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VAL Programming

1) Robot programming languages contain constants, variables, motion commands, computation symbols, and subroutines. 2) Motion commands are used to define movements, paths, speeds, and include commands like MOVE, MOVES, APPROACH, and DEPART. 3) Additional commands define frames of reference, paths, and end effector actions like opening and closing grippers.

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abhijith
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875 views

VAL Programming

1) Robot programming languages contain constants, variables, motion commands, computation symbols, and subroutines. 2) Motion commands are used to define movements, paths, speeds, and include commands like MOVE, MOVES, APPROACH, and DEPART. 3) Additional commands define frames of reference, paths, and end effector actions like opening and closing grippers.

Uploaded by

abhijith
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Constants:

The value will not change during execution


Variables: Symbolic names, to refer points, joints, path, subroutines, etc.
Location Variable:
ROBOT PROGRAMMING DEFINE A1=POINT<x,y,z, α, θ, φ> //Aggregate representation
(Based on INDUSTRIAL ROBOTICS, Ch-9, MP Groover et.al.) // DeYines the position and orientation of point A1, gripper centre

MOTION COMMANDS
Body of any robot programming language has:
Used to deYine movements, path, frame, speed, etc.
Constants, variables, data and objects
MOVE A1 // to take end effector to previously deYined point A1
Motion, end effecter and sensor commands
MOVES A1 // to go to A1 in straight line path
Computation and operation symbols MOVE A1 VIA A2// to go to A1 through another point A2.
//Helps to avoid obstacles, hitting of part
Subroutines
APPRO A1 50 //Approach A1 but keep away 50 mm in Z direction
DEPART 50 // Move back from the current position through 50 mm
DMOVE (1,10) // D for Delta, means increment.
//Change position of joint 1 through 10 mm or 10O
DMOVE (<4,5,6>,<30,-60,90>) //To move joints 4,5 and 6 through
30, -60 and 90 units respectively
Robo+cs-ELE 5/TKMCE 27 Robo+cs-ELE 5/TKMCE 28

Eg. Program: To pick an object from previously deYined point A1


========================================================= FRAME
APPRO A1 50 To deYine local frames be means of axes, deYined by points
OPEN //to open the gripper Helps to repeat a particular path of motion at different locations
MOVES A1 DEFINE FRAME1=FRAME(A1,A2,A3)
SIGNAL 5 // To read signal from port 5. Can be used to close the gripper //A1 is origin, A2 direction of X-axis, A3 is any point on XY plane (deYines
DEPART 50 orientation of XY plane. Automatically, Z axis is perpendicular to XY plane)
========================================================

SPEED 60 IPS //to move arm at speed 60 inches/min
Note: SPEED can also be a MONITOR COMMAND (preparatory command) by
which default speed can be set for the robot
SPEED 75 // to move arm at speed 75% of previously deYined/default speed
HERE A1 //A command for teach pendent method. After taking end effector
to a point, deYine the point as A1 so that the coordinates will be DEFINE ROUTE:FRAME1=PATH(P1,P2,…P6)
stored by the system) //deYines a path through points P1 through P6, w.r.t. FRAME1)
DEFINE PATH1=PATH(A1,A2,A3) // PATH1 is a variable. PATH is a keyword. MOVES ROUTE: FRAME1 //same effect as above statement
// deYine PATH1 through A1, A2 and A3
MOVE PATH1 // to go through PATH1
MOVES PATH1 // to go in straight line path between points A1, A2 & A3
Robo+cs-ELE 5/TKMCE 29 Robo+cs-ELE 5/TKMCE 30

SENSOR COMMANDS END EFFECTOR COMMANDS


WAIT 20, ON // to cause the program to stop until an ‘ON’ OPEN // to open the gripper
signal input is obtained at controller port 20. CLOSE // to close gripper
Eg: Robot need to wait at a station for loading or unloading OPENI // to open the gripper immediately
CLOSEI // to close the gripper immediately
SIGNAL 21, ON // Send signal to a port 21, to implement an CLOSE 40 MM // to keep Yingers 40mm apart while closing
output, to send some signal to some device CLOSE 3.0 LB // to close the gripper and apply force 3 lbs
CENTRE // To align the manipulator automatically to keep
REACT 25, SAFESTOP // to monitor the input pot 25, for any the end effector centre coincident with work piece centre
change in input signal. If a signal is sensed, then stop the main
program and implement the subroutine (may be to stop safely)

Robo+cs-ELE 5/TKMCE 31 Robo+cs-ELE 5/TKMCE 32

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