VAL Language: Classification and Basic Structure

VAL (Variable Assembly Language) was developed by Unimation (for PUMA robots). It is a robot-level (explicit) textual programming language with BASIC/assembly-like structure.

Classification of robot programming

VAL belongs to the textual, robot-level class: the programmer writes explicit motion and I/O statements.

Basic structure of a VAL program

Part	Meaning
Program name	.PROGRAM name
Declarations	Variables, locations (points)
Motion statements	MOVE, MOVES, APPRO, DEPART
Gripper	OPEN, CLOSE
Speed	SPEED 50
I/O and control	SIGNAL, WAIT, IF, GOTO, DELAY
End	.END

Example

.PROGRAM pick
  SPEED 50
  OPEN
  APPRO part, 50
  MOVE part
  CLOSE
  DEPART 50
  MOVE place
  OPEN
.END

Features

• Locations are taught (HERE p1) or computed as transformations.
• Interpreted, so programs can be edited and run quickly.
• Supports simple branching, subroutines and I/O handling.

Exam tip

Mention: VAL = Unimation, textual robot-level language, then give the structure table and a 8-line example.