eV+ Language Quick Reference eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 36 Keyword Type Description SETDEVICE PI Initialize a device or set device parameters. (The actual operation performed depends on the device referenced.) SHIFT TF Return a transformation value resulting from shifting the position of the transformation parameter by the given shift amounts. SIG RF Returns the logical AND of the states of the indicated digital signals. SIG.INS RF Return an indication of whether a digital I/O signal is installed in the system, or whether a software signal is available in the system. SIGN RF Return the value 1, with the sign of the value parameter.
SIGNAL PI Turn on or off external digital output signals or internal software signals. SIN RF Return the trigonometric sine of a given angle. SINGLE PI Limit rotations of the robot wrist joint to the range -180 degrees to +180 degrees. SOLVE.ANGLES PI Compute the robot joint positions (for the current robot) that are equivalent to a specified transformation. SOLVE.FLAGS RF Return bit flags representing the robot configuration specified by an array of joint positions. SOLVE.TRANS PI Compute the transformation equivalent to a given set of joint positions for the current robot. SPEED PI Set the nominal speed for subsequent robot motions. SPEED RF Return one of the system motion speed factors.
SPIN PI Rotate one or more joints of the selected robot at a specified speed. SQR RF Return the square of the parameter. SQRT RF Return the square root of the parameter. STATE RF Return a value that provides information about the robot system state. STATUS RF Return status information for an application program. STOP PI Terminate execution of the current program cycle. STRDIF RF Compare two strings byte by byte for the purpose of sorting. This function always compares bytes exactly. It ignores the setting of the UPPER system switch. SWITCH PI Enable or disable a system switch based on a value.