User`s guide

Note that the commas preceding the number 300 must be present to correctly relate the
number with a Z-direction change.
Numeric Arguments
All numbers in this manual are decimal unless otherwise noted. Binary numbers are shown
as ^B, octal numbers as ^, and hexadecimal numbers as ^H.
Several types of numeric arguments can appear in commands and instructions. For each
type of argument, the value can generally be specified by a numeric constant, a variable
name, or a mathematical expression.
There are some restrictions on the numeric values that are accepted by V+. The following
rules determine how a value will be interpreted in the various situations described.
1. Distances are used to define locations to which the robot is to move. The unit of
measure for distances is the millimeter, although units are never explicitly entered for
any value. Values entered for distances can be positive or negative.
1
2. Angles in degrees are entered to define and modify orientations the robot is to
assume at named locations, and to describe angular positions of robot joints. Angle
values can be positive or negative, with their magnitudes limited by 180 degrees or
360 degrees depending on the usage.
3. Joint numbers are integers from one up to the number of joints in the robot,
including the hand if a servo-controlled hand is operational. For Adept SCARA robots,
joint numbering starts with the rotation about the base, referred to as joint 1. For
mechanisms controlled by AdeptMotion, see the device module documentation for
joint numbering.
4. Signal numbers are used to identify digital (on/off) signals. They are always
considered as integer values with magnitudes in the ranges 1 to 8, 33 to 512, 1001
to 1012, 1032 to 1512, 2001 to 2512, or 3001 to 3004. A negative signal number
indicates an off state.
5. Integer arguments can be satisfied with real values (that is, values with integer and
fractional parts). When an integer is required, the value is rounded and the resulting
integer is used.
6. Arguments indicated as being scalar variables can be satisfied with a real value
(that is, one with integer and fractional parts) except where noted. Scalars can range
from -9.22*10
18
to 9.22*10
18
in value (displayed as -9.22E18 and 9.22E18).
2
1
See the IPS instruction for a special case of specifying robot speed in inches per second.
2
Numbers specifically declared to be double-precision values can range from -1.8*10
-307
to
1.8*10
-307
.
Output Control Commands
Output Control Commands
(Undefined variable: Primary.Product_Name_V)Language User's Guide, version
17.x
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