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The Guidance Programming Language Dictionary Pages provide detailed information on each instruction, keyword, function, and class property and method that is available in GPL. For convenience, these descriptions are group either by their class or by their major function. Within each group they are sorted alphabetically.

In general, instruction names, keywords, function names, group names, and property and method names are indicated in bold. User specified variable names are indicated in italics. Sample GPL program snippets are presented in the Courier font.

Table 19-46 summarizes each of the major groups of descriptions.

Table 19-46: Groups Summary
Group Description

Array Class

Provides the properties of any type of variable array.

Console Class

Provides methods for performing output to the serial console or to the GDE console window.

Controller Class

Provides access to general facilities provided by the motion control hardware such as power control, timers, etc.

Exception Handling

Includes statements for fielding execution exceptions and the Exception Class for storing exception information.

File and Serial I/O Classes

Provides File, StreamReader and StreamWriter classes that implement file and serial line input and output communications.

Functions

Includes standard functions, such as conversion routines, that do not fall into a specific class.

Latch Class

Provides access to the results of latch input events, including the time and robot position when the latch occurred.

Location Class

Defines positions and orientations of the robot and objects.

Math Class

Provides the standard arithmetic and trigonometric functions.

Modbus Class

Permits programs to communicate with other intelligent devices using the MODBUS/TCP Ethernet communication protocol.

Move Class

Provides the basic methods for executing a motion between Locations using Profiles.

Networking Classes

Classes for Ethernet network communications.  Includes IPEndPoint Class for specifying IP and port addresses; Socket Class that provides basis for networking I/O operations; TcpListener Class for TCP server applications; TcpClient Class for TCP client applications; and UdpClient Class for UDP server and client applications.

Profile Class

Defines sets of parameters that specify the trajectory to be followed when moving between Locations.

RefFrame Class

Defines robot and part reference frames.  Cartesian Locations and RefFrames can be defined with respect to a RefFrame.

Robot Class

Provides access to the attributes and properties of each robot such as their current position and homing methods.

Signal Class

Reads and writes digital, analog and other simple means of input and output.

Statements

Includes control structures, user procedures and functions, and other common language elements.

Strings

Provides String manipulation methods in an Object oriented fashion.

Thread Class

Provides the means for starting, stopping, and monitoring the execution of independent threads.

Vision Classes

Provides the means for interfacing to PreciseVision and easily generating vision-guided motion applications.

XML Classes

Provides the ability to create, parse, and modify XML (eXtensible Markup Language) documents. This facility enables structured data to be bi-directionally exchanged with a host computer using a standard data format.