Appendix A: SPEL+ Command Use Condition List

Command window: Command can be used in the command window.
Program: Command can be used as a statement in the SPEL+ program.
Function: Command can be used as a function.

Command		Command window		Program	Function
Command		RC+	TP3/TP4	Program	Function
A	AbortMotion	✓	✓	✓	-
	Abs	-	-	✓	✓
	Accel Statement	✓	✓	✓	✓
	AccelMax	-	-	✓	✓
	AccelR Statement	✓	✓	✓	✓
	AccelS	✓	✓	✓	✓
	Acos	-	-	✓	✓
	Agl	-	-	✓	✓
	AglToPls	-	-	✓	✓
	AIO_In	✓	✓	-	✓
	AIO_InW	✓	✓	-	✓
	AIO_Out	✓	✓	✓	✓
	AIO_OutW	✓	✓	✓	✓
	AIO_Set	✓	✓	✓	✓
	AIO_TrackingSet	✓	✓	✓	-
	AIO_TrackingStart	-	-	✓	-
	AIO_TrackingEnd	-	-	✓	-
	AIO_TrackingOn	✓	✓	✓	✓
	Align	-	-	✓	✓
	AlignECP	-	-	✓	✓
	And	-	-	✓	-
	AOpen	✓	✓	✓	-
	Arc	✓	✓	✓	-
	Arc3 Statement	✓	✓	✓	-
	Arch	✓	✓	✓	✓
	AreaCorrection	✓	✓	✓	✓
	AreaCorrectionClr	✓	✓	✓	-
	AreaCorrectionDef	✓	✓	✓	✓
	AreaCorrectionInv	✓	✓	✓	✓
	AreaCorrectionOffset	✓	✓	✓	✓
	AreaCorrectionSet	✓	✓	✓	-
	Arm	✓	✓	✓	✓
	ArmClr	✓	✓	✓	-
	ArmDef	-	-	✓	✓
	ArmLib	-	-	✓	-
	ArmReserve	-	-	-	✓
	ArmSet	✓	✓	✓	✓
	Asc	-	-	✓	✓
	ArmCalib	✓	✓	✓	✓
	ArmCalibClr	✓	✓	✓	-
	ArmCalibDef	-	-	✓	✓
	ArmCalibSet	✓	✓	✓	✓
	Asin	-	-	✓	✓
	Atan	-	-	✓	✓
	Atan2	-	-	✓	✓
	ATCLR Statement	✓	✓	✓	-
	AtHome	-	-	✓	✓
	ATRQ Statement	✓	✓	✓	✓
	AutoLJM	✓	✓	✓	✓
	AvoidSingularity	✓	✓	✓	✓
B	Base	✓	✓	✓	-
	BClr	-	-	✓	✓
	BClr64	-	-	✓	✓
	BGo Statement	✓	✓	✓	-
	BMove	✓	✓	✓	-
	Boolean Statement	-	-	✓	-
	BOpen	✓	✓	✓	-
	Box Statement	✓	✓	✓	✓
	BoxClr	✓	✓	✓	-
	BoxDef	-	-	✓	✓
	Brake Statement	✓	✓	✓(Function only)	✓
	BSet	-	-	✓	✓
	BSet64	-	-	✓	✓
	BTst	-	-	✓	✓
	BTst64	-	-	✓	✓
	Byte	-	-	✓	-
C	Calib	✓	✓	✓	-
	CalibGrooveHome	✓	✓	-	-
	CalibGrooveHomeSet	✓	✓	-	✓
	Call	-	-	✓	-
	CalPls	✓	✓	✓	✓
	ChDir	✓	✓	✓	-
	ChDisk	✓	✓	✓	-
	ChDrive	✓	✓	✓	-
	ChkCom	-	-	✓	✓
	ChkNet	-	-	✓	✓
	Chr$	-	-	✓	✓
	ClearHistory	✓	-	-	-
	ClearPoints	✓	✓	✓	-
	Close	✓	✓	✓	-
	CloseCom	✓	✓	✓	-
	CloseDB	✓	✓	✓	-
	CloseNet	✓	✓	✓	-
	Cls	✓	✓	✓	-
	Cnv_AbortTrack	✓	✓	✓	-
	Cnv_Accel	✓	✓	✓	✓
	Cnv_AccelLim	✓	✓	✓	✓
	Cnv_Adjust	✓	✓	✓	-
	Cnv_AdjustClear	✓	✓	✓	-
	Cnv_AdjustGet	✓	✓	✓	✓
	Cnv_AdjustSet	✓	✓	✓	-
	Cnv_Downstream	✓	✓	✓	✓
	Cnv_Fine	✓	✓	✓	✓
	Cnv_LPulse	-	-	✓	✓
	Cnv_Mode	✓	✓	✓	✓
	Cnv_Name$	-	-	✓	✓
	Cnv_Number	-	-	✓	✓
	Cnv_OffsetAngle	✓	✓	✓	✓
	Cnv_Point	-	-	✓	✓
	Cnv_PosErr	-	-	✓	✓
	Cnv_PosErrOffset	-	-	✓	-
	Cnv_Pulse	-	-	✓	✓
	Cnv_QueAdd	✓	✓	✓	-
	Cnv_QueGet	-	-	✓	✓
	Cnv_QueLen	-	-	✓	✓
	Cnv_QueList	✓	✓	-	-
	Cnv_QueMove	✓	✓	✓	-
	Cnv_QueReject	✓	✓	✓	✓
	Cnv_QueRemove	✓	✓	✓	-
	Cnv_QueUserData	✓	✓	✓	✓
	Cnv_RobotConveyor	-	-	✓	✓
	Cnv_Speed	-	-	✓	✓
	Cnv_Trigger	✓	✓	✓	-
	Cnv_Upstream	✓	✓	✓	✓
	CollisionDetect	✓	✓	✓	✓
	Cont	✓	-	✓	-
	Copy	✓	✓	✓	-
	Cos	-	-	✓	✓
	CP Statement	✓	✓	✓	✓
	Ctr	-	-	✓	✓
	CTReset Statement	✓	✓	✓	-
	CtrlDev	-	-	✓	✓
	CtrlInfo	-	-	✓	✓
	CtrlPref	-	-	-	✓
	CurDir$	-	-	✓	✓
	CurDisk$	-	-	✓	✓
	CurDrive$	-	-	✓	✓
	CurPos	-	-	✓	✓
	Curve Statement	✓	✓	✓	-
	CVMove	✓	✓	✓	-
	CP_Offset	✓	✓	✓	✓
	CR	✓	✓	✓	✓
	CS	✓	✓	✓	✓
	CT	✓	✓	✓	✓
	CU	✓	✓	✓	✓
	CV	✓	✓	✓	✓
	CW	✓	✓	✓	✓
	CX	✓	✓	✓	✓
	CY	✓	✓	✓	✓
	CZ	✓	✓	✓	✓
D	Date	✓	✓	✓	-
	Date$	-	-	✓	✓
	Declare	-	-	✓	-
	DegToRad	-	-	✓	✓
	Del	✓	✓	✓	-
	DeleteDB	✓	✓	✓	-
	DiffPoint	✓	✓	✓	✓
	DispDev	✓	✓	✓	✓
	Dist	-	-	✓	✓
	Do...Loop Statement	-	-	✓	-
	Double Statement	-	-	✓	-
E	ECP	✓	✓	✓	✓
	ECPClr	✓	✓	✓	-
	ECPDef	-	-	✓	✓
	ECPSet Statement	✓	✓	✓	✓
	ElapsedTime	-	-	✓	✓
	Elbow Statement	✓	✓	✓	✓
	EncReset	✓	✓	✓	-
	Eof	-	-	✓	✓
	Era	-	-	✓	✓
	EResume Statement	✓	✓	✓	-
	Erf$	-	-	✓	✓
	Erl	-	-	✓	✓
	Err	-	-	✓	✓
	Errb	✓	✓	✓	✓
	ErrMsg$	-	-	✓	✓
	Error Statement	✓	✓	✓	-
	ErrorOn	-	-	✓	✓
	Ert	-	-	✓	✓
	EStopOn	-	-	✓	✓
	Eval	-	-	✓	✓
	Exit Function	-	-	✓	-
	ExportPoints	✓	✓	✓	-
F	FbusIO_GetBusStatus	-	-	✓	✓
	FbusIO_GetDeviceStatus	-	-	✓	✓
	FbusIO_SendMsg	✓	✓	✓	-
	FileDateTime$	-	-	✓	✓
	FileExists	-	-	✓	✓
	FileLen	-	-	✓	✓
	Find Statement	✓	✓	✓	-
	FindPos	-	-	✓	✓
	Fine Statement	✓	✓	✓	✓
	FineDist	✓	✓	✓	✓
	FineStatus	✓	✓	✓	✓
	Fix	-	-	✓	✓
	Flush	✓	✓	✓	-
	FmtStr	✓	✓	✓	-
	FmtStr$	-	-	✓	✓
	FolderExists	-	-	✓	✓
	For...Next	-	-	✓	-
	Function...Fend	-	-	✓	-
G	GetIODef	-	-	✓	-
	GetProjectInfo	-	-	✓	-
	GetRobotInsideBox	-	-	✓	✓
	GetRobotInsidePlane	-	-	✓	✓
	Global	-	-	✓	-
	GetSetNet	-	-	✓	-
	Go Statement	✓	✓	✓	-
	Gosub...Return	-	-	✓	-
	Goto Statement	-	-	✓	-
	GUIVer$	-	-	-	✓
H	Halt	-	-	✓	-
	Hand Statement	✓	✓	✓	✓
	HealthCalcPeriod	✓	✓	✓	✓
	HealthCtrlAlarmOn	✓	✓	✓	✓
	HealthCtrlInfo	✓	✓	✓	✓
	HealthCtrlRateOffset	✓	✓	✓	-
	HealthCtrlReset	✓	✓	✓	-
	HealthCtrlWarningEnable	✓	✓	✓	✓
	HealthRateCtrlInfo	✓	✓	✓	✓
	HealthRateRBInfo	✓	✓	✓	✓
	HealthRBAlarmOn	✓	✓	✓	✓
	HealthRBAnalysis	✓	✓	✓	✓
	HealthRBDistance	✓	✓	✓	✓
	HealthRBInfo	✓	✓	✓	✓
	HealthRBRateOffset	✓	✓	✓	-
	HealthRBReset	✓	✓	✓	-
	HealthRBSpeed	✓	✓	✓	✓
	HealthRBStart	✓	✓	✓	-
	HealthRBStop	✓	✓	✓	-
	HealthRBTRQ	✓	✓	✓	✓
	HealthRBWarningEnable	✓	✓	✓	✓
	Here	✓	✓	✓	✓
	Hex$	-	-	✓	✓
	History	✓	-	-	-
	Hofs	✓	✓	✓	✓
	HofsJointAccuracy	✓	✓	✓	-
	Home	✓	✓	✓	-
	HomeClr	✓	✓	✓	-
	HomeDef	-	-	✓	✓
	HomeSet Statement	✓	✓	✓	✓
	Hordr	✓	✓	✓	✓
	Hour	✓	✓	✓	✓
I	If...Then..Else…EndIf	-	-	✓	-
	ImportPoints	✓	✓	✓	-
	In	-	-	✓	✓
	InBCD	-	-	✓	✓
	Inertia Statement	✓	✓	✓	✓
	InPos	-	-	✓	✓
	Input	✓	✓	✓	-
	Input #	✓	✓	✓	-
	InputBox	✓	✓	✓	-
	InReal	-	-	✓	✓
	InsideBox	-	-	✓	✓
	InsidePlane	-	-	✓	✓
	InStr	-	-	✓	✓
	Int	-	-	✓	✓
	Int32	-	-	✓	-
	Integer Statement	-	-	✓	-
	InW	-	-	✓	✓
	IODef	-	-	✓	✓
	IOLabel$	-	-	✓	✓
	IONumber	-	-	✓	✓
J	J1Angle	✓	✓	✓	✓
	J4Angle Function	✓	✓	✓	✓
	J1Flag	✓	✓	✓	✓
	J2Flag	✓	✓	✓	✓
	J4Flag	✓	✓	✓	✓
	J6Flag	✓	✓	✓	✓
	JA	-	-	✓	✓
	JogPanel	-	-	✓	-
	Joint	✓	✓	✓	-
	JointAccuracy	✓	✓	✓	✓
	JRange	✓	✓	✓	✓
	JS	-	-	✓	✓
	JT	-	-	✓	✓
	JTran	✓	✓	✓	-
	Jump	✓	✓	✓	-
	Jump3	✓	✓	✓	-
	Jump3CP	✓	✓	✓	-
	JumpTLZ	✓	✓	✓	-
L	LatchEnable	✓	✓	✓	-
	LatchPos	-	-	✓	✓
	LatchState	-	-	✓	✓
	LCase$	-	-	✓	✓
	Left$	-	-	✓	✓
	Len	-	-	✓	✓
	LimitTorque	✓	✓	✓	✓
	LimitTorqueLP	✓	✓	✓	✓
	LimitTorqueStop	✓	✓	✓	✓
	LimitTorqueStopLP	✓	✓	✓	✓
	LimZ	✓	✓	✓	✓
	LimZMargin	✓	✓	✓	✓
	Line Input	✓	✓	✓	-
	Line Input #	✓	✓	✓	-
	LJM	-	-	✓	✓
	LoadPoints Statement	✓	✓	✓	-
	Local	✓	✓	✓	✓
	LocalClr	✓	✓	✓	-
	LocalDef	-	-	✓	✓
	LocalReserve	-	-	-	✓
	Lof	-	-	✓	✓
	LogIn	-	-	✓	✓
	Long Statement	-	-	✓	-
	LSet$	-	-	✓	✓
	LShift	-	-	✓	✓
	LShift64	-	-	✓	✓
	LTrim$	-	-	✓	✓
M	Mask	-	-	✓	-
	MCal	✓	✓	✓	-
	MCalComplete	-	-	✓	✓
	MCordr	✓	✓	✓	✓
	MemIn	-	-	✓	✓
	MemInW	-	-	✓	✓
	MemOff Statement	✓	✓	✓	-
	MemOn	✓	✓	✓	-
	MemOut	✓	✓	✓	-
	MemOutW	✓	✓	✓	-
	MemSw	-	-	✓	✓
	MHour	-	-	✓	✓
	Mid$	-	-	✓	✓
	MkDir	✓	✓	✓	-
	Mod	-	-	✓	-
	Motor Statement	✓	✓	✓	✓
	Move	✓	✓	✓	-
	MsgBox	✓	✓	✓	✓
	MyTask	-	-	✓	✓
N	Next	-	-	✓	-
	Not	-	-	✓	-
O	Off	✓	✓	✓	-
	OLAccel	✓	✓	✓	✓
	OLRate	✓	✓	✓	✓
	On	✓	✓	✓	-
	OnErr	-	-	✓	-
	OpBCD Statement	✓	✓	✓	-
	OpenCom	✓	✓	✓	✓
	OpenDB	✓	✓	✓	-
	OpenNet	✓	✓	✓	✓
	Oport	-	-	✓	✓
	Or Operator	-	-	✓	-
	Out Statement	✓	✓	✓	✓
	OutReal	✓	✓	✓	✓
	OutW	✓	✓	✓	✓
P	P#	✓	✓	✓	-
	PAgl	-	-	✓	✓
	Pallet Statement	✓	✓	✓	✓
	PalletClr	✓	✓	✓	-
	ParseStr	✓	✓	✓	✓
	Pass	✓	✓	✓	-
	Pause	-	-	✓	-
	PauseOn	-	-	✓	✓
	PDescription	✓	✓	✓	-
	PDescription$	✓	✓	-	✓
	PDef	-	-	✓	✓
	PDel	✓	✓	✓	-
	PerformMode	✓	✓	✓	✓
	PG_FastStop	✓	✓	✓	-
	PG_LSpeed	✓	✓	✓	✓
	PG_Scan	✓	✓	✓	-
	PG_SlowStop	✓	✓	✓	-
	PLabel	✓	✓	✓	-
	PLabel$	-	-	✓	✓
	Plane Statement	✓	✓	✓	✓
	PlaneClr	✓	✓	✓	-
	PlaneDef	-	-	✓	✓
	PList Statement	✓	✓	✓	-
	PLocal	✓	✓	✓	✓
	Pls	-	-	✓	✓
	PNumber	-	-	✓	✓
	PosFound	-	-	✓	✓
	Power Statement	✓	✓	✓	✓
	PPls	-	-	✓	✓
	Print	✓	✓	✓	-
	Print	✓	✓	✓	-
	Print #	✓	✓	✓	-
	PTCLR	✓	✓	✓	-
	PTPBoost	✓	✓	✓	✓
	PTPBoostOK	-	-	✓	✓
	PTPTime	-	-	✓	✓
	PTran Statement	✓	✓	✓	-
	PTRQ	✓	✓	✓	✓
	Pulse	✓	✓	✓	✓
Q	QP	✓	✓	✓	-
	QPDecelR	✓	✓	✓	✓
	QPDecelS	✓	✓	✓	✓
	Quit	-	-	✓	-
R	RadToDeg	-	-	✓	✓
	Randomize	✓	✓	✓	-
	Range	✓	✓	✓	-
	Read	✓	✓	✓	-
	ReadBin	✓	✓	✓	-
	Real	-	-	✓	-
	RealAccel	-	-	✓	✓
	RealPls	-	-	✓	✓
	RealPos	-	-	✓	✓
	RealTorque Statement	-	-	✓	✓
	Recover	✓	-	✓	✓
	RecoverPos	-	-	✓	✓
	Redim Statement	✓	✓	✓	-
	Rename	✓	✓	✓	-
	RenDir	✓	✓	✓	-
	Reset	✓	✓	✓	-
	ResetElapsedTime	✓	✓	✓	-
	Restart	✓	-	✓	-
	Resume Statement	-	-	✓	-
	Return Statement	-	-	✓	-
	Right$	-	-	✓	✓
	RmDir	✓	✓	✓	-
	Rnd	-	-	✓	✓
	Robot	✓	✓	✓	✓
	RobotInfo	-	-	✓	✓
	RobotInfo$	-	-	✓	✓
	RobotModel$	-	-	✓	✓
	RobotName$	-	-	✓	✓
	RobotSerial$	-	-	✓	✓
	RobotType	-	-	✓	✓
	ROpen	✓	✓	✓	-
	ROTOK	✓	✓	✓	✓
	RSet$	-	-	✓	✓
	RShift64	-	-	✓	✓
	RShift	-	-	✓	✓
	RTrim$	-	-	✓	✓
	RunDialog	-	-	✓	-
S	SafetyOn	-	-	✓	✓
	SavePoints Statement	✓	✓	✓	-
	Seek	✓	✓	✓	-
	Select...Send	-	-	✓	-
	SelectDB	✓	✓	✓	✓
	Sense	✓	✓	✓	-
	SetCom Statement	✓	✓	✓	-
	SetIn	✓	✓	✓	-
	SetInReal	✓	✓	✓	-
	SetInW	✓	✓	✓	-
	SetIODef	-	-	✓	-
	SetLatch	✓	✓	✓	-
	SetNet	✓	✓	✓	-
	SetSw	✓	✓	✓	-
	SF_GetParam	✓	✓	✓	✓
	SF_GetParam$	✓	✓	✓	✓
	SF_GetStatus	✓	✓	✓	✓
	SF_LimitSpeedS	✓	✓	✓	✓
	SF_LimitSpeedSEnable	✓	✓	✓	✓
	SF_RealSpeedS	✓	✓	✓	✓
	SF_PeakSpeedS	✓	✓	✓	✓
	SF_PeakSpeedSClear	✓	✓	✓	-
	SF_SetIn	✓	-	✓	-
	SF_SetSw	✓	-	✓	-
	SFree Statement	✓	✓	✓	✓
	Sgn	-	-	✓	✓
	Short	-	-	✓	-
	Shutdown	✓	✓	✓	✓
	Signal	✓	✓	✓	-
	SignalReserve	-	-	-	✓
	SimGet	-	-	✓	-
	SimSet	✓	✓	✓	-
	Sin	-	-	✓	✓
	SingularityAngle	✓	✓	✓	✓
	SingularityDist	✓	✓	✓	✓
	SingularitySpeed	✓	✓	✓	✓
	SLock	✓	✓	✓	-
	SoftCP	✓	✓	✓	✓
	Space$	-	-	✓	✓
	Speed Statement	✓	✓	✓	✓
	SpeedFactor	✓	✓	✓	✓
	SpeedR	✓	✓	✓	✓
	SpeedS	✓	✓	✓	✓
	Sqr	-	-	✓	✓
	ST	-	-	✓	✓
	StartMain	-	-	✓	-
	Stat	-	-	✓	✓
	Str$	-	-	✓	✓
	String Statement	-	-	✓	-
	Sw	-	-	✓	✓
	SyncLock Statement	-	-	✓	-
	SyncLockReserve	-	-	-	✓
	SyncUnlock Statement	-	-	✓	-
	SyncRobots	✓	✓	✓	✓
	SysConfig	✓	✓	-	-
	SysErr	-	-	✓	✓
T	Tab$	-	-	✓	✓
	Tan	-	-	✓	✓
	TargetOK	-	-	✓	✓
	TaskDone	-	-	✓	✓
	TaskInfo	-	-	✓	✓
	TaskReserve	-	-	-	✓
	TaskInfo$	-	-	✓	✓
	TaskState Statement	✓	✓	✓	✓
	TaskWait	✓	✓	✓	-
	TC	✓	✓	✓	-
	TCLim	✓	✓	✓	✓
	TCPSpeed	-	-	✓	✓
	TCSpeed Statement	✓	✓	✓	✓
	TeachOn	-	-	✓	✓
	TeachPoint	-	-	-	✓
	TGo Statement	✓	✓	✓	-
	Till	✓	✓	✓	-
	TillOn	-	-	✓	✓
	Time Statement	✓	✓	✓	✓
	Time$	-	-	✓	✓
	TimerReserve	-	-	-	✓
	TLClr Statement	✓	✓	✓	-
	TLDef	-	-	✓	✓
	TLReserve	-	-	-	✓
	TLSet Statement	✓	✓	✓	✓
	TMOut	✓	✓	✓	-
	TMove	✓	✓	✓	-
	Tmr	-	-	✓	✓
	TmReset Statement	✓	✓	✓	-
	Toff	✓	✓	✓	-
	Ton	✓	✓	✓	-
	Tool	✓	✓	✓	✓
	ToolLib	-	-	✓	-
	ToolWizard	-	-	-	✓
	Trap	-	-	✓	-
	Trim$	-	-	✓	✓
	TW	-	-	✓	✓
U	UBound	-	-	✓	✓
	UByte	-	-	✓	-
	UCase$	-	-	✓	✓
	UInt32	-	-	✓	-
	UOpen	✓	✓	✓	-
	UpdateDB	✓	✓	✓	-
	UserErrorDef	-	-	-	✓
	UserErrorLabel$	-	-	-	✓
	UserErrorNumber	-	-	-	✓
	UShort	-	-	✓	-
V	Val	-	-	✓	✓
	VSD	✓	✓	✓	✓
	VxCalib	✓	✓	✓	-
	VxCalib	✓	✓	✓	-
	VxCalDelete	✓	✓	✓	-
	VxCalLoad	✓	✓	✓	-
	VxCalInfo	-	-	✓	✓
	VxCalSave	✓	✓	✓	-
	VxTrans	-	-	✓	✓
W	Wait	✓	✓	✓	-
	WaitNet	✓	✓	✓	-
	WaitPos	✓	✓	✓	-
	WaitSig	✓	✓	✓	-
	Weight	✓	✓	✓	✓
	Where	✓	✓	-	-
	WindowsStatus	-	-	✓	✓
	WorkQue_Add	✓	✓	✓	-
	WorkQue_AutoRemove	✓	✓	✓	✓
	WorkQue_Get	✓	✓	✓	✓
	WorkQue_Len	✓	✓	✓	✓
	WorkQue_List	✓	✓	-	-
	WorkQue_Reject	✓	✓	✓	✓
	WorkQue_Remove	✓	✓	✓	-
	WorkQue_Sort	✓	✓	✓	✓
	WorkQue_UserData	✓	✓	✓	✓
	WOpen Statement	✓	✓	✓	-
	Wrist	✓	✓	✓	✓
	Write	✓	✓	✓	-
	WriteBin	✓	✓	✓	-
X	Xor Operator	-	-	✓	-
	Xqt Statement	-	-	✓	-
	XY	-	-	✓	✓
	XYLim Statement	✓	✓	✓	✓
	XYLimClr	✓	✓	✓	-
	XYLimDef	-	-	✓	✓
	XYLimMode	✓	✓	✓	✓

← Appendix A: SPEL+ Command Use Condition List Appendix B: Precaution of Compatibility →