List Device time out 659 Explanation The device has not responded within the expected time User action Check the documentation for the device type referenced to determine what caused the error Verify that the device hardware is configured properly Directory error 509 Explanation This error can occur when performing a READ instruction following an FOPEND instruction User action Unlike most other errors this error can be ignored Additional READ instructions to the same directory correctly return additional contents of that directory Directory not empty 571 Explanation The operation a
213. ay in which the computed joint angles are returned The first specified element of the array contains the position for joint 1 the second element contains the value for joint 2 etc For rotating joints the joint positions are in degrees For translational joints the joint positions are in millimeters If a computed joint position is outside the working range for the joint the limit stop closest to the initial joint position as indicated by i jts is returned o idx Optional real value variable or expression interpreted as an integer that identifies the array element to receive the position for joint 1 If no index is specified array element zero contains the position for joint 1 o flags Real variable that receives a bit flag value that indicates the configuration of the robot corresponding to the computed joint positions The bit flags are interpreted as follows eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 474 error SOLVE ANGLES program instruction Bit 1 LSB RIGHTY mask value 1 Bit 2 BELOW mask value 2 Bit 3 FLIP mask value 4 If this bit is set the position has the robot in a right arm configuration Otherwise the position has the robot in a left arm configuration If this bit is set the position has the robot configured with the elbow below the line from the shoulder to the wrist Otherwise the robot elbow is above the shoulder wrist line This bit is always 0 when
214. bad lines Can t mix MC amp program instructions 414 Explanation A program instruction has been encountered during processing of a command program or an MC instruction has been encountered in a normal program User action Edit the command program to use the DO command to include the program instruction or remove the MC instruction from the normal program Can t start while program running 312 Explanation An attempt has been made to start execution of a program from the pendant while a program is already executing as task 0 User action Stop the program currently executing and then retry the operation eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 585 System Messages Alphabetical List Cartesian control of robot not possible 635 Explanation A program has attempted to perform a straight line motion with a robot that does not support such motions User action Change the program to use joint interpolated motion Change 11 Change Explanation You are being given an opportunity to modify the location value just created by a HERE or POINT command User action Enter any desired new components separated by commas or press the Return key to indicate that no changes are desired Change to None Change Explanation While initiating a string replacement operation the SEE editor is prompting for the string to be used for the replacement User action Enter the desired replacement
215. be abbreviated If the eV system is controlling more than one robot the HAND TIME parameter controls the hand operation times for all the robots Details The OPENI CLOSEI and RELAXI instructions are used to operate the hand after the robot has stopped moving The HAND TIME parameter determines the time allotted to the hand actuation before the next robot motion can be initiated The value for this parameter is interpreted as the number of seconds to delay It can range from 0 to 1018 Because of the way eV generates time delays the HAND TIME parameter is internally rounded to the nearest multiple of 0 016 seconds This parameter is set to 0 05 seconds when the eV system is initialized Example Set the hand operation delay time to 0 5 seconds PARAMETER HAND TIME 0 5 Related Keywords CLOSEI program instruction OPENI program instruction RELAXI program instruction PARAMETER monitor command eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 274 HAND TIME system parameter PARAMETER program instruction PARAMETER real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 275 HERE program instruction HERE program instruction Syntax HERE location_var Function Set the value of a transformation or precision point variable equal to the current robot location Usage Considerations The HERE instruction returns information for the robot selected by the task executing the instruct
216. be affected if the ALWAYS parameter is not specified This is the default state of the eV system CPON ALWAYS is assumed whenever program execution is initiated and when a new execution cycle begins The CPON instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task The instruction applies only to the robot selected by the task If the eV system is not configured to control a robot executing the CPON instruction causes an error Parameter ALWAYS Optional qualifier that establishes CPON as the default condition That is if ALWAYS is specified CPON will remain in effect continuously until disabled by a CPOFF instruction If ALWAYS is not specified the CPON instruction applies only to the next robot motion Details When CPON is in effect it is possible to execute a series of motion instructions that are blended into a single continuous path That is each motion will be performed in succession without stopping the robot at specified locations Unlike the BREAK instruction which is executed after a motion to cause continuous path processing to terminate CPON and CPOFF are executed before a motion instruction to affect the continuous path processing of the next motion instruction NOTE The BREAK instruction causes continuous path processing to terminate by blocking eV program execution until the motion ends CPOFF causes the trajectory generator to terminate contin
217. bitrary string expression and return the first substring delimited by a NUL Ssubstring TRUNCATE abcdef SCHR 0 ghijk Related Keyword DECODE string function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 542 TYPE program instruction TYPE program instruction Syntax TYPE output_specification output_specification Function Display the information described by the output specifications on the system terminal A blank line is output if no argument is provided Usage Considerations No output is generated if the MESSAGES system switch is disabled Program execution normally waits for the output to be completed before continuing There is an output specification described below that can be used to prevent waiting if it is undesirable for execution to be delayed The output from a single TYPE instruction cannot exceed 512 characters The S format control specifier described below can be used to output longer messages Parameter An output_specification can consist of any of the following components in any order separated by commas 1 Astring expression 2 Areal valued expression which is evaluated to determine a value to be displayed 3 Format control information which determines the format of the output message Details The following format control specifiers can be used to control the way in which numeric values are displayed These settings remain in effect for the remainder of the
218. ble PROGRAM tas_test AUTO i FOR i 1 TO 1E 06 counter counter 1 counter counter 1 END END If the variable counter starts at 0 and the program tas_test is run simultaneously in tasks 1 and 2 one might expect that counter will have the value 0 after execution completes In fact it usually will not have that value Since the two tasks are modifying the same variable at the same time the value gets corrupted That can be fixed by modifying the program to employ an interlock as follows PROGRAM tas_test AUTO i FOR i 1 TO 1E 06 Wait for access to the shared variable to be unlocked and set the lock for our access WHILE TAS locked TRUE DO WAIT END Access the shared variable counter countertl counter counter 1 Release access to the shared variable locked FALSE END END Now when the program is executed simultaneously in two or more tasks The value of the variable counter will always end up the same as before the program starts That s because each task blocks the other task s while accessing the shared variable The global variable locked does not need to be initialized before the program is executed because the TAS function returns FALSE if the variable is not defined Thus the lock implicitly starts out being off NOTES The lock should be released as soon as possible because the other task could be waiting for it to be released Take care to make sure the lock is a wa
219. ble ins to be executed If an error occurs a eV error code is placed in the real variable status and execution continues Related Keywords DO monitor command MCS program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 183 DRIVE program instruction DRIVE program instruction Syntax DRIVE joint change speed Function Move an individual joint of the robot Usage Considerations The DRIVE instruction can be executed by any program task as long as the task has attached a robot The instruction applies to the robot selected by the task If the eV system is not configured to control a robot executing the DRIVE instruction causes an error If the AMOVE instruction has been executed to prepare for motion of an extra axis execution of the DRIVE instruction cancels the effect of the AMOVE instruction Parameters joint Number of the robot joint to be moved This can be specified by a constant a variable or an expression change The change desired in the joint position This can be specified by a constant a variable or an expression The value can be positive or negative The value is interpreted in the units used to measure the joint position That is a change for a rotary joint must be the number of degrees the joint is to move a change for a linear joint must specify the number of millimeters to move speed The temporary program speed to be used for the motion considered as a percentage
220. ble list The IOSTAT function can be used to determine when such a READ is complete Once a record has been read it is processed in one of the following two ways 1 Ifthe var_list parameter is a list of real valued variables the record is assumed to contain a list of numbers separated by space characters and or commas Each number is converted from text to its internal representation and its value is stored in the next variable contained in the variable list If more values are read than the number of variables specified the extra values are ignored If fewer values are read the remaining variables are set to zero If data is read that is not a number an error occurs and program execution stops or an error reaction occurs 2 Ifthe var_list parameter is a list of string variables the entire record is stored in the string variables as follows The first 128 bytes in the record are copied to the first string variable If there are more than 128 bytes in the record the second string variable is filled with the next 128 bytes This continues until the entire record has been processed or all the string variables have been filled If there is not enough data to fill all the string variables the unused string variables are set to the empty string If there is too much data for the number of string variables specified an error is reported by the IOSTAT real valued function When a READ is performed in variable length record mode the st
221. bot power will be turned on when the COMP PWR button on the pendant is pressed NOTE Pressing the front panel power light when it is blinking rapidly will cause robot power to be turned off fully The normal process will be required to turn power back on ee eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 493 STATE real valued function When select 2 the function value returns information about the current or previous robot motion as follows These modes can change only when the robot is under program control that is when STATE 1 7 Interpretation when select 2 No motion instructions executed yet Normal trajectory evaluation is in progress including normal acceleration deceleration and segment transitions Motion stopped at a planned location Position error is being nulled at unplanned final location Motion stopped at an unplanned location due to a belt window violation 2 Decelerating due to a triggered REACTI or BRAKE instruction i ee Stopped due to a triggered REACTI or BRAKE instruction Decelerating due to a hardware error panic button or ESTOP instruction Stopped due to a hardware error panic button or ESTOP instruction 2 1A RETRY command has no effect 2A RETRY command completes the previous motion When select 3 the function value returns information about the current manual control mode as follows eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 49
222. bot servos do not function but you can STORE the programs Then power down the controller and restart the system Fatal DIV Instr Err at aaaaaa m n None Explanation The eV system has detected an error from a divide instruction This indicates a processor fault User action Power down the controller and try starting it again If the problem persists contact Adept Customer Service Fatal Emul 1010 Trap at aaaaaa m n None Explanation An internal problem has occurred with the eV software or with the system hardware User action It would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error message and exactly what you were doing at the time the error occurred eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 597 System Messages Alphabetical List To save programs that are in memory you can restart eV temporarily by pressing Ctrl G The robot servos do not function but you can STORE the programs Then power down the controller and restart the system Fatal Emul 1111 Trap at aaaaaa m n None Explanation An internal problem has occurred with the eV software or with the system hardware User action It would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error message and exactly what you were doing at the time the error occurred To save programs that are in me
223. button on the top of the MCP Remote digital input failed Block n 1112 Explanation If displayed during startup eV has failed to detect the specified remote digital input block on the servo network This is caused by one of the following conditions the required node is not connected to the network the eV I O configuration is incorrect or the configuration of the servo nodes is incorrect If encountered during normal operation the remote digital input block has stopped supplying data The servo network or remote network node may have failed User action If this error occurs during startup verify that all required network nodes are connected Use the SRV NET monitor command to verify that the network nodes contain the desired input blocks Verify that the eV I O configuration matches the network node digital input configuration If this error occurs during normal operation reinitialize your servo network or reboot your controller If the problem persists contact Adept Customer Service eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 633 System Messages Alphabetical List Remote digital output failed Block n 1113 Explanation During startup eV has failed to detect the specified remote digital output block on the servo network This is caused by one of the following conditions the required node is not connected to the network the eV I O configuration is incorrect or the configuration of the servo nodes is
224. can also be implemented with a command program the following demonstrates use of the MCS instruction in a normal program PROGRAM admin MCS LOAD C setup CALL setup MCS DELETEP setup MCS LOAD C demo_1 CALL demo_main END Related Keywords ERROR real valued function MC program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 333 MESSAGES system switch MESSAGES system switch Syntax MESSAGES Function Enable or disable output to the system terminal from TYPE instructions Details If this switch is enabled output from TYPE instructions is displayed on the system terminal Otherwise output is suppressed By default this switch is enabled allowing output to occur Related Keywords DISABLE monitor command DISABLE program instruction ENABLE monitor command ENABLE program instruction SWITCH monitor command SWITCH program instruction SWITCH real valued function TYPE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 334 MID string function MID string function Syntax MID string first_char num_chars Function Return a substring of the specified string Parameters string String variable constant or expression from which the substring is extracted first_char Optional real valued expression that specifies the first character of the substring num_chars _ Real valued expression that specifies the number of ch
225. cceleration profile is generated at the beginning and end of the motion If a profile is specified that profile is invoked for subsequent robot motions Defined profiles set the maximum rate of change of the acceleration and deceleration The values set with this instruction define the maximum acceleration and deceleration magnitudes that are achieved When the eV system is initialized the profile acceleration and deceleration values are set to initial values which can be defined by the ACE controller configuration tools As delivered by Adept the initially selected profile may be either 0 or 1 depending on the type of robot The settings are not affected when program execution starts or stops or when a ZERO command is processed Normally the robot manufacturer sets the 100 acceleration and deceleration values to rates that can be achieved with typical payloads and robot link inertias However because the actual attainable accelerations vary greatly as a function of the end effector payload and the initial and final locations of a motion accelerations greater than 100 may be permitted for your robot The limits for the maximum values are defined by the robot manufacturer and vary from one type of robot to the next If you specify a higher acceleration than is permitted the limit established by the robot manufacturer is utilized You can use the functions ACCEL 3 and ACCEL 4 to determine the maximum allowable acceleration and decele
226. ch the robot is to move If this parameter is not supplied then angle must be specified eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 341 MOVEC program instruction Details MOVEC angle turn location 1 location2 This MOVEC program instruction syntax is designed to create a circle arc path that starts from the current robot position or in case of Continuous Path the current robot destination and ends at a location defined by location2 The intermediate location ocation1 is used to define the plane of the circle and the angle of the arc See the following figure Location2 Location1 Start MOVEC with Location1 and Location2 If the three points are aligned or two of them coincide MOVEC will cause a straight line motion instead of creating a circle or arc With this syntax the orientation of location 1 is not used If angle is specified then the robot will move by angle degrees and not necessarily end up at location2 In other words the angle has higher priority than ocation2 in defining the final position When angle is specified the orientation of jocation2 is ignored The final orientation is determined entirely by the turn parameter if it is omitted or zero then the final orientation will be the orientation of the start position if turn is non zero then the final orientation is the one of the start position rotated by angle around the axis of the arc When turn is non zero MOVEC will generate
227. cified the program must explicitly check it to detect errors Optional real values variables or expressions the values of which are p1 p2 sent to the device as part of the command The number of parameters specified and their meanings depend upon the particular device type being accessed eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 170 out in out_ trans in_trans Details DEVICE program instruction Optional real array that contains data values that are sent to the device as part of a command The actual data sent depends upon the device type and command being sent to the device Optional real value variable or expression interpreted as an integer that indicates the first array element to be considered in the array out Element 0 is accessed first if no index is specified Optional real array that receives any data values returned from the device as the result of the command The actual data returned depends upon the device type and the command Optional real value variable or expression interpreted as an integer that indicates the first array element to be filled in the array in Element 0 is accessed first if no index is specified Optional transformation variable function or compound transformation that defines a transformation value to be sent to the device as part of the command The actual data sent depends on the device type and the command Optional transformation vari
228. cified logical unit GET EVENT Return events that are set for the specified task GLOBAL Declare a variable to be global and specify the type of the variable GOTO PI Perform an unconditional branch to the program step identified by the given label HALT Stop program execution and do not allow the program to be eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 30 eV Language Quick Reference Return the current hand opening Set the value of a transformation or precision point variable equal to the current robot location Return a transformation value that represents the current location of the robot tool point RF PI F RF T RF PI PI I Return values that identify the configuration of the current system ID Return the system ID string IDENTICAL RE Determine whether two location values are exactly the same IF GOTO an Branch to the specified step label if the value of the logical expression T S is TRUE nonzero IF THEN Conditionally execute a group of instructions or one of two groups depending on the result of a logical expression IGNORE Cancel the effect of a REACT or REACTI instruction INRANGE RF Return a value that indicates whether a location can be reached by the robot and if not why not Install or remove software options available to Adept systems INT Return the integer part of the value INTB RF Return the value of two bytes of a string interpreted as a signed 16 b
229. circuit has been broken User action Restore the user E STOP button circuit Re enable HIGH POWER as desired E STOP from user muted safety gate 921 Explanation An E STOP condition has occurred because the user muted safety gate has been opened during automatic mode During MANUAL mode this error should not be seen User action Close the muted safety gate and re enable HIGH POWER as desired If the gate was already closed check the switch the associated connectors and wiring Executing in DRY RUN mode 50 Explanation The DRY RUN switch is enabled and program execution has been requested Thus no motion of the robot occurs User action None unless motion of the robot is desired In that case abort execution of the program and disable the DRY RUN switch Expected servo node not found 679 Explanation After a servo bus reset eV has not detected all the required nodes on the servo network Either the network has failed because of noise a servo node has failed or a servo node has been unplugged User action Use the SRV NET command to determine which node is causing this error Verify that all servo network connectors are secure Reinitialize your servo network Reboot your robot controller If the problem persists contact Adept Customer Service Fatal Addr Err at aaaaaa m n I xxxx A aaaa F ff None Explanation An internal problem has occurred with the eV software or with the system hardware eV
230. command eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 216 EXIT program instruction EXIT program instruction Syntax EXIT count Function Branch to the statement following the nth nested loop of a control structure Usage Considerations This instruction works with the FOR WHILE and DO control structures Parameter count Optional integer value expressions and variables are not acceptable specifying how many nested structures to exit The default value is 1 Details When an EXIT instruction is reached the control structure is terminated and execution continues at the first instruction following the outermost control structure exited Example If input signal 1001 is set exit one control structure if 1002 is set exit three control structures 27 FOR i 1 TO 40 28 WHILE ctrl var DO 29 DO 30 IF SIG 1002 THEN 31 EXIT 3 Jump to step 40 32 END 33 IF SIG 1001 THEN 34 EXIT Jump to step 37 35 END 36 UNTIL FALSE 3T count count 1 38 END 39 END Related Keywords DO program instruction FOR program instruction NEXT program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 217 EXIT program instruction WHILE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 218 FALSE real valued function FALSE real valued function Syntax FALSE Function Return the value used by eV to represent a logical false result Usage Con
231. ct Adept Customer Service Duplicate statement label 464 Explanation The same program statement label is used more than once in a user program User action Change one of the duplicate labels Duty cycle exceeded Mtr n 1021 Explanation The indicated motor has been driven fast for too long a period of time The servo system has disabled Arm Power to protect the robot hardware User action Turn on Arm Power reduce the speed and or acceleration for the motion that was in progress or for motions that preceded that motion and repeat the motion that failed Encoder fault Mtr n 1025 Explanation The servo board has detected a broken encoder wire on the indicated axis User action Inspect the encoder wiring for intermittent connections or broken wires Try swapping the encoder cable with another You can disable this error with the SPEC utility but do so only as a last resort Encoder quadrature error Belt n 1013 Explanation The position encoder signal from the specified conveyor belt is sending information that is not phased correctly The encoder or its cabling may be defective Encoder error checking is initiated by the DEFBELT instruction and by enabling the BELT switch while a belt is defined User action Make sure the encoder cable is properly connected Try to run the conveyor at a slower speed Contact Adept Customer Service if the error persists Encoder quadrature error Mtr n 1008 Explanat
232. ction If the eV system is not configured to control a robot use of the PDEST function does not generate an error because of the absence of a robot However the information returned by the function may not be meaningful The name pdest cannot be used for a variable or a program Details The PDEST function can be used to determine the robot s destination before its motion was interrupted The PDEST function is equivalent to the DEST transformation function and can be used interchangeably with DEST depending upon the type of location information that is desired Please refer to the description of the DEST function for more information on the use of both the PDEST and DEST functions Related Keywords DEST transformation function HERE transformation function SELECT program instruction SELECT real valued function PDNT CLEAR program instruction Syntax PDNT CLEAR eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 388 PDNT NOTIFY program instruction Function Clears the current notification window or custom message window on the T20 pendant if any and returns the T20 pendant back to the Home screen Usage Considerations Parameters None Details None Example The following code PDNT CLEAR Clears the screen on the T20 pendant Related Keywords PDNT WRITE program instruction PDNT NOTIFY program instruction PDNT NOTIFY program instruction Syntax PDNT NOTIFY title msg Function
233. ction is to allow for an orderly shutdown of the system if an unexpected error occurs If a robot hardware error occurs for example a REACTE program can set external output signal lines to shut down external equipment Using the REACTE instruction for other purposes requires extreme caution The REACTE instruction can be executed by any of the program tasks That is each task can have its own independent REACTE definition A task cannot directly trap errors caused by another task but tasks can signal each other via global variables or software signals The ERROR real valued function must be called before a REACTE with no program name since the REACTE clears the previous errors See the list below for other considerations Parameter program_name Optional name of the program that is to be called when a program error occurs If no program is specified the previous REACTE is canceled and any pending error message is discarded Details If an error occurs after a REACTE instruction has been executed the specified program is invoked rather than stopping normal program execution The program is invoked as though by the CALL program instruction The ERROR real valued function can be used within the error handling program to determine what error caused the program to be invoked There are several special considerations that must be kept in mind when using this facility e The program priority is raised to 254 when the error handling p
234. ction sets the given system parameter to the value on the right The parameter name can be abbreviated to the minimum length that identifies it uniquely NOTE Aregular assignment statement cannot be used to set the value of a system parameter The parameter names acceptable with the standard eV system are summarized in the section Parameters in the eV Language User s Guide Other system parameters are available when options are installed Refer to the option documentation for details For example the parameters associated with the AdeptVision options are described in the section Descriptions of Vision Keywords in the AdeptVision Reference Guide eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 383 PARAMETER program instruction Example Set the TERMINAL system parameter to 4 PARAMETER TERMINAL 4 Related Keywords BELT MODE system parameter HAND TIME system parameter NOT CALIBRATED system parameter PARAMETER monitor command eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 384 PARAMETER real valued function PARAMETER real valued function Syntax PARAMETER parameter_name PARAMETER parameter_name index Function Return the current setting of the named system parameter Parameters parameter_name Name of the system parameter whose value is to be returned index For parameters that can be qualified by an index this isa required real value variable or expression that specifies the
235. ction that requires high power to be off User action DISABLE POWER and reexecute the action Robot power system failure Code n 1115 Explanation The servo interface has detected a fault in the robot power system The code number provides more detailed eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 636 System Messages Alphabetical List information about the fault Consult your amplifier reference manual to interpret the code values User action Depends on the particular code value In general check the servo and amplifier cabling Power down and restart your controller and servo nodes If the problem persists contact Adept Customer Service RSC bad packet format 655 Explanation eV has received an incorrect data packet from the robot signature card during the initial calibration data load User action None unless the calibration load fails If the problem persists contact Adept Customer Service RSC calibration load failure 656 Explanation eV cannot load calibration data from the robot signature card RSC User action Power down the controller and make sure the robot cables are correctly and securely connected If the problem persists contact Adept Customer Service RSC communications failure 651 Explanation eV has lost communications with the robot signature card RSC Either a hardware problem has occurred or the robot is being operated in an environment with excessive electr
236. ctions causes an error Details These instructions turn off both the open and close pneumatic control solenoid valves causing the pneumatic hand to become limp If the RELAX instruction is used the signal is sent when the next robot motion begins The RELAXI instruction differs from RELAX in the following ways e ABREAK occurs if a continuous path robot motion is in progress e The signals are sent to the control valves at the conclusion of the current motion or immediately if no motion is in progress e Robot motions are delayed for a brief time to allow the hand actuation to complete The length of the delay in seconds is the current setting of the HAND TIME system parameter Related Keywords CLOSE program instruction CLOSEI program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 422 RELAX and RELAXI program instruction HAND TIME system parameter OPEN program instruction OPENI program instruction SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 423 RELAX and RELAXI program instruction RELAX and RELAXI program instruction Syntax RELAX RELAXI Function Limp the pneumatic hand Usage Considerations RELAX causes the hand to limp during the next robot motion RELAXI causes a BREAK in the current continuous path motion and causes the hand to limp immediately after the current motion completes The RELAX instruction c
237. current position Usage Considerations Normally the instruction is issued with mode equal to zero The instruction has no effect if the DRY RUN system switch is enabled If the robot is to be moved under program control the CALIBRATE instruction or command must be processed every time system power is turned on and the eV system is booted The robot cannot be moved under program control or with the pendant until a CALIBRATE instruction or CALIBRATE monitor command has been processed NOTE Some robots can be moved in joint mode with the control pendant even when they have not been calibrated If multiple robots are connected to the system controller this instruction attempts to calibrate all robots unless they are disabled with the ROBOT switch All of the enabled robots must be calibrated before any of them can be moved under program control The CALIBRATE instruction may operate differently for each type of robot For robots with non absolute e g incremental encoders this instruction causes the robot to move In this case the robot must be far enough from the limits of the working range that it will not move out of range during the calibration process See the description of the CALIBRATE monitor command for details of the robot motion If the eV system is not configured to control a robot executing the CALIBRATE instruction causes an error eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 103 CALIBRATE prog
238. cuted and is incremented each time the loop is executed cannot be a specified value or expression initial Real value that determines the value of the loop variable the first time the loop is executed final Real value that establishes the value to be compared to the loop variable to determine when the loop should be terminated increment Optional real value that establishes the value to be added to the loop variable every time the loop is executed If omitted the increment defaults to one and the keyword STEP may also be omitted Details The instructions between the FOR statement and the matching END statement are executed repeatedly and loop_var is changed each time by the value of increment The processing of this structure is as follows 1 When the FOR statement is first entered set loop_var to the initial value 2 Determine the values of the increment and final parameters 3 Compare the value of final to the value of loop_var e Ifincrement is positive and loop_var is greater than final skip to item 7 below eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 253 FOR program instruction e Ifincrement is negative and loop_var is less than that is more negative than final skip to item 7 below Execute the group of instructions following the FOR statement When the END step is reached add the value of increment to the loop variable Go back to item 3 above So aS Continue program execution at the f
239. cution of the program use a KILL command to close all the files and detach the logical units Parameter task_num Optional real value variable or expression interpreted as an integer that specifies which program task is to be terminated The default task is 0 Details Terminates execution of the specified active executable program after completion of the step currently being executed If the task is controlling a robot robot motion terminates at the completion of the current motion Program execution can be resumed with the PROCEED command Related Keywords ABORT monitor command CYCLE END monitor command CYCLE END program instruction ESTOP monitor command ESTOP program instruction EXECUTE program instruction KILL monitor command KILL program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 45 ABORT program instruction PANIC monitor command PANIC program instruction PROCEED monitor command STATUS monitor command STATUS real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 46 ABOVE program instruction ABOVE program instruction Syntax ABOVE Function 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 Usage Considerations Configuration changes cannot be made during straight line motions If the selected robot does not support an ABOVE configuration this instruction is ignor
240. cution rate in Hertz That is if the trajectory generator is executed every 16ms this function returns the value 62 5 When select 15 the function returns the number of the motion that is being executed by the selected robot This number is zeroed when a program that is attached to the robot first begins executing The counter is reset to 1 at the start of each EXECUTE cycle The value is incremented each time the trajectory generator begins evaluating a new motion or transitions to a new continuous path motion The value of STATE 15 ranges from 0 to AHFFFF After reaching HFFFF the value rolls back to 0 The following instructions affect the value of STATE 15 ALIGN APPRO APPROS DEPART DEPARTS DRIVE JMOVE MOVE MOVES MOVEF MOVESF MOVET MOVEST READY Instructions that affect one or more subsequent motions e g ACCEL AMOVE ABOVE BELOW DURATION FLIP LEFTY NOFLIP MULTIPLE RIGHTY SINGLE SPEED SPIN TOOL UNIDIRECT do not affect the value of STATE 15 because those instructions do not actually initiate a motion NOTE Functions do not affect the value of STATE 15 because a function does not cause a motion Location valued functions e g DEST FRAME INVERSE SCALE SHIFT TRANS etc simply compute location values When select 19 the function returns a flag that indicates if the current motion or the previously executed motion if the robot is stopped is an optimized move i e MOVEF or MOVESF
241. d mask value H2 initially to have its elbow below the line from the shoulder to the wrist Otherwise the robot is assumed to have its elbow above that line This bit is ignored for robots like the SCARA configurations that do not have an elbow that moves ina vertical plane Bit 3 FLIP If this bit is set the robot is assumed mask value H4 initially to have the pitch axis of the wrist set to a negative value Otherwise the pitch angle is assumed to be set to a positive value This bit is ignored if the robot does not have a three axis wrist eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 477 SOLVE ANGLES program instruction Bit 9 Change RIGHTY LEFTY mask value H100 Bit 10 Change to RIGHTY mask value H200 Bit 11 Change BELOW ABOVE mask value H400 Bit 12 Change to BELOW mask value H800 Bit 13 Change FLIP NOFLIP mask value H1000 If this bit is set the instruction attempts to compute a set of joint positions corresponding to the RIGHTY LEFTY configuration specified by bit 10 When bit 9 is set and this bit is set the instruction attempts to compute joint positions for a right arm configuration If bit 9 is set and this bit is 0 the instruction attempts to compute a set of joint positions for a left arm configuration If this bit is set the instruction attempts to compute a set of joint positions corresponding to the BELOW ABOVE configura
242. d 5 8 2013 Page 425 RELEASE program instruction RELEASE program instruction Syntax RELEASE Function Allow the next available program task to run Details This instruction releases control to another task that is ready to run For more information on task scheduling see the section Scheduling of Program Execution Tasks in the eV Language User s Guide This instruction can be used in place of the WAIT instruction with no arguments in cases where other tasks must be given an opportunity to run but a delay until the next trajectory cycle is not desired Related Keywords WAIT program instruction WAIT EVENT program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 426 RESET program instruction RESET program instruction Syntax RESET Function Turn off all the external output signals Details The RESET program instruction is useful in the initialization portion of a program to ensure that all the external output signals are in a known state DANGER Before issuing this instruction make sure all devices connected to the output signals can safely be turned off Be especially careful of signals that start an action when they are turned off Related Keywords BITS monitor command BITS program instruction BITS real valued function IO monitor command RESET monitor command SIG real valued function SIG INS real valued function SIGNAL monitor command SIGNAL program instruction eV La
243. d After start up the ROBOT switches can be used to selectively disable robots For example this can aid in the debugging of individual robots The ROBOT switches may be modified only for robots that are present and that started up without a fatal error When a robot is disabled by use of the ROBOT switch that robot is bypassed when e Power is enabled for all robots with the COMP PWR button on the pendant or with the POWER system switch eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 431 ROBOT system switch e Allthe robots are calibrated via the CALIBRATE monitor command or program instruction Motion instructions should not be executed for a robot that has been disabled The settings of these switches can be checked at any time with the SWITCH monitor command or real valued function to determine which robots are enabled Related Keywords DISABLE monitor command DISABLE program instruction ENABLE monitor command ENABLE program instruction SWITCH monitor command SWITCH program instruction SWITCH real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 432 ROBOT OPR program instruction ROBOT OPR program instruction Syntax ROBOT OPR function_code exp1 exp2 expn Function Execute operations that are specific to the currently selected robot or robot module Usage Considerations ROBOT OPR is a general purpose instruction whose interpretation varies from one robot type
244. d In order for a program to move a robot however the robot must be selected and attached with the ATTACH instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 450 SELECT program instruction As an example if robot 2 is selected by a SELECT instruction all motion instructions executed by the current task are directed to that robot until another SELECT instruction is issued Also all robot related functions such as HERE return information about robot 2 NOTE As a convenience when task 0 is executed robot 1 is automatically selected and attached when program execution begins In order for any task to change its selected robot no robot can be attached by the task More than one task can have a particular robot selected but only one task can have a robot attached If a robot is already attached to a different task an ATTACH waits or generates an error depending on the mode parameter for the ATTACH instruction SELECT VISION In asystem with multiple vision systems this instruction selects the vision system with which the current task is to communicate The SELECT monitor command specifies which vision system the eV monitor is to access This program instruction specifies which vision system receives vision instructions for example ENABLE VISION and also which system returns vision related information for example from the VSTATUS function The vision system currently selected by the monitor is au
245. d or execute a program that is being edited User action Abort the program or exit the editor as appropriate and retry the operation You can use the SEE editor in read only mode to look at programs that are interlocked from read write access Program name None Explanation A SEE editor command to change to a different program has been entered User action Enter the name of the new program to be edited or press Return to cancel the request Program not executable 307 Explanation Because of program errors detected during loading or upon exiting from the editor this program cannot be executed User action Edit the program to remove any errors Program not on top of stack 421 Explanation A DO context specification has referenced an automatic variable or a subroutine argument in a program that is not on the top of the stack for the specified task eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 631 System Messages Alphabetical List User action Reenter the DO command and specify the correct program context or eliminate references to automatic variables and subroutine arguments Use the STATUS command to determine which program is on the top of the stack Program program_name doesn t exist Create it Y N None Explanation An attempt has been made to use the SEE editor to access a program that does not currently exist User action Enter a Y to have the program created Any other input includin
246. d which is a distance in millimeters should be interpreted as described below Note that the definitions of upstream and downstream depend on the value of the eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 562 WINDOW real valued function BELT MODE system parameter 1 Ifthe value of the mode expression is ess than or equal to zero the default the value returned is interpreted as follows see the following figure 0 The location is outside the window lt 0 The location is inside the window closest to the downstream window boundary the distance is ABS value_returned gt 0 The location is inside the window closest to the upstream window boundary the distance to the boundary is the returned value Upstream Downstream Window Window Boundary Boundary distance gt 0 distance lt 0 distance 0 WINDOW Function for Mode lt or 0 2 Ifthe value of the mode expression is greater than zero the value returned is interpreted as follows see the following figure 0 Indicates the location is within the window lt 0 Indicates the location is upstream of the upstream window boundary the distance is ABS value_returned gt 0 Indicates the location is downstream of the downstream window boundary the distance is the value returned eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 563 WINDOW real valued function Upstream Downstream Window Window Boundary Boundary bo
247. d 00 to 79 represent 2000 through 2079 respectively The hour of the day 0 to 23 Minutes past the hour 0 to 59 Seconds past the minute 0 to 59 NOTE The TIME function converts passed arguments instead of the system time when either the date or the time parameter is supplied However the function always tries to generate a string representation of both parameters You get the date 01 Jan 80 if you do not provide a date value The time substring is 00 00 00 if you do not specify a time value The following expressions can be used to return only the date and the time respectively date SMID S TIME date 1 9 Stime SMID STIME time 11 8 Related Keywords TIME monitor command TIME program instruction TIME real valued function TIME4 string function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 526 TIME4 string function TIME4 string function Syntax TIME4 date time Function Return a string value containing either the current system four digit date and time or the specified four digit date and time Parameters date Optional integer value representing the year month and day see below The value is interpreted as follows month ranges from 1 to 12 date year 1980 512 month 32 day time Optional integer value representing the hour minutes and seconds past midnight see below The value is interpreted as follows hour ranges from 0 to 23 time hour 2048 minute 3
248. d exactly what you were doing at the time the error occurred To save programs that are in memory you can restart eV temporarily by pressing Ctrl G The robot servos do not function but you can STORE the programs Then power down the controller and restart the system File already exists 500 Explanation There is already a disk file or a graphics window with the name supplied to the last storage request User action Reissue the storage request with a different file name or delete the old file File already open 506 Explanation A disk file or graphics window is already open on a logical unit and another open request has been attempted eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 602 System Messages Alphabetical List User action Modify the program to use a different logical unit number for the file or window you want to open or perform an FCLOSE operation on the file or window currently open on the specified logical unit number before performing the FOPEN operation File format error 512 Explanation The requested disk file is not in a format acceptable to eV because either it was not created by eV or the file has been corrupted User action Use another diskette or reference another file File name too long 570 Explanation The file name in an operation was too long User action Use a shorter file name File not opened 513 Explanation A program request was made to re
249. d expression the result of which is rounded to an integer to select the value that is returned poses ernes o preaeeeenne O Maximum allowable percentage acceleration Maximum allowable percentage deceleration Program speed below which acceleration and deceleration are scaled proportional to a program s speed setting when the SCALE ACCEL system switch is enabled eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 52 ACCEL real valued function Examples ACCEL 1 Return the current acceleration setting ACCEL 2 Return the current deceleration setting Related Keywords ACCEL program instruction SCALE ACCEL system switch SELECT real valued function SELECT program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 53 ALIGN program instruction ALIGN program instruction Syntax ALIGN Function Align the robot tool Z axis with the nearest world axis Usage Considerations The ALIGN instruction can be executed by any program task as long as the task has attached a robot The instruction applies to the robot selected by the task If the eV system is not configured to control a robot executing the ALIGN instruction causes an error Details Causes the tool to be rotated so that its Z axis is aligned parallel to the nearest axis of the World coordinate system This instruction is primarily useful for lining up the tool before a series of locations is taught This is most easily
250. d the requested data is not available program execution continues immediately and the IOSTAT function returns the error code for No data received 526 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 416 READ program instruction NOTE For a no wait READ to access a serial line the line must be configured to use DDCMP Bit 2 Echo 0 vs No echo 1 mask value 2 If this bit is clear input from the terminal is echoed back to the source If the bit is set characters are not echoed back to the source This mode bit is ignored for the serial lines var_list Either a list of real valued input variables or a list of string variables which receives the data see following details Details This is a general purpose data input instruction that reads a record from a specified logical unit A record can contain an arbitrary list of characters but must not exceed 512 characters in length For files that are opened in fixed length record mode this instruction continues to read characters until it has read exactly the number of characters specified during the corresponding FOPEN_ instruction For variable length record mode with most devices this instruction reads characters until the first carriage return CR and line feed LF character sequence or Ctrl Z is encountered Thus for example if you perform a variable length record mode read from the disk you receive all the characters until a CR and LF are encounte
251. data file from the floppy disk This indicates that the wrong file was specified or that the data in the file is corrupted User action Try the operation again If the error recurs use another diskette Input error Try again 16 Explanation The input provided was not consistent with what eV expected eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 610 System Messages Alphabetical List User action Provide another response Interrupted multi segment motion 902 Explanation Currently the only multiple segment motions are MOVEF and MOVESF For these motion instructions this error is signaled if the DEPART motion has been initiated but neither the APPROACH nor the final move to the destination is performed For example this situation might occur if an envelope error is detected during the DEPART or the APPROACH motion segments User action Correct the problem that caused the robot motion to terminate prematurely and reexecute or skip the multiple segment motion Invalid argument 407 Explanation An argument for a function program instruction or SEE editor command is not in the accepted range User action Verify the range of arguments for the function program instruction or editor command being used Invalid connection specified 540 Explanation An invalid logical network connection has been specified For example a zero connection ID is invalid User action Specify a valid logic
252. default value is 0 The configuration the robot will achieve at the completion of the current motion or the current configuration if no motion is in progress and the robot is attached eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 127 CONFIG real valued function NOTE The result returned is not meaningful if the robot is not attached The configuration the robot achieves at the completion of the next motion assuming that it is a joint interpolated not straight line motion Indication if bit SET Robot has righty configuration Robot has below configuration Robot has flipped configuration When the select parameter is 3 4 or 5 the CONFIG function returns a value that can be interpreted as bit flags indicating the settings of several robot motion servo control features That is each bit in the value represents the state of one motion servo control feature The different parameter values in this group select which motion s will be affected by the features settings reported by the function as follows The permanent settings of the robot motion servo control features That is the settings defined by instructions that specify the ALWAYS qualifier The temporary settings for the motion currently executing or the last motion completed if no motion is in progress The temporary settings that will apply to the next motion performed The interpretations of the bit flags returned by selections 3
253. detailed descriptions of these switches Other system switches are available when options are installed Refer to the option documentation for details For example the switches associated with the AdeptSight options are described in the AdeptSight User s Guide When a switch is enabled or turned on the feature it controls is functional and available for use Turning a switch off with the DISABLE monitor command or program instruction makes the associated feature not functional or available for use NOTE The system switches are shared by all the program tasks Thus care should be exercised when multiple tasks are disabling and enabling switches Otherwise the switches may not be set correctly for one or more of the tasks Disabling the DRY RUN switch does not have an effect until the next EXECUTE command or instruction is processed for task 0 an ATTACH instruction is executed for the robot or a CALIBRATE command or instruction is processed eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 200 ENABLE program instruction The SWITCH monitor command or the SWITCH real valued function can be used to determine the status of a switch at any time The SWITCH program instruction can be used like the ENABLE instruction to set a switch Example ENABLE MESSAGES Turns on the MESSAGES switch Related Keywords DISABLE monitor command DISABLE program instruction SWITCH monitor command SWITCH program instruction SWITCH real val
254. detected by the kinematic solution programs as the robot is moving User action Move the robot away from the obstacle and continue the motion or modify the executing application program to avoid the obstacle For application programs this error may indicate that either the planned end point of the motion collides with an object or that a collision has been detected in the middle of a straight line motion Okay to restart the servos Y N 12 Explanation You have entered the command ENABLE ADW while in Adept Digital Workcell simulation mode In response to this command eV restarts the servos to account for any robot configuration changes that have made in the Adept Digital Workcell system eV is asking for confirmation before restarting the servos User action If ENABLE ADW was entered on purpose to restart the servos enter Y Otherwise enter N See the topic Communicating with the Controller in the Adept Digital Workcell documentation for information about restarting the servos Old value n New value n Explanation The specified watchpoint has detected a change in value for the expression being watched The change occurred because of execution of the program step just before the one indicated User action Enter a PROCEED Ctrl P RETRY SSTEP Ctrl Z or XSTEP Ctrl X command to resume program execution 2 Otherwise enter any other monitor command Option not installed 804 Explanation An attempt has been made
255. displays real values to full precision eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 490 SQRT real valued function SQRT real valued function Syntax SQRT value Function Return the square root of the parameter Parameter value Real valued expression defining the value whose square root is to be computed Details Returns the square root of the argument if the argument is greater than zero An error results if the argument is less than zero The square root of a number is defined to be the number that when multiplied by itself yields the original number Examples SORT 0 123 7 Returns 0 3507136 SORT 4 Returns 2 0 SORT 5 462 Returns Negative square root SORT 1 3125E 2 Returns 11 45644 NOTE TYPE PROMPT and similar instructions output the results of the above examples as single precision values However they are actually stored and manipulated as double precision values The LIST and LISTR monitor command displays real values to full precision eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 491 STATE real valued function STATE real valued function Syntax STATE select Function Return a value that provides information about the robot system state Usage Considerations The STATE function returns information for the robot selected by the task executing the function Parameter select Real value variable or expression interpreted as an integer that selec
256. ditions need to be specified The value returned is 1 Example The following program loop executes continuously until the subroutine process returns a TRUE value for the real variable error DO CALL process error UNTIL error TRUE The program loop below will execute indefinitely WHILE TRUE DO CALL move part END Related Keywords FALSE real valued function ON real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 541 TRUNCATE string function TRUNCATE string function Syntax TRUNCATE string Function Return all characters in the input string until an ASCII NUL or the end of the string is encountered Parameter string String variable constant or expression that specifies the string to be truncated Details This function is similar to performing a DECODE operation with an ASCII NUL H00 specified as the break character TRUNCATE differs from such a DECODE operation in two ways e The input can bea string expression e The input string is not modified Because of its simplicity the TRUNCATE function executes much faster than the DECODE function Example The instruction below sets the value of the string variable substring equal to abcdef Obviously this is an artificial situation since one would never want to perform a TRUNCATE operation when the result is apparent from the input However it is presented to illustrate that this function can scan an ar
257. done by using the monitor DO command Related Keywords SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 54 ALWAYS keyword ALWAYS keyword Syntax ALWAYS Function Used with certain program instructions to specify a long term effect Details ALWAYS can be specified with any of the instructions listed below as related keywords When ALWAYS is specified the effect of the instruction continues until explicitly disabled Otherwise the effect of the instruction applies only to the next robot motion Examples Permanently set the robot motion speed SPEED 50 ALWAYS Permanently set loose tolerance servo mode COARSE ALWAYS Related Keywords COARSE program instruction CPOFF program instruction CPON program instruction DURATION program instruction FINE program instruction MULTIPLE program instruction NONULL program instruction NOOVERLAP program instruction NULL program instruction OVERLAP program instruction SINGLE program instruction SPEED program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 55 AND operator AND operator Syntax Value AND value Function Perform the logical AND operation on two values Details The AND operator operates on two values resulting in their logical AND combination For example during the AND operation c a AND b the following four situations can occur FALSE FAL
258. e Global Array Access Restriction section of the information about Arrays in the eV Language User s Guide Parameters variable Name of the real valued variable to be tested and assigned the new value given If the variable is not defined when the function is executed the function returns the value 0 new_value Real value variable or expression that defines the new value to be assigned to the specified variable Details Because the different program tasks execute simultaneously time sharing the system processor it is possible for any task to be interrupted by another in the middle of performing some computation or storing data into variables When data is shared by two or more tasks the programs must implement an interlock scheme to prevent the data from being accessed when it is only partially updated The TAS function can be used to allow multiple eV tasks to modify shared data structures That is the function provides a way for a task to lock out others while the locking task modifies the data structures Note that without the TAS function a much more complicated polling scheme would be needed to administer the control variable i e to prevent more than one program from setting the control variable simultaneously eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 514 TAS real valued function As an example of the use of shared variables consider this eV program that increments and decrements a global varia
259. e power when this button is pressed User action Make sure that the manual brake release button usually located on the robot is not active If the problem persists even though the button is not pressed call Adept Customer Service Manual control pendant failure 650 Explanation A program has attempted to access the pendant when it is disconnected or has failed User action Make sure the pendant is connected properly If the problem persists contact Adept Customer Service Manual mode cannot be enabled 932 Explanation The safety system has detected a fault condition that prevents manual mode operation of the robot User action Toggle the auto manual switch Restart the servos and reboot the controller Check the safety related cables If the problem persists contact Adept Customer Service Manual mode switch 1 off detected by CPU 917 Explanation An E STOP condition has occurred during manual mode because the CPU has detected on signal channel 1 that the manual mode key switch has been set to automatic eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 616 System Messages Alphabetical List mode Normally this message is suppressed and error 645 is reported There may bea hardware problem with the CIP its cabling or the AWC User action If safe to do so toggle the auto manual key switch and attempt to enable HIGH POWER again Reseat the plug affixed to the JAWC connector on the CIP and the plug
260. e Optional real value variable or expression interpreted as a bit field that defines how the ATTACH request is to be processed The value specified is interpreted as a sequence of bit flags as detailed below All the bits are assumed to be clear if no value is specified Bit 1 mask value 1 LSB Queue 0 versus Fail 1 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 65 ATTACH program instruction This bit controls how the device driver responds to the attach request from the control program task The device driver is an internal system task that is separate from the control program task For most applications this bit should be set If this bit is clear and the device is already attached by another control program task the driver queues this attach request and signals the control program that the attach is not complete The attachment will complete when the device becomes available If this bit is set and the device is already attached by another control program task the device driver immediately signals that the attach request has failed The function IOSTAT lun can be used to determine the success or failure of the attachment A positive value from IOSTAT indicates successful completion zero indicates the attachment has not completed a negative value indicates completion with an error Bit 2 mask value 2 Wait 0 versus No wait 1 This bit controls whether or not the control program task waits
261. e Reference Guide v2 0 x Updated 5 8 2013 Page 272 HAND real valued function HAND real valued function Syntax HAND Function Return the current hand opening Usage Considerations The HAND function returns information for the robot selected by the task executing the function If the eV system is not configured to control a robot use of the HAND function does not generate an error due to the absence of a robot However the information returned by the function may not be meaningful The word hand cannot be used as a program name or variable name Details This function returns 0 if the hand is closed or 1 if the hand is opened or relaxed Related Keywords CLOSE program instruction CLOSEI program instruction OPEN program instruction OPENI program instruction RELAX program instruction RELAXI program instruction SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 273 HAND TIME system parameter HAND TIME system parameter Syntax ow HAND TIME Function Establish the duration of the motion delay that occurs during OPENI CLOSEI and RELAXI instructions Usage Considerations The current value of the HAND TIME parameter can be determined with the PARAMETER monitor command or real valued function The value of the HAND TIME parameter can be modified only with the PARAMETER monitor command or program instruction The parameter name can
262. e computed from the given X Y Z position displacements and y p r orientation rotations TRANSB Return a transformation value represented by a 48 byte string TRANSB ST Return a 48 byte string containing the binary representation of a transformation value SWITCH eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 37 eV Language Quick Reference emea me e O TRUNCATE Return all characters in the input string until an ASCII NULL or the end of the string is encountered Display the information described by the output specifications on the system terminal A blank line is output if no argument is provided UNPACK Return a substring from an array of 128 character string variables UNTIL PI Indicate the end of a DO UNTIL control structure and specify the expression that is evaluated to determine when to exit the loop The loop continues to be executed until the expression value is nonzero UPPER SW Control whether or not the case of each character is ignored when string comparisons are performed VAL RF Return the real value represented by the characters in the input string VALUE PI Indicate the values that a CASE statement expression must match in order for the program statements im mediately following to be executed VLOCATION TF Returns a Cartesian transform result of the execution of the specified vision sequence The returned value is a transform result x y Z yaw pitch roll For details see the Ade
263. e connection The attribute list which is processed like an output specification for the TYPE instruction is used to compose a single string that is passed to the window manager or TCP driver The string must begin with the name of the window and can optionally contain keyword attributes that define characteristics of the window The string must not exceed 512 characters eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 246 FOPEN program instruction NOTE A eV string literal or string variable cannot exceed 128 characters In order to create an attribute list longer than 128 characters you must concatenate multiple strings The attribute list can consist of one or more components separated by commas Each component can be expressed in any of the following ways 1 A string constant variable or expression 2 Areal valued constant variable or expression which is evaluated to determine a value to be used in the control string 3 A format control specifier which determines the format of information in the control string Details Using FOPEN With TCP A TCP IP connection can be opened in either server mode or client mode In server mode one or more clients depending on the value assigned to CLIENTS are allowed to connect to the server for subsequent communication To establish a client server connection the client must know the port number for the server For this reason when using the FOPEN instruction
264. e duration and use only the applicable values for SPEED and ACCEL ALWAYS Optional keyword that determines how long the new duration will have an effect If ALWAYS is included the specified duration time applies to all subsequent robot motions until the duration setting is changed by another DURATION instruction The specified duration applies only to the next robot motion if ALWAYS is not included eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 188 DURATION program instruction Details This instruction sets the minimum execution time for subsequent robot motions For any motion the time specified by the DURATION instruction has no effect if the duration setting is less than the time computed by the eV robot motion trajectory generator considering the current motion speed and acceleration settings However if the duration is longer than the time computed by the trajectory generator the motion is slowed so that its elapsed time corresponds approximately to the specified duration NOTE Actual motion times may differ slightly from the duration setting due to quantization effects and due to acceleration and deceleration profiling The duration instruction does not specify the duration of an entire motion but instead specifies the minimum time of the constant velocity segment plus one half the acceleration and deceleration segments In this way continuous path motions in which individual motions are blended together ge
265. e first 596 hours of system operation and should generally not be used Returns the low 24 bits of the time since the eV system was started in counts of 16 milliseconds It can be used to compute time intervals of up to 74 hours For additional information see the Details section below Returns the low 24 bits of the time since the eV system was started in counts of 1 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 530 TIMER real valued function millisecond It can be used to compute time intervals of up to 4 6 hours For additional information see the Details section below Returns the time in seconds since eV was started as a 52 bit double precision value This timer has a resolution of 1 millisecond anda maximum count of gt 4 E 015 It can be used to compute intervals of gt 100 000 years It is used like timers 1 and 2 except that DOUBLE variables are required and no BAND operation or scale factors are used AUTO DOUBLE start_time interval start_time TIMER 3 interval TIMER 3 start_time Returns the double precision time of the current robot position or belt encoder latch for this task The timer resolution is 1 microsecond This time will only be valid for 128 seconds Details Timers 1 and 2 If you don t want to use timers 1 through 15 or need more than 15 timers Timers 1 and 2 may be used as follows AUTO DOUBLE start_time interval scale scale 62 5 7 Set scale
266. e for connection 2 Serror 19 Invalid I O output size for connection 2 error 20 Error reading I O output size for connection 2 error 21 Error setting I O packet rate for connection 1 error 22 Error setting I O packet rate for connection 2 error 23 M S connection set sync fault Report the status of DeviceNet ATTACH lun 4 DEVICENET Attach the device IF IOSTAT lun lt 0 GOTO 100 FCMND lun 760 SINTB macid input Get the status IF IOSTAT lun lt 0 THEN TYPE No node with MacId macid ELSE status ASC input TYPE MacID macid status error status END DETACH lun Release the device Examples Return modem control bit flags for the serial port attached to logical unit 10 FCMND 10 106 temp flags ASC temp Format the disk loaded in drive A in double sided double density format and return the string containing the bad block count in bad FCMND 5 8 A Q Sbad Specifya DDCMP time out interval of 2 seconds with maximums of 20 time outs and 8 NAK retries FCMND lun 501 CHR 2 CHR 20 SCHR 8 Check to see if a client is on the network FCMND lun 601 node address str Related Keywords ATTACH program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 231 FCOPY program instruction DETACH program instruction FDELETE monitor command FDELETE program instruction FDIRECTORY monitor command FOPEN program instr
267. e four bytes to be converted first_char Optional real valued expression that specifies the position of the first of the four bytes in the string If first_char is omitted or has a value of 0 or 1 the first four bytes of the string are extracted If first_char is greater than 1 it is interpreted as the character position for the first byte For example a value of 2 means that the second third fourth and fifth bytes are extracted An error is generated if first_char specifies four bytes that are beyond the end of the input string Details Four sequential bytes of the given string are interpreted as being a single precision 32 bit floating point number in the IEEE standard format This 32 bit field is interpreted as follows s exp traction lst Byte 2nd Byte 3rd Byte 4th Byte where s is the sign bit s 0 for positive s 1 for negative exp is the binary exponent biased by 127 fraction is a binary fraction with an implied 1 to the left of the binary point For 0 lt exp lt 255 the value of a floating point number is 15 1l fraction 2exP 127 For exp 0 the value is zero for exp 255 an overflow error exists eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 243 FLTB real valued function The main use of this function is to convert a binary floating point number from an input data record to a value that can be used internally by eV Examples Ma LTB SCHR H3F CHR H
268. e indicated motor is overheating User action Reduce the speed acceleration and or deceleration of the robot motions or introduce delays in the application cycle to give the motor an opportunity to cool Motor stalled Mtr n 1007 Explanation The indicated motor has stalled while being driven This is usually caused by the robot encountering an obstruction User action Turn high power back on and restart the program Remove the obstruction or modify the program to have the robot follow a different path Motor startup failure Mtr n 1105 Explanation During calibration the indicated motor did not move as expected The problem may be 1 the motor is obstructed or up against a limit stop 2 the load on the robot is too large for calibration 3 the motor drive hardware is not functioning or 4 the position encoders are not functioning User action Move the robot away from its limit stops and remove any unusual load Turn high power back on and try to calibrate again Contact Adept Customer Service if the error persists Must be in debug mode 360 Explanation An editor function was attempted that is accepted only when the program debugger is active User action Use a different editor command or activate the program debugger with the SEE editor DEBUG extended command or the DEBUG monitor command Must use CPU 1 666 Explanation A command or instruction that requires execution on CPU 1 has been attemp
269. e monitor and the watchdog timer is disabled User action Do not use this system The watchdog timer must be enabled for safe operation of your system The watchdog timer setting on the AWC cannot be changed by you Report this problem to Adept Customer Service Watchpoint changed at task program_name step n Explanation A watchpoint has been enabled and the watchpoint expression has changed User action Continue debugging session Wrong disk loaded 521 Explanation The diskette in a disk drive has been changed while a file was still open Further attempts to access the file result in this error Data being written into the file may be lost User action Check your diskette to see if any data was lost If so it s too late now Be more careful in the future 1 The command keys Ctrl P Ctrl X and Ctrl Z are accepted only while using the eV program debugger in its monitor mode 2The command keys Ctrl P Ctri X and Ctrl Z are accepted only while using the eV program debugger in its monitor mode SystemMessages Numerical List This section lists all the eV messages that have a numeric code Most message codes associated with errors can be made available to a program by the ERROR function which returns the code of the latest error that occurred In addition the ERROR function returns the error message associated with any eV error code The information for each message below consists of the message code the
270. e normal operation of a program These normal errors can be detected by using the IOSTAT function Example FOPENR 5 data dat eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 251 FOPEN_ program instruction Open the file named data dat on the default device for read only access with variable length records record length omitted Since the mode parameter is omitted prereads will occur and the records will be accessed sequentially which is required for variable length records FOPENW 5 32 3 D x d Open the file named x d on the device D for read write access using fixed length records of 32 characters each The mode value 3 has both bits 1 and 2 set thus prereads are to be disabled and random access is to be used FOPEND 5 dat Open the current default directory to find all the files with the extension DAT Related Keywords ATTACH program instruction DETACH program instruction FCLOSE program instruction FOPEN_ program instruction IOSTAT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 252 FOR program instruction FOR program instruction Syntax FOR loop_var initial TO final STEP increment Function Execute a group of program instructions a certain number of times Usage Considerations An END instruction must be included in a program to match every FOR Parameters loop_var Real valued variable that is initialized when the FOR instruction is exe
271. e parameter is omitted memory Memory examined oo Program memory select Optional real value variable or expression interpreted as an integer that specifies what information about the memory is to be returned as shown below The value zero is assumed if the parameter is omitted select Information returned zz Percentage of memory available Available memory in KB 1024 bytes NOTE If both parameters are omitted the parentheses must still be included Details This function returns the information displayed by the FREE command Unlike the FREE command however this function returns only one value determined by the values specified for the memory and select parameters eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 258 FREE real valued function Related Keyword FREE monitor command eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 259 FSEEK program instruction FSEEK program instruction Syntax FSEEK logical_unit record_number Function Position a file open for random access and initiate a read operation on the specified record Usage Considerations A file must be open for random access on the specified logical unit see the FOPEN_ instruction For efficiency in most applications the file should be opened in no preread mode Parameters logical_unit Real valued expression that identifies the device to be accessed See the ATTACH instruction for a descript
272. e program executes e Real valued scalar parameters can be assigned a value within a program if they are omitted e Location string and belt scalar or array parameters and real valued array parameters cannot be assigned a value within a program if they are omitted AUTO variables can be used to work around this restriction as shown in the example below However undefined parameters can be passed as program arguments and then be assigned a value NOTE If a program attempts to assign a value to one of these omitted variables the error Undefined value results In that case the error refers to the variable on the left side of the assignment instruction e Ifan undefined or omitted parameter is passed to another program through a subsequent CALL instruction and the type of the variable is ambiguous i e the type could be real valued or location the parameter is assumed to be real valued e Elements of an omitted array parameter cannot be passed by reference in a subsequent CALL instruction The DEFINED real valued function can be used within a program to check whether a program parameter is defined meaning both passed as a argument and as an argument that has been assigned a value previously The example below shows how a program can be written to accommodate undefined or omitted parameters A comment can be included on the PROGRAM line which is displayed when the program is loaded from the disk and by the DIRECTORY com
273. e value 1000 the instruction displays Point 5 because the value 1000 00 is too large to be displayed in the specified format F5 2 The instruction can display any value for point 5 if the format specification were FO 5 Related Keywords ENCODE string function MESSAGES system switch PROMPT program instruction WRITE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 545 UNPACK string function UNPACK string function Syntax SUNPACK string_array index first_char num_chars Function Return a substring from an array of 128 character string variables Parameters string_array String array variable from which the substring is to be extracted It is assumed that each string within the array is defined and is 128 characters long index Optional integer value s that identifies the first array element to be considered The first_char value is interpreted relative to the element specified by this index If no index is specified element zero is assumed first_char Real valued expression that specifies the position of the first character of the substring within the string array A value of 1 corresponds to the first character of the specified string array element This value must be greater than zero The value of first_char can be greater than 128 In that case the array element accessed follows the element specified in the function call For example a value of 130 corresp
274. e variables i j and tmp to be AUTOmatic real variables in the current program array elements tmp 0 through tmp 10 are defined AUTO REAL i j tmp 10 e Declare the variable loc to be an AUTOmatic variable in the current program The variable type of loc must be determined by its use in the program Note that since LOC appears by itself it is not interpreted as the type specifying keyword AUTO loc Related Keywords GLOBAL program instruction LOCAL program instruction STACK monitor command eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 73 AUTO POWER OFF system switch AUTO POWER OFF system switch Syntax AUTO POWER OFF Function Control whether or not eV disables high power when certain motion errors occur Usage Considerations This switch has effect during automatic mode but not during manual mode It is especially useful in reducing operator intervention during common nulling timeout and envelope errors Details Because the HIGH POWER ON OFF high power on off button cannot be used by itself to enable high power as in earlier versions of eV Adept has sought to reduce the number of instances that high power is disabled during normal program execution Making this improvement allows programs to continue to recover automatically from errors without manual intervention that is without requiring you to press the HIGH POWER ON OFF button This system switch cancels the effect of this change By def
275. eV Language Reference Guide v2 0 x This is a PDF print version of the eV Language Reference Guide online documentation A Table of Contents is provided so that you can locate the desired topics Links to external documents will not work from this PDF file To view related eV manuals you must access them from the eV menu To return to the eV menu click here NOTE Please see the eV Release Notes which are included with your eV software for a description of any recent changes eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 1 Copyright Notice The information contained herein is the property of Adept Technology Inc and shall not be reproduced in whole or in part without prior written approval of Adept Technology Inc The information herein is subject to change without notice and should not be construed as a commitment by Adept Technology Inc The documentation is periodically reviewed and revised Adept Technology Inc assumes no responsibility for any errors or omissions in the documentation Critical evaluation of the documentation by the user is welcomed Your comments assist us in preparation of future documentation Please submit your comments to techpubs adept com Copyright 1994 2013 by Adept Technology Inc All rights reserved Adept the Adept logo the Adept Technology logo AdeptVision AIM Blox Bloxview FireBlox Fireview Meta Controls MetaControls Metawire Soft Machines and Visual M
276. eV detected that the indicated robot motor was outside the software limit User action 1 Modify the program as required to prevent the invalid motion request Because the robot did not actually move out of range you do not need to move the robot before continuing 2 move the robot back into the working envelope Correct whatever caused the robot to get into the restricted area and enable power Positive overtravel Mtr n 1033 Explanation The positive hardware overtravel switch for the indicated motor has been tripped Robot power has been disabled User action Manually move the robot back into range and re enable power Check the the positive overtravel switch and its wiring Use the CONFIG_C utility to adjust the soft limits for the robot so they are inside the hard limits Power disabled Manual Auto changed 645 Explanation eV disables power when the Controller Interface Panel CIP switch moves from manual to auto or vice versa User action Use any valid method to enable high power Power failure detected 667 Explanation Indicates that a controller AC power fail condition has been detected If battery backup is installed this error is reported when power is restored by any I O operations that were canceled due to the power failure This error code may be trapped by a program using the REACTE instruction in order to provide some level of automatic power failure response User action You may need to
277. ead a record from an open file or from an attached device that is not file oriented For a network device read a string from an attached and open TCP connection READY Move the robot to the READY location above the workspace which forces the robot into a standard configuration RELAX Limp the pneumatic hand RELAXI eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 34 eV Language Quick Reference Kerwort te SSC ests RELEASE Allow the next available program task to run RESET Turn off all the external output signals RETURN PI Terminate execution of the current subroutine and resume execution of the suspended program at its next step A program may have been suspended by issuing a CALL CALLP or CALLS instruction or by the triggering of aREACT REACTE or REACTI condition RETURNE PI Terminate execution of an error reaction subroutine and resume execution of the last suspended program at the step following the instruction that caused the subroutine to be invoked 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 ROBOT Enable or disable one robot or all robots ROBOT OPR PI Execute operations that are specific to the currently selected robot or robot module ROBOT OPR Returns robot specific data for the currently selected robot RUNSIG PI Turn on or off the specified digital signal as long as execution of the invo
278. eaeeeeeeaeeeues 64 ATTACH program instruction _ 00 2 200 220 occ cece ccc cence cence arada aooaa nanana 65 AUTO program instruction 2 00 20 occ e cece cece cece cece ce ceeeeeeseeeseeeees 71 AUTO POWER OFF system switch o on nannaa c cece ccc ence cece cece ce eeceeeeeeeeeees 74 BANDiOp erator te wie ete tl et te a ele ale tan a tle es Tle ot beet EASA as Seok 76 BASE program instruction l a 0000000000000000 00000000000 cence eee cece cee eeeceeeeeeeeseees 78 BASE transformation function 00 0 2 2 002 o ccc ccc cccecccn cece cece cece ceccecceeeeees 80 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 5 BCD real valued function 20 ccc ccc cece nec LLALL LLALL LALL LALL LaaLa 81 BELOW program instruction 0 0200 200 e ccc ccc ccc cece eee e cece cece ceeeeeeeeeeeeees 82 BELT real valued function 000 200 coc ccc cece cece a cnc cece ccc eec cece ececeeeseeeceeesees 83 BEET System Switch 2 32 ot ceeds ode eee eh ee di a a is conde dtm sees Le 85 BELT MODE system parameter 2 0 200 200 2200 c ce ccccc ccc ccc D rE ar rrn 87 BITS program instruction 00 220 cc cece cece eee eeceeeeeeeceeseeeeees 89 BITS real valued function ssir cece ccc cece eee ccc e ence N eah ahaa 91 BMASK real valued function 2 022000 00 o cece eee cece cece ccc ec ccc cec eee eeceeeeeeeeeeeeeeeeeees 93 BOR OPeratOn vss a Sons 2 old ie 8 Be RG Ed Ss at BEA Lea oe 94 BRAKE program ins
279. earch_string where sub_string begins If the substring does not occur within the search string a value of 0 is returned If start is provided it indicates the character position within search_string where searching will begin A value of 1 indicates the first character If start is omitted or less than 1 searching begins with the first character If start is greater than the length of search_ string a value of 0 is returned When checking for a matching substring uppercase and lowercase letters are considered to be the same Examples POS file ext Returns 5 POS file Returns 0 POS abcdefgh DE Returns 4 POS L 2 3 4 5 7 Returns 6 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 397 POWER system switch POWER system switch Syntax POWER Function Control or monitor the status of high power Usage Considerations DANGER Do not use the POWER switch to enable power from within a program unless your system is subject to European certification With European certification special safety features are built in to the system to prevent the robot from being activated without warning See Details for additional information Using this switch to turn on high power is potentially dangerous when performed from a program because the robot can be activated without direct operator action Turning on high power from the terminal can be hazardous if you do not have a clear view of the robot
280. ecified task The default event cleared is the input output completion event for which the instruction WAIT EVENT 1 waits This event is also cleared by the execution not the completion of an input output instruction Related Keywords GET EVENT real valued function SET EVENT program instruction WAIT EVENT program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 119 CLOSE and CLOSEI program instruction CLOSE and CLOSEI program instruction Syntax CLOSE CLOSEI Function Close the robot gripper Usage Considerations CLOSE causes the hand to close during the next robot motion CLOSEI causes a BREAK in the current continuous path motion and causes the hand to close immediately after the current motion completes The CLOSE instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task The instruction applies to the robot selected by the task The CLOSEI instruction can be executed by any program task as long as the task has attached a robot The instruction applies to the robot selected by the task If the eV system is not configured to control a robot executing these instructions causes an error Details These instructions send a signal to the control valves for the pneumatic hand to close If the CLOSE instruction is used the signal is not sent until the next robot motion begins The CLOSET instruction differs from CLOSE in the fo
281. ecorded Operation of the external trigger can be configured from the V System Configuration Editor in the Adept ACE software For details see the Adept ACE User s Guide with Adept ACE The DEVICE real valued function may be used to read the latched value of an external encoder Related Keywords DEVICE real valued function LATCHED real valued function PLATCH precision point function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 315 LATCHED real valued function LATCHED real valued function Syntax LATCHED select Function Return the status of the position latch and which input triggered it or the status of the Stop On Digital Signal Parameter select Integer expression or real variable that determines whether any latches have occurred since the last time the function was executed 0 Returns latch information for currently selected robot n lt 0 Returns latch information for belt n n gt 0 Returns latch information for robot n Return 0 _ifno latch has been detected Value N if position latch on the rising edge of input N was detected N_ if position latch on the falling edge of input N was detected NOTE N represents any digital input signal on the controller from 1001 to 1012 Details This function returns a nonzero value if a position latch or the Stop on Digital Signal event occurred and thus the robot location or belt encoder position has been latched since the LATCHED function was last used
282. ed by the robot SCARA robots for example cannot have an ABOVE configuration The ABOVE instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task The instruction applies to the robot selected by the task If the eV system is not configured to control a robot executing the ABOVE instruction causes an error The following figure shows the ABOVE and BELOW configurations Above ABOVE BELOW Related Keywords BELOW program instruction CONFIG real valued function SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 47 ABS real valued function ABS real valued function Syntax ABS value Function Return absolute value Parameter value Real valued expression Details Returns the absolute value magnitude of the argument provided Examples ABS 0 123 Returns 0 123 ABS 5 462 Returns 5 462 ABS 1 3125E 2 Returns 0 013125 belt length part size ABS belt scale eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 48 ACCEL program instruction ACCEL program instruction Syntax ACCEL profile acceleration deceleration Function Set acceleration and deceleration for robot motions Optionally specify a defined acceleration profile Usage Considerations The ACCEL instruction can be executed by any program task as long as the robot selected by the
283. ed from part 0 through part 10 the following example returns the value 10 not 11 the number of elements defined LAST part If the given two dimension array has elements 2 0 2 3 and 2 5 defined the following example returns the value 5 regardless of the status of elements i j for i other than 2 LAST Snames 2 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 314 LATCH transformation function LATCH transformation function Syntax LATCH select Function Return a transformation value representing the location of the robot at the occurrence of the last external trigger or Stop on Digital Signal Usage Considerations LATCH 0 returns information for the robot selected by the task executing the function If the eV system is not configured to control a robot use of the LATCH 0 function does not generate an error because of the absence of a robot However the information returned by the function may not be meaningful Parameter select Optional integer expression or real variable specifying 0 Robot position latch of currently selected robot default n Robot position latch of robot n Details LATCH returns a transformation value that represents the location of the robot when the last external trigger occurred or the last Stop On Digital Signal occurred The LATCHED real valued function should be used to determined when an external trigger has occurred anda valid location has been r
284. ed function To obtain information on Set the device parameter to eS CPU and board info device 4 returns information about the CPU and processor board if the board parameter is specified Result of ID component 1 Model designation of the system controller Serial number of the system controller Version number of the eV software in use This is the internal version that is incremented for each software release It also differentiates V from eV V ends at version 17 x eV begins at version 20 x To get the external product version number which is displayed by the ID Monitor Command use ID 14 1 1 1 Revision number of the eV software in use First option word for the eV system Second option word for the eV system 7 Size of the system program memory in kilobytes K 1 K 1024 8 bit bytes a ee Controller product type value Ow Returns the SmartController base board revision code Controller hardware configuration This field should be interpreted as a bit field For details on the information returned see the section Controller Hardware Configuration returned by ID 11 1 below 1 2 3 4 5 0 1 12 Returns the first and second parts of the security ID shown as aaaa bbbb below The value returned needs to be displayed in eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 280 ID real valued function Result of ID component 1 hexadecimal format to look
285. ed function SOLVE FLAGS real valued function SOLVE TRANS program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 480 SOLVE FLAGS real valued function SOLVE FLAGS real valued function Syntax SOLVE FLAGS joints index Function Return bit flags representing the robot configuration specified by an array of joint positions Usage Considerations The SOLVE FLAGS function returns information for the robot selected by the task executing the function If the eV system is not configured to control a robot use of the SOLVE FLAGS function causes an error Parameters joints Real array that contains the robot joint positions The first specified element of the array must contain the position for joint 1 the second element must contain the value for joint 2 etc For rotating joints the joint positions are assumed to have units of degrees For translational joints the joint positions are assumed to have units of millimeters index Optional real value variable or expression interpreted as an integer that identifies the array element that contains the position for joint 1 If no index is specified element zero must contain the position for joint 1 Details This function returns bit flags that indicate the configuration of the robot for example RIGHTY or LEFTY for a given set of joint positions This function is useful for providing the configuration data required by the SOLVE ANGLES program inst
286. ed if the error did not have a variable portion in its message Also see select 3 below 2 Return the error number of the most recent error from an MCS instruction executed by the specified program task 3 Return the number of the robot associated with the most recent error for the specified program task Zero is returned if the error was not associated with a specific robot Also see select 1 Details A eV task can access any errors that result in robot power being disabled These errors include the asynchronous messages that previously were output only to the monitor window This function is especially useful in a REACTE subroutine program to determine why the REACTE was triggered NOTE The ERROR function does not report errors reported by the IOSTAT function See System Messagesfor a list of all the eV error messages and their error numbers As noted above when the select parameter is 1 the value returned by this function should be interpreted as a 6 bit numeric value The following program illustrates how the value should be interpreted Example Program Return error message corresponding to an error code PROGRAM error string code vcode robot msg ABSTRACT Return error message corresponding to error code s r 7 INPUTS code Basic error code e g from e g from ERROR n or IOSTAT lun vcode Variable part of the error code g from ERROR n 1 eV Language Reference Guide v2 0 x Upd
287. ed that causes a selected multi turn axis to move more than 180 degrees to avoid a limit stop Usage Considerations NOOVERLAP applies to the operation of the following robots joints e For Adept Viper and PUMA robots joints 1 4 and the final joint e For all SCARA robots joint 4 e For Adept Quattro robots tool rotation OVERLAP ALWAYS is assumed whenever program execution is initiated and when a new execution cycle begins The NOOVERLAP instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task The instruction applies to the robot selected by the task If the eV system is not configured to control a robot executing the NOOVERLAP instruction causes an error Parameter ALWAYS Optional qualifier that establishes NOOVERLAP as the default condition That is if ALWAYS is specified NOOVERLAP remains in effect continuously until disabled by an OVERLAP instruction If ALWAYS is not specified the NOOVERLAP instruction applies only to the next robot motion Details When NOOVERLAP is set and the transformation destination of a joint interpolated or straight line motion requires that a multiple turn axis rotate more than 180 degrees to avoid a limit stop a program error will occur and the motion will not be performed If the destination is specified as a precision point this test is not performed In general given a transformation destination a multiple turn axi
288. eeeeeess 41 Descriptions of eV Keywords 0 0 00 00 eee eee cece cece cece cece ec eeceeeeeeeeeceeeeeeeeeees 42 Documentation Conventions for Keywords 20 2200 20 cece cece ccc ceccceecceeeees 42 ABORT program instruction 0 0 0 2 0000000000000000 0000 e cence eee eeceeeeeeeeeeeeee 45 ABOVE program instruction 0 2000 22 00 c ccc cccce cece cence ecceceeeeeeeeeeeeeeee 47 ABS real valued function 0 0 0 00 c ccc c cece cece 0000000000000000 cen ccneceecseceessesseseneenes 48 ACCEL program instruction 200 2 000 2220 0 ccc eee c cece eee aaa ooa anano ana 49 ACCEL real valued function 2 200 000 cece cece cece a nce eee cece a eae 52 ALIGN program instruction 0 2 00 00000000000 cece ence cece cece c eee eececeeceeeeeeeeeees 54 PIL WAN S KEYWORG 2 n e e i Shs hho I est ah te ehh a ee hh ae 55 AND Operator 228 E NEEN weedseas nat esaneehen oh dee E E shee Ws spent aldesorcunes aded 56 ANY program instruction 0 0000 22 oo eee cccceccecc ence c ence eee ec ee eeeeeeeeeeeeeeeeees 57 APPRO program instruction 0 2 20 0 200ccc cece eee ence cece cece cece cece oaa aaan aa 58 APPRO program instruction 2 00 2200 c ccc cece cece eee eee e cee eeeeceeeeeeeeeeeeeeee 60 ASC real valued function 2 00 00 0 00 e cece cece ccc cece ccc ec cece ec ceceeececcecceeceeceeceeceeeee 62 ATANZ2 real valued function 20 2 llc c cece cece cece cece cece cece eecee
289. een the current robot location and the desired destination A positive distance moves the tool back toward negative tool Z from the current location a negative distance moves the tool forward toward positive tool Z Details These instructions initiate a robot motion to a new location which is offset from the current location by the distance given measured along the current tool Z axis Examples DEPART 80 Moves the robot tool 80 millimeters back from its current location using a joint interpolated motion DEPARTS 2 offset eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 162 DEPART and DEPARTS program instruction Withdraws the robot tool 2 offset millimeters along a straight line path from its current location Related Keywords APPRO program instruction APPROS program instruction MOVE program instruction MOVES program instruction SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 163 DEPART and DEPARTS program instruction DEPART and DEPARTS program instruction Syntax DEPART distance DEPARTS distance Function Start a robot motion away from the current location Usage Considerations DEPART causes a joint interpolated motion DEPARTS causes a straight line motion during which no changes in configuration are permitted These instructions can be executed by any program task as long as the task has attached a robot The in
290. ek 377 OVERLAP program instruction 20 0000 22 2 0000000000000000 cece cece cence ec eeceeeeceeeeeeee 378 PACK program instruction 220 0 0 200 e ccc cece cce ao a cee DALE ra rnrn 380 PANIC BrOG rami StraCe ron sss3 ths wed th ce Acetate wl tls bela l lead Sale 382 PARAMETER program instruction 23 4 c25023 00 sted atte J are wel an diese elnen piel Auddede uated 383 PARAMETER real valued function 2 2 20 0 00 0 o econ ec eeee ec e eee eees 385 PAUSE program instruction 00 000 20 eee ccc ccc ce cece eee eeceeeceeeeeeeees 387 PDEST precision point function 220s ude ee ce ee 388 PDNT CLEAR program lit SthuiCtlon sc 4A52sce gut koe tere aM gee Lene oo 1 388 PDNT NOTIFY program instruction 2 0 0 00 oon eee eee 389 PDNT WRITE program instruction 22 20 00 0 ooo eee eee eee cece eee eee 390 PHERE precision point function occ cys ett Sh ttle oh tt tee Sth Oe OSA ek al A 394 Pirealvalued FUNCION lt sey cis Gozo inte eee te tA ee ht le dbo oe 395 PLATCH precision point function 24 i 505 ane ee bh dcr ct Phe ne ld htt ode oon A 396 POS real valued function _ 22 397 POWER system switch 2 2 00 20 o occ cece ccc ccc ccc eee cence cece cece ence eee eeeeeeteeeeeeeees 398 PPOINT precision point function 20 22 2 400 PRIORITY real valued function 2 2 0 000 0 00 c cece cece eee cece cece eee eceeeeeececceceeeeeeeeees 402 PROGRAM program instruction 2ic20 2207052032 noe A one re ty Bee on oe aes B
291. em Messages Alphabetical List Device in use 668 Explanation An attempt has been made to attach assign or configure a hardware device e g a VMI axis that is already being used User action Check the program code to make sure the requested device has not already been attached If the error occurs during power up initialization of the eV system enter the SRV NET monitor command and look for multiple nodes that are reporting the same input or output block number Device not ready 508 Explanation 1 The requested disk device or remote network task is not prepared to communicate with the eV system 2 A limited access device like the terminal the pendant or a serial line is attached to a different program task 3 You have tried to write into a pull down window while it is displayed User action 1 If the intended device is a system microfloppy disk drive make sure the diskette is correctly inserted and formatted 2 If a limited access device is specified ABORT and KILL the program task that has it attached or wait for the program task to release the device If the intended device is on the network verify that the proper connections are made and that the remote system is operating correctly 2 ABORT and KILL the program task that has the device attached or wait for the task to release the device Device reset 663 Explanation The device is busy processing a reset operation The reset can h
292. em Option Words System Option Word 1 from ID 5 Interpretation When Bit Set eV Extensions software license installed External encoders are supported See Note 1 Robot or motion devices are enabled Reserved for future use currently zero ALTER instruction enabled See Note 2 MOVEF and MOVESF instructions enabled 1 The External encoder bit is used with robot systems to indicate the conveyor tracking capability With non robot systems it is used to indicate the external encoder option 2 This bit tracks the eV Extensions bit The interpretations of the bits in the second software option word returned by the function ID 6 are described in the following table System Option Word 2 from ID 6 Interpretation When Bit Set Decimal Hexadecimal as fo fo Reserved for future use currently zero eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 575 Processor Option Word Interpretation When Bit Set 256 DDCMP option is installed See Note 1 10 12 re Reserved for future use currently zero Network hardware is installed and TCP is installed You can use the NETWORK real valued function to obtain detailed information about the network 1 This bit tracks the eV Extensions bit in the first option word Processor Option Word The interpretations of the bits in the processor option word returned by the function ID 6 4 are described in the following table Pr
293. em timer Example The following examples show two ways to wait for a certain amount of time using the TIMER instruction and real valued function Each example first sets the timer and then waits until the timer value has changed by the delay period TIMER 1 0 7Set timer to zero WAIT TIMER 1 gt delay Wait until timer gt delay TIMER 1 delay Set timer to delay WAIT TIMER 1 gt 0 Wait until timer gt zero Related Keyword TIMER real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 529 TIMER real valued function TIMER real valued function Syntax TIMER timer_number Function Return the current time value of the specified system timer Usage Considerations The accuracy and resolution of the timers vary according to which timer is selected DOUBLE variables should be used to achieve maximum resolution See the Details section below Parameter timer_number Real value variable or expression interpreted as an integer that specifies the number of the timer to be read The value must be in the range 4 to 15 vee een Timers with a resolution of one millisecond and a maximum count of gt 2 E 009 They can be used to measure an interval of up to 596 hours from when they were set by the TIMER instruction Returns the number of seconds since the eV system was started with a resolution of 1 millisecond and a maximum count of about 2 E 009 It is valid only during th
294. en process the string appropriately If you press the RETURN key or press CTRL C an empty line is read This results in all the real variables being set to zero or the string variable being assigned an empty string If you press CTRL Z an end of file error condition results If there is no REACTE instruction active program execution is terminated and an error message is displayed Thus CTRL Z can be a useful way to abort program execution at a PROMPT Examples Consider the instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 406 PROMPT program instruction PROMPT Enter the number of parts part count The result of executing this instruction is the display of the message Enter the number of parts on the system terminal to ask you to type in the desired value After you type a number and press the RETURN key the variable part count is set equal to the value typed and program execution resumes Consider changing the above instruction to PROMPT Enter the number of parts Sinput Even if you enter characters that are not valid for numeric input eV does not output an error message The application program can use the various string functions to extract numeric values from the input string If you want to include format specifications in the string output to the terminal Such as Cn to skip lines you can use either the ENCODE function or the TYPE instruction For example the instruction
295. enerate a transformation whose value consists of a rotation about the axis associated with the function name and a zero displacement X Y Z 0 Example Produce a transformation that describes a pure 30 degree rotation about the World X axis RX 30 Related Keyword DX real valued function DY real valued function DZ real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 443 RX RY RZ transformation functions RX RY RZ transformation functions Syntax RX angle RY angle RZ angle Function Return a transformation describing a rotation Parameter angle Real valued expression that represents the rotation angle in degrees Details These functions generate a transformation whose value consists of a rotation about the axis associated with the function name and a zero displacement X Y Z 0 Example Produce a transformation that describes a pure 30 degree rotation about the World X axis RX 30 Related Keyword DX real valued function DY real valued function DZ real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 444 RX RY RZ transformation functions RX RY RZ transformation functions Syntax RX angle RY angle RZ angle Function Return a transformation describing a rotation Parameter angle Real valued expression that represents the rotation angle in degrees Details These functions generate a transformation who
296. ent of interest see above value Real value variable or expression that determines whether the switch is to be enabled or disabled The switch is enabled if the value is TRUE nonzero The switch is disabled if the value is FALSE zero Details Sets the given system switch to the setting implied by the value on the right of the equal sign The switch name can be abbreviated to the minimum length that identifies it uniquely For details on switch names see the section Switches in the eV Language User s Guide Other system switches are available when options are installed Refer to the option documentation for details For example the switches associated with the AdeptVision options are described in the AdeptVision Reference Guide eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 507 SWITCH program instruction Example The following program statements show how the SWITCH real valued function and instruction can be used to save the setting of a system switch and later restore it respectively old upper SWITCH UPPER Save the current setting Instructions that may change the setting of the UPPER switch SWITCH UPPER old upper Restore the initial setting Related Keywords DISABLE monitor command DISABLE program instruction ENABLE monitor command ENABLE program instruction SWITCH monitor command SWITCH real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 508 SWIT
297. ent value is passed to the subroutine Any changes to the corresponding subroutine argument in the subroutine will not be passed back to the calling routine Any argument that is specified as an expression or compound transformation will be passed by value When an argument is a scalar or array variable it is passed by reference That means a pointer to the variable is passed to the subroutine which then works with exactly the same variable as the calling routine If the called routine changes the value of the variable the value is also changed for the calling routine This can be especially significant for example if the same variable is passed as two arguments of a subroutine call Then any change to either of the corresponding subroutine arguments in the subroutine automatically changes the other corresponding subroutine argument Note that an argument that is passed by reference because it is a variable can generally be forced to passage by value The way that is done depends on the type of the variable as follows e For areal variable passage by value can be forced by enclosing the variable in parentheses CALL prog _a count e Fora string variable an empty string can be added to the variable CALL prog b str vart e Foratransformation variable for example start an equivalent transformation value can be specified by a compound transformation consisting of the variable and the NULL transformation
298. er Multiple devices of the same type are supported only if your system includes the optional eV Extensions software If the eV system is not configured to control a robot the selected robot is always 1 and the total number of robots is zero SELECT ROBOT returns the number of the currently selected robot SELECT ROBOT 1 returns the maximum robot number in a eV system Examples Return the unit number of the robot selected for the current task our robot SELECT ROBOT Return the total number of robots connected to the controller num robots SELECT ROBOT 1 Related Keywords SELECT monitor command eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 453 SELECT real valued function SELECT program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 454 SET program instruction SET program instruction Syntax SET location_var location_value Function Set the value of the location variable on the left equal to the location value on the right of the equal sign Parameters location_var Single location variable or compound transformation that ends with a transformation variable location_value Location value of the same type as the location variable on the left of the equal sign defined by a variable or function or compound transformation Details An error message is generated if the right hand side is not defined or is not the same type of location representation t
299. erence Guide v2 0 x Updated 5 8 2013 Page 29 eV Language Quick Reference TKerwora te oen O FCOPY a Copy the information in an existing disk file to a new disk file FDELETE Delete the specified disk file the specified graphics window and all its child windows or the specified graphics icon 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 FINE Enable a high precision feature of the robot hardware servo 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 FLTB Return the value of four bytes of a string interpreted as an IEEE single precision floating point number Return a 4 byte string containing the binary representation of a real value in single precision IEEE floating point format FOPEN Create and open a new graphics window or TCP connection or open an existing graphics window for subsequent input or output FOPENA Open a disk file for read only read write read write append or read FOPEND directory as indicated by the last letter of the instruction name FOPENR FOPENW FSEEK PI Position a file open for random access and initiate a read operation on the specified record FSET PI Set or modify attributes of a graphics window serial line or network device GETC RF Return the next character byte from a device or input record on the spe
300. erminated execution e The date and time are displayed by the TIME monitor command e The date and time are available to an application program by use of the TIME and TIME4 string functions The individual elements of the date and time specification are defined as follows eee mee CE The day of the month 1 to 31 The month specified as a 3 letter abbreviation JAN FEB MAR APR MAY JUN JUL AUG SEP OCT NOV or DEC eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 520 TIME program instruction eo EE EE The year where 80 to 99 represent 1980 through 1999 respectively and 00 to 79 represent 2000 through 2079 respectively The year 1980 to 2079 The hour of the day 0 to 23 Minutes past the hour 0 to 59 Seconds past the minute 0 to 59 0 assumed if ss omitted Example TIME 23 JUN 99 16 10 25 Related Keywords TIME monitor command TIME real valued function TIME string function TIME4 string function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 521 TIME real valued function TIME real valued function Syntax TIME string select Function Return an integer value representing either the date or the time specified in the given string parameter Parameters string Optional string variable constant or expression that specifies the date and time in the format described below See below for details select Real value variable or expression inte
301. etails The following table shows the mode and index information for the supported robot modules For additional details about the applicability and use of this instruction refer to the documentation for your specific robot module See the Adept Robot Device Modules menu to access the documentation for the device module for your robot NOTE Only device modules for non Adept robots are documented Supported Robot Modules Always 0 Z offset for the first slaved ZTheta RZ offset for the first slaved ZTheta Z offset for the second slaved ZTheta XY3 module ID 21 1 5 The number of the primary ZTheta pair followed by the number of the first slave pair the second slave pair and the third slave pair The first zero value indicates the end of the list of active slave pairs eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 439 ROBOT OPR real valued function RZ offset for the second slaved ZTheta Z offset for the third slaved ZTheta C RZ offset for the third slaved ZTheta Adept Quattro s650 Number of the set of acceleration Robot parameters that is in effect The value 0 indicates no set has been explicitly selected and the default parameters set 1 are in effect Number of sets of acceleration parameters that are available for the current robot Maximum tool flange rotation angle i e maximum deflection from 0 degrees Size of the tool flange rotation ambiguity zone at each end of the range of
302. eturned by the function is meaningful only to the CALLP instruction and the SYMBOL string function Parameters string String constant variable or expression that defines the symbol to be referenced type Optional real value variable or expression that specifies the type of symbol to be referenced Currently the only value supported is zero which specifies that the string parameter defines a program name The value zero applies if the parameter is omitted Details The SYMBOL PTR function can be used to obtain a pointer to a user symbol that is a program or variable name in eV memory Such a pointer can then be used elsewhere in the program by the CALLP instruction and the SYMBOL function Refer to the descriptions of those keywords for more information The function returns the value zero if the specified symbol is not defined Example Refer to the dictionary page for the CALLP instruction Related Keywords CALLP program instruction SYMBOL string function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 512 SYS INFO string function SYS INFO string function Syntax string SYS INFO mode stg Function This function provides general system information Input Parameters mode Determines the type of information returned based on the following mode values Returns the full file specification device gt subdirectory_ path filename extension for the disk file from which the eV program modu
303. ety configuration 644 Explanation The robot and controller do not have the same safety options On SmartController systems this error displays if the Cat 3 option is selected while running a SmartController with an old CIM board If eV detects a 1394 Cat 3 robot when the Cat 3 option is not selected on the SmartController the message includes the number of the robot associated with the error User action Make sure that the correct robot and controller are being used together Install or remove the appropriate EN954 Safety Category license in the controller Initialization error 505 Explanation An I O device reported an error condition during its initialization Initialization is performed during power up after a reset and may also be performed after certain nonrecoverable I O errors occur User action Be sure that the hardware for the I O device is properly installed Repeat the failed I O operation If the problem persists contact Adept Customer Service Initialization failure Belt n 1015 Explanation The indicated belt encoder monitoring system failed to respond to eV during the initialization caused by the DEFBELT instruction User action Power down the controller and restart If the problem persists contact Adept Customer Service You can prevent this error from being reported by enabling the DRY RUN system switch Input block error 511 Explanation A read error has occurred while reading a binary
304. executing the FINE instruction causes an error Parameters tolerance Optional real value variable or expression that specifies the percentage of the standard fine tolerances that are used for each joint of the robot attached by the current execution task ALWAYS Optional qualifier that establishes FINE as the default condition That is FINE will remain in effect continuously until disabled by a COARSE instruction If ALWAYS is not specified the FINE instruction will apply only to the next robot motion Details Enables the high precision feature in the robot motion servo system so that only small errors in the final positions of the robot joints are permitted at the ends of motions This produces high accuracy motions but increases cycle times since the settling time at the end of each motion is increased If the tolerance parameter is specified the new setting takes effect at the start of the next motion Also the value becomes the default for any subsequent FINE instruction executed eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 238 FINE program instruction during the current execution cycle regardless of whether or not ALWAYS is specified Changing the FINE tolerance does not affect the COARSE tolerance If the tolerance parameter is omitted the most recent setting for the attached robot is used The default setting is restored to 100 percent when program execution begins or a new execution cycle starts as
305. execution DBLB Return the value of eight bytes of a string interpreted as an IEEE double precision floating point number Return an 8 byte string containing the binary representation of a real value in double precision IEEE floating point format Convert BCD digits into an equivalent integer value DECODE Extract part of a string as delimited by given break characters DECOMPOSE Extract the real values of individual components of a location value DEFAULT ST Return a string containing the current system default device unit and directory path for disk file access DEFBELT Define a belt variable for use with a conveyor tracking robot DEFINED Determine whether a variable has been defined DELAY Cause robot motion to stop for the specified time DELAY IN TOL Controls the timing of COARSE or FINE nulling after eV completes a motion segment DELAY POWER OFF SW Enable disable the ESTOP timer delay feature for servo errors DEPART P Start a robot motion away from the current location Return a transformation value representing the planned destination location for the current robot motion DETACH Release a specified device from the control of the application program DEVICE 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 informati
306. expression is nonzero program execution branches and begins executing the statement with a label matching the one specified If the value of the expression is zero the next instruction is executed as usual If the specified statement label is not defined the program is not executable Any attempt to branch to an undefined label is identified when the program editor is exited and when the program is loaded into memory from a disk file Example The most common use for IF GOTO is as an exit on error instruction The following code checks each I O operation and branches to a label whenever an I O error occurs ATTACH dlun 4 DISK IF IOSTAT dlun lt 0 GOTO 100 FOPENW dlun my file IF IOSTAT dlun lt 0 GOTO 100 FCLOSE dlun my file IF IOSTAT dlun lt 0 GOTO 100 DETACH dlun 100 IF IOSTAT dlun lt 0 THEN TYPE SERROR IOSTAT dlun END eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 289 IF logical_expr GOTO program instruction Related Keywords GOTO program instruction IF THEN program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 290 IGNORE program instruction IGNORE program instruction Syntax IGNORE signal Function Cancel the effect of a REACT or REACTI instruction Usage Considerations Only digital I O signals that are installed and configured as inputs are available for reaction monitoring The IGNORE instruction must be executed by the same program t
307. f NOOVERLAP is in effect Related Keywords CONFIG real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 472 SINGLE program instruction MULTIPLE program instruction NOOVERLAP program instruction OVERLAP program instruction SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 473 SOLVE ANGLES program instruction SOLVE ANGLES program instruction Syntax SOLVE ANGLES o jts o0 idx o flags error trans i jts i idx i flags Function Compute the robot joint positions for the current robot that are equivalent to a specified transformation Usage Considerations Since the computation performed by this instruction is a function of the geometry of the robot link dimensions number of axes tool offsets base offsets robots with different geometric parameters yields different results In fact since robots of the same general type may differ slightly in their dimensions this instruction may return slightly different results when executed on two different robot systems of the same type The SOLVE ANGLES instruction returns information for the robot selected by the task executing the instruction If the eV system is not configured to control a robot executing this instruction does not generate an error because of the absence of a robot However the information returned may not be meaningful Parameters o jts Real valued arr
308. fied as a constant a variable or an expression The type of each argument must match the type of its counterpart in the argument list of the called program An argument specified as a variable can be a simple variable an array element or an array with one or more of its indexes left blank See below for more information NOTE If a value is being passed back to the calling program the parameter must be specified as a variable Any argument can be omitted with the result that the corresponding argument in the called program will be undefined If an argument is omitted within the argument list the separating comma must still be included If an argument is omitted at the end of the list the comma preceding the argument can also be omitted See the description of PROGRAM for more information on the effect of omitting an argument eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 106 CALL program instruction Details The CALL instruction causes execution of the current program to be suspended temporarily Execution continues at the first step of the indicated new program which is then considered a subroutine Execution automatically returns to the current program when a RETURN instruction is executed in the subroutine Execution continues with the instruction immediately following the CALL instruction Subroutine arguments can be passed by value or by reference When an argument is passed by value a copy of the argum
309. fies the task for which the event is to be set The valid range is 0 to 27 inclusive If this parameter is omitted the number of the current task is used NOTE All 28 tasks are available only in systems equipped with the optional V Extension flag Not used defaults to 1 Details This instruction sets the event associated with the specified task For example if a task had been suspended by a WAIT EVENT 1 instruction executing the SET EVENT instruction for that task causes it to resume execution during the next available time slice for which it is eligible Related Keywords CLEAR EVENT program instruction GET EVENT real valued function WAIT EVENT program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 457 SET POINT precision point function Syntax SET POINT Function Return the commanded joint angle positions computed by the trajectory generator during the last trajectory evaluation cycle Usage Considerations The name Sset point cannot be used as a program or variable name Details For each trajectory evaluation cycle joint angle positions are computed converted to encoder counts and sent to the servos as the commanded motor positions You can use this function to capture these positions eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 458 SETBELT program instruction SETBELT program instruction Syntax SETBELT belt_var expression Function Set the enc
310. for a response from the device driver For most applications this bit should not be set If this bit is clear program execution waits for the device driver to signal the result of the attach request If this bit is set program execution does not wait for the result of the attach request The program must then use the function IOSTAT lun to determine if the attachment has succeeded see earlier text If the program attempts to READ from or WRITE to the logical unit while the attachment is pending program execution then waits for the attachment to complete Bit 3 mask value 4 Specify LUN 0 versus Have LUN Assigned 1 This bit determines how the lun parameter is processed If this bit is clear the device corresponding to the value of lun is attached That is the value of the lun parameter specifies the device that is to be attached according to the table in the Details section except when a different device is specified with the device parameter If this bit is set the device to be attached is specified by the device parameter which should not be omitted In this case a logical unit is automatically selected and the value of the lun parameter is set by the ATTACH instruction eV assigns a value to lun even if the ATTACH request fails This mode cannot be used to attach the robot or eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 66 ATTACH program instruction pendant device Optional string con
311. formation value This parameter is ignored and can be omitted for all modes except 7 and 9 Optional real valued expression that specifies the distance along the robot tool Z axis between the specified location and the actual desired destination A positive distance sets the tool back negative tool Z from the specified location a negative distance offsets the tool forward positive tool Z This parameter is used only for mode 7 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 309 JOG program instruction Details When the status variable is supplied and there is an error the JOG instruction does not cause program execution to stop The error is simply returned in the STATUS variable Each time the JOG instruction is executed the robot moves for up to 300 ms Another JOG can be executed before the previous motion is completed In fact for extended smooth motion subsequent JOG instructions should be executed within 300 ms of the previous JOG instruction The keep alive mode can be used for that purpose The keep alive mode will have no effect after the timeout of 300 ms it has an effect only before the robot stops The following error conditions can be reported when the instruction is processed Mode 1 The error Illegal joint number 609 is returned if FREE mode is not permitted for the specified joint Mode 2 The error Joint control of robot not possible 938 is returned if the robot does not support j
312. from the keyboard reissue the enable power monitor command and promptly press the high power on off button when instructed to do so If working from the MCP follow the procedure appropriate for enabling high power for the safety category of your system Promptly press the high power on off button when instructed to do so If the timeout period is too short adjust it by using the ACE controller config tools to change the POWER_ TIMEOUT statement in the eV configuration data Illegal array index 404 Explanation An attempt has been made to 1 use a negative value as an array index 2 use a value greater than 32767 as an array index 3 specify a simple variable where an array variable is required 4 omit an array index in a situation where it is required for example a 1 dimension array is specified when a 2 or 3 dimension array is required 5 specify an explicit index in an argument for a eV operation that requires a null array or 6 specify an index to the right of a blank index for a multiple dimension array User action Correct the line Illegal assignment 403 Explanation The assignment operation just attempted was invalid possibly because it attempted to assign a value to a variable name that is a reserved word or a function User action Reenter the line using a different variable name if necessary Illegal digital signal 405 Explanation A number or bit field specifies a digital signal that is not i
313. g System Processor is running the Servo software Reserved for future use currently zero Robot and Encoder Configuration Device number 8 returns information for the currently selected robot The acceptable values for the component parameter are the same as for a specified robot See the following table Device number 10 refers to the external encoders connected to the robot controller The acceptable values for the component parameter are the same as for a robot Device numbers 11 12 refer to robot number 1 2 respectively for each robot connected to the controller That is a device number equal to 10 r refers to robot number r which can range from 1 to the value returned by the function SELECT ROBOT 1 The number of the robot that is currently selected can be obtained with the function SELECT ROBOT The acceptable values for the component parameter and the corresponding values returned are listed in the following table component Result of ID component 10 r Model designation of the robot eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 282 ID real valued function Result of ID component 10 r e Serial number of the robot Number of motors configured for the robot This normally is equal to the number of configured joints see component 7 Value interpreted as bit flags for the robot joints that are enabled bit 1 for joint 1 and so on The value is zero if the robot does no
314. g Unpredictable robot motion may result if the difference does exceed this value while tracking the belt Parameters obelt_var The name of the belt variable used to reference the conveyor belt As with all belt variables the name must begin with a percent symbol mode Control value that determines the information that will be returned If the mode is omitted or its value is equal to zero the BELT function returns the encoder reading in encoder counts of the belt specified by the belt variable The value returned by this function is limited to an absolute value of 8 388 607 and will roll over to 8 388 608 after If the value is equal to 1 the BELT function returns the last latched encoder position in encoder counts of the belt specified by the belt variable This value equivalent to the value returned by DEVICE 0 enc stt 4 except it is not bounded to 8 388 607 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 83 BELT real valued function If the value of the expression is greater than zero the encoder velocity is returned in units of encoder counts per eV cycle 16 ms Examples Set the point of interest on the referenced conveyor to be that corresponding to the current reading of the belt encoder SETBELT Smain belt BELT Smain belt Save the current speed of the belt associated with the belt variable Yb belt speed BELT b 1 Related Keywords BELT system switch SETBELT program instruction
315. g is padded with ASCII NUL characters to the start of the substring In order to efficiently access the string array this function assumes that all of the array elements from the start of the array until the element before the element accessed are defined and are 128 characters long For multidimensional arrays only the right most array index is incremented to locate the substring Thus for example element 2 3 is followed by element 2 4 When astring variable is modified the replacement is done in a manner similar to that for an individual array element However an error results if the operation causes the string to be longer than 128 characters Example The instruction below replaces 11 characters within the string array list The replacement is specified as starting in array element list 3 However since the first character replaced is to be number 130 the 11 character substring actually replaces the second through 12th characters of list 4 PACK S list 3 130 11 string Related Keywords MID string function UNPACK string function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 381 PANIC program instruction PANIC program instruction Syntax PANIC Function Simulate an external E stop or panic button press stop all robots immediately but do not turn off HIGH POWER Usage Considerations If the eV system is controlling more than one robot all the robots are stopped This instructi
316. g just pressing Return cancels the edit request Program task stopped at program_name step step_number date time 4 Explanation Execution of the program task indicated by has terminated for the reason indicated in the message that preceded this message The step number displayed corresponds to the next NEXT program step that is executed for example if PROCEED were entered The current date and time are displayed if the system date and time have been set User action None This is only an informational message Program task not active 318 Explanation An attempt was made to abort a task that was not active User action None required if the correct task number was specified Otherwise use the STATUS command to determine which task number should have been used Program task not in use 319 Explanation A program task cannot be accessed because it has never been used Such program tasks do not use any system memory and do not appear in the STATUS display User action None Protected program 53 Explanation An attempt has been made to list a program that is protected from user access User action None Protection error 530 Explanation An I O operation cannot be performed because 1 it attempted to write toa disk that is write protected or 2 you do not have the proper access status eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 632 System Messages Alphabetical List U
317. ges numbers 0 to 49 list messages that provide information e Warning Messages numbers 50 to 299 list warning messages that you may receive e Error Messages negative numbers list the error messages that you may receive Most message codes associated with errors can be made available to a program by the ERROR function which returns the code of the latest error that occurred In addition the ERROR function returns the error message associated with any eV error code Documentation The eV system message documentation allows you to look up the details of an error message either alphabetically by the message string or numerically by the system code For details see Related Topics For each message the documentation includes the message code the text of the message and sometimes a comment about the applicability of the message Angle brackets lt gt are used to enclose a description of an item that appears in that position All numbers are decimal Updates Changes to eV system messages are summarized in the eV Release Notes Related Topics Alphabetical List of eV System Messages Numerical List of eV System Messages ERROR real valued function ERROR string function System Messages Alphabetical List eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 578 System Messages Alphabetical List Almost every eV system message has a numeric code that can be used to identify the message within a eV progr
318. gram 1 my pgm ptr 2 SYMBOL PTR my program 2 Then in the repetitive section of the application program the following is executed CALLP my pgm ptr index parml parm2 Related Keywords CALL program instruction CALLS program instruction SYMBOL string function SYMBOL PTR real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 110 CALLS program instruction CALLS program instruction Syntax CALLS string arg_list Function Suspend execution of the current program and continue execution with a new program that is a subroutine specified with a string value Usage Considerations CALLS takes much longer to execute than the normal CALL instruction Thus CALLS should be used only when necessary Parameters string String value variable or expression defining the 1 to 15 character name of the new program to be executed The letters in the name can be lowercase or uppercase arg_list Optional list of arguments to be passed between the current program and the new program The parentheses can be omitted if no argument list is specified See the CALL instruction for further information on subroutine arguments NOTE Since the argument list is not specified as part of the string parameter all the subroutines called by a specific CALLS instruction must have equivalent argument lists Details The CALLS instruction behaves exactly as the CALL instruction does The only difference
319. gram instruction REACTI program instruction RETURNE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 413 REACTI program instruction REACTI program instruction Syntax REACTI signal_num program priority Function Initiate continuous monitoring of a specified digital signal Automatically stop the current robot motion if the signal transitions properly and optionally trigger a subroutine call Usage Considerations For most applications the REACTI instruction should be used only in a robot control program See below for more information When a REACTI triggers the robot that is stopped is the one selected by the task at the time of the trigger regardless of which robot was selected at the time the REACTI instruction was executed Also see the considerations listed for the REACT program instruction Parameters signal_num Real valued expression representing the signal to be monitored The signal number must be in the range 1001 to 1012 external input signals or 2001 to 2008 internal software signals The software signals can thus be used by a secondary program to interrupt the robot control program and vice versa If the signal number is positive eV looks for a transition from off to on if signal is negative eV looks for a transition from on to off program Optional name of the subroutine that is called when the signal transitions properly priority Optional real valued
320. gram instruction REACTE program instruction REACTI program instruction RETURNE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 428 RETURNE program instruction RETURNE program instruction Syntax RETURNE Function Terminate execution of an error reaction subroutine and resume execution of the last suspended program at the step following the instruction that caused the subroutine to be invoked Details The RETURNE instruction is intended for use in error reaction subroutines That is subroutines that are invoked through the REACTE mechanism as a result of an error during program execution If a RETURNE instruction is used to exit from an error reaction routine the program reaction priority is restored to whatever it was before the error reaction routine started execution When a RETURNE instruction is executed in an error reaction subroutine then execution continues with the statement following the one executing when the error occurred Note that in this situation a RETURN instruction results in the statement that generated the error being executed again possibly causing an immediate repeat of the error NOTE Because of the forward processing ability of eV the instruction that is the source of an error may not be the one executing when the error is actually registered For example when a MOVE instruction is processed the robot begins moving but during the motion several additional i
321. gram instruction 2 2 20 0 0 22 158 DELAY AN TOL systent SWItCH e o slocecstotite Mibu diut eosin a S E 160 BELAY POWER OFF system switch onus tes peut cca ut oa fet cei bce se be 161 DEPART and DEPARTS program instruction 0 0 20 0200 20 cccecceecceeceeeees 162 DEPART and DEPARTS program instruction 20 0 0 000 o eee cece eee eee 164 DEST transformation function 2 2 0 0 0 000 c cece cece cece cece eee ecceceecceceeceeceeececeees 166 DETACH program instruction fois state lahat tied Sih Ie tt tet talk tle US IY lel 168 DEVICE program instruction 3 020 ho ol Moll ba sla i at Ss 170 DEVICE real valued function 0 0000 00000 c cece cece cece cece eee e cece eeceeececeeceeceeeceeeees 172 DEVICES program instruction 00000 coin c cece cece cece eeeeeeeeenees 174 DISABLE program instruction 0 0 000 200 cece cece cece ccc cece cc eeeeeceeeeeeeees 176 DISTANCE real valued function 2 0 0 00 0022 occ cece ccc cece cece ccc ec eee ceceecceceeececeees 178 DN RESTART program instruction _ 2 2 0 22 00 2 oon eee ence eee 179 DO program instruction aia a c cece cece nec eeecceeeeeeeeneeeeees 180 DOS program instruction 0 00 22 e cece cece cece ccc ec eee ee ec cece eeeceeeeeneeeeees 182 DRIVE program instruction oc ccscccees sectses eee aaeic tes aside gute decac glee 184 DRY RUN system SWitch i soa cele wea ttt rte i ht the edn Gt tt el et at el OMe EA lta A Sail tld 186 DURATION program instr
322. h angle of the robot wrist has a positive value Usage Considerations Configuration changes cannot be made during straight line motions If the selected robot does not support a no flip configuration this instruction is ignored by the robot The NOFLIP instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task The instruction applies to the robot selected by the task If the eV system is not configured to control a robot executing the NOFLIP instruction causes an error For more details see the description of the FLIP program instruction Related Keywords CONFIG real valued function FLIP program instruction SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 357 NONULL program instruction NONULL program instruction Syntax NONULL ALWAYS Function Instruct the eV system not to wait for position errors to be nulled at the end of continuous path motions Usage Considerations Only the next robot motion is affected if the ALWAYS parameter is not specified NULL ALWAYS is assumed whenever program execution is initiated and when a new execution cycle begins The NONULL instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task The instruction applies to the robot selected by the task If the eV system is not configured to
323. har is omitted or has a value of 0 or 1 the first eight bytes of the string are extracted If first_char is greater than 1 it is interpreted as the character position for the first byte For example a value of 2 means that the second through ninth bytes are extracted If first_char specifies eight bytes that are beyond the end of the input string an error is generated Details Eight sequential bytes of the given string are interpreted as being a double precision 64 bit floating point number in the IEEE standard format This 64 bit field is interpreted as follows s exp traction Bytes 1 2 Bytes 3 4 Bytes 5 6 Bytes 7 8 where s is the sign bit s 0 for positive s 1 for negative exp is the binary exponent biased by 1023 fraction is a binary fraction with an implied 1 to the left of the binary point eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 141 DBLB real valued function For 0 lt exp lt 2047 the value of a floating point number is 15 1 fraction 2 P 1023 Double precision real values have the following special values fraction Description _ Nonzero Denormalized number Signed infinity Not a number The range for normalized numbers is approximately 2 2 x 107308 to 1 8 x 10307 The main use of this function is to convert a binary floating point number from an input data record to a value that can be used internally by eV Example DBLB CHR H3F CHR
324. hat is transformation or precision point If a compound transformation is specified to the left of the equal sign only its right most relative transformation is defined An error condition results if any other transformation in the compound transformation is not already defined If a transformation variable is specified on the left hand side the right hand side can contain a transformation a compound transformation or a transformation function Examples Set the value of the transformation pick equal to the location of corner plus the location of shift relative to corner SET pick corner shift Set the value of the precision point place equal to that of the precision point post SET place post Set the value of the transformation part to the current robot location relative to the transformation pallet SET pallet part HERE Set the value of loci to X 550 Y 450 Z 750 y 0 p 180 r 45 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 455 SET program instruction SET locl TRANS 550 450 750 0 180 45 Related Keywords HERE monitor command HERE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 456 SET EVENT program instruction SET EVENT program instruction Syntax SET EVENT task flag Function Set an event associated with the specified task Parameters task Optional real value variable or expression interpreted as an integer that speci
325. he actual point in order to maintain the program speed and accelerations When the monitor speed is increased the path of the robot relative to the commanded destination points is not altered but the accelerations are increased For applications where path following is important the path can be defined with the monitor speed set to a low value and then accurately replayed at a higher monitor speed Speed cannot be less than 0 000001 1 0E 6 When the Monitor speed is set its value is limited to a maximum of 100 No error is reported if a higher speed setting is specified When the program speed is set its value is limited to a maximum that depends on the robot being controlled No error is reported if a higher speed setting is specified The maximum speed value for the current robot is returned by the real valued function SPEED 8 During straight line motions if a tool with a large offset is attached to the robot the robot joint and flange speeds can be very large when rotations about the tool tip are made The r_ speed_factor parameter permits control of the maximum tool rotation speeds during straight line motions If a rotational speed factor r_speed_factor is specified it is interpreted as a percentage of maximum Cartesian rotation speed to be used during straight line motions If the r_speed_ factor parameter is not specified one of the following results occurs 1 Ifthe units parameter is also omitted the rotational speed
326. he detection algorithm reports an error when the servo interrupt task completely occupies 10 or more time slices per second of real time The robot went to a fatal error state when this error occurred and the servo interrupt task stopped running User action Change one or more of the following 1 move servo tasks off CPU 1 to allow more time for trajectory generation 2 upgrade the system processor to increase the throughput or 3 reduce the number of robots or axes that you are operating Set for CASE DEPENDENT searches None Explanation The EXACT extended command has been used to change the method by which character case is considered during string searches The message indicates how case is considered in subsequent searches for the current or future search for strings User action None This is an informational message Set for CASE INDEPENDENT searches None Explanation The EXACT extended command has been used to change the method by which character case is considered during string searches The message indicates how case is considered in subsequent searches for the current or future search for strings User action None This is an informational message eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 641 System Messages Alphabetical List Skew envelope error Mtr n 1022 Explanation The two motors associated with a split robot axis were not tracking each other with sufficient accuracy User
327. he operation syntax and reenter the line Missing bracket 475 Explanation In the specification of an array element a left bracket has been found with no matching right bracket Either too many left brackets are present or a right bracket has been omitted User action Reenter the line with correctly matching left and right brackets Missing parenthesis 459 Explanation An attempt was made to evaluate an expression that did not have correctly matching left and right parentheses User action Correct the expression Missing quote mark 460 Explanation A quoted string has been encountered that has no matching quote mark before the end of the line User action Insert a quote mark at the end of the string Strings may not cross line boundaries Motor amplifier fault Mtr n 1018 Explanation The power amplifier for the indicated motor has signaled a fault condition on fault line 1 This fault occurs only for devices controlled by the AdeptMotion Servo system The interpretation of this fault depends on the particular device being controlled User action Turn high power back on and restart the program If the error persists implement procedures appropriate for your AdeptMotion system If the robot is a standard Adept product contact Adept Customer Service eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 618 System Messages Alphabetical List Motor overheating Mtr n 1016 Explanation Th
328. he pendant You can then use the pendant to move the robot to the desired locations The system terminal or the pendant can be used for accepting input from you the latter can be read by using the PENDANT function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 168 DETACH program instruction When a disk logical unit is detached any device that was specified by the corresponding ATTACH instruction is forgotten Thus a subsequent ATTACH instruction must specify the device again if the default device is not desired The following events automatically DETACH all the logical units except the robot from the affected program task Processing of the EXECUTE command and instruction Processing of the KILL command and instruction Processing of the ZERO command e Normal completion of program execution Note however that if a program terminates execution abnormally all of its devices remain attached except that the terminal and the manual control pendant are detached Abnormal termination of program execution refers to any cause other than HALT or STOP instructions If the task is subsequently resumed the program automatically reattaches the terminal and pendant if they were attached before the termination NOTE It is possible that another program task attached the terminal or pendant in the meantime This results in an error message when the stopped task is restarted DETACH Release program control of the robot DETA
329. he program speed is higher than 150 with the threshold set to 150 the current acceleration and deceleration are used without modification All robot modules have the SCALE ACCEL speed threshold set by default to a very large value effectively forcing the scaling of accelerations and deceleration for all speeds when this switch is enabled eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 447 SCALE ACCEL system switch CAUTION For program speeds over 100 if the default setting for the SCALE ACCEL limit is used and SCALE ACCEL is enabled the robot is driven at much higher rates of acceleration and deceleration as compared to V 11 0 If the SCALE ACCEL switch is disabled for a robot accelerations and decelerations are not scaled based on the program speed In this case accelerations and decelerations are higher than normal at reduced speeds This is particularly noticeable at very slow speeds As a result robot motions may appear to be more rough or jerky Example Turn off acceleration scaling for robot 2 DISABLE SCALE ACCEL 2 Related Keywords ACCEL program instruction ACCEL real valued function SPEED monitor command SPEED program instruction SCALE ACCEL ROT system switch eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 448 SCALE ACCEL ROT system switch SCALE ACCEL ROT system switch Syntax SCALE ACCEL ROT robot_num Function Specify whether or not the SCALE ACCEL switch takes i
330. he robot will be brought to a stop at the completion of the next robot motion and any final position errors will be nulled if required Unlike the BREAK instruction which is executed after a motion to cause continuous path processing to terminate CPON and CPOFF are executed before a motion instruction to affect the continuous path processing of the next motion instruction Also while BREAK applies to only one motion instruction CPOFF can apply to all the motion instructions that follow NOTE The BREAK instruction causes continuous path processing to terminate by blocking eV program execution until the motion ends CPOFF causes the trajectory generator to terminate continuous path without affecting the forward processing of the eV program eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 135 CPOFF program instruction If the CP system switch is disabled continuous path processing never occurs regardless of any CPON or CPOFF instructions Related Keywords BREAK program instruction CP system switch CPON program instruction SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 136 CPON program instruction CPON program instruction Syntax CPON ALWAYS Function Instruct the eV system to execute the next motion instruction or all subsequent motion instructions as part of a continuous path Usage Considerations Only the next robot motion will
331. he signal monitoring continues until one of the following occurs e An IGNORE instruction is executed for the signal e Areaction occurs in which case IGNORE signal_num is automatically performed e AREACTI or REACT instruction is executed that refers to the same signal That is if the signal specified in a REACTI instruction is already being monitored by a previous REACTI or REACT instruction the old instruction is canceled when the new REACTI instruction is executed If you do not want the robot motion to stop until the reaction program is actually called you should use a REACT instruction and put a BRAKE instruction in the reaction program Example The instruction below initiates monitoring of external input signal 1001 The robot motion is stopped immediately if the signal ever changes from on to off since the signal is specified as a negative value A branch to program alarm then occurs when the program priority falls below 10 if it is not already at or below that level REACTI 1001 alarm 10 Related Keywords IGNORE program instruction LOCK program instruction PRIORITY real valued function REACT program instruction REACTE program instruction SIG INS real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 415 READ program instruction READ program instruction Syntax READ lun record_num mode var_list Function Read a record from an open file or from an attached device that is not
332. he specified signal states are TRUE Otherwise SIG will return FALSE The magnitude of each signal_num parameter determines which digital or internal signal is to be considered Signals 1 8 and 33 512 are digital outputs Signals 1001 1012 and 1033 1512 are digital inputs Signals 2001 to 2512 are internal software inputs or outputs Only digital signals that are actually installed can be used You can use the IO monitor command or the SIG INS function to check your current digital I O configuration Signals 3001 and 3002 refer to the robot selected by the current task Signal 3001 is the state of the hand close solenoid Signal 3002 is the state of the hand open solenoid If the sign of a signal_num parameter is positive the signal is interpreted as being TRUE if it has a high value If the sign of a signal_num parameter is negative the signal is interpreted as being TRUE if it has a low value NOTE SIG 0 returns a value of TRUE Example Assume that the following digital I O signals are installed and have the indicated values e Input signal 1001 is On e Input signal 1004 is Off e Input signal 33 is Off The following SIG function references return the indicated values eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 464 SIG real valued function SIG 1001 Returns 1 0 TRUE SIG 1004 Returns 0 0 FALSE SIG 1004 Returns 1 0 TRUE SIG 1001 1004 Returns 0 0 FALSE SIG 1001 1004 Returns
333. hose position and orientation are determined by four positions This function returns a transformation value that is computed as follows 1 Its origin is at the point defined by location_4 2 Its positive X axis is parallel to the line passing through the points defined by location_1 and location_2 in the direction from location_1to location_2 3 Its X Y plane is parallel to the plane that contains the points defined by location_1 location_2 and location_3 4 Its positive Y direction is from the computed X axes as defined above toward the point defined by location_3 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 256 FRAME transformation function Example The following instruction defines the transformation base frame to have the same X Y Z position as origin its X axis parallel to the line from center to x and its Y axis approximately in the same direction as the line from center to y SET base frame FRAME center x y origin Related Keyword TRANS transformation function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 257 FREE real valued function FREE real valued function Syntax FREE memory select Function Return the amount of unused free memory storage space Parameters memory Optional real value variable or expression interpreted as an integer that specifies which portion of system memory is to be examined as shown below The value zero is assumed if th
334. ic mode by moving the switch on the front panel to the automatic position or by activating the proper switch on a custom control panel Retry the previous command Controller not in manual mode 304 Explanation An attempt has been made to perform an operation that requires the controller to be in manual mode when it is not in manual mode If you do not have a front panel connected the controller is assumed to be in automatic mode eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 587 System Messages Alphabetical List User action Select manual mode by moving the switch on the front panel to the manual position or by activating the proper switch on a custom control panel Retry the previous operation Controller not in network mode 317 Explanation An attempt has been made to use a serial line configured for network use but the controller is not in network mode If you do not have a front panel connected the controller is assumed to be in local mode User action Select network mode by moving the switch on the front panel to the network position or by activating the proper switch on a custom control panel Retry the previous operation Control structure error 473 Explanation An incomplete control structure has been encountered during program execution User action Edit the program to correct the control structure Control structure error Step nn 472 Explanation eV has detected an incomp
335. ical noise User action Check the connections of the robot cables Turn high power back on calibrate the robot and resume program execution If the problem persists contact Adept Customer Service RSC hardware failure 669 Explanation The RSC has reported an internal failure Because RSC failures almost always cause the RSC to stop communicating altogether rendering it incapable of reporting the failure this error message may be due to some other cause such as electrical noise at the RSC or within or around the arm signal cable User action If the problem persists contact Adept Customer Service RSC module ID doesn t match robot 676 Explanation The eV configuration data contains an explicit ID specification for a robot module for example 6 for the Adept 550 robot and the robot RSC does not contain that ID number eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 637 System Messages Alphabetical List User action Make sure that the correct type of robot is being used Use the CONFIG_C utility to change the module ID to 1 in the eV configuration data Correct the module ID in the RSC RSC power failure 670 Explanation The RSC has reported that its power is failing Because a power failure on the RSC almost always causes it to stop communicating altogether rendering it incapable of reporting the failure this error message may be due to some other cause such as electrical noise at the R
336. id memory address That is one that is either out of the allowed range or that is not in use for any input output module User action Correct the address or install the missing module Illegal monitor command 300 Explanation The name of the command just attempted was not recognized by the system possibly because it was mistyped or because it was a program instruction and not a command User action Verify the spelling of the command name and enter the command again Use the DO command to invoke a program instruction from the terminal Illegal motion from here 613 Explanation The motion just attempted cannot be performed from the current robot location For example NEST can be executed only immediately after a READY instruction CALIBRATE can be executed only after power up LIMP or NEST and only CALIBRATE or READY can be executed when the robot is in the nest User action Perform the appropriate operation sequence before retrying the desired motion Illegal operation 423 Explanation A program instruction has attempted to perform an operation that is not possible User action Check the instruction executing when the error occurred Make sure all conditions necessary for its successful completion are met TIllegal PROGRAM statement 467 Explanation An attempt has been made to 1 enter a line other than a PROGRAM statement as the first line of a program or 2 enter a PROGRAM statement that cont
337. iderations The switch value is shared globally by all program tasks If you change the value in one task it affects comparisons in all other tasks Therefore do not change this switch during normal program execution Details When this switch is enabled and two strings are compared using the operators lt lt lt gt gt 0r gt all lowercase characters are treated as though they were uppercase characters That is when UPPER is enabled both of the following comparisons yields a TRUE value a A and A A When UPPER is disabled the case of characters is considered during string comparisons Then for example the comparison on the left above results in a FALSE value while the comparison on the right yields a TRUE value By default UPPER is enabled so that string comparisons are performed without considering the case of the characters The STRDIF real valued function always compares strings considering their case You can leave UPPER enabled always and then use STRDIF in situations where case is important Related Keywords DISABLE monitor command DISABLE program instruction ENABLE monitor command ENABLE program instruction SWITCH monitor command SWITCH program instruction SWITCH real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 549 UPPER system switch STRDIF real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 550 VAL real valued func
338. ies to the robot selected by the task The OPENI instruction can be executed by any program task as long as the task has attached a robot The instruction applies to the robot selected by the task If the eV system is not configured to control a robot executing these instructions causes an error Details These instructions cause the control valves for the pneumatic hand to receive a signal to open If the OPEN instruction is used the signal is sent when the next robot motion begins NOTE You can use the Robot Configuration Utility program to set the digital signals that control the pneumatic hand The utility program is on the Adept Utility Disk See the manual Instructions for Adept Utility Programs for information on use of the program The OPENI instruction differs from OPEN in the following ways e ABREAK occurs if a continuous path robot motion is in progress e The signal is sent to the control valves at the conclusion of the current motion or immediately if no motion is in progress e Robot motions are delayed for a brief time to allow the hand actuation to complete The length of the delay in seconds is the current setting of the HAND TIME system parameter eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 371 OPEN program instruction Examples During the next robot motion cause the pneumatic control valves to assume the open state OPEN Cause the pneumatic control valves to assume the open state at the
339. ify the name and retype the line Invalid qualifier 476 Explanation An invalid qualifier was specified on the last command User action Enter the command again with a valid qualifier Invalid servo error Mtr n 1001 Explanation An unrecognized error was reported for the indicated robot motor User action Attempt the operation again Contact Adept Customer Service if the error repeats Invalid servo initialization data 625 Explanation During eV system initialization after booting from disk servo initialization data in the wrong format was found This can be caused by using a version of the SPEC utility that is incompatible with the eV system eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 613 System Messages Alphabetical List User action Make sure your system disk has been configured correctly Contact Adept Application Engineering for assistance Invalid software configuration 315 Explanation During initial startup eV has detected that the system software is not configured properly for the options or hardware present User action Power down the controller and try starting it again Make sure that the boot disk you are using is valid for your controller If the problem persists contact Adept Customer Service for assistance Invalid statement label 463 Explanation The program statement label was not an integer from 0 to 65535 User action Reenter the line with a valid label
340. ile for access by the eV monitor and other programs In addition for files that have been opened for writing FCLOSE writes out any data still buffered by eV and updates the file directory information Thus if this operation is not performed the disk file may not actually contain all of the information written to it If a program is finished accessing a graphics window or needs to reuse its logical unit number the window can be closed with this instruction After a window is closed it can be deleted with an FDELETE instruction or it can be opened again later with an FOPEN instruction NOTE Reopening a window resets all its text and graphics attributes for example color font ID character path and orientation texture logical operation and enabled events which must be explicitly reset by the program before attempting output to the window An FCLOSE operation is automatically performed on a logical unit when the unit is detached when the program that issued the FOPEN completes execution or when a KILL of the program task is performed eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 220 FCLOSE program instruction The IOSTAT real valued function should be used to check for successful completion of a close operation The error code for File not opened will be returned if there was no file or window currently open on the specified logical unit Related Keywords ATTACH program instruction DETACH program instruction
341. in eV and cannot be used for a variable or program name Details The PHERE real valued function is equivalent to the program instruction HERE pp Example The following example shows PHERE being used to set a precision point value in this case pp SET pp PHERE Related Keyword HERE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 394 PI real valued function Syntax PI Function Return the value of the mathematical constant pi 3 141593 NOTE TYPE PROMPT and similar instructions display the result of the above example as a single precision value However pi is actually stored and manipulated as a double precision value The LISTR monitor command displays real values to full precision Usage Considerations The word pi cannot be used as a program name or variable name eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 395 PLATCH precision point function PLATCH precision point function Syntax PLATCH select Function Return a precision point value representing the location of the robot at the occurrence of the last external trigger or a Stop on Digital Signal Usage Considerations The function name PLATCH is considered to be a precision point name Thus the character must precede all uses of the function PLATCH 0 returns information for the robot selected by the task executing the function If the eV system is not configured to control a rob
342. inal transformation Bit 2 Stopped belt processing mask value 2 When this bit is set to one a program error will be generated during motion planning if the destination is outside of the belt window and the belt is stopped When this bit is set to zero if the belt is stopped during motion planning the direction of the positive X axis of the nominal transformation is used to define the downstream direction The normal window error criteria are then applied see below eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 87 Bit 3 Bit 4 Example BELT MODE system parameter Window error definition mask value 4 When this bit is set to one destination locations that are downstream or upstream of the belt window cause motion instructions to fail during planning When this bit is set to zero upstream window violations cause planning to wait until the location comes into the window Destination locations that are downstream of the belt window cause window errors Effect of window errors mask value 8 When this bit is set to one motion instructions that fail during planning due to a window error are ignored skipped and program execution continues as usual When this option is selected each belt relative motion instruction should be followed by an explicit test for planning errors using the BSTATUS function When this bit is zero window errors during motion planning generate a program step execution erro
343. incorrect User action Verify that all required network nodes are connected Use the SRV NET monitor command to verify that the network nodes contain the desired output blocks Verify that the eV I O configuration matches the network node digital output configuration Remote has not exported network resource 563 Explanation The server has not exported the designated path for use by clients User action Check the server setup and check the path that the eV system uses Reserved word illegal 457 Explanation An attempt has been made to use a eV reserved word for a variable name User action Use a different name for the variable You can for example append a prefix or suffix to the attempted name Return manual control pendant to background display C to exit None Explanation The pendant display must be in background mode for the operation you have selected User action Press the DONE button on the pendant one or more times to exit the current function Robot already attached to program 602 Explanation A program has executed more than one ATTACH instruction for the robot without executing a DETACH in between Or an attempt has been made to SELECT another robot when one is already attached The robot is still attached even after this error occurs User action Check the program logic remove redundant ATTACH instructions or DETACH the current robot before attempting to SELECT another robot Robot a
344. independent of the particular kinematic module being used However the bits in the low byte depend on the robot module Robot Option Word 1 from ID 8 10 robot Interpretation When Bit Set Motor limit stop testing is enabled This should be enabled only for robots that have excessive motor coupling and that have motor limit stop data allocated FREE mode power off is enabled Any limit violations during FREE mode cause robot power to be disabled The system will automatically execute a CALIBRATE monitor command when the system is booted Check for collisions with static obstacles in Cartesian space during joint interpolated motions This bit applies only to robot modules that can perform straight line motions Thus for example it does not apply to the JTS device eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 572 Robot Option Words Maskveue Interpretation When Bit Set ncn prassa module Note that when this bit is set joint interpolated motions have the same computational load as straight line motions 8192 2000 Micron display mode is enabled 15 16 a a Reserved for future use currently zero The real valued functions ID 11 8 and 1D 11 10 robot return the second option word for the selected and specified robot respectively The interpretations of the bits in this option word are described in the following table Robot Option Word 2 from ID 11 10 robot Interpretation When Bi
345. ine number 27 causes execution to jump to step label 10 at line number 23 21 Get a number from the user 22 23 10 PROMPT Enter a number from 1 to 100 number 24 25 IF number lt 1 OR number gt 100 THEN 26 TYPE B Cl Invalid response C1 27 GOTO 10 28 END Related Keywords DO program instruction EXIT program instruction FOR program instruction IF THEN program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 270 GOTO program instruction NEXT program instruction WHILE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 271 HALT program instruction HALT program instruction Syntax HALT Function Stop program execution and do not allow the program to be resumed Usage Considerations The PROCEED command cannot be used to resume program execution after a HALT instruction causes the program to halt HALT forces an FCLOSE and or DETACH on the disk and serial communication logical units as required Details Causes a BREAK and then terminates execution of the application program regardless of any program loops remaining to be completed see the EXECUTE command and instruction The message HALTED is displayed After termination by a HALT instruction program execution cannot be resumed with a PROCEED or RETRY command Related Keywords PAUSE program instruction RETURN program instruction STOP program instruction eV Languag
346. ing in any task other than 0 can execute the CALIBRATE instruction without special conditions Example The following instruction sequence can be used by any program task to perform start up calibration on the robot if task 0 is used the DRY RUN switch must be enabled before the program is executed DETACH Detach the robot DISABLE DRY RUN Ensure DRY RUN is disabled CALIBRATE Calibrate the robot ATTACH 7Reattach the robot Related Keywords CALIBRATE monitor command NOT CALIBRATED system parameter SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 105 CALL program instruction CALL program instruction Syntax CALL program arg_list Function Suspend execution of the current program and continue execution with a new program that is a subroutine Parameters program arg_list Name of the new program to be executed Optional list of subroutine arguments separated by commas to be passed between the current program and the new program If no argument list is specified the parentheses after the program parameter can be omitted Arguments can be used to pass data to the called program to receive results back or a combination of both How arguments are passed is described below Each argument can be any one of the data types supported by eV that is belt precision point real value string and transformation and can be speci
347. ing that was not returned as the function value NOTE This parameter is modified by the function and cannot be specified as a string constant or expression If the program causes the same variable to receive the function value the variable will end up containing the value returned by the function string_exp String constant variable or expression that defines the individual break characters which are to be considered as separating the substrings of interest in the input string value The order of the characters in this string has no effect on the function operation mode Optional real value variable or expression that controls the operation performed by the function Mode values are 3 2 0 and 1 If the mode is negative or zero or is omitted characters up to the first break character are removed from the input string and returned as the output of the function If the mode is greater than zero characters up to the first nonbreak character are removed from the input string and returned as the eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 146 DECODE string function output of the function That is this case returns all the leading break characters in the input string Details This function is used to scan an input string and return the initial substring as delimited by any of a group of break characters After the substring is returned by the function it is deleted from the input string The string
348. input data record to values that can be used internally by eV The expression value INTB Sstring first_char is equivalent to the following instruction sequence value ASC string first_char 256 ASC string first_char 1 IF value gt 32767 THEN value value 65536 END To compute an unsigned integer use INTB string BAND HFFFF Examples INTB CHR 10 SCHR 5 Returns the value 2565 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 297 INTB real valued function INTB CHR 255 SCHR 255 Returns the value 1 Related Keywords ASC real valued function DBLEB real valued function FLTB real valued function INTB string function LNGB real valued function VAL real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 298 INTB string function INTB string function Syntax INTB value Function Return a 2 byte string containing the binary representation of a 16 bit integer Parameter value Real valued expression the value of which is converted to its binary representation Details The integer part of a real value is converted into its binary representation and the low 16 bits of that binary representation are packed into a string as two 8 bit characters Bits 9 16 are packed first followed by bits 1 8 This function is equivalent to SCHR INT value 256 BAND HFF SCHR INT value BAND HFF The main use of this function is to convert integers t
349. instruction Syntax PAUSE Function Stop program execution but allow the program to be resumed Usage Considerations Unlike HALT and STOP the PAUSE instruction does not force FCLOSE or DETACH on the disk or serial communication logical units If the program has a file open and you decide not to continue execution of the current program you should issue a KILL command with the appropriate task number to close all files and detach all logical units Details Causes a BREAK and terminates execution of the application program displaying the message PAUSED Execution can subsequently be continued by typing proceed and the appropriate task number and pressing the RETURN key When debugging a program a PAUSE instruction can be inserted to stop program execution temporarily while the values of variables are checked NOTE Any robot motion in progress when a PAUSE instruction is processed completes normally Related Keywords HALT program instruction KILL monitor command KILL program instruction PROCEED monitor command STOP program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 387 PDEST precision point function PDEST precision point function Syntax PDEST Function Return a precision point value representing the planned destination location for the current robot motion Usage Considerations The PDEST function returns information for the robot selected by the task executing the fun
350. instruction for example the same variable is used on both sides of the equal sign because the programmer wants to discard all the white space that is space and tab characters at the end of the input string NOTE The break characters are specified by a string expression consisting of a space character and a tab character line S DECODE S line SCHR 9 0 Discard trailing blanks Related Keywords TRUNCATE string function MID string function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 148 DECOMPOSE program instruction DECOMPOSE program instruction Syntax DECOMPOSE array_name index location Function Extract the real values of individual components of a location value Parameters array_name Name of the real valued array that has its elements defined index Optional integer value s that identifies the first array element to be defined Zero will be assumed for any omitted index If a multiple dimension array is specified only the right most index is incremented as the values are assigned location Location value that is decomposed into its component values This can be a transformation value or a precision point value and can be defined by a variable or a location valued function Details This instruction assigns values to consecutive elements of the named array corresponding to the components of the specified location If the location is represented as a transformation value six
351. ion If the eV system is not configured to control a robot executing the HERE instruction does not generate an error because of the absence of a robot However the location value returned may not be meaningful The word here cannot be used as a program name or variable name Parameter location_var Transformation precision point or compound transformation that ends with a transformation variable Details This instruction sets the value of a transformation or precision point variable equal to the current robot location Normally the robot location is determined by reading the instantaneous values of the joint encoders However if the robot has either backlash or linearity compensation enabled the commanded robot location is used If the location_var is a compound transformation only the right most transformation is defined Its value is set equal to the current robot location relative to the reference frame determined by the other transformations An error message results if any of the other transformations are not already defined Examples Set the transformation part equal to the current robot location HERE part Assign the current location of the robot to the precision point part eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 276 HERE program instruction HERE part Related Keywords HERE monitor command HERE transformation function SELECT program instruction SELECT real valued function SET
352. ion NOTE If the monitor command specified in the string parameter contains a blank program context that is it contains any variables listed in the command are treated as though they are referenced within the program containing the MCS instruction See the eV Language User s Guide for more information on program context Program execution is not stopped if an error occurs while processing the monitor command The ERROR real valued function can be used after the MCS instruction to check for the occurrence of an error NOTE If a DELETE_ command is used within a subroutine to delete one of the subroutine parameters that is one of the variables in the PROGRAM statement the variable is not deleted and no error condition is recorded eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 332 MCS program instruction Normal output by the monitor command to the system terminal is done if the MCS MESSAGE system switch is enabled For example the LOAD command outputs the PROGRAM lines from each program loaded The MCS MESSAGE switch is normally disabled If the FCOPY option is used logical units 5 disk 1 and 6 disk 2 must be available If LOAD or STORE_ is used logical unit 5 must be available Example The following program loads a disk file executes the program in the file and deletes the program from the system memory Another program file is then loaded into memory and executed Although this simple example
353. ion The position encoder signal from the specified motor is sending information that is not phased correctly The encoder or its cabling may be defective User action Turn on high power calibrate the robot and try to perform the motion ata slower speed If the error persists contact Adept Customer Service E STOP 1 detected by CPU 608 Explanation An E STOP condition on E STOP channel 1 has been detected by the CPU Normally this message is suppressed and the cause of the E STOP is reported instead eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 592 System Messages Alphabetical List User action If safe to do so attempt to enable HIGH POWER and note any different error messages which occur Verify that the CIP is connected securely If this error occurs frequently contact Adept Customer Service E STOP 2 detected by CPU 914 Explanation An E STOP condition on E STOP channel 2 has been detected by the CPU Normally this message is suppressed and the cause of the E STOP is reported instead There may be a hardware problem with the CIP its cabling or the AWC This error can result from redundant E STOP channels that do not track each other within a reasonable time User action Hold the MCP enable switch and reenable HIGH POWER as desired If this error persists contact Adept Customer Service E STOP asserted by CPU 919 Explanation An E STOP condition has been generated by eV in response to an
354. ion of unit numbers record_number Optional real valued expression that specifies the record to read for file oriented devices opened in random access mode If omitted the record following the one last read is assumed Details When a file is open for random access system performance can be improved by overlapping the time required for disk file access with processing of the current data By using the FSEEK instruction an application program can initiate a disk seek and possible read operation immediately after a READ instruction is processed but before processing the data Any error in the specification of this instruction Such as referencing an invalid unit causes a program error and halts program execution However errors associated with performing the actual seek operation such as end of file or device not ready do not halt program execution since these errors may occur in the normal operation of a program These normal errors can be detected by using the IOSTAT function after performing the subsequent READ operation In general it is good practice always to test whether each file operation completed successfully by testing the value from IOSTAT Example Seek record number 130 in the file open on logical unit 5 FSEERK 5 130 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 260 FSEEK program instruction Related Keywords ATTACH program instruction FOPEN program instruction IOSTAT real valued function READ
355. ionally normalize the resultant value Within a transformation the orientation of the robot is represented by three perpendicular unit vectors Because of the small inaccuracies that occur in computer computations after being incrementally modified many times these vectors can become nonperpendicular or not of unit length The NORMAL function returns a transformation value that is essentially the same as the input argument but has the orientation portion of the value corrected for any small buildup of computational errors that may have occurred eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 362 NOT operator NOT operator Syntax NOT value Function Perform logical negation of a value Usage Considerations The word not cannot be used as a program name or variable name Details The NOT operator operates on a single value converting it from logically true to false and vice versa If the single value is zero a 1 0 TRUE is returned Otherwise a 0 0 FALSE value is returned Refer to the eV Language User s Guide for the order in which operators are evaluated within expressions Examples IF NOT initialized THEN If the variable initialized has a CALL appl setup FALSE value the instructions in the initialized TRUE IF structure will be executed END eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 363 NOT CALIBRATED system parameter NOT CALIBRATED system parameter
356. irst instruction after the END statement loop_ var retains the value it had at the time of the test in item 3 above Note that the group of instructions in the FOR structure may not be executed at all if the test in item 3 fails the first time The values of initial increment and final when the FOR statement is first executed determine how many times the group of instructions are executed Any changes to the values of these parameters within the FOR loop have no effect on the processing of the FOR structure Changes to the loop variable within the loop affect the operation of the loop and should normally not be done NOTE If initial final or increment are not integer values rounding in the floating point computations may cause the loop to be executed more or fewer timer than expected Example The following example sets all elements of a 10x10 array to 0 FOR i 1 TO 10 FOR j 1 TO 10 array i j 0 END END Related Keywords DO program instruction EXIT program instruction NEXT program instruction WHILE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 254 FRACT real valued function FRACT real valued function Syntax FRACT value Function Return the fractional part of the argument Parameter value Real valued expression whose fractional part is returned by this function Details The fractional part of a real value is the portion to the right of the decimal point when the va
357. is called and their values are not preserved between successive subroutine calls These values can be displayed via monitor commands only when the program task is inactive but is on an execution stack When a program is first entered automatic variables have arbitrary undetermined values and they are not necessarily undefined AUTOmatic variables are lost when the program exits Unlike a LOCAL variable a separate copy of an AUTOmatic variable is created each time a program is called even if it is called simultaneously by several different program tasks or called recursively by a single task If a program that uses LOCAL or global variables is called by several different program tasks or recursively by a single task the values of those variables can be modified by the different program instances and can cause very strange program errors Therefore AUTOmatic variables should be used for all temporary local variables to minimize the chance of such errors Variables can be defined as GLOBAL AUTOmatic or LOCAL An attempt to define AUTOmatic GLOBAL or LOCAL variables with the same name will result in the error message Attempt to redefine variable class Variables can be defined only once within the same context AUTOmatic LOCAL or GLOBAL Attempting to define a variable more than once that is with a different type will yield the error message Attempt to redefine variable type AUTOmatic array variables must have the size of each
358. is instruction to be executed The belt variable referenced must have already been defined using a DEFBELT instruction Parameters belt_var Name of the belt variable whose window is being established location Compound transformation that together with the direction of the belt defines one boundary of the operating window along the belt The window boundaries are planes that are perpendicular to the direction of belt travel and include the positions specified by the two transformations The order of the transformations is not important this instruction automatically determines which transformation represents the upstream boundary and which is for the downstream boundary program Optional program that is called if a window violation occurs while tracking the belt subject to the specified priority level and the current priority level of the system priority Optional priority level of the window violation program If no priority is specified a priority of 1 is set Details The operating window defined by this instruction is used both at motion planning time and motion execution time to determine if the destination of the motion is within acceptable limits eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 560 WINDOW program instruction When a motion is being planned the destination of the motion is compared against the operating window If a window violation occurs the window violation program is ignored and a progra
359. is set to the value of speed_ factor 2 Ifthe units parameter is specified the rotational speed is not changed eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 486 SPEED program instruction When IPS or MMPS are specified the speed_factor is converted internally to the corresponding nominal speed If the SPEED real valued function is then used to read the program speed the value returned is a percentage speed factor and not an absolute speed setting Remember the final robot speed is a combination of the monitor speed SPEED monitor command the program speed SPEED instruction and the acceleration or deceleration ACCEL program instruction Examples Set the program speed to 50 for the next motion assuming the monitor speed is 100 SPEED 50 Set the nominal tool tip speed to 20 inches per second assuming the monitor speed is 100 for straight line motions Rotations about the tool tip is limited to 40 of maximum The settings remains in effect until changed by another SPEED instruction SPEED 20 40 IPS ALWAYS Set the monitor speed to 50 of normal SPEED 50 MONITOR Related Keywords ACCEL program instruction DURATION program instruction IPS keyword MMPS keyword SCALE ACCEL system switch SELECT program instruction SELECT real valued function SPEED monitor command SPEED real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 487 SPEED real valued function SPEED
360. isk file must have already been opened for accessing variable length records field c GETC 5 WHILE c gt H1F AND c lt gt DO field field CHR c c GETC 5 END IF c lt 0 THEN TYPE ERROR c HALT END Related Keywords ATTACH program instruction READ program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 266 GET EVENT real valued function GET EVENT real valued function Syntax GET EVENT task Function Return events that are set for the specified task Usage Considerations Do not confuse GET EVENT with the GETEVENT program instruction which returns information from a graphics window or the terminal Parameter task Optional real value variable or expression interpreted as an integer that specifies the task for which events are to be returned The valid range is 1 to 6 or 1 to 27 inclusive If the parameter is omitted or has the value 1 the current task is referenced NOTE The basic system allows 7 tasks 0 6 The eV Extensions option allows 28 tasks 0 27 Details The events are returned in a value that should be interpreted as a sequence of bit flags as detailed below Bit 1 LSB I O Completion mask value 1 This bit being set indicates that a system input output operation has completed See the descriptions of SET EVENT and WAIT EVENT for more details Related Keywords CLEAR EVENT program instruction SET EVENT program instructio
361. it binary integer INTB ST Return a 2 byte string containing the binary representation of a 16 bit integer INVERSE TF Return the transformation value that is the mathematical inverse of the given transformation value IOSTAT RF Return status information for the last input output operation for a device associated with a logical unit Specify the units for a SPEED instruction as inches per second JHERE PI Records the current robot joint positions in real or double precision variables This instruction supports MicroeV JMOVE PI Moves all robot joints to positions described by a list of joint values The robot performs a coordinated motion in joint interpolated mode This instruction supports MicroeV Moves jogs the specified axis or joint of the robot Each time JOG INSTALL eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 31 eV Language Quick Reference T_Kerwort te SSC esetion LL 4 executes the specified axis or joint moves for 200 ms KILL PI Clear a program execution stack and detach any I O devices that are attached LAST Return the highest index used for an array dimension LATCH TF Return a transformation value representing the location of the robot at the occurrence of the last external trigger LATCHED So Return the status of the external trigger LEFTY Request a change in the robot configuration during the next motion so gs the first two links of a SCARA robot resemble a human s left fe Ret
362. ity Details When a program is EXECUTE it is placed on the execution stack When the program s task becomes the highest priority task in a time slice the program s priority is set to 0 and it begins execution During actual execution a program s task can be suspended at the end of a time slice in which case the task waits until the next time it is the highest priority task in a time slice The LOCK instruction does not affect the task priority value within a time slice It only changes the program priority of an executing program Program priority becomes important when a reaction routine REACT REACTE REACTI is invoked A program can defer execution of a REACT or REACTI routine by setting the temporary program priority to a value higher than the REACT or REACTI program priority This is the function of a LOCK instruction For example if a LOCK instruction changes the temporary program priority to 20 any REACT or REACTI interrupts with lower priority values are deferred REACTE routines cannot be deferred by priority considerations Deferred reactions are not ignored Every time a new LOCK instruction is processed any deferred reaction programs are checked to see if their priority is high enough for them to execute As soon as the program priority is lowered all pending reaction routines with a higher priority are run according to their relative priority The PRIORITY real valued function can be used to determine the program priority
363. iven components which are the positions of the first through last robot joints respectively A zero value is assumed for any parameter that is omitted Examples Assume that you want to perform a coordinated motion of joints 2 and 3 of a robot with 4 joints starting from its current location The following program segment performs such a motion HERE ref Define current location DECOMPOSE x ref Fill array with components Move to new precision point defined with modified components MOVE PPOINT x 0 x 1l a x 2 a 2 x 3 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 400 PPOINT precision point function The following steps lead to the same final location but the robot joints are not moved simultaneously with this method DRIVE 2 a 100 Drive joint 2 DRIVE 3 a 2 100 Drive joint 3 Related Keywords DECOMPOSE program instruction TRANS transformation function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 401 PRIORITY real valued function PRIORITY real valued function Syntax PRIORITY Function Return the current reaction lock out priority for the program Usage Considerations The name priority cannot be used as a program name or variable name This function returns the reaction lock out priority not the program priority of the executing program Details The reaction lock out priority for each program task is set to zero when execution of the task is initiated
364. king program task continues mi Return a transformation describing a rotation SCALE Return a transformation value equal to the transformation parameter with the position scaled by the scale factor SCALE ACCEL Enable or disable the scaling of acceleration and deceleration as a function of program speed as long as the program speed is below a preset threshold SCALE ACCEL ROT SW Specify whether or not the SCALE ACCEL switch takes into account the Cartesian rotational speed during straight line motions SELECT Select a unit of the named device for access by the current task SELECT RF Return the unit number that is currently selected by the current task for the device named 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 EVENT Set an event associated with the specified task eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 35 eV Language Quick Reference kerwors Fee CR eweinton SET POINT Return the commanded joint angle positions computed by the trajectory generator during the last trajectory evaluation cycle Set the encoder offset of the specified belt variable equal to the value of the expression SETBELT SETDEVICE PI Initialize a device or set device parameters The actual operation performed depends on the device referenced SHIFT Return a transformation value resulting from shifting the position of the transformation pa
365. king robot Usage Considerations This option is available only if your Adept system is equipped with the eV Extensions option The DEFBELT program instruction supports up to six belt encoders depending on the hardware configuration The BELT switch must be enabled for this instruction to be executed The DEFBELT program instruction cannot be executed while the robot is moving relative to the specified belt variable When a belt variable is initialized using this instruction its window parameters are set to allow any location in the working volume of the robot That is no belt window is set See the WINDOW program instruction When a belt variable is initialized with the DEFBELT program instruction error checking is initiated for the associated belt encoder This error checking can be turned off by disabling the BELT system switch or by using the ZERO command to reinitialize the eV system Parameters belt_var Name of the belt variable to be defined All appearances of belt variables must be prefixed with the percent character nom_trans Transformation value that defines the position and orientation of the conveyor belt This can be provided by a transformation variable a transformation valued function or a compound transformation The X axis of the nominal transformation defines the direction of travel of the belt Normally the belt moves along the direction of X The X Y plane defined by this transformation is para
366. l it is explicitly disabled COARSE ALWAYS Related Keywords CONFIG real valued function DELAY IN TOL program instruction FINE program instruction NONULL program instruction NULL program instruction SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 125 COM operator COM operator Syntax COM value Function Perform the binary complement operation on a value Usage Considerations The word com cannot be used as a program name or variable name The COM operation is meaningful only when performed on an integer value Only the integer parts of real values are used Any fractional parts are ignored Parameter value Real valued expression defining the value to be complemented Details The COM operator performs the binary complement operation on a bit by bit basis resulting in a real value Specifically the COM operation consists of the following steps 1 Convert the operand to a sign extended 32 bit integer truncating any fractional part 2 Perform a binary complement operation 3 Convert the result back to a real value To review the order of evaluation for operators within expressions see the section Order of Evaluation in the eV Language User s Guide Examples For example COM 40 yields 41 Note that a very different result is obtained with the logical complement operation NOT NOT 40 yields 0 0 FALSE In this case
367. le specified by stg was loaded If the module is undefined or was not loaded from a file an empty string value is returned If the mode is invalid SYS INFO returns an empty string rather than generating an execution error stg An optional string valued expression Details Returns the information requested by the mode and string input parameters If the mode is invalid SYS INFO returns an empty string rather than generating an execution error eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 513 TAS real valued function TAS real valued function Syntax TAS variable new_value Function Return the current value of a real valued variable and assign it a new value The two actions are done indivisibly so that no other program task can modify the variable at the same time Usage Considerations The eV system does not enforce any protection scheme for global variables that are shared by multiple program tasks It is the programmer s responsibility to keep track of the usage of such global variables The TAS real valued function or the similar CAS function can be used to implement logical interlocks on access to shared variables This function can also be used to work around a restriction on the simultaneous access of global arrays by multiple program tasks program execution can fail if two or more tasks attempt to increase the size of an array at the same time For a detailed description of this see th
368. lete or inconsistent control structure at the specified step when exiting the program editor loading a program or processing a BPT command User action Edit the program to correct the control structure Note that the actual error may not be at the indicated step If the error occurs in response to a BPT command you can type dir to identify programs that are not executable and thus might contain the control structure error Cursor at column n None Explanation The SEE editor WHERE extended command is reporting the current column position of the cursor User action None This is an informational message Database manager internal error 859 Explanation This error indicates that the system has encountered an inconsistency User action Contact Adept Application Engineering Please record the details of exactly what you were doing at the time the error occurred eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 588 System Messages Alphabetical List Data checksum error 510 Explanation An error was detected while transferring information to or from an external device User action Attempt the transfer again If the problem persists contact Adept Customer Service Data error on device 522 Explanation An error was detected while attempting to read information from an external device possibly because a diskette has been damaged or was not formatted properly User action Attempt the read
369. lize a device or set device parameters The actual operation performed depends on the device referenced Usage Considerations The syntax contains optional parameters that apply only to specific device types and commands Parameters type Real value variable or expression interpreted as an integer that indicates the type of device being referenced The following types are currently available 0 Belt encoder 1 Not used 2 Force Processor Board for Adept use only 3 Robot device i e servo for Adept use only 4 Vision 5 1394 bus for Adept use only unit Real value variable or expression interpreted as an integer that indicates the device unit number The value must be in the range 0 to max 1 where max is the maximum number of devices of the specified type The value should be 0 if there is only one device of the given type error Optional real variable that receives a standard system error number that indicates if this instruction succeeded or failed If this parameter is omitted any device error stops program execution If an error variable is specified the program must explicitly check it to detect errors command Real value variable or expression that specifies which device command or parameters are being set by this instruction Some commands are standard and recognized by all devices Other commands apply only to particular device types pi p2 Optional real values variables or expres
370. llel to the surface of the belt The X Y Z position defined by the nominal transformation defines the approximate center of the belt with respect to the robot belt_num The number of the encoder used for reading the instantaneous eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 153 DEFBELT program instruction location of the belt Belts numbered from 1 to 6 can be specified This can be specified with a constant a variable or an expression vel_avg This parameter is currently ignored but some value must be provided scale_fact The calibration constant that relates motion of the conveyor belt with counts of the encoder mounted on the conveyor This value which can be supplied as a constant a real variable or an expression is interpreted as having the units in millimeters of belt travel per encoder count Details A conveyor belt is modeled by a belt variable In addition to the parameters for the DEFBELT program instruction a belt variable contains the following information Window parameters which define the working range of the robot along the belt Set with the WINDOW instruction An encoder offset which is used to adjust the origin of the belt frame of reference Set with the SETBELT instruction Belt variables have the following characteristics Belt variable names must always be preceded by the percent character for example Y main belt Otherwise the normal rules for variable names app
371. llowing ways e ABREAK occurs if a continuous path robot motion is in progress e The signal is sent to the control valves at the conclusion of the current motion or immediately if no motion is in progress e Robot motions are delayed for a brief time to allow the hand actuation to complete The length of the delay in seconds is the current setting of the HAND TIME system parameter Examples During the next robot motion cause the pneumatic control valves to assume the closed state eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 120 CLOSE and CLOSEI program instruction CLOSE Cause the pneumatic control valves to assume the closed state as soon as the current motion stops CLOSET Related Keywords HAND TIME system parameter OPEN program instruction OPENI program instruction RELAX program instruction RELAXI program instruction SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 121 CLOSE and CLOSEI program instruction CLOSE and CLOSEI program instruction Syntax CLOSE CLOSEI Function Close the robot gripper Usage Considerations CLOSE causes the hand to close during the next robot motion CLOSEI causes a BREAK in the current continuous path motion and causes the hand to close immediately after the current motion completes The CLOSE instruction can be executed by any program task as long as the robot selected by the task is
372. logical unit number specified is for a graphics window the object parameter is interpreted as the specification of a graphics window or icon to be deleted When a window is specified that window and all of its child windows are deleted If any of the window s children cannot be deleted the specified window is not affected and an error is returned via the IOSTAT real valued function When a window is deleted it is erased from the display A window must be FCLOSEd before it can be FDELETEd When a graphics logical unit is accessed a Protection error message is reported via IOSTAT if a system window or icon is specified Examples Delete the disk file defined by the file specification in the string variable file FDELETE 5 file Delete the top level window named TEST and all of its child windows The logical unit defined by main must be a graphics logical unit FDELETE main TEST Delete the graphics window named ERROR which is a child of the top level window named VISION FDELETE 21 VISION ERROR Delete the graphics icon named BUTTON FDELETE 20 BUTTON ICON Related Keywords ATTACH program instruction FCLOSE program instruction FDELETE program instruction FOPEN program instruction IOSTAT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 235 FEMPTY program instruction FEMPTY program instruction Syntax FEMPTY logical_unit Function Empty any internal buffer
373. losing counts there may be a hardware problem with the zero index signal or the Counts per zero index configuration parameter may be set incorrectly User action Turn on high power calibrate the robot and continue to use the system If this error occurs repeatedly contact Adept Customer Service Unknown editor command 363 Explanation An unknown keystroke or extended command was issued while using the SEE program editor User action Enter another command Unknown error code 800 Explanation An error code that does not correspond to a known error message was received by eV from an external device User action If an external computer is communicating with eV when the error occurs verify that it is sending proper error codes Otherwise a software error is indicated It would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error message and exactly what you were doing at the time the error occurred eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 650 System Messages Alphabetical List Unknown function 462 Explanation While accepting a program statement eV has encountered a reference to a function that it does not recognize This can be due to a mistyped function name or the leaving out of an operator between a symbol and a left parenthesis User action Verify the spelling and syntax and reenter the line Unknown instructio
374. lready under manual control 938 Explanation An attempt has been made to control the robot from the Adept ACE virtual pendant or a JOG program instruction or Monitor command has been issued while the robot is already being controlled from the pendant User action COMP mode from the pendant eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 634 System Messages Alphabetical List Robot configuration option or model illegal 930 Explanation During the booting sequence a selected robot kinematic module detected a specified optional configuration mode or model number that is not supported in either this version of eV or by this kinematic module Often this occurs if you have enabled a feature that is only available in enhanced kinematic module and you have loaded the standard kinematic module User action Verify that you have the required version of eV and that the kinematic module supports the robot model and configuration options that you have selected If you do not have a license for the required kinematic module either turn off the option or purchase the required license Robot interlocked 621 Explanation 1 An attempt has been made to access a robot or external device that is already being used by a different program task or by the system monitor 2 an attempt has been made to calibrate the robot with the controller in manual mode which is not allowed for safety reasons User action 1 Review
375. lue determines which component of identification information is returned device Optional real value variable or expression interpreted as an integer whose value selects the device to be identified Device 1 the basic system is assumed if this parameter is omitted board Optional integer specifying the CPU of interest when the device parameter value equals 4 Board 1 the main CPU is assumed if this parameter is omitted Details The ID function enables a program to access the information displayed by the ID monitor command The values of the components are the same as the fields displayed by that command The function returns the value 0 for devices that do not exist Device numbers that do not exist return the value 0 For valid devices an Invalid argument error message is reported if the requested component is not valid The following table describes the type of information returned when the device parameter is set at a specified value To see the acceptable values for the component parameter and the type of information returned for each device value click on the device link in the table below To obtain information on Set the device parameter to The basic system device 1 This is the default value Robot device 8 or device 10 r returns information The pendant device 2 returns information about the manual control pendant eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 279 ID real valu
376. lue is written without the use of scientific notation The value returned has the same sign as the function argument Examples FRACT 0 123 Returns 0 123 FRACT 5 462 Returns 0 462 FRACT 1 3125E 2 Returns 0 25 1 3125E 2 131 25 Related Keyword INT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 255 FRAME transformation function FRAME transformation function Syntax FRAME location_1 location_2 location_3 location_4 Function Return a transformation value defined by four positions Parameters location_1 Transformation compound transformation or a transformation valued function whose position is used to define the X axis of the computed frame location_2 Transformation compound transformation or a transformation valued function whose position is used to define the X axis of the computed frame location_3 Transformation compound transformation or a transformation valued function whose position is used to define the Y axis of the computed frame location_4 Transformation compound transformation or a transformation valued function whose position is returned as the position of the computed frame transformation Details While the robot can be used to define an X Y Z position very accurately it is often difficult to define precisely an orientation For applications such as palletizing the FRAME function is very useful for accurately defining a base transformation w
377. lued function LNGB string function TRANSB string function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 245 FOPEN program instruction FOPEN program instruction Syntax FOPEN logical_unit mode attribute_list Function Create and open a new graphics window or TCP connection or open an existing graphics window for subsequent input or output Open a graphics icon for definition Usage Considerations The logical unit must be attached before an open operation will succeed The TCP mode of operation of the FOPEN instruction applies only to Adept controllers with the license for the AdeptTCP IP Protocol Access Parameters logical_unit Real value variable or expression interpreted as an integer that defines the logical unit number assigned to the window or TCP device See the ATTACH instruction for a description of unit numbers mode Optional expression that applies only to TCP logical units and selects the type of TCP connection 0 Client mode 16 Server mode attribute_list List of string constants variables and expressions real values variables and expressions and format specifiers used to assign a name to the window and to define some of the characteristics of the window When opening a TCP connection in server mode this string defines the characteristics of the server When opening a connection in client mode the string defines the name of the server in addition to characteristics of th
378. lues rather than the current date and time Also if this command is issued when the file is closed eV does not automatically assert the not archived bit The input string must contain date and time where date is a 16 bit integer word representing the date in the standard compressed format used by the TIME and TIME functions time is a 16 bit integer word representing the time in the standard compressed format This command code applies only to local disk drives Return the number of unused and total number of KB on a local disk The returned string is in the form uuuuu ttttt where uuuuu is the number of unused KB and ttttt is the total number of KB A file must be open on the drive with prereads disabled The open file identifies the disk unit Read the creation date time for the file currently open on the specified logical unit This command can be issued any time after a file has been opened Normally this command returns the values that are read from the disk directory at the time the file was opened However if an FCMND 19 instruction has been issued to assert file creation date and time FCMND 21 returns the value set by FCMND 19 The string returned by this command contains date and time use INTB to extract the values where date is a 16 bit integer word representing the date in the standard compressed format used by the TIME and TIME functions time is a 16 bit integer word representing the time in the standard compre
379. ly Belt variable arrays are allowed for example Y b x Belt variables can be passed as subroutine parameters just like other variables Belt variables can be defined only with the DEFBELT instruction there is no assignment instruction for them Thus the following are not valid instructions snew_belt sold_belt SET snew_belt old belt Belt variables cannot be stored on a mass storage device Variables used to define the parameters in a DEFBELT instruction can be stored however Example The following instruction defines the belt variable Y belt var The value of b num must be the number of the encoder to be associated with this belt variable The variable b num is also used as an index for arrays of data describing the position and orientation of the belt its velocity smoothing and the encoder scale factor DEFBELT Sbelt var belt nom b num b num v avg b num belt sf eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 154 DEFBELT program instruction b num Related Keywords BELT system switch BELT system switch BELT MODE system parameter BSTATUS real valued function SETBELT program instruction WINDOW program instruction WINDOW real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 155 DEFINED real valued function DEFINED real valued function Syntax DEFINED var_name Function Determine whether a variable has been defined Parameter var_name The name of
380. m _7 start_pos angle Net prz NK i S x f TE AX ae A MOVEC with Angle and Center Examples The following example shows MOVEC being used with transformations MOVEC locl loc2 Continuous Path Example The following example shows MOVEC being used with Continuous Path Also see the following figure MOVES pl eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 343 MOVEC program instruction MOVEC p2 p3 MOVES p4 BREAK 3 Pp p4 p2 Start MOVEC Combined with Continuous Path Full Circle Example The following example shows MOVEC being used to create a full circle with an Adept Cobra s600 robot SET center TRANS 300 0 210 90 30 0 SET start_pos TRANS 420 0 210 0 180 0 MOVES start_pos BREAK Do a full circle MOVEC 360 center BREAK eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 344 MOVEC program instruction MOVEC Creating a Full Circle NOTE In the previous figure note that MOVEC 360 1 center would have returned an invalid orientation error because the Adept Cobra robot cannot maintain a constant orientation relative to a non horizontal circle Half Circle Examples The following example shows MOVEC being used to create a half circle with rotating orientation for dispensing with an Adept Viper s650 SET center TRANS 300 0 250 0 150 0 SET start _pos center TRANS 0 0 0 90 TRANS 100 30 MOVE
381. m termination This situation can occur if a program executes a PAUSE instruction or is terminated by an ABORT command or instruction or an error condition while an I O device is attached or a file is open If a limited access I O device such as the serial I O device is left attached no other program task can use that device until it is detached The KILL instruction always accesses task 0 if the task number is omitted Related Keywords ABORT monitor command ABORT program instruction EXECUTE monitor command EXECUTE program instruction STATUS monitor command eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 312 LAST real valued function LAST real valued function Syntax LAST array_name Function Return the highest index used for an array dimension Usage Considerations If an automatic variable is referenced see the AUTO instruction this function returns the index specified in the AUTO statement that declared this array regardless of which elements have been assigned values Parameter array_name Name of the array to be tested Any type of eV array variable can be specified real value location string or belt At least one array index must be omitted see below Details This function can be used to determine which elements of an array have already been defined For one dimension arrays for example part this function returns the largest array index for which an element is defined
382. m error may be generated depending upon the setting of the BELT MODE parameter and the nature of the error When a motion relative to the belt is being executed or after the motion is completed and the robot continues to track the destination the destination is compared against the window every eV trajectory cycle If a window violation occurs and a program has been specified the program is automatically invoked subject to its priority level and the robot continues to track the belt and follow its continuous path motion The presumption is made that the specified program directs the robot as required to recover from the window violation If no program has been specified the robot is immediately stopped and a window violation program error is signaled If a REACTE has been posted the REACTE routine is activated Otherwise program execution is terminated Example The working window for the belt variable belt1 is defined by locations win1 and win2 Ifa window violation ever occurs while the robot is tracking the belt the program belt error is executed as a subroutine WINDOW Sbeltl winl win2 belt error Related Keywords BELT system switch BELT real valued function BELT MODE system parameter BSTATUS real valued function DEFBELT program instruction SETBELT program instruction WINDOW real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 561 WINDOW real valued function WINDOW real valued functio
383. m instruction OVERLAP program instruction Syntax OVERLAP ALWAYS Function Disable the NOOVERLAP limit error checking either for the next motion or for all subsequent motions Usage Considerations OVERLAP applies to the operation of the following robots joints e For Adept Viper and PUMA robots joints 1 4 and the final joint e For all SCARA robots joint 4 e For Adept Quattro robots tool rotation This is the default state of the eV system OVERLAP ALWAYS is assumed whenever program execution is initiated and when a new execution cycle begins The OVERLAP instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task The instruction applies to the robot selected by the task If the eV system is not configured to control a robot executing the OVERLAP instruction causes an error Parameter ALWAYS Optional qualifier that establishes OVERLAP as the default condition That is if ALWAYS is specified OVERLAP remains in effect continuously until disabled by a NOOVERLAP instruction If ALWAYS is not specified the OVERLAP instruction applies only to the next robot motion Details If OVERLAP is specified the settings of SINGLE and MULTIPLE affect the robot motion When OVERLAP is set and the transformation destination of a joint interpolated or straight line motion requires that a multiple turn axis rotate more than 180 degrees the motion is executed without ge
384. mand Examples Define a program that expects no arguments to be passed to it PROGRAM get Define a program that expects a string valued argument and either a location or real valued argument the type of the second argument is determined by its use in the program PROGRAM test n dx The following program segment shows how a program can be written to deal with undefined or omitted parameters The example shows part of the program example which has a real valued parameter and a string parameter PROGRAM example real string AUTO internal var Check for undefined or omitted real valued scalar parameter IF NOT DEFINED real THEN If parameter is undefined eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 404 real 1 END Check for undefined or omitted string PROGRAM program instruction IF DEFINED Sstring Sinternal var Otherwise Sinternal var END ELSE Program continues END THEN string default assignment of desired default value is okay parameter If parameter is defined use the parameter value use default value Refer to the DEFINED function for more details and for testing nonreal arguments Related Keywords CALL program instruction CALLP program instruction CALLS program instruction EXECUTE monitor command EXECUTE program instruction PRIME monitor command SSTEP monitor command XSTEP monitorcommand eV Language Reference Guide v2
385. matically attached when the EXECUTE monitor command or program instruction is processed for task 0 except when the DRY RUN system switch is enabled All the other logical units are automatically detached when program execution begins If the system terminal or the pendant was attached when a program stopped executing it is automatically reattached if execution of the program is resumed with the PROCEED RETRY SSTEP or XSTEP commands Parameters lun The logical unit number to associate with the attached device The interpretation of this parameter depends on the value of the mode parameter as follows If bit 3 of the mode parameter is 0 this parameter is optional defaulting to 0 to attach the robot and it can be a real value variable or expression interpreted as an integer in the range 0 to 24 that specifies the logical unit to be attached See the Details section for the default association of logical units with devices If the logical unit specified is not 0 you can use the device parameter to override the default device for the logical unit If bit 3 of the mode parameter is 1 this parameter is required and must be a real variable In this case the eV system attaches the device specified by the device parameter and automatically assigns a logical unit number to this parameter If all the logical units are in use the parameter is set to 1 eV assigns a value to the lun parameter even if the ATTACH request fails mod
386. mine if any error results from an FEMPTY operation Examples Empty the internal output buffer for logical unit 5 and write it to the disk immediately FEMPTY 5 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 236 FEMPTY program instruction Empty the internal buffer for graphics logical unit 20 by writing it to the window immediately FEMPTY 20 Related Keywords ATTACH program instruction FOPEN program instruction FOPEN_ program instruction IOSTAT real valued function WRITE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 237 FINE program instruction FINE program instruction Syntax FINE tolerance ALWAYS Function Enable a high precision feature of the robot hardware servo Usage Considerations Only the next robot motion will be affected if the ALWAYS parameter is not specified If the tolerance parameter is specified its value becomes the default for any subsequent FINE instruction executed during the current execution cycle regardless of whether ALWAYS is specified This is the default state of the eV system FINE 100 ALWAYS is assumed whenever program execution is initiated and when a new execution cycle begins The FINE instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task The instruction applies to the robot selected by the task If the eV system is not configured to control a robot
387. mit driver User action Verify that the network software version on the remote node is compatible with the network software on the local node DISABLE and ENABLE the affected network nodes and retry the operation If this error occurs repeatedly contact Adept Application Engineering for assistance For more information about Kermit see Kermit Communication Protocol eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 612 System Messages Alphabetical List Invalid network resource 560 Explanation This error occurs when referring to a node that has not been defined User action Check the node definitions Invalid number format 456 Explanation A syntax error was detected while reading a number For example an 8 or 9 digit was encountered while reading an octal number User action Reenter the line with a valid number Invalid orientation 619 Explanation A motion has been requested to a location that is defined by a transformation with its orientation pointed up instead of down User action Correct the definition of the destination transformation For example you may need to correct the base transformation in the compound transformation For SCARA robots the p component of all destination transformations should be approximately 180 degrees Invalid program or variable name 455 Explanation A user defined name used in a command or instruction was not recognized by eV User action Ver
388. mory you can restart eV temporarily by pressing Ctrl G The robot servos do not function but you can STORE the programs Then power down the controller and restart the system Fatal E STOP signals are stuck off 904 Explanation During system startup a test is performed to ensure that no E STOP signals are stuck in the off state This error message is followed by one or more standard E STOP error messages that indicate which signals are stuck If this error occurs robot power cannot be enabled User action Check the wiring of your E STOP circuits Verify that the Controller Interface Panel CIP is connected properly Contact Adept Customer Service for assistance Fatal Force Err None Explanation The force processor has detected an error condition You can continue to use the eV system but the force sensing system cannot be used until you act upon the error User action None required if you do not intend to use the force sensing system Otherwise refer to the documentation for the force sensing system for information on how to respond to the error Fatal Graphics display processor error None Explanation The graphics processing unit on the graphics system processor has failed to respond to commands from the eV system User action Power down the controller and try starting it again If the problem persists contact Adept Customer Service Fatal Illeg Instr at aaaaaa m n None Explanation
389. must be the first statement in the program User action Move the cursor to below the PROGRAM line of the program before attempting to insert or deposit statements Font not loaded 551 Explanation The specified font does not exist User action Specify another font font 1 is always loaded Force protect limit exceeded 624 Explanation At least one force sensor strain gauge reading has exceeded the preset limit causing a robot panic stop This may happen due to high forces experienced during an insertion a crash or high acceleration User action If a crash occurred ensure that the work area is cleared If the limit was exceeded in normal operation the limit should be increased or Protect mode should be disabled Enable high power with the pendant and continue operation Front panel HIGH POWER lamp failure 924 Explanation HIGH POWER has been disabled because a failure Open Circuit in the front panel HIGH POWER lamp has been detected The lamp is probably burned out This condition is considered a safety hazard An E STOP is not signaled However HIGH POWER cannot be enabled until the lamp is replaced User action Replace the HIGH POWER lamp See the Adept MV Controller User s Guide Re enable HIGH POWER as desired Function already enabled 422 Explanation Certain functions or operations must not be enabled when they are already enabled or active ALTER mode is an example of such a function Use
390. n 0 0 0000022 coe cece cece ececceeeeeeees 461 SHIFT transformation function 0 0 00 00 o ccc eee cece cece cece c eee eeceeceeceeeteceesees 463 SIG real valued function 2 02 2 lee eee ee cece eee ceecceceeceecececeeeeeeese 464 SIG INS real valued function 2 02 00 0 0 ec cece cee ceeceecceceecceceeeeeees 466 SIGN real valued functio tics ty oe hh saree de Sl tL a Rh hE Oy el heated a a 468 SIGNAL program instruction 2 0 22 2 o cece ccc ccc ccc enc ce nc ccc anana aonan onanan 469 SIN real valued function 22 0 0 cece cece eee cece cece cece cece cceeeeeeeceeceeceeceeseees 471 SINGLE program instruction 2 1 0 0 0 00 e eee cence tebe eee eeeeeeees 472 SOLVE ANGLES program instruction 2 2000 000 o cece cece cece e cece ceeceeeeeees 474 SOLVE FLAGS real valued function 0 0 0 000 220 o cece ccc noaa cc cecceecceecceeeees 481 SOLVE TRANS program instruction 00 000 2202 2 ccc ce cece ec ccecceeceeeseees 483 SPEED program instruction 200 220 2 0c c ccc ccc cece cece ccc c cece eee eeeeeeceeeseeeseees 485 SPEED real valued function 0 2 0 0 0 00 0 c cece cece ccc cece cece ccc eeceecceceececceeeveceeeeees 488 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 11 SQR real valued function 202 200 0 e cece ccc ence cee cece cece eee a noonoo ann nnna 490 SQRT real valued function 2 00 e eee e cece cece cee eeeceeeececeeeceesees 491 STATE real valued function 22 200 00
391. n 452 Explanation An instruction was entered or read from a disk file that was not recognized by the system This error is often caused by mistyping the instruction name or trying to use a command as an instruction or vice versa Note that statements with errors are turned into bad lines beginning with a question mark If the message occurred while loading a file from the disk the file was probably created off line or with a different eV system different version or options and the indicated line is not compatible with the eV system in use User action Correct the line or enter it again making sure the spelling and usage are correct When using the SEE editor an invalid statement is either converted to a bad line or must be corrected before you can leave that line depending on the setting of the AUTO BAD feature In the case of an error while loading from the disk edit the program to correct the indicated instruction Unknown keyword 424 Explanation The keyword in an FSET instruction is unknown in the context in which it was found Most often a keyword used for a serial line was used when referencing a window or vice versa User action Correct the line in the executing program or reenter the command with the correct keyword Unknown network node 537 Explanation A reference has been made to a network node address that is not known by the local network User action Make sure that the correct node addres
392. n REACT program instruction Syntax REACT signal_num program priority Function Initiate continuous monitoring of a specified digital signal and automatically trigger a subroutine call if the signal properly transitions Usage Considerations The REACT and REACTI instruction can be executed by any of the program tasks That is each task can have its own independent reaction definition Any of the first twelve external input signals 1001 to 1012 can be simultaneously monitored Reactions are triggered by signal transitions and not levels Thus if a signal is going to be monitored for a transition from off to on and the signal is already on when a REACT or REACTI instruction is executed then the reaction does not occur until the signal goes off and then on again A signal must remain stable for at least 18 milliseconds to assure detection of a transition NOTE If software signals are being used to trigger reactions the WAIT instruction with no argument should be used as required to ensure that the signal state remains constant for the required time period The requested signal monitoring is enabled as soon as a REACT or REACTI instruction is executed Because of the way eV processes program instructions this can result in an effect on the motion initiated by the motion instruction preceding the REACT or REACTI instruction in the program See the section Motion Control Examples in the eV Language User s Guide f
393. n Syntax WINDOW transformation time mode Function Return a value that indicates where the location described by the belt relative transformation value is relative to the predefined boundaries of the working range ona moving conveyor belt Usage Considerations This option is available only if your Adept system is equipped with the eV Extensions option The BELT system switch must be enabled before this function can be used The belt variable referenced in the compound transformation must have already been defined using a DEFBELT instruction Parameters transformation Compound transformation value that is defined relative to a belt That is the compound transformation must begin with a belt variable time Optional real valued expression that specifies the time to look ahead when the transformation is evaluated That is the result of the function is the value predicted to apply time seconds in the future based on the current belt position and speed This parameter is used to test whether a motion can be correctly completed within an anticipated time period A time of zero the default value tests the instantaneous value of the location Negative times are converted to 0 and times greater than 32 768 60 seconds are set equal to 32 768 60 mode Optional real valued expression that specifies whether the result of the function represents a distance inside or outside the belt window see below Details The value returne
394. n FLTB real valued function INTB string function TRANSB string function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 143 DCB real valued function DCB real valued function Syntax DCB value Function Convert BCD digits into an equivalent integer value Usage Considerations No more than four BCD digits can be converted The DCB function is most often used with the BITS real valued function to decode input from the digital input signal lines Parameter value Real value interpreted as a binary bit pattern representing up to four BCD digits NOTE An error is reported if any digit is not a valid BCD digit That is if a digit is greater than 9 Example If external input signals 1001 1008 8 bits of input receive two BCD digits from an external device then the instruction input DCB BITS 1001 8 sets the real variable input equal to the integer equivalent of the BCD input on the specified signals Related Keyword BCD real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 144 DECEL 100 system switch DECEL 100 system switch Syntax DECEL 100 robot_num Function Enable or disable the use of 100 percent as the maximum deceleration for the ACCEL program instruction Parameter robot_num Optional real value variable or expression interpreted as an integer that indicates the number of the robot affected If the index is omitted or zero in an EN
395. n WAIT EVENT program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 267 GLOBAL program instruction GLOBAL program instruction Syntax GLOBAL type variable variable Function Declare a variable to be global and specify the type of the variable GLOBAL statements must appear before any executable statement in the program Parameters type Optional parameter specifying the type of a variable The acceptable types are LOC Location variable transformation precision point belt REAL Single precision real variable DOUBLE Double precision real variable See the Details section for the default type variable Variable name belt precision point real value string and transformation Each variable can be a simple variable or an array If the type parameter is specified all the variables must match the specified type Array variables must not have their indexes specified Details Variables that are not declared to be AUTO or LOCAL are GLOBAL by default Undeclared scalar variables default to double precision Thus double precision and location global variables do not need to be declared Global variables can be seen by any program that does not declare a LOCAL or AUTO variable of the same name Thus if program_a declares vari to be a GLOBAL variable and program_b declares vari to be AUTO program_b cannot use or alter GLOBAL var1 Anew copy of variable var1 that is specific to program_b is crea
396. n one of the allowed ranges or that is not installed Attempting to set software signal 2032 brake solenoid will also give this error User action Correct the signal number and check your digital I O configuration Illegal expression syntax 458 Explanation While decoding a numeric or logical expression a compound transformation or a string expression eV has encountered syntax that it does not understand Possible errors include unmatched parentheses missing variables or missing operators User action Retype the line containing the expression being careful to follow the eV syntax rules eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 606 System Messages Alphabetical List Illegal in debug monitor mode 359 Explanation An operation was attempted that is not accepted in debug monitor mode User action Use a different command change to debug editor mode or exit from the program debugger Illegal in read write mode 365 Explanation An editor function was attempted that cannot be performed while accessing a program in read write mode User action Change to editing the program in read only mode or use a different editor command Illegal I O channel number 518 Explanation An internal I O channel number has been encountered that is invalid This indicates a eV internal software problem User action It would be appreciated if you would report the error to Adept Application Enginee
397. n operation was attempted that would have resulted in accessing a program step that contains too many characters A single program step can contain at most about 150 characters User action Enter the program step as two or more separate steps Location out of range 610 Explanation eV has encountered a location that is too far away to represent possibly within an intermediate computation or that is beyond the reach of the robot This probably indicates an error in a location function argument value or in a compound transformation eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 615 System Messages Alphabetical List User action Verify that you are using location functions and operations correctly and edit the program as required Location too close 618 Explanation An attempt has been made to move the robot to a location that is too close to the robot column This probably indicates an error in the value of a location function argument or an incorrect compound transformation User action Verify that you are using location functions and operations correctly and edit the program as required Macro Z ends None Explanation Definition of a SEE editor macro command has been initiated User action Enter the keystrokes to define the macro and then enter Z to terminate the definition Manual brake release 639 Explanation The robot s manual brake release button is active It is not possible to enabl
398. n parameter the status of that program is returned as follows Value returned Not executing Program status Interlocked because of write eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 501 STATUS real valued function Value returned Program status Not executable Interlocked because of read A program is considered write interlocked when it is being copied deleted renamed or edited in read write mode A program is considered read interlocked when it is executing by one or more tasks or is being edited in read only mode A program is considered not executable when it contains a structure error or a bad line NOTE If a program is being executed by multiple tasks the STATUS function returns 5 There is no way to use the STATUS function to determine when the program ceases to be executed by one of those tasks The STATUS function does not return 1 until all the tasks stop executing the program The function returns a not defined status if an invalid program name is specified for example if the name does not start with a letter Example The following program segment demonstrates how the STATUS function can be used to decide whether or not to initiate execution of an application program IF STATUS pc main 1 THEN P EXECUTE 1 pc main END NOTE The STATUS function does not return 1 if the program is being executed by any program task Thus this example may not be appropriate for s
399. n the number of the most recent error from the program executing as task 0 O lt source lt 27 Return the number of the most recent error from the program executing as the corresponding task number 1001 lt source lt 1021 Asynchronous FIFO element n 1000 where n equals 1 Most recent item 2 Next older item etc Returns 0 if no more FIFO elements exist Valid select parameter values for the FIFO are 0 1 and 3 The asynchronous FIFO is not valid while the robot is in power down initialization state User programs should wait until STATE 1 returns a nonzero value before using ERROR with source gt 1000 select Optional real value variable or expression interpreted as an integer that selects the error information to be returned The value 0 is assumed if this parameter is omitted Oo Return the error number of the most recent program eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 208 ERROR real valued function execution error excluding I O errors see IOSTAT for the specified program task 1 If the most recent error for the specified program task had an error code in the range 1100 to 1199 return the variable part of the corresponding error message as a numeric value If the most recent error had an error code in the range 1000 to 1099 return the variable portion of the corresponding error message as a bit mask indicating the joints or motors to which the error applies Zero is return
400. name belt precision point real value string or transformation Each variable can be a simple variable or an array Array variables must not have their indexes specified If a type is specified all variables must be of that type eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 325 LOCAL program instruction Details This instruction is used to declare variables to be defined only within the current program That is a local variable can be referenced only within its own program Also the names of local variables can be selected without regard for the names of local variables defined in other programs Local variables are allocated only once during program execution and their values are preserved between successive subroutine calls These values are also shared if the same program is executed by multiple program tasks If a program that uses LOCAL or global variables is called by several different program tasks or called recursively by a single task the values of those variables can be modified by the different program instances and cause very strange program errors Therefore automatic variables should be used for all temporary local variables to minimize the chance of errors See the AUTO instruction Variables can be defined as automatic global or local Once a variable has been assigned to a class an attempt to assign the variable to a different class will result in the error Attempt to redefine variable class
401. ncountering a delimiter eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 418 READ program instruction Example Read a line of text from the disk and store the record in the string variable disk input READ 5 S disk input For an example of using the READ instruction with the TCP device refer to the Example section for the IOSTAT real valued function Related Keywords ATTACH program instruction FOPEN_ program instruction FSEEK program instruction GETC real valued function IOSTAT real valued function PROMPT program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 419 READY program instruction READY program instruction Syntax READY Function Move the robot to the READY location above the workspace which forces the robot into a standard configuration Usage Considerations Before executing this instruction with the DO monitor command DO READY make sure that the robot will not strike anything while moving to the READY location The READY instruction can be executed by any program task as long as the task has attached a robot The instruction applies to the robot selected by the task If the eV system is not configured to control a robot executing the READY instruction causes an error Details This instruction always succeeds regardless of where the robot is located at the time An Adept Cobra robot has the following configuration when it is at the READY location e Joint
402. nction Compute the transformation equivalent to a given set of joint positions for the current robot Usage Considerations Since the computation performed by this instruction is a function of the geometry of the robot link dimensions number of axes tool offsets base offsets robots with different geometric parameters yield different results In fact since robots of the same general type may differ slightly in their dimensions this instruction may return slightly different results when executed on two different robot systems of the same type The SOLVE TRANS instruction refers to the robot selected by the task executing the instruction If the eV system is not configured to control a robot executing the SOLVE TRANS instruction does not generate an error because of the absence of a robot However the information returned may not be meaningful Parameters transform Transformation variable or transformation array element in which the result is stored error Real variable that is set to a eV error code if a computational error occurred during processing of the instruction This variable is set to 0 if no error occurs The only error that is currently reported is arithmetic overflow 409 so this parameter can be considered as returning a TRUE or FALSE value joints Real valued array that contains the joint positions that are to be converted to an equivalent transformation The first specified element of the array must contain
403. nd running Make sure the correct IP address is being used No air pressure 607 Explanation eV detected that the air supply to the robot brakes and hand has failed High power is turned off and cannot be turned on until the air pressure is restored User action Restore the air pressure turn high power back on and resume program execution If the error persists contact Adept Customer Service No data received 526 Explanation An I O read request without wait has not found any data to return This is not really an error condition User action Continue polling the I O device until data is received or use a read request that waits automatically for data to be received No matching connection 539 Explanation A request for a logical network connection has been received and rejected because there is no matching connection on the remote node User action Make sure that the proper logical connection was specified Make sure that the remote node is operating properly Nonexistent file 501 Explanation 1 The requested file is not stored on the disk accessed Either the name was mistyped or the wrong disk was read 2 The requested graphics window title menu or scroll bar does not exist User action 1 Verify the file name use the FDIRECTORY command to display the directory of the disk 2 Verify the name of the graphics window element specified Nonexistent subdirectory 545 Explanation The
404. nd their meanings are as follows Returned Interpretation value a is less than b Oo a is exactly the same as b a is greater than b Note that the value is FALSE 0 if the strings are the same Example Sort two names in alphabetical order Sname 0 Michael Sname 1 MARK CASE STRDIF Sname 0 name 1 OF VALUE 1 0 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 505 list 0 S list 1 VALUE 1 S list 0 S list 1 END TYPE Names in Related Keyword UPPER system switch STRDIF real valued function Sname 0 Sname 1 Sname 1 Sname 0 alphabetic order S list 0 list 1 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 506 SWITCH program instruction SWITCH program instruction Syntax SWITCH switch_name value SWITCH switch_name index value Function Enable or disable a system switch based on a value Usage Considerations If the specified switch accepts an index qualifier and the index is zero or omitted with or without the brackets all the elements of the switch array are set according to the value given Parameters switch_name Name of the switch whose setting is to be modified The switch name can be abbreviated to the minimum length that identifies it uniquely index For switches that can be qualified by an index this is an optional real value variable or expression that specifies the specific switch elem
405. nerating a program error OVERLAP disables the limit error checking of NOOVERLAP The OVERLAP setting is applied whenever program execution is initiated and when a new execution cycle begins eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 378 OVERLAP program instruction Related Keywords MULTIPLE program instruction NOOVERLAP program instruction SELECT program instruction SELECT real valued function SINGLE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 379 PACK program instruction PACK program instruction Syntax PACK string_array index first_char num_chars string PACK string_var first_char num_chars string Function Replace a substring within an array of 128 character string variables or within a nonarray string variable Parameters string_array index string_var first_char num_chars string String array variable that is modified by the substring on the right hand side of the equal sign Each element within the string array is assumed to be 128 characters long see below Optional integer value that identifies the first array element to be considered The first_char value is interpreted relative to the element specified by this index If no index is specified element zero is assumed String variable that is modified by the substring on the right hand side of the equal sign Real valued expression that specifies the position of the firs
406. ng from shifting the position of the transformation parameter by the given shift amounts Parameters transformation Transformation expression that is to be shifted x_shift Optional real valued expressions that are added to the respective position components of the transformation y_shift parameter z_shift Details The value returned is equal to the value of the input transformation parameter value except that the three shift parameter values are added to the X Y and Z position components If any shift parameter is omitted its value is assumed to be zero Example If the transformation x has the value 200 150 100 10 20 30 then executing the instruction SET y SHIFT x BY 5 5 10 results in the transformation y receiving the value 205 145 110 10 20 30 Related Keywords SCALE transformation function TRANS transformation function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 463 SIG real valued function SIG real valued function Syntax SIG signal_num signal_num Function Returns the logical AND of the states of the indicated digital signals Parameter signal_num Real valued expression that evaluates to a digital I O or internal signal number A negative value indicates negative logic for that signal Details Returns a TRUE 1 or FALSE 0 value obtained by performing a logical AND of the states of all the indicated digital signals That is SIG will return TRUE if all t
407. nges acceleration values without ramping Examples Set the default acceleration time to 50 of normal and the deceleration time to 30 of normal ACCEL 50 30 Change the deceleration time to 60 of normal leave acceleration alone ACCEL 60 Reduce the acceleration and deceleration to one half of their current settings ACCEL ACCEL 1 2 ACCEL 2 2 Invoke defined profile 2 and set the acceleration magnitude to 80 of the defined rate ACCEL 2 80 Related Keywords ACCEL real valued function DURATION program instruction SCALE ACCEL system switch SELECT program instruction SELECT real valued function SPEED monitor command SPEED program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 51 ACCEL real valued function ACCEL real valued function Syntax ACCEL select Function Return the current setting for robot acceleration or deceleration setting or return the maximum allowable percentage limits defined in the robot configuration profile The robot configuration is edited using the Adept ACE software see the Adept ACE User s Guide Usage Considerations The ACCEL function returns information for the robot selected by the task executing the function If the eV system is not configured to control a robot use of the ACCEL function does not generate an error due to the absence of a robot However the information returned by the function may not be meaningful Parameter select Real value
408. nguage Reference Guide v2 0 x Updated 5 8 2013 Page 427 RETURN program instruction RETURN program instruction Syntax RETURN Function Terminate execution of the current subroutine and resume execution of the suspended program at its next step A program may have been suspended by issuing a CALL CALLP or CALLS instruction or by the triggering of aREACT REACTE or REACTI condition Details A RETURN instruction in a main program has the same effect as a STOP instruction A RETURN instruction is assumed if program execution reaches the last step of a subroutine However it is not good programming style to use this feature an explicit RETURN instruction should be included as the last line of each subroutine The effect of a RETURN instruction in an error reaction subroutine differs slightly In that case if the reaction subroutine was invoked because of a program error as opposed to an asynchronous servo error or PANIC button press the statement that caused the error is executed again That is the error may occur again immediately The RETURNE instruction should be used in error reaction subroutines to avoid that situation If a RETURN instruction is used to exit from a reaction routine the program reaction priority is restored to whatever it was before the reaction routine started execution Related Keywords CALL program instruction CALLP program instruction CALLS program instruction LOCK program instruction REACT pro
409. not attached by any other task The instruction applies to the robot selected by the task The CLOSEI instruction can be executed by any program task as long as the task has attached a robot The instruction applies to the robot selected by the task If the eV system is not configured to control a robot executing these instructions causes an error Details These instructions send a signal to the control valves for the pneumatic hand to close If the CLOSE instruction is used the signal is not sent until the next robot motion begins The CLOSET instruction differs from CLOSE in the following ways e ABREAK occurs if a continuous path robot motion is in progress e The signal is sent to the control valves at the conclusion of the current motion or immediately if no motion is in progress e Robot motions are delayed for a brief time to allow the hand actuation to complete The length of the delay in seconds is the current setting of the HAND TIME system parameter Examples During the next robot motion cause the pneumatic control valves to assume the closed state eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 122 CLOSE and CLOSEI program instruction CLOSE Cause the pneumatic control valves to assume the closed state as soon as the current motion stops CLOSET Related Keywords HAND TIME system parameter OPEN program instruction OPENI program instruction RELAX program instruction RELAXI program instruc
410. ns an indication of whether or not the real time path modification facility alter mode is enabled If zero is returned alter mode is disabled for the current motion If a nonzero value is returned alter is enabled and the low byte of this value contains bits that correspond to the mode specified in the ALTON instruction that initiated the path modification When select 7 the function returns an indication of whether or not the real time path modification facility alter mode is enabled for the next planned motion If zero is returned alter mode is disabled for the next motion If a nonzero value is returned alter is enabled and the low byte of this value contains bits that correspond to the mode specified in the ALTON instruction that initiated the path modification This option is available only if your Adept system is equipped with the eV Advanced Trajectory Control License eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 496 STATE real valued function When select 8 the number of the robot selected by the manual control pendant is returned When select 9 the function returns the time in seconds left until completion of the current motion Zero indicates that no motion is in progress For continuous path motions the value of STATE 9 decreases during each motion until the transition to the next motion and then the value suddenly changes to the time left in the next motion That is STATE 9 does not reach
411. ns that will change the result of the logical expression from TRUE to FALSE when the structure should be exited eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 558 WHILE program instruction Example The following example uses a WHILE structure to monitor a combination of input signals to determine when a sequence of motions should be stopped In this example if the signal from either part feeder becomes zero assumed to indicate the feeder is empty then the repetitive motions of the robot stops and the program continues Note that if either feeder is empty when the WHILE structure is first encountered then execution immediately skips to step 27 20 feeder 1 1037 21 feeder 2 1038 22 23 WHILE SIG feeder 1 feeder 2 DO 24 CALL move part 1 25 CALL move part 2 26 END 27 28 Either feeder 1 or feeder 2 is empty 29 30 31 Related Keywords DO program instruction EXIT program instruction NEXT program instruction UNTIL program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 559 WINDOW program instruction WINDOW program instruction Syntax WINDOW belt_var location location program priority Function Set the boundaries of the operating region of the specified belt variable for conveyor tracking Usage Considerations This option is available only if your Adept system is equipped with the eV Extensions option The BELT switch must be enabled for th
412. nstruction 2 0 2 2 00 22 cece cece cece cc eee a a a a e 262 GETC real valued function 2 0 2 0 20 occ eceeeccecceecce cece cece eevee eeececeeececceeceeeeeees 265 GET EVENT real valued function 0 00 200 200 2 ccc cece cc cccccceec cece cee cceecceeeeeesees 267 GLOBAL program instruction 20 0 220220 ccc cece cece cece cece cece cece anana nananana 268 GOTO program instruction 00 22 cece ccc cece ccc e cece cece cece eee eeeteeeeeeeseeeseees 270 HALT program instruction 2 0 0 00 200 o cece ccc cece cece cece cece cece aa aaa 272 HAND real valued function 00 00 0000 ooo c ccc e cece cece cece cece ceceeeeeceeeeeeveceeeeesees 273 HAND TIME system parameter 00 0200 2 00 cc cece cece ccc cc cence cece eecceeceeecteeeeeees 274 HERE program instruction i27 ohces tener neni nein nee s ert Lee Atmel ee Leen Renee Sel 276 HERE transformation function 0 0 0 00 0020 0c ccc eee cece cece cece eeceeceeceececeveeeees 278 TD real valted function are sui eh coe tA e tae as A ee te hl OO SR oat Ca a 279 ID string MUMCEION p21 2 c ece4tec0 os cache ett ee eh tot otek alti Se eto EDA AE AED aroan nerro rerna 285 IDENTICAL real valued function 22s23i so coolness 286 IF logical_expr THEN program instruction 0 0 0 220 220 c cece cece ecceec cece eeeceee 287 IF logical_expr GOTO program instruction 20 00 0000 o eee cece eee 289 IGNORE program instruction 20 0000 2 ooo
413. nstruction The eV editor displays an error message when program editing is exited if the correct number of END instructions do not exist in a program that is if there are too few or too many Related Keywords CASE program instruction FOR program instruction IF THEN program instruction WHILE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 205 END keyword END keyword Syntax END Function Mark the end of a eV program Usage Considerations The eV editors automatically add this line to the end of every program Details Normally you will not need to concern yourself with the END step of programs it is created automatically by the eV editors The only time you will see this step while working with the eV system is when you issue a LISTP monitor command Then you will see an END step as the last step of each program The END is important however when a program is created on another computer for transfer to a eV system In that case the programmer must be sure to include a line starting with END at the end of each program the remainder of the line is ignored by eV Programs missing the END instruction do not load correctly into the eV system Related Keyword PROGRAM program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 206 ERROR real valued function ERROR real valued function Syntax ERROR source select Function Return
414. nstructions may be processed If an envelope or similar error occurs after this forward processing the RETURNE is based on the instruction processing when the error occurs not the MOVE instruction It may be helpful to note that the RETURNE instruction behaves similarly to the PROCEED command The RETURN instruction behaves similarly to the RETRY command except that with RETURN an interrupted robot motion is not restarted A RETURNE instruction in a program that is not executed in response to an error has the same effect as a RETURN instruction RETURNE however takes slightly longer to execute than does RETURN Related Keywords REACTE program instruction RETURN program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 429 RIGHTY program instruction RIGHTY program instruction Syntax RIGHTY Function 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 Usage Considerations Configuration changes cannot be made during straight line motions If the selected robot does not support a right handed configuration this instruction is ignored by the robot The RIGHTY instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task The instruction applies to the robot selected by the task If the eV system is not configured to control a robot executing the RIGHTY
415. nto account the Cartesian rotational speed during straight line motions Parameter robot_num Optional real value variable or expression interpreted as an integer that indicates the number of the robot affected If the index is omitted or zero in an ENABLE or DISABLE command or instruction the settings for all robots are altered Otherwise only the setting for the specified robot is affected Details If SCALE ACCEL ROT is enabled for a selected robot the lesser of the Cartesian linear and rotational speeds is used to scale acceleration and deceleration during straight line motions If SCALE ACCEL ROT is disabled for a selected robot only the Cartesian linear speed is considered when SCALE ACCEL is in effect The SCALE ACCEL ROT switch is enabled for all robots by default when the eV system is initialized Example Cause SCALE ACCEL not to use Cartesian rotational speed for robot 2 DISABLE SCALE ACCEL ROT 2 Related Keywords ACCEL program instruction ACCEL real valued function SCALE ACCEL system switch SPEED monitor command SPEED program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 449 SELECT program instruction SELECT program instruction Syntax SELECT device_type unit Function Select a unit of the named device for access by the current task Usage Considerations The SELECT instruction needs to be used only if there are multiple devices of the same type connected to your s
416. ny global variables with the same name cannot be accessed directly by the program The values of AUTOmatic variables are not saved by the STORE or restored by the LOAD monitor commands Parameters type Optional keyword REAL DOUBLE or LOC indicating that all the variables in this statement are to be single precision double precision or location variables A location can be a transformation precision point or belt variable If this keyword is omitted the type of each variable is determined by its use within the program An error is generated if the type cannot be determined from usage variable Name ofa variable of any data type available with eV belt precision point real value string and transformation Each variable can be a simple variable or an array If the type parameter is specified see below all the variables must match that type Array variables must have their indexes specified explicitly indicating the highest valid index for the array eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 71 AUTO program instruction Details This instruction is used to declare variables to be defined only within the current program That is an AUTOmatic variable can be referenced only by the specific calling instance of a program Also the names of AUTOmatic variables can be selected without regard for the names of variables defined in any other programs AUTOmatic variables are allocated each time the program
417. o move Details The MOVE instruction causes a joint interpolated motion That is intermediate set points between the initial and final robot locations are computed by interpolating between the initial and final joint positions Any changes in configuration requested by the program for example by a LEFTY instruction are executed during the motion The MOVES instruction causes a straight line motion During such a motion the tool is moved along a straight line path and is smoothly rotated to its final orientation No changes in configuration are allowed during straight line motions Examples MOVE pick Move by joint interpolated motion to the location described by the precision point pick eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 339 MOVE and MOVES program instruction MOVES ref place Move along a straight line path to the location described by the compound transformation ref place Related Keywords APPRO program instruction APPROS program instruction DEPART program instruction DEPARTS program instruction MOVEC program instruction SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 340 MOVEC program instruction MOVEC program instruction Syntax MOVEC angle turn location1 location2 MOVEC angle turn center Function Initiate a circular arc path robot motion using the positions and orientations described by the given locations
418. o adjust the dynamic performance of the robot depending upon the payload being carried NOTE When utilizing ROBOT OPR to change the acceleration values the robot must be attached and stopped when this instruction is executed to ensure no adverse interactions with any current motion execution 0 must be Number of the set of Cartesian set to 0 acceleration parameters to utilize 1 or 2 Parameter set 1 is applied when the eV system is booted from disk eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 436 ROBOT OPR program instruction Description Intende ter Set d Number Payload Parameter sets 1 7 are available with all Adept Quattro robots NOTE Payloads greater than 6 kg with an Adept Quattro s650 robot or 4 kg with an Adept Quattro s800 robot should be used only with the P30 fixed platform eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 437 ROBOT OPR program instruction 10 12 kg These selections are available only with Quattro s650H s65 OHS robots Related Keyword ROBOT OPR real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 438 ROBOT OPR real valued function ROBOT OPR real valued function Syntax ROBOT OPR mode index Function Returns robot specific data for the currently selected robot Parameters mode The values of these two parameters select what robot specific data is index returned D
419. o binary representation within an output record of a data file Example SINTB 65 256 67 7 Returns the character string AC Related Keywords CHR string function DBLB string function FLTB string function INTB real valued function LNGB string function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 299 INVERSE transformation function INVERSE transformation function Syntax INVERSE transformation Function Return the transformation value that is the mathematical inverse of the given transformation value Parameter transformation Transformation valued expression Details Mathematically the value from this function is a transformation such that the value of the compound transformation shown below is the identity transformation or NULL INVERSE trans trans Stated another way consider a transformation x that defines the location of object A relative to object B Then INVERSE x is the transformation that defines the location of object B relative toA Example Consider the case where the location part_1 is known in robot coordinates and you want to find the location hole_1 with respect to part_1 We can use the compound expression part_l hole 1 to represent the position of hole_1 in robot coordinates Suppose we move the robot to hole_1 and use the HERE command to define hole_pos as the position of hole_1 in robot coordinates In other words we want to find hole_1 knowing the val
420. ocessor Option Word from ID 6 4 Interpretation When Bit Set Processor is running the eV Operating System 4 Processor is running the Servo software Reserved for future use currently zero 2 Processor is running the Vision processing software eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 576 System Messages System Messages The following topics are described in this chapter Introduction to System Messages 22 222 cece cee cece ce eect cece cess 578 System Messages Alphabetical List 020 0 0222 0000000000 eee eee eee eee 578 SystemMessages Numerical List _ 2 022 2 222 cece eee ee eee cece eee 653 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 577 Introduction to System Messages Introduction to System Messages While the eV system is being used it is possible for hardware and software errors to occur For example if commands or instructions are not entered in the correct way eV rejects the input The usual response is to write an error message to the system terminal indicating what is wrong so that you can correct the error In addition to error messages eV can also issue warning or informational messages In eV each error message is normally assigned an error number or code and an associated error string The following numbering conventions are used to identify the type of system message generated e Informational Messa
421. ode disabled 603 Explanation The command attempted requires computer control of the robot but COMPUTER mode was not selected on the pendant User action Select COMP mode on the pendant or enable DRY RUN mode from the terminal then reissue the command Connecting to Adept Digital Workcell system via Ethernet C to quit None Explanation This message is displayed during eV initialization i e during the booting process to indicate that the eV system is operating in Adept Digital Workcell simulation mode and that the eV system is waiting for a response from the PC that is running the Adept Digital Workcell software User action No response is needed if the connection completes successfully If the connection does not complete you can enter CTRL C to cancel waiting for the connection The eV system then reports failures of all the robot servos and all the installed licenses are disabled except those needed to use the Adept ACE user interface In that case you should either try again to start up the Adept controller after making sure that the Adept Digital Workcell software is running on the PC or enter the eV monitor command DISABLE ADW and restart the Adept controller Controller not in automatic mode 303 Explanation An attempt has been made to initiate program execution or PRIME a program from the monitor window or command terminal when the controller is not in automatic mode User action Select automat
422. ode or DETACH the robot from program control See the DRY RUN switch or DETACH program instruction for details Example The following program segment detaches the robot turns high power off and waits for you to turn high power back on DETACH 7Detach robot from program DISABLE POWER 7Turn off power TYPE Press the COMP PWR button to continue ATTACH Wait for power on and attach TYPE Robot program continuing Related Keywords DISABLE monitor command DISABLE program instruction ENABLE monitor command ENABLE program instruction ESTOP program instruction SWITCH monitor command SWITCH program instruction SWITCH real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 399 PPOINT precision point function PPOINT precision point function Syntax PPOINT ji_value j2_value j3_value j4_value j5_ value j6_ value j7_value j8_ value j9_value j10_value j11_value j12_ value Function Return a precision point value composed from the given components Usage Considerations The PPOINT function name is considered to be a precision point name Thus the character must precede all uses of the function Parameters ji_value Optional real valued expressions for the respective robot joint positions If more values are specified than the number of robot j2_value joints the extra values are ignored j3_value ji2_value Details Returns a precision point value composed from the g
423. oder offset of the specified belt variable equal to the value of the expression Usage Considerations This option is available only if your Adept system is equipped with the eV Extensions option The BELT switch must be enabled for this instruction to be executed The SETBELT instruction is generally used in conjunction with the BELT real valued function to set the effective belt position to zero See Details section and WARNING below SETBELT cannot be executed while the robot is moving relative to the specified belt variable The belt variable referenced must have been defined already using a DEFBELT instruction Parameters belt_var Name of belt variable associated with the encoder offset to be set expression Real valued expression that specifies a signed 24 bit encoder offset value Details When computing the position of a belt associated with a belt variable eV subtracts the offset value from the current belt position value and uses the difference modulo 16 777 216 The expression value is normally a signed number in the range 8 388 608 to 8 388 607 If the number is outside this range its value modulo 16 777 216 is used The SETBELT instruction is generally used in conjunction with the BELT real valued function to set the effective belt position to zero This must be done each time the robot will perform a sequence of motions relative to the belt and must be done shortly before the first motion of such a sequence
424. odule ID 27 function_ code that are added to the commanded Zand RZ positions for each slave axis ROBOT OPR program instruction Description Optional RZ offset for first slaved axes Optional Z offset for second slaved axes Optional RZ offset for second slaved axes Optional Z offset for third slaved axes Optional RZ offset for third slaved axes NOTE The offsets for the fourth set of slaved axes cannot be set For this robot this instruction sets the Cartesian acceleration parameters to one of three sets of values The purpose of this operation is to adjust the dynamic performance of the robot depending upon the payload being carried NOTE When utilizing ROBOT OPR to change the acceleration values the robot must be attached and stopped when this instruction is executed to ensure no adverse interactions with any current motion execution eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 435 Robot Module Adept Quattro s650 Robot ROBOT OPR program instruction function_ code Description O sets the Number of the set of Cartesian Seat acceleration parameters to utilize 1 acceerarion 3 The parameters are intended to be parameters to one of used as follows ane sets of Parameter Set Intended values Number Payload 1 For this robot this instruction sets the Cartesian acceleration parameters to one of two sets of values The purpose of this operation is t
425. of the current monitor speed setting Again this can be specified by a constant a variable or an expression Details Operates the single specified robot joint changing its position by change amount in degrees or millimeters The joint number joint can be 1 2 n where n is the number of joints the robot has The speed of the motion is governed by a combination of the speed given in this instruction and the monitor SPEED setting That is the regular program speed setting is not used See eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 184 DRIVE program instruction the SPEED monitor command and the SPEED program instruction for explanations of motion speeds The duration setting established by the DURATION instruction also affects the execution time of the motion Example Change the angle of joint 2 by driving the joint 62 4 degrees in the negative direction at a speed of 75 of the monitor speed DRIVE 2 62 4 75 Related Keywords SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 185 DRY RUN system switch DRY RUN system switch Syntax DRY RUN Function Control whether or not eV communicates with the robot Usage Considerations The DRY RUN switch can be enabled or disabled by an application program but the new setting of the switch does not take effect until the next time any of the following events occur 1 An
426. of this see the Global Array Access Restriction section of the information about Arrays in the eV Language User s Guide Parameters variable Name of the real valued variable to be tested and assigned the new value given test_value Real value variable or expression that defines the comparison value new_value Real value variable or expression that defines the new value to be assigned to the specified variable Details If the variable is equal to the test value the new value is stored in the variable Otherwise the variable is not modified The original value of the variable is returned as the function value The compare and set new value operations occur with interrupts locked so that the operation is indivisible This function provides a way for setting semaphores between tasks similar to the TAS real valued function See the description of that function for more information use of the CAS function is similar eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 113 CAS real valued function If the variable is undefined when the function is executed it is treated as having the value zero Related Keywords TAS real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 114 CASE program instruction CASE program instruction Syntax CASE value OF Function Initiate processing of a CASE structure by defining the value of interest Usage Considerations This instruction m
427. ogram instruction 20 0 0 2 00 c ccc ccc ccc cece cece cece cceecceecceseessees 433 ROBOT OPR real valued function 2 2 0 0 002 0 e cece ec e ccc ccc ccc ec eee eeececeeccecceeceeeees 439 RUNSIG program instruction 0 000 e cece ccc eee eee ec cece cece eeeeeneeeeees 441 RX RY RZ transformation functions 0 220 220 c ee cecc cece ceceees 443 RX RY RZ transformation functions 0 2 0 o ecco ccc ccc c cece 002012222221 444 RX RY RZ transformation functions 200 220 c ccc eec ccc ceceees 445 SCALE transformation function 0 2 00 00 c cece ce eee e cee ce eee eeeeeeeeeeeeenaes 446 SCALE ACCEL system Switch 22 0 2 0 020 220 c ccc cece cece cece cece cence cecceeeeeeseeeseeees 447 SCALE ACCEL ROT system switch 00200 00 00 00 c cece cece cece cece ccc eceecceceeceeceeeeeees 449 SELECT program instruction 00 2 0 0 ccc cece cece cnc cc aa asa e adaa 450 SELECT real valued function 2 02 0 0 200 c cece cece cece cece cece addaa aooo andarooo an 453 SET program instruction l a 0000000000000000 000000000000000 cc cece cece eee c eee eceeeeeeeeeees 455 SET EVENT program instruction 2020 0 200 c cece cece cece cece cece ec cecceceeceeeeees 457 SET POINT precision point function 000 2002 2 0 cc cece cece cece cece cece ceeceeeee 458 SETBELT program instruction 0 00 0 0 occ ccc cece cece cece eee eeeceeeceeeeeeeeeeenees 459 SETDEVICE program instructio
428. ogram instruction Syntax SPEED speed_factor r_speed_factor units ALWAYS Function Set the nominal speed for subsequent robot motions Usage Considerations SPEED 100 100 ALWAYS is assumed whenever program execution is started and when a new execution cycle begins Motion speed has different meanings for joint interpolated motions and straight line motions The speed of robot motions is determined by a combination of the program speed setting and the monitor speed setting The SPEED instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task The instruction applies to the robot selected by the task If the eV system is not configured to control a robot executing the SPEED instruction causes an error Parameters speed_factor Real value variable or expression whose value is used as a new speed factor The value 100 is considered normal full speed 50 is 1 2 of full speed and so on If IPS or MMPS is specified for units the value is considered the linear tool tip speed r_speed_factor Optional real value variable or expression whose value is used as a new straight line motion rotational speed factor The value 100 is considered normal full speed 50 is 1 2 of full speed etc units Optional keyword either IPS for inches per second MMPS for millimeters per second or MONITOR that determines how to interpret the speed_factor parameter ALWAYS Op
429. oint control Modes 3 4 8 9 The error Cartesian control of robot not possible 635 is returned if the robot does not support Cartesian control Mode 7 If the location cannot be reached the motion stops at the limit of possible motion and the error Location out of range 610 is returned when the motion stops If any other motion error occurs during the motion e g an obstacle is encountered the associated error is reported Modes 7 and 9 The error Missing argument 454 is returned if a location is not specified For mode 7 a straight line motion is performed toward the specified location if the location is specified with a transformation A joint interpolated motion is performed if the location is specified with a precision point However if the robot does not permit the type of motion associated with how the location is specified e g the Adept Quattro robot does not permit joint interpolated motion the motion is performed in the manner that is permitted by the robot When a robot joint is out of range it can be driven into range in either of these ways Go into MAN mode on the pendant and manually control the joint Put the pendant in COMP mode and use the JOG instruction to move the joint back into range JOG is allowed only in pendant COMP mode NOTE Use of COMP mode when a joint is out of range is very restricted All motion instructions except JOG return a Position out of range error in that situati
430. om 1 to 8 and 33 to 512 and internal software signals numbered from 2001 to 2512 can be specified Only digital signals that are actually installed and configured as outputs can be used To check your current digital I O configuration use the IO monitor command Signals 3001 and 3002 refer to the robot selected by the current task Signal 3001 is the state of the hand close solenoid Signal 3002 is the state of the hand open solenoid If the sign of the signal_num parameter is positive the signal is turned on If the sign of the signal_num parameter is negative the signal is turned off NOTE All eV digital output instructions do not wait for a 16 millisecond eV cycle they are turned on immediately However digital inputs are checked every 16 milliseconds by the eV operating system Allowing the possibility to turn on and off a signal before the system can read the output Examples Turn off the external output signal specified by the value of the variable reset assuming the value of reset is positive and turn on external output signal 4 SIGNAL reset 4 Turn external output signal 1 off external output signal 4 on and internal software signal 2010 on SIGNAL 1 4 2010 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 469 SIGNAL program instruction Related Keywords BITS monitor command BITS program instruction BITS real valued function IO monitor command NOOVERLAP program instruction OVERLAP p
431. ome situations See the example shown for the EXECUTE instruction for another technique for initiating execution of another program task Related Keywords DEFINED real valued function STATE real valued function STATUS monitor command TESTP monitor command eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 502 STOP program instruction STOP program instruction Syntax STOP Function Terminate execution of the current program cycle Usage Considerations STOP does not halt program execution if there are more program cycles to execute The PROCEED command cannot be used to resume program execution after a STOP instruction causes the program to halt If program execution is halted by a STOP instruction FCLOSE and or DETACH are forced on all attached I O devices Details Counts one more program cycle as complete and one less remaining If the result is that no more cycles are remaining program execution halts If more cycles are remaining the internal robot motion parameters are reinitialized and program execution continues with the first step of the main program even if the STOP occurred within a subroutine or reaction program Terminates execution of the current program unless more program loops see the EXECUTE command and instruction are to be completed in which case execution of the program continues at its first step Thus the STOP instruction is used to mark the end of a program execution pass Note
432. on In addition JOG can move the joint only in the direction that moves the joint back into range Examples The following are some examples of proper use of the JOG instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 310 JOG Ly 2 3 L0 JOG 1 3 1 10 JOG 1 4 2 10 JOG 1 7 1 10 loci JOG 1 7 1 10 locl Related Keywords JMOVE program instruction JOG monitor command MOVE program instruction JOG program instruction JOG joint 3 in negative direction in JOINT mode JOG JOG JOG 50 JOG X axis Y axis toward toward in WORLD mode in TOOL mode locl 50 mm above locl eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 311 KILL program instruction KILL program instruction Syntax KILL task_number Function Clear a program execution stack and detach any I O devices that are attached Usage Considerations KILL cannot be used while the specified program task is executing KILL has no effect if the specified task execution stack is empty Parameter task_number Optional real value variable or expression interpreted as an integer that specifies which program task is to be cleared See below for the default See the eV Language User s Guide for information on tasks Details This operation clears the selected program execution stack closes any open files and detaches any I O devices that may have been left attached by abnormal progra
433. on The indicated motor was not tracking the commanded position with sufficient accuracy indicating a failure in the hardware servo system or something impeding the path of the robot Because this is considered a serious error high power was turned off User action Turn on high power and try to perform the motion at a slower speed Make sure that nothing is obstructing the robot s motion If the error recurs contact Adept Customer Service Hardware not in system 805 Explanation An instruction has attempted to access optional hardware such as a FORCE board that is not installed in the system User action Install the needed hardware or remove the instruction that addresses the hardware Hard overspeed error Mtr n 1029 Explanation During manual mode the safety hardware has detected an attempt to move a robot axis at a speed faster than allowed The motion is terminated and robot power is disabled This error should never occur if the servos are properly configured eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 605 System Messages Alphabetical List User action Verify that the servos for this motor are properly configured If the problem persists contact Adept Customer Service HIGH POWER button not pressed 646 Explanation You did not press the high power on off button before the timeout period expired This message also can result from a faulty cable Front Panel FP User action If working
434. on depending upon the device and the parameters DEVICES PI Send commands or data to an external device and optionally return data The actual operation performed depends on the device referenced DISABLE Turn off one or more system control switches DISTANCE Determine the distance between the points defined by two location DEPARTS eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 28 eV Language Quick Reference Return the current setting of one of the motion DURATION specifications Return a displacement component of a given transformation value DN RESTART DRIVE DRY RUN DURATION DURATION O 7 U g Ug N lt X ELSE Separate the alternate group of statements in an IF THEN control structure produced is similar to the output of a TYPE nStniet ion Return the error number of a recent error that caused program execution to stop or caused a REACTE reaction Assert the emergency stop signal to stop the robot Begin execution of a control program Branch to the statement following the nth nested loop of a control structure Return the value used by eV to represent a logical false result Close the disk file graphics window or graphics icon currently open on the specified logical unit Generate a device specific command to the input output device specified by the logical unit ENABLE ENCODE END m g N ERROR ESTOP EXECUTE EXIT FALSE FCLOSE FCMND eV Language Ref
435. on function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 196 DX DY DZ real valued function DX DY DZ real valued function Syntax DX location DY location DZ location Function Return a displacement component of a given transformation value Parameter location Transformation value from which a component is desired This can be a function a variable or a compound transformation Details These three functions return the respective displacement components of the specified transformation value NOTE The DECOMPOSE instruction can also be used to obtain the displacement components of a transformation value If the rotation components are desired that instruction must be used DECOMPOSE is more efficient if more than one element is needed and the location is a compound transformation Example Consider a transformation start with the following components 125 250 50 135 50 75 The following function references will then yield the indicated values DX start Returns 125 00 DY start Returns 250 00 DZ start Returns 50 00 Related Keywords DECOMPOSE program instruction RX transformation function RY transformation function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 197 DX DY DZ real valued function RZ transformation function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 198 ELSE program instruction ELSE program instruction Syntax EL
436. on has no effect on nonrobot systems Details This instruction performs the following actions e Immediately stops robot motion e Stops execution of the robot control program if the robot is attached and no REACTE has been executed to enable program processing of error e Causes PANIC command to appear on the monitor screen Unlike pressing the emergency stop button on the pendant high power is left turned on after a PANIC instruction is processed Related Keywords ABORT monitor command ABORT program instruction ESTOP program instruction ESTOP monitor command PANIC monitor command eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 382 PARAMETER program instruction PARAMETER program instruction Syntax PARAMETER parameter_name value PARAMETER parameter_name index value Function Set the value of a system parameter Usage Considerations If the specified parameter accepts an index qualifier and the index is zero or omitted with or without the brackets a the elements of the parameter array are assigned the value given Parameters parameter_name Name of the parameter whose value is to be modified index For parameters that can be qualified by an index this is an optional real value variable or expression that specifies the specific parameter element of interest see above value Real value variable or expression defining the value to be assigned to the system parameter Details This instru
437. on occurs in which case IGNORE signal_num is automatically performed e A REACT or REACTI instruction is executed that refers to the same signal That is if the signal specified in a REACT instruction is already being monitored by a previous REACT or REACTI instruction the old instruction is canceled when the new REACT instruction is executed eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 410 REACT program instruction Example The instruction below monitors the external input signal identified by the value of the variable test If the desired signal transition occurs as specified by the sign of the value of test program execution branches to program delay as soon as the program priority drops to 0 since no priority is specified in the instruction The program priority is raised to 1 the default value when the subroutine is invoked the program priority returns to 0 when the program returns REACT test delay Related Keywords IGNORE program instruction LOCK program instruction PRIORITY real valued function REACTE program instruction REACTI program instruction SIG INS real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 411 REACTE program instruction REACTE program instruction Syntax REACTE program_name Function Initiate the monitoring of errors that occur during execution of the current program task Usage Considerations The main purpose for the REACTE instru
438. onds to the second character in the array element following that specified by index num_chars Real valued expression that specifies the number of characters to be returned by the function This value can range from 0 to 128 Details This function extracts a substring from an array of strings Substrings are permitted to overlap two string array elements For example a 10 character substring whose first character is the 127th character in element 3 is composed of the last two characters in element 3 followed by the first eight characters of element 4 In order to efficiently access the string array this function assumes that all of the array elements are defined and are 128 characters long For multidimensional arrays only the eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 546 UNPACK string function right most array index is incremented to locate the substring Thus for example element 2 3 is followed by element 2 4 Example The instruction below sets the value of the string variable substring equal to a substring extracted from the string array list The substring is specified as starting in element list 3 However because the first character is to be number 130 the 11 character substring actually consists of the second through 12th characters of list 4 Ssubstring SUNPACK Slist 3 130 11 Related Keywords MID string function PACK program instruction eV Language Reference Guide v2
439. one program task is controlling the robot at any given time Robot not calibrated 605 Explanation An attempt has been made to execute a robot control program when the robot is not calibrated No motion is allowed until the robot is calibrated User action If you want to use the robot issue a CALIBRATE command or have your program execute a CALIBRATE instruction Or enable the DRY RUN switch to allow program execution without using the robot Robot overheated 606 Explanation 1 Robot joint 1 has been moved into the hardware brake track area which causes high power to be turned off and prevents the robot from moving 2 The robot base has become overheated User action 1 Push the brake release button at the robot base and move the joints back into the normal working range Turn on high power and continue program execution 2 Check the fan filter on the robot base and check the ambient temperature of the robot Allow the robot to cool down turn on high power and continue program execution Robot power off 604 Explanation The requested operation cannot be performed because HIGH POWER is off User action Enable power and retry the operation Robot power off requested 906 Explanation HIGH POWER has been turned off because of a program or user request such as issuing a DISABLE POWER command User action None required Robot power on 627 Explanation An attempt has been made to perform an a
440. op continuously IF SIG 1023 THEN If input signal 1023 becomes set BRAKE stop the motion immediately EXIT jand continue elsewhere END UNTIL STATE 2 2 7 until location reached MOVES step 2 7 Move to next location Related Keyword BREAK program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 96 BREAK program instruction BREAK program instruction Syntax BREAK Function Suspend program execution until the current motion completes Usage Considerations The BREAK instruction is only used to wait for motion by the robot attached to the current task If the eV system is not configured to control a robot executing the BREAK instruction will cause an error Details This instruction has two effects 1 Program execution is suspended until the robot reaches its current destination NOTE BREAK cannot be used to have one task wait until a motion is completed by another task 2 The continuous path transition between the current motion and that commanded by the next motion instruction is broken That is the two motions are prevented from being merged into a single continuous path The BREAK instruction causes continuous path processing to terminate by blocking eV program execution until the motion ends CPOFF causes the trajectory generator to terminate continuous path without affecting the forward processing of the eV program Related Keywords BRAKE program instruction CP system swi
441. operations which are not generally performed by eV programs no special purpose eV program instructions exist for performing these operations Any error in the specification of this instruction such as attempting to access an invalid unit will cause a program error and will halt program execution However errors associated with performing the actual operations such as device not ready do not halt program execution since these errors can occur in the normal operation of a program These normal errors can eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 222 FCMND program instruction be detected by using the IOSTAT function after performing the FCMND In general it is good practice always to test whether each FCMND operation completed successfully using IOSTAT File Command Codes With the exception of the CLOSE command a file cannot be open on the logical unit when the FCMND is executed 14 15 Rename a file The out_string parameter must contain the new name of the file including any required disk unit and directory path specification The in_string variable must contain the old file name Compress the disk This com mand is invalid for local disks Format the disk The out_string parameter must contain the name of the disk unit to format followed by any required qualifiers The data contained in out_string must be identical to that of the argument list of a FORMAT monitor command On completion the in_st
442. or a discussion of robot motion processing Parameters signal_num Real valued expression representing the signal to be monitored The signal number must be in the range 1001 to 1012 external input signals or 2001 to 2008 internal software signals The software signals can thus be used by one program task to interrupt another task If the signal number is positive eV looks for a transition from off to on if signal_num is negative eV looks for a transition from on to off program Name of the subroutine that is to be called when the signal eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 409 REACT program instruction transitions properly priority Optional real valued expression that indicates the relative importance of this reaction as explained below The value of this expression is interpreted as an integer value and can range from 1 to 127 See the LOCK instruction for additional details on priority values The default value is 1 Details When the specified signal transition is detected eV reacts by checking the priority specified with the REACT instruction against the program priority setting at that time The program priority is always set to 0 when execution begins It can be changed with the LOCK instruction If the REACT priority is greater than the program priority the normal program execution sequence is interrupted and the equivalent of a CALL program instruction is executed Also the program prio
443. ords AND operator BOR operator BXOR operator eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 77 BASE program instruction BASE program instruction Syntax BASE X_ shift Y_shift Z_shift Z_rotation Function Translate and rotate the World reference frame relative to the robot Usage Considerations The BASE program instruction causes a BREAK in continuous path motion The BASE monitor command applies to the robot selected by the eV monitor with the SELECT command The command can be used while programs are executing However an error will result if the robot is attached by any executing program The BASE instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task The instruction applies to the robot selected by the task If the eV system is not configured to control a robot use of the BASE command or instruction will cause an error Parameters X_shift Optional real valued expression describing the X component in the normal World coordinate system of the origin point for the new coordinate system Zero is assumed if no value is provided Y_shift Similar to X_shift but for the Y direction Z_shift Similar to X_shift but for the Z direction Z_rotation Similar to X_shift but for a rotation about the Z axis Details When the eV system is initialized the origin of the reference frame of the robot is assumed to be fixed in space
444. ormal speed even if the program speed was set by a SPEED program instruction that specified a speed setting See the SPEED program instruction Example The following program segment makes one motion at 1 2 of the permanent program speed new speed SPEED 2 2 Compute 1 2 the permanent speed SPEED new speed Move at the new speed next time MOVE pick up Perform the actual motion Note that the following instruction sequence is equivalent SPEED SPEED 2 2 Reduce speed for the next motion MOVE pick up Perform the actual motion Related Keywords ACCEL real valued function DURATION real valued function SELECT program instruction SELECT real valued function SPEED monitor command SPEED program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 489 SQR real valued function SQR real valued function Syntax SQR value Function Return the square of the parameter Parameter value Real valued expression whose value is to be squared Details This is a convenience function that computes the square of a value That is the result is equal to value value Examples SOR 0 123 Returns 0 015129 SOR 4 Returns 16 SOR 5 462 7 Returns 29 83344 SOR 1 3125E 2 Returns 17226 56 NOTE TYPE PROMPT and similar instructions output the results of the above examples as single precision values However they are actually stored and manipulated as double precision values The LISTR monitor command
445. ory you can restart eV temporarily by pressing Ctrl G The robot servos do not function but you can STORE the programs Then power down the controller and restart the system Fatal Stk Overflow at aaaaaa m n None Explanation A storage stack within eV has overflowed If n is 1 the error indicates that the eV monitor has encountered an expression that has parentheses nested too deeply Any of the following values for n indicates that the program task shown has attempted to evaluate an expression that is too complex to fit in the stack for that task The value is a hexadecimal number where Hi monitor task and HD task 0 HE task 1 H27 task 26 and H28 task 27 User action If then value is one of those listed above reduce the complexity of the offending expression If the value is not one of those listed an internal problem with eV is indicated In that case it would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error message and what you were doing at the time the error occurred To save programs that are in memory you can restart eV temporarily by pressing Ctrl G The robot servos do not function but you can STORE the programs Then power down the controller and restart the system Fatal System clock dead None Explanation During initial startup eV has failed to detect proper operation of the system clock and timer hardware e
446. ot use of the PLATCH function does not generate an error because of the absence of a robot However the information returned by the function may not be meaningful Parameter select Optional integer expression or real variable specifying 0 Robot position latch of currently selected robot default n Robot position latch of robot n Details PLATCH returns a precision point value that represents the location of the robot when the last trigger occurred The LATCHED real valued function should be used to determine when an external trigger has occurred and a valid location has been recorded Operation of the external trigger can be configured from the V System Configuration Editor in the Adept ACE software For details see the Adept ACE User s Guide Related Keywords LATCH transformation function LATCHED real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 396 POS real valued function POS real valued function Syntax POS search_string sub_string start Function Return the starting character position of a substring in a string Parameters search_string String expression to be searched for the occurrence of a substring sub_string String expression containing the substring to be searched for within the search string start Optional expression indicating the character position within the search string where searching is to begin Details Returns the character position in s
447. ot provide a date value The time substring is 00 00 00 if you do not specify a time value The following expressions can be used to return only the date and the time respectively date SMID S TIME4 date 1 11 Stime SMID STIME4 time 13 8 Related Keywords TIME monitor command TIME program instruction TIME real valued function TIME string function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 528 TIMER program instruction TIMER program instruction Syntax TIMER timer_number time_value Function Set the specified system timer to the given time value Usage Considerations Times measured by eV are precise only to within 1 millisecond 0 001 seconds shorter times cannot be measured Timers with numbers lt 0 are read only and cannot be set with this instruction Parameters timer_number Real valued expression interpreted as the integer number of the timer to be set The value must range from 1 to 15 time_value Real valued expression interpreted as the time in seconds to which the timer is set This parameter may specify fractions of a second and may be negative Details When used as described in the examples below the timers can be used to measure an interval of 596 hours from when they were set by the TIMER instruction Timers have a resolution of one millisecond and a maximum count of gt 2 E 009 Use the TIMER real valued function to read the instantaneous value of a syst
448. otion Temporary motion duration to be used for the next motion eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 191 DURATION real valued function Related Keywords CONFIG real valued function DURATION program instruction SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 192 DX DY DZ real valued function DX DY DZ real valued function Syntax DX location DY location DZ location Function Return a displacement component of a given transformation value Parameter location Transformation value from which a component is desired This can be a function a variable or a compound transformation Details These three functions return the respective displacement components of the specified transformation value NOTE The DECOMPOSE instruction can also be used to obtain the displacement components of a transformation value If the rotation components are desired that instruction must be used DECOMPOSE is more efficient if more than one element is needed and the location is a compound transformation Example Consider a transformation start with the following components 125 250 50 135 50 75 The following function references will then yield the indicated values DX start Returns 125 00 DY start Returns 250 00 DZ start Returns 50 00 Related Keywords DECOMPOSE program instruction RX transformation function
449. our command again If the problem persists contact Adept Customer Service I O queue full 517 Explanation Too many I O requests have been issued to a device too quickly and there is no more room to queue them User action Retry the operation If the problem persists it would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error message and exactly what you were doing at the time the error occurred Is a directory 568 Explanation The caller specified a directory in a nondirectory operation User action Specifying a file that is not a directory repeat the operation or perform the correct directory operation Joint control of robot not possible 937 Explanation An attempt has been made to perform joint control of a robot for which it is not allowed like the Adept Quattro robot User action Select a different mode of control For example on the pendant you can use WORLD or TOOL mode Kinematic solution not found 936 Explanation While evaluating the kinematic solution the current joint angles of the Adept Quattro robot do not form a consistent set User action Modify the specified destination location e g if a precision point is specified Press the Brake Release button and manually move the robot to a different location If the problem persists contact Adept Customer Service for assistance Line too long 354 Explanation A
450. paces to be suppressed This is useful when a value is displayed within a line of text or at the end of a line En m Format values in scientific notation for example 1 234E 02 in fields n spaces wide with m digits in the fractional parts If n is not zero it must be large enough to include space for a minus sign if the displayed value is negative one digit to the left of the decimal point a decimal point if m is not zero m digits and four eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 202 Fn m Gn m Hn In On ENCODE string function or five characters for the exponent Format values in fixed point notation for example 123 4 in fields n spaces wide with m digits in the fractional parts Format values in F format with m digits in the fractional parts if that can be done in fields n spaces wide Otherwise En m format is used Format values as hexadecimal integers in fields n spaces wide Format values as decimal integers in fields n spaces wide Format values as octal integers in fields n spaces wide The following specifiers can be used to insert special characters in the string Cn Include the characters carriage return CR and line feed LF n times If the string resulting from the ENCODE function is output to the terminal this results in n blank lines if the control specifier is at the beginning or end of the function parameter list otherwise n 1 blank lines result
451. packets 2 Too many drives are being mounted 3 Too many calls were made simultaneously from separate tasks to a nonfunctional server 4 Too many node names are being defined 5 An incoming IP packet was fragmented into too many pieces and eV was unable to reassemble it This is a highly unlikely occurrence User action Correct the problem generating the error Output record too long 529 Explanation A TYPE PROMPT or WRITE instruction has attempted to output a line that is too long The maximum line length is 512 characters eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 627 System Messages Alphabetical List User action Change the program to output less information from each instruction Remember that you can concatenate the output from separate instructions by using S to suppress the carriage return and line feed normally done at the end of each TYPE output Overtravel Mtr n 1034 Explanation The indicated motor has moved beyond the hardware limited range of motion User action Manually move the robot back into range and re enable power Check the the overtravel switch and its wiring Use the CONFIG_C utility to adjust the soft limits for the robot so they are inside hard limits PANIC command 633 Explanation You have entered a eV PANIC monitor command or a program has executed a PANIC program instruction which has stopped the current robot motion High power is still enabled User
452. pe The value should be 0 if there is only one device of the given type Optional real variable that receives a standard system error number which indicates if this function succeeded or failed If this parameter is omitted any device error stops program execution If error is specified the program must check it to detect errors Optional real values that are sent to the device as part of the request The number of values specified and the meanings of the values depend upon the particular device type eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 172 DEVICE real valued function Details DEVICE is a general purpose function for returning data and status information from external devices For details and examples see the supplementary documentation for specific devices For information on use of the DEVICE function to access external encoders see the section External Encoder Device in the eV Language User s Guide For systems equipped with AdeptSight the DEVICE instruction is used to configure vision system memory allocation and frame buffer configuration Related Keywords DEVICE program instruction DEVICES program instruction SETDEVICE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 173 DEVICES program instruction DEVICES program instruction Syntax DEVICES type unit error p1 p2 out in Function Send acommandor data to an external device and optionally re
453. pected PSS state Code nnn 1110 Explanation The software has detected an unexpected change in the power sequencing control hardware The code value indicates what state has been encountered This error should never be seen and may indicate a software or hardware problem on either the AWC or CIP User action If safe to do so attempt to enable HIGH POWER and note any different error messages which occur If this error persists contact Adept Customer Service eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 649 System Messages Alphabetical List Unexpected text at end of line 451 Explanation The previous command or instruction cannot be recognized by eV possibly because of a mistyped function name or because an argument was specified where none is allowed User action Reenter the line correcting the syntax error Unexpected zero index Belt n 1012 Explanation A zero index signal was received from the encoder for this motor belt at an unexpected time The encoder may be gaining or losing counts there may be a hardware problem with the zero index signal or the Counts per zero index configuration parameter may be set incorrectly User action Continue to use the system Contact Adept Customer Service if this error occurs repeatedly Unexpected zero index Mtr n 1005 Explanation A zero index signal was received from the encoder for this motor at an unexpected time The encoder may be gaining or
454. peration to complete unless there is a N format specifier in the format list Parameters lun Real valued expression that identifies the device to be accessed See the ATTACH instruction for a description of unit numbers record_num Optional real valued expression that represents the number of the record to be written This should be 0 the default value to write the next sequential record If the value is not zero the record is written in random access mode which requires that the records all have the same length In random access mode records are numbered from one to a maximum of 16 777 216 When accessing the TCP device with a server program this parameter is an optional real value variable or expression interpreted as an integer that defines the client handle For more information refer to documentation for the READ instruction format_list Consists of a list of output variables string expressions and format specifiers used to create the output record The format list is processed exactly like an output specification for the TYPE instruction When accessing the TCP device you can include the N specifier to prevent the eV system from waiting for a write acknowledgment eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 566 WRITE program instruction Details This is a general purpose data output instruction that writes a record to a specified logical unit A record can contain an arbitrary list of charac
455. plate already defined 748 Explanation When defining a new correlation template with the program instruction VTRAIN MODEL the number of an existing template was given User action Delete the existing template if it is no longer needed or use a different number in the VTRAIN MODEL instruction Template of uniform intensity 746 Explanation When defining a correlation template with the VTRAIN MODEL program instruction the area of the image within the given template bounds has uniform intensity Image templates must have some variation in brightness That is there must be some features in the template to correlate with later User action Check the position of the template in the image and make sure it is in the desired place Also view the grayscale image in the current frame to make sure it is valid For example maybe a strobe light did not fire or the lens cap is still on the camera Template not defined 747 Explanation The correlation template referenced in a VCORRELATE VDELETE VSHOW MODEL or VSTORE operation does not exist User action Verify the correlation number supplied to the operation Use the Models pull down menu in the vision window or the VSHOW MODEL program instruction to get a list of the templates currently defined in the vision system Time out enabling amplifier Mtr n 1009 Explanation The power amplifier for the indicated motor has signaled a fault condition A momentary power f
456. pletes a motion segment Parameter robot_ Optional real value variable or expression interpreted as an integer num that indicates the number of the robot affected If the index is omitted or zero in an ENABLE or DISABLE command or instruction the settings for all robots are altered Otherwise only the setting for the specified robot is affected Details The DELAY IN TOL system switch is disabled by default for all robot device modules except the Delta robot device module If the switch is disabled COARSE or FINE nulling completes whenever eV has completed a motion segment and the robot is tracking the trajectory to within the coarse or fine tolerance The actual robot location might not be within the tolerance of the endpoint If the switch is enabled COARSE or FINE nulling completes whenever eV has completed a motion segment and the actual robot location is within the specified coarse or fine tolerance of the endpointof that motion segment Usage Considerations For many applications enabling this switch produces the best nulling behavior However the switch should be disabled for backward compatibility with previous eV systems Related Keywords COARSE program instruction FINE program instruction NULL program instruction NONULL program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 160 DELAY POWER OFF system switch DELAY POWER OFF system switch Syntax DELAY POWER OFF Function
457. plicitly attach the robot Any task can attach to any robot provided that the robot is not already attached by a different task The robot that is attached by an ATTACH instruction is the one that was last specified by a SELECT instruction executed by the current task see the SELECT instruction If no SELECT instruction has been executed then robot 1 is attached The SELECT instruction can be used to select a different robot only if no robot is currently attached to the task To successfully attach the robot the system must be in COMP mode Otherwise for mode bit 1 0 program execution is suspended without notice until the system is placed in COMP mode This situation can be avoided in two ways 1 use the STATE function to determine if the system is in COMP mode before executing an ATTACH instruction 2 set bit 1 in the mode value and use the IOSTAT function to determine the success of the ATTACH instruction When the system terminal logical unit 4 is attached all keyboard input will be buffered for input requests by the program NOTE When the system terminal is attached a user is not able to type ABORT to terminate program execution The program must provide a means for fielding a termination request or you must use the pendant or emergency stop switch to stop program execution When a DISK device is attached it allows a program to read and write data from and to files DISK refers to the Secure Digital SD card One of
458. program instruction READ program instruction WRITE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 304 IPS keyword IPS keyword Syntax SPEED value IPS ALWAYS Function Specify the units for a SPEED instruction as inches per second NOTE To specify speed in millimeters per second use the MMPS conversion factor Usage Considerations IPS can be used only as a parameter for a SPEED program instruction The speed setting specified is scaled by the monitor speed in effect when the robot motion occurs Speeds specified with the IPS parameter apply to straight line motions Joint interpolated motions do not maintain the specified tool speed Details IPS is an optional parameter for the SPEED program instruction which specifies the units to be used for the speed value That is when IPS is specified in a SPEED instruction the speed value is interpreted as inches second for straight line motions See the description of the SPEED program instruction for further details on setting motion speeds with the IPS conversion factor Example Set the robot tool tip speed to 20 inches second for the next straight line robot motion assuming the monitor speed is set to 100 SPEED 20 IPS Related Keywords MMPS keyword SPEED program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 305 JHERE program instruction JHERE program instruction Syntax JHERE variable1 v
459. program into a wait loop for one system cycle If a condition is specified wait until the condition is TRUE WAIT EVENT PI Suspend program execution until a specified event has occurred or until a specified amount of time has elapsed WHILE Initiate processing of a WHILE structure if the condition is TRUE or skipping of the WHILE structure if the condition is initially FALSE WINDOW PI Set the boundaries of the operating region of the specified belt variable for conveyor tracking WINDOW RF Return a value that indicates where the location described by the belt relative transformation value is relative to the predefined boundaries of the working range on a moving conveyor belt WRITE PI Write a record to an open file or to any I O device For a network device write a string to an attached and open TCP connection xo o Perform the logical exclusive OR operation on two values eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 39 Keyword Descriptions Keyword Descriptions The following topics are described in this chapter Descriptions of eV Keywords 00 0 2 02 occ cee cece eee cece e ees Documentation Conventions for Keywords 222 2022 eee cece eee eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 41 Descriptions of eV Keywords Descriptions of eV Keywords This chapter details the keywords in the eV programming language The functional groups of programming
460. ptSight Reference Guide VPARAMETER PI Sets the current value of a vision tool parameter For details see the AdeptSight Reference Guide Can also be used with the Adept AnyFeeder For details see the Adept AnyFeeder User s Guide VPARAMETER RF Gets the current value of a vision tool parameter For details see the AdeptSight Reference Guide VRESULT RF Returns a specified result of a vision tool or returns the status of a specified tool For details see the AdeptSight Reference Guide VRUN PI Initiates the execution of a vision sequence For details see the AdeptSight Reference Guide Can also be used with the Adept AnyFeeder For details see the Adept AnyFeeder User s Guide VSTATE RF Returns the state of the execution of a sequence For details see the AdeptSight Reference Guide Can also be used with the Adept AnyFeeder For details see the Adept AnyFeeder User s Guide VTIMEOUT Sets a timeout value so that an error message is returned if no eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 38 eV Language Quick Reference kerwort pe aware response is received following a vision command For details see the AdeptSight Reference Guide VWAITI PI Waits efficiently until the specified vision sequence reaches the state specified by the type parameter For details see the AdeptSight Reference Guide Can also be used with the Adept AnyFeeder For details see the Adept AnyFeeder User s Guide WAIT Put the
461. r which either halts program execution or triggers the REACTE routine Regardless of the setting of this bit window errors that occur while the robot is actually tracking the belt cause the program specified in the latest WINDOW instruction to be executed If no such program has been specified program execution is halted Set the parameter to have bits 1 and 3 set to one mask values 1 4 PARAMETER BELT MODE 5 Related Keywords BELT system switch BELT real valued function BSTATUS real valued function PARAMETER monitor command PARAMETER program instruction PARAMETER real valued function WINDOW program instruction WINDOW real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 88 BITS program instruction BITS program instruction Syntax BITS first_sig num_sigs value Function Set or clear a group of digital signals based on a value Usage Considerations Both external digital output signals and internal software signals can be referenced Input signals must not be referenced Input signals are displayed by the monitor command IO 1 No more than 32 signals can be set at one time Any group of up to 32 signals can be set provided that all the signals in the group are configured for use by the system Parameters first_sig Real valued expression defining the lowest numbered signal to be affected num_sigs Optional real valued expression specifying the number of signals to
462. r action Avoid reenabling the function or operation Graphics processor timeout 552 Explanation The graphics processor on the system processor failed to respond toa command from eV within five seconds User action Save all your programs and variables on disk and then reboot the system from disk Contact Adept Customer Service if the problem repeats eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 604 System Messages Alphabetical List Graphics software checksum error 558 Explanation The code on the graphics board has been corrupted User action Save new or modified programs restart the controller and reload the programs If the problem persists contact Adept customer service Graphics storage area format error 555 Explanation During execution of a FREE command eV has detected that the information in graphic memory may have been corrupted This may have been caused by a momentary hardware failure or a software error User action Attempt to save as much as possible onto disk Issue ZERO 1 and ZERO 2 monitor commands to delete graphics data If the error persists power down the controller and restart the system HALTED 8 Explanation A HALT instruction has been executed and thus execution of the current program has terminated User action Any monitor command can be entered but PROCEED cannot be used to resume program execution Hard envelope error Mtr n 1027 Explanati
463. r occurs repeatedly contact Adept Customer Service Belt window violation 616 Explanation Either a robot motion has been planned that moves the robot outside of the belt window or the robot has moved outside of the belt window while tracking the belt User action Modify the program so that the robot does not move outside the belt window Consult the BELT MODE parameter and the WINDOW instruction for different ways to define the belt window Branch to undefined label Step nnn 412 Explanation A program instruction references a program label that is not defined in the program Either the label is missing or was mistyped when defined or in the reference User action Check the label definition and reference Breakpoint at task program_name step n 17 Explanation A breakpoint was encountered before the indicated step Any output associated with the breakpoint is displayed after the message shown above User action Enter a PROCEED Ctrl P RETRY SSTEP Ctrl Z or XSTEP Ctrl X command to resume program execution Otherwise enter any other monitor command Breakpoint not allowed here 380 Explanation An attempt has been made to set a breakpoint before the first executable statement of a program eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 582 System Messages Alphabetical List User action Enter anew BPT command specifying a step after the first executable statement That is after the
464. r serial communication lines Local 3 or Local 4 Examples e Take over control of the robot ATTACH e Connect to global serial line 1 wait for it to become available if another task has it attached return the assigned logical unit number in lun ATTACH lun 4 serial 1 e The next instruction is similar to the previous one but this one requires use of the IOSTAT function to determine if another task has the serial line attached ATTACH lun 5 serial 1 e Attach to the TCP device driver with automatic allocation of a logical unit number ATTACH lun 4 TCP Related Keywords DETACH program instruction FSET program instruction IOSTAT real valued function SELECT program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 70 AUTO program instruction AUTO program instruction Syntax AUTO type variable variable Function Declare temporary variables that are automatically created on the program stack when the program is entered Usage Considerations AUTOmatic variables have an undetermined value when a program is first entered but they are not necessarily undefined and they have no value after the program exits AUTO statements must appear before any executable instruction in the program only the PROGRAM statement comments blank lines GLOBAL and LOCAL statements and other AUTO statements may precede this instruction If a variable is listed in an AUTO statement a
465. ram instruction Parameters mode A real expression that indicates what part of calibration is to be performed Value of mode 0 Interpretation Perform a normal calibration of all the robots controlled by the system In detail the following operations are performed a Load the main calibration program if it is not already in memory b Execute the main calibration program with the load execute and delete flags set That causes the robot specific calibration routines to be loaded the robots to be calibrated and the robot routines to be deleted Note that the main calibration program is left in memory Load the main calibration program if it is not already in memory and execute the main calibration program with the load flag set That causes the calibration program to load the applicable robot specific calibration routines Note however that the calibration process is not performed Execute the main calibration program which must already be in memory with the execute flag set That causes the system robot s to be calibrated and all the calibration programs to be left in memory Execute the main calibration program which must already be in memory with the delete flag set That causes the calibration program to delete the robot specific calibration routines from memory Note however that the actual calibration process is not performed and the main calibration program is left in memory status Re
466. rameter by the given shift amounts SIG Returns the logical AND of the states of the indicated digital signals SIG INS Return an indication of whether a digital I O signal is installed in the system or whether a software signal is available in the system SIGN Return the value 1 with the sign of the value parameter SIGNAL Turn on or off external digital output signals or internal software signals SIN Return the trigonometric sine of a given angle SINGLE SOLVE ANGLES PI SOLVE FLAGS RF SOLVE TRANS SPEED SPEED SQRT STATE STATUS STOP STRDIF Limit rotations of the robot wrist joint to the range 180 degrees to 180 degrees Compute the robot joint positions for the current robot that are equivalent to a specified transformation Return bit flags representing the robot configuration specified by an array of joint positions Compute the transformation equivalent to a given set of joint positions for the current robot Set the nominal speed for subsequent robot motions Return one of the system motion speed factors Return the square of the parameter Return the square root of the parameter Return a value that provides information about the robot system state Return status information for an application program Terminate execution of the current program cycle Compare two strings byte by byte for the purpose of sorting This function always compares bytes exactly It ignores the setting of the
467. range was specified within a command or instruction User action Edit the program to use a legal value Illegal when command program active 419 Explanation A command program is active and an attempt has been made to execute a command that interferes with operation of the command program For example processing a ZERO command causes the command program to be deleted from the system memory User action Edit the command program and delete the command causing the error Illegal when network enabled 543 Explanation An attempt has been made to perform certain network functions that require that the network be disabled but the network is enabled User action Disable the network and retry the operation Tllegal while joints SPIN ing 637 Explanation An attempt has been made to execute a regular motion instruction while a SPIN trajectory is being executed User action Stop the SPIN trajectory with a SPIN or BRAKE instruction before executing a regular motion instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 609 System Messages Alphabetical List Tllegal while protocol active 548 Explanation This message indicates that you tried to enter passthru mode or did something unexpected on the serial line configured for use with Kermit while a file was being processed User action Make sure there is no file being accessed by Kermit and retry the failed operation Incompatible saf
468. ration settings For a given motion the maximum attainable acceleration may actually be less than what you have requested This occurs when a profile with a nonzero acceleration ramp time is used and there is insufficient time to ramp up to the maximum acceleration That is for a given jerk a specific time must elapse before the acceleration can be changed from zero to the specified maximum value If the maximum acceleration cannot be achieved the trapezoidal profile is reduced to a triangular shape This occurs under two circumstances 1 The motion is too short In this case the change in position is achieved before the maximum acceleration can be achieved 2 The maximum motion speed is too low In this case the maximum speed is achieved before the maximum acceleration In both of these situations raising the maximum acceleration and deceleration values does not affect the time for the motion Hint If you increase the maximum acceleration and deceleration values but the motion time does not change try the following increase the program speed switch to an acceleration profile that allows faster acceleration ramp times or switch to acceleration profile 0 which specifies a square wave acceleration profile eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 50 ACCEL program instruction NOTE This type of acceleration limiting cannot occur with acceleration profile 0 because a square wave acceleration instantaneously cha
469. rds ANY program instruction END program instruction VALUE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 117 CHR string function CHR string function Syntax CHR value Function Return a one character string corresponding to a given ASCII value Parameter value Real valued expression defining the value to be translated into a character The value must be in the range of 0 to 255 decimal If the value is in the range 0 to 127 decimal the corresponding ASCII character will be returned Example SCHR 65 Returns the character A since its ASCII value is 65 Related Keywords ASC real valued function DBLB string function FLTB string function INTB string function LNGB string function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 118 CLEAR EVENT program instruction CLEAR EVENT program instruction Syntax CLEAR EVENT task flag Function Clear an event associated with the specified task Parameters task Optional real value variable or expression interpreted as an integer that specifies the task for which the event is to be cleared The valid range is 0 to 6 or 0 to 27 inclusive If this parameter is omitted the number of the current task is used NOTE The basic system allows 7 tasks 0 6 The eV Extensions option allows 28 tasks 0 27 flag Not used defaults to 1 Details This instruction clears the event associated with the sp
470. real valued function Syntax SPEED select Function Return one of the system motion speed factors Usage Considerations The SPEED function returns information for the robot selected by the task executing the function If the eV system is not configured to control a robot use of the SPEED function does not generate an error because of the absence of a robot However the information returned by the function may not be meaningful Parameter select Real valued expression whose value determines which speed factor should be returned see below Details This function returns the system motion speed factor corresponding to the select parameter value The acceptable parameter values and the corresponding speed values returned are Speed value returned Monitor speed set by SPEED monitor command Permanent program speed set by a SPEED ALWAYS program instruction Temporary program speed for the last or current motion Temporary program speed to be used for the next motion Permanent program rotation speed Temporary program rotation speed for the last or current straight line motion eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 488 SPEED real valued function Select Speed value returned Temporary program rotation speed to be used for the next straight line motion oe The maximum allowable setting for program speed Note that the value returned should be interpreted as a percentage of n
471. rection and has been rotated 30 degrees about the Z axis BASE 100 50 Redefines the World reference frame to effectively shift all locations 100 millimeters in the negative X direction and 50 millimeters in the positive Z direction from their nominal location Note that the arguments for this instruction describe movement of the robot reference frame relative to the robot and thus have an opposite effect on locations relative to the robot Related Keywords BASE transformation function SELECT monitor command SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 79 BASE transformation function BASE transformation function Syntax BASE Function Return the transformation value that represents the translation and rotation set by the last BASE command or instruction Usage Considerations The BASE function returns information for the robot selected by the task executing the function The command LISTL BASE can be used to display the current base setting If the eV system is not configured to control a robot use of the BASE function will not generate an error due to the absence of a robot However the information returned by the function may not be meaningful Related Keywords BASE monitor command BASE program instruction SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 80 BCD re
472. red The special character Ctrl Z 26 decimal indicates the logical end of the file which is reported as an error by the IOSTAT function No input characters can be read beyond that point READ operations from the terminal the pendant and the serial lines are always assumed to be in variable length record mode Except as noted below the records are terminated by CR and LF which are not returned as part of the record Thus a READ from these devices is not complete until a CR and LF are received as input For example if you perform a READ from the terminal you receive all the characters until the RETURN key is pressed NOTE When a CR is received from the system terminal eV automatically adds a LF Similarly the pendant s DONE key is interpreted as CR and LF The GETC real valued function can be used instead of the READ instruction if you want to receive the CR and LF characters at the end of a record When a READ instruction accesses a serial line configured to use DDCMP the record may contain arbitrary data including CR and LF characters If bit 1 is set in the mode value a read operation that is not complete does not cause the program to wait but returns immediately with the error No data received error code eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 417 READ program instruction 526 Then additional READ instructions must be executed until one is complete in order to obtain the data in the varia
473. red Os operating system eV eV interpreter or trajectory generator Vi vision software Sv servo software User action Report to Adept Application Engineering the error and information about any possible contributing circumstances You can continue to use the system but you should keep in mind the possibility of a problem with the hardware Software incompatible Code n 1026 Explanation The servo code has detected an incompatibility between the servo code and calibration software eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 642 System Messages Alphabetical List User action Make sure that you are using the calibration software in the CALIB directory that you received with the eV system you are using If you are using the correct software note the code number and call Adept Customer Service Speed pot or STEP not pressed 620 Explanation While the controller was in manual control mode a eV program tried to initiate a robot motion but you failed to press the step button and speed bar on the MCP User action When a eV program is about to initiate robot motions 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 Set the controller to automatic mode SPIN motion not permitted 638 Explanation Either a SPIN instruction has attempted to move a joint that has not been config
474. rformed Those read operations return only records from the disk directory file that match the file name template Any attempt to write to the directory file causes an error For information on the format of directory records see the section Accessing the Disk Directories in the eV Language User s Guide The file name and extension can include wildcard characters asterisks A wildcard character within a file name or extension indicates that any character should be accepted in that position A wildcard character at the end of a file name or extension indicates that any trailing characters are acceptable A wildcard character in place of a file name or extension indicates that any name or extension is acceptable Omission of the file name the period and the file extension is equivalent to specifying Omission of the period and file extension is equivalent to specifying a wildcard extension FOPENR Opens a file for read only access If the file does not already exist an error occurs Any attempt to write to the file causes an error FOPENW Opens a file for read write access If the file already exists an error occurs Any error in the specification of this instruction such as attempting to access an invalid unit will cause a program error and will halt program execution However errors associated with performing the actual operations such as device not ready do not halt program execution since these errors can occur in th
475. ring Please include the details of the error message and exactly what you were doing at the time the error occurred Illegal I O device command 502 Explanation A command to an I O device was rejected by that device Certain devices do not accept all commands For example random access I O is illegal to the terminal or to the Kermit device the GETC function cannot read from a disk file opened for random access This error may also indicate a hardware problem with the device controller User action Correct the I O command as required to suit the device If you continue to have difficulty contact Adept Application Engineering for assistance Illegal I O redirection specified 525 Explanation An unacceptable I O redirection has been specified in a DEFAULT monitor command a disk I O monitor command LOAD or STORE_ or in an ATTACH instruction Either there is a syntax error or the requested redirection is not allowed for your I O configuration User action Check the syntax of the offending statement Make sure that the requested redirection device is allowed on your I O configuration Illegal joint number 609 Explanation A joint number has been specified out of the allowed range User action Correct the joint number eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 607 System Messages Alphabetical List Illegal memory reference 418 Explanation An operation has attempted to reference an inval
476. ring variable will contain text indicating how many bad blocks were located CAUTION Formatting a disk erases all the information on the disk Create a subdirectory The out_string parameter must contain the specification of the subdirectory including an optional unit name if the current default disk unit is not to be accessed Refer to the eV Operating System User s Guide for a description of subdirectory specifications NOTE Only the final subdirectory in the specified directory path is created by this operation That is all the intermediate subdirectories must already exist and they are not created Delete a subdirectory The out_string parameter must contain the specification of the subdirectory including an optional unit name if the current default disk unit is not to be accessed Refer to the eV Operating System User s Guide for a description of subdirectory specifications NOTE Only the final subdirectory in the specified directory path is deleted by this operation That is all the intermediate subdirectories must already exist and they are not deleted eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 223 19 20 21 FCMND program instruction Assert the creation date time for the file currently open on the specified logical unit This command can be issued at any time a disk file is opened Once asserted when the file is closed the file s creation date and time are set equal to the specified va
477. rings contain all the characters up to but not including the terminating CR and LF which are discarded Any error in the specification of this instruction such as attempting to read from an invalid unit causes a program error and halts program execution However errors associated with performing the actual read operation such as end of file or device not ready do not halt program execution since these errors may occur in the normal operation of a program These normal errors can be detected by using the IOSTAT function after performing the read In general it is good practice always to test whether each read operation completed successfully by testing the value from IOSTAT When accessing a network device the record_num parameter allows a server to communicate with multiple clients on a single logical unit In this context the parameter provides ahandle number that you can use to identify the client from which the READ data was received Handles are allocated when a client connects to the server and are deallocated when the client disconnects In order to determine when the client connection or disconnection is done you must use the IOSTAT real valued function after the READ Refer to the documentation for IOSTAT The READ instruction with TCP IP reads data until either the input string is full or the buffer is empty at which point the instruction returns READ with TCP IP does not allow fixed length records and does not terminate when e
478. rity is temporarily raised to the REACT priority locking out any reactions of equal or lower importance When a RETURN instruction is executed in a reaction subroutine the program priority is restored to the value it had before the reaction program was invoked If the REACT priority is less than or equal to the program priority when the signal transition is detected the reaction is queued and does not occur until the program priority is lowered Therefore depending upon the relative priorities there can be a considerable delay between the time a signal transition is noticed by eV and the time the reaction program is actually invoked If multiple reactions are pending because of a priority lockout the reaction with the highest priority is serviced first when the locking priority is lowered If multiple pending reactions have the same priority the one associated with the highest signal number is processed first The subroutine call to program is performed such that when a RETURN instruction is encountered the next instruction to be executed is the one that follows the last instruction processed before the reaction program was initiated If there is a sequence of instructions that you do not want interrupted by a reaction program you should use the LOCK instruction to raise the program priority during that sequence The signal monitoring continues until one of the following occurs e An IGNORE instruction is executed for the signal e Areacti
479. robot_num Function Enable or disable the scaling of acceleration and deceleration as a function of program speed as long as the program speed is below a preset threshold Parameter robot_num Optional real value variable or expression interpreted as an integer that indicates the number of the robot affected If the index is omitted or zero in an ENABLE or DISABLE command or instruction the settings for all robots are altered Otherwise only the setting for the specified robot is affected Details This switch is enabled when the eV system is initialized If robot_num is omitted or zero in an ENABLE or DISABLE command or instruction the settings for all robots are altered Otherwise only the setting for the specified robot is affected If robot_num is omitted or zero when the switch is accessed with the SWITCH real valued function the setting of the switch for robot 1 is returned When this switch is enabled and the program speed is below the preset threshold value the effective acceleration and deceleration for that robot are calculated as follows effective acceleration program _ speed acceleration setting effective deceleration program_speed deceleration setting where acceleration_setting and deceleration_setting are values set by the ACCEL instruction For example if program speed 50 is specified and the threshold value is 150 the effective acceleration and deceleration are 50 of the current settings If t
480. rogram instruction MOVEC program instruction SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 350 MULTIPLE program instruction MULTIPLE program instruction Syntax MULTIPLE ALWAYS Function Allow full rotations of the robot wrist joints Usage Considerations Only the next robot motion is affected if the ALWAYS parameter is not specified This is the default state of the eV system MULTIPLE ALWAYS is assumed whenever program execution is initiated and when a new execution cycle begins The MULTIPLE instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task The instruction applies to the robot selected by the task If the eV system is not configured to control a robot executing the MULTIPLE instruction causes an error Parameter ALWAYS Optional qualifier that establishes MULTIPLE as the default condition That is if ALWAYS is specified MULTIPLE will remain in effect continuously until disabled by a SINGLE instruction If ALWAYS is not specified the MULTIPLE instruction applies only to the next robot motion Details While MULTIPLE is in effect full rotations of the wrist joints are used as required during motion planning and execution The MULTIPLE setting is ignored if NOOVERLAP is in effect Related Keywords CONFIG real valued function NOOVERLAP program instruction OVERLAP p
481. rogram instruction RESET monitor command RUNSIG program instruction SIG real valued function SIG INS real valued function SIGNAL monitor command eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 470 SIN real valued function SIN real valued function Syntax SIN value Function Return the trigonometric sine of a given angle Usage Considerations The angle parameter must be measured in degrees The parameter is interpreted as modulo 360 degrees but excessively large values may cause a loss of accuracy in the returned value Parameter value Real valued expression that defines the angular value to be considered Details Returns the trigonometric sine of the argument which is assumed to have units of degrees The resulting value is always in the range of 1 0 to 1 0 inclusive Examples SIN 0 123 Returns 2 146753E 03 SIN 5 462 Returns 0 09518556 SIN 30 Returns 5 NOTE TYPE PROMPT and similar instructions output the results of the above examples as single precision values However they are actually stored and manipulated as double precision values The LISTR monitor command displays real values to full precision eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 471 SINGLE program instruction SINGLE program instruction Syntax SINGLE ALWAYS Function Limit rotations of the robot wrist joint to the range 180 degrees to 180 degrees Usage Considerations Only the nex
482. rogram instruction SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 351 MULTIPLE program instruction SINGLE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 352 NETWORK real valued function NETWORK real valued function Syntax NETWORK component code Function Return network status and IP address information Parameters component _ Real valued expression that identifies the component of the network that is of interest 1 TCP 3 FTP code Real valued expression that further identifies the information desired This value is only used for TCP 0 Return status value as described later default 1 Return AD1 256 AD2 2 Return AD3 256 AD4 3 Return NM1 256 NM2 4 Return NM3 256 NM4 11 Return AD1 12 Return AD2 13 Return AD3 14 Return AD4 15 Return NM1 16 Return NM2 17 Return NM3 18 Return NM4 where ADn is the nth byte of the IP address and NMn is the nth byte of the Network Mask Details This function returns one of the following values if status is requested that is if the code argument is omitted or set to 0 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 353 NETWORK real valued function Hardware not present or license not installed Hardware present and license detected eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 354 NEXT progr
483. rogram is invoked locking out all reaction programs e Execution of the program task stops if an error occurs while the system is processing a previous error e There must be room on the user program stack for one more subroutine Therefore eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 412 REACTE program instruction the error Too many subroutine calls cannot be processed See the STACK monitor command The error handling program can contain a RETURN instruction When it is executed the program tries to re execute the instruction that caused the error Note that this may cause an endless loop if the error continues to occur Before the error handling program is entered a DETACH instruction for the robot logical unit number 0 is effectively executed Thus an ATTACH instruction must be executed for the robot before program control of the robot can resume If a STOP HALT or PAUSE instruction is executed within the error handling program the original error message is output unless the error handling program contains a REACTE instruction with no argument Unlike REACT and REACTI execution of the REACTE error handling program is never deferred because of priority considerations Example Initiate monitoring of errors so that the program error trap is executed if any error should occur during execution of the current program task REACTE error trap Related Keywords ERROR real valued function REACT pro
484. rpreted as an integer that selects the value to be returned An error results if select is not one of the following year 1980 512 month 32 day hour 2048 minute 32 second 2 Details This function can be used to encode the date and time into compact unsigned 16 bit integer formats After the integer date and time values are obtained they can be arithmetically compared to other date and time values to determine before and after conditions NOTE You should not try to manipulate the encoded integer values to perform date or time arithmetic For example you should not attempt to add days to an encoded date value If the string parameter is supplied both the date and the time must be specified in the string The value of the string must have one of the following formats dd mmm yy hh mm ss dd mmm yyyy hh mm ss dd mmm yy hh mm dd mmm yyyy hh mm eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 522 TIME real valued function The function returns the value 1 if the input string does not have an acceptable format see the example below The individual date and time elements are defined as follows The day of the month 1 to 31 The month specified as a 3 letter abbreviation JAN FEB MAR APR MAY JUN JUL AUG SEP OCT NOV or DEC The year where 80 to 99 represent 1980 through 1999 respectively and 00 to 79 represent 2000 through 2079 respectively The year 1980 to 2079 The hour of
485. rror message strings with this function The ERROR real valued function must be used to determine the variable portion of the error message for an error code less than or equal to 1000 See System Messages on page 577 for a list of all the eV error messages and their error codes Example The following program segment displays an error message if an I O error occurs READ 5 Sinput IF IOSTAT 5 lt 0 THEN TYPE I O error during read SERROR IOSTAT 5 HALT END Related Keywords ERROR real valued function IOSTAT real valued function REACTE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 211 ESTOP program instruction ESTOP program instruction Syntax ESTOP Function Assert the emergency stop signal to stop the robot Details This instruction immediately asserts the controller emergency stop signal and then proceeds with a normal power down sequence It is functionally identical to pressing the E STOP button on the pendant or Front Panel Related Keywords BRAKE program instruction ESTOP monitor command PANIC monitor command PANIC program instruction STATE real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 212 EXECUTE program instruction EXECUTE program instruction Syntax EXECUTE C task_num program param_list cycles step Function Begin execution of a control program Usage Considerations A program cannot already be acti
486. ruction The bits of the value returned by this function are interpreted as follows Bit 1 LSB RIGHTY mask value 1 If this bit is set the position has the robot in a right arm configuration Otherwise the position is for a left arm configuration Bit 2 BELOW mask value 2 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 481 SOLVE FLAGS real valued function If this bit is set the position has the robot configured with the elbow below the line from the shoulder to the wrist Otherwise the robot elbow is above the shoulder wrist line This bit is always 0 when a SCARA robot is in use Bit 3 FLIP mask value 4 If this bit is set the position has the robot configured with the pitch axis of the wrist set toa negative angle Otherwise the wrist pitch angle has a positive value This bit is always 0 when the robot does not have a three axis wrist as is the case for a four axis SCARA robot Related Keywords ABOVE program instruction BELOW program instruction DECOMPOSE program instruction LEFTY program instruction RIGHTY program instruction FLIP program instruction NOFLIP program instruction SELECT program instruction SELECT real valued function SOLVE ANGLES program instruction SOLVE TRANS program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 482 SOLVE TRANS program instruction SOLVE TRANS program instruction Syntax SOLVE TRANS transform error joints index Fu
487. s Mtr n 1003 Explanation The indicated motor took too long to complete the last motion possibly because the robot is blocked and cannot reach its destination User action Retry the motion after making any necessary program changes If this error occurs repeatedly contact Adept Application Engineering for assistance Too many arguments 553 Explanation Too many arguments were specified for the last command or instruction User action Reenter the command or instruction but with the correct number of arguments Too many array indices 474 Explanation The specification of an array element contains more than three indexes User action Reenter the line with the correct number of indexes Too many closeable windows 554 Explanation The names of too many graphics windows have been specified to appear in the pull down under the Adept logo in the status line at the top of the screen User action Specify all subsequent windows as NOCLOSEABLE or delete some existing windows that appear in this pull down Too many network errors 536 Explanation 1 The number of errors detected by the DDCMP protocol has exceeded the maximum allowed The local protocol is stopped and all pending I O requests are completed with this error 2 The eV Kermit driver experienced more errors than permitted by the KERMIT RETRY parameter eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 647 System Messages Alphabe
488. s Indicates new terms and other emphasized words Initial Capitals The name of an object such as a window screen menu dialog box or dialog box component Examples are the Display menu and the Task Profiler window Quotation marks Menu items prompts or any literal text that is being referenced Keyboard Conventions Key combinations appear in the following format KEY1 KEY2 A plus sign between keys means that you must press and hold down KEY1 then press KEY2 For example Press CTRL Z means that you press CTRL and hold it down while you press Z Selecting Choosing and Pressing Items In a context using windows the terms select choose and press have different and specific meanings Selecting an item usually means marking or highlighting it as in picking a radio button Selecting alone does not initiate an action Choosing an item carries out an action For example choosing a menu item may open a window or carry out a command You can also initiate an action by choosing a command button a push button or a standard button You often must select an item before you can choose it Often you can use a combination of keyboard and mouse techniques for selecting and choosing Pressing refers to physical buttons or keys For example you press the save key or press the ENTER key By contrast you select or choose a window button eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 19 Conventions
489. s in use for a disk file or a graphics window by writing the buffers to the file or window if necessary Usage Considerations When accessing a file the file must be open for random access on the specified logical unit see the FOPEN_ instructions When accessing a graphics window this instruction is useful only for a window that is opened in buffered mode That is the BUFFERED attribute was specified in the FOPEN instruction that opened the window Parameter logical_unit Real value variable or expression interpreted as an integer that identifies the device to be accessed See the ATTACH instruction for a description of logical unit numbers Details During random access I O of a disk file eV writes data to the disk in blocks of 512 bytes characters For efficiency when a record with a length of less than 512 bytes is written using a WRITE instruction that data is stored in an internal buffer and might not actually be written to the disk until a later time When a disk logical unit is referenced the FEMPTY instruction directs eV to write its internal buffer contents immediately to the disk file That is useful for example in applications where data integrity is especially critical see FOPEN for details on defeating buffering When a window logical unit is referenced the FEMPTY instruction forces all buffered graphics output to be immediately written to the window The IOSTAT real valued function can be used to deter
490. s normally attempts to move to a new position by moving in the direction that requires less than 180 degrees of eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 360 NOOVERLAP program instruction motion The only conditions that force an axis to make a larger change are if SINGLE is specified or if a software limit stop would be violated When NOOVERLAP is set the setting of SINGLE or MULTIPLE mode is ignored As with other user program errors the error condition generated as a result of the NOOVERLAP test can be trapped by a standard REACTE subroutine if desired Related Keywords MULTIPLE program instruction OVERLAP program instruction SELECT program instruction SELECT real valued function SINGLE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 361 NORMAL transformation function NORMAL transformation function Syntax NORMAL transformation_value Function Correct a transformation for any mathematical round off errors Usage Considerations For most robot programs transformation normalizing never has to be performed Parameter transformation_value Transformation transformation valued function or compound transformation whose value is to be normalized Details Use this function after a lengthy series of computations that modifies a transformation value For instance a procedural motion that incrementally changes the orientation of a transformation should occas
491. s parameter is omitted and an error occurs execution of the program stops and the appropriate error message is displayed Details The DOS DO String instruction provides a means for modifying a program on the fly That is the embedded program instruction which is defined by a string expression is executed as though it had been entered in the program as a normal instruction The instruction executes in the context of the current program Thus any subroutine argument automatic variable or local variable can be accessed If a variable referenced in the instruction is not found in the current program context the variable is assumed to be global Any new variables that are created by the instruction for eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 182 DOS program instruction example in an assignment statement are created as globals Normal variable type checking is performed and errors are generated if there are type conflicts The single line control statements GOTO IF GOTO CALL and CALLS are allowed and execute normally The multiline control structures for example CASE END IF ELSE END cannot be executed by the DOS instruction Examples DOS var 123 Causes the variable var to be assigned the value 123 If var is undefined a new global variable named var is created Any errors cause the program to stop executing DOS Sins status Causes the instruction contained in the string varia
492. s was specified make sure that the remote node is active and connected to the network If explicit routing tables are used make sure that they specify this node Variable type mismatch 465 Explanation One or more of the variables in the line is of a type inconsistent with the other variables or with the type required by the command or instruction For example you may be trying to mix location variables with real valued variables If this error occurs upon exiting eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 651 System Messages Alphabetical List from the editor the variable type within the program conflicts with the type of a global variable that is already defined User action Verify the syntax for the operation and reenter the line correcting the mismatch Delete conflicting global variables if appropriate Warning Monitoring watchpoint 55 Explanation Program execution has begun while a watchpoint is set User action None This is an informational message You may want to disable the watchpoint to eliminate its slowing down of program execution Warning Network monitor interface not open 103 Explanation eV cannot open a network port for use by ActiveeV This error should never be seen User action Verify that the eV controller is properly connected to the network Reboot eV and try again Warning Not calibrated 51 Explanation The robot servo system and joint position sensors are not
493. s were present in the attach buffer The attach buffer must be empty before the editor can be exited User action You can use Shift Copy to deposit the contents of the attach buffer into the current program You can also use Esc K to delete lines from the attach buffer 99 Esc K deletes up to 99 lines from the buffer Can t find calibration program file 426 Explanation While processing a CALIBRATE command or instruction the eV system cannot find the calibration utility program file CAL_UTIL V2 User action Restore the missing file from the eV distribution disk to the current default directory or to the directory CALIB on the local C or D drive Can t go on use EXECUTE or PRIME 313 Explanation An attempt has been made to continue the execution of a program that has completed or stopped because of a HALT instruction Normally an error results when a PROCEED RETRY or XSTEP command is entered or the pendant RUN HOLD button is pressed after a program has completed all its cycles User action Use the EXECUTE or PRIME command or the pendant PRIME function to restart the program from the desired instruction Can t interpret line 450 Explanation eV cannot interpret the last command or instruction entered User action Verify the spelling and usage and reenter the line In the case of an error while loading from the disk edit the affected programs to correct the indicated lines they have been converted to
494. s where a program is called only once the CALLS instruction is faster When a CALLS instruction is used the following steps are performed each time the CALLS instruction is encountered 1 Theuser string is evaluated 2 The eV program symbol with that name is found in the eV symbol table 3 The proper eV program is called As an alternative the SYMBOL PTR function can be used to perform the first two steps Typically that is done one time during the initialization portion of the application software Then in place of the CALLS instruction a CALLP instruction can be used to perform the third step above The CALLP instruction is just slightly slower than a CALL instruction In situations where the same program is called multiple times avoiding the first two steps of CALLS can be significant especially in systems that have many programs loaded eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 109 CALLP program instruction The CALLP instruction calls the program pointed to by the real variable var This variable should have been obtained by using the SYMBOL PTR function If the value of var is zero no program is called and no error is reported If var does not contain a valid pointer program execution stops with error 406 Undefined program or variable name Example Instructions such as the following are executed in the initialization section of the application program my pgm ptr 1 SYMBOL PTR my pro
495. same value as that in the CASE instruction and there is an ANY step in the structure then the group of instructions following the ANY step will be executed If no VALUE match is found in the structure and there is no ANY step none of the instructions in the entire CASE structure are executed Examples The following example shows the basic function of a CASE statement CASE number OF VALUE 1 TYPE one VALUE 2 TYPE two ANY TYPE Not one or two END The following sample program asks you to enter a test value If the value is negative the program exits after displaying a message Otherwise a CASE structure is used to classify the input value as a member of one of three groups The groups are 1 even integers from zero to ten 2 odd integers from one to nine and 3 all other positive numbers PROMPT Enter a value from 1 to 10 T x CASE x OF VALUE 0 2 4 6 8 10 TYPE The number x is EVEN VALUE 1 3 5 7 9 TYPE The number x is ODD ANY TYPE x is not an integer from 0 to 10 END The following example shows a special use of the CASE structure to test Boolean conditions PROMPT Enter a number x CASE TRUE OF VALUE x gt 0 TYPE The number was greater than 0 VALUE x TYPE The number was equal to 0 VALUE x lt 0 TYPE The number was less than 0 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 116 CASE program instruction END Related Keywo
496. se value consists of a rotation about the axis associated with the function name and a zero displacement X Y Z 0 Example Produce a transformation that describes a pure 30 degree rotation about the World X axis RX 30 Related Keyword DX real valued function DY real valued function DZ real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 445 SCALE transformation function SCALE transformation function Syntax SCALE transformation BY scale_factor Function Return a transformation value equal to the transformation parameter with the position scaled by the scale factor Parameters transformation Transformation expression that is to be scaled scale_factor Real valued expression that is used to scale the transformation parameter value Details The value returned is equal to the value of the input transformation parameter value except that the X Y and Z position components are multiplied by the scale factor parameter The rotation components have their values unchanged Example If the transformation x has the value 200 150 100 10 20 30 then executing the instruction SET y SCALE x BY 1 25 results in the transformation y receiving the value 250 187 5 125 10 20 30 Related Keyword SHIFT transformation function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 446 SCALE ACCEL system switch SCALE ACCEL system switch Syntax SCALE ACCEL
497. ser action Check the diskette to make sure the write protect tab is in the correct position Use an FDIRECTORY command to display the disk directory If the file has protected P or read only R protection you cannot access it in the way attempted Push release hold MCP enable switch 58 Explanation You are attempting to enable HIGH POWER while in manual mode This operation requires that the MCP enable switch be tested HIGH POWER cannot be enabled unless you toggle the switch to test it User action Push then release then hold the enable switch within a limited time Alternately you can change from manual mode to automatic mode Recursive macros illegal 357 Explanation An attempt was made to execute a macro recursively That is the macro contained a command character sequence that directly or indirectly restarted execution of the macro User action Change the macro definitions as necessary to make sure neither macro invokes itself You can have the U macro invoke the Y macro or vice versa but not both Release then press Hold to run button 58 Explanation When enabling power for Cat3 systems which are in manual mode the Hold to run button in the handle of the MCP must be released then pressed and held The release time must be between two and ten seconds User action Promptly release then press the button when this message is displayed Make sure that you press the Hold to run switch and not the Run Hold
498. siderations The word false cannot be used as a program name or variable name Details This named constant is useful for situations where true and false conditions need to be specified The value returned is zero Example The following program loop will execute continuously until the subroutine cycle returns a FALSE value for the real variable continue DO CALL cycle continue UNTIL continue FALSE Related Keywords OFF real valued function TRUE real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 219 FCLOSE program instruction FCLOSE program instruction Syntax FCLOSE logical_unit Function Close the disk file graphics window or graphics icon currently open on the specified logical unit Usage Considerations No error is generated if a file or graphics window is not open on the logical unit although the IOSTAT real valued function returns an error code When a graphics window is closed the window is not deleted from graphics memory and its stacking and display status are not changed Parameter logical_unit Real value variable or expression interpreted as an integer that identifies the device to be accessed See the ATTACH instruction for a description of logical unit numbers Details After a program has finished accessing a file that has been opened via an FOPEN instruction the program must close the file by executing an FCLOSE instruction FCLOSE frees the f
499. signals can be used as the condition for continuation Example Stop program execution while external input signal 1001 is on and 1003 is off Poll once eacheV trajectory cycle WHILE SIG 1000 1003 DO eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 553 WAIT program instruction WAIT END Related Keywords RELEASE program instruction WAIT EVENT program instruction WAIT START monitor command eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 554 WAIT EVENT program instruction WAIT EVENT program instruction Syntax WAIT EVENT mask timeout Function Suspend program execution until a specified event has occurred or until a specified amount of time has elapsed Usage Considerations If a WAIT EVENT instruction in an application program has execution suspended the WAIT EVENT can be canceled with the PROCEED monitor command Parameters mask Optional real value variable or expression that specifies the events for which to wait The value is interpreted as a sequence of bit flags as detailed below All the bits are assumed to be clear if no mask value is specified Bit 1 LSB Wait for I O mask value 1 If this bit is set the desired event is the completion of any input output operation by the current task timeout Optional real value variable or expression that specifies the number of seconds to wait No time out processing is performed if the parameter is omitted or the val
500. sions the values of which are sent to the device as data for a command The number of parameters specified and their meanings depend upon the particular device type being accessed eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 461 SETDEVICE program instruction Details SETDEVICE is a general purpose instruction for initializing external devices It initializes the software and allows various parameters associated with the device to be set Two standard SETDEVICE commands are recognized by all devices command 0 Initialize device This command should be issued once before accessing the device with any other command Normally no additional parameters are required but some device types may permit them command 1_ Reset device This command resets the device Normally no additional parameters are required but some device types may permit them See the supplementary documentation for specific devices for details and examples For information on using the SETDEVICE instruction to access external encoders see the section External Encoder Device in the eV Language User s Guide Related Keywords DEVICE program instruction DEVICE real valued function DEVICES program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 462 SHIFT transformation function SHIFT transformation function Syntax SHIFT transformation BY x_shift y_shift z_shift Function Return a transformation value resulti
501. sk until the next cycle END Step 2 Perform desired operations accessing the shared data Step 3 Release the lock on the shared data structure data locked FALSE The WHILE loop causes program execution to be blocked until the variable data locked is found to have the value FALSE Thus the program is blocked if the other program has locked the semaphore variable in order to access the shared data Note that the TAS function will set the variable data locked to TRUE each time the function is executed but that will have no effect if the variable already has that value Once the program gains exclusive access to the shared data it can safely access the data The last instruction releases the data for access by the application executing as the other program task Related Keyword CAS real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 516 TASK real valued function TASK real valued function Syntax TASK select task_num Function Return information about a program execution task Parameters select task_num Details Optional real valued expression that has a value of 0 1 or 2 and selects the category of task information returned see below The value 0 is assumed if the parameter is omitted Optional integer value that specifies which system program task is to be accessed see below This function returns various information about the system program execution tasks See
502. specific parameter element of interest Details This function returns the current setting of the given system parameter The parameter name can be abbreviated to the minimum length that identifies it uniquely Other system parameters are available when options are installed Refer to the option documentation for details For example the parameters associated with the AdeptVision options are described in the section Descriptions of Vision Keywords in the AdeptVision Reference Guide Examples The following example illustrates how the current setting of the TERMINAL parameter can be displayed on the system terminal during program execution TYPE The TERMINAL parameter is set to PARAMETER TERMINAL The PARAMETER function can also be used in any expression to include the value of a parameter For example the following program statement can be used to increase the time 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 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 385 PARAMETER real valued function Related Keywords BELT MODE system parameter HAND TIME system parameter NOT CALIBRATED system parameter PARAMETER monitor command PARAMETER program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 386 PAUSE program instruction PAUSE program
503. ss a task dependent value for example the TASK real valued function In such a case if you want the task dependent value to reflect the invoking task you must assign the task dependent value to a variable and pass that variable Examples Initiate execution as task 0 of the program named assembly with execution to continue indefinitely that is until execution is aborted a HALT instruction is executed or a run time error occurs EXECUTE 0 assembly 1 Initiate execution with program task 2 of the program named test The parameter values 1 and 2 are passed to the program EXECUTE 2 test 1 2 The following program segment shows how an application program can be initiated from another application program the ABORT and CYCLE END program instructions are used to make sure the specified program task is not already active ABORT 3 Abort any program already active CYCLE END 3 Wait for execution to abort EXECUTE 3 new program Start up the new program Related Keywords ABORT monitor command ABORT program instruction CALL program instruction CYCLE END monitor command CYCLE END program instruction EXECUTE monitor command KILL monitor command KILL program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 215 EXECUTE program instruction PRIME monitor command PROCEED monitor command RETRY monitor command SSTEP monitor command STATUS monitor command STATUS real valued function XSTEP monitor
504. ssed format This command code applies only to local disk drives Serial Line Command Codes 102 Clear the type ahead buffer for a serial line or clear the event queue for a graphics window This command which is recognized only by the serial communication lines and the graphics logical units does not process any arguments eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 224 106 FCMND program instruction Read modem control flags Modem control flags are returned in the first byte of a one byte string Bits within that byte show the current state of the modem control lines for the serial port attached to the lun specified in the FCMND instruction The bits are interpreted as follows LSB is 1 2 H02 Data Terminal Ready DTR input Gear to Send CTS H20 Input Data Carrier Detect DCD eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 225 FCMND program instruction DDCMP Command Codes 500 Return information about DDCMP status This FCMND is present in all eV systems that support DDCMP The FCMND reply string may be parsed using INTB and LNGB functions to extract the binary data as described in the following code When the instruction FCMND lun 500 reply is executed the string variable reply receives packed binary data regarding the DDCMP line attached on the specified logical unit Then the functions shown in the following table can be used to extract the data D
505. ssion The syntax for the DO structure is as follows DO group_of steps UNTIL logical expression Processing of the DO structure can be described as follows 1 The group of instruction steps is executed 2 The logical expression is evaluated If the result is FALSE return to item 1 Otherwise proceed to item 3 3 Program execution continues at the first instruction after the UNTIL step When this structure is used it is assumed that some action occurs within the group of enclosed instructions that changes the result of the logical expression from TRUE to FALSE when the structure should be exited Alternately logical_expression can be replaced with an expression that evaluates the state of a digital I O signal see example Note that the group of instructions within the DO structure is always executed at least one time The WHILE structure differs in that respect There do not need to be any instructions between the DO and UNTIL instructions When there are no such instructions the UNTIL criterion is continuously evaluated until it is satisfied at which time program execution continues with the instructions following the UNTIL instruction Example The following example uses a DO structure to control a task that involves moving parts from one place to another The sequence assumes that the digital signal line buffer full changes to eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 180 DO program instruction
506. st have received the authorization password from Adept INSTALL can be run only on CPU 1 in multiple CPU systems Parameters password String expression that contains a 15 character value assigned by Adept op Optional integer indicating the desired operation 0 install option default 1 remove option Details When you purchase additional software options from Adept the software is delivered with a software license and authorization password that enables the software for a particular controller If the option is not enabled the software does not load correctly The password is keyed both to the software option and the serial number of your controller The password cannot be used on any controller other than the one for which you purchased the software option eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 295 INT real valued function INT real valued function Syntax INT value Function Return the integer part of the value Parameter value Real valued expression whose integer part is returned by this function Details Returns the portion of the value parameter to the left of the decimal point when the value is written without the use of scientific notation The value is not rounded before dropping the fraction The sign of the value parameter is preserved unless the result is zero Examples INT 0 123 Returns 0 0 INT 10 8 Returns 10 0 INT 5 462 Returns 5 0 INT 1 3
507. stant variable or expression that identifies the device to be attached If bit 3 of the mode parameter is 0 this parameter is used to override the default device associated with the value of the lun parameter except that logical unit 0 is always the robot The acceptable device names are shown in the following table Acceptable Device Names to Be Attached DISK Physical drive in the Adept controller disk orSecure Digitalcard DEVICENET Access devices connected to DeviceNet MONITOR The current monitor window or operator s terminal SERIAL n Global serial line n 0 1 2 or 3 For the Adept SmartController EX SERIAL 0 is RS232 TERM SERIAL 1 is RS232 1 SERIAL 2 is RS232 2 SERIAL 3 is RS 422 485 Disk device currently set with the CD or DEFAULT command Details The robot must remain attached by a robot control program for the program to command motion of the robot When the robot is detached see the DETACH instruction however you can use the manual control pendant to move the robot under directions from the application program This is useful for example for application setup sequences The belt and vision calibration programs provided by Adept use this technique eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 67 ATTACH program instruction Program task 0 automatically attaches robot 1 when that task begins execution A robot control program executed by any of the other program tasks must ex
508. string Note that if you press Return the string to be searched for is erased that is an empty string is used for the replacement Collision avoidance dead lock 647 Explanation Two robots with collision detection enabled are simultaneously blocking each other s path That is neither robot can perform its next motion until the other robot moves out of the way User action Change the application program to prevent the deadlock situation Command None Explanation A SEE editor extended command has been initiated with the X command User action Enter the desired extended command or press Return to cancel the request Communication time out 531 Explanation An I O operation has not completed within the allotted time interval For data communications the remote communications device has not properly acknowledged data that was sent User action Make sure the remote device is communicating Make sure connections to the remote device are operating properly eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 586 System Messages Alphabetical List Communications overrun 524 Explanation Data has been received on an I O device faster than eV is processing it and some data has been lost This happens only on the serial interface line or the network User action Modify the program to service the I O device more often add a handshaking protocol or slow down the transmission rate to eV COMP m
509. structions a5 O ALWAYS URATION 0 ALWAYS INE 100 ALWAYS CK 0 LTIPLE ALWAYS LL ALWAYS ERLAP ALWAYS EED 100 100 ALWAYS ELECT ROBOT 1 fe Ul Ul lt n 2 O42 8BHFAUA Also the robot configuration is saved for subsequent motions An execution cycle is terminated when a STOP instruction is executed a RETURN instruction is executed in the top level program or the last defined step of the program is encountered The value of cycles can range from 32 768 to 32 767 The program is executed one time if cycles is omitted or has the value 0 or 1 Any negative value for cycles causes the program to be executed continuously until a HALT instruction is executed an error occurs or you or another program aborts execution of the program eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 214 EXECUTE program instruction NOTE Each time an execution cycle is initiated the execution parameters are reset to their default values This includes motion speed robot configuration and servo modes However the robot currently selected is not changed If step is specified the program begins execution at that step for the first pass Successive cycles always begin at the first executable step of the program All the instruction parameters are evaluated in the context of the new task that is started This can lead to unexpected results when the EXECUTE program instruction is used and an attempt is made to pa
510. structions apply to the robot selected by the task If the eV system is not configured to control a robot executing these instructions causes an error Parameter distance Real valued expression that specifies the distance in millimeters along the robot tool Z axis between the current robot location and the desired destination A positive distance moves the tool back toward negative tool Z from the current location a negative distance moves the tool forward toward positive tool Z Details These instructions initiate a robot motion to a new location which is offset from the current location by the distance given measured along the current tool Z axis Examples DEPART 80 Moves the robot tool 80 millimeters back from its current location using a joint interpolated motion DEPARTS 2 offset eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 164 DEPART and DEPARTS program instruction Withdraws the robot tool 2 offset millimeters along a straight line path from its current location Related Keywords APPRO program instruction APPROS program instruction MOVE program instruction MOVES program instruction SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 165 DEST transformation function DEST transformation function Syntax DEST Function Return a transformation value representing the planned destination location for the current
511. sult Usage Considerations The word off cannot be used as a program name or variable name Details This named constant is useful for situations where on and off conditions need to be specified The value returned is 0 This function is equivalent to the FALSE function Related Keywords FALSE real valued function ON real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 369 ON real valued function ON real valued function Syntax ON Function Return the value used by eV to represent a logical true result Usage Considerations The word on cannot be used as a program name or variable name Details This named constant is useful for situations where on and off conditions need to be specified The value returned is 1 This function is equivalent to the TRUE function Related Keywords OFF real valued function TRUE real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 370 OPEN program instruction OPEN program instruction Syntax OPEN OPENI Function Open the robot gripper Usage Considerations OPEN causes the hand to open during the next robot motion OPENI causes a BREAK in the current continuous path motion and causes the hand to open immediately after the current motion completes The OPEN instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task The instruction appl
512. suming that the robot is attached to the program Examples Enable the high precision feature only for the next motion FINE Enable the high tolerance feature for the next motion with the tolerance settings changed to 50 of the standard tolerance for each joint that is a tighter tolerance FINE 50 Enable the high tolerance feature until it is explicitly disabled FINE ALWAYS Related Keywords COARSE program instruction CONFIG real valued function DELAY IN TOL program instruction NONULL program instruction NULL program instruction SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 239 FLIP program instruction FLIP program instruction Syntax FLIP Function Request a change in the robot configuration during the next motion so that the pitch angle of the robot wrist has a negative value Usage Considerations Configuration changes cannot be made during straight line motions If the selected robot does not support a flip configuration this instruction is ignored by the robot The FLIP instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task The instruction applies to the robot selected by the task If the eV system is not configured to control a robot executing the FLIP instruction causes an error Details Asserting a FLIP configuration forces the wrist joint to have a nega
513. t The LEFTY instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task The instruction applies to the robot selected by the task If the eV system is not configured to control a robot executing the LEFTY instruction causes an error The following figure shows the LEFTY RIGHTY configurations top view of robot Joint 2 Hardstops LEFTY RIGHTY eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 318 LEFTY program instruction Related Keywords CONFIG real valued function RIGHTY program instruction SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 319 LEN real valued function LEN real valued function Syntax LEN string Function Return the number of characters in the given string Parameter string String constant variable or expression whose length is to be computed Example Return the number of characters in the string str Sstr Hello str len LEN Sstr eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 320 LNGB real valued function LNGB real valued function Syntax LNGB string first_char Function Return the value of four bytes of a string interpreted as a signed 32 bit binary integer Usage Considerations Since single precision numbers are stored internally with only 24 bits of significance input values that contain more than
514. t character of the substring within the string array A value of 1 corresponds to the first character of the specified string array element This value must be greater than zero The value of first_char can be greater than 128 In that case the array element accessed follows the element specified in the function call For example a value of 130 corresponds to the second character in the array element following that specified by index Real valued expression that specifies the number of characters to be copied from the string to the array This value can range from 0 to 128 String variable constant or expression from which the substring is to be extracted The string must be at least num_chars long eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 380 PACK program instruction Details This instruction replaces a substring within an array of strings or within a string variable When an array of strings is being modified the substring is permitted to overlap two elements of the string array For example a 10 character substring whose first character is to replace the 127th character in element 3 supersedes the last two characters in element 3 and the first eight characters of element 4 If the array element to be modified is not defined the element is created and filled with ASCII NUL characters HOO up to the specified start of the substring Similarly if the array element to be modified is too short the strin
515. t 3 JMOVE 31 33 If more expressions are specified than there are joints for a robot the extra expressions are ignored Related Keyword JHERE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 307 JOG program instruction JOG program instruction Syntax JOG status robot mode axis speed location appro_dist Function Moves jogs the specified joint of the robot or moves the robot tool along the specified Cartesian direction Each time JOG is executed the robot moves for up to 300 ms Usage Considerations The specified robot cannot be attached by any other task when using a mode other than COMP Otherwise the error message Robot interlocked is generated The robot can be attached by the current program but it does not need to be attached If the robot is not attached when the JOG instruction is executed remember to attach the robot after the JOG instruction before executing any other motion instructions After the robot is moved with the JOG instruction the system is left in MANUAL mode i e as though a manual mode had been selected on the pendant JOG mode 5 or the pendant can be used to restore COMP mode Otherwise an error COMP mode disabled will be returned when a task attempts to attach the robot If a joint is out of range the JOG instruction can be used to bring the joint back into range See the Details section for more information Parameters status An op
516. t Set Hexadecimal 4 Whenusing the Adept Cobra s600 s800 or s800 Inverted robots Robot has the joint 4 quill encoder disabled 32 20 Model specific option interpreted as follows Robot Model Meaning of Bit Set Adept Cobra Robot has the IP65 s800 Inverted option eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 573 System Option Words Interpretation When Bit Set Robot has the EC certification option Robot has high resolution joint 4 Model specific option interpreted as follows Robot Model Meaning of Bit Set Adept Cobra Robot has amber LED s600 s800 for UL conformance Reserved for future use currently zero Model specific option interpreted as follows Robot Model Meaning of Bit Set Adept Cobra Robot is inverted s600 s800 System Option Words The configuration of a specific eV system can be determined by examining two option words that are displayed as hexadecimal numbers when the system is loaded from the system boot disk and by the ID monitor command The values of the option words are also available to programs from the real valued functions ID 5 and ID 6 The option words should be interpreted as bit fields which indicate information about the system configuration The interpretations of the bits in the first system option word returned by the function ID 5 are described in the following table eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 574 Syst
517. t a value ex test the routine returns The string is default The instruction DEFINED base _ part returns a value of TRUE if the variable base_part is defined The instruction DEFINED corner returns a value of TRUE if any element of the array corner has been defined Related Keywords STATUS real valued function TESTP monitor command eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 157 DELAY program instruction DELAY program instruction Syntax DELAY time Function Cause robot motion to stop for the specified time Usage Considerations The robot stops during the delay but the wait and nulling normally associated with a motion BREAK do not occur Program execution continues during the delay up to the next motion instruction in the program eV system timers can be used to control the timing of program execution The DELAY instruction should not be used for that purpose The DELAY instruction is interpreted as a straight line move to here motion instruction See below for the consequences of that interpretation The DELAY instruction can be executed by any program task as long as the task has attached a robot The instruction applies to the robot selected by the task If the eV system is not configured to control a robot executing the DELAY instruction causes an error If the AMOVE instruction has been executed to prepare for motion of an extra axis execution of the DELAY instruction
518. t have joints that can be disabled selectively For example this value is defined for the X Y Z Theta robot but is zero for the 4 5 axis SCARA module Robot control module identification number Number of robot joints configured for use Oe eem o eee e fee Information on the robot module Currently only bit 1 mask 1 is defined If set this bit indicates that the specified robot is an Adept robot Returns the safety level for the robot Possible values are 0 No special safety level 1 Configured as Category 1 Robot System per ISO 10218 and EN954 3 Configured as Category 3 Robot System per ISO 10218 and EN954 Returns whether the axis mask is editable or not The robot option words are described in the Robot Option Words topic eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 283 ID real valued function Related Keywords ID monitor command ID string function SELECT monitor command SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 284 ID string function ID string function Syntax ID select Function Return the system ID string Parameter select Integer specifying the ID information to return It may be Integer Description Returns the system edit message Returns the edit letter and issue number for the eV system Returns the vision edit message string Returns the servo edit message string
519. t location of interest i jts Real array that contains the joint positions representing the starting eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 476 iidx i flags SOLVE ANGLES program instruction location for the robot These values are referenced 1 for multiple turn joints to minimize joint rotations and 2 when a computed joint position is out of range to determine which limit stop to return The first specified element of the array must contain the position for joint 1 The second element must contain the value for joint 2 etc For rotating joints the joint positions are assumed to be in degrees For translational joints the joint positions are assumed to be in millimeters Optional real value variable or expression interpreted as an integer that identifies the array element that contains the position value for joint 1 If no index is specified element zero must contain the position for joint 1 Real value variable or expression whose value is interpreted as bit flags that indicate 1 the initial configuration of the robot 2 any changes in configuration that are to be made and 3 special operating modes The bit flags are interpreted as follows Bit 1 LSB RIGHTY If this bit is set the robot is assumed mask value 1 initially to be in a right arm configuration Otherwise the robot is assumed to be in a left arm configuration Bit 2 BELOW If this bit is set the robot is assume
520. t robot motion is affected if the ALWAYS parameter is not specified MULTIPLE ALWAYS is assumed whenever program execution is initiated and when anew execution cycle begins The SINGLE instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task The instruction applies to the robot selected by the task If the eV system is not configured to control a robot executing the SINGLE instruction causes an error Parameter ALWAYS Optional qualifier that establishes SINGLE as the default condition That is if ALWAYS is specified SINGLE remains in effect continuously until disabled by a MULTIPLE instruction If ALWAYS is not specified the SINGLE instruction applies only to the next robot motion Details When moving to a transformation specified location the robot normally moves the wrist joint the minimum distance necessary to achieve the required orientation In some cases this action can move the wrist close to a limit stop so that a subsequent straight line motion hits the stop Specifying SINGLE causes subsequent motion s to force the wrist back to near the center of its range so that straight line motions will not fail in this way SINGLE is commonly specified during an APPRO to pick up an object whose position and orientation were unknown at robot programming time Once the object is acquired the wrist motion can be kept toa minimum The SINGLE setting is ignored i
521. t the correct duration but a single motion takes onger than the specified duration In other words the time of motion is primarily defined either by the value of DURATION or SPEED using whichever value gives the longer time This instruction is very useful Consider for example a situation where the value of a periodic external signal is employed to continuously correct the path of the robot while the robot is moving The DURATION instruction can be used to match the motion execution time to the sensor sampling rate and processing time This ensures that the robot is kept in motion while new information is being processed A sample program of this type is shown later Example The following example reads an external sensor and moves to the computed robot location This sequence is repeated 20 times at intervals of 96 milliseconds 6 TPS seconds This assumes the default period tick of 16 milliseconds for the eV trajectory generator Note that the motion speed is set to a very large value to make sure the motion is paced by the duration setting DURATION 6 TPS ALWAYS Each motion to be 6 ticks long SPEED 200 ALWAYS Motion time determined primarily 7by DURATION not SPEED FOR i 1 TO 20 Repeat 20 times CALL read signal loc Get new step from sensor MOVE loc Move to the location END Related Keywords ACCEL program instruction DELAY program instruction DURATION real valued function eV Language Reference Guide v2 0 x
522. t the error to Adept Application Engineering Please include the details of the error message and exactly what you were doing at the time the error occurred To save programs that are in memory you can restart eV temporarily by pressing Ctrl G The robot servos do not function but you can STORE the programs Then power down the controller and restart the system Fatal Priv Viol at aaaaaa m n None Explanation An internal problem has occurred with the eV software or with the system hardware User action It would be appreciated if you would report the error to Adept Application Engineering Please include the details of the error message and exactly what you were doing at the time the error occurred To save programs that are in memory you can restart eV temporarily by pressing Ctrl G The robot servos do not function but you can STORE the programs Then power down the controller and restart the system Fatal Servo code incompatible CPU n 1102 Explanation During initialization eV detected an improper version of servo software on the indicated CPU eV continues to operate but does not allow high power to be turned on User action Power down the controller and restart If the problem persists contact Adept Customer Service Fatal Servo dead Mtr n 1104 Explanation The servo process for the indicated motor is not responding to commands from eV eV continues to operate but does not allow high power to
523. table below ne 1 2 4 16 Joint or motor 5 is limiting eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 292 INRANGE real valued function Indication if bit set Joint or motor 7 is limiting Joint or motor 8 is limiting 64 128 256 12 Joint or motor 9 is limiting 32768 Motor is limiting rather than joint see below If the motion system is configured to return motor limit as well as joint limit errors bit 16 indicates whether a joint or motor would limit motion to location If bit 16 is set all the joints passed their limit checks and the indicated motor is limiting Otherwise the indicated joint is limiting The mask values indicated above can be used with the BAND operator to determine if a corresponding bit is set Example Returns the value zero if the robot can reach the location defined by the compound transformation pallet hole INRANGE pallet hole If both joints 2 and 3 would prevent the motion from being made the value returned would be 6 Related Keyword SELECT program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 293 INRANGE real valued function SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 294 INSTALL program instruction INSTALL program instruction Syntax INSTALL password op Function Install or remove software options available to Adept systems Usage Considerations You mu
524. tandard floating point format is used for the conversion See the description of the FLTB or DBLB real valued function for details of the IEEE floating point format The main use of this function is to convert a transformation value to its binary representation in an output record of a data file Related Keywords FLTB string function FLTB real valued function TRANSB transformation function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 538 TRANSB transformation function TRANSB transformation function Syntax TRANSB string first_char double_precision Function Return a transformation value represented by a 48 byte or 96 byte string Parameters string String expression that contains the 48 or 96 bytes to be converted first_char Optional real valued expression that specifies the position of the first of the 48 bytes in the string If first_char is omitted or has a value of 0 or 1 the first 48 or 96 bytes of the string are extracted If first_char is greater than 1 it is interpreted as the character position for the first byte For example a value of 2 means that the second through 49th or 97th bytes are extracted An error is generated if first_char specifies 48 or 96 bytes that are beyond the end of the input string double_precision Optional real valued expression that specifies wether the transformation is represented by a single precision 48 bytes or double precision 96 bytes string If do
525. tch SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 97 BSTATUS real valued function BSTATUS real valued function Syntax BSTATUS Function Return information about the status of the conveyor tracking system Usage Considerations This option is available only if your Adept system is equipped with the eV Extensions option The BSTATUS function returns information for the robot selected by the task executing the function The word bstatus cannot be used as a program name or variable name Details This function is normally used when BELT MODE bit 4 is set This function returns a value that is equivalent to the binary value represented by a set of bit flags which indicate the following conditions of the conveyor tracking software Bit 1 LSB Tracking belt mask value 1 When this bit is set the robot is currently tracking a belt Bit 2 Destination upstream mask value 2 When this bit is set the destination location was found to be upstream of the belt window during the planning of the last motion Bit 3 Destination downstream mask value 4 When this bit is set the destination location was found to be downstream of the belt window during the planning of the last motion Bit 4 Window violation mask value 8 When this bit is set a window violation occurred while the robot was tracking a belt during the last belt relative motion This fl
526. ted each time program_b executes eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 268 GLOBAL program instruction Examples GLOBAL str_1 str_2 x create 2 string and 1 untyped variable GLOBAL LOC ppoint_1 create 1 global precision point variable GLOBAL var_1 var_2 create 2 double prec reals Related Keywords AUTO program instruction LOCAL program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 269 GOTO program instruction GOTO program instruction Syntax GOTO label Function Perform an unconditional branch to the program step identified by the given label Parameter label Label of the program step to which execution is to branch Step labels are integer values that range in value from 0 to 65535 Details This instruction causes program execution to jump to the line that contains the specified step label Note that a step label is different from a line number Line numbers are the numbers automatically assigned by the eV program editors to assist the editing process Step labels must be explicitly entered on program lines where appropriate Modern structured programming considers GOTO statements to be poor programming practice Adept suggests you use one of the other control structures in place of GOTO statements Example The following program segment asks you to enter a number from 1 to 100 If the number input is not in that range the GOTO 10 instruction at l
527. ted on a different CPU User action Reexecute the command or instruction on CPU 1 Must use straight line motion 611 Explanation A joint controlled motion instruction was attempted while the system was in a mode requiring that only straight line motions be used For example while tracking a conveyor only straight line motions can be used User action Change the motion instruction to one that requests a straight line motion eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 619 System Messages Alphabetical List Negative overtravel Mtr n 1032 Explanation The negative hardware overtravel switch for the indicated motor has been tripped Robot power has been disabled User action Manually move the robot back into range and re enable power Check the the negative overtravel switch and its wiring Use the CONFIG_C utility to adjust the robot soft limits so they are inside the hard limits Negative square root 410 Explanation An attempt has been made to calculate the square root of a negative number User action Correct the program as required Network closed locally 535 Explanation An attempt has been made to access a DDCMP serial line when the protocol is not active The protocol was probably stopped because of some other error condition User action Restart the DDCMP protocol Network connection closed 101 Explanation A client connection has closed on the given logical unit
528. terminated loops internally so that the current execution cycle never ends the CYCLE END instruction will wait forever To proceed from a CYCLE END that is waiting for a program to terminate abort the program that is waiting for a CYCLE END by typing an ABORT command for the program task that executed the CYCLE END instruction Example The following program segment shows how a program task can be initiated from another program task the ABORT and CYCLE END program instructions are used to make sure the specified program task is not already active ABORT 3 Abort any program already active CYCLE END 3 Wait for execution to abort EXECUTE 3 new program 7Start up the new program Related Keywords ABORT monitor command ABORT program instruction CYCLE END monitor command EXECUTE monitor command EXECUTE program instruction KILL monitor command KILL program instruction STATUS monitor command STATUS real valued function STOP program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 140 DBLB real valued function DBLB real valued function Syntax DBLB string first_char Function Return the value of eight bytes of a string interpreted as an IEEE double precision floating point number Parameters string String expression that contains the eight bytes to be converted first_char Optional real valued expression that specifies the position of the first of the eight bytes in the string If first_c
529. ternal output signals 1 8 8 bits to the binary representation of the constant 255 which is 11111111 binary Thus signals 1 8 will all be turned on BITS 1 8 255 Related Keywords BITS real valued function IO monitor command RESET monitor command SIG real valued function SIG INS real valued function SIGNAL monitor command SIGNAL program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 90 BITS real valued function BITS real valued function Syntax BITS first_sig num_sigs Function Read multiple digital signals and return the value corresponding to the binary bit pattern present on the signals Usage Considerations External digital input or output signals or internal software signals can be referenced A maximum of 32 signals can be read at one time Any group of up to 32 signals can be read provided that all the signals in the group are configured for use by the system Parameters first_sig Real valued expression defining the lowest numbered signal to be read num_sigs Optional real valued expression specifying the number of signals to be affected A value of 1 is assumed if none is specified The maximum valid value is 32 Details This function returns a value that corresponds to the binary bit pattern present on 1 to 32 digital signals The binary representation of the value returned by the function has its least significant bit determined by signal numbered first_sig and its
530. ters but must not exceed 512 characters in length For files that are opened in fixed length record mode this instruction appends NULL characters to the output record if it is shorter than the file records When accessing the TCP IP device the record_num parameter enables a server to communicate with multiple clients on a single logical unit Handles are allocated when a client connects to the server and deallocated when a client disconnects During a connection the read instruction that receives data from the TCP logical unit returns the client handle A write instruction can then use the handle value to send data to the corresponding client Examples You can write a message to the manual control pendant with the following instructions ATTACH 1 Attach the control pendant WRITE 1 message Output message to pendant DETACH 1 7 Detach the pendant A file with variable length records can be written to the system disk drive with instructions such as the following ATTACH dlun 4 DISK Attach the disk interface FOPENW dlun A testfile dat Open a file on drive A FOR i 0 TO LAST S lines Loop for all the elements WRITE dlun Slines i to be written END FCLOSE dlun 7Close the file DETACH dlun 7 Release the disk interface Attach to serial line 1 and write a greeting ATTACH slun 4 SERIAL 1 WRITE slun Hello from serial line 1 Write the string str to the client defined by the handle which must ha
531. text of the message and sometimes a comment about the applicability of the message Angle brackets lt gt are used to enclose a description of an item that appears in that position All numbers are decimal The system messages are arranged numerically by system message code For complete details on a message click the message number to view the complete documentation For a eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 653 System Messages Numerical List list of the system messages sorted alphabetically by the first character of the message see System Messages Alphabetical List Message Numbering Convention Informational Messages numbers 0 49 lists messages that provide information Warning Messages number 50 299 lists warning messages that you may receive Error Messages negative numbers lists the error messages that you may receive Informational Messages Message Text Not complete Success General success response lt no message gt Signals start of program execution Program completed Program task stopped at 5 lt no message gt Signals start of DO processing lt no message gt Signals completion of DO processing lt program instruction step gt For TRACE mode of execution 10 Are you sure Y N eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 654 System Messages Numerical List Message Text Change Okay to restart the servos Y N Program
532. that the MCP enable switch formerly called Hold to Run has been released Normally this message is suppressed and error 913 is reported There may be a hardware problem with the CIP or its cabling User action Hold the MCP enable switch and re enable HIGH POWER as desired Reseat the plug affixed to the JAWC connector on the CIP and the plug affixed to the CIP connector on the AWC Memory Err at aaaaaa None Explanation During initialization eV detected a hardware failure at the indicated memory location User action Power down the controller and start it again If the error persists contact Adept Customer Service eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 617 System Messages Alphabetical List Misplaced declaration statement 471 Explanation Upon loading a program or exiting from the program editor eV has encountered an AUTO or LOCAL statement that follows an executable program instruction User action Edit the program to make sure that AUTO and LOCAL statements are preceded only by blank lines comments or other AUTO and LOCAL statements Missing argument 454 Explanation A valid argument was not found for one or more of the arguments required for the requested command or instruction That is the argument was not present at all or an invalid argument was present A possible cause is the use of a single equal sign for the equality relational operator User action Verify t
533. the FOPEN instructions must be used to specify which file to access WRITE and READ instructions can then be used to transfer information to and from the file Also FCMND instructions can be used to send commands to the file system When a TFTP device is attached it allows a program to read a file from an TFTP server When a SERIAL n serial communication line is attached it can be used to send and receive information to and from another system As with disk I O WRITE and READ instructions are used for the information transfer For the details on physical connectors and corresponding eV designations see Table 3 5 Serial Connectors and eV Designations in the Adept SmartController User s Guide When mode bit 3 0 and the device parameter is omitted the logical unit number implicitly specifies the corresponding default device from the following table Default Device Numbers Supplied by the LUN po Robot default when lun is omitted eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 68 ATTACH program instruction ES eee C C ooo i e Serial communication line SERIAL 0 Serial communication line SERIAL 1 Serial communication line SERIAL 2 Serial communication line SERIAL 3 No default device No default device No default device eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 69 ATTACH program instruction 25 31 No default devices NOTE 1 There are currently no default LUNs assigned fo
534. the effects of the various mode values If the mode value is omitted the value zero is assumed Value returned by IOSTAT Status of the last complete I O operation Status of a pending preread request Size in bytes of the last file opened or of the last record read Status of any outstanding write request 1 When sequential access mode is being used the byte count returned by IOSTAT 2 includes the carriage return and line feed characters at the end of each record eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 302 IOSTAT real valued function Details Unlike most eV instructions I O instructions do not force the program to stop when an error is detected Instead the error status is stored internally for access with the IOSTAT function This feature allows the program to interpret and possibly recover from many I O errors When reading a file of unknown length IOSTAT is the only method to determine when the end of the file is reached The value returned for modes 0 1 and 3 is one of the following IOSTAT Value Returned on Description 1 Normal success for mode 3 this value indicates that no write request is outstanding oo Operation not yet complete lt 0 Standard eV error number See System Messages for a description of standard eV error numbers Examples Try to open a file for reading and make sure the file exists If the file does exist record its size in bytes ATTAC
535. the horizontal or vertical scroll bar Slide bars should be created only in the main window although they can appear in the title or menu bars User action Modify the arguments for the GSLIDE instruction to have the slide bar created within the window Can t create program in read only mode 364 Explanation An attempt has been made to initiate editing of a program in read only access mode but the program does not exist User action If the program name was entered incorrectly enter the command again with the correct name Do not select read only access with R when creating a new program Can t delete PROGRAM statement 350 Explanation An attempt has been made to delete the PROGRAM statement while editing a program User action To change the PROGRAM statement replace it with another PROGRAM statement To delete lines at the beginning of the program move down to line 2 before issuing delete commands Can t execute from SEE program instruction 362 Explanation An attempt has been made to use a SEE editor command that cannot be used after the editor has been initiated with the SEE program instruction User action Enter another command or exit the editor and reenter from the eV monitor eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 584 System Messages Alphabetical List Can t exit while lines attached 355 Explanation You attempted to terminate execution of the editor while line
536. the keyword list string eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 262 FSET program instruction FSET Serial Line Attributes wre mame oeae es FLOW NONE No flow control XON_XOFF Detect and generate XON XOFF turn off modem MODEM Use modem control RTS CTS turn off XON_XOFF SPEED 110 300 600 Select the indicated baud rate 1200 2400 4800 7200 9600 19200 38400 57600 115200 Using FSET With TCP The following network devices may be referenced with the FSET gt instruction TCP Transmission Control Protocol You can use the attributes listed in the following table when accessing these devices with the FSET instruction FSET Attributes for Networks te ee ADDRESS IP address Applies only to the TCP device You may define new nodes on the network using the FSET program instruction to access a logical unit that has been attached to the TCP device The string used with the FSET eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 263 FSET program instruction instruction has the same format as that used with the NODE statement in the eV configuration file see the later example Examples Serial The following example attaches serial line 2 and sets the baud rate to 38400 ATTACH slun 4 SERIAL 2 FSET slun SPEED 38400 Network Define a new node called SERVER2 with the IP address 172 16 200 102 ATTACH lun 4 TCP FSET lun NODE SERVER2 ADDRESS 172
537. the on state when the parts buffer becomes full The robot should then perform a different sequence of motions DO CALL get part CALL put part UNTIL SIG buffer full Related Keywords DO monitor command EXIT program instruction NEXT program instruction UNTIL program instruction WHILE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 181 DOS program instruction DOS program instruction Syntax DOS string error Function Execute a program instruction defined by a string expression Usage Considerations Before the instruction is executed the string must be translated from ASCII into the internal representation used by eV Thus the instruction executes much more slowly than a normal program instruction The string cannot define a declaration statement or most of the control structure statements The DOS instruction is ignored if the string defines a comment line or a blank line Parameters string String constant variable or expression that defines the program instruction to be executed The instruction may contain a label field which is ignored and may be followed by a standard comment field Leading and trailing spaces and tabs are ignored error Optional real variable that receives any parsing or execution error generated by the instruction The value is set to 1 if the instruction succeeds If the instruction fails a standard eV error number is returned If thi
538. the program logic and make sure the robot or device is being controlled by only one program task 2 Move CIP key switch to the automatic mode position or set the user manual mode signals appropriately Robot module not enabled 900 Explanation The indicated robot module is present in memory but it was not enabled for use due to an error which is reported by a separate message User action Use the CONFIG_C and or SPEC utilities to correct the module configuration Robot module not loaded ID n 628 Explanation This error occurs only during startup when a robot module has been configured using the CONFIG_C utility but the robot module is not present in memory User action Use the CONFIG_C utility to add the robot module to the boot disk before rebooting Robot not attached to this program 601 Explanation An attempt has been made to execute a robot control command or instruction in one of the following invalid situations 1 The system is not configured to control a robot 2 There is no robot connected to the system 3 The robot is attached to a different program task User action 1 Make sure the system is booted from the proper system disk or remove the robot control instruction 2 Connect the robot or enable the DRY RUN system switch eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 635 System Messages Alphabetical List 3 Modify the program logic as required to ensure that only
539. the same as aaaa bbbb Security ID aaaa bbbb cccc 13 Returns the third part of the security ID shown as cccc below The value returned needs to be displayed in hexadecimal format to look the same as cccc Security ID aaaa bbbb cccec External version number of the eV software in use Also see ID 3 1 The system option words are described in ID Option Words on page 1 Controller Hardware Configuration returned by ID 11 1 The value for the controller hardware configuration returned by ID 11 1 should be interpreted as a bit field as follows Bit 3 Emulator mask 4 This bit is set if the system is an emulator e g it runs on PC with virtual robot instead of running on a SmartController EX controlling real robots Pendant Device number 2 refers to the pendant The component parameter must have the value 1 The value returned is the version number of the pendant software CPU and Board Configuration Device number 4 refers to the system CPUs If the indicated board does not exist all values are returned as 1 Result of ID component 4 board CPU type 8 SmartController EX eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 281 ID real valued function Result of ID component 4 board Bit field indicating which software modules are active on the board Bit definitions are provided in the following table Interpretation Wh Bi Processor is running the eV Operatin
540. the server itself Not yet implemented 1 Explanation This keyword is not implemented in this version of eV User action Upgrade to a newer version of eV or don t use this keyword Now reboot the controller to disable Adept Digital Workcell simulation mode None Explanation The eV monitor command DISABLE ADW has been entered This message informs you that the Adept controller must be rebooted to actually discontinue Adept Digital eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 624 System Messages Alphabetical List Workcell simulation mode User action If Adept Digital Workcell simulation mode is to be terminated turn off power to the Adept controller and turn power back on to reboot the eV system Otherwise enter the eV monitor command ENABLE ADW to cancel the effect of the previous DISABLE command Now reboot the controller to enable Adept Digital Workcell simulation mode None Explanation The eV monitor command ENABLE ADW has been entered This message informs you that the Adept controller must be rebooted to initiate Adept Digital Workcell simulation mode User action If Adept Digital Workcell simulation mode is to be used turn off power to the Adept controller start up the Adept Digital Workcell software on the PC and turn on power to the Adept controller Otherwise enter the eV monitor command DISABLE ADW to cancel the effect of the previous ENABLE command No zero index Belt n
541. the stack for the program task was too full User action Reorganize the program logic to eliminate one or more nested subroutine calls or reactions eliminate some of the automatic variables that are allocated by the programs or use the STACK monitor command to increase the size of the stack for the program task The program may be restarted with the RETRY command Not enough storage area 411 Explanation There is no more space in RAM for programs or variables User action Delete unused programs and variables If the memory is fragmented because of numerous deletions it can be consolidated by issuing the commands STORE save_all ZERO and LOAD save_all This writes the memory contents to the disk and reads them back into memory Note however that this procedure does not retain any variables that are not referenced by any program in memory nor does it retain the values of variables that are defined to be AUTO or LOCAL Not found 356 Explanation The search operation was unable to locate the specified string User action Enter a new search string or consider this an informational message and continue with other operations Not owner 566 Explanation The client does not have the correct access identity to perform the requested operation User action Modify the eV configuration using the Adept ACE controller configuration tool as required to gain access to the server You may also need to change the access setup on
542. this reason it is necessary to test for the desired condition after executing the WAIT EVENT For I O repeat the no wait I O operation or use the IOSTAT function For SET EVENT issued by other tasks define and check a global variable To avoid race conditions where the event is set or cleared between testing and waiting use the following loop in the waiting task the statement order is critical CLEAR EVENT Issue no wait I O if appropriate Check I O status or check global variable Exit loop if operation complete WAIT EVENT 1 n uo BR W N Be GOTO step 1 If using SET EVENT to signal another task use the following sequence the statement order is critical 1 Set the global variable 2 SET EVENT for the appropriate task Examples Suspend program execution for 5 5 seconds WAIT EVENT 5 5 Suspend program execution until the completion of any system input output or until another program task sets events using the SET EVENT instruction WAIT EVENT 1 Suspend program execution for five seconds until the completion of any system input output or until another program task uses the SET EVENT instruction to set events The current program should use the GET EVENT function to decide whether an event has occurred or five seconds has elapsed eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 556 WAIT EVENT program instruction WAIT EVENT 1 5 Related Keywords CLEAR EVENT program instruction GET EV
543. tical List User action 1 Use the NET monitor command to determine the type of errors that have occurred Check for noise on the communication line errors in the remote DDCMP implementation or program logic that sends messages faster than they can be processed Use the appropriate FCMND instruction to increase the maximum number of errors 2 Set the KERMIT RETRY parameter to a larger value increase the retry threshold on the remote server restart the Kermit session and retry the operation that failed Too many vision requests pending 703 Explanation A program has issued too many VLOCATE commands before the first ones have completed User action Edit the program to wait for pending VLOCATE requests to complete before issuing more Too many windows 550 Explanation An attempt was made to create a graphics window when the maximum number of windows were already defined The eV system uses two windows for the screen and the top status line Every title bar menu bar and scroll bar is a separate window The pull down window is always allocated even if it is not visible Systems with AdeptVision always have the vision training window allocated User action Where possible change your window definitions to omit menu bars and scroll bars If necessary use the utility program CONFIG_C to increase the number of window buffers Trajectory clock overrun 636 Explanation One of these three conditions has occurred 1
544. tion VAL real valued function Syntax VAL string Function Return the real value represented by the characters in the input string Usage Considerations The input string can be a number in scientific notation The input string can contain leading number base indicators H for example The input string can contain a or sign before the numeric part of the string but after any optional base indicator Any character that cannot be interpreted as part of anumber or as a base indicator marks the end of the characters that are converted Parameter string String constant variable or expression Examples VAL 123 Elm Street Returns the real value 123 VAL 1 2E 2 Returns the real value 0 012 VAL HFE Returns the real value 255 Related Keywords ASC real valued function ENCODE string function FLTB real valued function INTB real valued function LNGB real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 551 VALUE program instruction VALUE program instruction Syntax VALUE expression_list Function Indicate the values that a CASE statement expression must match in order for the program statements immediately following to be executed Usage Considerations VALUE must be part of a CASE control structure See the description of the CASE instruction for details Parameter expression_list List of real values or expressions separated by commas Related Keywords AN
545. tion 1 END Related Keywords COMMANDS monitor command eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 330 MC program instruction MCS program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 331 MCS program instruction MCS program instruction Syntax MCS string Function Invoke a monitor command from an application program Parameter string String value variable or expression that defines one of the eV monitor commands listed below Details Normally monitor commands can be invoked only from the system terminal or from command programs which contain only monitor commands The MCS instruction can be used to invoke the following monitor commands from an application program DELETE DELETEL DELETEM DELETEP DELETER DELETES FCOPY LOAD STORE STOREL STOREM STOREP STORER STORES VRENAME Using these commands an application program can store load and copy programs to and from disk and also delete programs from memory to make room for other programs Similarly variables can be deleted from memory when they are no longer needed Also vision prototypes can be renamed Loading storing and deleting programs and global variables is not interlocked for multi task access in eV Therefore if you are incorporating multiple MCS instructions in a program you will need to use TAS interlocks to prevent multiple tasks from issuing the instructions For details see the TAS program instruct
546. tion SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 123 COARSE program instruction COARSE program instruction Syntax COARSE tolerance ALWAYS Function Enable a low precision feature of the robot hardware servo Usage Considerations Only the next robot motion will be affected unless the ALWAYS parameter is specified If the tolerance parameter is specified its value becomes the default for any subsequent COARSE instruction executed during the current execution cycle regardless of whether ALWAYS is specified FINE 100 ALWAYS is assumed whenever program execution is initiated and when a new execution cycle begins The COARSE instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task The instruction applies to the robot selected by the task If the eV system is not configured to control a robot executing the COARSE instruction causes an error Parameters tolerance Optional real value variable or expression that specifies the percentage of the standard coarse tolerances that are to be used for each joint of the robot attached by the current execution task See the Details section for default values ALWAYS Optional qualifier that establishes COARSE as the default condition That is COARSE will remain in effect until disabled by a FINE instruction If ALWAYS is not specified the C
547. tion specified by bit 12 This bit is ignored for robots like the SCARA configurations that do not have an elbow that moves in a vertical plane When bit 11 is set and this bit is set the instruction attempts to compute joint positions for an elbow down configuration If bit 11 is set and this bit is 0 the instruction attempts to compute joint positions for an elbow up configuration This bit is ignored for robots like the SCARA configurations that do not have an elbow that moves in a vertical plane If this bit is set the instruction attempts to compute a set of joint positions corresponding to the FLIP NOFLIP configuration specified by bit 14 This bit is ignored if the robot does not have a three axis eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 478 SOLVE ANGLES program instruction pe Bit 14 Change to FLIP When bit 13 is set and this bit is set mask value H2000 the instruction attempts to compute joint positions for a FLIP wrist configuration If bit 13 is set and this bit is 0 the instruction attempts to compute joint positions for a NOFLIP wrist configuration This bit is ignored if the robot does not havea three axis wrist Bit 21 Avoid degeneracy When this bit is set if the computed mask value value of joint 2 is within 10 H100000 degrees of having the outer link straight out that is joint 2 between 10 and 10 degrees in value an out of range error for joint 2
548. tion of a FREE command eV has detected that programs or data in RAM may have been corrupted This may have been caused by a momentary hardware failure or a software error User action Attempt to save as much as possible onto the disk Then enter a ZERO command or power down the controller and restart the system Straight line motion can t alter configuration 612 Explanation A change in configuration was requested during a straight line motion This is not allowed User action Delete the configuration change request or use a joint interpolated motion instruction String too short 417 Explanation A program instruction or command expected a string argument with a certain minimum length and received one that was too short User action Review the syntax for the program instruction and edit the program to pass a string of the correct length String variable overflow 416 Explanation An attempt has been made to create a string value that is greater than the maximum string length of 128 characters User action Edit the program to generate strings of the proper length Subdirectory in use 547 Explanation An attempt has been made to delete a subdirectory that still contains files or that is being referenced by another operation for example an FDIRECTORY command User action Make sure that all the files within the subdirectory have been deleted Make sure that no other program tasks are referencing the s
549. tional qualifier If specified the program speed_factor will be in effect until the next SPEED instruction changes program speed Otherwise it is in effect only for the next motion instruction including APPROaches and DEPARTs eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 485 SPEED program instruction Details If the units parameter is omitted this instruction determines the program speed the nominal robot motion speed assuming that the monitor speed factor is 100 If MONITOR is specified for units the monitor speed is set In this case the parameter r_ speed_factor is ignored and ALWAYS is assumed The speed at which motions are actually performed is determined by combining the values specified in this instruction with the current program speed setting Monitor speed changes take place immediately including the remaining portion of a currently executing move If IPS or MMPS is specified in the units parameter speed_factor is interpreted as the absolute tool tip speed for straight line motions In this case the speed_factor parameter has no direct meaning for joint interpolated motions The effects of changing program speed and monitor speed differ slightly for continuous path motions As the robot moves through a series of points the robot comes as close to the points as possible while maintaining the program speed and specified accelerations As program speed increases the robot makes coarser approximations to t
550. tional status variable returns 1 for success otherwise contains a eV error code robot Specifies the robot number mode Specifies the jog mode as follows 1 Keep alive mode Continues the previous instruction for another 300 ms 1 Free joint mode A positive speed will put the specified joint s in Free mode A negative speed will put the specified joint s out of Free mode Individual joint control eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 308 axis speed location appro_dist JOG program instruction 7 Jog toward the specified location using the specified speed Jog toward alignment of the robot tool Z axis with the nearest World axis Cartesian control relative to a frame defined by the specified location See the Details for information about errors associated with the modes Specifies the joint number or Cartesian coordinate X 1 Y 2 depending on the specified jog mode see above for the desired motion This parameter is ignored for modes 7 and 8 but a value must always be specified Specifies the speed and direction of the motion This is interpreted as a percentage of the speed in manual mode Values above 100 are interpreted as 100 values below 100 are interpreted as 100 If Free mode is specified a positive speed will put the given joint in free mode and a negative speed will put the joint out of free mode Optional parameter that specifies a trans
551. tive rotation top robot in FLIP NOFLIP Asserting a NOFLIP configuration forces a wrist joint to have a positive rotation bottom robot in FLIP NOFLIP Wrist joint angles are expressed as 180 NOTE Robots can change configuration only during joint interpolated moves eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 240 FLIP program instruction FLIP NOFLIP The following figures illustrate FLIP versus NOFLIP configurations of a Viper s650 robot eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 241 FLIP program instruction FLIP NOFLIP Example on Viper s650 Robot Example The following eV code snippet demonstrates the use of the FLIP and NOFLIP program instructions FLIP 7 Request change in robot configuration during next motion MOVE loc_a Move to loc_a transformation with FLIP configuration NOFLIP Request change in robot configuration during next motion MOVE loc_a Move to loc_a transformation with NOFLIP configuration Related Keywords CONFIG real valued function NOFLIP program instruction SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 242 FLTB real valued function FLTB real valued function Syntax FLTB string first_char Function Return the value of four bytes of a string interpreted as an IEEE single precision floating point number Parameters string String expression that contains th
552. to offset is the write offset into the output area it is device dependent and count is the number of bytes to write The output bytes are contained in the string variable output See the Adept MV Controller User s Guide for details on the MACID statement in DeviceNet configuration Used for determining the DeviceNet status with the following eV code AUTO lun macid status Serror 25 input macid 1 MacID for this example Define the status messages Serror 0 Device not in device list Serror 1 Device idle not being scanned Serror 2 Device being scanned g Serror 3 Device timed out Serror 4 UCMM connection error Serror 5 Master Slave connection set is busy Serror 6 Error allocating Master Slave connection set Serror 7 Invalid vendor id Serror 8 Error reading vendor id Serror 9 Invalid device type Serror 10 Error reading device type Serror 11 Invalid product code P error 12 Error readin roduct code g P error 13 Invalid I O input size for connection 1 error 14 Error reading I O input size for connection 1 error 15 Invalid I O output size for connection at Serror 16 Error reading I O output size for connection 1 Serror 17 Invalid I O input size for connection 2 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 230 FCMND program instruction Serror 18 Error reading I O input siz
553. to use a feature of a eV system option that is not present in this robot system User action Power down the controller and try starting it again Contact Adept Application Engineering if the problem repeats eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 626 System Messages Alphabetical List Orientation out of range 935 Explanation While evaluating the kinematic solution the deflection of the moving platform of the Adept Quattro robot was found to be beyond the allowable extreme User action Press the Brake Release button and manually move the robot joints so that the moving platform is nearer to it s square shape Out of graphics memory 549 Explanation There is no more space in the graphics memory on the system processor for windows icons fonts or other graphics items User action Delete unused graphics items or reduce the size of windows to free up graphics memory Out of I O buffer space 532 Explanation An I O operation cannot be performed because the eV system has run out of memory for buffers User action Delete some of the programs or data in the system memory and retry the operation Also see Not enough storage area Out of network resources 559 Explanation This error applies to many circumstances Listed below are several possible cases 1 Too many ports are simultaneously in use for networking there are no more buffers available for incoming and outgoing
554. tomatically selected when a program begins execution SELECT FORCE In asystem with multiple force sensors this monitor command or program instruction selects the force sensor with which the current task is to communicate The SELECT monitor command specifies which force sensor the eV monitor is to access The program instruction specifies which force sensor receives force instructions for example FORCE READ and returns force sensor related information for example for the LATCH function Each time a program task begins execution force sensor 1 is automatically selected Example SELECT ROBOT Example Program The following program selects robot 3 and moves it This program is normally not executed by task 0 since that task is attached to robot 1 by default PROGRAM test SELECT ROBOT 3 Select robot 3 ATTACH 0 1 7Get control of robot 3 without waiting IF IOSTAT 0 lt 0 THEN TYPE B Error attaching robot SERROR IOSTAT 0 PAUSE END OVE x 7 Move robot 3 to location x OVE y 7 Move robot 3 to location y eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 451 SELECT program instruction DETACH Detach robot 3 END SELECT VISION Example Program The following program segment selects vision system 2 and accesses that system PROGRAM vision 2 SELECT VISION 2 Select vision system 2 ENABLE VISION Enable that vision system VSTATUS 1 0 status Get status information
555. truction 2 2200 200 c cece een cece cece c eee eeeeceeceeceeeeeeeeee 96 BREAK program instruction 22200 2 200 e ence cece eee ee ee ceeeeeeeeeeeeeeee 97 BSTATUS real valued function 0 00 0 00 00 c cece ccc cece cece eee ec cece ee eeeeeececceeceeeeceeees 98 BXOR OPeCratlOM ite ee tal hoe heuer eh Sodus alot ee ult as be Ile hl 100 BY KEV WONG na 2s te Bohl slat tile kt yest a acre wt etl Cal ts Leis Ae 102 CALIBRATE program instruction 2 0 0 0 0 0 e cece eee ec eee eeceeeeaeeees 103 CALL program instruction 00 0 200 e cece eee ee eeeeeeeeeeeeeeee 106 CALLP program instruction 0 000000000 0000000000000 ce eee eee ee ce eeeeeeeeeeeees 109 CALLS program instruction 000 0 000 200 0000000000000000 e cence ec eeeeeeeceeeeeeee 111 CAS real valued function 202 0 02 0 c eee cece cece cece eee ecececeecceecseceeseeeen 113 CASE program instruction 02 0 00 2 0 c cece cee eee ccc cee cee rr rora rr cece eeeeeeeseeeeeeees 115 SCHR string FUNCTION 2220 a a a E S 118 CLEAR EVENT program instruction 000 2200002220 ccc ccc cece cece cece ce eecceceeeeeees 119 CLOSE and CLOSEI program instruction 2 000 000 e eee ence eeeees 120 CLOSE and CLOSEI program instruction 2 200 000 0000 c cece cece cece eee cece ee ceceeceeee 122 COARSE program instruction 0 0 2 c cece eee cece ccc cece eee e eee eeeeeeeeeeeeeees 124 COM OpGrator 22x sect en cca o hoot coh Aaa a es oes eh a s 126 CONF
556. truction FSET program instruction IOSTAT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 248 FOPEN_ program instruction FOPEN_ program instruction Syntax FOPEN_ lun record_len mode file_spec Function Open a disk file for read only read write read write append or read directory as indicated by the last letter of the instruction name The forms of FOPEN_ are e FOPENA e FOPEND e FOPENR e FOPENW See the Details section for descriptions of each instruction Usage Considerations A logical unit must be attached before an open operation will succeed No more than 60 disk files and 160 network files can be open by the entire system at any time That includes files opened by all of the program tasks and by the system monitor for example for an FCOPY command Parameters lun Real valued expression defining the logical unit number of the disk device to be accessed See the ATTACH instruction for a description of unit numbers record_len Optional real valued expression defining the length of records to be read and written If the record length is omitted or is zero variable length records are processed In this case random access of records cannot be done If the record length is nonzero it specifies the length in characters of fixed length records to be processed Random access is allowed with fixed length records mode Optional real valued expression defining how read
557. tructions apply to the robot selected by the task If the eV system is not configured to control a robot executing these instructions will cause an error Parameters location Transformation value that defines the basis for the final location distance Real valued expression that specifies the distance along the robot tool Z axis between the specified location and the actual desired destination A positive distance sets the tool back negative tool Z from the specified location a negative distance offsets the tool forward positive tool Z Details These instructions initiate a robot motion to the orientation described by the given location value The position of the destination location is offset from the given location by the distance given measured along the tool Z axis Examples APPRO place offset eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 58 APPRO program instruction Moves the tool by joint interpolated motion to a location offset millimeters from that defined by the transformation place The offset is along the resultant Z axis of the tool APPROS place 50 Moves the tool along a straight line to a location 50 millimeters from that defined by the transformation place with the offset along the resultant Z axis of the tool to a location beyond the location place Related Keywords DEPART program instruction DEPARTS program instruction MOVE program instruction MOVES program instruction eV
558. ts the category of state information returned The information categories are listed below For details on a category click the category name to view its description Robot State select 1 System Settings Current manual control mode select 3 Hardware status select 4 Settings of controller switches on the SmartController EX select 5 Trajectory generator execution rate select 13 Number of robot selected by the pendant select 8 Robot Motion Information Current or previous robot motion select 2 Status of Real time path modification facility alter mode for current motion select 6 and select 7 Time until completion of robot motion select 9 Percentage of current motion completed select 10 Acceleration profile select 11 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 492 STATE real valued function Number of motion being executed by the selected robot select 15 Determine whether current or previous motion is optimized select 19 Planned execution time of current motion select 20 27 Details When select 1 the function value returns information about the overall robot state as follows Robot is under program control Robot power is on robot is not calibrated and cannot be moved Front panel power light is blinking slowly 1 Hz waiting to be pressed Robot power will be turned on when the blinking button is pressed Front panel power light is blinking rapidly 4 Hz Ro
559. ttempted to remove a directory that was not empty User action Delete the directory s contents before deleting the directory DO not primed 302 Explanation A DO command was attempted without specifying a program instruction to be executed and no previous DO had been entered User action Provide the desired instruction with the DO command Driver internal consistency error 519 Explanation An I O device or servo has responded in an unexpected manner User action Retry the operation that caused the error If it persists contact Adept Customer Service Duplicate PROGRAM arguments 468 Explanation At least two of the arguments in a PROGRAM statement have the same name User action Edit the PROGRAM line so that all the arguments have unique names Duplicate servo node ID 678 Explanation During startup or after a servo bus reset eV has detected two or more servo nodes with the same serial number Either an error has occurred with servo node detection or a servo node is configured incorrectly Servo network operation is not allowed eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 591 System Messages Alphabetical List User action Use the SRV NET command to determine which nodes are causing this error Reinitialize your servo network Reboot your robot controller If a new servo node has been added to the network verify that its serial number is correct If the problem persists conta
560. turn data The actual operation performed depends on the device referenced Usage Considerations The syntax contains optional parameters that may be useful only for specific device types and commands Parameters type unit error p1 p2 Real value variable or expression interpreted as an integer that indicates the type of device being referenced The following types are currently available 0 Belt encoder 1 Not used 2 Force Processor Board for Adept use only 3 Robot device i e servo for Adept use only 4 Vision 5 1394 bus for Adept use only Real value that indicates the device unit number The value must be in the range 0 to max 1 where max is the maximum number of devices of the specified type The value should be 0 if there is only one device of the given type Optional real variable that receives a standard system error number if this instruction failed If this parameter is omitted any device error stops program execution If the error parameter is specified the program must check it to detect errors The value is negative if there was an error Otherwise the positive value indicates the number of data bytes that were returned in the in parameter Optional real values that are sent to the device as part of a command The number of values specified and the meanings of the values depend upon the particular device type eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 174
561. ubdirectory Retry the delete operation Subdirectory list too long 546 Explanation A directory path contains too many subdirectories or the directory path is too long to be processed The path is a combination of subdirectories in the file specification and the default directory path set by the DEFAULT monitor command Directory paths are limited to a total of 16 subdirectories and 80 characters including any portion of the directory path specified by the current default path eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 644 System Messages Alphabetical List User action Specify a shorter directory path in the file specification or in the DEFAULT command If you are accessing a foreign disk that contains more than 16 nested subdirectories you cannot read the files in subdirectories nested deeper than 16 levels In this case you must use the system that created the disk to copy the files to a directory that is nested less deeply Switch can t be enabled 314 Explanation An ENABLE command for a certain switch has been rejected because of some error condition For example ENABLE POWER fails if the system is in FATAL ERROR state User action Review the description for the switch you are trying to enable correct the error condition and try again SYSFAIL detected by CPU 629 Explanation A board on the VMEbus has encountered a severe error and asserted the SYSFAIL signal which turns off HIGH POWER
562. uble_precision is omitted or has a value of 0 the transformation is represented by a single precision in a 48 byte string otherwise the transformation is represented by a double precision in a 96 byte string This parameter is used to offer a full precision mode while maintaining backward compatibility Details 48 or 96 sequential bytes of the given string are interpreted as being a set of twelve single precision 32 bit or double precision 64 bit floating point numbers in the IEEE standard format See the description of the FLTB or DBLB function for details of the floating point format The twelve values are interpreted as the components of a 3 by 4 transformation matrix stored by column The main use of this function is to convert the binary representation of a transformation value from an input data record to values that can be used internally by eV eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 539 TRANSB transformation function Related Keywords FLTB real valued function TRANS transformation function TRANSB string function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 540 TRUE real valued function TRUE real valued function Syntax ws TRUE Function Return the value used by eV to represent a logical true result Usage Considerations The word true cannot be used as a program name or variable name Details This named constant is useful for situations where true and false con
563. uction 0 0 00 c cece eee eeeeeeeeeseeees 188 DURATION real valued function 0 0 0 00020 c cece eee eee c eee ec ccc ceeceeceeeveeeeceese 191 DX DY DZ real valued function 2 0 00 0c cece cece cece cece ccc ec eee ceceecceceeeeeeeees 193 DX DY DZ real valued function 2 2 00 0 00 e cece cece ec eeececeeceeceeeeeeeees 195 DX DY DZ real valued function 00 0 0 2 0 ce cece cece eee ecceceecceeeeeeeeeees 197 ELSE program instruction 0 222002 a cece cece a c eee A 199 ENABLE program instruction isco 8s ees er etek eee A Maan ct Red A eet 200 ENCODE string function Di0 22 ccc ct ice ededae btatob abode ade adidtesidebdabietndeddubhcecetel 202 END program instruction 228 5 oss 022s outie cere Leics ie eli cacee e eats 205 END KOVO noe e Bes all SO 8 a ed See els NEE an 206 ERROR real valued function cists 25 tate ice Mt a col sh unas aoe Us nda le sects l as al Aad 207 ERROR string function 2 22 eee cece ccc ec DDPA LLDD DDEALL LPPD LL orraa 211 ESTOP program instruction 00 022002 e cece e eee ceeeeceeeeeeees 212 EXECUTE progran ISCHUGGION sec acces coin daacnddeictiiean unacauss dnaddeehiin nade saud h aati ins 213 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 7 EXIT program instruction 20 2 0 200 c occ cece cece cence cece cece cece ceeccceeeeeeeeeseeees 217 FALSE real val ed SUNCOM fcnu 5 tnt ecu abner en ooh Lee nanan Ge ole epee iy ae 219 FCLOSE program instruction 0
564. uction FRENAME monitor command IOSTAT real valued function MCS program instruction FCOPY program instruction Syntax FCOPY err new_file old_file Function Copy the information in an existing disk file to a new disk file Parameters err new_file old_file Details Optional parameter used to return an error String constant variable or expression that specifies the file for the new disk file to be created If the period and filename extension are omitted the default is a blank extension The current default device unit and directory path are considered as appropriate see the DEFAULT command String constant variable or expression that specifies an existing disk file If the period and filename extension are omitted the default is a blank extension The current default device unit and directory path are considered as appropriate If the new file already exists or the old file does not exist an error is reported and no copying takes place You cannot overwrite an existing file the existing file must first be deleted with an FDELETE command If the file to be copied has the special read only attribute the new file will also have that attribute Files with the protected attribute cannot be copied See FDIRECTORY for a eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 232 FCOPY program instruction description of file protection attributes When a file is copied
565. uction Moves the tool by joint interpolated motion to a location offset millimeters from that defined by the transformation place The offset is along the resultant Z axis of the tool APPROS place 50 Moves the tool along a straight line to a location 50 millimeters from that defined by the transformation place with the offset along the resultant Z axis of the tool to a location beyond the location place Related Keywords DEPART program instruction DEPARTS program instruction MOVE program instruction MOVES program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 61 ASC real valued function ASC real valued function Syntax ASC string index Function Return an ASCII character value from within a string Parameters string String expression from which the character is to be picked If the string is empty the function returns the value 1 index Optional real valued expression defining the character position of interest The first character of the string is selected if the index is omitted or has a value of 0 or 1 If the value of the index is negative or greater than the length of the string the function returns the value 1 Details The ASCII value of the selected character is returned as a real value Examples Returns the ASCII value of the letter a ASC sample 2 Returns the ASCII value of the first character of the string contained in the variable name ASC Sname
566. uction NULL program instruction Syntax NULL ALWAYS Function Instruct the eV system to wait for position errors to be nulled at the end of continuous path motions Usage Considerations Only the next robot motion is affected if the ALWAYS parameter is not specified This is the default state of the eV system NULL ALWAYS is assumed whenever program execution is initiated and when a new execution cycle begins The NULL instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task The instruction applies to the robot selected by the task If the eV system is not configured to control a robot executing the NULL instruction causes an error The word null cannot be used as a program name or variable name Parameter ALWAYS Optional qualifier that establishes NULL as the default condition That is if ALWAYS is specified NULL remains in effect continuously until disabled by a NONULL instruction If ALWAYS is not specified the NULL instruction applies only to the next robot motion Details When NULL is in effect and a BREAK in the robot motion occurs eV waits for the servos to signal that all moving joints have reached their specified positions before it begins the next motion The accuracy to which the electronics verify that all joints have reached their destination positions is determined by the COARSE and FINE program instructions Related Keywords COARSE
567. ue is negative or zero see below for more details Details This program instruction is used to suspend program execution until a specified event has occurred or until a specified amount of time has elapsed in the timeout clock The program waits efficiently When the program resumes execution after a WAIT EVENT instruction the GET EVENT function can be used to verify that the desired event has actually occurred This is the only way to distinguish between the occurrence of an event and a time out if one was specified If the mask parameter has the value zero or is omitted this instruction becomes a very efficient way to suspend program execution for the time period specified by the timeout parameter eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 555 WAIT EVENT program instruction If the timeout parameter is omitted or has a negative or zero value this instruction suspends program execution indefinitely until the specified event occurs If both mask and timeout are zero or omitted this instruction does nothing WAIT EVENT 1 waits for an event to be signaled for a task Events are signaled by either a SET EVENT program instruction or by a pending no wait I O instruction when the I O operation is completed In general there is no way to tell why the event was set It may have been set by an I O operation a SET EVENT program instruction or an internal system process Such as a triggered REACT condition For
568. ued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 201 ENCODE string function ENCODE string function Syntax ENCODE output_specification output_specification Function Return a string created from output specifications The string produced is similar to the output of a TYPE instruction Parameter An output specification can consist of any of the following components in any order separated by commas 1 Astring expression 2 Areal valued expression which is evaluated to determine a value to be displayed 3 Format control information which determines the format of the output message Details This function makes strings normally produced by the TYPE instruction available within a program That is ENCODE does not generate any output but rather creates a string value The following format specifiers can be used to control the display of numeric values These settings remain in effect for the remainder of the function parameter list unless another specifier is used For all these specifiers if a value is too large to be displayed in the given field width the field is filled with asterisk characters D Use the default format which is equivalent to G15 8 see below except trailing zeros and all but one leading space are omitted The following format specifications accept a zero as the width field This causes the actual field size to vary to fit the value and all leading s
569. ues of part_1 and hole_pos and knowing that part_l hole 1 is equal to hole pos We can then use the INVERSE function to determine hole_1 with the instruction SET hole_1 INVERSE part_1 hole_pos Note that the SET instruction can be used without explicit use of INVERSE by using a compound transformation on the left hand side with identical results That is the instruction defines hole_1 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 300 INVERSE transformation function SET part _1l hole 1 hole pos Related Keywords HERE program instruction SET program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 301 IOSTAT real valued function IOSTAT real valued function Syntax IOSTAT lun mode Function Return status information for the last input output operation for a device associated with a logical unit Usage Considerations IOSTAT returns information only for the most recent operation If more than one operation is performed the status should be checked after each one Parameters lun Real valued expression whose integer value is the logical unit number for the I O device of interest See the description of ATTACH for information on the logical unit numbers recognized by the eV system and how logical units are associated with I O devices mode Optional expression that selects the type of I O status to be returned for the specified logical unit The following table shows
570. uous path without affecting the forward processing of the eV program eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 137 CPON program instruction While asserting CPON permits continuous path processing to occur any of the following conditions will break a continuous path and override CPON e Nosubsequent motion instruction is executed before completion of the next motion instruction e CPsystem switch is disabled If the CP system switch is disabled continuous path processing never occurs regardless of any CPON or CPOFF instructions e The next motion instruction is followed by an instruction that explicitly or implicitly causes motion termination for example BREAK OPENI Related Keywords BREAK program instruction CP system switch CPOFF program instruction SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 138 CYCLE END program instruction CYCLE END program instruction Syntax CYCLE END task_num stop_flag Function Terminate the executing program in the specified task the next time it executes a STOP program instruction or its equivalent Suspend processing of an executable program until a program running in the specified task completes execution Usage Considerations The CYCLE END instruction has no effect if the specified program task is not active The CYCLE END instruction suspends execution of the program containing
571. ured with the continuous rotation capability or the robot is currently tracking a belt or moving under control of an ALTER instruction User action Configure the joint with continuous rotation capability or complete the belt tracking or ALTER instruction before attempting to execute the SPIN instruction Step syntax MUST be valid None Explanation The SEE editor s AUTO BAD extended command has been used to change the action to be taken when an invalid line is detected while editing Subsequently the editor requires that such a line be corrected before you are able to perform any operation that moves the cursor off the bad line User action None This is an informational message Stop on force triggered 623 Explanation A force sensor Guarded Mode trip occurred when the robot was not under program control User action High power must be re enabled before robot motion may continue If the trip was not desired make sure that Guarded Mode is disabled before the program relinquishes control of the robot to the manual control pendant Stopped due to servoing error 600 Explanation Program execution has stopped because of one or more servo errors User action Correct the source of the reported servo errors referring to your system hardware manual as required eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 643 System Messages Alphabetical List Storage area format error 305 Explanation During execu
572. uring eV initialization i e during the booting process and as part of the output displayed by the ID monitor command to indicate that the eV system is operating in Adept Digital Workcell simulation mode User action No response is required if the eV system is intended to be used in Adept Digital Workcell simulation mode Otherwise the command DISABLE ADW should be entered and the Adept controller should be rebooted Aborted 400 Explanation The last command requested or the program that was executing has been aborted at your request User action None eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 579 System Messages Alphabetical List Already attached to logical unit 515 Explanation A program has executed more than one ATTACH instruction for a specific logical unit without executing a DETACH in between The program is still attached to the logical unit after this error occurs User action Check the program logic and remove redundant ATTACH instructions Ambiguous AUTO invalid 477 Explanation When exiting from the program editor eV has encountered an automatic variable with undetermined type That is the system cannot determine if the variable is real valued or a transformation Automatic variables cannot be ambiguous since their storage requirements must be known before they are referenced User action Include the REAL or LOC type specification parameter in the AUTO statement
573. urn 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 Imax RF Return the maximum value contained in the list of values nc Pt_ Ttesuce monitor commend winin a command proram nes a inion amman temansoaeon rem MESSAGES Enable or disable output to the system terminal from TYPE instructions m St _ Retumaauessinocrhespeateastre OO ms __ Seno ne nk tora SPEED naruton ailerons poo fo eomaretenansctownius MOVE Initiate a robot motion to the position and orientation described by the given location MOVES aoa eee a circular arc path robot motion using the positions and o described by the given locations MULTIPLE ian Allow full rotations of the robot wrist joints NETWORK Return network status and IP address information NEXT PI Branch to the END statement of the nth nested loop perform the loop test and loop if appropriate eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 32 eV Language Quick Reference Kerwort te SSCs 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 NONULL PI Instruct the eV system not to wait for position errors to be nulled at the end of continuous path motions NOOVERLAP PI Generate a program error if a motion is planned that causes selected multiturn axes to turn more than around in order to avoid
574. ust be part of a complete CASE structure Parameter value Real value variable or expression that defines the value to be matched in the CASE structure to determine which instructions are executed Details This is perhaps the most powerful structure available with eV It provides a means for executing one group of instructions from among any number of groups The complete syntax is as follows the blank lines are not required CASE value OF VALUE value_1 group_of steps VALUE value 2 group_of steps ANY group_of steps END The three vertical dots indicate that any number of VALUE steps can be used to set off additional groups of instructions The ANY step and the group of steps following it are optional There can be only one ANY step in a CASE structure and it must mark the last group in the structure as shown above Note that the ANY and END steps must be on lines by themselves as shown However as with all instructions those lines can have comments The CASE structure is processed as follows The expression following the CASE keyword is evaluated eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 115 CASE program instruction All the VALUE steps are scanned until the first one is found that has the same value The group of instructions following that VALUE step is executed Execution continues at the first instruction after the END step If no VALUE step is found that contains the
575. ve as the specified program task Parameters C Optional qualifier that conditionally attaches the selected robot The qualifier has an effect only when starting the execution of task 0 task_num Real value or expression specifying which program task is to be activated For more information on program tasks see the section Executing Programs in the eV Language User s Guide program Name of the program to be executed param_list Optional list of constants variables or expressions separated by commas that must correspond in type and number to the arguments in the PROGRAM statement for the program specified If no arguments are required by the program the list is blank but the parentheses must be entered Program parameters may be omitted as desired using commas to skip omitted parameters No commas are required if parameters are omitted at the end of the list Omitted parameters are passed to the called program as undefined and can be detected with the DEFINED real valued function Automatic variables and subroutine arguments cannot be passed by reference in an EXECUTE instruction They must be passed by value see the description of CALL The parameters are evaluated in the context of the new task that is started see below cycles Optional real value variable or expression interpreted as an eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 213 EXECUTE program instruction integer that specifies the
576. ve been defined previously when the a message was received Do not wait for acknowledgment WRITE lun handle str N Related Keywords ATTACH program instruction DETACH program instruction FCLOSE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 567 WRITE program instruction FEMPTY program instruction FOPEN_ program instruction IOSTAT real valued function PROMPT program instruction READ program instruction TYPE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 568 XOR operator XOR operator Syntax a XOR value Function Perform the logical exclusive OR operation on two values Details The XOR operator operates on two values resulting in their logical exclusive OR combination For example during the exclusive OR operation c a XOR b the following four situations can occur FALSE FALSE FALSE TRUE TRUE FALSE TRUE TRUE That is the result is TRUE if only one of the two operand values is logically TRUE To review the order of evaluation for operators within expressions see the section Order of Evaluation in the eV Language User s Guide Example In the following sequence the instructions immediately following the IF are executed when not_eq_one is TRUE and count does not equal 1 or when not_eq_one is FALSE and count equals 1 Otherwise they are not executed IF not_eq_ one XOR count 1 THEN END Related Keywords AN
577. viceNet Command Codes 761 Used for reading CanBus status The CanBus is the bus that DeviceNet runs on When the instruction FCMND lun 761 input is executed the string variable input returns the status shown in the following table DeviceNet Status Format INTB input 1 CanBus status value see below INTB input 3 Number of bytes transmitted INTB input 5 Number of acknowledges received eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 228 FCMND program instruction CanBus status value is a bitmask containing the following bits oe mann ten seinere 762 Used for generic I O to the DeviceNet scanner This FCMND reads from the scanner input area When the instruction FCMND lun 762 SINTB macid INTB offset INTB count Sinput is executed macid gt is the MAC ID to read from offset is the read offset eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 229 763 768 FCMND program instruction into the input area it is device dependent and count is the number of bytes to read The input is returned by the string variable input See the Adept MV Controller User s Guide for details on the MACID statement in DeviceNet configuration Used for generic I O to the DeviceNet scanner This FCMND writes to the scanner output area When the instruction FCMND lun 763 SINTB macid SINTB offset SINTB count output is executed macid is the MAC ID to write
578. witch WARNING Digital and analog I O is not affected by DRY RUN so external devices driven by analog or digital output instructions still operate Related Keywords DISABLE monitor command ENABLE monitor command SWITCH monitor command SWITCH program instruction SWITCH real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 187 DURATION program instruction DURATION program instruction Syntax DURATION time ALWAYS Function Set the minimum execution time for subsequent robot motions Usage Considerations Unless the ALWAYS parameter is specified only the next robot motion is affected DURATION 0 ALWAYS is assumed whenever program execution is initiated and when a new execution cycle begins The DURATION instruction affects the DRIVE instruction but not the DELAY instruction The setting of the monitor SPEED command affects the results of the DURATION setting The DURATION instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task The instruction applies to the robot selected by the task If the eV system is not configured to control a robot executing the DURATION instruction causes an error Parameters time Real valued expression that specifies the minimum length of time in seconds that subsequent robot motions take to perform see below If the value is zero robot motions are performed without consideration of their tim
579. word SPEED program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 337 MOD operator MOD operator Syntax Value MOD value Function Compute the modulus of two values Details The MOD operator operates on two values resulting in a value that is the remainder after dividing the first value by the second value The second value cannot be zero For details on how operators are evaluated within expressions see the Order of Evaluation Examples Return 1 5 2 is 2 with a remainder of 1 5 MOD 2 Return 0 81 27 is 3 with a remainder of 0 81 MOD 27 eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 338 MOVE and MOVES program instruction MOVE and MOVES program instruction Syntax MOVE location MOVES location Function Initiate a robot motion to the position and orientation described by the given location Usage Considerations MOVE causes a joint interpolated motion MOVES causes a straight line motion during which no changes in configuration are permitted These instructions can be executed by any program task as long as the task has attached a robot The instructions apply to the robot selected by the task If the eV system is not configured to control a robot executing these instructions causes an error Parameter location Transformation precision point location function or compound transformation that specifies the destination to which the robot is t
580. words DEVICE program instruction DEVICE real valued function SETDEVICE program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 175 DISABLE program instruction DISABLE program instruction Syntax DISABLE switch switch Function Turn off one or more system control switches Usage Considerations If a specified switch accepts an index qualifier and the index is zero or omitted with or without the brackets a the elements of the switch array are enabled Parameter switch Name of a system switch to be turned off The name can be abbreviated to the minimum length that uniquely identifies the switch That is for example the MESSAGES switch can be referred to with ME since there is no other switch with aname beginning with the letters ME Details System switches control various aspects of the operation of the eV system including some optional subsystems such as vision The Switch entry in the index for this document directs you to the detailed descriptions of these switches Other system switches are available when options are installed Refer to the option documentation for details When a Switch is disabled or turned off the feature it controls is no longer functional or available for use Turning a switch on with the ENABLE monitor command or program instruction makes the associated feature functional or available for use NOTE The system switches are shared by all the progr
581. y any other task The instruction applies to the robot selected by the task If the eV system is not configured to control a robot executing the BELOW instruction will cause an error The following figure shows the ABOVE and BELOW configurations Above ABOVE BELOW Related Keywords ABOVE program instruction CONFIG real valued function SELECT program instruction SELECT real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 82 BELT real valued function BELT real valued function Syntax BELT belt_var mode Function Return information about a conveyor belt being tracked with the conveyor tracking feature Usage Considerations This option is available only if your Adept system is equipped with the eV Extensions option The BELT system switch must be enabled before this function can be used The SETBELT instruction is generally used in conjunction with the BELT real valued function to set the effective belt position to zero This must be done each time the robot will perform a sequence of motions relative to the belt and must be done shortly before the first motion of such a sequence WARNING It is important to execute SETBELT each time the robot is going to track the belt to make sure the difference between the current belt position as returned by the BELT function and the belt position of the specified belt variable does not exceed 8 388 607 H7FFFFF during active belt trackin
582. y 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 as important as the benefit file_spec String constant variable or expression specifying the file to be opened The string may contain an optional disk unit and an optional directory path and must contain a file name a period anda file extension For FOPEND the file name and extension are optional and both can contain wildcard characters see below The current default disk unit and directory path are considered as appropriate see Using Directories for additional information on disk units and directory paths Details This instruction opens a disk file so that input output I O operations can be performed When the I O operations are complete the file should be closed using an FCLOSE or DETACH instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 250 FOPEN_ program instruction FOPENA Opens a file for read write append access If the specified file does not already exist the file is created If the file already exists no error occurs and the file position is set to the end of the file Write operations then append to the existing file FOPEND Opens a disk directory for reading The file name and extension in the file_spec parameter are used to prepare a file name template for use when read operations are later pe
583. y or righty configuration Robot can have above or below configuration Robot can have flipped or noflip configuration H20000 Robot supports the OVERLAP and NOOVERLAP instructions H200000 Robot s last rotary joint can be limited to 180 degrees eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 130 CONFIG real valued function Indication if SINGLE or MULTIPLE When the select parameter is 13 the type of robot motion is returned The bit values returned are shown below This bit is set if the motion is joint interpolated it is cleared for straight line motion This bit is set if the robot is performing a SPIN motion Related Keywords ABOVE program instruction BELOW program instruction COARSE program instruction CPOFF program instruction CPON program instruction FINE program instruction FLIP program instruction LEFTY program instruction MULTIPLE program instruction NOFLIP program instruction NONULL program instruction NOOVERLAP program instruction eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 131 CONFIG real valued function NULL program instruction OVERLAP program instruction RIGHTY program instruction SELECT program instruction SELECT real valued function SINGLE program instruction STATE real valued function eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 132 COS real valued function COS real valued function Syntax
584. ys released after it gets applied Otherwise the other task could be blocked forever and the current task would also be blocked the next time it tries to acquire the lock eV Language Reference Guide v2 0 x Updated 5 8 2013 Page 515 TAS real valued function Example The following example shows the key aspects of using the TAS real valued function to ensure exclusive access by an application program to data that is also used by another program task The same instruction sequence must be used in any other application program that wants to access the data The real variable data locked has the value FALSE when the data is not interlocked and the value TRUE when the data is interlocked This variable is set to TRUE with the TAS function so that we can detect if the other program task has already set it to TRUE Since TAS tests and sets the value indivisibly there is no chance of both programs setting data ocked to TRUE simultaneously without the conflict being detected Use of the semaphore variable data ocked involves the three steps shown below Stepl Look for the lock variable to have the unlocked setting FALSE and simultaneously apply the lock setting TRUE This loop will cycle R continuously until another task sets the lock variable to the unlocked A setting FALSE at which time this task asserts the lock for itself WHILE TAS data locked TRUE DO Wait for the lock to be released WAIT Sleep this ta
585. ystem controller This option is available only if your Adept system is equipped with the eV Extensions option The SELECT instruction affects only the task in which the instruction is executed The instruction SELECT ROBOT can be executed only if there is no robot attached to the current task If there is any doubt about whether or not a robot is attached a program should execute a DETACH instruction before executing the SELECT instruction Parameters device_type Keyword that identifies the type of device that is to be selected Valid device types are ROBOT VISION and FORCE which must be specified without quotation marks The device type keyword can be abbreviated unit Real value variable or expression interpreted as an integer that specifies the particular unit to be selected The values that are accepted depend on the configuration of the system Details SELECT ROBOT In a multiple robot system this program instruction selects the robot with which the current task is to communicate The SELECT monitor command specifies which robot the eV monitor is to access The program instruction specifies which robot receives motion instructions for example APPROACH and MOVE and returns robot related information for example for the HERE function Each time a program task begins execution robot 1 is automatically selected If a robot is selected information about the robot for example its current position can be accesse

eV+ Language Reference Guide, v2.0.x

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