Summary of SPEL+ Commands

The following is a summary of SPEL+ commands.

System Management Commands

Command	Description
Reset	Resets the controller.
SysConfig	Displays controller setup.
CtrlPref	Acquires the controller environment setting information for the Epson RC+ system settings.
SysErr	Returns the latest error status or warning status.
GUIVer$	Acquires the Epson RC+ version.
GetProjectInfo	Acquires the project name and project folder path open in Epson RC+.
Date	Sets the system date.
Time	Sets system time.
Date$	Returns the system date as a string.
Time$	Returns system time as a string.
Time Function	Displays / returns controller operation time.
Hour	Displays / returns controller operation time.
Stat	Returns controller status bits.
CtrlInfo	Returns controller information.
RobotInfo	Returns robot information.
RobotInfo$	Returns robot text information.
TaskInfo	Returns task information.
TaskInfo$	Returns task text information.
DispDev	Sets the current display device.
EStopOn	Return the Emergency Stop status.
CtrlDev	Returns the current control device number.
Cls	Clears the EPSON RC+ 6.0 Run, Operator, or Command window text area. Clears the TP print panel.
Toff	Turns off execution line display on the LCD.
Ton	Specifies a task which shows an execution line on the LCD.
SafetyOn	Return the Safety Door open status.
Eval	Executes a Command window statement from a program and returns the error status.
TeachOn	Returns the Teach mode status.
WindowsStatus	Returns the Windows startup status.
History	Displays the history of the command execution.
ClearHistory	Clears the history of the command execution.

Robot Control Commands

command	Description
AIO_TrackingSet	Set the distance tracking function
AIO_TrackingStart	Start the distance tracking function
AIO_TrackingEnd	End the distance tracking function
AIO_TrackingOn Function	Returns the status of the distance tracking function.
AtHome	Retunes if the current robot orientation is Home position or not.
Calib	Replaces the current arm posture pulse values with the current CalPls values.
CalPls	Specifies and displays the position and orientation pulse values for calibration.
Hofs	Returns the offset pulses used for software zero point correction.
JointAccuracy	Specifies and displays offset value of the axis correction accuracy
HofsJointAccuracy	Returns the offset pulses used for software zero point correction. without changing the axis correction accuracy.
MCal	Executes machine calibration for robots with incremental encoders.
MCalComplete	Returns status of MCal.
MCordr	Specifies and displays the moving joint order for machine calibration Mcal. Required only for robots with incremental encoders.
Power	Sets / returns servo power mode.
MHour Function	Returns the accumulated MOTOR ON time of the robot motors.
Motor	Sets / returns motor status.
SFree	Free joint the specified servo axis.
SLock	Release free joint state of the specified servo axis.
SyncRobots	Start the reserved robot motion.
Jump	Jumps to a point using point to point motion.
Jump3	Jumps to a point using 3D gate motion.
Jump3CP	Jumps to a point using 3D motion in continuous path.
JumpTLZ	Jumps to a point using 3D gate motion.
Arch	Sets / returns arch parameters for Jump motion.
ArchClr	Initializes the arch parameter setting.
LimZ	Sets the upper Z limit for the Jump command.
LimZMargin	Sets / returns the margin for error detection when the operation starts at the position higher than LimZ value.
Sense	Sets / returns the condition to stop the manipulator above the target coordinate when Sense is specified by Jump command.
JS	Returns status of Sense operation.
JT	Returns the status of the most recent Jump command for the current robot.
Go	Moves the robot to a point using point to point motion.
Pass	Executes simultaneous four joint Point to Point motion, passing near but not through the specified points.
Pulse	Moves the robot to a position defined in pulses.
BGo	Executes Point to Point relative motion, in the selected local coordinate system.
BMove	Executes linear interpolation relative motion, in the selected local coordinate system.
TGo	Executes Point to Point relative motion, in the current tool coordinate system.
TMove	Executes linear interpolation relative motion, in the selected tool coordinate system.
Till	Specifies motion stop when input occurs.
TillOn	Returns the current Till status.
!…!	Process statements during motion.
Speed	Sets / returns speed for point to point motion commands.
Accel	Sets / returns acceleration and deceleration for point to point motion.
SpeedFactor	Sets / returns speed for point to point motion commands.
Inertia	Specifies or displays the inertia settings for the robot arm.
Weight	Specifies or displays the weight settings for the robot arm.
Arc	Moves the arm using circular interpolation.
Arc3	Moves the arm in 3D using circular interpolation.
Move	Moves the robot using linear interpolation.
Curve	Defines the data and points required to move the arm along a curved path. Many data points can be defined in the path to improve precision of the path.
CVMove	Performs the continuous spline path motion defined by the Curve instruction.
SpeedS	Sets / returns speed for linear motion commands.
AccelS	Sets / returns acceleration and deceleration for linear motion.
SpeedR	Sets / returns speed for tool rotation.
AccelR	Sets / returns acceleration and deceleration for tool rotation.
AccelMax	Returns maximum acceleration value limit available for Accel.
Brake	Turns brake on or off for specified joint of the current robot.
Home	Moves robot to user defined home position.
HomeClr	Clears the home position definition.
HomeDef	Returns status of home position definition.
HomeSet	Sets user defined home position.
Hordr	Sets motion order for Home command.
InPos	Checks if robot is in position (not moving).
CurPos	Returns current position while moving.
TCPSpeed	Returns calculated current tool center point velocity.
Pallet	Defines a pallet or returns a pallet point.
PalletClr	Clears a pallet definition.
Fine	Specifies and displays the positioning error limits. (Unit: pulse)
FineDist	Specifies and displays the positioning error limits (Unit: mm)
FineStatus Function	Returns whether Fine or FineDist is used by the integer.
QP	Sets / returns Quick Pause status.
QPDecelR	Sets the deceleration speed of quick pause for the change of tool orientation during the CP motion.
QPDecelS	Sets the deceleration speed of quick pause in the CP motion.
CP	Sets CP (Continuous Path) motion mode.
Box	Specifies and displays the approach check area.
BoxClr	Clears the definition of approach check area.
BoxDef	Returns whether Box has been defined or not.
Plane	Specifies and displays the approach check plane.
PlaneClr	Clears (undefines) a Plane definition.
PlaneDef	Returns the setting of the approach check plane.
InsideBox	Returns the check status of the approach check area.
InsidePlane	Returns the check status of the approach check plane.
GetRobotInsideBox	Returns a robot which is in the approach check area.
GetRobotInsidePlane	Returns a robot which is in the approach check plane.
Find	Specifies or displays the condition to store coordinates during motion.
FindPos	Returns a robot point stored by Find during a motion command.
PosFound	Returns status of Find operation.
WaitPos	Waits for robot to decelerate and stop at position before executing the next statement while path motion is active.
Robot	Selects the current robot. (Returns the robot number by Robot Function)
RobotModel$	Returns the robot model name.
RobotName$	Returns the robot name.
RobotSerial$	Returns the robot serial number.
RobotType	Returns the robot type.
TargetOK	Returns a status indicating whether or not the PTP (Point to Point) motion from the current position to a target position is possible.
ROTOK Function	Returns whether an ROT modifier parameter can be added when issuing a move command to a destination.
JRange	Sets / returns joint limits for one joint.
Range	Sets limits for all joints.
XYLim	Sets or displays the permissible XY motion range limits for the robot.
XYLimClr	Clears the XYLim definition.
XYLimDef	Returns whether XYLim has been defined or not.
XYLimMode	Sets or displays the XYLim monitor method or returns the status.
XY	Returns a point from individual coordinates that can be used in a point expression.
Dist	Returns the distance between two robot points.
DiffToolOrientation Function	Returns the angle between the coordinate axes of Tool coordinate systems.
DiffPoint Function	Returns the difference between two specified points.
PTPBoost	Specifies or displays the acceleration, deceleration and speed algorithmic boost parameter for small distance PTP (point to point) motion.
PTPBoostOK	Returns whether or not the PTP (Point to Point) motion from a current position to a target position is a small travel distance.
PTPTime	Returns the estimated time for a point to point motion command without executing it.
CX	Sets / returns the X axis coordinate of a point.
CY	Sets / returns the Y axis coordinate of a point.
CZ	Sets / returns the Z axis coordinate of a point.
CU	Sets / returns the U axis coordinate of a point.
CV	Sets / returns the V axis coordinate of a point.
CW	Sets / returns the W axis coordinate of a point.
CR	Sets / returns the R axis coordinate of a point.
CS	Sets / returns the S axis coordinate of a point.
CT	Sets / returns the T axis coordinate of a point.
Pls	Returns the pulse value of one joint.
Agl	Returns joint angle at current position.
PAgl	Return a joint value from a specified point.
JA	Returns a robot point specified in joint angles.
AglToPls	Converts robot angles to pulses.
DegToRad	Converts degrees to radians.
RadToDeg	Converts radians to degrees.
Joint	Displays the current position for the robot in joint coordinates.
JTran	Perform a relative move of one joint.
PTran	Perform a relative move of one joint in pulses.
RealPls	Returns the pulse value of the specified joint.
RealPos	Returns the current position of the specified robot.
RealAccel Function	Returns the Accel value automatically adjusted by OLAccel.
PPls	Return the pulse position of a specified joint value from a specified point.
LJM Function	Returns the point data with the orientation flags converted to enable least joint motion when moving to a specified point based on the reference point.
AutoLJM	Sets the Auto LJM
AutoLJM Function	Returns the state of the Auto LJM
AutoOrientationFlag	Changes orientation flag of N6-A1000**.
AutoOrientationFlag Function	Returns the state of the AutoOrientationFlag
AvoidSingularity	Sets the Singularity avoiding function
AvoidSingularity Function	Returns the state of the Singularity avoiding function
SingularityAngle	Sets the singularity neighborhood angle for the singularity avoiding function
SingularityAngle Function	Returns the singularity neighborhood angle for the singularity avoiding function
SingularitySpeed	Sets the singularity neighborhood speed for the singularity avoiding function
SingularitySpeed Function	Returns the singularity neighborhood speed for the singularity avoiding function
SingularityDist	Sets the singularity neighborhood distance necessary for the singularity avoiding function.
SingularityDist Function	Returns the singularity neighborhood distance necessary for the singularity avoiding function.
AbortMotion	Aborts a motion command and puts the running task in error status.
Align Function	Returns point data converted to align robot orientation with the nearest coordinate axis in local coordinate system.
AlignECP Function	Returns point data converted to align robot orientation with a nearest coordinate axis in ECP coordinate system.
SoftCP	Sets / returns SoftCP motion mode.
SoftCP Function	Returns the status of SoftCP motion mode.
Here	Teach a robot point at the current position.
Where	Displays current robot position data.
PerformMode	Sets the mode of the robot.
PerformMode Function	Returns the robot performance mode number.
VSD	Sets the variable speed CP motion of SCARA robots.
VSD Function	Returns the variable speed CP motion setting of SCARA robots.
CP_Offset	Sets the offset time to start the subsequent motion command when executing CP On.
CP_Offset Function	Returns the offset time to start the subsequent motion command when executing CP On.
AvgSpeedClear	Clears and initializes the average of the joint speed.
AvgSpeed	Displays the average of the joint speed.
AvgSpeed Function	Returns the average value of the joint speed.
PeakSpeedClear	Clears and initializes the peak speed for one or more joints.
PeakSpeed	Displays the peak speed values for the specified joint.
PeakSpeed Function	Returns the peak speed for the specified joint.

Torque Commands

command	Description
TC	Returns the torque control mode setting and current mode.
TCSpeed	Specifies the speed limit in the torque control.
TCLim	Specifies the torque limit of each joint for the torque control mode.
RealTorque	Returns the current torque instruction value of the specified joint.
ATCLR	Clears and initializes the average torque for one or more joints.
ATRQ	Displays the average torque for the specified joint.
PTCLR	Clears and initializes the peak torque for one or more joints.
PTRQ	Displays the peak torque for the specified joint.
OLAccel	Sets up the automatic adjustment of acceleration/deceleration that is adjusted.
OLRate	Display overload rating for one or all joints for the current robot.
LimitTorque	Sets / returns the upper limit torque value in High power mode.
LimitTorque Function	Returns the LimitTorque setting value.
LimitTorqueLP	Sets / returns the upper limit torque value in Low power mode.
LimitTorqueLP Function	Returns the LimitTorqueLP setting value.
LimitTorqueStop	Specifies /returns whether or not to stop the robot when torque reaches the upper limit in High power mode.
LimitTorqueStop Function	Returns the LimitTorqueStop setting value.
LimitTorqueStopLP	Specifies / returns whether or not to stop the robot when torque reaches the upper limit in Low power mode.
LimitTorqueStopLP Function	Returns the LimitTorqueStopLP setting value.

Input / Output Commands

command	Description
On	Turns an output on.
Off	Turns an output off.
Oport	Reads status of one output bit.
Sw	Returns status of input.
In	Reads 8 bits of inputs.
InW	Returns the status of the specified input word port.
InBCD	Reads 8 bits of inputs in BCD format.
Out	Sets / returns 8 bits of outputs.
OutW	Simultaneously sets 16 output bits.
OpBCD	Simultaneously sets 8 output bits using BCD format.
MemOn	Turns a memory bit on.
MemOff	Turns a memory bit off.
MemSw	Returns status of memory bit.
MemIn	Reads 8 bits of memory I/O.
MemOut	Sets / returns 8 memory bits.
MemInW	Returns the status of the specified memory I/O word port. Each word port contains 16 memory I/O bits.
MemOutW	Simultaneously sets 16 memory I/O bits.
GetIODef	Acquires I/O labels and comments for bits, bytes, and words of input, output, and memory I/O.
SetIODef	Sets I/O labels and comments for bits, bytes, and words of input, output, and memory I/O.
Wait	Wait for condition or time.
TMOut	Sets default time out for Wait statement.
TW	Returns the status of the Wait condition and Wait timer interval.
Input	Receives input data from the display device and stored in a variable(s).
InReal	Reads an input data of 2 words (32 bits) as a floating-point data (IEEE754 compliant) of 32 bits.
Print	Display characters on current display window.
Line Input	Input a string from the current display window.
Input #	Allows string or numeric data to be received from a file, communications port, or database and stored in one or more variables.
Print #	Outputs data to the specified file, communications port, database, or device.
Line Input #	Reads data of one line from a file, communication port, database, or the device.
Lof	Checks whether the specified RS-232 or TCP/IP port has any lines of data in its buffer.
SetIn	For Virtual IO, sets specified input port (8 bits) to the specified value.
SetInW	For Virtual IO, sets specified input port (16 bits) to the specified value.
SetSw	For Virtual IO, sets specified input bit to the specified value.
IOLabel$	Returns the I/O label for a specified input or output bit, byte, or word.
IONumber	Returns the I/O number of the specified I/O label.
IODef	Returns whether the specified I/O label is defined.
OpenCom	Open an RS-232 communication port.
OpenCom Function	Acquires the task number that executes OpenCom.
CloseCom	Close the RS-232C port that has been opened with OpenCom.
SetCom	Sets or displays parameters for RS-232C port.
ChkCom	Returns number of characters in the reception buffer of a communication port
OpenNet	Open a TCP/IP network port.
OpenNet Function	Acquires the task number that executes OpenNet.
OutReal	Output the output data of real value as the floating-point data (IEEE754 compliant) of 32 bits to the output port 2 words (32 bits).
CloseNet	Close the TCP/IP port previously opened with OpenNet.
SetNet	Sets parameters for a TCP/IP port.
GetSetNet	Acquires all TCP/IP port parameters.
ChkNet	Returns number of characters in the reception buffer of a network port
WaitNet	Wait for TCP/IP port connection to be established.
Read	Reads characters from a file or communications port.
ReadBin	Reads binary data from a file or communications port.
Write	Writes characters to a file or communication port without end of line terminator.
WriteBin	Writes binary data to a file or communications port.
InputBox	Displays a prompt in a dialog box, waits for the operator to input text or choose a button, and returns the contents of the box.
MsgBox	Displays a message in a dialog box and waits for the operator to choose a button.
RunDialog	Runs an Epson RC+ dialog from a SPEL+ program.
JogPanel	Runs the Epson RC+ jog & teach screen from a SPEL+ program.
TeachPoint	Runs the Epson RC+ teach point screen from a SPEL+ program.
ToolWizard	Runs the Epson RC+ tool wizard screen from a SPEL+ program.
LatchEnable	Enable / Disable the latch function for the robot position by the R-I/O input.
LatchState Function	Returns the latch state of robot position using the R-I/O.
LatchPos Function	Returns the robot position latched using the R-I/O input signal.
SetLatch	Sets the latch function of the robot position using the R-I/O input.
AIO_In Function	Reads analog value form analog I/O input channel.
AIO_InW Function	Reads one word input data from analog I/O input channel.
AIO_Out	Output analog value on the analog I/O output channel.
AIO_Out Function	Returns the output state of analog I/O output channel.
AIO_OutW	Output the one word data to analog I/O output channel.
AIO_OutW Function	Returns the output state by one word of analog I/O output channel.
AIO_Set	Output the speed information to analog I/O output channel.
AIO_Set Function	Returns setting information of robot speed output which is set on optional analog I/O output channel.

Point Management Commands

command	Description
ClearPoints	Clears all point data in memory.
LoadPoints	Loads point data from a file in memory.
SavePoints	Saves point data to a file in memory.
ImportPoints	Imports a point file into the current project for the specified robot.
ExportPoints	Exports a point file to the specified path in the PC.
P#	Defines a specified point.
PDef	Returns the definition status of a specified point.
PDel	Deletes specified position data.
PLabel	Defines a label for a specified point.
PLabel$	Returns the point label associated with a point number.
PNumber	Returns the point number associated with a point label.
PList	Displays point data in memory for the current robot.
PLocal	Sets the local attribute for a point.
PDescription	Define a description of specified point data.
PDescription$	Returns description of point that defined to the specified point number
WorkQue_Add	Adds the work queue data (point data and user data) to the specified work queue.
WorkQue_AutoRemove	Sets the auto delete function to the specified work queue.
WorkQue_AutoRemove Function	Returns the state of the auto delete function set to the work queue.
WorkQue_Get Function	Returns the point data from the specified work queue.
WorkQue_Len Function	Returns the number of the valid work queue data registered to the specified work queue.
WorkQue_List	Displays the work queue data list (point data and user data) of the specified work queue
WorkQue_Reject	Sets and displays the minimum distance for double registration prevention of the point data to the specified work queue
WorkQue_Reject Function	Returns the distance of the double registration prevention set to the specified work queue
WorkQue_Remove	Deletes the work queue data (point data and user data) from the specified work queue
WorkQue_Sort	Sets and displays the Sort type of the specified work queue
WorkQue_Sort Function	Returns the Sort type of the specified work queue
WorkQue_UserData	Resets and displays the user data (real number) registered to the specified work queue
WorkQue_UserData Function	Returns the user data (real number) registered to the specified work queue

Coordinate Change Commands

command	Description
AreaCorrection Function	Returns point at which correction was made using correction area
AreaCorrectionClr	Clears correction area
AreaCorrectionDef	Returns correction area settings
AreaCorrectionInv Function	Returns corrected points to their original condition
AreaCorrectionOffset Function	Returns points relatively displaced from corrected points
AreaCorrectionSet	Sets and displays correction area
Arm	Sets / returns current arm.
ArmSet	Defines an arm.
ArmDef	Returns status of arm definition.
ArmClr	Clears an arm definition.
ArmCalib	Sets and returns enable or disable of arm length calibration.
ArmCalibClr	Clears arm length calibration.
ArmCalibDef Function	Returns status of arm length calibration.
ArmCalibSet	Defines and displays arm length calibration.
Tool	Sets / returns the current tool number.
TLSet	Defines or displays a tool coordinate system.
TLDef	Returns status of tool definition.
TLClr	Clears a tool definition.
ECP	Sets / returns the current ECP number.
ECPSet	Defines or displays an external control point.
ECPDef	Returns status of ECP definition.
ECPClr	Clears an ECP definition.
Base	Defines and displays the base coordinate system.
Local	Define a local coordinate system.
LocalDef	Returns status of local definition.
LocalClr	Clears (undefines) a local coordinate system.
Elbow	Sets / returns elbow orientation of a point.
Hand	Sets / returns hand (arm) orientation of a point.
Wrist	Sets / returns wrist orientation of a point.
J4Flag	Sets / returns the J4Flag setting of a point.
J6Flag	Sets / returns the J6Flag setting of a point.
J1Flag	Sets / returns the J1Flag setting of a point.
J2Flag	Sets / returns the J2Flag setting of a point.
J1Angle	Sets / returns the J1Angle setting of a point.
J4Angle	Sets / returns the J4Angle setting of a point.
VxCalib	Creates the calibration data.
VxTrans	Converts the pixel coordinates to the robot coordinates and returns the converted the point data.
VxCalInfo	Returns the calibration completion status / calibration data.
VxCalDelete	Deletes the calibration data.
VxCalSave	Saves the calibration data to the file.
VxCalLoad	Loads the calibration data from the file.

Program Control Commands

command	Description
Function	Declare a function.
For...Next	Executes one or more statements for a specific count.
GoSub	Execute a subroutine.
Return	Returns from a subroutine.
GoTo	Branch unconditionally to a line number or label.
Call	Call a user function.
If…Then...Else...EndIf	Conditional statement execution.
Else	Used with the If instruction to allow statements to be executed when the condition used with the If instruction is False. Else is an option for the If/Then instruction.
Select ... Send	Executes one of several groups of statements, depending on the value of an expression.
Do...Loop	Do...Loop construct.
Declare	Declares an external function in a dynamic link library (DLL).
Trap	Specify a trap handler.
OnErr	Defines an error handler.
Era	Returns the robot joint number for last error.
Erf$	Returns the function name for last error.
Erl	Returns the line number of error.
Err	Returns the error number.
Ert	Returns the task number of error.
Errb	Returns the robot number of error.
ErrMsg$	Returns the error message.
UserErrorDef	Returns whether the specified user error number or label is defined.
UserErrorLabel$	Returns the user error label of the specified user error number.
UserErrorNumber	Returns the user error number of the specified user error label.
Signal	Sends a signal to tasks executing WaitSig.
SyncLock	Synchronizes tasks using a mutual exclusion lock.
SyncUnlock	Unlocks a sync ID that was previously locked with SyncLock.
WaitSig	Waits for a signal from another task.
ErrorOn	Returns the error status of the controller.
Error	Generates a user error.
EResume	Resumes execution after an error-handling routine is finished.
PauseOn	Returns the pause status.
Exit	Exits a loop construct or function.

Program Execution Commands

command	Description
Xqt	Execute a task.
Pause	Pause all tasks that have pause enabled.
Cont	Resumes the controller after a Pause statement has been executed and continues the execution of all tasks.
Halt	Suspend a task.
Quit	Quits a task.
Resume	Resume a task in the halt state.
MyTask	Returns current task.
TaskDone	Returns the completion status of a task.
TaskState	Returns the current state of a task.
TaskWait	Waits to for a task to terminate.
Restart	Restarts the current main program group.
Recover	Executes safeguard position recovery and returns status.
RecoverPos	Returns the position where a robot was in when safeguard was open.
StartMain	Executes the main function from a background task.

Pseudo Statements

command	Description
#define	Defines a macro.
#ifdef ... #endif	Conditional compile.
#ifndef ... #endif	Conditional compile.
#include	Include a file.
#undef	Undefines an identifier previously defined with #define.

File Management Commands

command	Description
ChDir	Changes and displays the current directory.
ChDisk	Sets the object disk for file operations.
MkDir	Creates a subdirectory on a controller disk drive.
RmDir	Removes an empty subdirectory from a controller disk drive.
RenDir	Rename a directory.
FileDateTime$	Returns the date and time of a file.
FileExists	Checks if a file exists.
FileLen	Returns the size of a file.
FolderExists	Checks if a folder exists.
FreeFile	Returns / reserves a file number that is currently not being used.
Del	Deletes one or more files.
Copy	Copies a file to another location.
Rename	Renames a file.
AOpen	Opens file in the appending mode.
BOpen	Opens file in binary mode.
ROpen	Opens a file for reading.
Uopen	Opens a file for read / write access.
WOpen	Opens a file for writing.
Input #	Allows string or numeric data to be received from a file, communications port, or database and stored in one or more variables.
Print #	Outputs data to the specified file, communications port, database, or device.
Line Input #	Reads data of one line from a file, communication port, database, or the device.
Read	Reads characters from a file or communications port.
ReadBin	Reads binary data from a file or communications port.
Write	Writes characters to a file or communication port without end of line terminator.
WriteBin	Writes binary data to a file or communications port.
Seek	Changes position of file pointer for a specified file.
Close	Closes a file.
Eof	Returns end of file status.
ChDrive	Changes the current disk drive for file operations.
CurDir$	Returns a string representing the current directory.
CurDrive$	Returns a string representing the current drive.
CurDisk$	Returns a string representing the current disk.
Flush	Writes a file's buffer into the file.

Fieldbus Commands

command	Description
FbusIO_GetBusStatus	Returns the status of the specified Fieldbus.
FbusIO_GetDeviceStatus	Returns the status of the specified Fieldbus device.
FbusIO_SendMsg	Sends an explicit message to a Fieldbus device and returns the reply.

Numeric Value Commands

command	Description
Ctr	Return the value of a counter.
CTReset	Resets a counter.
ElapsedTime	Measures a takt time.
ResetElapsedTime	Resets and starts a takt time measurement timer.
Tmr	Returns the value of a timer.
TmReset	Resets a timer to 0.
Sin	Returns the sine of an angle.
Cos	Returns cosine of an angle.
Tan	Returns the tangent of an angle.
Acos	Returns arccosine.
Asin	Returns arcsine.
Atan	Returns arctangent.
Atan2	Returns arctangent based on X, Y position.
Sqr	Returns the square root of a number.
Abs	Returns the absolute value of a number.
Sgn	Returns the sign of a number.
Int	Converts a real number to an integer.
BClr	Clears one bit in a number and return the new value.
BSet	Sets a bit in a number and returns the new value.
BTst	Returns the status of 1 bit in a number.
BClr64	Clears one bit in a number and return the new value.
BSet64	Sets a bit in a number and returns the new value.
BTst64	Returns the status of 1 bit in a number.
Fix	Returns the integer portion of a real number.
Hex$ Function	Returns a string representing a specified number in hexadecimal format.
Randomize	Initializes the random-number generator.
Redim	Redimension an array at run-time.
Rnd	Return a random number.
UBound	Returns the largest available subscript for the indicated dimension of an array.

String Commands

command	Description
Asc	Returns the ASCII value of a character.
Chr$	Returns the character of a numeric ASCII value.
Left$	Returns a substring from the left side of a string.
Mid$	Returns a substring.
Right$	Returns a substring from the right side of a string.
Len	Returns the length of a string.
LSet$	Returns a string padded with trailing spaces.
RSet$	Returns a string padded with leading spaces.
Space$	Returns a string containing space characters.
Str$	Converts a number to a string.
Val	Converts a numeric string to a number.
LCase$	Converts a string to lower case.
UCase$	Converts a string to upper case.
LTrim$	Removes spaces from beginning of string.
RTrim$	Removes spaces from end of string.
Trim$	Removes spaces from beginning and end of string.
ParseStr	Parse a string and return array of tokens.
FmtStr	Format a number or string.
FmtStr$	Format a number or string.
InStr	Returns position of one string within another.
Tab$	Returns a string containing the specified number of tabs characters.

Logical Operators

command	Description
And	Performs logical and bitwise AND operation.
Or	Or operator.
LShift	Shifts bits to the left.
LShift64	Shifts bits to the left.
Mod	Modulus operator.
Not	Not operator.
RShift	Shifts numeric data to the right by a user specified number of bits.
RShift64	Shifts numeric data to the right by a user specified number of bits.
Xor	Exclusive Or operator.
Mask	Performs bitwise AND operation in Wait statements.

Variable commands

command	Description
Boolean	Declares Boolean variables.
Byte	Declares byte variables.
Double	Declares double variables.
Global	Declares global variables.
Int32	Declares 4-byte integer variables.
Integer	Declares 2-byte integer variables.
Long	Declares long integer variables.
Int64	Declares 8-byte integer variables.
Real	Declares real variables.
Short	Declares 2-byte integer variables.
String	Declares string variables.
UByte	Declares unsigned integer variables.
UInt32	Declares unsigned 4-byte integer variables.
UShort	Declares unsigned 2-byte integer variables.
UInt64	Declares unsigned 8-byte integer variables.

Security Commands

command	Description
GetCurrentUser$	Returns the current Epson RC+ user.
Login	Log into Epson RC+ as another user.

Conveyor Tracking Commands

command	Description
Cnv_AbortTrack	Aborts tracking motion to a conveyor queue point.
Cnv_Accel Function	Returns acceleration and deceleration for the conveyor.
Cnv_Accel	Sets acceleration and deceleration for the conveyor.
Cnv_AccelLim	Sets limit of acceleration and deceleration after the conveyor tracked.
Cnv_AccelLim Function	Returns limit of acceleration and deceleration after the conveyor tracked.
Cnv_Adjust	Sets whether operate to tracking delay of conveyor.
Cnv_AdjustClear	Clear adjustment of tracking delay of conveyor.
Cnv_AdjustGet Function	Returns adjustment of tracking delay of conveyor.
Cnv_AdjustSet	Sets adjustment of tracking delay of conveyor.
Cnv_Downstream Function	Returns the downstream limit for the specified conveyor.
Cnv_Downstream	Sets the downstream limit for the specified conveyor.
Cnv_Fine Function	Returns the current Cnv_Fine setting.
Cnv_Fine	Sets the value of Cnv_Fine for one conveyor.
Cnv_Flag Function	Returns the tracking state of the tracking abort line.
Cnv_Mode Function	Returns the setting mode value of the conveyor
Cnv_Mode	Sets the setting mode value of the conveyor
Cnv_Name\ $ Function	Returns the name of the specified conveyor.
Cnv_Number Function	Returns the number of a conveyor specified by name.
Cnv_OffsetAngle	Sets the offset value for the conveyor queue data.
Cnv_OffsetAngle Function	Returns the offset value of the conveyor queue data.
Cnv_Point Function	Returns a robot point in the specified conveyor's coordinate system derived from sensor coordinates.
Cnv_PosErr Function	Returns deviation in current tracking position compared to tracking target.
Cnv_PosErrOffset	Sets an offset value to correct the deviation in current tracking position compared to tracking target.
Cnv_Pulse Function	Returns the current position of a conveyor in pulses.
Cnv_QueAdd	Adds a robot point to a conveyor queue.
Cnv_QueGet Function	Returns a point from the specified conveyor's queue.
Cnv_QueLen Function	Returns the number of items in the specified conveyor's queue.
Cnv_QueList	Displays a list of items in the specified conveyor's queue.
Cnv_QueMove	Moves data from upstream conveyor queue to downstream conveyor queue.
Cnv_QueReject	Sets and displays the queue reject distance for a conveyor.
Cnv_QueReject Function	Returns the current part reject distance for a conveyor.
Cnv_QueRemove	Removes items from a conveyor queue.
Cnv_QueUserData	Sets and displays user data associated with a queue entry.
Cnv_QueUserData Function	Returns the user data value associated with an item in a conveyor queue.
Cnv_RobotConveyor Function	Returns the conveyor being tracked by a robot.
Cnv_Speed Function	Returns the current speed of a conveyor.
Cnv_Trigger	Latches current conveyor position for the next Cnv_QueAdd statement.
Cnv_Upstream Function	Returns the upstream limit for the specified conveyor.
Cnv_Upstream	Sets the upstream limit for the specified conveyor.

DB Commands

command	Description
CloseDB	Close the database that has been opened with the OpenDB command and releases the file number.
DeleteDB	Deletes data from the table in the opened database.
OpenDB	Opens a database or Excel workbook.
SelectDB Function	Searches the data in the table in an opened database.
UpdateDB	Updates data of the table in the opened database.

PG Commands

command	Description
PG_FastStop	Stops the PG axes immediately.
PG_LSpeed	Sets the pulse speed of the time when the PG axis starts accelerating and finishes decelerating.
PG_Scan	Starts the continuous spinning motion of the PG robot axes.
PG_SlowStop	Stops slowly the PG axis spinning continuously.

Collision Detection Commands

command	Description
CollisionDetect	Enables or disables the collision detection.
CollisionDetect Function	Returns the setting value of CollisionDetect command.

Parts Consumption Commands

command	Description
HealthCalcPeriod	Sets the calculation period of parts consumption control.
HealthCalcPeriod Function	Returns the calculation period of parts consumption control.
HealthCtrlAlarmOn Function	Returns the status of the parts consumption alarm for the specified Controller parts.
HealthCtrlInfo	Displays the remaining months before the recommended replacement time for the specified Controller parts.
HealthCtrlInfo Function	Returns the remaining months before the recommended replacement time for the specified Controller parts.
HealthCtrlRateOffset	Sets the offset for the consumption rate of the specified parts.
HealthCtrlReset	Clears the consumption rate for the specified Controller parts.
HealthCtrlWarningEnable	Sets enable or disable the parts consumption alarm notification of the Controller parts.
HealthCtrlWarningEnable Function	Returns enable or disable the parts consumption alarm notification of the controller part.
HealthRateCtrlInfo Function	Returns the consumption rate of the specified Controller parts.
HealthRateRBInfo Function	Returns the consumption rate for the specified robot parts.
HealthRBAlarmOn Function	Returns the status of the parts consumption alarm for the specified robot parts.
HealthRBAnalysis	Displays the analysis result regarding the parts consumption (remaining months before the recommended parts replacement time) for the specified robot parts.
HealthRBAnalysis Function	Returns the analysis result regarding the parts consumption (remaining months before the recommended parts replacement time) for the specified robot parts.
HealthRBDistance	Displays the driving amount of the specified joint.
HealthRBDistance Function	Returns the driving amount of the specified joint.
HealthRBInfo	Displays the remaining months before the recommended replacement time for the specified robot parts.
HealthRBInfo Function	Returns the remaining months before the recommended replacement time for the specified robot parts.
HealthRBRateOffset	Sets the offset for the consumption rate of the specified parts.
HealthRBReset	Clears the consumption rate for the specified robot parts.
HealthRBSpeed	Displays the average speed of the specified joint.
HealthRBSpeed Function	Returns the average of the absolute speed of the specified joint.
HealthRBStart	Starts analysis of the parts consumption for the specified robot parts.
HealthRBStop	Stops analysis of the parts consumption for the specified robot parts.
HealthRBTRQ	Displays the torque value of the specified joint.
HealthRBTRQ Function	Returns the torque value of the specified joint.
HealthRBWarningEnable	Sets enable or disable the parts consumption alarm notification of the robot parts.
HealthRBWarningEnable Function	Returns enable or disable the parts consumption alarm notification of the robot parts.

Simulator Commands

command	Description
SimSet	Sets the object settings, operations, and robot motions of simulator.
SimGet	Acquires the setting values of simulator object.

Hand Commands

For more details, refer to the following manual.
"Hand Function"

command	Description
Hand_On	Gripper: Execute a gripping of hand. Electric screwdriver: Execute a tightening screw of hand.
Hand_On Function	Gripper: Returns “True” when hand is gripping state. Electric screwdriver: Returns “True” when hand is complete to tighten screws.
Hand_Off	Gripper: Execute releasing hand. Electric screwdriver: Execute loosen screw of the hand.
Hand_Off Function	Gripper: Returns “True” when hand is releasing state. Electric screwdriver: Returns “True” when hand is complete to loosen screws.
Hand_TW Function	Returns “True” when the most recent Hand_On command and Hand_Off command is time out.
Hand_Def Function	Returns “True” when hand is defined.
Hand_Type Function	Returns type number of the hand.
Hand_Label$ Function	Returns label of the hand.
Hand_Number Function	Returns hand number of the hand.

Safety Function Commands

For more details, refer to the following manual.
"Robot Controller Safety Function Manual"

command	Description
SF_GetParam Function	Returns information on the safety function parameters.
SF_GetParam$ Function	Returns text information on the safety function parameters.
SF_GetStatus Function	Returns the status bit of the safety function.
SF_LimitSpeedS	Sets and displays the speed adjustment value for the function that adjusts the speed at the position set by the Tool command when SLS is enabled.
SF_LimitSpeedS Function	Returns the speed adjustment value of the function that adjusts the speed at the position set by the Tool command when SLS is enabled.
SF_LimitSpeedSEnable	Sets and displays On/Off for the function that adjusts the speed of the position set by the Tool command when SLS is enabled.
SF_LimitSpeedSEnable Function	Returns the status of the function that adjusts the speed at the position set by the Tool command when SLS is enabled.
SF_PeakSpeedS	Displays the peak speed value for the speed monitoring point.
SF_PeakSpeedS Function	Returns the peak speed value for the speed monitoring point.
SF_PeakSpeedSClear	Clears and initializes the peak speed value for the speed monitoring point.
SF_RealSpeedS	Displays the current speed of the speed monitoring point.
SF_RealSpeedS Function	Returns the current speed of the speed monitoring point.
SF_SetIn	For virtual safety IO, sets specified input port (8 bits) to the specified value.
SF_SetSw	For virtual safety IO, sets specified input to the specified value.

VRT Commands

For more details, refer to the following manual.
"Vibration Reduction Technology"

command	Description
VRT Statement	Select VRT number or display the selected VRT number.
VRT Function	Returns the current VRT number.
VRT_Clr	Clear the definition of VRT function.
VRT_CPMotion	Specifies whether enable or disable VRT function during CP motion.
VRT_CPMotion Function	Returns enable or disable VRT function during CP motion.
VRT_Def Function	Returns definition status of selected VRT number.
VRT_Description	Define a description for selected VRT number.
VRT_Description$ Function	Returns description of selected VRT number.
VRT_Label	Define a label to selected VRT number.
VRT_Label$ Function	Returns label of selected VRT number.
VRT_Number Function	Returns VRT number that corresponding VRT label.
VRT_Set	Define VRTParam1 and VRTParam2 of VRT function for each VRT number.
VRT_Set Function	Returns definition value of VRTParam1 and VRTParam2 that is define for each VRT number.
VRT_Trigger	Output measurement trigger to VR software.