C-3: List of Commands Added for Each Version of EPSON RC+ 7.0

Common with EPSON RC+ 6.0, 5.0, and 4.0

Version of EPSON RC+ 7.0	New Commands
Ver.7.5.4	Cnv_AccelLim, Cnv_AccelLim Function SF_GetParam Function, SF_GetParam$ Function SF_GetStatus Function, SF_LimitSpeedS SF_LimitSpeedS Function, SF_LimitSpeedEnable SF_LimitSpeedEnable Function, SF_PeakSpeedS SF_PeakSpeedS Function, SF_PeakSpeedSClear SF_RealSpeedS, SF_RealSpeedS Function
Ver.7.5.3	AreaCorrection Function, AreaCorrectionClr AreaCorrectionDef Function, AreaCorrectionInv Function AreaCorrectionOffset Function, AreaCorrectionSet Cnv_PosErrOffset
Ver.7.5.2	XYLimMode, XYLimMode Function
Ver.7.5.1	ArmCalib, ArmCalib Function ArmCalibSet, ArmCalibSet Function ArmCalibClr, ArmCalibDef Function JointAccuracy, JointAccuracy Function HofsJointAccuracy, Hand_On Statement Hand_On Function, Hand_Off Statement Hand_Off Function, Hand_TW Function Hand_Def Function, Hand_Type Function Hand_Label$ Function, Hand_Number Function Cnv_Adjust, Cnv_AdjustClear Cnv_AdjustGet, Cnv_AdjustSet DiffPoint Function, ROTOK Function
Ver.7.4.3	AIO_TrackingSet, AIO_TrackingStart AIO_TrackingEnd, AIO_TrackingOn Function
Ver.7.4.1	AutoOrientationFlag, AutoOrientationFlag Function
Ver.7.3.4	SimGet, SimSet
Ver.7.3.3	HealthCtrlWarningEnable Statement, HealthCtrlWarningEnable Function HealthRBWarningEnable Statement, HealthRBWarningEnable Function
Ver.7.3.2	PDescription Statement, PDescription Function
Ver.7.3.1	AIO_Out Statement, AIO_Out Function AIO_OutW Statement, AIO_OutW Function AIO_Set Statement, AIO_Set Function, AIO_In Function AIO_InW Function, HealthCalcPeriod Statement HealthCalcPeriod Function
Ver.7.3.0	VDefTool Statement, VDefArm Statement VDefLocal Statement, VGoCenter Statement VDefSetMotionRange Statement, VDefGetMotionRange Statement
Ver.7.2.0	CP_Offset Function, CP_Offset Statement HealthCtrlAlarmOn Statement, HealthCtrlInfo Function HealthCtrlInfo Statement, HealthCtrlRateOffset Function HealthCtrlReset Function, HealthRateCtrlInfo Statement HealthRateRBInfo Statement, HealthRBAlarmOn Statement HealthRBAnalysis Function, HealthRBAnalysis Statement HealthRBDistance Function, HealthRBDistance Statement HealthRBInfo Function, HealthRBInfo Statement HealthRBRateOffset Function, HealthRBReset HealthRBSpeed Function HealthRBSpeed Statement, HealthRBStart Function HealthRBStop Function, HealthRBTRQ Function HealthRBTRQ Statement, J4Angle Function JumpTLZ Function, LimitTorqueLP Function LimitTorqueLP Statement, LimitTorqueStop Function LimitTorqueStop Statement, LimitTorqueStopLP Function LimitTorqueStopLP Statement, VSD Function VSD Statement
Ver.7.1.4	CollisionDetectStatement Function
Ver.7.1.3	CollisionDetect Function, MHourStatement Function
Ver.7.1.2	SingularityDist Function, SingularityDist Statement ExportPoints Function
Ver.7.1.0	BClr64 Statement, BSet64 Statement BTst64 Statement, FineDist Function FineDist Statement, FineStatus Statement Fmtstr Function, IODef Statement LShift64 Statement, RealAccel Statement RShift64 Statement, WorkQue_Add Function WorkQue_AutoRemove Function, WorkQue_AutoRemove Statement WorkQue_Get Statement, WorkQue_Len Statement WorkQue_List Function, WorkQue_Reject Function WorkQue_Reject Statement, WorkQue_Remove Function WorkQue_Sort Function, WorkQue_Sort Statement WorkQue_UserData Function, WorkQue_UserData Statement
Ver.7.0.3	PerformMode Function, PerformMode Statement

KEY POINTS

For EPSON RC+7.0 Ver.7.0.0,
new commands are different from EPSON RC+ 6.0, 5.0, 4.0.

Added commands for EPSON RC+ 6.0, 5.0.

Version of EPSON RC+ 7.0	EPSON RC+ 6.0	EPSON RC+ 5.0
Ver.7.0.0	AutoLJM Function AutoLJM Statement AvoidSingularity Function AvoidSingularity Statement	AbortMotion Function AutoLJM Function AutoLJM Statement AvoidSingularity Function AvoidSingularity Statement
Cnv_Accel Function Cnv_Accel Statement Cnv_DownStream Function Cnv_Mode Function Cnv_Mode Statement Cnv_Upstream Function	ChDisk Function CloseDB Function Cnv_Accel Function Cnv_Accel Statement Cnv_DownStream Function Cnv_Mode Function Cnv_Mode Statement Cnv_Upstream Function
	CR Function CR Statement CS Function CS Statement CT Function CT Statement
DeleteDB Function	DeleteDB Function
ElapsedTime Statement Errb Statement	Errb Statement Flush Function GetRobotInsideBox Statement GetRobotInsidePlane Statement J1Angle J1Angle Statement
LimZMargin Function LimZMargin Statement LimitTorque Function LimitTorque Statement	LimZMargin Function LimZMargin Statement LimitTorque Function LimitTorque Statement OpenDB Function
PalletClr Function	PalletClr Function PG_FastStop Function PG_LSpeed Function PG_LSpeed Statement PG_Scan Function PG_SlowStop Function QPDECELR Function QPDECELR Statement QPDECELS Function QPDECELS Statement RecoverPos Statement Recover Function
ResetElapsedTime Function	SelectDB Function Shutdown Statement
SingularityAngle Function SingularityAngle Statement SingularitySpeed Function SingularitySpeed Statement SpeedFactor Function SpeedFactor Statement	SingularityAngle Function SingularityAngle Statement SingularitySpeed Function SingularitySpeed Statement SpeedFactor Function SpeedFactor Statement
	StartMain Function SyncRobots Function SyncRobots Statement TeachOnStatement Function
UpdateDB Function	UpdateDB Function WindosStatus Statement

Version of EPSON RC+ 7.0

EPSON RC+ 6.0

EPSON RC+ 5.0

Ver.7.0.0

AutoLJM Function

AutoLJM Statement

AvoidSingularity Function

AvoidSingularity Statement

AbortMotion Function

AutoLJM Function

AutoLJM Statement

AvoidSingularity Function

AvoidSingularity Statement

Cnv_Accel Function

Cnv_Accel Statement

Cnv_DownStream Function

Cnv_Mode Function

Cnv_Mode Statement

Cnv_Upstream Function

ChDisk Function

CloseDB Function

Cnv_Accel Function

Cnv_Accel Statement

Cnv_DownStream Function

Cnv_Mode Function

Cnv_Mode Statement

Cnv_Upstream Function

CR Function

CR Statement

CS Function

CS Statement

CT Function

CT Statement

DeleteDB Function

ElapsedTime Statement

Errb Statement

Flush Function

GetRobotInsideBox Statement

GetRobotInsidePlane Statement

J1Angle

J1Angle Statement

LimZMargin Function

LimZMargin Statement

LimitTorque Function

LimitTorque Statement

LimZMargin Function

LimZMargin Statement

LimitTorque Function

LimitTorque Statement

OpenDB Function

PalletClr Function

PG_FastStop Function

PG_LSpeed Function

PG_LSpeed Statement

PG_Scan Function

PG_SlowStop Function

QPDECELR Function

QPDECELR Statement

QPDECELS Function

QPDECELS Statement

RecoverPos Statement

Recover Function

ResetElapsedTime Function

SelectDB Function

Shutdown Statement

SingularityAngle Function

SingularityAngle Statement

SingularitySpeed Function

SingularitySpeed Statement

SpeedFactor Function

SpeedFactor Statement

SingularityAngle Function

SingularityAngle Statement

SingularitySpeed Function

SingularitySpeed Statement

SpeedFactor Function

SpeedFactor Statement

StartMain Function

SyncRobots Function

SyncRobots Statement

TeachOnStatement Function

UpdateDB Function

WindosStatus Statement

Added commands for EPSON RC+ 4.0.

Version of EPSON RC+ 7.0	EPSON RC+ 4.0
Ver.7.0.0	AbortMotion Function, AccelMax Statement AglToPls Statement, Align Statement AlignECP Statement, ArmDef Statement ATCLR Function, AtHome Statement ATRQ Function, ATRQ Statement AutoLJM Function, AutoLJM Statement AvoidSingularity Function, AvoidSingularity Statement
BClr Statement, Box Function Box Statement, BoxClr Statement BoxDef Statement, Brake Statement BSet Statement, BTst Statement
ChDisk Function, ChkCom Statement ChkNet Statement, CloseCom Function CloseDB Function, CloseNet Function Cls Function, CP Function CP Statement, CR Function CR Statement, CS Function CS Statement, CT Function CT Statement, CtrlDev Statement Curve Function, CVMove Function Cnv_Accel Function, Cnv_Accel Statement, Cnv_DownStream Function, Cnv_Mode Function Cnv_Mode Statement, Cnv_OffsetAngle Function Cnv_OffsetAngle Statement, Cnv_Upstream Function
DegToRad Statement, DeleteDB Function DispDev Function, DispDev Statement Dist Statement
EcpDef Statement, EResume Function Errb Statement, ErrorOn Statement Error Function, EStopOn Statement Exit Function
FindPos Statement, Find Function FineStatus Statement, Fix Statement Flush Function
GetRobotInsideBox Statement, GetRobotInsidePlane Statement
Here Function, Here Statement Hex$ Statement, HomeClr Function HomeDef Statement
InReal Statement, InsideBox Statement InsidePlane Statement, InStr Statement IOLabel$ Statement, IONumber Statement
J1Angle Function, J1Angle Statement JA Statement, Joint Function JTran Function
LatchEnable Function, LatchState Statement LatchPos Statement, LimZMargin Function LimZMargin Statement, LimitTorque Function LimitTorque Statement, LJM Statement LocalDef Statement
MemInW Statement, MemOutW Function
OLAccel Function, OLAccel Statement OpenCom Function, OpenCom Statement OpenDB Function, OpenNet Function OpenNet Statement, OutReal Function OutReal Statement
P# Function, PalletClr Function PauseOn Statement, PDef Statement PDel Function, PG_FastStop Function PG_LSpeed Function, PG_LSpeed Statement PG_Scan Function, PG_SlowStop Function PLabel Function, PLabel$ Statement PlaneClr Function, PlaneDef Function Plane Function, Plane Statement PList Function, PLocal Function PLocal Statement, PNumber Statement PosFound Statement, PTCLR Function PTPBoostOK Statement, PTPTime Statement PTran Function, PTRQ Function PTRQ Statement
QPDECELR Function, QPDECELR Statement QPDECELS Function, QPDECELS Statement
RadToDeg Statement, Randomize Function ReadBin Function, Read Function RealPls Statement, RealPos Statement RealTorque Statement, RecoverPos Statement Recover Function, Redim Function RobotInfo Statement, RobotInfo$ Statement, RobotModel$ Statement, RobotName$ Statement RobotSerial$ Statement, RobotType Statement
SafetyOn Statement, SelectDB Function SetCom Function, SetInW Function SetIn Function, SetNet Function SetSw Function, Shutdown Statement SingularityAngle Function, SingularityAngle Statement SingularitySpeed Function, SingularitySpeed Statement SoftCP Function, SoftCP Statement SpeedFactor Function, SpeedFactor Statement StartMain Function, SyncRobots Function SyncRobots Statement, SysErr Statement
Tab$ Function, TargetOK Statement TaskDone Statement, TaskInfo Statement TaskInfo$ Statement, TaskState Function TaskState Statement, TaskWait Function TC Function, TCLim Function TCLim Statement, TCSpeed Function TCSpeed Statement, TeachOn Statement TillOn Statement, TlDef Statement Toff Function, Ton Function
UBound Statement, UpdateDB Function
VxCalib, VxCalDelete VxCalLoad Function, VxCalInfo Statement VxCalSave Function, VxTrans Statement
WaitNet Function, WaitPos Function Where Function, WindosStatus Statement WriteBin Function, Write Function
XYLimClr Function, XYLimDef Function XY Statement

Version of EPSON RC+ 7.0

EPSON RC+ 4.0

Ver.7.0.0

AbortMotion Function, AccelMax Statement

AglToPls Statement, Align Statement

AlignECP Statement, ArmDef Statement

ATCLR Function, AtHome Statement

ATRQ Function, ATRQ Statement

AutoLJM Function, AutoLJM Statement

AvoidSingularity Function, AvoidSingularity Statement

BClr Statement, Box Function

Box Statement, BoxClr Statement

BoxDef Statement, Brake Statement

BSet Statement, BTst

Statement

ChDisk Function, ChkCom Statement

ChkNet Statement, CloseCom Function

CloseDB Function, CloseNet Function

Cls Function, CP Function

CP Statement, CR Function

CR Statement, CS Function

CS Statement, CT Function

CT Statement, CtrlDev Statement

Curve Function, CVMove Function

Cnv_Accel Function, Cnv_Accel Statement, Cnv_DownStream Function, Cnv_Mode Function

Cnv_Mode Statement, Cnv_OffsetAngle Function

Cnv_OffsetAngle Statement, Cnv_Upstream Function

DegToRad Statement, DeleteDB Function

DispDev Function, DispDev Statement

Dist Statement

EcpDef Statement, EResume Function

Errb Statement, ErrorOn Statement

Error Function, EStopOn Statement

Exit Function

FindPos Statement, Find Function

FineStatus Statement, Fix Statement

Flush Function

GetRobotInsideBox Statement, GetRobotInsidePlane Statement

Here Function, Here Statement

Hex$ Statement, HomeClr Function

HomeDef Statement

InReal Statement, InsideBox Statement

InsidePlane Statement, InStr Statement

IOLabel$ Statement, IONumber Statement

J1Angle Function, J1Angle Statement

JA Statement, Joint Function

JTran Function

LatchEnable Function, LatchState Statement

LatchPos Statement, LimZMargin Function

LimZMargin Statement, LimitTorque Function

LimitTorque Statement, LJM Statement

LocalDef Statement

MemInW Statement, MemOutW Function

OLAccel Function, OLAccel Statement

OpenCom Function, OpenCom Statement

OpenDB Function, OpenNet Function

OpenNet Statement, OutReal Function

OutReal Statement

P# Function, PalletClr Function

PauseOn Statement, PDef Statement

PDel Function, PG_FastStop Function

PG_LSpeed Function, PG_LSpeed Statement

PG_Scan Function, PG_SlowStop Function

PLabel Function, PLabel$ Statement

PlaneClr Function, PlaneDef Function

Plane Function, Plane Statement

PList Function, PLocal Function

PLocal Statement, PNumber Statement

PosFound Statement, PTCLR Function

PTPBoostOK Statement, PTPTime Statement

PTran Function, PTRQ Function

PTRQ Statement

QPDECELR Function, QPDECELR Statement

QPDECELS Function, QPDECELS Statement

RadToDeg Statement, Randomize Function

ReadBin Function, Read Function

RealPls Statement, RealPos Statement

RealTorque Statement, RecoverPos Statement

Recover Function, Redim Function

RobotInfo Statement, RobotInfo$

Statement, RobotModel$ Statement, RobotName$ Statement

RobotSerial$ Statement, RobotType Statement

SafetyOn Statement, SelectDB Function

SetCom Function, SetInW Function

SetIn Function, SetNet Function

SetSw Function, Shutdown Statement

SingularityAngle Function, SingularityAngle Statement

SingularitySpeed Function, SingularitySpeed Statement

SoftCP Function, SoftCP Statement

SpeedFactor Function, SpeedFactor Statement

StartMain Function, SyncRobots Function

SyncRobots Statement, SysErr Statement

Tab$ Function, TargetOK Statement

TaskDone Statement, TaskInfo Statement

TaskInfo$ Statement, TaskState Function

TaskState Statement, TaskWait Function

TC Function, TCLim Function

TCLim Statement, TCSpeed Function

TCSpeed Statement, TeachOn Statement

TillOn Statement, TlDef Statement

Toff Function, Ton Function

UBound Statement, UpdateDB Function

VxCalib, VxCalDelete

VxCalLoad Function, VxCalInfo Statement

VxCalSave Function, VxTrans Statement

WaitNet Function, WaitPos Function

Where Function, WindosStatus Statement

WriteBin Function, Write Function

XYLimClr Function, XYLimDef Function

XY Statement

← C-2: List of Commands Added for Each Version of Epson RC+ 8.0 C-4: List of Commands Deleted for Each Version of EPSON RC+ 7.0 →