V+ Language Keyword Overview

In addition, this documentation also refers to monitor commands. Monitor commands are part of the V+ operating system. The V+ operating system commands are detailed in the V+ Operating System Reference Guide.

If your system is equipped with AdeptVision, additional program instructions, functions, switches, parameters, and monitor commands are detailed in the AdeptVision Reference Guide.

The keywords are presented in alphabetical order, with the description for each keyword starting on a new page. For details on what is included, see Documentation Conventions for Keywords.

Tables 1-3 to 1-10 summarize the keywords used by the V+ language. For an alphabetical listing of all keywords, their parameters, and a brief description of each keyword, see the V+ Language Quick Reference.

Keyword Groups

Conveyor Belt Operations lists the keywords whose primary use is with tracking conveyor belt operations.

Graphics Operations lists the keywords used primarily with graphics-based systems to manage windows, graphics, and event-driven programming for a graphical user interface (GUI).

System Input/Output Operations lists the keywords whose primary use is for system input/output operations. These include disk I/O, serial I/O, digital I/O, and terminal I/O.

Numeric Value Operations lists the numerical operations (square root, modulo, trigonometric, and similar functions).

Program Control Operations lists the keywords primarily concerned with program control. Instructions for operations such as creating programs and program flow are in this group.

String Operations lists the string operators (substring, string conversions, and similar functions).

Table 1-3. Conveyor Belt Operations
Keyword	Type	Function
BELT	S	Control the function of the conveyor tracking features of the V+ system.
BELT (%belt_var, mode)	RF	Return information about a conveyor belt being tracked with the conveyor tracking feature.
BELT.MODE	P	Set characteristics of the conveyor tracking feature of the V+ system.
BSTATUS	RF	Return information about the status of the conveyor tracking system.
DEFBELT %belt_var = nom_trans, belt_num, vel_avg, scale_fact	PI	Define a belt variable for use with a robot tracking conveyor belt.
SETBELT %belt_var = expression	PI	Set the encoder offset of the specified belt variable equal to the value of the expression.
WINDOW %belt_var = location, location, program, priority	PI	Set the boundaries of the operating region of the specified belt variable for conveyor tracking.
WINDOW (transformation, time, mode)	RF	Return a value that indicates where the location described by the belt-relative transformation value is relative to the predefined boundaries of the working range on a moving conveyor belt.
P: Parameter, PI: Program Instruction, RF: Real-Valued Function, S: Switch

Table 1-4. Graphics Operations
Keyword	Type	Function
FDELETE (logical_unit) object	PI	Delete the specified file, the specified graphics window and all its child windows, or the specified graphics icon.
FOPEN (logical_unit, mode) attribute_list	PI	Create and open a new graphics window, or open an existing graphics window, for subsequent input and/or output.
FSET (logical_unit) attribute_list	PI	Set or modify attributes of a graphics window or serial line.
GARC (lun, mode) xc, yc, radius, ang0, angn	PI	Draw an arc or a circle in a graphics window.
GCHAIN (lun) x, y, points, direction[index]	PI	Draw a chain of points in a graphics window to form a complex figure.
GCLEAR (lun)	PI	Clear an entire graphics window to the background color.
GCLIP (lun) x, y, dx, dy	PI	Set the clipping rectangle for all graphics instructions (except GFLOOD) to suppress all subsequent graphics that fall outside the rectangle.
GCOLOR (lun) foregrnd, backgrnd	PI	Set the foreground and background colors for subsequent graphics output.
GCOPY (lun) x, y = src_x, src_y, dx, dy	PI	Copy one region of a window to another region in the same window.
GETEVENT (lun, mode) events[index]	PI	Return information describing input from a graphics window.
GFLOOD (logical_unit) x, y	PI	Flood a region in a graphics window with color.
GGETLINE (logical_unit) $data[index], num.pix = x, y, nx	PI	Return pixel information from a single pixel row in a graphics window.
GICON (lun, mode) x, y, $name, index	PI	Draw a predefined graphic symbol (icon) in a graphics window.
GLINE (lun) x0, y0, xn, yn	PI	Draw a single line segment in a graphics window.
GLINES (logical_unit, mode) points, coord[offset,index]	PI	Draw multiple line segments in a graphics window.
GLOGICAL (logical_unit) code, planes	PI	Set the logical operation to be performed between new graphics output and graphics data already displayed, and select which bit planes are affected by graphics instructions.
GPANEL (lun, mode) x, y, dx, dy	PI	Draw a rectangular panel with shadowed or grooved edges.
GPOINT (lun) x, y	PI	Draw a single point in a graphics window.
GRECTANGLE (lun, mode) x, y, dx, dy	PI	Draw a rectangle in a graphics window.
GSCAN (lun) lines, data[offset,index]	PI	Draw a number of horizontal lines in a graphics window to form a complex figure.
GSLIDE (lun, mode) id = x, y, length, max_pos, arrow_inc, handle	PI	Draw a slide bar in preparation for receiving slide events.
GTEXTURE (lun) mode, pattern	PI	Set the opaque/transparent mode and the texture pattern for subsequent graphics output.
GTRANS(lun, mode) array[,]	PI	Scale, rotate, and offset subsequent graphics instructions.
GTYPE (lun, mode) x, y, $text, font_numb	PI	Display a text string in a graphics window.
... SCREEN.TIMEOUT	P	Establish the time-out period for blanking the screen of the graphics monitor (VGB only).
P: Parameter, PI: Program Instruction

Table 1-5. System Input/Output Operations
Keyword	Type	Function
AIO.IN (channel, gain)	RF	Read a channel from one of the analog IO boards.
AIO.INS (channel)	RF	Test whether an analog input or output channel is installed.
AIO.OUT channel = value	PI	Write to a channel on one of the analog IO boards.
ATTACH (lun, mode) $device	PI	Make a device available for use by the application program.
BITS first_sig, num_sigs = value	PI	Set or clear a group of digital signals based on a value.
BITS (first_sig, num_sigs)	RF	Read multiple digital signals and return the value corresponding to the binary bit pattern present on the signals.
$DEFAULT ()	SF	Return a string containing the current system default device, unit, and directory path for file access.
DEF.DIO signal = address, type	PI	Assign third-party digital I/O boards to standard V+ signal numbers, for use by standard V+ instructions, functions, and monitor commands.
DETACH (logical_unit)	PI	Release a specified device from the control of the application program.
DEVICE (type, unit, error, p1, p2, ...) out[i], in[j], out_trans, in_trans	PI	Send a command or data to an external device and, optionally, return data to the program. (The actual operation performed depends on the device referenced.)
DEVICE (type, unit, error, p1, p2,...)	RF	Return a real value from a specified device. The value may be data or status information, depending upon the device and the parameters.
DEVICES (type, unit, error, p1, p2, ...) $out, $in	PI	Send commands or data to an external device and optionally return data. The actual operation performed depends on the device referenced.
FCLOSE (logical_unit)	PI	Close the file, graphics window, or graphics icon currently open on the specified logical unit.
FCMND (logical_unit, command_code) $out_string, $in_string	PI	Generate a device-specific command to the input/output device specified by the logical unit.
FEMPTY (logical_unit)	PI	Empty any internal buffers in use for a file or a graphics window by writing the buffers to the file or window if necessary.
FOPENA	PI	Open an existing file for read-write-append as indicated by the last letter of the instruction name.
FOPEND	PI	Open a file for read-directory as indicated by the last letter of the instruction name.
FOPENR	PI	Open an existing file for read-only as indicated by the last letter of the instruction name.
FOPENW	PI	Open a new file for read-write as indicated by the last letter of the instruction name.
FSEEK (logical_unit, record_number)	PI	Position a file open for random access and initiate a read operation on the specified record.
FSET (logical_unit) attribute_list	PI	Set serial I/O port configuration parameters.
GETC (lun, mode)	RF	Return the next character (byte) from a device or input record on the specified logical unit.
IGNORE signal	PI	Cancel the effect of a REACT or REACTI instruction.
IOGET_ (address, type, cpu)	RF	Return a value from a device on the VME bus.
$IOGETS (address, length, type, cpu)	SF	Return a string value from a device on the VME bus.
IOPUT_ address, type, cpu = value	PI	Send a value to a device on the VME bus.
IOSTAT (lun, mode)	RF	Return status information for the last input/output operation for a device associated with a logical unit.
IOTAS (address, type, cpu)	RF	Control access to shared devices on the VME bus.
... KERMIT.RETRY	P	Establish the maximum number of times the (local) Kermit driver should retry an operation before reporting an error.
... KERMIT.TIMEOUT	P	Establish the delay parameter that the V+ driver for the Kermit protocol will send to the remote server.
KEYMODE first_key, last_key = mode, setting	PI	Set the behavior of a group of keys on the manual control pendant.
NETWORK(component, code)	RF	Return network status and IP address information.
PENDANT (select)	RF	Return input from the manual control pendant.
PROMPT output_string, variable_list	PI	Display a string on the system terminal and wait for operator input.
READ (lun, record_num, mode) var_list	PI	Read a record from an open file or from an attached device that is not file oriented.
RESET	PI	Turn off all the external output signals.
SETDEVICE (type, unit, error, command) p1, p2, ...	PI	Initialize a device or set device parameters. (The actual operation performed depends on the device referenced.)
SIG (signal_num, ..., signal_num)	RF	Return the logical AND of the states of the indicated digital signals.
SIG.INS (signal_num)	RF	Return an indication of whether or not a digital I/O signal is configured for use by the system, or whether or not a software signal is available in the system.
SIGNAL signal_num, ..., signal_num	PI	Turn on or off external digital output signals or internal software signals.
TYPE output_specification, ..., output_specification	PI	Display the information described by the output specifications on the system terminal. A blank line is output if no argument is provided.
WRITE (lun, record_num, mode) format_list	PI	Write a record to an open file or to an attached device that is file oriented.
P: Parameter, PI: Program Instruction, RF: Real-Valued Function, SF: String Function

Table 1-6. Logical and Bit Operations
Keyword	Type	Function
AND value ...	O	Perform the logical AND operation on two values.
BAND value ...	O	Perform the binary AND operation on two values.
BMASK (bit, bit, ..., bit)	RF	Create a bit mask by specifying which bits to set.
... value BOR value ...	O	Perform the binary OR operation on two values.
BXOR	O	Perform the binary exclusive-OR operation on two values.
... COM value ...	O	Perform the binary complement operation on a value.
FALSE	RF	Return the value used by V+ to represent a logical false result.
... value MOD value ...	O	Compute the modulus of two values.
... NOT value ...	O	Perform logical negation of a value.
OFF	RF	Return the value used by V+ to represent a logical false result.
ON	RF	Return the value used by V+ to represent a logical true result.
	O	Perform the logical OR operation on two values.
... TRUE	RF	Return the value used by V+ to represent a logical true result.
... value XOR value ...	O	Perform the logical exclusive-OR operation on two values.
O: Operator, RF: Real-Valued Function

Table 1-7. Motion Control Operations
Keyword	Type	Function
ABOVE	PI	Request a change in the robot configuration during the next motion so that the elbow is above the line from the shoulder to the wrist.
ACCEL (profile) acceleration, deceleration	PI	Set acceleration and deceleration for robot motions.
ACCEL (select)	RF	Return the current robot acceleration or deceleration setting.
ALIGN	PI	Align the robot tool Z axis with the nearest world axis.
ALTER (control) Dx, Dy, Dz, Rx, Ry, Rz	PI	Specify the magnitude of the real-time path modification that is to be applied to the robot path during the next trajectory computation.
ALTOFF	PI	Terminate real-time path-modification mode (alter mode).
ALTON (lun) mode	PI	Enable real-time path-modification mode (alter mode), and specify the way in which ALTER coordinate information will be interpreted.
ALWAYS	K	Used with certain program instructions to specify a long-term effect.
APPRO location, distance	PI	Start a joint-interpolated robot motion toward a location defined relative to specified location.
APPROS location, distance	PI	Start a straight-line robot motion toward a location defined relative to specified location.
AUTO.POWER.OFF	S	Control whether or not V+ disables high power when certain motion errors occur.
BASE X_shift, Y_shift, Z_shift, Z_rotation	PI	Translate and rotate the World reference frame relative to the robot.
BASE	TF	Return the transformation value that represents the translation and rotation set by the last BASE command or instruction.
BELOW	PI	Request a change in the robot configuration during the next motion so that the elbow is below the line from the shoulder to the wrist.
BRAKE	PI	Abort the current robot motion.
BREAK	PI	Suspend program execution until the current motion completes.
CALIBRATE mode, status	PI	Initialize the robot positioning system.
CLOSE	PI	Close the robot gripper.
CLOSEI	PI	Immediately close the robot gripper.
COARSE tolerance ALWAYS	PI	Enable a low-precision feature of the robot hardware servo.
CONFIG (select)	RF	Return a value that provides information about the robot's geometric configuration or the status of the motion servo-control features.
... CP	S	Control the continuous-path feature.
CPOFF ALWAYS	PI	Instruct the V+ system to stop the robot at the completion of the next motion instruction (or all subsequent motion instructions) and null position errors.
CPON ALWAYS	PI	Instruct the V+ system to execute the next motion instruction (or all subsequent motion instructions) as part of a continuous path.
..DECEL 100 [robot_num]	S	Enable or disable the use of 100 percent as the maximum deceleration for the accel program instruction.
DECOMPOSE array_name[index] = location	PI	Extract the (real) values of individual components of a location value.
DELAY.IN.TOL	S	Control the timing of COARSE or FINE nulling after V+ completes a motion segment.
DELAY.POWER.OFF	S	Enable/disable the ESTOP timer delay feature for servo errors. This switch is only operational for systems equipped with an AWC-II board as the main CPU. This switch is only available in V+ 14.1 or higher.
DELAY time	PI	Cause robot motion to stop for the specified period of time.
DEPART distance	PI	Start a joint-interpolated robot motion away from the current location.
DEPARTS distance	PI	Start a straight-line robot motion away from the current location.
DEST	TF	Return a transformation value representing the planned destination location for the current robot motion.
DISTANCE (location_1, location_2)	RF	Determine the distance between the points defined by two location values.
DRIVE joint, change, speed	PI	Move an individual joint of the robot.
... DRY.RUN	S	Control whether or not V+ communicates with the robot.
DURATION time ALWAYS	PI	Set the minimum execution time for subsequent robot motions.
DURATION (select)	RF	Return the current setting of one of the motion DURATION specifications.
DX (location)	RF	Return the X displacement component of a given transformation value.
DY (location)	RF	Return the Y displacement component of a given transformation value.
DZ (location)	RF	Return the Z displacement component of a given transformation value.
ESTOP	PI	Assert the emergency-stop signal to stop the robot.
FINE tolerance ALWAYS	PI	Enable a high-precision feature of the robot hardware servo.
FLIP	PI	Request a change in the robot configuration during the next motion so that the pitch angle of the robot wrist has a negative value.
FRAME (location_1, location_2, location_3, location_4)	TF	Return a transformation value defined by four positions.
GAIN.SET set, motor	PI	Select a set of gain parameters for one or more joints of the current robot.
HAND	RF	Return the current hand opening.
HAND.TIME	P	Establish the duration of the motion delay that occurs during OPENI, CLOSEI, and RELAXI instructions.
HERE location_var	PI	Set the value of a transformation or precision-point variable equal to the current robot location.
HERE	TF	Return a transformation value that represents the current location of the robot tool point.
HOUR.METER	RF	Return the current value of the robot hour meter.
IDENTICAL (location, location)	RF	Determine whether two location values are exactly the same.
INRANGE (location)	RF	Return a value that indicates whether a location can be reached by the robot, and if not, why not.
INVERSE (transformation)	TF	Return the transformation value that is the mathematical inverse of the given transformation value.
JOG (status) robot, mode, axis, speed	PI	Moves ("jogs") the specified axis or joint of the robot. Each time JOG executes, the specified axis or joint moves for 200 ms.
LATCH (select)	TF	Return a transformation value representing the location of the robot at the occurrence of the last external trigger.
LATCHED (select)	RF	Return the status of the external trigger and of the information it causes to be latched.
LEFTY	PI	Request a change in the robot configuration during the next motion so that the first two links of a SCARA robot resemble a human's left arm.
MOVE location	PI	Initiate a joint-interpolated robot motion to the position and orientation described by the given location.
MOVES location	PI	Initiate a straight-line robot motion to the position and orientation described by the given location.
MOVEF location, depart_clr, appro_clr, depart_tqe, horiz_accel_tqe, horiz_decel_tqe, appro_tqe, model	PI	Initiate a three-segment pick-and-place robot motion to the specified destination (joint-interpolated for the horizontal segment), moving the robot at the fastest allowable speed.
MOVESF location, depart_clr, appro_clr, depart_tqe, horiz_accel_tqe, horiz_decel_tqe, appro_tqe, model	PI	Initiate a three-segment pick-and-place robot motion to the specified destination (straight-line for the horizontal segment), moving the robot at the fastest allowable speed.
MOVET location, hand_opening	PI	Initiate a joint-interpolated robot motion to the position and orientation described by the given location and simultaneously operate the hand.
MOVEST location, hand_opening	PI	Initiate a straight-line robot motion to the position and orientation described by the given location and simultaneously operate the hand.
MULTIPLE ALWAYS	PI	Allow full rotations of the robot wrist joints.
NOFLIP	PI	Request a change in the robot configuration during the next motion so that the pitch angle of the robot wrist has a positive value.
NONULL ALWAYS	PI	Instruct the V+ system not to wait for position errors to be nulled at the end of continuous-path motions.
NOOVERLAP always	PI	Generate a program error if a motion is planned that will cause selected multiturn axes to turn more than 180 degrees (the long way around) in order to avoid a limit stop.
NORMAL (transformation_value)	TF	Correct a transformation for any mathematical round-off errors.
... NOT.CALIBRATED	P	Indicate (or assert) the calibration status of the robots connected to the system.
NULL	TF	Return a null transformation value-one whose components are all zero.
NULL ALWAYS	PI	Instruct the V+ system to wait for position errors to be nulled at the end of continuous path motions.
OPEN	PI	Open the robot gripper.
OPENI	PI	Immediately open the robot gripper.
OVERLAP always	PI	Disable the NOOVERLAP limit-error checking either for the next motion or for all subsequent motions.
PAYLOAD value, motor	PI	Set an indication of the current robot payload.
#PDEST	PF	Return a precision-point value representing the planned destination location for the current robot motion.
#PLATCH (select)	PF	Return a precision-point value representing the location of the robot at the occurrence of the last external trigger.
... POWER	S	Control or monitor the status of robot power.
#PPOINT (j1_value, j2_value, j3_value, j4_value, j5_value, j6_value, j7_value, j8_value, j9_value, j10_value, j11_value, j12_value)	PF	Return a precision-point value composed from the given components.
REACTI signal_num, program, priority	PI	Initiate continuous monitoring of a specified digital signal. Automatically stop the current robot motion if the signal transitions properly and, optionally, trigger a subroutine call.
READY	PI	Move the robot to the READY location above the workspace, which forces the robot into a standard configuration.
RELAX	PI	Limp the pneumatic hand.
RELAXI	PI	Immediately limp the pneumatic hand.
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 [index]	S	Enable or disable one robot or all robots.
ROBOT.OPR (mode, index)	RF	Return robot-specific data for the currently selected robot.
RX (angle)	TF	Return a transformation describing a rotation about X.
RY (angle)	TF	Return a transformation describing a rotation about Y.
RZ (angle)	TF	Return a transformation describing a rotation about Z.
SCALE (transformation BY scale_factor)	TF	Return a transformation value equal to the transformation parameter with the position scaled by the scale factor.
... SCALE.ACCEL [robot_num]	S	Scale acceleration and deceleration as a function of program speed when program speed is below 100%.
... SCALE.ACCEL.ROT [robot_num]	S	Specify whether or not the SCALE.ACCEL switch takes into account the Cartesian rotational speed during straight-line motions.
SELECT device_type = unit	PI	Select the unit of the named device for access by the current task.
SET location_var = location_value	PI	Set the value of the location variable on the left equal to the location value on the right of the equal sign.
#SET.POINT	PF	Return the commanded joint-angle positions computed by the trajectory generator during the last trajectory-evaluation cycle.
... SET.SPEED	S	Control whether or not the monitor speed can be changed from the manual control pendant. The monitor speed cannot be changed when the switch is disabled.
SHIFT (transformation BY x_shift, y_shift, z_shift)	TF	Return a transformation value resulting from shifting the position of the transformation parameter by the given shift amounts.
SINGLE ALWAYS	PI	Limit rotations of the robot wrist joint to the range -180 degrees to +180 degrees.
SOLVE.ANGLES o.jts[o.idx], o.flags, error = trans, i.jts[i.idx],i.flags	PI	Compute the robot joint positions (for the current robot) that are equivalent to a specified transformation.
SOLVE.FLAGS (joints[index])	RF	Return bit flags representing the robot configuration specified by an array of joint positions.
SOLVE.TRANS transform, error = joints[index]	PI	Compute the transformation equivalent to a given set of joint positions for the current robot.
SPEED speed_factor, r_speed_factor units ALWAYS	PI	Set the nominal speed for subsequent robot motions.
SPEED value IPS ALWAYS	CF	Specify the units for a SPEED instruction as inches per second.
SPEED value MMPS ALWAYS	CF	Specify the units for a SPEED instruction as millimeters per second.
SPEED (select)	RF	Return one of the system motion speed factors.
SPIN speeds[index]	PI	Rotate one or more continuous-turn joints of the selected robot at a specified speed.
STATE (select)	RF	Return a value that provides information about the robot system state.
TOOL transformation_value	PI	Set the internal transformation used to represent the location and orientation of the tool tip relative to the tool-mounting flange of the robot.
TOOL	TF	Return the value of the transformation specified in the last TOOL command or instruction.
TRANS (X_value, Y_value, Z_value, y_value, p_value, r_value)	TF	Return a transformation value computed from the given X, Y, Z position displacements and y, p, r orientation rotations.
UNIDIRECT directions[index]	PI	Specify that a continuous-turn joint is turning only in a single direction.
CF: Conversion Factor, P: Parameter, PF: Precision-Point Function, PI: Program Instruction, RF: Real-Valued Function, S: Switch, TF: Transformation Function

Table 1-8. Numeric Value Operations
Keyword	Type	Function
ABS (value)	RF	Return absolute value.
ATAN2 (value_1, value_2)	RF	Return the size of the angle (in degrees) that has its trigonometric tangent equal to value_1/value_2.
BCD (value)	RF	Convert a real value to Binary Coded Decimal (BCD) format.
COS (angle)	RF	Return the trigonometric cosine of a given angle.
DCB (value)	RF	Convert BCD digits into an equivalent integer value.
FRACT (value)	RF	Return the fractional part of the argument.
INT (value)	RF	Return the integer part of the value.
INTB ($string, first_char)	RF	Return the value of two bytes of a string interpreted as a signed 16-bit binary integer.
MAX (value, ..., value)	RF	Return the maximum value contained in the list of values.
MIN (value, ..., value)	RF	Return the minimum value contained in the list of values.
OUTSIDE (low, test, high)	RF	Test a value to see if it is outside a specified range.
PI	RF	Return the value of the mathematical constant pi (3.141593).
RANDOM	RF	Return a pseudorandom number.
SIGN (value)	RF	Return the value 1, with the sign of the value parameter.
SIN (value)	RF	Return the trigonometric sine of a given angle.
SQR (value)	RF	Return the square of the parameter.
SQRT (value)	RF	Return the square root of the parameter.
VAL (string)	RF	Return the real value represented by the characters in the input string.
RF: Real-Valued Function, SF: String Function

Table 1-9. Program Control Operations
Keyword	Type	Function
ABORT task_num	PI	Terminate execution of a program task.
ANY	PI	Signal the beginning of an alternative group of instructions for the CASE structure.
AUTO type variable, ..., variable	PI	Declare temporary variables that are automatically created on the program stack when the program is entered.
SCALE(transformation BY value)	K	Complete the syntax of the SCALE and SHIFT functions.
CALL program(arg_list)	PI	Suspend execution of the current program and continue execution with a new program (that is, a subroutine).
CALLP var(arg_list)	PI	Call a program given a pointer to the program.
CALLS string(arg_list)	PI	Suspend execution of the current program and continue execution with a new program (that is, a subroutine) specified with a string value.
CASE value OF	PI	Initiate processing of a CASE structure by defining the value of interest.
CLEAR.EVENT task, flag, processor	PI	Clear an event associated with the specified task.
CYCLE.END task_num, stop_flag	PI	Terminate the specified control program the next time it executes a STOP program instruction (or its equivalent). Suspend processing of an application program or command program until a program completes execution.
DISPLAY.CAMERA	S	Control the amount of virtual camera data displayed when a SWITCH or PARAMETER monitor command is issued.
DEFINED (var_name)	RF	Determine whether a variable has been defined.
DISABLE(switch, ... switch)	PI	Turn off one or more system control switches.
DO	PI	Introduce a DO program structure.
DOS string, error	PI	Execute a program instruction defined by a string expression.
ELSE	PI	Separate the alternate group of statements in an IF ... THEN control structure.
ENABLE switch, ..., switch	PI	Turn on one or more system control switches.
END	PI	Mark the end of a control structure.
.END	PI	Mark the end of a V+ program.
ERROR (source, select)	RF	Return the error number of a recent error that caused program execution to stop or caused a REACTE reaction.
EXECUTE /C task_num program(param_list), cycles, step, priority[i]	PI	Begin execution of a control program.
EXIT count	PI	Branch to the statement following the nth nested loop of a control structure.
FOR loop_var = initial TO final STEP increment	PI	Execute a group of program instructions a certain number of times.
FREE (memory, select)	RF	Return the amount of unused free memory storage space.
GET.EVENT (task)	RF	Return events that are set for the specified task.
GLOBAL type variable, ..., variable	PI	Declare a variable to be global and specify the type of the variable.
GOTO label	PI	Perform an unconditional branch to the program step identified by the given label.
HALT	PI	Stop program execution and do not allow the program to be resumed.
ID (component, device, board)	RF	Return values that identify the configuration of the current system.
$ID (select)	SF
IF logical_expr GOTO label	PI	Branch to the specified label if the value of a logical expression is TRUE (nonzero).
IF logical_expr THEN... THEN	PI	Conditionally execute a group of instructions (or one of two groups) depending on the result of a logical expression.
INSTALL password, op	PI	Install an Adept software option.
... INTERACTIVE	S	Control the display of message headers on the system terminal and requests for confirmation before performing certain operations.
INT.EVENT source, level	PI	Send a SET.EVENT instruction to the current task if an interrupt occurs on a specified VME bus vector or a specified digital I/O transitions to positive.
KILL task_number	PI	Clear a program execution stack and detach any I/O devices that are attached.
LAST (array_name[])	RF	Return the highest index used for an array (dimension).
LOCAL type variable, ..., variable	PI	Declare permanent variables that are defined only within the current program.
LOCK priority	PI	Set the program reaction lock-out priority to the value given.
MC monitor_command	PI	Introduce a monitor command within a command program.
... MCP.MESSAGE	S	Control how system error messages are handled when the controller keyswitch is not in the PENDANT position.
MCS string	PI	Invoke a monitor command from an application program.
... MCS.MESSAGE	S	Enable or disable output to the system terminal from monitor commands executed with the MCS instruction.
... MESSAGES	S	Enable or disable output to the system terminal from TYPE instructions.
... MONITORS	S	Enable or disable selecting of multiple monitor windows.
NEXT count	PI	Branch to the top of the next iteration of a looping control structure.
PANIC	PI	Simulate an external E-stop or panic button press; stop all robots immediately, but do not turn off HIGH POWER.
PARAMETER parameter_name = value	PI	Set the value of a system parameter.
PARAMETER (parameter_name)	RF	Return the current setting of the named system parameter.
PAUSE	PI	Stop program execution but allow the program to be resumed.
PRIORITY	RF	Return the current reaction lock-out priority for the program.
REACT signal_num, program, priority	PI	Initiate continuous monitoring of a specified digital signal and automatically trigger a subroutine call if the signal properly transitions.
REACTE program_name	PI	Initiate the monitoring of errors that occur during execution of the current program task.
RELEASE task	PI	Allow the next available program task to run.
RETURN	PI	Terminate execution of the current subroutine and resume execution of the last-suspended program at the step following the CALL or CALLS instruction that caused the subroutine to be invoked.
RETURNE	PI	Terminate execution of the current subroutine, and resume execution of the suspended program at its next step. A program may have been suspended by issuing a CALL, CALLP, or CALLS instruction, or by the triggering of a REACT, REACTE, or REACTI condition.
RUNSIG signal_num	PI	Turn on (or off) the specified digital signal as long as execution of the invoking program task continues.