eV+ Language Quick Reference eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 24 Keyword Type Description applied to the robot path during the next trajectory computation.This option is available only if your system is equipped with the eV+ Extensions option. ALTOFF PI Terminate real-time path-modification mode (alter mode). ALTON PI Enable real-time path-modification mode (alter mode), and specify the way in which ALTER coordinate information will be interpreted. ALWAYS K Used with certain program instructions to specify a long-term effect. AMOVE PI Position an extra robot axis during the next joint-interpolated or straight-line motion to a transformation location.
AND O Perform the logical AND operation on two values. ANY PI Signal the beginning of an alternative group of instructions for the CASE structure. APPRO APPROS PI Start a robot motion toward a location defined relative to specified location. ASC RF Return an ASCII character value from within a string. ASIN RF Return the size of the angle (in degrees) that has its trigonometric sine equal to value. ATAN2 RF Return the size of the angle (in degrees) that has its trigonometric tangent equal to value 1/value 2. _ _ ATTACH PI Make a device available for use by the application program.
AUTO PI Declare temporary variables that are automatically created on the program stack when the program is entered. AUTO.POWER.OFF SW Control whether or not eV+ disables high power when certain motion errors occur. BAND O Perform the binary AND operation on two values. BASE PI BASE TF Return the transformation value that represents the translation and rotation set by the last BASE command or instruction. BCD RF Convert a real value to Binary Coded Decimal (BCD) format. BELOW PI Request a change in the robot configuration during the next motion so that the elbow is below the line from the shoulder to the wrist. BELT SW Control the function of the conveyor tracking features of the eV+ system.