<s>
Variable	B-Language
Assembly	I-Language
Language	I-Language
(	O
VAL	O
)	O
is	O
a	O
computer-based	O
control	O
system	O
and	O
language	O
designed	O
specifically	O
for	O
use	O
with	O
Unimation	O
Inc	O
.	O
industrial	O
robots	B-Algorithm
.	O
</s>
<s>
The	O
VAL	O
robot	B-Algorithm
language	O
is	O
permanently	O
stored	O
as	O
a	O
part	O
of	O
the	O
VAL	O
system	O
.	O
</s>
<s>
It	O
uses	O
a	O
clear	O
,	O
concise	O
,	O
and	O
generally	O
self-explanatory	O
instruction	B-General_Concept
set	I-General_Concept
.	O
</s>
<s>
All	O
commands	O
and	O
communications	O
with	O
the	O
robot	B-Algorithm
consist	O
of	O
easy	O
to	O
understand	O
word	O
and	O
number	O
sequences	O
.	O
</s>
<s>
Control	O
programs	O
are	O
written	O
on	O
the	O
same	O
computer	O
that	O
controls	O
the	O
robot	B-Algorithm
.	O
</s>
<s>
As	O
a	O
real-time	B-General_Concept
system	I-General_Concept
,	O
VAL	O
's	O
continuous	O
trajectory	B-Application
computation	O
permits	O
complex	O
motions	O
to	O
be	O
executed	O
quickly	O
,	O
with	O
efficient	O
use	O
of	O
system	O
memory	O
and	O
reduction	O
in	O
overall	O
system	O
complexity	O
.	O
</s>
<s>
The	O
VAL	O
system	O
continuously	O
generates	O
robot	B-Algorithm
control	O
commands	O
,	O
and	O
can	O
simultaneously	O
interact	O
with	O
a	O
human	O
operator	O
,	O
permitting	O
on-line	O
program	O
generation	O
and	O
modification	O
.	O
</s>
<s>
Program	O
instructions	O
provide	O
the	O
repertoire	O
necessary	O
to	O
create	O
VAL	O
programs	O
for	O
controlling	O
robot	B-Algorithm
actions	O
.	O
</s>
<s>
It	O
accepts	O
user	O
input	O
and	O
initiates	O
the	O
appropriate	O
response	O
;	O
follows	O
instructions	O
from	O
user-written	O
programs	O
to	O
direct	O
the	O
robot	B-Algorithm
;	O
and	O
performs	O
the	O
computations	O
necessary	O
to	O
control	O
the	O
robot	B-Algorithm
.	O
</s>
<s>
It	O
is	O
used	O
to	O
enter	O
and	O
modify	O
robot	B-Algorithm
control	O
programs	O
.	O
</s>
<s>
VAL	O
programs	O
are	O
written	O
by	O
system	O
users	O
to	O
describe	O
tasks	O
the	O
robot	B-Algorithm
is	O
to	O
perform	O
.	O
</s>
<s>
Locations	O
are	O
used	O
to	O
define	O
the	O
positions	O
and	O
orientations	O
the	O
robot	B-Algorithm
tool	O
is	O
to	O
assume	O
during	O
program	O
execution	O
.	O
</s>
<s>
Distances	O
are	O
entered	O
to	O
define	O
locations	O
to	O
which	O
the	O
robot	B-Algorithm
is	O
to	O
move	O
.	O
</s>
<s>
Values	O
entered	O
for	O
distances	O
can	O
be	O
positive	O
or	O
negative	O
,	O
with	O
their	O
magnitudes	O
limited	O
by	O
a	O
number	O
representative	O
of	O
the	O
maximum	O
reach	O
of	O
the	O
robot	B-Algorithm
(	O
for	O
example	O
,	O
1024mm	O
and	O
700mm	O
for	O
the	O
PUMA	O
500	O
and	O
PUMA	O
250	O
robots	B-Algorithm
,	O
respectively	O
)	O
.	O
</s>
<s>
Angles	O
in	O
degrees	O
are	O
entered	O
to	O
define	O
and	O
modify	O
orientations	O
the	O
robot	B-Algorithm
is	O
to	O
assume	O
at	O
named	O
locations	O
,	O
and	O
to	O
describe	O
angular	O
positions	O
of	O
robot	B-Algorithm
joints	O
.	O
</s>
<s>
The	O
function	O
of	O
VAL	O
is	O
to	O
regulate	O
and	O
control	O
a	O
robot	B-Algorithm
system	O
by	O
following	O
user	O
commands	O
or	O
instructions	O
.	O
</s>
<s>
By	O
this	O
means	O
the	O
robot	B-Algorithm
can	O
control	O
a	O
modest	O
cell	O
without	O
the	O
need	O
for	O
other	O
programmable	O
devices	O
.	O
</s>
<s>
The	O
system	O
monitor	O
is	O
a	O
computer	O
program	O
stored	O
VAL	O
programmable	B-General_Concept
read-only	I-General_Concept
memory	I-General_Concept
(	O
PROM	B-General_Concept
)	O
in	O
the	O
Computer/Controller	O
.	O
</s>
<s>
PROM	B-General_Concept
memory	O
retains	O
its	O
contents	O
finitely	O
,	O
and	O
thus	O
VAL	O
is	O
immediately	O
available	O
when	O
the	O
controller	O
is	O
switched	O
on	O
.	O
</s>
<s>
The	O
monitor	O
is	O
responsible	O
for	O
control	O
of	O
the	O
robot	B-Algorithm
,	O
and	O
its	O
commands	O
come	O
from	O
the	O
manual	O
control	O
unit	O
,	O
the	O
system	O
terminal	O
,	O
or	O
from	O
programs	O
.	O
</s>
<s>
Commands	O
that	O
can	O
be	O
processed	O
in	O
this	O
way	O
include	O
those	O
for	O
controlling	O
the	O
status	O
of	O
the	O
system	O
,	O
defining	O
robot	B-Algorithm
locations	O
,	O
storing	O
and	O
retrieving	O
information	O
on	O
the	O
floppy	O
disk	O
,	O
and	O
creating	O
and	O
editing	O
robot	B-Algorithm
control	O
programs	O
.	O
</s>
