This Quick Reference table is arranged alphabetically by command name, click an underlined letter to jump to the first command that begins with that letter.
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Terminate execution of an executing program task.
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.
Return absolute value.
Set acceleration and deceleration for robot motions. Optionally, specify a defined acceleration profile.
Return the current setting for robot acceleration or deceleration setting or return the maximum allowable percentage limits set by the spec utility program (see the Instructions for Adept Utility Programs for details).
Determines whether the V+ robot-control system controls the physical robot(s) (ADW disabled) or interacts with the Adept Digital Workcell simulation product running on a remote computer (ADW enabled).
Read a channel from one of the analog IO boards.
Test whether an analog input or output channel is installed.
Write to a channel on one of the analog IO boards.
Align the robot tool Z axis with the nearest world axis.
Specify the magnitude of the real-time path modification that is to be applied to the robot path during the next trajectory computation.This option is available only if your Adept system is equipped with the V+ Extensions option.
Terminate real-time path-modification mode (alter mode).
Enable real-time path-modification mode (alter mode), and specify the way in which ALTER coordinate information will be interpreted.
Used with certain program instructions to specify a long-term effect.
Perform the logical AND operation on two values.
Signal the beginning of an alternative group of instructions for the CASE structure.
Start a robot motion toward a location defined relative to specified location.
Return an ASCII character value from within a string.
Return the size of the angle (in degrees) that has its trigonometric tangent equal to value_1/value_2.
Make a device available for use by the application program.
Declare temporary variables that are automatically created on the program stack when the program is entered.
Control whether or not V+ disables high power when certain motion errors occur.
Determines whether ActiveVR instructions received from a host system are handled or ignored by the V+ operating system.
This system switch enables/disables a buffer to store ActiveVR instructions.
This system parameter determines the size of the log circular buffer used by ActiveVR.
This system switch determines whether trace messages for ActiveVR instructions are displayed in the V+ monitor window.
Perform the binary AND operation on two values.
Translate and rotate the World reference frame relative to the robot.
Return the transformation value that represents the translation and rotation set by the last BASE command or instruction.
Convert a real value to Binary Coded Decimal (BCD) format.
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.
Control the function of the conveyor tracking features of the V+ system.
Return information about a conveyor belt being tracked with the conveyor tracking feature.
Set characteristics of the conveyor tracking feature of the V+ system.
Set or clear a group of digital signals based on a value.
Read multiple digital signals and return the value corresponding to the binary bit pattern present on the signals.
Create a bit mask by setting individual bits.
Perform the binary OR operation on two values.
Abort the current robot motion.
Suspend program execution until the current motion completes.
Return information about the status of the conveyor tracking system.
Perform the binary exclusive-OR operation on two values.
Complete the syntax of the SCALE and SHIFT functions.
Initialize the robot positioning system with the robot's current position.
Suspend execution of the current program and continue execution with a new program (that is, a subroutine).
Call a program given a pointer to the program in memory.
Suspend execution of the current program and continue execution with a new program (that is, a subroutine) specified with a string value.
Initiate processing of a CASE structure by defining the value of interest.
Return a one-character string corresponding to a given ASCII value.
Clear an event associated with the specified task.
Close the robot gripper.
Enable a low-precision feature of the robot hardware servo.
Perform the binary complement operation on a value.
Return a value that provides information about the robot's geometric configuration, or the status of the motion servo-control features.
Return the trigonometric cosine of a given angle.
Control the continuous-path feature.
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.
Instruct the V+ system to execute the next motion instruction (or all subsequent motion instructions) as part of a continuous path.
Terminate the executing program in the specified task the next time it executes a STOP program instruction (or its equivalent).
Suspend processing of an executable program until a program running in the specified task completes execution.
Return the value of eight bytes of a string interpreted as an IEEE double-precision floating-point number.
Return an 8-byte string containing the binary representation of a real value in double-precision IEEE floating-point format.
Convert BCD digits into an equivalent integer value.
Enable or disable the use of 100 percent as the maximum deceleration for the accel program instruction.
Extract part of a string as delimited by given break characters.
Extract the (real) values of individual components of a location value.
Return a string containing the current system default device, unit, and directory path for disk file access.
Define a belt variable for use with a conveyor tracking robot.
Assign third-party digital I/O boards to standard V+ signal numbers for use by standard V+ instructions, functions, and monitor commands.
Determine whether a variable has been defined.
Cause robot motion to stop for the specified time.
Controls the timing of COARSE or FINE nulling after V+ completes a motion segment.
Enable/disable the ESTOP timer delay feature for servo errors.
Start a robot motion away from the current location.
Return a transformation value representing the planned destination location for the current robot motion.
Release a specified device from the control of the application program.
Send a command or data to an external device and, optionally, return data back to the program. (The actual operation performed depends on the device referenced.)
Return a real value from a specified device. The value may be data or status information, depending upon the device and the parameters.
Send commands or data to an external device and optionally return data. The actual operation performed depends on the device referenced.
Turn off one or more system control switches.
Set the number of camera values that will be displayed when a PARAMETER or SWITCH monitor command is issued.
Determine the distance between the points defined by two location values.
Restarts DeviceNet communication if the CanBus goes offline.
This parameter limits the number of nodes that are polled by the SmartController DeviceNet driver every scan interval to increase available CPU time.
Introduce a DO program structure.
Execute a program instruction defined by a string expression.
Move an individual joint of the robot.
Control whether or not V+ communicates with the robot.
Set the minimum execution time for subsequent robot motions.
Return the current setting of one of the motion DURATION specifications.
Return a displacement component of a given transformation value.
Separate the alternate group of statements in an IF ... THEN control structure.
Turn on one or more system control switches.
Return a string created from output specifications. The string produced is similar to the output of a TYPE instruction.
Mark the end of a control structure.
Mark the end of a V+ program.
Return the error number of a recent error that caused program execution to stop or caused a REACTE reaction. Executing a REACTE statement clears any errors for the current task and causes the ERROR to not return errors as expected.
Return the error message associated with the given error code.
Assert the emergency-stop signal to stop the robot.
Begin execution of a control program.
Branch to the statement following the nth nested loop of a control structure.
Return the value used by V+ to represent a logical false result.
Close the disk file, graphics window, or graphics icon currently open on the specified logical unit.
Generate a device-specific command to the input/output device specified by the logical unit.
Delete the specified disk file, the specified graphics window and all its child windows, or the specified graphics icon.
Empty any internal buffers in use for a disk file or a graphics window by writing the buffers to the file or window if necessary.
Enable a high-precision feature of the robot hardware servo.
Request a change in the robot configuration during the next motion so that the pitch angle of the robot wrist has a negative value.
Return the value of four bytes of a string interpreted as an IEEE single-precision floating-point number.
Return a 4-byte string containing the binary representation of a real value in single-precision IEEE floating-point format.
Create and open a new graphics window or TCP connection, or open an existing graphics window for subsequent input or output.
Open a disk file for read-only, read-write, read-write-append, or read-directory, as indicated by the last letter of the instruction name.
Execute a group of program instructions a certain number of times.
AdeptForce option status and control instructions.
Return the fractional part of the argument.
Return a transformation value defined by four positions.
Return the amount of unused free memory storage space.
Position a file open for random access and initiate a read operation on the specified record.
Set or modify attributes of a graphics window, serial line, or network device related to AdeptNet.
Select a set of feedback gain parameters for one or more motors of the currently selected robot.
Draw an arc or a circle in a graphics window.
Draw a chain of points in a graphics window to form a complex figure.
Clear an entire graphics window to the background color.
Set the clipping rectangle for all graphics instructions (except GFLOOD), to suppress all subsequent graphics that fall outside the rectangle.
Set the foreground and background colors for subsequent graphics output.
Copy one region of a window to another region in the same window.
Return the next character (byte) from a device or input record on the specified logical unit.
Return events that are set for the specified task.
Return information describing input from a graphics window or input from the terminal.
Flood a region in a graphics window with color.
Return pixel information from a single pixel row in a graphics window.
Draw a predefined graphic symbol (icon) in a graphics window.
Draw a single line segment in a graphics window.
Draw multiple line segments in a graphics window.
Declare a variable to be global and specify the type of the variable. GLOBAL statements must appear before any executable statement in the program.
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.
Perform an unconditional branch to the program step identified by the given label.
Draw a rectangular panel with shadowed or grooved edges.
Draw a single point in a graphics window.
Draw a rectangle in a graphics window.
Draw a number of horizontal lines in a graphics window to form a complex figure.
Draw a slide bar in preparation for receiving slide events.
Set the opaque/transparent mode and the texture pattern for subsequent graphics output.
Scale, rotate, offset, and apply perspective correction to all subsequent graphics instructions.
Display a text string in a graphics window.
Stop program execution and do not allow the program to be resumed.
Return the current hand opening.
Establish the duration of the motion delay that occurs during OPENI, CLOSEI, and RELAXI instructions.
Set the value of a transformation or precision-point variable equal to the current robot location.
Return a transformation value that represents the current location of the robot tool point.
Return the current value of the robot hour meter.
Return values that identify the configuration of the current system.
Return the system ID string.
Determine whether two location values are exactly the same.
Branch to the specified step label if the value of the logical expression is TRUE (nonzero).
Conditionally execute a group of instructions (or one of two groups) depending on the result of a logical expression.
Cancel the effect of a REACT or REACTI instruction.
Return a value that indicates whether a location can be reached by the robot and, if not, why not.
Install or remove software options available to Adept systems.
Return the integer part of the value.
Return the value of two bytes of a string interpreted as a signed 16-bit binary integer.
Return a 2-byte string containing the binary representation of a 16-bit integer.
Control the display of message headers on the system terminal and requests for confirmation before performing certain operations.
Send an event (as though from a SET.EVENT instruction) to the current task if an interrupt occurs on a specified VMEbus vector or a specified digital I/O signal transitions to positive.
Return the transformation value that is the mathematical inverse of the given transformation value.
Return a value from global memory or from a device on the VME bus.
Return a string value from a device on the VME bus.
Write a value to global CPU memory or to a device on the VME bus.
Return status information for the last input/output operation for a device associated with a logical unit.
Control access to shared devices on the VME bus.
Specify the units for a SPEED instruction as inches per second.
Records the current robot joint positions in real or double-precision variables. This instruction supports MicroV+.
Moves all robot joints to positions described by a list of joint values. The robot performs a coordinated motion in joint-interpolated mode. This instruction supports MicroV+.
Moves ("jogs") the specified axis or joint of the robot. Each time JOG executes, the specified axis or joint moves for 200 ms.
Establish the maximum number of times the (local) Kermit driver should retry an operation before reporting an error.
Establish the delay parameter that the V+ driver for the Kermit protocol sends to the remote server.
Set the behavior of a group of keys on the manual control pendant.
Clear a program execution stack and detach any I/O devices that are attached.
Return the highest index used for an array (dimension).
Return a transformation value representing the location of the robot at the occurrence of the last external trigger or AdeptForce guarded-mode trigger.
Return the status of the external trigger and/or an AdeptForce guarded-mode trigger.
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.
Return the number of characters in the given string.
Return the value of four bytes of a string interpreted as a signed 32-bit binary integer.
Return a 4-byte string containing the binary representation of a 32-bit integer.
Declare permanent variables that are defined only within the current program.
Set the program reaction lock-out priority to the value given.
Return the maximum value contained in the list of values.
Introduce a monitor command within a command program.
Control how system error messages are handled when the controller keyswitch is not in the manual position.
Modifies the use of the STEP button on the MCP and on the T1 Pendant.
Invoke a monitor command from an application program.
Enable or disable output to the system terminal from monitor commands executed with the MCS instruction.
Enable or disable output to the system terminal from TYPE instructions.
Return a substring of the specified string.
Return the minimum value contained in the list of values.
Specify the units for a SPEED instruction as millimeters per second.
Compute the modulus of two values.
Enable or disable selecting of multiple monitor windows.
Initiate a robot motion to the position and orientation described by the given location.
Initiate a three-segment pick-and-place robot motion to the specified destination, moving the robot at the fastest allowable speed.
Initiate a robot motion to the position and orientation described by the given location and simultaneously operate the hand.
Allow full rotations of the robot wrist joints.
Return network status and IP address information
Branch to the END statement of the nth nested loop, perform the loop test, and loop if appropriate.
Request a change in the robot configuration during the next motion so that the pitch angle of the robot wrist has a positive value.
Instruct the V+ system not to wait for position errors to be nulled at the end of continuous-path motions.
Generate a program error if a motion is planned that causes selected multiturn axes to turn more than around) in order to avoid a limit stop.
Correct a transformation for any mathematical round-off errors.
Perform logical negation of a value.
Indicate (or assert) the calibration status of the robots connected to the system.
Instruct the V+ system to wait for position errors to be nulled at the end of continuous path motions.
Return a null transformation value-one with all zero components.
Return the value used by V+ to represent a logical false result.
Return the value used by V+ to represent a logical true result.
Open the robot gripper.
Perform the logical OR operation on two values.
Test a value to see if it is outside a specified range.
Disable the NOOVERLAP limit-error checking either for the next motion or for all subsequent motions.
Return a precision-point value representing the planned destination location for the current robot motion.
Return a precision-point value representing the current location of the currently selected robot.
Return a precision-point value representing the location of the robot at the occurrence of the last external trigger or AdeptForce guarded-mode trigger.
Return a precision-point value composed from the given components.
Replace a substring within an array of (128-character) string variables, or within a (nonarray) string variable.
Simulate an external E-stop or panic button press; stop all robots immediately, but do not turn off HIGH POWER.
Set the value of a system parameter.
Return the current setting of the named system parameter.
Stop program execution but allow the program to be resumed.
Adjust the feedforward compensation for a specified motor by setting a percentage of the maximum payload assumed for that motor.
Return input from the manual control pendant.
Return the value of the mathematical constant pi (3.141593).
Return the starting character position of a substring in a string.
Control or monitor the status of high power.
Return the current reaction lock-out priority for the program.
Define the arguments that are passed to a program when it is invoked.
Display a string on the system terminal and wait for operator input.
Return a pseudorandom number.
Initiate continuous monitoring of a specified digital signal and automatically trigger a subroutine call if the signal properly transitions.
Initiate the monitoring of errors that occur during execution of the current program task.
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.
Read a record from an open file or from an attached device that is not file oriented. For an AdeptNet device, read a string from an attached and open TCP connection.
Move the robot to the READY location above the workspace, which forces the robot into a standard configuration.
Limp the pneumatic hand.
Allow the next available program task to run.
Turn off all the external output signals.
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.
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.
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.
Enable or disable one robot or all robots.
Execute operations that are specific to the currently selected robot or robot module.
Returns robot-specific data for the currently selected robot.
Turn on (or off) the specified digital signal as long as execution of the invoking program task continues.
Return a transformation describing a rotation.
Return a transformation value equal to the transformation parameter with the position scaled by the scale factor.
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.
Specify whether or not the SCALE.ACCEL switch takes into account the Cartesian rotational speed during straight-line motions.
Establish the time-out period for blanking the screen of the graphics monitor.
Invoke the screen-oriented program editor to allow a program to be created, viewed, or modified.
Select a unit of the named device for access by the current task.
Return the unit number that is currently selected by the current task for the device named.
Set the value of the location variable on the left equal to the location value on the right of the equal sign.
Set an event associated with the specified task.
Return the commanded joint-angle positions computed by the trajectory generator during the last trajectory-evaluation cycle.
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.
Set the encoder offset of the specified belt variable equal to the value of the expression.
Initialize a device or set device parameters. (The actual operation performed depends on the device referenced.)
Return a transformation value resulting from shifting the position of the transformation parameter by the given shift amounts.
Returns the logical AND of the states of the indicated digital signals.
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.
Return the value 1, with the sign of the value parameter.
Turn on or off external digital output signals or internal software signals.
Return the trigonometric sine of a given angle.
Limit rotations of the robot wrist joint to the range -180 degrees to +180 degrees.
Compute the robot joint positions (for the current robot) that are equivalent to a specified transformation.
Return bit flags representing the robot configuration specified by an array of joint positions.
Compute the transformation equivalent to a given set of joint positions for the current robot.
Set the nominal speed for subsequent robot motions.
Return one of the system motion speed factors.
Rotate one or more joints of the selected robot at a specified speed.
Return the square of the parameter.
Return the square root of the parameter.
Return a value that provides information about the robot system state.
Return status information for an application program.
Terminate execution of the current program cycle.
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.
Enable or disable a system switch based on a value.
Return an indication of the setting of a system switch.
Determine the user symbol that is referenced by a pointer previously obtained with the SYMBOL.PTR real-valued function.
Determine the value of a pointer to a user symbol in V+ memory.
This string function is intended to provide general system information. It also provides access to the ActiveVR log data.
Return the current value of a real-valued variable and assign it a new value. The two actions are done indivisibly so that no other program task can modify the variable at the same time.
Return information about a program execution task.
Determine how V+ will interact with the system terminal.
Set the date and time.
Return an integer value representing either the four-digit date or the time specified in the given string parameter.
Return a string value containing either the current system date and time or the specified date and time.
Return a string value containing either the current system four-digit date and time or the specified four-digit date and time.
Set the specified system timer to the given time value.
Return the current time value of the specified system timer.
Set the internal transformation used to represent the location and orientation of the tool tip relative to the tool mounting flange of the robot.
Return the value of the transformation specified in the last TOOL command or instruction.
Return the number of ticks of the system clock that occur per second (Ticks Per Second).
Control the display of program steps on the system terminal during program execution.
Return a transformation value computed from the given X, Y, Z position displacements and y, p, r orientation rotations.
Return a transformation value represented by a 48-byte string.
Return a 48-byte string containing the binary representation of a transformation value.
Return the value used by V+ to represent a logical true result.
Return all characters in the input string until an ASCII NUL (or the end of the string) is encountered.
Display the information described by the output specifications on the system terminal. A blank line is output if no argument is provided.
Specify that a joint is turning only in a single direction.
Return a substring from an array of 128-character string variables.
Indicate the end of a DO ... UNTIL control structure and specify the expression that is evaluated to determine when to exit the loop. The loop continues to be executed until the expression value is nonzero.
Control whether or not the case of each character is ignored when string comparisons are performed.
Return the real value represented by the characters in the input string.
Indicate the values that a CASE statement expression must match in order for the program statements immediately following to be executed.
Put the program into a wait loop until the condition is TRUE.
Suspend program execution until a specified event has occurred, or until a specified amount of time has elapsed.
Initiate processing of a WHILE structure if the condition is TRUE or skipping of the WHILE structure if the condition is initially FALSE.
Set the boundaries of the operating region of the specified belt variable for conveyor tracking.
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.
Write a record to an open file, or to any I/O device. For an AdeptNet device, write a string to an attached and open TCP connection.
Perform the logical exclusive-OR operation on two values.