Solution: VAL Language Commands

Introduction

VAL (Variable Assembly Language) is a robot programming language used with industrial robot systems. VAL/VAL-II commands can be grouped according to their purpose, including motion, hand/end-effector control and program control.

Classification of VAL Commands

1. Motion Control Commands

Used to move the robot to taught or specified positions.

Examples include commands conceptually equivalent to:

MOVE P1
MOVE P2

2. Hand Control Commands

Used to operate the robot's end effector or gripper.

Examples:

OPENI
CLOSEI

The exact instruction names can vary with the VAL controller/version; the important purpose is to open/close or actuate the robot hand.

3. Program Control Commands

Control the sequence of execution, including calls, branches, waits and program termination.

Examples conceptually include:

CALL PICK
WAIT
STOP

4. I/O and Sensor Commands

Used to read inputs and control outputs associated with sensors, grippers and external equipment.

5. Variable/Data Commands

Used to store and manipulate positions, numerical values and status information.

Example Pick-and-Place Sequence

MOVE PICK_APPROACH
MOVE PICK
CLOSEI
MOVE PICK_APPROACH
MOVE PLACE
OPENI
MOVE HOME

Hand Control

Hand commands directly control the end effector. For example, an open-hand command releases a workpiece, while a close-hand command grips it.

Program Control

Program-control commands determine execution flow. For example, a call command can execute a subprogram, a wait command can synchronize operation with a sensor, and a stop/end command can terminate execution.

Conclusion

VAL commands are organized according to functions such as motion, hand control, program control, I/O and data handling. This classification makes industrial robot programs easier to structure and maintain.