Adept AnyFeeder - Manual (Page 63)

V+ Keywords
Adept AnyFeeder User’s Guide, Rev B 63
Example V+ Code
The following V+ code provides an example of implementing Adept AnyFeeder control through a
V+ program. For proper functionality, this code would be used along with robot-control code and
error-checking code to create a complete V+ application.
; Set parameter values
$ip = "172.21.12.91"
prm.ffwd.speed = 6001
prm.ffwd.iter = 6011
prm.run.action = 6000
operation = 1
anyfeeder.id = 3
; Set FeedForward speed
VPARAMETER(anyfeeder.id, -1, prm.ffwd.speed, -1, -1) $ip = 1
; Set FeedForward iterations
VPARAMETER(anyfeeder.id, -1, prm.ffwd.iter, -1, -1) $ip = 20
; Set the operation to be done at vrun : FeedForward
VPARAMETER(anyfeeder.id, -1, prm.run.action, -1, -1) $ip = operation
; Check AnyFeeder is ready (idle)
state = VSTATE($ip, anyfeeder.id)
IF (state <> 0) THEN
TYPE "Not ready, status = ", state
END
; Start the feed operation
VRUN $ip, anyfeeder.id
TYPE "Start Waiting"
; Type status (running)
TYPE "state = ", VSTATE($ip, anyfeeder.id)
; Wait completion
VWAITI (anyfeeder.id) $ip
TYPE "Finished Waiting"
TYPE "state = ", VSTATE($ip, anyfeeder.id)