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VAL3 V6 Quick Reference

Codigos para programación VAL3

Uploaded by

Francisco Javier Martín Gil
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© © All Rights Reserved
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2K views2 pages

VAL3 V6 Quick Reference

Codigos para programación VAL3

Uploaded by

Francisco Javier Martín Gil
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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program control

call program (parameter)


return

simple types
bool
num
string
dio
aio
sio

[b]
[n]
[s]
[di]
[ai]
[si]

boolean
numeric
character string
digital input/output
numeric input/output
serial/ethernet

structured types
trf
frame
tool
point
joint
config
mdesc

[tr]
[f]
[t]
[p]
[j]
[c]
[m]

trsf
frame
tool
point
joint
config
mdesc

=
=
=
=
=
=
=

transformation
frame
tool
tool position
axis position
robot configuration
movement parameters

{x,y,z,rx,ry,rz}
tr
{tr,diGripper,nOtime,nCtime}
{tr,c}
{j1,j2,j3,j4,j5,j6}
{shoulder,elbow,wrist}
{a,v,dec,tv,rv,blend,l,r}

if bCondition
instructions
elsif bCondition
instructions
else
instructions
endIf
while bCondition
instructions
endWhile
do
instructions
until bCondition
for n=nStar to nEnd step nStep
instructions
endFor
switch expression
case value1,value2
instructions
break
case value3
instructions
break
default
instructions
break
endSwitch

containers
element
array
collection

single value
indexed set of values
labeled set of values

array
void append(*)
void resize(*,nDimension,nSize)
num size(*,nDimension)

operators
=
or
and
xor
!=
==
!
>=
>
<=
<
+
%
/
*
-

assignment
logical or
logical and
exclusive or
inequality
equality
logical not
greater than or equal to
greater than
less than or equal to
less than
difference
addition
modulus
quotient
product
inverse

collection
string
string
string
string

first(*)
next(*)
last(*)
prev(*)

num
num
num
num
num
num
num
num
num
num
num
num
num
num
num
num
num
num
num

sin(nAngle)
asin(nValue)
cos(nAngle)
acos(nValue)
tan(nAngle)
atan(nValue)
abs(nValue)
sqrt(nValue)
exp(nValue)
power(nX,nY)
ln(nValue)
log(nValue)
roundUp(nValue)
roundDown(nValue)
round(nValue)
min(nX,nY)
max(nX,nY)
limit(nValue,nMin,nMax)
sel(bCond,nValue1,nValue2)
robot control

void
void
bool
bool
num
num
num
num
num
string

id:libLoad(sPath)
id:libLoad(sPath,sPassword)
id:LibSave()
libSave()
libDelete(sPath)
id:libPath()
libPath()
libList(sPath,&sContent[])
id:libExist(sSymbolName)

void
void
void
void
num
void
void
void
void
void
num
num
num
num
bool
void
bool
string
num
string
bool
string

disablePower()
enablePower()
isPowered()
isCalibrated()
workingMode()
workingMode(&nStatus)
esStatus()
getMonitorSpeed()
setMonitorSpeed(nSpeed)
getVersion(sComponent)

movement control
num
num
num
num
void
void
void
void
void
bool
bool
void
bool
num
joint
void

movej(jPositon,tTool,mDesc)
movej(pPosition,tTool,mDesc)
movel(pPosition,tTool,mDesc)
movec(pInter,pTarget,tTool,mDesc)
stopMove()
resetMotion()
resetMotion(jStartingPoint)
restartMove()
waitEndMove()
isEmpty()
isSettle()
autoConnectMove(bActive)
autoConnectMove()
getSpeed(tTool)
getPositionErr()
getJointForce(&nForce)

library
num
num
num
num
num
string
string
bool
bool

user interface

all types
num
num

size(*)
getData(sDataName,&)

Arm - TX series 60 family

// this is a comment

num

userPage()
userPage(bFixed)
gotoxy(nX,nY)
cls()
getDisplayLen(sText)
put(sText)
put(nValue)
putln(sText)
putln(nValue)
title(sText)
get(&sText)
get(&nValue)
get()
getKey()
isKeyPressed(nCode)
popUpMsg(sText)
logMsg(sText)
getProfile()
setProfile(sLogin,sPassword)
getLanguage()
setLanguage(sLanguage)
getDate(sFormat)

string
string
string
string
num
string
string
string
string
string
string
num
num

toString(sFormat,nValue)
toNum(sString,&nValue,&bReport)
chr(nCodePoint)
asc(sText,nPosition)
left(sText,nPosition)
right(sText,nPosition)
mid(sText,nSize,nPosition)
insert(sText,sInsertion,nPosition)
delete(sText,nSize,nPosition)
replace(sText,sNew,nSize,nPosition)
find(sText1,sText2)
len(sText)

control panel keyboard key codes

3
283
2
282

1
281

without shift
Caps
Space
Shift Esc
255
Menu Tab
259
User Left
264

2
282

1
281

Ret

joint
joint
bool
void
bool

abs(jPosition)
herej()
isInRange(jPosition)
setLatch(diInput)
getLatch(&jPosition)

270
Bksp
263
End
269

num
trsf
trsf
trsf

distance(trPosition1,trPosition2)
interpolateL(trStart,trEnd,nPosition)
interpolateC(trStart,trInter,trEnd,nPosition)
align(trPosition,trReference)

num
trsf

setFrame(pOrigin,pAxisOx,pPlaneOxy,&fResult)
position(fFrame,fReference)

void
void
trsf

open (tTool)
close (tTool)
position(tTool,tReference)

num
point
point
point
point
bool
trsf

distance(pPosition1,pPosition2)
compose(pPosition,fReference,trTransformation)
appro(pPosition,trTransformation)
here (tTool,fReference)
jointToPoint(tTool,fReference,jPosition)
pointToJoint(tTool,jInitial,pPosition,&jResult)
position(pPosition,fReference)

with shift
Caps
Space
32

3
283

Ret
Help
270
Up
Bksp
261
263
Down Right
266
268

arm position

Shift Esc Help


255
Menu UnTab PgUp
260
262
User Home PgDn
265
267

F1
271

F2
272

F3
273

function keys
F4
F5
F6
274
275
276

F7
277

F8
278

w
119
s
115
x
20

e
101
d
100
c
99

r
114
f
102
v
118

without
t
116
g
103
b
98

i
105
k
107
.
46

o
111
l
108
,
44

p
112
<
60
=
61

(
40
:
58
95

)
41
!
33
.
46

[
91
{
123
,
44

]
93
}
125
>
62

double shift
T
Y
U
84
89
85
G
H
J
71
72
74
B
N
M
66
78
77

I
73
K
75
$
36

O
79
L
76
\
92

P
80
}
125
=
61

bit field
num
num
num
num
num
num

bAnd(nBitField1,nBitField2)
bOr(nBitField1,nBitField2)
bXor(nBitField1,nBitField2)
bNot(nBitField)
toBinary(nValue[],nDataSize,sDataFormat,&nDataByte)
fromBinary(nData[],nDataSize,sDataFormat,&nValue)
dio

void dioLink(&diVariable,diSource)
num dioGet(diArray[])
num dioSet(diArray[],nValue)

aio
void aioLink(&aiVariable,aiSource)
num aioGet(aiInput)
num aioSet(aiOutput,nValue)

q
113
a
97
z
122

shift
y
u
121
117
h
j
104
106
n
m
110
109

with shift
*
;
42
59
/
?
47
63
"
%
34
37

7
55
4
52
1
49

8
56
5
53
2
50

9
57
6
54
3
51

+
43
45
0
48

Q
81
A
65
Z
90

W
87
S
83
X
88

E
69
D
68
C
67

with
R
82
F
70
V
86

code charts

sio
void
num
num
num
num

sioLink(&siVariable,siSource)
clearBuffer(siVariable)
sioGet(siInput,&nData)
sioSet(siOutput,&nData)
sioCtrl(siChannel,sParameter,value)
task

void
void
void
void
string
num
void
void
void
void
num
bool

taskSuspend(sName)
taskResume(sName,nSkip)
taskKill(sName)
setMutex(&bMutex)
help(nErrorCode)
taskStatus(sName)
taskCreate sName,nPriority,program(...)
taskCreateSync sName,nPeriod,&bOverrun,program(...)
wait(bCondition)
delay(nSecons)
clock()
watch(bCondition,nSeconds)

0
NUL
10
LF
20
DC4
30
RS
40
(
50
2
60
<
70
F
80
P
90
Z
100
d
110
n
120
x

1
SOH
11
VT
21
NAK
31
US
41
)
51
3
61
=
71
G
81
Q
91
[
101
e
111
o
121
y

2
STX
12
FF
22
SYN
32
" "
42
*
52
4
62
>
72
H
82
R
92
\
102
f
112
p
122
z

3
ETX
13
CR
23
ETB
33
!
43
+
53
5
63
?
73
I
83
S
93
]
103
g
113
q
123
(

4
EOT
14
SO
24
CAN
34
"
44
,
54
6
64
@
74
J
84
T
94
^
104
h
114
r
124
|

5
ENQ
15
SI
25
EM
35
#
45
55
7
65
A
75
K
85
U
95
_
105
i
115
s
125
)

6
ACQ
16
DLE
26
SUB
36
$
46
.
56
8
66
B
76
L
86
V
96
`
106
j
116
t
126
~

7
DEL
17
DC1
27
ESC
37
%
47
/
67
9
67
C
77
M
87
W
97
a
107
k
117
u
127
DEL

8
BS
18
DC2
28
FS
38
&
48
0
58
:
68
D
78
N
88
X
98
b
108
l
118
v

9
HT
19
DC3
29
GS
39

49
1
59
;
69
E
79
O
89
Y
99
c
109
m
119
w

config config(jPosition)
options
num
num
bool

movejf(jPosition,tTool,mDesc,nForce)
movelf(pPosition,tTool,mDesc,nForce)
isCompliant()

num
num
num
num
num
num
num
num
num

alterModej(jPosition,tTool,mDesc)
alterModej(pPosition,tTool,mDesc)
alterMovel(pPosition,tTool,mDesc)
alterModec(pInter,pTarget,tTool,mDesc)
alterBegin(fAlterReferece,mMaxVelocity)
alterBegin(tAlterReferece,mMaxVelocity)
alterEnd()
alter(trAlteration)
alterStopTime()

string getLicence(sOemLicenseName,sOemPassword)

copyright 2013
victortorreslopez
[email protected]
november 2013

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