Summary of Motion Keywords eV+Language User's Guide, v2.x, 18318-000 Rev A Page 132 Keyword Type Function RELAXI PI Limp the pneumatic hand immediately. RIGHTY PI Request a change in the robot configuration during the next motion so that the first two links of the robot resemble a human's right arm (see LEFTY). ROBOT S Enable or disable one robot or all robots. RX TF Return a transformation describing a rotation about the x axis. RY TF Return a transformation describing a rotation about the y axis. RZ TF Return a transformation describing a rotation about the z axis. SCALE TF Return a transformation value equal to the transformation parameter with the position scaled by the scale factor.
SCALE.ACCEL S Enable or disable the scaling of acceleration and deceleration as a function of program speed. SCALE.ACCEL.ROT S Specify whether or not the SCALE.ACCEL switch takes into account the Cartesian rotational speed during straight-line motions. SELECT PI Select the unit of the named device for access by the current task. SELECT RF Return the number of the currently selected unit of the named device type. SET PI Set the value of the location variable on the left equal to the location value on the right of the equal sign. SHIFT TF Return a transformation value resulting from shifting the position of the transformation parameter by the given shift amounts.