eV+ Language Quick Reference eV+ Language Quick Reference This Quick Reference table is arranged alphabetically by command name, click an underlined letter to jump to the first command that begins with that letter. A B C D E F G H I J K L M N O P Q R S T U V W X Y Z eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 23 Type Description K Keyword O Operator PI Program instruction RF Real-valued function SW System switch SP System parameter TF Transformation function ST String function PP Precision point Keyword Type Description ABORT PI Terminate execution of an executing program task.
ABOVE PI Request a change in the robot configuration during the next motion so that the elbow is above the line from the shoulder to the wrist. ABS RF Return absolute value. ACCEL PI Set acceleration and deceleration for robot motions. Optionally, specify a defined acceleration profile. ACCEL RF Return the current setting for robot acceleration or deceleration setting or return the maximum allowable percentage limits defined in the robot configuration profile. ACOS RF Return the size of the angle (in degrees) that has its trigonometric cosine equal to value. ALIGN PI Align the robot tool Z axis with the nearest world axis.
ALTER PI Specify the magnitude of the real-time path modification that is to be