V+ Language Reference Guide, v17.x


V+ Language Quick Reference

This Quick Reference table is arranged alphabetically by command name, click an underlined letter to jump to the first command that begins with that letter.

A

B

C

D

E

F

G

H

I

J

K

L

M

N

O

P

Q

R

S

T

U

V

W

X

Y

Z

 

Type Description
K Keyword
O Operator
PI Program instruction
RF Real-valued function
SW System switch
SP System parameter
TF Transformation function
ST String function
PP Precision point

 

Keyword

Type

Description

ABORT

PI

Terminate execution of an executing program task.

ABOVE

PI

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.

ABS

RF

Return absolute value.

ACCEL

PI

Set acceleration and deceleration for robot motions. Optionally, specify a defined acceleration profile.

ACCEL

RF

Return the current setting for robot acceleration or deceleration setting or return the maximum allowable percentage limits defined in the robot configuration profile.

...ADW

SW

Determines whether the V+ robot-control system controls the physical robot(s) (ADW disabled) or interacts with the Adept Digital Workcell simulation product running on a remote computer (ADW enabled).

AIO.IN

RF

Read a channel from one of the analog IO boards.

AIO.INS

RF

Test whether an analog input or output channel is installed.

AIO.OUT

PI

Write to a channel on one of the analog IO boards.

ALIGN

PI

Align the robot tool Z axis with the nearest world axis.

ALTER

PI

Specify the magnitude of the real-time path modification that is to be applied to the robot path during the next trajectory computation.This option is available only if your Adept system is equipped with the V+ Extensions option.

ALTOFF

PI

Terminate real-time path-modification mode (alter mode).

ALTON

PI

Enable real-time path-modification mode (alter mode), and specify the way in which ALTER coordinate information will be interpreted.

ALWAYS

K

Used with certain program instructions to specify a long-term effect.

AMOVE

PI

Position an extra robot axis during the next joint-interpolated or straight-line motion to a transformation location.

AND

O

Perform the logical AND operation on two values.

ANY

PI

Signal the beginning of an alternative group of instructions for the CASE structure.

APPRO

APPROS

PI

Start a robot motion toward a location defined relative to specified location.

ASC

RF

Return an ASCII character value from within a string.

ATAN2

RF

Return the size of the angle (in degrees) that has its trigonometric tangent equal to value_1/value_2.

ATTACH

PI

Make a device available for use by the application program.

AUTO

PI

Declare temporary variables that are automatically created on the program stack when the program is entered.

AUTO.POWER.OFF

SW

Control whether or not V+ disables high power when certain motion errors occur.

AVR

SW

Determines whether ActiveVR instructions received from a host system are handled or ignored by the V+ operating system.

AVR.LOG

SW

This system switch enables/disables a buffer to store ActiveVR instructions.

AVR.LOGSIZE

SP

This system parameter determines the size of the log circular buffer used by ActiveVR.

AVR.TRACE

SW

This system switch determines whether trace messages for ActiveVR instructions are displayed in the V+ monitor window.

BAND

O

Perform the binary AND operation on two values.

BASE

PI

Translate and rotate the World reference frame relative to the robot.

BASE

TF

Return the transformation value that represents the translation and rotation set by the last BASE command or instruction.

BCD

RF

Convert a real value to Binary Coded Decimal (BCD) format.

BELOW

PI

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.

BELT

SW

Control the function of the conveyor tracking features of the V+ system.

BELT

RF

Return information about a conveyor belt being tracked with the conveyor tracking feature.

BELT.MODE

SP

Set characteristics of the conveyor tracking feature of the system.

BITS

PI

Set or clear a group of digital signals based on a value.

BITS

RF

Read multiple digital signals and return the value corresponding to the binary bit pattern present on the signals.

BMASK

RF

Create a bit mask by setting individual bits.

BOR

O

Perform the binary OR operation on two values.

BRAKE

PI

Abort the current robot motion.

BREAK

PI

Suspend program execution until the current motion completes.

BSTATUS

RF

Return information about the status of the conveyor tracking system.

BXOR

O

Perform the binary exclusive-OR operation on two values.

BY

K

Complete the syntax of the SCALE and SHIFT functions.

CALIBRATE

PI

Initialize the robot positioning system with the robot's current position.

CALL

PI

Suspend execution of the current program and continue execution with a new program (that is, a subroutine).

CALLP

PI

Call a program given a pointer to the program in memory.

CALLS

PI

Suspend execution of the current program and continue execution with a new program (that is, a subroutine) specified with a string value.

CAS

RF

Compare a real variable to a test value, and conditionally sets a new value as one indivisible operation.

CASE

PI

Initiate processing of a CASE structure by defining the value of interest.

$CHR

ST

Return a one-character string corresponding to a given ASCII value.

CLEAR.EVENT

PI

Clear an event associated with the specified task.

CLOSE

CLOSEI

PI

Close the robot gripper.

COARSE

PI

Enable a low-precision feature of the robot hardware servo.

COM

O

Perform the binary complement operation on a value.

CONFIG

RF

Return a value that provides information about the robot's geometric configuration, or the status of the motion servo-control features.

COS

RF

Return the trigonometric cosine of a given angle.

CP

SW

Control the continuous-path feature.

CPOFF

PI

Instruct the V+ system to stop the robot at the completion of the next motion instruction (or all subsequent motion instructions) and null position errors.

CPON

PI

Instruct the V+ system to execute the next motion instruction (or all subsequent motion instructions) as part of a continuous path.

CUBRT

RF

Return the cube root of a parameter.

CYCLE.END

PI

Terminate the executing program in the specified task the next time it executes a STOP program instruction (or its equivalent).

Suspend processing of an executable program until a program running in the specified task completes execution.

DBLB

RF

Return the value of eight bytes of a string interpreted as an IEEE double-precision floating-point number.

$DBLB

ST

Return an 8-byte string containing the binary representation of a real value in double-precision IEEE floating-point format.

DCB

RF

Convert BCD digits into an equivalent integer value.

$DECODE

ST

Extract part of a string as delimited by given break characters.

DECOMPOSE

PI

Extract the (real) values of individual components of a location value.

$DEFAULT

ST

Return a string containing the current system default device, unit, and directory path for disk file access.

DEFBELT

PI

Define a belt variable for use with a conveyor tracking robot.

DEF.DIO

PI

Assign third-party digital I/O boards to standard V+ signal numbers for use by standard V+ instructions, functions, and monitor commands.

DEFINED

RF

Determine whether a variable has been defined.

DELAY

PI

Cause robot motion to stop for the specified time.

DELAY.IN.TOL

SW

Controls the timing of COARSE or FINE nulling after V+ completes a motion segment.

DELAY.POWER.OFF

SW

Enable/disable the ESTOP timer delay feature for servo errors.

DEPART

DEPARTS

PI

Start a robot motion away from the current location.

DEST

TF

Return a transformation value representing the planned destination location for the current robot motion.

DETACH

PI

Release a specified device from the control of the application program.

DEVICE

PI

Send a command or data to an external device and, optionally, return data back to the program. (The actual operation performed depends on the device referenced.)

DEVICE

RF

Return a real value from a specified device. The value may be data or status information, depending upon the device and the parameters.

DEVICES

PI

Send commands or data to an external device and optionally return data. The actual operation performed depends on the device referenced.

DISABLE

PI

Turn off one or more system control switches.

DISPLAY.CAMERA

SW

Set the number of camera values that will be displayed when a PARAMETER or SWITCH monitor command is issued.

DISTANCE

RF

Determine the distance between the points defined by two location values.

DN.RESTART

PI

Restarts DeviceNet communication if the CanBus goes offline.

DN.THROTTLE

SP

This parameter limits the number of nodes that are polled by the SmartController DeviceNet driver every scan interval to increase available CPU time.

DO

PI

Introduce a DO program structure.

DOS

PI

Execute a program instruction defined by a string expression.

DRIVE

PI

Move an individual joint of the robot.

DRY.RUN

SW

Control whether or not V+ communicates with the robot.

DURATION

PI

Set the minimum execution time for subsequent robot motions.

DURATION

RF

Return the current setting of one of the motion DURATION specifications.

DX

DY

DZ

RF

Return a displacement component of a given transformation value.

ELSE

PI

Separate the alternate group of statements in an IF ... THEN control structure.

ENABLE

PI

Turn on one or more system control switches.

$ENCODE

ST

Return a string created from output specifications. The string produced is similar to the output of a TYPE instruction.

END

PI

Mark the end of a control structure.

.END

PI

Mark the end of a V+ program.

ERROR

RF

Return the error number of a recent error that caused program execution to stop or caused a REACTE reaction.

ESTOP

PI

Assert the emergency-stop signal to stop the robot.

EXECUTE

PI

Begin execution of a control program.

EXIT

PI

Branch to the statement following the nth nested loop of a control structure.

FALSE

RF

Return the value used by V+ to represent a logical false result.

FCLOSE

PI

Close the disk file, graphics window, or graphics icon currently open on the specified logical unit.

FCMND

PI

Generate a device-specific command to the input/output device specified by the logical unit.

FCOPY

PI

Copy the information in an existing disk file to a new disk file.

FDELETE

PI

Delete the specified disk file, the specified graphics window and all its child windows, or the specified graphics icon.

FEMPTY

PI

Empty any internal buffers in use for a disk file or a graphics window by writing the buffers to the file or window if necessary.

FINE

PI

Enable a high-precision feature of the robot hardware servo.

FLIP

PI

Request a change in the robot configuration during the next motion so that the pitch angle of the robot wrist has a negative value.

FLTB

RF

Return the value of four bytes of a string interpreted as an IEEE single-precision floating-point number.

$FLTB

ST

Return a 4-byte string containing the binary representation of a real value in single-precision IEEE floating-point format.

FOPEN

PI

Create and open a new graphics window or TCP connection, or open an existing graphics window for subsequent input or output.

FOPENA
FOPEND
FOPENR
FOPENW

PI

Open a disk file for read-only, read-write, read-write-append, or read-directory, as indicated by the last letter of the instruction name.

FOR

PI

Execute a group of program instructions a certain number of times.

FORCE.FRAME

PI

AdeptForce option status and control instructions.

FRACT

RF

Return the fractional part of the argument.

FRAME

TF

Return a transformation value defined by four positions.

FREE

RF

Return the amount of unused free memory storage space.

FSEEK

PI

Position a file open for random access and initiate a read operation on the specified record.

FSET

PI

Set or modify attributes of a graphics window, serial line, or network device related to AdeptNet.

GAIN.SET

PI

Select a set of feedback gain parameters for one or more motors of the currently selected robot.

GARC

PI

Draw an arc or a circle in a graphics window.

GCHAIN

PI

Draw a chain of points in a graphics window to form a complex figure.

GCLEAR

PI

Clear an entire graphics window to the background color.

GCLIP

PI

Set the clipping rectangle for all graphics instructions (except GFLOOD), to suppress all subsequent graphics that fall outside the rectangle.

GCOLOR

PI

Set the foreground and background colors for subsequent graphics output.

GCOPY

PI

Copy one region of a window to another region in the same window.

GETC

RF

Return the next character (byte) from a device or input record on the specified logical unit.

GET.EVENT

RF

Return events that are set for the specified task.

GETEVENT

PI

Return information describing input from a graphics window or input from the terminal.

GFLOOD

PI

Flood a region in a graphics window with color.

GGETLINE

PI

Return pixel information from a single pixel row in a graphics window.

GICON

PI

Draw a predefined graphic symbol (icon) in a graphics window.

GLINE

PI

Draw a single line segment in a graphics window.

GLINES

PI

Draw multiple line segments in a graphics window.

GLOBAL

PI

Declare a variable to be global and specify the type of the variable.

GLOGICAL

PI

Set the logical operation to be performed between new graphics output and graphics data already displayed, and select which bit planes are affected by graphics instructions.

GOTO

PI

Perform an unconditional branch to the program step identified by the given label.

GPANEL

PI

Draw a rectangular panel with shadowed or grooved edges.

GPOINT

PI

Draw a single point in a graphics window.

GRECTANGLE

PI

Draw a rectangle in a graphics window.

GSCAN

PI

Draw a number of horizontal lines in a graphics window to form a complex figure.

GSLIDE

PI

Draw a slide bar in preparation for receiving slide events.

GTEXTURE

PI

Set the opaque/transparent mode and the texture pattern for subsequent graphics output.

GTRANS

PI

Scale, rotate, offset, and apply perspective correction to all subsequent graphics instructions.

GTYPE

PI

Display a text string in a graphics window.

HALT

PI

Stop program execution and do not allow the program to be resumed.

HAND

RF

Return the current hand opening.

HERE

PI

Set the value of a transformation or precision-point variable equal to the current robot location.

HERE

TF

Return a transformation value that represents the current location of the robot tool point.

HOUR.METER

RF

Return the current value of the robot hour meter.

ID

RF

Return values that identify the configuration of the current system.

$ID

ST

Return the system ID string.

IDENTICAL

RF

Determine whether two location values are exactly the same.

IF... GOTO

PI

Branch to the specified step label if the value of the logical expression is TRUE (nonzero).

IF ... THEN

PI

Conditionally execute a group of instructions (or one of two groups) depending on the result of a logical expression.

IGNORE

PI

Cancel the effect of a REACT or REACTI instruction.

INRANGE

RF

Return a value that indicates whether a location can be reached by the robot and, if not, why not.

INSTALL

PI

Install or remove software options available to Adept systems.

INT

RF

Return the integer part of the value.

INTB

RF

Return the value of two bytes of a string interpreted as a signed 16-bit binary integer.

$INTB

ST

Return a 2-byte string containing the binary representation of a 16-bit integer.

INT.EVENT

PI

Send an event (as though from a SET.EVENT instruction) to the current task if an interrupt occurs on a specified VMEbus vector or a specified digital I/O signal transitions to positive.

INVERSE

TF

Return the transformation value that is the mathematical inverse of the given transformation value.

IOGET

RF

Return a value from global memory or from a device on the VME bus.

$IOGETS

ST

Return a string value from a device on the VME bus.

IOPUT

PI

Write a value to global CPU memory or to a device on the VME bus.

IOSTAT

RF

Return status information for the last input/output operation for a device associated with a logical unit.

IOTAS

RF

Control access to shared devices on the VME bus.

IPS

K

Specify the units for a SPEED instruction as inches per second.

JHERE

PI

Records the current robot joint positions in real or double-precision variables. This instruction supports MicroV+.

JMOVE

PI

Moves all robot joints to positions described by a list of joint values. The robot performs a coordinated motion in joint-interpolated mode. This instruction supports MicroV+.

JOG

PI

Moves ("jogs") the specified axis or joint of the robot. Each time JOG executes, the specified axis or joint moves for 200 ms.

KERMIT.RETRY

SP

Establish the maximum number of times the (local) Kermit driver should retry an operation before reporting an error.

KERMIT.TIMEOUT

SP

Establish the delay parameter that the V+ driver for the Kermit protocol sends to the remote server.

KEYMODE

PI

Set the behavior of a group of keys on the pendant.

KILL

PI

Clear a program execution stack and detach any I/O devices that are attached.

LAST

RF

Return the highest index used for an array (dimension).

LATCH

TF

Return a transformation value representing the location of the robot at the occurrence of the last external trigger or AdeptForce guarded-mode trigger.

LATCHED

RF

Return the status of the external trigger and/or an AdeptForce guarded-mode trigger.

LEFTY

PI

Request a change in the robot configuration during the next motion so that the first two links of a SCARA robot resemble a human's left arm.

LEN

RF

Return the number of characters in the given string.

LNGB

RF

Return the value of four bytes of a string interpreted as a signed 32-bit binary integer.

$LNGBLOCK

ST

Set the program reaction lock-out priority to the value given.

MAX

RF

Return the maximum value contained in the list of values.

MC

PI

Introduce a monitor command within a command program.

MCP.MESSAGES

SW

Control how system error messages are handled when the controller keyswitch is not in the MANUAL position.

MCP.NO.POT

SW

Modifies the use of the STEP button on the MCP and on the T1/T2 Pendant.

MCS

PI

Invoke a monitor command from an application program.

MCS.MESSAGE

SW

Enable or disable output to the system terminal from monitor commands executed with the MCS instruction.

MESSAGES

SW

Enable or disable output to the system terminal from TYPE instructions.

$MID

ST

Return a substring of the specified string.

MIN

RF

Return the minimum value contained in the list of values.

MMPS

K

Specify the units for a SPEED instruction as millimeters per second.

MOD

O

Compute the modulus of two values.

MONITORS

SW

Enable or disable selecting of multiple monitor windows.

MOVE

MOVES

PI

Initiate a robot motion to the position and orientation described by the given location.

MOVEF

MOVESF

PI

Initiate a three-segment pick-and-place robot motion to the specified destination, moving the robot at the fastest allowable speed.

MOVET

MOVEST

PI

Initiate a robot motion to the position and orientation described by the given location and simultaneously operate the hand.

MULTIPLE

PI

Allow full rotations of the robot wrist joints.

NETWORK

RF

Return network status and IP address information

NEXT

PI

Branch to the END statement of the nth nested loop, perform the loop test, and loop if appropriate.

NOFLIP

PI

Request a change in the robot configuration during the next motion so that the pitch angle of the robot wrist has a positive value.

NONULL

PI

Instruct the V+ system not to wait for position errors to be nulled at the end of continuous-path motions.

NOOVERLAP

PI

Generate a program error if a motion is planned that causes selected multiturn axes to turn more than around) in order to avoid a limit stop.

NORMAL

TF

Correct a transformation for any mathematical round-off errors.

NOT

PI

Perform logical negation of a value.

NOT.CALIBRATED

SP

Indicate (or assert) the calibration status of the robots connected to the system.

NULL

PI

Instruct the V+ system to wait for position errors to be nulled at the end of continuous path motions.

NULL

TF

Return a null transformation value-one with all zero components.

OFF

RF

Return the value used by V+ to represent a logical false result.

ON

RF

Return the value used by V+ to represent a logical true result.

OPEN

OPENI

PI

Open the robot gripper.

OR

PI

Perform the logical OR operation on two values.

OUTSIDE

RF

Test a value to see if it is outside a specified range.

OVERLAP

PI

Disable the NOOVERLAP limit-error checking either for the next motion or for all subsequent motions.

PACK

PI

Replace a substring within an array of (128-character) string variables, or within a (nonarray) string variable.

PANIC

PI

Simulate an external E-stop or panic button press; stop all robots immediately, but do not turn off HIGH POWER.

PARAMETER

PI

Set the value of a system parameter.

PARAMETER

RF

Return the current setting of the named system parameter.

PAUSE

PI

Stop program execution but allow the program to be resumed.

PAYLOAD

PI

Adjust the feedforward compensation for a specified motor by setting a percentage of the maximum payload assumed for that motor.

#PDEST

PP

Return a precision-point value representing the planned destination location for the current robot motion.

PDNT.CLEAR PI Clears the current notification or custom message window, if any, and returns the T20 pendant back to the Home screen.
PDNT.NOTIFY PI Creates a pendant notification.
PDNT.WRITE PI Sets the pendant’s Custom Message screen.

PENDANT

RF

Return input from the pendant.

#PHERE

PP

Return a precision-point value representing the current location of the currently selected robot.

PI

RF

Return the value of the mathematical constant pi (3.141593).

#PLATCH

PP

Return a precision-point value representing the location of the robot at the occurrence of the last external trigger or AdeptForce guarded-mode trigger.

POS

RF

Return the starting character position of a substring in a string.

POWER

SP

Control or monitor the status of high power.

#PPOINT

PP

Return a precision-point value composed from the given components.

PRIORITY

RF

Return the current reaction lock-out priority for the program.

.PROGRAM

PI

Define the arguments that are passed to a program when it is invoked.

PROCEED PI Resume execution of an application program.

PROMPT

PI

Display a string on the system terminal and wait for operator input.

RANDOM

RF

Return a pseudorandom number.

REACT

PI

Initiate continuous monitoring of a specified digital signal and automatically trigger a subroutine call if the signal properly transitions.

REACTE

PI

Initiate the monitoring of errors that occur during execution of the current program task.

REACTI

PI

Initiate continuous monitoring of a specified digital signal. Automatically stop the current robot motion if the signal transitions properly and optionally trigger a subroutine call.

READ

PI

Read a record from an open file or from an attached device that is not file oriented. For an AdeptNet device, read a string from an attached and open TCP connection.

READY

PI

Move the robot to the READY location above the workspace, which forces the robot into a standard configuration.

RELAX

RELAXI

PI

Limp the pneumatic hand.

RELEASE

PI

Allow the next available program task to run.

RESET

PI

Turn off all the external output signals.

RETRY PI Repeat execution of the last interrupted program instruction and continue execution of the program.

RETURN

PI

Terminate execution of the current subroutine, and resume execution of the suspended program at its next step. A program may have been suspended by issuing a CALL, CALLP, or CALLS instruction, or by the triggering of a REACT, REACTE, or REACTI condition.

RETURNE

PI

Terminate execution of an error reaction subroutine and resume execution of the last-suspended program at the step following the instruction that caused the subroutine to be invoked.

RIGHTY

PI

Request a change in the robot configuration during the next motion so that the first two links of the robot resemble a human's right arm.

ROBOT

SW

Enable or disable one robot or all robots.

ROBOT.OPR

PI

Execute operations that are specific to the currently selected robot or robot module.

ROBOT.OPR

RF

Returns robot-specific data for the currently selected robot.

RUNSIG

PI

Turn on (or off) the specified digital signal as long as execution of the invoking program task continues.

RX

RY

RZ

TF

Return a transformation describing a rotation.

SCALE

TF

Return a transformation value equal to the transformation parameter with the position scaled by the scale factor.

SCALE.ACCEL

SW

Enable or disable the scaling of acceleration and deceleration as a function of program speed, as long as the program speed is below a preset threshold.

SCALE.ACCEL.ROT

SW

Specify whether or not the SCALE.ACCEL switch takes into account the Cartesian rotational speed during straight-line motions.

SCREEN.TIMEOUT

SP

Establish the time-out period for blanking the screen of the graphics monitor.

SEE

PI

Invoke the screen-oriented program editor to allow a program to be created, viewed, or modified.

SELECT

PI

Select a unit of the named device for access by the current task.

SELECT

RF

Return the unit number that is currently selected by the current task for the device named.

SET

PI

Set the value of the location variable on the left equal to the location value on the right of the equal sign.

SET.EVENT

PI

Set an event associated with the specified task.

#SET.POINT

PP

Return the commanded joint-angle positions computed by the trajectory generator during the last trajectory-evaluation cycle.

SET.SPEED

SW

Control whether or not the monitor speed can be changed from the pendant. The monitor speed cannot be changed when the switch is disabled.

SETBELT

PI

Set the encoder offset of the specified belt variable equal to the value of the expression.

SETDEVICE

PI

Initialize a device or set device parameters. (The actual operation performed depends on the device referenced.)

SHIFT

TF

Return a transformation value resulting from shifting the position of the transformation parameter by the given shift amounts.

SIG

RF

Returns the logical AND of the states of the indicated digital signals.

SIG.INS

RF

Return an indication of whether a digital I/O signal is installed in the system, or whether a software signal is available in the system.

SIGN

RF

Return the value 1, with the sign of the value parameter.

SIGNAL

PI

Turn on or off external digital output signals or internal software signals.

SIN

RF

Return the trigonometric sine of a given angle.

SINGLE

PI

Limit rotations of the robot wrist joint to the range -180 degrees to +180 degrees.

SOLVE.ANGLES

PI

Compute the robot joint positions (for the current robot) that are equivalent to a specified transformation.

SOLVE.FLAGS

RF

Return bit flags representing the robot configuration specified by an array of joint positions.

SOLVE.TRANS

PI

Compute the transformation equivalent to a given set of joint positions for the current robot.

SPEED

PI

Set the nominal speed for subsequent robot motions.

SPEED

RF

Return one of the system motion speed factors.

SPIN

PI

Rotate one or more joints of the selected robot at a specified speed.

SQR

RF

Return the square of the parameter.

SQRT

RF

Return the square root of the parameter.

STATE

RF

Return a value that provides information about the robot system state.

STATUS

RF

Return status information for an application program.

STOP

PI

Terminate execution of the current program cycle.

STRDIF

RF

Compare two strings byte by byte for the purpose of sorting. This function always compares bytes exactly. It ignores the setting of the UPPER system switch.

SWITCH

PI

Enable or disable a system switch based on a value.

SWITCH

RF

Return an indication of the setting of a system switch.

$SYMBOL

ST

Determine the user symbol that is referenced by a pointer previously obtained with the SYMBOL.PTR real-valued function.

SYMBOL.PTR

RF

Determine the value of a pointer to a user symbol in V+ memory.

$SYS.INFO

ST

This string function is intended to provide general system information. It also provides access to the ActiveVR log data.

TAS

RF

Return the current value of a real-valued variable and assign 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

RF

Return information about a program execution task.

TERMINAL

SP

Determine how V+ will interact with the system terminal.

TIME

PI

Set the date and time.

TIME

RF

Return an integer value representing either the four-digit date or the time specified in the given string parameter.

$TIME

ST

Return a string value containing either the current system date and time or the specified date and time.

$TIME4

ST

Return a string value containing either the current system four-digit date and time or the specified four-digit date and time.

TIMER

PI

Set the specified system timer to the given time value.

TIMER

RF

Return the current time value of the specified system timer.

TOOL

PI

Set the internal transformation used to represent the location and orientation of the tool tip relative to the tool mounting flange of the robot.

TOOL

TF

Return the value of the transformation specified in the last TOOL command or instruction.

TPS

RF

Return the number of ticks of the system clock that occur per second (Ticks Per Second).

TRACE

SW

Control the display of program steps on the system terminal during program execution.

TRANS

TF

Return a transformation value computed from the given X, Y, Z position displacements and y, p, r orientation rotations.

TRANSB

TF

Return a transformation value represented by a 48-byte string.

$TRANSB

ST

Return a 48-byte string containing the binary representation of a transformation value.

$TRUNCATE

ST

Return all characters in the input string until an ASCII NULL (or the end of the string) is encountered.

TYPE

PI

Display the information described by the output specifications on the system terminal. A blank line is output if no argument is provided.

UNIDIRECT

PI

Specify that a joint is turning only in a single direction.

$UNPACK

ST

Return a substring from an array of 128-character string variables.

UNTIL

PI

Indicate the end of a DO ... UNTIL control structure and specify the expression that is evaluated to determine when to exit the loop. The loop continues to be executed until the expression value is nonzero.

UPPER

SW

Control whether or not the case of each character is ignored when string comparisons are performed.

VAL

RF

Return the real value represented by the characters in the input string.

VALUE

PI

Indicate the values that a CASE statement expression must match in order for the program statements immediately following to be executed.

VLOCATION

TF

Returns a Cartesian transform result of the execution of the specified vision sequence. The returned value is a transform result: x, y, z, yaw, pitch, roll. For details, see the AdeptSight Reference Guide.

VPARAMETER

PI

Sets the current value of a vision tool parameter. For details, see the AdeptSight Reference Guide.

Can also be used with the Adept AnyFeeder. For details, see the Adept AnyFeeder User's Guide.

VPARAMETER

RF

Gets the current value of a vision tool parameter. For details, see the AdeptSight Reference Guide.

VRESULT

RF

Returns a specified result of a vision tool, or returns the status of a specified tool. For details, see the AdeptSight Reference Guide.

VRUN

PI

Initiates the execution of a vision sequence. For details, see the AdeptSight Reference Guide.

Can also be used with the Adept AnyFeeder. For details, see the Adept AnyFeeder User's Guide.

VSTATE

RF

Returns the state of the execution of a sequence. For details, see the AdeptSight Reference Guide.

Can also be used with the Adept AnyFeeder. For details, see the Adept AnyFeeder User's Guide.

VTIMEOUT

SP

Sets a timeout value so that an error message is returned if no response is received following a vision command. For details, see the AdeptSight Reference Guide.

VWAITI

PI

Waits efficiently until the specified vision sequence reaches the state specified by the type parameter. For details, see the AdeptSight Reference Guide.

Can also be used with the Adept AnyFeeder. For details, see the Adept AnyFeeder User's Guide.

WAIT

PI

Put the program into a wait loop for one system cycle. If a condition is specified, wait until the condition is TRUE.

WAIT.EVENT

PI

Suspend program execution until a specified event has occurred, or until a specified amount of time has elapsed.

WHILE

PI

Initiate processing of a WHILE structure if the condition is TRUE or skipping of the WHILE structure if the condition is initially FALSE.

WINDOW

PI

Set the boundaries of the operating region of the specified belt variable for conveyor tracking.

WINDOW

RF

Return a value that indicates 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.

WRITE

PI

Write a record to an open file, or to any I/O device. For an AdeptNet device, write a string to an attached and open TCP connection.

XOR

O

Perform the logical exclusive-OR operation on two values.

 

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Last modified on: 6/24/2014
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