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 | Statement | |||
|---|---|---|---|---|---|---|
| RC+ | TP3/TP4 | |||||
| A | AbortMotion Statement | ✓ | ✓ | ✓ | - | |
| 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 Statement | ✓ | ✓ | ✓ | - | ||
| Arc3 Statement | ✓ | ✓ | ✓ | - | ||
| Arch Statement | ✓ | ✓ | ✓ | ✓ | ||
| AreaCorrection | ✓ | ✓ | ✓ | ✓ | ||
| AreaCorrectionClr | ✓ | ✓ | ✓ | - | ||
| AreaCorrectionDef | ✓ | ✓ | ✓ | ✓ | ||
| AreaCorrectionInv | ✓ | ✓ | ✓ | ✓ | ||
| AreaCorrectionOffset | ✓ | ✓ | ✓ | ✓ | ||
| AreaCorrectionSet | ✓ | ✓ | ✓ | - | ||
| Arm Statement | ✓ | ✓ | ✓ | ✓ | ||
| ArmClr | ✓ | ✓ | ✓ | - | ||
| ArmDef | - | - | ✓ | ✓ | ||
| ArmSet | ✓ | ✓ | ✓ | ✓ | ||
| Asc | - | - | ✓ | ✓ | ||
| ArmCalib | ✓ | ✓ | ✓ | ✓ | ||
| ArmCalibClr | ✓ | ✓ | ✓ | - | ||
| ArmCalibDef | - | - | ✓ | ✓ | ||
| ArmCalibSet | ✓ | ✓ | ✓ | ✓ | ||
| Asin | - | - | ✓ | ✓ | ||
| Atan | - | - | ✓ | ✓ | ||
| Atan2 Statement | - | - | ✓ | ✓ | ||
| ATCLR Statement | ✓ | ✓ | ✓ | - | ||
| AtHome | - | - | ✓ | ✓ | ||
| ATRQ Statement | ✓ | ✓ | ✓ | ✓ | ||
| AutoLJM | ✓ | ✓ | ✓ | ✓ | ||
| AvoidSingularity | ✓ | ✓ | ✓ | ✓ | ||
| B | Base Statement | ✓ | ✓ | ✓ | ✓ | |
| BClr | - | - | ✓ | ✓ | ||
| BClr64 Statement | - | - | ✓ | ✓ | ||
| BGo Statement | ✓ | ✓ | ✓ | - | ||
| BMove | ✓ | ✓ | ✓ | - | ||
| Boolean Statement | - | - | ✓ | - | ||
| BOpen | ✓ | ✓ | ✓ | - | ||
| Box Statement | ✓ | ✓ | ✓ | ✓ | ||
| BoxClr | ✓ | ✓ | ✓ | - | ||
| BoxDef | - | - | ✓ | ✓ | ||
| Brake Statement | ✓ | ✓ | ✓(Function only) | ✓ | ||
| BSet | - | - | ✓ | ✓ | ||
| BSet64 Statement | - | - | ✓ | ✓ | ||
| BTst | - | - | ✓ | ✓ | ||
| BTst64 Statement | - | - | ✓ | ✓ | ||
| Byte | - | - | ✓ | - | ||
| C | Calib | ✓ | ✓ | ✓ | - | |
| Call | - | - | ✓ | - | ||
| CalPls | ✓ | ✓ | ✓ | ✓ | ||
| ChDir | ✓ | ✓ | ✓ | - | ||
| ChDisk | ✓ | ✓ | ✓ | - | ||
| ChDrive | ✓ | ✓ | ✓ | - | ||
| ChkCom | - | - | ✓ | ✓ | ||
| ChkNet | - | - | ✓ | ✓ | ||
| Chr$ | - | - | ✓ | ✓ | ||
| ClearHistory | ✓ | - | - | - | ||
| ClearPoints Statement | ✓ | ✓ | ✓ | - | ||
| Close | ✓ | ✓ | ✓ | - | ||
| CloseCom Statement | ✓ | ✓ | ✓ | - | ||
| CloseDB | ✓ | ✓ | ✓ | - | ||
| CloseNet Statement | ✓ | ✓ | ✓ | - | ||
| Cls Statement | ✓ | ✓ | ✓ | - | ||
| 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 | - | - | ✓ | ✓ | ||
| CurDir$ | - | - | ✓ | ✓ | ||
| CurDisk$ | - | - | ✓ | ✓ | ||
| CurDrive$ | - | - | ✓ | ✓ | ||
| CurPos | - | - | ✓ | ✓ | ||
| Curve Statement | ✓ | ✓ | ✓ | - | ||
| CVMove Statement | ✓ | ✓ | ✓ | - | ||
| CP_Offset | ✓ | ✓ | ✓ | ✓ | ||
| CR | ✓ | ✓ | ✓ | ✓ | ||
| CS | ✓ | ✓ | ✓ | ✓ | ||
| CT | ✓ | ✓ | ✓ | ✓ | ||
| CU | ✓ | ✓ | ✓ | ✓ | ||
| CV | ✓ | ✓ | ✓ | ✓ | ||
| CW | ✓ | ✓ | ✓ | ✓ | ||
| CX | ✓ | ✓ | ✓ | ✓ | ||
| CY | ✓ | ✓ | ✓ | ✓ | ||
| CZ | ✓ | ✓ | ✓ | ✓ | ||
| D | Date Statement | ✓ | ✓ | ✓ | - | |
| Date$ | - | - | ✓ | ✓ | ||
| Declare | - | - | ✓ | - | ||
| DegToRad | - | - | ✓ | ✓ | ||
| Del | ✓ | ✓ | ✓ | - | ||
| DeleteDB | ✓ | ✓ | ✓ | - | ||
| DiffPoint | ✓ | ✓ | ✓ | ✓ | ||
| DispDev | ✓ | ✓ | ✓ | ✓ | ||
| Dist | - | - | ✓ | ✓ | ||
| Do...Loop Statement | - | - | ✓ | - | ||
| Double Statement | - | - | ✓ | - | ||
| E | ECP Statement | ✓ | ✓ | ✓ | ✓ | |
| ECPClr | ✓ | ✓ | ✓ | - | ||
| ECPDef | - | - | ✓ | ✓ | ||
| ECPSet Statement | ✓ | ✓ | ✓ | ✓ | ||
| ElapsedTime | - | - | ✓ | ✓ | ||
| Elbow Statement | ✓ | ✓ | ✓ | ✓ | ||
| 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 | ✓ | ✓ | ✓ | - | ||
| FileDataTime$ | - | - | ✓ | ✓ | ||
| FileExists | - | - | ✓ | ✓ | ||
| FileLen | - | - | ✓ | ✓ | ||
| Find Statement | ✓ | ✓ | ✓ | - | ||
| FindPos | - | - | ✓ | ✓ | ||
| Fine Statement | ✓ | ✓ | ✓ | ✓ | ||
| FineDist | ✓ | ✓ | ✓ | ✓ | ||
| FineStatus | ✓ | ✓ | ✓ | ✓ | ||
| Fix | - | - | ✓ | ✓ | ||
| Flush | ✓ | ✓ | ✓ | - | ||
| FmtStr | ✓ | ✓ | ✓ | - | ||
| FmtStr$ Statement | - | - | ✓ | ✓ | ||
| FolderExists | - | - | ✓ | ✓ | ||
| For...Next | - | - | ✓ | - | ||
| FreeFile | - | - | ✓ | ✓ | ||
| Function...Fend | - | - | ✓ | - | ||
| G | GClose | ✓ | ✓ | ✓ | - | |
| GetCurrentUser$ | - | - | ✓ | ✓ | ||
| GetRobotInsideBox | - | - | ✓ | ✓ | ||
| GetRobotInsidePlane | - | - | ✓ | ✓ | ||
| GGet | ✓ | ✓ | ✓ | - | ||
| Global | - | - | ✓ | - | ||
| Go Statement | ✓ | ✓ | ✓ | - | ||
| Gosub...Return | - | - | ✓ | - | ||
| Goto Statement | - | - | ✓ | - | ||
| GSet | ✓ | ✓ | ✓ | - | ||
| GShow | - | - | ✓ | - | ||
| GShowDialog | - | - | ✓ | ✓ | ||
| H | Halt Statement | - | - | ✓ | - | |
| 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 Statement # | ✓ | ✓ | ✓ | - | ||
| InputBox | ✓ | ✓ | ✓ | - | ||
| InReal | - | - | ✓ | ✓ | ||
| InsideBox | - | - | ✓ | ✓ | ||
| InsidePlane | - | - | ✓ | ✓ | ||
| InStr | - | - | ✓ | ✓ | ||
| Int | - | - | ✓ | ✓ | ||
| Int32 Statement | - | - | ✓ | - | ||
| Integer Statement | - | - | ✓ | - | ||
| InW | - | - | ✓ | ✓ | ||
| IODef | - | - | ✓ | ✓ | ||
| IOLabel$ | - | - | ✓ | ✓ | ||
| IONumber | - | - | ✓ | ✓ | ||
| J | J1Angle Statement | ✓ | ✓ | ✓ | ✓ | |
| J4Angle Function | ✓ | ✓ | ✓ | ✓ | ||
| J1Flag Statement | ✓ | ✓ | ✓ | ✓ | ||
| J2Flag Statement | ✓ | ✓ | ✓ | ✓ | ||
| J4Flag Statement | ✓ | ✓ | ✓ | ✓ | ||
| J6Flag Statement | ✓ | ✓ | ✓ | ✓ | ||
| JA | - | - | ✓ | ✓ | ||
| Joint | ✓ | ✓ | ✓ | - | ||
| JointAccuracy | ✓ | ✓ | ✓ | ✓ | ||
| JRange | ✓ | ✓ | ✓ | ✓ | ||
| JS | - | - | ✓ | ✓ | ||
| JT | - | - | ✓ | ✓ | ||
| JTran | ✓ | ✓ | ✓ | - | ||
| Jump | ✓ | ✓ | ✓ | - | ||
| Jump3 Statement | ✓ | ✓ | ✓ | - | ||
| Jump3CP Statement | ✓ | ✓ | ✓ | - | ||
| JumpTLZ | ✓ | ✓ | ✓ | - | ||
| L | LatchEnable | ✓ | ✓ | ✓ | - | |
| LatchPos | - | - | ✓ | ✓ | ||
| LatchState | - | - | ✓ | ✓ | ||
| LCase$ | - | - | ✓ | ✓ | ||
| Left$ | - | - | ✓ | ✓ | ||
| Len | - | - | ✓ | ✓ | ||
| LimitTorque | ✓ | ✓ | ✓ | ✓ | ||
| LimitTorqueLP | ✓ | ✓ | ✓ | ✓ | ||
| LimitTorqueStop | ✓ | ✓ | ✓ | ✓ | ||
| LimitTorqueStopLP | ✓ | ✓ | ✓ | ✓ | ||
| LimZ | ✓ | ✓ | ✓ | ✓ | ||
| LimZMargin | ✓ | ✓ | ✓ | ✓ | ||
| Line Input | ✓ | ✓ | ✓ | - | ||
| Line Input # | ✓ | ✓ | ✓ | - | ||
| LJM | - | - | ✓ | ✓ | ||
| LoadPoints Statement | ✓ | ✓ | ✓ | - | ||
| Local | ✓ | ✓ | ✓ | ✓ | ||
| LocalClr | ✓ | ✓ | ✓ | - | ||
| LocalDef | - | - | ✓ | ✓ | ||
| Lof | - | - | ✓ | ✓ | ||
| LogIn | - | - | ✓ | ✓ | ||
| Long Statement | - | - | ✓ | - | ||
| LSet$ | - | - | ✓ | ✓ | ||
| LShift | - | - | ✓ | ✓ | ||
| LShift64 Statement | - | - | ✓ | ✓ | ||
| 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 | - | - | ✓ | ✓ | ||
| Preserve | - | - | ✓ | - | ||
| Print Statement | ✓ | ✓ | ✓ | - | ||
| Print Statement # | ✓ | ✓ | ✓ | - | ||
| PTCLR | ✓ | ✓ | ✓ | - | ||
| PTPBoost | ✓ | ✓ | ✓ | ✓ | ||
| PTPBoostOK | - | - | ✓ | ✓ | ||
| PTPTime | - | - | ✓ | ✓ | ||
| PTran Statement | ✓ | ✓ | ✓ | - | ||
| PTRQ | ✓ | ✓ | ✓ | ✓ | ||
| Pulse | ✓ | ✓ | ✓ | ✓ | ||
| Q | QP | ✓ | ✓ | ✓ | - | |
| QPDecelR | ✓ | ✓ | ✓ | ✓ | ||
| QPDecelS | ✓ | ✓ | ✓ | ✓ | ||
| Quit | - | - | ✓ | - | ||
| R | RadToDeg | - | - | ✓ | ✓ | |
| Randmize Statement | ✓ | ✓ | ✓ | - | ||
| 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 Statement | - | - | ✓ | ✓ | ||
| RShift | - | - | ✓ | ✓ | ||
| RTrim$ | - | - | ✓ | ✓ | ||
| RunDialog | - | - | ✓ | - | ||
| S | SafetyOn | - | - | ✓ | ✓ | |
| SavePoints Statement | ✓ | ✓ | ✓ | - | ||
| Seek | ✓ | ✓ | ✓ | - | ||
| Select...Send | - | - | ✓ | - | ||
| SelectDB | ✓ | ✓ | ✓ | ✓ | ||
| Sense | ✓ | ✓ | ✓ | - | ||
| SetCom Statement | ✓ | ✓ | ✓ | - | ||
| SetIn | ✓ | ✓ | ✓ | - | ||
| SetInReal | ✓ | ✓ | ✓ | - | ||
| SetInW | ✓ | ✓ | ✓ | - | ||
| SetLatch | ✓ | ✓ | ✓ | - | ||
| SetNet | ✓ | ✓ | ✓ | - | ||
| SetSw | ✓ | ✓ | ✓ | - | ||
| SF_GetParam | ✓ | ✓ | ✓ | ✓ | ||
| SF_GetParam$ | ✓ | ✓ | ✓ | ✓ | ||
| SF_GetStatus | ✓ | ✓ | ✓ | ✓ | ||
| SF_LimitSpeedS | ✓ | ✓ | ✓ | ✓ | ||
| SF_LimitSpeedSEnable | ✓ | ✓ | ✓ | ✓ | ||
| SF_RealSpeedS | ✓ | ✓ | ✓ | ✓ | ||
| SF_PeakSpeedS | ✓ | ✓ | ✓ | ✓ | ||
| SF_PeakSpeedSClear | ✓ | ✓ | ✓ | - | ||
| SFree Statement | ✓ | ✓ | ✓ | ✓ | ||
| Sgn | - | - | ✓ | ✓ | ||
| Short | - | - | ✓ | - | ||
| Shutdown | ✓ | ✓ | ✓ | ✓ | ||
| Signal | ✓ | ✓ | ✓ | - | ||
| SimGet | - | - | ✓ | - | ||
| SimSet | ✓ | ✓ | ✓ | - | ||
| Sin | - | - | ✓ | ✓ | ||
| SingularityAngle | ✓ | ✓ | ✓ | ✓ | ||
| SingularityDist | ✓ | ✓ | ✓ | ✓ | ||
| SingularitySpeed | ✓ | ✓ | ✓ | ✓ | ||
| SLock | ✓ | ✓ | ✓ | - | ||
| SoftCP | ✓ | ✓ | ✓ | ✓ | ||
| Space$ | - | - | ✓ | ✓ | ||
| Speed Statement | ✓ | ✓ | ✓ | ✓ | ||
| SpeedFactor | ✓ | ✓ | ✓ | ✓ | ||
| SpeedR | ✓ | ✓ | ✓ | ✓ | ||
| SpeedS | ✓ | ✓ | ✓ | ✓ | ||
| SPELCom_Event | ✓ | ✓ | ✓ | - | ||
| Sqr | - | - | ✓ | ✓ | ||
| ST | - | - | ✓ | ✓ | ||
| StartMain | - | - | ✓ | - | ||
| Stat | - | - | ✓ | ✓ | ||
| Str$ | - | - | ✓ | ✓ | ||
| String Statement | - | - | ✓ | - | ||
| Sw | - | - | ✓ | ✓ | ||
| SyncLock Statement | - | - | ✓ | - | ||
| SyncUnlock Statement | - | - | ✓ | - | ||
| SyncRobots | ✓ | ✓ | ✓ | ✓ | ||
| SysConfig | ✓ | ✓ | - | - | ||
| SysErr | - | - | ✓ | ✓ | ||
| T | Tab$ | - | - | ✓ | ✓ | |
| Tan | - | - | ✓ | ✓ | ||
| TargetOK | - | - | ✓ | ✓ | ||
| TaskDone | - | - | ✓ | ✓ | ||
| TaskInfo | - | - | ✓ | ✓ | ||
| TaskInfo$ | - | - | ✓ | ✓ | ||
| TaskState Statement | ✓ | ✓ | ✓ | ✓ | ||
| TaskWait | ✓ | ✓ | ✓ | - | ||
| TC | ✓ | ✓ | ✓ | - | ||
| TCLim | ✓ | ✓ | ✓ | ✓ | ||
| TCPSpeed | - | - | ✓ | ✓ | ||
| TCSpeed Statement | ✓ | ✓ | ✓ | ✓ | ||
| TeachOn | - | - | ✓ | ✓ | ||
| TGo Statement | ✓ | ✓ | ✓ | - | ||
| Till | ✓ | ✓ | ✓ | - | ||
| TillOn | - | - | ✓ | ✓ | ||
| Time Statement | ✓ | ✓ | ✓ | ✓ | ||
| Time$ | - | - | ✓ | ✓ | ||
| TLClr Statement | ✓ | ✓ | ✓ | - | ||
| TLDef | - | - | ✓ | ✓ | ||
| TLSet Statement | ✓ | ✓ | ✓ | ✓ | ||
| TMOut | ✓ | ✓ | ✓ | - | ||
| TMove | ✓ | ✓ | ✓ | - | ||
| Tmr | - | - | ✓ | ✓ | ||
| TmReset Statement | ✓ | ✓ | ✓ | - | ||
| Toff | ✓ | ✓ | ✓ | - | ||
| Ton | ✓ | ✓ | ✓ | - | ||
| Tool | ✓ | ✓ | ✓ | ✓ | ||
| Trap | - | - | ✓ | - | ||
| Trim$ | - | - | ✓ | ✓ | ||
| TW | - | - | ✓ | ✓ | ||
| U | UBound | - | - | ✓ | ✓ | |
| UByte | - | - | ✓ | - | ||
| UCase$ | - | - | ✓ | ✓ | ||
| UInt32 Statement | - | - | ✓ | - | ||
| UOpen | ✓ | ✓ | ✓ | - | ||
| UpdateDB | ✓ | ✓ | ✓ | - | ||
| UShort | - | - | ✓ | - | ||
| V | Val | - | - | ✓ | ✓ | |
| VCal | ✓ | ✓ | ✓ | - | ||
| VCalPoints | ✓ | ✓ | ✓ | - | ||
| VCls | - | - | ✓ | - | ||
| VCreateCalibration | - | - | ✓ | - | ||
| VCreateObject | - | - | ✓ | - | ||
| VCreateSequence | - | - | ✓ | - | ||
| VDefArm | - | - | ✓ | - | ||
| VDefGetMotionRange | ✓ | - | ✓ | - | ||
| VDefLocal | - | - | ✓ | - | ||
| VDefSetMotionRange | ✓ | - | ✓ | - | ||
| VDefTool | - | - | ✓ | - | ||
| VDeleteCalibration | - | - | ✓ | - | ||
| VDeleteObject | - | - | ✓ | - | ||
| VDeleteSequence | - | - | ✓ | - | ||
| VGet | - | - | ✓ | - | ||
| VGoCenter | - | - | ✓ | - | ||
| VisCalib | - | - | - | - | ||
| VisCalInfo | - | - | - | ✓ | ||
| VisCalLoad | - | - | - | - | ||
| VisCalSave | - | - | - | - | ||
| VisTrans | - | - | - | ✓ | ||
| VLoad | - | - | ✓ | - | ||
| VLoadModel | - | - | ✓ | - | ||
| VRun | - | - | ✓ | - | ||
| VSave | - | - | ✓ | - | ||
| VSaveImage | - | - | ✓ | - | ||
| VSaveModel | - | - | ✓ | - | ||
| VSD | ✓ | ✓ | ✓ | ✓ | ||
| VSet | - | - | ✓ | - | ||
| VShowModel | ✓ | - | ✓ | - | ||
| VStatsReset | - | - | ✓ | - | ||
| VStatsResetAll | - | - | ✓ | - | ||
| VStatsSave | - | - | ✓ | - | ||
| VStatsShow | ✓ | ✓ | ✓ | - | ||
| VTeach | - | - | ✓ | - | ||
| VTrain | ✓ | - | ✓ | - | ||
| VxCalib | ✓ | ✓ | ✓ | - | ||
| VxCalDelete | ✓ | ✓ | ✓ | - | ||
| VxCalLoad | ✓ | ✓ | ✓ | - | ||
| VxCalInfo | - | - | ✓ | ✓ | ||
| VxCalSave | ✓ | ✓ | ✓ | - | ||
| VxTrans | - | - | ✓ | ✓ | ||
| W | Wait | ✓ | ✓ | ✓ | - | |
| WaitNet | ✓ | ✓ | ✓ | - | ||
| WaitPos | ✓ | ✓ | ✓ | - | ||
| WaitSig | ✓ | ✓ | ✓ | - | ||
| Weight | ✓ | ✓ | ✓ | ✓ | ||
| Where | ✓ | ✓ | - | - | ||
| WindowStatus | - | - | ✓ | ✓ | ||
| 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 | ✓ | ✓ | ✓ | ✓ | ||