V+ OS Quick Reference

This Quick Reference table is arranged alphabetically by Monitor command name, click an underlined letter to jump to the first command that begins with that letter.

ABORT task_num	Terminate execution of an executable program.
BASE X_shift, Y_shift, Z_shift, Z_rotation	Translate and rotate the World reference frame relative to the robot.
BITS first_sig , num_sigs = value	Set or clear a group of digital signals based on a value.
BPT task:program step (expression_list)	Set and clear breakpoints used in programs to pause program execution and display values for debugging.
CALIBRATE mode	Initialize the robot positioning system.
CD path	Display or change the default path for disk accesses.
COMMANDS program	Initiate processing of a command program.
COPY new_program = old_program	Create a new program as a copy of an existing program.
CYCLE.END task_number, stop_flag	Terminate the specified executable program the next time it executes a STOP program instruction or its equivalent. Suspend processing of a command program until a program completes execution.
DEBUG task_number program_name, step	Invoke the program debugger to allow a program to be executed and viewed simultaneously.
DEFAULT physical_device>unit: directory_path	Define the default relationship between a V+ logical device and the physical device to be accessed. Also, display the current default.
DELETE program, ..., program	Delete the listed programs from the system memory.
DELETEL @task:program loc_variable, ..., loc_variable	Delete the named location variables from the system memory.
DELETEM module	Delete the named program module from the system memory.
DELETEP program, ..., program	Delete the named programs from the system memory.
DELETER	Delete the named real-valued variables from the system memory.
DELETES @task:program string_var, ..., string_var	Delete the named string variables from the system memory.
DEVICENET	Used for reading DEVICENET status.
DIRECTORY /switch wildcard_spec	Display the names of some or all of the programs in the system memory.
DISABLE switch, ..., switch	Turn off one or more system control switches.
DN.RESTART	Restarts DeviceNet communication if the CanBus goes offline.
DO @task:program instruction	Execute a single program instruction as though it were the next step in an executable program, or the next step in the specified task/program context.
EDIT prog_name, step	Enter edit mode to allow program statements to be entered or modified.
ENABLE switch, ..., switch	Turn on one or more system control switches.
ESTOP	Assert the emergency-stop signal to stop the robot.
EXECUTE /C task_num program(param_list), cycles, step, priority[i]	Begin execution of a control program.
FCOPY new_file = old_file	Copy the information in an existing disk file to a new disk file.
FDELETE file_spec	Delete one or more disk files matching the given file specification.

FDIRECTORY /qualifier file_spec	Display information about the files on a disk, along with the amount of space still available for storage. Create and delete subdirectories on disks.
FLIST file_spec	List the contents of the specified disk file on the system terminal.
FORMAT A:/qualifier	Initialize and erase a floppy disk
FREE select	Display the percentage of available system memory not currently in use.
FRENAME new_file = old_file	Change the name of a disk file.
FSET device attribute_list	Set or modify attributes of a graphics window, serial line, or network device related to AdeptNet.
HERE @task:program loc_variable	Define the value of a transformation or precision-point variable to be equal to the current robot location.
ID device	Display identity information about components of the system.
INSTALL password op	Install or remove software options available to Adept systems.
IO signal_group	Display the current states of external digital input/output signals and/or internal software signals.
JOG (status) robot, mode, axis, speed	Moves ("jogs") the specified axis or joint of the robot. Each time JOG is executed, the specified axis or joint moves for 200 ms.
KILL task_number	Clear a program execution stack and detach any I/O devices that are attached.
LIST expression	Allows expressions of any type to be displayed.
LISTB program, ..., program	Displays a list of the breakpoints that are set in the listed programs.
LISTL @task:program location, ..., location	Display the values of the listed locations.
LISTP program, ..., program	Display all the steps of the listed user programs (as long as the programs are resident in system memory).
LISTR @task:program expression, ..., expression	Display the values of the real expressions specified.
LISTS @task:program string, ..., string	Display the values of the specified strings.
LOAD /qualifier file_spec	Load the contents of the specified disk file into the system memory.
MDIRECTORY /switch module_name	Display the names of all the program modules in the system memory, or the names of all the programs in a specified program module.
MODULE module_name = program_name, ..., program_name	Create a new program module, or modify the contents of an existing module.
NET	Display status information about the AdeptNet option. Also display details about the remote mounts that are currently defined in the V+ system.
PANIC	Simulate an external E-stop or panic button press and stop the robot immediately and terminate program execution.
PARAMETER parameter_name[index] = value	Set and display the values of system parameters.
PASSTHRU device	Provide a direct connection between the system terminal and a serial port on the SIO or CPU boards.
PING node_name	Test the network connection to a node.
POINT @task:program loc_variable = loc_value	Set the location variable on the left equal to the value on the right and allow interactive editing.
PRIME task_number program(param_list), cycles, step, priority[i]	Prepare a program for execution, but do not actually start it executing.
PROCEED task_number	Resume execution of an application program.
RENAME new_program_name = old_program_name	Change the name of a user program in memory to the new name provided.
RESET	Turn "off" all the external output signals.
RETRY task_number	Repeat execution of the last interrupted program instruction and continue execution of the program.
SEE program_name, step /qualifier	Invoke the screen-oriented program editor to allow a program to be created, viewed, or modified.
SELECT device_type = unit	Select a unit of the named device for access by the current V+ monitor.
SIGNAL signal_number, ..., signal_number	Turn "on" or "off" external digital output signals or internal software signals.
SPEED speed_factor	Specify the speed of all subsequent robot motions commanded by a robot control program.
SRV.NET select	Used to display either the network node configuration or the network statistics and error counters.
SRV.RESET	Restarts all servos and rescans the 1394 network.
SSTEP task_number	Execute a single step or an entire subroutine of a control program.
STACK task_number = size	Specify the amount of system memory reserved for a program task to use for subroutine calls and automatic variables.
STATUS select	Display status information for the system and the programs being executed.
STORE /levels file_spec = program_name, ..., program_name	Store programs and variables in a disk file.
STOREL /levels file_spec = program_name, ..., program_name	Store location variables in a disk file.
STOREM file_spec = module_name	Store a specified program module to a disk file.
STOREP /levels file_spec = program_name, ..., program_name	Store programs to a disk file.
STORER /levels file_spec = program_name, ..., program_name	Store real variables in a disk file.
STORES /levels file_spec = program_name, ..., program_name	Store string variables in a disk file.
SWITCH switch_name[index]	Display the settings of system switches on the monitor screen.
TEACH @task:program loc_variable	Initiate recording a series of location values under the control of the REC/DONE button on the manual control pendant.
TESTP program_name	Test for the presence of the named program in the system memory.
TIME dd-mmm-yy hh:mm:ss	Set or display the date and time.
TOOL @task:program transform_value	Set the internal transformation used to represent the location and orientation of the tool tip relative to the tool mounting flange of the robot.
WAIT.START condition	Put a monitor command program into a wait loop until a condition is TRUE.
WATCH @task:program expression	Enable or disable the process of having a program task watch for an expression to change value during program execution. If monitoring is enabled, the program task immediately stops executing if the expression changes value.
WHERE mode	Display the current location of the robot and the hand opening.
XSTEP task_number program(param_list), cycles, step, priority[i]	Execute a single step of a program.
ZERO select	Reinitialize the V+ system and delete all programs and data in the system memory. Delete all user-defined windows, fonts, and icons from graphics memory.