Notations and Conventions WARNING: Entering the robot workcell when the white HIGH POWER enable light is illuminated can result in severe injury. Omron Adept Technologies, Inc. recommends the use of additional safety features such as light curtains, safety gates, or safety floor mats to prevent entry to the workcell while HIGH POWER is enabled. These devices may be connected using the robot's remote emergency stop circuitry. Notations and Conventions This section describes various notations used throughout this manual and conventions observed by the eV+ system.
Uppercase and Lowercase Letters You will notice that a mixture of uppercase (capital) and lowercase letters is used throughout this manual when eV+ operations are presented. eV+ keywords are shown in uppercase letters. Parameters to keywords are shown in lowercase. Many eV+ keywords have optional parameters and/or elements. Required keyword elements and parameters are shown in boldface type. Optional keyword elements and parameters are shown in normal type. If there is a comma following an optional parameter, the comma must be retained if the parameter is omitted, unless nothing follows.
Note that the commas preceding the number 300 must be present to correctly relate the number with a Z-direction change. Numeric Arguments All numbers in this manual are decimal unless otherwise noted. Binary numbers are shown as ^B, octal numbers as ^, and hexadecimal numbers as ^H. Several types of numeric arguments can appear in commands and instructions. For each type of argument, the value can generally be specified by a numeric constant, a variable name, or a mathematical expression. There are some restrictions on the numeric values that are accepted by eV+. The following rules determine how a value will be interpreted in the various situations described. 1.
Distances are used to define locations to which the robot is to move. The unit of measure for distances is the millimeter, although units are never explicitly entered for any value. Values entered for distances can be positive or negative. 1 2. Angles in degrees are entered to define and modify orientations the robot is to assume at named locations, and to describe angular positions of robot joints. Angle values can be positive or negative, with their magnitudes limited by 180 degrees or 360 degrees depending on the usage. eV+Language User's Guide, v2.x, 18318-000 Rev A Page 15