| Commands | Functions |
| Abs | To return an absolute value. |
| Accel | To change the internal acceleration and internal deceleration. |
| Acos | To return arccosine. |
| AddHandler | Enter a method to receive an event from the specified provider object. Once an event is issued by the provider, the entered method is called. |
| AddPathPoint | To add a path point to the path data. |
| And Operator | To obtain logical AND of 2 expressions. |
| AngularTrigger | I/O turns ON or OFF when the robot reaches the designated angle or distance. |
| Approach | To move to an approach position apart from the reference position by a specified distance. |
| ArchMove | To perform an arch motion. |
| Area | To change the detection area setting value. |
| AreaPos | To return the center of detection area by position type data. |
| AreaSize | To return the size (length of each side) of a detection area by vector type. |
| Array | To create variant type array. |
| Arrive | To let the task stand-by until the motion complete rate specified by the currently-active motion instruction is reached. |
| Asc | To return a character code of the first character in the designated string by integer type data. |
| Asin | To return arcsine. |
| Atn | To return arctangent. |
| Atn2 | To return arctangent obtained by subtracting x from y. |
| AVec | To return approach vector. |
| Commands | Functions |
| Call | To call and execute a procedure. |
| CallByName | To call a Procedure and execute it. Unlike Call command, you can use a formula for procedure name. |
| Cao.AddController | Create a provider. |
| Cao.Controllers | Look up the control object (collection) being controlled. |
| Cao.Index | Look up the provider number. |
| Cao.Name | Obtain a provider name. |
| ChangeTool | To change the current tool coordinates. |
| ChangeWork | To change the current work coordinates. |
| Chr | To return characters corresponding to the designated character code. |
| ClearAreaDetected | Clear the currently retaining area detection information. |
| ClearServoLog | This command works the same as SysLog.Servo.Clear. |
| ClrErr | To cancel an error. |
| ClrPathPoint | To clear the whole path points at the designated path. |
| CollisionDetection | Start/stop the collision detection in the automatic mode or the teach check mode. |
| Comm.Clear | To clear the data communication reception buffer. |
| Comm.Close | To close the line designated for data communication. |
| Comm.Count | To return the number of data bytes readable from reception buffer of the data communication function. |
| Comm.Input | To receive data by the data communication function. |
| Comm.Open | To open the line for data communication. |
| Comm.Output | To transmit data by the data communication function. |
| Comm.State | To return the port status of the data communication function. |
| ContinueAll | To perform continue start. |
| ConvertPosBase | Convert a given position type data on the currently selected base definition into the one on the different base definition. |
| ConvertPosTool | Convert 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. |
| ConvertPosWork | Convert 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. |
| Cos | To return cosine. |
| CPMode | Change CP interpolation mode setting. |
| CreateArray | Create a single dimensional array of Variant type data with arbitrary Internal Processing Format.. |
| CreateMultiArray | Create Variant type arrays with arbitrary Internal processing format. Up to three-dimensional arrays can be created. |
| CreateMutex | To request the creation of Mutex object and acquire the ID of Mutex object. |
| Cross | To return an outer product calculation result of vector type data. |
| CrtMotionAllow | Change the stop positional precision and postural precision settings of Move@c command. |
| CurAcc | To return an internal acceleration setting value. |
| CurCPMode | Obtain the setting value of the CP interpolation mode. |
| CurDec | To return an internal deceleration setting value. |
| CurErr | To return an error code of the currently active controller error. |
| CurExJ | To return the current angle of specified axis. |
| CurExtAcc | To return the current setting value of external acceleration. |
| CurExtDec | To return the current setting value of external deceleration. |
| CurExtSpd | To return the current setting value of external speed. |
| CurFig | To return the current robot figure (FIG) value. |
| CurForceSensorPayLoad | Obtain the setting value of the Force sensor Mass of payload. |
| CurJnt | To return the current angles of all axes by joint type data. |
| CurLmt | Configure the current limiting function and True/False. |
| CurOptMode | To return the current operating mode. |
| CurPathPoint | Returns the most recently passed path point number. |
| CurPayload | Obtain setting values of the internal payload conditions. |
| CurPos | To return the current position of the robot by position type data. |
| CurSpd | To return an internal speed setting value. |
| CurSpeedMode | Obtain the setting value of the Optimal Speed Control Function. |
| CurTool | To return the current tool coordinate number. |
| CurTrn | To return the current position of the robot by homogeneous translation type data. |
| CurWork | To return the current work coordinate number. |
| Commands | Functions |
| Date | To return the current date. |
| DeadManState | To return the status of deadman switch. |
| Decel | To specify the internal deceleration. |
| DefIO | To declare a local variable of I/O type. |
| DegRad | To convert a value in angle unit of [Degree] into radian. |
| Delay | To let the own task stand-by for the specified time. |
| DeleteMutex | To request the deletion of Mutex object. |
| Depart | To move from the current position in direction toward the tool's -Z coordinate. |
| DestJnt | To return the current motion statement target position by joint type data. |
| DestPos | To return the current motion statement target position by position type data. |
| DestTrn | To return the current motion statement target position by homogeneous translation type data. |
| DetectOff | To disable Detect Function and store data. |
| DetectOn | To enable Detect Function. |
| Dev | To return a deviation calculation result of position type data. |
| DevH | To return a deviation calculation result with the the reference position coordinate system of position type data. |
| Dim | To declare a local variable. |
| Dist | To return a distance between 2 points. |
| Do...Loop | To repeatedly execute a set of statements while a designated condition is True or until the condition becomes True. |
| Dot | To return an inner product calculation result of vector type data. |
| Double | To present Double Precision Real Number Type data. |
| Dps | Convert the rotation speed (deg/s) of the designated axial number to the ratio (%) relative to the maximum internal speed in PTP motion. |
| Draw | To move from the current position to a relative position. |
| Drive | To move each axis to a relative position. |
| DriveA | To move each axis to an absolute position. |
| Commands | Functions |
| EncMotionAllow | With Move @E, to change the "Allowable angle in stop state" of each axis for robot axis used for stop judgement. |
| EncMotionAllowJnt | With Move @E, to change the "Allowable angle in stop state" of the axis for other than robots' axis used for stop judgement. |
| Eralw | Set the value of deviation tolerance. Switch the status of the deviation tolerance function True/False. |
| Err.Description | This property contains an error message. |
| Err.Level | This property contains an error level of task error. |
| Err.Number | This property contains an error code of task error. |
| Err.OriginalNumber | This property contains original error codes. |
| Err.Raise | To generate an error. |
| ErrLvl | To return the error level of a designated error. |
| ErrMsg | To return an error message. |
| ExclusiveArea | Create or change an exclusive area. |
| ExclusiveControlStatus | Obtain the exclusive control status. |
| Exit | To exit a designated processing block. |
| Exp | A numeric operation function to calculate an exponential function (exponential of base e formula). |
| ExtAccel | To change the external acceleration and external deceleration. |
| ExtDecel | To specify the external deceleration. |
| ExtSpeed | To change the external speed. |
| Commands | Functions |
| Fig | To return a figure component (FIG element). |
| Fix | To return integer part of the numerical value. |
| For...Next | To repeat a set of statements up to the specified number of times. |
| ForceChangeTable | Change the force control number used when the force control is performed. |
| ForceCtrl | Switch the force control function(Compliance function) to enable/disable. |
| ForceParam | To set parameters for force control function (compliance function). |
| ForceSensor | Reset the force sensor |
| ForceSensorPayLoad | Set the Force sensor Mass of payload parameters. |
| ForceValue | Obtain the force control data. |
| ForceWaitCondition | Wait until the specified conditions of the force control are satisfied. |
| Format | Return string type data for the designated expression format. |
| Function...End Function | To declare the Function procedure. |
| Commands | Functions |
| GetAreaDetected | Obtain the current area detection status. |
| GetCollisionStatus | Returns the status of collision detection. |
| GetHandIO | Set the hand IO of the slave robot. |
| GetLanguage | To return the language setting value. |
| GetPathPoint | To return a position data of designated path point. |
| GetPathPointCount | To return the number of path points at the designated path. |
| GetPriority | To return the priority level of the own task. |
| GetPublicValue | To load a Public local variable. |
| GetSrvData | To return the servo internal data of the robot axis. |
| GetSrvJntData | To return the servo internal data of the designated axis. |
| GiveArm | To release control of the currently-acquired arm group expressly. |
| GiveMutex | To set the status of Mutex object to "Unlocked." |
| GoTo | To jump to a label. |
| GrvCtrl | Configure True/False of Gravity Compensation Control Function. |
| GrvOffset | Configure True/False of gravity offset setting function. |
| Commands | Functions |
| Magnitude | To return the vector size. |
| Max | To return a maximum value. |
| Mid | To return a string of the specified number of characters at the specified position from the string. |
| Min | To return a minimum value. |
| Mod Operator | To perform division of 2 numeric values and return the remainder. |
| MotionComplete | To judge whether or not a motion instruction is completed. |
| MotionSkip | To interrupt the motion instruction by the currently-active. |
| MotionTimeout | Change a timeout setting value of the motion instruction. |
| Motor | Turn ON/OFF the motor power. |
| MotorState | To return whether or not the controller is in motor on status. |
| Move | To move the robot to the designated coordinates. |
| Move C | To move the robot to the designated coordinates along with an arc. |
| Move S | To move the robot along a spline orbit. |
| Mps | To convert the designated speed value (mm/sec) to the ratio (%) relative to the maximum internal speed in CP motion. |
| MsgBox | Displays a message in a dialogue box, and returns value of clicked button. |
| MutexID | To return the ID of Mutex object. |
| MutexState | To return the status of Mutex object. |
| Commands | Functions |
| RadDeg | To convert the angle unit from radian to [Degree]. |
| Randomize | To initialize the random generator (reset the random number sequence). |
| ReadByteArray | This 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. |
| RealPath | To convert a relative path into an absolute path. |
| Rem | To state a comment. |
| RemoveHandler | Stop receiving events from providers. |
| Reset | To turn I/O type variable Bit to Off. |
| ResetArea | To reset a designated detection area. |
| ResetExclusiveArea | Disable the exclusive area. |
| ResetMutex | To clear an error of Mutex object. |
| Resume | To end the error processing routine and then execution is resumed from the specified line. |
| Right | To return a string of the specified number of characters from the right end. |
| Rnd | To return a random number over 0 and below 1. |
| RobInfo | Return the robot information. |
| Rotate | To rotate a designated axial spin. |
| RotateH | To perform rotation motion with the approach vector as an axis. |
| Rpm | To convert the rotation speed (rpm) of the designated axial number to the ratio relative to the maximum internal speed in PTP motion. |
| RTrim | To delete a tailing space in a string. |
| Run | To start up a program as a separate task. |
| RunByName | To start up a program as a different task. Unlike Run command, you can use a formula for task name. |
| RVec | To return posture components from position type data. |
| Commands | Functions |
| T2J | To convert Homogeneous Translation Type data into Joint Type data and returned. |
| T2P | To convert homogeneous translation type data into position type data. |
| TakeArm | To acquire axis control. |
| TakeArmState | To return whether control for a designated arm group is acquired. |
| TakeMutex | To change the Mutex object's status from "Unlocked" to "Locked." If the designated Mutex object's status is not "Unlocked", wait for the execution. |
| Tan | To return tangent. |
| Time | To return the current time. |
| Timer | To return the elapsed time. |
| TInv | To return inverse matrix of Homogeneous Translation Type data. |
| TMul | To return the product of homogeneous translation type data. |
| TNorm | To return a result of homogeneous translation type data normalization calculation. |
| Tool | To set a tool coordinate value. |
| ToolPos | To return designated tool definition data by position type data. |
| TrackApproach | With the conveyor catch-up motion, move a robot arm to the approach position that is apart from the tracking target work by specified distance. |
| TrackArrivalTime | Return the estimated execution time in which a tracking target work arrives at the specified limit of the tracking range. |
| TrackBufferDelete | Using an index number obtained by TrackBufferIndexes, delete data of the conveyor tracking buffer. |
| TrackBufferIndexes | Take out index numbers of data stored in the conveyor tracking buffer, and then return them as an array. |
| TrackBufferRead | From the conveyor tracking buffer, read out specified data. |
| TrackBufferSort | Change the sorting order of data within the conveyor tracking buffer. |
| TrackConveyorSpd | Obtains current speed of conveyors. |
| TrackConveyorVector | Obtain the conveyor vector that has been calculated at the conveyor calibration with vector type data. |
| TrackCount | Return the number of data within the conveyor tracking buffer. |
| TrackCurBufferSort | Return the currently selected conveyor tracking buffer for sorting method of data with a variant type data array. |
| TrackCurPos | Obtains the current position of the tracking-target work by position type. |
| TrackCurStartArea | Return the currently selected tracking range with a variant type data array. |
| TrackDepart | With the conveyor catch-up motion, move a robot arm from the current position to -Z direction of the tool coordinate. |
| TrackEncoder | Obtain the encoder value of the conveyor. |
| TrackInitialize | Initializes the conveyor tracking buffer, then starts trigger detection. |
| TrackInRange | Check whether the current position of the tracking-target work is within the tracking range. |
| TrackMinimumIntervalLength | Set a threshold value to prevent the registration of overlapped workpieces. |
| TrackMove | With the conveyor catch-up motion, move a robot arm to the tracking target work. |
| TrackOffsetMargin | In order to define the tracking start range, specify the offset value from the upstream limit of the tracking range. |
| TrackSetSensor | Store workpiece-related data detected by a sensor into conveyor tracking buffer. |
| TrackSetVision | Store workpiece-related data detected by a vision sensor into conveyor tracking buffer. |
| TrackStandByPos | Return the coordinates when a tracking-target work piece arrives at the upstream limit of the tracking range. |
| TrackStart | Starts the tracking mode. |
| TrackStartArea | Configures the tracking range. |
| TrackStop | Stops the tracking mode. |
| TrackTargetOffset | Set the value for the "Stationary deviation compensation", which is a parameter for the conveyor tracking. |
| TrackTargetPos | Read out workpiece data from the conveyor tracking buffer and then set them to the tracking-target work. |
| TrackTargetRelease | Delete data of the tracking target work, or return the data to the conveyor tracking buffer. |
| Trans | To present Homogeneous Translation Type data. |