eV+ Language Quick Reference eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 33 Keyword Type Description the system. NULL PI Instruct the eV+ system to wait for position errors to be nulled at the end of continuous path motions. NULL TF Return a null transformation value-one with all zero components. OFF RF Return the value used by eV+ to represent a logical false result. ON RF Return the value used by eV+ to represent a logical true result. OPEN PI Open the robot gripper. OPENI OR PI Perform the logical OR operation on two values. OUTSIDE RF Test a value to see if it is outside a specified range.
OVERLAP PI Disable the NOOVERLAP limit-error checking either for the next motion or for all subsequent motions. PACK PI Replace a substring within an array of (128-character) string variables, or within a (nonarray) string variable. PANIC PI Simulate an external E-stop or panic button press; stop all robots immediately, but do not turn off HIGH POWER. PARAMETER PI Set the value of a system parameter. PARAMETER RF Return the current setting of the named system parameter. PAUSE PI Stop program execution but allow the program to be resumed. #PDEST PP Return a precision-point value representing the planned destination location for the current robot motion.
PDNT.CLEAR PI Clears the current notification or custom message window, if any, and returns the T20 pendant back to the Home screen. PDNT.NOTIFY PI Creates a pendant notification. PDNT.WRITE PI Sets the pendant’s Custom Message screen. PENDANT RF Return input from the pendant. #PHERE PP Return a precision-point value representing the current location of the currently selected robot. PI RF Return the value of the mathematical constant pi (3.141593). #PLATCH PP Return a precision-point value representing the location of the robot at the occurrence of the last external trigger or AdeptForce guarded- mode trigger. Keyword Type Description the system.
NULL PI Instruct the eV+ system to wait for position errors to be nulled at the end of continuous path motions. NULL TF Return a null transformation value-one with all zero components. OFF RF Return the value used by eV+ to represent a logical false result. ON RF Return the value used by eV+ to represent a logical true result. OPEN OPENI PI Open the robot gripper. OR PI Perform the logical OR operation on two values. OUTSIDE RF Test a value to see if it is outside a specified range. OVERLAP PI Disable the NOOVERLAP limit-error checking either for the next motion or for all subsequent motions.
PACK PI Replace a substring within an array of (128-character) string variables, or within a (nonarray) string variable. PANIC PI Simulate an external E-stop or panic button press; stop all robots immediately, but do not turn off HIGH POWER. PARAMETER PI Set the value of a system parameter. PARAMETER RF Return the current setting of the named system parameter. PAUSE PI Stop program execution but allow the program to be resumed. #PDEST PP Return a precision-point value representing the planned destination location for the current robot motion. PDNT.CLEAR PI Clears the current notification or custom message window, if any, and returns the T20 pendant back to the Home screen.
PDNT.NOTIFY PI Creates a pendant notification. PDNT.WRITE PI Sets the pendant’s Custom Message screen. PENDANT RF Return input from the pendant. #PHERE PP Return a precision-point value representing the current location of the currently selected robot. PI RF Return the value of the mathematical constant pi (3.141593). #PLATCH PP Return a precision-point value representing the location of the robot at the occurrence of the last external trigger or AdeptForce guarded- mode trigger.