Summary of Motion Keywords eV+Language User's Guide, v2.x, 18318-000 Rev A Page 128 Keyword Type Function DEPARTS PI Start a straight-line robot motion away from the current location. DEST TF Return a transformation value representing the planned destination location for the current robot motion. DISTANCE RF Determine the distance between the points defined by two location values. DRIVE PI Move an individual joint of the robot. DRY.RUN S Control whether or not eV+ communicates with the robot. DURATION PI Set the minimum execution time for subsequent robot motions. DURATION RF Return the current setting of one of the motion DURATION specifications.
DX RF Return the X displacement component of a given transformation value. DY RF Return the Y displacement component of a given transformation value. DZ RF Return the Z displacement component of a given transformation value. FINE PI Enable a high-precision feature of the robot hardware servo (see COARSE). FLIP PI Request a change in the robot configuration during the next motion so that the pitch angle of the robot wrist has a negative value (see NOFLIP). FORCE S Control whether or not the (optional) stop-on-force feature of the eV+ system is active. FRAME TF Return a transformation value defined by four positions.