Additional VAL-II files RP AUTOMATION INC July 25, 1988

CHANGE.ENVELOPE - This file contains programs which allow the user to change

the existing envelope tolerances in any of the servo joints.

One program exists which PROMPTs the user for inputs, and

another program is for automatic execution.

CHANGE.VELACC - This file contains programs that allow the user to change

velocities and accelerations for specified joints. This

program assumes that the default values are currently in

the VAL-II code area, and if not, an error will occur. The

default values get reloaded when the VAL-II system gets

re-loaded from diskette.

CHECK.STACKS - This file contains programs which allow the user to display

the stack area values for the various VAL-II tasks.

FIND.CSEG - This file contains programs which get the current motion

segment pointer from the VAL-II system. This program is

normally used in other applications, but not by itself.

FIND.VARTAB - This file contains programs which get the current variable

table pointer from the VAL-II system. This program is

normally used in other applications, but not by itself.

FLOPPY.V2 - This file contains programs which allow the user to copy

files from 1 diskette to another using 2 drives. It can

be considered as a BACKUP facility for diskettes.

GAINS154.V2 - This file allows the user to change servo GAINS for an

RS-154 robot. Optionally, this package can be expanded

to allow for changing the GAINS on any of the UNIMATION

robots.

RDPOTS.V2 - This file contains a program which reads and displays the

POTENTIOMETER readings for a specified joint servo board.

RDSRVCMD.V2 - This file contains a program which reads and displays

specified data from one or more of the joint servo boards.

RDSRVMEM.V2 - This file contains a program which displays all servo

memory for a specified joint servo board.

SET.CURR - This file contains a program which allows the user to set

CURRENT mode for the specified servos.

SYSTEM.V2 - Thie file contains programs which allow the user to make

(SYSTEM) programs or un-make them.

UNIMATION.TERM - This file gives the user the ability to position the CURSOR

anywhere on the screen with UNIMATION terminals.