Variable Assembly Language

VAL is a computer-based control system and language designed specifically for use with Unimation Inc. industrial robots.

The VAL robot language is permanently stored as a part of the VAL system. This includes the programming language used to direct the system for individual applications. The VAL language has an easy to understand syntax. It uses clear, concise, and generally self-explanatory instruction set. All commands and communications with the robot comprise of easy to understand word and number sequences. Control programs are written on the same computer that controls the robot. As a real-time system, VAL's continuous trajectory computation permits complex motions to be executed quickly, with efficient use of system memory and reduction in overall system complexity. The VAL system continuously generates robot control commands, and can simultaneously interact with a human operator, permitting on-line program generation and modification.

A convenient feature or VAL is the ability to use libraries or manipulation routines. Thus, complex operations may be easily and quickly programmed by combining predefined subtasks.

The VAL language consists of monitor commands and program instructions. The monitor commands are used to prepare the system for execution of user-written programs. Program instructions provide the repertoire necessary to create VAL programs for controlling robot actions.

Terminology

The following terms are frequently used in VAL related operations.

Monitor

The VAL monitor is an administrative computer program that oversees operation of a system. It accepts user input and initiates the appropriate response; follows instructions from user-written programs to direct the robot; and performs the computations necessary to control the robot.

Editor

The VAL editor is an aid for entering information into a computer system, and modifying existing text. It is used to enter and modify robot control programs. It has a list of instructions telling a computer how to do something. VAL programs are written by system users to describe tasks the robot is to perform.

Location

Location is a position of an object in space, and the orientation of the object. Locations are used to define the positions and orientations the robot tool is to assume during program execution.

References

• PUMA 560 VAL Manual