Creating and Altering Location Variables runs regardless of where the pallet is placed in the workcell as long as it is within the robot's working envelope. Relative Locations ; Get the locations to define the pallet DETACH () ;Release robot for use by the MCP PROMPT "Place robot at pallet origin. ", $ans HERE loc.origin ;Record the frame origin PROMPT "Place robot at point on the pallet x-axis. ", $ans HERE loc.x.axis ;Record point on x-axis PROMPT "Place robot at point in positive y direction. ", $ans HERE loc.pos.y ;Record positive y direction ATTACH () ;Reattach the robot eV+Language User's Guide, v2.x, 18318-000 Rev A Page 113