# FANUC TP Language Reference

Available instruction categories:

**Control Flow** - Conditional branching and loop control
Keywords: `IF`, `THEN`, `ELSE`, `ENDIF`, `SELECT`, `CASE`, `FOR`, `TO`, `ENDFOR`, `JMP`, `LBL`

**Force** - Force/Torque control operations
Keywords: `FORCE`, `CTRL`

**I/O** - Digital, Robot, Group, Analog, System, and Flag I/O
Keywords: `DO`, `DI`, `RO`, `RI`, `GO`, `GI`, `AO`, `AI`, `SO`, `SI`, `UO`, `UI`, `F`, `M`

**Modifiers** - Instruction modifiers and options for motion and control
Keywords: `Offset`, `Tool_Offset`, `VOFFSET`, `ACC`, `INC`, `Macro`, `FINE`, `CNT`

**Motion** - Joint, Linear, Circular, and Arc motion instructions
Keywords: `J`, `L`, `C`, `A`

**Program Control** - Program execution, calls, and flow control
Keywords: `CALL`, `RUN`, `END`, `ABORT`, `PAUSE`, `WAIT`, `SKIP`

**Registers** - Numeric, Position, Argument, String, Vision, and Point registers
Keywords: `R`, `PR`, `AR`, `SR`, `VR`, `P`

**System** - System configuration, utilities, and string operations
Keywords: `UTOOL`, `UFRAME`, `UTOOL_NUM`, `UFRAME_NUM`, `PAYLOAD`, `OVERRIDE`, `LPOS`, `TIMEOUT`, `UALM`, `MESSAGE`, `STRLEN`, `SUBSTR`, `CONFIG`

**Timing** - Timer and delay operations
Keywords: `TIMER`, `DELAY`, `START`, `STOP`, `RESET`, `WAIT`

**Vision** - Vision system operations and image processing
Keywords: `VISION`, `RUN_FIND`, `GET_NFOUND`, `GET_OFFSET`, `GET_PASSFAIL`

Use `?category=CategoryName` to see full syntax details.
Use `?command=KEYWORD` to search for a specific instruction.