V+ Operating System User’s Guide Version 12.1 Video in Video in blue Video Video in PULNIX a dept 040 SIO VGB VIS VJI DIO FAIL PASS SF STP ES HPE 1 OK OK 1 2 A SCR 2 ESTOP 3 4 3 ACC V V B C V 5 6 4 SCSI I I I N ON D D D VME 1 E E P 2 U 3 O O 4 T OK 5 B B S 6 7 U U D 8 S S R I RESET V E A M I O N N P I U F T T P O S / R ABORT M C AMPLIFIER RESET P SIGNAL 1 2 3 R 4 O R R S ON U S 1 S 2 2 T 4 2 3 3 P 2 4 3 2 U 2 2 T BELT S ENCODER #1 P R O S I I 2 N / 3 T O 2 E C R A R M 2 O S E 4 U 2 R V T 3 E A 2 P 1 T S / U 0 H / T T 0 E S E S m R T R A N R M E O T B E ARM #2 KEYBOARD S SIGNAL ® USE ONLY WITH WARNING: 250V FUSES FOR CONTINUED PROTECTION AGAINST RISK OF FIRE, REPLACE ONLY WITH SAME TYPE AND RATING OF FUSE. 5AT ~100-240V 50/60HZ V+ Operating System User’s Guide Version 12.1 Video in Video in blue Video Video in PULNIX a dept 040 SIO VGB VIS VJI DIO FAIL PASS SF STP ES HPE 1 OK OK 1 2 A SCR 2 ESTOP 3 4 3 ACC V V B C V 5 6 4 SCSI I I I N ON D D D VME 1 E E P 2 U 3 O O 4 T OK 5 B B S 6 7 U U D 8 S S R I RESET V E A M I O N N P I U F T T P O S / R ABORT M C AMPLIFIER RESET P SIGNAL 1 2 3 R 4 O R R S ON U S 1 S 2 2 T 4 2 3 3 P 2 4 3 2 U 2 2 T BELT S ENCODER #1 P R O S I I 2 N / 3 T O 2 E C R A R M 2 O S E 4 U 2 R V T 3 E A 2 P 1 T S / U 0 H / T T 0 E S E S m R T R A N R M E O T B E ARM #2 KEYBOARD S SIGNAL ® USE ONLY WITH WARNING: 250V FUSES FOR CONTINUED PROTECTION AGAINST RISK OF FIRE, REPLACE ONLY WITH SAME TYPE AND RATING OF FUSE. 5AT ~100-240V 50/60HZ Part # 00962-01230, Rev. A September 1997 ® 150 Rose Orchard Way • San Jose, CA 95134 • USA • Phone (408) 432-0888 • Fax (408) 432-8707 Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone (49) 231.75.89.40 • Fax(49) 231.75.89.450 adept 41, rue du Saule Trapu • 91300 • Massy • France • Phone (33) 1.69.19.16.16 • Fax (33) 1.69.32.04.62 te c hnology, inc. 1-2, Aza Nakahara Mitsuya-Cho • Toyohashi, Aichi-Ken • 441-31 • Japan • (81) 532.65.2391 • Fax (81) 532.65.2390 The information contained herein is the property of Adept Technology, Inc., and shall not be repro- duced in whole or in part without prior written approval of Adept Technology, Inc. The informa- tion herein is subject to change without notice and should not be construed as a commitment by Adept Technology, Inc. This manual is periodically reviewed and revised. Adept Technology, Inc., assumes no responsibility for any errors or omissions in this document. Critical evaluation of this manual by the user is welcomed. Your comments assist us in preparation of future documentation. A form is provided at the back of the book for submitting your comments. Copyright © 1994-1997 by Adept Technology, Inc. All rights reserved. The Adept logo is a registered trademark of Adept Technology, Inc. Adept, AdeptOne, AdeptOne-MV, AdeptThree, AdeptThree-XL, AdeptThree-MV, PackOne, PackOne-MV, HyperDrive, Adept 550, Adept 550 CleanRoom, Adept 1850, Adept 1850XP, A-Series, S-Series, Adept MC, Adept CC, Adept IC, Adept OC, Adept MV, AdeptVision, AIM, VisionWare, AdeptMotion, MotionWare, PalletWare, FlexFeedWare, AdeptNet, AdeptFTP, AdeptNFS, AdeptTCP/IP, AdeptForce, AdeptModules, AdeptWindows, AdeptWindows PC, AdeptWindows DDE, AdeptWindows Offline Editor, and V+ are trademarks of Adept Technology, Inc. Any trademarks from other companies used in this publication are the property of those respective companies. Printed in the United States of America Table of Contents Introduction . 13 What Systems Can I Use This Manual With? . 14 What Is Covered in This Manual? . 14 What Other Manuals Might I Need? . 14 What About Safety? . 16 Reading and Training for System Users. 16 System Safeguards . 17 Computer-Controlled Robots . 17 Manually Controlled Robots . 18 Other Computer-Controlled Devices . 18 Conventions. 19 Typographic Conventions. 19 Keyboard Conventions . 21 Selecting, Choosing, and Pressing . 21 Abbreviations . 22 How Can I Get Help? . 22 In Europe . 22 Europe/Germany . 22 France . 22 Italy . 23 In the United States . 23 Service Calls. 23 Application Questions . 23 Applications Internet E-Mail Address . 23 Training Information . 23 Outside Continental United States or Europe . 23 Adept World Wide Web Site . 24 Adept Bulletin Board Service . 24 V+Operating System User’s Guide, Ver 12.1 5 Table of Contents Part 1: Adept System Fundamentals 1 Your Adept System Hardware. 27 Before You Begin . 28 The Controller . 29 The Keyboard . 30 Standard Keys . 32 Function Keys . 32 Modifier Keys . 32 Cursor Keys . 32 The Numeric Keypad . 33 Screen Control Keys. 33 The Mouse Keys. 33 Other Special Keys . 33 The Status LEDs . 34 The Trackball . 34 The Controller and Memory . 34 Robots and Motion Devices . 35 The Manual Control Pendant . 35 Other Input and Output Devices. 36 Cameras and Lighting Equipment . 36 The Controller Disk Drives . 36 Serial I/O . 36 Digital I/O . 36 Analog I/O. 37 Remote Emergency Stop . 37 2 Learning the Basics . 39 Using the Controller . 41 Install the Equipment and Set the Hardware Configuration . 41 Power up the System. 42 To Power up the Controller . 42 To Power up the Motion Device . 44 To Reenable Power to a Motion Device After an Emergency Shutdown. 44 + Using the V Command Line . 45 6 V+Operating System User’s Guide, Ver 12.1 Table of Contents The System Prompt and Typing Cursor . 45 The Parts of a Monitor Command . 45 The Command Name . 45 Command Parameters . 46 Required and Optional Parameters . 46 Using the ID Command . 46 Monitor Command Syntax Conventions . 47 Shortcuts to Typing a Command . 47 To Cancel a Command . 48 To Edit the Current Command . 48 To Retrieve Previously Entered Commands . 48 To Enter a Command While a Program Is Executing . 49 Using the A-Series Graphical Interface . 49 Working with Pointing Devices . 50 To Move the Pointer . 50 To Click . 50 To Drag . 50 Working in Windows . 52 To Open a Window . 52 To Select a Window . 52 To Move a Window . 52 To Size a Window . 53 To Zoom a Window . 53 To Close a Window . 53 Scrolling in Windows . 53 To Turn Scroll Bars On and Off . 53 To Use the Scroll Arrows . 54 To Use the Scroll Handles . 54 Window Menu Bars . 54 To Make a Menu Selection Using the Pointing Device . 54 To Make a Menu Selection Using the Keyboard. 55 Using Software . 55 + The V Operating System Software . 56 Application Software. 56 + The V Operating System . 56 Using Files and Directories . 57 Using the Wyse Terminal . 57 3 Using Files . 59 V+Operating System User’s Guide, Ver 12.1 7 Table of Contents Understanding Disk Files . 60 Disk Files. 60 Subdirectories . 60 File Names . 60 Filename Requirements . 60 Reserved File Names. 61 + Contents of a V Disk File . 61 Working With Disk Files . 62 To List the Files on a Disk Drive. 62 To Use Wildcards to List Groups of Files . 63 To Copy a Disk File . 63 To Rename a Disk File . 63 To Delete a Disk File . 64 Using Directories . 64 Understanding the Directory Structure . 65 Understanding Paths . 66 The Current Directory . 67 Full Paths . 68 Relative Paths . 68 To Display the Current Path . 68 Path Examples . 68 Working With Subdirectories . 69 To View the Contents of a Directory . 69 To View Groups of Files . 69 To Create a Subdirectory. 70 To Delete a Subdirectory . 70 File Management Using Diskcopy . 71 Copying Multiple Files . 71 Deleting Multiple Files . 72 Other Disk-Like Devices . 73 + 4 Executing V Programs . 75 + Understanding V Programs . 76 To LOAD a Disk File . ..