Short Note: VAL-I / VAL-II Commands

VAL-I is the original Unimation language; VAL-II is its enhanced version with structured control, subroutines and sensor support.

Category	VAL-I	VAL-II additions
Motion	MOVE, MOVES, APPRO, DEPART	DRIVE, ACCEL, ACCURACY
Position	HERE, SETP, POINT	SET, SETI, arrays of locations
Gripper	OPEN, CLOSE	OPENI, CLOSEI
Speed	SPEED	Real-time speed change
Control	IF, GOTO, PAUSE	FOR, WHILE, CALL, RETURN
I/O	SIGNAL, WAIT	SIG(), interrupts, vision

SPEED 50
APPRO part, 50
MOVES part
CLOSE
DEPART 50

Exam tip

A 4-row command table plus a 5-line example is sufficient.