RIGHTY program instruction RIGHTY program instruction Syntax RIGHTY Function 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. Usage Considerations Configuration changes cannot be made during straight-line motions. If the selected robot does not support a right-handed configuration, this instruction is ignored by the robot. The RIGHTY instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task, however if the robot is not attached, this instruction has no effect. The instruction applies to the robot selected by the task.
If the eV+ system is not configured to control a robot, executing the RIGHTY instruction causes an error. See LEFTY/RIGHTY. Related Keywords CONFIG real-valued function LEFTY program instruction SELECT program instruction SELECT real-valued function eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 438