The SPEL+ Language

This chapter contains information about the SPEL+ Language.

• Overview
• Program structure
• Commands and statements
• Function and Variable Names (Naming restriction)
• Date types
• Operators
• Working with variables
• Working with strings
• Files
• Multi-statements
• Labels
• Comments
• Error handling
• Multi-tasking
• Multiple robots
• Coordinate systems
• Robot arm orientations
• Robot motion commands
• Working with robot points
• Input and output control
• Using Traps
• Special tasks
• Background task
• Constants
• Calling native functions in dynamic link libraries