VAL3 Reference Manual

✍ Scribed by Stäubli

• Publisher: Stäubli
• Year: 2008
• Tongue: English
• Leaves: 186
• Edition: 6
• Category: Library

✦ Table of Contents

Introduction
VAL3 language elements
2.1. applications
2.1.1. Definition
2.1.2. Default content
2.1.3. Start/stop
2.1.4. Application parameters
2.1.4.1. Unit of length
2.1.4.2. Amount of stack memory
2.2. Programs
2.2.1. Definition
2.2.2. Re-entry
2.2.3. Start() program
2.2.4. Stop() program
2.3. data types
2.3.1. Definition
2.3.2. Simple types
2.3.3. Structured types
2.4. Data initialization
2.4.1. Simple type data
2.4.2. Structured type data
2.4.3. Array of constants
2.5. Variables
2.5.1. Definition
2.5.2. Variable scope
2.5.3. Accessing a variable value
2.5.4. Parameter passed "by value"
2.5.5. Parameter passed "by reference"
2.6. Sequence control instructions
Simple types
3.1. Instructions
3.2. bool type
3.2.1. Definition
3.2.2. Operators
3.3. num type
3.3.1. Definition
3.3.2. Operators
3.3.3. Instructions
3.4. Bit field type
3.4.1. Definition
3.4.2. Operators
3.4.3. Instructions
3.5. string type
3.5.1. Definition
3.5.2. Operators
3.5.3. Instructions
3.6. dio type
3.6.1. Definition
3.6.2. Operators
3.6.3. Instructions
3.7. aio type
3.7.1. Definition
3.7.2. Instructions
3.8. sio type
3.8.1. Definition
Operators
3.8.2. Instructions
User interface
4.1. User page
4.2. Instructions
Tasks
5.1. Definition
5.2. Resuming after a runtime error
Starting and stopping the application
5.3. Visibility
5.4. Sequencing
5.5. Synchronous tasks
5.6. Overrun
5.7. Inputs / Outputs refresh
5.8. Synchronization
5.9. Sharing resources
5.10. Instructions
Libraries
6.1. Definition
6.2. Interface
6.3. Interface identifier
6.4. Content
6.5. Encryption
6.6. Loading and unloading
6.7. Instructions
Robot control
7.1. Instructions
Arm positions
8.1. Introduction
8.2. joint type
8.2.1. Definition
8.2.2. Operators
8.2.3. Instructions
8.3. trsf type
8.3.1. Definition
8.3.2. Orientation
8.3.3. Operators
8.3.4. Instructions
8.4. frame type
8.4.1. Definition
8.4.2. Use
8.4.3. Operators
8.4.4. Instructions
8.5. tool type
8.5.1. Definition
8.5.2. Use
8.5.3. Operators
8.5.4. Instructions
8.6. point type
8.6.1. Definition
8.6.2. Operators
8.6.3. Instructions
8.7. config type
8.7.1. Introduction
8.7.2. Definition
8.7.3. Operators
8.7.4. Configuration (RX/TX arm)
8.7.4.1. Shoulder configuration
8.7.4.2. Elbow configuration
8.7.4.3. Wrist configuration
8.7.5. Configuration (RS arm)
8.7.6. Instructions
Movement control
9.1. Trajectory control
9.1.1. Types of movement: point-to-point, straight line, circle
9.1.2. Movement sequencing
9.1.2.1. Blending
9.1.2.2. Cancel blending
9.1.3. Movement resumption
9.1.4. Particularities of Cartesian movements (straight line, circle)
9.1.4.1. Interpolation of the orientation
9.1.4.2. Configuration change (Arm RX/TX)
9.1.4.3. Singularities (Arm RX/TX)
9.2. Movement anticipation
9.2.1. Principle
9.2.2. Anticipation and blending
9.2.3. Synchronization
9.3. Speed monitoring
9.3.1. Principle
9.3.2. Simple settings
9.3.3. Advanced settings
9.3.4. Enveloppe error
9.4. Real-time movement control
9.5. mdesc type
9.5.1. Definition
9.5.2. Operators
9.6. Movement instructions
Options
10.1. Compliant movements with force control
10.1.1. Principle
10.1.2. Programming
10.1.3. Force control
10.1.4. Limitations
10.1.5. Instructions
10.2. ALTER: Real time control on a path
Cartesian Alter
10.2.1. Principle
10.2.2. Programming
10.2.3. Constraints
10.2.4. Safety
10.2.5. Limitations
10.2.6. Instructions
Syntax
Function
Parameter
Details
Syntax
Function
Parameter
Details
Syntax
Function
Parameter
Details
Syntax
Function
Parameter
Details
Details
Parameter
Details
Details
10.3. OEM licence control
10.3.1. Principles
10.3.2. Instructions
Appendix
11.1. Runtime error codes
11.2. Control panel keyboard key codes
Illustration
Index