Summary of SPEL+ Commands
2 EPSON RC+ 7.0 (Ver.7.3) SPEL+ Language Reference Rev.4
MCordr Specifies and displays the moving joint order for machine
calibration Mcal. Required only for robots with incremental
encoders.
Power Sets / returns servo power mode.
Motor Sets / returns motor status.
MHour Function Returns the accumulated MOTOR ON time of the robot motors.
SFree Removes servo power from the specified servo axis.
SLock Restores servo power to the specified servo axis.
SyncRobots Start the reserved robot motion.
Jump Jumps to a point using point to point motion.
Jump3 Jumps to a point using 3D gate motion.
Jump3CP Jumps to a point using 3D motion in continuous path.
JumpTLZ Jumps to a point using 3D gate motion.
Arch Sets / returns arch parameters for Jump motion.
LimZ Sets the upper Z limit for the Jump command.
LimZMargin Sets / returns the margin for error detection when the operation
starts at the position higher than LimZ value.
Sense Sets / returns the condition to stop the manipulator above the target
coordinate when Sense is specified by Jump command.
JS Returns status of Sense operation.
JT Returns the status of the most recent Jump command for the current
robot.
Go Moves the robot to a point using point to point motion.
Pass Executes simultaneous four joint Point to Point motion, passing
near but not through the specified points.
Pulse Moves the robot to a position defined in pulses.
BGo Executes Point to Point relative motion, in the selected local
coordinate system.
BMove Executes linear interpolation relative motion, in the selected local
coordinate system.
TGo Executes Point to Point relative motion, in the current tool
coordinate system.
TMove Executes linear interpolation relative motion, in the selected tool
coordinate system.
Till Specifies motion stop when input occurs.
TillOn Returns the current Till status.
!…! Process statements during motion.
Speed Sets / returns speed for point to point motion commands.
Accel Sets / returns acceleration and deceleration for point to point motion.
SpeedFactor Sets / returns speed for point to point motion commands.
Inertia Specifies or displays the inertia settings for the robot arm.
Weight Specifies or displays the weight settings for the robot arm.
Arc Moves the arm using circular interpolation.
Arc3 Moves the arm in 3D using circular interpolation.
Move Moves the robot using linear interpolation.
Curve Defines the data and points required to move the arm along a curved
path. Many data points can be defined in the path to improve
precision of the path.
CVMove Performs the continuous spline path motion defined by the Curve
instruction.
SpeedS Sets / returns speed for linear motion commands.