Programming The Adept - Spr 10 - presentation

Programming The Adept - Spr 10 - presentation - MFET 248...

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Programming The Adept Robot page 1 of 34 MFET 248 Automated Manufacturing III Programming The Adept Robot Contents Topic : Page : 1) Introduction 2 2) Adept start-up procedures 4 3) Operating system commands 5 3.1) Commonly Used Mass Storage Commands 5 3.2) Commonly Used Operating System Commands 8 4) Motion commands 12 5) Working with Discrete I/O 20 6) Programming in V+ 24 7) Using The Adept Line Editor 30
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Programming The Adept Robot page 2 of 34 1) Introduction The purpose of this document is to introduce the V+ programming language developed by Adept Technology Inc. The following Adept robots are currently available in the CIMT laboratory: Adept Robot Model: Located at drop lines: AdeptOne 1, 3, and 5 Adept 550 2, 4, and 6 Both the AdeptOne and the 550 robots are classified as four-axis SCARA ( Selective Compliance Assembly Robot Arm ) robots. The dedicated computer (controller) which controls the Adept arm is a very powerful control system which employs V+. Note: V+ is both an operating system and a robot programming language. Modern Adept controllers are modular in design and similar to a PLC each module plugs into a chassis. The backplane of the Adept controller is based on an industrial standard called VME. Some of the features of V+ include: z Multitasking capabilities z Multiple general purpose RS-232 serial ports z Ethernet communications z DeviceNet communications z Discrete I/O (AC or DC) interfacing capabilities z Integrated machine vision z A robot programming language including: Global and local variables String processing commands Control structures (e.g., Do . .. Until, If . .. Then . .. Else, etc.) Arithmetic operators Arrays And much more …
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Programming The Adept Robot page 3 of 34 There are many ways to write and make changes to (edit) V+ programs, some include: 1. Offline using any PC-based editor such as Windows Notepad. Note: all Adept programs must be saved as pure text files. 2. Offline using an Adept product called Adept Windows. 3. Online using Adept's built-in line editor. 4. Online using Adept's built-in screen editor (called the “SEE” Editor). Note : z Offline generally means you are entering (or editing) V+ programs using a computer – you are not entering or editing a program using the keyboard which is attached to the robot controller.
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Programming The Adept Robot page 4 of 34 2) Adept Start-Up Procedures The following procedure should be used each time an Adept robot controller is powered up: 1. Turn the controller on (use the power switch located on the bottom LEFT hand side of the controller). After the system has booted, a "." prompt will appear. The "." is the V+ system prompt. 2. Enable the ARM POWER (also called HIGH POWER) by typing ENABLE POWER (shortcut: EN PO ) at the V+ system prompt. Note the following: z ” means press the space bar once. z
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This note was uploaded on 02/29/2012 for the course MFET 248 taught by Professor T.e.kostek during the Spring '10 term at Purdue.

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Programming The Adept - Spr 10 - presentation - MFET 248...

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