Introduction to the eV+ Language User's Guide Introduction to the eV+ Language User's Guide eV+ is a computer-based control system and programming language designed specifically for use with Omron Adept Technologies, Inc. industrial robots, vision systems, and motion- control systems. As a real-time system, continuous trajectory computation by eV+ permits complex motions to be executed quickly, with efficient use of system memory and reduction in overall system complexity. The eV+ system continuously generates robot-control commands and can concurrently interact with an operator, permitting on-line program generation and modification.
eV+ provides all the functionality of modern high-level programming languages, including: l Callable subroutines l Control structures l Multitasking environment l Recursive, reentrant program execution Compatibility This manual is for use with eV+ v2.x and later. This manual covers the basic eV+ system. If your system is equipped with optional vision, see the ACE Sight User's Guide and the ACE Sight Reference Guide , for details on your vision system. Manual Overview This manual details the concepts and strategies of programming in eV+. Material covered includes:
l Functional overview of eV+ l A description of the data types used in eV+ l A description of the system parameters and switches l Basic programming of eV+ systems l Editing and debugging eV+ programs l Communication with peripheral devices l Communication with the manual control pendant ("the pendant") l Conveyor tracking feature l Example programs eV+Language User's Guide, v2.x, 18318-000 Rev A Page 10