Copyright Notice The information contained herein is the property of Omron Adept Technologies, Inc., and shall not be reproduced in whole or in part without prior written approval of Omron Adept Technologies, Inc. The information herein is subject to change without notice and should not be construed as a commitment by Omron Adept Technologies, Inc. The documentation is periodically reviewed and revised. Omron Adept Technologies, Inc., assumes no responsibility for any errors or omissions in the documentation. Critical evaluation of the documentation by the user is welcomed. Your comments assist us in preparation of future documentation. Please submit your comments to: techpubs@adept.com.

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Table Of Contents Introduction 15 Compatibility 16 Related Publications 16 Dangers, Warnings, Cautions, and Notes in Manual 17 Conventions 18 Keyword Overview 21 New or Enhanced Keywords 22 eV+ Language Quick Reference 23 Keyword Descriptions 41 Descriptions of eV+ Keywords 42 Documentation Conventions for Keywords 42 ABORT program instruction 45 ABOVE program instruction 47 ABS real-valued function 48 ACCEL program instruction 49 ACCEL real-valued function 52 ACOS real-valued function 54 ALIGN program instruction 55 ALIGN transformation function 56 ALWAYS keyword 58 AND operator 59 ANY program instruction 60 APPRO program instruction 61 ASC real-valued function 63 ASIN real-valued function 65 ATAN2 real-valued function 66 ATTACH program instruction 67 AUTO program instruction 73 AUTO.POWER.OFF system switch 76 BAND operator 78 BASE program instruction 80 BASE transformation function 82 eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 5

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BCD real-valued function 83 BELOW program instruction 84 BELT real-valued function 85 BELT system switch 87 BELT.MODE system parameter 89 BITS program instruction 91 BITS real-valued function 93 BMASK real-valued function 95 BOR operator 96 BRAKE program instruction 98 BREAK program instruction 99 BSTATUS real-valued function 100 BXOR operator 102 BY keyword 104 CALIBRATE program instruction 105 CALL program instruction 109 CALLP program instruction 112 CALLS program instruction 114 CAS real-valued function 116 CASE program instruction 118 $CHR string function 121 CLEAR.EVENT program instruction 122 CLEAR.LATCHES program instruction 123 CLOSE and CLOSEI program instruction 125 COARSE program instruction 127 COM operator 129 CONFIG real-valued function 130 COS real-valued function 136 CP system switch 137 CPOFF program instruction 138 CPON program instruction 140 CYCLE.END program instruction 142 DBLB real-valued function 144 $DBLB string function 146 DCB real-valued function 147 DECEL.100 system switch 148 eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 6

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$DECODE string function 149 DECOMPOSE program instruction 152 $DEFAULT string function 154 DEFBELT program instruction 156 DEFINED real-valued function 159 DELAY program instruction 161 DELAY.IN.TOL system switch 163 DELAY.POWER.OFF system switch 164 DEPART and DEPARTS program instruction 165 DEST transformation function 167 DETACH program instruction 169 DEVICE program instruction 171 DEVICE real-valued function 173 DEVICES program instruction 175 DISABLE program instruction 177 DISTANCE real-valued function 179 DN.RESTART program instruction 180 DO program instruction 181 DOS program instruction 183 DRIVE program instruction 185 DRY.RUN system switch 187 DURATION program instruction 189 DURATION real-valued function 192 DX, DY, DZ real-valued function 194 ELSE program instruction 196 ENABLE program instruction 197 $ENCODE string function 199 END program instruction 202 .END keyword 203 ERROR real-valued function 204 $ERROR string function 208 ESTOP program instruction 209 EXECUTE program instruction 210 EXIT program instruction 214 FALSE real-valued function 216 FCLOSE program instruction 217 eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 7

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