eV+ Language Quick Reference eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 27 Keyword Type Description DEPARTS DEST TF Return a transformation value representing the planned destination location for the current robot motion. DETACH PI Release a specified device from the control of the application program. DEVICE PI Send a command or data to an external device and, optionally, return data back to the program. (The actual operation performed depends on the device referenced.) DEVICE RF Return a real value from a specified device. The value may be data or status information, depending upon the device and the parameters.
DEVICES PI Send commands or data to an external device and optionally return data. The actual operation performed depends on the device referenced. DISABLE PI Turn off one or more system control switches. DISTANCE RF Determine the distance between the points defined by two location values. DN.RESTART PI Restarts DeviceNet communication if the CanBus goes offline. DO PI Introduce a DO program structure. DOS PI Execute a program instruction defined by a string expression. DRIVE PI Move an individual joint of the robot. DRY.RUN SW Control whether or not eV+ communicates with the robot. DURATION PI Set the minimum execution time for subsequent robot motions.
DURATION RF Return the current setting of one of the motion DURATION specifications. DX DY DZ RF Return a displacement component of a given transformation value. ELSE PI Separate the alternate group of statements in an IF ... THEN control structure. ENABLE PI Turn on one or more system control switches. $ENCODE ST Return a string created from output specifications. The string produced is similar to the output of a TYPE instruction.