Omron eV 3 Keyword Reference Manual
eV+3
Keyword Reference Manual
I652-E-03
Copyright Notice
The information contained herein is the property of Omron Robotics and Safety Technologies, Inc., and
shall not be reproduced in whole or in part without prior written approval of Omron Robotics and Safety
Technologies, Inc.. The information herein is subject to change without notice and should not be construed as a commitment by Omron Robotics and Safety Technologies, Inc. The documentation is periodically reviewed and revised.
Omron Robotics and Safety Technologies, Inc., assumes no responsibility for any errors or omissions in
the documentation.
Copyright 2020 Omron Robotics and Safety Technologies, Inc. by OMRON Corporation. All rights
reserved.
Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and
other countries for OMRON factory automation products.
EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
DeviceNet is a trademark of ODVA.
Other company names and product names in this document are the trademarks or registered trademarks
of their respective companies.
Created in the United States of America.
Table of Contents
Chapter 1: Introduction 13
1.1 Intended Audience
1.2 Related Manuals
1.3 Alert Levels
1.4 Special Information
1.5 Keyword Syntax
1.6 Keyword Parameters
Parameter Data Type Designations 16
Numeric Parameters 16
13
14
14
14
15
15
Chapter 2: Keyword QuickReference 19
2.1 Function Keyword Summary
2.2 Monitor Command Keyword Summary
2.3 Other Keyword Summary
2.4 Program Command Keyword Summary
2.5 System Parameter Keyword Summary
2.6 System Switch Keyword Summary
19
25
29
29
36
37
Chapter 3: Keyword Details 39
3.1 Function Keywords
ABS 39
ACCEL 40
ACOS 42
ALIGN 44
ASC 45
ASIN 46
ATAN2 48
BASE 50
BCD 51
BELT 52
BITS 54
BMASK 56
BSTATUS 57
CAS 59
$CHR 60
COM 61
CONFIG 62
COS 67
CUBRT 69
$DBLB 70
DBLB 71
39
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DCB 73
$DECODE 74
$DEFAULT 77
DEFINED 79
DEST 80
DEVICE 82
DISTANCE 84
DURATION 85
DX 87
DY 88
DZ 89
ENCLATCH 90
$ENCODE 91
$ERROR 94
ERROR 95
FALSE 100
$FLTB 101
FLTB 102
FRACT 104
FRAME 105
FREE 107
GETC 108
GET.EVENT 110
HERE 111
HOUR.METER 112
$ID 113
ID 114
IDENTICAL 124
INRANGE 125
$INTB 127
INT 128
INTB 130
INVERSE 132
IOSTAT 133
LAST 136
LATCH 138
LATCHED 139
LEN 141
$LNGB 142
LNGB 143
MAX 145
$MID 146
MIN 147
NETWORK 148
NORMAL 150
NOT 151
NULL 152
OFF 153
ON 154
OUTSIDE 155
PARAMETER 156
#PDEST 157
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#PHERE 158
PI 159
#PLATCH 160
POS 161
#PPOINT 162
PRIORITY 164
RANDOM 165
RX 166
RY 167
RZ 168
SCALE 169
SELECT 170
#SET.POINT 172
SHIFT 173
SIG.INS 174
SIGN 176
SIG 177
SIN 179
SOLVE.FLAGS 181
SPEED 183
SQRT 185
SQR 186
STATE 187
STATUS 195
STRDIF 197
SWITCH 199
TAN 200
TAS 201
TASK 204
$TIME 207
$TIME4 209
TIME 211
TIMER 213
TOOL 216
TPS 217
TRANS 218
$TRANSB 220
TRANSB 221
TRUE 222
$TRUNCATE 223
$UNPACK 224
VAL 226
VLOCATION 227
VPARAMETER 230
VRESULT 232
VSTATE 234
WINDOW 235
3.2 Monitor Command Keywords
ABORT 238
BASE 240
BITS 242
CALIBRATE 244
238
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CD 247
COMMANDS 248
COPY 250
CYCLE.END 251
DEFAULT 253
DELETE 257
DELETEL 259
DELETEM 261
DELETEP 263
DELETER 265
DELETES 267
DIRECTORY 269
DISABLE 271
DO 273
ENABLE 275
ESTOP 277
EXECUTE 278
FCOPY 282
FDELETE 284
FDIRECTORY 286
FLIST 291
FREE 292
FRENAME 293
FSET 294
HERE 295
ID 297
IO 300
JOG 302
KILL 306
LIST 307
LISTL 309
LISTP 311
LISTR 312
LISTS 314
LOAD 316
MDIRECTORY 319
MODULE 321
NET 323
PANIC 326
PARAMETER 327
PING 329
PRIME 330
PROCEED 332
RENAME 334
RESET 335
RESET.LOCK 336
RETRY 337
SELECT 339
SIGNAL 341
SPEED 343
SRV.RESET 345
SSTEP 346
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STACK 348
STATUS 350
STORE 354
STOREL 356
STOREM 358
STOREP 360
STORER 362
STORES 364
SWITCH 366
TESTP 368
TOOL 369
WAIT.START 371
WHERE 373
XSTEP 374
ZERO 377
3.3 Other Keywords
.END 379
IPS 380
MMPS 381
3.4 Program Command Keywords
ABORT 382
ABOVE 384
ACCEL 386
ALIGN 389
ALTER 390
ALTOFF 392
ALTON 393
ANY 395
APPRO 396
APPROS 397
ATTACH 398
AUTO 402
BASE 405
BELOW 407
BITS 409
BRAKE 411
BREAK 412
BY 414
CALIBRATE 415
CALL 419
CALLS 422
CASE 424
CLEAR.EVENT 427
CLEAR.LATCHES 428
COARSE 429
CPOFF 431
CPON 433
CYCLE.END 435
DECOMPOSE 437
DEF.DIO 439
DEFBELT 441
379
382
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DEPART 443
DEPARTS 445
DETACH 447
DISABLE 449
DO 451
DOS 453
DRIVE 455
DURATION 457
ELSE 459
ENABLE 460
END 462
ESTOP 464
EXECUTE 465
EXIT 469
EXTERNAL 470
FCLOSE 472
FCMND 473
FCOPY 477
FDELETE 479
FEMPTY 481
FINE 483
FLIP 485
FOPEN 488
FOPENA 491
FOPEND 494
FOPENR 497
FOPENW 500
FOR 503
FSEEK 505
FSET 507
GLOBAL 509
GOTO 511
HALT 512
HERE 513
IF ... GOTO 515
IF ... THEN 517
IGNORE 519
JMOVE 520
JOG 521
KEYMODE 525
KILL 527
LEFTY 528
LOCAL 530
LOCK 532
MC 534
MCS 536
MULTIPLE 538
MOVE 539
MOVEC 540
MOVES 547
NEXT 548
NOFLIP 549
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NONULL 550
NOOVERLAP 552
NULL 554
OVERLAP 556
PACK 558
PANIC 560
PARAMETER 561
PAUSE 563
PDNT.CLEAR 564
PDNT.NOTIFY 565
PDNT.WRITE 566
PENDANT 568
PROCEED 571
.PROGRAM 573
PROMPT 576
REACT 578
REACTE 581
REACTI 583
READ 585
READY 589
RELEASE 591
RESET 592
RETRY 593
RETURN 595
RETURNE 596
RIGHTY 597
RUNSIG 599
SELECT 601
SET.EVENT 603
SET 604
SETBELT 606
SETDEVICE 608
SIGNAL 610
SINGLE 612
SOLVE.ANGLES 613
SOLVE.TRANS 620
SPEED 622
STOP 625
SWITCH 626
TIMER 628
TOOL 629
TYPE 630
UNTIL 633
VALUE 634
VPARAMETER 635
VRUN 637
VWAITI 638
WAIT 639
WAIT.EVENT 640
WHILE 643
WINDOW 645
WRITE 647
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3.5 System Parameter Keywords
BELT.MODE 650
DEVIATION 653
JOG.TIME 654
NOT.CALIBRATED 655
VTIMEOUT 657
3.6 SystemSwitch Keywords
AUTO.POWER.OFF 658
CP 660
DECEL.100 661
DELAY.IN.TOL 662
DRY.RUN 664
MESSAGES 666
OBSTACLE 667
POWER 669
ROBOT 671
SCALE.ACCEL 673
SCALE.ACCEL.ROT 675
UPPER 676
650
658
10 eV+3KeywordReferenceManual 22353-000 Rev. C
Revision History
Revision
Code
A July, 2020 Original release
B August, 2020 Minor corrections and updates
C October, 2020 Updates for Viper robots and minor corrections
ReleaseDate Details
22353-000 Rev. C eV+3KeywordReferenceManual 11
Chapter 1: Introduction
eV+ uses a special programming language and command set to send and request information
to and from the operating system. The keywords detailed in this manual are used when creating programs with Sysmac Studio and issuing commands from the Monitor Window in the
Sysmac Studio interface.
Additional Information: More information about keyword syntax, parameters,
and data types can be found in theeV+3 User'sManual (Cat.No. I651).
IMPORTANT: An error "Command not supported"will be returned if a
keyword is issued on a system that does not include the NJ-series Robot Integrated CPUUnit as the Host System.
There are 6 different types of keywords that are used based on the functionality that is needed
as described below.
Table 1-1. eV+ Keyword Types
Keyword Type Usage
Functionkeywords Used to return values from the eV+ Operating System.
Monitor command
keywords
Program command
keywords
System parameter
keyword
System switch
keywords
Other keywords Used to specify units when using the SPEEDprogram command
1.1 Intended Audience
This manual is intended for the following personnel, who must also have knowledge of common programming practices and robotic control methods.
l Personnel in charge of introducing FA systems.
l Personnel in charge of designing FA systems.
l Personnel in charge of installing and maintaining FA systems.
l Personnel in charge of managing FA systems and facilities.
Used to issue individual operations in the Monitor Window or to create Monitor Commandprograms.
Used to command operations in V+ Programs.
Used to manipulate systemparameters in V+ Programs or with the
Monitor Window.
Used to manipulate system switches in V+ Programs or with
theMonitor Window.
keyword.
Refer to the eV+3 User'sManual (Cat.No. I651) for more inform-
ation.
22353-000 Rev. C eV+3KeywordReferenceManual 13
1.2 Related Manuals
!
!
!
1.2 Related Manuals
Use the following related manuals for reference.
Manual Description
eV+3 User'sManual (Cat.No. I651) Provides information that is necessary to use
Table 1-2. Related Manuals
eV+.
Sysmac Studio Robot Integrated System Building Function with Robot Integrated CPU Unit
Operation Manual (Cat. No. W595)
Robot User Guides User Guide for the robot in use.
T20 Pendant User's Manual (Cat. No. I601) Describes the use of the optional T20 manual
NJ-series Robot Integrated CPUUnit
User'sManual (Cat. No. O037)
Robot Safety Guide (Cat. No. I590) Contains safety information forOMRON indus-
1.3 Alert Levels
The following alert levels are used throughout this document.
Learning about the operating procedures and
functions of the Sysmac Studio to configure
Robot Integrated System using Robot Integrated CPU Unit.
control pendant.
Describes the settings and operation of the
CPU Unit and programming concepts for
OMRON robot control.
trial robots.
DANGER: Identifies an imminently hazardous situation which, if not
avoided, is likely to result in serious injury, and might result in death or severe
property damage.
WARNING: Identifies a potentially hazardous situation which, if not avoided,
will result in minor or moderate injury, and might result in serious injury,
death, or significant property damage.
CAUTION: Identifies a potentially hazardous situation which, if not avoided,
might result in minor injury, moderate injury, or property damage.
1.4 Special Information
The following notation is used throughout this document to indicate special information.
IMPORTANT: Information to ensure safe use of the product.
14 eV+3KeywordReferenceManual 22353-000 Rev. C
NOTE: Information for more effective use of the product.
Additional Information: Helpful tips, recommendations, and best practices.
1.5 Keyword Syntax
Use the following guidelines with the keyword syntax provided in this manual.
l Keywords are presented with uppercase text and parameters are presented with lower-
case text.
l Any parentheses, brackets, and commas must be used exactly as shown.
l Bold text represents required syntax and non-bold text represents optional syntax.
l Commas must be present between consecutive parameters.
l Blank spaces are not evaluated by the system and extra spaces or missing spaces do not
cause syntax problems.
Use the following example to understand how keyword syntax is presented in this manual.
KEYWORD req_param1 = req_param2 SECONDARY.KEYWORD opt_param1, opt_param2
Chapter 1: Introduction
Item Details
KEYWORD Required and must be entered exactly as shown.
req_param1 Required and must be replaced with a value, variable, or expres-
= Assignment operator. If required, follows the keyword and / or
req_param2 Required when an equal sign is present and must be replaced with
SECONDARY.KEYWORD If present, required and must be entered exactly as shown.
opt_param1, opt_param2 Optional and if used, must be replaced with a value, variable, or
1.6 Keyword Parameters
This section describes parameters and how they are used withkeyword syntax.
NOTE: Do not confuse keyword parameters with system parameter keywords.
Refer to System Parameter Keywords on page 650 for more information.
Table 1-3. Keyword Syntax Details
sion.
parameters.
a value, variable, or expression.
expression.
Parameters are considered arguments to keywords. Keywords may have multiple required and
optional parameters. Some keywords do not use any parameters such as BREAK or FALSE .
22353-000 Rev. C eV+3KeywordReferenceManual 15
1.6 Keyword Parameters
When an optional parameter is omitted, the system will assume a default. Omitting an
optional parameter that is in the middle of the keyword's syntax must respect the use of any
necessary commas, as shown below.
CALL program_name(1, , n+3)
If an the optional parameter is trailing, it can be removed if unused. Consider the CALL
keyword shown with the syntax structure CALL program(arg_list). If this keyword is used to
simply execute a new subroutine program without passing arguments, the syntax would be as
follows.
CALL program_name
Parameter Data Type Designations
The data type of the constant or variable must be the same type that is required by the
keyword. String and numeric parameters can be constant values or any valid variable names.
Use the following rules to designate parameter data types used in keyword syntax.
l String variables must be preceded with the $symbol and string constants must be
enclosed in quotes.
l Precision Point variables must be preceded with a # symbol.
l Belt variables must be preceded with a % symbol.
l Real and integer constants can be used without modification.
Additional Information: Keywords cannot be used as variable names or program names.
Numeric Parameters
Several types of numeric parameters can appear in keyword syntax. For each type of parameter, the value can generally be specified by a numeric constant, a variable name, or a mathematical expression. There are some restrictions on the numeric values that are accepted by
eV+. The following rules determine how a value will be interpreted in the various situations.
l Distances are used to define locations to where a robot is to move. The unit of measure
for distances is in millimeters, although units are never explicitly entered for any value.
Values entered for distances can be positive or negative. Refer to theIPS keyword for a
special case of specifying robot speed in inches/s.
l Joint numbers are integers from 1 up to the number of joints in the robot. Refer to the
robot User's Guide for information about robot joint numbering arrangements.
l Signal numbers are used to identify digital signals. They are always considered as
integer values. A negative signal number indicates an OFF state. Refer to the appropriate robot user's guide and the eV+3 User'sManual (Cat.No. I651) for more information
about signal numbers for your particular robot.
l Integer parameters can be satisfied with real values (values with integer and fractional
parts). When an integer is required, the value is rounded and the resulting integer is
used.
l Parameters indicated as being scalar variables can be satisfied with a real value (with
integer and fractional parts) except where noted. Scalar variables can range from -
16 eV+3KeywordReferenceManual 22353-000 Rev. C
Chapter 1: Introduction
9.22*1018to 9.22*1018in value (displayed as -9.22E18 and 9.22E18). Numbers declared
to be double-precision values can range from -1.8*10
-307
to 1.8*10
-307
.
All numbers in this manual are decimal unless otherwise noted. Binary numbers are shown as
^B, octal numbers as ^, and hexadecimal numbers as ^H.
22353-000 Rev. C eV+3KeywordReferenceManual 17
Chapter 2: Keyword QuickReference
Use the sections below as a quick reference to all keywords described in this document.
2.1 Function Keyword Summary
The table below provides a summary of all function keywords.
Keyword Description Reference
ABS Real-valued function that returns the absolute value (mag-
nitude) of the argument provided.
ACCEL Real-valued function that returns the current setting for robot
acceleration, deceleration, or the maximum allowable percentage limits defined in the robot configuration profile.
ACOS Real-valued function that returns the arc cosine of its argu-
ment.
ALIGN Transformation function that aligns the input location with the
nearest axis of the world coordinate system.
ASC Real-valued function that returns an ASCII character value
from within a string.
ASIN Real-valued function that returns the arc sine of its argument. Page 46
ATAN2 Real-valued function that returns the size of the angle in
degrees that has its trigonometric tangent equal to value_
1/value_2.
BASE Transformation function that returns the transformation value
that represents the translation and rotation set by the last
BASE program command or monitor command.
BCD Real-valued function that converts a real value to Binary Coded
Decimal (BCD) format.
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BELT Real-valued function that returns information about a con-
veyor belt being tracked with the conveyor tracking feature.
BITS Real-valued function that reads multiple digital signals and
returns the value corresponding to the binary bit pattern.
BMASK Real-valued function that creates a bit mask by setting indi-
vidual bits.
BSTATUS Real-valued function that returns information about the status
of the conveyor tracking system.
CAS Real-valued function that compares a real variable to a test
value and conditionally sets a new value as one indivisible operation.
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2.1 Function Keyword Summary
Keyword Description Reference
$CHR String function that returns a one-character string cor-
responding to a given ASCII value.
COM Perform the binary complement operation on a value. Page 61
CONFIG Real-valued function that returns a value providing information
about the robot's geometric configuration or the status of the
motion servo control features.
COS Real-valued function that returns the trigonometric cosine of a
given angle.
CUBRT Real-valued function that returns the cube root of a value. Page 69
$DBLB String function that returns an 8-byte string containing the bin-
ary representation of a real value in double-precision IEEE 754
floating-point format.
DBLB Real-valued function that returns the value of eight bytes of a
string interpreted as an IEEE double-precision floating-point
number.
DCB Real-valued function that converts BCD digits into an equi-
valent integer value.
$DECODE String function that extracts part of a string as delimited by
given break characters.
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$DEFAULT String function that returns a string containing the current or
initial system default device, unit, and directory path for disk
file access.
DEFINED Real-valued function that determines if a variable has been
defined.
DEST Transformation function that returns a transformation value
representing the planned destination location for the current
robot motion.
DEVICE Real-valued function that returns a real value from a specified
device. The value may be data or status information, depending
upon the device and the parameters.
DISTANCE Real-valued function that determines the distance between the
points defined by two location values.
DURATION Real-valued function that returns the current setting for one of
the motion DURATION specifications.
DX Real-valued function that returns the X-axis component of a
given transformation value.
DY Real-valued function that returns the Y-axis component of a
given transformation value.
DZ Real-valued function that returns the Z-axis component of a
given transformation value.
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20 eV+3KeywordReferenceManual 22353-000 Rev. C
Chapter 2: Keyword QuickReference
Keyword Description Reference
ENCLATCH Real-valued function that returns the encoder position for any
encoder in the system at the occurrence of the last latch.
$ENCODE String function that returns a string created from output spe-
cifications.
$ERROR String function that returns the error message associated with
the given error code.
ERROR Real-valued function that returns the message number of a
recent system message that caused program execution to stop
or caused a REACTE operation.
FALSE Real-valued function that returns the value used by eV+ to rep-
resent a logical false result.
$FLTB String function that returns a 4-byte string containing the bin-
ary representation of a real value in single-precision IEEE floating-point format.
FLTB Real-valued function that returns the value of four bytes of a
string interpreted as an IEEE single-precision floating-point
number.
FRACT Real-valued function that returns the fractional part of the argu-
ment.
FRAME Transformation function that returns a transformation value
defined by four positions.
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FREE Real-valued function that returns the amount of unused free
memory of storage space.
GETC Real-valued function that returns the next character (byte)
from a device or input record on the specified logical unit.
GET.EVENT Real-valued function that return events that are set for the spe-
cified task.
HERE Transformation function that returns a transformation value
that represents the current location of the robot tool point.
HOUR.METER Real-valued function that returns the current value of the
robot hour meter.
$ID String function that returns the system ID string. Page 113
ID Real-valued function that returns values that identify the con-
figuration of the current system.
IDENTICAL Real-valued function that determines whether two location val-
ues are exactly the same.
INRANGE Real-valued function that returns a value that indicates if a spe-
cific location can be reached by the robot and provides additional information when a location cannot be reached.
$INTB String function that returns a 2-byte string containing the bin- Page 127
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22353-000 Rev. C eV+3KeywordReferenceManual 21
2.1 Function Keyword Summary
Keyword Description Reference
ary representation of a 16-bit integer.
INT Real-valued function that returns the integer part of the value. Page 128
INTB Real-valued function that returns the value of two bytes of a
string interpreted as a signed 16-bit binary integer.
INVERSE Transformation function that returns the transformation value
that is the mathematical inverse of the given transformation
value.
IOSTAT Real-valued function that returns status information for the
last input / output operation for a device associated with a
logical unit.
LAST Real-valued function that returns the highest index used for an
array (dimension).
LATCH Transformation function that returns a transformation value
representing the location of the robot at the occurrence of the
last external trigger.
LATCHED Real-valued function that returns the status of the position
latch and which input triggered it.
LEN Real-valued function that returns the number of characters in
the given string.
$LNGB String function that returns a 4-byte string containing the bin-
ary representation of a 32-bit integer.
LNGB Real-valued function that returns the value of four bytes of a
string interpreted as a signed 32-bit binary integer.
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MAX Real-valued function that returns the maximum value con-
tained in the list of values.
$MID String function that returns a substring of the specified string. Page 146
MIN Real-valued function that returns the minimum value con-
tained in the list of values.
NETWORK Real-valued function that returns network status and
IPaddress information of the robot controller.
NORMAL Transformation function that corrects a transformation for any
mathematical round-off errors.
NOT Operator that performs logical negation of a value. Page 151
NULL Transformation function that returns a null transformation
value (one with all zero components).
OFF Real-valued function that returns the value used by eV+ to rep-
resent a logical false result.
ON Real-valued function that returns the value used by eV+ to rep-
resent a logical true result.
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22 eV+3KeywordReferenceManual 22353-000 Rev. C
Chapter 2: Keyword QuickReference
Keyword Description Reference
OUTSIDE Real-valued function that tests a value to determine if it is out-
side a specified range.
PARAMETER Real-valued function that returns the current setting of the
named system parameter.
#PDEST Precision-point function that returns a precision-point value rep-
resenting the planned destination location for the current robot
motion.
#PHERE Precision-point function that returns a precision-point value rep-
resenting the current location of the currently selected robot.
PI Real-valued function that returns the value of the math-
ematical constant pi (3.141593).
#PLATCH Precision-point function that returns a precision-point value rep-
resenting the location of the robot at the occurrence of the last
external trigger.
POS Real-valued function that returns the starting character pos-
ition of a substring in a string.
#PPOINT Precision- point function that returns a precision-point value
composed from the given components.
PRIORITY Real-valued function that returns the current reaction lock-out
priority for the program.
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RANDOM Real-valued function that returns a pseudo-random number. Page 165
RX Transformation function that returns a transformation describ-
ing a rotation about the X-axis.
RY Transformation function that returns a transformation describ-
ing a rotation about the Y-axis.
RZ Transformation function that returns a transformation describ-
ing a rotation about the Z-axis.
SCALE Transformation function that returns a transformation value
equal to the transformation parameter with the position scaled
by the scale factor.
SELECT Real-valued function that returns information about the device
specified for the currently selected task. .
#SET.POINT Precision point function that returns the commanded joint-
angle positions computed by the trajectory generator during
the last trajectory-evaluation cycle.
SHIFT Transformation function that returns a transformation value
resulting from shifting the position of the transformation parameter by the given shift amounts.
SIG.INS Real-valued function that returns an indication of whether a
digital I/O signal is installed in the system or whether a software signal is available in the system.
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22353-000 Rev. C eV+3KeywordReferenceManual 23
2.1 Function Keyword Summary
Keyword Description Reference
SIGN Real-valued function that returns the value 1, with the sign of
the value parameter.
SIG Real-valued function that returns the logical AND of the states
of the indicated digital signals.
SIN Real-valued function that returns the trigonometric sine of a
given angle.
SOLVE.FLAGS Real-valued function that returns bit flags representing the
robot configuration specified by an array of joint positions.
SPEED Real-valued function that returns one of the system motion
speed factors.
SQRT Real-valued function that returns the square root of the para-
meter.
SQR Real-valued function that returns the square of the parameter. Page 186
STATE Real-valued function that returns a value to provide inform-
ation about the robot system state.
STATUS Real-valued function that returns status information for an
application program.
STRDIF Real-valued function that compares two strings byte-by-byte
for the purpose of sorting.
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SWITCH Real-valued function that returns information about the set-
ting of a system switch.
TAN Real-valued function that returns the trigonometric tangent of
a given angle.
TAS Real-valued function that returns the current value of a real-
valued variable and assigns it a new value. The two actions are
done indivisibly so that no other program task can modify the
variable at the same time.
TASK Real-valued function that returns information about a program
execution task.
$TIME String function that returns a string value containing either the
current system date and time or the specified date and time.
$TIME4 String function that returns a string value containing either the
current system four-digit date and time or the specified fourdigit date and time.
TIME Real-valued function that returns an integer value rep-
resenting either the date or the time specified in the given
string parameter.
TIMER Real-valued function that returns the current time value of the
specified system timer.
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TOOL Transformation function that returns the value of the trans- Page 216
24 eV+3KeywordReferenceManual 22353-000 Rev. C
Chapter 2: Keyword QuickReference
Keyword Description Reference
formation specified in the last TOOL operation.
TPS Real-valued function that returns the number of ticks of the
system clock that occur per second (Ticks Per Second).
TRANS Transformation function that returns a transformation value
computed from the given X, Y, Z position displacements and y,
p, r orientation rotations.
$TRANSB String function that returns a 48-byte string containing the bin-
ary representation of a transformation value.
TRANSB Transformation function that returns a transformation value
represented by a 48-byte or 96-byte string.
TRUE Real-valued function that returns the value used by eV+ to rep-
resent a logical true result.
$TRUNCATE String function that returns all characters in the input string
until an ASCII NUL (or the end of the string) is encountered.
$UNPACK String function that returns a substring from an array of 128-
character string variables.
VAL Real-valued function that returns the real value represented by
the characters in the input string.
VLOCATION Transformation function that returns a cartesian trans-
formation result of the execution of the specified vision
sequence. The returned value is a transform result as x, y, z,
yaw, pitch, and roll.
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VPARAMETER Transformation function that returns the current value of a vis-
ion tool parameter.
VRESULT Real-valued function that returns a specified result of a vision
tool, or returns the status of a specified tool.
VSTATE Real-valued function that returns the state of the execution of
a sequence.
WINDOW Real-valued function that returns a value to indicate where the
location described by the belt-relative transformation value is
relative to the predefined boundaries of the working range on a
moving conveyor belt.
2.2 Monitor Command Keyword Summary
The table below provides a summary of all monitor command keywords.
Keyword Description Reference
ABORT Monitor command that terminates execution of an execut-
able program.
BASE Monitor command that translates and rotates the world ref- Page 240
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2.2 Monitor Command Keyword Summary
Keyword Description Reference
erence frame relative to the robot.
CALIBRATE Monitor command that initializes the robot positioning sys-
tem.
CD Monitor command that displays or changes the default path
for disk access.
COMMANDS Monitor command that initiates processing of a Monitor
Commandprogram.
COPY Monitor command that creates a new program as a copy of
an existing program.
CYCLE.END Monitor command that terminates the specified executable
program the next time it executes a STOP operation or its
equivalent. It will suspend processing of a command program until a program completes execution.
DEFAULT Monitor command that defines the default relationship
between the eV+ disk logical device and the physical device
to be accessed. This also displays the current default.
DELETE Monitor command that deletes the specified programs from
the system memory.
DELETEL Monitor command that deletes the named location vari-
ables from the system memory.
DELETEM Monitor command that deletes the named program module
from the system memory.
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DELETEP Monitor command that deletes the named programs from
the system memory.
DELETER Monitor command that deletes the named real-valued vari-
ables from the system memory.
DELETES Monitor command that deletes the named string variables
from the system memory.
DIRECTORY Monitor command that displays the names of some or all of
the programs in the system memory.
DISABLE Monitor command that turns OFF one or more system
switches.
DO Monitor command that executes a keyword(s) as though it
were the next step in an executable program or the next
step in the specified task / program context.
ENABLE Monitor command that turns ON one or more system
switches.
ESTOP Monitor command that stops the robot in the same manner
as if an emergency stop signal was received.
EXECUTE Monitor command that begins execution of a control pro- Page 278
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Chapter 2: Keyword QuickReference
Keyword Description Reference
gram.
FCOPY Monitor command that copies the information in an existing
disk file to a new disk file.
FDELETE Monitor command that deletes one or more disk files match-
ing the given file specification.
FDIRECTORY Monitor command that displays information about the files
on a disk and the amount of space remaining for storage as
well as creates and delete subdirectories on disks.
FLIST Monitor command that lists the contents of the specified
disk file on the Monitor Window.
FREE Monitor command that displays the percentage of available
system memory not currently in use.
FRENAME Monitor command that changes the name of a disk file. Page 293
FSET Monitor command that sets or modifies attributes of a net-
work device.
HERE Monitor command that defines the value of a trans-
formation or precision-point variable to be equal to the current robot location.
ID Monitor command that displays identity information about
components of the system.
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IO Monitor command that displays the current states of
external digital input / output signals or internal software
signals.
JOG Monitor command that moves the specified joint of the
robot, or moves the robot tool along the specified Cartesian
axis. Each time JOG is executed, the robot moves for up to
300 ms.
KILL Monitor command that clears a program execution stack
and detaches any I/O devices that are attached.
LIST Monitor command that displays the value of the expression. Page 307
LISTL Monitor command that displays the values of the listed loc-
ations.
LISTP Monitor command that displays all the steps of the listed
user programs.
LISTR Monitor command that displays the values of the real
expressions specified.
LISTS Monitor command that displays the values of the specified
strings.
LOAD Monitor command that loads the contents of the specified
disk file into the system memory.
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2.2 Monitor Command Keyword Summary
Keyword Description Reference
MDIRECTORY Monitor command that displays the names of all the pro-
gram modules in the system memory or the names of the
programs in a specified program module.
MODULE Monitor command that creates a new program module, or
modifies the contents of an existing module.
NET Monitor command that displays status information about
the network. Also displays details about the remote mounts
that are currently defined in the eV+ system.
PANIC Monitor command that simulates an external E-stop button
press, stops all robots immediately but does not turn
OFFrobot high power.
PARAMETER Monitor command that sets or displays the values of
systemparameters.
PING Monitor command that tests the network connection to a
node.
PRIME Monitor command that prepares a program for execution
but does not start execution.
PROCEED Monitor command that resumes execution of an application
program.
RENAME Monitor command that changes the name of a user pro-
gram in memory to the new name provided.
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RESET Monitor command that will turn OFFall the digital output
signals.
RESET.LOCK Monitor command that detaches a robot from the applic-
ation program.
RETRY Monitor command that repeats execution of the last inter-
rupted statement and continues execution of the program.
SELECT Monitor command that selects a robot for subsequent Mon-
itor Window operations
SIGNAL Monitor command that turns ON or OFF digital output sig-
nals, internal software signals, or host signals.
SPEED Monitor command that specifies monitor speed. Page 343
SRV.RESET Monitor command that restarts and resets eV+. Page 345
SSTEP Monitor command that executes a single step or an entire
subroutine of a control program.
STACK Monitor command that specifies the amount of system
memory reserved for a program task to use for subroutine
calls and automatic variables.
STATUS Monitor command that returns status information for the
system and the programs being executed.
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28 eV+3KeywordReferenceManual 22353-000 Rev. C
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Keyword Description Reference
STORE Monitor command that stores programs and variables in a
disk file.
STOREL Monitor command that stores location variables in a disk
file.
STOREM Monitor command that stores a specified program module
to a disk file.
STOREP Monitor command that stores program files to a disk file. Page 360
STORER Monitor command that stores real variables in a disk file. Page 362
STORES Monitor command that stores a string variable in a disk file. Page 364
SWITCH Monitor command that displays the settings of system
switches in theMonitor Window.
TESTP Monitor command that tests for the presence of the named
program in the system memory.
TOOL Monitor command that sets the internal transformation
used to represent the location and orientation of the tool tip
relative to the tool-mounting flange of the robot.
WAIT.START Monitor command that puts a Monitor Commandprogram
into a wait state until a condition is satisfied.
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WHERE Monitor command that displays the current location of the
robot and the hand opening.
XSTEP Monitor command that executes a single step of a program. Page 374
ZERO Monitor command that initializes the eV+ system and
deletes all the programs and data in system memory.
2.3 Other Keyword Summary
The table below provides a summary of all keywords not categorized as function, monitor command, program command, system parameter, or system switch keywords.
Keyword Description Reference
.END Keyword that marks the end of an eV+ program. Page 379
IPS Specify the units for a SPEED program command as inches
per second.
MMPS Specify the units for a SPEED program command as mil-
limeters per second.
2.4 Program Command Keyword Summary
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The table below provides a summary of all program command keywords.
22353-000 Rev. C eV+3KeywordReferenceManual 29
2.4 Program Command Keyword Summary
Keyword Description Reference
ABORT Terminate execution of an executing program task. Page 382
ABOVE Request a change in the robot configuration during the
next motion so that the elbow is above the line from the
shoulder to the wrist.
ACCEL Set acceleration and deceleration for robot motions and
optionally specify a defined acceleration profile.
ALIGN Align the robot tool Z-axis with the nearest world axis. Page 389
ALTER Specify the magnitude of the real-time path modification
that is to be applied to the robot path during the next trajectory computation.
ALTOFF Terminate real-time path-modification mode (alter mode). Page 392
ALTON Enable real-time path-modification mode (alter mode) and
specify the way in which alter coordinate information will
be interpreted.
ANY Signal the beginning of an alternative group of commands
for the CASE structure.
APPRO Start a robot motion toward a location defined relative to
specified location with joint-interpolated motion.
APPROS Start a robot motion toward a location defined relative to
specified location with straight-line motion.
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ATTACH Make a device available for use by the application program. Page 398
AUTO Declare temporary variables that are automatically created
on the program stack when the program is entered.
BASE Translate and rotate the world reference frame relative to
the robot.
BELOW Request a change in the robot configuration during the
next motion so that the elbow is below the line from the
shoulder to the wrist.
BITS Set or clear a group of digital signals based on a value. Page 409
BRAKE Abort the current robot motion. Page 411
BREAK Suspend program execution until the current motion com-
pletes.
BY Completes the syntax of theSCALE andSHIFT functions. Page 414
CALIBRATE Initialize the robot positioning system with the robot's cur-
rent position.
CALL Suspend execution of the current program and continue
execution with a new subroutine program.
CALLS Suspend execution of the current program and continue
execution with a new subroutine program specified with a
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