eV+ Language Quick Reference eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 35 Keyword Type Description have been suspended by issuing a CALL, CALLP, or CALLS instruction, or by the triggering of a REACT, REACTE, or REACTI condition. RETURNE PI Terminate execution of an error reaction subroutine and resume execution of the last-suspended program at the step following the instruction that caused the subroutine to be invoked. RIGHTY PI Request a change in the robot configuration during the next motion so that the first two links of the robot resemble a human's right arm. ROBOT SW Enable or disable one robot or all robots.
ROBOT.OPR PI Execute operations that are specific to the currently selected robot or robot module. ROBOT.OPR RF Returns robot-specific data for the currently selected robot. RUNSIG PI Turn on (or off) the specified digital signal as long as execution of the invoking program task continues. RX RY RZ TF Return a transformation describing a rotation. SCALE TF Return a transformation value equal to the transformation parameter with the position scaled by the scale factor. SCALE.ACCEL SW Enable or disable the scaling of acceleration and deceleration as a function of program speed, as long as the program speed is below a preset threshold.
SCALE.ACCEL.ROT SW Specify whether or not the SCALE.ACCEL switch takes into account the Cartesian rotational speed during straight-line motions. SELECT PI Select a unit of the named device for access by the current task. SELECT RF Return the unit number that is currently selected by the current task for the device named. SET PI Set the value of the location variable on the left equal to the location value on the right of the equal sign. SET.EVENT PI Set an event associated with the specified task. #SET.POINT PP Return the commanded joint-angle positions computed by the trajectory generator during the last trajectory-evaluation cycle.
SETBELT PI Set the encoder offset of the specified belt variable equal to the value of the expression.