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ID : 6838

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A B C D E F G H I J K L M N O
P R S T U V W X
Symbol

A

CommandsFunctions
AbsTo return an absolute value.
AccelTo change the internal acceleration and internal deceleration.
AcosTo return arccosine.
AddHandlerEnter a method to receive an event from the specified provider object. Once an event is issued by the provider, the entered method is called.
AddPathPointTo add a path point to the path data.
And OperatorTo obtain logical AND of 2 expressions.
ApproachTo move to an approach position apart from the reference position by a specified distance.
ArchMoveTo perform an arch motion.
AreaTo change the detection area setting value.
AreaPosTo return the center of detection area by position type data.
AreaSizeTo return the size (length of each side) of a detection area by vector type.
ArrayTo create variant type array.
ArriveTo let the task stand-by until the motion complete rate specified by the currently-active motion instruction is reached.
AscTo return a character code of the first character in the designated string by integer type data.
AsinTo return arcsine.
AtnTo return arctangent.
Atn2To return arctangent obtained by subtracting x from y.
AutoCalTo execute CALSET automatically at the startup.
AVecTo return approach vector.

B

CommandsFunctions
BinTo convert integer type data into binary string type data.
ByRefTo set argument(s) to hand to the procedures for pass by reference.
ByValTo set argument(s) to hand to the procedures for pass by value.

C

CommandsFunctions
CallTo call and execute a procedure.
CallByNameTo call a Procedure and execute it. Unlike Call command, you can use a formula for procedure name.
Cao.AddControllerCreate a provider.
Cao.ControllersLook up the control object (collection) being controlled.
Cao.IndexLook up the provider number.
Cao.NameObtain a provider name.
ChangeToolTo change the current tool coordinates.
ChangeWorkTo change the current work coordinates.
CheckVirtualFenceCheck the collision status between robot and equipment at the target position when VirtualFence is enabled.
ChrTo return characters corresponding to the designated character code.
ClearAccelometerTo reset the cumulative sum of acceleration (including over the predetermined threshold value only) that has been applied to COBOTTA (hereafter, acceleration over the threshold value) to zero.
ClearAreaDetectedClear the currently retaining area detection information.
ClearDiagnosisStateTo set the diagnosis status (for all axes) of diagnosis function to "Non-enforce".
ClrErrTo cancel an error.
ClrPathPointTo clear the whole path points at the designated path.
Comm.ClearTo clear the data communication reception buffer.
Comm.CloseTo close the line designated for data communication.
Comm.CountTo return the number of data bytes readable from reception buffer of the data communication function.
Comm.InputTo receive data by the data communication function.
Comm.OpenTo open the line for data communication.
Comm.OutputTo transmit data by the data communication function.
Comm.StateTo return the port status of the data communication function.
ContinueAllTo perform continue start.
ConvertPosBaseConvert a given position type data on the currently selected base definition into the one on the different base definition.
ConvertPosToolConvert a given position type data on the currently selected tool coordinate system into the one on the different tool coordinate system and then return the result.
ConvertPosWorkConvert a given position type data on the currently selected work coordinate system into the one on the different work coordinate system and then return the result.
CosTo return cosine.
CPModeChange CP interpolation mode setting.
CreateArrayCreate a single dimensional array of Variant type data with arbitrary Internal Processing Format.
CreateMultiArrayCreate Variant type arrays with arbitrary Internal processing format. Up to three-dimensional arrays can be created.
CreateMutexTo request the creation of Mutex object and acquire the ID of Mutex object.
CrossTo return an outer product calculation result of vector type data.
CrtMotionAllowChange the stop positional precision and postural precision settings of Move@c command.
CurAccTo return an internal acceleration setting value.
CurCPModeObtain the setting value of the CP interpolation mode.
CurDecTo return an internal deceleration setting value.
CurErrTo return an error code of the currently active controller error.
CurExJTo return the current angle of specified axis.
CurExtAccTo return the current setting value of external acceleration.
CurExtDecTo return the current setting value of external deceleration.
CurExtSpdTo return the current setting value of external speed.
CurFigTo return the current robot figure (FIG) value.
CurHandEyePosReturns the current hand eye position.
CurJntTo return the current angles of all axes by joint type data.
CurLmtConfigure the current limiting function and True/False.
CurPathPointReturns the most recently passed path point number.
CurPayloadObtain setting values of the internal payload conditions.
CurPosTo return the current position of the robot by position type data.
CurSpdTo return an internal speed setting value.
CurSpeedModeObtain the setting value of the Optimal Speed Control Function.
CurToolTo return the current tool coordinate number.
CurTrnTo return the current position of the robot by homogeneous translation type data.
CurWorkTo return the current work coordinate number.

D

CommandsFunctions
DateTo return the current date.
DecelTo specify the internal deceleration.
DefIOTo declare a local variable of I/O type.
DegRadTo convert a value in angle unit of [Degree] into radian.
DelayTo let the own task stand-by for the specified time.
DeleteMutexTo request the deletion of Mutex object.
DepartTo move from the current position in direction toward the tool's -Z coordinate.
DestJntTo return the current motion statement target position by joint type data.
DestPosTo return the current motion statement target position by position type data.
DestTrnTo return the current motion statement target position by homogeneous translation type data.
DevTo return a deviation calculation result of position type data.
DevHTo return a deviation calculation result with the the reference position coordinate system of position type data.
DiagnosisMoveTo execute diagnosis motion.
DimTo declare a local variable.
DistTo return a distance between 2 points.
Do...LoopTo repeatedly execute a set of statements while a designated condition is True or until the condition becomes True.
DotTo return an inner product calculation result of vector type data.
DoubleTo present Double Precision Real Number Type data.
DpsConvert the rotation speed (deg/s) of the designated axial number to the ratio (%) relative to the maximum internal speed in PTP motion.
DrawTo move from the current position to a relative position.
DriveTo move each axis to a relative position.
DriveATo move each axis to an absolute position.

E

CommandsFunctions
EncMotionAllowWith Move @E, to change the "Allowable angle in stop state" of each axis for robot axis used for stop judgement.
EncMotionAllowJntWith Move @E, to change the "Allowable angle in stop state" of the axis for other than robots' axis used for stop judgement.
ErAlwSet the value of deviation tolerance. Switch the status of the deviation tolerance function True/False.
Err.DescriptionThis property contains an error message.
Err.LevelThis property contains an error level of task error.
Err.NumberThis property contains an error code of task error.
Err.OriginalNumberThis property contains original error codes.
Err.RaiseTo generate an error.
ErrLvlTo return the error level of a designated error.
ErrMsgTo return an error message.
ExclusiveAreaCreate or change an exclusive area.
ExclusiveControlStatusObtain the exclusive control status.
ExitTo exit a designated processing block.
ExpA numeric operation function to calculate an exponential function (exponential of base e formula).
ExtAccelTo change the external acceleration and external deceleration.
ExtDecelTo specify the external deceleration.
ExtSpeedTo change the external speed.

F

CommandsFunctions
FigTo return a figure component (FIG element).
FixTo return integer part of the numerical value.
For...NextTo repeat a set of statements up to the specified number of times.
FormatReturn string type data for the designated expression format.
Function...End FunctionTo declare the Function procedure.

G

CommandsFunctions
GetAccelometerTo read the cumulative information of acceleration that has been applied to COBOTTA.
GetAllSrvDataGet the data that can be obtained with GetSrvData and CurJnt, at a time with time stamp.
GetAreaDetectedObtain the current area detection status.
GetCCSConnectionAcquires the wireless connection condition.
GetCollisionStatusReturns the status of collision detection.
GetDiagnosisPositionTo obtain the start position or the end position of the diagnosis motion.
GetDiagnosisStateThis command obtains the diagnosis motion status (for all axes).
GetDiagnosisWarningThis command obtains whether an axis with the diagnosis motion status set to "Non-enforce" exists or not.
GetLanguageTo return the language setting value.
GetMotionPreparationStateTo obtain the motion preparation complete status.
GetPackingJointTo return the robot posture at the factory default with the Joint type data.
GetPathPointTo return a position data of designated path point.
GetPathPointCountTo return the number of path points at the designated path.
GetPriorityTo return the priority level of the own task.
GetPublicValueTo load a Public local variable.
GetSrvDataTo return the servo internal data of the all axis.
GetSrvJntDataTo return the servo internal data of the designated axis.
GiveArmTo release control of the currently-acquired arm group expressly.
GiveMutexTo set the status of Mutex object to "Unlocked."
GoToTo jump to a label.
GrvCtrlConfigure True/False of Gravity Compensation Control Function.
GrvOffsetConfigure True/False of gravity offset setting function.

H

CommandsFunctions
HaltTo halt the own task.
HandBusyStateTo return the gripper's busy status.
HandChuckTo activate a chuck motion. When an electric vacuum generator is used, this command starts vacuum operation.
HandCurLoadTo read the load ratio of electric vacuum generator.
HandCurPosTo return the current position of finger.
HandCurPressureTo read the pressure sensor value of electric vacuum generator.
HandEyeConvPosCorrects the robot position of an object obtained using EVP to the robot position of the hand eye and returns the corrected robot position.
HandEyeInitPosThe robot initial posture which has been set for EVP at the shipment is returned.
HandEyePos2RobotPosReturns the robot position for moving the hand eye to a specified position.
HandHoldStateTo return the hand gripping status.  If an electric vacuum generator is used, this command returns the vacuum state of a workpiece.
HandInposStateTo return whether the gripper's finger is within the target position or not.
HandMoveATo move a finger to the absolute position.
HandMoveAHTo activate an absolute position gripping motion with acceleration/deceleration.
HandMoveHActivates gripping motion with constant speed movement.
HandMoveRTo move a finger to the relative position.
HandMoveRHTo activate a gripping motion by traveling to an acceleration/deceleration relative position.
HandMoveVHTo start vacuum or blower operation of an electric vacuum generator.
HandMoveZHTo activate a gripping motion for traveling at constant speed with zoning.
HandSetDetectThresholdTo set the threshold value for the vacuum detection of an electric vacuum generator.
HandStopTo stop a gripper's motion.
HandUnChuckTo activate an unchuck motion. When an electric vacuum generator is used, this command starts blower operation or stops the operation of an electric vacuum generator.
HandZonStateTo return the state of whether the gripper's finger is within the designated range or not.
HexTo return a numeric value by string type data in hexadecimal.
HoldTo hold execution of the own task.

I

CommandsFunctions
If...End IfTo execute statements between If and End If.
If...Then...ElseTo perform conditional judgment of logical expression.
InStrTo return a position of a specific string within a string.
InStrRevStart searching a designated string (string2) in any string (string1) from the end of the character position, then return the character position of the string (number of characters from the beginning to the character) when it appears first.
IntTo return the maximum integer value not exceeding the designated value.
IntegerTo present Integer Type data.
InterruptSkip a motion instruction in the Interrupt block when the I/O interrupt skip signal is on, or to interrupt and skip the motion if the robot is in motion.
IsNothingChecks if a specified object has been created.

J

CommandsFunctions
J2PTo convert joint type data into position type data to return.
J2TTo convert Joint Type data into Homogeneous Translation Type data to return.
JoinReturn a string that contains the elements of the array, connected through a delimiter.
JointTo present Joint Type data.
JointTo return a component designated by joint type data.

K

CommandsFunctions
KillKill a designated task.
KillAllForcibly kill all tasks other than Supervisory tasks or Panel screen tasks.
KillByNameForcibly kill a designated task. Unlike Kill command, you can use a formula for task name.

L

CommandsFunctions
LCaseReturn a value "alphabetical lower case" after converting from upper case.
LeftTo return a string of the specified number of characters from the left end.
LenReturn the number of characters of a specified string.
LenBReturn the byte count of character string or numerical value.
LetTo assign a value to a variable.
LetATo assign a vector value to the approach vector of Homogeneous Translation Type variable.
LetFTo assign a value to a figure element (FIG) of Position Type variable or Homogeneous Translation Type variable.
LetJTo assign a value to axis elements specified by Joint Type variable.
LetOTo assign a vector value to the orient vector of Homogeneous Translation Type variable.
LetPTo assign a vector value to position elements (X, Y and Z elements) of Position Type variable or Homogeneous Translation Type variable.
LetRTo assign a value of Vector Type data to rotation elements (Rx, Ry, Rz) of the Position Type variable.
LetRxTo assign a value to the Rx rotation element of Position Type variable.
LetRyTo assign a value to the Ry rotation element of Position Type variable.
LetRzTo assign a value to the Rz rotation element of Position Type variable.
LetXTo assign a value to X-axis component of the Vector Type variable, Position Type variable, or Homogeneous Translation Type variable.
LetYTo assign a value to Y-axis component of the Vector Type variable, Position Type variable, or Homogeneous Translation Type variable.
LetZTo assign a value to Z-axis component of the Vector Type variable, Position Type variable, or Homogeneous Translation Type variable.
LoadPathPointTo load a path data.
LockStateTo return whether or not the COBOTTA is in machine lock status.
LogTo return a natural logarithm.
Log10To return a common logarithm.
LTrimTo delete a leading space in a string.

M

CommandsFunctions
MagnitudeTo return the vector size.
MaxTo return a maximum value.
MidTo return a string of the specified number of characters at the specified position from the string.
MinTo return a minimum value.
Mod OperatorTo perform division of 2 numeric values and return the remainder.
MotionCompleteTo judge whether or not a motion instruction is completed.
MotionPreparationThe motion preparation is performed automatically.
MotionSkipTo interrupt the motion instruction by the currently-active.
MotionTimeoutChange a timeout setting value of the motion instruction.
MotorTurn ON/OFF the motor power.
MotorStateTo return whether or not the COBOTTA is in motor on status.
MoveTo move the robot to the designated coordinates.
Move CTo move the robot to the designated coordinates along with an arc.
Move STo move the robot by free curve interpolation.
MpsTo convert the designated speed value (mm/sec) to the ratio (%) relative to the maximum internal speed in CP motion.
MsgBoxDisplays a message in a dialogue box, and returns value of clicked button.
MutexIDTo return the ID of Mutex object.
MutexStateTo return the status of Mutex object.

N

CommandsFunctions
NormalVectorReturn a vector which is vertical to a plane where three points belong (normal vector).
Not OperatorTo obtain logical NOT of expressions.
NowTo return the current date and time.

O

CommandsFunctions
On ErrorTo specify the processing routine at the time of error level 1 occurrence.
Or OperatorTo obtain logical OR of 2 expressions.
OutRangeTo return whether or not position data are within motion space of the robot.
OVecTo return an orient vector.

P

CommandsFunctions
P2JTo convert position type data into joint type data to return.
P2TTo convert position type data into homogeneous translation type data to return.
PageChangeTo switch the displayed panel screen.
PageChangeByNameTo switch the displayed panel screen. Unlike PageChange command, you can use a formula for name of a panel screen task.
Pallet.CalcPosSpecify the pallet conditions, stack count and the target position number to retrieve the desired position.
PayloadTo change the setting value of internal load conditions.
PickingAdjustmentConvPosAdjust a robot position and return it by using Picking Adjustment Data.
PositionTo present Position Type data.
PosRxTo return X-axis rotation component.
PosRyTo return Y-axis rotation component.
PosRzTo return Z-axis rotation component.
PosXTo return X component.
PosYTo return Y component.
PosZTo return Z component.
PowTo return a value obtained by raising a specified numeric value by a specified value.
PrintDbgTo output a string to the message output window.
PrintMsgAn icon that notifies that a string is output to the message output window and output to the TP status bar is displayed.
PublicTo declare a local variable with Public attribute.
PVecTo return the position vector.

R

CommandsFunctions
RadDegTo convert the angle unit from radian to [Degree].
RandomizeTo initialize the random generator (reset the random number sequence).
ReadByteArrayThis command stores the values of a one-dimensional array (Variant type) of a byte unit into the specified variable for every one byte. The byte order of the array is not changed when it is stored in the variable.
RealPathTo convert a relative path into an absolute path.
RemTo state a comment.
RemoveHandlerStop receiving events from providers.
ResetTo turn I/O type variable Bit to Off.
ResetAreaTo reset a designated detection area.
ResetExclusiveAreaDisable the exclusive area.
ResetMutexTo clear an error of Mutex object.
ResumeTo end the error processing routine and then execution is resumed from the specified line.
RightTo return a string of the specified number of characters from the right end.
RndTo return a random number over 0 and below 1.
RobInfoReturn the robot information.
RotateTo rotate a designated axial spin.
RotateHTo perform rotation motion with the approach vector as an axis.
RpmTo convert the rotation speed (rpm) of the designated axial number to the ratio relative to the maximum internal speed in PTP motion.
RTrimTo delete a tailing space in a string.
RunTo start up a program as a separate task.
RunByNameTo start up a program as a different task. Unlike Run command, you can use a formula for task name.
RVecTo return posture components from position type data.

S

CommandsFunctions
Select Case...End SelectTo execute one of statement blocks in accordance with the conditional expression value.
SetTo turn I/O type variable Bit to ON.
SetAreaTo activate detection in a designated detection area.
SetCollisionDetectionSets the parameters of collision detection.
SetExclusiveAreaEnable the exclusive area.
SetPriorityTo set priority level of the own task.
SetPublicValueAssign the value to Public local variable.
SgnTo investigate the numeric value sign (positive/negative) and return the result.
SinTo return sine.
SingleTo present Single Precision Real Number Type data.
SpeedTo change the internal speed.
SpeedModeTo change the optimal speed setting function.
SplitThis command creates a one-dimensional array by means of splitting strings into substrings that are separated by the optional designated character.
SprintfTo convert data to a specified format and return it as a string.
SqrTo return the square root.
StaticTo declare a local variable with Static attribute.
StatusTo return the program status.
StatusByNameTo return the status of a task. Unlike Status command, you can use a formula for task name.
StrTo convert numeric value data into string type data to return.
StringTo present String Type data.
Sub...End SubTo declare the Sub procedure.
SuspendSuspend a designated task.
SuspendAllSuspend all tasks other than Supervisory tasks or Panel screen tasks.
SuspendByNameSuspend a designated task. Unlike Suspend command, you can use a formula for task name.
SwapByteArrayIn a one-dimensional array with byte type, change the order of elements according to the byte counts specified.
SysInfoReturn the system information of the COBOTTA.
SysLog.Ctrl.ClearTo initialize control log data.
SysLog.Ctrl.StartTo start control log recording.
SysLog.Ctrl.StopTo stop control log recording.
SysLog.Ctrl.UserDataTo record the designated value to the control log.
SysLog.Servo.ClearTo initialize Servo logs.
SysLog.Servo.StartTo start Servo log recording.
SysLog.Servo.StopTo stop Servo log recording.
SysLog.Trace.ClearTo clear trace log data.
SysLog.Trace.StartTo start trace log recording.
SysLog.Trace.StopTo finish trace log recording.
SysStateTo return the COBOTTA status.

T

CommandsFunctions
T2JTo convert Homogeneous Translation Type data into Joint Type data and returned.
T2PTo convert homogeneous translation type data into position type data.
TakeArmTo acquire axis control.
TakeArmStateTo return whether control for a designated arm group is acquired.
TakeMutexTo change the Mutex object's status from "Unlocked" to "Locked." If the designated Mutex object's status is not "Unlocked", wait for the execution.
TanTo return tangent.
TimeTo return the current time.
TimerTo return the elapsed time.
TInvTo return inverse matrix of Homogeneous Translation Type data.
TMulTo return the product of homogeneous translation type data.
TNormTo return a result of homogeneous translation type data normalization calculation.
ToolTo set a tool coordinate value.
ToolPosTo return designated tool definition data by position type data.
TransTo present Homogeneous Translation Type data.

U

CommandsFunctions
UBoundTo return a maximum index number in the element of array.
UCaseReturn a value "alphabetical upper case" after converting from lower case.

V

CommandsFunctions
ValTo convert string type data into numeric value.
VarChangeTypeConvert the value into Variant type data with a specified Internal processing format.
VariantThis means Variant Type data.
VarTypeReturn a value which represents the Internal processing format of variables.
VerTo return the module version.
VirtualFenceStart or stop monitoring the virtual fence.
Vis.CalTransTo calibrate visual coordinates and robot coordinates.
Vis.GetCalDataTo return a transformation matrix of a designated Cal number.
Vis.GetCalPosTo return a calibration teaching position of a designated Cal number.
Vis.SetCalDataTo set transformation matrix of a designated CAL number.
Vis.TransTo convert visual coordinates into robot coordinates (X, Y, and Z).

W

CommandsFunctions
WaitTo have a task wait for the conditional expression to be True.
WaitMotionThis command lets the next task stand-by until the currently-running motion command is reached to the specified state.
WorkTo set work coordinates.
WorkAttributeObtain an attribute value of the work coordinate system specified.
WorkPosTo return designated work definition data by position type data.
WriteByteArrayThis command stores variables into the one-dimensional array (Variant type) for every one byte. The byte order is not changed when it is stored in the arrays.

X

CommandsFunctions
Xor OperatorTo obtain logical OR of 2 expressions.

Symbol

CommandsFunctions
- OperatorTo return the sign inversion, difference between numeric values, or difference between vector type data or joint type data.
#DefineTo define macro.
#ErrorTo output an error at the time of compiling.
#If ... #EndifTo select a source code to compile according to specified conditions.
#Ifdef ... #EndifTo determine whether the designated macro is defined and select a source code to compile.
#Ifndef ... #EndifTo determine whether the designated macro is not defined and select a source code to compile.
#IncludeRead a designated file.
#Pragma EncryptSource code will be encrypted.
#Pragma Optimize( "idling" )To reduce CPU load, this command reduces idle time.
#Pragma Optimize( "wait-idling-time" )Specify the length of rest-time on Wait command per task.
#UndefTo cancel the macro definition defined by #Define (set to undefined).
#WarningTo output a warning at the time of compiling.
& OperatorTo perform string concatenation to 2 expressions.
* OperatorTo obtain the product of 2 numeric data sets or the scalar multiple of vector type data.
/ OperatorTo calculate the quotient of 2 numeric values and return the result by data including decimal values. Or, to return the result of vector scalar division.
^ OperatorTo obtain the exponent of numeric values.
\ OperatorTo calculate the quotient of 2 numeric values and return the result by integer type data.
+ OperatorTo return the sum of 2 numeric values, the string concatenation or the sum of each element in vector type data and joint type data.
<,=,> (Comparative) OperatorsTo compare a left-hand expression and a right-hand expression.
<< OperatorTo perform a shift operation. Each bit is shifted to the left by the specified number.
= (Assignment) OperatorTo assign a right-hand value.
>> OperatorTo perform a shift operation. Each bit is shifted to the right by the specified number.

ID : 6838

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