ABOVE program instruction ABOVE program instruction Syntax ABOVE Function Request a change in the robot configuration during the next motion so that the elbow is above the line from the shoulder to the wrist. Usage Considerations Configuration changes cannot be made during straight-line motions. If the selected robot does not support an ABOVE configuration, this instruction is ignored by the robot (SCARA robots, for example, cannot have an ABOVE configuration). The ABOVE 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 ABOVE instruction causes an error. The following figure shows the ABOVE and BELOW configurations. ABOVE/BELOW Related Keywords BELOW program instruction CONFIG real-valued function SELECT program instruction SELECT real-valued function eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 47