VAL Robot Programming Language

VAL Robot Programming Language

VAL Robot Programming Language - The VAL TM language is the most advanced commercial, language designed for use with Unimation, Inc., industrial robots. VAL stands for Victor's Assembly Language. It is basically an off line language in which the program defining the motion sequence can be developed off line, but the various point locations used in the work cycle are most conveniently defined by leadthrough.

To demonstrate the VAL language, let us assume that the robot must pick up objects from a chute and place them in successive boxes. One possible sequence of robot activity is as follows:

I. Move to a location above the part in the chute.

2. Move to the part.

3. Close the gripper jaws.

4. Remove the part from the chute.

5. Carry the part to a location above the box.

6. Put the part into the box.

7. Open the gripper jaws.

8. Withdraw from the box.

The corresponding VAL program is as follows:

EDIT DEMO. 1

●PROGRAM DEMO. 1

1. ? APPRO PART, 50 @

2. ? MOVES PART @

3. ? CLOSE I @

4. ? DEPARTS 150@

5. ? APPROS BOX, 200@

 6. ? MOVE BOX@

7. ? OPENI @

8. ?DEPART@

The exact meaning of each line is:

1. Move to a location 50 mm above the part in the chute.

2. Move along a straight line to the part.

3. Close the gripper jaws.        

4. Withdraw the part 150 mm from the chute along a straight­ line path.  

5. Move along a straight line to a location 200 mm above the box.

6. Put the part into the box.

7. Open the gripper jaws.

8. Withdraw 75 mm from the box.

When the program is executed, it causes the robot to perform, the steps which describe the task.