User`s guide

determined by the position of the speed slider. Note that the speed indicator to the right of
the speed bar indicates a value between 1 and 100. The speed indicator expresses a
percentage of the maximum value. The direction (negative or positive) is specified by the
button pressed. For example, pressing the Joint-1 “+” button will send a positive value from 1
to 127, and the Joint-1 “-“button will send a negative value from –128 to –1. The value
returned by the function will be 0 if no movement is requested from the pendant. The
following code shows the speed on the pendant display when pressing the YES/+ or NO/-
buttons.
; Set the REC/DONE button to toggle
KEYMODE 8 = 1
; Display speed value until the REC/DONE button is pressed
DO
WRITE (1) PENDANT(-2)
WAIT
UNTIL PENDANT(8)
The SLOW button alters the value returned by the speed slider. The speed indicator on the
right is adjusted when the SLOW button is on, the range is changed to 1 to 25, instead of 1 to
100. The following code compresses the range of values returned down to 25% whenever
the SLOW button is on, displaying on the PC monitor the commanded speed that the robot
will receive.
; Set the REC/DONE button to toggle
KEYMODE 8 = 1
; Do until the REC/DONE button is pressed
DO
IF PENDANT(36) THEN
TYPE PENDANT(-2)*0.25
ELSE
TYPE PENDANT(-2)
END
WAIT.EVENT , 1 ;Delay 1 second
UNTIL PENDANT(8)
Many controls on the pendant may send the speed signal, depending on the situation. The
Joint buttons on the right of the pendant send the speed signal when they are used to jog the
robot, when the pendant is in one of the following pendant control modes: WORLD, TOOL, or
JOINT.
Some V+ applications, like AIM or any user’s program, may require reading the speed signal.
In this particular case, when the pendant is in OFF or COMP mode, the YES/+ and NO/-
buttons will send their own button code, along with the speed signal defined by the speed
slider. Additionally, when the T1 button is on, the YES/+ and NO/- buttons also send the
speed signal, but do not send their own button code. The following table summarizes the
behavior of the YES/+ and NO/- buttons.
Yes/+ and No/- Buttons
Detecting User Input
V+Language User's Guide, v17.0
Page 292