Copyright Notice The information contained herein is the property of Omron Adept Technologies, Inc., and shall not be reproduced in whole or in part without prior written approval of Omron Adept Technologies, Inc. The information herein is subject to change without notice and should not be construed as a commitment by Omron Adept Technologies, Inc. The documentation is periodically reviewed and revised. Omron Adept Technologies, Inc., assumes no responsibility for any errors or omissions in the documentation. Critical evaluation of the documentation by the user is welcomed. Your comments assist us in preparation of future documentation. Please submit your comments to: techpubs@adept.com.

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Table Of Contents eV+ Language User's Guide Introduction 9 Introduction to the eV+ Language User's Guide 10 Compatibility 10 Manual Overview 10 eV+ Release Notes 11 Related Publications 11 Dangers, Warnings, Cautions, and Notes 12 Safety 13 Notations and Conventions 15 Programming eV+ 17 Creating a Program 19 eV+ Program Types 20 Format of Programs 22 Executing Programs 24 Program Stacks 25 Flow of Program Execution 27 Subroutines 28 The SEE Editor and Debugger 35 Data Types and Operators 37 Introduction 39 String Data Type 40 Real and Integer Data Types 42 Location Data Types 44 Arrays 45 Variable Classes 47 Operators 51 String Operator 55 Order of Evaluation 56 Program Control 57 Introduction 59 eV+Language User's Guide, v2.x, 18318-000 Rev A Page 5

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Unconditional Branch Instructions 60 Program Interrupt Instructions 62 Logical (Boolean) Expressions 68 Conditional Branching Instructions 69 Looping Structures 72 Summary of Program Control Keywords 76 Functions 79 Using Functions 81 String-Related Functions 82 Location, Motion, and External Encoder Functions 84 Numeric Value Functions 85 Logical Functions 87 System Control Functions 88 Switches and Parameters 91 Introduction 93 Parameters 94 Switches 96 Motion Control Operations 99 Introduction 101 Location Variables 102 Creating and Altering Location Variables 109 Motion Control Instructions 116 Tool Transformations 124 Summary of Motion Keywords 126 Input/Output Operations 135 Digital I/O 137 Serial and Disk I/O Basics 139 Disk I/O 143 Advanced Disk Operations 148 Serial Line I/O 152 DeviceNet 156 Summary of I/O Operations 157 eV+Language User's Guide, v2.x, 18318-000 Rev A Page 6

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Graphics Programming 161 Creating Windows 162 Monitoring Events 165 Building a Menu Structure 167 Creating Buttons 170 Creating a Slide Bar 172 Graphics Programming Considerations 174 Communicating With the System Windows 176 Additional Graphics Instructions 178 Programming the Omron Adept T20 Pendant 179 Introduction 179 Writing to the Pendant Display 180 Detecting User Input 181 Programming Example:

Pendant Menu 183 Conveyor Tracking 187 Introduction to Conveyor Tracking 189 Installation 190 Calibration 191 Basic Programming Concepts 192 Conveyor-Tracking Programming 199 Sample Programs 201 Multiprocessor Systems 203 Example eV+ Programs 205 Introduction 207 Pick and Place 208 Menu Program 212 External Encoder Device 215 Introduction 217 Parameters 218 Device Setup 219 Reading Device Data 220 eV+Language User's Guide, v2.x, 18318-000 Rev A Page 7

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