Summary of Motion Keywords Summary of Motion Keywords The following table summarizes the keywords associated with motion in eV+. For complete details on any keyword, click on the keyword name in the table, or refer to the keyword documentation available in the eV+ Language Reference Guide . Motion Control Operations eV+Language User's Guide, v2.x, 18318-000 Rev A Page 126 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 PI Set acceleration and deceleration for robot motions. ACCEL RF Return the current robot acceleration or deceleration setting.
ALIGN PI Align the robot tool Z axis with the nearest world axis. ALTER 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 PI Enable real-time path-modification mode (alter mode), and specify the way in which ALTER coordinate information will be interpreted. AMOVE PI Position an extra robot axis during the next joint- interpolated or straight-line motion. APPRO PI Start joint-interpolated robot motion toward a location defined relative to specified location.
APPROS PI Start straight-line robot motion toward a location defined relative to specified location. BASE TF Return the transformation value that represents the translation and rotation set by the last BASE command or instruction.