Operating System

User's 

I6-E-01
Copyright Notice
The information contained herein is the property of Omron Adept Technologies, Inc., and shall not be
reproduced in whole or in part without prior written approval of Omron Adept Technologies, Inc. The
information herein is subject to change without notice and should not be construed as a commitment by
Omron Adept Technologies, Inc. The documentation is periodically reviewed and revised.

Omron Adept Technologies, 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: [email protected].

Copyright © 1994 - 2016 by Omron Adept Technologies, Inc.

Created in the United States of America

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Table Of Contents

Introduction 7
What Is Described in This Manual? 8
What Systems Can I Use This Manual With? 8
What Other Manuals Might I Need? 8
What About Safety? 10
Conventions 13

Your Omron Adept System Hardware 15

Before You Begin 16
The System Controller 16
The Controller and Memory 17
Robots and Motion Devices 17
The Pendant 18
Other Input and Output Devices 19

Learning the Basics 21

Using the Controller 22
Using the Command Line 25
Using the Graphics-Based Interface 29
Using Software 30
The Operating System 31
Using Files and Directories 31

Using Files 33
Understanding Disk Files 34
Using Directories 39

Executing Programs 46
Understanding Programs 47
Removing Objects from System Memory 50
Understanding Program Modules 53

Using Permanent File Storage 54

Using Digital Storage Cards 55

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 Using Hard Drives 55

Customizing an Omron Adept System 56

Introduction 57
Customizing the Controller Hardware 57
Changing the Controller Configuration 57
System Software Switches 58

Command Programs 60
Introduction 61
Creating Command Programs 61
Running Command Programs 62
Controlling Command Programs 63
Example Command Program 64

System Messages 66
Error Messages 66

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 Introduction

Introduction
The following topics are described in this chapter:

What Is Described in This Manual? 8

What Systems Can I Use This Manual With? 8
What Other Manuals Might I Need? 8
What About Safety? 10
Conventions 13

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 What Is Described in This Manual?

What Is Described in This Manual?

This manual describes the eV+ operating system for v2.x and later. After your Omron Adept
controller (if used) and any attached devices are installed, the text in this manual describes
what you need to know to start, operate, and shut down the system. If you are running a
system that is already programmed and configured, this manual contains most of the
information you will need.

What Systems Can I Use This Manual With?

This manual is for use with eV+ version v2.x and later.

What Other Manuals Might I Need?

If you will be modifying the system configuration, installing new equipment, or programming
in the eV+ language, you may need the following manuals:

Material
Manual Recommended for:
Covered

Robot or motion device Installation of All users, service personnel, and

instruction handbook or user's robot or motion programmers using the robot
guide device.

Periodic
maintenance of
the device.

eV+ Operating System Detailed All programmers and users

Reference Guide descriptions of installing or configuring the
all Monitor controller
commands,
some of which
are described
only briefly in
the eV+
Operating
System User's
Guide.

eV+ Language User's Guide A description of All programmers

the structure
and elements of
the eV+
programming
language.

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 What Other Manuals Might I Need?

Material
Manual Recommended for:
Covered

eV+ Language Reference A complete All programmers

Guide description of
the keywords
used by the
eV+
programming
language. This
manual
contains a list of
all system
messages.

ACE Sight User's Guide A description of Vision application programmers

the structure and users
and elements of
the ACE Sight
extension to
the ACE
software.

Adept SmartController EX This manual Programmers and system

User's Guide details the installers.
installation,
configuration,
and
maintenance of
your Omron
Adept
SmartController
system. The
controller must
be set up and
configured
before control
programs will
execute
properly.

AIM application module user's Installing and Programmers and users of the
guides using AIM application module
application
modules

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 What About Safety?

Material
Manual Recommended for:
Covered

(VisionWare,
MotionWare,
AIM PCB, etc.).

AIM module reference guides Customizing AIM customizers

AIM baseline
modules and
applications
modules.

ACE User's Guide Configuration of All programmers

the Omron
Adept
SmartController
system through
ACE software.

What About Safety?

Safety is critical! Read the following section carefully and follow the cautions and warnings
that are placed throughout this manual. There are three levels of safety notation used in
Omron Adept eV+ manuals. They are:

WARNING: If the actions indicated in a warning are not complied

with, injury or major equipment damage could result. A warning
typically describes the potential hazard, its possible effect, and the
measures that must be taken to reduce the hazard.

CAUTION: If the action specified in a caution is not complied with,

damage to your equipment or data could result.

NOTE: A note provides supplementary information, emphasizes or supplements a point or

procedure, or gives a tip for easier operation.

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 What About Safety?

Reading and Training for System Users

Omron Adept robot systems include computer-controlled mechanisms that are capable of
moving at high speeds and exerting considerable force. Like all robot systems and industrial
equipment, they must be treated with respect by the system user.

We recommend you read the American National Standard for Industrial Robot Systems-
Safety Requirements, published by the Robotic Industries Association in conjunction with
the American National Standards Institute. The publication, ANSI/RIA R15.06-1992,
contains guidelines for robot system installation, safeguarding, maintenance, testing,
startup, and operator training. The document is available from the American National
Standards Institute, 1430 Broadway, New York NY 10018. All Omron Adept robot systems
sold in Europe must conform to European Certification requirements. For details, see the
manual supplied with your robot.

Impacts and Trapping Points

System Safeguards
Safeguards should be an integral part of robot workcell design, installation, operator training,
and operating procedures. Omron Adept robot systems have various communication
features to aid you in constructing system safeguards. These include remote emergency
stop circuitry and digital input and output lines.

Computer-Controlled Robots
Omron Adept robots are computer controlled, and the program that is running the robot may
cause it to move at times or along paths you may not anticipate. When the white HIGH
POWER light1 on the Front Panel is illuminated, do not enter the workcell because the robot
may move unexpectedly.

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 What About Safety?

High Power Enable Light

Manually Controlled Robots

Omron Adept robots can also be controlled manually when the white HIGH POWER light on
the front panel is illuminated. When this light is lit, robot motion can be initiated from the
system keyboard or the manual control pendant. If you enter the workcell, set the keyswitch
to manual mode, press the MAN/HALT button on the manual control pendant, and take the
key with you. This prevents anyone else from initiating unexpected robot motions from the
keyboard.

Other Computer-Controlled Devices

In addition, these systems can be programmed to control equipment or devices other than
the robot. As with the robot, the program controlling these devices may cause them to
operate at times not anticipated by personnel. Make sure that safeguards are in place to
prevent personnel from entering the workcell when the white HIGH POWER light on the front
of the Front Panel is illuminated.

WARNING: Omron Adept Technologies, Inc. recommends the use

of additional safety features such as light curtains, safety gates, or
safety floor mats to prevent entry to the workcell while HIGH POWER
is enabled. These devices may be connected using the controller's
remote emergency stop circuitry (see the Adept SmartController
User's Guide).

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 Conventions

1White is the color of the light on the Front Panel. If a remote front panel has been installed
by another party, the color may vary.

Conventions
This section discusses:

l Typographic conventions

l Keyboard conventions

l Selecting, choosing, and pressing items

Typographic Conventions
The following typographic conventions are used throughout this manual:

This Represents

ALL eV+ file names, directory names, commands, keywords, and

CAPITALS attributes; also acronyms.

The name of a physical key or button that you must press, such as the
ENTER key and the PROGRAM START button.

monospace Screen displays, code examples, nonplaceholder terms in formal

syntax definitions, and case-sensitive words.

bold When typing or entering a command or instruction, bold indicates

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 eV+ keywords. In order for the eV+ system to process
your typing, you must conclude your entry by pressing the ENTER or
RETURN key. Bold type is used for lowercase names such as
subroutine names, variable names, and program names; for example,
a.diskcopy. Bold type also is used for window items that you choose
and window items that do not have initial capital letters in all principal
words.

italic Placeholders that you must provide in typed input. This font also
indicates new terms and other emphasized words.

Initial The name of an object such as a window, screen, menu, button, dialog

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 Conventions

This Represents

Capitals box, or dialog box component. Examples are the Display menu and the
Task Profiler window. The logical names of physical function keys or
buttons use regular font and follow the interface's capitalization, which
usually has initial capital letters in all principal words.

Keyboard Conventions
Key combinations appear in the following format:

Notation Meaning

KEY1+KEY2 A plus sign (+) between keys means that you must press the keys at
the same time. For example, "Press CTRL+Z" means that you press
CTRL and hold it down while you press Z.

Abbreviations
The following abbreviations may appear in this manual:

Abbreviation Meaning

CE European Certification

DAC Digital-to-Analog
Converter

I/O Input/output

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 Your Omron Adept System Hardware

Your Omron Adept System Hardware

The following topics are described in this chapter:

Before You Begin 16

The System Controller 16
The Controller and Memory 17
Robots and Motion Devices 17
The Pendant 18
Other Input and Output Devices 19

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 Before You Begin

Before You Begin

In this part of the manual you will learn the basics of using an Omron Adept controller. You
will learn to execute programs, enter Monitor commands, and customize your controller.
Before you begin, you must have the Omron Adept controller installed and connected to any
peripheral equipment. The minimum installation required is:

An Omron Adept SmartController EX (see the Adept SmartController EX User's Guide)

In addition, you may have the following equipment installed:

l A motion system, including:

l A motion device (see the User Guide for your robot or the Adept SmartMotion
Installation Guide)

or

l Motion interface module (sMI6) (see the Adept SmartMotion Installation Guide)

l Conveyor belts

l A vision system, including:

l An Omron Adept SmartVision EX vision processor (see the Adept SmartVision

EX User's Guide)

l ACE Sight software (see the ACE Sight User's Guide)

The following topics summarize the hardware components that may be part of your Omron
Adept system. See Learning the Basics on page 21 for the basics about using the eV+
operating system software.

The System Controller

Most Omron Adept systems have an Omron Adept SmartController EX. A system will also
normally have a PC as the interface device. Optionally, the Omron Adept SmartVision EX
vision processor, equipped with an optional keyboard and monitor, can be used as the
interface device.

Systems supporting vision will have either an Omron Adept SmartVision EX vision processor
or a Windows PC, running ACE Sight software. This will be connected to the controller by
Ethernet.

The Adept SmartController User's Guide covers the installation of the Omron Adept
SmartController EX as well as the interconnection to the equipment in your automation
system.

All the other hardware described in this topic is optional and may or may not be included in
your system.

The following figure shows the Omron Adept SmartController EX.

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 The Controller and Memory

Omron Adept SmartController EX

The Controller and Memory

The Omron Adept controller runs the robot-control programs. The controller contains circuits
for driving the robot joints.It also contains circuits for communicating with other equipment
in the workcell, such as networking equipment, sensors, feeders, etc.

The controller also contains memory chips for the system's Random Access Memory (RAM).
Programs that are actively executing, and the data needed by those programs, reside in
RAM. See your Omron Adept controller user's guide for more details.

Information that is not actively being used is stored on mass storage devices, such as a
Secure Digital (SD) card. For more details, see the section Using Permanent File Storage on
page 54.

Robots and Motion Devices

Your system may be equipped with one or more Omron Adept robots, or with the Adept
SmartMotion option, which provides a means of controlling many types of motion devices.
An example of an Omron Adept robot, the Omron Adept Quattro s650HS robot, is shown in
the following figure.

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 The Pendant

The Quattro s650HS Robot

See your Omron Adept robot user's guide for details on the installation and configuration of
the Omron Adept hardware and the interconnection between the Omron Adept controller and
your Omron Adept robot. See the Adept SmartMotion Developer's Guide for details on
configuring and tuning a motion system on the Omron Adept SmartMotion platform.

The Pendant
The Omron Adept pendant, shown in the following figure, allows you to move a robot or
motion device and to teach locations used by motion control programs. The features of the
pendant are covered in the Adept T20 Pendant User's Guide.

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 Other Input and Output Devices

T20 Pendant

Other Input and Output Devices

In most cases, an automation task requires coordination between the motion device and
other workcell equipment, such as part feeders, conveyor belts, and other controllers or
production floor computers.

Cameras and Lighting Equipment

The Adept SmartVision EX vision processor incorporates a vision processor into the Omron
Adept controller system. The vision system may be used with or without a motion device.
Stand-alone vision systems perform quality and process-control inspections. Guidance vision
systems can perform inspections as well as providing a means of guiding the motion device
to pick up and place objects that are not in precise or predictable locations. The Adept
SmartController User's Guide details the installation and hardware configuration of machine

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 Other Input and Output Devices

vision equipment. The ACE Sight User's Guide covers the use of Omron Adept's vision
software.

The Controller Disk Drives

Mass storage is used to store programs and information not actively being used by the
controller. System RAM is limited, so only a certain number of programs can be resident in
RAM at one time, and RAM memory is erased when power is turned off. Secure Digital (SD)
cards, on the other hand, provide extensive, permanent storage capacity. For details on the
system mass storage device(s), see Using Permanent File Storage on page 54.

Serial I/O
The Omron Adept SmartController has connectors for RS-232 and RS-422/RS-485
communication with other controllers or computers. See the Adept SmartController User's
Guide for details on installing serial I/O devices. See the eV+ Language User's Guide for
details on programming serial I/O.

Digital I/O
Omron Adept's digital I/O system behaves similarly to programmable logic controllers (PLCs),
allowing input from and output to devices generating and receiving simple on/off signals.
Digital I/O uses optical isolation modules to insulate the controller from noise generated by
inductive devices in the workcell. See the Adept SmartController User's Guide for details on
installing digital I/O devices. See the eV+ Language User's Guide for details on programming
digital I/O.

Ethernet
The Omron Adept SmartVision EX and the Omron Adept SmartController EX products include
shielded RJ45 Ethernet receptacles. The hardware (and required option licenses) provide
TCP/IP and FTP capabilities. See the Adept SmartController User's Guide and the Adept
SmartVision EX User's Guide for details on Ethernet communications on the Omron Adept
SmartController EX and Omron Adept SmartVision EX products.

Remote Emergency Stop

Motion systems must be able to react immediately to interruptions and dangerous conditions
in the workcell. Adept's remote E-stop circuitry monitors user-supplied series-wired sensors
that detect dangerous conditions in the workcell. The controller connection for the user
emergency stop is on the Adept SmartController EX XUSR port. See the Adept
SmartController User's Guide for details on installing remote E-stop devices.

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 Learning the Basics

Learning the Basics

The following topics are described in this chapter:

Using the Controller 22

Using the Command Line 25
Using the Graphics-Based Interface 29
Using Software 30
The Operating System 31
Using Files and Directories 31

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 Using the Controller

Using the Controller

You interact with the controller by:

l Using a pointing device to make selections. This type of interaction is used with
programs written for ACE-based systems. For details on the ACE user interface basics,
see the ACE User's Guide.

l Initiating actions and responding to system requests with the pendant. The pendant is
generally used with motion systems.

l Use of the T20 pendant is described in the Adept T20 Pendant User's Guide.

l Entering commands and responding to system requests by typing entries at the

command line. This is the most basic type of interaction and is used by all Omron Adept
controllers. For details on the basics of the command line, see Using the eV+
Command Line.

The following are the minimum steps required to get an Omron Adept system up and
running.

Install the Equipment and Set the Hardware Configuration

All the equipment must be installed and tested. The Adept SmartController User's Guide
covers installation and hardware configuration of the controller. As delivered from Omron
Adept, all systems have their hardware configuration set to the most common defaults. You
will not have to perform any hardware configuration changes if these defaults are acceptable
to your installation. The controller hardware configuration options are detailed in the
controller user's guide.

In addition to the controller, your system may include the following:

l An Omron Adept robot, or a motion device and the Adept SmartMotion system option.

l Installation of the Omron Adept robot or motion device should be covered in the
documentation provided with that robot or motion device.

l Interconnection of the robot with the controller is covered in the robot user
guide.

l The motion servo hardware configuration is covered in the Adept SmartMotion

Installation Guide. See the Adept SmartMotion Developer's Guide for details on
software configuration for systems using the Adept SmartMotion option.

l Safety equipment.

l In workcells with robots or motion devices, it is critical that sensors be placed

that will prevent personnel from entering the workcell when the motion device
may move. Make sure this equipment is installed and functioning properly

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 Using the Controller

before proceeding.

l The interconnection of safety devices to the controller is covered in the Adept

SmartController User's Guide.

l Peripheral input/output devices.

l The Adept SmartController User's Guide covers the physical interconnect of I/O
devices.

l The ACE User's Guide describes using peripheral devices with the ACE interface
and eV+.

l The eV+ Language User's Guide covers eV+ programming considerations for
accessing the peripheral devices.

l Conveyor Belts.

l The ACE User's Guide describes using conveyor belts with the ACE interface
and eV+.

l The eV+ Language User's Guide describes the eV+ programming

considerations for coordinating robot motions with a conveyor belt connected
to one of the external encoder ports on the controller.

l Cameras and strobe lights (requires the ACE Sight option).

l The ACE Sight User's Guide details installing and configuring cameras and
strobe lights.

Installing or Upgrading the System

Your Omron Adept controller ships from the factory with the eV+ operating system installed
and configured. The procedure for installing or upgrading the eV+ system is described in the
ACE User's Guide.

Power Up the System

Before turning on the controller, make sure:

l All safety devices are installed and operating correctly.

l The workcell is free of obstructions and personnel.

WARNING: Do not turn on the controller unless all safety devices

are in place and operating correctly. Make sure the workcell is free of
obstructions and personnel.

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 Using the Controller

WARNING: Do not connect any cables or make any hardware

configuration changes with the controller turned on.

To Power Up the Controller

Turn on the controller by pressing the on/off switch to ON. The controller will perform a series
of self-tests and load the operating system. The system power-up and boot procedures will
take about a minute.

When using the ACE interface, you can connect to the controller and power-up the motion
device with the ACE software. For more details, see the Getting Started chapter in the ACE
User's Guide.

The remainder of this topic describes the operations when accessing the V+ system directly
through the Monitor window.

To Power Up the Motion Device

Each time the controller is turned on, a start-up calibration procedure must be performed for
the motion device. The CALIBRATE command performs this start-up procedure. Programs
that send instructions to a motion device will not execute properly unless this start-up
procedure is completed.

When the controller is first turned on, power is not sent to the motion device. To enable
power, enter the command:

ENABLE POWER

(See the next section for complete details on entering commands.)

The system begins executing a command as soon as you press the ENTER key. (When shown
in the documentation, the symbol "↵" indicates that the ENTER key should be pressed.)

The Front Panel High Power Enable button has a default 10-second timeout period. For most
systems, this button will blink during that time, and you must press and release the button to
enable high power. The Timeout period can be modified or disabled in the eV+ system. If
disabled, you will not need to press the High Power Enable button.

WARNING: When CALIBRATE is entered, the motion device might

move. Before you enter this command, make sure the workcell is
free of obstructions and that all personnel are out of the workcell.

Once robot HIGH POWER has been enabled, the motion device start-up calibration must be
performed (if your system is not one of those listed below). To perform start-up calibration,
enter the command:

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 Using the Command Line

CALIBRATE

The motion device will proceed through a series of motions to verify its current location and
the state of its position encoders. Once the calibration procedure is complete, robot control
programs can be executed. The calibration procedure is not required for the following:

l All Viper robots, the Cobra 350 robot, and Quattro robots. The auto-calibrate bit has
been set for these robots, which causes these robots to be automatically calibrated
when the system is turned on. Therefore, it is not necessary to use the CALIBRATE
command with these robots.

l Systems (such as stand-alone vision systems) that do not have an attached motion
device.

To Reenable Power After an Emergency Shutdown

When a PANIC button is pressed or other emergency stop switch is tripped, HIGH POWER is
immediately removed from the motion device. Power is also removed from the device if a
servo error is reported. For example, a servo error occurs if the motion device cannot attain a
desired location (for example, if the device runs into something).

Before the motion device can be used again, you must enter the command:

ENABLE POWER

You do NOT have to reissue the CALIBRATE command.

NOTE: You can also enable power by pressing the Robot Power button on the pendant.

1This switchprovides terminals for the user to connect an AC power source. If this option is
not used on your system, the switch will be inactive.

Using the Command Line

There are two ways to communicate with the eV+ system: through the ACE graphical
interface, and with the eV+ command line (typing commands directly at the eV+ system
prompt). For more details on the eV+ system prompt, see The System Prompt and Typing
Cursor on page 26.

By entering Monitor commands at the eV+ system prompt you can:

l Load program files and execute the programs

l Display system status

l Change certain characteristics of operating system behavior

NOTE: Many of the commands, formerly available only through the command line, are
now more easily accessed through the ACE interface. However, you can still reach the

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 Using the Command Line

command line through ACE, by clicking on the Monitor Window ( ) icon on the ACE
toolbar. For more details on the ACE interface, see the ACE User's Guide.

The remainder of this topic describes the operations when accessing the V+ system directly
through the Monitor window.

The System Prompt and Typing Cursor

The eV+ system prompt is a period, "." (sometimes referred to as the dot prompt). When the
system prompt is displayed, system commands (known as Monitor commands) can be
entered. Monitor commands allow you to access disk files, execute programs, and display
system status. The typing cursor is a black rectangle. When the system is first started, the
last line displayed will show the dot prompt followed by the typing cursor. For details, see
Using the Controller.

Whenever the typing cursor appears, the system is ready to accept input from the keyboard.
(At many times, you can even type before the cursor appears, and your typing will be
buffered until the system is ready to accept it.)

NOTE: On ACE systems, Monitor commands cannot be entered when the Monitor window
is closed. To display the Monitor window, select the Monitor Window ( ) icon from the
ACE toolbar. For more details on the ACE interface, see the ACE User's Guide.

The Parts of a Monitor Command

Every Monitor command has a name. Most Monitor commands have one or more
parameters.

The Command Name

Every command has a unique name that tells the eV+ system what action to perform.1 The
name must be typed exactly as shown in the manual. For example, to see the system ID
Information, enter the command:

ID ↵

Command Parameters
Most commands require additional information that tells the system exactly how you want
the command executed. This additional information is specified as parameters on the
command line. You specify unique information for each command parameter. Command
parameters must be entered in the order they are listed, and they must be separated
(delimited) in exactly the fashion shown. A comma is normally used to separate parameters.
Occasionally, an equal sign, "=", is used. You must always type a space between a command
and its list of parameters. Spaces before and after parameter separators are optional.

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 Using the Command Line

Required and Optional Parameters

Command parameters can be optional or required. If a parameter is required, a value must
be entered on the command line or the command will not execute correctly. If a parameter is
optional, its value can be omitted and the system will substitute a default value. For
example, the command STATUS has one optional parameter. If the command:

STATUS ↵

is entered, status information for all the used system tasks will be displayed. If the
command:

STATUS 1 ↵

is entered, status information will be displayed only for system task number 1.

If one or more parameters follow an omitted parameter, the parameter separator(s) must be
typed. If all the parameters following an omitted parameter are optional, and those
parameters are also omitted, the separators do not need to be typed (see below for an
example).

Using the ID Command

The ID command displays identity information about the components of the system:
Software: version.revision opt1-opt2
Controller: model-serial options
Processor n: version.revision type-options memMb
Robot n: model-serial options module

A sample display from the command "ID" is:

Software: 16.4 87-31E0 (Edit D3, 10-May-2007, Maintenance Release)
Controller: 2000-394 105 0
Processor 1: 0.52 7-7 32MB
Robot 1: 100-0 0 8

For more detailed information, see the eV+ Operating System Reference Guide.

Monitor Command Syntax Conventions

To help present the required syntax in the clearest, simplest manner, this manual uses the
following syntax conventions:

l The command name is shown in capital letters.

l Parameters shown in bold lowercase letters are required and should be replaced with
values you provide. For example, drive should be replaced with a drive letter you
choose.

l Parameters shown in non-bold lowercase letters are optional. If you omit an optional
parameter, the system will use a default value.

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 Using the Command Line

The following sample command has one required and one optional parameter:
SAMPLECOMMAND param_required, param_optional

If both parameters are specified, the comma separating the parameters must be entered. If
the optional parameter is not specified, the comma can be omitted.

Shortcuts to Typing a Command

Some command names do not have to be typed completely. You need to type only enough
characters to uniquely identify the command. For example, the only command that begins
with STAT is STATUS. Therefore, typing:

STAT ↵

is sufficient to execute the STATUS command. Typing:

STA ↵

will result in the error:

*Ambiguous name*

because it could refer to either the STATUS or STACK command.

To Cancel a Command
To cancel an executing command, press CTRL+C. These keystrokes will NOT halt a program
that was started with the EXECUTE command. The ABORT command halts an executing
program.2

Many commands output information to the monitor. This output can be temporarily halted by
pressing the SCROLL LOCK key. To restart the output, press SCROLL LOCK again.

To Edit the Current Command

The key erases characters to the left of the typing cursor.

The following keys move the typing cursor on the command line:

The and keys move the typing cursor left and right. Shift+ or Ctrl+ moves the
typing cursor to the beginning of the line. Shift+ or Ctrl+ moves the typing cursor to
the end of the line.

Ctrl+U erases all the characters from the typing cursor to the beginning of the line.

The system prompt is always in insert mode. If the typing cursor is not at the end of the line,
entered characters will be inserted to the right of the cursor and the remaining characters are
pushed to the right.

Regardless of the position of the typing cursor, the whole command line will be submitted
when the ENTER or RETURN key is pressed.

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To Retrieve Previously Entered Commands

The twenty most recently entered commands are stored in the command history buffer. The
key moves backward through the history displaying successive commands. The key
moves forward through the history. The displayed command can be re-executed by pressing
. The command can also be edited as described above and then executed by
pressing .

To Enter a Command While a Program Is Executing

The Adept system is a multitasking system (i.e., multiple programs can be executing
concurrently in different tasks). This allows you to enter Monitor commands any time the
Monitor window is displayed. While a program is executing, you can start other programs in
different tasks, get status information, or abort programs before they have completed.

Once a program has begun execution in task number 0, the "." prompt will disappear.
However, any time the system is not actively requesting input, you can begin typing a
Monitor command. As soon as you begin typing, the asterisk "*" prompt will be displayed
along with any characters you type.

The only time you cannot enter a command is when the system is waiting for input from the
keyboard. For example, suppose the following message is displayed in the Monitor window:
Are you sure (Y/N)? [ ]

The typing cursor at the end of the line tells you the system is waiting for you to enter a
response at the keyboard. (Entering CTRL+Z at this point will generally abort the program
that displayed the prompt.)

NOTE: If you are entering a command while a program is executing, the program will
wait until you press ENTER before displaying to the Monitor window any output generated
by the program. Therefore, you should not leave a partially-typed command in the
Monitor window, since it may cause programs with screen output to wait indefinitely.

1Thismanual covers the most commonly used Monitor commands and parameters. All the
Monitor commands and their complete syntax are covered in the eV+ Operating System
Reference Guide.
2ABORT does not stop any robot motion that has already begun. Use any emergency stop
button to immediately halt robot motion.

Using the Graphics-Based Interface

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Working with Pointing Devices

Pointing devices (such as a mouse or trackball) control the position of the pointer on the
screen. The pointing device selects windows, moves windows on the screen, opens
applications, and helps you interact with application programs. The basic pointing functions
described in this section use the CLICK button (the large left button on the integrated
trackball, the center button on a three-button mouse, or the left button on a two-button
mouse).

To Move the Pointer

You move the pointer arrow around the screen by rolling the trackball (see the following
figure) or sliding the mouse in the direction you want to move the pointer. Do not press any
pointer device buttons when you simply want to move the pointer to a different location on
the screen.

To Click

To Click the pointing device, move the pointer until it is over the area you want to click on,
then press and release the CLICK button (see the following figure). Clicking selects windows,
presses buttons, and performs other actions within an application.

To Drag

To drag the pointing device, move the pointer to the starting location, press and hold the
CLICK button, then move the pointer to a different location and release the CLICK button.
Some of the uses for dragging are to move or resize windows and to select items in pulldown
menus.

Working with the ACE Interface

A basic Omron Adept system ships with the ACE software. This graphical user interface
provides a point-and-click environment for configuring and programming your Omron Adept
system. Optional licenses can be purchased, which enable ACE Sight vision, PackXpert
packaging application, and other options.

NOTE: The ACE software uses the basic Microsoft Windows format. Refer to the
AdeptWindows User's Guide and the Windows Operating System online help for more
information.

Using Software
In the course of using an Omron Adept system you will deal with two primary types of
software: operating system software and application programs. If you are using an AIM-based
application 1, you will also access special database software.

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The Operating System Software

Before a computer can perform any work it must boot and make active special software
known as an operating system. The eV+ operating system coordinates the activities of all
the computer components and any external equipment used by the system.

When you first turn on the Omron Adept controller, this software is automatically loaded and
made ready for use. You do not have to do anything special to make this software active. For
details on customizing and optimizing the operating system behavior, see Customizing an
Omron Adept System, which lists several options for customizing and optimizing the
operating system behavior. However, as delivered from Omron Adept, the operating system
will correctly run your basic system.

Application Software
Application software makes the Omron Adept system perform the tasks required by your
particular automation system. Application software has many sources: Omron Adept
provides standard graphical interface and optional application packages; Omron Adept
system integrators provide custom software programs; or you may create your own
application software. Application software must be specifically loaded from the Secure Digital
card to system RAM each time the controller is turned on, or after each time the programs
are removed to make room in RAM to run other programs. For details on loading and
unloading the software, see Understanding eV+ Programs.

1Omron Adept's "Assembly and Information Management" system.

The Operating System

The eV+ operating system manages the flow of information within the controller. The
operating system accepts instructions from application programs, input from workcell
peripheral devices, and operator input from the pendant. The tasks performed by the
operating system include:

l Managing the execution of application programs

l Managing the flow of information to and from mass storage devices

l Monitoring external devices attached to the controller

l Reporting errors generated during processing

In general, unless you are programming applications, you do not have to be concerned with
the internal operation of the operating system.

Using Files and Directories

Application programs and other data are stored in files on the system storage device (Secure
Digital card, or USB device) when not being actively used by the controller. The eV+

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operating system uses a hierarchical file system for organizing files and isolating related files.

The section Understanding Disk Files describes the file directory structure.

With large storage devices, it is particularly important that you carefully organize your file
structure so you can quickly locate needed files. Carefully-organized files make common
operations, such as copying, deleting, and renaming files, much easier. It is very difficult to
clean up a badly disorganized file structure. Therefore, before you begin copying large
quantities of files to your system storage device(s), carefully read the section Understanding
Disk Files .

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Using Files
The following topics are described in this chapter:

Understanding Disk Files 34

Using Directories 39

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Understanding Disk Files

Information used by your Omron Adept controller is stored in files on a Secure Digital (SD)
card in the Omron Adept controller. Unlike information stored in RAM, disk files provide
permanent storage. However, before the data in the files can be used, it must be loaded into
RAM.

NOTE: Because they are handled the same way as files stored on a hard disk drive, files
stored on an SD card are referred to as disk files.

When the ACE interface is used, the Process Manager automates much of the programming
and program/file management through a point-and-click interface. For those who wish to
access the eV+ system directly, the Controller Development Tools are used for program/file
management and direct V+ monitor prompt operations. These tools are accessed from the
Controller Development Tools ( ) icon on the ACE toolbar. For more details, see the topic
Controller Development Tools in the ACE User's Guide.

The ACE File Explorer provides a graphical interface for copying, deleting, renaming, and
storing files. It is accessed from the File Explorer ( ) icon on the ACE toolbar. For more
details, see the topic File Explorer in the ACE User's Guide.

The remainder of this topic describes the operations when accessing the V+ system directly
through the Monitor window.

Disk Files
One of the biggest differences between the eV+ system and other operating systems is the
nature of a disk file. In most operating systems, a disk file contains a single executable
program, text document, or data file. With the eV+ system, a file can contain several items,
the most common of which are programs and the values of global variables.

The reasons for this file strategy will become clear as later topics discuss the way the eV+
system executes programs, handles subroutines, and stores the values of program variables.
The important thing to remember as you become familiar with the eV+ file structure is that
when you load or store a file, you are not necessarily loading or storing a single program.

Subdirectories
In normal operations, you may wind up with large quantities of files. If you had no way of
organizing and isolating related files, your disk drives would quickly become awkward and
difficult to use. The eV+ system supports use of a directory structure to help organize and
manage disk files. Subdirectories and the directory structure are covered in the next section.

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File Names
Each file within a subdirectory must have a unique name. The eV+ system uses this name to
keep track of the file and to allow you to access the file. There are also several file extensions
that are used for different types of files in the eV+ system.

File Name Requirements

eV+ file name requirements are similar to MS-DOS file name requirements. File names
must:

l Have a maximum of eight characters plus a zero- to three-character extension.

l Use only letters (a - z), digits (0 - 9), and the underscore (_) character. (eV+ ignores
the case of letters used in file names.)

l Not contain any spaces.

l Use only one period, which marks the beginning of the file name extension.

File Name Extensions

You may use any valid file name for your files. However, you might want to be aware that
Omron Adept uses several common naming schemes, including the following file name
extensions:

l V+ program/module disk files use the extension v2.

l Various calibration programs use the extension cal.

l Robot specification files use the extension xml.

l Omron Adept's optional AIM software uses the extensions ovr, ov2, db, mnu, and
rfd.

Contents of eV+ Disk File

Disk files may contain three different types of information, as illustrated in the following
figure:

l eV+ programs

l eV+ variables and their assigned values

l User Data

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Contents of a Disk File

eV+ programs contain coded instructions that tell the computer what to do and which
external devices to communicate with.

User data is generated by various eV+ programs, such as camera calibration programs or the
Omron Adept AIM database management system.

eV+ variables provide specific information needed by a program. For example, the location
values that a robot is to move to can be stored in a disk file.

In general, unless you will be writing custom programs for the eV+ system, you do not need
to be concerned about creating new data files. The files will be created already, or will be
created and modified automatically by the programs that you run. You may need to copy
existing files from one disk to another. Copying disk files is covered in the following sections .

Working with Disk Files

This section tells you how to view, load, copy, and delete stored files.

When the ACE system is used to access the V+ system, the File Explorer is used for most file,
directory, and file-management operations. The File Explorer is accessed from the ACE
toolbar.

The File Explorer can be used to list, cut, copy, paste, or rename the files on a storage device
(for example, a hard drive or Secure Digital (SD) card).

For details, refer to the topic File Explorer in the ACE User's Guide.

NOTE: After a file has been deleted, it cannot be recovered.

The following sections describe how to access files when the ACE system is not used, or when
the ACE Monitor window is used.

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To List the Files on a Disk Drive

The FDIRECTORY command lists all the files in a subdirectory (see Working with
Subdirectories on page 43), along with information about each file's size, type, and creation
date. After you enter the command:

FDIRECTORY ↵

the output on the Monitor will look something like this:

Directory of D:
D 0 31-May-07 21:02:42 SYSTEM.CPY
D 0 31-May-07 21:02:42 SYSTEM
D 0 31-May-07 21:07:04 CALIB
D 0 31-May-07 21:07:14 SPECDATA
27768/41744 sectors unused/total

The following information is included in this display.

l The first and second columns list the file name and extension (e.g., "SYSTEM.CPY").

l The third column lists the file size in disk sectors (each sector holds 512 bytes).

l The fourth column lists special attributes of the file:

P indicates that the file (and any programs it contains) is protected and cannot be
modified or copied.
D indicates that the entry is a subdirectory.
R indicates that the file is read-only.

l The last columns list the date and time the file was created or copied.

l The final line of the display lists the total number of unused sectors on the disk and
the total capacity of the disk. In this example, the disk drive has 27,768 sectors
unused out of 41,744 sectors available on the disk.

Using Wildcards to List Groups of Files

You can list specific groups of files using the wildcard character (an asterisk) and portions of a
file name. The command:

FDIRECTORY MY*.* ↵

will list only the files that begin with "MY". The command:

FDIRECTORY *.V2 ↵

will list all the files with the extension "V2". The command:

FDIRECTORY *Y*.* ↵

will list all the files that have a "Y" as the second character of the file name. (Note that in this
case, the initial asterisk represents only one character, while the second and third asterisks
represent zero or more characters.)

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You can also use wildcards in certain file copying and deleting operations.

To Copy a Disk File

The FCOPY command allows you to:

l Copy files from one disk or subdirectory to another.

l Change the name of a file while copying the file (useful for making backup copies of a
file).

The command:

FCOPY new_file = old_file ↵

will make a copy of old_file, name the copy new_file, and place it in the same subdirectory as
old_file. The command:

FCOPY my_file.v2 = a:my_file.v2 ↵

will make a copy of my_file.v2 from the A drive and place it in the current subdirectory with
the name my_file.v2. For details on setting the current directory, see The Current Directory
on page 42.

The FCOPY command can be used for copying a few files. However, if you are copying many
files, the ACE File Explorer should be used. For more details, see the topic File Explorer in the
ACE User's Guide.

To Rename a Disk File

To change a file name without changing its location, use the FRENAME command. The
command:

FRENAME new_name = old_name ↵

will change the name of disk file "old_name" to "new_name". Note that any disk or directory
specification must be included in the specification of "new_name", not in "old_name".

To Delete a Disk File

Disk files that are no longer used or needed should be deleted from the disk. This recovers
space on the disk for other files. If you are copying or storing files to a disk and get a "disk full"
message, the only way to continue with the copy or store operation is to delete some files
from the disk (or specify a different disk device). The FDELETE command removes files from
the disk.

NOTE: After a disk file has been deleted, it cannot be recovered.

To delete a single file, enter the command:

FDELETE old_file ↵

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and the file "old_file" will be removed from the current subdirectory (after you respond to a
confirmation prompt). Note that the file name "old_file" is different from "old_file.v2". You
must specify the entire file name when deleting files.

To delete all the files in the current subdirectory with the extension "v2", enter the
command:

FDELETE *.v2 ↵

To delete all the files in the current subdirectory, enter the command:

FDELETE *.* ↵

If you have the optional AIM software, the AIM File Manager provides a graphical interface for
copying, deleting, renaming, and storing files. See the AIM Baseline User's Guide for details.

Using Directories
When the ACE interface is used, the Process Manager automates much of the programming
and program/file management through a point-and-click interface. For those who wish to
access the eV+ system directly, the Controller Development Tools are used for program/file
management and direct V+ monitor prompt operations. These tools are accessed from the
Controller Development Tools ( ) icon on the ACE toolbar. For more details, see the topic
Controller Development Tools in the ACE User's Guide.

The ACE File Explorer provides a graphical interface for copying, deleting, renaming, and
storing files. It is accessed from the File Explorer ( ) icon on the ACE toolbar. For more
details, see the topic File Explorer in the ACE User's Guide.

The remainder of this topic describes the operations when accessing the V+ system directly
through the Monitor window.

Understanding the Directory Structure

The eV+ disk file structure allows you to organize your disk files in a manner similar to a filing
cabinet. In this analogy the file cabinet represents a disk drive or Secure Digital card, the
individual drawers and dividers in the cabinet are referred to as directories or subdirectories,
the file folders in the drawers represent eV+ disk files, and the papers in a file folder
represent the programs and other objects that can be placed in a disk file. The following
figure shows this file structure.

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Disk File Structure

The eV+ file structure is a hierarchical file system. Files and subdirectories are organized in a
multilevel tree structure. In order to get to the files stored in lower levels, you must go
through all the levels starting at the top. The top-level directory is called the root directory (it
forms the root of the inverted tree). The root directory can contain files and other directories.
Each directory under the root directory can also contain other directories and files.

There are a few simple rules for using files and subdirectories:

l Directories have the same naming requirements as files, except they cannot have an
extension.

l At any one level, all directory and file names must be unique.

l Each disk can have only one root directory.

The following figure shows a simple directory structure.

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Directory Structure

Understanding Paths
A path consists of the directions to a specific file or directory within the directory structure.
Paths are used with LOAD, FCOPY, FDELETE, and other file-related commands to identify a
particular file. A full path always starts at the root directory and moves through each level
until you reach the desired file. In the above example, the path to new_file.v2 starts at the
root directory and goes through subdirectory PROGS_2 before arriving at new_file.v2.1

To specify a path in a command:

l Start with the letter of the drive you want to access followed by a colon (":").

l Separate the elements of the path with backslashes ("\").

l Enter the names of the elements exactly as they were created.

To load the file big_file.lc, enter the command:

LOAD D:\PROGS_2\DATA_1\big_file.lc ↵

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The Current Directory

When you are working exclusively within a single subdirectory, it is inconvenient to specify
the full path for every file operation. The CD command specifies a default path to use with all
subsequent commands. To make DATA_1 the default (current) directory, enter the
command:

CD D:\PROGS_2\DATA_1 ↵

The following figure shows the effect of the above command.

Default Directory Specification

After the above default path has been set, the command:

LOAD my_file.v2 ↵

will load the copy of "my_file.v2" that is in the subdirectory "DATA_1" rather than the copy in
the root directory.

You can also change relative to the current directory with the CD command. If the current
directory is D:\PROGS_2 and you enter the command:

CD DATA_1 ↵

The current directory will change to D:\PROGS_2\DATA_1. If you now enter the command:

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CD .. ↵

the current directory will become D:\PROGS_2\. The ".." tells the system to go up one level
in the directory structure (note that there is a space between "CD" and "..").

Absolute Paths

The default subdirectory set with a CD command can always be overridden by using a full
path specification. An absolute or full path starts with a backslash and may include the drive
designation. The command:

LOAD D:\PROGS_1\my_progs.rv ↵

will load the disk file my_progs.rv in the PROGS_1 subdirectory regardless of the default set
with a CD command.

Relative Paths

A partial path can be added to any default path that has been set with a CD command. The
following commands will load the file old_file.v2 (from the directory structure shown in the
figure Default Directory Specification):

CD D:\PROGS_2 ↵
LOAD DATA_1\old_file.v2 ↵

To Display the Current Path

To show the current path, enter the command:

CD ↵

The current directory path will be displayed.

Path Examples

Assume you set the default path to D:\PROGS_2\. The following commands will attempt to
load the indicated files (from the directory structure shown in the figure Directory
Structure):

LOAD my_file.v2 ↵ Loads the disk file my_file.v2 located in

D:\PROGS_2\
LOAD DATA_1\my_file.v2 ↵ Loads the disk file my_file.v2 located in
D:\PROGS_2\DATA_1\
LOAD D:\PROGS_2\DATA_1\my_file.v2 ↵ Loads the disk file my_file.v2 located in
D:\PROGS_2\DATA_1\

Working with Subdirectories

To View the Contents of a Directory

To view all the files in the current subdirectory, enter the command:

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FDIRECTORY ↵

To view all the files in a subdirectory other than the current one, use a path. The command:

FDIRECTORY D:\PROGS_2\DATA_1\ ↵

will display the contents of the DATA_1 subdirectory.

To View Groups of Files

Use wildcards to view a group of files. The command:

FDIRECTORY *.v2 ↵

will display the files in the specified directory that have the extension "v2". The command:

FDIRECTORY D:\PROGS_2\file*.* ↵

will display the files in the current directory that have names beginning with "file".

To Create a Subdirectory

To create a new subdirectory directly below the current directory, enter the command:

FDIRECTORY/C dir_name ↵

A full path can also be used when creating a subdirectory:

FDIRECTORY/C D:\PROGS_2\DATA_1\dir_name ↵

To Delete a Subdirectory

NOTE: After a directory has been deleted, it cannot be recovered.

Before a subdirectory can be deleted, the subdirectory must be empty (no disk files and no
subdirectories can be in the directory).

The command:

FDELETE *.* ↵

will delete all the files (but not subdirectories) in the current subdirectory. Since all file-related
commands look only at the current directory or the directory specified at the end of a path,
files in any other directories are not accessed regardless of whether they are above, below, or
on the same level as the current directory. The subdirectory DATA_1 can be deleted with
either of the following groups of commands (assuming there are no files in DATA_1):

FDELETE D:\PROGS_2\DATA_1\*.* ↵
FDIRECTORY/D D:\PROGS_2\DATA_1 ↵

or:

CD D:\PROGS_2 ↵

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FDELETE DATA_1\*.* ↵
FDIRECTORY/D DATA_1 ↵

1Directory names and file names are shown here in capital and small letters to help illustrate
the directory structure. They are normally both shown in all capital letters (and can always
be typed either way).

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 Executing Programs

Executing Programs
The following topics are described in this chapter:

Understanding Programs 47
Removing Objects from System Memory 50
Understanding Program Modules 53

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Understanding Programs
Your Omron Adept controller will not perform any useful work until you "run" a program. This
is a two-step process: First you LOAD a disk file that contains the eV+ program, then you
EXECUTE or COMMAND one of the programs that is contained in the file.

When the ACE interface is used, the Process Manager automates much of the programming
and program/file management through a point-and-click interface. For those who wish to
access the eV+ system directly, the Controller Development Tools are used for program/file
management and direct V+ monitor prompt operations. These tools are accessed from the
Controller Development Tools ( ) icon on the ACE toolbar. For more details, see the topic
Controller Development Tools in the ACE User's Guide.

The remainder of this topic describes the operations when accessing the V+ system directly
through the Monitor window.

Disk Files
A disk file may contain either or both of two different types of programs: Monitor command
programs and executable eV+ programs.

NOTE: Because they are handled the same way, files stored on a Secure Digital (SD) card
are referred to as disk files.

Monitor command programs perform system-level functions such as loading files, changing
the default path, and starting executable eV+ programs. These programs are similar to MS-
DOS batch programs or UNIX scripts. The commands detailed in the rest of this manual can
be put into Monitor command programs. The section Command Programs on page 60
provides details on writing basic Monitor command programs.

Executable eV+ programs contain the logic, motion control, and vision instructions that
actually control a workcell. Creating and modifying executable eV+ programs is covered in the
eV+ Language User's Guide and eV+ Language Reference Guide.

The documentation for program files delivered by Omron Adept specifies which program in a
disk file is the main program, and whether the main program is a Monitor command program
or an executable eV+ program. The documentation for program files supplied by third parties
should include this same information.

You can see what type of programs a disk file contains by entering the command:

FLIST file_specification ↵

The contents of the file will scroll up the Monitor window. Use the Scroll Lock key to pause
scrolling. If a program is a Monitor command program, all the lines in the program will be
preceded with "MC" (or ";", which indicates a comment). Remember, a disk file can contain
many programs, including both Monitor command and executable eV+programs.

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To LOAD a Disk File

The controller cannot use the programs and information stored in disk files until they are
loaded into system memory (RAM).

A file can be loaded through the ACE graphical interface, or with the eV+ LOAD command
typed at the eV+ Monitor prompt. For information on using the ACE system, refer to the
Controller Development Tools topic in the ACE User's Guide.

The LOAD command places a copy of the contents of a disk file in RAM. The figure below
shows the effect of the command:

LOAD my_file ↵

This command places the contents of the disk file "my_file" into RAM. "my_file" contains two
programs and the values of variables used by those programs.

The LOAD command does not actually start a program executing; it simply places a copy of
the disk file contents into system RAM so additional commands can start the program, or
modify the program, or modify the values of the program variables.

LOADing a Disk File

To see all the programs that have been loaded into memory, use the DIRECTORY command.
(FDIRECTORY lists files on the SD card; DIRECTORY lists programs in RAM.)

To Start a Monitor Command Program

Once a Monitor command program is resident in system memory, you can use the
COMMANDS command to start the program.

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If the program "init.system" is in RAM (loaded using the ACE Program Manager) and it is a
Monitor command program, the command:

COMMANDS init.system ↵

will start the program. If "init.system" is an executable eV+ program, the preceding
instruction will result in the error:
*Can't mix MC & program instructions*

To Start an Executable V+ Program

Once an executable eV+ program (and possibly its related programs and variables) has been
LOADed into RAM, the EXECUTE command initiates execution of the program.

The following figure shows the effect of the command:

EXECUTE prog_main ↵

The program "prog_main" was loaded as part of the disk file "my_file". When is
pressed, the program begins executing. In the course of execution, "prog_main" makes use
of "prog_sub" and the variables that were loaded with the disk file "my_file".

EXECUTing eV+ Programs

NOTE: If the executable program will control a motion device, the device must be
powered up and calibrated before the program is executed. See To Power Up the Motion
Device on page 24.

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 Removing Objects from System Memory

Which Program Should I Execute?

Normally, a disk file containing programs will have one main program that uses the other
programs in the file. All program files delivered by Omron Adept follow these conventions:

l There is only one main program per disk file.

l The name of the main program is the name of the disk file (without any extension)
preceded by "a.". For example, the disk file that holds the program could be named
"MYSAMPLE.V2". The main executable program in that file is "a.mysample".

These conventions are not requirements: Programs that are not supplied by Omron Adept
may follow other conventions. See the documentation provided with the files for details on
which program to execute.

To Halt Execution of a Program

Emergency Stop

To immediately halt a robot or motion device and halt execution of a program, activate any
remote emergency stop connected to the system (such as the red panic button on the
optional remote front panel). This will immediately turn off power to the motion device and
stop the execution of any program currently attached to the robot or motion device.

Early Program Termination

To halt a program in a non-emergency situation, enter the command:

ABORT ↵

ABORT can be entered even though the normal system prompt (".") is not displayed during
program execution. When you type the first letter, an "*" will appear where the dot prompt
would normally appear. This special prompt is displayed when commands are being entered
while a program is executing.

NOTE: If a robot is in motion when the ABORT command is entered, the robot will NOT
halt immediately, but will complete the current motion.

The only time you cannot enter the ABORT command is when the system is waiting for input
from the keyboard. For example, suppose the following message is displayed in the Monitor
window:
Are you sure Y/N?

The typing cursor at the end of the line tells you the system is waiting for you to enter a
response at the keyboard. To halt program execution at this point, press CTRL+Z. Program
execution will halt with an "unexpected end of file" error message.

Removing Objects from System Memory

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 Removing Objects from System Memory

When a program completes, it is not automatically removed from system memory (RAM). To
free up the RAM for use by other programs and data, objects in memory must be specifically
removed with a DELETE command. The LOAD command will not overwrite programs that
reside in system memory. Therefore, if you want to load new programs with identical names,
you must delete the programs currently in RAM.

When the ACE interface is used, the Process Manager automates much of the programming
and program/file management through a point-and-click interface. For those who wish to
access the eV+ system directly, the Controller Development Tools are used for program/file
management and direct V+ monitor prompt operations. These tools are accessed from the
Controller Development Tools ( ) icon on the ACE toolbar. For more details, see the topic
Controller Development Tools in the ACE User's Guide.

The remainder of this topic describes the operations when accessing the V+ system directly
through the Monitor window.

Understanding the Delete Commands

The following table summarizes the various delete commands.

The Delete Commands

Command Action

DELETE Deletes specified programs and any programs or variables that are
used in those programs (but are not used by other programs not being
deleted).

DELETEM Deletes a program module and all programs in the module. The
variables used by the programs, and referenced programs outside the
module, are not deleted. See Understanding Program Modules.

DELETEP Deletes specified programs from memory. Other programs used by the
specified programs are not deleted, and variables used by the program
are not deleted.

DELETEL Deletes specified location variables.

DELETES Deletes specified string variables.

DELETER Deletes numeric (real) variables.

ZERO Deletes ALL the programs and data in system memory (the operating
system is not affected).

In normal operations, you are most likely to use the DELETE, DELETEM, and ZERO
commands.

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 Removing Objects from System Memory

Objects do not have to be removed from RAM before different disk files are loaded and other
programs are executed (unless you are loading a program with the same name as one
already in RAM). However, if you get an "out of memory" message while loading a disk file,
the only way to complete the load operation is to delete objects from system memory.

In addition to the commands described previously, the FDELETE command removes disk files
from the SD card.

NOTE: Once a disk file is deleted from the storage device, it cannot be recovered.

FDELETE does not remove objects from RAM (if they have been loaded). The DELETE
commands remove objects from RAM. This does not delete a program that is being executed
or is present on the stack for any execution task. These commands do not affect the disk files
from which the objects were loaded. After objects have been removed from RAM, they can be
reloaded using the LOAD command (but, of course, only if they are stored on disk).

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 Understanding Program Modules

Understanding Program Modules

When a disk file is loaded, a program "module" is created that holds the names of all programs
loaded from that disk file. The name of the created module is the same as the first program
loaded. A module allows you to remove all the programs loaded from a disk file without
disturbing programs loaded from other disk files.

For example, if the command:

.LOAD my_file.v2 ↵

loaded the following programs:

a.my_file
mf.check.stuff
mf.do.stuff
mf.init

The MDIRECTORY command will list the modules resident in system memory:

.MDIRECTORY ↵
.MODULE a.my_file

The DELETEM command will remove the module and all the programs in the module from
system memory:

.DELETEM a.my_file ↵
Are you sure (Y/N)? Y ↵
.MDIRECTORY ↵
.DIRECTORY ↵

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 Using Permanent File Storage

Using Permanent File Storage

The following topics are described in this chapter:

Using Digital Storage Cards 55

Using Hard Drives 55

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 Using Digital Storage Cards

Using Digital Storage Cards

In place of a traditional hard drive, the SmartController EX system uses a Secure Digital (SD)
card. An SD card has no moving parts and, therefore, adds to the reliability and durability of
Omron Adept's products. It is also removable and can be moved to any other SmartController
EX system, should this be necessary for replacement or testing purposes.

WARNING: Use suitable measures for eliminating electrostatic

discharge during removal and installation of the SD card. This
includes, but is not limited to, use of a grounded wrist strap while
performing this operation.

Because the eV+ system is very efficient, most, if not all, eV+ applications will fit onto the SD
card.

The SD card is addressed as drive D.

Backing Up Data
SD cards are very reliable storage devices, but they can fail. Data on a failed card may not be
readable and may be completely lost. Therefore, Omron Adept strongly recommends that you
make periodic backups of your card. The eV+ system and user data can be backed up using
the Backup utility and File Explorer tool in the ACE software. In the event of a card failure, the
backup data can be used to restore the contents to a new SD card. For details on creating a
system backup and using the File Explorer to copy files, see the ACE User's Guide.

Obtaining Formatted SD Cards

The SD card is factory-preformatted and should never need formatting, unless a failure
occurs and the card must be replaced. The eV+ system requires that special formatting
operations be performed before a card can be used in an Omron Adept controller.

You can obtain additional preformatted SD cards from Omron Adept. Please contact Omron
Adept Customer Service for assistance.

Using Hard Drives

The ACE software allows you to use the PC hard drive, or an external hard drive that is
connected to the PC, for storage of your ACE software, application programs, eV+ data and
system backups, and other information. Therefore, in the ACE environment, you are not
restricted to storing everything on the controller. For more information on storing
information to your PC hard drive with the ACE software, see the ACE User's Guide.

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 Customizing an Omron Adept System

Customizing an Omron Adept System

The following topics are described in this chapter:

Introduction 57
Customizing the Controller Hardware 57
Changing the Controller Configuration 57
System Software Switches 58

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 Introduction

Introduction
The majority of system customization operations are made through the ACE software. A few
operations require setting hardware (DIP) switches on the controller. For more details, see
the Configuration Tools chapter in the ACE User's Guide.

Most controller configuration changes will not take effect until the controller has been
restarted. The ACE software automatically prompts you when a change has been made that
requires a controller restart.

The changes made with the ACE software are written to the operating system SD card.
Therefore, if you make changes to the configuration and then start the system with a
different SD card, a different controller configuration might be in place. You can use the
ACE system to make an exact copy of the operating system and its current configuration for
backup. If a card failure results in the loss of your operating system, you can load the
operating system directly from the backup. You can also copy the system files from that
backup to restore the copy on a replacement SD card. For more details on creating a system
backup, see the ACE User's Guide.

Customizing the Controller Hardware

When the controller is turned on, the system first looks at the settings of the configuration
DIP switches. The DIP switches are located on the front of the controller. The DIP switches
determine initial options the system uses during the boot procedure. See the Adept
SmartController User's Guide for the location of the DIP switches on the front of the
controller.

DIP switch #1 controls what IP address to use. If switch #1 is ON, eV+ will use the default IP
address. For details on the default IP address, see the Adept SmartController User's Guide. If
switch #1 is OFF, eV+ will use the IP address stored on the Secure Digital (SD) card.

DIP switch #2 controls the communication interface. If switch #1 is ON, eV+ will listen on
the serial port labeled TERM. If switch #2 is OFF, eV+ will use the normal connection through
Ethernet.

NOTE: All the other switches should be kept on the OFF position. They are reserved for
future use.

Changing the Controller Configuration

The ACE software, contains a controller configuration tool, which is accessed through the
Configure button on the Controller object editor. This configuration tool allows you to access:

l the controller configuration parameters

l the controller licenses

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 System Software Switches

For more details, see the Controller Editor topic in the ACE User's Guide. For information on
configuring other aspects of your system, see the Configuration Tools chapter in the ACE
User's Guide.

System Software Switches

Several controller options can be enabled/disabled with the ENABLE/DISABLE Monitor
commands.

Most of these system switches should be controlled through the ACE interface, or by
executing programs, and not changed from the Monitor prompt.

The remainder of this topic describes the operations when accessing the V+ system directly
through the Monitor window.

Basic System Switches

The following table shows the system switches you are most likely to change from the
Monitor prompt.

Basic System Switches

Switch Use Default

BELT Used to turn on the conveyor tracking features of eV+ (if OFF
the option is installed).

This switch must be enabled before any of the special

conveyor tracking instructions can be executed. When the
BELT system switch is disabled, the conveyor tracking
software has minimal impact on the overall performance of
the system.

This will usually be set from the belt object editor in the ACE
interface.

DRY.RUN Enable/disable sending of motion commands to the robot. OFF

Enable this switch (i.e., disable motion commands) to test
programs for proper logical flow and correct external
communication without having to worry about the robot
running into something.

(Also see the TRACE switch, which is useful during program

checkout.) The pendant can still be used to move the robot
when DRY.RUN is enabled.

FORCE Controls whether the stop-on-force feature of the eV+ OFF

system is active. (To be able to enable this switch, the force
option must be installed on your system.)

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 System Software Switches

Switch Use Default

POWER Tracks the status of Robot Power; this switch is OFF

automatically enabled whenever Robot Power is turned on.
This switch can also be used to turn Robot Power on or off—
enabling the switch turns on Robot Power, and disabling the
switch turns off Robot Power.

The ACE system toolbar provides a Power ( ) icon that can

be used in place of this switch.

To enable a system switch, type ENABLE followed by a space and the switch name. For
example:
ENABLE BELT

To disable a switch, use the DISABLE Monitor command. For example:

DISABLE BELT

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 Command Programs

Command Programs
The following topics are described in this chapter:

Introduction 61
Creating Command Programs 61
Running Command Programs 62
Controlling Command Programs 63
Example Command Program 64

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 Introduction

Introduction
Command programs are special programs that consist of a series of Monitor commands.
Command programs automate system startup and other frequently executed Monitor
command sequences. Command programs can be started from the eV+ monitor prompt or
from the manual control pendant. With the auto-start feature, a command program can be
started automatically when the Omron Adept system is turned on.

Command programs are most commonly used in V+ based applications, as described in the
following cases:

l At system startup, the Omron Adept controller autostart switch will launch the
command program "auto" located in D:\AUTO.V2. For details, see Autostarting a
Command Program on page 62.

l To save a V+ module and application variables.

Often, a command program will define the programs in a module and then perform a
backup/save operation.

When the ACE software is used, this is not really needed, because the V+ Module
object saves the programs in the workspace. The same can be said for V+ application
variables contained in the V+ Global Variable Collection object. It is all saved in the
workspace by simply clicking the Save button. For more details on the V+Module
object and the V+ Global Variable Collection object, see the ACE User's Guide.

Creating Command Programs

Command programs can be created using the ACE system.

Either right-click in the Workspace Explorer pane, and select:

New > Programs > V+ Module

or select:

Controller Development Tools > Program Manager > Create New

Program

a V+ program editor opens, which allows you to create and edit your V+ programs. For more
details on using the program editor, see the ACE User's Guide.

Command Program Contents

Command programs can contain all the eV+ Monitor commands except the DONE, TEACH,
and ZERO commands, and editor commands.

Several commands require subsequent input from the user. For example, CALIBRATE and
DELETEP normally require confirmation, and POINT and HERE normally require responses to
the query "Change?". When commands such as these are processed in a command program,

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 Running Command Programs

the commands will be performed without any prompts being issued. Make sure your Monitor
command programs can execute correctly without operator response.

Every nonblank line of a Monitor command program must contain either a Monitor command
or a comment.

Command Program Names

Command program names can have up to 15 characters, must begin with a character, and
can contain letters, numbers, periods, and underline characters. Command programs are
stored as elements in the eV+ disk file. The disk file name, not the command program name,
must conform to eV+ disk file name conventions (see Using Files on page 33).

Running Command Programs

There are several ways to run command programs: from the eV+ monitor prompt, or
automatically when the controller is turned on.

Starting Command Programs From the Monitor Prompt

The COMMANDS Monitor command starts a command program. To run the command
program that was created in the previous section, enter the commands:

LOAD my_cmd.pg ↵
COMMANDS my.cmd.program ↵

NOTE: The EXECUTE command expects programs that contain eV+ program
instructions, not Monitor commands. If you use the EXECUTE command to run a
program with lines that begin with "MC", the program will abort and you will get a
message indicating that you cannot mix program instructions and Monitor commands.

Autostarting a Command Program

A Monitor command program can be loaded and started automatically when the controller is
turned on, if the following conditions have been met:

1. The autostart option must be enabled in the controller NVRAM configuration settings.

2. A disk file with the name "AUTO.V2" must reside on the default disk. See The Default
Disk Path for details on specifying the default disk.

3. The AUTO.V2 disk file must contain a program named "auto". The "auto" program
must be a Monitor command program. (Other programs, and data, can be stored in
the AUTO.V2 disk file.)

Then, when the controller is turned on, the operating system is loaded, the default disk
specification is set, and the following commands are issued automatically:

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 Controlling Command Programs

LOAD auto.v2
COMMANDS auto

NOTE: The eV+ system does not wait for HIGH POWER to be turned on, or for any other
event or condition. The autostart command program must explicitly invoke any such
functions, or they must be performed by programs invoked by the command program. For
example, if you want to require that the operator press the PROGRAM START button on
the controller when the command program is processed, you must include a WAIT.START
command in the command program.

Controlling Command Programs

After a command program is initiated, it will process all the commands in the program until
one of the following events occurs:

1. The end of the command program is reached.

2. A WAIT.START command is processed in the command program. (This will suspend

processing of the command program until the PROGRAM START button is pressed or
until a specified condition is satisfied.)

3. A CYCLE.END command is processed in the command program, and the referenced

program task is executing. (That will suspend processing of the command program
until the referenced program task finishes executing.)

NOTE: A command program will not be suspended when an EXECUTE command is

processed. The command program will initiate execution of the specified application
program and then immediately continue with the next command. If you want the
command program to wait for the application program to complete before
processing the next step in the command program, a CYCLE.END command must
be included in the command program after the EXECUTE command.

4. The CTRL key is held down while the C key is pressed. (This will terminate processing of
the command program. However, the command being processed, or a program
invoked by the command program, will continue to completion.)

5. Another command program is invoked from within the active command program.
(Unlike starting an executable program, control will not return to the first command
program when the second command program completes.)

6. An error condition results when a statement is processing in the command program.

Command Programs and Language Keywords

The eV+ programming language is described in the eV+ Language User's Guide and the eV+
Language Reference Guide.

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 Example Command Program

Normally, a command program contains only Monitor commands. However, language

keywords can be included by using the DO Monitor command. To include a language keyword
in a Monitor command program, type a line with the format:
MC DO keyword parameter, ...

eV+ control instructions (for example, GOTO and IF) are ignored in a command program.
Command programs can proceed only in a top-down manner, from the first line to the last.

Example Command Program

The following Monitor command program shows a simple start-up program (the line
numbers refer to the descriptions below):
1 .PROGRAM auto()
2
3 ; This program will perform startup procedures for the
4 ; motion device, load a program file, move the device
5 ; to a safe location, and execute the main program.
6
7 MC WAIT.START
8 MC ENABLE POWER
9 MC CALIBRATE
10 MC LOAD main.v2
11 MC DO MOVE safe
12 MC CYCLE.END
13 MC EXECUTE motion, -1
14 .END

The lines in this Monitor command program are described below:

1. This line is entered automatically when the program is created.

2. This blank line is ignored during execution.

3. This is a comment line. Notice that each comment line begins with a semicolon (";").
Lines beginning with a semicolon (with optional leading spaces) are ignored during
execution.

4. This is another comment line.

5. Another comment line.

6. Another blank line.

7. Wait for the operator to toggle the AUTOMATIC/MANUAL switch and press the START
soft key on the pendant.

8. Turn on HIGH POWER.

WARNING: Before processing a command program that turns

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 Example Command Program

on HIGH POWER, the operator must make sure the robot area is
clear.

9. Initiate the robot CALIBRATE sequence.

10. Load the file "main.v2" using the default path specification.

11. Move the robot to the location named "safe" (assumed to be stored in "main.v2" or
already in memory).

12. CYCLE.END is used to wait for the robot to complete the motion to "safe" prior to
execution of the next line.

13. Initiate continuous execution of the program "motion" (assumed to have been loaded
from "main.v2" or already in memory).

14. This line is added automatically by the editor.

This program could be initiated by the Monitor command "COMMANDS auto". The program
could also be initiated automatically when the system is turned on (as described in Running
Command Programs on page 62).

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 System Messages

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, the system
rejects the input. The usual response is to output an error message to the system terminal
indicating what is wrong so that the user can correct the error.

When using the ACE software to program and interface with the eV+ system, error
messages are reported in that interface, usually in the form of pop-up windows. These
windows typically contain the error message along with a Details button that can be selected
for more information. The message and details can also be copied to the Windows clipboard
and then pasted in an email or other document.

Error Messages
The eV+ Language Reference Guide contains descriptions of the eV+ error messages and
suggests remedies to correct the problems.

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
#)".

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