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Vax V-006U Handbücher

Bedienungsanleitungen und Benutzerhandbücher für Staubsauger Vax V-006U.
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Vax V-006U Betriebsanweisung (376 Seiten)


Marke: Vax | Kategorie: Staubsauger | Größe: 2.96 MB |

 

Inhaltsverzeichnis

Copyright Notice

3

Table Of Contents

5

Program Control 117

6

Functions 141

6

Switches and Parameters 153

6

Motion Control Operations 163

6

Input/Output Operations 199

7

Graphics Programming 243

7

Programming the MCP 263

7

Conveyor Tracking 305

8

Multiprocessor Systems 321

8

Example V+ Programs 335

8

External Encoder Device 349

8

Character Sets 357

9

Compatibility

12

Manual Overview

12

V+Release Notes

13

Related Publications

13

System Safeguards

16

Computer-Controlled Robots

16

Manually Controlled Robots

17

Notations and Conventions

18

Output Control Commands

19

How Can I Get Help?

21

Programming V+

23

Creating a Program

25

The SEE Editor Environments

27

AdeptWindows

30

Adept ACE

30

Adept DeskTop

30

Text Editor

30

Using the SEE Editor

31

V+ Program Types

33

General Programs

34

Format of Programs

35

Program Organization

36

Program Variables

36

Executing Programs

37

Program Stacks

39

Flow of Program Execution

41

Subroutines

42

Program Files

45

Reentrant Programs

45

Asynchronous Processing

46

Error Trapping

47

System Timing and Time Slices

48

Task Scheduling

49

Execution Priority Example

53

Priority Example 1

54

Default Task Configuration

55

User Task Configuration

58

The SEE Editor and Debugger

61

Basic SEE Editor Operations

63

Special Editing Situations

69

Sample Editing Session

81

The Program Debugger

85

The DEBUG Monitor Command

86

The Debugger Display

88

Debugger Operation Modes

89

Debugging Programs

90

Positioning the Typing Cursor

91

Debugger Key Commands

91

PROCEED debug_task

93

Control of Program Execution

94

Single-Step Execution

94

PAUSE Instructions

95

Program Breakpoints

95

Program Watchpoints

96

Data Types and Operators

97

String Data Type

100

Real and Integer Data Types

102

Numeric Expressions

103

Logical Expressions

103

Location Data Types

104

Variable Classes

107

Scope of Variables

108

Variable Initialization

110

Operators

111

Logical Operators

112

Bitwise Logical Operators

113

String Operator

115

Order of Evaluation

116

Program Control

117

Page 118

118

Introduction

119

WAIT.EVENT

122

REACT and REACTI

122

HALT, STOP, and PAUSE

124

BRAKE, BREAK, and DELAY

124

Program Interrupt Example

125

Logical (Boolean) Expressions

128

IF...GOTO

129

IF...THEN...ELSE

129

CASE value OF

130

81 GOTO 50

131

Looping Structures

132

DO...UNTIL

133

WHILE...DO

134

Page 135

135

Functions

141

Page 142

142

Using Functions

143

String-Related Functions

144

Examples of String Functions

145

Numeric Value Functions

147

$a = "16"

148

Logical Functions

149

System Control Functions

150

MOVE loc_1

151

Switches and Parameters

153

Page 154

154

Parameters

156

Switches

159

Motion Control Operations

163

Page 164

164

Location Variables

166

Transformations

167

Creating Location Variables

173

Modifying Location Variables

173

SET loc_d = TRANS(0,50)

175

MOVE loc_a:loc_b:loc_d

175

INVERSE(loc_b)

175

MOVE loc_c:INVERSE(loc_b)

175

Defining a Reference Frame

176

Motion Control Instructions

180

Continuous-Path Trajectories

181

Procedural Motion

183

Timing Considerations

184

Robot Speed

185

Motion Modifiers

186

Tool Transformations

188

Summary of Motion Keywords

190

Input/Output Operations

199

Page 200

200

Terminal I/O

201

Terminal Types

202

Input Processing

202

Output Processing

203

Digital I/O

205

High-Speed Interrupts

206

Soft Signals

206

Digital I/O and DeviceNet

206

Pendant I/O

207

Analog I/O

208

Serial and Disk I/O Basics

210

Input Wait Modes

212

Output Wait Modes

213

Disk I/O

214

Disk File Operations

215

WRITE (dlun) $in.string

216

READ (dlun) $in.string

216

Advanced Disk Operations

219

Random-Access Files

220

Buffering and I/O Overlapping

220

Disk Commands

221

AdeptNET

222

Serial Line I/O

223

Page 226

226

DDCMP Communication Protocol

227

Protocol Parameters

229

Kermit Communication Protocol

231

C-Kermit>

232

SET FILE TYPE TEXT

232

File Access Using Kermit

233

SET FILE TYPE BINARY

234

Kermit Line Errors

235

System Parameters for Kermit

235

DeviceNet

237

To... Refer to

238

Page 238

238

Summary of I/O Operations

239

Graphics Programming

243

Page 244

244

Creating Windows

245

FCLOSE Instruction

246

FDELETE Instruction

246

DETACH Instruction

246

Custom Window Example

246

Page 247

247

Monitoring Events

248

FSET Instruction

249

Building a Menu Structure

250

Defining Keyboard Shortcuts

252

Creating Buttons

253

Creating a Slide Bar

255

Page 256

256

Using IOSTAT()

257

Managing Windows

258

The Main Window

259

The Monitor Window

259

The Vision Window

259

Programming the MCP

263

Page 264

264

The Pendant Display

266

Detecting User Input

267

Page 268

268

Monitoring the MCP Speed Bar

271

Using the STEP Button

271

Reading the State of the MCP

272

Controlling the Pendant

273

The Pendant LEDs

274

WAIT.START

277

Programming Example: MCP Menu

279

Page 280

280

Page 281

281

Page 282

282

Page 284

284

Pendant Display

286

Using WRITE with the Pendant

286

Keyboard Mode

289

Toggle Mode

290

Level Mode

290

Notes on Button Behaviors

291

MCP.NO.POT System Switch

294

Pendant LEDs (Indicator Bars)

296

Page 302

302

Page 303

303

Page 304

304

Conveyor Tracking

305

Page 306

306

Installation

308

Calibration

309

Basic Programming Concepts

310

MOVES %belt:loc_1

314

Motion Termination

315

HERE %belt:loc_1

316

POINT %belt:loc_1

316

TEACH %belt:loc_1

316

LISTL %belt_variable:NULL

316

Conveyor-Tracking Programming

317

Window Testing

318

Status Information

318

System Switch

318

System Parameters

318

Sample Programs

319

Multiprocessor Systems

321

Page 322

322

Conveyor Belt Encoders

324

Force Sensors

324

Installing Processor Boards

326

Using Multiple V+ Systems

328

Intersystem Communications

329

Shared Data

330

IOTAS and Data Integrity

331

Efficiency Considerations

332

-666 *Must use Monitor #1*

333

Example V+ Programs

335

Page 336

336

Pick and Place

338

Menu Program

342

Page 343

343

Features Introduced

344

Program Listing

344

Page 345

345

Page 346

346

External Encoder Device

349

Page 350

350

Device Setup

353

Reading Device Data

354

Character Sets

357




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