ID : 4559

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.
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.

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.
Buzzer	To sound the buzzer.
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 Home Position Guidance.
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.
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 logs.
ClearServoLog	Initialize 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.
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.

D

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.

E

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	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.
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.

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.
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.

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.
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.
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.
GrvOffset	Configure True/False of gravity offset setting function.

H

Commands	Functions
Halt	To halt the own task.
Hand[n].BusyState / SelectHand[m,n].BusyState	To return the busy status. Use "SelectHand[m,n].BusyState" when an electric gripper and the cooperative control function are used together.
Hand[n].Chuck / SelectHand[m,n].Chuck	To activate a chuck motion. Use "SelectHand[m,n].Chuck" when an electric gripper and the cooperative control function are used together.
Hand[n].CurPos / SelectHand[m,n].CurPos	To return the current position. Use "SelectHand[m,n].CurPos" when an electric gripper and the cooperative control function are used together.
Hand[n].EmgState / SelectHand[m,n].EmgState	To present the emergency stop input status. Use "SelectHand[m,n].EmgState" when an electric gripper and the cooperative control function are used together."
Hand[n].Error / SelectHand[m,n].Error	To return the error status. Use "SelectHand[m,n].Error" when an electric gripper and the cooperative control function are used together.
Hand[n].GetPoint / SelectHand[m,n].GetPoint	To return point data elements. Use "SelectHand[m,n].GetPoint" when an electric gripper and the cooperative control function are used together.
Hand[n].HoldState / SelectHand[m,n].HoldState	To return the hand gripping status. Use "SelectHand[m,n].HoldState" when an electric gripper and the cooperative control function are used together.
Hand[n].InposState / SelectHand[m,n].InposState	To return the INPOS status (whether or not in the target position) by integer type data. Use "SelectHand[m,n].InposState" when an electric gripper and the cooperative control function are used together.
Hand[n].Motor / SelectHand[m,n].Motor	Turn the motor power ON/OFF. Use "SelectHand[m,n].Motor" when an electric gripper and the cooperative control function are used together.
Hand[n].MotorState / SelectHand[m,n].MotorState	To return the motor power status. Use "SelectHand[m,n].MotorState" when an electric gripper and the cooperative control function are used together.
Hand[n].MoveA / SelectHand[m,n].MoveA	To move to an absolute position. Use "SelectHand[m,n].MoveA" when an electric gripper and the cooperative control function are used together.
Hand[n].MoveAH / SelectHand[m,n].MoveAH	To activate an absolute position gripping motion with acceleration/deceleration. Use "SelectHand[m,n].MoveAH" when an electric gripper and the cooperative control function are used together.
Hand[n].MoveH / SelectHand[m,n].MoveH	Activate a gripping motion by traveling at constant speed. Use "SelectHand[m,n].MoveH" when an electric gripper and the cooperative control function are used together.
Hand[n].MoveP / SelectHand[m,n].MoveP	To perform a point motion. Use "SelectHand[m,n].MoveP" when an electric gripper and the cooperative control function are used together.
Hand[n].MoveR / SelectHand[m,n].MoveR	To move to a relative position. Use "SelectHand[m,n].MoveR" when an electric gripper and the cooperative control function are used together.
Hand[n].MoveRH / SelectHand[m,n].MoveRH	To activate a gripping motion by traveling to an acceleration/deceleration relative position. Use "SelectHand[m,n].MoveRH" when an electric gripper and the cooperative control function are used together.
Hand[n].MoveZH / SelectHand[m,n].MoveZH	Activate a gripping motion for traveling at constant speed with zoning. Use "SelectHand[m,n].MoveZH" when an electric gripper and the cooperative control function are used together.
Hand[n].Org / SelectHand[m,n].Org	To return to the origin. Use "SelectHand[m,n].Org" when an electric gripper and the cooperative control function are used together.
Hand[n].OrgState / SelectHand[m,n].OrgState	To present the origin return status. Use "SelectHand[m,n].OrgState" when an electric gripper and the cooperative control function are used together.
Hand[n].Stop / SelectHand[m,n].Stop	To stop a motion. Use "SelectHand[m,n].Stop" when an electric gripper and the cooperative control function are used together.
Hand[n].UnChuck / SelectHand[m,n].UnChuck	To activate an unchuck motion. Use "SelectHand[m,n]Un.Chuck" when an electric gripper and the cooperative control function are used together.
Hand[n].ZonState / SelectHand[m,n].ZonState	To present the status of whether or not the electric gripper is positioned within the set range. Use "SelectHand[m,n].ZonState" when an electric gripper and the cooperative control function are used together.
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
IAI*.GetCurrentPositionData	To acquire the position data.
IAI*.Home	To return to the home position.
IAI*.JogMinus	To execute jogging or inching to the home direction.
IAI*.JogPlus	To execute jogging or inching motion to the opposite to the home direction.
IAI*.MovePTP	To move the actuator to the target position by entering a numerical value.
IAI*.Pause	To pause and release the pause.
IAI*.ReadAlarmInfo	To obtain the latest alarm information.
IAI*.ReadCurrentAlarmCode	To obtain the alarm code currently issued.
IAI*.ReadCurrentPosition	To obtain the current position.
IAI*.ReadDSS1	To obtain the value of device status register 1.
IAI*.ReadDSS2	To obtain the value of device status register 2.
IAI*.ReadDSSE	To obtain the value of the expansion device status register.
IAI*.ReadPositionData	To obtain position data.
IAI*.ResetAlarm	To reset the alarm.
IAI*.Stop	To start deceleration to a stop.
IAI*.SwitchJogInching	To switch the operation mode between jogging and inching.
IAI*.SwitchPIOModbus	To switch enables/disables the Modbus command.
IAI*.SwitchServo	To turn on/off the servo.
IAI*.WritePositionData	To write position data.
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.
Interrupt	Skip 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.
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 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 by free curve interpolation.
MoveBackTraceLog	To execute the Home Position Guidance.
MoveMasterPos	To move the slave robot to the current position of COBOTTA when connecting with COBOTTA with the Mirror Control.
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.
OutputTCPSpeed	By using the analog output board manufactured by CONTEC, output voltage in proportion to the TCP speed.
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.
Posclr	Forcibly restores the current position of a joint to the designated position.
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.
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.

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.
SetCollisionDetection	Sets the parameters of collision detection for the specified table number.
SetExclusiveArea	Enable the exclusive area.
SetHandIO	Set the hand IO of the slave robot.
SetHoming	To perform the return to origin motion of the selective extended joint.
SetPriority	To set priority level of the own task.
SetPublicValue	Assign the value to Public local variable.
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.
SrvUnLock	Make Servo Lock unlocked for the designated axis.
StartLog	To start control log recording.
StartServoLog	Start Servo Log.
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.
StopLog	To stop control log recording.
StopServoLog	Stop ServoLog.
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.
SyncTime	This command allows different motion commands on multiple robots to operate synchronously.
SysInfo	Return the system information of the controller.
SysLog.Ctrl.Clear	To initialize control log data.
SysLog.Ctrl.Start	To start control log recording.
SysLog.Ctrl.Stop	To stop control log recording.
SysLog.Ctrl.UserData	To record the designated value to the control log. Executing this command for Home Position Guidance links the current robot position as a home position to the specified home position number.
SysLog.Servo.Clear	To initialize Servo logs.
SysLog.Servo.Start	To start Servo log recording.
SysLog.Servo.Stop	To stop Servo log recording.
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.
TrackAbsApproach	With the catch-up motion, perform a robot task motion that moves a robot arm to the approach position which is apart from the reference position by specified distance.
TrackAbsMove	With the catch-up motion, perform a robot task motion that move a robot to the designated target position.
TrackAbsMove S	With the catch-up motion, perform a robot task motion of free curve interpolation where a robot passes through designated path points.
TrackApproach	With the 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 tracking buffer.
TrackBufferIndexes	Take out index numbers of data stored in the tracking buffer, and then return them as an array.
TrackBufferRead	From the tracking buffer, read out specified data.
TrackBufferSort	Change the sorting order of data within the tracking buffer.
TrackConveyorSpd	Obtain the current speed of the conveyor or the turntable.
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 tracking buffer.
TrackCurBufferSort	Return the currently selected tracking buffer for sorting method of data with a variant type data array.
TrackCurMotionRange	Check whether the target position of the robot task motion is within the robot motion range.
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 catch-up motion, move a robot arm from the current position to -Z direction of the tool coordinate.
TrackDraw	With the catch-up motion, move a robot arm from the current position to the specified position with Travel distance.
TrackEncoder	Obtain the encoder value of the conveyor or the turntable.
TrackInitialize	Initializes the tracking buffer, then starts trigger detection. Executing this command to a slave robot connects it to the master robot when you use the conveyor tracking system with coordinated multiple robots.
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.
TrackMotionRange	Check whether there is any point entering the robot motion range, on the path of the target position of the robot task motion when the tracking-target work is within the tracking range.
TrackMove	With the catch-up motion, move a robot arm to the tracking target work.
TrackMove S	This enables a robot to execute free curve interpolation motion, while tracking a tracking target work carried by conveyor or turntable.
TrackOffsetMargin	In order to define the tracking start range, specify the offset value from the upstream limit of the tracking range.
TrackPrepareData	TrackPrepareData deletes the duplicated data in the tracking buffer among several workpice data detected by a vision sensor, rearranges the workpiece data in order from the most downstream one, and then return the data set. This command deletes duplicated data and rearranges workpiece data before setting the workpiece data in the tracking buffer by TrackSetVision. The return value of this command will be used as arguments of TrackSetVision without any modification.
TrackSetSensor	Store workpiece-related data detected by a sensor into tracking buffer.
TrackSetVision	Store workpiece-related data detected by a vision sensor into tracking buffer.
TrackShiftTarget	Change the target position of the tracking motion from Default position to the position specified by Offset value.
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 "Minimum Interval Length of Work Detection", which is a parameter for the conveyor or circular tracking.
TrackTargetPos	Read out workpiece data from the 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 tracking buffer.
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

Commands	Functions
ZForce	Specify the thrust force for current limiting function of the third axis (Z axis) in H Series Robot.

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( "DefaultRobot" )	The robot number specified here will be used if "Robot *" is omitted in programming.
#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 : 4559

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