ID : 9414

Detailed Description of Commands (Alphabetic Order)

A

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.
Approach	To move to an approach position apart from the reference position by a specified distance.
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.

B

Commands	Functions
Base	Set the robot base position viewed from the origin of the world coordinate.
Bin	To convert integer type data into binary string type data.
ByRef	To set argument(s) to hand to the procedures for pass by reference.
ByVal	To set argument(s) to hand to the procedures for pass by value.

C

Commands	Functions
CalcBackTraceLog	To generate a trajectory of the origin return.
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.
CheckBrake	To check the robot brake performance.
CheckVirtualFence	Check the collision status between robot and equipment at the target position when VirtualFence is enabled.
Chr	To return characters corresponding to the designated character code.
ClearAreaDetected	Clear the currently retaining area detection information.
ClearLog	To initialize control log and servo log.
ClearSlaveButtonState	To initialize the number of times COBOTTA button was pressed that is recorded in the slave controller.
ClrErr	To cancel an error.
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.
CurJnt	To return the current angles of all axes by joint type data.
CurLmt	Enable/Disable and configure the current limiting function.
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.

D

Commands	Functions
Date	To return the current date.
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.
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.

E

Commands	Functions
EnableSwState	To return the state of the enabling switch.
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	To set the value of deviation tolerance and to switch the status of the deviation tolerance function between True and 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.
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.

F

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.
ForceCtrl	Determines whether to enable or disable the external force following control function.
Format	Return string type data for the designated expression format.
Function...End Function	To declare the Function procedure.

G

Commands	Functions
GetAllSrvData	Get the data that can be obtained with GetSrvData and CurJnt, at a time with time stamp.
GetAreaDetected	Obtain the current area detection status.
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.
GetSlaveButtonState	To get a state of a button of COBOTTA when using the Mirror Control.
GetSrvData	To return the servo internal data of the all 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.

H

Commands	Functions
Halt	To halt the own task.
Hex	To return a numeric value by string type data in hexadecimal.
HighPathAccuracy	Switch True/False of the high tracing control function.
Hold	To hold execution of the own task.

I

Commands	Functions
If...End If	To execute statements between If and End If.
If...Then...Else	To perform conditional judgment of logical expression.
InStr	To return a position of a specific string within a string.
InStrRev	Start 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.
Int	To return the maximum integer value not exceeding the designated value.
Integer	To present Integer Type data.
IsNothing	Checks if a specified object has been created.

J

Commands	Functions
J2P	To convert joint type data into position type data to return.
J2T	To convert Joint Type data into Homogeneous Translation Type data to return.
Join	Return a string that contains the elements of the array, connected through a delimiter.
Joint	To return a component designated by joint type data.
Joint	To present Joint Type data.

K

Commands	Functions
Kill	Kill a designated task.
KillAll	Forcibly kill all tasks other than Supervisory tasks or Panel screen tasks.
KillByName	Forcibly kill a designated task. Unlike Kill command, you can use a formula for task name.

L

Commands	Functions
LCase	Return a value "alphabetical lower case" after converting from upper case.
Left	To return a string of the specified number of characters from the left end.
Len	Return the number of characters of a specified string.
LenB	Return the byte count of character string or numerical value.
Let	To assign a value to a variable.
LetA	To assign a vector value to the approach vector of Homogeneous Translation Type variable.
LetF	To assign a value to a figure element (FIG) of Position Type variable or Homogeneous Translation Type variable.
LetJ	To assign a value to axis elements specified by Joint Type variable.
LetO	To assign a vector value to the orient vector of Homogeneous Translation Type variable.
LetP	To assign a vector value to position elements (X, Y and Z elements) of Position Type variable or Homogeneous Translation Type variable.
LetR	To assign a value of Vector Type data to rotation elements (Rx, Ry, Rz) of the Position Type variable.
LetRx	To assign a value to the Rx rotation element of Position Type variable.
LetRy	To assign a value to the Ry rotation element of Position Type variable.
LetRz	To assign a value to the Rz rotation element of Position Type variable.
LetX	To assign a value to X-axis component of the Vector Type variable, Position Type variable, or Homogeneous Translation Type variable.
LetY	To assign a value to Y-axis component of the Vector Type variable, Position Type variable, or Homogeneous Translation Type variable.
LetZ	To assign a value to Z-axis component of the Vector Type variable, Position Type variable, or Homogeneous Translation Type variable.
LoadPathPoint	To load a path data.
LockState	To return whether or not the controller is in machine lock status.
Log	To return a natural logarithm.
Log10	To return a common logarithm.
LTrim	To delete a leading space in a string.

M

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 the motor ON/OFF state of a controller.
Move	To move the robot to the designated coordinates.
MoveBackTraceLog	To execute the origin return.
Move C	To move the robot to the designated coordinates along with an arc.
MoveMasterPos	To move the slave robot to the current position of COBOTTA when connecting with COBOTTA with the Mirror Control.
Move S	To move the robot by free curve interpolation.
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.

N

Commands	Functions
NormalVector	Return a vector which is vertical to a plane where three points belong (normal vector).
Not Operator	To obtain logical NOT of expressions.
Now	To return the current date and time.

O

Commands	Functions
On Error	To specify the processing routine at the time of error level 1 occurrence.
Or Operator	To obtain logical OR of 2 expressions.
OutRange	To return whether or not position data are within motion space of the robot.
OVec	To return an orient vector.

P

Commands	Functions
P2J	To convert position type data into joint type data to return.
P2T	To convert position type data into homogeneous translation type data to return.
PageChange	To switch the displayed panel screen.
PageChangeByName	To switch the displayed panel screen. Unlike "PageChange" command, you can use a formula for name of a panel screen task.
Pallet.CalcPos	Specify the pallet conditions, stack count and the target position number to retrieve the desired position.
Pallet.CalcPosTurning	Specify the pallet conditions, stack count and the target position number to retrieve the desired position. In addition, if you execute this command on 4-axis robots, you can acquire the position with the optimum shoulder figure.
Payload	To change the setting value of internal load conditions.
PickingAdjustmentConvPos	Adjust a robot position and return it by using Picking Adjustment Data.
Position	To present Position Type data.
PosRx	To return X-axis rotation component.
PosRy	To return Y-axis rotation component.
PosRz	To return Z-axis rotation component.
PosX	To return X component.
PosY	To return Y component.
PosZ	To return Z component.
Pow	To return a value obtained by raising a specified numeric value by a specified value.
PrintDbg	To output a string to the message output window.
PrintMsg	An icon that notifies that a string is output to the message output window and output to the TP status bar is displayed.
Public	To declare a local variable with Public attribute.
PVec	To return the position vector.

R

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.
ResetMutex	To clear an error of Mutex object.
ResetStoState	To clear the STO state of the robot controller.
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.

S

Commands	Functions
SafetyInfo	Return the system information of the Safety motion specification controller.
Select Case...End Select	To execute one of statement blocks in accordance with the conditional expression value.
Set	To turn I/O type variable Bit to ON.
SetArea	To activate detection in a designated detection area.
SetPriority	To set priority level of the own task.
SetPublicValue	Assign the value to Public local variable.
SetVirtualTracePos	To specify the origin return position to the specified origin return number.
Sgn	To investigate the numeric value sign (positive/negative) and return the result.
Sin	To return sine.
Single	To present Single Precision Real Number Type data.
SingularAvoid	To enable or disable singularity avoidance function.
Speed	To change the internal speed.
SpeedMode	To change the optimal speed setting function.
Split	This command creates a one-dimensional array by means of splitting strings into substrings that are separated by the optional designated character.
Sprintf	To convert data to a specified format and return it as a string.
Sqr	To return the square root.
StartBackTraceLog	To start the recording of the motion log for the origin return.
StartLog	To start control log and servo log recording.
Static	To declare a local variable with Static attribute.
Status	To return the program status.
StatusByName	To return the status of a task. Unlike Status command, you can use a formula for task name.
StoState	To return the STO state of the robot controller.
StopBackTraceLog	To stop the recording of the motion log for the origin return.
StopLog	To stop control log and servo log recording.
Str	To convert numeric value data into string type data to return.
String	To present String Type data.
Sub...End Sub	To declare the Sub procedure.
Suspend	Suspend a designated task.
SuspendAll	Suspend all tasks other than Supervisory tasks or Panel screen tasks.
SuspendByName	Suspend a designated task. Unlike Suspend command, you can use a formula for task name.
SwapByteArray	In a one-dimensional array with byte type, change the order of elements according to the byte counts specified.
SysInfo	To return the system information of the controller.
SysLog.Ctrl.Clear	To initialize control log and servo log data.
SysLog.Ctrl.Start	To start control log and servo log recording.
SysLog.Ctrl.Stop	To stop control log and servo log recording.
SysLog.Ctrl.UserData	To record the designated value to the control log.
SysLog.Trace.Clear	To clear trace log data.
SysLog.Trace.Start	To start trace log recording.
SysLog.Trace.Stop	To finish trace log recording.
SysState	To return the controller status.

T

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.
Trans	To present Homogeneous Translation Type data.

U

Commands	Functions
UBound	To return a maximum index number in the element of array.
UCase	Return a value "alphabetical upper case" after converting from lower case.

V

Commands	Functions
Val	To convert string type data into numeric value.
VarChangeType	Convert the value into Variant type data with a specified Internal processing format.
Variant	This means Variant Type data.
VarType	Return a value which represents the Internal processing format of variables.
Ver	To return the module version.
VirtualFence	Start or stop monitoring the virtual fence.
Vis.CalTrans	To calibrate visual coordinates and robot coordinates.
Vis.GetCalData	To return a transformation matrix of a designated Cal number.
Vis.GetCalPos	To return a calibration teaching position of a designated Cal number.
Vis.SetCalData	To set transformation matrix of a designated CAL number.
Vis.Trans	To convert visual coordinates into robot coordinates (X, Y, and Z).

W

Commands	Functions
Wait	To have a task wait for the conditional expression to be True.
WaitMotion	This command lets the next task stand-by until the currently-running motion command is reached to the specified state.
Work	To set work coordinates.
WorkAttribute	Obtain an attribute value of the work coordinate system specified.
WorkPos	To return designated work definition data by position type data.
WriteByteArray	This 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

Commands	Functions
Xor Operator	To obtain logical OR of 2 expressions.

Z

Symbol

Commands	Functions
- Operator	To return the sign inversion, difference between numeric values or difference between vector type data elements.
#Define	To define macro.
#Error	To output an error at the time of compiling.
#If ... #Endif	To select a source code to compile according to specified conditions.
#Ifdef ... #Endif	To determine whether the designated macro is defined and select a source code to compile.
#Ifndef ... #Endif	To determine whether the designated macro is not defined and select a source code to compile.
#Include	Read a designated file.
#Pragma Encrypt	Source 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.
#Undef	To cancel the macro definition defined by #Define (set to undefined).
#Warning	To output a warning at the time of compiling.
& Operator	To perform string concatenation to 2 expressions.
* Operator	To obtain the product of 2 numeric data sets or the scalar multiple of vector type data.
/ Operator	To 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.
^ Operator	To obtain the exponent of numeric values.
\ Operator	To calculate the quotient of 2 numeric values and return the result by integer type data.
+ Operator	To 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) Operators	To compare a left-hand expression and a right-hand expression.
<< Operator	To perform a shift operation. Each bit is shifted to the left by the specified number.
= (Assignment) Operator	To assign a right-hand value.
>> Operator	To perform a shift operation. Each bit is shifted to the right by the specified number.

ID : 9414

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