Summary of Motion Keywords eV+Language User's Guide, v2.x, 18318-000 Rev A Page 129 Keyword Type Function HAND RF Return the current hand opening. HAND.TIME P Establish the duration of the motion delay that occurs during OPENI, CLOSEI, and RELAXI instructions. HERE PI Set the value of a transformation or precision-point variable equal to the current robot location. HERE TF Return a transformation value that represents the current location of the robot tool point. IDENTICAL RF Determine if two location values are exactly the same. INRANGE RF Return a value that indicates if a location can be reached by the robot, and if not, why not.
INVERSE TF Return the transformation value that is the mathematical inverse of the given transformation value. IPS CF Specify the units for a SPEED instruction as inches per second. LATCH TF Return a transformation value representing the location of the robot at the occurrence of the last external trigger. LATCHED RF Return the status of the external trigger and of the information it causes to be latched. LEFTY PI Request a change in the robot configuration during the next motion so that the first two links of a SCARA robot resemble a human's left arm (see RIGHTY). MMPS CF Specify the units for a SPEED instruction as millimeters per second.
MOVE PI Initiate a joint-interpolated robot motion to the position and orientation described by the given