PROGRAMMING OF PUMA 700 SERIES ROBOT USING VAL
Programming of the robot is done with a high level language called VAL
II. In addition to being a sophisticated robot programming language, VAL
II is a complete robot control system. It is designed to readily communicate
with other computer-based systems such as vision and tactile sensors. One
can learn to program the robot simply by looking at some example programs
and studying the instructions given in the editor. The VAL II language
and the editor are on the system disc used to program the robot.
DEMONSTRATION OF OPERATION
- Make sure the terminal is connected to the robot controller, teach
pendant is available and connected, and the work area is clear.
- Turn on the power using the lever in the back left hand side of the
- Power up the display terminal and then apply POWER to the controller
by turning the power key to position # 1
- At this point the system will initiate the following prompt (.)
and the operator responds as follows:
- Load VAL II from the floppy (Y/N)? N
- Initialize (Y/N)? N
- Apply the arm power by depressing the arm power switch marked #1. The
yellow light on the robot tower should be flashing. The RUN, PAUSE, TEACH
switch should be in RUN position.
- The robot must then be calibrated by the CAL command. Make sure each
axis of the robot is near the "0" indicator. If not use the teach
pendant to move the axes. One can move the robot with the axis buttons
and the following prompt is indicated and should be answered as:
Are you sure (Y/N)? Y
The robot will go through the calibration procedure. The display terminal
will display the dot prompt.
To load the DEMO program for this demonstration enter the following
To list the contents of this program enter:
To execute this demo program enter the following command:
The robot will now operate according to the statements stored in this
TO CREATE A PROGRAM
Developing a program is an easy process once the procedure is known.
By following the steps listed one can develop a program that can be edited
later to illustrate the different commands with minor changes.
The steps to be followed in creating a program are elucidated below
- Enter the system editor by typing the edit command ED followed by the
program name. An example would be:
ED TEST1 (return)
Once the editor is loaded, and because TEST1 is a new file the program
commands can be entered one file at a time.
1 MOVE POS0 (return)
2 MOVE POS1
3 MOVE POS2
4 MOVE POS3
5 MOVE POS0
- To teach the robot the coordinates programmed into this file the pendant
is used as follows (remember to stay in the editor)
- Turn motion control switch to teach position.
- Depress dead man switch on the teach pendant.
- Go to joint and manual mode by depressing the joint button on the teach
- Enter teach command at current line in the editor:
T POS1 (return)
- One can now manipulate the robot arm to the desired position using
the axis controls on the teach pendant.
- To record the arm coordinates and actually teach the robot press REC
on the pendant. Move the robot to POS1 and press REC button on the teach
- Continue this process of teaching the robot until all points in the
program are defined. After teaching the robot the final coordinates press
the return key on the keyboard.
- To return control to the system computer release dead man switch on
the teach pendant and turn the motion control switch to RUN position.
- When the program has been completed and the robot is taught the coordinates
exit the editor by typing the letter "E" and pressing the return
- To save this program permanently on the floppy disk enter the store
command followed by the name of the file:
- Execution of this new program can now be initiated with the "EX"
command followed by the name of the file:
EDITING A PROGAM
The commands required to edit the programs written are given below:
- Edit (return) enters the edit mode and gives the program its name.
- Change (return) changes the editing from the current program to new
user program. This allows one to write or edit two different programs.
- Delete (steps) deletes the specified number of steps starting with
the current step
- Print (steps) displays program steps starting with the current step.
- Exit - exits the editor.
- Teach - teaches the point locations.
Following the steps explained above and using the edit commands one
can write simple programs for running the robot.