Summary of Motion Keywords eV+Language User's Guide, v2.x, 18318-000 Rev A Page 131 Keyword Type Function NULL TF Return a null transformation value-one with all zero components. NULL PI Enable nulling of joint position errors. OPEN PI Open the robot gripper. OPENI PI Open the robot gripper immediately. OVERLAP PI Generate a program error if a subsequent motion is planned that causes a selected multi-turn axis to move more than ±180 degrees to avoid a limit stop (see NOOVERLAP). #PDEST PF Return a precision-point value representing the planned destination location for the current robot motion.
#PHERE PF Return a precision-point value representing the current location of the currently selected robot. #PLATCH PF Return a precision-point value representing the location of the robot at the occurrence of the last external trigger. POWER S Control or monitor the status of Robot Power. #PPOINT PF Return a precision-point value composed from the given components. REACTI PI Initiate continuous monitoring of a specified digital signal. Automatically stop the current robot motion if the signal properly transitions and optionally trigger a subroutine call. READY PI Move the robot to the READY location above the workspace, which forces the robot into a standard configuration.
RELAX PI Limp the pneumatic hand.