User`s guide

Introduction to the V+ Language User's Guide
V+ is a computer-based control system and programming language designed specifically for
use with Adept Technology industrial robots, vision systems, and motion-control systems.
As a real-time system, continuous trajectory computation by V+ permits complex motions to
be executed quickly, with efficient use of system memory and reduction in overall system
complexity. The V+ system continuously generates robot-control commands and can
concurrently interact with an operator, permitting on-line program generation and
modification.
V+ provides all the functionality of modern high-level programming languages, including:
l Callable subroutines
l Control structures
l Multitasking environment
l Recursive, reentrant program execution
Compatibility
This manual is for use with V+ v17.0 and earlier. This manual covers the basic V+ system. If
your system is equipped with optional vision, see the AdeptVision Reference Guide and the
AdeptVision User's Guide, or the AdeptSight User's Guide and the AdeptSight Reference
Guide, for details on your vision system.
Manual Overview
This manual details the concepts and strategies of programming in V+. Material covered
includes:
l Functional overview of V+
l A description of the data types used in V+
l A description of the system parameters and switches
l Basic programming of V+ systems
l Editing and debugging V+ programs
l Communication with peripheral devices
l Communication with the manual control pendant
l Conveyor tracking feature
l Example programs
l Using tool transformations
Introduction to the V+ Language User's Guide
V+Language User's Guide, v17.0
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