Summary of Motion Keywords eV+Language User's Guide, v2.x, 18318-000 Rev A Page 133 Keyword Type Function SINGLE PI Limit rotations of the robot wrist joint to the range - 180 degrees to +180 degrees (see MULTIPLE). SOLVE.ANGLES PI Compute the robot joint positions (for the current robot) that are equivalent to a specified transformation. SOLVE.FLAGS RF Return bit flags representing the robot configuration specified by an array of joint positions. SOLVE.TRANS PI Compute the transformation equivalent to a given set of joint positions for the current robot. SPEED PI Set the nominal speed for subsequent robot motions. SPEED RF Return one of the system motion speed factors.
STATE RF Return a value that provides information about the robot system state. TOOL PI Set the internal transformation used to represent the location and orientation of the tool tip relative to the tool mounting flange of the robot. TOOL TF Return the value of the transformation specified in the last TOOL command or instruction. TRANS TF Return a transformation value computed from the given X, Y, Z position displacements and y, p, r orientation rotations. PI: Program Instruction, RF: Real-Valued Function, TF: Transformation Function, S: Switch, P: Parameter, PF: Precision-Point Function, CF: Conversion Factor