Programming Languages for Industrial Robots

1 Introduction.- 2 Fundamentals.- 2.1 Terminology.- 2.2 Concepts in Computer Science.- 2.3 Concepts for Robot Languages.- 3 Data Structures.- 3.1 Data Objects.- 3.2 Manipulation of Data.- 3.3 Assignments.- 3.4 Output of Text and Numbers.- 4 Instructions.- 4.1 Instructions for World Models.- 4.2 Motion Instructions.- 4.3 Effector Instructions.- 4.4 Stopping a Robot or Effector Movement.- 4.5 Sensor Instructions.- 4.6 Block Structuring and Instruction Sequencing.- 4.7 Program Flow Control.- 4.8 System Switches and Status Report.- 4.9 Treatment of Exceptional Situations.- 5 Integration of a Teach-In Procedure.- 6 Subroutines, Procedures and Functions.- 6.1 Subroutines.- 6.2 Procedures.- 6.3 Functions.- 6.4 Recursive Procedures and Functions.- 7 Multitasking and Synchronization.- 7.1 Parallel Blocks.- 7.2 Tasks.- 7.3 Coroutines.- 8 Programming and Run-Time Systems.- 8.1 Editor.- 8.2 Compiler and Processor.- 8.3 Interactive Component.- 8.4 Run-Time System.- 8.5 Software Interface IRDATA.- 8.5.2 Intention and Structure of IRDATA.- 8.6 Simulators and Program Test.- 8.7 Implementation.- References.- Appendix A: SRL.- I. Main Elements of SRL.- II. Syntax Diagrams.- Appendix B: PASRO.- I. Summary of PASRO Procedures.- II. Predefined Datatypes and Variables of PASRO.- Appendix C: PASCAL.- Appendix D: AL.- Appendix E: AML.- I. Motion Control.- II. Safety Instructions.- III. Sensor Instructions.- IV. Arithmetic.- V. Data Manipulation.- VI. Calibration.- Appendix F: VAL-II.- I. Monitor Commands.- II. Program Instructions.- III. Real-Value Functions.- IV. Location Functions.- Appendix G: HELP.- Appendix H: SIGLA.- Appendix I: ROBEX.- I. Short Reference Manual.- II. Addendum: Planned or Realized Extensions to ROBEX.- III. ROBEX-M-(Quick Reference).- Appendix J: RAIL.- Appendix K: IRDATA.- Appendix L: Table of Comparison.