Epson RS4 SCARA Robots User manual

Category
Software
Type
User manual
EPSON RC+ 5.0
SPEL
+
Language
Reference
Ver.5.4
Rev.5 EM135S2515F
EPSON RC+ 5.0 (Ver.5.4) SPEL
+
Language Reference Rev.5
EPSON RC+ 5.0 (Ver.5.4) SPEL+ Language Reference Rev.5 i
EPSON RC+ 5.0 (Ver.5.4)
SPEL+ Language Reference
Rev.5
Copyright © 2011-2013 SEIKO EPSON CORPORATION. All rights reserved.
ii EPSON RC+ 5.0 (Ver.5.4) SPEL+ Language Reference Rev.5
FOREWORD
Thank you for purchasing our robot products.
This manual contains the information necessary for the correct use of the Manipulator.
Please carefully read this manual and other related manuals before installing the robot
system.
Keep this manual handy for easy access at all times.
WARRANTY
The robot and its optional parts are shipped to our customers only after being subjected to
the strictest quality controls, tests, and inspections to certify its compliance with our high
performance standards.
Product malfunctions resulting from normal handling or operation will be repaired free of
charge during the normal warranty period. (Please ask your Regional Sales Office for
warranty period information.)
However, customers will be charged for repairs in the following cases (even if they occur
during the warranty period):
1. Damage or malfunction caused by improper use which is not described in the manual,
or careless use.
2. Malfunctions caused by customers’ unauthorized disassembly.
3. Damage due to improper adjustments or unauthorized repair attempts.
4. Damage caused by natural disasters such as earthquake, flood, etc.
Warnings, Cautions, Usage:
1. If the robot or associated equipment is used outside of the usage conditions and
product specifications described in the manuals, this warranty is void.
2. If you do not follow the WARNINGS and CAUTIONS in this manual, we cannot be
responsible for any malfunction or accident, even if the result is injury or death.
3. We cannot foresee all possible dangers and consequences. Therefore, this manual
cannot warn the user of all possible hazards.
EPSON RC+ 5.0 (Ver.5.4) SPEL+ Language Reference Rev.5 iii
TRADEMARKS
Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of
Microsoft Corporation in the United States and/or other countries. Other brand and
product names are trademarks or registered trademarks of the respective holders.
TRADEMARK NOTATION IN THIS MANUAL
Microsoft® Windows® XP Operating system
Microsoft® Windows® Vista Operating system
Microsoft® Windows® 7 Operating system
Throughout this manual, Windows XP, Windows Vista, and Windows 7 refer to above
respective operating systems. In some cases, Windows refers generically to Windows XP,
and Windows Vista, and Windows 7.
NOTICE
No part of this manual may be copied or reproduced without authorization.
The contents of this manual are subject to change without notice.
Please notify us if you should find any errors in this manual or if you have any comments
regarding its contents.
INQUIRIES
Contact the following service center for robot repairs, inspections or adjustments.
If service center information is not indicated below, please contact the supplier
office for your region.
Please prepare the following items before you contact us.
- Your controller model and its serial number
- Your manipulator model and its serial number
- Software and its version in your robot system
- A description of the problem
SERVICE CENTER
MANUFACTURER
Toyoshina Plant
Industrial Solutions Division
6925 Toyoshina Tazawa,
Azumino-shi, Nagano, 399-8285
JAPAN
TEL : +81-(0)263-72-1530
FAX : +81-(0)263-72-1495
SUPPLIERS
North & South America
EPSON AMERICA, INC.
Factory Automation/Robotics
18300 Central Avenue
Carson, CA 90746
USA
TEL : +1-562-290-5900
FAX : +1-562-290-5999
Europe
EPSON DEUTSCHLAND GmbH
Factory Automation Division
Otto-Hahn-Str.4
D-40670 Meerbusch
Germany
TEL : +49-(0)-2159-538-1391
FAX : +49-(0)-2159-538-3170
China
EPSON China Co., Ltd
Factory Automation Division
7F, Jinbao Building No. 89 Jinbao Street
Dongcheng District, Beijing,
China, 100005
TEL : +86-(0)-10-8522-1199
FAX : +86-(0)-10-8522-1120
Taiwan
EPSON Taiwan Technology & Trading Ltd.
Factory Automation Division
14F, No.7, Song Ren Road, Taipei 110
Taiwan, ROC
TEL : +886-(0)-2-8786-6688
FAX : +886-(0)-2-8786-6677
iv EPSON RC+ 5.0 (Ver.5.4) SPEL+ Language Reference Rev.5
EPSON RC+ 5.0 (Ver.5.4) SPEL+ Language Reference Rev.5 v
Southeast Asia
EPSON Singapore Pte Ltd.
India
Factory Automation System
1 HarbourFrontPlace, #03-02
HarbourFront Tower one, Singapore
098633
TEL : +65-(0)-6586-5696
FAX : +65-(0)-6271-3182
Korea
EPSON Korea Co, Ltd.
Marketing Team (Robot Business)
27F DaeSung D-Polis A, 606,
Seobusaet-gil, Geumcheon-gu, Seoul, 153-803
Korea
TEL
: +82-(0)-2-3420-6692
FAX : +82-(0)-2-558-4271
Japan
EPSON SALES JAPAN CORPORATION
Factory Automation Systems Department
Nishi-Shinjuku Mitsui Bldg.6-24-1
Nishishinjuku.Shinjuku-ku.Tokyo.160-8324
JAPAN
TEL
: +81-(0)3-5321-4161
vi EPSON RC+ 5.0 (Ver.5.4) SPEL+ Language Reference Rev.5
SAFETY PRECAUTIONS
Installation of robots and robotic equipment should only be performed by qualified
personnel in accordance with national and local codes. Please carefully read this
manual and other related manuals when using this software.
Keep this manual in a handy location for easy access at all times.
WARNING
î‚„ This symbol indicates that a danger of possible serious
injury or death exists if the associated instructions are not
followed properly.
CAUTION
î‚„ This symbol indicates that a danger of possible harm to
people or physical damage to equipment and facilities
exists if the associated instructions are not followed
properly.
Table of Contents
EPSON RC+ 5.0 (Ver.5.4) SPEL+ Language Reference Rev.5 vii
TABLE OF CONTENTS
Summary of SPEL+ Commands 1
System Management Commands.................................................................1
Robot Control Commands.............................................................................1
Torque Commands .......................................................................................5
Input / Output Commands.............................................................................5
Point Management Commands.....................................................................7
Coordinate Change Commands....................................................................7
Program Control Commands ........................................................................8
Program Execution Commands ....................................................................8
Pseudo Statements.......................................................................................9
Numeric Value Commands ...........................................................................9
String Commands .........................................................................................9
Logical operators ........................................................................................10
Variable commands ....................................................................................10
Commands used with VB Guide .................................................................10
SPEL+ Language Reference 11
SPEL+ Error Messages 483
Events.......................................................................................................483
Warnings...................................................................................................485
Controller Main..........................................................................................486
Operator Panel..........................................................................................492
Teach Pendant..........................................................................................492
PC.............................................................................................................493
Simulator...................................................................................................494
Interpreter .................................................................................................496
Parser .......................................................................................................515
Motor Control ............................................................................................524
Servo.........................................................................................................533
Vision Calibration ......................................................................................539
Points........................................................................................................540
Fieldbus ....................................................................................................542
Vision ........................................................................................................543
GUI Builder ...............................................................................................545
Hardware ..................................................................................................546
EPSON RC+ ............................................................................................550
Table of Contents
viii EPSON RC+ 5.0 (Ver.5.4) SPEL+ Language Reference Rev.5
Precaution of EPSON RC+ Ver.4.* Compatibility 551
Overview .................................................................................................. 551
General Differences.................................................................................. 552
Compatibility List of Commands ............................................................... 553
List of New Commands ............................................................................ 562
Summary of SPEL+ Commands
EPSON RC+ 5.0 (Ver.5.4) SPEL+ Language Reference Rev.5 1
Summary of SPEL+ Commands
The following is a summary of SPEL
+
commands.
System Management Commands
Reset Resets the controller.
SysConfig Displays controller setup.
SysErr Returns the latest error status or warning status.
Date Sets the system date.
Time Sets system time.
Date$ Returns the system date as a string.
Time$ Returns system time as a string.
Hour Displays / returns controller operation time.
Stat Returns controller status bits.
CtrlInfo Returns controller information.
RobotInfo Returns robot information.
RobotInfo$ Returns robot text information.
TaskInfo Returns task information.
TaskInfo$ Returns task text information.
DispDev Sets the current display device.
EStopOn Return the Emergency Stop status.
CtrlDev Returns the current control device number.
Cls Clears the EPSON RC+ 5.0 Run, Operator, or Command
window text area.
Clears the TP print panel.
Toff Turns off execution line display on the LCD.
Ton Specifies a task which shows a execution line on the LCD.
SafetyOn Return the Safety Door open status.
Robot Control Commands
Power Sets / returns servo power mode.
Motor Sets / returns motor status.
SFree Removes servo power from the specified servo axis.
SLock Restores servo power to the specified servo axis.
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.
Arch Sets / returns arch parameters for Jump motion.
LimZ Sets the upper Z limit for the Jump command.
Sense
JS Returns status of Sense operation.
Summary of SPEL+ Commands
2 EPSON RC+ 5.0 (Ver.5.4) SPEL+ Language Reference Rev.5
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.
Inertia Specifies or displays the inertia settings of the robot arm.
Weight Specifies or displays the weight settings of 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.
CV Move Performs the continuous spline path motion defined by the
Curve instruction.
SpeedS Sets / returns speed for linear motion commands.
AccelS Sets / returns acceleration and deceleration for linear
motion.
SpeedR Sets / returns speed for tool rotation.
AccelR Sets / returns acceleration and deceleration for tool
rotation.
AccelMax Returns maximum acceleration value limit available for
Accel.
Brake Turns brake on or off for specified joint of the current robot.
Home Moves robot to user defined home position.
HomeClr Clears the home position definition.
HomeDef Returns status of home position definition.
HomeSet Sets user defined home position.
Hordr Sets motion order for Home command.
AtHome Returns if the current robot is in its Home position or not.
Summary of SPEL+ Commands
EPSON RC+ 5.0 (Ver.5.4) SPEL+ Language Reference Rev.5 3
InPos Checks if robot is in position (not moving).
CurPos Returns current position while moving.
TCPSpeed Returns calculated current tool center point velocity.
Pallet Defines a pallet or returns a pallet point.
Fine Sets positioning error limits.
QP Sets / returns Quick Pause status.
QPDecelR Sets the deceleration speed of quick pause for the change
of tool orientation during the CP motion.
QPDecelS Sets the deceleration speed of quick pause in the CP
motion.
CP Sets CP (Continuous Path) motion mode.
Box Specifies and displays the approach check area.
BoxClr Clears the definition of approach check area.
BoxDef Returns whether Box has been defined or not.
Plane Specifies and displays the approach check plane.
PlaneClr Clears (undefines) a Plane definition.
PlaneDef Returns the setting of the approach check plane.
InsideBox Displays a prompt in a dialog box, waits for the operator to
input text or choose a button, and returns the contents of
the box.
InsidePlane Returns the check status of the approach check plane.
Find Specifies or displays the condition to store coordinates
during motion.
FindPos Returns a robot point stored by Fine during a motion
command.
PosFound Returns status of Find operation.
WaitPos Waits for robot to decelerate and stop at position before
executing the next statement
while path motion is active.
RobotModel$ Returns the robot model name.
RobotName$ Returns the robot name.
RobotSerial$ Returns the robot serial number.
RobotType Returns the robot type.
TargetOK Returns a status indicating whether or not the PTP (Point
to Point) motion from the current
position to a target position is possible.
JRange Sets / returns joint limits for one joint.
Range Sets limits for all joints.
XYLim Sets / returns Cartesian limits of robot envelope.
XYLimClr Clears the XYLim definition.
XYLimDef Returns whether XYLim has been defined or not.
XY Returns a point from individual coordinates that can be
used in a point expression.
Dist Returns the distance between two robot points.
PTPBoost Sets / returns boost values for small distance PTP motion.
Summary of SPEL+ Commands
4 EPSON RC+ 5.0 (Ver.5.4) SPEL+ Language Reference Rev.5
PTPBoostOK Returns whether or not the PTP (Point to Point) motion
from a current position to a target
position is a small travel distance.
PTPTime Returns the estimated time for a point to point motion
command without executing it.
LJM Function Returns the point data with the orientation flags converted
to enable least joint motion when moving to a specified
point based on the reference point.
AutoLJM Sets the Auto LJM
AutoLJM Function Returns the state of the Auto LJM
AvoidSingularity Sets the Singularity avoiding function
AvoidSingularity Function Returns the state of the Singularity avoiding function
SingularityAngle Sets the singularity neighborhood angle for the singularity
avoiding function
SingularityAngle Function Returns the singularity neighborhood angle for the
singularity avoiding function
SingularitySpeed Sets the singularity neighborhood speed for the singularity
avoiding function
SingularitySpeed Function Returns the singularity neighborhood speed for the
singularity avoiding function
Align Function Returns point data converted to align robot orientation with
the nearest coordinate axis in local coordinate system.
AlignECP Function
Returns point data converted to align robot orientation with
a nearest coordinate axis in ECP coordinate system.
SoftCP Sets / returns SoftCP motion mode.
CX Sets / returns the X axis coordinate of a point.
CY Sets / returns the Y axis coordinate of a point.
CZ Sets / returns the Z axis coordinate of a point.
CU Sets / returns the U axis coordinate of a point.
CV Sets / returns the V axis coordinate of a point.
CW Sets / returns the W axis coordinate of a point.
Pls Returns the pulse value of one joint.
Agl Returns joint angle at current position.
PAgl Return a joint value from a specified point.
JA Returns a robot point specified in joint angles.
AglToPls Converts robot angles to pulses.
DegToRad Converts degrees to radians.
RadToDeg Converts radians to degrees.
Joint Displays the current position for the robot in joint
coordinates.
JTran Perform a relative move of one joint.
PTran Perform a relative move of one joint in pulses.
RealPls Returns the pulse value of the specified joint.
RealPose Returns the current position of the specified robot.
PPls Return the pulse position of a specified joint value from a
specified point.
Here Teach a robot point at the current position.
Where Displays current robot position data.
Summary of SPEL+ Commands
EPSON RC+ 5.0 (Ver.5.4) SPEL+ Language Reference Rev.5 5
Torque Commands
TC Returns the torque control mode setting and current mode.
TCSpeed Specifies the speed limit in the torque control.
TCLim Specifies the torque limit of each joint for the torque control
mode.
RealTorque Returns the current torque instruction value of the
specified joint.
ATCLR Clears and intializes the average torque for one or more
joints.
ATRQ Displays the average torque for the specified joint.
PTCLR Clears and intializes the peak torque for one or more joints.
PTRQ Displays the peak torque for the specified joint.
OLAccel Sets up the automatic adjustment of acceleration/
deceleration that is adjusted
OLRate Display overload rating for one or all joints for the current
robot.
Input / Output Commands
On Turns an output on.
Off Turns an output off.
Oport Reads status of one output bit.
Sw Returns status of input.
In Reads 8 bits of inputs.
Used for I/O.
InW Returns the status of the specified input word port.
Used
for I/O.
InBCD Reads 8 bits of inputs in BCD format.
InReal Reads an input data of 2 words (32 bits) as a floating-point
data (IEEE754 compliant) of 32 bits.
Out Sets / returns 8 bits of outputs.
Used for I/O.
OutW Simultaneously sets 16 output bits.
Used for I/O.
OpBCD Simultaneously sets 8 output bits using BCD format.
OutReal Output the output data of real value as the floating-point
data (IEEE754 compliant) of 32 bits to the output port 2
words (32 bits).
MemOn Turns a memory bit on.
MemOff Turns a memory bit off.
MemSw Returns status of memory bit.
MemIn Reads 8 bits of memory I/O.
MemOut Sets / returns 8 memory bits.
MemInW Returns the status of the specified memory I/O word port.
Each word port contains 16 memory I/O bits.
MemOutW Simultaneously sets 16 memory I/O bits.
Wait Wait for condition or time.
TMOut Sets default time out for Wait statement.
Summary of SPEL+ Commands
6 EPSON RC+ 5.0 (Ver.5.4) SPEL+ Language Reference Rev.5
Tw Returns the status of the Wait condition and Wait timer
interval.
Input Input one or more variables from current display window.
Print Display characters on current display window.
Line Input Input a string from the current display window.
Input # Input one or more variables from a communications port.
Print # Output characters to a communications port.
Line Input # Input a string from a communications port.
Lof Returns the number of lines in a communications buffer.
SetIn For Virtual IO, sets specified input port (8 bits) to the
specified value.
SetInReal Set a hypothetical I/O input port (2 words (32 bits)) as a
floating-point data (IEEE789 compliant) of 32 bits.
SetInW For Virtual IO, sets specified input word (16 bits) to the
specified value.
SetSw For Virtual IO, sets specified input bit to the specified value.
IOLabel$ Returns the I/O label for a specified input or output bit, byte,
or word.
IONumber Returns the I/O number of the specified I/O label.
OpenCom Open an RS-232 communication port.
CloseCom Close the RS-232C port that has been opened with
OpenCom.
SetCom Sets or displays parameters for RS-232C port.
ChkCom Returns number of characters in the reception buffer of a
communication port
OpenNet Open a TCP/IP network port.
CloseNet Close the TCP/IP port previously opened with OpenNet.
SetNet Sets parameters for a TCP/IP port.
ChkNet Returns number of characters in the reception buffer of a
network port
WaitNet Wait for TCP/IP port connection to be established.
Read Reads characters from a file or communications port.
ReadBin Reads binary data from a file or communications port.
Write Writes characters to a file or communication port without
end of line terminator.
WriteBin Writes binary data to a file or communications port.
Summary of SPEL+ Commands
EPSON RC+ 5.0 (Ver.5.4) SPEL+ Language Reference Rev.5 7
Point Management Commands
ClearPoints Clears all point data in memory.
LoadPoints Loads point data from a file in memory.
SavePoints Saves point data to a file in memory.
P# Defines a specified point.
PDef Returns the definition status of a specified point.
PDel Deletes specified position data.
PLabel Defines a label for a specified point.
PLabel$ Returns the point label associated with a point number.
PNumber Returns the point number associated with a point label.
PList Displays point data in memory for the current robot.
PLocal Sets the local attribute for a point.
Coordinate Change Commands
Arm Sets / returns current arm.
ArmSet Defines an arm.
ArmDef Returns status of arm definition.
ArmClr Clears an arm definition.
Tool Sets / returns the current tool number.
TLSet Defines or displays a tool coordinate system.
TLDef Returns status of tool definition.
TLClr Clears a tool definition.
ECP Sets / returns the current ECP number
ECPSet Defines or displays an external control point.
ECPDef Returns status of ECP definition.
ECPClr Clears an ECP definition.
Base Defines and displays the base coordinate system.
Local Define a local coordinate system.
LocalDef Returns status of local definition.
LocalClr Clears (undefines) a local coordinate system.
Elbow Sets / returns elbow orientation of a point.
Hand Sets / returns hand orientation of a point.
Wrist Sets / returns wrist orientation of a point.
J4Flag Sets / returns the J4Flag setting of a point.
J6Flag Sets / returns the J6Flag orientation of a point.
J1Flag Sets / returns the J1Flag setting of a point.
J2Flag Sets / returns the J2Flag orientation of a point.
VxCalib Creates the calibration data.
VxCalDelete Deletes the calibration data.
VxCalInfo Returns the calibration completion status / calibration data.
VxCalLoad Loads the calibration data from the file.
VxCalSave Saves the calibration data to the file.
VxTrans Converts the pixel coordinates to the robot coordinates
and returns the converted the point data.
Summary of SPEL+ Commands
8 EPSON RC+ 5.0 (Ver.5.4) SPEL+ Language Reference Rev.5
Program Control Commands
Function Declare a function.
For...Next Executes one or more statements for a specific count.
GoSub Execute a subroutine.
Return Returns from a subroutine.
GoTo Branch unconditionally to a line number or label.
Call Call a user function.
If..Then..Else..EndIf Conditional statement execution
Else Used with the If instruction to allow statements to be
executed when the condition used with the If instruction is
False. Else is an option for the If/Then instruction.
Select ... Send
Executes one of several groups of statements, depending on the
value of an expression.
Do...Loop Do...Loop construct.
Trap Specify a trap handler.
OnErr Defines an error handler.
Era Returns robot joint number for last error.
Erf$ Returns the function name for last error.
Erl Returns line number of error.
Err Returns error number.
Ert Returns task number of error.
ErrMsg$ Returns error message.
Signal Sends a signal to tasks executing WaitSig.
SyncLock Synchronizes tasks using a mutual exclusion lock.
SynUnlock Unlocks a sync ID that was previously locked with
SyncLock.
WaitSig Waits for a signal from another task.
ErrorOn Returns the error status of the controller.
Error Generates a user error.
EResume Resumes execution after an error-handling routine is
finished.
PauseOn Returns the pause status.
Exit Exits a loop construct or function.
Program Execution Commands
Xqt Execute a task.
Pause Pause all tasks that have pause enabled.
Cont Resumes the contoller after a Pause statement has been
executed and continues the execution of all tasks.
Halt Suspend a task.
Quit Quits a task.
Resume Resume a task in the halt state.
MyTask Returns current task.
TaskDone Returns the completion status of a task.
TaskState Returns the current state of a task.
TaskWait Waits to for a task to terminate.
Summary of SPEL+ Commands
EPSON RC+ 5.0 (Ver.5.4) SPEL+ Language Reference Rev.5 9
Pseudo Statements
#define Defines a macro.
#ifdef ... #endif Conditional compile.
#ifndef ... #endif Conditional compile.
#include Include a file.
Numeric Value Commands
Ctr Return the value of a counter.
CTReset Resets a counter.
ElapsedTime Measures a takt time.
ResetElapsedTime Resets and starts a takt time measurement timer.
Tmr Returns the value of a timer.
TmReset Resets a timer to 0.
Sin Returns the sine of an angle.
Cos Returns cosine of an angle.
Tan Returns the tangent of an angle.
Acos Returns arccosine.
Asin Returns arcsine.
Atan Returns arctangent.
Atan2 Returns arctangent based on X, Y position.
Sqr Returns the square root of a number.
Abs Returns the absolute value of a number.
Sgn Returns the sign of a number.
Int Converts a real number to an integer.
BClr Clear one bit in a number and return the new value
BSet Sets a bit in a number and returns the new value.
BTst Returns the status of 1 bit in a number.
Fix Returns the integer portion of a real number.
Hex Returns a string representing a specified number in
hexadecimal format.
Randomize Initializes the random-number generator.
Redim Redimension an array at run-time.
Rnd Return a random number.
UBound Returns the largest available subscript for the indicated
dimension of an array.
String Commands
Asc Returns the ASCII value of a character.
Chr$ Returns the character of a numeric ASCII value.
Left$ Returns a substring from the left side of a string.
Mid$ Returns a substring.
Right$ Returns a substring from the right side of a string.
Len Returns the length of a string.
LSet$ Returns a string padded with trailing spaces.
RSet$ Returns a string padded with leading spaces.
Summary of SPEL+ Commands
10 EPSON RC+ 5.0 (Ver.5.4) SPEL+ Language Reference Rev.5
Space$ Returns a string containing space characters.
Str$ Converts a number to a string.
Val Converts a numeric string to a number.
LCase$ Converts a string to lower case.
UCase$ Converts a string to upper case.
LTrim$ Removes spaces from beginning of string.
RTrim$ Removes spaces from end of string.
Trim$ Removes spaces from beginning and end of string.
ParseStr Parse a string and return array of tokens.
FmtStr$ Format a number or string.
InStr Returns position of one string within another.
Tab$ Returns a string containing the specified number of tabs
characters.
Logical operators
And Performs logical and bitwise AND operation.
Or Or operator.
LShift Shifts bits to the left.
Mod Modulus operator.
Not Not operator.
RShift Shifts bits to the right.
Xor Exclusive Or operator.
Mask Performs bitwise AND operation in Wait statements.
Variable commands
Boolean Declares Boolean variables.
Byte Declares byte variables.
Double Declares double variables.
Global Declares global variables.
Integer Declares integer variables.
Long Declares long integer variables.
Real Declares real variables.
String Declares string variables.
Commands used with VB Guide
SPELCom_Event Fire an event in SpelNetLib client.
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Epson RS4 SCARA Robots User manual

Category
Software
Type
User manual

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