User`s guide

Summary of Motion Keywords
The following table summarizes the keywords associated with motion in V+. For complete
details on any keyword, click on the keyword name in the table, or refer to the keyword
documentation available in the V+ Language Reference Guide.
Keyword Type Function
ABOVE PI 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.
ACCEL PI Set acceleration and deceleration for robot motions.
ACCEL RF Return the current robot acceleration or
deceleration setting.
ALIGN PI Align the robot tool Z axis with the nearest world
axis.
ALTER PI Specify the magnitude of the real-time path
modification that is to be applied to the robot path
during the next trajectory computation.
ALTOFF PI Terminate real-time path-modification mode (alter
mode).
ALTON PI Enable real-time path-modification mode (alter
mode), and specify the way in which ALTER
coordinate information will be interpreted.
AMOVE PI Position an extra robot axis during the next joint-
interpolated or straight-line motion.
APPRO PI Start joint-interpolated robot motion toward a
location defined relative to specified location.
APPROS PI Start straight-line robot motion toward a location
defined relative to specified location.
BASE PI Translate and rotate the world reference frame
relative to the robot.
Motion Control Operations
Summary of Motion Keywords
V+Language User's Guide, v17.0
Page 190